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Danaher Motion 

04/06 

Table of Contents 

M-SD-7AC-01 Rev 

D 

i 

Table of Contents 

1.

 

GETTING STARTED ....................................................................................................1

 

1.1

 

U

NPACKING AND 

I

NSPECTING

...................................................................................2

 

1.2

 

P

ART 

N

UMBER

.........................................................................................................2

 

1.3

 

A

CCESSORIES

.........................................................................................................2

 

1.4

 

S

PECIFICATIONS

......................................................................................................3

 

1.4.1

 

D

RIVE 

P

OWER

.................................................................................................3

 

1.4.2

 

I/O S

PECIFICATIONS

........................................................................................4

 

1.4.3

 

E

NVIRONMENTAL

.............................................................................................4

 

1.5

 

H

ARDWARE 

I

NSTALLATION

........................................................................................4

 

1.5.1

 

AC B

ASE 

D

RIVE 

M

OUNTING 

D

IMENSIONS

.........................................................5

 

1.5.2

 

AC D

RIVE WITH 

R4N RS-485 O

PTION 

C

ARD

....................................................6

 

2.

 

WIRING.........................................................................................................................7

 

2.1

 

C

ONNECTOR 

L

OCATIONS

..........................................................................................7

 

2.2

 

F

UNCTIONS 

B

Y 

C

ONNECTOR

....................................................................................8

 

2.2.1

 

J2 & J3 – RS-485...........................................................................................8

 

2.2.2

 

J4 C

ONNECTOR 

– C

OMMAND 

I/O .....................................................................8

 

2.2.2.1.

 

Step, Direction and Enable Inputs .........................................................9

 

2.2.2.2.

 

Connection Scheme for Differential Step and Direction Signals .........11

 

2.2.2.3.

 

Connection Scheme for Open-Collector Single-Ended Step and 

Direction Signals .......................................................................11

 

2.2.2.4.

 

General Purpose Inputs.......................................................................12

 

2.2.2.5.

 

Fault Output (J4-7, 8)...........................................................................13

 

2.2.2.6.

 

General Purpose Output (J4-21, 22) ...................................................13

 

2.2.3

 

J5 S

ERIAL 

C

ONNECTOR 

(RS-232)..................................................................14

 

2.2.4

 

J6 C

ONNECTOR 

– M

OTOR 

P

OWER

.................................................................14

 

2.2.4.1.

 

Connecting A Motor .............................................................................15

 

2.2.5

 

J7 C

ONNECTOR 

– AC P

OWER

.......................................................................16

 

3.

 

CONFIGURE THE DRIVE WITH SWITCHES ............................................................17

 

3.1

 

M

OTOR 

S

ELECTION

................................................................................................17

 

3.2

 

S

TEP

/M

OTOR 

R

ESOLUTION

....................................................................................18

 

3.3

 

L

OAD 

I

NERTIA

........................................................................................................18

 

3.4

 

D

YNAMIC 

S

MOOTHING

™ ........................................................................................19

 

3.5

 

C

URRENT 

R

EDUCTION

...........................................................................................19

 

3.6

 

M

ULTI

-S

TEPPING

™................................................................................................19

 

3.7

 

E

NCODERLESS 

S

TALL 

D

ETECTION

™ ......................................................................20

 

4.

 

USING P7000TOOLS .................................................................................................21

 

4.1

 

I

NSTALLING 

P7000TOOLS ....................................................................................21

 

4.2

 

S

ET

-U

P 

W

IZARD

....................................................................................................21

 

4.3

 

T

OOLBARS

.............................................................................................................22

 

4.4

 

C

ONFIGURATION AND 

U

NIT 

A

DDRESS

.....................................................................23

 

4.4.1

 

S

TATUS 

S

CREEN

...........................................................................................24

 

4.4.2

 

C

ONFIGURATION 

S

UMMARY

............................................................................25

 

Summary of Contents for P70360

Page 1: ...ive Reference Guide Part M SD 7AC 01 Rev D Keep all product manuals as a product component during the life span of the stepper drive Pass all product manuals to future users owners of the stepper driv...

