Parker Hannifin HD65 User's Manual
Contents
1. HD65 amp HD130 STEPPER DRIVES USER GUIDE TB2 TB2 TBI 2A TB1 2A 115V 2B P 115V__ FAN 2B u E 18 P E FAN 1B e 1A ER S S 1A E el 3 NE 3 L 172V 7 Motor 172V ee Motor E L1 e e o Eov u e Eo u S gT7aV E HD65 amp Sov HD130 s I ee e e OO _18V 1 SK1 9 _18V 1 SK1 9 E ov i ED Sk2 E ov E SK2 S al 1 S BIS RG ga TEV a SG EA 0 SEI HE T z U 8 16 8 16 T0132 T0124 Transformer Transformer o Connections for Single HD65 Drive Connections for Single HD130 Drive Ke2. Returning the System before unplugging the drive Whilst the drive will operate with FS2 missing or blown it is essential that this fuse is fitted for safety reasons If you must return your HD Drive to effect repairs or upgrades use the following steps 1 Get the serial number and the model number of the defective unit and a purchase order number to cover repair costs in the event the unit is determined by the manufacturers to be out of warranty 2 Before you return the unit have someone from your organisation with a technical understanding of the equipment and its application include answers to as many of the following questions as possible e What is the extent of the failure reason for return e How long did it operate e Did any other items fail at the same time e What was happening when the unit failed e installing the unit cycling power starting other equipment etc e How was the product configured in detail e What if any cables were modified and how e With what equipment is the unit interfaced e What was the application e What was the system environment temperature enclosure spacing unit orientation contaminants etc e What upgrades if any are required hardware software user guide 3 Inthe UK call Digiplan for a GRA Goods Returned Authorisation number Returned products cannot be accepted without a GRA number The phone number for Digiplan Repair Department is 0202 690911
3. For Customer Service Applications Department phone 0202 699000 HD65 amp HD130 STEPPER DRIVES USER GUIDE 21 Ship the unit to Parker Hannifin plc Digiplan Division 21 Balena Close Poole Dorset England BH17 7DX 4 Inthe USA call Parker Compumotor for a Return Material Authorisation RMA number Returned products cannot be accepted without an RMA number The phone number for Parker Compumotor Applications Department is 800 358 9070 Ship the unit to Parker Hannifin Corporation Digiplan Division 5500 Business Park Drive Rohnert Park CA 94928 Attn RMA xxxxxxx 5 Elsewhere Contact the distributor who supplied the equipment
4. Ke pi 2A pi 2A _V5V ES en 2B P E 1A 30 1A AN gov 1A E 3 1A 3 y 3 3 172V S Motor fi Motor S LU cl N L1 G M 2 K HD65 HD65 te Aes 172V 2 S K gt E E a 31 7 3 e0V 0 48VBus Connections 18V 1 SK1 9 1 SK1 9 E ON E SK2 OIE ska S HE IS 18V Z El NU HU nU UU IT IT O M 0O LT LT LT 8 16 8 16 T0124 Transformer o e e Connections for Two HD65 Drives Figure 1 Power and Motor Connections HD65 amp HD130 STEPPER DRIVES USER GUIDE 5 Transformer Standard Digiplan mains transformers for HD series drives have a Primary four winding primary arrangement as shown below The table Connections shows the primary voltages which can be selected the sample connections being for 240v AC Always wire the transformer primary first then check the secondary output voltages on open circuit BEFORE connecting to the drive Links 3 amp 4 9 10 11 amp 12 7 amp 8 13 14 15 amp 16 2 3 amp 4 13 14 15 amp 16 amp 2 11 amp 4 1 amp 3108 12 3 amp 6 15 amp 85 amp 7 14 amp 16 O 9 amp 3 13 amp 6 15 amp 8 14 8 16 1 01 O PO 8 3 1384 2 15 amp 4 148 16 8 6 108 7 1188 986 108 7 118 8 9821084 3 118 4 8 2108 3 118 4 38 6 148 7 1588 736 1138 6 148 3 1584 382 148 3 1584 2 6 2 6 6 6 6 6 HD65 amp HD130 STEPPER DRIVES USER GUIDE MOTOR CONNECTION DATA WINDINGS IN SERIES N C no connection MAKE TYPE 1A 1B 2A 2B NOTES Evershed amp 6 l
