Parker 8902/EQ User manual

8902/EQ
HTTL Speed Feedback Option
HA469255U001 Issue 4
Technical Manual
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Cont.1
8902/EQ
HTTL Speed Feedback
Option
Technical Manual
HA469255U001 Issue 4
Compatible with Version 1.x Software
©Copyright 2011 Parker SSD Drives, a division of Parker Hannifin Ltd.
All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any
form or by any means to persons not employed by a Parker SSD Drives company without written permission
from Parker SSD Drives, a division of Parker Hannifin Ltd . Although every effort has been taken to ensure the
accuracy of this document it may be necessary, without notice, to make amendments or correct omissions.
Parker SSD Drives cannot accept responsibility for damage, injury, or expenses resulting therefrom.
WARRANTY
Parker SSD Drives warrants the goods against defects in design, materials and workmanship for the period of 12
months from the date of delivery on the terms detailed in Parker SSD Drives Standard Conditions of Sale IA500504.
Parker SSD Drives reserves the right to change the content and product specification without notice.

Cont.2
WARNING!
During commissioning, remove the fuses (or trip the circuit breaker) on your 3-
phase supply.
Make sure the power is OFF, and that it cannot be switched on accidentally whilst you
are working.
REFER TO YOUR MAIN PRODUCT MANUAL FOR SPECIFIC SAFETY
INFORMATION ABOUT THE DEVICE YOU ARE CONTROLLING
IMPORTANT: Please read this information BEFORE installing the equipment.
Intended Users
This manual is to be made available to all persons who are required to install, configure or
service equipment described herein, or any other associated operation.
The information given is intended to highlight safety issues, EMC considerations, and to enable
the user to obtain maximum benefit from the equipment.
Application Area
The equipment described is intended for industrial motor speed control.
Personnel
Installation, operation and maintenance of the equipment should be carried out by qualified
personnel. A qualified person is someone who is technically competent and familiar with all
safety information and established safety practices; with the installation process, operation and
maintenance of this equipment; and with all the hazards involved.
Safety
All control and signal terminals are SELV, i.e. protected by double insulation.
EMC
In a domestic environment this product may cause radio interference in which case the user may
be required to take adequate counter-measures.
This equipment contains electrostatic discharge (ESD) sensitive parts. Observe static control
precautions when handling, installing and servicing this product.
Safety Information
!

Cont.3
CAUTION!
At any time, there may be a loss of motor control and separate/independent application
measures should be taken to ensure that such loss of motor control cannot present a safety
hazard.
RISK ASSESSMENT
Under fault conditions, power loss or unintended operating conditions, the drive may not
operate as intended. In particular:
•Stored energy might not discharge to safe
levels as quickly as suggested, and can still
be present even though the drive appears to
be switched off
•The motor's direction of rotation might not
be controlled
•The motor speed might not be controlled
•The motor might be energised
A drive is a component within a drive system that may influence its operation or effects under
a fault condition. Consideration must be given to:
•Stored energy •Supply disconnects •Sequencing logic •Unintended
operation
Safety Information
!

Contents
Contents Page
Cont.4
HTTL SPEED FEEDBACK OPTION 1
Description....................................................................................................... 1
•Features .................................................................................................. 1
•Part Number ........................................................................................... 1
•Used On ................................................................................................. 1
•Specifications........................................................................................... 1
Recommended Spare Parts ......................................................................................... 1
DIP Switch Settings ..................................................................................................... 2
Installation....................................................................................................... 3
Fitting the Option ....................................................................................................... 3
Wiring the System ...................................................................................................... 5
•X34 Connections ..................................................................................... 5
Initial Set-up .................................................................................................... 6
Configuring the 890 Drive.......................................................................................... 6
•ENCODER Function Block ........................................................................ 6
Parker SSD Drives Approved Encoders ........................................................... 8

