Parker LVD1 User manual

Divisione S.B.C.
LVD
( LVD1, LVD2, LVD5,
LVD10, LVD15 )
User’s Manual
Rev. 1.7
November 2002
(Software Rel. 55)

Parker Hannifin S.p.A. -Divisione S.B.C. LVD User’s Manual
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DIGITAL-LOCK
VARIABLE RATIO
POSITIONER
STEP MOTOR
SIMULATION
EASY
MAINTENANCE
TORQUE CONTROL
ACCELERATION
CONTROL
SPINDLE ORIENTATION
FOR TOOL CHANGING
SOFTWARE TOOLS
AVAILABLE
RS-485 or RS-422 SERIAL LINK BUILT-IN P.L.C.
CanBus interface
ELECTRONIC
CAM
LVD :
everywhere
for any
application.
Parker Hannifin S.p.A. Divisione S.B.C.
20092 Cinisello Balsamo (Milano) -Italy
Via Gounod, 1
tel. [phone]
fax [phone]
e-mail: [email protected]

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DANGER
HIGH VOLTAGE !
Internal circuits of the LVD drive carry high voltages that can cause serious injury or kill.
Do not open the drive or attempt to access internal parts while it is connected to the
power supply.
If you need to access internal parts, wait at least 15 minutes after power down before
proceeding to allow the condensers to discharge. The User is responsible for ensuring that the
drive is installed in compliance with established work health and safety regulations.
For the purposes of applicable regulations, note that the drive is classified as a component and
not a machine.
All tampering or unauthorised work performed on the drive will automatically invalidate the
warranty. Warranty cover is otherwise provided for 1 (one) year.
This user manual is applicable to the standard version of the drive.
Parker Hannifin S.p.A. Divisione S.B.C. declines all liability for any whatsoever form of
damage deriving from improper use of the drive.
Training courses can be supplied by Parker Hannifin S.p.A. Divisione S.B.C. on request.
ISBN 0204161530
Installation and maintenance of the drive and connected equipment
must be performed exclusively by qualified and trained personnel
with basic skills in electronics.
Commissioning of the drive must be performed exclusively by
qualified and trained personnel with advanced skills in electronics
and drive technology.
The quoted performance of the LVD drive is guaranteed only when
used with series MB synchronous permanent magnet motors
manufactured by Parker Hannifin S.p.A Divisione S.B.C.

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TABLE OF CONTENTS
1 INTRODUCTION......................................................................................................................6
1.1 General information.......................................................................................................6
1.2 Product description........................................................................................................6
1.3 Identification ..................................................................................................................7
1.4 The right hand side of LVD drives bears an identification label showing all the most
important identification data. .................................................................................................7
1.5 Main hardware specifications.........................................................................................8
1.6 Main software specifications.......................................................................................... 9
1.7 Compliance with EMC standards...................................................................................9
1.8 Safety..............................................................................................................................9
2 INSTALLATION.....................................................................................................................10
2.1 Safety instructions........................................................................................................10
2.2 Tips for interference suppression................................................................................. 11
2.3 Mains filter installation instructions............................................................................. 12
2.4 Connector layout ..........................................................................................................13
2.5 Power connections........................................................................................................16
2.6 Power connection diagrams..........................................................................................17
2.7 Signal cable connections..............................................................................................21
2.8 Signal cable connection diagram.................................................................................. 21
2.9 Frequency input connection .........................................................................................21
2.10 Simulated encoder output.............................................................................................23
2.11 Serial line connection...................................................................................................23
2.12 Backup..........................................................................................................................24
2.13 Status LEDs..................................................................................................................24
3 PARAMETERS AND PROGRAMMING .............................................................................. 25
3.1 Using the optional keypad............................................................................................ 26
3.2 Commissioning the LVD Drive ...................................................................................27
3.3 Basic parameters...........................................................................................................30
3.4 Basic commands...........................................................................................................35
3.5 Speed control loop calibration......................................................................................36
3.6 Operating modes ..........................................................................................................42
3.7 Torque control..............................................................................................................42
3.8 Acceleration control.....................................................................................................42
3.9 Maintenance and commissioning mode.......................................................................43
3.10 Positioner...................................................................................................................... 44
3.11 Digital locking..............................................................................................................46
3.12 Stepper motor simulation.............................................................................................47
3.13 Spindle orientation .......................................................................................................48
3.14 Digital locking + Positioner .........................................................................................48
3.15 Position control with CanBus or electronic Cam......................................................... 49
3.16 Block diagrams............................................................................................................. 51
3.17 Other useful functions..................................................................................................59
4 Programming digital inputs and outputs ..................................................................................62
4.1 The “pico-PLC”............................................................................................................ 62
4.2 Examples and applications...........................................................................................66

