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Parker Hannifin HD130 manual

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Table of contents for the manual

  • Page 1

    HD65 & 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) 358-9[...]

  • Page 2

    [...]

  • Page 3

    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 t[...]

  • Page 4

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  • Page 5

    User Guide Change Summary The following is a summary 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[...]

  • Page 6

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  • Page 7

    CONTENTS i Table of Contents Introduction ............................................................................................................. . 1 Product Description ........................................................................................ . 1 Specification ...................................................................[...]

  • Page 8

    [...]

  • Page 9

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 1 Introduction Product Description The HD65 and HD130 stepper drives are bipolar, chopper-regulated 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 1[...]

  • Page 10

    2 HD65 & HD130 STEPPE R DRIVES USER GUIDE Power Connections 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 dr[...]

  • Page 11

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 3 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 0v rails directly connected to earth. Motor leads should be co[...]

  • Page 12

    4 HD65 & HD130 STEPPE R DRIVES USER GUIDE ~ 18V 18V SK1 SK2 1 8 9 C2 C1 TB2 TB1 FAN FAN 0V 172V 172V 0V 0V 115V 0V Motor T0124 Transformer 2A 2B 1B 1A HD130 16 ~ 18V 18V SK1 SK2 1 8 9 C2 C1 TB2 TB1 L1 L2 0V 172V 0V 115V 0V Motor T0132 Transformer 2A 2B 1B 1A HD65 16 Connections for Single HD65 Drive Connections for Single HD130 Drive ~ 18V 18V [...]

  • Page 13

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 5 Transformer Primary Connections Standard Digiplan mains transformers for HD series drives have a four-winding primary arrangement as shown below. The table shows the primary voltages which can be selected, the sample connections being for 240v AC. Always wire the transformer primary first, then check th[...]

  • Page 14

    6 HD65 & HD130 STEPPE R DRIVES USER GUIDE MOTOR CONNECTION DATA - WINDINGS IN SERIES N.C. - no connection. MAKE TYPE 1A 1B 2A 2B NOTES Evershed & 6-lead Red Green Blue Yellow Brown & Black N.C. Vignoles 8-lead Red Green Blue Yellow Link Grey & Pink, link White & Violet T.box 1 3 4 2 Link 5 & 6, link 7 & 8 Sigma 6-lead Bl[...]

  • Page 15

    HD65 & HD130 STEPPE R 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 & 6-lead Red Brown Blue Black Grn & Yellow N.C. Vignoles 8-lead Rd & Grn & Blue & Yel & Pink Grey Violet White T.[...]

  • Page 16

    8 HD65 & HD130 STEPPE R DRIVES USER GUIDE SK1 SK2 SYNC TP1 TP2 TP3 TP4 D2 D1 1 8 9 16 R1 R2 SYNC R29 R3 R4 R5 R6 24V FAULT ZERO PHASE BOOST DIRN CK ENG 0V 18V 0V 18V 0V ANTI RES SQ OFF EXT RESET SYNC Figure 3. Terminals on HD-Series Motherboard Control Signals When the rack system is equipped with Digiplan control modules, the signal connection[...]

  • Page 17

    HD65 & HD130 STEPPE R 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 B in each motor phase[...]

  • Page 18

    1 0 HD65 & HD130 STEPPER DRIVES USER GUIDE 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 0v and so prevent the anti-resonance system from operating. _________ PIN 14 - Square-off. When this input i[...]

  • Page 19

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 1 1 6: Anti-resonance. Turn "on" to inhibit the anti-resonance circuit (closing this switch performs the same function as connecting terminal 13 to 0v.). 7 & 8: Mode switches. (See table on following page under Stepper Mode Selection.) 9: Energise. Turn "on" to keep the drive perma[...]

  • Page 20

    1 2 HD65 & HD130 STEPPER DRIVES USER GUIDE Resolution (with 200 step/rev motor) Stepping Mode DIP Switch Settings 78 200 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 resolution setting for HD65/130 ** Default resolution setting[...]

  • Page 21

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 1 3 Current Profile Setting (Half-step Mode) 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 energ[...]

  • Page 22

    1 4 HD65 & HD130 STEPPER DRIVES USER GUIDE Phase 1 Phase 2 12345678 Step Pulses 9 Figure 5. Current Profile with Square-off Fuses 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 fu[...]

  • Page 23

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 1 5 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 intermediat[...]

  • Page 24

    1 6 HD65 & HD130 STEPPER DRIVES USER GUIDE Link 2 is normally in position "a". Moving 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 [...]

  • Page 25

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 1 7 Operation of the Drive Protection Systems 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[...]

  • Page 26

    1 8 HD65 & HD130 STEPPER DRIVES USER GUIDE 0V Fault PROTECTION CIRCUIT Output Fault Latch Thermal Sensor Over- load Comp. Phase 1 Current Phase 2 Current Over- volts Comp. -H.T. -5V +5V +12V +24V Over- temp Over- load Supply Fault Zero Phase Zero Phase Output Figure 7. Simplified Protection Circuit[...]

  • Page 27

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 1 9 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[...]

  • Page 28

    2 0 HD65 & HD130 STEPPER DRIVES USER GUIDE 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. Returning the System 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 [...]

  • Page 29

    HD65 & HD130 STEPPE R DRIVES USER GUIDE 2 1 Ship the unit to: Parker Hannifin plc Digiplan Division, 21, Balena Close, Po ole, Dorset, England. BH17 7DX 4. In the 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 Applic[...]