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Parker SSD HI Drive Manual

1. Reset 1 22315 Fi D 3 B Pr157 1 Digital Position divider 4 Ref Bus S DR encoder B BET Po choice From Position multiplier encoder C gt Master Posizione finale Posizione attuale 213 212 b gt Pr201 200 gt WO a Pr154 Pr151 150 speed b170 11 Pr155 Input counter i Electrical shaft Position divider encoder C engaged 6230 9 emi AA ie eg ee I a AERE Reference multiplier Acceleration Wii Reset 1 203 202 0 phase b230 6 5230 10 PEU gw d 1 LV gt x gt 185 Pr203 202 recovery gt gt 2 131 130 Z Enc 52314 si Position e Reset 2 Pr203 202 131 130 133 132 Reference divider Pr189 Actual position Pos Edge _ Max speed b230 13 INO 6 1 Engage at Release 52317 Speed FFWD event Neg Edge Engage b2318 gt enable H INO 6 b230 11 H H Pr161 160 gt d i i Edge ER Value captured i IN1 gt Pd e 888 b165 15 Motor value e i si a ae E F captured H Ed
2. b230 4 4 gt Pr281 280 b233 8 i N Trap Positioner Enable FFW be 6231 0 counter Pr247 246 b231 4 Master phase lt gt TABO engag SERENO Enable FFw CAM1 reference Y Pr203 202 f CAM1 generator gt TaB1 523055 counter MASTER 1 M 6231 1 DAT Module na Pr192 b232 4 Pr249 248 gt gt CAM gt Pr239 238 T Pr283 282 b230 0 Pr194 Master phase b231 5 lt gt 1 CAM1 i Ramp for 1 4 gt 556 active b230 2 Cam starting point Pr225 224 TAB2 HB Phase for CAM 1 Pr213 212 Pr217 216 Pr221 220 bee Pr197 196 engaging i Master axis Parea Pr251 250 Counter Module Mog Master phase for b231 6 np position in Cam width TAB2 engag i Y dule d Signal TAB active y 6232 7 6230 3 lt 6231 3 199 198 oo Engage released Cam starting point Pr253 252 Phase for CAM1 b232 8 on CAM1 Master phase 62317 lt gt release 1 Pr215 214 5 219 218 gt Pr223 222 engag Sigal TAB PEE VU LOU ATUS Br Ne Oe ae e 1 23726 CS Ie o qum Counter Module Master axis i i iion 1 6232 11 Engaging Pos d in Cam width pe E module r245 Wi
3. DG p I E D L D a D For HID75 FUSIDITI ere eee mu Page 47 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual For HID100 HID130 and HID155 see par external power supply fans too 1 i Fusibili 5 DEI O L DU 3 413 C 2 y O For HID250 see par external power supply fans too Positive DC Negative DC Buss Connection Buss Connection PE Ground Connection PE Ground Connection 115V AC 230V AC Fan Supply Page 48 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 6 External Power supply fans HID100 HID130 HID155 and HID250 series need an external auxiliary power supply 220V ac needed for the internal fans This external supply must be connected to the auxiliary fan terminal block indicated as auxiliary supply fan Aux tlio SUDD Y B tan y V Per HID250 L N E 115V AC 230V AC Fan Supply Page 49 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 7 Motor connection MIL connector 5 7 1 Motor without stationary brake
4. w Lu I A i F at ei AA er cene i p uM D Cc I a Le tH RI eae i i M EUR 2 pee A T Li x 2 E PERENNE seat H ere o 120R 1 Page 67 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 15 Serial connection RS232 5 15 1 Without converter RS232 RS422 The diagram below shows the connection between drive and PC by a Hyperterminal link based on an ASCII protocol on the serial port RS232 X4 of the drive Hi drive 4 PC DB9 a cx 4o 04 80 90 To 9 7 60 2 P E L 5 15 2 With converter RS232 RS422 The diagram below shows the connection between drive and PC by a serial link RS232 RS422 based on S B C protocol X8 of the drive 02 8 Hi dri Page 68 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 16 CAN Bus connection A CanBus interface based on the physical layer ISO DIS11898 is included on the
5. OVdc BR X 3 BRAKE stationary Page 32 of 233 Parker Hannifin S p A Divisione S B C HID35 HID45 2 X3 STATUS LED Page 33 of 233 Hi drive User Manual X4 X10 XII Parker Hannifin S p A Divisione S B C Hi drive User Manual Terminal block Xl nw 1 DC JE 3 RN 4 IN Dl x 6 LI 7 L2 ICI 8 L3 L1 j ii Terminal block X2 1 U 3 W 4 Terminal block X3 24 Vdc BR yoy el 0V BR Page 34 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual HID75 HID100 HID130 HID155 X3 X4 LED STATUS X5 mnl terminal protection cover XI X2 Page 35 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual Terminal block X1 e X2 remove the protection panel to access to the terminal block HID75 Terminal block HID100 HID130 HID155 Terminal block Fan Auxiliary fan supply Bra Res
6. model ee Unit HIDS HIDIO Rated output current Arms 2 5 8 10 Peak output current 2 sec Arms 4 10 16 20 Continuous service installed load 1 4 3 5 5 6 6 9 Power stage dissipation W 30 75 120 140 Switching frequency selectable kHz 8 16 8 16 8 4 Default switching frequency kHz 8 8 8 4 Current derating with f w gt fdefault p u 0 7 Current derating with Vinain gt 440V p u 0 9 Output frequency Hz 0 500 Internal fan capacity m h 32 47 63 63 Braking resistor ohm 200 90 75 75 Continuous internal braking power W 75 75 120 120 W 3120 6935 8320 8320 Braking power peak790Vdc ui 0 7 0 5 0 5 DC circuit capacity 20 uF 195 390 390 390 Continuous power W See diagrams Braking threshold Vdc 795 770 0V 20V Overvoltage level Vdc 870 Undervoltage level Vdc 70 N2 V mains EMC filter internal i model meee Sh SBIDIG HID25 Rated output current Arms 16 25 Peak output current 2 sec Arms 32 50 Continuous service installed load kVA 11 2 17 5 Power stage dissipation W 220 350 Switching frequency kHz 8 Current derating with V main gt 440V p u 0 9 Output frequency Hz 0 500 Internal fan capacity mm h 168 Braking resistor ohm 40 27 Continuous internal braking power W 180 180 W 15600 23115 Braking power peak790V dc n 0 2 0 15 DC circuit capacity 20 uF 585 Continuous power W See diagrams Braki
7. ANALOG INPUT Hi drive User Manual Main analog input Number 1 Range 10V differential Input resistance 8 61 5 Resolution 14 bit sign Maximum frequency 2 kHz Auxiliary analog input Number 1 Range 10V differential Input resistance 8 61 5 Resolution 10 bit Maximum frequency 800 Hz DIGITAL INPUT IN ly Xx IE IE ANALOG OUTPUT MONITOR DIGITAL OUTPUT N A Voltage supply gt gt OUTPUT ROUND Page 57 of 233 Digital inputs Number 5 opto isolated High voltage range 15 24 Low voltage range 0 9V Input resistance 20kO 5 Reaction time 2 5us Type of driving PNP required Analog outputs Number 2 Range 10V Output resistance 1kQ Resolution 10 bit sign Max output current 1 5mA Short circuit protection Yes Overload protection Yes Digital outputs Number 2 opto isolated Type PNP open collector External digital power 5 24V dc supply Rise t
8. T d a Page 36 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual DBR WITH BRAKE UNIT COVER REMOVED Brake Unit vo UE mE HR HID250 Negative DC Positive DC IO C Buss Connection Buss Connection 3 PE Ground Connection PE Ground Lifting eyes See Note 1 ec nection A ien Lilin eyes See Noto 1 Power input sl Em Connection L3 Power Output amp Local Remote re Keypad Connection MXU Power Input SOC Connection L2 Power Power Input ei Connection M2 V Connection L1 PE Ground patrem Pop Mwst be left tuned in tvs dvecton my Lig i e ded 115V 230V i Note 1 Fan Supply Jr Connection MIA Grounding Connections Lifting eyes must be replaced with supply and motor earth ground connections using M10 bolts and washers supplied Under no circurnstances should lifting eyes be used to make the PE grounding connection Plan v view REPLACE WITH Or lt Main Fan Housing Page 37 of 233 Parker Hannifin S p A Divisione S B C Front panel Hi drive User Manual 9 poles female Sub D X4 RS232 1 Reserved 6 a 7 8 Reserved 9 Resevet drive power supply
9. IVE Ov terminal gt EINA ETE EINC i 5 VF Page 65 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 13 Connecting converters to the electrical shaft TASTE The example diagram above shows the connection of two converters to the electrical shaft with a master but the link could be extended to several converters connected in series The line termination resistors must be connected to the last converter The master can be either an encoder or an encoder simulator of another converter However the master encoder signal must be a differential 5 RS 422 signal If the master is a Hi drive type converter you can connect up to 32 converters to the electrical shaft by using the same signal of the simulated encoder standard RS 485 Page 66 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 14 Serial connection RS422 RS485 The serial link can be configured as either RS 422 or as RS 485 depending on how the connection is made If there are several converters connected to the same line only the last node must be terminated as shown in the diagram below The two configurations are shown in the diagram below
10. Index Object Name Type Attr M O 607Ah VAR Target position INTEGER32 M 6081h VAR Profile velocity UNSIGNED32 rw M 6083h VAR Profile acceleration UNSIGNED322 rw M 6084h VAR Profile deceleration UNSIGNED322 rw O 6085h VAR Quick stop deceleration UNSIGNED32 rw O 6086h VAR Motion profile type INTEGERI6 M 14 2 5 1 1 Controlword of profile position mode 15 9 8 7 6 5 4 3 0 Halt abs rel Change set immediately New set point MSB LSB Name Value Description New set 0 Does not assume target position point 1 Assume target position Change set 0 Finish the actual positioning and then start the next immediately positioning Interrupt the actual positioning and start the next positioning bela 0 Target position is an absolute value 1 Target position is a relative value Halt 0 Execute positioning Stop axle with profile deceleration if not supported with profile acceleration Table 9 Profile position mode bits of the controlword 14 2 5 1 2 Statusword of profile position mode 15 14 13 12 11 10 9 0 Following error Set point acknowledge Target reached MSB LSB Page 192 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Name Value Description Target 0 Halt 0 Target position not reached Halt 1 Axle decelerates reached 1 Halt 0 Target position reached Halt 1 Velo
11. 9 Reserved Page 39 of 233 Parker Hannifin S p A Divisione S B C 5 2 Cable lengths and cross sections Hi drive User Manual Chose a cable for flexible or static installation depending on the application See the table below for cable sections Model HID2 HIDS HID8 HIDIO HIDI6 HID25 ce oo award NGI AWG uem ds ED Gin as 0 5 0 6 Nm M3 1 2 Nm M4 2 2 2 2 2 2 NETWORK Section roan foun Le Top NOS Reni 0 5 0 6 Nm 1 2 Nm 4 Signal Section 0 22 mm AWG16 X5 0 22 0 25 Nm M2 Stationary Section 1 mm AWGI6 brake X3 Ec 0 5 0 6 Nm M3 Max motor cable length 60m Max cable capacity 150 pF m Model HID35 HID45 HID75 HID100 HID130 Section 10mm 10mm 25 50mm 35 95mm 35 95mm MOTOR AWG6 AWG6 AWG3 4 AWGI AWG2 0 uec 2 5 Nm M5 6 8 Nm 15 20Nm Section 10mm 10mm 25 50mm 35 95mm 35 95mm NETWORK AWG6 AWG6 AWG4 AWGI1 AWG2 0 a 2 5 Nm M5 6 8Nm 15 20Nm 2 i 2 n 2 a 2 External braking Section da AONO ui RR a 2 5 Nm M5 6 8 Nm 0 7 Nm Signal Section 0 22 1 mm AWG16 0 22 1 mm AWG16 X5 ode 022 025 Nm M2 0 22 0 25 Nm M2 Stationary brake Section Imm AWG16 X3 er 0 22 0 25 Nm 2 Section 2 5mm AWGI2 Fan supply Tightening ED
12. Par Description Field Range Def Ris Pr71 Pointer of encoder CAN B OUT W 0 385 1 Pr262 Encoder OUT baudrate 0 31 1 1 Pr263 Address of CAN OUT W 0 31 1 1 Description Field Def b78 7 Encoder CAN B OUT enabled W 0 b170 8 Enable the encoder CAN virtual through the parameter and it s W 0 possible to increase the resolution through an exponential scale b79 6 Initialization of CAN B OUT line W 0 The encoder CAN B signal is available every 5msec and it s compatible with others Hi drive only Not compatible function with operating OPM140 Pointer of enc CAN B b170 8 GAN Y Baudrate enc CAN B Resolution Enable enc CAN B max 22 b78 7 Pr262 gt Out CANB Pr263 Address enc CAN B Baudrate SANA Motor position Enable enc CAN A OUT b70 8 Fr260 CANA b70 10 OUT Pr261 Pointer of encoder CAN A Pr326 Address enc CAN A Address enc CAN A MEA e Multiplicative factor uci Enabl CAN A IN Counter of enc CAN A apis Pr329 b70 7 CANA CANA Pr330 331 4 IN Pr328 Divisor factor enc CANA Page 138 of 233 Parker Hannifin S p A S B C Division 12 7 7 Ramp with S profile With release software 10 or successive it s possible to use th
13. Cam 2 This diagram allows to identify a general flow in operating mode 121 If you carefully analyze this mode through the block diagram you will see that the programmer can use several enabling commands programmable bits at different levels in order to address the flow of the generated position reference or references in several display modes For instance for each generator a position reference can be enabled on a position counter From here the reference will then be downloaded in the position loop or into a general position counter gt Position loop Modul global Positioner se counter reference gt sara counter ab modul generator Incremental global o counter When the position reference of at least one generator is enabled in the position loop the reference loading into a global counter defined by module is automatically enabled Page 118 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 4 1 Posizionator This is a trapezoidal profile generator with the following user definable parameters speed profile acceleration deceleration final value in motor step The parameters referred to the positioner levels final position Pr211 210 and actual position Pr201 200 are absolute However they are subsequently transferred to the other adjustment parameters following the blo
14. Hi drive User Manual Bit Description M 0 0 Ready to switch on M 1 Switched on M 2 Operation enabled M 3 Fault M 4 Voltage enabled M 5 Quick stop M 6 Switch on disabled M T Warning O 8 Manufacturer specific O 9 Remote M 10 Target reached M 11 Internal limit active M 12 13 Operation mode specific O 14 15 Manufacturer specific O The following bits indicate the status of the device Value binary State 0000 Not ready to switch on XXXX 0000 Switch on disabled XXXX XXXX x01x 0001 Ready to switch on XXXX xxxx x01x 0011 Switched on XXXX XXXX x01x 0111 Operation enabled XXXX XXXX x00x 0111 Quick stop active xOxx 1111 Fault reaction active xOxx 1000 Fault Table 7 Device state bits x irrelevant for this state BIT 4 VOLTAGE ENABLED High voltage is applied to the drive when this bit is set to 1 BIT 5 QUICK STOP When reset this bit indicates that the drive is reacting on a quick stop request Bits 0 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable to regenerate The setting of the other bits indicates the status of the drive e g the drive is performing a quick stop as result of a reaction to a non fatal fault The fault bit is set as well as bits 0 1 and 2 BIT 7 WARNING A drive warning is presen
15. 13 1 10 b ALT ALITY M 14 2 JPRODUCT INTRODUCTION 22 322933337 aaa 14 2 1 Product description parrucca lea 14 22 Identification ire 16 3 TECHNICAL DA 18 3 1 Ambient conditions 18 3 2 Vibrations and SHOCKS c5 ti0sscescsecscsecsncassccvescotedsoseeedevecnecednsistansceededbeunsdechucsveasaccanee 18 3 3 Available T 18 3 4 Power SUDDEIV ilaele 19 3 5 Technical characteristics TR E rn 20 3 6 Other charactermstiCs aoro quee etu bao aa 23 4 lU py ice 24 4 1 Dimensions and welglifs ciere seio 24 4 2 guae 27 4 3 Mounting InStEUCEIOTDS rosessvs soosoo sess 30 5 ELECTRICAL CONNEGTIONSS ii 31 5 1 31 2 2 Cable lengths and cross sections 40 5 3 PEO GCUOIS Dune vede d Celo e eae Ee pep SERES ON eS RUE 42 5 4 Protective Earth connections 43 5 5 Power stage supply connection eere ecce eese eene eee en esee en seen seen ss tenes etn 44 5 5 1 Connection to AC 3 phase network sos d nteger e nial ie ades td 44 3 9 2 Connection to AC I phase network 46 5 5 3 Continuous supply connection iii 47 5 6 External Power supply 49 5 7 Motor connection MIL connector eee e eee e eee ee ee ee ee enne ee sese
16. p ABLE SHIELU B b ack 1 Nero 1 E A 0 nero 2 B black 3 nero 3 g green yellow verde gial E PE Instead of the MIL connector used in the drawing the following connector types can also be used Per HID250 PE Ground D Connection r Power Output Connection M3 U Power Output Connection M2 V PE Ground Connection Power Output Connection M1 W Page 50 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 7 2 Motor with stationary brake Terminal block X3 requires a dedicated 24VDC to terminals 1 and 4 Do not use the same supply of the control stage Terminals 2 and 3 control the brake through a static relay WARNING Controls the output controlling the stationary brake of terminal block X3 pin 2 and 3 managed as a command ON OFF from drive with internal bit b42 8 The brake block release function in all operating conditions must be performed by the user o un En e E D E e 5 B e e S o 2 3 n o un o A e B B 5 1 7 34 gt d 5 B Di 6 ur INN JO peojsu WO 01 1072918 SI Yu 5
17. as gt N gt e ndi ow e gt gt x gt x lt X x D Cali x c c lt lt lo t 5 5 25 56 55 155 53 amp AT zero 5 lt SY 5 gt gt 5 NN L 5tv 8 598 5 x S A 8 I I 2 Ia 3 3 d ca gt c 0 D EUN o 5 TU N o D gt vs a e o E pes um us d a Te COH t 2 E 7 E 5 o OL um cl c um 8 mH 1 EE cm Page 63 of 233 Hi drive User Manual Parker Hannifin S p A Divisione S B C 5 11 7 SinCos one sinwave per pole pitch fe Ter blu nero Drive minal X7 7 B4 Bs rosso 7 nero um ta a he verde nero mi A ae giallo nero EX que 2 violetto giallo grigio rosa serde 5 PTC PTC marrone PTC blu nero bianco blu OV 1 5 055 bianco 7 verde in A GND 1x 0 5 marrone verde WE oVdc m Page 64 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 12 Auxiliary encoder input connection
18. Page 200 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 6 1 Object 60 0 Interpolation sub mode select For the interpolated position mode a manufacturer may offer different interpolation algorithms This object reflects or changes the actually chosen interpolation mode OBJECT DESCRIPTION INDEX 60COh Name Interpolation sub mode select Object Code VAR Data Type INTEGERI6 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range 0 2 Default Value 0 DATA DESCRIPTION Value Description 2 Cubic interpolation only position 1 Cubic interpolation speed position 0 Linear interpolation 1 32767 reserved 14 2 6 2 Object 60 Interpolation data record The interpolation data record are the data words which are necessary to perform the interpolation algorithm The number N of data words in the record is defined by interpolation data configuration The interpretation of the data words in interpolation data record may vary with the different possible interpolation modes as set by the interpolation sub mode select For the linear interpolation mode each interpolation data record simply can be regarded as a new position set point To describe a cubic spline interpolation e g four or more data words are needed for the spline coefficients and further interpolation parameters After t
19. J0j AIH 01 oAup uo spuodop pojstM Jo YSU TTI _ y uo spuedep 07 J Page 51 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 8 External braking resistor connection The converter is equipped with internal braking resistor except HID75 HID100 HID130 and HID155 that have inside the braking transistor only see technical data section Per HID250 the brake unit is an option Per the drives equipped of internal braking resistor an external braking resistor can be used if an higher braking power need to be handled The external braking resistor must have the same Q value as the internal one Install a bipolar thermo magnetic switch or a fuse pair between the resistor and the converter see dynamic braking section The maximum cable length for the external braking resistor is 3 meters For HID2 HID45 models remove the jumper between terminals IN and BRC 1 terminal block and connect the external resistor between terminals RP and BRC For HID75 HID100 HID130 and HID155 use the Bra Res terminal block and connect the external braking resistor to BR and BR as follows During operation the external resistor reaches high temperatu
20. Page 133 of 233 Parker Hannifin S p A S B C Division Par Description Field Def b165 15 Warning bit This bit warns that a value has been captured The bit R 0 has no self resetting capabilities and therefore stays set to 1 after a first value has been captured b166 Y Capture 3 selection The setting of these bits defines the object and W the type of event to be captured b166 object to be captured bit bito Capture event Bit4 Bit3 Bit2 Z ENC AUX 0 0 0 FBK POS 0 0 ENCA 0 1 Not valid 0 0 1 B 1 0 POS EDGE INO 0 1 0 Not valid 1 1 NEG EDGE INO 0 1 1 EDGE INI 1 0 0 EDGE IN2 1 0 1 Other not valid b166 15 Warning bit This bit warns that a value has been captured The bit R 0 has no self resetting capabilities and therefore stays set to 1 after a first value has been captured 12 7 2 Programmable outputs gt Two programmable analogue outputs are available in terminal block X5 parameters Pr50 and Pr52 The scale of the 2 analogue outputs has range between 2048 and 2048 corresponding to 10V An exception is made when PrO is monitored in default condition in this case the maximum output voltage is 8 54V when the speed in Pr0 reaches the speed value of Pr32 The output scale therefore varies according to the value of parameter Pr32 see formula The scale c
21. lowe 1 Index pulse Positive Limit Switch Figure 23 Homing on the positive limit switch and index pulse 14 2 4 8 3 Methods 3 and 4 Homing on the positive home switch and index pul Using methods 3 or 4 the initial direction of movement is dependent on the state of the home switch The home position is at the index pulse to either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement must reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch aca Nice Index pulse Home switch Figure 24 Homing on the positive home switch and index pulse Page 188 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 4 8 4 Methods 5 and 6 Homing on the negative home switch and index pul Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch The home position is at the index pulse to either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement must reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch OC rae Index pulse dq Ll
22. Home switch Figure 25 Homing on the negative home switch and index pulse 14 2 4 8 5 Methods 7 to 14 Homing on the home switch and index pulse These methods use a home switch which is active over only portion of the travel in effect the switch has a momentary action as the axle s position sweeps past the switch Using methods 7 to 10 the initial direction of movement is to the right and using methods 11 to 14 the initial direction of movement is to the left except if the home switch is active at the start of the motion In this case the initial direction of motion is Dependent on the edge being sought The home position is at the index pulse on either side of the rising or falling edges of the home switch as shown in the following two diagrams If the initial direction of movement leads away from the home switch the drive must reverse on encountering the relevant limit switch Page 189 of 233 Hi drive User Manual Parker Hannifin S p A S B C Division Index pulse S a o Positive limit switch Figure 26 Homing on the home switch and index pulse positive initial move Index pulse Home switch Negative limit switch itch and index pulse negative initial move Figure 27 Homing on the home sw 14 2 4 8 6 Methods 15 and 16 Reserved These methods are reserved for future expansion of the homing mode Page 190 of 233 Parker Hannifin S p A S B C Div
23. Operation enable Quick stop active gt If I t current clamping is active bit 11 of the statusword rises If b78 10 1 and in remote mode the command bit of the static brake is driven by the bit 15 of the controlword If a fault on static brake occurs it is reported on bit7 warning of the statusword 14 2 2 1 Object 6040h Controlword The controlword consist of bits for the controlling of the state the controlling of operating modes manufacturer specific options OBJECT DESCRIPTION Page 173 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual INDEX 6040h Name Controlword Object Code VAR Data Type UNSIGNED16 Category Mandatory ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED16 Default Value No DATA DESCRIPTION The bits of the controlword are defined as follows 15 11 10 9 8 7 6 4 3 2 1 0 0 Optional M Mandatory BITS 0 3 AND 7 Device control commands are triggered by the following bit patterns in the controlword Shutdown 0 x 0 2 6 8 Switch on 0 1 1 1 3 Switch on 0 1 1 1 3 dt 0 X x 0 x 7 9 10 12 voltage Quick stop 0 X 0 1 X 7 10 11 Disable 0 0 1 1 1 5 operation Enable 0 1 1 1 1 4 16 operation Fault reset X X X X 15 Table 4 Device control commands bits marked X are irrelevant In the st
24. MAIUSC Connesso a 0 00 44 Rilev aut Rilevamento auto 5 In the terminal window select the menu file gt properties Select the following settings Proprieta HyperTerminal Connetti a Impostazioni Impostazioni ASCII Tasti funzione di direzione e combinazioni con CTRL agiscono come Trasmissione ASCII Iastiterminale Tasti Windows Aggiungi avanzamento riga ad ogni ritorno a capo inviato Eco dei caratteri digitati localmente Il tasto BACKSPACE trasmette CANC Gti j Intervallo 0 Intervallo carattere 0 millisecondi millisecondi Emulazione aut Imposta terminale E Se en Ricezione ASCII ID del terminale Telnet ansi Aggiungi avanzamento riga ad ogni ritorno a capo ricevuto Codifica forzata dati in ricezione in ASCII a 7 bit Buffer per scorrimento all indietro 500 3 A v utomati C Emetti segnale acustico alla connessione o disconnessione A capo automatico Converti input Impostazioni ASCII Metodo di codifica del sistema Selezionare il metodo di codifica del sistema host O Standard JIS Enter commands as prescribed in the specifications of the ASCII protocol Page 210 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 15 2 2 ASCII protocol port RS 232 This is the protocol used on port TS232 of the drive This is used for a point to point communication Th
25. not write instructions and do not save when the drive PLC is in RUN mode Page 212 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual There is no difference between various cases as far as the reception of characters is concerned some special characters are used for the following functions Char Description SPACE 0x20 No meanings any space character received will be removed as insignificant BS 0x80 Delete last character if one of these character is received the last character received will be removed from the buffer ESC 0x1B Abort if this character is received the command line will be interrupted and the buffer reset CR 0x0D End of message when this character is received the buffer is complete so the command line can be interpreted LF 0x0A Line feed end of line COM port settings The communication is based on a standard RS232 model and Hi drive has the following setting COM port settings Data bit 8 Parity None Stop bit 1 The baudrate can be selected with the values listed in the table Hi drive Response time Baudrate Timout 9600 19200 38400 56700 Under definition Page 213 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 16 USE OF OPTIONAL KEYPAD The keyboard display module is easy to use It is used to program the functional data control the status
26. Homing option code Homing speed Homing Position demand value Homing acceleration Home offset Figure 20 The homing function 14 2 4 2 Input data description The user can specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in the user s coordinate system from the home position There are two homing speeds in a typical cycle the faster speed is used to find the home switch and the slower speed is used to find the index pulse The manufacturer is allowed some discretion in the use of these speeds as the response to the signals may be dependent upon the hardware used Page 182 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 4 3 Output data description There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops 14 2 4 4 Internal states The homing mode will control by the bits of the controlword and statusword 14 2 4 4 1 Controlword of homing mode 159 8 7 6 5 4 3 0 Halt reserved Homing operation start MSB LSB Name Value Description 0 Homing mode inactive 0 1 Start homing mode Homing operation start 1 Homing mode active
27. Page 211 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Read commands Description Tx Format Rx Format Word parameter value P a lt CR gt g lt CR gt lt LF gt Long parameter value PL a lt CR gt h lt CR gt lt LF gt Bit status B a b lt CR gt I lt CR gt lt LF gt Pico PLC instruction I c lt CR gt A d word point value TABLE T d e lt CR gt g lt CR gt lt LF gt d long point value TABLE TLZd Ze CR h lt CR gt lt LF gt Null command lt CR gt lt CR gt lt LF gt Command abort XXXXXX lt ESC gt lt CR gt lt LF gt Error messages Description RX message string Write command success Ok lt CR gt lt LF gt Command aborted lt CR gt lt LF gt Syntax error or bad parameter or bit number Syntax Error lt CR gt lt LF gt or value out of range Pico PLC in Pico PLC running Run lt CR gt lt LF gt lt CR gt lt LF gt COM COM framing or overrun error Error lt CR gt lt LF gt lt CR gt lt LF gt Buffer Buffer overflow command too long Overflow lt CR gt lt LF gt Notes the drive requests a word with or without sign depending on the parameter format Word parameter and low high word in a long parameter gt signed Signless Word and binary parameter responds as if it had received void command gt unsigned the previously received characters are ignored and the command is aborted the drive
28. Page 44 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual For HID100 HID130 and HID155 see par external power supply fans too 3 IDL 4 Fusibili L To use of EMC filter see the size 4 5 table to chapter technical characteristics Per HID250 see par external power supply fans too Connect the mains inductance see the size 6 table to chapter technical characteristics PE Ground Connection am PE Ground Connection 115V AC 230V AC 7 Fan Supply To use of EMC filter see the size 6 table to chapter technical characteristics Page 45 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 5 2 Connection to AC 1 phase network gt lt 1179170 f n T M a Ao CO E IL IND i AJ Page 46 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 5 3 Continuous supply connection
29. o Disable do Quick stop voltage shutdown DE 2 2 5 o o9 8 8 ao Zona ge Ts 8 5 5 8 TO a 2 Interpolation inactive Enable interpolation Disable interpolation Interpolation active Page 203 of 233 Parker Hannifin S p A S B C Division 14 2 7 Drive parameters Some commands and parameters are added concerning CANopen Hi drive User Manual Par Description Field Range Def Ris Pr416 CANOPEN WORD Check the drive status R 32768 0 1 32767 417 CANOPEN STATUS WORD Check the drive R 32768 0 1 status 32767 Pr418 CANOPEN DS301 STATUS This parameter R 32768 0 1 indicates the status of DS301 communication profile 32767 Par Description Field Def b78 1 Conversion of velocity 1 1 conversion of velocity and acceleration R W 0 in standard units counts sec e counts sec 0 conversion of velocity and acceleration in rpm e msec krpm b78 2 Display on keypad 1 disable automatic display on keypad of R W 0 CANopen status change b78 4 Set to 1 every end CANopen ramp object 0x2065 of disable delay It R W 0 can be used to management the motor brake b78 9 Remote mode 1 Remote mode CANopen 0 remote disabled R W 0 78 10 Static brake command 1 Enables static brake command f
30. gt B230 1 i choice Fron Position multiplier encoder i Master Posizione finale br Posizione attuale 213 212 201 200 gt H Pr154 PEIBTHBO i speed i Pr195 Input counter 186 i Position divider encoder engaged 6230 9 encoder netgear r A Reference multiplier Acceleration am x Reset 1 Pr203 202 0 Pr187 ramp phase 6230 6 5230 10 nz lPr188 Pr185 _ Pr203 202 gt recovery i O Pr131 130 H DE Z Enc 52314 n Position Reset 2 pr203 202 131 130 133 132 Reference divider Pa Actual position i reference Pos Edge E Max speed b230 13 INO Engage at Release 52317 Speed FFWD event Neg Edge Engage gt enable i INO 6 b230 11 Pr161 160 nennen eene nennen nennen nnne Edge ida Value captured IN1 H 888 b165 15 20908 Motor value captured H 7 H Edge b39 15 ss Speed Acceleration Actual position H Pod IN2 190 Pr190 gt 191 205 204 LT Pod H H DI SE TEI SITU RTGS FO AIN PI tod 52315 Reset 1 prioo 0 Page 128 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 6 Position control via CanBus operating mode 140 If operating mode 140 is enabled Hi drive will execute a position loop of a proportional type with feed forward In this case the profile generator is conside
31. 9 L r T ne L T j L ra T iL T 9 L r E 4 T L i 9 L 9 I r L L r amp The 24V power supply must be exclusively dedicated to the drive power supply Sharing the power supply with other devices e g brakes electro valves etc could cause malfunctions For HID35 and HID45 models is necessary to insert a ferrite on the 24V voltage supply Use Wurth 742 711 32 model see picture or equivalent Page 55 of 233 EEZ Jo 9c 8 terninal block X5 control stage Ova 5 Jnl hardware supply 24 VOL 16 cite la e Connon 7 C tty relay relay output 8 ML optional NC 8 IM GND common 20 VA cannon grva IIT 2 21 monitor 2 uy PIA uri 2 ritor inne VEC supply voltage 23 0 V connon auxi ary 3 analogue ach Ha a malia comon r inputs GND IN REF 424 VOL 28 4 SEI REF auoisiaig y ES ufiuuny yod SOJI pue anbojeuy 0 jonuppy 42s 2A14p 1H Parker Hannifin S p A Divisione S B C
32. Er24 braking transistor protection alarm Oxff0d Er25 fbk speed loop initialization alarm Oxff0e Er26 fbk pos loop initialization alarm Oxff0f Er28 fbk pos loop alarm 0x7320 Page 166 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual When alarms are reset with b42 10 Error code field will be 0x0000 A user pop up message can be sent by setting command b79 12 to 1 In this case the Error Code field will be 9 and the Data field will contain the value in Pr108 109 b 79 12 will be reset to 0 once the message has been sent SDO tx rx object In the CANopen implementation an SDO channel is available standard cob id with a changeable timeout value mapped at the index 0x2020 as Unsigned 16 with a default value of 5000 1 unit 1 024 msec Both standard guarding protocols are available Node guarding and heartbeat the two cannot exist in the same time Heartbeat is activated when a producer heartbeat time is set different from 0 Three PDO channels PDO 1 2 4 from the predefined standard connection set are available PDO 1 and 2 are serviced by a cyclic routine executed every 2 048 msec and they are remappable elements of 2 or 4 bytes can be mapped the RTR is allowed event time and inhibit time are active they can handle synchronous requests serviced every 2 048 msec or they can be handled as event driven PDO 4 is the PDO channel used for strictly realtime operation as controlling motor trajectory
33. be 155 bs ips par sep x A0 A3 Drive address valid values 1 15 Page 163 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Data synchronism message from master to slave converter Data length 0 byte Field Name Identifier ID2 ID1 IDO ID10 ID9 ID8 ID7 ID6 IDS ID4 ID3 poe e 9 9 1 59 The data received are saved from Pr100 to Pr103 and parameters Pr104 to Pr107 are transmitted using the following message Reply from slave converter to master Block reply Data length 8 byte Field Name Data Contents 64 bit of data Identifier ID2 IDI IDO ID10 ID9 ID8 A2 Al AO 1 0 0 A0 A3 Drive unit address valid values 1 15 Note 1 just like in real time mode you can use bit 79 14 which is set tol each time block sync is received via SBCCAN Based on the above considerations by simply adding a program to the Pico PLC you will be able to ensure that the communication between master and slave via CAN bus is active It is important to consider that in this way the communication via CAN bus will be checked every 6 144 ms or multiple thereof minimum time required to complete the scanning of the Pico PLC program Page 164 of 233 Parker Hannifin S p A S B C Division 14 2 CANopen DSP402 D version
34. m Hi drive 2A 5A 8A 10A 16A 25A 35A 45A 75A 100A 130A 155A 250A users manual rev 0 6 April 2010 Parker Hannifin S p A Divisione S B C Hi drive User Manual cERTIFIO Parker Hannifin S p A XY 2001 2009 o SSD SBC Via Gounod 1 T 39 02 361081 http Awww ssddrives it 20092 Cinisello Balsamo MI 39 02 36108400 _http www sbcelettronica com 71 DICHIARAZIONE DI CONFORMIT CE CE DECLARATION OF CONFORMITY Dichiarazione N DC016 R 0 2 Declaration N t s EMA Qu 2 UNI Ey DX Costruttore PARKER HANNIFIN S p A SSD SBC Manufacturer Indirizzo Via Gounod 1 Address 20092 Cinisello Balsamo MI ITALIA Prodotto Azionamento Product Drive Nome del Prodotto Serie HIDRIVE Product name HIDRIVE Series Il prodotto sopra descritto conforme a The above product is conform to Doc Doc Nr Titolo Title Edizione Edition Azionamenti elettrici a velocita variabile Parte 5 1 Prescrizioni di sicurezza Sicurezza elettrica termica EN 61800 5 1 ed energetica 2003 04 Adjustable speed electrical power drive systems Part 5 1 Safety Requirements Electrical thermal and energy Azionamenti elettrici a velocit variabile Parte 3 Norma di prodotto relativa alla compatibilit elettromagnetica ed ai EN 61800 3 metodi di prova specifici 2004 12 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods Sicurezza del
35. 24V drive power GND DIGITAL VDC DIGITAL Terminal block 9 poles female Sub D X6 resolver PTC A GND ECC SIN COS PTC ECC SIN A tn BL COS Page 38 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual For HID2 HID25 bottom panel for HID35 HID45 front panel 15 poles female Sub D X7 sincos 1 2 SHIELD t i 3 A GND x 4 SENSE 5 CLK Pa 6 DATA 981 7 8 O 9 PTC ur 10 Ve i 11 SENSE M 12 CLK b ies 13 DATA nS 15 A 9 poles female Sub D 9 poles female Sub D X8 RS422 485 X9 encoder input SWR 1 RSA SZ 2 EINA LA 3 4 EINB 5 6 EINC 7 OVF 8 SHIELD Kf i 9 5VF SZ 9 poles male Sub D X11 CAN GND CAN A SHIELD GND CAN B 8 Reserved
36. Division Hi drive User Manual 19Appendix C Software timing 128 us Speed reference management 512 us Braking resistor management 1 024 ms Slow operating mode management 6 144 ms Thermal motor image 6 144 ms Digital inputs 6 144 ms Pico PLC program scanning 6 144 ms Digital outputs 6 144 ms Speed window management Page 218 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 20Appendix D Alarms Code in Pr23 Noam ooo Overvoltage Check the three phase power line 1 8 Check the break circuit and the braking resistor Check the application Undervoltage Check the three phase power line 3 Overcurrent Check for any mechanical blockage and make sure the motor is the appropriate size for its current use Check the motor connections and any phase phase or phase ground short circuits Check the length and type of the motor cable in use Make sure a mains filter isn t connected to the motor Speed loop FBK error Check the connections of the speed loop and the connectors on both sides drive motor 5 PTC motor alarm Check the PTC connection cable If the alarm persists disable the drive remove power from the motor and de energize the drive 24VDC Remove the PTC connector from the drive short circuit the PTC connecting PTC and PTC on the same drive terminal block Supply power to the drive 24VDC If the alarm persists either the drive is in fault state or the PTC on the motor
