Danaher Motion P70360 User manual

P70360 (AC) High Performance Micro-
stepping Drive
Reference Guide
Part # M-SD-7AC-01
Rev D
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Record of Manual Revisions
Revision Date Description of Revision
1 01/2004 Initial Release
B 09/2004 Update corporate information
C 03/2006 Update blink codes and add clarification on descriptions
D 04/2006 Made corrections and added clarification
Copyright Information
© Copyright 2004 - 2006 Danaher Motion – All rights reserved.
Printed in the United States of America
NOTICE:
Not for use or disclosure outside of Danaher Motion except under written agreement. All
rights are reserved. No part of this book shall be reproduced, stored in retrieval form, or
transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise
without the written permission from the publisher. While every precaution has been taken in
the preparation of the book, the publisher assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of the
information contained herein.
This document is proprietary information of Danaher Motion that is furnished for customer
use ONLY. No other uses are authorized without written permission of Danaher Motion.
Information in this document is subject to change without notice and does not represent a
commitment on the part of Danaher Motion. Therefore, information contained in this
manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
Danaher Motion reserves the right to make engineering refinements on all its products.
Such refinements may affect information in instructions. USE ONLY THE INSTRUCTIONS
PACKED WITH THE PRODUCT.
Safety-alert symbols used in this document are:
WARNING
Alerts users to potential physical danger or harm. Failure to follow
warning notices could result in personal injury or death.
CAUTION
Directs attention to general precautions, which if not followed, could
result in personal injury and/or equipment damage.
NOTE
Highlights information critical to your understanding or use of the
product.

Danaher Motion 04/06 Table of Contents
M-SD-7AC-01 Rev D i
Table of Contents
1. GETTING STARTED....................................................................................................1
1.1 UNPACKING AND INSPECTING ...................................................................................2
1.2 PART NUMBER.........................................................................................................2
1.3 ACCESSORIES .........................................................................................................2
1.4 SPECIFICATIONS ......................................................................................................3
1.4.1 DRIVE POWER .................................................................................................3
1.4.2 I/O SPECIFICATIONS ........................................................................................4
1.4.3 ENVIRONMENTAL .............................................................................................4
1.5 HARDWARE INSTALLATION........................................................................................4
1.5.1 AC BASE DRIVE MOUNTING DIMENSIONS .........................................................5
1.5.2 AC DRIVE WITH R4N RS-485 OPTION CARD....................................................6
2. WIRING.........................................................................................................................7
2.1 CONNECTOR LOCATIONS..........................................................................................7
2.2 FUNCTIONS BY CONNECTOR ....................................................................................8
2.2.1 J2 & J3 – RS-485...........................................................................................8
2.2.2 J4 CONNECTOR – COMMAND I/O .....................................................................8
2.2.2.1. Step, Direction and Enable Inputs.........................................................9
2.2.2.2. Connection Scheme for Differential Step and Direction Signals .........11
2.2.2.3. Connection Scheme for Open-Collector Single-Ended Step and
Direction Signals .......................................................................11
2.2.2.4. General Purpose Inputs.......................................................................12
2.2.2.5. Fault Output (J4-7, 8)...........................................................................13
2.2.2.6. General Purpose Output (J4-21, 22) ...................................................13
2.2.3 J5 SERIAL CONNECTOR (RS-232)..................................................................14
2.2.4 J6 CONNECTOR – MOTOR POWER.................................................................14
2.2.4.1. Connecting A Motor.............................................................................15
2.2.5 J7 CONNECTOR – AC POWER .......................................................................16
3. CONFIGURE THE DRIVE WITH SWITCHES............................................................17
3.1 MOTOR SELECTION................................................................................................17
3.2 STEP/MOTOR RESOLUTION....................................................................................18
3.3 LOAD INERTIA........................................................................................................18
3.4 DYNAMIC SMOOTHING™........................................................................................19
3.5 CURRENT REDUCTION ...........................................................................................19
3.6 MULTI-STEPPING™................................................................................................19
3.7 ENCODERLESS STALL DETECTION™......................................................................20
4. USING P7000TOOLS.................................................................................................21
4.1 INSTALLING P7000TOOLS....................................................................................21
4.2 SET-UP WIZARD ....................................................................................................21
4.3 TOOLBARS.............................................................................................................22
4.4 CONFIGURATION AND UNIT ADDRESS .....................................................................23
4.4.1 STATUS SCREEN ...........................................................................................24
4.4.2 CONFIGURATION SUMMARY............................................................................25

