'lI - Motion Control Systems · Test Conl,guratlon USing ac SDC Motherboard Test Conllg~raMn USing the MC20 Inds,or ... This manual .. dcslgnQd to help you iostali. dovelop, and maintain

Parker Hannilin pic Diglplan Division 21 Balana Closa Pea .. , Dorsal E"9~nd, BH17 lOX Tal, 0202690911 FalC' 0202 600820 Tal"",417217

Parlter Hannlfln Corporation Diglplan Division 5500 Business Park Drive RohnO<! Park, CA 94928, USA Tel: 0101 SOO 358 9070 F ... , 0101 707584 8015

D.g'Plan, Compumoror and Daedal ""'" I'M of rho Parker H.Mi,., Applied TBChflOiog>l>. Gtoup. P,odu<;rJJ include """per, bru.h aM brushJe< ••• rvo 'Y'lems, corrlTo/Jers aM pOSlllOniflg 5tageS, as wen •• complete ""swm-<Jes'!}fl9d sy.tems.

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Digiplan Electronic Motion Control

8D2, 8D3 & 8D5 Stepper Drives User Guide

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IMPORTANT INFORMATION FOR USERS

Installlllion and Operation of Diglplsn Equlpmen,

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SAFETY WARNING

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co Digiplan Division ot Parker Hannlfln piC, 1991 - All Rights ReHrved _

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llsl 01 Figures List 01 Tobles.

Table of Contents

How To Use T!l1S Manual, AssumpMn, Contems ofThis Manua'

'"'lallatIOn Process Ove""ew InSlallatlon Recommendations

CO"":::::.

~;~:~::l·.~ Doves SC- aM SR-Ss"., Rae.s

Product Featu,e" SD Senes Doves.

Thoory of Operation _ Chapter 2. GETTING STAIlTED_

ChaplB'Ob.'ectlves _ WOO, You Should Have

ShlD K,llable Tran,former Sh'~ KI1

Pre-InstallatIOn Testing Test Conl,gurallOn USing ar SD MOlhe'bDard Test Conl,guratlon USing ac SDC Motherboard Test Conllg~raMn USing the MC20 Inds,or Powenng Upthg SO Oeve Funcbooal Tes: Without inde,er Fur.ellenal Tos: USIflQ 'he MOO 'rlde,er.

Chaptor 3. INSTALLATION Chapw Ob,eC1lVO' Complets Sysle", Ccnllg"'8110[1

Set'log Drive FU'C1i0"' Melor Seloctlon Drive lICk Satl,ngs

SD Motherboard SDC MOlherooord Environmental Cons,derat,ons_

Enclo'ure Con"deCOMns System Mounting

Moior Mou't,ng lranSlarme'MQ<Jrt,ng

System ConnectlO-lS Wlnng GUidelines Connecting v'a a Motherboard

Chaptwr 4. HARDWARE REFERENCE ChaNer OOjeCi'ves EnVironmental SpecltlcallOns

CONTENTS

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" 8D2. SD3 & 5DS STEPPER DRIVES USER GUIDE

SD lJ-ive Spec,l.callO'lS FacIo,,! De~alJ~ Seiling, SO Dnve Direct CDnnectl"",

[)'''" S,gnal DeSCriptlOrs SOC Mother':loard Co,nectio1S

liO SpeCifications Signal Descopllons

SD Motherboard Connections_ Descopt,on Signal Descr,ptlons - SD Mothe,board_

haosio'mer W,"og , [J,menSID",1 Drawings

SFt,SC R,ck _ Trans'orOlers

Chapter 5. MAINTENANCE & TROUBLESHOOTING Chapter ObjectIVes

Index

Malnlenance Motor Drive _

TrO'Jbleshootlng Problem IsolatlOn_

ReduCing Electrical NCIse ne'.>m'"g tho SyslerT'

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Figure ,.\ Figure 2-1 F,gu,.2_2 Figure 2-3 F.gure3-1, Figure 3-2 Figure 3-3 r'Qo,.3·4 hgure 3-5 Figu,. 3-0

F,gur" 3-7, Figure 3-8 Fig"'" 3-9, Flguf8310 rlgUre 4_1 "9"",4-2 Flgu", 4 3. figure 4-4 Figure 4-5 Figure 4-K F'gure 4_(. Figure 4-8. figure 4-9_ "gure 4_10. Flgur •• -I'

I able 1-, Tab'e2-' Tobie 2-2. labl83-' Table 3-2 Tabl" 3-3 Tablo34 Table 3-5 Table 3-& hblo 3 7 Table 4-1_ Tobie 4-2 tobie 4-3 Tablc44_ Table 4-5

CONTENTS III

list Of Figures Typical SD Drrve System FunClional Block Diagram 3 SD Motherboafd Test Contlguratlon __ _ 7 SDC MothertJoard Test ConllgurallOO. _ 8 MC20 Indexer and SDC MothertJoafd T.'t ContlgurallO" _ _" " .. 9 SD Dove DIP SWitch Liok Locations & Acceleralion Cap C25 14 Location ot Li"kS, Advance Rale POlS and R1 (SD Motherboard) ___ 17 location Dt RS. links and Advance Rats Po:, ISDC Mo:herbo<.rd, 19 SD M01"ertJoafd MoW Connections __ _ 23 SDC Motherboard Motor Conno-ctlons _ 23 Typical Translormer Connections for 120V alld 240V Mains Supplies SDC Motherboard In<lexer Connect,o"s Motherboard AU<llIary Inde'er COMector . Fautt Output Example_ Optro"al Remote Advance POI and SWitch Co"nect,o," Connoctlng Directly 10 Ihe Drrve

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SDC MotMrtJoard Input, a"d Outputs_ ". ". ,,38 SDC MothertJoa'd SKT 1 Inlerlacln9 CircUits Ir,tertacl"g to SDC MothertJoard PL 1 SO Motherboard Compono"t LoyoLJI 120VAC Supply Transformer Wi,,"g 240VAC Supply Transformer Wiring SR Rack Dimensions" Transtormer Model T0116 D,mens,o", (' OOVA! Tran,furmer Model TOl19 DimenSions (300V AI . Trao'former Model TOl20 D,men5l0"s {450V A!

List Of Tables

SR-Seres Rack Co,tlguratlo1' SCISR System Sh'p KII' SC.-SR System for leanslormers Dnve Currenf DIP SWllClI Settings_ SD Moth8rtloocd R1 Res,stor Values for Setting Motor Current SDC Motherboard R5 Resistor Val u.s for Sellrng Current Mn10r Connec:,on Data - Windings," Serres_ Motor COn"Be"on Data _ Windings in Parallel_ SD MO'hmbOOrd '"de'er Connector (SKT2) Pir,octs SDC MOII,erbodrd Indexer Connector {SKT1:' P,"out, SD D"ve Spec,f,calrO",_ Sllll"vc Factory Detaul: S&I""9S Irdexer 25-Way Conoec:or I/O Speell.catlons Au"l,ary Indexer Con"cc:or (PL '1 1.-0 Spec,l.catlOrlS 1 ranstormor Pnmary Con"eCl'on,

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iv S02, SD3 & SOS STEPPER DRIVES USER GUIDE

How To Use This Manual

A .. omo"on.

Com.nto of Th'. M.nua'

""""'I>r " 'n"""",,11on

G_" 2, S.IIIng .. -

cm.plCr 4, AppliC."an De''fjn

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r"'UOlO-"'''''''ng

Installation Process

Overview

This manual .. dcslgnQd to help you iostali. dovelop, and maintain your system Eacn chapter b"9lns with a list oj 'peClllC objQC1IVes thai should be met anoryou have read the chapter, ThiS section IS Inlended 10 help you fmd and us<> the information In t~,S manual.

111,s user guide assumes tha' you have the skills or fundamental understanding of Ihe follo""ng,

BaSIC electro",cs concepts (vo~oge, switches, cum"'t, reSistors. etc I

BasIc mOlion control concepts (,orque, velocity, distance, etc)

Wrth thIS baSic levQI of understand 109, you will be able to effeClivoly use this manual 10 install. de.elop, and maintain your system

ThIS user gUide COl'llain. tho foliowlflQ InformaOon:

ThiS chapter provides a descnptloo of the produCl and a orlef account 01 liS specific features.

Th" chapter contoin, • detailed list of Ilems you shoukj have receive<! With your SD Dn.o system shlpmem It will help you become familiar with Ihe SYSlem and ensure that each componenl lunel>ons property In thIS chapter, you Will perform a preliminary conflgurallon ollhe system

TItIS chapter provides m"'ucllOos !of you to properly moul'll tho systom and make all eleCln",,1 and non'aleClrical conoeollons, Upon completion of thIS chapler. your syslem shDuld be completely cocllgured. I"stalled, and ready to pertorm baSiC operations

T",s chapler will help you customize the system to meet your appl;cation', needs Imponant appl,catlOn considerations are discussed, Sample applications are provided,

Thi5 Chapter con'ainS mformatlon on system specifications (dimenSions and pertormance), This chapter may be "sed as a qUlck.reference tool for proper switch senlngs and 110 coona<otiOos

ThIS chapt"r descnbes recommended syslem maintenance end troubleshooting procedures, ~ also pro.ides ntethods lor Isolating and resolving hardwars and soflware problems.

TO enSUre trouble·fro. operalion. you should pay speC1al allenllon to the following,

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CONTENTS

The eo.ironment io which Iha SD Dn.e system will op<>ratQ

The sys'Qm layout and mounhng

Ttle WlrlrIQ and grounding praClices used

These recommendations are Inlended to help you easily and safely Int<>grate tho SD DnvQ systom into your maJtufaCluril'lg facil~y, Industrial eo.i,onments oIIen contain conditions thai may adversoly a!feet sollo state aqUlpmenl Elect"",,1 nDISO or atmospheric comamlnalian may also aftcct the SD Dri.e system

Belore you atlempt to lMtal1 this prooucl, you should complete the fOIlOWI"Q stapa.

R""iew this el'llire manual. Become lamillar wnh the manual's conte",s So thai you can qUickly find .he information you need

Develop a baSIC underslandll'lg of all system componenTS, their iunctlons. "od onterrelatlonshps

Complete I~e baSIC syslem con~guration ano wiring ;nstruClIOOS provided in Chapter 2. Getting Staned Note that th .. IS a prelim,nary conl,guratron, 001 a permanent InSlal'atlon, usually p.rtormod m a t>ench-tap on"ronment

Perlorm as marly baSiC moves and lunctlons as YOU can with the p",IIminory configuration. You can perform thIS task only.1 you ha.o r<wiewed 1M enli,e manual. You should Iry 10 simulate the laskls) that you expeCl to portorm whon you permanQntly iostall )'<lur system. However. do not aNach a load at this lime. This woll gi.e you a realiSllC p'e"e ... 01 what 10 e.pe<:t from Itle complete <oonl,gural,on.

Mer you ha.e tested all of the syslem's iu"ctions and used or become familiar Wllh all of the system's features, carefully read Chapter 3. Installafton.

Aft.r you h""" ",ad Chapter 3 and clearty understand what must bo done 10 properly Instoll the syst.m. you should begin the Installalion process P,oceed fn a linea, manne" do Mt de.iale from the "equence or InstaliallO" mel hods pro.,ded,

Belore you beglo to confi9ure your system, check all of the system iunC\lons and feature, to ensure that you have COmpleted Ihe InstollaMn process COrrflC\ly,

The successful <oomplellan of these steps will prevent subsequent pertormanco problems and allow you to ,solata and resolve ~ny potenllal syslem dlfficu~les betore they afteCl your sy5lem'5 operallO"

VI SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE

Conventions

Warning. & C",,'iOn,

Re(ated Publications

To help you understaod and use thIS user gUlds effectively. the conv"nM", used throughout th,5 manual are explained In th,s Sect,an.

