Download User Guide

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Digiplan
Electronic Motion Control
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Parker Hannilin pic
Diglplan Division
21 Balana Closa
Pea .., Dorsal
E"9~nd, BH17 lOX
Tal, 0202690911
FalC' 0202 600820
Tal"",417217
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Parlter Hannlfln Corporation
Diglplan Division
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5500 Business Park Drive
RohnO<! Park, CA 94928, USA
Tel: 0101 SOO 358 9070
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F... , 0101 707584 8015
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D.g'Plan, Compumoror and Daedal ""'" I'M of rho Parker H.Mi,.,
Applied TBChflOiog>l>. Gtoup. P,odu<;rJJ include
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8D2, 8D3 & 8D5 Stepper
Drives User Guide
IMPORTANT INFORMATION FOR USERS
Installlllion and Operation of Diglplsn Equlpmen,
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co Digiplan Division ot Parker Hannlfln piC, 1991
- All Rights ReHrved _
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CONTENTS
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'1:'
Table of Contents
llsl 01 Figures
List 01 Tobles.
How To Use T!l1S Manual,
AssumpMn,
Contems ofThis Manua'
'"'lallatIOn Process Ove""ew
InSlallatlon Recommendations
CO"":::::.
••
••
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.;
~;~:~::l·.~
Doves
SC- aM SR-Ss"., Rae.s
Product Featu,e"
SD Senes Doves.
Thoory of Operation _
Chapter 2. GETTING STAIlTED_
ChaplB'Ob.'ectlves _
WOO, You Should Have
ShlD K,llable
Tran,former Sh'~ KI1
Pre-InstallatIOn Testing
Test Conl,gurallOn USing ar SD MOlhe'bDard
Test Conl,guratlon USing ac SDC Motherboard
Test Conllg~raMn USing the MC20 Inds,or
Powenng Upthg SO Oeve
Funcbooal Tes: Without inde,er
Fur.ellenal Tos: USIflQ 'he MOO 'rlde,er.
Chaptor 3. INSTALLATION
Chapw Ob,eC1lVO'
Complets Sysle", Ccnllg"'8110[1
Set'log Drive FU'C1i0"'
Melor Seloctlon
Drive lICk Satl,ngs
SD Motherboard
SDC MOlherooord
Environmental Cons,derat,ons_
Enclo'ure Con"deCOMns
System Mounting
Moior Mou't,ng
lranSlarme'MQ<Jrt,ng
System ConnectlO-lS
Wlnng GUidelines
Connecting v'a a Motherboard
Chaptwr 4. HARDWARE REFERENCE
ChaNer OOjeCi'ves
EnVironmental SpecltlcallOns
,,
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8D2. SD3 & 5DS STEPPER DRIVES USER GUIDE
SD lJ-ive Spec,l.callO'lS
FacIo,,! De~alJ~ Seiling,
SO Dnve Direct CDnnectl"",
[)'''" S,gnal DeSCriptlOrs
SOC Mother':loard Co,nectio1S
liO SpeCifications
Signal Descopllons
SD Motherboard Connections_
Descopt,on
Signal Descr,ptlons - SD Mothe,board_
haosio'mer W,"og ,
[J,menSID",1 Drawings
SFt,SC R,ck _
Trans'orOlers
Chapter 5. MAINTENANCE & TROUBLESHOOTING
Chapter ObjectIVes
Malnlenance
Motor
Drive _
TrO'Jbleshootlng
Problem IsolatlOn_
ReduCing Electrical NCIse
ne'.>m'"g tho SyslerT'
Index
CONTENTS
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list Of Figures
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Figure ,.\
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Figure 2-3
Figure 2-1
F,gu,.2_2
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F.gure3-1,
Figure 3-2
I
Figure 3-3
r'Qo,.3·4
hgure 3-5
Figu,. 3-0
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F,gur" 3-7,
Figure 3-8
Fig"'" 3-9,
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Flguf8310
rlgUre 4_1
"9"",4-2
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figure 4-4
Figure 4-5
Figure 4-K
F'gure 4_(.
Figure 4-8.
figure 4-9_
"gure 4_10.
Flgur•• -I'
Typical SD Drrve System FunClional Block Diagram
3
SD Motherboafd Test Contlguratlon __
_7
SDC MothertJoard Test ConllgurallOO.
_8
MC20 Indexer and SDC MothertJoafd T.'t ContlgurallO" _
_" " .. 9
SD Dove DIP SWitch Liok Locations & Acceleralion Cap C25
14
Location ot Li"kS, Advance Rale POlS and R1 (SD Motherboard) ___ 17
location Dt RS. links and Advance Rats Po:, ISDC Mo:herbo<.rd, 19
SD M01"ertJoafd MoW Connections __
_ 23
SDC Motherboard Motor Conno-ctlons _
23
Typical Translormer Connections for
120V alld 240V Mains Supplies
Co
SDC Motherboard In<lexer Connect,o"s
" ,,27
Motherboard AU<llIary Inde'er COMector .
Fautt Output Example_
Optro"al Remote Advance POI and SWitch Co"nect,o,"
;;
Connoctlng Directly 10 Ihe Drrve
SDC MotMrtJoard Input, a"d Outputs_
". ". ,,38
SDC MothertJoa'd SKT 1 Inlerlacln9 CircUits
~
Ir,tertacl"g to SDC MothertJoard PL 1
SO Motherboard Compono"t LoyoLJI
M
120VAC Supply Transformer Wi,,"g
~
240VAC Supply Transformer Wiring
~
SR Rack Dimensions"
Transtormer Model T0116 D,mens,o", (' OOVA!
Tran,furmer Model TOl19 DimenSions (300V AI .
Trao'former Model TOl20 D,men5l0"s {450V A!
" 50
C"
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List Of Tables
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I able 1-,
Tab'e2-'
Tobie 2-2.
labl83-'
Table 3-2
Tabl" 3-3
Tablo34
Table 3-5
Table 3-&
hblo 3 7
Table 4-1_
Tobie 4-2
tobie 4-3
Tablc44_
Table 4-5
,
SR-Seres Rack Co,tlguratlo1'
c
SCISR System Sh'p KII'
SC.-SR System for leanslormers
. 0
Dnve Currenf DIP SWllClI Settings_
SD Moth8rtloocd R1 Res,stor Values for Setting Motor Current
SDC Motherboard R5 Resistor Val u.s for Sellrng Current
<C
Mn10r Connec:,on Data - Windings," Serres_
__24
Motor COn"Be"on Data _ Windings in Parallel_
". "".25
SD MO'hmbOOrd '"de'er Connector (SKT2) Pir,octs
" 27
SDC MOII,erbodrd Indexer Connector {SKT1:' P,"out,
SD D"ve Spec,f,calrO",_
;;
Sllll"vc Factory Detaul: S&I""9S
Irdexer 25-Way Conoec:or I/O Speell.catlons
Au"l,ary Indexer Con"cc:or (PL '1 1.-0 Spec,l.catlOrlS
',~
1 ranstormor Pnmary Con"eCl'on,
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S02, SD3 & SOS STEPPER DRIVES USER GUIDE
How To Use
This Manual
A.. omo"on.
CONTENTS
1I
This manual .. dcslgnQd to help you iostali. dovelop, and maintain
your system Eacn chapter b"9lns with a list oj 'peClllC objQC1IVes
thai should be met anoryou have read the chapter, ThiS section IS
Inlended 10 help you fmd and us<> the information In t~,S manual.
The eo.ironment io which Iha SD Dn.e system will op<>ratQ
The sys'Qm layout and mounhng
Ttle WlrlrIQ and grounding praClices used
These recommendations are Inlended to help you easily and safely
Int<>grate tho SD DnvQ systom into your maJtufaCluril'lg facil~y,
Industrial eo.i,onments oIIen contain conditions thai may adversoly
a!feet sollo state aqUlpmenl Elect"",,1 nDISO or atmospheric
comamlnalian may also aftcct the SD Dri.e system
111,s user guide assumes tha' you have the skills or fundamental
understanding of Ihe follo""ng,
BaSIC electro",cs concepts (vo~oge, switches, cum"'t, reSistors.
etc I
BasIc mOlion control concepts (,orque, velocity, distance, etc)
Com.nto of Th'.
M.nua'
""""'I>r "
'n"""",,11on
G_" 2,
..S.IIIng
ThIS user gUide COl'llain. tho foliowlflQ InformaOon:
ThiS chapter provides a descnptloo of the produCl and a orlef
account 01 liS specific features.
Th" chapter contoin, • detailed list of Ilems you shoukj have
receive<! With your SD Dn.o system shlpmem It will help you
become familiar with Ihe SYSlem and ensure that each componenl
lunel>ons property In thIS chapter, you Will perform a preliminary
conflgurallon ollhe system
,,,,oo
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'nst ..
""""mme""".",.
Wrth thIS baSic levQI of understand 109, you will be able to effeClivoly
use this manual 10 install. de.elop, and maintain your system
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T",s chapler will help you customize the system to meet your
appl;cation', needs Imponant appl,catlOn considerations are
discussed, Sample applications are provided,
..
Complete I~e baSIC syslem con~guration ano wiring ;nstruClIOOS
provided in Chapter 2. Getting Staned Note that th .. IS a
prelim,nary conl,guratron, 001 a permanent InSlal'atlon, usually
p.rtormod m a t>ench-tap on"ronment
'
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Thi5 Chapter con'ainS mformatlon on system specifications
(dimenSions and pertormance), This chapter may be "sed as a
qUlck.reference tool for proper switch senlngs and 110 coona<otiOos
"""",,,6:
"'un"".""" &
r"'UOlO-"'''''''ng
ThIS chapt"r descnbes recommended syslem maintenance end
troubleshooting procedures, ~ also pro.ides ntethods lor Isolating
and resolving hardwars and soflware problems.
.lI
Installation
Process
Overview
TO enSUre trouble·fro. operalion. you should pay speC1al allenllon to
the following,
~
1
)
R""iew this el'llire manual. Become lamillar wnh the manual's
conte",s So thai you can qUickly find .he information you need
Develop a baSIC underslandll'lg of all system componenTS, their
iunctlons. "od onterrelatlonshps
TItIS chapter provides m"'ucllOos !of you to properly moul'll tho
systom and make all eleCln",,1 and non'aleClrical conoeollons, Upon
completion of thIS chapler. your syslem shDuld be completely
cocllgured. I"stalled, and ready to pertorm baSiC operations
cm.plCr 4,
AppliC."an De''fjn
Belore you atlempt to lMtal1 this prooucl, you should complete the
fOIlOWI"Q stapa.
Perlorm as marly baSiC moves and lunctlons as YOU can with the
p",IIminory configuration. You can perform thIS task only.1 you ha.o
r<wiewed 1M enli,e manual. You should Iry 10 simulate the laskls)
that you expeCl to portorm whon you permanQntly iostall )'<lur
system. However. do not aNach a load at this lime. This woll gi.e
you a realiSllC p'e"e ... 01 what 10 e.pe<:t from Itle complete
<oonl,gural,on.
Mer you ha.e tested all of the syslem's iu"ctions and used or
become familiar Wllh all of the system's features, carefully read
Chapter 3. Installafton.
Aft.r you h""" ",ad Chapter 3 and clearty understand what must bo
done 10 properly Instoll the syst.m. you should begin the Installalion
process P,oceed fn a linea, manne" do Mt de.iale from the
"equence or InstaliallO" mel hods pro.,ded,
Belore you beglo to confi9ure your system, check all of the system
iunC\lons and feature, to ensure that you have COmpleted Ihe
InstollaMn process COrrflC\ly,
The successful <oomplellan of these steps will prevent subsequent
pertormanco problems and allow you to ,solata and resolve ~ny
potenllal syslem dlfficu~les betore they afteCl your sy5lem'5
operallO"
~
VI
SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
Conventions
To help you understaod and use thIS user gUlds effectively. the
conv"nM", used throughout th,5 manual are explained In th,s
Sect,an.
Severat mothods are u.Bd to hightlght text. Explana"ons o( ;Pedal
te't and the way it IS highlighted ars pf9sented beklw.
Warning. &
C",,'iOn,
Warning a"d cauTion notes atert you 10 poss;ble danger> 'hat may
occur If you do not lollow InSINCilons correctly S"uatlOos that may
cau.e bodily '"Jury are p",,,,,ntod a. wammgs. S,luatlons that may
couse system <fam3ge are presgntod as cautions. Re(er to the
examples shDwn balow.
WARNING
Do nol touc~ 'he motor Immediately after (T ~.s been in use for
an extended f'I"iod oftlme, T~e un~ w;U "" hot.
