Parker PDS Series User manual

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PDS Series Drive
User Guide
(PDS13 PDS15 PDS15-D)
For engineering For engineering
assistance in Europe: assistance in the U.S.:
Parker Hannifin plc Parker Hannifin Corporation
Digiplan Division Digiplan Division
21 Balena Close 5500 Business Park Drive
Poole, Dorset Rohnert Park, CA 94928
England, BH17 7DX USA
Telephone: [phone] Telephone: [phone]
Fax: [phone] Fax: [phone]
Part No: 1600.171.02 1st June, 1994
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Related Publications - The following publications may be helpful resources:
• Digiplan & Compumotor Programmable Control Systems & Drives Catalogue
• Schram, Peter (editor). The National Electric Code Handbook (Third Edition).
Quincy, MA: National Fire Protection Association
IMPORTANT INFORMATION FOR USERS
Installation and Operation of Digiplan Equipment
It is important that Digiplan motion control equipment is installed and operated in such a way that all applicable
safety requirements are met. It is your responsibility as a user to ensure that you identify the relevant safety
standards and comply with them; failure to do so may result in damage to equipment and personal injury. In
particular, you should study the contents of this user guide carefully before installing or operating the
equipment.
Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or special
damages of any kind whatsoever, including but not limited to lost profits arising from or in any way connected
with the use of the equipment or this user guide.
!
SAFETY WARNING
High-performance motion control equipment is capable of producing rapid movement and very high forces.
Unexpected motion may occur especially during the development of controller programs. KEEP WELL CLEAR
of any machinery driven by stepper or servo motors. Never touch it while it is in operation.
High voltages exist within enclosed units, on rack system backplanes (motherboards) and on transformer
terminals. Keep clear of these areas when power is applied to the equipment.
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.
The information in this user guide, including any apparatus, methods, techniques, and concepts described
herein, are the proprietary property of Parker Digiplan or its licensors, and may not be copied, disclosed, or
used for any purpose not expressly authorised by the owner thereof.
Since Digiplan constantly strives to improve all of its products, we reserve the right to modify equipment and
user guides without prior notice. No part of this user guide may be reproduced in any form without the prior
consent of Digiplan.
© Digiplan Division of Parker Hannifin plc, 1991
– All Rights Reserved –
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CONTENTS 1
Table of Contents
USER GUIDE CHANGE SUMMARY ........................................................................1
INTRODUCTION .......................................................................................................2
SPECIFICATION.......................................................................................................3
INSTALLATION.........................................................................................................6
SETTING UP .............................................................................................................21
MAINTENANCE & TROUBLESHOOTING...............................................................25
INDEX........................................................................................................................30
User Guide Change Summary
This user guide, version 1600.171.02 supersedes version
1600.171.01.
When a user guide is updated, the new or changed text is
differentiated with a change bar in the outside margin (this
paragraph is an example). If an entire section is changed, the
change bar is located on the outside margin of the section title.
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2 PDS SERIES DRIVE USER GUIDE
INTRODUCTION
Product
Description The PDS series of single-axis packaged ministep drives consists of
the PDS13 & PDS15, with peak current ratings of 3A and 5A
respectively. A further 5A version, known as the PDS15-D is also
available with a built-in regenerative dump circuit. PDS series drives
are high-performance, MOSFET, chopper-regulated stepper drives
designed for optimum performance in low and medium power
applications. A recirculating chopper regulator improves operating
efficiency, minimizes power consumption, and reduces motor and
drive heating. They are powered Direct On-Line (DOL) from mains
supplies of 110V to 240V (nominal) AC. An internal switch mode
power supply is used, incorporating Power Factor Correction (PFC)
to minimise distortion of the AC supply.
The PDS series of drives have 4 selectable resolutions between 400
steps/rev and 4000 steps/rev, set using the front panel switches.
Motor short-circuit protection is assured across and between phases
and between any phase and earth. If a wiring fault occurs the drive
fault LED will be lit up - see Maintenance and Troubleshooting.
The drives are suitable for use with hybrid and permanent magnet
stepping motors having 4, 6, or 8 leads.
The drives can be used as stand alone units with separate control
inputs and motor connection/power inputs. An on-board clock can
be used to control drive motion or an external step direction source
can be used.
The step, direction and shutdown differential inputs are fully opto
isolated for maximum noise immunity.
