Pacific Scientific Danaher Motion P70360 User manual

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www.DanaherMotion.com
P70360
High Performance Microstepping Drive
Reference Guide
M-SD-7AC-01 Rev 1
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Record of Revisions
Date Issue Description
01/06/04 Rev 1 Initial release
Copyright Information
Original printing, 2004. Copyright 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. Other uses are unauthorized 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.
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Danaher Motion Pacific Scientific Table of Contents
M-SD-7AC-01 Rev 1 i
Table of Contents
1. GETTING STARTED............................................................................1
1.1. Unpacking and Inspecting.................................................................1
1.2. Part Number......................................................................................2
1.3. Accessories .......................................................................................2
1.4. AC Mounting ....................................................................................3
1.4.1. AC Base Drive Mounting Dimensions ......................................3
1.4.2. AC Drive with Option Card ......................................................4
2. WIRING ..................................................................................................5
2.1. Connector Locations.........................................................................5
2.2. Functions By Connector....................................................................6
2.2.1. J4 Connector –Command I/O ..................................................6
2.2.2. J5 Connector –Comm Port.......................................................6
2.2.3. J6 Connector –Motor Power....................................................7
2.2.4. J7 Connector –AC Power.........................................................7
2.3. J4 I/O Command Connector..............................................................7
2.3.1. Step and Direction Inputs..........................................................8
2.3.2. General Purpose Inputs ..........................................................10
2.4. Outputs............................................................................................11
2.4.1. Fault Output............................................................................11
2.4.2. General Purpose Output.........................................................12
1.5 Connecting a Motor ........................................................................12
1.6 Powering the Drive .........................................................................13
2.4.3. P70360 Power Pin Out ...........................................................13
2.5. Serial Port Connection....................................................................14
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Danaher Motion Pacific Scientific Table of Contents
ii M-SD-7AC-01 Rev 1
3. CONFIGURING THE DRIVE............................................................15
3.1. Motor Selection...............................................................................15
3.2. Step Resolution ...............................................................................16
3.3. Load Inertia.....................................................................................16
3.4. Dynamic Smoothing™....................................................................17
3.5. Current Reduction...........................................................................17
3.6. Multi-Stepping™.............................................................................17
3.7. Encoderless Stall Detection™.........................................................18
4. USING P7000TOOLS...........................................................................19
4.1. Set up Wizard..................................................................................19
4.2. P7000Tools Motion Profile Generator............................................19
5. TROUBLE SHOOTING.......................................................................21
5.1. Common Problems..........................................................................21
5.2. Status Display..................................................................................21
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Danaher Motion Pacific Scientific Getting Started
M-SD-7AC-01 Rev 1 1
1. GETTING STARTED
Warning
Read this reference guide before you apply power to
the drive. Miswiring 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.
Keep all covers and cabinet doors shut during operation.
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.
Never disconnect or connect the product while the power source is
energized.
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.
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.
Use proper procedures when handling electronic
components to avoid damage to equipment.
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Danaher Motion Pacific Scientific Getting Started
2M-SD-7AC-01 Rev 1
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.
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 - 24 - 75 VDC
6 - 120/240 VAC
N
Electrical Option
0 - No Option
0
Functionality
PN - Motion Node Indexing
SD - Step/Direction Base Drive
XX
Feedback
N - None
N -
Customization
Omitted for standard units
NNN
1.3. ACCESSORIES
106-113020-01 Connector kit for use with AC base drive P70360-
SDN or P70360-PNN
106-113023-01 Connector kit for use with AC RS485 drive P70360-
R4N
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
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Danaher Motion Pacific Scientific Getting Started
M-SD-7AC-01 Rev 1 3
1.4. AC MOUNTING
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 65 °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.
1.4.1. AC Base Drive Mounting Dimensions
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Danaher Motion Pacific Scientific Getting Started
4M-SD-7AC-01 Rev 1
1.4.2. AC Drive with Option Card
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Danaher Motion Pacific Scientific Wiring
M-SD-7AC-01 Rev 1 5
2. WIRING
2.1. CONNECTOR LOCATIONS
P7000
AC
J4
J5
1
2
3
4
5
6
COMM
PORT
AC
POWER
1
2
3
4
J7
MOTOR
POWER
1
2
3
4
5
J6
COMMAND I/O
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
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Danaher Motion Pacific Scientific Wiring
6M-SD-7AC-01 Rev 1
2.2. FUNCTIONS BY CONNECTOR
2.2.1. J4 Connector –Command I/O
J4
C
O
M
M
A
N
D
I/O
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
STEP +
STEP -
DIR +
DIR -
SD +
SD -
FAULT +
FAULT -
GND
DIN1 (MV SEL 1)
DIN2 (MV SEL 2)
DIN3 (MV SEL 3)
DIN4 (MV SEL 4)
DIN5 (Jog +)
DIN6 (Jog -)
DIN7 (EOT +)
DIN8 (EOT -)
DIN9 (Fault Reset)
+ 5 V
PULL UP/DN
OUT + (Motion Node Active)
NC
RS-232 RX
Gnd
RS-232 TX
OUT -(Motion Node Active)
2.2.2. J5 Connector –Comm Port
J5
1
2
3
4
5
6
RS-232 TX
RS-232 TX
RS-232 RX
RS-232 RX
GND
C
O
M
M
P
O
R
T
GND
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Danaher Motion Pacific Scientific Wiring
M-SD-7AC-01 Rev 1 7
2.2.3. J6 Connector –Motor Power
To avoid electrical shock, motor
ground must be connected to
protective earth.
