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Parker Hannifin S.p.A. - Divisione S.B.C.

“SPD” User’s Manual

58

target pos.

acc

speed

mod master

%

master

+

+

hw phase

positive

edge detector

phase

engaging cam phase

sw engage

256 points

cam table

speed

mode

selector

0

1

2

3

set to 2

mod slave

%

Pr60:61

release cam phase

sw release

set to 1

normalized at

10000

ramp

to the position loop

Pr118:119

Pr 109

Pr 108

from encoder-in

block

Pr120:121

master position

Pr112:113

b 150.3

Din 0

positive

edge detector

Pr124:125

Pr122:123

Pr126:127

Pr128:129

b150.12

b150.13

b150.14

b150.15

Pr 100

Pr 101

opm 14 for SPD drive

b150.6

b150.8

Pr 102

slave

Pr134:135

mod slave

%

b70.14

zero encoder

Pr116:117

master

b70.0

Pr68:69

positive

edge detector

b70.15

slave

Din 1

Pr110:111

Pr114:115

Target
position

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Summary of Contents for SPD 16

Page 1: ...SPD 2 5 8 16 24 USER S MANUAL Rev 2 7 June 2005 software rel 12...

Page 2: ...rgilambient industtiali la I 6673 Electromagnetic compatibility 6 4 eneric Standards Emission Ott 2002 ____ standardfor tiJdustrial environments IAzionamenti elettrici a velocita variabile Parte J Nor...

Page 3: ...with the device invalidates the warranty immediately The device is under warranty for one year This user manual is for the standard version of the converter La Parker Hannifin S p A Divisione S B C de...

Page 4: ...erference 15 4 1 2 Grounding and screening 15 4 1 3 Filters 16 4 1 4 Further suggestions 16 4 2 POWER CONNECTIONS 17 4 2 1 Motor cable 17 4 2 2 Protection fuse and power supply cable 17 4 3 SIGNAL CAB...

Page 5: ...4 Torque control operating mode 1 50 8 5 Electrical shaft Positioner operating mode 13 51 8 6 Electronic cam operating mode 14 54 8 7 Position control through the CanBus operating mode 15 59 9 Start u...

Page 6: ...e serial line 81 14 SBC Can 83 14 1 Description of the fields in real time mode 84 14 2 Description of the fields in communication mode 91 14 3 Description campi Extended message set 2 93 15 CAN Open...

Page 7: ...n selecting inputs and outputs The SPD also offers the possibility to develop additional functions that are not included in the basic functionality of the converter such as gain correction for loops b...

Page 8: ...r a large number of applications without having the typical need of programming an axis control Their feature is that they can operate as MOTION ENGINE that is with a component that commands the motor...

Page 9: ...erence CEI EN61800 3 Product standard In order to conform with the standards installation must be carried out as explained in chapter Installation and safety instructions 1 7 Safety Safety rules EN600...

Page 10: ...Parker Hannifin S p A Divisione S B C SPD User s Manual 9 1 9 Mechanical dimensions weight 6kg SPD 16 e 25 X1 X2 X3 X4 SPD 2 5 e 8 Power terminal X1 X2 X3 X4...

Page 11: ...ors dissipation W 120 Feedback Resolver encoder Power stage switching frequency KHz 8 Maximum output fundamental frequency Hz 450 Degree of protection IP 20 Digital inputs Impedance input 7K VH 24Vnom...

Page 12: ...ogue Ref REF 25 2 AUX Ref AN1 Analogue Ref REF 26 3 0VA shield 0VA shield 27 4 Vout ECC Resolver 28 5 0VA shield ECC Resolver 29 6 IN0 SIN Resolver 30 7 IN1 SIN Resolver 31 8 IN2 COS Resolver 32 9 IN3...

Page 13: ...8 C 9 B 10 IR 11 CB 12 B BUS CONFIGURATION AND BREAKING RESISTOR CAN bus X2 DB9 male N Pin Signal Description 1 n c 2 CAN_L Low communication line 3 CAN_GND CAN ground 4 n c 5 CAN_SHLD Optional screen...