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4.3 Programming with PC2LVD........................................................................................74
5 SERIAL INTERFACE.............................................................................................................75
5.1 Communications protocol............................................................................................75
5.2 Serial addresses and parameter lengths........................................................................ 79
6 CAN BUS.................................................................................................................................82
6.1 Description of fields in real time mode........................................................................ 83
6.2 Description of fields in communication mode.............................................................87
Appendix A : LVD mechanical dimensions.................................................................................89
Appendix B : MB series motor connectors...................................................................................90
Appendix C : hardware characteristics ......................................................................................... 91
Appendix D : conventions ............................................................................................................92
Appendix E : software timer intervals ..........................................................................................92
Appendix F : pico-PLC default program ......................................................................................93
Appendix G : flash information....................................................................................................94
Appendix H : troubleshooting.......................................................................................................95
Appendix I (accessoires) : “IOBOX”...........................................................................................97
Revision history............................................................................................................................ 99

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1INTRODUCTION
1.1 General information
This manual describes the procedure for installing and commissioning the LVD frequency
converter for brushless motors. Read all the chapters and the revision history thoroughly
before using the equipment.
1.2 Product description
The LVD is a digital frequency converter for driving brushless motors. The adoption of a
parametric Operator Interface makes drive configuration procedures faster and more
repeatable. The large number of different configuration possibilities makes the drive suitable
for a broad range of applications.
A high power 16 bit micro-controller allows speed control with the characteristics required
of a servo controller, plus a range of auxiliary functions that can help reduce the presence of
control electronics in the application and thus permit considerable economic savings.
In addition to the positioner functions with trapezoidal profile, digital locking, spindle
orientation, stepper motor simulation, torque control and acceleration control, the LVD drive
also has an internal PLC. The drive PLC adopts the most diffused industrial programming
standards and offers considerable freedom for use of inputs and outputs. It also enables users
to develop a range of additional functions that are not among the basic features of the drive,
such as: electronic cams, adaptation of loop gains in relation to speed or space, torque
monitoring for controlling tool wear, etc..
The LVD drive is complete with an RS422/RS485 serial interface which can be used for
configuration, monitoring and simultaneous transmission of commands to a multiple system
comprising up to 32 LVD units. The drive is also compatible with standard operator panels
that support the S.B.C. protocol.
The drive is also equipped with a CanBus interface in communication mode and in real
time mode. Using the CanBus interface makes it possible to obtain a high bandwidth digital
link, t thereby simplifying system wiring requirements. With the CanBus interface LVD's I/Os
can be used as remote master I/Os.

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1.3 Identification
LVD drives are available in five models: LVD1, LVD2, LVD5, LVD10 and LVD15,
where the number stands for rated current (in amperes).
The right hand side of LVD drives bears an identification label showing all the most important
identification data.
Please make a note of the information on this label before requesting technical
information from Parker Hannifin S.p.A. Divisione S.B.C..
An example of the identification label is shown in the following figure:
POWER INPUT
3XAC230V 4.6A
50..60 Hz POWER OUTPUT
3XAC230 5A
0..500 Hz
READ INSTALLATION
INSTRUCTIONMANUAL
BEFORE INSTALLING USECOPPERWIRE
RATED60/75°C
LVD 5 S/N 980001
Parker Hannifin S.p.A.
VIA GOUNOD 1 -20092 CINISELLOB.
(MILANO) -ITALY

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1.4 Main hardware specifications
Parameter U.M. Value
Power circuit power supply V~ 230 ± 10%
Control circuit power supply V= 24 ± 10% -1.5A
Models LVD1 LVD2 LVD5 LVD10 LVD15
Rated output current A1.25
2.5 510 15
Peak output current (4 s) A2.5 510 20 30
Output power at motor shaft kW .345
.700
1.5 34.5
Dissipation from control electronics W18
Dissipation from power stage W18 28 45 87 120
Ambient temperature oC45
Internal braking resistor dissipation W120
Feedback resolver (speed 1)
Power stage switching frequency kHz 16
Maximum basic output frequency Hz 450
Protection category IP 20
24V digital inputs = No8
24V digital outputs = / 100mA / PNP No6
Voltage free contact digital outputs No1
Encoder simulation RS-422 steps/rev
128..4096
Frequency / sign or encoder input kHz 800 / 200
Analog reference V±10 diff 15 bit
Auxiliary analog input V±10 diff 10 bit
Auxiliary analog output V±10 -8 bit
Tacho generator emulation output V±10 V
Serial line RS-422 / RS-485
Field bus CanBus