Severat mothods are u.Bd to hightlght text. Explana"ons o( ;Pedal te't and the way it IS highlighted ars pf9sented beklw.

Warning a"d cauTion notes atert you 10 poss;ble danger> 'hat may occur If you do not lollow InSINCilons correctly S"uatlOos that may cau.e bodily '"Jury are p",,,,,ntod a. wammgs. S,luatlons that may couse system <fam3ge are presgntod as cautions. Re(er to the examples shDwn balow.

WARNING

Do nol touc~ 'he motor Immediately after (T ~.s been in use for an extended f'I"iod oftlme, T~e un~ w;U "" hot.

CAUTION

System damage wlU occur il you po .... , up tile syslem (mp'''f'I''ly,

Ilal,es are used tD highlight Olher ,mportant malenaL Re(er 10 the oxample below

Adding a 10).01 ,""p"COIOr al C25 WIll rJouOle fhe aocelertIrion and decelerafion "'fes

Tho follow,ng publicatIOns may be helplul resou"",s:

DIgJplan & Compumotor Programmable Control Systems & Doves Caralogue

Schram. Peler (e<!ltor). The Nat,onal Electnc Code Handbook (Third Ed't,on) QUincy, MA Natlo"al Fire Protection ASSOCiatIOn

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Chapter Objective

Product Description

S,,""""s "',...

SC· .nO Sf\.SorlOs -.

CHAPTER 1. INTRODUCTION

Chapter 1" INTRODUCTION

The Information In this chaptsr will enable YDU to understand I"" product" basic !unClioos & features.

The SD,Sene. con".t. of Ih8 SD2, ths SD3 and thB S05 dri.es SO drives are high-f'I'rlolmance, bipolar, ohopper-regulate<! stepper drives designed for optimum perforrnanw In low and medium power appl"",~ons. They may b<> pow8r<>d by Bither an unregulated power supply or d<reClly (rom the seoondaIY Winding of a" 'solaTing tran.fonnor without any additional compo"ents. One transformer can pawer several drives in a mu~r-axis system.

SD dri.es operate rotary stepper moters at reso(utlMs 01 either 200 step5lrev {(u(l-slep) or 400 step5lre. (hal(-step).

Whgn supplied as stand alo"e units the SD drrves may"'" ptugged Inlo a standard SD Motherboard, a standard SDC MoI"e<board or the 32 way connector supplied ""'h each drive, 'he '''''''r altowmg direct integration into the use' system. The SDC Molherboard IS (or use '0 h;gh MISe enwoomeots. It P'O"'''''S opto-lsolatlon fo' the clod<. direCilDn, shutdown and fau~ lings

SD dnves am "","Iable m mu~'ple configurations in SR, and SC-Selles rae!< assemblies, Or separately as stand-alone units

TIle SC/sR-seties pre-wired rack assemblies can house up to s" SD dn"a. Each rack system is based on a t 9"{48.26cm.)-long, 5 2'('3.21 cm)-hlgh rack wIth Ind;"ldual motherboards mouoted on the bacK The diWes are mounted into th. rack and pluggBd dlmclly 1010 l~ei' oorrespondong mothemoards. This de,ig" provides a compacl packago, ma<lmum fla<lbillty, and Simple solder-(ree screw termlnat connector:;. All rack. ~t IniO slandard ,g" rack,mount system cabinets Table t -, Idenll~es the racks and Ihe number ot dnves each type 01 rack IS capal)le 01 aocommo~aTlrog.

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30ln8 1oI3sn S31111010 1:J3dd3.iS90S 'ii 80S 'lOS ,

SD2, SD3 & SOS STEPPER DRIVES USER GUIDE

For a detaded desc"pMn 01 .tepper motor construction aod op<>ratlon, rafer to the Dig'Plan & CompumoTOr MOllO" CO"lrOI CatalO(jue_

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Chapter Objectives

What You Should Have

Ship ~JI ToO'.

CHAPTER 2. GETTING STARTED

Chapter 2. GETTING STARTED

ThO information In IhIS chapter Will enable yO" 10 do the follOWing

Veofy that each componenl of your system has bee" delivered safely

Became familiar w,th system compcnen" and their I nlerre latlo nsh IPS

EstabllS" the basiC system cantiguratlOn

Carry oul a pra-lnstaliatlOn test 10 ensure that each cocrpooent !uncllons propeny

The SD Dove system IS normally shippod with ~II cDmponents pr.· "lrOO and Inslalled In the appropoate SCfSR rack system

Upon receipt, you should ,"spoet your SD Drive syst.m shlpme'Tlor obvIous damage to lis shipping container Report any such Gamage to the .h'PPIn9 company as soon os po,sools DlglplO" canoOi be Ileld responSible lor daOlage Incurred In "_Ipmeot Carefu Iy unpac, and Inspec' your SD Driva System sh'pment The Ilems I'Sled " Table 2-1 sMuld be present and Ln good conditIOn

Table 2-1 Identities sr_lp kits corresponding wHh Ihe m dlfforent SCiSR racks

1ITO,",I) 21'otru: 3(Mail <lTot," 'ITot") 6 (Tot",

Table 2-1. SCiSR System Ship Kits

6 SD2, SD3 & SDS STEPPER DRIVES USER GUIDE

Transformer Ship Kit

Transformer Type

T~e following .table .shows the transformers that are typically supplied with systems Involving one type of drive only and in typical applications where the axes are not drawing maximum VA's continuously.

For more demanding application requirements and cases where different SD drive types are used in the same rack, please consult an application engineer at Digiplan or your local distributor.

Rack Type - Number of Drives (Drive Type)

SC/SR10 SC/SR20 SC/SR30 SC/SR40 SC/SR50 SC/SR60 T0116 (1 OOVA) 1 (S02) 2 (502) - - -

1 (503) T0119 (300VA) • 1 (S05) 2 (503) 3 (502) 4 (502) 5 (502) 6 (502)

2 (S05) ~ ~~O~l 4 (503) 3 505

T0120 (450VA 4 (50S) 5(503) 6 (503) A T0116 may be used to power a smgle SD5 on low duty cycle applications.

Preinstallation

Testing

Table 2-2. SC/SR System for Transformers

A simple pre-installation test may be carried out on systems using the SD or SOC Motherboard to verify that the received system is functioning correctly. This section details the test and describes basic system configurations to test each drive-motherboard-motor set. Final installation information is given in Chapter 3.

The possible test configurations are;

1. Connecting to the drive via an SO motherboard using the onboard osci lIator.

2. Connecting to the drive via an SOC Motherboard using the onboard oscillator.

3. Testing using an indexer such as the MC20 Keypad Indexer and an 50C motherboard.

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CHAPTER 2. GETTING STARTED

Test Configuration Using an SD Motherboard

Where interfacing to the drive is via a SO Motherboard, the system for pre-installation testing should be configured as shown in Figure 2-1.

I MOTOR

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Green ~~n i9.!~n) TB1(GND) ® ~: "' ~SCN '"

", Yel/Grn

<Q)-26 IRod) ,~, " ,~ ~,

~ ~120 26V (Red) ! O'5(B"O) lav B)ue -~

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@1&.~g.1 26V Black ii'§1

9a °0 i'tV2- ~ :;::-

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[~r 240V AC TRANSFORMER ® ~~ 11''''''''°1010'''.18 SKT,

MAINS SUPPLY

,BElElBB BBB " NOTE:

1 ElElElEl !"lEI =, ,

Lead colours shown are for pre-wired 5--: transfonners (USA only)

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SHUTDOWN cY" 0--

DIRECTION ...---~ ,~

FAST ('-"0-

SLOW 0---

Figure 2-1. SO Motherboard Test Configuration

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7

8 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE

Test Configuration uSing an SOC Motherboard

Green 0': ~ Black

Where the SOC Motherboard is used in the system to connect to the drive, the configuration shown in Figure 2-2 may be used for the preinstallation test.

MOTO, }

Green

,

120VAC TRANSFORMER In' +24V , ,

MAINS SUPPLY

NOTE: lead colours shown are for pre-wired Iransformers (USA only)

~5 SRf1

lJ:-sd-o ~D-----j~

Figure 2-2_ SDC Motherboard Test Configuration

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CHAPTER 2. GETTING STARTED 9

Test Configuration Using the MC20

Indexer

If an indexer such as the Digiplan MC20 Keypad Indexer is included in the system, it may be used with the SDC Motherboard in the preinstallation test in the configuration shown in Figure 2-3. A separate procedure is described for this test.

26

~8

o 0

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0 240V AC TRANSFORMER MAINS SUPPLY

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)::::::1] )::::::·1 15YAXIS9 15XAXIS9

Me 20 KEYPAD INDEXER

MOTOR

Tl(GNO)

G.!:!!2,l-K r±-i''Ti;'±l;~REE LKS A+A-

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8 A .~~,::=o;=___ - AC INPUT

o ng.

"' ~' w, SKTl

T1

SKT2 ,

SOC Motherboard

Figure 2-3_ MC20 Indexer and SOC Motherboard Test Configuration

'0 SD2, SD3 Il. SD5 STEPPER DRIVES USER GUIDE

po,,,,;ng up thO so o"v.

Fu""'.,,,,,, Te'" ""'0011 ..... ,

,~,

srep4

SIOp5

•••

'""ctlon" Tes! U"oo '"" MC20

lode ...

Bofore you power-up the drive, you should v""ly Ihat the pOWef and "notor cables 0"' properly connected II eve'Y'hlng IS OK, the cjn"e ",", be enabled {evident by holdJng 'orq<Je on the "'otor) w'er yOu apply power

If ihe molor does not "ave holding torque, 'emove power to the 'ystem and refer Ie Chapter 6, M",otenance and T roubleshoo""g

P,or to p,"ceedlng with tho pre·lnstallal<On teSlmg, remove power to the dnvo, remove the drive and movg Lk4 to tho lk P. pas, ',00. Replace tho dnve end re-apply power This will perm" the snutdown fUf\C\,on to be tested.

ThIS procedure uses lile bui~-in clod< tacility In the SD Dove to te,t the system whgre no 1n(1,"er IS ava"able,

Close the SHUTDOWN switch to energl.e the dnv~.