CHAPTER 1. INTRODUCTION
i
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Chapter 1" INTRODUCTION
'II
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Chapter
Objective
Product
Description
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S,,""""s "',...
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CAUTION
System damage wlU occur il you po .... , up tile syslem
(mp'''f'I''ly,
Ilal,es are used tD highlight Olher ,mportant malenaL Re(er 10 the
oxample below
I
Whgn supplied as stand alo"e units the SD drrves may"'" ptugged
Inlo a standard SD Motherboard, a standard SDC MoI"e<board or
the 32 way connector supplied ""'h each drive, 'he '''''''r altowmg
direct integration into the use' system. The SDC Molherboard IS (or
use '0 h;gh MISe enwoomeots. It P'O"'''''S opto-lsolatlon fo' the
clod<. direCilDn, shutdown and fau~ lings
I
:t
SD dnves am "","Iable m mu~'ple configurations in SR, and
Tho follow,ng publicatIOns may be helplul resou"",s:
DIgJplan & Compumotor Programmable Control Systems &
Doves Caralogue
Schram. Peler (e<!ltor). The Nat,onal Electnc Code Handbook
(Third Ed't,on) QUincy, MA Natlo"al Fire Protection ASSOCiatIOn
The SD,Sene. con".t. of Ih8 SD2, ths SD3 and thB S05 dri.es
SO drives are high-f'I'rlolmance, bipolar, ohopper-regulate<! stepper
drives designed for optimum perforrnanw In low and medium power
appl"",~ons. They may b<> pow8r<>d by Bither an unregulated power
supply or d<reClly (rom the seoondaIY Winding of a" 'solaTing
tran.fonnor without any additional compo"ents. One transformer
can pawer several drives in a mu~r-axis system.
SD dri.es operate rotary stepper moters at reso(utlMs 01 either 200
step5lrev {(u(l-slep) or 400 step5lre. (hal(-step).
Adding a 10).01 ,""p"COIOr al C25 WIll rJouOle fhe aocelertIrion and
decelerafion "'fes
Re(ated
Publications
The Information In this chaptsr will enable YDU to understand I""
product" basic !unClioos & features.
-.
SC· .nO Sf\.SorlOs
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SC-Selles rae!< assemblies, Or separately as stand-alone units
TIle SC/sR-seties pre-wired rack assemblies can house up to s" SD
dn"a. Each rack system is based on a t 9"{48.26cm.)-long,
5 2'('3.21 cm)-hlgh rack wIth Ind;"ldual motherboards mouoted on
the bacK The diWes are mounted into th. rack and pluggBd dlmclly
1010 l~ei' oorrespondong mothemoards. This de,ig" provides a
compacl packago, ma<lmum fla<lbillty, and Simple solder-(ree screw
termlnat connector:;. All rack. ~t IniO slandard ,g" rack,mount
system cabinets Table t -, Idenll~es the racks and Ihe number ot
dnves each type 01 rack IS capal)le 01 aocommo~aTlrog.
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aq A€w ,\]1,nOll' I~UJa",a '\1."I"UJallV 'pasn O>E ",01S"'" .lqEUBh
p;>,unaw p.tooqJa41aw oMj a4j ua4M alQ8I!1'M ru" 'paads alq~lSnlpe
aleJ~dos OMI ''"I"'I'OSO PJ~oq-uo alii Aq p.p"QJd aq 01l"u61s
~'"'P "41 M"II~ 01 P0lODI:UOO oq ABW wa:sll' 0'<1. e",,~~,ul MIJp "41
,5no..41 pass"OO" "Je 4~lq" Slndu' NOI1.:)3!Jla PU" NI >lClOlCl a41
uo 'l"colS'\q pallOJluo~ am UOIl:lOl'P DUB pe~s I"UO'I",OJ JOIO~
,
NOI.L:JnomUNI .~ t:l31.dVH:J
UO!W-l",dO
10 AJO"'lU
I[
OUlWa4 a'Up pce JOlOW <""npo, pu~ 'OOlldwnsuoo
JaMod soz WIOIW 'SJOISlS"J ISell"q JOI poau "41 salEulUJ'la
'Aoualo'ila 5u'IFJado ,soOJdwl 'OI"lnWJ ,addo4" 5ull"ln01I""J V
'SMOIIOI SB
aJ~
'BOIJO as .41 10
S~Jnl~a~
SaInle"::l
l:lnpOJd
Ii
Ii
Ii
I[
•
I'
l
Ii
"'IJO''''OS~S
suo!l<I-ln5!1U0:l ~o~U M!l6S'US
~'I "Iqu.l
,,•
,,
;
98"!'a as
'O~
30ln8 1oI3sn S31111010 1:J3dd3.iS90S 'ii 80S 'lOS
,
SD2, SD3 & SOS STEPPER DRIVES USER GUIDE
For a detaded desc"pMn 01 .tepper motor construction aod
op<>ratlon, rafer to the Dig'Plan & CompumoTOr MOllO" CO"lrOI
CatalO(jue_
I",
-i'
.'• ..
CHAPTER 2. GETTING STARTED
II
•.
•
•
!II
Chapter 2. GETTING STARTED
Chapter
Objectives
Veofy that each componenl of your system has bee" delivered
safely
it
Became familiar w,th system compcnen" and their
Inlerre latlo nsh IPS
II
EstabllS" the basiC system cantiguratlOn
Carry oul a pra-lnstaliatlOn test 10 ensure that each cocrpooent
!uncllons propeny
II
.
!II
ThO information In IhIS chapter Will enable yO" 10 do the follOWing
What You
Should Have
The SD Dove system IS normally shippod with ~II cDmponents pr.·
"lrOO and Inslalled In the appropoate SCfSR rack system
Upon receipt, you should ,"spoet your SD Drive syst.m shlpme'Tlor
obvIous damage to lis shipping container Report any such Gamage
to the .h'PPIn9 company as soon os po,sools DlglplO" canoOi be
Ileld responSible lor daOlage Incurred In "_Ipmeot Carefu Iy unpac,
and Inspec' your SD Driva System sh'pment The Ilems I'Sled "
Table 2-1 sMuld be present and Ln good conditIOn
!II
!II
!II
Ship ~JI
!II
ToO'.
Table 2-1 Identities sr_lp kits corresponding wHh Ihe m dlfforent
SCiSR racks
!II
!II
11
1ITO,",I)
21'otru:
3(Mail
't
~
,
!II
!II
~
Table 2-1. SCiSR System Ship Kits
<lTot,"
'ITot")
6 (Tot",
I~
~~
6
-iJ'l
SD2, SD3 & SDS STEPPER DRIVES USER GUIDE
Transformer Ship
Kit
T~e following .table .shows the transformers that are typically supplied
with systems Involving one type of drive only and in typical
applications where the axes are not drawing maximum VA's
continuously.
For more demanding application requirements and cases where
different SD drive types are used in the same rack, please consult an
application engineer at Digiplan or your local distributor.
Transformer
Type
T0116 (1 OOVA)
T0119 (300VA)
Rack Type - Number of Drives (Drive Type)
SC/SR10
1 (S02)
1 (503)
• 1 (S05)
T0120 (450VA
SC/SR20
2 (502)
2 (503)
2 (S05)
SC/SR30
SC/SR40
3 (502)
~ ~~O~l
3
505
4 (502)
4 (503)
4 (50S)
SC/SR50
5 (502)
5(503)
SC/SR60
6 (502)
6 (503)
A T0116 may be used to power a smgle SD5 on low duty cycle applications.
Table 2-2. SC/SR System for Transformers
Preinstallation
Testing
A simple pre-installation test may be carried out on systems using
the SD or SOC Motherboard to verify that the received system is
functioning correctly. This section details the test and describes
basic system configurations to test each drive-motherboard-motor
set. Final installation information is given in Chapter 3.
The possible test configurations are;
·i~
·i~
CHAPTER 2. GETTING STARTED
Test Configuration
Using an SD
Motherboard
Where interfacing to the drive is via a SO Motherboard, the system
for pre-installation testing should be configured as shown in Figure
2-1.
I
-i~
-j!l
-i!l
-j!l
_jft
.I~
.!~
.!~
.!~
.!~
.
~~n i9.!~n)
Green
Yel/Grn
~
Blue
"'
~SCN
~120
~:,o
9a
"
°0
'"
26V
lav
0
lav
26V
O'5(B"O)
°OIWMft)
@1&.~g.1
(Red)
B)ue
,~
"
~,
!
~~
,,-
'"
O,an e
Black
"~
ii'§1
~
:;::-
at
!~
® ~~
[~r
TRANSFORMER
240V AC
MAINS SUPPLY
" -<i>
",
-~
i'tV2-
~
~
"
1
® ~:
,~,
<Q)-26 IRod)
"
\'
Jr;r
TB1(GND)
MOTOR
~ TB2
11'' ' ' '°1010'' .18
SKT,
,BElElBBBBB =,
"
NOTE:
Lead colours shown
are for pre-wired
transfonners (USA only)
1
ElElElEl !"lEI ,
~~Cg
A~~__
5--:
~
" ""S
--G
SHUTDOWN
cY"0 - -
DIRECTION
2. Connecting to the drive via an SOC Motherboard using the onboard oscillator.
3. Testing using an indexer such as the MC20 Keypad Indexer and
an 50C motherboard.
...---~
,~
FAST
1. Connecting to the drive via an SO motherboard using the onboard osci lIator.
7
~
SLOW
Figure 2-1. SO Motherboard Test Configuration
c..\Oc.~
~\"'-
Ou.1
7 +0
\V\
('-"0-
0---
8
SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
Test Configuration
uSing an SOC
Motherboard
Where the SOC Motherboard is used in the system to connect to the
drive, the configuration shown in Figure 2-2 may be used for the preinstallation test.
MOTO, }
Green
Green
0':
~
Black
•
•
•
•
·
~
11
jI
jI
•
jI
•
!II
•
jI
In'
, "
~5
SRf1
are for pre-wired
Iransformers (USA only)
lJ:-sd-o
~D-----j~
,
,
,
,
,
,
,
,
,
,~
lead colours shown
26
~8
o
J
+24V
-i§
.'.
•.·I·~
i_j g
0
@1~_
026
0
MOTOR
0
240V AC
TRANSFORMER
MAINS SUPPLY
_a
120VAC
TRANSFORMER
MAINS SUPPLY
~
12lt:::J
t· .......... 'j
I~
1
"r:<l::jj:: 24~
Aesupp y
8
1
8
OV +24V
1
)::::::1]
)::::::·1
15YAXIS9
15XAXIS9
L
Tl(GNO)
G.!:!!2,l-K
LKS
r±-i''Ti;'±l;~REE
8
T1
A+A-
LKI - E3 RV2
LK2- ~~
LK3- E3L!.J
RVI
r-:::I
,
SKT2
L..!J
A .~~,::=o;=­
___ -
AC INPUT
Me 20 KEYPAD INDEXER
o
~
.!~
.! ~
.! ~
"'
ng.
~'
w,
SKTl
SOC Motherboard
Figure 2-3_ MC20 Indexer and SOC Motherboard Test Configuration
Figure 2-2_ SDC Motherboard Test Configuration
••
9
If an indexer such as the Digiplan MC20 Keypad Indexer is included
in the system, it may be used with the SDC Motherboard in the preinstallation test in the configuration shown in Figure 2-3. A separate
procedure is described for this test.
Test Configuration
Using the MC20
Indexer
~
I.
NOTE:
CHAPTER 2. GETTING STARTED
'0 SD2, SD3 Il. SD5 STEPPER DRIVES USER GUIDE
po,,,,;ng up thO so
o"v.
Bofore you power-up the drive, you should v""ly Ihat the pOWef and
"notor cables 0"' properly connected II eve'Y'hlng IS OK, the cjn"e
",", be enabled {evident by holdJng 'orq<Je on the "'otor) w'er yOu
apply power
If ihe molor does not "ave holding torque, 'emove power to the
'ystem and refer Ie Chapter 6, M",otenance and T roubleshoo""g
P,or to p,"ceedlng with tho pre·lnstallal<On teSlmg, remove power to
the dnvo, remove the drive and movg Lk4 to tho lk P. pas, ',00.
Replace tho dnve end re-apply power This will perm" the snutdown
fUf\C\,on to be tested.
Fu""'.,,,,,, Te'"
""'0011.....,
dnv~.