5. PIN 13 Anti resonance With this input connected to Ov the drive operates in its normal chopping mode at all speeds With the input high or open circuit the anti resonance system is brought into 10 HD65 amp HD130 STEPPER DRIVES USER GUIDE Setting Up the Drive Motherboard Link operation provided the speed is less than about 440 half steps sec This speed is programmable see Setting up the drive Switch 6 may be turned on to hold this input permanently at Ov and so prevent the anti resonance system from operating PIN 14 Square off When this input is open circuit the motor current is squared off to the one phase on level at approximately 3200 half steps sec This gives improved midrange torque compared with the usual two level current profile However the input may be taken to Ov which will cause the drive to square off permanently Square off can also be disabled see programming switch 0 under Setting Up the Drive PIN 15 External Reset Connect to Ov to reset a fault condition provided the cause of the fault has been removed An alternative method of resetting is to temporarily remove power PIN 16 Sync Connecting the sync terminals of several drives together will cause all the chopper regulators to synchronise eliminating beat fre quencies and minimising the audible noise at standstill Turret lugs are provided on each side of the motherboard to simplify interconnection between adjacent drives All drives i
6. The resistor is located next to R76 opposite the power supply capacitor and its value may be increased in order to reduce the amount of boost Do not use a value lower than 68K The anti resonance circuit is inhibited at speeds above 440 full steps sec and this is determined by R1 on the motherboard The standard value is 47K and halving the resistor value will double the dropout frequency Current Profile Setting Half step Mode HD65 8 HD130 STEPPER DRIVES USER GUIDE 13 In the half step mode a two level current profile is used at low speeds to equalise torque on alternate steps Figure 4 shows this current profile with A and B representing the two phase on condition and C the one phase on condition When two phases are energised the current levels are 6 5A and 13A for the HD65 and HD130 drives respectively These current levels are increased in the one phase on condition to 9A HD65 and 18A HD130 to help maintain the torque on intermediate steps The function of the square off circuit is to maintain torque output in the middle speed range where the average motor current is falling off due to winding inductance The current profile is squared off to the one phase on level at 3200 half steps sec The square off speed is determi ned by R2 on the drive motherboard The standard value is 33K and halving the resistor value will double the square off speed Do not change this resistor value without first consulting Digiplan
7. it to position b will cause a sinusoidal profile to be selected at standstill With some motors this will give better static positioning than a filled out or trimmed profile Choosing the optimum profile for a given motor is best carried out with equipment which will accurately measure shaft position and torque Since this is seldom available empirical methods are normally used and can give perfectly acceptable results The logical starting point is with all switches off to give a sinusoidal profile Attach a light pointer to the motor shaft cable ties are ideal and run the motor very slowly It will be visually apparent whether the steps are all similar or there is a cyclic variation in step size as the shaft rotates Slowly increase the speed and the sound from the motor will give an idea of the relative torque produced on successive steps Again acyclic pulsing sound implies associated torque variations Switch off remove the drive and try setting a trimmed profile see table on page 15 Repeat the exercise and compare the results From this it should be clear whether more or less trimming is required so choose another setting and try again It is usually best to aim for the smoothest rotation rather than best static positioning If the application demands significant torque from the motor repeat the exercise with the motor loaded This method usually reveals the useful range of profiles quite quickly Sege Ed SINEWAVE FILLED OU