Page 14: ...IN 38 15 B ENCODER OUT B ENCODER IN 39 16 B ENCODER OUT B ENCODER IN 40 17 C ENCODER OUT C ENCODER IN 41 18 C ENCODER OUT C ENCODER IN 42 19 0VQ 0V panel 0VE 0V ENCODER 43 20 SR DRIVE ENABLE CK 44 21...

Page 15: ...gulation The cables connected to the converter at the terminal cannot be consolidated with tin lead welding EN60065 Art 15 3 5 Make sure that the converter and the motor are correctly grounded Make su...

Page 16: ...ning In the electric panels where the drives are usually installed there are two ground systems EMC ground or HF reference high frequency represented by the wall made of non painted metal onto which d...

Page 17: ...e drive panel and as close as possible If distance exceeds 30cm the effect decreases and a screened cable must be used between filter and converter 4 1 4 Further suggestions Keep the power cable separ...

Page 18: ...size 8A end 4mm2 for size 16A and 25A Model Slo blow fuses A 2 A 6 5 A 10 8 A 16 16A 20 25 25 4 3 SIGNAL CABLES 4 3 1 Resolver cable The cable must consist of three individually shielded twisted pair...

Page 19: ...PE GROUND STUD A B C D E F RESOLVER E J K G H FERRITE TOROID OR MOTOR FILTER OR NOTHING BASED ON THE SELECTED CONFIGURATION SERVOMOTOR MB M L1 L2 L3 PE A B C A B C D E F J K 35 36 28 29 30 31 32 33 34...

Page 20: ...e II E J K G H FERRITE TOROID OR MOTOR FILTER OR NOTHING BASED ON THE SELECTED CONFIGURATION SERVOMOTOR MB M L1 L2 L3 PE A B C A B C D E F J K 35 36 28 29 30 31 32 33 34 1 2 3 4 5 6 7 8 9 10 11 12 13...

Page 21: ...Ingressi 11 Uscite PIANO TERRA HF CONTROLLO Encoder in Abilitazione Ingresso Riferimento Uscita dr ok 10 Connection 360 Connection 360 For the fixing of the cable shields use the connections on the fr...

Page 22: ...line the last node must be terminated using the drive side internal termination Br Br as shown in the following figure for both configurations For pin setting refer to chapter Connectors and terminal...

Page 23: ...der simulator of another converter The signal of the master encoder must in any case be of differential type 5V RS 422 Therefore it is possible to connect a maximum of ten slave SPD If the master is a...

Page 24: ...al Encoder connection The following picture shows the connection of the external incremental encoder The termination resistance are necessary and the value is show in the picture Twin Resistenze 180 3...

Page 25: ...n S p A Divisione S B C SPD User s Manual 24 4 4 8 Heidenhain Encoder connection It s possible use a Heidenhain cable or a cable with equal characteristics but the length must be less to 20 meters Col...

Page 26: ...ve see paragraph Power connections It is necessary to minimize the connection cable length In any case the cable length must be less than 3 m The connection of the external braking resistance is shown...

Page 27: ...RUN on the screen depending on whether the converter is on or off This is also the position of the Pr0 parameter To view all the parameters press the o keys If you want to verify the value press the M...

Page 28: ...alarm xx indicates the alarm code and has shut off When it registers an alarm the converter is brought to Pr0 displaying the alarm code Pr xx Indicates the parameter xx whose value can be displayed by...

Page 29: ...parameters can be divided into blocks based on their function Pr0 to Pr49 Pb99 6 to Pb99 15 Pr140 to Pr149 Main block parameters General use Functions commands Cam programmer Pr50 to Pr70 Position loo...

Page 30: ...ge at the analogue input If b42 0 1 b42 1 42 and b5 1 3 Pr3 is the speed of the virtual axis 10000 rpm 3000 R W M Pr 4 Full scale of frequency reference If b40 12 1 and b40 13 1 the value of Pr1 will...