1
8902/EQ HTTL Speed Feedback Option
HTTL SPEED FEEDBACK OPTION
Description
The HTTL Speed Feedback Option allows incremental encoders to be connected directly to the
motor controller to provide highly accurate speed feedback measurement.
Features
The option has the following features:
•Contains three optically isolated differential inputs on channels A, B and M
•Decoding logic to interface the encoder to the microprocessor
•Supplies variable voltage, isolated encoder power supply
Part Number
The part number for the HTTL Speed Feedback Option is:
8902-EQ-00-00
8902-EQ-00-FF (indicates a factory-fitted option)
Used On
This option can be used on 890 drives with the following Product Codes:
890SD-.. 890SD Standalone Drive
890CD-.. 890CD Common Bus Drive
Refer to the 890 Engineering Reference Manual, Appendix E for Product Code details.
Specifications
Maximum Pulse Rate 250kHz (differential)
200kHz (single-ended)
Receiver Current ≤10mA per channel
Input Format Two differential channels in quadrature,
clock/dir or clock only
Input Voltage Range ±30V (differential)
0-30V (single-ended)
Input Voltage Threshold 3V ± 1V (differential)
8V ± 1V (single-endedl)
Encoder Supply Maximum load = 200mA or 2W, whichever
is smaller. Voltage adjustable 10-20V by
firmware
Terminal Wire Size (maximum) 16 AWG
Terminal Tightening Torque 0.22 - 0.25Nm (1.9 - 2.2 pound-inches)
Recommended Spare Parts
We recommend that you keep one option as a spare to reduce down-time.

2
8902/EQ HTTL Speed Feedback Option
DIP Switch Settings
The switch settings control the
following inputs:
Usually the switches will be set to give a threshold of 3V
when using a differential encoder, and to 8V when using
a single-ended encoder. (Factory default is with all
switches set in the ON position - 3V).
1234
ON
OFF
DIP SWITCH
Input Threshold
Switch Number 1 2 3 4
Input Controlled A B M not used
3V±1 On On On On
8V±1 Off Off Off Off
Figure 1 Option board showing
DIP Switch location

3
8902/EQ HTTL Speed Feedback Option
Locating
Holes
C
C
Figure 3 Rear of
Control Board
Figure 2 Control board showing
Option correctly mounted
A
A
B
B
Installation
Fitting the Option
If the option is not factory-fitted, follow the procedure given below.
WARNING!
Disconnect all sources of
power before attempting
installation.
Caution
This option contains ESD
(Electrostatic Discharge) sensitive
parts. Observe static control
precautions when handling,
installing and servicing this option.
The Control Card assembly needs to be
removed from the drive as follows to
fit the Option in “OPTION F” position.
1. Undo the two screws securing
Option A and Option B to the front
of the drive. If options are not
fitted, completely remove the
blank covers for the Option A and
Option B slots.
2. Undo the captive screws (A)
located in the top and bottom
handles of the control board.
Gently pull on the handles to
withdraw the board from the drive,
supporting any attached option
boards. Note that the boards are
sliding in top and bottom slots.
3. If fitted, remove Option A and/or B boards that are
mounted on the control board by separating the
connector at the rear of the option board from the
control board.
4. Remove the blanking plate from “OPTION F” location
(2 screws).
5. Remove the terminal block from the HTTL Option.
6. Offer up the HTTL Option through the "OPTION F"
cut-out as shown opposite. Fit the two locating pegs of
the large connector on the rear edge of the option
board into the locating holes on the control board, as
shown opposite.
7. Fit the two screws and crinkle washers (C) at the rear
edge of the Option.
DO NOT OVERTIGHTEN.
Tightening torque : 0.2Nm (28 oz-in).
Ensure locating pegs are correctly located visably
through locating holes.

4
8902/EQ HTTL Speed Feedback Option
8. Secure with the two screws (B) to the front of the control board.
Ensure ‘C’ screws to option connector have been fully tightened before fitting ‘B’ screws.
The front panel screws (B) are self-tapping and can be quite hard to turn. This turning
torque must not be transferred through the option board to the control board connector.
To avoid this hold the option board with one hand, while tightening the front panel screws
with the other. DO NOT hold the control board while tightening these screws.
9. Re-fit terminal block to the HTTL Option.
10. Refit Options A and B: Press the assembly into the connector on the Control Board. Ensure
that the front panel of the TechCard overlaps the front of the Control Board. Ease the
connector at the TechCard so that the two PCB's are parallel when viewed on edge.
11. Replace the control board (with attached options) into the drive. Tighten screws (A).
12. Tighten the Option A and Option B screws; or importantly, fit the blank covers and secure
with the screws. If Options are not fitted.