MOTOR
POWER
1
2
3
4
5
J6
MOTOR
A -
A +
B -
B +
EARTH GND
2.2.4. J7 Connector –AC Power
Do NOT use J7 as an on/
off switch as hot plugging
damages the connector.
AC
POWER
1
2
3
4
J7
EARTH GND
LINE
240N
120N
RR
240 120
Connecting 240
VAC to pin 3 of AC
power connector
damages the drive.
2.3. J4 I/O COMMAND CONNECTOR
1
10
19
9
18
26
J4 is a 26-Position High Density D subminiature
female connector. (Connector is shown as viewed from
the front of the drive.
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Danaher Motion Pacific Scientific Wiring
8M-SD-7AC-01 Rev 1
2.3.1. Step and Direction Inputs
Step Input
Pins 1 – 6 The P70360 increments its internal step counter on the ON-to-
OFF transition of the LED in an opto isolator. Minimum ON and
minimum OFF times are both 250 ns. This results in a maximum step
input frequency of 2 MHz. Pulses that do not meet minimum times may
be ignored by the drive's electronics. The input circuitry is suitable for
use with 3-to 5-volt logic (single ended or differential). It is best to
drive the input to both logic states rather than utilize open collector
transistors
The STEP input is sensitive to high frequency noise and should be
supplied through shielded cable.
Pin Description Pin Description
J4-1STEP + J4-14 DIN5 (Jog +)
J4-2STEP -J4-15 DIN6 (Jog -)
J4-3DIR + J4-16 DIN7 (EOT +)
J4-4DIR -J4-17 DIN8 (EOT -)
J4-5SD + J4-18 DIN9 (Fault Reset)
J4-6SD -J4-19 + 5 V
J4-7FAULT + J4-20 Pull Up/Dn
J4-8FAULT -J4-21 OUT + (Motion Node Active)
J4-9Gnd J4-22 OUT –(Motion Node Active)
J4-10 DIN1 (MVSEL 1) J4-23 NC
J4-11 DIN2 (MVSEL 2) J4-24 RS-232 RX
J4-12 DIN3 (MVSEL 3) J4-25 Gnd
J4-13 DIN4 (MVSEL 4) J4-26 RS-232 TX
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Danaher Motion Pacific Scientific Wiring
M-SD-7AC-01 Rev 1 9
100 Ω
100 Ω
HCPL-0600
J4-1 Step +
J4-2 Step -
± 3 to 5 volt
15 mA max.
Direction and Shutdown Input
The Direction input is similar to the Step input except that it employs a
slower opto isolator. Allow for a 10 µs setup time from changes at the
DIR input prior to transition of the STEP input. Failure to meet setup
time can result in the drive misinterpreting the intended direction of a
step.
The Shutdown input removes current from the motor windings so the
axis can be externally moved. The polarity of the Shutdown logic is
configurable using P7000Tools. Factory default is Shutdown = ON. If
the inputs are left open, the drive is enabled.
The input is enabled with 5 to 15 mA of current. It is suitable for use
with 3 to 5 volt logic. The Shutdown input is digitally filtered and
internally de-bounced. Do not depend on the shutdown input as a safety
or E-STOP mechanism. Internal drive failure could result in motion.
While in shutdown, the winding terminals are not at safe potential. The
power output from the drive is electrically safe only when the drive is
disconnected from the power source.
Direction and Shutdown Circuit
100 Ω
100 Ω
HCPL-0600
J4-x Dir +
J4-x Dir -
± 3 to 5 volt
15 mA max.
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Danaher Motion Pacific Scientific Wiring
10 M-SD-7AC-01 Rev 1
Pin Description
J4-3Dir +
J4-4Dir -
J4-5SD +
J4-6SD -
Step and Direction Input Specifications
Voltage 3 to 5 VDC
Current 5 to 15 mA
Setup Time (Dir) 10 µs
Max. Freq. (Step) 2 MHz
2.3.2. General Purpose Inputs
There are nine configurable General Purpose Inputs (GPI’s) on the
P70360 drive. All the inputs share a common optically isolated bus (Pull
Up/Down). The common bus simplifies the wiring allowing a common
point to connect either sinking or sourcing outputs.
The GPI defaults for the P70360-SDN include Jog+, Jog-, EOT+, EOT-
and Fault Reset. MV SEL 1, MV SEL 2, MV SEL 3 & MV SEL 4 are
the additional GPI defaults when using the P70360-PNN.