Turn the SLOW pctoot,ometer lully CCW "rxf Ihee press .t.e SLOW button The motor sha~ should rctate s>Owly

Slowly tu'" tM SLOW pOlent,ometorCW and nole Ihat i!'e speed of '01"lIon I.(:reas,,,

Release the SLOW t>utton. close lho DIRE;CTION button and then pross the SLOW butlon keep.ng the DIRECTION burton closed Tho motor shaft 5could rotote In 'h. oppoMe d,,"ct.on,

Reloose bOlh buttons Tioe sha~ stups retatlng

T u'" "." FAST potenllameter lully CCW tOe' press the r AST Durror The motDr ,han shnuld rotate faster than In Step 2

Turn the FAST potentiometer CW and nolg an Increase In 'he shaft sp,*,o

Release !he FAST button "nd open the SHUTDOWN """!Ch

II 0.1 Df tnese steps Mve beer, completed 8atlsfoctonly th~ sysle"' ," b"slcolly IU1ctlon'"g correctly and ~ ay be properly 'ns'~'led (see Chapler 3)

Usc Ih8 'ollowlng proceaures 10 test the functlonollty of the system and to veo1)' Droper ,yo'em ccnneet'OIl' wM'e all "de.", socn ~s Ihe MC20 Keypad Indexer IS available,

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CHAPTER 2, GETIINGSTARTED 11

Set up the Ind."e, to run ,n accordance wllh tne IOSiaLat,c" prooedures outlined In the Indexer monual Make sure the Indexer ,esolutlon (Slep5IreV! m3tches the SD dnve ,esolutlon ,&1",19 With dnve Lk3 fiMd the onve" In 200 step",,,ev mode IFu'l Step) We,en dnve lk3 IS not flttedt"e dnve IS in 400 Steps/rev made IHal1 Step) Sea Figure 3·t

Apply power to the SD Dnve and se' toe 'nde<er to ~ertorm a O1ove with tha follo".ng para mete",

Velocity. 4 revolut,ons per ,ecorxf (rps) • Accelem1lon = 5 rp.' • DIStance = 800 stops

E<ecutrng t~IS move should ~"'u"" the croW 10 make an aOO-s!ep crave (two revOlu' "I's)

If 1M molor does rot move, refer to Ch~ptor 6. MOIn'en~1ce ana TroubleshooMg

12. SD2, SD3 & 80S STEPPER DRIVES USER GUIDE

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II

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Cllapler Objedlves

Complete System

Configuration

SO"'"g on •• Fun"""n,

CHAPTER 3. INSTALLATION

Chapter 3. INSTALLATION

Th. informaMn In th,s chapter w,lI enable you to <10 the follOWing:

Mount all syslem componBnts prop""r Connect all electOcal system 'nputs and outputs prope,ly

Ensure lhal the complete system is installed properly

P<>rtorm basic system operalions

NOTE You .houkJ complele all steps In CllaplQ' 2, Getting StaMd, before proceoolng ";th Ihe steps In this chapter,

In th,s section, you will go through complete set-op PfOC"Oum. far sottlng drive functions .

WARNING

NEVER adjust ,.,minal connections or DIP switch settLngs when the power I. On .

Drive !unctions are sot Oy means of DIP S"fllches and IInk._ Thoso are factory-set to provide opt,mum 0P<'ratlon In mast applicatioos. You may_ however, need to a~a' these settings to satisfy the pMlctJtar opera1mg raqu,,,,ments for your application .

NOTE- To cnange DIP SWitch and some Ilnk.ettlng. you must ",move the drive from Ihs rack_

CAl1TtON

Do nol remove the drive modules while power is .pptied to the rac~"

A 4-po.llian O!P switch is located on the SD Drive card (see Figure 3-') This DtP switch allows you to program the output currenUo tho motor. To access the DIP sw'tch, ramova the scrows securiog the from ponal'o 'he rack and pull lhe dove from the raC1< NOTE" When re,nslalllOg the drive, mMe sure lhe dMe follows the gwdo rails In Ihe ra""


so

DIP

JUMPERS

HEATSINK LOCATION

NOTE: Figure shows factory settings for DIP switch and Jumpers

Figure 3-1. SO Drive DIP Switch link locations & Acceleration Cap C25

Motor Selection SO drives are suitable for use with high-performance hybrid or permanent magnet motors having 4, 6 or 8 leads; a 5-lead motor cannot be used with this type of drive. The phase inductance of the motor should ideally lie between 1 mH and 10mH.

The best overall performance will generally be obtained when the unipolar current rating of the motor is between 1 and 1.5 times the current rating of the drive. Therefore the SD2 is best suited to motors in the 1.S-3A range, the SD3 to motors in the 2-4A range and the SOS to motors in the 4-6A range. Select a motor with a current rating at the top of the corresponding range when the maximum high-speed torque is required; whilst there is less torque at low speeds, the reduced winding inductance helps to maintain the torque as speed is increased. The drives can be derated to match motors having a lower current rating, but the associated increase in motor inductance causes a corresponding reduction in high-speed torque.

Motors having 6 leads are best connected in series in order to utilise the whole winding, and in the series mode the current rating of the motor is 70% of the unipolar rating. Therefore try to choose a motor with a unipolar rating of about 3A for the 802, 4A for the 803 or 6A for the 805. Greater flexibility is afforded with a-lead motors since the windings may be connected in series or in parallel. The bipolar rating of the motor relates to parallel connection, but similar characteristics will be obtained from a higher-current motor connected in series. Motors with 4 leads are not suitable for unipolar drives and therefore have a bipolar rating only.

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1

Motor Current Selection

Drive Link Settings

Link LK1

Link LK2

CHAPTER 3. INSTALLATION 15

Table 3-1 shows the settings of drive DIP switches 1-4 for the full range of current settings. The values shown are two-phase-on levels, and are nominal values in that they depend on motor inductance. When selecting the current, be sure not to exceed the current rating of the motor.

Nominal Current DIP Switch Settings SD2 SD3 SDS SW1 SW2 SW3 SW4 2.0A 3.0A 4.5 OFF OFF OFF OFF 1,8A 2,7A 4,2 OFF OFF OFF ON 1.6A 2,4A 3,9 OFF OFF ON OFF

3,7 OFF OFF ON ON 3.5 OFF ON OFF OFF

l,4A 2,1A 3,4 OFF ON OFF ON 3,2 OFF ON ON OFF

l,2A 1,8A 3,1 OFF ON ON ON 1.0A 1.5A 3.0 ON OFF OFF OFF

2,9 ON OFF OFF ON 2.8 ON OFF ON OFF 2.7 ON OFF ON ON 2,6 ON ON OFF OFF 2.5 ON ON OFF ON 2,4 ON ON ON OFF 2.3 ON ON ON ON

Table 3-1, Drive Current DIP Switch Settings

The SO Drive is fitted with four links (see Figure 3-1 for link locations). The following paragraphs describe their functions and optional settings.

CAUTION

Remove power from the drive before removing or fitting any links to the drive module or motherboard.

Leave this link fitted.

Do not fit this link.


Link LK3

Link LK4

Acceleration! Deceleration Rate

Adjustment

SO Motherboard

With this link installed, the drive will function in the full-step mode, producing 200 steps/rev. When this link is not installed, the drive will function in the half-step mode, producing 400 steps/rev. The halfstep mode is preferred in most applications, the slight torque loss being offset by smoother operation at low speeds; consequently, the drive is shipped from the factory with this link not installed. If you desire full-step operation, remove the link from LKPk and place it in LK3 (see Figure 3-1). LKPk, which stands for link park, is simply a place to store unused links and serves no electrical purpose.

With this link installed, the drive will remain permanent!~' energized and a Shutdown command signal will have no effect on the drive. When link LK4 is not installed, the Shutdown command will affect the drive. The SO drive is factory-configured with this link installed. When not installed, the link can be stored on LKPk, next to LK4 (see Figure 3-1).

The Fast and Slow set speeds are selectable by control lines connected into the motherboard.

The acceleration and deceleration rates between the two set speeds are factory set to 60ms for accelerating from Slow speed to Fast speed, and 30ms for decelerating from Fast speed to Slow speed. These times may be increased by the addition of C25 on the drive module (see Figure 3-1 for location). If a capacitor value of 10llF is fitted the acceleration and deceleration times will increase to 120ms and 60ms respectively. A capacitor of minimum 16V rated voltage should be used. When fitting observe polarity.

It is also possible to obtain a greater increase in the acceleration and deceleration times by replacing C24 with a capacitor value greater than 10)..lF (see Figure 3-1). If C24 is removed a capacitor of minimum 1 OIlF and 16V rated voltage must be fitted in its place.

Links 1 and 2 on the SD Motherboard (see Figure 3-2 for link locations)are fitted in position "b" to use the motherboard mounted preset controls RV1 (FAST ADJ) and RV2 (SLOW ADJ). When external speed controls are required, fit both links in position "a".

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~~~~~~~~[-: LO' FAST

LINKS

SLOW

• 0 LK2

-c=:::J- R1

SO MOTHERBOARD

Figure 3-2. Location of Links, Advance Rate Pots and R1 (SO Motherboard)

Advance Rate Adjustment

Motor Current

You can use the advance rate potentiometers to manually adjust the rate from 40 to 1,000 steps/sec (SLOW pot) or from 400 to 10,000 steps/sec (FAST pot). Refer to Figure 3-2 for the location of the fast and slow advance rate pots.

Turn the pot CW to increase the rate, and CCW to decrease the rate.

NOTE: If you set the 'Slow' rate too high you can stall the motor . This function should be used only if the indexer does not need to track the motor's position.

As an alternative to using the switch on the drive, you can reduce the motor current by installing a resistor in the R1 location on the SD Motherboard (see Figure 3-2). The motor current may be set by this resistor according to Table 3-2. R1 may be used to reduce the current level of an SD2 drive to O.2A. The values of current given correspond to the condition when all drive bit switches are in the 'OFF' position. The current level should not be reduced below the lowest figure given for each drive variant.


SOC Motherboard

Link LK1

Link LK2

Link LK3

Nominal Current S02 S03 S05 Resistor Value 2.0A 3.0A 4.SA Open-circuit 1.8A 2.7A 4.0A 12Kn 1.6A 2.4A 3.7A S.6Kn 1.4A 2.1A 3.1A 2.2Kn 1.2A 1.8A 2.8A 1.SKn 1.0A 1.SA 2.4A 1.0Kn 0.9A ------ ------ 680n 0.8A ------ ------ S60n 0.7A ------ ------ 470n 0.6A ------ ------ 330n O.SA ------ ------ 220n 0.4A ------ ------ 1S0n 0.3A ------ ------ 82n 0.2A ------ ------ Short-circuit

Table 3-2. SO Motherboard R1 Resistor Values for Setting Motor Current

The SDC Motherboard is fitted with three links for selecting the use of the motherboard advance rate potentiometers Of optional remote pots which you can connect via the 25-pin indexer connector (see Figure 3-3 for link locations). The factory default position for these links is position A.

Place link LK1 in position A to enable the advance rate pots on the motherboard. Place link LK1 in position B to disable the motherboard pots and divert the adjust common reference to pin 19 on the indexer connector.

Place link LK2 in position A to enable the slow advance rate pot. Place link LK2 in position B to disable the slow pot and divert the slow rate adjust signal to pin 6 on the indexer connector.

Place link LK3 in position A to enable the fast advance rate pot. Place link LK2 in position B to disable the fast pot and divert the fast rate adjust signal to pin 7 on the indexer connector.

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JUMPERS


I R5 Q

SO Drive Motherboard

JOG RATE POTS

RESISTOR R5

Figure 3-3. Location of R5, Links and Advance Rate Pots (SOC Motherboard)

Advance Rate Adjustment

Motor Current

You can use the advance rate potentiometers to manually adjust the rate from 40 to 1.000 steps/sec (SLOW pot) or from 400 to 10.000 steps/sec (FAST pot). Refer to Figure 3-2 for the location of the fast and slow rate advance pots.

Turn the pot CW to increase the rate, and CCW to decrease the rate.

NOTE: If you set the rate too high you can stall the motor. This function should be used only if the indexer does not need to track the motor's position.

Refer to the System Connections section in this chapter for instructions to wire optional remote advance rate pots from the indexer connector.

As an alternative to using the switch on the drive, you can reduce the motor current by installing a resistor in the RS location on the back of the SOC Motherboard (see Figure 3-3). The values of current given correspond to the condition when all the drive bit switches are 'OFF'. This resistor may be used to reduce the S02 drive motor current O.2A. The current level should not be reduced below the lowest figures given for each drive type. Table 3-3 provides typical resistor values. Remember that the actual current wiff depend on motor inductance .

20 SD2. SD3 & SD5 STEPPER DRIVES USER GUIDE

Environmental Considerations

Enclosure Considerations

System Mounting

;

~ ~ S02 SD3

~ I ; ;

Table 3·3. SDC Motherboard RS Resistor Values for Setting Current

The SD Drive system should be operated in temperatures from O°C to 50°C (32°F to 122DF) and al a relative humidity between 0 and 95% (non-condensing). Make sure the system is stored in temperatures within the range from -40°C to 85°C (-40°F to 185D F). Refer to the manufacturer's environmental specifications for the maximum motor case temperature when it is in operation.