Page 31: ...celeration ramp for limit switch and stop functions Deceleration required by the motor for limit switch and stop functions is internally limited so that to achieve an acceleration of 1000 rpm Pr12 sec...

Page 32: ...R Pr 26 Serial line speed code Default 8 This is the code for programming the transmission speed For more information consult the section on the serial interface 0 8 5 R W M Pr 27 Serial line address...

Page 33: ...meter is used to modify the position of the output zero trace for the zero resolver Pr28 0 4095 0 R W M Pr 44 Number of pulses per revolution This is the number of pulses per revolution that is used b...

Page 34: ...If 0 no control is made 0 R W M Pb40 5 Right limit switch If 1 and the reference selected requires negative speed the reference is set to 0 following the ramp set in Pr12 If 0 no control is made 0 R...

Page 35: ...ccessed through picoPLC via serial or canbus R W Pb41 6 Encoder phasing signalling bit 1 OK successful R Pb41 7 External alarm An alarm that can be used by the user Can be accessed through picoPLC R W...

Page 36: ...requency input X3 connector If set to 1 the frequency input is programmed to receive two quadrature phases and this is the default value If set to 0 a frequency direction type of input can be received...

Page 37: ...ult values of the parameters in operating mode This command sets the operating mode parameters to the default values The command is executed only if b 40 2 0 0 R W Pb99 12 Default values This command...

Page 38: ...AN in real time Torque request In the diagram below the general block diagram of the part of the converter that is controlled by parameters is presented Parameter Pr31 default 0 is used to select the...

Page 39: ...the binary parameter bx y positions the switch If A is less than B C 1 true Otherwise C 0 false The value of G is the lowest value of A B C D E F Only if A 1 B 1 then C 1 otherwise C 0 If A or B is e...

Page 40: ...limitator over voltage under voltage over current resolver break power stage over temp Pr 23 b41 12 present trip code last b41 4 drive ok b41 5 hardware enable b40 9 software enable Drive MAIN BLOCK D...

Page 41: ...rogram use PB99 14 Sometimes due to several changes and saves the operating conditions may be not satisfactory anymore It may then be necessary to restore default parameters that is those defined by S...

Page 42: ...zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are programmed with the value of parameter Pr28 the position loop...

Page 43: ...ription of the modes Pb42 0 0 Incremental Encoder simulation On encoder out pin the number of turn pulses must be programmed in Pr 44 Pb42 0 1 The function Virtual encoder simulation is enabled Dummy...

Page 44: ...mental encoder If the Endat interface single turn or multiturn after the phasing is possible to save this information so at every start up the phasing procedure isn t necessary for take it to bring th...

Page 45: ...so this procedure is recommended for the first time PROCEDURE 1 Pb94 2 actives this procedure The parameters are shown in the table below Par Description field Unit Def Type Note Pb94 2 Command phasin...

Page 46: ...rush 6 Pr30 parameter calculated frequency of vibration is different of 25 unit from starting value 7 Pr30 parameter calculated frequency of vibration exceeds 200 unit max value R Par Description Def...

Page 47: ...but must be executed by the pico PLC or the serial line At each In0 or the Zero Encoder input Pb70 0 Pr66 67 Pr58 59 Pb70 14 1 8 2 11 Output programmable on module This function allows having the sta...

Page 48: ...he operating mode must be set By setting b40 2 to 1 the operating mode will be turned on All operating modes need to control the motor in position 13 14 15 by using the position loop described in the...

Page 49: ...rpm based on 4096 imp revolution rpm 0 R Pr55 Window for servo error 55 If the position error as an absolute value exceeds the value set in Pr55 b70 4 1 otherwise is set to70 4 0 count 1000 R W M Pr56...

Page 50: ...R W M Pb70 4 Servo error B70 4 will be set to 1 if the position error as an absolute value exceeds the value set in Pr55 0 R Pb70 5 Servo error B70 5 will be set to 1 if the position error as an abso...