Page 2: ...the information contained herein This document is proprietary information of Danaher Motion that is furnished for customer use ONLY No other uses are authorized without written permission of Danaher...

Page 3: ...ferential Step and Direction Signals 11 2 2 2 3 Connection Scheme for Open Collector Single Ended Step and Direction Signals 11 2 2 2 4 General Purpose Inputs 12 2 2 2 5 Fault Output J4 7 8 13 2 2 2 6...

Page 4: ...ce 34 4 4 8 2 Current Reduction 34 4 4 8 3 Profiling 35 4 4 8 4 Stall Detection 35 4 4 9 MOTION PROFILE GENERATOR 36 5 TROUBLESHOOTING 39 5 1 COMMON PROBLEMS 39 5 2 STATUS DISPLAY 39 5 3 EXPANDED STAT...

Page 5: ...ndling of products in this manual can result in injury and damage to persons and machinery Strictly adhere to the technical information regarding installation requirements CAUTION Keep all covers and...

Page 6: ...that no damage has occurred in shipment If damage is detected notify the carrier immediately Check all shipping material for connector kits and documentation 1 2 PART NUMBER Family P7 P7000 Series P7...

Page 7: ...5 ARMS 120 VAC 1 phase 3 ARMS Power Dissipation at 3 5A 15 W Motor Inductance Range with 320 VDC bus 50 200 mH Maximum Motor Cable Length 24 AWG 20 m Input Voltage Range 120 240 VAC Input Nominal Bus...

Page 8: ...VDC Response Time 250 s NOTE Higher voltages may also be used if an appropriately sized current limit resistor is installed external to the drive reference secctions 2 2 2 2 2 2 2 3 and 2 2 2 4 1 4 3...

Page 9: ...Danaher Motion 04 06 Getting Started 1 5 1 AC BASE DRIVE MOUNTING DIMENSIONS 5 700 in 144 78 mm M SD 7AC 01 Rev D 5...

Page 10: ...Getting Started 04 06 Danaher Motion 1 5 2 AC DRIVE WITH R4N RS 485 OPTION CARD 5 730 in 145 52 mm 6 Rev D M SD 7AC 01...

Page 11: ...onnector locations added See J2 and J3 in the diagram below P7000 AC J4 J5 1 2 3 4 5 6 COMM PORT COMMAND I O 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 J3 1 2 3 4 5 J2 1 2 3...

Page 12: ...Drive NOTE Before connecting units on a multidrop bus each individual unit must be configured with a unique unit address 2 2 2 J4 CONNECTOR COMMAND I O 1 10 19 9 18 26 J4 is a 26 Position High Density...

Page 13: ...70360 increments its internal step counter on the ON to OFF transition of the LED in an opto isolator Minimum ON and minimum OFF times are both 250 ns This results in a maximum step input frequency of...

Page 14: ...he ENABLE logic is configurable using P7000Tools Factory default is ENABLE ACTIVE OPEN If the inputs are left open the drive is enabled The input is enabled with 20 mA of current It is suitable for us...

Page 15: ...esistor 100 Vp 5 ohm See Note 2 2 2 3 Connection Scheme for Open Collector Single Ended Step and Direction Signals Shield Pull up Output Common Pull up Supply Step Dir Step Dir Terminating Resistor 49...

Page 16: ...ing input device using external supply 3 5 24 VDC SW1 INX 19 5 VDC 20 Pull Up Dn 25 Common SW1 INX 20 Common J4 J4 DC Sinking input device using P7000 internal 5 VDC supply INX 19 5 VDC 20 Pull Up Dn...

Page 17: ...nals of an optocoupler They must be attached to a pull up and signal common of the machine control system The output pair is normally conducting and becomes and open circuit during a fault Faults are...