The system may be configured to allow the clock signal to be
provided by the drive's internal clock source. Two separate
programmable speeds are available. These are set by front panel
pots marked “Fast” and “Slow”, a third pot allows adjustment of the
acceleration and deceleration times. The speed control
potentiometers may be mounted remotely via the front panel D-type
connector.
The internal clock source signal is brought out to the drive control
connector for monitoring purposes.
The drive and integral power supply are contained in one compact
enclosure, cooled by natural convection. Wall or panel vertical
mounting is recommended to allow access to the front panel
connectors and controls.
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SPECIFICATION 3
SPECIFICATION
PDS Series
Drive
Specifications
Parameter Value
Amplifiers
Type
Motor resolution
Protection
Short circuit
Peak output current
Standby current reduction
Maximum stepping rate
Nominal chopping frequency
MOSFET Chopper
400, 1000, 2000 and 4000 steps/rev (user-selectable)
Phase-to-phase, across phases and phase to ground
3A/phase (PDS13), 5A/phase (PDS15) - switch reduceable
To 80% or 50% of programmed peak value after 100ms (switch-
selected)
200kHz @ 4000 steps/rev
20kHz
Command Interface
STEP/DIR/SHUTDOWN
Configured as differential opto-isolated
inputs Drive requirements
max input current
min input current
STEP Minimum pulse width
Drive clocks on transition to state ()
DIRShaft reversal on transition
SHUTDOWN
Motor shutdown on transition to
state ()
Fault
Internal clock out
Power up reset time
3 to 5V differential
21mA
10mA
1µs
STEP+(high) STEP-(low)
DIR+, DIR-
SHUTDOWN+(high) SHUTDOWN-(low)
Unassigned NPN transistor (see figure 3)
Active Low (transistor switched to 0V) +1.0V max. @ 5mA max.
High (transistor off) +24V max.
Open collector NPN transistor - emitter connected to
drive 0V (GND)
1 - 2 secs
Table 1. PDS Series Drive Specifications
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4 PDS SERIES DRIVE USER GUIDE
PDS Series
Drive
Specifications
(Continued)
AC Power input
Drive supply voltage
Supply frequency range
Power factor
Input current
PDS13
PDS15
Recommended supply protection
95V to 264V AC (absolute limits)
47 to 63Hz
Better than 0.9 over input voltage range and output power range
2A rms max
3A rms max
3A MCB type ‘C’ characteristics
Internal Clock Source
Speed range
Fast
Slow
Acceleration/deceleration range
Internal clock out signal
1 rps - 50 rps
0.05 rps - 2.0 rps
20.0 - 500 rps2
1µs pulse width (fixed)
Output current range
PDS13
PDS15
Standby reduction
0.9A - 3A (300mA steps)
2.5A - 5A (350mA steps)
50% or 80%
Environmental
Drive dimensions
Weight
Operating temperature
Ingress protection
Max. power dissipation of drive unit
PDS13
PDS15
PDS15-D
Height 250mm(9.8in), Width 50mm (2in), Depth 190mm (7.5in)
1.8Kgms (4lbs)
0°- 40°C (32°- 104°F)
IP20
18Watts
28Watts
43Watts
Motors
Type
Number of leads
Minimum Motor Inductance
Optimum Inductance range
Power/Motor connection
2-Phase hybrid or permanent magnet (normally 1.8°)
4, 6, or 8 (5 lead not suitable)
1mH
1mH-10mH
refer to Installation
Table 1. PDS Series Drive Specifications (Continued)
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SPECIFICATION 5
Pin Name I/
OMin. on State
Curren
t
Max.
Current Nominal Voltage Signal Levels Comments
1
14 STEP+ STEP- I 10mA 21mA 5V TTL note 1, 2, 4
2
15 DIRECTION+ DIRECTION- I 10mA 21mA 5V TTL note 1, 2
6 Slow Adjust I - 20mA 12V - -
7 Fast Adjust I - 20mA 12V - -
9
21 Fault+ Fault- O - 5mA (at 1.0V) 24V Unassigned transistor 26V
max.