Page 51: ...system and then set Pr31 1 in order to program the operating mode by setting the default values with the command b 99 11 Set Pr2 1000 10 V 100 0 of the torque b40 0 0 b40 12 0 b40 2 1 to enable the r...

Page 52: ...ned by Pr109 the full speed by Pr108 and the final position by Pr118 119 one revolution of the motor equals 4096 steps The parameters can be modified at any time The current position of the positioner...

Page 53: ...0 R W M Pb150 4 Profile direction Read only flag Indicates the direction of the motion of the positioner 0 R M Pb150 6 Profile feedforward If set to one disables the feedforward part caused by the tr...

Page 54: ...progress b150 10 target position motor position 0 b150 11 target position motor position reset 1 reset 2 opm 13 for drive reverse forward b150 4 Pr116 117 actual position encoder master Pr 52 ratio b...

Page 55: ...he function b150 8 the user can define the position of the master Pr122 123 on the positive side of digital input 0 or of the zero trace encoder input selector b70 0 b70 14 means that re phasing was s...

Page 56: ...table Pr104 will contain the value of the Pr103th element in the table 0 257 257 R W Pr104 Table element value Pr104 is the value of the Pr103th element in the table 0 10000 0 R W Pr108 Full speed pos...

Page 57: ...s is copied into in Pr124 125 0 223 counts 0 R Pr126 127 Master axis phase for engaging If b150 12 1 when the position of the master Pr112 113 exceeds Pr126 127 Pr102 is brought to position 2 and b150...

Page 58: ...and to set all the motor positions and references to 0 0 R W Pb150 11 Cam coupling with ramp Command to engage the cam movement when the master reaches the level of Pr126 127 through a linear ramp def...

Page 59: ...elease set to 1 normalized at 10000 ramp to the position loop Pr118 119 Pr 109 Pr 108 from encoder in block Pr120 121 master position Pr112 113 b 150 3 Din 0 positive edge detector Pr124 125 Pr122 123...

Page 60: ...CanBus status see the section on the CANBUS 0 R W Pr104 Feed forward spee The value of this parameter is summed at the output of the position loop in order to obtain the speed request Pr6 0 9000 rpm...

Page 61: ...ransmission enable If 1 when the type 1 SYNC is received Pr116 117 will be transmitted via the CanBus 0 R W Pb150 8 Sync type 8 bits The command via the CanBus of synchronism sets b150 8 to 1 thereby...

Page 62: ...sition 0 reset 1 Pr104 feedforward speed Pr 117 Pr116 motor position Pr 115 114 position reference Pr105 feedforward speed from CanBus from CanBus to CanBus Pb150 8 sync Pb150 2 enable auto answer syn...

Page 63: ...1 the converter will show the alarm dEF and after updating the parameter value you must save again by Pb99 15 9 2 First commissioning of the drive The steps to be followed carefully the first time th...

Page 64: ...ates in the windings of the motor is transformed in torque thereby allowing the motor to accelerate or decelerate GAIN Given the typical applications of the converter when we speak of gain in this doc...

Page 65: ...ines the gain of the system To convert the value of Pr16 into grades per rated torque the formula to be used is the following Pr Pr 33 100 16 28 Ipd where represents the stiffness and Ipd is the peak...

Page 66: ...is with a square wave reference Danger the reference amplitudes and frequencies must be selected carefully to prevent problems if the axis is with limited stroke If we look at the oscilloscope we can...

Page 67: ...of Pr17 has been established we must analyse the movement of the axis If it moves without vibrations and acoustic noise the adjustment of the system is complete In some applications it is possible to...

Page 68: ...s are used which very easily tend to enter into oscillation we recommend you use very low values of Pr16 In this configuration the SPD typically dampens the torque request of the motor in order to avo...

Page 69: ...ot picco where Jtot is the total inertia motor load expressed in kgm2 Nmpicco is the available torque with the peak current of the converter Turn on the converter and use the external control to move...