Table of Contents 04/06 Danaher Motion
ii Rev D M-SD-7AC-01
4.4.3 STEPPER MOTOR SCREEN .............................................................................25
4.4.3.1. Motor File Editor.................................................................................. 26
4.4.4 MECHANICAL .................................................................................................27
4.4.4.1. User Units Ratio.................................................................................. 28
4.4.4.2. Load Information................................................................................. 28
4.4.5 COMMAND CONFIGURATION ...........................................................................29
4.4.6 I/O CONFIGURATION ......................................................................................30
4.4.6.1. INPUTS............................................................................................... 31
4.4.6.2. Input Debounce Time.......................................................................... 31
4.4.6.3. Output................................................................................................. 31
4.4.7 X-SMOOTHNESS ............................................................................................32
4.4.8 ADVANCED SETUP .........................................................................................33
4.4.8.1. Anti-Resonance .................................................................................. 34
4.4.8.2. Current Reduction............................................................................... 34
4.4.8.3. Profiling............................................................................................... 35
4.4.8.4. Stall Detection..................................................................................... 35
4.4.9 MOTION PROFILE GENERATOR .......................................................................36
5. TROUBLESHOOTING............................................................................................... 39
5.1 COMMON PROBLEMS..............................................................................................39
5.2 STATUS DISPLAY....................................................................................................39
5.3 EXPANDED STATUS CODES ....................................................................................40
APPENDIX A ...................................................................................................................... 41
A.1 REGULATORY INFORMATION ..................................................................................41
A.1.1 USE CONFORMING REQUIREMENTS................................................................41
A.1.2 CE-APPROVAL...............................................................................................41
A.1.3 LOW VOLTAGE DIRECTIVE AND EN50178: ......................................................44
A.1.4 UL REQUIREMENTS........................................................................................45
A.1.5 EMC – COMPLIANCE WITH EN61800-3..........................................................45
A.1.6 AC MAINS – CONDUCTED EMISSIONS..............................................................46
A.1.7 GROUNDING CABLE SHIELDS FOR EMC..........................................................47
A.5.4 MORE EMC INFORMATION .............................................................................48
A.2 SAFETY .................................................................................................................48
5.4 FIRMWARE UPGRADE PROCEDURES .......................................................................50
INDEX .................................................................................................................................... I

Danaher Motion 04/06 Getting Started
1. GETTING STARTED
WARNING
Read this reference guide before you apply power
to the drive. Mis-wiring of the drive may result in
damage to the unit voiding the warranty. Improper
grounding of the drive may cause serious injury to
the operator.
Only qualified personnel are permitted to transport, assemble, commission,
and maintain this equipment. Properly qualified personnel are persons who
are familiar with the transport, assembly, installation, commissioning and
operation of motors, and who have the appropriate qualifications for their
jobs.
Read all available documentation before assembling and using. Incorrect
handling of products in this manual can result in injury and damage to
persons and machinery. Strictly adhere to the technical information
regarding installation requirements.
CAUTION
Keep all covers and cabinet doors shut during
operation.
CAUTION
Be aware that during operation, the product has
electrically charged components and hot surfaces.
Control and power cables can carry a high voltage,
even when the motor is not rotating.
CAUTION
Never disconnect or connect the product while the
power source is energized.
CAUTION
After removing the power source from the
equipment, wait at least 2 minutes before touching
or disconnecting sections of the equipment that
normally carry electrical charges (e.g., capacitors,
contacts, screw connections). To be safe, measure
the electrical contact points with a meter before
touching the equipment.
M-SD-7AC-01 Rev D 1