37. Division Hi drive User Manual b231 14 Disengage comand b231 13 Engage comand Pr186 Pr186 engage Disengage ramp ramp sector sector I I 1 I 1 l 1 Tab 3 Tab 1 Tab 0 Tab 2 Tab 3 0 Master modul p Master modul 280 Master modul po Master modul 389 Master modul 360 Speed curve for slave axe The above described tables are of course an example case to describe the engage and disengage functions of an axis by changing tables and they are calculated in order to allow these functions for an axis that needs to be dynamically disengaged engaged according to a gearing law y x Of course it is possible to describe different tables for similar functions and load them in the relevant addresses The user will have to draw the curves in order not to create any motion discontinuities on the axis especially when switching between tables In order to accomplish this and more generally to ensure user access to cam tables these can be either read and written using the keypad or through SBC Can or serial port RS422 using address 4096 adjacent areas of 257 words per table Keypad SBC Can or serial Tab 0 4096 lt address lt 4096 513 Tab 1 read and write 4096 514 lt address lt 4096 1027 Tab 2 directly 4096 1028 lt address lt 4096 1541 Tab 3 4096 1542 lt address lt 4096 2055 Oppure per quanto riguarda la versione con Canopen le tabelle sono accessibili trami
38. For this reason both input reading and output setting can vary by 6 144 ms with respect to the physical event If the microprocessor is overloaded with work the operating mode is active there are frequent serial requests and the PLC program is long it may take more than 6 144 milliseconds to scan the entire PLC program All the instructions of the Pico PLC with the exception of the arithmetic instructions are single bit instructions The available stack has a depth of only one bit The LD LDN instruction loads the bit defined as an operand on the stack while all the other logical instructions work on the stack Arithmetic instructions are executed only if the stack bit is set to 1 Page 144 of 233 Parker Hannifin S p A S B C Division For user convenience truth tables of logical operations are given below AND logical operation OR logical operation 0 0 1 1 The respective denied ANDN and ORN operations follow the same logic except that the denied value of the specified bit will be used 12 bits from b90 4 to b90 15 are reserved on the PLC and can be stored 14 additional bits from b91 2 to b91 15 are available on the PLC but cannot be stored They are always set to 0 when the converter is powered on There are 14 word type user parameters namely Pr95 to Pr99 and Pr110 to Pr119 They can be stored and used as double word parameters Parameters Pr100 to PrP107 are dedicated to data exchange through the block sync of the SB
39. In order to carry out the procedure go through the steps below supply 24VDC power to the drive X5 pin 15 and 16 disable drive hardware b41 5 0 set the pico PLC in stop b39 13 0 command b42 12 1 in order to load the default parameters save the data by commands b42 14 and b42 15 the drive must be disabled Save switch off and on again the drive 8 2 Selection of motor type The first time the converter is powered up or following a default command the drive indicates a Def condition alarm Pr23 15 In order to leave the drive s initial condition the operator shall have to input the motor data The parameters defining motor types are as follows Pr29 Number of motor poles N Pr32 rated motor speed r p m Pr33 rated motor current ex 2 5A write 2 5 A Pr46 phase phase motor resistance ex 1 80 write 1 8 ohm Pr47 phase phase motor inductance ex 2 6mH write 2 6 mH Pr60 number of resolver poles N With asynchronous motors the values above shall be supplemented with the following parameters Pr45 base speed r p m Pr48 slip r p m Pr49 magnetizing current A Only asynchronous motors Pr32 motor limit speed r p m After setting the parameters that identify the motor the operator shall enter a data save command b42 15 with drive disabled b41 5 0 The drive will set the values of parameters Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 through its internal logic The automatic calculation of the above
40. Inputs and outputs for the technical features of outputs terminal block X5 The drive configuration software MotionWiz includes an oscilloscope function that recreates an oscilloscope via a serial link If it is not possible to use an oscilloscope a more approximate but applicable adjustment method will be illustrated at the end of this section Page 85 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual BEFORE BEGINNING Study the diagram below carefully Fig 1 Tek Run 500 S s Hi Res Trig o M This diagram shows the response of the system to a square wave speed reference Channel 1 Ch1 represents the speed and channel 2 Ch2 the current of the motor ESTIMATING Pr16 Before enabling the converter the user should estimate the value of Pr16 The value of Pr16 is what defines the gain of the system To convert the value of Pr16 into grades per rated torque Pr33 100 Pr16 Ipd Ipd is the peak current of the drive Before using the formula Pr33 must be set with the correct value of the rated motor current To evaluate the correct value of a let s consider that if the mechanical part to be moved is stiff non flexible and if there is no transmission play the optimal stiffness would be about 4 degrees If the mechanical part is not stiff enough it could be necessary to reduce the gain If the motor torque has been sized in order to obtain a strong acceleration but the
41. J tot 18 the total inertia motor load expressed in kgm Nm 18 the available torque with the converter peak current Enable the converter and use the external control to move the axis Move Pr17 to find the value where the axis seems to move best Estimate the value of Pr18 using the following formula Prl7 Pr16 Pr18 0 68 2 If the result is less than 1 18 must be set to 1 If the adjustment is not satisfactory repeat the procedure with lower values of Pr16 Page 90 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 9 ANALOG AND DIGITAL I Os 9 1 Digital I Os In terminal block 5 there are 5 digital inputs combined with binary parameters b90 0 b90 4 The following table shows the details of each digital input reference Digital input Binary parameter pin Terminal IN 0 b90 0 28 INI b90 1 27 IN 2 b90 2 26 XS IN 3 b90 3 25 IN 4 b90 4 5 In the same 5 terminal block there are 2 digital outputs combined with binary parameters Digital output Binary parameter pin Terminal OUT 0 b91 0 22 X5 OUT I b91 1 2 Output voltage depends on the voltage supplying digital outputs terminals 20 and 23 than can range between 5 and 24 Vdc 9 2 Relay outputs The status of the relay output is managed by the binary parameter b91 2 with an output voltage of 24Vdc Relay output Binary parameter pin Termin
42. W 0 Available bits are b91 4 to b91 15 and cannot be stored b94 0 Forces a 32 bit double word formatted operation self resetting W 0 When the unit is powered on this is 0 If it is set to 1 the first mathematical operation executed by the 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 the parameters used are known as being in double format except parameters dedicated to operating modes i e Pr181 to Pr250 double word format is implicit As for operating mode parameters double word format is implicit only in parameters Pr200 to Pr229 b94 1 timer 1 1 if timer 1 has expired Equal to 1 if Pr92 0 R 0 b94 2 timer 2 1 if timer 2 has expired Equal to 1 if Pr93 0 R 0 b94 3 operation result 0 1 if the result of the last algebric operation is lt R 0 0 b94 4 algebric operation result 0 1 if the result of the last algebric R 0 operation is 0 Page 143 of 233 Parker Hannifin S p A S B C Division PLC INSTRUCTIONS Pay LD Pay loads the y bit of the Pa parameter on the stack Pa LDN Pay loads the negated y bit of the Pa parameter on the stack Di OUT sets the y bit of the Pa parameter to the value loaded on the stack Pay _ D_ OUTN Pa y places the y bit of the Pa parameter to the value of stack Pay negating it SET Pay SET if the stack 1 the y bit of the Pa parameter is set to 1
43. cyclic msg to drive1 cyclic msg to drive 2 cyclic msg to drive cyclic msg to drive 4 TC U TX reference Sync RX Feedback Require Pr of drive X Drive X reply Tx reference TC e a Page 160 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 1 2 Description of fields in communication mode Data write message or parameter request from master to slave converter Data write or request Data length 7 bytes Field Name Cmd amp Len Data 5 bit command and 3 bit length 16 bit data address 32 bit data Identifier pini id is is 107 ie 155 X X X X X 0 A44 0 1 0 0 A3 AO A4 Hi drive slave address Pr261 valid values 1 31 amp Len Sub field Value Significance Cmd 0 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 4 0 4 Number of significant bytes in the data field Data Data Address This is the address of the parameter involved in the operation parameter number 2 The PLC instructions have addresses in the range 8192 to 8704 The addresses of CAMMA tables are 1 from 4096 to 4609 2 from 4610 to 5123 3 from 5124 to 5637 4 from 5638 to 6151 Data When the parameter is written it contains the value of the parameter If one or more bits
44. gt o o N LD 90 2 Input 2 used for full scale OUT 40 0 selection jen a LD 90 3 digital input 3 used for the stop SS OUT 40 6 function ae LD 41 4 digital relay output indicates O OUT 91 2 that the converter is OK ae LD 41 11 digital output 0 indicates that OUT 91 0 the thermal motor image is active END END end of the program Page 146 of 233 Parker Hannifin S p A S B C Division 13 2 Serial interface The converter communication serial links are on asynchronous RS 485 RS 422 lines port X8 and on serial link RS 232 port X4 see par Hyper terminal connection for a connection diagram In serial link RS 232 speed can be set by parameter Pr256 see table below The address is always set to 0 because only one converter can be connected As far as serial link RS 485 RS 422 is concerned the same serial link can be connected to up to 32 converters by setting a different serial address in each of them to parameter Pr259 It is also possible to set the transmission speed parameter Pr258 see table below The converters take control of the line only if they are queried by the master 512 450 Pr 256 RS232 Pr258 RS485 422 decimal base 0 00 52 1920 5 1150 8 When the speed or the address have been modified the link must be reinitialized See parameters below Par Description Field Ran
45. lt A DINE DEN slo Page 60 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 11 4 Sinusoidal encoder EnDat e lo ISTH As far as the cable is concerned you may use a Heidenhain cable or one with the same features Cables without SENSE must not be longer than 20 metres cables with SENSE shall have a maximum length of 60 metres Page 61 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 11 5 Sinusoidal encoder Hiperface nig 3 PERN 5 NC In sS A e I ar 4 UU t A 2 gt lt U T m f I H 7 E m I Note the drive require the signals sin and sin inverted as showes in the diagram above Page 62 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 11 6 Incremental encoder hall sensor
46. see sections about SBCCAN and CANOPEN Pr104 CAN PLC 5 data block A parameter that the user W 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and CANOPEN Pr105 CAN PLC 6 data block A parameter that the user W 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and CANOPEN Pr106 CAN PLC 7 data block A parameter that the user W 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and CANOPEN Pr107 CAN PLC 8 data block A parameter that the user W 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and CANOPEN Pr109 108 Spare data Dedicated to CanOpen this parameter W 32768 0 contains the message with the data to be sent 32767 Pr110 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 111 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr112 User paramete
47. 0 Not used 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 field Data Data Address This is the address of the parameter involved in the operation parameter number 2 The addresses of PLC instructions are in the range 8192 to 8704 The addresses of CAMMA tables are 1 from 4096 to 4609 2 from 4610 to 5123 3 from 5124 to 5637 4 from 5638 to 6151 Data When the parameter is written it contains the value of the parameter itself If one or more bits are modified it contains the mask of the bits to be modified In case of PLC program writing it contains the instruction code see Serial interface Page 158 of 233 Parker Hannifin S p A S B C Division Alarm message from slave converter to master Data length Field Name Addr Error Pr261 Pr23 Identifier DoT io 19 1s 107 106 105 154 153 A0 A Slave converter address Pr261 valid values 1 15 This type of message will be sent by the converter to the bus if the converter changes its alarm status alarm 0 no alarm To evaluate the minimum sampling time use the following formula TCmin Nt 5 0 12 where TC min is the minimum sampling time in milliseconds Nr is the number of axes that receive the reference Nt is the number of axes t
48. 0x1200 0x1014 0x1017 0x1018 0x1029 pdo 0x1400 0x1401 0x1403 0x1600 0x1601 0x1603 0x1800 0x1801 0x1803 device type error register sync cob id communication cycle period guard time life time factor SDO server parameters PDO 1 rx communication parameters PDO 2 rx communication parameters PDO 4 rx communication parameters PDO 1 rx mapping parameters PDO 2 rx mapping parameters PDO 4 rx mapping parameters PDO 1 tx communication parameters PDO 2 tx communication parameters PDO 4 tx communication parameters Ox1a00 0x1201 Ox1a03 PDO 1 tx mapping parameters PDO 2 tx mapping parameters PDO 4 tx mapping parameters manufacturer 0 2000 0 2001 0 2002 0 2003 0 2004 0 2005 0 2006 0 2007 0 2020 0 2060 0 2063 0 2064 parameters array 0 254 read write access parameters array 254 NR_PAR read write access parameters array 0 254 set bit access parameters array 254 NR_PAR set bit access parameters array 0 254 reset bit access parameters array 254 NR_PAR reset bit access pico plc area first 254 instructions pico plc area last 2 instructions 0x2008 0x2009 0x200a 0x200b 0x200c 0x200d 0x200e 0x200f CAM 1 table first 254 points read write access CAM 1 table first last 3 points read write access CAM 2 table first 254 points read write access
49. 1 5 if drive is in alarm or is not ready by the execution time 6 if parameter Pr271 deviates from its initial value by more than 25 units The calculated value can be saved The saved value will be considered as the initial value during the next phasing 7 if parameter Pr271 is over 200 units maximum allowable value Recalculate value of torque Pb41 6 Phasing outcome if procedure outcome is positive and it is a necessary condition for drive OK Pb41 4 R The sign indicates the direction of rotation positive or negative feedback If the calculated value of Pr271 at the end of the procedure is saved on any future start up the phasing algorithm shall be calculated based on the saved value In so doing if mechanical conditions are unchanged there will be only one vibration whose duration shall be as set in Pr271 Page 82 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 5 3 Pico PLC phasing program After having entered all the encoder setting data the following program can be added to Pico PLC so that phasing is performed when the drive is enabled 41 6 41 4 40 9 B 41 5 41 4 41 6 91 4 Or SET 64 2 SET 64 4 SET 91 4 IMPORTANT The phasing procedure cannot be performed in low voltage mode IMPORTANT Never activate saving command while the drive is enabled 8 5 4 Fine phasing By incremental encoder feedback it is possible to enable the moto
50. 2 Pr143 142 Servo error 1 b170 4 Servo error 2 b170 5 FFWD Position scaling abs Y Position Pr147 146 reference Pr131 130 Pr149 FFWD position filter Position error gt Pr137 136 Pr145 gt Pr6 a Proportional gain of Speed reference position controller Pr144 reserved Maximum speed Position loop resolution Pr133 132 Pr169 From feedback Motor position Pr135 134 Pr28 Absolute position Motor shaft in mech revolution position Reset 1 Reset 2 Reset 3 b170 1 b170 2 b170 3 Pr131 130 Pr133 132 0 Pr131 130 Pr133 132 Pr131 130 Pr133 132 Pr135 134 Page 107 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Operating modes generate the position reference which is processed through position control in order to generate a speed request that will be transmitted to the speed loop through parameter Pr6 whose maximum value with any sign is limited by parameter Pr144 The position control function calculates the position error value and compares it to the error window in order to generate a servo error warning message An adequate response to the servo error message will be given by the us
51. 524 Object 6083h Profile acceleration usse reete trt ennt nnn 194 14 2 5 2 5 Object 6084h Profile deceleratioti gustosi 195 14 2 5 2 6 Object 6085h Quick stop deceleration 195 14 2 5 2 7 Object 6086h Motion profile type iii 196 1425 3 F nctional sasa ina 196 14 2 544 Functional i 198 14 2 6 Interpolated Position Mode esce era 200 14 2 6 1 Object 60COh Interpolation sub mode select sess 201 Page 7 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 14 2 6 2 14 2 7 14 2 8 15 15 1 15 2 15 2 1 15 2 2 16 17 18 19 20 21 22 23 23 1 23 2 23 3 23 4 23 5 23 6 23 7 24 25 Object 60C 1h Interpolation data record i 201 Driiye paramielele acre a e felino si corea Lec a lino il DES 204 CANopen monitor by ASCII commands iene 205 PROGRAMMING THE CONVERTER THROUGH A PC 207 Motion Wiz 208 Hyperterminal connection iraniani 209 Creating and setting CoODnecllOfi ace ec ollare 209 ASCII protocol port R8 232 eee orte ca deir ecran tarde Pret ita apex rale 211 USE OF OPTIONAL KEY PAD eese cepe RI 214 APPENDIX A CONVENTIONS 217 APPENDIX B FLASH INFORMATION 217 APPENDIX C SOFTWARE TIMI
52. Hi drive User Manual The Can node address must be set on Pr261 with values ranging from 1 to 127 The transmission speed is given by the setting of parameter Pr260 as shown in the following table Pr260 125 kbps 1 Mbps 500 kbps 7 All changes in speed address or function mode are activated using the b79 5 command or when the converter is powered on again Par Description Field Range Def Res Pr260 BAUDRATE CAN line transmission speed W 0 32767 1 1 programming code Pr261 CAN address Indicates CAN address value W 0 127 1 1 Description Field Def b79 5 CAN initializing command Command to reinitialize W 0 communication whenever the speed or the address value Pr260 and Pr261 of the CAN line have been changed This is in any case initialized when the converter is powered on The following objects are available based on CANopen Pre defined Connection Set Objects Function code COB Ids Index NMT object 0000 0x00 EMERGENCY object 0001 0x8 1 Oxff 0x1014 SDO tx object 1011 0x581 0x5ff 0x 1200 SDO rx object 1100 0x601 0x67f 0x 1200 ROLE 1100 0 701 0 77 0 100 0x100d Node guarding NMT object NMT state machine DS301 Page 165 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual NMT Error Control amp Boot Up Protocol Boot Up Node Guarding EMERGENCY ob
53. IN function enabled It activates at W 0 successive switching on after save the setting of the bit b70 8 Encoder CAN A OUT function enabled It activates at the W 0 successive switching on after save the setting of the bit b70 10 CAN OUT virtual enabled Enable the encoder W 0 virtual through the parameter pointed from Pr326 or through the motor position b79 5 Initialization of CAN A OUT line W 0 The encoder CAN A IN is active in input and accepts the CAN signal with address setting into Pr327 The output encoder CAN generates a encoder signal with the same address to CAN node Pr261 Nel caso in cui l indirizzo dell encoder in ingresso Pr327 venisse impostato pari al valore dell indirizzo in uscita Pr261 l asse che genera l encoder CAN legger come ingresso il segnale encoder CAN in uscita If the address of the input encoder Pr327 is setting at the same value of the output address Pr261 the axe which generates the encoder CAN reads input the encoder CAN output signal If the command b70 10 is enable is possible to generate a encoder virtual signal setting b70 10 1 by the parameter pointed from Pr326 Page 137 of 233 Parker Hannifin S p A S B C Division The bit b79 15 is watchdog bit for encoder CAN and every time that an encoder message arrives the status is 1 The Encoder CAN B on Hi drive has some bit and parameters about the correct operation
54. If 0 no control is made b40 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 b40 6 Motor stop function If 1 the motor is set to zero speed following the ramp set in Pr12 b40 7 Absolute relative speed window selection If 0 the speed window Pr14 Pr15 b41 1 will function in absolute mode Otherwise if 1 it will function in relative mode b40 8 Analogue torque limit If 1 Pr55 will be used followed by the auxiliary analogue input in order to limit the torque to the motor Consider that in this mode the sign of the voltage applied to the differential analogue input is not relevant z b40 9 Software enable If 0 the converter cannot be enabled b40 10 Low voltage Activates low voltage management b40 11 Injection of third harmonic in modulation b40 12 Digital analogue reference selection If 0 the analogue input will be selected as the main reference If 1 the reference will be digital and b40 13 can be used to select parameter Pr4 or parameter Pr5 640 13 Internal frequency reference selector 1 640 12 1 640 13 can be used to make the selection If 0 the internal reference can be used If 1 the frequency input encoder in which be configured as frequency direction 041 0 Ov
55. Methods 1 to 35 see the functional description 36 127 reserved 14 2 4 6 3 Object 6099 Homing speeds This entry in the object dictionary defines the speeds used during homing and is given velocity units OBJECT DESCRIPTION INDEX 6099 Name Homing speeds Object Code ARRAY Data UNSIGNED32 Category Mandatory if hm supported Page 185 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual ENTRY DESCRIPTION Sub Index 0 Description number of entries Entry Category Mandatory Access ro PDO Mapping No Value Range 2 Default Value 2 Sub Index 1 Description Speed during search for switch Entry Category Mandatory Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value 0 Sub Index 2 Description Speed during search for zero Entry Category Mandatory Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value 0 14 2 4 6 4 Object 609An Homing acceleration The homing acceleration establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes and is given in acceleration units OBJECT DESCRIPTION INDEX 609Ah Name Homing acceleration Object Code VAR Data Type UNSIGNED32 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Po
56. PE bar is in contact with the cabinet zinc coated bottom The above diagram is to be considered as an overall view Page 73 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 6 STATUS LEDS The converter is equipped with 3 led indicators When power is applied to the drive 24 VDC if the drive s electronics is working the yellow and green led come on The third led red provides converter status information as listed below if itis off the converter is shut off without active alarms if itis on the converter is enabled the drive is in RUN mode imporrant if it blinks with a pause after two series of blinks the converter is disabled and an alarm is active The active alarm can be identified by counting the number of blinks between the two pauses if it blinks quickly and continuously the 1 command is active and the converter is still enabled 7 SUPPLY MODE 7 1 Low voltage supply This procedure is for those situations in which the operator needs to work in close proximity to the machine in a situation which could be potentially hazardous In these conditions the operator must move the axes with a drive power supply voltage lower than the nominal rating from 40 to 180V and from 57 to 255 VDC so that the maximum allowable speed of the axes is also lowered The motor is actually enabled approx 120ms after closing the contact that overrides the holding charge resistance This contact
57. Page 102 of 233 Parker Hannifin S p A S B C Division Par Description Hi drive User Manual Field Def b39 13 Pico PLC status START 1 STOP 0 If set to 1 the PLC program is executed If set to 0 the Pico PLC is in stop and the PLC instructions can be modified W b39 14 0 IN1 value captured on the rising edge 1 IN1 value captured on the falling edge The INI signal switching front depending on the bit setting z b39 15 0 IN2 value captured on the rising edge 1 IN2 value captured on the falling edge The IN2 signal switching front depending on the bit setting z b40 0 Selection of the first or second full scale of the speed reference If 0 Pr2 will be used to rate the analogue reference If 1 parameter Pr3 will be used b40 1 Algorithm to suppress vibration at 0 speed If 1 the algorithm is enabled b40 2 Speed reference or operating mode selection If 1 the reserved reference of the operating mode in use is used If 0 the reference selected by b40 0 b40 12 and b40 13 is used b40 3 Reference hold If 1 the reference will not be updated and the motor will not follow the variations of the input reference If 0 the reference will follow the variation of the input reference b40 4 Left limit switch If 1 and the reference selected requires positive speed the reference is set to 0 following the ramp set in Pr12
58. Pr181 110 so as to activate the operating mode and give a command to set the default parameters with b42 13 Set Pr2 1000 10V 100 0 of the torque b40 0 0 b40 12 0 b40 2 1 in order to enable the reserved reference Pr190 so as to limit the motor maximum speed b39 2 1 can be used to select servo torque management In this mode the speed loop is overridden and therefore it does not need to be constantly tuned Band limiter Maximum speed gt 1 Pr18 Tourque monitor Pr190 ke ALP gt Pres gt 1 Reservede reference Pr7 o Mean f imi gt 1 Tourque limit ge 174 gt 1 OPERATING MODE 110 PARAMETERS Par Description Field Range Def Res 190 Maximum speed This parameter is used to limit the W 14000 3000 1 rpm absolute maximum speed of the motor during torque rpm operation Page 110 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 3 Electrical shaft and positioned op mod 120 Operating mode 120 is the algebric sum of the 3 delta of position generators Position reference from the trapezoidal profile Position reference from the electrical shaft generator Position reference from the speed mode Each reference can be s
59. SUITABLE OUTLINE 0 FOR FIXINGS 575 B 600 TYPICAL CUBICLE ga Page 29 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 4 3 Mounting instructions IMPORTANT IMPORTANT IMPORTANT The converter must be mounted vertically with the power block above It is necessary to leave a minimum free space of 100 mm above and below the converter in order to ensure a sufficient drive cooling air flow The figure shows how to cool hot air in order to avoid condensing that might damage electronic components air cooling operations must be performed outdoor or in an environment separated from the drive location The air flow coming into the converter shall not come from or by other heat generating components Ensure a good ventilation within the electric cabinet Page 30 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 ELECTRICAL CONNECTIONS 5 1 Connector pin out HID2 HID25 n 25 top view Xo ovs S B C MEE b HP EL STATUS LED 9 re un X4 7 X5 X6 5 1 X11 7 rj Emu NH bottom view front view Page 31 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual top panel POWER SUPPLY
60. SinCos encoders as the latter require a correct cabling of sine cosine signals traces A and B With values above 32767 the number of pulses per revolution must be set as powers of 2 up to the limit of 2 pulses per revolution then times 4 by the front read see mode set by bits 1 and 2 of parameter 65 The sign indicates the direction of rotation negative or positive feedback Pr59 No of IN Encoder pulses Like Parameter 58 but W 32768 1024 1 exclusively dedicated to incremental encoders 32767 Page 100 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Range Def Res Pr60 Number of resolver poles The pole number W 2 4 8 2 1 setting has the following values 2 4 8 where the limit speed is 14000rpm for 2 poles 7000rpm for 4 poles and 3500rpm for 8 poles N B when the resolver is not used leave parameter Pr60 2 Pr62 Input B selection W 0 7 0 1 0 Sincos EnDat 1 Sincos 2 Less wiring 3 Square incremental encoder 4 F D incremental encoder 5 square IN2 IN3 24V inputs 6 IN2 IN3 24V F D inputs 7 Sincos Hiperface The setting is enabled at the next power on Pr63 Input C selection W 2 6 3 1 3 Square incremental encoder 4 F D incremental encoder S square IN2 IN3 24V inputs 6 IN2 1 3 24V F D inputs The setting is enabled at the next power on Pr69 68 Multiturn zeroing preset In this re
61. are carried out by special digital electronics In this section we explain how parameters are set and the meaning of each parameter We also provide a functional block diagram and a description of advanced functions The system is easy to use and flexible The diagram below is a general block diagram of the part of the converter that is controlled by parameters analogue digital REFERENCE A LIMIT SPEED igita SJ internal MANAGEMENT CONTROLLER Ze SIS TORQUE REQUEST OPERATING TORQUE MODE SPEED WINDOWS ELECTRIC HAFT AND TORQUE ELECTRONIC CAN IN POSITION REAL TIME CONTROL CAMS Page 93 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Left limit 40 4 Analogue reference offset Right limit gos Pri MAIN BLOCK Analogue Stop 40 6 Pr54 Main analogue input X5 13 14 Reference offset Main reference v eo 1 fondoscala rif anal ramp Stop asl control Band limiter P2 oo ye
62. but the user must generate a procedure of check important to check if the double word value is correct The bit b70 4 enable the save command into the retentive variable It s possible to know when the background routine is finished bit b70 5 set b70 5 1 when the routine finishes this bit returns to 0 End of background routine b70 5 0 Attention the pointer parameters are in common with the expansion board the user must use the different parameters for don t compromise the value of retentive variable Memory life if the drive is switched off 10 years max number of operation 100 000 those are executed when the drive is switched off or the supply is missing if the save command is enabled p lt 070 4 gt x i Parameter number Pr310 ex Pr110 m Value of Pr110 gt Retentive variable 1 e gt Save o e Pr325 Parameter number Value of parameter Retentive variable 16 2 Pr310 Parameter number Data recall at power up of the drive Retentive variable Value of parameter Page 231 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 25History of manual revisions Any time the manual is updated the new or modif
63. by the symbol are to be understood as hex numbers Page 149 of 233 Parker Hannifin S p A S B C Division The value in square brackets identifies the base unit byte of the message All messages to be valid must be completed within a well defined time out which is a function of speed and must have correct parity and checksum The converter responds to a request or to a data send only if the message has been received correctly In the case of an error in the message no response is transmitted The only exception is message type 7 that is used to send data with a single message to all the converters connected to the serial link Initializing and managing the serial link RS 232 the converter is delivered with a 0 address and a speed of 19200 bps Pr256 6 To modify the configuration first set the speed in Pr256 then initialize it by issuing the command b79 3 Use command b42 15 to store the configuration RS 485 RS 422 the converter is delivered with a 0 address Pr259 0 and a speed of 19200 bps Pr258 6 To modify the configuration first set the speed in Pr258 then the serial address in Pr259 and finally initialize it by issuing command b79 4 Use the command b42 15 to store the configuration Accessing PLC instructions Each Pico PLC instruction takes 2 or 4 bytes whose format is the following Since the maximum length of each instruction in 2 bytes and the total area available in the PLC is 512 bytes the PLC progr
64. desired input 32767 reference frequency ratio Pr189 Maximum speed OM120 Sets the maximum speed W 0 14000 3000 1 rpm rpm Pr190 Speed mode OM120 Sets a motor speed level W 0 14000 0 1 disregarding any other conditions rpm Pr191 Speed mode Pr190 ramp W 0 4500 500 0 001s s krpm Pr201 200 Actual position positioner Read only parameter 2 1step Indicates the reference position of the trapezoidal step profile Pr203 202 Actual position electrical shaft Read only 271 1step parameter Indicates the reference position of the step electrical shaft Pr205 204 Actual position speed mode Read only R 271 Istep parameter Indicates the reference position of the step speed mode 213 212 Final target trapezoidal positioner value in W 2 0 1 OM120 Register where the desired final position is step entered Page 116 of 233 Parker Hannifin S p A S B C Division Binary parameters Hi drive User Manual Par Description Field Def b170 12 Encoder B enters position reference on digital bus reserved 1 W 0 b230 0 Theoretical profile running When the bit is 1 it means that the 0 trapezoidal positioner theoretical profile is running b230 1 ENC B or C selected as electrical shaft master B230 1 W 0 ENC B has been selected b230 2 Engaged electrical shaft 1
65. devices the user must be required to take adequate measures with additional filter Many models of HID series have an internal filter while for other models it s necessary to use an external filter as specified in the following table Motor cable with Motor cable with model internal filter external filter HID2 HID5 HID8 HID10 internal 30 meters 60 meters HID16 HID25 external 60 meters HID35 HID45 external 60 meters HID75 HID100 HID130 internal 30 meters 60 meters HID155 internal 25 meters 60 meters HID250 internal 25 meters 60 meters The mains filter must be installed as close as possible to the converter and on the same panel as the drive ensuring a large contact surface with the electric cabinet or with the mounting platform If the distance is over 30cm the filtering effect decreases and a shielded cable must be installed between the filter and the converter The filter ground lug must be connected to the ground bar with a connection as short as possible For HID16 HID25 and HID35 HID45 is available a footprint filter see manual main filter Page 72 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 18 Cabling general layout The following drawing show the details of the cabling layout with particular attention to the grounding of shielded cables The electric cabinet bottom must be electrically conductive e g zinc coated Strip off a
66. disturbing torques are very low during operation it is possible to choose stiffness angles of 20 30 or 40 degrees thereby maintaining acceptable performance If it is difficult to choose the proper stiffness angle the user can begin with 10 degrees that is the default adjustment if a motor with the same rated current as the converter s is used At this point let us set Pr16 to the estimate and enable the axis with a square wave reference the formula to be used is the following a 28 where a represents the stiffness and Page 86 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual Select the width and frequency of the reference with care in order to avoid problems if the axis has a limit switch If we look at the oscilloscope we will see that as Pr17 varies the response will change For decreasing values of Pr17 the response of the system will be as shown in figure 2 below Tek Run 500 S s Hi Res 2 00 V For increasing values of 17 the response of the system will be similar to what is shown in figure 3 below Tek Run 500 S s Hi Res T Page 87 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual The optimal value of Pr17 will be attained with a response of the system as shown in figure 4 below Tek Run 500 S s Hi Res T 200v cn Mi00ms Chi 07 An overshoot of about 10 must be obtained It is important that after the overshoot a
67. e Integer gain e ND Lal PB Reference hold SEI to 18 i DA Pr16 dampening 5393 x Frequency 2 anal ref Full scale b40 2 40 3 gt dec ss lt gt input Fre fi gt gt quency reference peg p AI 7 4043 Pr11 DN ERE P eak current Current Stop ramp Pr19 limit Internal reference Pr6 Pro PISS Reserved reference Pr12 Motor speed Torque monitor t active TRU 0 Motor Pr33 gt d peed window Nominal current XD lt gt b40 7 b40 8 max Prb5 Analogue auxiliary input torque Motor speed Torque limit Pr174 Alarm Oat management Pro Overspeed limit zs O gt Pris speed 0 overvoltage o Drive ok High speed limit ea 6 lt Pr14 ero Spee overcurrent _ In speed gt Speed loop FBK error gt p Convert ED External alarm E e NW Drive enable forward 0 gt gt Pr15 peer Hardware enable gt Loww speed limit Default gt Check Sum PLC gt Check Sum parameter gt Undervoltage 24V Auxiliary alarm Software enable 40 9 p Braking resistance protection gt Mbient overtemperature Speed FBK initializing error gt Position FBK initializing error Position loop FBK error PTC alarm active _ an Encoder phasi
68. grounding For HID75 100 and 130 connect the ground wire to the PE pin of X1 terminal block with the following cross sections tightening torque Model HID75 HID100 HID130 HID155 HID250 Section 25 50mm AWG4 35 95mm AWGI N 4 bolts with washer Tightening torque 6 8 Nm 42 Nm supplied loose Per HID250 don t use the eyebolt to realize the ground connection PE Replace eyebolt with bolt Page 43 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 5 Power stage supply connection The converter can be used only in grounded TT and TN industrial networks suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical amperes 480V maximum Do not use in ungrounded networks or in networks with asymmetrical grounding IT 5 5 1 Connection to AC 3 phase network sile D L T L q _ AP e For HID75 R4 FUSIDITI L To use of EMC filter see the size 4 5 table to chapter technical characteristics