Turn the SLOW pctoot,ometer lully CCW "rxf Ihee press .t.e SLOW
button The motor sha~ should rctate s>Owly
Slowly tu'" tM SLOW pOlent,ometorCW and nole Ihat i!'e speed of
'01"lIon I.(:reas,,,
srep4
Release the SLOW t>utton. close lho DIRE;CTION button and then
pross the SLOW butlon keep.ng the DIRECTION burton closed Tho
motor shaft 5could rotote In 'h. oppoMe d,,"ct.on,
SIOp5
Reloose bOlh buttons Tioe
sha~
Turn the FAST potentiometer CW and nolg an Increase
sp,*,o
In
'he shaft
Release !he FAST button "nd open the SHUTDOWN """!Ch
II 0.1 Df tnese steps Mve beer, completed 8atlsfoctonly th~ sysle"' ,"
b"slcolly IU1ctlon'"g correctly and ~ ay be properly 'ns'~'led (see
Chapler 3)
'""ctlon" Tes!
U"oo '"" MC20
lode ...
•"
•
•.
••
iii
! II
!I
!II
!II
stups retatlng
T u'" "." FAST potenllameter lully CCW tOe' press the r AST Durror
The motDr ,han shnuld rotate faster than In Step 2
•••
.:G
iii
ThIS procedure uses lile bui~-in clod< tacility In the SD Dove to te,t
the system whgre no 1n(1,"er IS ava"able,
Close the SHUTDOWN switch to energl.e the
,~,
.1
I"
.'il
I
·iill
·iil
·iill
Usc Ih8 'ollowlng proceaures 10 test the functlonollty of the system
and to veo1)' Droper ,yo'em ccnneet'OIl' wM'e all "de.", socn ~s
Ihe MC20 Keypad Indexer IS available,
!II
!II
!II
!II
"
.
'II
!II
,.
ill
CHAPTER 2, GETIINGSTARTED 11
Slop ,
Set up the Ind."e, to run ,n accordance wllh tne IOSiaLat,c"
prooedures outlined In the Indexer monual Make sure the Indexer
,esolutlon (Slep5IreV! m3tches the SD dnve ,esolutlon ,&1",19 With
dnve Lk3 fiMd the onve" In 200 step",,,ev mode IFu'l Step) We,en
dnve lk3 IS not flttedt"e dnve IS in 400 Steps/rev made IHal1 Step)
Sea Figure 3·t
Apply power to the SD Dnve and se' toe 'nde<er to ~ertorm a O1ove
with tha follo".ng para mete",
•
•
Velocity. 4 revolut,ons per ,ecorxf (rps)
Accelem1lon = 5 rp.'
DIStance = 800 stops
E<ecutrng t~IS move should
crave (two revOlu' "I's)
~"'u""
the croW 10 make an aOO-s!ep
If 1M molor does rot move, refer to Ch~ptor 6. MOIn'en~1ce ana
TroubleshooMg
12. SD2, SD3 & 80S STEPPER DRIVES USER GUIDE
.
.J .,
-.
--"
-"
~
CHAPTER 3. INSTALLATION
Chapter 3. INSTALLATION
Cllapler
Mount all syslem componBnts prop""r
Connect all electOcal system 'nputs and outputs prope,ly
Ensure lhal the complete system is installed properly
_[iii
-i"
-i"
• '0
_
II
Th. informaMn In th,s chapter w,lI enable you to <10 the follOWing:
Objedlves
P<>rtorm basic system operalions
NOTE You .houkJ complele all steps In CllaplQ' 2, Getting StaMd,
before proceoolng ";th Ihe steps In this chapter,
Complete
System
Configuration
In th,s section, you will go through complete set-op PfOC"Oum. far
sottlng drive functions .
WARNING
•
NEVER adjust ,.,minal connections or DIP switch settLngs
II
when the power I. On .
• :!II
.[lI
[ 1I
• !II
.! II
II
...
...
SO"'"g on ••
Fun"""n,
Drive !unctions are sot Oy means of DIP S"fllches and IInk._ Thoso
are factory-set to provide opt,mum 0P<'ratlon In mast applicatioos.
You may_ however, need to a~a' these settings to satisfy the
pMlctJtar opera1mg raqu,,,,ments for your application .
NOTE- To cnange DIP SWitch and some Ilnk.ettlng. you must
",move the drive from Ihs rack_
CAl1TtON
Do nol remove the drive modules while power is .pptied to the
rac~"
A 4-po.llian O!P switch is located on the SD Drive card (see Figure
3-') This DtP switch allows you to program the output currenUo tho
motor. To access the DIP sw'tch, ramova the scrows securiog the
from ponal'o 'he rack and pull lhe dove from the raC1< NOTE"
When re,nslalllOg the drive, mMe sure lhe dMe follows the gwdo
rails In Ihe ra""
.' .,
_j !(I
14 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
.!~
CHAPTER 3. INSTALLATION
15
.
Wi"
so
·i~
DIP
-iiil
HEATSINK
LOCATION
·I~
NOTE: Figure shows factory settings for DIP switch and Jumpers
Figure 3-1. SO Drive DIP Switch link locations & Acceleration Cap C25
SO drives are suitable for use with high-performance hybrid or
permanent magnet motors having 4, 6 or 8 leads; a 5-lead motor
cannot be used with this type of drive. The phase inductance of the
motor should ideally lie between 1 mH and 10mH.
The best overall performance will generally be obtained when the
unipolar current rating of the motor is between 1 and 1.5 times the
current rating of the drive. Therefore the SD2 is best suited to
motors in the 1.S-3A range, the SD3 to motors in the 2-4A range and
the SOS to motors in the 4-6A range. Select a motor with a current
rating at the top of the corresponding range when the maximum
high-speed torque is required; whilst there is less torque at low
speeds, the reduced winding inductance helps to maintain the torque
as speed is increased. The drives can be derated to match motors
having a lower current rating, but the associated increase in motor
inductance causes a corresponding reduction in high-speed torque.
Motors having 6 leads are best connected in series in order to utilise
the whole winding, and in the series mode the current rating of the
motor is 70% of the unipolar rating. Therefore try to choose a motor
with a unipolar rating of about 3A for the 802, 4A for the 803 or 6A
for the 805. Greater flexibility is afforded with a-lead motors since
the windings may be connected in series or in parallel. The bipolar
rating of the motor relates to parallel connection, but similar
characteristics will be obtained from a higher-current motor
connected in series. Motors with 4 leads are not suitable for unipolar
drives and therefore have a bipolar rating only.
.1.,~
1-
.!~
.!~
.!~
.!~
.!~
.!~
.!~
.!~
.t~
.!~
.!i!I
.!~
.! ..
• 1!!I
Table 3-1 shows the settings of drive DIP switches 1-4 for the full
range of current settings. The values shown are two-phase-on
levels, and are nominal values in that they depend on motor
inductance. When selecting the current, be sure not to exceed the
current rating of the motor.
Nominal Current
SD2
SD3
SDS
2.0A
3.0A
4.5
2,7A
4,2
1,8A
2,4A
3,9
1.6A
3,7
3.5
l,4A
2,1A
3,4
3,2
l,2A
1,8A
3,1
1.0A
1.5A
3.0
2,9
2.8
2.7
2,6
2.5
2,4
2.3
-jill
JUMPERS
Motor Selection
Motor Current
Selection
SW1
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
DIP Switch
SW2
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
Settings
SW3
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
SW4
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Table 3-1, Drive Current DIP Switch Settings
Drive Link Settings
The SO Drive is fitted with four links (see Figure 3-1 for link
locations). The following paragraphs describe their functions and
optional settings.
CAUTION
Remove power from the drive before removing or fitting any
links to the drive module or motherboard.
Link LK1
Leave this link fitted.
Link LK2
Do not fit this link.
. I~
16 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
Link LK3
Link LK4
Acceleration!
Deceleration Rate
Adjustment
With this link installed, the drive will function in the full-step mode,
producing 200 steps/rev. When this link is not installed, the drive will
function in the half-step mode, producing 400 steps/rev. The halfstep mode is preferred in most applications, the slight torque loss
being offset by smoother operation at low speeds; consequently, the
drive is shipped from the factory with this link not installed. If you
desire full-step operation, remove the link from LKPk and place it in
LK3 (see Figure 3-1). LKPk, which stands for link park, is simply a
place to store unused links and serves no electrical purpose.
With this link installed, the drive will remain permanent!~' energized
and a Shutdown command signal will have no effect on the drive.
When link LK4 is not installed, the Shutdown command will affect the
drive. The SO drive is factory-configured with this link installed.
When not installed, the link can be stored on LKPk, next to LK4 (see
Figure 3-1).
The Fast and Slow set speeds are selectable by control lines
connected into the motherboard.
The acceleration and deceleration rates between the two set speeds
are factory set to 60ms for accelerating from Slow speed to Fast
speed, and 30ms for decelerating from Fast speed to Slow speed.
These times may be increased by the addition of C25 on the drive
module (see Figure 3-1 for location). If a capacitor value of 10llF is
fitted the acceleration and deceleration times will increase to 120ms
and 60ms respectively. A capacitor of minimum 16V rated voltage
should be used. When fitting observe polarity.
It is also possible to obtain a greater increase in the acceleration and
deceleration times by replacing C24 with a capacitor value greater
than 10)..lF (see Figure 3-1). If C24 is removed a capacitor of
minimum 1OIlF and 16V rated voltage must be fitted in its place.
SO
Motherboard
Links 1 and 2 on the SD Motherboard (see Figure 3-2 for link
locations)are fitted in position "b" to use the motherboard mounted
preset controls RV1 (FAST ADJ) and RV2 (SLOW ADJ). When
external speed controls are required, fit both links in position "a".
'Ii jJ
CHAPTER 3. INSTALLATION
·i~
~~~~~~~~[-:LO'
Ii
Ii ~
FAST
j)
Wi
LINKS
SLOW
~
• 0
LK2
·i~
Wi
Wi
!I
!I
.'11
.!~
.!~
-c=:::J- R1
SO MOTHERBOARD
Figure 3-2. Location of Links, Advance Rate Pots and R1 (SO Motherboard)
Advance Rate
Adjustment
.!!I
• !~
.!~
.!!I
.!!I
.!!!I
;I~
.~~
.I~
.1 ..
...
17
You can use the advance rate potentiometers to manually adjust the
rate from 40 to 1,000 steps/sec (SLOW pot) or from 400 to 10,000
steps/sec (FAST pot). Refer to Figure 3-2 for the location of the fast
and slow advance rate pots.
Turn the pot CW to increase the rate, and CCW to decrease the rate.
NOTE: If you set the 'Slow' rate too high you can stall the motor.
This function should be used only if the indexer does not need to
track the motor's position.
Motor Current
As an alternative to using the switch on the drive, you can reduce the
motor current by installing a resistor in the R1 location on the SD
Motherboard (see Figure 3-2). The motor current may be set by this
resistor according to Table 3-2. R1 may be used to reduce the
current level of an SD2 drive to O.2A. The values of current given
correspond to the condition when all drive bit switches are in the
'OFF' position. The current level should not be reduced below the
lowest figure given for each drive variant.
.:~
18
SD2, SD3 & SDS STEPPER DRIVES USER GUIDE
Nominal Current
S02
S03
S05
2.0A
3.0A
4.SA
4.0A
1.8A
2.7A
1.6A
2.4A
3.7A
1.4A
2.1A
3.1A
1.2A
1.8A
2.8A
1.0A
2.4A
1.SA
----------0.9A
----------0.8A
----------0.7A
-----0.6A
----------O.SA
0.4A
---------------0.3A
----------0.2A
------
------
Resistor Value
Open-circuit
12Kn
S.6Kn
2.2Kn
1.SKn
1.0Kn
680n
S60n
470n
330n
220n
1S0n
82n
Short-circuit
Table 3-2. SO Motherboard R1 Resistor Values for Setting
Motor Current
.-:
~
e:
D
CHAPTER 3. INSTALLATION
JUMPERS
~
I:
~
I: !I
.~
to
I
R5
SOC
Link LK1
The SDC Motherboard is fitted with three links for selecting the use
of the motherboard advance rate potentiometers Of optional remote
pots which you can connect via the 25-pin indexer connector (see
Figure 3-3 for link locations). The factory default position for these
links is position A.
Place link LK1 in position A to enable the advance rate pots on the
motherboard. Place link LK1 in position B to disable the
motherboard pots and divert the adjust common reference to pin 19
on the indexer connector.
Advance Rate
Adjustment
Link LK2
Place link LK2 in position A to enable the slow advance rate pot.
Place link LK2 in position B to disable the slow pot and divert the
slow rate adjust signal to pin 6 on the indexer connector.
Link LK3
Place link LK3 in position A to enable the fast advance rate pot.
Place link LK2 in position B to disable the fast pot and divert the fast
rate adjust signal to pin 7 on the indexer connector.
NOTE: If you set the rate too high you can stall the motor. This
function should be used only if the indexer does not need to track the
motor's position.