Pin Description
J4-10 DIN1 (MV SEL 1) *
J4-11 DIN2 (MV SEL 2) *
J4-12 DIN3 (MV SEL 3) *
J4-13 DIN4 (MV SEL 4) *
J4-14 DIN5 Jog +
J4-15 DIN6 Jog -
J4-16 DIN7 EOT +
J4-17 DIN8 EOT-
J4-18 DIN9 Fault Reset
J4-20 Pull Up/Dn
*Availble with Motion Node Only
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Danaher Motion Pacific Scientific Wiring
M-SD-7AC-01 Rev 1 11
General Purpose Input Load Wiring
J4-x
GPI-x
J4-20
PULL UP/DN
USING SINKING OUTPUTS
+
-
5 TO 24 VDC
USING SOURCING OUTPUTS
J4-x
GPI-x
J4-20
PULL UP/DN
+
-
5 TO 24 VDC
2.4. OUTPUTS
2.4.1. Fault Output
The P70360 has an optically isolated fault output which latches when a
drive fault occurs. The fault can be cleared by cycling power, resetting
through P7000Tools or by toggling the fault reset GPI. The input may be
powered by the on-board 5 VDC logic supply (J4-19) or from a remote
supply ranging from 5-24 VDC.
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Danaher Motion Pacific Scientific Wiring
12 M-SD-7AC-01 Rev 1
2.4.2. General Purpose Output
The P70360 includes one optically isolated output that can be configured
to indicate when the motion node is active or an end of travel limit has
been reached. The input may be powered by the on-board 5 VDC logic
supply (J4-19) or from a remote supply ranging from 5 -24 VDC.
J4-x
J4-x
R pull-up
600 ohm at 5V
100 Ohm/V after 5V
_
+
S
I
G
N
A
L
Pin Description
J4-7Fault +
J4-8Fault -
J4-21 Out +
J4-22 Out -
1.5 CONNECTING A MOTOR
Danaher Motion offers a number of standard stepper motors designed to
provide optimum performance when matched with the P70360. The
motors are offered with a 4-flying lead configuration. If your motor has 6
or 8 leads, you should consult your distributor or the factory for
assistance. If you are using a motor other than a Danaher Motion brand,
make certain that the insulation material is rated for 240 VAC operation.
For T20, N30, K30, N40, and K40 Series Motors.
Danaher Motion's Pacific Scientific
Flying Lead Motor Wiring
BLACK
ORANGE
A+
A-
GND
GREEN
RED
YELLOW
B+
B-
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Danaher Motion Pacific Scientific Wiring
M-SD-7AC-01 Rev 1 13
1.6 POWERING THE DRIVE
J7 AC Power
LINE 240N
14
120N PE
(Connector view from front of drive).
The P70360 AC power can be connected to either a 120 VAC or 240
VAC single-phase power sou
rce. If using 240 VAC, connect to pins 1, 2,
and 4.
Connecting 240 VAC to pin 3 damages the
drive!
2.4.3. P70360 Power Pin Out
Pin Description
J7-1120/240 VAC line
J7-2240 VAC neutral
J7-3120 VAC neutral
J7-4PE (Protective Earth)
Do not hot-plug the motor connector.
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Danaher Motion Pacific Scientific Wiring
14 M-SD-7AC-01 Rev 1
2.5. SERIAL PORT CONNECTION
RJ12/RJ11 Phone Style
Pin Description
J5-1No Connection
J5-2RX232
J5-3I/O RTN
J5-4I/O RTN
J5-5TX232
P7S2-232-9D J5-6No Connection
RJ12/RJ11 PHONE STYLE
Standard RJ12/RJ11 Plug
J5-1, J5-6
No Connection These terminals are not used or connected to the drive.
J5-2
RX232 RS-232 receiver input to the drive. This terminal
connects to the user's RS-232 transmitter output.
J5-3, J5-4
I/O RTN This terminal is the common/ground connection for the
RS-232 serial port. The ground from the user's RS-232
needs to connect to this terminal. Cable shielding is also
connected to this point.
J5-5
TX232 RS-232 Transmitter output from the drive. This terminal
connects to the user's RS-232 receiver input.
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Danaher Motion Pacific Scientific Configuring the Drive
M-SD-7AC-01 Rev 1 15
3. CONFIGURING THE DRIVE
3.1. MOTOR SELECTION
Configure the drive for a motor type via switch settings on the top of the
drive. If you are not certain how much current to supply to your motor,
contact technical support. Valid settings are:
MOTOR S1 S2 MOTOR S1 S2
USE GUI 0OFF K31HRLG 8OFF
T21NRLC 1OFF K32HRLG 9OFF
T22NRLC 2OFF K33HRLG AOFF
T23NRLC 3OFF K34HRLG BOFF
N31HRLG 4OFF N41HRLG COFF
N32HRLG 5OFF N42HRLK DOFF
N33HRLG 6OFF K41HRLG EOFF
N34HRLG 7OFF K42HRLK FOFF
For non-system motors, configure the drive with the
P7000Tools GUI Wizard.
Motor type zero is used for non-system motors.
Motor types 16-31 (not Shown) are reserved for
factory-configurations.
Using incorrect settings results in zero current
(motor will not operate).
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