You should install the SD Drive system in an enclosure to protect it against atmospheric contaminants such as oil, moisture, and din. Ideally, you should install the system in a rack cabinet In the USA, the National Electrical Manufacturers Association (NEMA) has established standards that define the degree of protection that electrical enclosures provide. The enclosure should conform to NEMA Type 12 standards if the intended environment is industrial and contains airborne contaminants. Proper layout of components IS required to ensure sufficient cooling of equipment within the enclosure.

You should give special attention to the environment and location In

which you will operate your SO Drive system. Consider atmospheric contamination and temperature around the drive before you install and operate your SO Drive system.

Your SO Drive system is normally shipped with the drive(s) preinstalled In the standard 19"-long 5.Z·-hlgh rack.

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Motor Mounting

Transformer Mounting

System Connections


The SO Drive system will operate most hybrid stepper motors. Molars should be mounted USing flange bolts and centred by the pilot on the front face. Foot-mount configurations are a less desirable alternative because the torque of the motor is not evenly distributed around the motor case. Any radial load on the motor shaft is multiplied by a much longer lever arm when a foot mount IS used rather than a face flange.

WARNING

Improper mounting can compromise system performance and jeopardize personal safety.

The transformer models used with the SD Drive system (models T0116, TOlt9, and T0120) may be mounted in the cabinet or, If you are not using a cabinet, close to the rack system you are uSing. Ensure that the transformer is located where It does not have excessively long leads and does not interfere with the SO Drive system operation and electrical connections. Transformer dimensions and weights are provided in Chapter 6, Hardware Reference.

WARNING

Do not mount the transformer where it is likely to be touched by personnel. Touching the wiring studs while the transformer is energized can inflict a lethal electrical shock.

If you have set all the SO Drive functions, you are now ready to perform the final wiring for your system. Pinouts on the drive's 32-way edge connector and on both of the types of motherboard usable are illustrated in Chapter 4, Hardware Reference .

Refer to Chapter 2, Getting Started, for instructions on the following system connections:

Motor Indexer Transformer

WARNING

Ensure that AC power is disconnected before you perform any wiring. NEVER disconnect the motor with power applied to the drive.


Wiring Guidelines

Connecting via a Motherboard

Factory Settings

Proper grounding of electrical equipment is essential to ensure the safety of personnel. You can reduce the effects of electrical noise due to electromagnetic interference (EMI) by grounding. All Digiplan equipment should be properly grounded. A good source of information on grounding requirements is the National Electrical Code published by the National Fire Protection Association of Boston, Massachusetts.

In general, all components and enclosures must be connected to earth ground to provide a low impedance path for ground fault or noise-induced currents. All earth ground connections must be continuous and permanent. Digiplan recommends using a central earth stud mounted on the rack end-plate or close to it. AC ground, the transformer shield, the rack OV bus, and the enclosure metalwork should all be connected to this stud. In particular, you should connect the rack OV bus with a t 8AWG (1 mm') cable kept as short as possible.

The SO Drive system is normally shipped with the drive(s) preinstalled in the appropriate SR rack.

CAUTION

Ensure the AC power is disconnected before attempting to perform any system connections. Never disconnect the motor with power on; this will damage the drive and the motor connector contacts. Follow the steps described below to complete the basic configuration of your system.

Rack-mount SO Drive functions are factory-set to provide optimum system performance and safe operation. You do not need to alter these settings to accommodate the preliminary system operation and testing discussed in this chapter. Normally, these factory settings, with the exception of motor current, will satisfy the complete system operating requirements. Chapter 3, Installation, discusses optional drive settings you can use for your particular application. The basic drive operating conditions are factory set as follows:

Drive current is set at maximum (2A for S02, 3A for SD3 and 4.5A for S05)

Drive resolution is set at 400 steps/rev

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Motor Connections


If you purchased a Digiplan stepper motor with the SO Drive system, please refer to the Digiplan Motor Manual for connection details. Tables 3-4 and 3-5 show connection details for a range of proprietary stepper motors.

After you determine the motor's wiring configuration, connect the motor leads to connector TS1 on the motherboard.

CAUTION

Be sure to properly connect the motor to the SD Drive motherboard. Incorrect connections could damage the drive or the motor.

A+ A· B+ B-

, LKl

~~: FAST 26~ ADJ. MAX I Ic:1 J

-=----------~OTOR .~

TBl

SCREEN

GND (TB2)

Figure 3-4. SO Motherboard Motor Connections

SOC Motherboard ~ I MOTOR F

....... / ..... ~~ IA

-;. =GN:::l,I~=B::;+ -B ................... ,

II Q)Q)Q)Q)Q) ::-r 5 - Pin Boxed Connector

Figure 3-5. SOC Motherboard Motor Connections


N c .. no connection. MAKE TYPE

EverShed & 6-lead Red

8-lead Red

T.box

Sigma 6·lead Black

a-lead Black

T.box

AS1Iosyn, Rap,dsyn, Sio-syn

6-lead Red

T.box (x6)

Slo'syn 8-lead Red

Siebem

G 5C

MAE

Zeoolronics

Onental

Soncebo>:

Japan Servo Escap

Bodine

Dlgiplan/Compumolor

T box Ix8)

8-lead

T_box

T.box

6-head

8-lead

T box

, "0> 6-lead

8-lead

6-lead

8-lead

8-lead

Tbox

RM Molor 8-lead

Dlglplan/Compumotor OM Malar 8-lead

ReO

GrnIWh

Black

6

Black

Green

Brown

Brown

Black

Red

A-1. Green

Green

3 Orange

Orange

RedIWh

3 RedlWh

3

'" , Gm

Orange

5 , Green

GrrvWh

Blue

OrgIWh

Orallge

3

Orange

Black

B-2A

Blue

Blue

,

ReO

2

Gm

, Gm

5 Pmk

3 , Red

Red

, 5 Red

Red

Green Red

Yellow

, Red

White

B+ (SOC) NOTES 28 (SO)

Yellow Brown & Black N C.

Yellow

2

Yellow

Yellow

, Grn/Wh

5 GrnlWh

, "" , , Red/Wh

Yellow

, , 81ue

RediWh

Yellow

YeliWh

Yellow

Gfeen

Link Grey & Pink, hnk While & Violet

Link5&6.link7&8

Whlte/Blk/Org, While/Red/Vel N.C.

Link WhlStk & WhlOrg Link WhlRed & WhNel

Link 5 & 6,link 7 & 8

White & Black N.C

2&6N_C_

Link Black & White, link 0rg & BlkiWh

Link2&6.I,nk7&8

Link Blue & Violet, link WMe & Grey

L,nk5&6,link7&8

L,nk5&6,link7&8

While & Black N C

Link WhlBlk & Wh/Org, Link WhlRed & WhlYel

Linkl&3,I,nk2&4

Link2&3,link6&7

Yellow & While N.C.

link Org & BlklWh link Slack & White

2x WMe N.C

Lillk BrnlWh & Org, lIllk RedlWh & Yellow,

Link Wh/Brn & Wh/Org. link Wh/Yel & Wh/Red

Link 5 & 7,llnk 6 & 8

LinkWhiGlk & WhlOrg Link WhlRed & WillYel

Link Yel & Rlue Link Org & Brown

Table 3-4. Motor Connection Data - Windings in Series

. "'.'"

I ·i~ ·i~ .~ · ~ -i!!l -i!ll -i!U -illl -illl .,~

I · ~ • ill _ OJ

-!~ -!~ .!~ .!!II .!!II .I~ .!!II .! .. • !~


For a.lead motors, conllections showll are for one haH·wifJdillg. N.C.· flO COllnection. MAKE TYPE A+ A- B-

1A 1B 2A B+ (SOC) NOTES 2B (SO)

Evershed & VigflOles

Sigma

Astrosyn, Rapidsyn, Sio-syn

Sio-syn

Stebon

G,E,C.

MAE.

Zebotronics

Oriental

Sonceboz

Japan Servo

Escap

Bodille

a·lead

8-lead

T,box

6-lead

8-lead

T.box

6-lead

T,box(x6)

8-lead

T.boxlx8)

8-lead

T.box

Tbox

6-lead

8-lead

Tbox

T.box

6-lead

8-lead

6-lead

8-lead

B-Iead

Tbox

DigiplanlCompumotor RM Molor 8-lead

DigiplalliCompumotor OM Motor a-lead

Red

RdO Pink ,., Black

Black & WhlOr

, &5

R,d

Red & White

,.2 RdO Blue

, &6

, &6

GrrvWh

Black & WhlOr

3&6 , &2

Black

Gm & BlkJWh

Red

Bm & Orange

8m & Wh/Or

Brown

Gm & Grey

305 WhlBlkJ Orange

0" Whle>

,&6

Black

Blk & RediWh

3&6 Yel& Violet

205 205 White

0'0 WhJBlk

, &5

'" YellOW

0,0 GrlllWh

White'

BrlllWh & OrgfWh

WhlBm & Orallge

Blue

Blue & Violet

'" Red

R"'" WhlYel

2&,

Green

Gm & BlklWh

"7 WhO Pink

3&6

'" Red

Red & WhlYel

'" 5&6

Red

RedO While

Green

Red & Yellow

Yel & Wh/Red

Black

Yel& While

'&7 WhJRed! Yellow

Yel & Wh/Red

,&6

White

2

O~O Grn/Wh

5&6 Black & Grey

"7 '&7 Black

Yel& WhlRed

2&7 7&6

White

Blk& RedlWh

White"

RedIWh & YellWh

WhlYel & Red

1&7 3&5 4&6 2&8

Black & Orange & Red & YeHow & Wh/Or WhiBlack Wh/Yellow Wh/Red

Red & Blue Blk & Yellow Wh & Bm Green & Org.

• Use correel White lor each phase .

Gm & Yellow N C.

Ora Yellow N,C.

RedIWh & GrnlWh N,C,

3&5N.C.

Gm & Red N.C

Gm & Blue N.C.

Table 3-5. Motor Connection Data - Windings in Parallel


Transformer Connections

,

Green

Black

'" While

E L

120VAC MAINS

SUPPLY

240VAC MAINS

SUPPLY

N ,

Refer to Chapter 4, Hardware Reference, to select the proper wiring arrangement on the transformer and check that the transformer is wired to operate with the correct mains voltage input.

As illustrated in Figure 3·6, the transformer leads are connected to the five barrier strip terminals (connector TB2 on both motherboard types) and the fast-on connector (T1) on the back of the SDC Motherboard.

WARNING

Do not connect the transformer to the motherboard while power is applied to the transformer. Do not touch the wiring studs on the transformer after It Is plugged into an AC outlet. This can cause serious personal injury.

(Green\

eJ OSCN I ~

= 't::1'1200 120 ~ (Q)110@110

=-.O(While) ~

G0'\018(Orang

°0 =0 "'" 26(Black

eJ TRANSFORME'lf/ (2)

26V Molor _ Red l8V Logic _ Blue

OV "While l8V logiC = Orange 25V Molor ~ Black

Screen; Green

26V Molor _ Red l8V logic = Blue

OV = While l8V logiC ~ Orange 26V Molor = Black.