69. in the address A parameter address is the number of the parameter 2 on 13 bits PAR represents the 8 less significant bits of the address whereas the 5 most significant bits will be written in the BK field The table used for the electronic cam is allocated in the parameter area at address 4096 to 6151 the other addresses are reserved and will not be used PLC instructions are mapped at address 0 to 511 instructions can be accessed through specific commands Page 148 of 233 Parker Hannifin S p A S B C Division It is also important to consider that the instruction address depends upon the length of the previous instructions varying between two and four bytes see PLC instruction table DO Dn data transmitted CHK 256 module sum of all the fields except STX checksum Message types 1 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 it can be the confirmation message to a data write or data modify In this case the format is the following STX 001 ADDR where ADDR always identifies which converter is answering CMD2 is the read message of an instruction in the PLC area The message has the following format STX 010 ADDR BK LUN PAR CHK CMD3 is the write message to an instruction in the PLC area The message has the following format STX 011 ADDR BK LU
70. in to the capacitor without loss of heat Connection plan DC E Terminal block X1 RN The external capacitor depends to the size of drive described in the following char HID Max external capacitor UF 2 1100 5 1100 8 2200 10 2200 16 4400 25 4700 35 2200 45 2200 75 100 130 Connections use only stranded copper wire rated for 60 75 C minimum 600V max length 50cm minimum section 4mm AWG10 keep the cables of two poles near stranded if it s possible for to minimize the area of coil Page 224 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 23Appendix G Option R for safe disable function 23 1 Introduction The drive ordered with R option are manufactured and validated to implement category 3 safety disable as described in EN 954 1 and EN 13849 1 By mean of this function it is possible to guarantee that unwanted restart of the motor movements will not be allowed even without using electromechanical switches between drive and motor Drives labelled with R options are equipped of a electromechanical safety relay certified by TUV institute This relay driven by user turns off safely power semiconductor stage and gives back a feedback though a free potential switch normally closed The safe disable turns off the output power through an electromechanical action independent from drive firmware In TWI
71. is balanced that is if the vertical axis can be stopped without braking Before proceeding consider that two phasing procedures are available both requiring that the motor can rotate even if it is installed inside the equipment any emergency brake disabled Note that in the first type of phasing procedure the requested motor movement is larger then in type 2 phasing In type 1 procedure a cabling test is performed This procedure is therefore recommended during the system s fine tuning Page 80 of 233 Parker Hannifin S p A Divisione S B C 8 5 1 Type 1 phasing It is activated by Pb64 2 the table below lists the parameters involved Hi drive User Manual Par Description Field Range Def Pr58 Enter number of steps by encoder revolutions Encoder connected to input X7 When b65 1 0 Pr58 is written in full When b65 1 1 Pr58 is written exponentially 32767 498 1024 Pr59 Enter number of steps by encoder revolutions Encoder connected to input X9 When b65 2 0 Pr59 is written in full When b65 2 1 Pr59 is written exponentially 32767 1024 gom Pb64 2 Phasing command 1 Disable software Pb40 9 0 enable hardware Pb41 5 1 and driver OK Pr23 0 Execute the command the motor executes two movements and the last is about 90 degree electric with control sign of the encoder feedback Introduce the correct number of the motor poles P
72. is executed at the moment the sync signal is received the position reference received on the PDO is directly processed as target of the position loop If the value is more or equal than 2500 usec the position reference received is interpolated according the interpolation sub mode index 0x60c0 the interpolation may be cubic or linear If object 0x60c0 is 0 the interpolation algorithm is linear otherwise if 1 is cubic with both position and velocity reference if 2 is cubic with position reference only If on the synchronous PDO 4 rx it is not mapped the position reference the position loop is not executed but the velocity reference received is set the velocity reference may be supplied in counts sec or RPM respectively mapping object 0x60c1 2 or 0x60c1 3 in this case the external controller executes position loop Note In interpolated position mode factor group conversion are not active If the cycle time is less than 2500 usec the feedforward of velocity may be computed by the drive if bit 230 7 is set from the delta of position reference in the cycle time gain of feedforward component should be set accordingly with the cycle time Otherwise feedforward of velocity may be sent with PDO4 rx mapping in RPM units the object 0x60c1 3 Depending on the different algorithms of interpolation there is a different delay between the moment the target position is received on the PDO and validated by the sync and the moment when the target position i
73. less wiring Line drive incremental encoder RS422 Signal RS422 on this port does not require the line to be closed by resistors as these are already present inside When the resolver is connected to port X6 do not connect Less Wiring encoder and incremental encoder to port X7 Page 77 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual Input X7 has a variable power supply with either 5 8 or 12V voltage selectable through parameter settings 5 and 8V voltage levels can be adjusted through a feedback from a sensing pair cable to compensate for any voltage drop in the cables When voltage is set at 12V the feedback is internal and any voltage drop in the cable cannot be compensated Bit b64 0 indicates whether the sensing function is active if it is not the set voltage is adjusted in an open loop 8 4 3 C Feedback input X9 Input X9 can be used to link Line drive incremental encoder RS422 The connection of an encoder to this input requires line closing resistors to be provided as shown in the wiring diagram Auxiliary encoder input Connector X9 has a 5V fixed input voltage insulated for the encoder 8 4 4 Speed feedback configuration In order to set the speed loop select examples according to the table below No of Mode description pulses Input revolution Resolver b65 15 0 SinCos EnDat b65 15 0 b65 14 1 Pr62 0 SinCos b65 15 0 b65 14 1 Pr62 1 Less Wiri
74. listed parameters is performed only of the drive is in the default condition alarm 15 Page 76 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 3 Changing motor data After having entered a data save command no other changes shall be made to the motor parameters In order to change the entered parameter values new motor enter command b42 1 The drive shall return to its default condition and changing motor data shall be enabled again Repeat the data save procedure with command b42 15 with drive disabled if you want to recalculate parameters Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 with the new motor data 8 4 Setting feedback A key feature of Hi drive is the ability to cope with several types of feedback that can be used simultaneously both as speed feedback and as position feedback depending on the connection and on parameter settings Speed and position feedback connections use three different connectors 1 feedback connection on input X6 2 feedback connection on input X7 3 feedback connection on input X9 8 4 1 A feedback input X6 Input X6 can be used to link Resolver The input is dedicated to resolver read only When this input is used it must be identified as speed feedback In case of a space operating mode the resolver can be also used as space feedback 8 4 2 B feedback input X7 Input X7 can be used to link Encoder sincos EnDat interface Encoder sincos Encoder
75. or position loop the PDO is synchronous type 1 no RTR is allowed and a restricted set of parameters can be mapped in particular PDO4rx 0x6040 control word 0x60c1 1 position reference in counts 0x60c1 2 velocity reference in counts sec 0x60c1 3 velocity reference in rpm PDO 4tx 0 6041 status word 0x6063 position feedback in counts 0x6064 position feedback in counts normally in user unit in this case as well in counts 0x2060 Word composed with digital input and aux analog input In0 bl Inl b2 In2 b3 In3 b4 enable b5 In4 b6 b15 Analog input aux Life guarding protocol is implemented and can be activated writing life time factor and guard time besides a missing guarding event life guarding protocol can be triggered by a missing sync if b79 8 1 or a bus off condition In any case state machine present state of ds301 communication can be changed according to what is set in the object 0x1029 error behaviour 0 enter pre operational 1 no change 2 stop Note NMT commands are handled every 1 024 msec so subsequent commands should be sent to the drive not closer than 1 204 msec including broadcast NMT commands Page 167 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 1 Dictionary object summary of ds301 0x 1000 0x1001 0x1005 0x1006 0x100c 0x100d Cob Id Emergency object Producer heartbeat time Identity object Error behaviour
76. parity bit even 1 stop bit The structure of the message is the following STX CMD ADDR BK LUN PAR DO Dn CHK where STX 7E indicator of transmission start If a field in the message except STX takes the value 7E this field is followed by a 0 00 so that it will not be interpreted as an STX CMD ADDR command and address of the peripheral device which is never zero This data is composed as follows the first 5 bits bits 0 4 define the address of the converter from 0 to 31 the remaining 3 bits bits 5 7 define the type of message sent as described in the following table OE a S 2 o 1 o reading a Pico PLC instruction 3 0 1 writing a Pico PLC instruction 1 o o read parameter 1 writing a parameter 6 i I bitmodification BK LUN the field LUN first 3 bits indicates the number of bytes of the sent data parameter or PLC instruction it can take the following values 1 2 or 4 The value shall not include 0 characters 00 after the values corresponding to the transmission start character 7E Each parameter has a length of 2 bytes N B Lengths of 2 and 4 are allowed only with even addresses The BK field covers the 5 most significant bits and represents the 5 most significant bits of the Pico PLC parameter address table or instruction PAR 7 write read address of the PLC parameter table or instruction 8bit low
77. position 141 140 servol If the position error as an absolute value W 2 100 Istep exceeds the value set in 140 b70 4 is set to 1 Otherwise b 170 4 0 143 142 servo2 If the position error as an absolute value W 2 200 Istep exceeds the value set in 142 b70 5 is set to 1 Otherwise b 170 5 0 Pr144 Speed limit in position By this parameter the motor W 13200 lrpm maximum speed be limited in the position loop 14000 This parameter is not considered if the set value is rpm greater than the value of Pr32 Pr145 Proportional position gain W 0 100 1 32000 Pr147 146 Position feedforward scaling W 27 17324 1 Pr149 Position feedforward FIL Delay filter on the speed W 32768 0 1 feedforward in the position loop 149 is used to set 32767 the time constant of a first order filter placed on the speed request digital signal t Pr149 loop field time Pr169 Position loop resolution selection The position loop W 12 20 12 27157 resolution can be selected by parameter Pr169 ranging from 12 to 20 bit The parameter change is effective the next time the drive is powered up Page 108 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Binary parameters Par Description Field Def b170 0 Feedback direction When the bit is set to 1 the motor W 0 rotation is inverted b170 1 Reset 1 Rese
78. requirements thermal and energy EN 954 1 ISO 13849 1 Safety of Machinery Safety related Parts of Control Systems Part 1 General Principles for Design provides such a set of categories ULS08C USA Power Conversion Equipment CSA22 2 Nr 14 05 Canada Power Conversion Equipment Electromagnetic Compatibility Immunity Emission 89 336 CEE directive EMC directive EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test method The drives are to be intended as components to be used in a second environment industrial environment and category C3 together with specific EMC filters and installed accordingly to the recommendation given in the user manual When used in the first environment residential commercial environment drives may produce radio frequency interference dangerous for other equipments additional filtering measures must be implemented by the user 1 9 Materials and disposal zinc coated steel sheet thickness 1mm and 2mm extruded aluminium AISi ABS Novodur thickness 2mm minimum adhesive polycarbonate label Electrolytic capacitor contain electrolyte and printed circuit boards contain lead both of which are classified as hazardous waste and must be removed and handled according to local regulations distributors and in accordance with EU standard 2002 96 EC undertakes to withdraw and dispose of its
79. seeceneneeneseonene 50 5 7 1 Motor without stationary brake xcu ciue cies ce lei asd en utis 50 5 7 2 Motor with stationary 51 Page 4 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 8 External braking resistor connection 52 5 9 Control stage supply connection 55 5 10 Analogue and digital I Os connection e sseeesooessoessoesssesssoossoosssoesssesssesssoossoossos 56 5 11 Ee dbackconnecion cnc 58 T cde REN 58 5 11 2 Increm ntalencod r S eo balla lati 59 Sdi Sinusoidal encoder pur NUN qd 60 5 11 4 Sinusoidal encoder deve peteret wis tO RR ia 61 5 11 5 Sinusoidal encoder Hiperface nella ea 62 5 11 6 Incremental encoder hall sensory lla ella eaves 63 5 11 7 SinCos one sinwave per pole pitch 64 5 12 Auxiliary encoder input connection seessooessoesssesssoesssesssoossooesoosssoesssesesoossoossos 65 5 13 Connecting converters to the electrical shaft 66 5 14 Serial connection RS422 RS485 67 5 15 Serial connection RS232 c 68 Without converter R5232 R 9422 ass a eta aaa eek anise 68 5 15 2 Withiconverter RS232 RS422 iio teet C epe 68 5 16 Bus connectioit asteroidi 69 5 17 Electro magnetic compliance 70 NN 70 5 17 2 Connection cables andsineldin
80. set in SERVOI pr 140 141 the parameters is used to test following error The parameters of SERVOI are changed by the firmware only if in remote mode 0x6066 Following error timeout resolution of 1 024 msec per unit 0x6067 Position window in user units converted by mean of position factor and compared with the motor position to check if target reached in profile position and interpolated position modes Page 170 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 0x6068 Position window time resolution of 1 024 msec per unit 0x607a Target position in user units converted by mean of position factor and used in profile position mode in this mode some elements of CAM tab 0 are used as spare memory and so affected by changes 0x607c Home offset in position units converted by position factor 0x6081 profile velocity profile velocity in profile position mode in counts sec o RPM depending on unit selection standard or not with b78 1 0x6083 profile acceleration acceleration of profile in profile position mode in counts sec 2 ms kRPM depending on unit selection standard or not with b78 1 0x6084 profile deceleration deceleration of profile in profile position mode in counts sec 2 or ms kRPM depending on unit selection standard or not with b78 1 0x6085 quick stop deceleration deceleration in quick stop action 0x6086 Motion profile type valid values 0 0
81. shaft reset Type 1 electrical shaft reset command W 0 reference alb ele 0 Pr 203 202 0 The actual electrical shaft position is reset 231 4 Type 2 electrical shaft reset Type 2 electrical shaft reset command W 0 Pr203 202 131 130 133 132 b231 5 Type 1 speed mode reset Type 1 speed mode reset command Command W 0 used to reset the speed Pr190 0 The speed mode reference position is also reset b231 7 Electrical shaft release Command used to release the slave from the W 0 master Self resetting b231 8 Electrical shaft engage Command used to engage the slave to the master W 0 reference master Self resetting Page 117 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 4 Electronic came OPM121 This program is a preset motion mode in the drive s basic configuration that can be programmed by selecting the following parameters 181 121 b42 13 1 default setting of the selected operating mode Some of the most widely used motion functions of industrial automation are available within this mode Namely this operating mode includes the following position reference generator positioner Speed mode generator cami generator cam2 generator The resulting position reference will therefore be the algebric sum of the position reference deltas of one or more generators Positionator Speed mode 4 T Resulting position t reference Cam 1 EE Ur
82. via the speed reference is internally limited so that s krpm it takes Pr9 seconds to achieve an acceleration of 1000 rpm Pr10 Acceleration ramp for negative speed The W 0 002 2 0 001s negative speed acceleration required by the motor 65 535 via the speed reference is internally limited so that s krpm it takes Pr10 seconds to achieve an acceleration of 1000 rpm Prll Deceleration ramp for negative speed W 0 002 2 0 001s negative speed deceleration required by the motor 65 535 via the speed reference is internally limited so that s krpm it takes Pr11 seconds to achieve an acceleration of 1000 rpm 12 Emergency ramp The deceleration required W 0 002 2 10 0015 the motor limit switch and stop functions is 65 535 internally limited so that it takes Pr12 seconds to s krpm achieve an acceleration of 1000 rpm Pr13 Overspeed limit If the motor speed absolute W 15000 3500 1 rpm value exceeds the value set in Pr13 b41 0 will be rpm 1 otherwise it will be 0 14 High speed limit When b40 7 0 if the speed W 15000 20 1 rpm difference between motor and reference is lower rpm than 14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 When b40 7 1 if the motor speed is lower than Pr14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 Pr15 Low speed limit When b40 7 0 if the speed W 15000 20 1 rpm difference between motor and reference is less rpm than Pr
83. 0000 0000000000000000 bit0 Switch On 0 bitl Enable voltage 0 bit2 Quick Stop 0 bit3 Enable operation 0 bit4 Operation mode specific 0 bit5 Operation mode specific 0 bit6 Operation mode specific 0 bit7 Fault Reset 0 bit8 Halt 0 bit9 Reserved 0 bit10 Reserved 0 bit11 Manufacturer specific 0 6112 Manufacturer specific 0 6113 Manufacturer specific 0 6114 Manufacturer specific 0 bit15 Manufacturer specific 0 Status word 8712 0x2208 0010001000001000 bit0 Ready to Switch On 0 bitl Switched On 0 bit2 Operation enabled 0 bit3 Fault 1 bit4 Voltage enabled 0 bit5 Quick stop 0 bit6 Switch on disabled 0 bit7 Warning 0 bit8 Manufacturer specific 0 bit9 Remote 1 bit10 Target Reached 0 bit11 Internal limit active 0 bit12 Operation mode specific 0 bit13 Operation mode specific 1 bit14 Manufacturer specific 0 bit15 Manufacturer specific 0 Page 205 of 233 Parker Hannifin S p A S B C Division Communication Valid N RTR N Transmission type 254 PDO 1 TX Mapping COB ID 0x60410010 0x181 Mapping COB ID 0x60400010 0x201 Event time 0 Inhibit time 0 Communication Valid N Communication Valid N RTR N Transmission type 254 PDO 2 TX COB ID 0x281 Mapping COB ID 0x301 Mapping Event time 0 Inhibit time 0 Communication Valid N Communication Valid N RTR N Transmission type 1 Event time 0 Inhibit time 0 PDO 4 TX Mapping COB ID 0x60630
84. 020 0x481 Communication Valid N Mapping COB ID 0x60C10120 0x501 Communication Valid N COB ID 0x080 Communication Valid Y COB ID 0x081 Page 206 of 233 Hi drive User Manual Parker Hannifin S p A S B C Division Hi drive User Manual 15PROGRAMMING THE CONVERTER THROUGH A PC A serial kit USBTODRIVE is available to communicate with the converter through a personal computer The kit includes a RS 422 RS 232 converter and serial link cable The installation requirements for the freely supplied communication software MotionWiz are a personal computer PII or higher recommended running on Windows 98 or later a mouse to navigate within the program and a serial link to the converter The main features of Motion Wiz are serial connection to up to 32 converters reading and setting key parameters and converter commands reading and setting operating mode parameters and commands functional block diagrams Pico PLC programming in text and ladder format display of Pico PLC program during operation status of inputs and outputs parameter setting storage including Pico PLC program in one file parameter setting loading including Pico PLC program from one of the previously stored files selectable oscilloscope function Windows and the Windows logo are registered marks or trademarks of Microsoft Corporation in the United States and or in other countries Page 207 of 233 Parker Hannifin S p A S B C Div
85. 1 0 Interrupt homing mode Halt 0 Execute the instruction of bit 4 1 Stop axle with homing acceleration Table 11 Homing mode bits of the controlword 14 2 4 4 2 Statusword of homing mode 15 14 13 12 11 10 9 0 Homing error Homing attained Target reached MSB LSB Name Value Description Target reached 0 Halt 0 Home position not reached Halt 1 Axle decelerates 1 Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing 0 Homing mode not yet completed attained 1 Homing mode carried out successfully Homing error 0 No homing error Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code Table 12 Homing mode bits of the statusword Page 183 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 4 5 Object dictionary entries 14 2 4 5 1 Objects defined in this chapter Index Object Name Type Attr M O 607Ch VAR Home offset INTEGER32 rw O 6098h VAR Homing method INTEGER8 rw M 6099h ARRAY Homing speeds UNSIGNED32 rw M 609Ah VAR Homing acceleration UNSIGNED32 rw O 14 2 4 5 2 Objects defined in other chapters Index Object Name Type Chapter 6040h VAR Controlword UNSIGNED16 dc 6041h VAR Statusword UNSIGNED 16 dc 14 2 4 6 Object description 14 2 4 6 1 Object 607C Home offset The home offset object is the difference bet
86. 1 of 233 Parker Hannifin S p A S B C Division HIDS HIDS 1 phase supply network Hi drive User Manual Pout W 800 750 700 650 600 550 500 450 400 350 300 100 150 200 250 Vac phase neutral V 300 350 HIDS HIDS 3 phase supply network Pout W 2400 2200 2000 1800 1600 1400 1200 1000 100 150 200 250 300 350 400 Vac phase phase V 450 500 550 Page 222 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual HID16 HID25 1 phase supply network Pout W 1500 1400 1300 1200 1100 1000 900 800 700 600 500 100 150 200 250 Vac phase neutral V HID16 HID25 3 phase supply network Pout W 3500 3300 3100 2900 2700 2500 2300 2100 1900 1700 1500 1 i 1 1 150 200 250 300 350 400 450 500 550 Vac phase phase V Page 223 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 22Appendix F External capacitor The battery of external capacitors see the Modulc manual may be used instead of or in addition to the braking resistor according to the application The energy generated during the braking phase is accumulated
87. 12 1 and b40 13 1 the value of Pr7 will be as follows if b42 5 0 Pr7 Fine Pr4e2 2 000 000 if b42 5 1 Pr7 Fine Pr4e2 500 000 where Fin is the frequency at the encoder input lt 400 kHz frequency sign signals quadrature signals 32768 32767 3000 Pr5 Digital reference If b40 12 1 and b40 13 0 then Pr7 Pr5 14 000 rpm 1 rpm Pr6 Internal reference It is reserved to operating modes If b40 2 1 the parameter is used as a reference for the speed controller the active operating mode will write its speed request in parameter Pr6 rpm rpm Pr7 Speed reference monitor If b40 2 0 is used Pr7 is the reference for the speed controller In some operating modes Pr7 can be used as a reference for other values torque acceleration and in these cases Pr7 will be expressed in the most suitable unit rpm rpm Page 97 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Range Def Res Pr8 Acceleration ramp for positive speed The W 0 002 2 10 001 positive speed acceleration required by the motor 65 535 via the speed reference is internally limited so that s krpm it takes Pr8 seconds to achieve an acceleration of 1000 rpm Pr9 Deceleration ramp for positive speed W 0 002 2 10 0015 positive speed deceleration required by the motor 65 535
88. 14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 When b40 7 1 if the motor speed is less than 14 and greater than Pr15 b41 1 will be 71 otherwise it will be 0 Pr16 Integral gain of the speed controller W 0 120 1 32 767 Pr17 Proportional gain of the speed controller If W 0c 2000 1 16 0 17 is the proportional gain of the speed 32 767 controller Pr18 Mechanical torque filter Pr18 is used to set W le 3 1 time constant of a first order filter placed on the 32 767 torque request digital signal The frequency of the 1 64us filter cut will be 620 Pr18 Hertz 19 Peak current This is the maximum current that W 0 100 1000 0 1 the converter can supply to the motor It is A Ipeak expressed as a percentage of the peak current of the converter In general it should never exceed three times the motor rated current Page 98 of 233 Parker Hannifin S p A S B C Division Par Description Field Hi drive User Manual Range Def Res Pr20 DC Bus Voltage Unit volt read only parameter Displays the DC bus voltage value 0 1V Pr21 Nominal DC BUS When the drive is supplied in continuous voltage the power supply voltage value must be written in this parameter 07744 560 Pr23 Alarm code This is the code for a present alarm Code 0 represents the absence of alarms See the table of alarm codes for mor
89. 159 ibs 14 pao pex px ILE A0 A3 Converter slave address Pr261 valid values 1 15 Pr183 is used as a command and can be managed by the Pico PLC Based on the length of the message the data received are interpreted as follows Data length 8 Position reference 4 byte Speed reference 2 byte Pr183 2 byte 6 Position reference 4 byte Pr183 2 byte Speed reference 2 byte Pr183 2 byte Synchronism message from master to slave converter Synchronism message Data length 1 byte Field Name Sync Syne type 8 bit Identifier ipi mo TT 159 ms 107 s 155 154 Ds recata 0 synchronism Sync 0 each drive activates the speed and position references and saves the current motor position If b230 2 1 the drive responds with a cyclic reply Type 1 synchronism Sync 1 saves the current motor position If b230 6 1 the drive responds with a cyclic reply Page 154 of 233 Parker Hannifin S p A S B C Division Cyclic message from slave converter to master A0 A3 Converter slave address Pr261 valid values 1 15 Parameter Pr184 is used as a status if b230 3 is 0 all 16 bits are transmitted if it is 1 only the first 8 bits are transmitted Assuming that b230 0 1 the message will have a total length of 8 bytes and Pr184 will be made of 16 bits whatever is the setting of b230 3 Assuming that b230 0 1 t
90. 2 1 he positioner is ready to use the ramp with S profile Page 139 of 233 Parker Hannifin S p A S B C Division 13 PROGRAMMING DIGITAL INPUTS AND OUTPUTS 13 1 The Pico PLC Never activate the saving of PLC instructions while the drive is enabled The internal Pico PLC is used to connect the external world inputs outputs to the Hi drive parameter system The PLC can be used to copy digital input to a binary parameter to copy a binary parameter to a digital output and to execute mathematical and Boolean operations The PLC program must be entered as a list of instructions either using the keypad or via serial link instruction list and ladder using a PC and an interface program MotionWiz The default parameter settings b42 12 correspond to a program default Pico PLC see Appendix D The main features of the Pico PLC are Program steps 256 scanning time 6 144 ms number of timers 2 number of instructions 15 stack depth 1 mathematical operations 16 32 bits Decimal PLC PARAMETERS Par Description Field Range Def Res Pr92 First PLC timer Every 6 144 ms if Pr92 is not 0 W 0 0 it Is decreased if it is 0 b94 1 is set to 1 65635 Pr93 Second PLC timer Every 6 144 ms if Pr93 is not W 0 0 0 it is decreased if it is 0 b94 2 is set to 1 65635 Pr96 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr97 User par
91. 248 Homing methods scala itecto iere an a 187 14 2 4 8 1 Method 1 Homing on the negative limit switch and index pulse 187 14 2 4 8 2 Method 2 Homing on the positive limit switch and index pulse 188 14 2 4 8 3 Methods 3 and 4 Homing on the positive home switch and index pul 188 14 2 4 8 4 Methods 5 and 6 Homing on the negative home switch and index pul 189 14 2 4 8 5 Methods 7 to 14 Homing on the home switch and index pulse 189 14 2 4 8 6 Methods 15 and 16 Reserved usn 190 14 2 4 8 7 Methods 17 to 30 Homing without an index pulse 191 14 2 4 8 8 Methods 31 and 32 Reserved uu 191 14 2 4 8 9 Methods 33 to 34 Homing on the index pulse 191 14 2 4 8 10 Method 35 Homing on the current position 191 14 2 5 Profile position mode a c este tee ee dec lb e gx etui a enter des 192 14251 bat diesel eae nae 192 14 2 5 1 1 Controlword of profile position mode 192 14 2 5 1 2 Statusword of profile position mode 192 142 5 2 Obj ctdietiondty entHes ie ced tree tired rta ua tees i iaia 193 14 2 5 2 1 Objects defined in this chapter detecte rette tertie s 193 14 2 5 2 2 Object 607Ah Target Position ariana 193 14 2 5 2 3 Object 6081h Profile Velocity wens o leleine lola 194 142
92. 2rpm motor cogging mapping calculation o issue command b42 7 1 At this stage the drive automatically creates a table containing useful data to compensate motor cogging The calculating function ends when bit b42 7 returns to 0 At this point the motor can be stopped In order to enable motor cogging compensation set bit b39 10 1 N B The table that the drive has generated during the calculation of cogging mapping is not deleted when default parameters are loaded In order to modify these data repeat the mapping calculation 12 7 5 Multiturn absolute encoder phasing on zero machine With a multiturn absolute encoder initialize the absolute position read at power up on the motor position by following the procedure below position the mechanical axis on the desired machine point disable drive hardware b41 5 0 set desired position in Pr69 68 enter command b64 9 to perform the write procedure in the absolute encoder After having entered a multiturn phasing command b64 9 bit b41 6 indicating phasing ok is set to zero Switch the electronics off and on again to be able to perform other axis enabling procedures Par Description Field Def b170 13 Multiturn position read 1 if multiturn absolute position is read at 0 power up The range of absolute position depends of the encoder and it s equal to 0 number of turns 2 Page 136 of 233 Parker Hannif
93. 30 131 and will become active Page 129 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Range Def Res Pr203 202 Motor position feedback9 via the CanBus When the R 0 1 SYNC b230 15 1 is received Pr132 133 will be copied to Pr203 204 and if feedback transmission has been enabled b230 2 1 it will automatically be transmitted via the CanBus Binary parameters Par Description Field Def b230 0 8 byte response message Cyclic response message When the bit is 1 the W 0 status is made by the 16 bits in Pr184 Otherwise when the bit is 0 the status contains only the first 8 bits of parameter Pr184 230 2 Enabling FBK transmission to sync0 Enables fbk response to sync0 If W 1 1 when the type 0 SYNC is received Pr202 203 will be transmitted via the CanBus 230 3 6 7 byte response message If bit0 0 the response message will have 7 W 0 bytes If bit 0 1 the response message will have 6 bytes b230 6 Enabling FBK transmission to syncl Enables fbk response to syncl If W 1 1 when the type 1 SYNC is received Pr202 203 will be transmitted via the CanBus b230 7 FFW calculation Calculates the ffw component from position reference W 0 b230 15 Watchdog sync Sync receive Watchdog set any time a message is RW 0 received Page 130 of 233 Parker Hannifin S p A S B C Divis
94. 5 IW depending on the drive size Binary parameters Par Description Field Def b39 0 DC supplied drive Dcbus nominal in Pr21 The value identifies the drive s W 0 power supply in case of three phase alternated supply the bit must be set to 0 in case of continuous supply the bit must be set tol b39 2 Torque required by the main analogue reference If the bit is set to 1 W 0 10Vpeak Will be taken as reference b39 5 Brake alarm function If b39 5 0 the brake alarm function is enabled error 14 otherwise the function is disabled if b39 5 1 b39 6 IEC 61131 automatic memory extension 1 the pico PLC is disabled W 0 b39 13 0 the all instructions of the pico PLC 512 byte are used as automatic variables for the IEC 61131 programming language b39 8 Automatic undervoltage reset If set to 1 the under voltage alarm will W 0 automatically be set to 0 when power returns The setting is enabled at the next power on b39 10 Motor cogging compensation If bit 1 motor cogging compensation 15 W 0 enabled This command must not be given before calculating the compensation b42 7 b39 11 Motor control PWM 16 kHz 0 8 kHz If enabled b39 11 1 the first W 0 time the drive is powered on again PWM at 16Khz is enabled the drive nominal and peak currents are derated by 30 Pr33 30 and Pr19 30 The setting is enabled at the next power on b39 12 Enable IEC 61131 1 Start 0 Stop W 0
95. 660 mm 720 mm 720 mm 720 mm mass 40 kg 59 kg 59 kg 59 kg Parker Hannifin S p A Divisione S B C HID250 HID250 gt 600 mm 465 mm 1145 mm 1500 con BU mass 100 kg 108 kg with brake unit option Page 26 of 233 Hi drive User Manual Parker Hannifin S p A Divisione S B C Hi drive User Manual 4 2 Fastening Fasten the drive in the cabinet using the mounting holes on the mounting plate see figure below FERA HID2 HID25 HID2 HID5 HID8 HID16 HID25 HID35 HID45 A frame width 87mm 122mm 227mm B plate width 80mm 115mm 219mm spacing 62mm 62mm 150mm D 9mm 26 5mm 34 5mm E 9mm 26 5mm 38 5mm Page 27 of 233 Hi drive User Manual Parker Hannifin S p A Divisione S B C HID75 1 HID100 HID130 HID155 Donc CEP 7 X K y Page 28 of 233 Hi drive User Manual Parker Hannifin S p A Divisione S B C HID250 858 600 DATUM MOUNTING PANEL o e e c n e g s 9 x S EA C amp o ee cc SETS IENE E E EI SN NOE TYPICAL CUBICLE SP HOKES CREE n 10 POSITIONS
96. 7 RES if the stack 1 the y bit of the Pa parameter is set to 0 AND if the bit loaded on the stack contains the result of the logical a AND operation between itself and the y bit of the Pa parameter ANDN Pa y the bit of the stack contains the result of the logical AND A operation between itself and the y bit of the negated Pa vai parameter OR Pa y the bit loaded on the stack contains the result of the logical Pay OR operation between itself and the y bit of the Pa parameter e ORN Pay the bit on the stack contains the result of the logical OR operation between itself and the bit of the negated Pa parameter cae ADD Pa Pb Pec ifthe bit on the stack 1 the addition operation is executed on the parameters in which Pc Pa Pb SUB SUB if the bit on the stack 1 the subtraction operation is Pa Pb Pc executed on the parameters in which Pc Pa Pb MUL MUL Pa Pb Pc if the bit on the stack 1 the multiplication operation is Pa Pb Pc executed on the parameters in which Pc Pa Pb ov DIV Pa Pb Pc ifthe bit on the stack 1 the division operation is executed on the parameters in which Pc Pa Pb END end of program FUNCTIONAL DESCRIPTION The Pico PLC program is scanned every 6 144 milliseconds Based on this sampling the inputs are first read then the two timers Pr92 Pr93 b94 1 and b94 2 are updated the user program is scanned and finally outputs are updated
97. 8 HID10 SIZE 2 122 360 428 227 HID16 HID25 SIZE 3 227 360 428 221 HID35 HID45 SIZE 4 250 660 320 HID75 SIZE 5 250 720 365 HID100 HID130 HID155 SIZE 6 600 1145 465 HID250 without connector and keypad with fixing flange Page 18 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 3 4 Power supply Supply voltage range 24V 0 10 Max ripple 2 Current rating of the external power supply Control electronics dissipation max EMC Filter Supply voltage 24 10 _ 1 8 2 per HID155 and Max current HID250 Mains frequency Hz Frequency variation max Hz sec Supply voltage V 3 phase 200 10 480 10 HID2 HID5 HID8 HID10 HID16 V 1 phase 200 10 277 10 HID25 V 282 10 678 10 Supply voltage V 3 phase 200 10 480 10 HID35 HID45 V 282 10 678 10 Supply voltage V 3 phase 380 10 480 10 HID75 HID100 HID130 V 500 10 678 10 Supply voltage V 3 phase 380 10 480 10 HID155 HID250 500 10 678 10 Maximum voltage unbalance Note that single phase AC supply is not allowed for HID35 up to HID250 The converter can be used only in grounded TT and TN industrial networks Do not use in ungrounded networks IT or in networks with asymmetrical grounding Page 19 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 3 5 Technical characteristics
98. 96 to 4609 2 from 4610 to 5123 3 from 5124 to 5637 4 from 5638 to 6151 Data When the parameter is written it contains the value of the parameter If one or more bits are modified it contains the mask of the bits to be modified In the case of PLC program data writing it contains the instruction code see Serial Interface Page 162 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Alarm message from slave converter to master Data length Field Name Addr Error Pr261 Pr23 Identifier C TT ms 1 155 153 DENIS 4 Slave converter address Pr261 valid values 1 31 This type of message will be sent by the converter to the bus if the converter changes its alarm status alarm 0 no alarm 14 1 3 Description of extended message set 2 The extended message set 2 enables the exchange of memory areas between the master and the converters both in communication and real time modes Data exchange is still synchronous The master transmits the data to all converters which then save it in a temporary buffer Then the master transmits the synchronism message and the drives when they receive this message will copy the data blocks received from the temporary buffer to the parameter area and will reply to the master with their own parameter sets Data send message from master to slave converter D IPte 159 157