Page 70: ...pico PLC are Program steps 128 scanning time 6 144 ms number of timers 2 number of instructions 15 stack depth 1 mathematical operations 16 32 bits fast inputs 2 512 s 10 2 Decimal parameters PLC Par...

Page 71: ...e pico PLC is done by using three double word type operands After the execution of the operation b94 0 is automatically set to 0 If Pr58 Pr68 Pr110 Pr148 are used the double word formatting is implici...

Page 72: ...y bit of the Pa parameter ANDN Pa y the bit of the stack contains the result of the logical AND operation between itself and the y bit of the negated Pa parameter OR Pa y the bit loaded on the stack c...

Page 73: ...ameters are reserved in particular from Pr80 to Pr89 which can be stored and used as 5 parameters double word as well as 13 more parameters from Pr151 to Pr163 The pico PLC includes 9 constants for ar...

Page 74: ...it follows any instruction that is not a FIN instruction is ignored The user can make use of two timers Pr92 and Pr93 To use the first timer load the time as a number of sampling 6 144 ms into PR92 Fo...

Page 75: ...nds reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as text format display of pico PLC program status during operation I O status...

Page 76: ...monitor continued It is possible to select the desired language Italian or English How to generate a new file to set the data for motor and drive use the databases provided by the software that can b...

Page 77: ...he Pb99 10 Alarms can also be reset by disconnecting the logics or turning off and on again the drive 12 1 Summary of alarm and diagnostics use bit parameters Par Description Pb99 10 Command to reset...

Page 78: ...cuits 4 Resolver alarm Check connections and connectors at both sides drive motor 5 Motor overtemp Check the PTC motor connection on pins check setting of Pr33 Inom and Pr19 Ipicco 6 Converter overtem...

Page 79: ...peed This is the time within which the message must be sent beginning from the start of each message STX If a message is interrupted after this time the converter ignores what has been received and wa...

Page 80: ...ields excluding the STX checksum 13 2 Message types CMD1 is the response message of the converter to a data request The response message has the following format STX 001 ADDR BK LUN PAR D0 Dn CHK or i...

Page 81: ...ust be treated as complete values For example a value of 978 5 is read and written as 9785 All values that are receded by the symbol are to be understood as hex numbers The value included inside the b...

Page 82: ...ons of the program and cannot be more than 2 If a FIN instruction is inserted beginning at the 4h address or after any other instruction the FIN instruction does not function and is ignored NOP The in...

Page 83: ...ppose also that the converter has the serial address 3 The message to be sent is the following 7E A3 02 42 19 00 00 The converter responds with the message 7E 23 Fifth example setting a bit to 1 Suppo...

Page 84: ...is used to write or read every parameter of each SPD connected to the bus maximum of 15 This function is very useful when you want to sue the motion functions that have already been realized in the b...

Page 85: ...ge length Data length 8 Position reference 4 byte Speed reference 2 byte Pr102 2 byte 6 Position reference 4 byte Pr102 2 byte 4 Speed reference 2 byte Pr102 2 byte Synchronism message from the mast t...

Page 86: ...4bit 3bit 2bit 1bit 0bit 7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit MSB LSB In3 In2 In1 In0 Multiple cyclical message from Master to SPD MultiCyclic data Data length 2 bytes Field Name Data Contents spee...

Page 87: ...saves the actual motor position if b150 2 1 the drive answers with a cyclic reply This message is for several drives The following table shows to which drive the Command Pr102 first 8 bit is sent to...

Page 88: ...ata field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8447 The electronic cam table have the...

Page 89: ...a field Data Address This is the address of the parameter interested in the operation parameter number 2 The PLC instructions have the address from 8192 up to 8447 Data If the parameter is to be writt...

Page 90: ...tion status between Master and Slave via CanBus through a simple pico PLC program The pico PLC code on the drive be as follows Ld 41 15 Out 41 5 Rst 41 15 If the check of the communication status betw...