8. 0 card has a selection of 64 alternative profiles which are stored in an Eprom and selected by an 8 position DIL switch This switch is accessible between the two edge connectors at the rear of the drive The card has been programmed with a set of profiles which have been derived theoretically A sinusoidally based profile is obtained with all bit switches in the off position Switches 2 6 may be used to set in an increasing binary number which will cause the profile to progressively fill out from a sinewave switch 2 is the least significant bit By turning on switch 7 increasing the number in switches 2 6 will then trim the profile down towards a triangular shape In practice this tends to be more useful than the filled out form Switches 1 and 8 should be left permanently off A few examples are shown below a 1 indicates that the switch is on Switch position Brae SEET o 0 0 00 0 0 0 Sinewave o 0 0 00 jo 0 Siightfilkout pO Oo tT oO O OT Moderate fil out H Of tt at at 1 1 O Maximum fillout POT 7 TOTO Of Of 1 O Slighttrimming H 1 1 o 0o 0 o 0 Moderate trimming D Tt 111 0 Maximum trimming Setting Up the Link 1 on the microstep card should be left in position a This link Microstep is provided for future implementation of an alternative profile in Card boost 16 HD65 amp HD130 STEPPER DRIVES USER GUIDE Link 2 is normally in position a Moving
9. AR of any machinery driven by stepper or servo motors Never touch it while it is in operation High voltages exist within enclosed units on rack system backplanes motherboards and on transformer terminals Keep clear of these areas when power is applied to the equipment The information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Digiplan or its licensors and may not be copied disclosed or used for any purpose not expressly authorised by the owner thereof Since Digiplan constantly strives to improve all of its products we reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without the prior consent of Digiplan Digiplan Division of Parker Hannifin plc 1991 All Rights Reserved User Guide Change Summary The following is asummary of the primary changes to this user guide since the last version was released This user guide version 1600 051 07 supersedes version 1600 051 06 This user guide has been updated to incorporate the style common to our user guides Some drawings have also been updated All technical information remains unchanged CONTENTS Table of Contents Introduction TH 1 Product Descrip st a 1 A en ie 1 Power Connections ee aeg 2 Motor Connections ee east so agree 2 General Wiring A Earthing Recommendations sees ee eee ee
10. D130 0 5A HD65 1A HD130 Maximum stepping rates Full step 20kHz Half step 50kHz 1 5 step 100kHz 1 10 step 100kHz AC power requirements Motor supply range 86 172v AC at 7A HD65 14A HD130 Logic ae 18 E a at 850mA Fan supply HD 115v RMS at 150mA 24v at 250mA Ge with external 2200uF an added Logic 0 level lt 1v or short circuit to Ov Other inputs 4K7 to 12v Open collector NPN 30v max off 15mA max on Operating temperature range 0 50 C Maximum heatsink temperature 85 C ES 2 4 phase 4 6 or 8 lead 5 lead not suitable 12A 18A HD130 0 set eo Ako SEN Dimensions m Height overall 262 pcb only 233 Depth overall 262 pcb only 220 Width 106 4 2 nominal 2 HD65 8 HD130 STEPPER DRIVES USER GUIDE Power Connections Motor Connections General Wiring amp Earthing Recommenda tions Power and motor connections are made to the drive motherboard as illustrated in Figure 1 Screw terminals are provided on the motherboard for the AC input from the mains transformer Suitable transformers for the HD drives are type TO132 for a single HD65 and type TO124 for two HD65 drives or a single HD130 Refer to page 5 for the primary connections for various AC supply voltages Connect the 172 volt winding to terminals L1 and L2 on TB1 Connect one 172 volt secondary to each drive when using a TO124 to power two HD65 drives and connect the two 172 volt windings in parallel when operating an HD130
11. HD65 amp HD130 Stepper Drives User Guide For engineering For engineering assistance in Europe assistance in the U S Parker Hannifin plc Parker Hannifin Corporation Digiplan Division Digiplan Division 21 Balena Close 5500 Business Park Drive Poole Dorset Rohnert Park CA 94928 England BH17 7DX USA Telephone 0202 699000 Telephone 800 358 9070 Fax 0202 695750 Fax 707 584 8015 Part No 1600 051 07 7 September 1992 IMPORTANT INFORMATION FOR USERS Installation and Operation of Digiplan Equipment It is important that Digiplan motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as a user to ensure that you identify the relevant safety standards and comply with them failure to do so may result in damage to equipment and personal injury In particular you should study the contents of this user guide carefully before installing or operating the equipment Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide N SAFETY WARNING High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP WELL CLE