5
8902/EQ HTTL Speed Feedback Option
Wiring the System
WARNING!
Disconnect all sources of power before attempting installation.
Caution
This option contains ESD (Electrostatic Discharge) sensitive parts. Observe static control
precautions when handling, installing and servicing this option.
X34 Connections
For correct operation, A, /A, B and /B must be connected as shown. If any is left unconnected,
the HTTL speed feedback option will not operate.
The M input is not normally connected - it is for use with future versions of the drive software.
M: for connection to the once-per-revolution marker output from the encoder to
verify correct operation of the encoder.
Take special care wiring the encoders to the Option due to the low level of the signals.
Use twisted-pair, screened cable, preferably with an overall screen and a screen over each
individual pair. To ensure compliance with the EMC Directive the overall cable screen should
be connected to the encoder body and to the cable clamp.
Recommended cable:
3 pairs individually screened, plus overall screen, characteristic impedance 100 to
120Ω, e.g. Belden 8163
1 GND
2 -V
3 +V
4 /M
5 M
6 /B
7 B
8 /A
9 A
X34
X34
Te r mi na l
OPTION BOARD
ENCODER
(supply)
M
AB +-
A/M
GND
/A B /B M + -
(supply)
OPTION BOARD
ENCODER
(supply)
M /M
A /A B /B +-
(supply)
Single-Ended
Encoder Outputs
Differential
Encoder Outputs
16
923457
8
A/M
GND
/A B /B M + -
16
923457
8
Figure 4 Wiring Diagram

6
8902/EQ HTTL Speed Feedback Option
Initial Set-up
Configuring the 890 Drive
Use the DSE 890 Configuration Tool to configure the ENCODER function block, as detailed
below.
Note:
The DSE 890 Configuration Tool is Parker SSD Drives’ Windows-based block
programming software and is supplied with each drive.
ENCODER Function Block
SETUP::MOTOR CONTROL::ENCODER
This block allows Speed Feedback to be measured using a quadrature pulse encoder.
Parameter Descriptions
PULSE ENC VOLTS PREF: 71.01 Default: 10.0 V Range: 10.0 to 20.0 V
Set this approximately to the supply voltage required by the pulse encoder.
SINCOS ENC VOLTS PREF: 71.22 Default: 5.0 V Range: See below
Set the supply volts required by the sin/cos encoder.
Enumerated Value : SinCos Encoder Volts
0 : 5V
1 : 10V
ENCODER LINES PREF: 71.02 Default: 2048 Range: 250 to 262143
Set the number of lines to match the type of encoder being used. Incorrect setting of this
parameter will result in an erroneous speed measurement.
ENCODER INVERT PREF: 71.03 Default: FALSE Range: FALSE/TRUE
Used to match the encoder direction to the motor direction. When TRUE, changes the sign of
the measured speed and the direction of the position count. Setting the encoder direction
should be done as part of the Autotune when running in Closed-loop Vector Mode.
LOAD G'BOX RATIO PREF: 71.05 Default: 1 Range: 1 to 64
This parameter can be used to configure absolute position control applications. It must be an
integer gear box ratio, e.g. 64:1. If there is a gearbox between the motor and the load, set the
gearbox ratio via this parameter. “LOAD POSITION” i.e. the position of the load on the other
side of the gearbox, will then be calculated.
ENCODER MECH
O/S
PREF: 71.06 Default: 0.0000 deg Range: 0.0000 to
360.0000 deg
(encoder mechanical offset)
Use this parameter ro enter a mechanical offset of between 0 and 360 degrees to allow the
output shaft position to be correctly zeroed. This value is subtracted from the LOAD
POSITION which is reported by the encoder.
To zero the shaft position: turn the shaft to the zero position; note the value of the LOAD
POSITION parameter, and enter this value into the ENCODER MECH O/S parameter.
LOAD POSITION will now read zero.
Note that “load position” refers here to the shaft position on the other side of a gearbox which
may be mounted on the motor output. It does not refer to the motor shaft position, unless the
output gearbox ratio (LOAD G'BOX RATIO) is set to 1 (i.e. no gearbox fitted).
ENCODER FBK % PREF: 71.08 Default: —.xx % Range: —.xx %
This parameter shows the mechanical speed of the motor shaft, calculated from the encoder
feedback, as a percentage of the user maximum speed setting (MAX SPEED in the
REFERENCE function block).
SHAFT POSITION PREF: 71.09 Default: —.xx deg Range: —.xx deg
This diagnostic provides the motor shaft position (before the gear box).
Ignore the
setting for this
parameter