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1.5 Main software specifications
The following functionalities are implemented in the basic software supplied with the LVD
drive:
• Speed control
• Advanced torque limits manager
• Speed windows management
• Positioning with trapezoidal speed profile
• Digital locking functions with variable transmission ratios and phase shifting
• Spindle orientation
• Stepper motor simulation
• Torque control with superimposed speed control
• Acceleration ramp control with superimposed speed control
• Simplified maintenance and start-up mode
• Built-in PLC for advanced input/output programming functions
1.6 Compliance with EMC standards
Immunity:
EN50082-1* / EN50082-2 Basic immunity specifications
IEC1000-4-2 (ex IEC 801-2) level 3 Electrostatic discharge immunity
IEC1000-4-3 (ex IEC 801-3) level 3 Electromagnetic field immunity
IEC1000-4-4 (ex IEC 801-4) level 4 Fast transient burst conducted immunity
Compatibility:
EN50081-1* / EN50081-2 Basic radio interference specifications
EN55011 group 1, class A Measurement limits for radio interference
EN55011 group 1, class B* Measurement limits for radio interference
1.7 Safety
Safety standard EN60065, EN50178
Low voltage directive 73/23/EEC amended by 93/68/EEC
Applied standard EN60204-1
* Conformity for use in domestic or industrial surroundings depends on the nature of the installation.

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2INSTALLATION
• The LVD drive must be installed in a vertical position (with the power terminal board at
the top).
• Leave at least 190 mm (7.5”) clearance above and below the drive.
2.1 Safety instructions
• Make sure the drive is appropriately sized for the motor you intend to connect. Compare
rated voltage and current values.
• Wire up the electrical panel/drive/motor in accordance with the instructions in this section
of the manual, taking into consideration EMC requirements and established safety
regulations.
• The User is responsible for installing fuses on the drive AC power supply line.
• Power conductors and control circuits must be kept apart (by at least 200mm -8” -) and,
when they must cross, intersections must be at right angles. Motor conductors and mains
power conductors must never be parallel.
• All power wires must be sufficiently sized (refer to the table in heading 2.7; compliance
with IEC227-2 must be guaranteed in all cases).
• Wires connected to the drive by means of the terminal strip must not be soldered
(EN60065, art.15.3.5).
• Make sure drive and motor are properly earthed.
• Make sure that the maximum voltage on terminals L1, L2, L3 does not exceed t he rated
voltage by more than 10% in the worst possible case (see EN60204-1, section 4.3.1).
Excessively high mains feeding voltage can damage the drive.
• Do not detach electrical connections when the drive is connected to the power supply.
• Follow all the installation instructions in this manual step by step. If you are in doubt,
contact S.B.C. Customer Service.
• Dangerous voltages may still be present for up to 60 seconds following mains
disconnection and system power-down; do not touch power cables during this time
interval.
• Do not open the drive casing. This action is potentially dangerous and will automatically
invalidate the warranty.
Installation and wiring must be carried out with the entire electrical
panel disconnected from the power supply. Make sure that the drive
enable command is disconnected from the emergency circuit.
Qualified technical personnel must preside when the power panel is
powered up for the first time.

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2.2 Tips for interference suppression
Because of the high speed voltage wavefronts in PWM, high levels of stray current may
sometimes flow through capacitive couplings and earth systems.
Stray currents of this type can affect other functional units.
Therefore, in relation to the geometrical dimensions of the system (drive, motor cables, motor),
it is advisable to calculate a certain amount of spurious energy.
Spurious energy generates EM radiation that can interfere with the operation of nearby systems
Existing standards do not impose limits for this type of radiation.
Preventive measures:
Basic methods of preventing spurious emissions are: decoupling of the drive from its
surroundings, a properly executed conductor system to neutralise voltages (earthing) and
adequate shielding.
Screens, filters and drives must have a large contact area to achieve the maximum possible
decoupling and hence optimum noise suppression; attention must be paid, however, to the entire
installation as this is one of the most important precautions for obtaining efficient noise
suppression.
High frequency interference takes the form of radiation, especially from motor lines. This
effect can be reduced with appropriate shielding.
Another essential counter-measure for noise suppression is the use of filters.
The use of filters is aimed at reducing conducted interference on wiring and the return of
conducted interference to source (Drive) through routes offering the lowest impedance.
This method provides effective protection for other systems connected to the same electrical
line, also protecting the drive from interference originating from other systems.
When installing filters consider the mains input and motor feeding output.
There are various ways of connecting the power supply to the LVD drive; by using a
transformer with an electrostatic screen between primary and secondary windings it is possible
to dispense with the installation of EMC filters; on the contrary, EMC filters are required if you
use an autotransformer, a transformer without an electrostatic screen or a direct mains
connection.