Active Low
under fault
condition
note 3
12 Slow Run I - 1.5mA 12V Low <0.8V
High = O/C Active low
13 Fast Run I - 1.5mA 4.3V Low <0.8V
High = O/C Active low
16
17 Shutdown+ Shutdown- I 10mA 21mA 5V TTL note 2
19 Adjust
Common O - 20mA 12V - -
20 Internal clock
out O - 15mA 24V Open collector Low <250mV
@ Ic 10mA
Active low
25 GND I/
O- - - - Signal return
Table 2. Control I/O Signal Specification
note 1 Do not change state of ‘DIRECTION+’ and ‘DIRECTION-’ inputs within 2.5µs of
STEP transition to STEP+ high, STEP- low.
note 2 See Figure 9 for input circuit.
note 3 See Figure 7 for output circuit.
note 4 Mininum pulse width 1µs, maximum frequency 200kHz.
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6 PDS SERIES DRIVE USER GUIDE
INSTALLATION
Power
Connections Input power is taken directly from AC supplies via the front panel
mounted IEC 3-way mains inlet socket. A power cord is supplied
with the drive.
Wiring Guidelines 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. A central earth stud is recommended.
The motor ground connection should be connected to the motor
cable shield at the drive end only. To avoid ground loops, the motor
cable shield should not be connected to the motor casing.
Motor
Selection Usually optimum performance will be obtained when the current
rating of the motor is between 1 and 1.5 times the drive rating (refer
to specification).
For maximum high speed torque a motor rating of 7.5A peak should
be used with the PDS15, 4.5A with the PDS13. The drives can be
derated to accommodate motors with lower current ratings however,
the high speed torque will be reduced.
Do not use a drive setting which gives an output current greater than
the motor rating.
With 4 lead motors the bipolar rating is quoted and this should match
the criteria stated above.
With 6 lead motors the unipolar rating is quoted, but for best
performance with the PDS Drives the centre tap of each winding
should be left unconnected and the connections made between the
winding ends. This will give a bipolar rating 70% of the quoted motor
unipolar rating.
With 8 lead motors the bipolar rating of the motor, which is normally
quoted refers to a parallel winding connection. With the windings
connected in series the current rating of the motor connection will be
50% that of the bipolar rating, and the motor will give improved low-
speed torque, but reduced high-speed torque.
Regenerative Applications which involve rapid deceleration of high-inertia loads
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INSTALLATION 7
Power Dump
Option may require that the drive is fitted with a power dissipation circuit.
The PDS15-D has the same electrical specification as the PDS15
but incorporates a power dump with a continuous rating of 15 watts
(170 watts peak). You will need the PDS15-D in the following
situation:
Metric formula - if the deceleration time t<{Jω2- 0.1}
where t is the deceleration time in seconds
J is the total system inertia in Kg-m2
ωis the maximum speed in revolutions per second
Imperial formula - if the deceleration time t<{0.02Jω2- 100}
where t is the deceleration time in milliseconds
J is the total system inertia in oz-in2
ωis the maximum speed in revolutions per second
If the expression in brackets is negative, the power dump option is
not required. This option is strongly recommended for size 42 (106)
motors.
Note that a program to calculate if a power dump is required is
available from Compumotor and Digiplan Technical Support
departments (Windows 3.1 required). This program is also available
on Compumotor’s Bulletin Board Service (Tel: [phone] in
USA).
Long Motor Leads Using a motor with long leads will cause the cabling resistance to
become significant when compared to the resistance of the motor.
The DC volt drop of the cable and motor connection when measured
at the drive, should not exceed 5 volts in order to limit power
dissipation in the drive and maintain maximum system performance.
Motor Connections Once you have determined the motor's wiring configuration, connect
the motor leads to the connector marked "MOTOR" on the front
panel. The motor cable earth conductor and screen should be
connected to the terminal marked “GND”.
MOTOR CONNECTOR
A+
A-
Gnd
B+
B- MOTOR
HOUSING
MOTOR
To reverse motor rotation relative to the direction input, interchange
connections to A+ and A–.
Figure 1 PDS Drive Motor Connections
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8 PDS SERIES DRIVE USER GUIDE
Drive Connections
to ‘S’ or ‘QM’
Motors
Compumotor ‘S’ series and ‘QM’ series motors are electrically
identical. In the case of 23 and 34 (57 and 83) frame sizes, the
motors are constructed with an 8 core cable to allow you to select
either a series or parallel wiring configuration.
