HD65 & HD130 Stepper Drives User Guide For engineering assistance in Europe: Parker Hannifin plc Digiplan Division 21 Balena Close Poole, Dorset England, BH17 7DX Telephone: 0202-699000 Fax: 0202-695750 Part No: 1600.051.07 7th September 1992 For engineering assistance in the U.S.
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.
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 remains unchanged.
CONTENTS Table of Contents Introduction.............................................................................................................. 1 Product Description......................................................................................... 1 Specification....................................................................................................1 Power Connections......................................................................................... 2 Motor Connections ......
HD65 & HD130 STEPPER 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 13A respectively, and both operate at a motor supply of 240V DC.
2 HD65 & HD130 STEPPER 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 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.
HD65 & HD130 STEPPER 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 collectively screened if they run close to power switching lines, particularly those driving unsuppressed inductive loads.
4 HD65 & HD130 STEPPER DRIVES USER GUIDE TB2 115V TB2 2A 2B 1B 1A TB1 0V 115V 0V FAN FAN 0V 172V 172V Motor C1 L1 L2 2A 2B 1B 1A TB1 Motor C1 C2 C2 0V 172V HD65 HD130 0V ~ ~ 18V 0V 1 SK1 9 1 SK1 9 18V 0V SK2 18V SK2 18V 8 8 16 T0132 Transformer 16 T0124 Transformer Connections for Single HD65 Drive Connections for Single HD130 Drive TB2 115V TB2 2A 2B 1B 1A TB1 0V 172V 0V Motor C1 L1 L2 2A 2B 1B 1A TB1 C2 HD65 C2 HD65 172V ~ 0V 18V Bus Connections 1
HD65 & HD130 STEPPER DRIVES USER GUIDE 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 the secondary output voltages on open-circuit BEFORE connecting to the drive.
6 HD65 & HD130 STEPPER DRIVES USER GUIDE MOTOR CONNECTION DATA - WINDINGS IN SERIES N.C. - no connection. MAKE TYPE 1A 1B 2A 2B NOTES Evershed & Vignoles 6-lead Red Green Blue Yellow Brown & Black N.C. 8-lead Red Green Blue Yellow Link Grey & Pink, link White & Violet T.box 6-lead 1 Black 3 Orange 4 Red 2 Yellow Link 5 & 6, link 7 & 8 White/Blk/Org, White/Red/Yel N.C. 8-lead Black Orange Red Yellow Link Wh/Blk & Wh/Org Link Wh/Red & Wh/Yel T.
HD65 & 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 & Vignoles 6-lead Red Brown Blue Black Grn & Yellow N.C. 8-lead Rd & Pink Grn & Grey Blue & Violet Yel & White T.box 6-lead 1&6 Black 3&5 Wh/Blk/ Orange 4&8 Red 2&7 Wh/Red/ Yellow 8-lead Black & Wh/Or Or & Wh/Blk Red/ Wh/Yel Yel & Wh/Red T.
HD65 & HD130 STEPPER DRIVES USER GUIDE 1 SK1 24V FAULT ZERO PHASE BOOST 9 18V 0V SK2 18V 0V ANTI RES SQ OFF EXT RESET DIRN CK ENG SYNC 0V 8 SYNC 16 R1 R2 R29 R3 R4 R5 R6 8 TP1 TP2 D1 D2 TP3 TP4 SYNC Figure 3. Terminals on HD-Series Motherboard Control Signals When the rack system is equipped with Digiplan control modules, the signal connections are made via 8-way jumper cables fitted to a mating connector on each drive motherboard.
HD65 & 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 B in 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.
10 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 is open-circuit, the motor current is "squared off" to the one-phase-on level at approximately 3200 half steps/sec.
HD65 & HD130 STEPPER DRIVES USER GUIDE 11 Current Programming 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 permanently energised (closing this switch performs the same function as connecting terminal 7 to 0v). 0: Square-off inhibit.
12 HD65 & HD130 STEPPER DRIVES USER GUIDE Resolution (with 200 step/rev motor) 200 steps/revolution 400 steps/revolution* 1,000 steps/revolution 2,000 steps/revolution** Stepping Mode Full step Half step 1/5 step 1/10 step DIP Switch Settings 7 8 ON OFF OFF OFF OFF ON ON ON * Default resolution 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).
HD65 & HD130 STEPPER DRIVES USER GUIDE 13 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 energised the current levels are 6.5A and 13A for the HD65 and HD130 drives respectively.
14 HD65 & HD130 STEPPER DRIVES USER GUIDE Step Pulses 1 2 3 4 5 6 7 8 9 Phase 1 Phase 2 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 fuse, 500mA quick acting. FS2 - Power dump fuse, 2 amp time-delay. FS3, FS4, FS5 - 172v AC input fuses; 12.
HD65 & 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).
16 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 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.
HD65 & HD130 STEPPER DRIVES USER GUIDE 17 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 is indicated by an LED on the front of the drive.
18 HD65 & HD130 STEPPER DRIVES USER GUIDE PROTECTION CIRCUIT Overtemp Thermal Sensor Phase 1 Current Phase 2 Current -H.T. -5V +5V +12V +24V Overload Comp. Fault Latch Fault Output Overload Supply Fault 0V Zero Phase Overvolts Comp. Figure 7.
HD65 & 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.
20 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 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.
HD65 & HD130 STEPPER DRIVES USER GUIDE 21 Ship the unit to: Parker Hannifin plc Digiplan Division, 21, Balena Close, Poole, 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 Applications Department is (800) 358-9070.