Screen ~ Green

Screen (Green) " TB2

6V Red , 26V

8V Blue , l8V ~

V While ev Oran e

, OV ~

6V (Black , lev <[ , ,,,

SD DRIVE MOTHERBOARD

TB2

'" l8V to OV ~ 18V <[

'"

Lead colours refer to pre-wired transformers (USA only)

Figure 3-6. Typical Trans10rmer Connections 10r 120V and 240V Mains Supplies

I!J -i -.'. • ~ !II D

:. ~

• ~ • ~ .- ~

!II !I .11

• g

• G · ~ .~

.~ · ~

.'!II

.!~

.I~

.!~

.!. I

.!iI

.!iiI !i

Indexer Connections· SD

MothertJoard

Indexer Connections· SDC

MothertJoard


Refer to Chapter 4, Hardware Reference for details of connections between the Indexer and the SD Motherboard. Table 3-6 lists the pin functions.

Pin Function 1 EXTERNAL REFERENCE

INPUT 2 +24v DC OUT

3 FAULT OUTPUT

4 ZERO PHASE OUTPUT

5 DIRECTION INPUT

6 ENERGISE INPUT

7 CLOCK INPUT

8 Ov 9 SIGNALOv

10 FAST INPUT

11 SLOW INPUT

12 FAST RATE ADJUST 13 SLOW RATE ADJUST 14 RATE COMMON

15 INTERNAL CLOCK OUTPUT

16 Ov

Table 3·6. SO Motherboard Indexer Connector (SKT2) Pinouts

Figure 3-7 shows the 25 way connector for connecting the Indexer to the SDC Motherboard. A standard cable Part No. 1392.072 or 1392.078 is available for connecting the Digiplan MC20 Keypad Indexer.

+ 00 00

: 0

o o o o o

Figure 3·7. SOC Motherboard Indexer Connections


Auxiliary Indexer Connections

Table 3-7 provides the pinouts for the 25-pin connector on the SOC Motherboard.

Pin Function 1 STEP + 2 DIRECTION + 6 SLOW RATE ADJUST 7 FAST RATE ADJUST 9 FAULT + 12 SLOW INPUT 13 FAST INPUT 14 STEP -15 DIRECTION -16 SHUTDOWN + 17 SHUTDOWN -19 RATE ADJ COMMON 21 FAULT -25 Ov

Table 3-7. SOC Motherboard Indexer Connector (SKT1) Pinouts

The PL 1 (SOC M01herboard) and SKT1 (SO Motherboard) connectors provide optional connections for the drive control signals (see Figure 3-8).

These inputs are for using non-TTL Digiplan indexers, clock cards (MC1, Be?, Re9, etc.). or an indexer that has output characteristics that differ from TTL indexers.

If you are D.Q1 using a Digiplan indexer with standard Digiplan cables, it may be easier for you to use connector PL 1. The electrical specifications for this connector are provided in Chapter 4, Hardware Reference. The inputs on PL 1/SKT1 are not compatible with Olglplan or Compumotor TIL indexers.

':'I0TE: Caution must be used since these inputs are not optically Isolated.

Link cables are available from Oigiplan (200mm cable: pin 200MM JUMPER, or 400mm cable: pin 400MM JUMPER). Refer to Figure 3-8 for the PL 1 auxiliary indexer connector location and pinouts.

• ~ Wi jJ

Wi it .: ~ • G

:If jJ

• ~ !Wi , , ~

• ~ .~11

:. !I

• jI

• 11 .~ · ~ • !!J .!!!II • !!II .I~ .!. '.!. !.! • • !iI


AUXILIARY INDEXER CONNECTOR

RV2 •

rH~~~+24V FAULT Not Used Not Used DIRECTION

~~O~DOWN ov

SOC Motherboard AUXILIARY INDEXER

CONNECTOR

Figure 3-8. Motherboard Auxiliary Indexer Connector

+24 Volts (Pin 1)

Fault (Pin 2)

This terminal may be used as an output to provide +24V from the SO Drive to external control circuitry. Current drawn must be limited to a total of 250mA.

This is an output signal which goes high in the event of an overload fault. It is driven by an open-collector transistor and should be pulled up by an external resistor when the signal is required. The resistor should be returned to a voltage no higher than +25V, and should not allow more than 15mA to flow when the output is low.

When a fault occurs, the drive will de-energise until the shutdown signal is cycled or the power is cycled after the fault has cleared .

You can establish a visual fault verification by installing an LED as illustrated in Figure 3-9. Here the LED will be lit unless there is a fault.


Zero Phase (Pin 4)

Dlrecllon (PinS)

Step (PinG)

Shutdown (Pin 7)

OV (PinS)

Optional Advance Rate Pot and Switch

Connections

SD Drive

Figure 3-9. Fault Output Example

This is an output signal that goes low when the drive translator is in its primary state. This occurs every 8 motor steps in the halt-step mode. The drive always powers up In the zero-phase state. Ths signal is used in conjunction With an auto-homing circuit. Electrical parameters are the same as those 01 the Faull output.

Taking this input terminal low (connecting it to the OV terminal) Will reverse the direction of motor rotation. The direction should only be changed when the molor is stationary or running within the start/stop speed range. The input is not TTL compatible.

A low-going transition on this input terminal causes the motor to advance one step. The input should remain low for not less than 10!!s. The maximum step pulse frequency is 20kHz in the half-step mode. The input is not TTL compatible.

CAUTION

Do not stop the clock while it is running above the start/stop speed; this will cause the motor to de-synchronise.

This input terminal enables the motor to be Shut down (deenergized) so that it may be rotated slowly by hand without SWitching the system off. You must connect this input terminal to the OV terminal in order to energize the motor. NOTE: If link LK4 is installed. the shutdown Input has no effect and the drive remains energised at all times except in the event of a fault

The input is not TTL compatible.

Use this terminal as the common return pain! for the indexer signals.

11 you set links LKI. LK2, and LK3 on the SDC Drive motherboard to position B, the ADJUST COMMON, FAST ADJUST, and SLOW ADJUST signals are diverted to the 25-pin indexer connector. Pins 6 and 7 are the slow and fast adjust pins, and pin 19 is the adjust common. USing these pins, you can wire remote jog potentiometers (pots) as Illustrated in Figure 3-10.

-'jg

"'~ I "i~ .:11 'i~ ,

'ill , ~ , ~ .. !I .. :a 'Ii !I

'Ii !I

'Ii jJ

11 jJ

11 ~

:Ii ~

11 !II

• !II .~

• • :II • • ~ All


Using the SLOW. FAST. and ov signals from the 25-pin connector. you can wire remote slowlfast jog switches (see Figure 3-10). When you close the switch from the slow input (pin 12) or the fast input (pin 13) to OV (pin 25), the motor runs at the rate set with the corresponding pot. The slow range is 40 to 1,000 steps/sec. The fast range is 400 to 10,000 steps/sec.

Using the 8-pin PL 1 connector, you can also wire a remote direction switch using the DIRECTION (pin 5) and ov (pin 8) signals (see Figure 3-10). When the direction switch IS grounded to OV,the motor moves in the opposite direction.

NOTE: The jog switches should be used ~ Ii the indexer does.D.Q1 need to track the motor's position.

Figure 3-10 also shows the corresponding external connections on the SO motherboard. Note that links LKI and LK2 should be transferred to pOSition 'a' to isolate the board-mounted rate adjust controls when external pots are used.

SKTI Isoc Molherbo.,di

Figure 3-10. Optional Remote Advance Pot and Switch Connections

II ,~

11''' Itll II II ., II .. !I ., II

• II • II e .. ., iJ

• ill

IE .. IE ill

• ill • ill .. ill

• ill • III

• ill '. ill

• <II

• ! .. !",

Chapter 4. HARDWARE REFERENCE

Chapter ObjectIves

Environmental Specifications

ThIS chaplet :5 designed to lunctlon as a qUlck·reference 1001 to' .he following information.

System 'peCll<cal,ons (dimenSions & perlormance)

Defaul' DIP ,witch and link settings

I!O conoect,ons and sP<'e",cal,ons

Digipla" recommends y<lU operate and store your SD DnV9 system "ndar the following cDrod',on.

Operating Temperature' 00 to 50'C (320 to 122°F) Rs","v" Humidity Q% tD 95% Inon-condenslng) MaJC,mum Heatslnk T emperatuTe 85 C (1 B5"F) Storage Temperature' -40' 10 8S"C (-40' to lSS'F) Ma"mum Motor Caso Temp",ature 125T 1255' FI


SD Drive Specifications

Parameter Amplifiers

Type Motor resolulion Protection

Open CLrCUlt Short CirCUit Over-temperature

Nominal output current (two-phase-on)

Maximum stepping rate

Nomnal choPPlnqtrequenc Command Interface

SO drive module Input impedance Input logic level

Output circuits Output logic tevels

SO drive mounted In an SC rack

tnput

Power Dnve supply voltage Logic supply voltage Onve supply current

1B·0·18VAC for +24VOC 26-0-26VAC for +36VOC

Fuses

F5~ ~~ogiC 5;J:~1 FS2 Motor Su I Internal Oscillator

5peed range Fast 510w Preset acceleratLon time Preset deceleration lime

Motors Type Number of leads Inductance range Typocal current range

For 502, lower current can be accommo

Value

Bipolar Chopper 200 or 400 slepsJrev (User-selectablel

Phase-to-phase and across phases If heatsLnk exceeds 8S'C (185°F) 2Nphase (502), 3Nphase (503). 4.SNphase (505)- D,e switch adjustable 10kHz@200stepslrev 20kHz @ 400 sleps frev 15kHz

BUilt-in pull·up resLstors (4k?) 10 + 12V Low (logic 0) 0 to +2V or shM-circult High (logic 1) +1 OV to + 12V or open,clrcuit Open collector NPN transistors Low (tranSistor switched to OV) .1 V max.@ t SmA max High (transistor aU) +2SV max Step Input is high going pulse, 10115 min Width Maximum pulse rate is 20kHz Inputs are fully optically Isolated and require a TTL-type Signal to operale >3 SVOC high, <0 8VOC low User-supplied step and direction skinals must be c~pabte 01 DrOvldi~q-~;; to 20mA.

18-0-18 to 26-0-26VAC, or 24 to 36VOC 18-0-18VAC or +24VDC at 350mA max

1.5A (502). 2.2A (5031, Not recommended lor use (505) 1.5A (502), 2 2A (5031, 4.5A (505)

" 3.15A 502 4A S03 6.3A 505

400 - 10,000 steps/sec (ramped) 40 . 1,000 steps/sec (not ramped) 60 ms 30 ms

2·Phase hybnd or permanent magnet (normally 1.6 6)

4.6, or 8 (5 lead not SUitable) 1mH-10mH 502. 1.5-3A" 503. 2-4A S05: 4-6A ,

"' dated by ea ng all DIP SWitches OFF and changing the value of resiSlor RS on the SOC motherboard Of R1 on the 50 motherboard.

Table 4-1. SO Drive Specifications

I ·I~

• jJ

• ~ • 11

• ~ • JI

• ~ • '1

• 11

• 11

• 11

• II • II • II • ~ • !II • !II • ~ .~

• !II • !II • ~ •

;

Factory Default

Settings

CHAPTER 4. HARDWARE REFERENCE 35

Table 4-2 below provides the SD Drive factory delault settings. II the factory settings are not appropriate for your application, relerto Chapter 3, Installation, for instructions on adjusting the appropriate drive and motherboard DIP switches and links.

Position A Position A

Position B

use of onboard rate pot use onboard slow rate

"" Enables use of onboard fast rate pot

I I

LK1 Installed DO NOT CHANGE LK2 Not installed DO NOT CHANGE LK3 Not installed Selects resolution of 400 steps/rev

h,.~~~""'------+«N,.m' ~o.M~~~~~;~~~,,~~--~

Table 4-2. SO Drive Factory Default SeHings

SD Drive Direct

Connections

Pin

, , , " " " '" " " " " " " " "

Pinouts

Ro ..