.:- ~
~
I:
~
II: ~
...' .
.: !I
~
. -.
:
111:•
~
iii!"
.!~
You can use the advance rate potentiometers to manually adjust the
rate from 40 to 1.000 steps/sec (SLOW pot) or from 400 to 10.000
steps/sec (FAST pot). Refer to Figure 3-2 for the location of the fast
and slow rate advance pots.
Turn the pot CW to increase the rate, and CCW to decrease the rate.
~
I:
Q
Figure 3-3. Location of R5, Links and Advance Rate Pots (SOC Motherboard)
I:~
Ii
RESISTOR
R5
SO Drive Motherboard
I: g
Motherboard
JOG RATE
POTS
I: ~
I: ~
I: G
.-)
19
Refer to the System Connections section in this chapter for
instructions to wire optional remote advance rate pots from the
indexer connector.
Motor Current
As an alternative to using the switch on the drive, you can reduce the
motor current by installing a resistor in the RS location on the back of
the SOC Motherboard (see Figure 3-3). The values of current given
correspond to the condition when all the drive bit switches are 'OFF'.
This resistor may be used to reduce the S02 drive motor current
O.2A. The current level should not be reduced below the lowest
figures given for each drive type. Table 3-3 provides typical resistor
values. Remember that the actual current wiff depend on motor
inductance .
·•
I
!II
-[-
20 SD2. SD3 & SD5 STEPPER DRIVES USER GUIDE
;
S02
~
SD3
~ ~
I
;
;
Table 3·3. SDC Motherboard RS Resistor Values for Setting
Current
Environmental
Considerations
Enclosure
Considerations
The SD Drive system should be operated in temperatures from O°C
to 50°C (32°F to 122DF) and al a relative humidity between 0 and
95% (non-condensing). Make sure the system is stored in
temperatures within the range from -40°C to 85°C (-40°F to 185 D F).
Refer to the manufacturer's environmental specifications for the
maximum motor case temperature when it is in operation.
You should install the SD Drive system in an enclosure to protect it
against atmospheric contaminants such as oil, moisture, and din.
Ideally, you should install the system in a rack cabinet In the USA,
the National Electrical Manufacturers Association (NEMA) has
established standards that define the degree of protection that
electrical enclosures provide. The enclosure should conform to
NEMA Type 12 standards if the intended environment is industrial
and contains airborne contaminants. Proper layout of components IS
required to ensure sufficient cooling of equipment within the
enclosure.
System
Mounting
You should give special attention to the environment and location In
which you will operate your SO Drive system. Consider atmospheric
contamination and temperature around the drive before you install
and operate your SO Drive system.
Your SO Drive system is normally shipped with the drive(s) preinstalled In the standard 19"-long 5.Z·-hlgh rack.
•
•
•
•
•
•
•
•
•
•
~
it
CHAPTER 3. INSTALLATION 21
Motor Mounting
~
it
The SO Drive system will operate most hybrid stepper motors.
Molars should be mounted USing flange bolts and centred by the
pilot on the front face. Foot-mount configurations are a less
desirable alternative because the torque of the motor is not evenly
distributed around the motor case. Any radial load on the motor
shaft is multiplied by a much longer lever arm when a foot mount IS
used rather than a face flange.
it
WARNING
Improper mounting can compromise system performance and
jeopardize personal safety.
!D
it
!II
Transformer
Mounting
G
!II
The transformer models used with the SD Drive system (models
T0116, TOlt9, and T0120) may be mounted in the cabinet or, If
you are not using a cabinet, close to the rack system you are uSing.
Ensure that the transformer is located where It does not have
excessively long leads and does not interfere with the SO Drive
system operation and electrical connections. Transformer
dimensions and weights are provided in Chapter 6, Hardware
Reference.
!II
WARNING
!II
Do not mount the transformer where it is likely to be touched by
personnel. Touching the wiring studs while the transformer is
energized can inflict a lethal electrical shock.
.!~
.!11
.!11
• !!I
.!iI
System
Connections
If you have set all the SO Drive functions, you are now ready to
perform the final wiring for your system. Pinouts on the drive's 32way edge connector and on both of the types of motherboard usable
are illustrated in Chapter 4, Hardware Reference .
Refer to Chapter 2, Getting Started, for instructions on the following
system connections:
Motor
Indexer
Transformer
WARNING
Ensure that AC power is disconnected before you perform any
wiring. NEVER disconnect the motor with power applied to the
drive.
I~
·i~·
22 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
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. Digiplan recommends using a central
earth stud mounted on the rack end-plate or close to it. AC ground,
the transformer shield, the rack OV bus, and the enclosure metalwork
should all be connected to this stud. In particular, you should
connect the rack OV bus with a t 8AWG (1 mm') cable kept as short
as possible.
Connecting via a
Motherboard
The SO Drive system is normally shipped with the drive(s) preinstalled in the appropriate SR rack.
CAUTION
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.
Factory Settings
Rack-mount SO Drive functions are factory-set to provide optimum
system performance and safe operation. You do not need to alter
these settings to accommodate the preliminary system operation and
testing discussed in this chapter. Normally, these factory settings,
with the exception of motor current, will satisfy the complete system
operating requirements. Chapter 3, Installation, discusses optional
drive settings you can use for your particular application. The basic
drive operating conditions are factory set as follows:
Drive current is set at maximum (2A for S02, 3A for SD3 and
4.5A for S05)
Drive resolution is set at 400 steps/rev
"ij)
.11
.
·i~
CHAPTER 3. INSTALLATION 23
Motor Connections
If you purchased a Digiplan stepper motor with the SO Drive system,
please refer to the Digiplan Motor Manual for connection details.
Tables 3-4 and 3-5 show connection details for a range of
proprietary stepper motors.
After you determine the motor's wiring configuration, connect the
motor leads to connector TS1 on the motherboard.
~
-.:0
CAUTION
Be sure to properly connect the motor to the SD Drive
motherboard. Incorrect connections could damage the drive or
the motor.
.~
.~
-=----------~OTOR .~
:. :D
.11
•
SCREEN
A+ A·
!I
:. !I
I
,
FAST
ADJ.
.!~
.!~
.!!II
.!!I
.!~
.I~
.!!lI
.!!lI
.!~
.! ...
LKl
~~:
.~
GND
(TB2)
B+ B-
TBl
26~
MAX I Ic:1 J
Figure 3-4. SO Motherboard Motor Connections
~
SOC Motherboard
....... /
~~ =GN: :l,I~=B: ;+-B...................,
..... I
I
MOTOR
F
-;.
A
II Q)Q)Q)Q)Q)
::-r
5 - Pin Boxed
Connector
Figure 3-5. SOC Motherboard Motor Connections
I
24
·i~
·i~
SD2, SD3 & SDS STEPPER DRIVES USER GUIDE
·-i!!l
.~
N c .. no connection.
A-
MAKE
TYPE
1.
EverShed &
6-lead
Red
Green
8-lead
Red
Green
T.box
6·lead
Sigma
a-lead
Black
Black
3
Orange
Orange
T.box
AS1Iosyn,
Rap,dsyn,
Sio-syn
6-lead
Slo'syn
8-lead
Red
T.box (x6)
Red
T box Ix8)
8-lead
Siebem
ReO
T_box
G 5C
T.box
MAE
6-head
8-lead
T box
GrnIWh
Black
6
, "0>
Zeoolronics
RedIWh
B-
NOTES
2A
B+ (SOC)
28 (SO)
Blue
Yellow
Brown & Black N C.
Blue
Yellow
Link Grey & Pink, hnk
,
While & Violet
2
Link5&6.link7&8
Yellow
Whlte/Blk/Org,
While/Red/Vel N.C.
ReO
Yellow
2
,
Gm
Grn/Wh
3
,
RedlWh
Gm
3
5
'"
,
Pmk
,
,
,""
,
Gm
Red
Red/Wh
Orange
,
5
3
Link 5 & 6,link 7 & 8
White & Black N.C
5
2&6N_C_
GrnlWh
Link Black & White, link
0rg & BlkiWh
Link Blue & Violet, link
WMe & Grey
L,nk5&6,link7&8
L,nk5&6,link7&8
,
Linkl&3,I,nk2&4
81ue
Link2&3,link6&7
Yellow & While N.C.
Link WhlBlk & Wh/Org,
Link WhlRed & WhlYel
Onental
6-lead
Black
Green
Soncebo>:
8-lead
Green
GrrvWh
Red
RediWh
link Org & BlklWh link
Slack & White
Japan Servo
6-lead
Blue
Green
Yellow
Escap
8-lead
OrgIWh
Red
YeliWh
2x WMe N.C
Lillk BrnlWh & Org,
lIllk RedlWh & Yellow,
Bodine
8-lead
Tbox
Dlgiplan/Compumolor
RM Molor
8-lead
Brown
Brown
Black
Orallge
Yellow
3
,
Orange
Red
8-lead
Red
Black
White
LinkWhiGlk & WhlOrg
Link WhlRed & WillYel
.!!II
Link Yel & Rlue
Link Org & Brown
.! ..
Table 3-4. Motor Connection Data - Windings in Series
• !~
.
"'.'"
2A
B+ (SOC) NOTES
2B (SO)
a·lead
Red
Brown
Blue
Black
8-lead
RdO
Pink
Gm &
Grey
Blue &
Violet
Yel&
While
305
'"
'&7
Red
WhJRed!
Yellow
B-
T,box
,.,
6-lead
Black
WhlBlkJ
Orange
8-lead
Black &
WhlOr
0"
Whle>
WhlYel
R"'"
Yel &
Wh/Red
Gm & Yellow N C.
Ora Yellow N,C.
T.box
, &5
,&6
2&,
,&6
6-lead
R,d
Black
Green
White
RedIWh &
GrnlWh N,C,
2
3&5N.C.
Sio-syn
8-lead
Red &
White
Blk &
RediWh
Gm &
BlklWh
,.2
3&6
"7
RdO
Blue
Yel&
Violet
WhO
Pink
Black &
Grey
, &6
, &6
205
205
3&6
"7
White
'"
'&7
GrrvWh
Red
Black
8-lead
Black &
WhlOr
0'0
Red &
WhlYel
Yel&
WhlRed
Tbox
3&6
, &5
T.box
, &2
2&7
7&6
Oriental
6-lead
Black
'"
'"
YellOW
Red
White
Sonceboz
8-lead
Gm &
BlkJWh
0,0
GrlllWh
RedO
While
Japan Servo
6-lead
Red
White'
Green
Blk&
RedlWh
White"
Escap
8-lead
Bm &
Orange
BrlllWh &
OrgfWh
Red &
Yellow
RedIWh &
YellWh
Bodille
B-Iead
8m &
Wh/Or
WhlBm &
Orallge
Yel &
Wh/Red
WhlYel &
Tbox
1&7
3&5
4&6
2&8
Black &
Wh/Or
Orange &
WhiBlack
Red &
Wh/Yellow
YeHow &
Wh/Red
Red & Blue
Blk & Yellow
Wh & Bm
Green & Org.
T,box(x6)
G,E,C.
.!!II
.I~
A1B
Astrosyn,
Rapidsyn,
Sio-syn
_ ill
OJ
.!!II
Link 5 & 7,llnk 6 & 8
Gfeen
Sigma
Stebon
.!~
A+
1A
TYPE
Evershed &
VigflOles
~
-!~
Dlglplan/Compumotor
OM Malar
I
-!~
Link Wh/Brn & Wh/Org.
link Wh/Yel & Wh/Red
Yellow
MAKE
T.boxlx8)
8-lead
•
While & Black N C-
,
Red
·
For a.lead motors, conllections showll are for one haH·wifJdillg.
N.C.· flO COllnection.
.,~
Link2&6.I,nk7&8
Yellow
,
-i!ll
-i!U
-illl
-illl
Link WhlStk & WhlOrg
Link WhlRed & WhNel
Red
5
~
CHAPTER 3. INSTALLATION 25
T.box
Tbox
6-lead
MAE.
Zebotronics
DigiplanlCompumotor
RM Molor
8-lead
DigiplalliCompumotor
OM Motor
a-lead
WhJBlk
5&6
O~O
Grn/Wh
5&6
Gm & Red N.C
Gm & Blue N.C.
Red
• Use correel White lor each phase .
Table 3-5. Motor Connection Data - Windings in Parallel
I!J
.'.
•
-i -
26 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
Refer to Chapter 4, Hardware Reference, to select the proper wiring
arrangement on the transformer and check that the transformer is
wired to operate with the correct mains voltage input.
Transformer
Connections
As illustrated in Figure 3·6, the transformer leads are connected to
the five barrier strip terminals (connector TB2 on both motherboard
types) and the fast-on connector (T1) on the back of the SDC
Motherboard.