MOTOR
HOUSING
Phase A
windings
Phase B
windings
Red
Yellow
Blue
Black
White
Orange Brown Green
Figure 2 8-Lead Motor Winding Colour Code for S or QM Motors
The 42 (106) frame size motors are constructed with a 4 core motor
cable to connect to the drive - these motors can be configured by
removing the rear cover plate and rewiring at the screw terminals.
The following diagrams illustrate the connection methods for these
motors.
QM106-178/
S106-178 Series
and Parallel
Connections
This motor is pre-wired in series. If you remove the motor's back
panel, access is provided to re-wire the motor in parallel.
The motor wiring colour code is:
Motor Terminal Wire Colour Drive Terminal
1 Red A+
3 Black A-
5 Green B+
4 White B-
Body Bare (Screen) Gnd
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INSTALLATION 9
Phase A
windings
Phase B
windings
Red
Black
White Green
784 5
3
2
6
1
Phase A
windings
Phase B
windings
Red
Black
White Green
784 5
3
2
6
1
6
2
3
14
8
7
5
SERIES
PARALLEL
Figure 3 QM106-178/S106-178 Series and Parallel Connections
QM106-205/
S106-205 Series
and Parallel
Connections
This motor is pre-wired in series. If you remove the motor's back
panel, access is provided to re-wire the motor in parallel.
The motor wiring colour code is:
Motor Terminal Wire Colour Drive Terminal
1 Red A+
3 Black A-
8 Green B+
7 White B-
Body Bare (Screen) Gnd
Phase A
windings
Phase B
windings
Red
Black
White Green
247 8
3
5
6
1
Phase A
windings
Phase B
windings
Red
Black
White Green
247 8
3
5
6
1
2
SERIES
PARALLEL
84
15
6
3
7
Figure 4 QM106-205/S106-205 Series and Parallel Connections
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10 PDS SERIES DRIVE USER GUIDE
QM106-250/
S106-250 Series
and Parallel
Connections
This motor is pre-wired in series. If you remove the motor's back
panel, access is provided to re-wire the motor in parallel.
The motor wiring colour code is:
Motor Terminal Wire Colour Drive Terminal
1 Red A+
3 Black A-
5 Green B+
4 White B-
Body Bare (Screen) Gnd
Phase A
windings
Phase B
windings
Red
Black
White Green
5
47
8
3
2
6
1
Phase A
windings
Phase B
windings
Red
Black
White Green
5
47
8
3
2
6
1
2
SERIES
PARALLEL
8
41
5
6
3
7
Figure 5 QM106-250/S106-250 Series and Parallel Connections
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INSTALLATION 11
N.C. - no connection.
MAKE TYPE A+ A– B- B+ NOTES
Sigma 6-lead Black Orange Red Yellow White/Blk/Org,
White/Red/Yel N.C.
8-lead Black Orange Red Yellow Link Wh/Blk & Wh/Org
Link Wh/Red & Wh/Yel
T.box 1 3 2 4 Link 5 & 6,link 7 & 8
Astrosyn, 6-lead Red Red/Wh Grn Grn/Wh White & Black N.C.
Rapidsyn,
Slo-syn T.box (x6) 1 3 4 5 2 & 6 N.C.
Slo-syn 8-lead Red Red/Wh Grn Grn/Wh Link Black & White, link
Org & Blk/Wh
T.box (x8) 1 3 5 4 Link 2 & 6, link 7 & 8
Stebon, Digiplan SM 8-lead Red Yel Pink Blk Link Blue & violet, link
White & Grey
T.box 1 2 3 4 Link 5 & 6, link 7 & 8
M.A.E. 6-lead Grn/Wh Grn Red Red/Wh White & Black N.C.
8-lead Black Orange Red Yellow Link Wh/Blk & Wh/Org,
Link Wh/Red & Wh/Yel
T.box 6 5 8 7 Link 1 & 3, link 2 & 4
Zebotronics T.box 1 4 5 8 Link 2 & 3, link 6 & 7
Oriental 6-lead Black Green Red Blue Yellow & White N.C.
Sonceboz 8-lead Green Grn/Wh Red Red/Wh Link Org & Blk/Wh, link
Black & White
Japan Servo 6-lead Red Blue Green Yellow 2 x White N.C.
Escap 8-lead Brown Org/Wh Red Yel/Wh Link Brn/Wh & Org,
Link Red/Wh & Yellow.