99. 97 196 Master axis phase for engaging If it is able W 271 0 1 when the module of CAMI catches up with this position comes the CAMI engaging Pr199 198 Master axis phase for release If it is W 0 6 0 1 when the module of catches up with this position comes the CAMI release Pr201 200 Trap Positioner reference When this quota catches W 0 3 0 1 up with the value of Pr211 210 the generation of the profile is finished Pr203 202 reference Position of CAM2 in its module W 32768 0 1 32767 Pr205 204 CAM2 reference Position of CAM2 in its module W 32768 0 1 32767 Page 124 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Range Def Res Pr211 210 Final position Trap positioner It represents the W 0 360 60 1 quota of which the position of the motor is wanted to be increased Pr213 212 Pointer 1 master incremental encoder This W 14000 0 parameter contains all the increments sendes to you rpm from the pointer parameter Pr215 214 Pointer 2 master incremental encoder This W 2 4500 500 Ims parameter contains all the increments sendes to you ms from the pointer parameter Pr217 216 Master 1 axis module Pointer 1 It contains W x2 10000 rpm number of count for which the axis Master 1 i
100. C CAN protocol used to exchange data via Profibus Device Net bridges The Pico PLC includes 9 constants for arithmetic operations that is Pr121 to Pr129 When the default parameters are loaded the constants have the values shown in the table and can be modified and stored with different values These parameters are already programmed to be considered as a double word When arithmetic instructions ADD SUB MUL DIV are used consider that the operators are assumed to be words and are signed If a double word operation is required set b94 0 1 before executing the operation After the operation the PLC will automatically set this bit to 0 Double parameters are treated as double words so that in an operation such as ADD 121 122 212 the result 1 will be written in the double word Pr212 213 without having to set b94 0 1 before the operation If Pr100 1 and 101 0 the operation ADD 100 122 212 will give as a result Pr212 213 1 while the same operation executed with b94 0 1 will assume Pr101 as the high word of the double word Pr100 101 and the result will be Pr212 213 65535 If the parameters used are known as being in double word format except parameters dedicated to operating modes i e Pr 181 to Pr 250 double word format is implicit As for operating mode parameters double word format is implicit only in parameters Pr200 to Pr229 Example ADD 100 122 212 in double word Pr100 1 Pr101 0 in double word becomes Pr101 100 wher
101. CAM 2 table first last 3 points read write access CAM 3 table first 254 points read write access CAM 3 table first last 3 points read write access CAM 4 table first 254 points read write access CAM 4 table first last 3 points read write access SDO timeout digital and analog input encoder B counter encoder C counter Page 168 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 0x2065 I timer in msec it s activated when the motor speed is equal to Orpm by the 7 10 or 11 transition of the state machine when the timer finishes the bit b78 4 is set to 1 and it s possible to use it to management the motor brake 0x2066 II timer in msec it s activated when the motor speed is equal to Orpm by the 7 10 or 11 transition of the state machine when the timer finishes the drive is disabled So the II timer 0x2066 must be longer of I timer 0x2065 f P Switch On 10 disabled i lTimerfoggetto ox2005 Quick stop 206 Transition 0 rpm b70 4 1 Drive disabled As a general rule sub index 0 of indexes 0x2000 0x200F represents the number of the sub_indexes available and the subsequent 1 N sub_indexes represent the parameter number concerned 1 Sub_index 1 gt Pr 0 Sub_index 2 gt Pr 1 Sub index n 1 gt Pr n Example of device memory access by SDO Write Pr80 to the drive You will need to write the obj
102. ERROR The error is the difference between the reference speed and the motor speed The error size is used by the speed loop in order to evaluate the level of current to be supplied to the motor TORQUE The current that circulates in the motor windings is transformed in torque thereby allowing the motor to accelerate or decelerate GAIN Given the typical applications of the Hi drive any occurrence of the term gain in this document is referred to the rigidity of the axis better known as STIFFNESS In order to better illustrate what the term STIFFNESS means let s imagine a motor controlled by a converter with a requested speed of zero The motor shaft will appear still However if a torque is applied to the shaft this will demonstrate an angle proportional to the torque applied Suppose we apply the motor rated torque and measure the STIFFNESS in degrees The degrees measured will be the index of the quality of the regulator as parameterized Of course this is not the only quality index 8 7 Speed control adjustment WHAT IS NEEDED In order to correctly adjust a Hi drive converter an oscilloscope is required A speed probe and a current probe will be connected at monitor output 1 and at monitor output 2 on terminal block X5 Pin 8 and 7 whereas Pin 6 is common By default the drive monitors the Pr0 on screen 1 and Pr35 on screen 2 see the description of key parameters and the section about programmable outputs See the chapter
103. ESCRIPTION INDEX 605En Name Fault reaction option code Object Code VAR Data Type INTEGERI6 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping No Value Range INTEGERI6 Default Value 2 Page 179 of 233 Parker Hannifin S p A S B C Division DATA DESCRIPTION Value Description 32768 1 manufacturer Specific 0 disable drive motor is free to rotate 1 slow down on slow down ramp 2 slow down on quick stop ramp 14 2 2 7 Object 6060 Modes of operation Hi drive User Manual The parameter modes of operation switches the actually choosen operation mode OBJECT DESCRIPTION ENTRY DATA INDEX 6060h Name Modes of operation Object Code VAR Data Type INTEGER8 Category Mandatory Access rw PDO Mapping Possible Value Range INTEGER8 Default Value No Value Description 1 Profile Position Mode 6 Homing Mode 7 Interpolated Position Mode DESCRIPTION DESCRIPTION NOTE A read of modes of operation shows only the value of modes of operation The actual mode of the drive is reflected in the object modes of operation display It may be changed by writing to modes of operation 14 2 2 8 Object 6061h Modes of operation display The modes of operation display shows the current mode of operation The m
104. Engaged electrical shaft During the 0 engaging phase when the ramp Pr183 is not 0 this bit indicates the end of the transitory phase b230 3 Electrical shaft engaged at capture event Activates engagement W 0 sensor selected by bits 2 3 and 4 of b165 The captured level from the master is downloaded in Pr161 160 The space lost during data processing is recovered b230 4 Activates trapezoidal positioner target change 1 Activates trapezoidal W 1 positioner target change b230 6 Engage electrical shaft with phase recovery 1 W 0 b230 9 Enables trapezoidal positioner reference 1 W 1 6230 10 Enables electrical shaft reference 1 W 1 b230 11 Enables speed mode reference W 1 b230 12 Trapezoidal positioner speed FFW 1 enables trapezoidal positioner W 0 speed FFW component b230 13 Electrical shaft speed FFW 1 enables electrical shaft speed FFW W 1 component w 231 0 Type 1 trapezoidal positioner reset Type 1 trapezoidal positioner reset W 0 command Pr201 200 Pr213 212 0 b231 1 Type 2 trapezoidal positioner reset Type 2 trapezoidal positioner reset W 0 command Pr201 200 Pr213 212 Pr131 130 b231 2 Type 3 trapezoidal positioner reset Type 2 trapezoidal positioner reset W 0 command Pr201 200 Pr213 212 Pr131 130 Pr133 132 Command used to reset the profile and setting the actual position of the trapezoidal positioner to the motor FBK value b231 3 Type 1 electrical
105. I III A III A i I i lt p232 12 Releasing b230 of b230 MASTER 2 Selection or table Global counter M ee Pr243 242 Module TABO 6232 13 Sigle shot i Pr289 288 4 6230 10 b230 131 130 gt b231 15 TABI DATA Module m Reference position pe Pr241 240 gt n m Tae 2 b230 6 rr 285 284 Bose Pr205 204 2 CAM2 generator ag Py counter SI Position in module Enable FFW speed Rosset b230 7 187 gt Pr287 286 b232 3 Pr188 Pr187 0 Speed mode counter Page 123 of 233 Parker Hannifin S p A S B C Division Decimal parameters for operating mode 121 Hi drive User Manual Par Description Field Range Def Res Pr182 Selection of function type Parameter of selection of W 0 6 0 1 the law of motion in order to generate the points in table like from paragraph and CAM2 This parameter doesn t come configured from the display but it can be controlled through serial ways field bus and MotionWiz It is an autoreset parameter Pr183 Selection of internal function calculation table W 0 3 0 1 See the table in par CAMI and CAM2 Pr184 Value of dummy table Tab3 If active the W 32768 0 1 fictitious table comes considered only this value for 32767 the position of the motor in CAMI Pr185 Value of CAM2 dummy table Tab3 If active the
106. N PAR D0 Dn CHK CMD4 is the read message of a parameter The message has the following format STX 100 ADDR BK LUN PAR CHK CMDS is the write message of a parameter The message has the following format STX 101 ADDR BK LUN PAR D0 Dn CHK CMD6 is the change bit message of a byte parameter The message has the following format STX 110 ADDR BK LUN PAR D0 D1 CHK In this case LUN 2 or else two bytes are sent for the data The first byte is the mask containing the Os in the positions of the bits to be changed and 15 in the other positions while the second byte contains 15 in the positions of the bits that are to be set to 1 and Os in the other positions The PAR address is that of the parameter byte where one or more bits are to be modified If the parameter is a word and the bit to be modified is one of the first 8 b0 b7 PAR the parameter address otherwise if the bit to be modified is one of the upper 8 b8 b15 PAR the address parameter 1 CMD7 is the write message of a parameter to all converters connected to the serial link The message has the following format STX 11100000 BK LUN PAR 00 Dn CHK The address of the peripheral device ADDR must be 0 Notes The parameters that are displayed on the screen with decimals must be treated as integer values For example a value of 978 5 is read and written as 9785 All values that are preceded
107. N N drives both axes output power stages are switched off using a unique signal A The safe disable function prevent from torque generation in an squirrel cage induction motor connected to the drive even if a drive fault does occur If a permanent magnet synchronous motor brushless is connected a short rotation may occurs 180 maximum that becomes 90 maximum in case of salient poles technology motors Machines risk assessment activity must take care of this fact 7 The safe disable function do not provide an electrical shock prevention so in case of service activity on electrical connections electrical power must be disconnected from drive and operator must wait for the complete discharge of all internal capacitors almost 6 minutes A c The safe disable function inhibit the power stage of the drive including dynamic brake power stage for this reason when the safe disable signal is activated a fast emergency stop will not be allowed Page 225 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual c The safe disable function guarantees machine safety only if it is correctly applied in the whole machine safety plant The machine have to be verified through a risk assessment activity to be sure that the residual risk of a dangerous event is compatible with risk class of the machine itself Safety related systems and plants have to be designed by people skilled and trained as required Aa The c
108. NG iii 218 APPENDIX D ALARMS eee Rhe eere eoa ee eee eee eoa oU een ERE RR ee Roco a pk E 219 APPENDIX E CONTINUOUS WORKING 221 APPENDIX F EXTERNAL CAPACITOR 224 APPENDIX OPTION FOR SAFE DISABLE FUNCTION 225 OC WOOO Bi Pet 225 Signals descriptloll ossi teceis o eps y eee pee pao Fe 226 Drive function blocks lia 227 Connections ia 228 Operation sequence and timing 228 I chi 230 Test and maintenance anale aa 230 APPENDIX H RETENTIVE VARIABLE eene 231 HISTORY OF MANUAL 232 Page 8 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 1 Safety instructions 1 1 Symbols and signals Several symbols and signals are used in this safety instruction Pay attention to the following meanings Extremely severe risk Disregarding the following advise may involve danger of life Severe risk Disregarding the following advise may involve serious personal injury Medium risk Disregarding the following advise may involve personal injury 1 2 General information Only persons who are qualified and trained for the use and operation of the equipment may work on this equipment or within its proximity The persons are qualified if they ha
109. O Max motor cable length 60 m 50 m 300 m with inductance Max cable capacity 150 pF m Page 40 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual Model HID 155 HID250 Section 35 95mm AWGI 2 holes 913mm a 15 20Nm Separation 44mm Section 35 95mm AWGI1 2 holes 613mm DENIS 15 20 Nm Separation 44mm External braking Section 6 8mm AWG8 2 holes 613mm resistor qa 0 7 Nm BU option Signal Section 0 22 1 mm AWGI6 X5 e 0 22 0 25 Nm M2 Stationary brake Section Imm AWGI6 X3 ao 0 22 0 25 Nm M2 Section 2 5mm AWG12 PPY onm 0 7 Nm Max motor cable length 50 300 m with inductance Max cable capacity lt 150 pF m All signal cables must have a minimum section of 0 22 mm The resolver cable must consist of 4 individually shielded twisted pairs protected by a shield The conductor conductor capacity for the length used cannot exceed 10 nF and the section cannot be less than 0 22 mm The maximum length is 60 m The motor cable must be shielded The cables used for analog signals must be shielded twisted pairs Shielded cables are also recommended for digital inputs and outputs For UL compliant installations use only stranded copper wire rated for 75 C Use only appropriate crimping tools to fix terminal lugs The conductors capacity shall be 125 of the rated current accordingl
110. OPERATION ENABLE SWITCHED ON OBJECT DESCRIPTION INDEX 605Ch Name Disable operation option code Object Code VAR Data Type INTEGERI6 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping No Value Range INTEGERI6 Default Value 1 DATA DESCRIPTION Value Description 32768 1 manufacturer specific 0 Disable drive function 1 Slow down with slow down ramp and then disabling of the drive function 2 32767 reserved Page 178 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 2 5 Object 605A Quick stop option code The parameter quick stop option code determines what action should be taken if the Quick Stop Function is executed OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX 605Ah Name Quick stop option code Object Code VAR Data Type INTEGERI6 Category Optional Access rw PDO Mapping No Value Range INTEGERI6 Default Value 2 DATA DESCRIPTION Value Description disable drive function slow down on slow down ramp slow down on quick stop ramp slow down on slow down ramp and stay in QUICK STOP slow down on quick stop ramp and stay in QUICK STOP DWI NIN 14 2 2 6 Object 605E Fault reaction option code The parameter Fault reaction option code determines what action should be taken if a fault occurs OBJECT D
111. Object 605Ah Quick stop option Code e et I rr eee tir tene 179 14 2 2 6 Object 605Eh Fault reaction option code 179 14 2 2 7 Object 6060h Modes of stalla dii 180 14 2 2 8 Object 6061h Modes of operation display 180 14 22 33 PuretioriabdesePIpLIOR a eo eet ter a dv ed id eite eade aaa 181 14 2 3 1 Modes of operation function u a eii c eor tx rtt age ett Exe Fato Se ri eir nexu 181 14 24 Homing mode ee nieto a Een at deoa etica be lata 182 14 2 4 1 General information Loc eese io iecur oup dade EO pad RE nel 182 14 2 4 2 Input data descripHlon o alle diit Deco alia eroi 182 14243 Output data deseriptlon sss eere retta ree e in extre acea en Seer eder t 183 14244 i ERE 183 42 44 Controliword of homing modes eei ee Quee lola 183 14 2 4 4 2 Statusword of homing mode i 183 1424 5 gt Object dietionary pedet en qt eerta dee ii 184 14 2 4 5 1 Objects defined in this chapter irre intret ctore tr eerta 184 14 2 4 5 2 Objects defined in other chapters a cirie 184 14 246 Object destripiioni iaia 184 14 2 4 6 1 Object 607Ch Home offset sess ina 184 14 2 4 6 2 Object 6098h Homing method Licia 185 14 2 4 6 3 Object 6099h Homing spedirla lele 185 14 2 4 6 4 Object 609Ah Homing acceleration iii 186 14 2247 B ncuonabde sctipUOTn io end alieni 187 14
112. W 32768 0 1 factitious table comes considered only this value for 32767 the position of the motor in CAM2 in place of one table CAM Pr186 Value in degrees of the linear engage ramp master W 0 360 60 I module Field of the module master in which the motor it executes the ramp The tables must be loaded after to have set up this parameter Pr187 Speed in speed mode It lets to move in speed the W 14000 0 Irpm motor remaining in the operative mode Pb40 2 1 rpm Pr188 Speed mode ace Ramp Is the ramp in ms from 0 to W 224500 500 Ims 1000 rpm that it manages the variations of speed of ms Pr187 Pr189 Max positioner speed Is the maximum speed in W 0 14000 1000 Irpm rpm that the positioner can make rpm Pr190 Positioner acceleration time Is the ramp in ms from W 2 4500 500 Ims 0 to 1000 rpm that it connects the variations of speed ms Pr189 of positioner Pr191 Positioner deceleration time Is the ramp in ms W 2 4500 500 Ims from 0 to 1000 rpm that it connects the variations of ms speed Pr189 of positioner Pr192 First Masterl reference pointer It contains the W 0 384 150 1 parameter that it references to the Master Pr193 Second Master2 reference pointer It contains the W 0 384 150 1 parameter that it references to the Master2 Pr194 Master 1 linking ramp It is the ramp in sixteenth W 0 32000 100 1 of count to ms which manages the variations of the Master Pr1
113. Y Velocity mode Operation mode function X Profile velocity mode C pa Profile torque mode Modes of operation display 6061h Page 181 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 4 Homing mode In homing mode all the standard methods are available the index is referred to the feedback C encoder input track Z it is also possible to refer the index to the absolute in the shaft revolution position of zero of the position feedback resolver SinCos absolute etc setting the homing method to the same absolute value as for track Z indexing but negative In this case the presetting of the position counters on the index is completed without axis movement For homing procedures 3 digital inputs are used IN2 home switch IN3 Left limit switch INA Right limit switch The active level of the 3 inputs can be inverted by mean of a bit mask mapped at index 0x2021 as U16 where bit 2 3 4 are processed by a XOR operation with the logical status of IN2 IN3 and IN4 14 2 4 1 General information This chapter describes the method by which a drive seeks the home position also called the datum reference point or zero point There are various methods of achieving this using limit switches at the ends of travel or a home switch zero point switch in mid travel most of the methods also use the index zero pulse train from an incremental encoder Control word Status word
114. al Par Description Field Range Def Res 174 Torque limit Is used by the operating modes to 0 100 1000 0 1 limit the torque to the motor A Ipeak 181 Operating mode Parameter Pr181 can be used to W 0 385 0 1 select the active operating mode The value 0 means that no operating mode has been selected Pr256 Serial link 232 speed code Code used to program W 0 8 6 1 the transmission speed For further information see the section on the SERIAL INTERFACE Pr258 Serial link 422 speed code Code used to program W 0 31 6 1 the transmission speed For further information see the section on the SERIAL INTERFACE Pr259 Serial link 422 address code For further W 0 31 0 1 information see the relevant section Pr260 BAUDRATE CAN CAN line transmission speed W 0 32767 1 1 programming code Pr261 CAN address Indicates CAN address value W 0 127 1 1 Pr268 FPGA SW REL Indicates the firmware version in the FPGA flash memory Pr271 Encoder vibration step Indicates the phasing W 0 200 1 vibration duration length Parameter calculated with type 2 phasing see relevant section for information about type 2 phasing procedure Pr274 Braking resistance Resistance in ohm W 0 65535 10 depending on the features of the resistor installed in the drive Pr275 Braking resistor power Resistor power wattage W 076553
115. al N O 18 NC b91 2 19 XS 9 3 Analog outputs Two programmable analogue outputs are available monitor 1 pin 8 of X5 and monitor 2 pin 7 of X5 that can be set to monitor parameters The output voltage is 10 Vdc see section on programmable analogue outputs Page 91 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 10 DYNAMIC BRAKING In its basic configuration a dynamic braking resistor is available inside the resistor data are provided in the default drive configuration If an external dynamic braking resistor is required enter the relevant data in the currently used resistor Attention we remind you that the external braking resistor value in ohm is not freely selectable but must be based on the type of drive used Refer to the Technical features table Par Description Field Range Def Res Pr274 Braking resistance Resistance in ohm W 0 65535 10 depending on the features of the resistor installed Q in the drive Pr275 Braking resistor management Resistor power W 0765535 IW in Watt depending on the drive size W N B When you carry out a default procedure all factory parameters are changed and any previously entered value is lost Page 92 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 11 KEY PARAMETERS The torque speed acceleration and position control functions
116. al surfaces of the equipment and same internal part may reach very high temperatures Danger of burn and injury if touching these parts e After switching the equipment wait at least 15 minutes to allow it to cool before touching it Page 11 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual A DANGER Dangerous movements Danger of life e Dangerous movements can be caused by faulty control of the connected motor Same common example are O Improper or wrong installation and wiring O Wrong input parameters before or during operation programming O Defective components drive motor wires sensors etc O Incorrect control software or firmware errors e In order to prevent personal injury due to unintended dangerous motor movements pay the maximum attention and work on the machine with a qualified and tested safety system O Isolate the drive power connection O Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before start up Don t operate the machine if the emergency stop is not working O Install properly fences guards coverings and light barriers in order to prevent people from accidentally entering the machine s range of motion Secure vertical axes against falling or dropping after switching off the motor power Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone 1 6 Saf
117. am can have at the most 256 instructions 1 0 ee ea IDN Pay a POUT Pay r sl OUTNPay 3 2 EAN Puy NN ININ 7 SET Pa RES The first 4 bits b0 b3 of the first byte in each instruction contain the instruction code see table above In the first 8 logical instructions in the table LD ORN as well as in SET and RES the remaining 4 bits of the first byte b4 b7 contain the y value while the second byte contains the Pa value Page 150 of 233 Parker Hannifin S p A S B C Division In ADD SUB MUL and DIV mathematical instructions the second byte contains the Pa value the third byte contains the Pb value and the fourth byte contains the Pc value In the END instruction the second byte is not used Instructions must follow each other beginning at address 0h and no byte can be left empty There is only one program and it is closed by an END instruction Serial link usage examples In order to better understand how to implement the communication protocol via serial link some examples of each type of message are given below The values given are only indicative as examples First example reading a 1 byte parameter Suppose we want to read the value of parameter Pr25 release software and that its value is 43 Suppose also that the converter serial address is 0 The following message will be sent 7E 80 01 32 B3 The converter responds with the follow
118. ameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr98 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr99 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr100 CAN PLC 1 data block A parameter that the user R 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and CANOPEN Pr101 CAN PLC 2 data block A parameter that the user R 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and CANOPEN Page 140 of 233 Parker Hannifin S p A S B C Division Par Description Field Range Def Res Pr102 CAN PLC 3 data block A parameter that the user R 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive see sections about SBCCAN and Pr103 CAN PLC 4 data block A parameter that the user R 32768 0 1 can use to exchange data through the block sync of 32767 the SBCCAN protocol via Bridge Profibus and DeviceNet This parameter is used to receive
119. ammed value the slave engages to the master with a trend generated by TAB2 Pr253 252 Master phase for Tab3 engaging The value entered W 271 0 1 in the register identifies the master value When the master phase matches the programmed value the slave engages to the master with a trend generated by TAB3 Pr281 280 Trap Positioner counter W I 0 1 Pr283 282 CAMI generator counter W 231 0 1 Pr285 284 CAM2 generator counter W 27 0 1 Pr287 286 Speed mode counter W 2 0 1 Page 125 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Range Def Res Pr289 288 Global counter sum of all enabled generators W 271 0 1 POS SM CAM1 CAM2 Binary parameters Par Description Field Def b230 0 1 bypasses Master1 change linking ramp 0 Ramping W 0 b230 2 Enables Master1 displacement from profile generator W 0 b230 3 Enables Master2 displacement from profile generator W 0 b230 4 Enables positioner in the counter Pr281 280 W 0 b230 5 EnableCAMI generator in the counter Pr283 282 W 0 b230 6 Enables CAM2 generator in the counter Pr285 284 W 0 b230 7 Enables speed mode in the counter Pr287 286 W 0 b230 8 Enables positioner counter Pr281 280 in the global counter W 0 Pr289 288 b230 9 Enables counter Pr283 282 in the g
120. an also me changed by parameters Pr51 and Pr53 Pr50 Pr0 I will get Pr52 Pr0 I will get ae value of the Pr pointed from Pr 50 8 54V AR value of the Pr pointed from Pr 52 8 54 an oui Pr32e QP51 an ou Pr32e QP53 In the other cases value of the Pr pointed from Pr 50 107 value of the Pr pointed from Pr52 Van out an out 2048 2 2048 2 Page 134 of 233 Parker Hannifin S p A S B C Division 12 7 3 Encoder simulation The simulation of encoder pulses can be seen on two different connectors whereas the generated signal can be taken either from the motor shaft position or from a pointed parameter When the value is read from the motor shaft position the encoder simulation can set the number of pulses per revolution Pr72 that can range from 4 to 65535 If grater resolutions are required it is possible to opt for an exponential setting for 2 elevated to the n power the maximum value is 18 Pr72 18 that is 2 as the greatest value that can be set The choice between these two systems can be made through bit b70 0 Bit b70 3 allows to select the type of signal used in the simulation generation When the motor shaft position is used the value is always read at the maximum resolution 2 When pointed parameter is used Pr71 the rating is read in its value and therefore with a resolution lower than 2 Therefore the reading must be considered as a part of a revolution H
121. and adapts internal operating parameters accordingly When the mains voltage is gt 440VAC b41 13 1 and output current is de When one of the power supply phases is missing b42 4 1 AC 1 phase network 200 277 10 Set b39 0 1 and set the peak nominal value of 1 phase supply in Pr21 Save switch off and on again the converter With both modes of AC power supply when parameter b42 3 0 the input power supply is on In case of power loss the bit is set to one anticipating the converter s under voltage alarm that is based on continuous voltage Continuous 288 678 10 Set b39 0 1 and set the nominal value of continuous voltage in Pr21 Save switch off and on again the converter The automatic reset of under voltage undervoltage alarm can be forced by b39 8 1 with any kind of power supply Page 75 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 START UP In Its basic configuration Hi drive can control both synchronous permanent magnet motors brushless and asynchronous induction motors The setting of Pr31 can select either of the following Pr31 0 synchronous motor default setting asynchronous motor The drive is supplied with default factory parameter settings See the following chapters for use and start up 8 1 Setting the default parameters When you carry out a default procedure all factory parameters are changed and any previously entered value is lost
122. and torque are within the motor s electric limits Maximum Speed and Torque Through a series of parameters it is possible to automatically program one of the motion laws that have been set in the drive in one of the four tables Functions can be retrieved as follows Page 119 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Vedi Motion law Table selection selection by Pr182 by Pr183 1 y x sen x 2 Tab0 Pr183 0 Triangular profile 3 Tab1 Pr183 1 Engage ramp 4 Tab2 Pr183 2 Disengage ramp 5 Tab3 Pr183 3 y sen x 6 After selecting the function by Pr182 the parameter is automatically set to zero The four tables are the same in both CAM generators the same table with the same function can be selected in both generators As a default drive configuration TABO is active in and TAB3 is active in CAM2 In order to change the default setting there are some immediate commands active for both CAM generators or for CAMI only of the enable commands on programmable master phase When the selected table is changed the two generators will have a different behaviour Based on the executed command CAMI immediately activates the execution of the selected table as well as a change of module The user will have to check the continuity of speed and torque during table and module changes Modules with negative sign cannot be set in CAMI CAMI is engaged either by direct command
123. are modified it contains the mask of the bits to be modified If case of a parameter read request the field has no significance In the case of PLC program data writing it contains the instruction code see Serial Interface Page 161 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Response message to a parameter request from slave converter to master Data length 5 byte Field Name Addr amp Spare Pr261 8bit 32 bit reply data Identifier ID2 IDO ID10 ID9 ID8 ID7 ID6 105 ID4 ID3 arae xc ox xe 0 AO A4 Slave converter address Pr261 valid values 1 31 Broadcast write parameter message from master to slave converter Broadcast data write Data length Field Name Cmd amp Len Data Address Contents 5 bit command and 3 bit length 16 bit data address 32 bit data ipa TOT 15 ms 157 15e 15s 154 103 ax ox pesa axe a e amp Len Sub field Value Significance Cmd 0 4 Not used Write SET bit Pr Pr OR Data RESET bit Pr Pr AND NOT Data TOGGLE bit Pr Pr XOR Data Not used Number of significant bytes in the data field Data Len 5 7 Data Address This is the address of the parameter involved in the operation parameter number 2 The addresses of PLC instructions are ranging from 8192 to 8704 The addresses of CAMMA tables are 1 from 40
124. ate SWITCHED ON the drive executes the functionality of this state It exists no functionality in the state SWITCHED ON The drive does not do any in this state BITS 4 5 6 AND 8 These bits are operation mode specific The description is situated in the chapter of the special mode The following table gives an overview Page 174 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 4 rfg enable reserved reserved 5 rfg unlock reserved reserved 6 rfg use ref reserved reserved 8 Halt Halt Halt Table 5 Mode specific bits in the controlword BITS 9 10 These bits are reserved for further use They are inactive by setting to zero If they have no special function they must be set to zero BITS 11 12 13 14 AND 15 These bits are manufacturer specific 14 2 2 2 Object 60411 Statusword The statusword indicates the current state of the drive No bits are latched The statusword consist of bits for the current state of the drive the operating state of the mode and manufacturer specific options OBJECT DESCRIPTION INDEX 6041h Name Statusword Object Code VAR Data Type UNSIGNED16 Category Mandatory ENTRY DESCRIPTION Access ro PDO Mapping Possible Value Range UNSIGNED16 Default Value No Page 175 of 233 Parker Hannifin S p A S B C Division BITS 0 3 5 AND 6
125. ategory 3 safety standstill function in compliance with EN954 1 and EN13849 1 standards is only guaranteed if all the feedback signals available from the drive both hardware SCA SCB and software b41 5 are included in the machine application safety system accordingly to the following instructions 23 2 Signals description On front side terminal box labelled with X5 following signals are connected e safety relay activation command on terminals 1 and 2 labelled SR and SR e safety relay feedback switch contacts on terminals 3 and 4 labelled SCA and SCB Terminal one Blocks Signal Description Current DC Voltage level Safe disable 33mA 10 24Vdc 10 relay on re PICS command 24Vdc lt 1V relay off 34 SR PN max 1A 24Vde 10 potential free switch SR SR input is protected against wrong polarity connections When 24VDC voltage is applied to terminal SR with respect to terminal SR switching ON the safety relay power supply to output power stage of the drive is present so the motor movements are not safely stopped Under this condition the safety relay feedback switch whose contacts are connected to terminals SCA and SCB and mechanically driven by relay mechanics is open This represent the working condition for drive and motor When power supply is disconnected from SR and SR terminals switching OFF safety relay one of the relay switch cuts OFF power to drive
126. b41 10 Speed controller saturation b41 10 1 when the speed controller 15 1 supplying the maximum current b41 11 I T active Indicates that Pr36 has reached the 100 0 value and therefore 0 the converter is limiting the current to the nominal value b41 12 Converter enabled R 0 b41 13 480V mode If b41 13 1 the 3 phase power supply voltage is at 440V 400 R 0 10 If b41 13 1 at power up the nominal current Pr33 and peak current Pr19 of the drive are derated by10 Pr33 10 and Pr19 10 b41 14 Brake alarm This bit indicates when the parameter Pr37 exceeds the 100 W 0 b41 14 1 This bit can be used in pico PLC to communicate the alarm b42 0 Ref offset reset command Analogue if lt 200mV auto reset Command W 0 b42 0 automatically compensates for the main analogue reference offset entering the reference reset value in 1 Such operation is only performed if the offset to be compensated is lower than 200mV b42 1 Key parameters blocked 0 modifiable 1 If set to 0 key parameters W 0 cannot be modified If the bit is set to 1 the drive requires the default parameters again if Pr23 0 b42 2 PTC motor pre alarm 1 This pre alarm allows to stop the machine 0 before around 125 C 257 F reaching the alarm limit around 135 C 275 F b42 3 lt 150VAC power supply It is 1 if the power line is lt 150VAC Rw 0 b42 4 3 phase power supply It is 1 if the power
127. be connected only on one end when the current in the screen causes noises to the shielded cable signal The input cable must be connected to the PE grounding by means of a screw connection so as to ensure a proper contact between the screen and the grounding The power section converter and the control section PLC or CN must be kept separated by a division in the metal base Connect the panels in the electric cabinet by means of a copper strap Never route noise emitting cables in parallel with clean cables Never route cables in parallel especially near the filter ensure sufficient distance Never route cables in loops cables should be kept as short as possible and be close to the common potential It is particularly important to keep mains cables away from motor cables If the motor is provided with emergency braking keep the brake connection and power cables away from the other cables resolver and signal Page 71 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 17 3 Filters The drivers are the components for use in the second environment industrial environment C3 category according to EN61800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test method with anti noise filter and installed according to recommendation of this manual These products used in first environment domestic environment may cause radio interference dangerous for the other
128. by the cam generators and therefore if the same master is selected it will be impossible to scale CAMI and functions in two separate sectors You will have to program two masters with the same pointer and the same initial phasing then engage both cams to the masters and scale them in separate sectors Page 120 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 4 3 1 Automatic activation of CAM tables Beside enabling tables on programmable master phase or by immediate command as shown above the drive offers a default function providing for an automatic sequence to enable the tables The operation is enabled through the activation of bit 231 12 and by using bit 231 13 command in order to start per an engaging sequence or bit 231 14 command in order to start per a disengaging sequence The switch between active tables always occurs during master phase 0 Tabl and Tab2 are used as a link during the switch between Tab0 and Tab3 and the other way round and therefore they cannot be active longer than one master module e Master with positive speed Master with negative speed As shown in the figures the table switching sequence is automatically inverted when the speed is negative The above described function is essential for instance in applications where the user wants to complete an engage disengage phase starting from a gearing function Electrical axis by means of linear linking ramps By linear links