WARNING
Do not connect the transformer to the motherboard while power
is applied to the transformer. Do not touch the wiring studs on
the transformer after It Is plugged into an AC outlet. This can
cause serious personal injury.
(Green\
Green
eJ
Black
While
'"
,
E
L
120VAC
MAINS
SUPPLY
,
N
OSCN
=
I
Screen (Green)
TB2
't::1'1200 120
~
6V Red
8V Blue
(Q)110@110
=-.O(While)
~
V While
ev Oran e
G0'\018(Orang
6V (Black
=0 °0
eJ
"
~
"'"
TRANSFORME'lf/
,
,
, ~
,
, ,,,
l8V ~
OV
lev
<[
(2)
SD DRIVE MOTHERBOARD
!II D
:.
~
••
~
.-
!II !I
.11
g
•
G
·
·
~
.~
'" to
l8V
OV
18V
~
<[
'"
26V Molor _ Red
l8V logic = Blue
OV = While
l8V logiC ~ Orange
26V Molor = Black.
Screen ~ Green
Lead colours refer to pre-wired transformers (USA only)
Figure 3-6. Typical Trans10rmer Connections 10r 120V and 240V Mains Supplies
Pin
Function
1
EXTERNAL REFERENCE
INPUT
+24v DC OUT
FAULT OUTPUT
5
6
7
~
•
Refer to Chapter 4, Hardware Reference for details of connections
between the Indexer and the SD Motherboard. Table 3-6 lists the
pin functions.
2
3
4
~
.~
TB2
240VAC
MAINS
SUPPLY
Indexer
Connections· SD
MothertJoard
26V
26(Black
26V Molor _ Red
l8V Logic _ Blue
OV "While
l8V logiC = Orange
25V Molor ~ Black
Screen; Green
~
CHAPTER 3. INSTALLATION 27
ZERO PHASE OUTPUT
DIRECTION INPUT
ENERGISE INPUT
CLOCK INPUT
8
9
10
Ov
SIGNALOv
FAST INPUT
11
12
13
14
15
SLOW INPUT
FAST RATE ADJUST
SLOW RATE ADJUST
RATE COMMON
INTERNAL CLOCK OUTPUT
16
Ov
Table 3·6. SO Motherboard Indexer Connector (SKT2) Pinouts
Indexer
Connections· SDC
MothertJoard
Figure 3-7 shows the 25 way connector for connecting the Indexer to
the SDC Motherboard. A standard cable Part No. 1392.072 or
1392.078 is available for connecting the Digiplan MC20 Keypad
Indexer.
~
.'!II
.!~
.I~
.!~
+
00
00
:
0
o
o
o
o
o
.!.
I
.!iI
.!iiI
!i
Figure 3·7. SOC Motherboard Indexer Connections
28 SD2, SD3 & SDS STEPPER DRIVES USER GUIDE
Table 3-7 provides the pinouts for the 25-pin connector on the SOC
Motherboard.
Pin
1
2
6
7
9
12
13
14
15
16
17
19
21
25
Function
STEP +
DIRECTION +
SLOW RATE ADJUST
FAST RATE ADJUST
FAULT +
SLOW INPUT
FAST INPUT
STEP DIRECTION SHUTDOWN +
SHUTDOWN RATE ADJ COMMON
FAULT -
Ov
Table 3-7. SOC Motherboard Indexer Connector (SKT1) Pinouts
•
~
Wi jJ
Wi it
.:
•
•
•
CHAPTER 3. INSTALLATION 29
AUXILIARY INDEXER
CONNECTOR
~
•
RV2
G
:If jJ
!Wi,
,
~
~
r
~
.~11
H~~~+24V
SOC Motherboard
:. !I
FAULT
Not Used
Not Used
DIRECTION
~~O~DOWN
ov
AUXILIARY INDEXER
CONNECTOR
Figure 3-8. Motherboard Auxiliary Indexer Connector
Auxiliary Indexer
Connections
The PL 1 (SOC M01herboard) and SKT1 (SO Motherboard)
connectors provide optional connections for the drive control signals
(see Figure 3-8).
These inputs are for using non-TTL Digiplan indexers, clock cards
(MC1, Be?, Re9, etc.). or an indexer that has output characteristics
that differ from TTL indexers.
If you are D.Q1 using a Digiplan indexer with standard Digiplan cables,
it may be easier for you to use connector PL 1. The electrical
specifications for this connector are provided in Chapter 4, Hardware
Reference. The inputs on PL 1/SKT1 are not compatible with
Olglplan or Compumotor TIL indexers.
':'I0TE: Caution must be used since these inputs are not optically
Isolated.
Link cables are available from Oigiplan (200mm cable: pin 200MM
JUMPER, or 400mm cable: pin 400MM JUMPER). Refer to Figure
3-8 for the PL 1 auxiliary indexer connector location and pinouts.
•
jI
+24 Volts
(Pin 1)
• 11
·
.~
•
Fault
(Pin 2)
~
!!J
This terminal may be used as an output to provide +24V from the SO
Drive to external control circuitry. Current drawn must be limited to a
total of 250mA.
This is an output signal which goes high in the event of an overload
fault. It is driven by an open-collector transistor and should be pulled
up by an external resistor when the signal is required. The resistor
should be returned to a voltage no higher than +25V, and should not
allow more than 15mA to flow when the output is low.
.!!!II
When a fault occurs, the drive will de-energise until the shutdown
signal is cycled or the power is cycled after the fault has cleared .
• !!II
.I~
You can establish a visual fault verification by installing an LED as
illustrated in Figure 3-9. Here the LED will be lit unless there is a
fault.
.!.
'.!.
!.! •
• !iI
-'jg
30 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
"'~
I
"i~
SD Drive
.:11
'i~
,
Figure 3-9. Fault Output Example
Zero Phase
(Pin 4)
Dlrecllon
(PinS)
Step
(PinG)
This is an output signal that goes low when the drive translator is in
its primary state. This occurs every 8 motor steps in the halt-step
mode. The drive always powers up In the zero-phase state. Ths
signal is used in conjunction With an auto-homing circuit. Electrical
parameters are the same as those 01 the Faull output.
Taking this input terminal low (connecting it to the OV terminal) Will
reverse the direction of motor rotation. The direction should only be
changed when the molor is stationary or running within the start/stop
speed range. The input is not TTL compatible.
A low-going transition on this input terminal causes the motor to
advance one step. The input should remain low for not less than
10!!s. The maximum step pulse frequency is 20kHz in the half-step
mode. The input is not TTL compatible.
CAUTION
Do not stop the clock while it is running above the start/stop
speed; this will cause the motor to de-synchronise.
Shutdown
(Pin 7)
This input terminal enables the motor to be Shut down (deenergized) so that it may be rotated slowly by hand without SWitching
the system off. You must connect this input terminal to the OV
terminal in order to energize the motor. NOTE: If link LK4 is
installed. the shutdown Input has no effect and the drive remains
energised at all times except in the event of a fault
The input is not TTL compatible.
OV
Use this terminal as the common return pain! for the indexer signals.
(PinS)
Optional Advance
Rate Pot and Switch
Connections
11 you set links LKI. LK2, and LK3 on the SDC Drive motherboard to
position B, the ADJUST COMMON, FAST ADJUST, and SLOW ADJUST signals
are diverted to the 25-pin indexer connector. Pins 6 and 7 are the
slow and fast adjust pins, and pin 19 is the adjust common. USing
these pins, you can wire remote jog potentiometers (pots) as
Illustrated in Figure 3-10.
,'ill
,
~
..
~
!I
:a
CHAPTER 3. INSTALLATION 31
Using the SLOW. FAST. and ov signals from the 25-pin connector. you
can wire remote slowlfast jog switches (see Figure 3-10). When you
close the switch from the slow input (pin 12) or the fast input (pin 13)
to OV (pin 25), the motor runs at the rate set with the corresponding
pot. The slow range is 40 to 1,000 steps/sec. The fast range is 400
to 10,000 steps/sec.
Using the 8-pin PL 1 connector, you can also wire a remote direction
switch using the DIRECTION (pin 5) and ov (pin 8) signals (see Figure
3-10). When the direction switch IS grounded to OV,the motor
moves in the opposite direction.
NOTE: The jog switches should be used
need to track the motor's position.
~
Ii the indexer does.D.Q1
Figure 3-10 also shows the corresponding external connections on
the SO motherboard. Note that links LKI and LK2 should be
transferred to pOSition 'a' to isolate the board-mounted rate adjust
controls when external pots are used.
'Ii !I
'Ii !I
'Ii jJ
11 jJ
11
~
:Ii
~
SKTI
Isoc Molherbo.,di
11 !II
•
••
•
•
!II
.~
:II
~
All
Figure 3-10. Optional Remote Advance Pot and Switch Connections
II
,~
11'''
Itll
.,
II II
..,
II
•e ..
., iJ
•.
ill
IE
IE ill
•
'•.
ThIS chaplet :5 designed to lunctlon as a qUlck·reference 1001 to' .he
following information.
System 'peCll<cal,ons (dimenSions & perlormance)
Defaul' DIP ,witch and link settings
I!O conoect,ons and sP<'e",cal,ons
II
• II
•
•
Chapter
ObjectIves
!I
II
•
•.
Chapter 4. HARDWARE REFERENCE
ill
ill
ill
ill
III
ill
ill
<II
• !",
! ..
Environmental
Specifications
Digipla" recommends y<lU operate and store your SD DnV9 system
"ndar the following cDrod',on.
Operating Temperature' 00 to 50'C (32 0 to 122°F)
Rs","v" Humidity Q% tD 95% Inon-condenslng)
MaJC,mum Heatslnk T emperatuTe 85 C (1 B5"F)
Storage Temperature' -40' 10 8S"C (-40' to lSS'F)
Ma"mum Motor Caso Temp",ature 125T 1255' FI
I
·I~
34 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
SD Drive
Specifications
Value
Parameter
Amplifiers
Type
Motor resolulion
Protection
Open CLrCUlt
Short CirCUit
Over-temperature
Nominal output current (two-phase-on)
Maximum stepping rate
Nomnal choPPlnqtrequenc
Command Interface
SO drive module
Input impedance
Input logic level
Output circuits
Output logic tevels
SO drive mounted In an SC rack
tnput
Bipolar Chopper
200 or 400 slepsJrev (User-selectablel
Phase-to-phase and across phases
If heatsLnk exceeds 8S'C (185°F)
2Nphase (502), 3Nphase (503). 4.SNphase (505)switch adjustable
10kHz@200stepslrev
20kHz @ 400 sleps frev
15kHz
D,e
BUilt-in pull·up resLstors (4k?) 10 + 12V
Low (logic 0) 0 to +2V or shM-circult
High (logic 1) +1 OV to + 12V or open,clrcuit
Open collector NPN transistors
Low (tranSistor switched to OV) .1 V max.@ t SmA max High
(transistor aU) +2SV max
Step Input is high going pulse, 10115 min Width
Maximum pulse rate is 20kHz
Inputs are fully optically Isolated and require a TTL-type Signal to
operale >3 SVOC high, <0 8VOC low User-supplied step and
direction skinals must be c~pabte
DrOvldi~q-~;; to 20mA.
01
Power
Dnve supply voltage
Logic supply voltage
Onve supply current
1B·0·18VAC for +24VOC
26-0-26VAC for +36VOC
Fuses
F5~ ~~ogiC 5;J:~1
FS2 Motor Su I
Internal Oscillator
5peed range
Fast
510w
Preset acceleratLon time
Preset deceleration lime
Motors
Type
Number of leads
Inductance range
Typocal current range
18-0-18 to 26-0-26VAC, or 24 to 36VOC
18-0-18VAC or +24VDC at 350mA max
1.5A (502). 2.2A (5031, Not recommended lor use (505)
1.5A (502), 2 2A (5031, 4.5A (505)
"
3.15A 502
4A S03
6.3A 505
400 - 10,000 steps/sec (ramped)
40 . 1,000 steps/sec (not ramped)
60 ms
30 ms
2·Phase hybnd or permanent magnet (normally 1.6 6 )
4.6, or 8 (5 lead not SUitable)
1mH-10mH
502. 1.5-3A"
503. 2-4A
S05: 4-6A
For 502, lower current can be accommo dated by ea ng all DIP SWitches OFF and changing the value of
resiSlor RS on the SOC motherboard Of R1 on the 50 motherboard.
, "'
Table 4-1. SO Drive Specifications
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
CHAPTER 4. HARDWARE REFERENCE 35
jJ
~
Factory
Default
Settings
11
Table 4-2 below provides the SD Drive factory delault settings. II the
factory settings are not appropriate for your application, relerto
Chapter 3, Installation, for instructions on adjusting the appropriate
drive and motherboard DIP switches and links.