Page 91: ...back from drive4 Feedback from drive2 cyclic msg to drive1 cyclic msg to drive 2 cyclic msg to drive 4 cyclic msg to drive 3 TX reference Sync 2 1 1 1 1 2 RX Feedback Change Pr of drive X Tx reference...

Page 92: ...4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 Not used Len 5 7 0 4 Number of significant bytes in the data field Data Address This i...

Page 93: ...16 bit data address 32 bit data Identifier ID2 ID1 ID0 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3 1 1 1 X X X X X 0 0 1 0 0 0 1 1 Cmd Len Sub field Value Meaning Cmd 0 4 0 Not used 1 Write 2 SET bit Pr Pr OR Da...

Page 94: ...fer to the parameter area and reply by sending their sets of parameters to the master Data transmission message from Master to SPD The master sends data to the SPD using the following message Block se...

Page 95: ...te 1 as for the real time mode bit 41 9 is set to 1 every synchronism message receiving via SBCCAN Therefore it is possible to check the communication status between Master and Slave via CanBus throug...

Page 96: ...description of emergency object implementation Emergency message dal Drive al master Emergency message Data length 8 byte Field Name Error code Err Reg Drive address Data Contents 16 bit code 8 bit er...

Page 97: ...d message and 0xff06 for the value drive captured message The Data field in addition to the drive address will in the first case contain the position reached by the motor and in the second case the ca...

Page 98: ...f device memory access by SDO Write Pr80 to the drive You will need to write the object by SDO with index sub_index 0x2000 0x51 80 1 If the number of bytes written is greater than two the operation wi...

Page 99: ...ng format Acyclic data write message or parameter request from master to drive PDO 2 Acyclic data write or request Data length 7 byte Field Name Cmd Len Data Address Data Contents 5 bit command and 3...

Page 100: ...ment related to the logic functions managed by pico PLC In fact for each transmission of PDO4 rx from the master to the drive node the bytes contained in the message are interpreted as follows Paramet...

Page 101: ...message containing the parameters Pr84 87 are sent to the master only if the function described is enabled by setting bit b99 5 to 1 and is done every Pr161 pico PLC scan cycles every 6 144 msec If Pr...

Page 102: ...by the pico PLC Based on the length of the message the data received is interpreted in the following way Data length 8 Position reference 4 byte Speed reference 2 byte Pr102 2 byte 6 Position referen...

Page 103: ...Parker Hannifin S p A Divisione S B C manuale d uso SPD 102...

Page 104: ...ce Positive Motor shaft movement motor shaft view Torque Positive Resolver counter Increments Encoder output A B Tachometer signal Positive Iu sin coppia Iv coppia sin 2 3 Positive auxiliary input Pr2...

Page 105: ...re timers Period Task 128 s current control 512 s speed control torque limits management speed reference management braking resistor management FIN management 6 144 ms thermal motor image digital inpu...

Page 106: ...5 90 1 91 0 41 4 91 1 41 11 LD 90 0 OUT 41 5 LD 90 1 OUT 40 6 LD 41 4 OUT 91 0 LD 41 11 OUT 91 1 END digital input 0 used to power the drive digital input 1 used for the stop function digital output...

Page 107: ...0 C Weight 2 5 Kg Ventilation power supply 24 V INSTALLATION The RFE1 or 2 breaking module must be installed vertically as shown A four pole 4mm2 cable must be used for the connection The 24v power su...

Page 108: ...Parker Hannifin S p A Divisione S B C manuale d uso SPD 107...

Page 109: ...so SPD 108 20History of the revisions of the User Manual Rev 0 First edition of the user s manual December 2002 Rev 1 0 data for the UL certification Note about restricted sales Rev 2 7 June 2005 Adjo...

Page 110: ...COR PORATION COMPUMOTOR DIVISION 5500 Business park Drive Rohnert Park CA 94928 Tel 1 707 5847558 Fax 1 707 5842446 www compumotor com CMR_Customer_Service parker com CENTRAL AMERICA MEXICO PARKER HAN...

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