" ". Moior Phase B-t Motor Phase A· Motor Phase A+ +24VDC Logic Supply 1 Logk Supply 2

" " rasr ,.. Rate Adjust Com Fast Rate Adj. Internal cRick Out NOI Conn9Cled External Ref.

Drive Signal Descrlptlons

You will need to make connections directly to the drive edge connector il you are not using either of the standard motherboards The edge connector pin lunctions are detailed below.

Rowe

'" ". Motor Phase B+ Motor Phase A· Motor Phase A+ +24VDC Molor Supply 1 Motor Supply 2

" " Faull Zero Pha,,, Slow Rat .. AdlU.t Djr<>C!ion

"""" EnergLSa SignalOV

Figure 4-1. Connecting Directly to the Drive

The Signals at the 32 way drive edge connector are as follows.'

36 SD2. SD3 & SD5 STEPPER DRIVES USER GUIDE

cog'" supply 'n",,"

'"

_<>ISUPP'y

"''''' .. 1 & 2

F • ., In"",

20m Ph • .., 0",,,,,,

Connect one phasQ of the motor to A+ ano A_, and the other p'ase to B~ and B- (connect corresponding P'"' '" 'ow a and row c n poraIl81)_

Use the ~24VDC uutpullpin 10 in either "'wi '0 poweran ">wne" conI/oiler The ma"mum cu~ent thal10u can draw is limlled 10 250mA,

When Ihe dove IS AC powarod those twe InP"ts (p,ns 12a ano' 4d) ara COMe-cled 10 the canlre-tapped secDndary GO an ISolatIOn Iran5former rated at 18-0"8 voh. rm. The centre tap ,s eon"ected To OV (pms 1S and 18). Asao alternallve, 10U can USB a 24V DC supply wrth +24V connected to t>oth 12a and 14a

ForQpsratlon"t a motor supply of 24V DC, 1hese iopuls(pins 12c and 14c1 must b8 dnven Irom the same ,solatM t,ansformer secondary as tM lOgic 5UPpl1lnPuts If oporatlOo with a moW oupply of 36V ,s mqu"ed, a s,ngle seco"dary w'"ding 1apped 26-1 6-0-18-26 should be used Pm" 120 and' 4c a'e connected ." the 26V rms tapP"9s and p'ns 12a and 14a ac co"nocted '0 .co 'SV rmslapolngs Altornawely, a DC motor supply vollage 01 between 24V aod 36V DC may b8 used The log_o supply voltage shoul~ always be 24V when oper31ing 110m DC

The SD5 IS only recommended fOf 36V ope ratIO"

Connect th'5 inpu1 (Pin 20al10 OV (Pin 16 or t d, ell her rowlto ,un 'Ie ,ntw,"1 osc, lata,", H,e la51 'a1e 01400 - 10,000 s'ep,/,ec :see hgum4-1:

ThIS OUlpUI (p.n 20C) goes h'gh ("pe" CllCUl1! If tee dnve fault elreul' ope'a1es as a result 01 an overfoad or shM'ClrC,,1T The fault c ceu't may t>e resoT by temporanly removing power or oy 1aklng Iho Energize lOput high_ The pin should be connected 1~rough e,1erna' c"eu,lry 10. voltagB not o>ceedlng 3OV, such that when low, co more than 15mA will be passed in10 1he PIn_

COrlnect1f11S Input Ipm 22a) 10 OV (p,n \6 or 16_ el1Mr row) to ru" lhe ,"ternal OSCillator d1 .he slow ra18 of 40 _ t.OOO steps/sec (see rigore 1_ "

TillS ou1pu11PIn 22clls low dUring lhe zero pha,e s1a1e o!1he d"I'e translatO'_ TI", IS 1he primary stote ~! the 1ranslator whe" power " appll8d_ Th~ zero phase Slgoal LS used 10 coojur.ctlDn w"h an aulO datum cireul1 Tho pin should be connec1ed tlHough e>:ternal clrcu,try tQ a votlage 001 e'''''odlng 3QV, such that wheo low, no more thon 15mA w,1I be pas5ed ",10 1h8 pin

'II ,J

til

lOll

.0 1I

• II • II .. II .. 1I

• j] .. 11 .. II

• 11 .. iI .. iI .. 11

• ,. • .. 'II" .,. 'II" .. !I

• ill

• ! .. I"

." .. "", Re""""'" -SIg ... ,OV

CHAPTER 4_ HARDWARE REFERENCE 37

The spoed of 1he "'temal oscilla1or can be comrolled by conreC\IIIg 8>:terna! polen\lomllters be1ween tho appropM1e Inputs (""e Figure 4-1)_ The normal values ar. IOkl! fOf1he faSI comrol pm and 100kf! for,he 510w control pm U5e higherva!ues to reduce the m.nlmum speed In each mnge

Connect 1h,s .nput (pm 2&c) 10 OV (P'" 16 Of 18, el:her rOWI to rever ... the d"ectlon 01 motor r01a110n Th'" Input should!J.Ql.Jlll changed when the step mpu1 IS low, or whll. 10e mo,o' 's running at>ove ils 'Ta"!s1op speed.

ThIS" the outpu1 of the imernal oSCtlla1or_ and It can ba connectod 1he the CLOCK inpu1(pln 28c) Th. output (pin 28a) consIS15 of IowgOing pulses apprOXimately 2S~S wide,

The mo'or shaH will advance one step tollow.ng a low_going pul5e ,n thoslnput (p,n 28-01 Th8 .1ep occurs on the nSlng edge of:M p"I'~ Th," Input should rema,O low lor at leas110uS, and may b~ driven lrom the Ln1ema' ",collator (connected to p,n 28al or an 8"ernal comraller

ThiS Signal i, alternatively relerrBd 10 35 "Step Input"

Connecttl1lS Inpu1 {p'n 300) to ov (P'" 16 or 18, Mher rowlto energlselh. mo'or_ When you r.mov.1hlS Inpu1 from av, tho motor IS de-energlled (sflutdown).oo 111e shan rotate, fr8ely LIO' lK4 on the dnve card may be Installed as an atterna1ive to makmg an e)(\ernal conne<.ilon to av_ Do nol shut down 'he drive while it Is running or damags may resu!t

As an atlernallve to usong lho drive DIP 5W11ch, you can prog,am 1he motor current ~y connecting an external re'1S1or be1ween th'" Input (pin 32al and signal OV (pin 32cl_ Referto 1he Changing Componems SectIO" In Chap1"r 3 10 de1ermIOe the appropna1e resistor value lor tho desired curreo1

Use thIS pin, "umber 320. as the return con"ect,on.1 you Install a curren1 programming reSistor betweon slQPal OV and tha wernal reier&oca lopul :Pln 3201 Do notcon!use thjs pm wIth the power OV pjns. l6alc 1881c: jt should not be used as a power or CDntml sjgnalOV.


SOC Motherboard Connections

This secllon descnbes the pinouts and connectors of the SDC Motherboard.

TRANSFORMER AC{ , Input (IV

'" '"

",

" "

{ , "". 14 STEp·

2 DIRECTION ... INDEXER 15 DIRECTION-

/10 16 SHUTDOWN 17 SHUTDOWN-

9 FAULT ...

PU

mggg.I~~i~ ~~¥ted 1/10

for ~ot Used AUXILIARY Direction INDEXER ~lep (UslIls DprIOtla/) ilDVldown

21 FAULT-

REMOTE{" = JOG 13 !"AlIT Input 25 OV

SD DrIll9 MolhBrboard

NOTE: It motherboard jumpers LK1, LK2 & LK3 are set to poSJIion B, then pin 6 ~ Slow Ajust, pin 7 ~ Fast Ajust, and pin 19 ~ Adjust Common

Figure 4-2. SOC Motherboard Inputs and Outputs

tlO Specilications Tables 4·3 and 4·4 below identify the 1/0 specifications for the INDEXER and AUXILIARY INDEXER connectors.

"'~" .. 1(1 .. ~ .. ~ .. ~ .. 'G .. ~ .. 'G .. !I .. G

• !I • "!I

• II • II • 4

• !i .!~ .I!I

I .1,. .I~ .!iJ .!iI .lil

I:,

~

+/-

CHAPTER 4, HARDWARE REFERENCE 39

ma><,

2mA O.SV max. 12V

LOG 2mA O.8Y max. 12V

enabled if SOC motherboard links LK1, LK2, LK3 are set to position B P""wilth same name indicate the go and return connections for a particular signal

Type: OPTO Opto isolated outputs for high noise immunity Open collector output oplo isolated from drive Variable

DOC VAA AEF LOG GNO

DC reference logical active low input Ground connected to drive OV

1/0 1 - Input o - Output

Signal levels . These are the voltages that should be applied to the '+' signal inputs with the '-' signal inputs held at av. However, for maximum noise immunity it is recommended that the signals are driven as a differential pair. The FAULTshould be connected to an external OV and the FAULT + used as an open collector output.

Table 4-3. Indexer 25-Way Connector 1/0 Specifications

40 S02, S03 & sos STEPPER DRIVES USER GUIDE

" optically I

** ACTIVE LOW o"Op,,, Circuit

Requires a ground to activate.

Table 4-4_ Auxiliary Indexer Connector (PL 1) ItO Specifications

Signal Descriptions - SOC Motherboard

Indexer Inputs

STEP+ & STEP-

OIAECTKlN+ & OIRECTKlN_

SHUTDOWN+ & SHUTDOWN-

Remote Advance Rate Inputs

Indexer Inputs (compatible with most Diglplan and Compumotor indexers) are transmitted via the Indexer connector on the SDC Motherboard. These inputs are optically isolated within the SD Drive and are intended to be driven differentially from 5V logic levels. Figure 4-3 represents the input circuits.

A pulse on these inputs (i.e. pin 1 positive with respect to pin 14) causes the motor to step on a hlgh-to-Iow transition. The pulse should remain high for at least lOllS. Consult your indexer user guide for instructions on how to change the output pulse width

These inputs (pins 2 and 15) controllhe direction of the molar shaft rotation. Changing the level of these inputs changes the direction in which the shaft moves.

These differential inputs (pins 16 and 17) are used to energize and de-energize (shut down) the motor. To remotely shutdown the dnve, you must first remove the energize link (LK4) on the drive. When the shutdown+ input is taken high and shutdown- is low, the drive is shut down and the motor shaft may be rotated slowly by hand. NOTE: Back-driving the motor may stress the drive and could cause failure. Taking the shutdown+ input high whilst shutdown- is low resets a fault condition, and the drive is re-energized when the input returns low.

If you set links LKI, LK2, and LK3 on the SD Drive motherboard to position B, the Adjust Common, Fast Adjust, and Slow Adjust signals are diverted to the 25-pin indexer connector (see Figure 4-2 for pinouts). Using these pins, you can wire remote jog potentiometers (pots) as demonstrated in Chapter 3.

I .. :~I .. ~ .. ~ .. :\I .. jJ .. :\I .. ~ .. jJ .. jJ

• 11

• jJ

• :II

• :II

• :II

• ~ • !II • !!II .!JI .,. •• • ~ • ill

• iii

.:'1 ,

Auxiliary Indexer ,"0

Inlerfaclng Circuits

OPTICALLY ISOLATEO

INPUTS

INTERFACING TO PL 1


As demonstrated in Chapter 3, you can also use the Slow, Fast, and OV signals from the 25-pin connector to wire remote slow/fast switches (see pinouts in Figure 4-2). When you close the switch on the slow input (pin 12) orthe fast input (pin 13) to the OV input (pin 25), the motor runs at the rate set with the corresponding pot The slow range is 40 to 1,000 steps/sec. The fast range is 400 to 10,000 steps/sec. NOTE: This function should be used ~ if the indexer does nm need to track the motor's position.