~
Position A
Position A
JI
""
~
'1
11
11
11
II
II
II
~
!II
!II
~
.~
!II
!II
~
use of onboard rate pot
use onboard slow rate
Position B
;
LK1
LK2
LK3
Installed
Not installed
Not installed
h,.~~~""'------+«N,.m'
Enables use of onboard fast rate pot
I
I
DO NOT CHANGE
DO NOT CHANGE
Selects resolution of 400 steps/rev
~o.M~~~~~;~~~,,~~--~
Table 4-2. SO Drive Factory Default SeHings
SD Drive
Direct
Connections
You will need to make connections directly to the drive edge
connector il you are not using either of the standard motherboards
The edge connector pin lunctions are detailed below.
Pinouts
Pin
,,
Ro. .
". B-t
" Phase
Moior
,
"""
""
'"" rasr
,..
""
""
""
"
Motor Phase A·
Motor Phase A+
+24VDC
Logic Supply 1
Logk Supply 2
Rate Adjust Com
Fast Rate Adj.
Internal cRick Out
NOI Conn9Cled
External Ref.
Rowe
'" ".
Motor Phase B+
Motor Phase A·
Motor Phase A+
+24VDC
Molor Supply 1
Motor Supply 2
""
Faull
Zero Pha,,,
Slow Rat .. AdlU.t
Djr<>C!ion
""""
EnergLSa
SignalOV
Figure 4-1. Connecting Directly to the Drive
Drive Signal
Descrlptlons
The Signals at the 32 way drive edge connector are as follows.'
'II ,J
Connect one phasQ of the motor to A+ ano A_, and the other p'ase
to B~ and B- (connect corresponding P'"' '" 'ow a and row c n
poraIl81)_
Use the ~24VDC uutpullpin 10 in either "'wi '0 poweran ">wn e"
conI/oiler The ma"mum cu~ent thal10u can draw is limlled 10
250mA,
cog'" supply 'n",,"
'"
_<>ISUPP'y
"''''' .. 1 & 2
When Ihe dove IS AC powarod those twe InP"ts (p,ns 12a ano' 4d)
ara COMe-cled 10 the canlre-tapped secDndary GO an ISolatIOn
Iran5former rated at 18-0"8 voh. rm. The centre tap ,s eon"ected
To OV (pms 1S and 18). Asao alternallve, 10U can USB a 24V DC
supply wrth +24V connected to t>oth 12a and 14a
ForQpsratlon"t a motor supply of 24V DC, 1hese iopuls(pins 12c
and 14c1 must b8 dnven Irom the same ,solatM t,ansformer
secondary as tM lOgic 5UPpl1lnPuts If oporatlOo with a moW
oupply of 36V ,s mqu"ed, a s,ngle seco"dary w'"ding 1apped
26-1 6-0-18-26 should be used Pm" 120 and' 4c a'e connected ."
the 26V rms tapP"9s and p'ns 12a and 14a ac co"nocted
.co
'SV rmslapolngs Altornawely, a DC motor supply vollage 01
between 24V aod 36V DC may b8 used The log_o supply voltage
shoul~ always be 24V when oper31ing 110m DC
'0
The SD5 IS only recommended fOf 36V ope ratIO"
F• .,
In"",
Connect th'5 inpu1 (Pin 20al10 OV (Pin 16 or t d, ell her rowlto ,un 'Ie
,ntw,"1 osc, lata,", H,e la51 'a1e 01400 - 10,000 s'ep,/,ec :see
hgum4-1:
ThIS OUlpUI (p.n 20C) goes h'gh ("pe" CllCUl1! If tee dnve fault elreul'
ope'a1es as a result 01 an overfoad or shM'ClrC,,1T The fault c ceu't
may t>e resoT by temporanly removing power or oy 1aklng Iho
Energize lOput high_ The pin should be connected 1~rough e,1erna'
c"eu,lry 10. voltagB not o>ceedlng 3OV, such that when low, co
more than 15mA will be passed in10 1he PIn_
COrlnect1f11S Input Ipm 22a) 10 OV (p,n \6 or 16_ el1Mr row) to ru" lhe
,"ternal OSCillator d1 .he slow ra18 of 40 _ t.OOO steps/sec (see rigore
1_ "
20m
Ph•.., 0",,,,,,
CHAPTER 4_ HARDWARE REFERENCE
til
36 SD2. SD3 & SD5 STEPPER DRIVES USER GUIDE
TillS ou1pu11PIn 22clls low dUring lhe zero pha,e s1a1e o!1he d"I'e
translatO'_ TI", IS 1he primary stote ~! the 1ranslator whe" power "
appll8d_ Th~ zero phase Slgoal LS used 10 coojur.ctlDn w"h an aulO
datum cireul1 Tho pin should be connec1ed tlHough e>:ternal
clrcu,try tQ a votlage 001 e'''''odlng 3QV, such that wheo low, no
more thon 15mA w,1I be pas5ed ",10 1h8 pin
The spoed of 1he "'temal oscilla1or can be comrolled by conreC\IIIg
8>:terna! polen\lomllters be1ween tho appropM1e Inputs (""e Figure
4-1)_ The normal values ar. IOkl! fOf1he faSI comrol pm and 100kf!
for,he 510w control pm U5e higherva!ues to reduce the m.nlmum
speed In each mnge
lOll
.0 1I
•
•.
.
II
•
Connect 1h,s .nput (pm 2&c) 10 OV (P'" 16 Of 18, el:her rOWI to
rever ... the d"ectlon 01 motor r01a110n Th'" Input should!J.Ql.Jlll
changed when the step mpu1 IS low, or whll. 10e mo,o' 's running
at>ove ils 'Ta"!s1op speed.
II
II
ThIS" the outpu1 of the imernal oSCtlla1or_ and It can ba connectod
1he the CLOCK inpu1(pln 28c) Th. output (pin 28a) consIS15 of IowgOing pulses apprOXimately 2S~S wide,
1I
..
•.
..
,.
•.
•
.,.
.
The mo'or shaH will advance one step tollow.ng a low_going pul5e ,n
thoslnput (p,n 28-01 Th8 .1ep occurs on the nSlng edge of:M p"I'~
Th," Input should rema,O low lor at leas110uS, and may b~ driven
lrom the Ln1ema' ",collator (connected to p,n 28al or an 8"ernal
comraller
j]
11
ThiS Signal i, alternatively relerrBd 10 35 "Step Input"
II
ov
11
iI
iI
11
'II"
'II"
!I
•
• I"
ill
! ..
37
-
.".."", Re""""'"
SIg ... ,OV
(P'" 16 or 18, Mher rowlto
Connecttl1lS Inpu1 {p'n 300) to
energlselh. mo'or_ When you r.mov.1hlS Inpu1 from
tho motor
IS de-energlled (sflutdown).oo 111e shan rotate, fr8ely LIO' lK4
on the dnve card may be Installed as an atterna1ive to makmg an
e)(\ernal conne<.ilon to
Do nol shut down 'he drive while it Is
running or damags may resu!t
av,
av_
As an atlernallve to usong lho drive DIP 5W11ch, you can prog,am 1he
motor current ~y connecting an external re'1S1or be1ween th'" Input
(pin 32al and signal OV (pin 32cl_ Referto 1he Changing
Componems SectIO" In Chap1"r 3 10 de1ermIOe the appropna1e
resistor value lor tho desired curreo1
Use thIS pin, "umber 320. as the return con"ect,on.1 you Install a
curren1 programming reSistor betweon slQPal OV and tha wernal
reier&oca lopul :Pln 3201 Do notcon!use thjs pm wIth the power
OV pjns. l6alc 1881c: jt should not be used as a power or CDntml
sjgnalOV.
"'~"
..
1(1
38 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
SOC
Motherboard
This secllon descnbes the pinouts and connectors of the SDC
Motherboard.
Connections
",
"
"
TRANSFORMER A C { ,
Input
(IV
'"
, "". '"
{
INDEXER
/10
14
2
15
16
17
STEp·
DIRECTION ...
DIRECTIONSHUTDOWN
SHUTDOWN-
9 FAULT ...
21 FAULT-
REMOTE{" =
!"AlIT
JOG
Input
PU
m
ggg.I~~i~ ~~¥ted
~ot Used
Direction
~lep
ilDVldown
1
/10
AUXILIARY
for
INDEXER
(UslIls DprIOtla/)
13
25 OV
~
~
~
'G
~
'G
!I
G
!I
•
•
•
•
•
•
.I!I
.1,.I
ma><,
LOG
"!I
SD DrIll9 MolhBrboard
NOTE: It motherboard jumpers LK1, LK2 & LK3 are set to poSJIion B,
then pin 6 ~ Slow Ajust, pin 7
~
Fast Ajust, and pin 19 ~ Adjust Common
Figure 4-2. SOC Motherboard Inputs and Outputs
tlO Specilications
..
..
..
..
CHAPTER 4, HARDWARE REFERENCE 39
Tables 4·3 and 4·4 below identify the 1/0 specifications for the
INDEXER and AUXILIARY INDEXER connectors.
II
II
4
2mA
O.SV max.
12V
2mA
O.8Y max.
12V
enabled if SOC motherboard links LK1, LK2, LK3 are set to position B
+/- P""wilth same name indicate the go and return connections for a particular signal
Type:
OPTO
DOC
VAA
AEF
LOG
GNO
Opto isolated outputs for high noise immunity
Open collector output oplo isolated from drive
Variable
DC reference
logical active low input
Ground connected to drive OV
!i
.!~
1/0
.I~
Signal levels . These are the voltages that should be applied to the '+' signal inputs with
the '-' signal inputs held at av. However, for maximum noise immunity it is
recommended that the signals are driven as a differential pair. The FAULTshould be connected to an external OV and the FAULT+ used as an open
collector output.
.!iJ
.!iI
.lil
I:,
~
1
o
- Input
- Output
Table 4-3. Indexer 25-Way Connector 1/0 Specifications
..
..
..
..
I
.. :~I
40 S02, S03 &
sos STEPPER DRIVES USER GUIDE
o"Op,,, Circuit
** ACTIVE LOW
"
optically I
Requires a ground to activate.
Table 4-4_ Auxiliary Indexer Connector (PL1) ItO Specifications
Signal Descriptions
- SOC Motherboard
Indexer Inputs
STEP+
& STEP-
Indexer Inputs (compatible with most Diglplan and Compumotor
indexers) are transmitted via the Indexer connector on the SDC
Motherboard. These inputs are optically isolated within the SD Drive
and are intended to be driven differentially from 5V logic levels.
Figure 4-3 represents the input circuits.
A pulse on these inputs (i.e. pin 1 positive with respect to pin 14)
causes the motor to step on a hlgh-to-Iow transition. The pulse
should remain high for at least lOllS. Consult your indexer user
guide for instructions on how to change the output pulse width
OIAECTKlN+ &
OIRECTKlN_
These inputs (pins 2 and 15) controllhe direction of the molar shaft
rotation. Changing the level of these inputs changes the direction in
which the shaft moves.
SHUTDOWN+ &
SHUTDOWN-
These differential inputs (pins 16 and 17) are used to energize and
de-energize (shut down) the motor. To remotely shutdown the
dnve, you must first remove the energize link (LK4) on the drive.
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 may stress the drive and could
cause failure. Taking the shutdown+ input high whilst shutdown- is
low resets a fault condition, and the drive is re-energized when the
input returns low.
Remote Advance
Rate Inputs
If you set links LKI, LK2, and LK3 on the SD Drive motherboard to
position B, the Adjust Common, Fast Adjust, and Slow Adjust
signals are diverted to the 25-pin indexer connector (see Figure 4-2
for pinouts). Using these pins, you can wire remote jog
potentiometers (pots) as demonstrated in Chapter 3.
~
CHAPTER 4. HARDWARE REFERENCE 41
~
As demonstrated in Chapter 3, you can also use the Slow, Fast, and
OV signals from the 25-pin connector to wire remote slow/fast
switches (see pinouts in Figure 4-2). When you close the switch on
the slow input (pin 12) orthe fast input (pin 13) to the OV input (pin
25), the motor runs at the rate set with the corresponding pot The
slow range is 40 to 1,000 steps/sec. The fast range is 400 to 10,000
steps/sec. NOTE: This function should be used ~ if the indexer
does
need to track the motor's position.
:\I
jJ
:\I
~
nm
Auxiliary Indexer
,"0
If you are!lQl using a Digiplan or Compumotor indexer with standard
cables, it may be easier for you to use the ramp connector (PL 1).