12. T TRIMMED Figure 6 Microstepping Current Profiles HD65 amp HD130 STEPPER DRIVES USER GUIDE 17 Operation of the Drive Protection Systems Overload Protection Supply Failure Protection Over temperature Protection There are three basic protection systems built into the drive and these guard against damage caused by overloads power supply faults and excess temperature Operation of any of these protection circuits will de energise the drive and the reason for shutdown is indicated by an LED on the front of the drive Provided the cause of the fault has been removed the drive may be re energised by taking control terminal 7 to Ov or by temporarily removing power Figure 7 is a simplified diagram of the protection circuitry An overload condition may be brought about by incorrect motor connection short circuits across the motor terminals or any other condition causing excess current to flow It may also arise if a very low inductance motor is desynchronised during deceleration In any of these circumstances the overcurrent comparator will set the fault latch turning on the appropriate LED and giving a fault output signal Should the high voltage supply rise excessively or any of the logic supply rails fall outside preset limits the supply protection circuit comes into operation It functions by using a comparator to compare each of the supply rails with fixed reference lev
13. Turning on switch 5 will give permanent square off This will give a significant increase in low speed torque but will also increase motor noise and temperature rise This setting should therefore be used with discretion Square off is logically inhibited at standstill to prevent overheating Turning on switch O will have the effect of permanently inhibiting square off When using a microstepping drive HD65M or HD130M switch 5 should be in the off position Note that selecting permanent square off in a micro step mode would effectively return the drive to the full step current profile Step Pulses 4 5 6 Phase 1 Figure 4 Normal Current Profile Half step Mode 14 HD65 amp HD130 STEPPER DRIVES USER GUIDE Fuses Test Points Step Pulses 4 5 6 Figure 5 Current Profile with Square off The main fuses are fitted on the inside of the motherboard and are accessible by removing the drive Ensure that the power has been turned off before any fuses are inspected Fuse ratings are as follows FS1 Fan fuse 500mA quick acting FS2 Power dump fuse 2 amp time delay FS3 FS4 FS5 172v AC input fuses 12 5 amp time delay for HD65 25 amp time delay for HD130 FS6 FS7 18v AC input fuses 1 amp time delay FS8 24v DC auxiliary output fuse 500mA quick acting In addition there is an internal fuse within the drive module itself in the 240v DC supply between the main capacitor and the switch set This is a quick a
14. apan Servo 6 lead Red White Green White Escap 8 lead Brn amp Brn Wh amp Red amp Red Wh amp Orange Org Wh Yellow Yel Wh Bodine 8 lead Brn amp Wh Brn amp Yel amp Wh Yel amp Wh Or Orange Wh Red Red T box 1 amp 7 3 amp 5 4856 288 Digiplan Compumotor RM Motor 8 lead Black Orange amp Red amp Yellow amp Wh Or Wh Black Wh Yellow Wh Red Digiplan Compumotor QM Motor 8 lead Red amp Blue Bik amp Yellow Wh amp Brn Green amp Org Use correct White for each phase 8 HD65 8 HD130 STEPPER DRIVES USER GUIDE 16 TPT TP2 TPS TP4 SYNC Figure 3 Terminals on HD Series Motherboard Control When the rack system is equipped with Digiplan control modules Signals the signal connections are made via 8 way jumper cables fitted to a mating connector on each drive motherboard In these systems it is not normally necessary to make external signal connections to the drives since all control signals go to the control card motherboard Where the rack is equipped with drives only control connections are made to the two part connectors on the drive motherboard see Figure 3 The followi
