Parker PDS Series Bedienungsanleitung

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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: 0202-699000 Telephone: (800) 358-9070

Fax: 0202-695750 Fax: (707) 584-8015

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.

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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

Max.

Current Nominal

Voltage Signal Levels Comments

14 STEP+

STEP- I 10mA 21mA 5V TTL note 1, 2, 4

15 DIRECTION+

DIRECTION- I 10mA 21mA 5V TTL note 1, 2

6 Slow Adjust I - 20mA 12V - -

7 Fast Adjust I - 20mA 12V - -

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

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: 707/584-4059 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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