Refer to Table 5-4 for electrical specifications. The inputs on Pl1
are compatible with Digiplan rack-mounting indexer cards and
indexers with open collector outputs only_
jJ
jJ
•
•
•
•
•
•
•
•.!JI
11
nm
NOTE: Caution must be used, since these mputs are
optically
isolated and are therefore more noise-sensitive than the inputs on
the 25-pin indexer connector (SKTt).
jJ
:II
Inlerfaclng Circuits
:II
:II
OPTICALLY ISOLATEO
INPUTS
~
!II
••
•
•
•
~
ill
iii
.:'1
,
Figure 4-3 shows methods of connecting signals to the SDC
Motherboard via SKT 1. The equivalent devices in alternative logic
families to those quoted are not necessarily compatible. Methods
other than those shown may be used but they should comply With
the requirements shown in Table 4-3.
These circuits are designed for maximum noise immunity and
especially where long leads are necessary and interierence fields
exist, the ideal Input arrangement is a differential line driver with
twisted pair cabling to the inputs. Cable length should always be kept
as short as possible.
Input Circuit B could be used as an alternative to the line driver
cirCUit but poorer noise immunity would result.
!!II
.,.
PL1 on the back of the SDC Motherboard IS an 8-pm ramp connector
providing connections for the four drive control signals (see Figure
4-2).
Input Circuit C would operate satisfactorily where the cable length is
short and interierence fields are minimal.
INTERFACING TO PL 1
PL 1 allows signal connections to the drive by-passing the optoisolators. Figure 4-4 shows a method of coupling TTL signals to the
drive and indicates the circuit arrangements at the PL1 Interiace
Note that the signals at PL 1 are themselves not TTL compatible .
I
.. :~1
1IjJ
42 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
•
•
•
•
•
•
.!I
•
•g
•
•
•
•
•
• :s
•
~
DIFFERENTIAL
LINE DRIVES
MOTHERBOARD SKT1
ego Nat. Semiconductor D58830
INTERFACING CIRCUITS
jJ
INPUT CIRCUIT A
(TIL)
jJ
I
I
rI
I
1K
FAULT
/f./
INDICATOR LED
390R
I SHUTDOWN+
-------------;r,;-VVW~~~MIV--,c==l_-=C_,
OPEN TO
ENERGISE DRIVE
I
I
I
I
1K
~OV
I
I
i FAUlT+
FAULT
aPlO
]SOl
EXTERNAL
~ov:
CONNECTIONS
I
i
b
-{:j[;:'4HC04 STEP+
I
ADJ COM
I
lOOK
<;
I
I
74HC04
+12V
r~
- STEp·
LJ'
FAST
SLOW-
[J
i
INPUT CIRCUIT C
,
o
<S60R
~STEP+
OV
!!I
.~
+12V--:?
rSLQ';'L ._m
~
!I
~SlOWADJ
I
~IFA-ST
I
I
4 • No connection
I
+5V
1K
~
Figure 4-3. SOC Motherboard SKT 1 Interfacing Circuits
STEP
••
.~
.~
..
•
iii)
~
0
5
i
DIRN
DIRECTION
.~
FASTADJ
1
I
~
INPUT CIRCUIT 8
1
10K
I
!I
1 SHUTDOWN<
I
3. No connection
11
270R
2K7
2 I FAULT
~
SHUTDOWN
+24V
1 I +24V
5V
220R
~
IDIRN+
DIRECTION
(TTL)
MOTHERBOARD
PL1
+5V
!I
CLOCK
+ 12V
CHAPTER 4. HARDWARE REFERENCE 43
---jlf
STEP! _ _
CLOCK
TIL
INPUT
LEVELS
LJ;'
:
I
6l
J:~:V
T+
12V
__
4K7
CLOCK
I
7406:
o
I -
7406
I
ENERGISE- ___ ~_EN.G._
~
---.5
I
I
8 I OV
OV-------,~
Figure 4-4. Interfacing to SOC Motherboard PL 1
+12V
4K7
·.
·
I
44 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
•
SD
Motherboard
Connections
Description
The use of an SO Motherboard simplifies the installation of the drive
since all external connections may be made without the need for
soldering. Opta-isolation of the main control signals is NOT provided
with this motherboard but it incorporates preset controls for setting
the speed of the internal oscillator without the need for external
components. Links 1 and 2 on the motherboard are are fitted in
position "bl! to use the preset controls, When external speed controls
are required for the on-board oscillator, fit the links in position "a",
w
~6
~0
~ <3
'3 ~
l'l
RV2
~~
18
SLOW
M'i~
~LK2
(.) TB2
_.
<t
l!J~: 11·1"IO"'''''''~18 SKTl
ff::!.
iLOG'C
SUPPLY
MOTOR
SUPPLY
I
-----
'1111::I1::I1::I991::188!
,i!BSBBiJ ~KT2
\6
I
1-$
-c:::=r Rl
::m-
SYNCU
ASSY No 1321035
Figure 4-5. SO Motherboard Component Layout
2. +24VDC Out
~
The control signals which appear on two 8-way terminal connectors
on the SD Motherboard are:
The motor current may be programmed by means of an external
resistor connected between this input and Signal OV (terminal 9).
Alternatively the resistor may be fitted in position R1 on the
motherboard. Suitable resistor values are given in the section on
current setting (Table 3-3).
This output is used to supply up to 250mA to an external control
module such as an indexer card.
This is an open collector output which goes high (open-circuit) if the
drive fault circuit operates as a result of an overload or short-circuit.
4. Zero Phase
This is an open collector output which is low during the "zero phase"
state of the translator, this being the primary state in which the
translator is set when power is applied. Otherwise this output goes
high (open circuit).
Output
* 5. Direction Input
• 6. Energise Input
'(I
~
.11
~
18
3. Fault Output
.~
•
FAST
ADJ.
CHAPTER 4. HARDWARE REFERENCE 45
D
.i1
.1
[!] ~~
1. External
Reference Input
(VREFEXT)
~
.~
~V1LKl
Sig nal Descriptions
. SO Motherboard
~-.
* 7. Clock Input
,,!J
IIJI
Connect to OV to reverse the direction of motor rotation. This input
should not be changed whilst the motor is running above its
start/stop speed.
The motor will be energised with this input connected to OV. When
the input is released, the power switches are turned off and the
motor shaft is free to rotate. Link 4 may be fitted as an alternative to
making an external connection to av. Note that the drive should not
be de-energised when the motor is running at speed.
The motor will step following a low-going transition on this input, the
step occurring on the rising edge of the pulse. The input should
remain low for at least 101-lS. It may be driven from an external
oscillator card, a processor interface unit or the internal oscillator in
the drive.
8. & 16. OV
Use this terminal as a return for control signals and the +24V supply.
E!I
9. SignalOV
Use this terminal as the return connection for a current programming
resistor (see terminal 1).
EJI
• 10. Fast Input
E~
II '!I
* 1,. Slow Input
12. Fast Rate
Adjust
An external potentiometer may be connected between this terminal
and "Rate Common" (terminal 14) to control the fast speed of the
internal oscillator. Alternatively the fast rate may be set by RV1 on
the motherboard. To use an external control, transfer link 1 on the
motherboard from "b" to "a". A suitable value for the external resistor
is t OK.
13. Slow Rate
Adjust
This is u~ed in the same way as terminal 12 but for the slow speed,
and a SUitable resistor value is 100K. Transfer link 2 on the
motherboard from "b" to "a" when using an external control in place
of RV2 on the motherboard.
II !I
I: is
av to run the internal oscillator at the fast rate .
Connect to av to run the internal oscillator at the slow rate.
Connect to
.~
&;~
14. Rate Common
~;g
These signal in~uts should be pulled low (i.e. to a VOltage less than O.BV) with circuitry capable of sinking
5m~. At other times the mput should be open circuit or pulled to a voltage greater than +BV. The input has
an mternal pull-up resistor to +12V.
~~
Ii
jiJ
~~
Common return connection for external speed controls.
I
.. '~1
46 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
15. Internal Clock
Output
Transformer
Wiring
This is the output of the internal oscll!ator which will normally be
connected to the clock input of the drive (terminal 7). The output
consists of low-going pulses approximately 25).18 wide.
Depending on your application, the SO Drive system is equipped
with one of the following transformer models. The transformer used
in your system depends on your application.
Model T0116 - 100VA
• Model T0119 - 300VA
• Model T0120 - 450VA
Input power to and output power from the transformer are AC. The
drive receives AC power from the transformer via TB2 on the
motherboard. If your application requires different supply voltages,
use Table 5-6 to select the appropriate primary wiring configuration.
CAUTION
Always wire the transformer first, then check the secondary
output voltages on open-circuit BEFORE you connect the
transformer to the SD Drive motherboard. Note: Be sure to
connect the AC ground (GND) to SCN (Earth Ground).
Earth GrOUnd~=+~==t5>
AC Ground (Green)
.(1
•
·
Figure 4-6. 120VAC Supply Transformer Wiring
~
ail
•
.iI
•
11
a!l
all
•
!I
•
jJ
Figure 4-7. 240VAC Supply Transformer Wiring
t~~C
-ND"t;~i t~~
120
220
230
"
C
A
B
A
r
r
Z4U
A
F
·
11
~
.!I
a!l
.~
.~
••
-StudS: .
B&E; C&F
A&D;C&L
C&I=
"I<,
C&D
Table 4-5. Transformer Primary Connections
Dimensional
Drawings
SRlse Rack
1-_ _ 436.88
mm(in.)
.~
AC Neutral (Blue)
Line
• 11
a!l
AC line (Brown)
. .'nl~ut
g
.:iI
•
AC Neutral (White)
CHAPTER 4. HARDWARE REFERENCE 47
Figure 4-8. SR Rack Dimensions
(17.2)
--~I
J'; !l
!~
48 SD2, SD3 & SDS STEPPER DRIVES USER GUIDE
r---
I: ~
I! G
Transformers
T
0
89.0 (3.50)
--I
T
o
117.0
@lB
I ~
I: !CI
VIEWA
83.0
(3.27)
liijJ
I~
n
~===:::::::::;::;:::o --.L
L4..
--'-)-------r-'-'-J
El
(0.16)
e-~-
136.0
(5.4)
MAX
LJ
112.0 (4.41)
I~ ~
@SCN
@~@,~
CHAPTER 4. HARDWARE REFERENCE 49
~
67.0 (2.64)
I~
----1
...L
-'-
°
D
I
I!J
I. ~
I
E~
64.0
LJ-El- - - - - l
-----l~
I! l - _ I D I-
E.~
I
i~
I ~ !II
mm (in)
Approximate weight: 3Kg (6.6 Ibs)
Figure 4-9. Transformer Model T0116 Dimensions (100VA)
I: !I
I' ~
I!~
t~
t: ;g
I~
I, iii
Ic.·~
(4.61)
1
o
---1
@SCN @'0
@,,@,,"
@1O@10
@@
@..
VIEWA
@..
@..0
L-_ _ _T_O_"_9_ _ _~
;:;::::::====:=:=;::;:::o --.L
n
El
L
e
mm(in)
8<>.0 (3.15)
----1
-i...
---.L
-~--6
142.0
(5.59)
MAX.
LJ
~
4..
(0.16)
6
64.0
LJ-El- - - - L J
-'
l_
LJ--D- - - L . - . J D
Approximate weight
=
5_3 Kg (11.6 Ibs)
Figure 4-10. Transformer Model TOl19 Dimensions (300VA)
...
..' "
II
50 SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
r---
126.0 (4.96)
.:
-------'-1
T
.:
.'
•
=';::::;=====::;:::;:= ~
T
o
I--
L400
.'.0 (3.50)
Chapter 5. MAINTENANCE & TROUBLESHOOTING
Chapter
Objectives
0
0
I
a!)
0
r'
'"
89.0
(3.50)
Yo
0
Maintain the system's components to ensure smooth, efficient
operation
Isolate and resolve system hardware and software problems
Maintenance
Motor
Drive
E!I
II: ~
R!J
Troubleshooting
.~
Problem Isolation
.~
~.
~.
~.
5iiJ
a~
You should inspect the motor to ensure that no bolts or couplings
have become loose during operation. This will prevent minor defects
from developing into more serious problems.
You should inspect the motor cable or leads periodically for signs of
wear. You should not apply excessive tensile force to the cable or
bend it beyond a one-inch radius of curvature during normal
operation. Tighten all cable connectors.
0
Approximate weight = 7.3Kg (16.1 Ibs)
Routine maintenance is not necessary, but occasional checking of
the following pOints is recommended .
The ball bearings used in most stepper motors are permanently
lubricated and do not require any maintenance.