15. cting type rated at 10A HD65 20A HD130 All fuses are 1 1 4 inch type HBC high breaking capacity fuses are recommended for fuses FS3 FS4 FS5 and the internal drive fuse At the base of the motherboard are test points which may be used to monitor motor current using an oscilloscope The sensitivity is 10 8 amps volt for the HD65 and 21 5 amps volt for the HD130 TP1 phase 1 current monitor TP2 phase 2 current monitor TP3 reference voltage factory use only TP4 Ov use for scope probe earth lead HD65 amp HD130 STEPPER DRIVES USER GUIDE 15 MS20 Microstep Card Description The HD65M and HD130M drives are fitted with the MS20 Microstep Card which gives improved resolution and smoothness from a standard motor Microstepping is achieved by proportioning the currents in the two motor windings so that the rotor takes up a series of intermediate step positions In this way a standard 200 step motor may be made to perform 1000 steps rev 1 5 step mode or 2000 steps rev 1 10 step mode Ideally the intermediate current levels will produce equally spaced step positions as well as equal dynamic torque without exceeding the dissi pation limit of the motor In practice this can be difficult to achieve and a compromise has to be made Ifthe current levels are plotted against rotor position the resulting profile resembles a sinusoidal shape The optimum profile varies from one type of motor to another and for this reason the MS2
16. e eee 2 Transformer Primary Connections un 5 el reel E 8 Setting Up HEEN enee ent ee eier 10 Motherboard Hu 10 Current eet un rie Te DE 11 Stepping Mode Selection AE 11 Standby Current eee ee einander 12 GIE le d T Le T ee ee 12 Anti resonance Dropout Speed AEN 12 Current Profile Setting Halt step Model 13 EEN 14 T amp st Del E 14 MS20 Microstep Card RE 15 Description sa wc ege 15 Setting Up the Microstep Gardner ee 16 Operation of the Drive Protection Systems urrru0uunnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnn 17 Overload Protection EE 17 SHEET keete are de 17 Overtemperature Protection sese 17 Fault finding GUIAS ici ai a 19 Returning tu E 20 HD65 amp HD130 STEPPER DRIVES USER GUIDE 1 Introduction Product The HD65 and HD130 stepper drives are bipolar chopper regulated Description units designed to operate with a wide range of motors They incorporate all power supply components for direct operation from a mains transformer The two drives deliver nominal motor currents of 6 5A and 13A respectively and both operate at a motor supply of 240V DC All translation and current control functions are performed by a ULA hybrid translator and this incorporates a number of useful features including an anti resonance circuit and automatic current square off The drives can be fitted with the optional MS20 microstep card which gives 1000 or 2000 steps rev from a standard 200 step motor Specification SSA HD65 13A H
17. ead Red Green Blue Yellow Brown amp Black N C Vignoles 8 lead Red Green Blue Yellow Link Grey amp Pink link White amp Violet T box 1 3 4 2 Link 5 amp 6 link 7 8 8 Sigma 6 lead Black Orange Red Yellow White Blk Org White Red Yel N C 8 lead Black Orange Red Yellow Link Wh BIk amp Wh Org Link Wh Red amp Wh Yel T box 1 3 2 4 Link 5 amp 6 link 7 amp 8 Astrosyn 6 lead Red Red Wh Grn Grn Wh White amp Black N C Rapidsyn Slo syn T box x6 1 3 4 5 2 amp 6N C Slo syn 8 lead Red Red Wh Grn Grn Wh Link Black amp White link Org amp BIk Wh T box x8 1 3 5 4 Link 2 amp 6 link 7 8 8 Stebon 8 lead Red Yel Pink Blk Link Blue amp violet link White amp Grey T box 1 2 3 4 Link 5 amp 6 link 7 amp 8 G E C T box 1 2 3 4 Link 5 amp 6 link 7 amp 8 M A E 6 lead Grn Wh Grn Red Red Wh White amp Black N C 8 lead Black Orange Red Yellow Link Wh BIk amp Wh Org Link Wh Red amp Wh Yel T box 6 5 8 7 Link 1 amp 3 link 2 8 4 Zebotronics T box 1 4 5 8 Link 2 amp 3 link 6 8 7 Oriental 6 lead Black Green Red Blue Yellow amp White N C Sonceboz 8 lead Green Grn Wh Red Red Wh Link Org amp BIk Wh link Black amp White Japan Servo 6 lead Red Blue Green Yellow 2 x White N C Escap 8 lead Brown Org Wh Red Yel Wh Link Brn Wh amp Org Link Red Wh amp Yellow Bodine 8 lead Brown Orange Yellow Red Link Wh Brn amp Wh Org link Wh Yel amp Wh Red T box 1 3 4 2 Link 5 amp 7 link 6 amp 8 Digiplan Compumotor RM Mo