7
8902/EQ HTTL Speed Feedback Option
Parameter Descriptions
LOAD POSITION PREF: 71.10 Default: —.xx deg Range: —.xx deg
This is the position of a shaft on the other side of a gearbox attached to the motor. If a gearbox
is not fitted, set LOAD G'BOX RATIO to 1. This variable is controlled by the position loop,
i.e. the position loop will force the load position to equal the demanded position.
ENCODER TYPE PREF: 71.04 Default: 0 Range: See below
This parameter defines the type of encoder being used.
A wrt /A
B wrt /B
Quadrature and Quadrature Diff
direction = forward direction = reverse
(
assumes ENCODER INVERT is FALSE
)
A wrt /A
B wrt /B
Clock/Dir and Clock/Dir Diff
direction = forward direction = reverse
(assumes ENCODER INVERT is FALSE)
A wrt /A
B wrt /B
Clock and Clock Diff
direction = forward
(
assumes ENCODER INVERT is FALSE
)
direction = forward
(ignored)
Enumerated Value : Type
0 : QUADRATURE single-ended pulse encoder
1 : CLOCK/DIR single-ended pulse encoder
2 : CLOCK single-ended pulse encoder
3 : QUADRATURE DIFF differential pulse encoder
4 : CLOCK/DIR DIFF differential pulse encoder
5 : CLOCK DIFF differential pulse encoder
6 : SINCOS INC sin/cos encoder
7 : ABS ENDAT ST single turn endat absolute encoder
8 : ABS ENDAT MT multi-turn endat absolute encoder
Save the Application
Remember to save your new configuration in DSE 890 and install it in the drive. In DSE 890,
select "CommandÆInstall At Selected" to install the currently opened configuration into a
drive.

8
8902/EQ HTTL Speed Feedback Option
Parker SSD Drives Approved Encoders
Hengstler: RI 58TD//2048ED.37IF
Recommended Encoder
(12mm bore) SSD Drives Part Number: DD464475U012
BEI(HS35 series): 924-01070-279, -283, -281
Recommended Encoder
(North America)
(Hollow Shaft, Various Bores) SSD Drives Part Number:
Frame Designs: TENV, TEBC, TEFC
DD470666, DD470667,
DD471123
Hengstler: RI 76TD/2048ED-4N20IF
Alternative Encoders
(20mm bore) SSD Drives Part Number: DD464475U020
Encoders are available from Hengstler or BEI in other accuracies such as 500 lines/rev or 2000
lines/rev to suit the application.

05/03/09
CANADA
Parker Hannifin Canada
Motion & Control Division
160 Chisholm Drive
Milton, Ontario L9T 3G9
Tel: [phone]
Fax: [phone]
GERMANY
Parker Hannifin GmbH
Von-Humboldt-Strasse 10
64646 Heppenheim
Tel: [phone]
Fax: [phone]
CHINA
Parker Hannifin Motion & Control
(Shanghai) Co. Ltd.,
280 Yunqiao Road
Jinqiao Export Processing Zone,
Pudong District, Shanghai 201206
Tel: [phone]
Fax: [phone]
ITALY
Parker Hannifin SPA
Via C. Gounod, Cinisello Balsamo
1-20092, Milano
Tel: [phone]
Fax: [phone]
FRANCE
Parker SSD Parvex
8 Avenue du Lac
B.P. 249
21007 Dijon Cedex
Tel: [phone]
Fax: [phone]
USA
Parker Hannifin Corporation
SSD Drives
9225 Forsyth Park Drive
Charlotte
North Carolina 28273
Tel: [phone]
Fax: [phone]
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*HA469255U001_04*