II' G
E!I
E~
1
Figure 4-11. Transformer Model T0120 Dimensions (4S0VA)
~
!J
.: G
I
(0.16)
The information in this chapter will enable you to do the following:
~
--j
155.0
mm (in)
CHAPTER 5. MAINTENANCE & TROUBLESHOOTING 51
.: G
(5.35)
MAX.
~
~
VIEW A
136.0
(6.10)
~'I
Check that the drive heatsink is free of particles and has a free flow
of air over its entire surtaC9. Enclosures must be connected to earth
ground through a grounding electrode conductor to provide a lowimpedance path for ground-fault or noise-induced currents. Check
the security of the ground connections.
This section discusses methods to identify and resolve problems that
may occur with your SO Drive System.
When your system does not function properly (or as you expect it to
operate), the first thing that you must do is identify and isolate the
problem.
Isolate each system component and ensure that each one functions
properly when it is run independently. You may have to remove
system components and re-install them to detect the problem.
----------
•
·
~.
52 SD2. SD3 & 8DS STEPPER DRIVES USER GUIDE
'
W/lRNING
Ma~&
.ure 10 remove power De1o,e lesUng any SD system
com~nenls.
Use the following informatIOn to holp In ,deolifyir.g the difficulty II
the problem permts, call one olthe numbe" at the kent 011 '" U>"'
Gu"'" for eng,neennQ ass,slar.C"
,t has holding torque If there IS no hO{i,ng
here are some probable causes
Tost 'he mDlo' '0 see If
~orque,
I:
!~
;)
iJ
I II
I iJ
•
cummt malches Ihe molor'5 reqwremeO/s
There are boO OOoo€'ClIO% or bad cable, In tho powe, ,U'PI)'
CIrCUit Dlsconn8c' the power connector, then U5e a ",e'e- '0
monitor COnl",",ly between Ihe power cornector ard the
transformer and betwoeo the transformer and the rack
There are bad connectlOns or bad ca~les In the motor CI'CLlit
DI<co"neet the power to the drive and romave the mo'o'
connector ,oto the motherboa'd liSing a meter C""Ck Ihe
COrl1InUlty Ir ~r,. motor Circuit between pinS 1 @nd2Dft,emetor
connector Reoeat tor PInO 3 and 4
The dnve ma) ncl be oonr,ectea prOf}<"I) to ,," mot1ot.oard
Make sure tho dnve" securelv plugqed Into the DIN 00"""010'
on tile "",de cllhe mOlhe,board
The shutaown Input may 08 activo
The drive IU5e, may be blown DIScQ",ect AC power Irom Ihe
d,,", remove the do,e from Ihe rack. and ,nspeet t~" IIn~ 'u<o"
FSl ond FS2, on the SD Dooo cmd Ifeilher of fhe fuses are
blown, refurn lhe syS1em for repair.
If the unit hoo holding lorque and the motor shaft 011'1 fa Is to mo',e,
here '''" 50me praoablo causes
Tho limit sw'c~es have wan tnppod or ar~ fa~lty Mako ,ure
that your limo! sWitches ",e O~F Dr that Ihe limits are dISabled
The load IS Jommed. You should hearthe drive atte01pllng ,0
movo t~8 motor Remove AC power from the driver ar,d ',enfy
•
•
•
••
•
Check the moto' lor damage Also check the motor leads/coole
to see 01 they are dam"lled or sho~ed These colld,l,ons rray
caus" the drive to fau~ out
Check the ""'Slance of tho motor and caoles to make sure Ihal
shorts dQ not e<ist between phases or to earth GND The
reSistan", across each motor phase should be conSisten'ly 'ow
and Ihere should w 00 connection between molOr phases and
betweon each phase and eMh ground.
;]I
II
MoIorSlalls
iJ
iJ
II toe molor "all, du"ng the con.tam ,eloclty panlon of a move, !he
shan and.'or coup'.r may be damaged"r b,ndlng due to Improper
coupling or OXceSSIVO motor load
iJ
A stall may occu' II the DIP sWitch setting to, tho fT'otor curront
seteCtlan LS Incorrect. The motor may nol be receiving enough
culrenl to drive the load.
II
A .tall may also be detected In clOSed loop mode It the enccder
resallItlon IS not ,et property, or 01 the encoder (where I,tled) "put
channels (A and B) arg ",versed
II
f II
.
! II
I 11
t"
A motor stall dunng acceleration may be caused by one or Tore cl
the follOWing faCIO,"
The torque requcremenlS may be exCe55lVe
The acceleration ramp may be t<>o stoep· lower acceleration ma)
be Iequired
The load lne~Ia and rotor ;ne~,a may be grOSSly mISmatched
II
I II
I ".
I
ol'he
TM lollowlog are addil;onal trouble,oooting techniques
I iJ
•
~Olnt
Iy oway from the
Indoxer palameters are incorrectly sat up If certal" parametors
are oulaf range or are miSSing, the motor ""II not move when )OU
ISSU. tho GO Dr START command
I
Current s818cl,on DIP owrtc,o, aro not set properly (see tre
motor curren' selection lable ,n Chapler 3, InstallatIOn) NOTE If
changed 'he current with resIsmr Fi5 Imlke sure '''0
manu~
53
,"~
I ;]I
hav~
that you can move the load
f II
There IS no /I.e power
you
CHAPTER 5 MAINTENANCE & TROUBLESHOOTING
II
"""" F.". '0 "un
.t liigh S""",,S
Melar .. .Im, a,
~"
ltthe motor fal'sto run at high 'peeds ,t IS pOSSible that tho "1'0'"
may nat be produc;ng enoug!l torque to mDve 'ho load at these
veloCities Check t1e wque/sf}<'ed OJ"'"S rr 'he Diglplan Mof,Qn
COnlml CataiDgueand moke SLlre you are ''Y,ng 10 r"" Ille molor
within the system Gap"rnlitle.
Check that there ar~ "0 mechanical pro~leins at tile oad cau"'9
vanable leedlng cDnd"'Dn Disconnect The molor I'om
10M and
run" Wltflout a 'oad conoected Check the DtP switches lor
programming ra"stor ,alue) lor prof}<" currenl wtlngo
tt,"
....
•
54
SD2, SD3 & SD5 STEPPER DRIVES USER GUIDE
111M molor e'ceo'" Its ma"mum motor case wrperotw. r"'''9,
lad",e "dl even\ually ,",ult Check yeu' DIP SWl1ch settings (0'
programmmg reSiSIor value) to .nSUr<! tlmt the current 5etl,ng ,
correel for Ihe motor you am uSLn9. Reier to Chapler 3, InSlal ""aO
lor proper currgnt s8ttirogs.
"""', So_"
0."".",. Si~n. of
w"'
Reducing
Electrical
Noise
TM molor sha~ may wear pr.maturety il IMre " lorelgo. maTenol
'ubblng against the shatt, or if tM load " nol coupled proporl\,
Check co"pllngs lor tlghlness
For ,"!ormatlOn on Identifying ana suppreSSing ele",neal rolSO, 'efp'
10 tho Tacllmc"1 Data se,","" ollhe Ow,plao Motion Conrra,'
Catalogue
•
~I
CHAPTER 5, MAINTENANCE & TROUBLESHOOTING 55
Whal was tne syS1Bm environment Ite~lpe'alure er,clo'ur~
spacing en,' o,,"otallon, cootam,,'aI'lS, ele ,"
g
.. \II
•
\II
•
\II
What upgraces, If any, are reqUired \1ardwa1e, so~w"re '"ser
guide)?
3
It \II
tn the UK, call Olglplan lor a GRA IGoods Relurned
Aurhorisation) I\umber ROlumed product. cannot be acreptM
W'toout a GRA number The phone "umber for Olglpl"" RBparr
Depart men! is 0202 690911. For CustorT".er Se<VlceiAppllca· ,ons
Deparlmenl prone 0202 699000
Parke' Hanni"" pic
D'Qlp'ar.Dlv.SlOo,
21, Balena Close,
PDole,
Oorsal,
England.
SH177DX
.\11
10 \II
Returning the
System
II you must relurn your SO Onve . System to efieel repa"s or
upgrades use the lollowing steps,
Gel the ,enal number and the model "umber Of the oefec'.ve
unl1, and a purchase order number to cover repair costs In the
event the unll IS ~eWml"ed oy thB manulaclure<s 10 be out 01
warramy
2. Belore you relum Ine unll, have SDmoone from your "'gaOlS"IIcn
With a lechnlcal understondlng 01 the equlpmenl ano ,ts
aF'PilcatlOn Include answe!5to as many of Ih. 'o"owlng qccs· or,
as poSSible
What IS 'oe ex10nt ot the laJlu,e/reason for retum?
How long did" operato?
Did d"Y ol"e, Ilems fad althe ,amo tlme'l
What was happemng when the un,1 failed (I", installing tee U'''·,
cycling power, SIMlng Olher equipment. etc)?
How was the produCl configured (in deTail)'
10 ..
10 \II
II ..
In The USA. coli Parker Compumctor lor a Rel,IIn Ma'enal
Authmlzailor IRMA) "umoer, Rel:Jmed produ,", cannot be
accepled Wllhou' an RMA number The phone number lor
Pmksr Comoumotor Applications DepMmen: " (800:, 358·9070
Sltlp loe uM 10
Eji
Eji
Eji
.lI
ell
Wl1h what equipment IS the w\1\ Interlaced?
Ii"
It'"
What was ihe application?
Ii it
Woat II any, caoles were mOlMod and how?
4
Ii 11
...
."
Iii!
5
Park.r Hannlfln Caflloratlon
Olg,plan DiviSion
5500 BUSiness Park Drive
Rohnert Park, CA 94928
Altn RMA # "«,,x
Elsewhere Contact tho dIStributer who supplied the equlpnlent
56 5D2, SD3 & SD5 STEPPER DRIVES USER GUIDE
•
•
It
,.'.
t
t
t II
•• ••
.'.,
.'• .
II
~I
OJ
•
II
I
II
I
oJ
"
..
I. oJ
•I, ..
II!
I
1
I
iJ)
...,
..,
I oil
I "I
i
;~
t:
~~
INDEX 57
Index
Advaoce Rate AdJuslment, 17. t9
ASCtl. 3
Assumpllons, IV
Atmospheric contamlnalion, v. 20
Au,iliary tndQxer ConnectIOns, 28
AU'illary Indexer 110, 41
BasIc alectro",cs, IV
BasIc mot,on conlrol,
W
Con,gnts of This Manual, iv
Conventions, VI
Dimensional Drawings, 47
DIP swilch selling. 53
Dnve,51
Dnve DIP Switch Settings. 13
Dnve Functions, 13
Dnve link Sellings. 15
Electncal nOI08, v
EMI.22
Enclosure ConsideratIOns, 20
Environmental Con"deralions, 20
Environmental Sp<>clfl""'ions, 33
Faclory Settings, 22
GRA IGooos Returned Aulhonsahonl
"umber, 55
VO Speclflcallons. 38
lode".r Inputs. 40
In51allallon Process Overview iv
lostallat,oo RecommendaliOns. v
Motor, 51
Molor Connections, 23
Motor Current Select,on. 15
Motor Fads 10 Move, 52
Motor Falls to Run at KIQI1 Speeds. 5~
Motor IS JBrky or Weak, 5.'l
Motor Mounling, 21
Moto, Ovorh~ats, 54
Molor Sl\aft Develops Signs Df Wear 54
Motor Stalls, 5.'l
Nat'anal ElfrClflcal Cooe, 22
";',,,0"''::
Optional Aovance Rale POI aod S",:ch
Connections, 30
Oscillalor,2
Pinout. and coonactors, 38
Power-up, 10
Product DescnpMn, 1
Produe' F8aMss, 2
Properg'Gundln,.22
Roduelng Else'ncal Na $8, 54
Relaled Pub',calior,s, VI
Ramote Advance Rale Input" 40
Rolurn Malenal AulhorizaiGn IRMAI numOOr
0;
Returning the SySlem. 54
SD Drive Factory Dete.ult SeitlOgS, 35
SD Mothorboard, 'S
SO-Series, 1
SDC Mothe,board, '6
Sel-Up procedure" • 3
Ship kit. 5
S,gnal Desc"pIIO'lS, 40
SR·Seoes Rack ConflguratlOo •. 2
SRiSC Rack 47
System Connections, 21
System Mounting ?O
Theory of Opera' On. 3
Transfom-er ConoeCllOns, 26
Tran,fo,mer Mountl'g, 21
Transformer W",o9, 46
Tra"stormers, E "8
Trouble,hOO:lng 51
Warnirg and cs"I'o' ,oles '",
WIfing GUidelines, 22
1