Bodine 8-lead Brown Orange Yellow Red Link Wh/Brn & Wh/Org,
link Wh/Yel & Wh/Red.
T.box 1 3 4 2 Link 5 & 7,link 6 & 8
Digiplan/Compumotor 4-lead - - - - Internally wired in parallel
OEM Series† 8-lead Red Black Green White Link blue & yellow
Link orange & brown
Digiplan/Compumotor
QM Motor 8-lead Red Black White Green Link Yel & Blue
Link Org & Brown
Digiplan/Compumotor
S Motor 8-lead Red Black White Green Link Yel & Blue
Link Org & Brown
† Size 23 only. Size 34 can only be operated in Parallel.
Table 3. Motor Connection Data - Windings in Series
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12 PDS SERIES DRIVE USER GUIDE
For 6-lead motors, connections shown are for one half-winding.
N.C. - no connection.
MAKE TYPE A+ A– B- B+ NOTES
Sigma 6-lead Black Wh/Blk/ Red Wh/Red/ Or & Yellow N.C.
Orange Yellow
8-lead Black & Or & Red/ Yel &
Wh/Or Wh/Blk Wh/Yel Wh/Red
T.box 1 & 5 3 & 6 2 & 7 4 & 8
Astrosyn, 6-lead Red Black Green White Red/Wh &
Rapidsyn, Grn/Wh N.C.
Slo-syn T.box(x6) 1 6 4 2 3 & 5 N.C.
Slo-syn 8-lead Red & Blk & Grn & Org &
White Red/Wh Blk/Wh Grn/Wh
T.box(x8) 1 & 2 3 & 6 4 & 7 5 & 8
Stebon, Digiplan SM 8-lead Rd & Yel & Wh & Black &
Blue Violet Pink Grey
T.box 1 & 6 2 & 5 3 & 8 4 & 7
M.A.E. 6-lead Grn/Wh White Red Black Grn & Red N.C
8-lead Black & Or & Red & Yel &
Wh/Or Wh/Blk Wh/Yel Wh/Red
T.box 3 & 6 1 & 5 4 & 8 2 & 7
Zebotronics T.box 1 & 2 3 & 4 5 & 6 7 & 8
Oriental 6-lead Black Yellow Red White Grn & Blue N.C.
Sonceboz 8-lead Grn & Or & Red & Blk &
Blk/Wh Grn/Wh White Red/Wh
Japan Servo 6-lead Red White* Green White*
Escap 8-lead Brn & Brn/Wh & Red & Red/Wh &
Orange Org/Wh Yellow Yel/Wh
Bodine 8-lead Brn & Wh/Brn & Yel & Wh/Yel &
Wh/Or Orange Wh/Red Red
T.box 1 & 7 3 & 5 4 & 6 2 & 8
Digiplan/Compumotor 4-lead Red Black Green White
OEM Series† 8-lead
Digiplan/Compumotor
QM Motor 8-lead Red & Blue Blk & Yellow Wh & Brn Green & Org.
Digiplan/Compumotor
S Motor 8-lead Red & Black & White & Green &
Blue Yellow Brown Orange
* Use correct White for each phase. † Size 34 only. Size 23 can only be operated in Series.
Table 4. Motor Connection Data - Windings in Parallel
Compumotor
S and QM
Motor Drive
Settings
When using Compumotor ‘S’ and ‘QM’ motors you will need to set
the PDS drive current settings as shown in Table 5.
The ‘S’ motor and ‘QM’ motor are electrically identical e.g. an S57-
51 is the same as QM57-51. In the following table, under motor
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INSTALLATION 13
type, a suffix ‘S’ refers to series connected and ‘P’ refers to parallel
connected.