129. cation specific methods The homing method is used for selection The exact sequence of the homing operation is clearly described by the method In some circumstances a device has several methods to choose from using the homing method with feedback from resolver it s necessary to set the object 0x6060 with negative sign In this case the homing function is concluded when is out of home sensor and the actual position of resolver becomes the home position 14 2 4 8 Homing methods The following sub sections describe the details of how each of the homing modes shall function 14 2 4 8 1 Method 1 Homing on the negative limit switch and index pulse Using this method the initial direction of movement is leftward if the negative limit switch is inactive here shown as low The home position is at the first index pulse to the right of the position where the negative limit switch becomes inactive TETT gt Index Pulse Negative Limit Switch Figure 22 Homing on the negative limit switch and index pulse Page 187 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 4 8 2 Method 2 Homing on the positive limit switch and index pulse Using this method the initial direction of movement is rightward if the positive limit switch is inactive here shown as low The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive
130. ceeds the 120 of the nominal sync cycle lasting time of index 0x1006 communication cycle period the regularity of sync signal is checked with a resolution of 2 048 msec If the node does not receive the guarding message before its lifetime an ABORT_CONN_TRIP Er13 is generated 2 disable voltage 3 quick stop 0x6040 Control word 0x6041 Status word 0x605a Quick stop option code valid values 0 1 2 5 6 0x605b Shut down option code valid values 0 1 0x605c Disable operation option code valid values 0 1 0x605e Fault reaction option code valid values 0 1 2 0x6060 Mode of operation valid values 1 201 6 200 7 202 1 122 2 om121 3 om120 0x6061 Modes of operation display see the previous 0x6063 position actual value counts If read by mean of SDO or mapped on PDO 1 or 2 returns the value of position feedback in counts from pr 132 133 if mapped on PDO 4 returns the value of the position feedback at the sync signal 0x6064 position actual value units If read by mean of SDO or mapped PDO 1 or 2 returns the value in counts of position feedback pr 132 133 transformed in user units by mean of position factor if mapped on PDO 4 returns the value of the position feedback at the sync signal in counts the algorithm of interpolated mode does not support factor group 0x6065 Following error window it is converted in counts by mean of position factor then
131. celeration Page 112 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual master ___ master oe OUT prn recover slave 230 6 l speed c 5 delay delay The phase recovery when the function is active is outlined in the figure above Parameter Pr 189 is used to define the maximum velocity at which the slave recovers the space lost to the master The axis ratio can be set by parameter Pr187 that is the reference signal multiplier as well as by Pr188 which is the reference signal divider A report can be directly sent to the signal of encoder port B Pr156 Pr157 and of encoder port C Pr154 Pr155 The slave axis is engaged to the master either immediately or when an event occurs The choice is made on two separate bits A bit signals when the axis is engaged The axis can be disengaged either immediately or through the disengage bit 12 3 3 Positioner The Positioner function performs the task to bring the motor from the actual position to the position set in the Final position parameter The positioner start is automatically generated when the Final position and the Actual position values are different keeping in mind that the motion parameter assessment in relation to the positioner start can be performed only by bit b230 4 1 With bit b230 4 0 the positioner start cannot be performed The motion parameters are variables defining the Final pos
132. city of axle is 0 0 sali generator has not assumed the positioning values 1 Trajectory generator has assumed the positioning values Following 0 No following error error 1 Following error Table 10 Profile position mode bits of the statusword 14 2 5 2 Object dictionary entries 14 2 5 2 1 Objects defined in this chapter Index Object Name Type Attr M O 607A VAR Target position INTEGER32 rw M Index Object Name Type Attr 6081 VAR Profile velocity UNSIGNED32 rw M 6083 VAR Profile acceleration UNSIGNED32 rw M 6084 VAR Profile deceleration UNSIGNED32 rw 6085 VAR Quick stop deceleration UNSIGNED32 rw 6086 VAR Motion profile type INTEGERI6 rw M Index Object Name Type Chapter 6040 VAR Controlword UNSIGNED 16 dc 6041 VAR Statusword UNSIGNEDI6 dc 605A VAR Quick stop option code INTEGERI6 dc 6093 1 2 ARRAY Position factor UNSIGNED32 fg 6094 1 2 ARRAY Velocity encoder factor UNSIGNED32 fg 6097 1 2 ARRAY Acceleration factor UNSIGNED32 fg 14 2 5 2 2 Object 607An Target position The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position is given in user defined position units It is converted to positi
133. ck diagram The thus position reference generated in this way is loaded into the position loop as well as in the global counter The generated reference activated through a bit command is then loaded as an addition to the master in both generators CAMI and 2 12 4 2 Speed mode This is a position generator but it is set as a speed reference The following parameters will have to be set Rpm speed acceleration 12 4 3 CAMI and CAM2 The two CAM generators are specifically designed to meet the requirements of automatic machines using electronic cams Four tables are available namely TABO TABI TAB2 and TAB3 that have been implemented to perform a series of cam functions Each table is described by a vector made of 257 elements that indicate the position to be taken by the controlled axis when the motor axis is in the position element number master modul 256 slave function In each table the value of the vector elements is ranging between 0 and 9999 whereas 10 000 shall be the count number set in the slave module parameter In order to generate a table the axis route must be divided into 257 points the value of each point will have to be rated to 10000 because this is the maximum value that can be written in the table elements The 257 element of each table defines the cam as closed if it is 0 or as open if it is 10 000 The motion will be able to perform the points listed in the table if the required speed
134. cm Stop CMD 1 y A we X 7 Motor Zero Speed Status 1 UME MMA Mechanical BrakeCMD 1 __ Broke Clanging Lag 1 Brake Release Log Tine 2 ZZ Mechanical Brake Status Deoble SW Enable CMD 1 7222 SROFF to OM Leg Tw Re Start CMD 1 LZ 1 logic signals exchanged between drives and control supervisor Warning in case of alarm see appendix Alarms during operation the drive is automatically disabled Therefore the capability of stopping the motor in a controlled way is lost The motor will stop with its natural dynamic depending on the total inertia friction and load torque The same happens if the safe disable function is activated before the motor has been stopped in a controlled way Page 229 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 23 6 Example The following diagram shows an example of safety disable and it is a general reference Every specific configuration of the machine must be verified in relation to the application SafyRehy SCS 424VDC PWS Il a Davel HW Digital yo Enab commani and status Fieldbus Machine TE Hs Safety Relay Contact Feedback HW enable status Digital T O pe rr Enable command or HW enable drivel iis and status Fieldbus Drive 2 Hi Drive Safety Relay Contact Feedback HW enable status Digital I O Enable command or and status Fiel
135. converter The Data link layer is the full CAN version 2 0 part A ID 11 bit 120R OV 2 CANL 7 CANH X 3 LAST NODE X JA n 2 CANL 7 LANH 3 NODE n LAN BLIS A i OV X11 2 CANL 7 N Int TER OV MA CANL CA Page 69 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 17 Electro magnetic compliance In order to meet the requirements of EMC product standards EN61800 3 the drive must be installed in strict compliance with the instructions below Because of strong PWM voltage fronts caused by the converter high capacitive currents can sometimes circulate through couplings in the grounding systems conductive noise High frequency disturbances are also possible especially from motor cables in the form of radiated emissions Radiated and conductive disturbances can be reduced or prevented through grounding shielding filtering so as to reduce both the conductive interference in the cables and the return conductive interference to the source frequency converter by using paths with the lowest possible impedance In this way other systems connected to the same electrical line are protected effectively and the frequenc
136. dbus HW enable drive 2 Safety Relay Command Digital UO or Fieldbus gate unlock Wrc Digital YO or HW enable drive n Fieldbus 23 7 Test and maintenance The user must carry out a periodical functional test for the whole safety systems of the machine application The functionality must specifically be verified at commissioning after any kind of maintenance operation on the machine wiring replacement of parts etc and before any potentially dangerous circumstance for personnel need to access machine dangerous zones It must be verified that using the safe disable function on each single drive unit it is impossible to move rotate all the motors included in the machine safety system and that this safe standstill state is correctly detected through the feedback system from the drive unit both hardware feedback SCA SCB and software feedback b41 5 Page 230 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 24Appendix H retentive variable The retentive variable are an optional hardware that to be expressly requested when placing your order see dentification The retentive variable uses the pointer parameters from Pr310 to Pr325 16word Every pointer corresponds to one variable the value wrote or read coincides to one word The variables are saved cyclical in background every 5 10ms depends of actual operation tmax 3sec The system don t execute any control of checksum parameters
137. dersimilations rale E eto Lila e ie 135 12 74 Motor cogging compensatioti ue eodeni ta ph dax uds 136 12 7 5 Multiturn absolute encoder phasing on zero machine sss 136 12250 Encoder CAN Les estet oett ela 137 12 57 Ramp With S profilene bi ea 139 13 PROGRAMMING DIGITAL INPUTS AND OUTPUTS 140 13 1 Tie PICOSP P etre 140 13 1 1 Pico PLC default program sele 146 13 2 ep MM 147 13 3 Communication protocol 148 14 CANBUS INTERFACE DRE narra 153 14 1 Bellia 153 1411 Description of fields in real time 154 14 1 2 Description of fields in communication mode 161 14 1 3 Description of extended message set 2 163 14 2 CANopen DSP402 D version eese eee eee e eren ee senese sense seeneecenesecenececenere 165 142 1 Dictionary object summary of ds301 lina recie Nene ea 168 14 2 2 Dictionary object summary of dsp402 enne 170 14 2 2 1 Object 6040h Contro word alal 173 14 2 2 2 Object 604 Lh 175 Page 6 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 14 2 2 3 Object 605Bh Shutdown option code i 177 14 2 2 4 Object 605Ch Disable operation option code n 178 12 25
138. e e g position range limit BIT 12 AND 13 These bits are operation mode specific The description is situated in the chapter of the special mode The following table gives an overview Bit Operation mode vl pp pv tq hm ip Set point Homing ip mode acknowledge aped attained active 13 reserved Following error iei age reserved Homing error reserved Table 8 Mode specific bits in the statusword BIT 14 AND 15 These bits may be used by a drive manufacturer to implement any manufacturer specific functionality 14 2 2 3 Object 605B Shutdown option code The parameter shutdown option code determines what action should be taken if there is a transition OPERATION ENABLE READY TO SWITCH ON OBJECT DESCRIPTION Page 177 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual INDEX 605Bh Name Shutdown option code Object Code VAR Data Type INTEGERI6 Category Optional ENTRY DESCRIPTION Access rW PDO Mapping No Value Range INTEGERI6 Default Value 0 DATA DESCRIPTION Value Description 32768 manufacturer specific 0 Disable drive function 1 Slow down with slow down ramp disable of the drive function 2 32767 reserved 14 2 2 4 Object 605 Disable operation option code The parameter disable operation option code determines what action should be taken if there is a transition
139. e Pr101 is the high word and Pr100 is the low word H 0 L 1 that is 65535 Pr122 0 this is a 0 value constant considered in double word format it will not be combined with Pr123 to form a double word parameter The addition result is entered in Pr213 212 65535 H 0 L 1 where Pr213 takes the significance of the high word in the double word H whereas Pr212 takes the value of the low word L Note that in mathematical operations with double words only the low word is shown L whereas the high word H which is the most significant will appear in the following word At the end of each arithmetic operation b94 3 is set to 0 in case of positive result and to 1 in case of negative result similarly b94 4 is set to 1 when the result is zero and to 0 if the result is not zero These settings remain effective until the next arithmetic operation is executed the operation is executed only if the stack bit is one If the DIV operation is executed on a double word the most significant part of the result contains the remainder of the division that is if b94 0 1 and the operation DIV 129 127 100 is executed the result will be Pr100 4 and Pr101 96 Page 145 of 233 Parker Hannifin S p A S B C Division The user can make use of two timers Pr92 and Pr93 To use the first timer load the time as a number of samplings 6 144 ms into PR92 For example Pr92 100 is equal to 614 milliseconds Pr92 will automatically decrease as time goe
140. e S B C Hi drive User Manual 3 6 Other characteristics Max frequency encoder input kHz 400 2 2 e kHz RS 422 encoder simulation output steps rev ids Max frequency 400 digialinputs opto insulated input impedance 20 5 Input High voltage range V 15 24 Input Low voltage range V 0 9 Type of driving required PNP Reaction time us lt 2 5 External supply Vdc 5 24 10 Output High voltage range V gt Veuppty 1 Output Low voltage range V Max current for single output mA 100 Overload Short circuit protection yes pull down internal kQ 20 rise time us lt 200 voltage V 10 CMR dB gt 80 resolution bit 14 sign input impedance kQ 8 61kQ 5 max frequency Hz 500 voltage 10 CMR dB gt 80 resolution bit 10 input impedance 8 61 5 max frequency Hz 500 voltage V 10 max current mA 1 5 resolution bit 10 Overload Short circuit protection yes voltage 24 10 max current A 1 Page 23 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 4 MOUNTING 4 1 Dimensions and weights HID16 HID35 HID25 HID45 122mm 227mm 8 5kg 16kg Page 24 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual amp HID75 HID100 HID130 HID155 320 mm 365 365 365 Z
141. e details see Appendix Alarms Pr25 Software version code A read only parameter indicating the software version installed Pr28 Motor shaft position Read only parameter indicating the absolute position of the resolver 0 4095 step 1 step Pr29 Number of motor poles Indicates the number of motor poles 0 64 Pr30 Offset on the feedback position Pr30 is used to correct electronically the mechanical position of speed feedback Indicates the current vector position displacement and a mechanical revolution corresponding to 65536 z mw x 32768 32 767 Pr31 To select the type of motor connected to the drive 0 rotary brushless motor 1 4 pole asynchronous motor in sensor vector control mode 0 1 Pr32 Rated speed This is the motor rated speed The speed that has been set is used to limit the speed request Therefore it should be set to about 10 greater than the maximum operational speed 0 14 000 rpm 1 rpm Pr33 Rated motor current The motor rated speed must be set 0 14In 0 1 Pr35 Torque monitor Indicates the torque or current percentage supplied by the motor 0 1000 Ipeak 0 1 Ipeak Pr36 Winding thermal image This is a read only parameter indicating the estimated heat in the motor innermost coils of the motor windings If this reaches the value of 100 0 equal to the nominal value b41 11 will become 1 a
142. e positioner using the ramp with S profile b231 6 instead of linear profile b231 6 The ramp with S profile functions only with the positioner at 1msec of refresh Pr181 122 The bit b231 6 enables the ramp with S profile and during the execution isn t possible realize any variation at the variables of positioner otherwise the execution of profile is compromised The value recommended as ramp is 1sec Par Description Field Def b231 6 0 Profile with linear ramp 1 Profile with S ramp Through W 0 the opm122 in the positioner section it s possible to use the ramp with S profile b231 6 1 otherwise to the ramp with linear profile b231 6 0 See the following diagram Select the profile of the ramp Profile running NO Disable the operative mode b40 2 0 Set the ramp with S profile b231 6 1 N B the choice of the profile needs a restore of the counter target position as actual position this is necessary to attribute a specific sense to the quota to set the ramp with linear profile b231 6 0 W D counters Pr201 200 Pr213 212 automatic function that is activated when the ramp is set and it uses the positioner it that the positioner restores the 201 200 213 212 Profile running NO Enable the operative mode b40
143. e set point is reached like described above the next target position x2 is processed at t2 and reached at t3 velocity A V Z x g ta t t t time Figure 18 Single set point Page 197 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual If the bit change set immediately is 1 dashed line in Figure 17 the new target position will be active immediately In Figure 19 the drive receives the first target position at t0 At the time point tl the drive receives a second target position The drive readapts the actual move to the new target position immediately velocity A v V Jf 1 de gt t t time Figure 19 Change set immediately 14 2 5 4 Functional description Figure 33 shows the meaning of the sub function position reached Symmetrically around the target position a window is defined for the accepted position range If a drive is situated in the accepted position range over the time position window time the bit target reached bit 10 in the statusword is to set Position E Accepted position range Position window Position window Position not reached Position reached Position not reached Figure 33 Position reached Figure 34 shows the meaning of the sub function following error in the profile position mode Symmetrically around the reference position a window is defined for the accepted fol
144. eaning of the returned value corresponds to that of the modes of operation option code index 6060 OBJECT DESCRIPTION Page 180 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual INDEX 6061h Name Modes of operation display Object Code VAR Data Type INTEGER8 Category Mandatory ENTRY DESCRIPTION Access ro PDO Mapping Possible Value Range INTEGER8 Default Value No DATA DESCRIPTION Same as for object 6060 modes of operation NOTE The actual mode is reflected in the modes of operation display index 6061 and not in the modes of operation index 6060 14 2 3 Functional description 14 2 3 1 Modes of operation function The device behaviour depends on the activated modes of operation It is possible to implement different device modes Since it is not possible to operate the modes in parallel the user is able to activate the required function by selecting a mode of operation An example of exclusive functions are those for position and torque control which can only control one variable at any one time The variables can perform at most a limited function Such hybrids are regarded as the particular characteristics of a mode of operation Position control operation and encoder profile support can be active at the same time for example Consequently encoder profile support is not regarded as a mode of operation Modes of operation 6060h
145. ect by SDO with index sub_index 0x2000 0x51 80 1 If the number of bytes written is greater than two the operation will also change the parameter Pr81 Read Pr60 from the drive You will need to read the object by SDO with index sub_index 0x2000 0x3d 60 1 The value returned will have a length of 4 bytes the most significant of which will contain Pr61 If they are not needed they can simply be discarded Set bit 4 of Pr40 You will need to write the object by SDO with index sub_index 0x2002 0x29 40 1 with the value 0x0010 that represents in binary the bits involved in the operation in our case bit 4 Page 169 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Reset bits 4 and 5 of Pr40 You will need to write the object by SDO with index sub_index 0x2004 0x29 40 1 with the value 0x0030 that represents in binary the bits involved in the operation in our case bits 4 and 5 Write bytes 0 and 1 of the Pico PLC area You will need to write the object by SDO with index sub_index 0x2006 0x01 0 1 with the value corresponding to the operating code of the instruction to add For example the instruction LD 90 0 requires the value 0x00 to be written in byte 0 and 0x5a in byte 1 14 2 2 Dictionary object summary of dsp402 0x6007 Abort connection option code with the following available values 0 No action 1 Alarm alarm MISSING SYNC TRIP Er16 if sync is missing when b79 8 1 the sync signal interval ex
146. ed Pr125 Constant value 10 Double word Adjustable RW 32768 10 1 parameter the constant value can be modified and 32767 stored Pr126 Constant value 100 Double word Adjustable RW 32768 100 1 parameter the constant value can be modified and 32767 stored Pr127 Constant value 1000 Double word Adjustable RW 32768 1000 1 parameter the constant value can be modified and 32767 stored Pr128 Constant value 1024 Double word Adjustable RW 32768 1024 1 parameter the constant value can be modified and 32767 stored Pr129 Constant value 4096 Double word Adjustable RW 32768 4096 1 parameter the constant value can be modified and 32767 stored Note parameters Pr121 to Pr129 cannot be combined in a double word the PLC considers them as 32bit with sign extension Page 142 0f 233 Parker Hannifin S p A S B C Division PLC binary parameters Par Description Field Def b90 0 input 0 R 0 b90 1 jinput 1 R 0 590 2 input2 R 0 590 3 j input 3 R 0 b90 4 input 4 R 0 b90 x bit that can be stored If X is greater than 5 the bit can be stored RW 0 the user Available bits are b90 5 to b90 15 b91 0 output 0 W 0 b91 1 output 1 W 0 b91 2 Relay output Controls the status of the relay output in terminal block W 0 X5 b91 y Available bit If Y is greater than 3 the bit is available to the user
147. ed into For instance if the triangular symbol shows A D the analogue value of A A 2 B is converted into the digital value B e The maximum value of A will be PrX NYA v rX Page 96 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 11 1 Key parameters Any time you need to save parameters and PLC settings disable the drive first Any time you need to change the drive configuration parameters switch off and on again the converter in order for the new settings to be effective All decimal and binary parameters that are not declared are RESERVED and must not be used IMPORTANT IMPORTANT IMPORTANT Decimal parameters Par Description Field Range Def Res PrO Motor speed this is a read only parameter indicating the motor speed 15 000 rpm 1 rpm Prl Analogue reference offset Expressed as a count of the input converter The setting limits are 15000 and 15000 15 000 rpm 1 rpm Pr2 First full scale of analogue reference If b40 0 0 and b40 12 0 the value of Pr7 will be equal to Vin x Pr2 9 76 analogue input where Vin is the voltage at the 15200 rpm 3000 Pr3 Second full scale of the analogue reference If b40 0 1 and b40 12 0 the value of Pr7 will be equal to Vin x Pr3 9 76 analogue input where Vin is the voltage at the 15200 rpm 3000 1 rpm Pr4 Full scale of frequency reference If b40
148. ed references and stores the current motor position If b230 2 1 the drive responds with a cyclic reply To this end consider that being a message directed to multiple converters you need to be able to define which converters the command first 8 bits of Pr183 is directed to This information is reported in the following table Command 2 Dii YE privee ves o Drives O YE Drives J Drives __ vs Drives Di Dies privee YE Diei ves Died O wm Driver ws Die XE piva T_T XE Dies 1 YES YES ES Thus we can conclude that each command is composed of 8 bits and is shared by multiple converters The user defines the bits within each command by programming the Pico PLC of each converter Page 156 of 233 Parker Hannifin S p A S B C Division Acyclic data write or parameter request message from master to slave converter Acyclic data write or request Date length Field Name Cmd amp Len Data Address Data 5 bit command and 3 bit length 16 bit data address 32 bit data Identifier ID2 IDO ID10 ID9 ID8 ID7 ID6 IDS IDA ID3 X Xp xx pagg LILLE RETI A0 A3 Slave converter address Pr261 valid values 1 15 amp Len Sub field Value Significance Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bi
149. edback Safety Relay Command Digital O or Fieldbus Page 227 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 23 4 Connections The following diagrams show how to use the safe disable function They should be considered as a generic reference example Any specific machine application design must be analysed drive control supervisor analog or field bus Safety disable pnp output drive OK b41 4 feedback safety relav b41 5 feedback The risk of a short circuit between the safe disable wiring SR SR and the 24V supply must be minimized Segregate the wiring in a dedicated raceway or use a shielded wire with grounded shield 23 5 Operation sequence and timing Follow the below stated sequence 1 Stop the motor in a controlled way zero speed 2 Incaseof vertical axes activate the stationary brake against falling 3 Disable the drives b40 9 0 and verify that b41 12 0 4 Activate the safe disable function by removing voltage at the input SR SR 5 Verify the hardware feedback SCA SCB must be found close and the software feedback b41 5 b41 5 0 At this time the category 3 safety standstill has been achieved without motor side contactors The inverse sequence brings the drive to the standard operating condition Page 228 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual The timing is as follows TE COSTI RE START ACHIEVED SENE voe
150. ee table below b65 8 Digital filter per enc FBK X7 See feedback chapter W 0 b65 9 Digital filter per enc FBK X7 See feedback chapter W 0 b65 10 Digital filter per enc FBK X7 See feedback chapter W 0 b65 11 Digital filter per aux enc FBK X9 See feedback chapter W 0 b65 12 Digital filter per aux enc FBK X9 See feedback chapter W 0 b65 13 Digital filter per aux enc FBK X9 See feedback chapter W 0 b65 14 Speed loop feedback selection bit See table below W 0 b65 15 Speed loop feedback selection bit See table below W 0 b70 0 Selection of number of pulses per revolution for Encoder OUT 1 R 0 number of Pulses pr rev of encoder OUT 2 0 number of pulses per rev Pr72 If the parameter is set to 0 the value entered in parameter Pr72 is the value of encoder pulses If is set to 1 the value of encoder pulses will be calculated as 2 elevated to the n power where the exponent will be the value entered in parameter P172 up to a maximum value of 2 b70 3 Parameter simulation When the bit is set to 1 the encoder output W 0 simulation does not have the motor shaft position as a reference but rather the value of the parameter pointed by Pr71 so that increments can be simulated starting from a path generator rather than from the real motor position b70 4 Enable save in retentive memory 1 enable the save command of W 0 value indicate in the pointer parameters from Pr310
151. elected and entered independently Trapezoidal positioner Electrical shaft Resulting position reference i Speed mode 12 3 1 Speed mode This command is in Pr190 It can be used in order to move the motor within the selected operating mode as if it were in speed mode through a parameter controlled ramp used to link any changes in the speed parameter Pr190 12 3 2 Electrical axis In the Electrical axis mode the motor called slave can follow a motor called master by means of digital reference signals The reference for the electrical axis can be sent by a digital bus encoder or by ports B or C The desired reference selection is made through binary parameters following the block diagram according to the table below REFERENCE SELECTION Mode description Input X7 SinCos EnDat Pr62 0 ues V Encoder power a supply _ Number of pulses 5 b65 7 0 b65 6 0 Pinco na Pr58 8 b65 7 0 b65 6 1 12 b65 7 1 b65 6 0 Quadrature Pr62 3 increm encoder Encoder increm Pr62 4 in freq direzione Page 111 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual REFERENCE SELECTION SinCos _ Number of pulses Hiperface Pr58 Quadrature increm encoder Freq direction increm encoder Quadrature IN2 IN3 inputs fene in 400kHz Freq direction IN2 IN3 in
152. elects TABO TO indicate the variable of TABO from 0 to 254 and in the inferior line write the width of the parameter It is necessary save the parameters for guarantee the memory of the profiles inserted b231 10 1 TABO activation by profiles Pointer to table Pr193 TABO point Positioner variables 0 Pr182 Speed 1 Pr183 Accel ramp 0 2 Pr184 Decel ramp Ere Final position 4 Pr213 5 Pr182 Speed 6 Pr183 Accel ramp l 7 Pr184 Decel ramp 3 Final position 9 Pr213 245 Pr182 Speed 246 Pr183 Accel ramp 49 247 Pr184 Decel ramp 23 Final position 249 Pr213 250 Pr182 Speed 251 Pr183 Accel ramp 5 0 252 Pr184 Decel ramp 293 Er Final position 254 Pr213 Page 114 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Active positioner enable OPM120 b230 12 Reset 2 pr201 2002213 212 131 130 Beebe Acceleration Pr182 speed Reset 3 SIRENE Pr1 83 Pr1 84 Deceleration time Position multiplier b170 12 encoder B Input counter encoder B ne gt Pr156 Pr153 1052
153. er through pico PLC Parameter Pr145 identifies the value of the proportional gain in the position loop and shall be adjusted in such a way as to ensure a vibrationless movement with no overshoot on the final position As the gain is only proportional the error will tend to increase as the axis speed increases and then it will be recovered at the end of the positioning process For this reason if it were necessary to act more quickly e g in a quick positioning while minimizing the profile execution error rate you could enter feedforward 147 146 and add a filter on the same feedforward by parameter Pr149 The position loop resolution can be selected through parameter Pr169 that would be considered as the exponent of 2 elevated to the n power 2 Decimal parameters Par Description Field Range Def Res Pr131 130 Reference position Indicates the motor theoretical 27 1 position The parameter resolution is defined according to the setting of parameter Pr169 133 132 Motor position Indicates the real position The 4277 o 1 feedback resolution can be set in parameter Pr169 with values ranging from 2 and 2 Pr135 134 Absolute position in the mechanical revolution 27 f counter resolution can be selected by parameter Pr169 Pr137 136 Position error Register containing the difference R 297 0 1 value between the motor position and the reference
154. erefore only one driver can be connected to this interface and it is not necessary to enter the drive s address The messages used in communication are reported in the table below where the message fields feature followed by a letter 5 MS Range Field Description Max Min fa Parameter number NUM PAR 1 0 b Bit number 15 0 c Pico PLC instruction number 255 0 d Table number N_TABLES 1 0 te Point of the table number END ADR START ADR 0 kg Word 16 bit value signed 32767 32767 unsigned 65535 0 h Long 32 bit value signed 3224 2732 1 Bit status value 1 0 m mnemonic code See the paragraph on Pico PLC n 16 character Text Message string text 1 Pico PLC 1 operand See the paragraph on Pico PLC 2 Pico PLC 2 operand See the paragraph on Pico PLC 3 Pico PLC 3 operand See the paragraph on Pico PLC n 16 char message string NUM PAR and N TABLES START ADR END ADR for each table can be read directly in the drive through dedicated commands HI Drive ASCII protocol messages definition Write Commands Description Tx Format Word parameter value P a g lt CR gt Long parameter value PL a h lt CR gt Bit status B a b 1 lt CR gt overwrite Pico PLC instruction T c m 1 2 3 lt CR gt d word point value TABLE T d e lt CR gt d long point value TABLE TL d e lt CR gt
155. erspeed In absolute mode when the value of the motor speed Pr0 exceeds the value set in Pr13 b41 0 1 Otherwise b41 0 0 In relative mode the overspeed is between motor speed and internal reference respected the Pr13 b41 1 In speed When b40 7 0 if the motor speed is lower than 14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 When b40 7 1 if the speed difference between motor and reference is lower than Pr14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 b41 2 Zero speed In absolute mode if the motor speed PrO 0 b41 2 1 Otherwise b41 2 0 In relative mode is the difference between the motor speed and the reference when these are equal then b41 2 1 Page 103 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Def b41 3 Forward In absolute mode if the motor speed Pr0 is gt 0 b41 3 1 R 0 Otherwise b41 3 0 In relative mode b41 3 1 if the difference between the motor speed and the reference is gt 0 b41 4 Converter If 1 there is no alarm Otherwise 0 R 0 b41 5 Hardware enable If 1 the converter hardware is enabled R 0 b41 6 Phasing If 1 phasing has been completed successfully R 1 41 7 External alarm An alarm that can be used by the user W 0 b41 8 Auxiliary alarm A second alarm that can be used by the user W 0
156. et n a C1 Robox board up to 1 5 axis with CANopen 05402 in 3 Slot C2 Robox board up to 4 axis with CANopen DS402 su 3 Slot boardin 69 Robox board up to 32 axis with CANopen DS402 su 3 Slot Slot C4 Robox board up to TBD with CANopen DS402 n a in 3 Slot N 3 C5 Robox board up to TBD with CANopen DS402 n a in 3 Slot C6 Robox board up to TBD with CANopen DS402 n a in 3 Slot R Internal safety relay M _ Memory area for ritentive variables Optional Page 16 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual A label is attached on the right side of the converter that contains all the essential information to correctly identify the unit Serial number Model Nominal plate data It is important to refer to this label before requesting any kind of technical information from Parker Hannifin S p A S B C Division An examle of this label is given below Side to detach This part is at user disposal a HIDSSS 06100001 PARKER HRNNIFIN S P A Via Gounod 20092 Cinisello B MILANO ITALY HIDSSS 06100001 INPUT OUTPUT 3Ph 200 480 3eh 0 480U 5 738 5A 50 60 Hz 0 500 Hz e a READ INSTALLATION INSTRUCTION MANUAL BEFORE INSTALLING USE COPPER WIRE RATED 60 75 C Every model is identified in the label and the handbook from acronym HID Hi drive series followed from a number which represents the nominal output current of
157. ety instructions for maintenance gt WARNING It is extremely dangerous to remove covers or part of the external enclosure from the equipment Risk of personal injury The warranty immediately decay e In case of malfunction consult the alarm list described in the user manual or address Parker Hannifin The drives are not field repairable 1 7 Compatibility with RCD devices A CAUTION The use of RCD Residual Current Devices is strongly not recommended If the use of RCD is mandatory use type B only for DC and AC prospective earth current Set the trip level at 300mA fire protection level or more Setting the trip level at 30mA protection level against direct contact is possible only using time delayed RCD and low leakage current EMC filters but in any case the drives are not guaranteed to operate with 30mA trip level Page 12 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 1 8 Applicable standards Safety 73 23 CEE directive Low voltage directive modified by 93 68 CEE EN 50178 Electronic equipment for use in power installations EN 60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements EN 61800 2 Adjustable speed electrical power drive systems Part 2 General requirements Rating specifications for low voltage adjustable frequency a c power drive systems EN 61800 5 1 Adjustable speed electrical power drive systems safety
158. ge Def Res Pr256 RS232 serial link speed code This is the code W 0 8 6 1 used to program the transmission speed 258 RS422 serial link speed code This is the code W 0 31 6 1 used to program the transmission speed Pr259 RS422 serial link address code W 0 31 0 1 Par Description Field Def b79 3 RS232 serial initializing command Command to reinitialize serial W 0 communication whenever the serial link speed value Pr256 has been modified The serial link is in any case initialized when the converter is powered on b79 4 RS485 422 serial initializing command Command to reinitialize serial W 0 communication whenever the speed or the address value Pr258 and Pr259 of the serial link have been modified The serial link is in any case initialized when the converter is powered on Page 147 of 233 Parker Hannifin S p A S B C Division 13 3 Communication protocol The column on the right in the table above shows the time out value expressed in milliseconds for each communication speed 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 waits for the beginning of a new message The message consists of several consecutive bits The format of the bits is the following 1 start bit 8 bit of data defined by a following byte enclosed within square brackets 1
159. ge b39 15 le Speed Acceleration Actual position yok i 3 Pri90 gt Pr191 Pr205 204 i Page 115 of 233 Parker Hannifin S p A S B C Division Decimal parameters for operating mode 120 Hi drive User Manual Par Description Field Range Def Res Pr182 Trapezoidal positioner speed in operating mode W 0 14000 1000 1 rpm 120 This is the full speed that will be used during rpm the generation of the position profile Pr183 Trapezoidal positioner speed in operating mode W 0 4500 500 0 0015 120 This is defined as the time in ms Pr183 needed s krpm to go from 0 to 1000 rpm Pr184 Trapezoidal positioner deceleration in operating W 0 4500 500 0 001s mode 120 This is defined as the time in ms Pr183 s krpm needed to go from 1000 rpm to 0 Pr185 Electrical shaft ramp in operating mode 120 This W 0 4500 500 0 001s is used to set the acceleration and deceleration ramps s krpm of the electrical shaft expressed in ms from 0 to 1000rpm Pr186 Encoder in rotation speed master Indicates the rpm l1rpm input reference frequency translated into rpm based on 4096 pulses revolution Pr187 Reference multiplier master Using this W 32768 1 1 parameter and 188 the user can set the desired 32767 input reference frequency ratio Pr188 Reference divider master Using this parameter W 32768 1 1 and Pr187 the user can set the