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2.3 Mains filter installation instructions
To obtain electromagnetic compatibility in compliance with established standards, EMC
requirements are of critical importance when designing control panel configuration. To get the
best results from the filters, follow the instructions in this chapter carefully, because
Avoid:
-routing noise emitting cables in parallel with "clean" cables
-parallel cables, especially in the vicinity of the filter (ensure physical separation)
-cable loops (keep cables as short as possible and close to the common potential).
Additional measures:
-With the exception of mains cables to the filter, all power and control wiring must be
screened and, wherever possible, kept segregated (minimum distance 20 cm). If control and
power cables must cross, the intersection must be at a right angle.
-Shielded cables must be installed on a copper bar by means of a high conductivity wire
clamp. The area of contact must be as large as possible and the shield must be unbroken. In
general the shield should be connected at each extremity. In certain circumstances, however,
control cable shields may be connected only at one end to eliminate mains hum that could
interfere with the control signal. Decide case by case as numerous factors must be considered.
Adopt the following general approach: if the screen is solely for shielding, connect at both ends.
If current flowing in the shield interferes with the shielded signals, connect at one end only.
-The incoming cable must be connected to an earth terminal by means of a screw to ensure
proper contact between screen and earth.
-RF interference suppression filters must be installed as close as possible to the drive and
must have a large area of contact with the power panel or the mounting plate. Remove all paint.
The filter earth terminal must be connected to the earth bar along the shortest possible route. It is
the installer's responsibility to protect the filter terminals.
-As far as possible keep the power side (drive) and control side (PLC or NC) physically
separated by separating the metal mounting plates. Do not route any cables through the
mounting plates.
even a complex and expensive filter is ineffective unless it is
installed taking EMC aspects into consideration!

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2.4 Connector layout
+24V
status
X1
X3
X5
X7
X2
X4
X6
X9
X8
M+-
X10
1
STUD

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Terminal Board
X10 “Power” DB9 female X1 “Keypad”
1 LIVE 1 1
2 LIVE 2 2 Programming
3 LIVE 3 3
4 MOTOR PHASE U 4 keypad
5 MOTOR PHASE V 5
6 MOTOR PHASE W 6 connector
7
8
9
DB9 male
X2 “CanBus” DB9 female X3 “Serial Link”
1 NC 1 TX
2 CANBUS L 2 RX
3 0 V 3 /TX
4 4 /RX
5 0 V 5
6 0 V 6 + BR
7 CANBUS H 7 -BR
8 8 0V
9 9 0V
DB9 male
X4 “Encoder Out”
DB9 female
X5 “Encoder In”
1 PHA 1 A
2 /PHA 2 /A
3 PHB 3 B
4 /PHB 4 /B
5 PHC 5 -BRA
6 /PHC 6 +BRB
7 0V 7 0 V
8 8 -BRB
9 9 +BRA
DB15 female DB15 male

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X6 “Outputs” X7 “Inputs”
1 DIGITAL OUTPUT 0 1 ENABLE
2 DIGITAL OUTPUT 2 2 DIGITAL INPUT 2
3 DIGITAL OUTPUT 4 3 DIGITAL INPUT 4
4 DIGITAL OUTPUT 6 A 4 DIGITAL INPUT 6
5 0 V 5 +24V= OUT / 200mA MAX
6 0 V 6 AUX. ANALOG INPUT +
7 AUX ANALOG OUTPUT 7 0V
8 TACHO OUTPUT 8 ANALOG REFERENCE -
9 DIGITAL OUTPUT 1 9 DIGITAL INPUT 1
10 DIGITAL OUTPUT 3 10
DIGITAL INPUT 3
11 DIGITAL OUTPUT 5 11
DIGITAL INPUT 5
12 DIGITAL OUTPUT 6 B 12
DIGITAL INPUT 7
13 +10V / 10mA MAX 13
0V
14 -10V / 10mA MAX 14
AUX. ANALOG INPUT -
15 0 V 15
ANALOG REFERENCE +
terminal board
X8 “power supply” DB9 female X9 “resolver”
1 +24V= / 1.5A 1 N.U.
2 0 V 2 0V
3 0 V 3 Ecc -
4 Sin -
5 Cos -
6 N.U.
7 Ecc +
8 Sin +
9 Cos +