Motor Type PDS13 PDS15 Peak
Motor Rotor Inertia
SW6 SW7 SW8 SW6 SW7 SW8 Current
(Amps) Kg-cm2(oz-in2)
S/QM-57-51S ON OFF OFF * * * 1.2 0.088 (0.48)
S/QM-57-51P ON OFF ON OFF OFF OFF 2.3
S/QM-57-83S OFF ON OFF * * * 1.5 0.234 (1.28)
S/QM-57-83P ON ON ON OFF ON OFF 3.1
S/QM-57-102S ON ON OFF * * * 1.7 0.32 (1.75)
S/QM-57-102P ON ON ON ON ON OFF 3.5
S/QM-83-62S OFF OFF ON * * * 2.2 0.64 (3.50)
S/QM-83-62P ON ON ON OFF ON ON 4.4
S/QM-83-93S ON ON ON ON OFF OFF 2.9 1.23 (6.70)
S/QM-83-93P XXXONONON 5.6
S/QM-83-135S ON ON ON ON ON OFF 3.5 1.87 (10.24)
S/QM-83-135P XXXONONON 6.9
S/QM-106-178S X X X ON† ON† ON† 6.0 8.05 (44.0)
S/QM-106-178P X X X ON† ON† ON† 12.0
S/QM-106-205S X X X ON† ON† OFF† 3.6 9.51 (52.00)
S/QM-106-205P X X X ON† ON† ON† 7.2
S/QM-106-250S X X X ON† ON† ON† 6.2 12.14 (63.00)
S/QM-106-250P X X X ON† ON† ON† 12.4
* Minimum drive current too high for motor.
X Unsuitable motor/drive combination.
† 106 (42) size motors must use PDS15-D option (regenerative power
dump). PDS13 is 3 amps Peak Max. and PDS15 is 5 amps Peak Max.
Table 5. PDS Current Drive Settings for Compumotor ‘S’ and ‘QM’ Motors
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14 PDS SERIES DRIVE USER GUIDE
Compumotor OEM
Motor Drive
Settings
The 34 frame size motors (OEM-83-62/93/135) have identical drive
current settings to the ‘QM’ motors listed in Table 5. Size 34 (83)
motors are internally wired in Parallel.
In Table 6, under ‘Motor Type’, a suffix ‘S’ refers to series
connected. The parallel connection can not be used for size 23 (57)
motors.
Motor Type PDS13 PDS15 Peak
Motor Rotor Inertia
SW6 SW7 SW8 SW6 SW7 SW8 Current
(Amps) Kg-cm2(oz-in2)
OEM-57-40S OFF ON ON OFF OFF OFF 2.7 0.07 (0.380)
OEM-57-51S ON ON ON OFF ON OFF 3.3 0.12 (0.650)
OEM-57-83S ON ON ON ON ON OFF 3.8 0.25 (1.360)
Table 6. PDS Current Drive Settings for Compumotor ‘OEM’ Motors
Digiplan SM and
STEBON Motor
Drive Settings
Table 7 lists the PDS Drive current settings you need to make when
using Digiplan ‘SM’ and STEBON motors.
In Table 7, under ‘Motor Type’, a suffix ‘S’ refers to series connected
and ‘P’ refers to parallel connected.
Motor Type PDS13 PDS15 Peak
Motor Rotor Inertia
SW6 SW7 SW8 SW6 SW7 SW8 Current
(Amps) Kg-cm2(oz-in2)
SM-57-51S OFF OFF OFF * * * 1.1 0.11 (0.60)
SM-57-51P OFF OFF ON * * * 2.1
SM-57-83S OFF OFF ON * * * 2.3 0.23 (1.26)
SM-57-83P ON ON ON OFF ON ON 4.7
SM-57-102S OFF OFF ON * * * 2.3 0.30 (1.64)
SM-57-102P ON ON ON OFF ON ON 4.6
SM-83-62S ON ON ON OFF ON OFF 3.2 0.60 (3.30)
SM-83-62P XXXONONON 6.4
SM-83-93S ON ON ON OFF OFF ON 4.0 1.25 (6.83)
SM-83-93P XXXONONON 7.9
SM-83-135S ON ON ON ON ON OFF 3.8 2.00 (10.93)
SM-83-135P XXXONONON 7.6
SM-106-140S X X X OFF† ON† ON† 5.0 3.65 (19.96)
SM-106-140P X X X ON† ON† ON† 9.9
* Minimum drive current too high for motor.
X Unsuitable motor/drive combination.
† 106 (42) size motors must use PDS15-D option (regenerative power
dump). PDS13 is 3 amps Peak Max. and PDS15 is 5 amps Peak Max.
Table 7. PDS Current Drive Settings for Digiplan ‘SM’ and STEBON Motors
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INSTALLATION 15
Signal
Connections
Step + Pin 1
& Step- Pin 14 A pulse on these inputs causes the motor to advance on the leading
edge of the pulse (see Figure 6). The pulse should be at least 1µs
long. Consult your indexer user guide for instructions on how to
change the output pulse width.