18. ecting terminal 7 to Ov O Square off inhibit Turn on to delay the onset of square off until a clock pulse frequency of 15kHz is reached This effectively inhibits the square off function Square off operates normally with this switch off The switch is only active in the 200 or 400 step rev mode The following table shows the settings of switches 1 4 for various motor currents The values shown in the table are two phase on levels and are nominal values only since they depend to some extent on motor inductance The selected current should not exceed the current rating of the motor In the half step mode the one phase on current is approximately 35 greater than the level with two phases on giving a similar electrical power into the motor Bear in mind that if permanent square off is selected there will be a significant increase in average motor current at low speeds a for HD65 for HD130 ON OFF OFF OFF ON ON OFF OFF OFF OFF ON OFF OFF ON ON OFF OFF OFF OFF ON ON ON OFF ai ON ON ON The following table shows the stepping modes selected by switches 7 and 8 12 HD65 8 HD130 STEPPER DRIVES USER GUIDE Standby Current Boost Current Anti resonance Dropout Speed Resolution Stepping DIP Switch with 200 step rev Mode Settings motor 7 8 200 steps revolution Full step ON OFF 400 steps revolution Half step OFF OFF 1 000 steps revolution 1 5 step OFF ON 2 000 steps revolution 1 10 step ON ON Default res
19. els Ifthe preset limits are exceeded the fault latch is set and the supply failure LED is illuminated Note that an excessive rise in the high voltage supply may result from failure of the power dump fuse FS2 This mode of shutdown occurs if the heatsink temperature reaches 85 C which will generally be the result of inadequate cooling The heatsink temperature is monitored by a thermal sensor mounted on the drive pcb The output from the sensor sets the fault latch directly and illuminates the Overtemperature LED It will be necessary to allow time for the drive to cool down before it can be reset 18 HD65 8 HD130 STEPPER DRIVES USER GUIDE PROTECTION CIRCUIT Over M temp Thermal Fault load Sensor Latch Supply Fault Phase 1 Current gt Phase 2 Current Figure 7 Simplified Protection Circuit HD65 amp HD130 STEPPER DRIVES USER GUIDE 19 Fault finding Guide If there is no response from the motor and the more obvious checks have been made the following guide may help to identify the problem Before going through the procedure make sure that the motor shaft is free to rotate with the drive switched off Turn the drive on and see which LEDs are illuminated Then go to the appropriate heading below Zero phase listen for audible noise from the motor Ifthere is none check for open circuit motor leads check energise input motherboard switch 9 on or terminal 7 connected to Ov Overload switch off d
20. isconnect the motor and switch on again If the overload LED is still on the drive has been damaged If not check for short circuits or crossed motor connections A very low inductance motor could also cause the drive to trip out if this is suspected try connecting the motor in series Supply failure check the AC supplies coming into the motherboard If these are OK switch off wait for 3 minutes unplug the drive and check the fuses on the back of the motherboard If OK there is probably an internal failure within the drive Over temperature the drive has overheated and should be switched off and left to cool If it was previously working satisfactorily better cooling is needed On the HD130 check that the fan is running and is not obstructed None at all check as for supply failure If there is audible noise from the motor but the drive does not respond to clock pulses look to see if the zero phase LED flashes If clock pulses are entering the drive the LED should flash or go dim depending on speed If it doesn t the drive is either not getting any pulses or is not responding to them Make sure the clock pulses go low for at least 4uS and that the logic low level is below 1v CAUTION Note that if the dump fuse FS2 is blown it will take approxi mately 3 minutes for the main supply capacitor to discharge Always allow adequate time for the capacitor to discharge 20 HD65 amp HD130 STEPPER DRIVES USER GUIDE
21. n in the same trunking as signal leads then either the motor or signal leads should be screened Connect the screen to the earth stud at one end and insulate it at the remote end HD65 amp HD130 STEPPER DRIVES USER GUIDE Where signal connections pass between units mounted in different enclosures and separately energised from the mains optical isolation of all communication lines is recommended It is still desirable that all such isolated systems have their Ov rails directly connected to earth Motor leads should be collectively screened if they run close to power switching lines particularly those driving unsuppressed inductive loads Whilst noise picked up on the motor leads is unlikely to affect the motor directly the noise gets coupled back into the drive system and can cause problems as a result Contactors and relays feeding inductive loads should be adequately suppressed 3 A