PL1 on the back of the SDC Motherboard IS an 8-pm ramp connector providing connections for the four drive control signals (see Figure 4-2).

If you are!lQl using a Digiplan or Compumotor indexer with standard cables, it may be easier for you to use the ramp connector (PL 1). Refer to Table 5-4 for electrical specifications. The inputs on Pl1 are compatible with Digiplan rack-mounting indexer cards and indexers with open collector outputs only_

NOTE: Caution must be used, since these mputs are nm optically isolated and are therefore more noise-sensitive than the inputs on the 25-pin indexer connector (SKTt).

Figure 4-3 shows methods of connecting signals to the SDC Motherboard via SKT 1. The equivalent devices in alternative logic families to those quoted are not necessarily compatible. Methods other than those shown may be used but they should comply With the requirements shown in Table 4-3.

These circuits are designed for maximum noise immunity and especially where long leads are necessary and interierence fields exist, the ideal Input arrangement is a differential line driver with twisted pair cabling to the inputs. Cable length should always be kept as short as possible.

Input Circuit B could be used as an alternative to the line driver cirCUit but poorer noise immunity would result.

Input Circuit C would operate satisfactorily where the cable length is short and interierence fields are minimal.

PL 1 allows signal connections to the drive by-passing the optoisolators. Figure 4-4 shows a method of coupling TTL signals to the drive and indicates the circuit arrangements at the PL1 Interiace Note that the signals at PL 1 are themselves not TTL compatible .


DIFFERENTIAL LINE DRIVES ego Nat. Semiconductor D58830 MOTHERBOARD SKT1

CLOCK

(TIL)

DIRECTION (TTL)

SHUTDOWN

INPUT CIRCUIT A

IDIRN+

390R I SHUTDOWN+ + 12V -------------;r,;-VVW~~~MIV--,c==l_-=C_,

OPEN TO 270R ENERGISE DRIVE

FAULT

EXTERNAL CONNECTIONS

1 SHUTDOWN-

< ~OV I 1K I

i FAUlT+

~ov:

b 1 FASTADJ

10K 1

I

ADJ COM I

lOOK I <; I +12V

~SlOWADJ I

~IFA-ST FAST LJ' i SLOW- [J rSLQ';'L ._m

,

aPlO I ]SOl i

INPUT CIRCUIT 8

STEP+ -{:j[;:'4HC04

~ - STEp· 74HC04 r

INPUT CIRCUIT C

+12V--:?

o <S60R

~STEP+ ~ STEP

OV

Figure 4-3. SOC Motherboard SKT 1 Interfacing Circuits

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• 11

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• ~ • .~ • ~ • !!I • !I • :s .~

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• iii) .. ~


INTERFACING CIRCUITS

5V

1K

MOTHERBOARD

PL1 I

1 I +24V r-I

+24V

2K7 I +5V

220R

FAULT /f./ INDICATOR LED I

I

TIL INPUT

LEVELS

+5V

1K 0

DIRECTION

2 I FAULT

I I I I

3. No connection

I

I

I

I

4 • No connection I

5 i DIRN J:~:V : T+12V

I __ 4K7

STEP! __ ---jlf 6l CLOCK CLOCK LJ;' I

7406: ~ +12V

o I - ---.5 4K7

ENERGISE- ___ ~_EN.G._ 7406 I

I

I

8 I OV OV-------,~

Figure 4-4. Interfacing to SOC Motherboard PL 1


SD Motherboard Connections

Description

Sig nal Descriptions . SO Motherboard

1. External Reference Input

(VREFEXT)

2. +24VDC Out

The use of an SO Motherboard simplifies the installation of the drive since all external connections may be made without the need for soldering. Opta-isolation of the main control signals is NOT provided with this motherboard but it incorporates preset controls for setting the speed of the internal oscillator without the need for external components. Links 1 and 2 on the motherboard are are fitted in position "bl! to use the preset controls, When external speed controls are required for the on-board oscillator, fit the links in position "a",

~V1LKl [!] ~~ FAST ADJ.

w

~ 18 ~6

~ 0 ~ <3 ff::!. iLOG'C MOTOR l'l '3 ~ SUPPLY SUPPLY

RV2 18 ~~ SLOW M'i~ (.) TB2 I ~LK2 _. <t -----

l!J~: 11·1"IO"'''''''~18 SKTl

'1,i!BSBBiJ \6

111::I1::I1::I991::188! ~KT2 I SYNCU -c:::=r Rl

1-$ ASSY No 1321035 ::m-

Figure 4-5. SO Motherboard Component Layout

The control signals which appear on two 8-way terminal connectors on the SD Motherboard are:

The motor current may be programmed by means of an external resistor connected between this input and Signal OV (terminal 9). Alternatively the resistor may be fitted in position R1 on the motherboard. Suitable resistor values are given in the section on current setting (Table 3-3).

This output is used to supply up to 250mA to an external control module such as an indexer card.

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3. Fault Output

4. Zero Phase Output

* 5. Direction Input

• 6. Energise Input

* 7. Clock Input

8. & 16. OV

9. SignalOV

• 10. Fast Input

* 1,. Slow Input

12. Fast Rate Adjust

13. Slow Rate Adjust

14. Rate Common


This is an open collector output which goes high (open-circuit) if the drive fault circuit operates as a result of an overload or short-circuit.

This is an open collector output which is low during the "zero phase" state of the translator, this being the primary state in which the translator is set when power is applied. Otherwise this output goes high (open circuit).

Connect to OV to reverse the direction of motor rotation. This input should not be changed whilst the motor is running above its start/stop speed.

The motor will be energised with this input connected to OV. When the input is released, the power switches are turned off and the motor shaft is free to rotate. Link 4 may be fitted as an alternative to making an external connection to av. Note that the drive should not be de-energised when the motor is running at speed.

The motor will step following a low-going transition on this input, the step occurring on the rising edge of the pulse. The input should remain low for at least 101-lS. It may be driven from an external oscillator card, a processor interface unit or the internal oscillator in the drive.

Use this terminal as a return for control signals and the +24V supply.

Use this terminal as the return connection for a current programming resistor (see terminal 1 ).

Connect to av to run the internal oscillator at the fast rate .

Connect to av to run the internal oscillator at the slow rate.

An external potentiometer may be connected between this terminal and "Rate Common" (terminal 14) to control the fast speed of the internal oscillator. Alternatively the fast rate may be set by RV1 on the motherboard. To use an external control, transfer link 1 on the motherboard from "b" to "a". A suitable value for the external resistor is t OK.

This is u~ed in the same way as terminal 12 but for the slow speed, and a SUitable resistor value is 100K. Transfer link 2 on the motherboard from "b" to "a" when using an external control in place of RV2 on the motherboard.

Common return connection for external speed controls.

These signal in~uts should be pulled low (i.e. to a VOltage less than O.BV) with circuitry capable of sinking 5m~. At other times the mput should be open circuit or pulled to a voltage greater than +BV. The input has an mternal pull-up resistor to + 12V.


15. Internal Clock Output

Transformer Wiring

This is the output of the internal oscll!ator which will normally be connected to the clock input of the drive (terminal 7). The output consists of low-going pulses approximately 25).18 wide.

Depending on your application, the SO Drive system is equipped with one of the following transformer models. The transformer used in your system depends on your application.

Model T0116 - 100VA • Model T0119 - 300VA • Model T0120 - 450VA

Input power to and output power from the transformer are AC. The drive receives AC power from the transformer via TB2 on the motherboard. If your application requires different supply voltages, use Table 5-6 to select the appropriate primary wiring configuration.

CAUTION

Always wire the transformer first, then check the secondary output voltages on open-circuit BEFORE you connect the transformer to the SD Drive motherboard. Note: Be sure to connect the AC ground (GND) to SCN (Earth Ground).

Earth GrOUnd~=+~==t5> AC Ground (Green)

AC Neutral (White)

Figure 4-6. 120VAC Supply Transformer Wiring

AC line (Brown)

AC Neutral (Blue)

Figure 4-7. 240VAC Supply Transformer Wiring

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.(1

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• 11

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.~

.~

• •

Dimensional Drawings

SRlse Rack


. .'nl~ut Line t~~C -ND"t;~i t~~ -StudS: .

" C B&E; C&F 120 A A&D;C&L 220 B r C&I= 230 A r "I<, Z4U A F C&D

Table 4-5. Transformer Primary Connections

1-__ 436.88 (17.2) --~I

mm(in.)

Figure 4-8. SR Rack Dimensions


Transformers r--- 89.0 (3.50)

T 0 @SCN

@~@,~ 83.0 (3.27)

--I

@lB VIEWA

n~===:::::::::;::;:::o --.L L4 .. --'-)-------r-'-'-J (0.16)

El e-~-136.0

(5.4) MAX 64.0

~ 67.0 (2.64) ----1 ...L -'-I I ° D

LJ LJ-El -----l I! l-_ID I------l~ I mm (in) Approximate weight: 3Kg (6.6 Ibs)

Figure 4-9. Transformer Model T0116 Dimensions (100VA)

J'; !l

!~

I: ~ I! G

I~ ~

I ~

I: !CI

liijJ

I~

I~

I!J

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E.~

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I: !I

I' ~ I!~

t~

t: ;g

I~

I, iii

Ic.·~

T 117.0

(4.61)


112.0 (4.41) ---1

o @SCN @'0

@,,@,," @ ..

@1O@10 VIEWA

1 @@ @ .. o @..0

L-___ T_O_"_9 ___ ~

n;:;::::::====:=:=;::;:::o --.L L 4.. ~ 8<>.0 (3.15) ----1 (0.16) ---.L -i...

El e -~--6 6 142.0 (5.59) MAX. 64.0

LJ LJ-El ----LJ -' l_ LJ--D ---L.-.JD

mm(in) Approximate weight = 5_3 Kg (11.6 Ibs)

Figure 4-10. Transformer Model TOl19 Dimensions (300VA)


T 136.0 (5.35)

r--- 126.0 (4.96) -------'-1

VIEW A

T=';::::;=====::;:::;:= ~ L400

(0.16)

o 0

155.0 (6.10) MAX.

89.0 (3.50)

I-- .'.0 (3.50) --j

I I 0 0

r'

Yo 1

0 0

'"

mm (in) Approximate weight = 7.3Kg (16.1 Ibs)

Figure 4-11. Transformer Model T0120 Dimensions (4S0VA)

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CHAPTER 5. MAINTENANCE & TROUBLESHOOTING 51

Chapter 5. MAINTENANCE & TROUBLESHOOTING

Chapter Objectives

Maintenance

Motor

Drive

The information in this chapter will enable you to do the following:

Maintain the system's components to ensure smooth, efficient operation

Isolate and resolve system hardware and software problems

Routine maintenance is not necessary, but occasional checking of the following pOints is recommended .

You should inspect the motor to ensure that no bolts or couplings have become loose during operation. This will prevent minor defects from developing into more serious problems.

The ball bearings used in most stepper motors are permanently lubricated and do not require any maintenance.

You should inspect the motor cable or leads periodically for signs of wear. You should not apply excessive tensile force to the cable or bend it beyond a one-inch radius of curvature during normal operation. Tighten all cable connectors.

Check that the drive heatsink is free of particles and has a free flow of air over its entire surtaC9. Enclosures must be connected to earth ground through a grounding electrode conductor to provide a lowimpedance path for ground-fault or noise-induced currents. Check the security of the ground connections.

Troubleshooting This section discusses methods to identify and resolve problems that may occur with your SO Drive System.

Problem Isolation When your system does not function properly (or as you expect it to operate), the first thing that you must do is identify and isolate the problem.