Getting Started 04/06 Danaher Motion
1.1 UNPACKING AND INSPECTING
Open the box and remove all the contents. Check to ensure there is no
visible damage to any of the equipment.
CAUTION
Use proper procedures when handling electronic
components to avoid damage to equipment.
CAUTION
Remove all packing material and equipment from the
shipping container. Be aware that some connector
kits and other equipment pieces may be quite small
and can be accidentally discarded. Do not dispose of
shipping materials until the packing list has been
checked.
NOTE
Upon receipt of the equipment, inspect components
to ensure that no damage has occurred in shipment.
If damage is detected, notify the carrier immediately.
Check all shipping material for connector kits and
documentation.
1.2 PART NUMBER
Family
P7 - P7000 Series
P7
Current Rating
03 - 2.5 A
RMS continuous,
3.5
A
RMS peak (
AC only
)
05
- 5 A
RMS continuous,
7.1 A
RMS peak (
DC only
)
NN
Voltage
3 - 20 - 75 VDC
6 - 120/240 VAC
N
Electrical
Option
0- no option
0
Functionality
PN - Motion Node Indexing
SD - Step/Direction Base Drive
R4 - RS485
XX
Feedback
N- None
N -
Customization
Omitted for standard unit
s
NNN
1.3 ACCESSORIES
106-113020-01 Base drive P70360-SDN or P70360-PNN Connector kit
106-113023-01 RS-485 drive P70360-R4N Connector kit
768-026902-01 26-pin D-Sub connector to terminal block adapter
P7S2-232-9D RS-232 Serial cable RJ12 to 9 pin D-Sub connector 6 feet
2 Rev D M-SD-7AC-01

Danaher Motion 04/06 Getting Started
1.4 SPECIFICATIONS
NOTE
Unless otherwise specified, the specifications are
worse-case limits and apply over the specified
operating ambient temperature and over the specified
operating line voltage.
1.4.1 DRIVE POWER
Specification P70360
Max Output Current (0-40°C) 2.5 ARMS
Max Output Power 240 or 120 VAC 350 W
RMS Line Current at 3.5 A Motor Current
240 VAC 1 phase 1.5 ARMS
120 VAC 1 phase 3 ARMS
Power Dissipation at 3.5A 15 W
Motor Inductance Range with 320 VDC bus 50-200 mH*
Maximum Motor Cable Length (24 AWG) 20 m
Input Voltage Range
120/240 VAC Input (Nominal Bus Voltage)
(50/60 Hz) 320 VDC**
Bus Under Voltage Fault 130 VDC
Bus Over Voltage Fault 440 VDC
Bus Regen Voltage 420 VDC
Inrush Current & Fusing
Peak Current 30 A
Inrush Pulse Width 4 ms
Recommended Fusing 7 A Slow Blow
5 VDC Internal Supply 200 mA
Time delay for "reduced idle current" to return to
the system's "full current" < 1 ms (typ)
*7-30 mH for 160 VDC bus
**Drive is also capable of 160 VDC bus
M-SD-7AC-01 Rev D 3

Getting Started 04/06 Danaher Motion
1.4.2 I/O SPECIFICATIONS
Step & Direction Inputs
Step/Dir J4-3-J4-6
Step & Direction Input Voltage Range 2.5–5.5 VDC*
Step & Direction Input Current Range 5-20 mA
Step Minimum on/off time 250 ns
Step Input Max Frequency 2 MHz
Direction minimum set up Time 55 µs
General Purpose I/O
General Purpose Inputs
DIN1-DIN9, J4-10-J4-18
Input Voltage Range 3.5-24 VDC
Input Current Range (Internally Controlled) 10 mA
Response Time <= 250 µs
General Purpose Outputs
J4-7, J4-8, J4-21, J4-22
Maximum Output Voltage 30 VDC
Clamp Voltage 30 VDC
Maximum Output Current 10 mA
On Voltage 0.4 VDC
Response Time <= 250 µs
NOTE
Higher voltages may also be used if an appropriately-
sized current limit resistor is installed external to the
drive (reference secctions 2.2.2.2, 2.2.2.3, and 2.2.2.4.
1.4.3 ENVIRONMENTAL
Operating Temperature 0-40°C
Pollution Degree II
Storage Temperature °C 70°C
Humidity (% non-condensing) 90%
Altitude <1500 m (5000 ft)
1.5 HARDWARE INSTALLATION
Mount the P70360 to a cold plate using either 8x32 or M4 screws. It should
be mounted upright with the heat sink fins on the left side of the drive.
1. For convection cooling allow a minimum of 1 in (25.4 mm) of
space around all sides.
2. It the heat sink temperature exceeds 70 °C the drive shuts down
due to overheating. Fan cooling or a lower ambient temperature
may be required to allow the drive to run properly.
4 Rev D M-SD-7AC-01

Danaher Motion 04/06 Getting Started
1.5.1 AC BASE DRIVE MOUNTING
DIMENSIONS
5.700 in [144.78 mm]
M-SD-7AC-01 Rev D 5

Getting Started 04/06 Danaher Motion
1.5.2 AC DRIVE WITH R4N RS-485 OPTION
CARD
5.730 in [145.52 mm]
6 Rev D M-SD-7AC-01