22. na single rack may be interconnected in this way but it is not recommended to connect drives in different racks together The two position link on the motherboard is fitted in position a for a standard drive operating in the full or half step mode Position b is used when the optional microstep card is fitted A 10 position programming switch on the motherboard sets up the main operating conditions and in most applications this will be the only adjustment required Certain parameters are determined by resistors on the drive and on the motherboard and again the values as supplied have been optimised for all normal applications Information is given on changing these parameters should this prove necessary The functions of the programming switch are as follows 1 4 Current programming see next section 5 Square off switch Turning this switch on has the same effect as grounding the square off terminal i e gives permanent square off at the one phase on current except at standby Current Programming Stepping Mode Selection HD65 amp HD130 STEPPER DRIVES USER GUIDE 11 6 Anti resonance Turn on to inhibit the anti resonance circuit closing this switch performs the same function as connecting terminal 13 to Ov 788 Mode switches See table on following page under Stepper Mode Selection 9 Energise Turn on to keep the drive permanently energised closing this switch performs the same function as conn
23. ng list describes the function of each terminal PIN 1 24v This is an auxiliary fused output which provides 24 volts unregulated at up to 500mA If the load is to exceed 250mA fit an external 2200uF 35v capacitor between this terminal and terminal 8 Ov Remember to observe the correct polarity PIN 2 Fault This is a composite output signal which goes high in the event of an overload short circuit supply failure or overtemperature fault Itis driven by an open collector transistor and should therefore be pulled up by an external resistor when the signal is required The resistor should be returned to a voltage no higher then 30 volts and should not allow more than 15mA to flow when the output is low HD65 amp HD130 STEPPER DRIVES USER GUIDE 9 PIN 3 Zero Phase The zero phase output is low when the translator is in its primary state This occurs every 8 steps in the half step mode and the signal will therefore go low 50 times per rev with a 200 step rev motor It corresponds with current flowing from A to Bin each motor phase At switch on the translator is always reset to the zero phase state The signal is used when establishing a mechanical reference or datum position Ratings are the same as for the fault circuit An LED on the front of the drive shows when the translator is in the zero phase state PIN 4 Boost Connecting this input to Ov increases the motor current by approximately 30 The drive is not rated for con
24. olution setting for HD65 130 Default resolution setting for HD65 130M The 1 5 and 1 10 step modes only apply if the optional microstep card is fitted types HD65M and HD130M In a standard drive HD65 or HD130 the half step mode is almost always preferable to full step since the slight loss of torque is more than offset by smoother performance at low speeds The motor current is automatically reduced at standby the reduction depends on the current setting and is 50 with the drive set to its full current At minimum current setting the standby reduction is to approximately 80 of regulated current A larger reduction may be obtained by changing R76 on the drive which is normally set at 560 ohms Reduce the value to reduce the standby current further This resistor is located at the bottom of the PCB opposite the main power supply capacitor and is accessible without dismantling the drive Do not use a value higher than 560R without consulting Digiplan The standby current may be measured by a meter connected in series with one of the motor leads or by using an oscilloscope see Test points on page 14 Note that in modes other than full step the current will vary with step position so it is safest to make the measurement with the drive on zero phase Remember to switch off before disconnecting a motor lead When boost is applied the motor current increases by approximately 30 This is set by R77 on the drive and is normally 68K