160. ged by inappropriate handling Therefore during installation removal of drives provide the necessary safety precautions against electrostatic discharges discharge electrostatic charges of the human body before touching the drive always place the drive above conductive plates and avoid touching it with insulating material like synthetic fibres polymeric materials etc WARNING Risk of injury by incorrect handling e Incorrect handing of the equipment may cause severe personal injury Use appropriate tools for transportation lifting handling and mounting Wear appropriate clothing for accident prevention safety shoes safety glasses safety gloves etc 1 4 Safety instructions for commissioning A DANGER e The high voltages inside the drive imply risk of electric shock Make sure that drive and motor are properly grounded accordingly to national regulations Furthermore the drive before switching it on must be closed in a protective cabinet in order to avoid direct contact with accessible live parts e Only qualified and trained personnel is allowed to perform installation and commissioning using appropriate tools and following the safety precautions given in this instruction Make sure that supply voltage has been switched off before installing and wiring e Drives are only allowed to be operated on TT TN grounded industrial mains having maximum 480V 10 line to line rms voltage as specified in the user manual Do not direct
161. gister the W 32768 0 1 machine resetting value is entered The value can 32767 be different from zero Pr71 Enc simulation parameter pointer Read always W 0 385 0 1 in Long at 32 bit the selected parameter is the low word If you select a single word mind the significance of the following high word which is also read E g if we read PrO and the motor is halted but the speed has a value of 1 Rpm the pointer will read 1 and write 1 at 1 it reads the long Pr0 Prl word and therefore 65535 the encoder simulator will in this case be moved by the same value Pr72 Enc Simulation pulses per revolution If b70 0 0 values range from 4 to 65535 pulses per revolution if b70 0 1 is the exponent and the maximum value that can be entered is 18 Default 1024 is the number of pulses per revolution used in the encoder simulation The maximum frequency is 400 kHz W 1024 1 Fe pulse encoder ispeed rpm 400 kHz 60 sec min If b70 0 0 the range is from 0 to 65535 pulses turn 32767 If b70 0 1 the value of parameter is the exponent 0 18 and the max value is 18 Pr76 Enc phasing result When the encoder phasing is 0 1 0 1 completed this parameter indicates if the phasing is OK or if it must be repeated taking into account the previously disregarded conditions Pr77 Enc address CAN IN W 0 Pr167 Drive type code R Page 101 of 233 Parker Hannifin S p A S B C Division Hi drive User Manu
162. hat transmit the feedback The0 12 constant is referred to a speed of 1 Mbps Note 1 In real time mode you can use bit 230 15 which is set to 1 each time the synchronism and multisynchronism message is received via SBCCAN Based on the above considerations by simply adding a program to the Pico PLC you will be able to ensure that the communication between master and slave via CAN bus is active It is important to consider that in this way the communication via CAN bus will be checked every 6 144 ms or multiple thereof minimum time required to complete the scanning of the Pico PLC program It should also be noted that both Pr184 Status and Pr183 Command must be managed in each converter by an appropriate Pico PLC program Note 2 if cyclic sync and data lt 6msec the data can come immediately before and after the sync otherwise the sync shall be kept at least at 150 usec from the data Note 3 in order to transmit multi cyclic and cyclic data on the same CAN network keep a minimum distance of 150 usec in between The same principles should be applied to sync and multisync messages The typical timing of the SBCCAN in real time mode is shown in the diagram on the next page Page 159 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual SBCCAN Feedback from drive1 Feedback from drive2 Feedback from drive3 Feedback from drive4 RX Feedback Change Pr of drive X Tx reference gt 400us
163. he following message will be sent 7E C0 02 51 FD 00 10 The converter responds with the following message 7E 20 Seventh example reading a PLC instruction Suppose we want to set the first PLC instruction as LD 90 5 Suppose also that the converter serial address is 0 The following message will be sent 7E 60 02 00 50 5A 0C The converter responds with the following message 7E 20 Page 152 of 233 Parker Hannifin S p A S B C Division 14CANBUS interface A CANbus interface based on the physical layer ISO DIS11898 is included on the SLVD N converter The Data link layer is the full CAN version 2 0 part A ID 11 bit and a subset of the application layer SBCCAN is used Are available two CAN protocols 1 SBC CAN standard 2 CANopen DSP402 requested D version Note to be expressly requested when placing your order the drive may only have one protocol at a time 14 1 SBC Can The Can bus on the converter has two operating modes The first operating mode is real time mode This is used to establish a real time digital link between the converters and a control unit that provides for path calculations and sends either the position or the speed reference or both to the converters The converters can thus trace the motor actual position Pb230 2 1 Real time mode is active when Pr181 140 The second operating mode is communication mode This is used to write or read all paramete
164. he last item of an interpolation data record is written to the devices input buffer the pointer of the buffer is automatically incremented to the next buffer position OBJECT DESCRIPTION INDEX 60C lh Name Interpolation data record Object Code ARRAY Data Type INTEGER32 Category Optional Page 201 of 233 Parker Hannifin S p A S B C Division ENTRY DESCRIPTION Hi drive User Manual Sub Index 0 Description number of entries 3 Entry Category Mandatory Access ro PDO Mapping No Value Range 3 Default Value No Sub Index 1 Description Position setpoint in counts the first parameter of ip function fip x1 xN Entry Category Mandatory Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 2 Description Velocity setpoint in counts sec the second parameter of ip function fip x1 xN Entry Category Optional Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 3 Description Velocity setpoint in rpm the 3 rd parameter of ip function fip x1 xN Entry Category Optional Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Page 202 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Operation enbled o Ow
165. he message will contain the following information Byte 0 Byte 7 Tbit 6bit Sbit 4bit 3bit 2bit 1bit Obit 7bit 6bit Sbit 4bit 2bit 1bit Obit MSB LSB In3 In2 121 InO free Multiple cyclic message from master to slave converter MultiCyclic data Data length 2 4 6 8 byte Field Name Speed Reference0 Speed Reference Speed Reference 2 Speed Reference 3 1 Identifier 1 2 m wo 1 9 ID ID7 ID6 ID5 ID4 ID3 505 e This type of message holds various information that are going to be addressed to multiple slave converters To identify the address logic used see the following table that shows how the speed reference values Pr 182 are addressed to the various converters based on the value of A0 A1 group address A0 A1 Speed reference 0 Speed reference 1 Speed reference 2 Speed reference 3 0 Dii Drive Drive 3 Dien Drive bies Page 155 of 233 Parker Hannifin S p A S B C Division Multiple synchronism message from master to slave converter MultiSynchronism message Data length 1 2 3 4 byte Field Name Command 1 Command 2 Contents Pr183 8bit Pr183 8bit Pr183 8bit Pr183 8bit Identifier D2 IDI IDO ID9 18 I ESE Each drive activates the spe
166. ied parts are identified by a symbol beside the text Rev 0 November 2004 First edition total pages 150 Rev 0 1 October 2005 Introduction of the product HID35 and HID45 Programmable outputs adjourned Rev 0 2 December 2006 CANopen DSP402 HID75 100 and 130 characteristics dimensions connections Option R External capacitor Safety instructions Identification Motor with emergency brake Phasing procedure for encoder with EnDat or Hiperface interface and motor phases Retentive variable Pr51 and Pr53 EU standard 2002 96 EC Rev 0 3 February 2008 Encoder Hall sensor SinCos one sin wave per pole pitch Encoder CAN OPM122 and ramp with S profile b40 11 Pr37 b41 14 Rev 0 4 July 2008 Speed window b40 7 b41 0 b41 1 b41 2 b41 3 b39 6 b39 12 Rev 0 5 May 2009 Technical data size 4 5 Parameters b39 6 Option relay status par 5 Retentive variable memory life Rev 0 6 April 2010 Hiperface cable HALL sensor cable HID155 and HID250 CANopen DS402 objects 0x2065 0x2066 and bit b78 4 External capacitor per HID25 4700uF OPM122 For other informations log into website www sbcelettronica com Arranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date Page 232
167. iles selecting the relevant route J OE The MotionWiz program can be found on the CD rom supplied with the drive or downloaded from our website www sbcelettronica com Page 208 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 15 2 Hyperterminal connection 15 2 1 Creating and setting a connection In order to create a connection with Hi Drive on port X4 go through the following steps Launch the HyperTerminal program start menu programs gt accessories gt communications 1 Create a new connection Descrizione della connessione Nuova connessione Immettere un nome e scegliere un icona per la connessione Nome Hi Drive Terminal Icona Bossena lt 2 Select port Connetti a B Hi Drive Terminal Immettere i dettagli per il numero telefonico da comporre Paese Indicativo localit Numero ditelefono Connetti Select communication port settings Proprieta COM1 Impostazioni della porta Bit per secondo 18200 Bit di dati 8 Parit Nessuno Bit distop 1 Controllo di flusso Nessuno OK Amua Page 209 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual The Baudrate Bit per second depends on the actual Hi Drive setting all other values are compulsory 4 Change terminal settings a HyperTerminal Eile Modifica Visualizza Chiama Trasferimento Da 23
168. ime 200us VH Vpower 1 0 V VL 0 5 1 5 Max output current 100mA Short circuit protection Yes Overload protection Yes Relay output Number 1 NO NC Voltage 24V Max current 1A Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 11 Feedback connection 5 11 1 Resolver Ke llow gioll a INI Ee F i za IN ZEA DS COS A hise EO a V 7 OSS T Lex ZA Instead of the MIL connector used in the drawing the following connector types can also be used 47 b lt interconnectron terminal block When the resolver is connected no incremental encoders can be used on connector X7 Page 58 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 11 2 Incremental encoder es FOA d ali _ _ a jack T ell tall A A i 1 5 A A cc _ 3 E ATA n me ATA i i la lt NC Y A T emm HIEL Instead of the MIL connector used in the drawing the following connector can also be used 4 71 interconnectron Page 59 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 11 3 Sinusoidal encoder
169. in S p A S B C Division 12 7 6 Encoder CAN If this function is enable it is possible to generate and receive the encoder like signals by the CAN line there are two different CAN lines CAN A and CAN B which is qualified to communicate with others Hi drive only which replaces quadratures signal The running is trasparent respect to the traditional encoder signals the CAN line must be connected instead of quadratures signals and must be considered that every encoder signal is available every 1 024msec over the CAN every 1 024msec per CAN A every 5msec per CAN B and the signal has 4byte for data It is possible to have up to a maximum of three encoder signals if the speed of the CAN is 1Mbs and only one encoder signal if the speed is 500kbs Hi drive needs some bit and parameters about the correct operation Par Description Field Range Def Ris Pr260 Encoder CAN A OUT baudrate W 0 31 1 1 261 Address of CAN A OUT W 0 31 1 1 Pr326 Pointer of encoder CAN A OUT W 07255 1 Pr327 Address of IN W 07255 1 Pr328 Divisor factor of encoder IN Reduction ratio W 0 255 1 1 denominator of the input encoder counting CAN A Pr329 Multiplicative factor of encoder IN W 0 255 1 1 Reduction ratio numerator of the input encoder counting by CAN A Pr331 330 Counting encoder CAN A IN R 2 z 1 Description Field Def b70 7 Encoder CAN A
170. in S p A S B C Division Hi drive User Manual Code in Pr23 Alarm Remedies 21 Undervoltage 24VDC The drive input voltage is below the low limit voltage is too low 22 Ambient over temperature Check the cooling fans and for any restrictions to air flow Check the ambient temperature in the electric cabinet where the drive is installed as well as the ambient temperature outside the cabinet transistor Short circuit braking resistance If external 24 8 braking resistor is connected to the drive check the protection resistor statures and wiring 25 Speed loop FBK Check the speed FBK settings initialization error Check the speed FBK connection 26 Position loop FBK Check the position FBK settings initialization error Check the position FBK connection RI PE connectors on both sides drive motor 30 Keypad parameters The parameters saved on keypad are compromised ET Current limit The drive goes in mode due to an overload the zi current required is more than the current that can the red led is be supplied nti Check blinking s The wiring between drive and motor there should continuously be no inverted phases Take special care with motors where the connector is replaced by a terminal block it s easy to make a mistake Adhere strictly to the wiring diagrams Mechanical dimensioning reset only after default values have been loaded and
171. ing bit b65 8 b65 9 and b65 10 if is necessary it s possible to generate a digital filter to clean the encoder signal connected to the X7 feedback input While using bit b65 11 b65 12 and b65 13 it s generated a digital filter for the auxiliary encoder The table below shows the filters characteristics Pay attention to motor speed in according to the max frequency filtered to not limit the motor speed Binary code Minimum pulse time Max frequency b65 10 b65 9 b65 8 nsec kHz b65 13 b65 12 b65 11 0 0 0 642 5 778 0 0 1 1142 5 437 0 1 0 1642 5 304 0 1 1 2142 5 233 1 0 0 2642 5 189 1 0 1 3142 5 159 1 1 0 3642 5 137 1 1 1 4142 5 120 8 5 Phasing procedure Phasing is necessary when the speed loop feedback is via incremental encoder incremental or SinCos as these encoders do not provide the absolute positioning on the motor shaft Phasing must be performed any time the drive is powered up The incremental encoder phasing does not allow to use the encoder simulator zero trace to set the external control axis to zero since the drive encoder simulation is not provided with a fixed mechanical position in the motor revolution but this is initialized any time a phasing command is given During the incremental encoder operations the motor must be halted If this type of feedback is performed on the vertical axis the phasing operations will be allowed only if the system
172. ing message 7E 20 01 32 2B 7E 00 Second example reading a 2 byte parameter Suppose we want to read the reference speed Pr7 and that its value is 2000 Suppose also that the converter serial address is 1 The following message will be sent 7E 81 02 0E 91 The converter responds with the following message 7E 21 02 0E D0 07 08 Third example reading a 1 byte parameter Suppose we want to select operating mode 110 Pr181 Suppose also that the converter serial address is 0 The following message will be sent 7E A0 09 6A 6E 8 1 The converter responds with the following message 7E 23 Fourth example reading a 2 byte parameter Suppose we want to set the rated current to 2 5 A Pr33 Suppose also that the converter serial address is 3 The following message will be sent 7E A3 02 42 19 00 00 The converter responds with the following message 7E 23 Page 151 of 233 Parker Hannifin S p A S B C Division Fifth example setting a bit to 1 Suppose we want to send a command to save the PLC program b42 14 1 Suppose also that the converter serial is 0 The following message will be sent 7E C0 02 2B BF 40 EC The converter responds with the following message 7E 20 Sixth example setting a bit to 0 Suppose we want to disable the converter via software b40 9 0 Suppose also that the converter serial address is 0 T
173. initialize W 0 communication whenever the speed or the address value Pr260 and Pr261 of the CAN line have been changed This is in any case initialized when the converter is powered on b79 6 Reference position initializing command on digital bus CAN B W 0 b79 12 Sending spare data in CANopen Emergency Enables sending data W 0 containing messages The function is active when the bit is 1 579 14 CAN bus block sync watchdog RW 0 b79 15 Position reference CAN bus watchdog on digital bus R 0 Page 106 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 OPERATING MODES Parameter Pr181 default 0 is used to select the operating mode Every operating mode controls speed using parameter Pr6 and can use parameter Pr174 to limit the torque at the motor through parameter Pr21 see the block diagram Speed control will use as reference Pr6 or Pr7 depending on the value of b40 2 Before changing Pr181 b40 2 must be set to 0 in order to avoid unwanted movements of the motor Therefore it is possible to set 181 to the value that corresponds to the selected operating mode The parameter b42 13 is used to load the default parameters for the selected operating mode 12 1 Position control All operating modes need to control the motor in position by using the position loop described in the block diagram shown in the figure below Servo window 1 e 141 140 Servo window
174. ion Hi drive User Manual 12 7 Additional useful functions 12 7 1 Capturing values Three event capturing functions are available to capture either the position fbk or either encoder inputs B or C These functions can be programmed both in terms of the value to be captured that can be alternatively POSITION LOOP FBK ENCODER B ENCODER C and in terms of the event when the value must be captured that can be alternatively Zero encoder point dog encoder in connector rising edge of digital input INO falling edge of digital input INO digital input INI edge programmable rise fall through b39 14 digital input IN2 edge programmable rise fall through b39 15 When a synchronous motor with speed feedback from an incremental encoder is used any time the unit is powered up a phasing procedure will have to be carried out The phasing process may end if Pr65 3 1 with a fine phasing on the input encoder zero point dog In this case the encoder will need to be mechanically phased when it is installed on the motor As sincos encoders can be used encoders with a number of sines per revolution corresponding to 2 elevated to the n power Through the position FBK the motor position can be identified and saved in specific registers The drive allows to chose where to capture the value in which of three registers to save it and what type of event shall prompt the capture of the value Parameters Pr164 Pr165 and Pr166 are used to
175. is activated when the internal continuous voltage in the drive gets over 40VDC provided that there aren t any active alarms and that hardware and software enabling commands are available In the same way an under voltage alarm is generated when the voltage level falls below 40VDC The undervoltage fault automatic reset command is not active in this mode and b42 3 and b42 4 have no significance Low voltage power supply mode isn t available for HID75 HID100 HID130 HID155 and HID250 models Caution i the switch between low voltage and high voltage modes is potentially dangerous to the drive Always switch between modes with the drive disabled and follow these instructions step by step Page 74 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual o Low voltage to nominal operating voltage sequence Disable the drive Wait 200ms Change the voltage from low to nominal Set bit b40 10 to 0 Wait 1 2s Enable the drive o Nominal operating voltage to low voltage sequence Disable the drive Set bit b40 10 to 1 Change the voltage from nominal to low Wait 200ms Enable the drive The drive will be enabled after about 1 12s 7 2 High voltage supply In high voltage operating mode b40 0 0 the converter can supplied as follows AC 3 phase network 200 480 10 Set b39 0 0 default The converter can automatically detect the power supply voltage rating
176. is in fault state at the end of the test remove the PTC short circuiting connection Power module Ce the cooling fans and for any restrictions to air flow overtemperature Check the breaking cycle Check the ambient temperature in the electric cabinet where the drive is installed as well as the ambient temperature outside the cabinet Fxternal alarm Depends on the application see Pico PLC program Auxiliary alarm Depends on the application see Pico PLC program PLC check sum Set and save default parameters switch off and on again the drive and repeat i 11 Parameter check sum Set and save default parameters switc again the drive and repeat i 13 CANopen connection CANopen communication interrupted p 14 Overload braking Check the cycle and if it s necessary use an external braking resistor 15 Default parameters Set and save default parameters switch off and on again the drive and repeat i CANopen synchronization CANopen communication not sync 18 Power module only for HID75 100 and 130 Check the cooling fans and for any restrictions to overtemperature air flour Check the breaking cycle Check the ambient temperature in the electric cabinet where the drive is installed as well as the ambient temperature outside the cabinet Power module alarm only for HID75 100 and 130 Check the motor cable and the motor possible short circuits between any phase phase or phase ground Page 219 of 233 Parker Hannif
177. is used with the S key it takes on other functions see definition of S key In order to change the bit status press and hold sec decreases the data highlighted by the pointer in case of PLC instructions any time you press the key a different instruction is shown If it is used with the S key it takes on other functions see definition of S key In order to change the bit status press and hold sec this key is used to change the field highlighted by the pointer With S key the switch between fields is in the opposite direction anti clockwise E ENTER to confirm the data entered or modified The modified or entered data or instruction must be saved before going to the next screen otherwise all changes will be lost The confirmation command is limited to what appears on the display and not to all parameters instructions and tables IMPORTANT instructions can be modified even when the Pico PLC is running Pr39 13 1 Before making any modifications stop the Pico PLC The Pico PLC instructions can be modified using the and keys ensure that the pointer has been moved to highlight the Pico PLC instruction In order for a modification to become effective press a message confirming the modification is displayed Page 214 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual The Pico PLC instructions data can be modified using the and keys ensure that the poin
178. ision Hi drive User Manual 14 2 4 8 7 Methods 17 to 30 Homing without an index pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in the following diagram Home switch S Figure 28 Homing on the positive home switch 14 2 4 8 8 Methods 31 and 32 Reserved These methods are reserved for future expansion of the homing mode 14 2 4 8 9 Methods 33 to 34 Homing on the index pulse Using methods 33 or 34 the direction of homing is negative or positive respectively The home position is at the index pulse found in the selected direction L Index pulse S dl Figure 29 Homing on the index pulse 14 2 4 8 10 Method 35 Homing on the current position In method 35 the current position is taken to be the home position Page 191 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 5 Profile position mode In profile position mode the buffer of targets allowed is 2 elemets long one for the profile in execution the other for the next the motion profile type only valid value is 0 trapezoidal profile with linear ramp 14 2 5 1 Internal states The profile position mode will control by the bits of the controlword and statusword
179. ision Hi drive User Manual 15 1 MotionWiz The configuration tool is called MOTIONWIZ and is used to program the drive while controlling the whole system in real time PLC programs can also be edited and new files can be generated The first step is to install the program 5 A or e SetupMotionWiz exe click on the icon SetupMotionWiz exe p Follow the instructions that appear during the installation An icon linking to the program will be generated on your desktop at the end of the installation process Pakar Hear die 5 Click on the icon to start the configuration program The following window will be displayed on your monitor MOTION hidrive 2 hidrive 3 hidrive 1 prova2 provas continued provad proval Data on PC Data on drive Tipo Motore Drive n a Tipo Drive Com 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 be accessed through the icons below the figures when the drive and the motor pictures are out of focus it means that the relevant data have not been set yet Press ENTER to access the configuration functions How to use an existing file the file menu shows a list of most recent files To open a file click on a name in the list Alternatively using the Open tab it is possible to search previously stored f
180. ition the motor speed and the linear deceleration ramp This type of positioning is called Trapezoidal profile The motor actually moves only if bit b230 9 1 12 3 4 TABO profiles in memory In OPM120 is possible use the TABO to memory up to 51 trapezoidal profiles and for everyone is possible memorize the speed the acceleration ramp the deceleration ramp and the final position in double word The Pr193 parameter contains the number of the profile to execute with b231 10 1 bit the function is able to transfer the block of 5 variables of profile in the positioner variables TABO 1 word speed Pr182 TABO 2 word acc ramp 183 TABO 3 word dec ramp Pr184 TABO 4 e S word final position Pr213 212 With the qualified function b231 10 1 is possible execute automatically another profile simply setting up in the pointer parameter Pr193 another value Every scansion the parameters are transferred from the table to the positioner variables if the function is able b231 10 1 In order to insert the values in variables of TABO using the configuration tool it is necessary open the monitor window where it is possible to access from Pr2048 to Pr2302 parameter where there are the variables of the 51 trapezoidal profiles and it possible read and modify them Page 113 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual To insert the values via keypad it necessary s
181. ive User Manual OBJECT DESCRIPTIION INDEX 6083h Name Profile acceleration Object Code VAR Data Type UNSIGNED32 Category Conditional Mandatory if pp or pv supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No 14 2 5 2 5 Object 60841 Profile deceleration The profile deceleration is given in user defined acceleration units It is converted to position increments per second using the normalizing factors OBJECT DESCRIPTIION INDEX 6084h Name Profile deceleration Object Code VAR Data Type UNSIGNED32 Category Conditional Mandatory if pp or pv supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No 14 2 5 2 6 Object 6085n Quick stop deceleration The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is given and the quick stop option code see 605Ah is set to 2 The quick stop deceleration is given in the same units as the profile acceleration Page 195 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual OBJECT DESCRIPTION INDEX 6085h Name Quick stop deceleration Object Code VAR Data Type UNSIGNED32 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Va
182. ivision Hi drive User Manual 12 5Electrical shaft and positioned oper mode 122 The operative mode OPM122 is equal to operative mode OPM120 the difference between the operative mode is the scanning time per operative mode OPM122 the scanning time is 1msec while per operative mode OPM120 the scanning time is 0 5msec This positioned mode can use the S ramp see the par ramp with S profile b231 0 Reset 1 pr201 200 213 212 0 b231 1 Reset 2 pr201 200 213 212 131 130 Active positioner Full speed Speed FFWD enable b230 12 dirai Pr182 3 spee Reset 3 5 201 200 213 212 131 190 193 132 Pr183 N NNN N Pr184 IS i Position multiplier eceleration Input counter A der 3 H b170 12 encoder ricoder B 1 time B e Pr196 Pr153 152 i Pr157 H Pod Digital Position divider Pod Ref Bus
183. ject Below is a description of emergency object implementation Emergency message from Drive to master Emergency message Data length Field Name Error code 8 bi 16 bit code 32 bit reply data Identifi A0 A6 Drive address Pr261 valid values 1 127 A warning message and a pop up message are available for this object The latter can be sent by setting an appropriate command The alarm message is sent each time that the current alarm status Pr23 changes so that when a new alarm occurs or when the alarms are reset the value 0x01 is sent to the field Err Reg and the least significant byte of the Data field will contain the drive s alarm code The alarm message transmission can be prevented by setting bit 78 0 to 1 The Error Code field will contain a specific code based on the different drive alarm Er01 overvoltage 0x3210 Er02 undervoltage 0x3220 Er03 overcurrent 0x2340 Er04 speed fbk alarm 0x7310 Er05 motor over temperature Oxff07 Er06 module over temperature 0x4310 Er07 aux trip 1 Oxff00 Er08 aux trip 2 Oxff01 10 checksum PLC 0x6310 11 checksum Parameters 0x6310 Er15 default Parameters 0x6320 Er16 calibration alarm Oxff03 Er17 internal alarm type 1 Oxff08 Er20 internal alarm type 2 Oxff0a Er21 undervoltage 24VDC alarm 0x5112 Er22 ambient over temperature alarm 0x4110 Er23 internal alarm type 3 Oxff0c
184. ker Hannifin Divisione S B C EME Division and of its licensees and they shall non be copied or used without express authorization Parker Hannifin S p A Divisione S B C is committed to a continuous product upgrade and reserves the right to modify products and user manuals at any time without prior notice No part of this user manual may be howsoever reproduced without previous consent by Parker Hannifin S p A Divisione S B C Abbreviations FBK Feedback Pr Decimal parameter b Binary parameter bit FEW Feedforward control advance function R Read parameter W Write parameter Keypad display Keypad Drive Converter Cod 1004261430 Page 3 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual INDEX T SAFETY INSTRUGTIONS is RT 9 1 1 Symbolsand signaltusscst 9 1 2 Generabinformattono uoi aee bp ra o ror 9 1 3 Safety instructions for transportation and storage 10 1 4 Safety instructions for commissioning crees ee eee e eee eerte eee enn neta neto 10 1 5 Safety instructions for operation eese eee ee ecce eese eren ee eee sete sete sets ese 11 1 6 Safety instructions for maintenance 12 1 7 Compatibility with RCD devices eene eret eerte eese eene eren nete se setas etna seco 12 1 8 Applicable standards 13 1 9 Materials Ir
185. ldbus optional Integrated EMI filter to HID8 included Low voltage power supply Separate 24Vdc supply to the control logic Programmable power supply for motor feedback device Encoder input voltage sensing to automatically compensate for any voltage drops in the encoder supply due to the cable length Dedicated motor braking driving port PWM up to 16kHz Page 15 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 2 2 Identification The converters of the Hi drive series are available in 13 models HID2 HID5 HID8 HID10 HID16 HID25 HID35 HID45 HID75 HID100 HID130 HID155 and HID250 The number that follows the HID abbreviation corresponds to the rated current of the converter in amperes Use the following table to specify the order code HID 2 5 5 X S D E Y2 Y3 R M 8 H 10 16 25 28 45 75 100 Drive size nominal current up to 3 digits 2 5 8 10 16 25 35 45 75 100 130 155 250 Second encoder input for SinCos signals 1 Vpp Second encoder input for quadrature digital signals RS422 Second encoder input for quadrature digital signals Hall sensor signals Code optional boards Op tional P profibus DP P board in 1 9 8DI 8DO I Slot E1 Powerlink n a N 1 E2 Sercos 3 n a E3 CIP n a Optional E4 Profinet n a board in E5 Ethercat n a Slot S Sercos N 2 D Devicen
186. line is not 3 phase Rw 0 b42 7 Cogging compensation calculation command 1 Calculates the motor Rw 0 cogging mapping When the calculation has been completed the bit status automatically goes back to 0 see par motor cogging compensation b42 8 Static brake release 1 Controls the output controlling the emergency W 0 brake of terminal block X3 The brake block release function in all operating conditions must be performed by the user b42 10 Alarm reset command After removing the cause that has generated the W 0 alarm give a command to reset the drive alarm status b42 12 Programming default Programming default loading command W 0 b42 13 Operating mode default Operating mode programming default loading W 0 command b42 14 Save Pico PLC This command is used to save PLC instructions Never W activate while drive is enabled b42 15 Save parameters tables This command is used to save parameters Never W activate while drive is enabled b64 0 Sensing function When 1 is active it means that a FBK sign is present and that the power supply of the FBK encoder ranging from 5 to 8V is compensated for any voltage drops due to the cable length b64 2 Type 1 encoder phasing vector orientation See specific section W 0 b64 4 Type 2 encoder phasing vibration See specific section 0 Page 104 of 233 Parker Hannifin S p A S B C Divisi
187. lobal counter Pr289 288 W 0 b230 10 Enables CAM2 counter Pr285 284 in the global counter Pr289 288 W 0 b230 11 Enables speed mode counter Pr287 286 in the global counter W 0 Pr289 288 b230 12 Enables positioner counter Pr281 281 in the position reference Pr W 0 131 130 b230 13 Enables counter Pr283 282 in the position reference W 0 131 130 b230 14 Enables CAM2 counter Pr285 285 in the position reference Pr W 0 131 130 b230 15 Enables speed mode counter Pr287 286 in the position reference Pr W 0 131 130 b231 0 Activates table Tab0 to the Master phase set in Pr247 246 When the W 0 bit is 1 TABO is enabled The table is enabled when the slave master engagement level is programmed in parameter Pr247 246 b231 1 Activates table Tabl to the Master phase set in Pr249 248 When the W 0 bit is 1 TABI is enabled The table is enabled when the slave master engagement level is programmed in parameter Pr249 248 b231 2 Activates table Tab2 to the Master phase set in Pr251 250 When the W 0 bit is 1 TAB2 is enabled The table is enabled when the slave master engagement level is programmed in parameter Pr251 250 b231 3 Activates table Tab3 to the Master phase set in Pr253 252 When W 0 bit is 1 TAB3 is enabled The table is enabled when the slave master engagement level is programmed in parameter Pr253 252 b231 4 Immediate activation of Tab0 When the bit is set
188. lowing error tolerance If a drive is situated out of the accepted position range for more than following error time out time the bit following error bit 13 in the statusword is set Accepted following Page 198 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Position Error tollerance Following Following error error window window Following error No following error Following error reference position Figure 34 Following error The following error window is used to signal by mean of status word the servo error condition on user defined BIT14 when Interpolated position mode is active and with standard bit 13 in profile position mode This feature isn t valid for rel 206 yet If the user sets b78 3 a fault reaction sequence is entered and according to the fault reaction option code valid values 0 1 2 the motor is stopped and finally disabled sending an emergency message with error code 0xff11 and user data loaded with pr 108 109 This feature isn t valid for rel 206 yet Page 199 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 6 Interpolated Position Mode In Interpolated Position Mode the cycle time is set in the object 0x1006 communication cycle period and depending on the value set in this object different ways of regulation are possible If the value is less than 2500 usec the position loop
189. lue increments decrements value at cursor Enters the change into drive Shift additional special functions Go T cycles cursor back to 1st field Number of operands depends on instruction 2nd 3rd Op Additional functions Set power up default Pr or Pb Reverse tabulate between fields Page 216 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 17 Appendix A Conventions Reference Positive Motor shaft movement motor shaft view Torque Positive Resolver counter Increments 5 Tachometer signal torque sint 23 torque esin 9 EC Iv Encoder In A B ee Frequency A Counter increment Counter increment Direction B e TOSAVE PARAMETERS USE b42 15 e TO SAVE THE PLC PROGRAM USE b42 14 e CHANGE THE INSTRUCTIONS PLC b39 13 MUST BE 0 e WHEN THE OPERATING MODE IS CHANGED USE b42 13 TO LOAD THE DEFAULT PARAMETERS 640 2 MUST BE 0 e BEOFRE CHANGING Pr181 MAKE SURE THAT b40 2 0 e THE SPEED REFERENCE WILL BE LIMITED TO THE VALUE OF Pr32 e WHEN TORQUE CONTROL IS USED Pr2 AND Pr3 MUST BE SET TO 1000 e WHEN AN ACTIVE OPERATING MODE IS USED b40 2 MUST BE 1 e IF READ WRITE PARAMETERS CANNOT BE CHANGED USING THE KEYPAD MAKE SURE THAT 42 1 IS 1 IF IT WAS 1 PROBABLY THE SAME PARAMETERS ARE MODIFIED BY THE PLC PROGRAM Page 217 of 233 Parker Hannifin S p A S B C