The Step inputs are configured as TTL opto isolated inputs.
pin 1
(STEP+)
pin 14
(STEP-)
1µs
min
Drive steps on this edge
pin 1
(STEP+)
pin 2
(DIR+) >2.5µs
Figure 6. STEP Timing Diagram
Direction+ Pin 2
& Direction- Pin 15 These inputs (pins 2 and 15) control the direction of the motor shaft
rotation. Changing the level of these inputs changes the direction in
which the shaft moves. The logic level at this input needs to be
present for at least 2.5µs before the leading edge of the step pulse
[transition to STEP+ (high) STEP- (low)].
The Direction inputs are configured as TTL opto isolated inputs.
Slow Rate Adjust
(Pin 6) An external variable resistor (100K Ohm, 10 turn recommended) or a
fixed resistor may be connected between this terminal and "Adjust
Common" (pin 19) to control the slow speed of the internal clock
source. When using external speed controls, turn switch 3 off in
order to isolate the internal potentiometers.
Fast Rate Adjust
(Pin 7) An external variable resistor (10K Ohm, 10 turn recommended) or
fixed resistor may be connected between this terminal and "Adjust
Common" (pin 19) to control the fast speed of the internal clock
source. When using external speed controls, turn switch 3 off in
order to isolate the internal potentiometers.
Fault
(Pin 9 & 21) This output is a transistor signal which turns on in the event of a
fault. See Figure 7 for possible external wiring connections.
When a fault occurs, the drive will de-energise. Once the fault has
been cleared the drive may be re-energised by either cycling the
Shutdown signal or by cycling the power to the drive.
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16 PDS SERIES DRIVE USER GUIDE
FAULT+
9
21 FAULT-
1K2
+12V
0V
FAULT+
9
21 FAULT-
4K7
+24V max
0V
OR
Remote
Indicator
Figure 7. Fault Output Examples
Slow Run
(Pin 12) Connect this input to GND directly to run the internal clock source at
the slow rate.
Fast Run
(Pin 13) Connect this input to GND directly to run the internal clock source at
the fast rate.
Shutdown+ Pin 16
& Shutdown- Pin 17 These differential inputs (pins 16 and 17) are used to energise and
de-energise (shutdown) the motor. 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 at excessive speed may damage the
drive.
Cycling the shutdown input resets a fault condition, provided the
cause of the fault has been removed.
Adjust Common
(Pin 19) Common return connection for external speed controls (nominal
+12V).
Internal Clock Out
(Pin 20) This open collector output (NPN transistor) goes low every time the
drive sees a step pulse from the internal clock source. It must be
pulled up using an external resistor. Pulse width is 1µs.
GND
(Pin25) Control signal return.
Internal Speed
Control The drive contains a two speed oscillator circuit to allow “jogging” of
the motor. This clock source produces a linear ramp up to the FAST
speed setting. The SLOW speed setting is not ramped. Three 20
turn potentiometers are provided on the front panel to adjust the
settings of the oscillator. The SLOW and FAST presets adjust the
frequency of the corresponding range and hence the motor velocity.
Note that motor resolution does not effect the velocity setting.
Clockwise rotation of a potentiometer produces an increase in motor
velocity. The FAST and SLOW potentiometers can optionally be
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INSTALLATION 17
replaced by externally wired, remote potentiometers - see Figure 8.
These external controls can be used to give a machine operator
remote control of the motor.
Clockwise rotation of the ACCEL potentiometer increases the rate of
motor ramp up to a maximum possible figure of 500 rps2. The
ACCEL potentiometer can not be replaced by an external variable
resistor.
Optional Advance
Rate Pot and
Switch Connections
Figure 8 shows typical external connections required when using the
internal clock source. External variable resistance values of 100KΩ
for Slow and 10KΩfor Fast are recommended.
When using external speed controls, turn switch 3 off in order to
isolate the internal potentiometers.
Optional
Fast Adj.
10KΩ
Slow Run
Fast Run
Direction
Shutdown +
560Ω
Optional
Slow Adj.
100KΩ
1
14
13
25
Note: Screened cable should be used (maximum length 2 metres)
Figure 8. Signal Connections
Input Circuits The Step, Direction and Shutdown inputs are configured as
differential TTL compatible opto-isolated inputs with reverse polarity
protection. Figure 9 shows details of the input circuits used.
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