25. see diagrams on page 4 Ifa three phase transformer is used the line to line voltage must be 172 volts and connections are made to terminals L1 L2 and L3 The HD130 requires 115 volts AC to operate its cooling fan and these connections are made to the FAN terminals on TB1 If required this supply can come directly from 115v AC mains The fan connections are commoned together on a multi axis rack The logic supply requires 18 0 18v AC and this supply is connected to terminals 9 10 and 11 respectively on socket SK1 The logic supply connections are also commoned together on a multi axis rack Motor connections are made to screw terminals on TB2 Refer to pages 6 and 7 for motor connection details and ensure that the connections are made correctly 1 5mm2 cable is recommended To reverse the direction of rotation relative to the direction control input interchange the connections to 1A and 1B It is advisable to use a central earth stud mounted on the rack end plate or close to it Mains earth the transformer screen the rack Ov bus and the enclosure metalwork should all be connected to this stud In particular the connection to the rack Ov bus should use 1mm cable and should be kept as short as possible Input output signal connections longer than about 500mm should use wires having a collective or individual screen In general it is better to route signal connections separately from power and motor connections If the motor leads ru
26. tinuous operation with boost applied and if the input is held low the current will revert to its normal level after 5 seconds PIN 5 Direction Taking this input low will reverse the direction of motor rotation The direction should only be changed when the motor is stationary or running within the start stop speed range Do not change the direction signal within 5uS of the low going edge of a clock pulse PIN 6 Clock A low going transition on this input causes the motor to advance one step The width of the low going pulse should be at least 4uS Ensure that the pulse width is consistent with the maximum input frequency which can be as high as 100kHz with the microstepping option operating at 2000 steps rev PIN 7 Energise This input enables the motor to be de energised so that it may be rotated slowly by hand without switching the system off Switch 9 on the motherboard must be turned off in order to use this facility The input should then be connected to Ov in order to energise the motor DO NOT turn the motor at high speed with the drive de energised as this may overload the power dump circuit Similarly the drive should not be de energised whilst the motor is running PIN 8 Ov Use this terminal as a common return for the control signals PIN 9 18v AC in See power connection on page 4 PIN 10 Ov Connection for the 18v AC centre tap PIN 11 18v AC in PIN 12 Ov An additional common return for control inputs
27. tor 8 lead Black Orange Red Yellow LinkWh BIk amp Wh Org Link Wh Red amp Wh Yel Digiplan Compumotor QM Motor 8 lead Red Black White Green Link Yel amp Blue Link Org amp Brown HD65 amp HD130 STEPPER DRIVES USER GUIDE 7 MOTOR CONNECTION DATA WINDINGS IN PARALLEL For 6 lead motors connections shown are for one half winding N C no connection MAKE TYPE 1A 1B 2A 2B NOTES Evershed amp 6 lead Red Brown Blue Black Grn amp Yellow N C Vignoles 8 lead Rd amp Grn amp Blue amp Yel amp Pink Grey Violet White T box 1 amp 6 385 4 amp 8 2 amp 7 Sigma 6 lead Black Wh BIk Red Wh Red Or amp Yellow N C Orange Yellow 8 lead Black amp Or amp Red Yel amp Wh Or Wh BIk Wh Yel Wh Red T box 1 amp 5 3 amp 6 2 amp 7 4 amp 8 Astrosyn 6 lead Red Black Green White Red Wh amp Rapidsyn Grn Wh N C Slo syn T box x6 1 6 4 2 385N C Slo syn 8 lead Red A Blk 8 Grn A Org White Red Wh Blk Wh Grn Wh T box x8 1 amp 2 3 amp 6 4 amp 7 588 Stebon 8 lead Rd amp Yel 8 Wh A Black amp Blue Violet Pink Grey T box 186 285 3 amp 8 4 amp 7 G E C T box 1 amp 6 285 3 amp 8 4 amp 7 M A E 6 lead Grn Wh White Red Black Grn amp Red N C 8 lead Black amp Or amp Red amp Yel amp Wh Or Wh BIk Wh Yel Wh Red T box 3 amp 6 1 amp 5 4 amp 8 2 amp 7 Zebotronics T box 1 amp 2 3 amp 4 5 amp 6 7 amp 8 Oriental 6 lead Black Yellow Red White Grn amp Blue N C Sonceboz 8 lead Grn amp Or amp Red amp Blk 8 Blk Wh Grn Wh White Red Wh J
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