190. lue No 14 2 5 2 7 Object 6086 Motion profile type The motion profile type is used to select the type of motion profile used to perform a profiled move Value Description 0 Linear ramp trapezoidal profile OBJECT DESCRIPTION INDEX 6086h Name Motion profile type Object Code VAR Data Type INTEGERI6 Category Conditional Mandatory if pp or pv supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGERI6 Default Value 0 14 2 5 3 Functional description Two different ways to apply target positions to a drive are supported by this device profile Set of set points After reaching the target position the drive unit immediately processes the next target position which results in a move where the velocity of the drive normally is not reduced to zero after achieving a set point Page 196 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Single set point After reaching the target position the drive unit signals this status to a host computer and then receives a new set point After reaching a target position the velocity normally is reduced to zero before starting a move to the next set point The two modes are controlled by the timing of the bits new set point and change set immediately in the controlword and set point acknowledge in the statusword These bits allow to set
191. ly install the drive on ungrounded IT or asymmetrically grounded mains In case of ungrounded mains coupling with Dyn transformer with grounded secondary circuit is necessary Refer to drive technical data and wiring instruction e All the components used in the cabinet in which the drive is installed cables contactors inductors and transformers fuses etc and the connected motor must be in compliance with the specification given in the product documentation in addition to national regulations Make sure that the maximum temperature inside the cabinet does not exceed 45 C 113 F If necessary use an appropriate air conditioning e The size and temperature rating of wires and cables used for connecting the drive must be in compliance with the specification given in the instruction manual see NEC 310 16 for USA Use also the specified tightening torque e Make sure about the correct drive motor matching voltage and current ratings must be compatible e The user is responsible for over current and short circuit protection of the drive Read carefully the specification given in the user manual Page 10 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 1 5 Safety instructions for operation DANGER High voltage Risk of electric shock Danger of life e All live parts must be protected against direct contact The drive must be closed inside a cabinet before switching it on e Working on power live part
192. macchinario Equipaggiamento elettrico delle E macchine Parte 1 Regole Generali _ 60204 1 Safety of machinery Electrical equipment of machines Part1 2006 06 L General requirements Note notes I prodotti devono essere installati seguendo scrupolosamente le indicazioni riportate nel manuale d uso e manutenzione These products must be installed scrupulously following the instructions written on the handbook I prodotti inclusi sono conformi ai requisiti della Direttiva 2006 95 CEE e della Direttiva 2004 108 EC These products are corresponding to the 2006 95 CEE requirements guideline and 2004 108 EC requirements guidelines Cinisello Balsamo 09 07 2009 Giorgio COLNAGHI Location Manager 20092 Cinisello Balsamo MI Italy Via Gounod 1 Tel 02 66012459 Fax 02 66012808 SEDE LEGALE 20094 Corsico MI Italy Via Privata Archimede 1 Tel 02 45192 1 Fax 02 4479340 internet www parker com it E mail italy_parker parker com Iscr R I Mi N 125728 R E A Mi N 682188 Cap Soc Euro 1 230 000 P I C F VAT IT 00817430150 Banca Regionale Europea S p A Ag 14 Page 2 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual This user manual is for the standard version of the converter All information in this user manual including methods techniques and concepts described herein are proprietary information of Par
193. manage events registers and captured values bits 0 and 1 define which FBK shall be used to capture the value The setting of these bits therefore determines the data input bits 2 3 and 4 define the selection of the event that prompts the value capture that is these bits identify the event that shall determine the timing of the value capture Mbit 15 controls the value capture This means that any time this bit is 1 a value has been captured This bit however is not self resetting and its status must be changed through Pico PLC or serial command in order to be able to see when the next values are sensed Page 131 of 233 Parker Hannifin S p A S B C Division Value 1 captured ea Value 2 captured MN Y Value 3 captured FBK capture Motor value captured X6 Position feedBack selection e gt gt gt Pr133 132 gt b170 14 b170 15 ae Pr164 FBK capture Motor value captured 2 FBK multiplier selection FEE selection Input counter Encoder B e gt Pr156 SS Pr62 gt gt gt Pr153 152 gt e XT b170 12 Pr157 FBKC 7 Pr165 selection FBK B divider Motor value captured eo FBK C multiplier i tes 154 Input counter Encoder i pre gt Pr151 150 314 Pr155 Pr166 e FBK C di
194. meters will be applied have been correctly identified ensure that drive and motor have the same features The following messages may be displayed on the screen in addition to the value of the parameters and the instructions of the Pico PLC IdLE At start up It indicates that the converter is disabled run At start up and by Pr0 this message indicates that there is no alarm and that the converter is enabled The motor shaft may be rotating Er xx This message indicates that the converter has detected an alarm xx indicates the alarm code and has therefore been disabled When it detects an alarm the converter is brought to PrO and the alarm code is displayed dEF Indicates that the drive is set to default status and must be programmed using the motor key parameters Error code 15 It is possible to select what parameter you want to be displayed when the drive is powered on Follow the procedure below connect the keypad to the drive to power it up move to the Page 215 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual parameter you want to be displayed Press Enter A default parameter message is displayed on the screen warning that the previous setting has been changed Switch off the keypad disconnect the keypad from the drive and switch it on again connecting it to the drive Top line SS Hi drive keypad menu control Bottom line Cyclically moves cursor position to next field Arg Va
195. n undershoot does not occur Once the optimal value of Pr17 has been established we must analyze the movement of the axis if it moves without vibrations and acoustic noise the adjustment of the system is complete Otherwise we must repeat the preceding procedures with lower Pr16 values In some applications it is possible to reduce acoustic noise by using a higher value in Pr18 Figure 5 shows that once the optimal adjustment has been achieved there is also an oscillation of the current that can produce acoustic noise and mechanical vibration By raising the value of Pr18 to 3 the situation is much improved fig 6 Tek Run 500 S s Sample soom cn Midd0ms Chi 30V Page 88 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual Tek Run 500 S s Hi Res If the mechanical parts easily tend to oscillate very low Pr16 values are recommended In this configuration Hi drive typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations This configuration is shown in figure 7 Tek Run 250 S s Hi Res Page 89 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual ADJUSTMENT WITHOUT INSTRUMENTATION If you do not have an oscilloscope you must Determine the value of Pr16 as described above Determine parameter Pr17 using the following formula 153 41 Prl6 J Nm 17 im peak where
196. n times The drive is equipped with 3 leds providing an immediate display of the drive status also without keypad on the drive HiDrive can also be equipped with an optional removable alphanumeric keypad with internal memory to display parameters send commands write picoPLC instructions and providing alarm diagnostic functions Through the keypad it is also possible to clone parameters and picoPLC programs between drives Page 14 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual An advanced software tool called MotionWiz is also available free of charge to be able to connect the drive to the PC via serial link RS422 or RS232 Such tool allows to interactively configure the drive to program the picoPLC and to display the variables by means of a software oscilloscope Besides the features described above the drive comes complete with the following standard and optional functions 0 0 4 S 0 d 4 4 4 4 4 o 4 4 Automatic cogging compensation functions High adjustable resolution of position loop Analogue inputs and outputs digital inputs and outputs relay outputs Serial communication port RS232 Serial communication port RS422 485 CanOpen DS301 or SBCCAN Fieldbus standard Three option slots I O Expansions optional Profibus DP Fie
197. nd therefore the current will be limited to the nominal value Functional description supposing to supply the drive peak current starting from an initial condition where the current output was zero after 2s parameter Pr36 100 and b41 11 1 As a result the current supplied by the drive will be limited to the nominal value This condition will stay permanently However if the drive is set to supply zero current after about 35s parameter Pr36 will return to a zero value 0 1000 Tn 0 1 Tn P37 Braking Energy During the braking phase the value of parameter Pr37 increases but this value must decrease until to 0 when the drive is out of the braking phase If the value exceeds 120 0 the drive shows error 14 0 1200 0 1 Page 99 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Range Def Res Pr45 Base speed asinc Asynchronous motor speed in W rpm 1 rpm synchronism conditions Pr46 Motor resistance Unit ohm The phase phase W 0 1 300 0 1010 resistance of the motor The entered value is expressed in tenths of ohm Pr47 Motor inductance Unit mH The phase phase W 0 1 500 0 O ImH inductance of the motor The entered value is mH expressed in tenths of mH Pr48 SLIP_ASINC Asynchronous motor slip W 0 32767 0 lrpm rpm Pr49 MAGN CURR ASINC Asynchr
198. ng Phasing ok result Page 94 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual The parameters can be grouped according to their functions as follows from 110 to In255 The units and main resolutions of parameters are as follows PARAMETER TYPE RESOLUTION seconds 1000 revolutions minute 0 001 1 pulses per motor revolution of the converter peak current The main block diagram shows the speed loop Symbols used stand for functions as described below Binary parameters are represented as switches and their position in the diagram corresponds to the default value Page 95 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual PrX e Read write of parameter PrX A value of parameter PrX A B e Read write of parameter PrX Pr X B value depending on the values of A and PrX e Read only parameter lt gt PrX indicates the value of A which can also be binary e Read write of a binary parameter bxy The switch position indicates bx y 0 ms e The value of the binary parameter bx y positions the switch e If A is less than B C 1 true Otherwise 0 false e The value of G is the lowest value of ABCDEF mImoou27 10 B e Only if A 1 B 1 and C 1 Otherwise C 0 e IfA or B is equal to 1 1 Otherwise 0 e values coming from the hardware values sent to the hardware e The value of A is convert
199. ng b65 15 0 b65 14 1 Pr62 2 X7 Encoder power Incremental Encoder b65 15 0 b65 14 1 Pr62 3 supply b65 7 0 b65 6 0 SinCos Hiperface b65 15 0 b65 14 1 Pr62 7 b65 7 0 b65 6 1 b65 7 1 b65 6 0 SinCos One sin wave n Pr62 8 per pole pitch b65 15 0 b65 14 1 Incremental Encoder 2 _ Pr62 10 sensor b65 15 0 b65 14 1 Incremental Encoder b65 15 1 b65 14 0 Before selecting the system it is necessary to set the input voltage of the connected encoder The selection of power input voltage is only performed at the drive s start up In order to enable the selected voltage save the parameters then switch off and on again the drive If you don t the previously selected voltage shall be effective until the next power up Page 78 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual if PRA PRR or PRC motor is used set the parameter Pr30 32767 if a motor of S B C DIvision is used set the parameter Pr30 8192 8 4 5 Position feedback configuration The same sensors used in peed feedback can be also used for position feedback The position loop feedback resolution is not fixed but can be controlled by parameter settings Parameter Pr169 performs this function and can have a value between 2 and 2 bit per motor revolution The selection of position loop sensors and of the relevant resolu
200. ng threshold Vdc 795 770 0V 20V Overvoltage level Vdc 870 Undervoltage level Vdc 70 V2 V mains EMC filter external Page 20 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual model EE Unit HD35 HID45 Rated output current Arms 35 45 Peak output current 2 sec Arms 70 90 Continuous service installed load kVA 22 8 28 5 Power stage dissipation W 490 540 Switching frequency kHz 4 Current derating with V main gt 440V p u Output frequency Hz 0 500 Internal fan capacity m h 260 Braking resistor ohm 13 Continuous internal braking power W 400 W 48000 Braking power peak790V dc vue 0 1 DC circuit capacity 20 uF 1800 Continuous power W See diagram Braking threshold Vdc 795 770 0V 20V Overvoltage level Vdc 870 Undervoltage level Vdc 70 N2 V main EMC filter external SIZE 4 5 Unit modi HID75 HID100 HID130 HID155 Rated output current Arms 75 100 130 155 Peak output current 3 sec Arms 135 180 234 232 Continuous service installed load KVA 53 70 91 110 Power stage dissipation W 890 1050 1300 1300 Switching frequency kHz 4 Current derating with V main gt 440V p u 0 9 Output frequency Hz 0 400 Internal fan capacity mm h 212 459 459 459 External braking resistor minimum ohm 13 10 10 10 Continuous ex
201. ny paint coat to ensure contact The grounding bar must be in contact with the cabinet bottom or ensure an excellent electric connection and it must NOT be insulated Route power cables away from signal cables The 24V input power cable must be shielded as well s 271 yy j o A Divisione S B C Al FILTE cuis i 1 22 e mtm 5815 olio aio J qm O EZ a gt N PE LI LI 1 3 phase network Install the PE Protective Earthing grounding bar together with the HF bar o in order to prevent contact with the zinc coating bottom Connect the two bars as shown in the diagram Signal cables can be grounded either by means of a separate HF bar or directly connecting the metal cable glands to the cabinet bottom in this latter case ensure that the
202. o lalla 71 72 5 18 Cabling general layout anatra an 73 6 STATUS EIa lm 74 SUPPEY iacere ERI aa 74 7 1 Low woltase supplyY 74 7 2 High voltage Supply alora aiar 75 6 76 8 1 Setting the default parameters se eresse eresie ereseeseeneneeeenneseceneneceo 76 8 2 Selection of motor 76 8 3 Changing motor data ARIA RITRATTA 77 8 4 laine 77 8 4 1 Potcedback mpat sorella lilla ce 8 4 2 B Feedbacks input Xii alare TT 8 4 3 C Feedback dnput ea reno bea ain a Aa es 78 8 4 4 Speed feedback 78 8 4 5 Position feedback configuration 79 8 4 6 Digital filter per encoder auae dite uere talia 80 8 5 PHASING procedure sauna 80 8 5 1 Type tenete basis ave oed filo i calotta 81 8 5 2 Tope ll aes 82 8 5 3 Pico PLC phasing program aliena 83 8 5 4 Fine pliastig ed rs vealed a lar a a i 83 8 5 5 Phasing procedure for encoder with EnDat o Hiperface interface 84 8 5 6 IMOLOL 8 easier e 84 8 6 Speed control ps urea aa ae 85 Page 5 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 7 Speed control adjustMent vsrr
203. of the converter and send commands It can also store data and transfer them to other drives The module is equipped with five keys located right under the display The keys are marked as follows respectively S 1 T E The consists of two separate lines the upper line indicates the drive status left the definition of the displayed parameter its number or the instruction line of the Pico PLC The lower line shows the data in case of a binary parameter the number of bits can go from zero to fifteen right to left or the instruction either of the command or of the Pico PLC The keys functions are as follows 5 SHIFT it is used in combination with the other keys to allow the pointer to move within the fields o With T key the movement within the fields is in the opposite direction anti clockwise o With or key to move the pointer within a field on a digit with major or less weight in this way the tens or hundreds digit can be modified or to enter those values that otherwise would take much longer or to highlight the bit to be modified within binary parameters If the pointer is in the field with the Pico PLC instruction number a new instruction line can be added using the line is added before the displayed instruction or deleted using increases the data highlighted by the pointer in case of PLC instructions any time you press the key a different instruction is shown If it
204. on Hi drive User Manual Par Description Field Def b64 8 Phase value saving The command saves the phase value on the encoder W 0 EnDat disables the drive and prevents any further enabling command To enable the drive you ll need to switch it off and on again 64 9 Multiturn position reset on encoder EnDat Defines the machine zero W 0 position The value is set in register Pr68 69 The command must be given while the drive is disabled In order for this function to be available save the parameters and switch the drive off and on again disables the drive and prevents any further enabling command To enable the drive you ll need to switch it off and on again b65 0 FBK power supply 1 if fok encoder power supply is active R 65 1 FBK B encoder pulses per revolution count selection 1 number W 0 pulses per revolution of FBK B encoder 2 0 number pulses per rev Pr58 b65 2 C encoder pulses per revolution count selection 1 number of W 0 pulses per revolution of FBK B encoder 2 0 number pulses per rev Pr59 b65 3 Encoder zero point dog fine tuning When the bit is set tol it activates a W 0 function that enables the zero encoder point dog fine tuning following phasing only for less wiring b65 6 Encoder input voltage selection only for FBK B W 0 See table below b65 7 Encoder input voltage selection only for FBK B W 0 S
205. on increments using the position factor The target position will be interpreted as absolute or relative depending on the abs rel flag in the controlword Page 193 of 233 Parker Hannifin S p A S B C Division OBJECT DESCRIPTION INDEX 607Ah Name Target position Object Code VAR Data Type INTEGER32 Category Conditional Mandatory if pp or pc supported EN TRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No 14 2 5 2 3 Object 6081n Profile velocity The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion The profile velocity is given in user defined speed units It is converted to position increments per second using the velocity encoder factor OBJECT DESCRIPTION ENTRY DESCRIPTION Hi drive User Manual INDEX 608 1h Name Profile velocity Object Code VAR Data Type UNSIGNED32 Category Conditional Mandatory if pp or pv supported Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value No 14 2 5 2 4 Object 6083 Profile acceleration The profile acceleration 1s given in user defined acceleration units It is converted to position increments per second using the normalizing factors Page 194 of 233 Parker Hannifin S p A S B C Division Hi dr
206. onous motor W 0732767 0 JOIA magnetizing current A Pr49 Pr33 x J1 cos p Pr50 Analogue pointer 1 Used as parameter pointer W 07385 0 1 The set value corresponds to the Parameter number Pr50 value of pointed Pr Pr51 Analogue output 1 scale Defines the scaling of W 16 0 1 the monitored parameter 2 Pr52 Analogue pointer 2 Used as parameter pointer W 0 385 35 1 The set value corresponds to the Parameter number Pr52 value of pointed Pr Pr53 Analogue output 2 scale Defines the scaling of W 16 0 1 the monitored parameter 27531 Pr54 Analogue input 1 Values can range from 32768 W 32768 0 1 to 32767 with input voltages ranging from 10V 32767 to 10V 1V 3276 7 count count Pr55 Analogue input 2 Values can range from 1023 W 1024 0 1 to 1023 with input voltages ranging from 10V 1023 to 10V 1V 102 4 count count Pr56 Module temperature Measures the power 1 module temperature in C 0 when temperature is within the operating condition range based on the drive size Pr57 Board temperature Measures the temperature off C 1 C the control board in C and generates an alarm when the temperature gets over 70 C 158 F Pr58 No of FBK Encoder pulses Indicates the W 32768 1024 1 number of pulses per revolution times 4 in the 32767 count ranging from to 32767 It can be set lt 0 to reverse the count only with incremental encoders and not with
207. or through an engage and disengage command on programmable master phases activates the selection of a new table and the change of module only by an engage command A module with negative sign can be set in CAM2 CAM2 will be engaged and disengaged only by command and always when the master is in phase 0 or by a single execution command Single Shoot If during the disengage phase bit 233 1 is activated in CAM2 the program automatically goes to master phase zero and performs the calculation of the table and of the set module as well the engagement with the new settings The above described cams can be connected to either of two masters Specific commands allow to select either one or the other master for both cams also the same one for both The masters are programmed by two pointer parameters allowing to select as a master position reference any parameter of the drive The user will have to select as pointer a parameter that has a meaning for the used motion Master 1 offers the possibility to enable a linear ramp to be used whenever the pointed reference must be changed As a default configuration the cams are scanned throughout the master module In both masters the selected cams can be scaled in a sector of the master module by programming the starting point and the space in which the cam shall be executed It is possible of course to scan the cam in this way also between two master modules The scaling is engaged by the masters not
208. output power stage driving circuits disabling output power stage Under this condition the safety relay feedback switch whose contacts are connected to terminals SCA and SCB and mechanically driven by relay mechanics is closed A dedicated drive parameter b41 5 shows the safety relay status output stages drives let it to be an available information addressable over fieldbus communication or standard digital outputs of the converter Using this kind of information will increase redundancy level of the safety chain decreasing the risk of human and equipment injury Page 226 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Attention both feedback have to be connected within the safety chain of the machine This issue must be considered while switch feedback connected to terminals SCA and SCB is a free potential switch driver directly by safety relay so its work is independent from drive firmware feedback of parameter b41 5 otherwise is implemented and used through drive firmware functions The description above is summarized in following table safety relay Safety relay feedback Safety relay firmware Safety condition command switch status feedback status against unwanted SR SR SCA SCB b41 5 motor restarts 24V relay ON open 1 OV relay OFF closed 0 Yes 23 3 Drive function blocks Pre charge Rectifier Tem IGBT Main Power Line 24VDC Safety Relay Contact Fe
209. owever if the value read by the pointed parameter is converted to the maximum resolution the significance of the reading does not change A zero encoder trace is also generated at trace C Par Description Field Range Def Res Pr72 Enc Simulation pulses per revolution If b70 0 0 W 0 11024 1 values range from 4 to 65535 pulses per revolution if 32767 b70 0 1 is the exponent and the maximum value that can be entered is 18 Default 1024 is the number of pulses per revolution used in the encoder simulation The maximum frequency is 400 kHz Fin number of encoder pulses rpm speed 60 Motor internal position 2 Pr72 Pointed parameter value Pr71 Pr72 p Pulses per rev Encoder simulator Resolution b78 7 max 22 bag v X11 X10 Par Description Field Def b170 8 Encoder out simulation 1 enc out simulation generation from W 0 parameters scaled on a position Loop resolution Page 135 of 233 Parker Hannifin S p A S B C Division 12 7 4 Motor cogging compensation At lower speed levels motor rotation can be disturbed by a cogging effect The drive can mitigate this effect Before activating this function go through the following steps initial conditions o no alarm is active Pr23 0 o parameter 181 0 o enable the drive o the motor rotation speed is lt
210. products fully respecting environmental considerations The S B C division of the Parker Hannifin Company together with local Page 13 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 1 10 Warranty The warranty duration if 1 one year The converter must not be opened accessed or modified in any of its part Any attempt to do so would cause the 1 year warranty to be cancelled with immediate effect Parker Hannifin declines any responsibility for damages that may be caused by inappropriate use of the converter 2 PRODUCT INTRODUCTION 2 1 Product description HiDrive is the result of in depth research and development and of a longstanding hands on experience combined with a wide ranging market research HiDrive focuses on the market of applications requiring a high degree of precision and accuracy high performance flexibility to connect to various supervision and control systems high torques and custom drive arrangements based on specific applications HiDrive is a range of high performing completely digital drives used both in closed loop vector control mode and as servo drive available as standard The range offering is complete in several sizes with 3 phase 1 phase or continuous power The drive can be run in the following standard modes usually called operating modes both when it is used to control regenerative asynchronous motors or brushless motors torque control speed positioner wi
211. puts fenc in 400kHz Quadrature IN2 IN3 inputs fene in 400kHz Freq direction IN2 IN3 inputs fenc in lt 400kHz It is important to consider that the feedback signal constrains the input configuration parameter parameter Pr62 is related to ports X7 and X5 whereas parameter Pr63 refers to ports X9 and X5 These two parameters also have the same meaning If you want to use a reference signal this will have to be connected to the free input in order to be used Fin is the input frequency that is encoder _ pulses x speed rpm Fin lt 400 KHz 60 sec min Pr7 is the motor rpm speed Pr7 Fine Pr4e2 2 000 000 Thus Pr4 has a value of Pr4 Pr7 2 000 000 2 e Fin Pr4 is the full scale value to be entered into the converter in order to get the motor speed and input frequencies If the system is not in quadrature mode but in frequency direction mode the speed will be 4 times lower Besides the physical reference signal a reference can be selected on Digital Bus via CAN enabling b170 12 1 for the encoder counter B and setting b170 11 1 for encoder counter C Either the immediate enable bits or events can be used to engage the electrical axis with or without phase recovery The tracking mode control and regulation are performed through the parameter controlled ramps The phase recovery function can also be used to recover the time lost during the engaging process at ac
212. r A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr113 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr114 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 115 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr116 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 117 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr118 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Pr119 User parameter A parameter that can be stored by RW 32768 0 1 the user word 32767 Page 141 of 233 Parker Hannifin S p A S B C Division Par Description Field Range Def Res Pr121 Constant value 1 Double word Adjustable RW 32768 1 1 parameter the constant value can be modified and 32767 stored Pr122 Constant value 0 Double word Adjustable RW 32768 0 1 parameter the constant value can be modified and 32767 stored Pr123 Constant value 1 Double word Adjustable RW 32768 1 1 parameter the constant value can be modified and 32767 stored Pr124 Constant value 2 Double word Adjustable RW 32768 2 1 parameter the constant value can be modified and 32767 stor
213. r entering a Pico PLC instruction in order for the entered instruction to be saved press the Enter key Otherwise the previous instructions will remain effective A confirmation message will be displayed changing inserting deleting The parameter definition can be identified by the following markings Pr parameter Pb binary parameter In Pico PLC instruction Cmd commands T tables Pr xx Indicates parameter xx for 16 bit word PL xx Indicates parameter xx for 32 bit word marked as long parameters Pb xx Indicates the binary parameter at 16 bit xx In xx Indicates the xx instruction number of the Pico PLC program Ty xx Parameter table y indicates the table number xx is the parameter number Cmd send keypad command The type of command is displayed on the second line Here follows a list of possible commands the pointer must be positioned in the second line Other commands can be seen using the key Upload and download of parameters and tables The data are stored in the Eeprom Upload and download of Pico PLC instructions The data are stored in the Eeprom Reduction or enlargement of the display menu The enlarged menu can display all parameters in order to see all parameters press the Enter key to activate this function Each command must be performed from the command Enter Through these commands the settings can be transferred between drives Ensure that the drive and motor versions where the para
214. r fine phasing procedure on the encoder zero point dog A pre requisite for this Fine phasing is that the incremental encoder has been mechanically phased on the motor shaft It is therefore essential not to disinstall the encoder otherwise the motor encoder assembly will have to be rephased at the control desk At the completion of the incremental encoder phasing procedure type 1 or 2 a fine phasing function may be enabled on the encoder zero point dog The function activates at the following revolution when command b65 3 1 is entered The status of command b65 3 0 signals that the fine phasing has been performed With less wiring encoder feedback the function is performed automatically Page 83 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 5 5 Phasing procedure for encoder with EnDat o Hiperface interface The procedure of encoder phasing is not necessary with Parker Hannifin Divisione S B C s motor but when the system requires the phasing the procedure 1 and 2 of the phasing is the same for incremental encoder see paragraph phasing procedure and it must finalized as follows With EnDat or Hiperface 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 the motor shaft in the position that Pr28 0 disable the drive and save with command b64 8 1 After this command is necessary
215. r201 200 Pr131 130 Pr133 132 b232 3 Speed mode reset command Pr187 0 W 0 b232 4 selector to select Master 1 or 2 W 0 b232 5 CAM2 selector to select Master 1 or 2 W 0 b232 6 Activates CAMI engage to the Master phase set in Pr197 196 W 0 b232 7 Activates CAMI release to the Master phase set in Pr199 198 W 0 b232 8 Immediate command and engage released state W 0 b232 9 Enables dummy table in Tab3 with value set in Pr184 in CAMI W 0 b232 10 Enables dummy table in Tab3 with value set in Pr185 in CAM2 W 0 b232 11 Command engaging to CAM2 master phase 0 W 0 b232 12 Command releasing to CAM2 master phase 0 W 0 b232 13 Single shot execution command one module to the CAM2 master W 0 hase 0 b232 14 Selection of table to be performed CAM2 The state of this bit W 0 together with bit b232 15 identifies the selected table see table below b232 15 Selection of table to be performed in CAM2 The state of this W 0 together with bit b232 14 identifies the selected table see table below b233 0 Theoretical trapezoidal profile running W 0 b233 1 Command used to update the table and module in CAM2 W 0 b233 8 Enables positioner speed FFW W 0 b233 9 Enables generator speed FFW W 0 b233 10 Enables CAM2 generator speed FFW 0 Table Selection b232 15 b232 14 TABO 0 1 TABI 1 0 TAB2 1 1 TAB3 0 0 Page 127 of 233 Parker Hannifin S p A S B C D
216. r29 Pr76 Status 0 if outcome is positive 2 if enable is not correct 3 if feedback is positive 4 if motor poles and or number of steps are incorrect 5 if drive is not ready Pr23 0 or inrush open Pb41 6 Phasing outcome if procedure outcome is positive and it is a necessary condition for drive OK Pb41 4 R The sign indicates the direction of rotation positive or negative feedback Page 81 of 233 Parker Hannifin S p A Divisione S B C 8 5 2 Type 2 phasing It is activated by Pb64 4 the table below lists the parameters involved Hi drive User Manual Par Description Field Range Def Pr58 Enter number of steps by encoder revolutions Encoder connected to input X7 When b65 1 0 Pr58 is written in full When b65 1 1 Pr58 is written exponentially 32767 2 1024 Pr59 Enter number of steps by encoder revolutions A Encoder connected to input X9 When b65 2 0 Pr59 is written in full When b65 2 1 Pr59 is written exponentially 32767 2 1024 Pb64 4 Phasing command 2 Disable software Pb40 9 0 enable hardware Pb41 5 1 and driver OK Pr23 0 Execute the command the motor executes a vibration the standing depends to the type of the motor and to the load Pr76 Status 0 if outcome is positive 2 if enable is not correct enabling procedure started by Pb41 5 0 or Pb40 9
217. raz Shawmut Ferraz Shawmut Ferraz Shawmut 70 50 4 HID100 Bussmann 70 60 HID130 Bussmann 4 Bussmann Mains AC FWP 80B FWP 100B FWP125A FWP200A FWP225A 3 Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut 70 80 4 70 100 4 70 125 4 70 200 4 70 225 4 Brake Bussmann Bussmann Bussmann Bussmann Bussmann FWP 80B FWP 80B FWP 80B FWP 100B FWP 100B 2 Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut A70P80 4 A70P80 1 70 80 4 70 100 4 70 100 4 Bussmann Bussmann Bussmann Bussmann Bussmann DC Bus FWP 80B FWP 100B FWP175 FWP250 FWP300 2 Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut A70P80 4 70 100 4 70 175 4 A70P250 4 A70P300 4 Page 42 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 4 Protective Earth connections Minimize the length of the individual ground wires by placing grounding bar as close as possible to the converters The grounding bar must be a copper bar and must be installed in contact with the cabinet metal frame The table shows the minimum dimensions depending on length Length Width mm Thickness for HID2 25 mm Thickness for HID35 45 05 2 6 lido i T_T ps coms d dl Use only stranded copper wire rated for 75 C minimum For the model HID2 up to HID45 use e a minimum wire section of 10 mm for
218. red external and must send the information about the position and speed reference via CanBus in accordance with the SBCCAN protocol see section on CanBus Speed FFWD Speed via CanBus Feedforward Position reference via CanBus Pr182 Pr185 6230 2 Pr200 201 gt Pr130 131 Motor position Pr203 202 Motor position Pr133 132 Position reference Pit P Feedback transmission enable via CanBus Feedback transmission b230 6 enable Sync Decimal parameters Par Description Field Range Def Res Pr182 Speed reference OM120 This is the feed forward value W 32768 0 1 received via the CanBus When the SYNC b230 15 1 is 32767 received Pr182 will be copied to 185 will become active Pr183 Cyclic command OM140 Command parameter W 32768 0 1 managed by Pico PLC see section SBCCAN 32767 Pr184 Cyclic state OM140 Status parameter managed by Pico W 32768 0 1 PLC see section 32767 Pr185 Speed feedforward The value of this parameter 15 32768 0 1 summed at the output of the position loop in order to 32767 obtain the speed request Pr6 Pr201 200 Position reference via CanBus This is the position 271 0 1 reference received via the CanBus When the SYNC b230 15 1 is received Pr200 201 will be copied to Pr1
219. res Let the external resistor cool down before performing any operation on it Page 52 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual BU brake unit for HID250 the external braking resistor must be connected between DC bar and DBR bar of the BU module TOP WITH BRAKE UNIT COVER REMOVED DER 10 Positive DC al le Negative DC Buss Connection Buss Connection x BRAKE UNIT COVER SNUBBER CAPACITOR DBR ni Y EARTH BONDING BRACKET 2 CONNECTION PLATES ups o 7 gt SL DUCT TO DRIVE CHASSIS EARTHING POINT EXHAUST DUCT The brake unit is optional However it is possible to retro fit a brake unit should the need arise There are three brake units one for each drive frame size The brake units have the following specification Operating voltage 750 820Vcc Maximum duty cycle 3096 Maximum on time 20 seconds Continuous duty 30 of constant torque drive rating The original exhaust duct supplied with the drive or the exhaust duct with the brake unit may be used in the final installation The brake unit consists f the following parts Exhaust duct Heatsink amp IGBT assembly Control cable Brake connection plates 1 set for type 8 9 and 2 sets for type 10 Heatsink fixings Page 53 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual Brake unit cover and retaining nuts Earth bonding bracket The brake
220. rom R W 0 ctrlword CANopen b79 8 Enable sync 1 enables missing sync check DSP402 CANopen R W 0 415 0 Displaying on keypad state machine DS301 1 comm displaying R W 0 keypad state machine DS301 autoreset 415 1 Displaying on keypad state machine DS402 1 comm displaying R W 0 keypad state machine DS402 autoreset b415 2 Displaying on keypad controlword DS402 1 displaying on keypad R W 0 control word DS402 autoreset b415 3 Displaying on keypad statusword DS402 1 displaying on keypad R W 0 status word DS402 autoreset Noted with an the item that are not displayed at the execution of command CO If not inhibited by 78 2 1 any status change of the state machines 301 or 402 is displayed for about 2 seconds on the keypad Note When in remote mode the bit b40 6 b40 2 and the parameters Pr8 Pr9 Pr10 Pr11 Pr12 and Pr55 are handled by firmware according to CANopen network setting and commands and should not be modified by the user Page 204 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 8 CANopen monitor by ASCII commands The ASCII protocol o rs232 support an additional command to display CANopen settings typing CE or CO command the CANopen setting page is shown Baud rate 1 Mbps Node Address 001 Communication status Pre Operational bus off NO bus warning NO State Machine Fault Mode of operation Interpolated Position Control word 0 0x