Page 18: ...even parity bit and 1 stop bit space no flow control Cable wiring diagrams for connecting to either 9 or 25 pin serial ports of most computers are also shown below NOTE Pinouts vary among computer man...

Page 19: ...rmance when matched with the P70360 The motors are offered with a 4 flying lead configuration If your motor has 6 or 8 leads you should consult your distributor or the factory for assistance If you ar...

Page 20: ...al J7 4 PE Protective Earth Connection for a 320 VDC bus using 240 VAC Connection for a 320 VDC bus using 120 VAC Use this for motors with 7 30 mh of inductance Connection for a 160 VDC bus Do NOT use...

Page 21: ...F T22NRLC 2 OFF K33HRLG A OFF T23NRLC 3 OFF K34HRLG B OFF N31HRLG 4 OFF N41HRLG C OFF N32HRLG 5 OFF N42HRLG D OFF N33HRLG 6 OFF K41HRLG E OFF N34HRLG 7 OFF K42HRLG F OFF NOTE For non system motors con...

Page 22: ...3 3 LOAD INERTIA The P7000 eliminates resonance typical of step motors with high speed digital processing of motor electrical activity To use this feature you must set three switches based on the load...

Page 23: ...ON ON 3 5 CURRENT REDUCTION Reduces drive and motor heating by invoking standby current reduction via Switch S2 10 When enabled the reduction mode cuts motor current to 75 of its commanded value 100 m...

Page 24: ...designed to sense the motor shaft position at all times The drive monitors the commanded position and compares it to the actual position As with any 2 phase step motor when the shaft position and com...

Page 25: ...stallation again to install the new version on your system If you do not have a previous version of P7000Tools on your system you only need to run the installation once 4 2 SET UP WIZARD Start P7000To...

Page 26: ...om the currently connected drive Reset Drive Performs a soft drive reset equivalent to a power cycle used for clearing fault conditions Soft Disable Amplifier Disables amplifier Scan for Connected Sca...

Page 27: ...that in the drive Download or upload accordingly Before connecting units in an RS 485 multi drop configuration each individual unit must first have a unique unit address The unit address is configure...

Page 28: ...icator is green when programmed output condition is met Fault History List of the last nine drive faults 1 being the most recent 8 is the oldest Input States Indicator is green if the input is true gr...

Page 29: ...N SUMMARY The PRINT button is only available on this screen The configuration summary is displayed 4 4 3 STEPPER MOTOR SCREEN Motor Name Select from the list or create a custom file using Motor File E...

Page 30: ...to what an inductance meter does to measure inductance The P7000 uses a more powerful test signal which makes an audible tone in the motor The probe action takes 10 to 20 seconds during which time the...

Page 31: ...e GUI software Motor Name Enter an appropriate motor name Motor Current Continuous current ratio of the motor ARMS APEAK is automatically calculated by the GUI software Tooth Count Total number of mag...

Page 32: ...ce of 1 rev in a given motion profile Result The motor advances 2 revolutions to obtain 1 revolution of the gearbox 4 4 4 2 Load Information The anti resonance stall detect and dynamic smoothing featu...

Page 33: ...larly important if there is position feedback to the controller Step Input Filter Check to enable low pass cutoff filter at 500 kHz to reduce response to high frequency noise Rotation Polarity Changes...

Page 34: ...you can check the Acceleration Deceleration High and Low speeds NOTE These parameters control ACCEL DECEL and jog speeds that are generated by jog commands from within the user interface or the I O A...

Page 35: ...a SELECTED MOVE Start Move Transition to active triggers the move engine to begin the selected move If a Start Move input has not been assigned moves are triggered by the appearance of a non zero val...

Page 36: ...hich have been characterized for use with the P7000 drive have nominal values for L1 L2 stored in the motor files Variances in the materials and magnets of two step motors of the same type can affect...