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2.5 Power connections
For the motor cable
Choose between a cable for fixed or floating installation. The cable must be shielded and
suitably sized in terms of insulation and wire sections. Reticulated polypropylene is the
preferred insulation material. Length (max. 35 m); note that conductor-conductor capacitance
must not exceed 8 nF. Minimum wire size is 1.5 mm2for LVD1, LVD2 and LVD5, 2.5 mm2
for LVD10 and 4 mm2for LVD15
For the mains power cable
Power cables must not be screened. Minimum wire size is 1.5 mm2for LVD1, LVD2 and
LVD5, 2.5 mm2for LVD10 and 4 mm2for LVD15. Input fuses must be rated as follows:
MODEL slo-blo fuses (A)
LVD1 6
LVD2 6
LVD5 10
LVD10 16
LVD15 20
The fuses can be replaced with a thermal-magnetic circuit breaker selected in relation to the
power cables utilised.
Resolver cable
The cable must be composed of 3 twisted pairs with individual screens and one common
screen. Conductor-conductor capacitance for the length of cable utilised must not exceed 10
nF; wire section must be at least 0.35 mm2. Maximum permissible length is 35 m.
24V Power supply
It must deliver at least 2A for each drive connected, with 1Vpp max ripple voltage.
It must be reserved to the drive supply only. In fact, the condivision with e.g. brakes, relais
etc. may generate electrical noises and or malfunctions.
Connection of an EMI filter (if required)
If the 230V mains connection is direct, the length of the wire connecting LVD and filter
must be no more than 50 cm to obtain the maximum efficiency.
If an autotransformer is utilised, the filter can be installed either up-or down-line; in this
latter case the cable utilised for the connection between autotransformer and LVD must be
screened.
Earth connections
The length of individual wires connected to earth must be kept as short as possible; it is
therefore advisable to use an earth busbar located as near as possible to the drive.

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The earth busbar must be made of
copper to ensure low inductance and
it must be mounted on insulated
supports. The minimum dimensions
of the bar in relation to the length are
shown in the adjacent table.
2.6 Power connection diagrams
∆transformer with electrostatic shield between primary and secondary
windings
MAINS L1
L2
L3
PE
1
2
3
4
5
6
ABC
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
bf
ed
cg
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A *
*
Only if the Power Supply output
is unprotected
Earthing Bar
Length (m)
width (mm) thickness
(mm)
0.5 20 6
1 40 6
1.5 50 6

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Y transformer with electrostatic shield between primary and secondary
windings
MAINS L1
L2
L3
PE
1
2
3
4
5
6
ABC
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
bf
ed
cg
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A *
*
Only if the Power Supply output
is unprotected
Earthing Bar

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Autotransformer
MAINS L1
L2
L3
PE
1
2
3
4
5
6
ABC
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
bf
ed
cg
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A *
*
Only if the Power Supply output
is unprotected
emc
filter
Earthing Bar
Note: The EMC filter can be connected up-or down-line of the
autotransformer;
if connected up-line, it may prove necessary to use a screened cable
between autotransformer and LVD; if connected down-line, the cable
between filter and LVD must be as short as possible and, in any
event, no longer than 50 cm.
Use the following formula when sizing the system:
( )
Pt Paz n =⋅+⋅+ 17 80 173
2
..
where: Pt is transformer power in VA; Paz is the sum of motor rated power in W; n is the
number of drives to be powered.

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Direct connection to 230V ∼mains supply
MAINS L1
L2
L3
PE
1
2
3
4
5
6
ABC
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
bf
ed
cg
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A *
*
Only if the Power Supply output
is unprotected
emc
filter
fuse
Earthing Bar
Note: The cable between filter and LVD must be as short as possible and,
in any event, no longer than 50 cm.
In the case of single phase connections, the power available from the
LVD drive is derated: the maximum power output of the LVD with a
single phase supply is given by the formula:
Pmax = 27⋅10-3Vmains2 [watt].
When using a direct mains connection, take into consideration that
current up to 100A may be required for a period of less than 3ms at
the time of start-up. For this reason use fuses instead of thermal
magnetic circuit breaker and if several units are to be installed in
parallel, a sequential power feeding procedure is strongly
recommended.