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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