Page 37: ...nt values Running the tests with a loaded motor moves the resonance frequency and the calculated tests speeds no longer apply Test Speed 1 Test speed which generates the excitation frequency for the X...

Page 38: ...ity it should be disabled unchecked Frequency Break frequency of anti resonance tuning filter Typically set to 1 10 the resonant frequency of the motor 2 m kg Rotor M N max 100 ToothCount Frequency AR...

Page 39: ...tistepping cuts the bandwidth to 1 10 the value shown in the frequency box Dynamic Smoothing is the process whereby the incoming pulse train or move profile is filtered in such a way as to sharply red...

Page 40: ...by clicking on it in the move list To enter a new move click on it in the list and select a structure AVD or T D Enter the various parameters represented in user unites as defined in the Mechanical sc...

Page 41: ...as Move Select These inputs now function as binary coded decimal bits Inputs must be programmed for this function starting with the LSB Input 1 and proceeding sequentially until the desired number of...

Page 42: ...Triggering the appropriate MOVE SELECT input initiates the selected move NOTE Method 1 requires that one input be programmed as Start Move Method 2 does not NOTE You need not configure more inputs fo...

Page 43: ...an cooling Reduce system throughput 5 2 STATUS DISPLAY There are 7 faults that may occur with the P7000 drive The fault output latches when they occur Determine the type of fault by viewing the front...

Page 44: ...red which caused the amplifier output current to exceed 5 6 amps Check motor wiring for shorts Power cycle or reset drive via Fault Reset input or P7000Tools Red 3 Over voltage Fault A regenerative ev...

Page 45: ...dditional installations cable motor etc Thus all necessary tests and measurements had to be made on a typical installation The test installation with all peripheral devices as well as the test results...

Page 46: ...d through J4 connector Declaration of Conformity In our Declaration of Conformity we affirm our compliance with Directive 73 23 EEC Low voltage Directive and with Directive 89 336 EEC EMC Directive Fo...

Page 47: ...regulations CE Guideline 72 23 EEC Low Voltage Directive Applied harmonized standards EN 50178 1998 CE Guideline 89 336 EEC EMC Directive Applied harmonized standards EN 61800 3 1997 Manufacturer s Co...

Page 48: ...ilt in device provides protection against direct contact The P7000 drives may be erected in closed electrical operating areas if a protection against direct contact is available or assigned for by mea...

Page 49: ...ets UL s requirements The drive should be used within its specified ratings The drives shall be installed in an environment of Pollution Degree 2 or better The devices shall be installed in compliance...

Page 50: ...the local ground Remove paint from all line filter and cable clamp mounting locations Add clamp on ferrites to cables Adding clamp on ferrites to noisy cables can reduce emissions by absorbing RF ener...

Page 51: ...Power J6 Command I O J4 and Comm Port J5 cables must be shielded and the shields should be connected to PE The safety PE connection can be made through connector pin or shell Safety grounding of moto...

Page 52: ...hields A 5 4 MORE EMC INFORMATION Additional information on EMC performance and noise reduction techniques can be found in the following Danaher Motion sources The Kollmorgen EMI Noise checklist Pacif...

Page 53: ...gency stop circuit outside the drive This circuit must simultaneously remove power from the drive s motor power terminal J6 12 J6 2 J6 3 and J6 4 Note The motor will coast under this condition with no...

Page 54: ...in the Status screen 2 Check Danaher Motion s website to see if a new version is available 3 Download the new version if appropriate and move it into the P7000 directory 4 Perform the following steps...

Page 55: ...Voltage Directive EN50178 44 M Motor Connection 14 Motor Power 8 Motor Power Cable Filtering 47 O Outputs Fault 14 Outputs 14 General Purpose 14 P P70530 Cbus blink codes 30 formula for multiple drive...

Page 56: ...for assistance If you are unaware of your local sales representative please contact us Europe Danaher Motion Customer Service Europe Email support danahermotion net Phone 49 0 203 9979 9 Fax 49 0 203...

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