Isolate each system component and ensure that each one functions properly when it is run independently. You may have to remove system components and re-install them to detect the problem.

----------

52 SD2. SD3 & 8DS STEPPER DRIVES USER GUIDE

W/lRNING

Ma~& .ure 10 remove power De1o,e lesUng any SD system com~nenls.

Use the following informatIOn to holp In ,deolifyir.g the difficulty II the problem permts, call one olthe numbe" at the kent 011 '" U>"' Gu"'" for eng,neennQ ass,slar.C"

Tost 'he mDlo' '0 see If ,t has holding torque If there IS no hO{i,ng ~orque, here are some probable causes

There IS no /I.e power

Current s818cl,on DIP owrtc,o, aro not set properly (see tre motor curren' selection lable ,n Chapler 3, InstallatIOn) NOTE If you hav~ changed 'he current with resIsmr Fi5 Imlke sure '''0 cummt malches Ihe molor'5 reqwremeO/s

There are boO OOoo€'ClIO% or bad cable, In tho powe, ,U'PI)' CIrCUit Dlsconn8c' the power connector, then U5e a ",e'e- '0

monitor COnl",",ly between Ihe power cornector ard the transformer and betwoeo the transformer and the rack

There are bad connectlOns or bad ca~les In the motor CI'CLlit DI<co"neet the power to the drive and romave the mo'o' connector ,oto the motherboa'd liSing a meter C""Ck Ihe COrl1InUlty Ir ~r,. motor Circuit between pinS 1 @nd2Dft,emetor connector Reoeat tor PInO 3 and 4

The dnve ma) ncl be oonr,ectea prOf}<"I) to ,," mot1ot.oard Make sure tho dnve" securelv plugqed Into the DIN 00"""010' on tile "",de cllhe mOlhe,board

The shutaown Input may 08 activo

The drive IU5e, may be blown DIScQ",ect AC power Irom Ihe d,,", remove the do,e from Ihe rack. and ,nspeet t~" IIn~ 'u<o" FSl ond FS2, on the SD Dooo cmd Ifeilher of fhe fuses are blown, refurn lhe syS1em for repair.

If the unit hoo holding lorque and the motor shaft 011'1 fa Is to mo',e, here '''" 50me praoablo causes

Tho limit sw'c~es have wan tnppod or ar~ fa~lty Mako ,ure that your limo! sWitches ",e O~F Dr that Ihe limits are dISabled

The load IS Jommed. You should hearthe drive atte01pllng ,0 movo t~8 motor Remove AC power from the driver ar,d ',enfy

• ~. !~ · ' II I: ;)

f II

I iJ

I II

I iJ

I ;]I

• ;]I • II • iJ

• II • iJ

• iJ

I iJ

• II • II I II

I ".

f II

! II

I .. I 11

t"

MoIorSlalls

"""" F.". '0 "un .t liigh S""",,S

Melar .. .Im, a,

~"

CHAPTER 5 MAINTENANCE & TROUBLESHOOTING 53

that you can move the load manu~ Iy oway from the ~Olnt ol'he

,"~

Indoxer palameters are incorrectly sat up If certal" parametors are oulaf range or are miSSing, the motor ""II not move when )OU

ISSU. tho GO Dr START command

TM lollowlog are addil;onal trouble,oooting techniques

Check the moto' lor damage Also check the motor leads/coole to see 01 they are dam"lled or sho~ed These colld,l,ons rray caus" the drive to fau~ out

Check the ""'Slance of tho motor and caoles to make sure Ihal shorts dQ not e<ist between phases or to earth GND The reSistan", across each motor phase should be conSisten'ly 'ow and Ihere should w 00 connection between molOr phases and betweon each phase and eMh ground.

A motor stall dunng acceleration may be caused by one or Tore cl the follOWing faCIO,"

The torque requcremenlS may be exCe55lVe The acceleration ramp may be t<>o stoep· lower acceleration ma) be Iequired The load lne~Ia and rotor ;ne~,a may be grOSSly mISmatched

II toe molor "all, du"ng the con.tam ,eloclty panlon of a move, !he shan and.'or coup'.r may be damaged"r b,ndlng due to Improper coupling or OXceSSIVO motor load

A stall may occu' II the DIP sWitch setting to, tho fT'otor curront seteCtlan LS Incorrect. The motor may nol be receiving enough culrenl to drive the load.

A .tall may also be detected In clOSed loop mode It the enccder resallItlon IS not ,et property, or 01 the encoder (where I,tled) "put channels (A and B) arg ",versed

ltthe motor fal'sto run at high 'peeds ,t IS pOSSible that tho "1'0'" may nat be produc;ng enoug!l torque to mDve 'ho load at these veloCities Check t1e wque/sf}<'ed OJ"'"S rr 'he Diglplan Mof,Qn COnlml CataiDgueand moke SLlre you are ''Y,ng 10 r"" Ille molor within the system Gap"rnlitle.

Check that there ar~ "0 mechanical pro~leins at tile oad cau"'9 vanable leedlng cDnd"'Dn Disconnect The molor I'om tt," 10M and run" Wltflout a 'oad conoected Check the DtP switches lor programming ra"stor ,alue) lor prof}<" currenl wtlngo


"""', So_" 0."".",. Si~n. of

w"'

Reducing Electrical

Noise

Returning the System

111M molor e'ceo'" Its ma"mum motor case wrperotw. r"'''9, lad",e "dl even\ually ,",ult Check yeu' DIP SWl1ch settings (0' programmmg reSiSIor value) to .nSUr<! tlmt the current 5etl,ng , correel for Ihe motor you am uSLn9. Reier to Chapler 3, InSlal ""aO lor proper currgnt s8ttirogs.

TM molor sha~ may wear pr.maturety il IMre " lorelgo. maTenol 'ubblng against the shatt, or if tM load " nol coupled proporl\, Check co"pllngs lor tlghlness

For ,"!ormatlOn on Identifying ana suppreSSing ele",neal rolSO, 'efp' 10 tho Tacllmc"1 Data se,","" ollhe Ow,plao Motion Conrra,' Catalogue

II you must relurn your SO Onve .. System to efieel repa"s or upgrades use the lollowing steps,

Gel the ,enal number and the model "umber Of the oefec'.ve unl1, and a purchase order number to cover repair costs In the event the unll IS ~eWml"ed oy thB manulaclure<s 10 be out 01 warramy

2. Belore you relum Ine unll, have SDmoone from your "'gaOlS"IIcn With a lechnlcal understondlng 01 the equlpmenl ano ,ts aF'PilcatlOn Include answe!5to as many of Ih. 'o"owlng qccs· or, as poSSible

What IS 'oe ex10nt ot the laJlu,e/reason for retum?

How long did" operato?

Did d"Y ol"e, Ilems fad althe ,amo tlme'l

What was happemng when the un,1 failed (I", installing tee U'''·, cycling power, SIMlng Olher equipment. etc)?

How was the produCl configured (in deTail)'

Woat II any, caoles were mOlMod and how?

Wl1h what equipment IS the w\1\ Interlaced?

What was ihe application?

• ~I .... • g .. \II

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.\11 10 \II

10 ..

10 \II

II ..

Eji

Eji

Eji

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Ii" It'" Ii it Ii 11 Iii! ... . "

CHAPTER 5, MAINTENANCE & TROUBLESHOOTING 55

Whal was tne syS1Bm environment Ite~lpe'alure er,clo'ur~ spacing en,' o,,"otallon, cootam,,'aI'lS, ele ,"

What upgraces, If any, are reqUired \1ardwa1e, so~w"re '"ser guide)?

3 tn the UK, call Olglplan lor a GRA IGoods Relurned Aurhorisation) I\umber ROlumed product. cannot be acreptM W'toout a GRA number The phone "umber for Olglpl"" RBparr Depart men! is 0202 690911. For CustorT".er Se<VlceiAppllca· ,ons Deparlmenl prone 0202 699000

Parke' Hanni"" pic D'Qlp'ar.Dlv.SlOo, 21, Balena Close, PDole, Oorsal, England. SH177DX

4 In The USA. coli Parker Compumctor lor a Rel,IIn Ma'enal Authmlzailor IRMA) "umoer, Rel:Jmed produ,", cannot be accepled Wllhou' an RMA number The phone number lor Pmksr Comoumotor Applications DepMmen: " (800:, 358·9070

Sltlp loe uM 10 Park.r Hannlfln Caflloratlon Olg,plan DiviSion 5500 BUSiness Park Drive Rohnert Park, CA 94928 Altn RMA # "«,,x

5 Elsewhere Contact tho dIStributer who supplied the equlpnlent

56 5D2, SD3 & SD5 STEPPER DRIVES USER GUIDE

• • It t '. t ,. t II

•• •• .' II ., ~I

.' OJ

• .. • II I II

I oJ

" .. I. oJ

II! iJ)

• .. I, .. I .. 1 .., I .., I oil

I "I

i ;~

t: ~~

Advaoce Rate AdJuslment, 17. t9 ASCtl. 3 Assumpllons, IV Atmospheric contamlnalion, v. 20 Au,iliary tndQxer ConnectIOns, 28 AU'illary Indexer 110, 41

BasIc alectro",cs, IV BasIc mot,on conlrol, W

Con,gnts of This Manual, iv Conventions, VI

Dimensional Drawings, 47 DIP swilch selling. 53 Dnve,51 Dnve DIP Switch Settings. 13 Dnve Functions, 13 Dnve link Sellings. 15

Electncal nOI08, v EMI.22 Enclosure ConsideratIOns, 20 Environmental Con"deralions, 20 Environmental Sp<>clfl""'ions, 33

Faclory Settings, 22

GRA IGooos Returned Aulhonsahonl "umber, 55

VO Speclflcallons. 38 lode".r Inputs. 40 In51allallon Process Overview iv lostallat,oo RecommendaliOns. v

Motor, 51 Molor Connections, 23 Motor Current Select,on. 15 Motor Fads 10 Move, 52 Motor Falls to Run at KIQI1 Speeds. 5~ Motor IS JBrky or Weak, 5.'l Motor Mounling, 21 Moto, Ovorh~ats, 54 Molor Sl\aft Develops Signs Df Wear 54 Motor Stalls, 5.'l

Nat'anal ElfrClflcal Cooe, 22

";',,,0"''::

INDEX 57

Index

Optional Aovance Rale POI aod S",:ch Connections, 30

Oscillalor,2

Pinout. and coonactors, 38 Power-up, 10 Product DescnpMn, 1 Produe' F8aMss, 2 Properg'Gundln,.22

Roduelng Else'ncal Na $8, 54 Relaled Pub',calior,s, VI Ramote Advance Rale Input" 40 Rolurn Malenal AulhorizaiGn IRMAI numOOr

0; Returning the SySlem. 54

SD Drive Factory Dete.ult SeitlOgS, 35 SD Mothorboard, 'S SO-Series, 1 SDC Mothe,board, '6 Sel-Up procedure" • 3 Ship kit. 5 S,gnal Desc"pIIO'lS, 40 SR·Seoes Rack ConflguratlOo •. 2 SRiSC Rack 47 System Connections, 21 System Mounting ?O

Theory of Opera' On. 3 Transfom-er ConoeCllOns, 26 Tran,fo,mer Mountl'g, 21 Transformer W",o9, 46 Tra"stormers, E "8 Trouble,hOO:lng 51

Warnirg and cs"I'o' ,oles '", WIfing GUidelines, 22

1

'lI - Motion Control Systems · Test Conl,guratlon USing ac SDC Motherboard Test Conllg~raMn USing the MC20 Inds,or ... This manual .. dcslgnQd to help you iostali. dovelop, and maintain

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