221. ronica com http www parker eme com Following modes of operation of DSP402 are implemented beside the device control state machine Homing mode Profile position mode Interpolated position mode Page 171 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Interpolated Position mode 5 e 8 Device Control state machine 2 Homing mode E 5 5 CAN node E Device Profile 402 K 5 gt au Profile Position mode IE 5 ae S 8 amp 2 w I Q lt Here by the schematic of device control with controlword e statusword Control word 60h State machine Internal s Status word 6041h Actions lt Page 172 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Power disable Fault TTT gu ONT 13 Y Fault reaction Start active l 0 14 x Not ready to switch On dad BE 4 l ipee Switch disabled 2 7 Ready to Switch On 10 ieri ad 3 Power enable Switched On 4 4 5 Y
222. rrrrrerrereereeseereseneresenerenenereseeresnececee sese neseceneneceo 85 9 ANALOG AND DIGITAL I OS iii 91 9 1 Digitak VOS 91 9 2 Relay riser 91 9 3 AVALOS 91 10 Pad Y eM cm 92 11 KEY PARA ME TE RS olearia 93 11 1 Key parameters arie 97 12 OPERATING MODES iano 107 12 1 na 107 12 2 Torque control operating mode 110 110 12 3 Electrical shaft and positioned mod 120 111 eicere etnies as aad diede cud 111 12 2 Elemedia ale betta cat ess PM 111 1233 Positioner deu elle 113 12 34 TABO profiles Ihi f efilory des ede agi det uar REC lai 113 12 4 Electronic came 121 cura 118 19 eor sera feat sev emitte 119 1242 Speed modes e AES ce ees 119 1243 CAMI and role qiiis idee lana dee 119 12 5 Electrical shaft and positioned oper mode 122 eere 128 12 6 Position control via CanBus operating mode 1490 ceres 129 12 7 Additional useful functions eere eee eee eene e erica neree nese sese ene enisee nice setas 131 Dvd Capturing dope tate eb a e tired darn Qr Ru 131 12 7 2 Programmable OUIDUES nella alano 134 12 73 L Ento
223. rs of each converter connected to the bus This function is very useful when you want to use the motion functions that have already been implemented in the base software of the converter The communication mode is automatically set when Pr1814140 The Can node address must be set on Pr261 with values ranging from 1 to 15 The transmission speed is given by a combination of parameters Pr181 and Pr260 as shown in the following table 0 125kps Mbps All changes in speed address or function mode are activated using the b79 5 command or when the converter is powered on again Par Description Field Range Def Res Pr260 BAUDRATE CAN CAN line transmission speed W 0 32767 1 1 programming code Pr261 CAN address Indicates CAN address value W 0 127 1 1 Page 153 of 233 Parker Hannifin S p A S B C Division Par Description Field Def b79 5 CAN initializing command Command to reinitialize W 0 communication whenever the speed or the address value Pr260 and Pr261 of the CAN line have been changed This is in any case initialized when the converter is powered on 14 1 1 Description of fields in real time mode Cyclic message from master to slave converter Cyclic data Data length 8 6 4 bytes Field Name Position Reference Speed Reference Contents Pr200 201 32 bit Pr182 16 bit Pr183 16 bit Identifier mw 155 157
224. s terminals must be conducted with the drive switched off Dangerous voltages may be present at power terminals even after the supply has been switched off and the motor stopped Make sure the equipment cannot switched on unintentionally Wait at least 6 minutes before working on live parts after the unit has been switched off e The drive and the motor must be permanently connected to earth accordingly to the connection diagram even for brief measurements or tests DANGER High leakage current Risk of electric shock Danger of life e Earth leakage current during operation may exceed 3 5 mA AC or 10mA DC e Earth connection must be permanent use copper wire having a minimum size of 10mm throughout all the length e Before switching the equipment on make sure that all devices including the motor are permanently connected to earth even for brief test or measurements as shown in the wiring diagrams Otherwise high voltages may appear on equipment conductive surfaces with danger of electrical shock e Always refer to current local regulations for grounding For installation within European Community refer to EN61800 5 1 product standard section 4 2 5 4 2 For installation in the USA refer to NEC National Electric Code and NEMA National Electric Manufacturers Association The product installation should always comply with the above said standards LA WARNING Hot surfaces Danger of injury Danger of burns e Some extern
225. s active in the trajectory setpoint of the motor In case of cycle time less than 2500 usec the position loop trajectory setpoint is immediately upgraded with the last received position setpoint as soon as the sync signal is received In case of cycle time longer than 2500 usec both with linear interpolation and cubic interpolation with position and velocity the point specified in the target position received on the PDO will be activated as trajectory setpoint at the end of the cycle time started with the sync signal that validated the target position so with a cycle time delay As last in case of cycle time longer than 2500 usec and cubic interpolation with position reference only the point specified in the target position received on the PDO will be activated as trajectory setpoint at the end of the next cycle time started with the sync signal that validated the target position so with two cycle time delay Index Object Name Type Attr M O 60COh VAR Interpolation sub mode select INTEGERI6 rw O 60C1h ARRAY Interpolation data record INTEGER32 rw O Index Object Name Type Chapter 6040h VAR Controlword UNSIGNED16 dc 6041h VAR Statusword UNSIGNEDI6 dc 605Ah VAR Quick stop option mode INTEGERI6 dc 6060h VAR Modes of operation INTEGER8 dc 6061h VAR Modes of operation display INTEGER8 dc 6063h VAR Position actual value INTEGER32 _ pc
226. s by and bit b94 1 will remain set to zero until the times has not expired when Pr92 0 b94 1 will be set to 1 The same is true with the second timer using parameter Pr93 and bit b94 2 Pr92 Pr93 b94 1 and b94 2 are updated only before the Pico PLC program is scanned The maximum number of instructions is 256 Note that arithmetic operations take up the space of two logical operations If they are used the maximum number of instructions accepted will be decreased The PLC program must always end with the END instruction The Pico PLC program can be edited via serial link or directly using the keypad In this latter case in order to facilitate program changes if you want to delete an instruction go to the instruction to be deleted and press the or key The type of instruction will be displayed At this point hold the S key and press the key when both keys are released the instruction will be deleted If you want to add an instruction after the In06 go to the next instruction In07 and press the or key The type of instruction will be displayed At this point hold the S key and press the key When both keys are released an instruction will be entered In this latter case make sure that the program does not exceed the maximum instruction number otherwise the last instructions will be lost The Pico PLC program can be edited or modified only when the PLC is in stop b39 13 0 13 1 1 Pico PLC default program 90 2
227. saved can be only reset at the next power on overvoltage _ undervoltage J94 overcurrent J 4 Speed loop FBK error Converter TE overtemperature 0 1 lb Hardware enable af G Default gt p parameter Check Sum PLC Software enable 40 9 Check Sum parameter gt Undervoltage 24V 76 Mbient overtemperature aa Braking resistance protection gt Encoder oe Phasing ok result Drive ok Speed FBK initializing error gt Position FBK initializing error gt Position loop FBK error W PTC alarm active Page 220 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 21Appendix E Continuous working In continuous operation the power supplied to the drive must not go beyond the limit curves shown in the following figures The limit power depends on the voltage and frequency of the supply network HID2 1 phase supply network Pout W 100 150 200 250 300 Vac phase neutral V HID2 3 phase supply network 1100 1050 1000 950 900 850 800 750 700 650 600 550 500 150 200 250 300 350 400 450 500 550 Pout W Vac phase phase V Page 22
228. sition numerator Using this parameter W 32768 1 1 and 157 the user can set the desired input reference 32767 frequency ratio Pr157 Encoder B position denominator Using this parameter W 32768 1 1 and 156 the user can set the desired input reference 32767 frequency ratio Pr159 158 Captured value 1 Register containing value 1 R 0 1 Pr161 160 Captured value 2 Register containing value 2 R 0 1 Pr163 162 Captured value 3 Register containing value 3 R 0 1 Binary parameters Par Description Field Def b164 Y selection of capture object 1 The setting of bits defines the object W and the type of event to be captured b164 object to be captured bit Capture bit4 bit3 bit2 FBK POS 0 0 event ENC A 0 1 Z ENC AUX 0 0 0 1 0 Not valid 0 0 1 Not valid 1 1 POS EDGE INO 0 1 0 NEG EDGE INO 0 1 1 EDGE INI 1 0 0 EDGE IN2 1 0 1 Other not valid b164 15 Warning bit This bit warns that a value has been captured The bit R 0 has no self resetting capabilities and therefore stays set to 1 after a first value has been captured b165 Y Capture 2 selection The setting of these bits defines the object and W the type of event to be captured b165 3 gt object to be captured bit0 Capture event Bit BIS POS EL Not valid 0 0 ENC POS EDGE INO 0 1 0 ENCB 1 NEG EDGE INO 0 i i Not valid 1 1 EDGE INI 1 0 0 EDGE IN2 1 0 1 Other not valid
229. ssible Value Range UNSIGNED32 Default Value No Page 186 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 14 2 4 7 Functional description By choosing a method of homing by writing a value to homing method will clearly establish the homing signal positive limit switch negative limit switch home switch the direction of actuation and where appropriate the position of the index pulse The home position and the zero position are offset by the home offset see the definition of home offset for how this offset is used Various homing positions are illustrated in the following diagrams An encircled number indicates the code for selection of this homing position The direction of movement is also indicated Further homing methods may be defined by the manufacturer using the negative values of homing method There are four sources of homing signal available these are the negative and positive limit switches the home switch and the index pulse from an encoder In the diagrams of homing sequences shown below the encoder count increases as the axle s position moves to the right in other words the left is the minimum position and the right is the maximum position For the operation of positioning drives an exact knowledge of the absolute position is normally required Since for cost reasons drives often do not have an absolute encoder a homing operation is necessary There are several appli
230. start again the drive Alternative to this procedure disable the drive and disconnect the motor cable the motor can rotate even if it is installed inside the equipment any emergency brake disabled with motor is available to supply a positive tension between phase B and C respect the phase A it s important to verify that the phase phase resistance limits the current to the rated value so that the shaft aligned only for S B C motor for other type see the paragraph motor phases set the command b64 8 1 and start again the drive 8 5 6 Motor phases In this paragraph is showed a procedure not necessary for the motors of the S B C Division essential for the motor connection because allows to find the motor phases A U B V C W The procedures shown in this document are dangerous for the operator and could damage the motor under test A qualified and trained y Ver personnel with advanced skills in electronics and drive technology is therefore needed the operator must be sure that these procedures are proceeding in safety condition Necessary instruments power supply 24Vdc with output current equal or higher to the rated current of the motor under test Verify that the phase phase resistance of the motor limits the current at the rated value with 24V voltage applied Necessary requisites motor free without load and inertia applied Procedure connect the positive pin of the 24Vdc supply voltage at one motor phase assign name A a
231. t this phase Connect the negative pin at one of the other phases at random Feeding the circuit the rotor will turn and to assume a new position Observing the motor shaft move the negative pin of the 24Vdc voltage on the other phase if the rotor turns counter clockwise watching frontally the drive shaft the phase connected to the negative pin is the phase C otherwise if the rotor turns clockwise this phase connected to the negative pin is the phase B Result after to have connected the motor and the device of feedback to the drive the counter of the feedback increases if the motor turns clockwise and decrease if turns counter clockwise sense To avoid to damage the motor winding to power the circuit only for the necessary time Page 84 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 6 Speed control SPEED LOOP The main task of a converter is to control motor speed so that it follows as faithfully as possible the speed request that is generally known as the REFERENCE Faithfully following the reference means that the motor speed should equal the reference in static conditions and also that the motor speed is as equal as possible to the speed requested during dynamic conditions To carry out this task the converter must know some of the features both of the motor used and of the mechanical part attached to it This information is communicated to the converter by the so called ADJUSTMENT PARAMETERS
232. t 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 field Data Data Address This is the address of the parameter involved in the operation parameter number 2 The addresses of PLC instructions are ranging from 8192 to 8704 The addresses of CAMMA tables are 1 from 4096 to 4609 2 from 4610 to 5123 3 from 5124 to 5637 4 from 5638 to 6151 Data When the parameter is written it contains the value of the parameter itself If one or more bits are modified it contains the mask of the bits to be modified If case of a parameter read request the field has no significance In case of PLC program writing it contains the instruction code see Serial interface Acyclic response message to a parameter request from slave converter to master Data reply Data length 5 bytes Addr amp Spare 6 Identifier 107 106 105 154 103 EE Arie EE NE eases A0 A3 Slave converter address Pr261 valid values 1 15 Page 157 of 233 Parker Hannifin S p A S B C Division Broadcast write parameter message from master to slave converter Broadcast data write Data length 7 bytes Field Name Cmd amp Len Data Address Data 5 bit command and 3 bit length 16 bit data address 32 bit data Identifier ipa HT bt 09 ms 157 155 154 cirie Cmd amp Len Sub field Value Significance Cmd 0 4
233. t command type 1 this is used to reset W 0 position reference counters and the motor reference counters Self resetting b170 2 Reset 2 Reset command type 2 the position reference W 0 counter Pr130 131 theoretical position gets the same value as the motor real position Pr132 133 Self resetting b170 3 Reset 3 Reset command type 3 Pr212 213 Pr2 Self W 0 resetting b170 4 Servo error 1 b170 4 will be set to 1 if the position error as R 0 an absolute value exceeds the value set in Pr140 b170 5 Servo error 2 b170 5 will be set to 1 if the position error as R 0 an absolute value exceeds the value set in Pr142 b170 14 Position loop feedback selection Position loop feedback W 0 selection bit b170 15 Position loop feedback selection Position loop feedback W 0 selection bit p b170 15 b170 14 FBK A 0 0 FBK B 0 1 1 0 Reserved 00 automatic reset 1 1 Page 109 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual 12 2 Torque control operating mode 110 By this operating mode it is possible to control the current supplied to the motor and the consequent torque to the mechanical system in two selectable modes using bit b39 2 When b39 2 0 default speed control is operating to manage the limit speed Pr190 with an available torque which is directly proportional to the value of Pr7 Set parameter
234. t if bit 7 is set The cause means no error but a state that has to be mentioned e g temperature limit job refused The status of the drive does not change The cause of this warning may be found by reading the fault code parameter The bit is set and reset by the device Page 176 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual BIT 8 This bit may be used by a drive manufacturer to implement any manufacturer specific functionality BIT 9 REMOTE If bit 9 is set then parameters may be modified via the CAN network and the drive executes the content of a command message If the bit remote is reset then the drive is in local mode and will not execute the command message The drive may transmit messages containing valid actual values like a position actual value depending on the actual drive configuration The drive will accept accesses via SDO in local mode BIT 10 TARGET REACHED If bit 10 is set by the drive then a set point has been reached The set point is dependent on the operating mode The description is situated in the chapter of the special mode The change of a target value by software alters this bit If quick stop option code is 5 6 7 or 8 this bit must be set when the quick stop operation is finished and the drive is halted If halt occurred and the drive has halted then this bit is set too BIT 11 INTERNAL LIMIT ACTIVE This bit set by the drive indicates that an internal limitation is activ
235. t is repeated Pr219 218 Master 2 axis module Pointer 2 It contains W x2 10000 1ms number of count for which the axis Master 2 it is repeated Pr221 220 Master 1 axis position in module W 27 0 ims Pr223 222 Master 2 axis position in module W 4971 0 1 Pr225 224 CAMI scaling cam starting point W 27 0 1 Pr227 226 CAMI scaling Cam width step W 25 10000 1 Pr235 234 2 scaling starting point W 271 0 1 Pr237 236 CAM2 scaling Cam width step W 25 10000 1 239 238 module w 27 10000 1 Pr241 240 CAM2 module w 2 10000 1 Pr243 242 Reference module sum of all enabled generators W 231 10000 1 1 2 Pr245 244 Axis position the reference module W 0 360 60 1 Pr247 246 Master phase for Tab0 engaging The value entered W 14000 0 Irpm in the register identifies the master value When the rpm master phase matches the programmed value bit b231 0 is set to 1 then the slave engages to the master with a trend generated by TABO Pr249 248 Master phase for Tabl engaging The value entered W 2 4500 500 Ims in the register identifies the master value When the ms master phase matches the programmed value the slave engages to the master with a trend generated by TABI Pr251 250 Master phase for Tab2 engaging The value entered W 271 0 1 in the register identifies the master value When the master phase matches the progr
236. te SDO come segue CAN Open Tab 0 Points 0 254 Index 0x2008 Sub index 1 255 Points 255 256 Index 0x2009 Sub index 1 2 Tab l Points 0 254 Index 0x200A Sub index 1 255 Points 255 256 Index 0x200B Sub index 1 2 Tab 2 Points 0 254 Index 0x200C Sub index 1 255 Points 255 256 Index 0x200D Sub index 1 2 Tab 3 Points 0 254 Index 0x200E Sub index 1 255 Points 255 256 Index 0x200F Sub index 1 2 Page 122 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Final position Profile running us acceleration Pr189 speed deceleration Positioner reference Pr201 200 Pr211 210 gt Pr190 Pr191 Reset 1 b232 0 Pr211 210 Pr201 200 Reset 1 b232 1 Pr211 210 Pr201 200 Pr131 130 Reset 3 b232 2 Pr211 210 Pr201 200 Pr131 130 Pr133 132 Positionator
237. ter has been moved to highlight the Pico PLC instruction In order for a modification to become effective press E a message confirming the modification is displayed The value of decimal parameters and the parameter data in the tables can be modified using the and keys ensure that the pointer has been moved to highlight the value of the decimal parameter or the parameter value in the tables The bit status in binary parameters can be modified using the and keys ensure that the pointer has been moved to highlight the bit to be modified The bits are numbered from 0 to 15 and are shown in growing order right to left In order to move the pointer between bits left to right press the S and keys simultaneously to move the pointer between bits right to left press the S and 5 simultaneously The data format to be entered in the parameter is already set If the data is not accepted it means that its format does not match the required format All double word parameters are displayed entirely not limited to either the high word or the low word This makes it easier to understand the long parameter The keypad can update and store all the parameter values in a 2Kbyte memory Another 2Kbyte memory is dedicated to CAM tables This system makes it easy to transfer the stored data to other Hi drive units Error messages are also displayed on the screen Wheneve
238. ternal braking power kW 20 25 25 25 maximum Braking power peak790Vdc W 48000 62400 62400 62400 DC circuit capacity 20 uF 3150 5000 5000 5000 Continuous power 400V kW 4 55 72 100 Braking threshold Vdc 790 770 Overvoltage level Vdc 870 870 Undervoltage level Vdc 400 440 400 Restricted EMC filter internal A UR cable Fan supply voltage _ 230 10 1ph 50 60 Hz Fan power W 140 140 Internal mains inductance uH 100 90 90 Page 21 of 233 Parker Hannifin S p A Divisione S B C model SIZE 6 Unit HID250 Rated output current Arms 250 Peak output current 3 sec Arms 375 Continuous service installed load kVA 180 Power stage dissipation W 3500 Switching frequency kHz 4 Current derating with V main gt 440V p u 0 9 Output frequency Hz 0 400 Internal fan capacity mm h 750 External braking resistor minimum ohm 2 1 BU option Continuous external braking power kW 200 BU option maximum Braking power peak790Vdc kW 270 BU option DC circuit capacity 20 uF 9900 Continuous power 400V kW 160 Braking threshold Vdc 760 750 Overvoltage level Vdc 820 Undervoltage level Vdc 400 Restricted Distr EMC filter II amb 25 m motor cable 0 Fan supply voltage V dn Fan power W 200 0 075mH 350A External mains inductance uH Cod LCG 350 0 075mH Page 22 of 233 Hi drive User Manual Parker Hannifin S p A Division
239. th trapezoidal profile variable ratio phase control electrical shaft electronic cams positioner via CanBus These operating modes are available both in vector control and as servo drive The drive comes with many other standard functions such as S ramps value capturing and comparison functions Only one parameter setting is used to chose an operating mode or to select between asynchronous or brushless motor control The standard HiDrive is equipped with three independent encoder ports to which the following devices can be connected resolver incremental encoder less wiring sincos sincostabsolute Endat mono and multirun sincostabsolute Hyperface mono and multirun Also available are a second incremental encoder or sincos or frequency sign input whereas encoder RS422 repetition has a high maximum output frequency and programmable pulses per revolution In order to have more connection flexibility of HiDrive parameters with the external word inputs outputs the drive is provided as standard with a PLC called picoPLC The picoPLC has a capacity of up to 256 instructions scanning time of 6 144 ms Ladder and Instruction List programming languages It is a very powerful tool to implement a simple per sequence logic in the drive For complex applications the drive can house as option a full IEC1131 environment called LogicLab that can be programmed using all 5 standard and multitasking languages 6 tasks with different cyclic executio
240. the apparatus Every label identifies Model Serial number 06100001 Power supply OUTPUT 0 480U Output voltage Input voltage 5A Output current Input frequency Input current Output frequency Page 17 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 3 TECHNICAL DATA 3 1 Ambient conditions operation 3K3 Class 0 45 C 32 113 F temperature storage 1K4 Class 25 55 C 4 131 F transportation 2K3 Class 25 70 C 13 158 F operation 3K3 Class 5 85 without ice and condensation humidity storage 1K3 Class 5 95 without ice and condensation transportation 2K3 Class 95 a 40 C altitude lt 1000 m slm x 3281 feet asl IP20 only in close electric cabinet protection degree UL open pollution degree 2 or lower no conductive dust allowed For higher installation altitude derate the output current by 1 5 each 100m up to 2000m maximum 3 2 Vibrations and shocks frequency Hz amplitude mm acceleration m s7 operation 2 lt f lt 9 0 3 class 9 lt f lt 200 1 2 lt f lt 9 3 5 transportation 9 lt f lt 200 10 2MI class 200 lt f 500 3 15 free fall 0 25m max 3 3 Available models AVAILABLE MODELS AND DIMENSIONS length mm width mm depth mm models SIZE 1 87 360 428 227 HID2 HID5 HID
241. tions can be made following the table below The space in the drive is managed as a double word with a 2 range As a consequence the maximum value in motor revolutions for absolute systems will be 23 space managed Pr169 No of Mode description pulses Input revolution Resolver b170 15 0 b170 14 0 SinCos EnDat b170 15 0 b170 14 1 SinCos b170 15 0 b170 14 1 Less Wiring b170 15 0 b170 14 1 incremental Encoder b170 15 0 b170 14 1 SinCos Hiperface b170 15 0 b170 14 1 SinCos One sin wave per pole pitch b170 15 0 b170 14 1 incremental Encoder Hall sensor b170 15 0 b170 14 1 Pr62 10 incremental Encoder b170 15 1 b170 14 0 X7 Encoder power supply b65 7 0 b65 6 0 b65 7 0 b65 6 1 b65 7 1 b65 6 0 In order to prevent damage to the encoder select the power supply voltage of the connected encoder The selection of power input voltage is only performed at the drive s start up Therefore in order to enable the selected voltage save the parameters then switch off and on again the drive If you don t the previously selected voltage shall be effective until the next power up Important Page 79 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 8 4 6 Digital filter per encoder Us
242. to 1 TABO 15 W 0 immediately engaged b231 5 Immediate activation of Tabl When the bit is set to 1 15 W 0 immediately engaged b231 6 Immediate activation of Tab2 When the bit is set to 1 TAB2 15 W 0 immediately engaged b231 7 Immediate activation of Tab3 When the bit is set to 1 TAB3 15 W 0 immediately engaged b231 8 Signals Tab0 is active in generator When TABO is used in the 0 cam generator the bit is 1 b231 9 Signals Tabl is active in CAMI generator When 1s used in the cam R 0 generator the bit is 1 Page 126 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Def b231 10 Signals Tab2 is active in generator When is used in the 0 cam generator the bit is 1 b231 11 Signals Tab3 is active in CAMI generator When TAB3 is used in the 0 cam generator the bit is 1 b231 12 Enables automatic table switching sequence W 0 b231 13 Command used to activate switching sequence to Tab0 W 0 b231 14 Command used to activate switching sequence to Tab3 W 0 b231 15 Immediate command and CAM engage released state W 0 b232 0 Type 1 positioner reset command Pr211 210 Pr201 200 0 W 0 b232 1 Type2 positioner reset command Pr211 210 Pr201 200 Pr131 130 W 0 b232 2 Type 3 positioner reset command W 0 Pr211 210 P
243. to Pr350 in to the retentive variables b70 5 Status of background routine This bit is to set to zero when W 0 background routine finish in which the retentive variables are written in the NOVRAM set b70 5 1 this bit returns to 0 when the routine of save finish b78 0 Disables emc transmission in CANopen The function is active when the W 0 bit is 1 b78 7 Enables out generation of a reference position on the digital bus The function is active when the bit is 1 Page 105 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual Par Description Field Def b79 0 CAN bus warning The status is active when the bit is 1 The parameter 0 warns when the bus communication is not working b79 1 CAN bus off warning The status is active when the bit is 1 The parameter 0 warns when the communication bus is off b79 3 Rs232 serial initializing command Command to reinitialize serial W 0 communication whenever the speed value of the serial link Pr256 has been modified The serial link is in any case initialized when the converter is powered on b79 4 Rs485 422 serial initializing command Command to reinitialize serial W 0 communication whenever the speed or the address value Pr258 and Pr259 of the serial link have been changed The serial link is in any case initialized when the converter is powered on b79 5 A initializing command Command to re
244. ulkhead connector at the top of the drive Secure the brake connecting plate s to the phase joining tabs of the drive top phase M3 U and the phase joining tabs on the brake unit with 5 screws provided Tighten to 4Nm 3ft Ibs Fit earth bonding bracket to heatsink and duct connection earthing screws 5 to exhaust duct Tighten to 4Nm 3 ft lb Note This connection must not be omitted a sit is required for safety reasons Replace drive top cover exercise care to not damage brake connection plates with the top cover as this will compromise the electrical insulation Tighten 4 off M5 screws on side of drive and 2 off M5 screws on top of cover to 2 5 Nm 1 84 ft lb Replace drive front top cover with 2 off 4 turn fasteners Fit brake unit cover with M6 captive washer nuts SNURRER CAPACITORS BULKHEAD CONNECTOR Page 54 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 9 Control stage supply connection The drive electronics including powering up and switch off operations is supplied at 24VDC UPPL I I L L r r 24 19 r r E L mmn
245. uniti s shipped in a pre assembled state except for the connection plate s It is recommend that this assembly is carefully studied prior to installation within the cubicle We also recommend that the brake unit heatsink IGBT assembly is removed from the exhaust duct before installing the unit within the cubicle alati adire Di 11 12 13 14 Remove the brake unit cover Remove the earth bonding bracket from the heatsink Loosen heatsink clamps Remove the heatsink IGBT assembly and carefully piace it on a clear flat surface take care not to damage the heatsink fins If retro fitting the brake unit to an existing exhaust duct then Remove the exhaust duct aperture cover and screws Transfer heatsink clamps and screws from shipping brake duct to existing drive duct Remove the drive s top front cover plastic via 2 off 4 turn fasteners at top of drive Remove drive top cover which is attached via 4 off M5 screws on the side and 2 off M5 screws on the top Care should be taken to prevent the cover from falling into the drive and damaging the internal components If fitting a new exhaust duct assembly fit the duct assembly into the top panel and secure to drive with 4 off 5 screws Secure to the mounting panel with M8 fixings Install brake unit IGBT heatsink assembly within exhaust duct and tighten clamps Take care not to damage components on the PCB with handtools Connect brake unit control cable to the 14 way b
246. up a request response mechanism in order to prepare a set of set points while another set still is processed in the drive unit This minimizes reaction times within a control program on a host computer DATA New setpoint Change set immediately Setpoint acknowledge 3 5 Figure 17 Set point transmission from a host computer Figure 17 Figure 18 and Figure 19 show the difference between the set of set points mode and the single set point mode The initial status of the bit change set immediately in the controlword determines which mode is used To keep simple these examples only trapezoidal moves are used If the bit change set immediately is 0 continuously drawn line in Figure 17 a single set point is expected by the drive 1 After data is applied to the drive a host signals that the data is valid by changing the bit new set point to 1 in the controlword 2 The drive responds with set point acknowledge set to 1 in the statusword 3 after it recognized and buffered the new valid data Now the host may release new set point 4 and afterwards the drive signals with set point acknowledge equal 0 its ability to accept new data again 5 In Figure 18 this mechanism results in a velocity of zero after ramping down in order to reach a target position xl at tl After signaling to the host that th
247. ve sufficient knowledge of the assembly transportation installation and operation of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions The user must also observe local safety regulations Before installing and commissioning the drive read carefully this documentation and strictly observe all technical safety and wiring information including identifying labels placed on the drive ratings In case of doubt contact the Parker Hannifin service centre Drives are to be intended as components for use in machine or systems Therefore they can be used only in machine or systems that are in compliance with the low voltage directive 73 23 CEE modified by 93 68 CEE and with the electro magnetic compatibility directive 89 336 CEE Electronic equipments are generally not fail safe components Therefore the machine manufacturers should carry out a risk analysis for the whole machine in order to ensure that moving parts motors cannot bring personal injury in case of failures of electronic devices Page 9 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 1 3 Safety instructions for transportation and storage e The ambient conditions given in the product documentation must be observed for transportation and storage temperature humidity mechanical stress and aggressive atmosphere e Drives contain components sensitive to electrostatic charges which can be dama
248. vider FBK capture IN 1 X11 selection IN2 Page 132 of 233 gt Pr159 158 4 gt 161 160 4 Pr163 162 4 Event capture Hi drive User Manual Event capture e 4 selection o e MET ec REM 9 Event capture selection Pr166e Event capture selection gt e b39 15 oS Z Enc Pos Edge INO Neg Edge INO Edge IN1 Edge IN2 Parker Hannifin S p A S B C Division Decimal parameters Par Description Field Range Def Res Pr151 150 Encoder C input counter Counter dedicated to 32768 0 1 reference input from FBK 32767 153 152 Encoder B input counter Counter dedicated to 32768 0 1 reference input from B FBK 32767 Pr154 Encoder C position numerator Using this parameter W 32768 1 1 and 155 the user can set the desired input reference 32767 frequency ratio Pr155 Encoder C position enumerator Using this parameter W 32768 1 1 and 154 the user can set the desired input reference 32767 frequency ratio Pr156 Encoder B po
249. we mean the tables describing the two engage and disengage ramps Let s suppose that Tab0 has been programmed with a y x function gearing and that Tab3 has been programmed as a fixed axis that is y constant K We will need to calculate both linking tables in Tabl and Tab to be able to engage and disengage the axis If we consider for instance the master cycle in a module in degrees 360 we will have to set in Pr186 the master module sector value ranging between 0 and 360 that we are going to use in order to perform the two engaging and disengaging ramps Use Pr 183 to select the table you need to calculate and Pr182 to retrieve the drive s base configuration predefined functions del drive in this way you will automatically calculate the curves in the engaging and disengaging tables Engaging Tab 1 calculation Pr 183 1 Table 1 and Pr182 4 Engaging function Disengaging Tab 2 calculation Pr 183 2 Table 2 and Pr182 5 Engaging function In order to use this application it is necessary to program a table with a constant value in all of its points Tab 3 is a suitable table for this purpose and it can be replaced by a virtual table using commands b232 9 for CAMI and b232 10 for CAM2 The value of the constant to be set can be taken in Pr184 for CAMI and in Pr185 for CAM2 by reading the first value of the engage table in Tabl and the last value of the disengage table in Tab2 Page 121 of 233 Parker Hannifin S p A S B C
250. ween the zero position for the application and the machine home position found during homing it is measured in position units During homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position All subsequent absolute moves shall be taken relative to this new zero position This is illustrated in the following diagram Home Zero position position HOME OFFSET Figure 21 Home offset If the home offset is not implemented then it shall be zero OBJECT DESCRIPTION INDEX 607Ch Name Home offset Object Code VAR Data Type INTEGER32 Category Optional ENTRY DESCRIPTION Access rw Page 184 of 233 Parker Hannifin S p A S B C Division Hi drive User Manual PDO Mapping Possible Value Range INTEGER32 Default Value 0 14 2 4 6 2 Object 6098 Homing method The homing method object determines the method that will be used during homing OBJECT DESCRIPTION INDEX 6098 Name Homing method Object Code VAR Data Type INTEGER8 Category Conditional Mandatory if hm supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER8 Default Value 0 DATA DESCRIPTION Value Description 128 1 manufacturer specific 0 No homing operation required 1 35
251. x6093 1 Position factor Numerator position factor 0 6093 2 Position factor Denominator position factor 0x6094 1 Velocity encoder factor Numerator velocity factor 0x6094 2 Velocity encoder factor Denominator velocity factor 0x6097 1 Acceleration factor Numerator acceleration factor 0x6097 2 Acceleration factor Denominator acceleration factor 0x6098 Homing method all standard values available 0x6099 1 Homing speeds searching sensor velocity in counts sec or RPM depending on unit selection standard or not with b78 1 0x6099 2 Homing speeds searching index velocity in counts sec or RPM depending on unit selection standard or not with b78 1 0x609a Homing acceleration acceleration homing in counts sec 2 or ms kRPM depending on unit selection standard or not with b78 1 0x60c0 Interpolation sub mode selection valid values O linear interpolation 1 cubic interpolation with position and velocity 2 cubic interpolation with position 0x60c1 1 Interpolation data record INTEGER32 interpolator position reference 0x60c1 2 Interpolation data record INTEGER32 interpolator velocity reference in counts sec 0x60c1 3 Interpolation data record INTEGER32 interpolator velocity reference in RPM 0x6502 Supported drive modes see see 0x6060 0x6504 Drive Manufacturer Parker Hannifin div SBC Italy 0x6505 http drive catalog address httpz www sbcelett
252. y converter will also be protected from the interference of other systems 5 17 1 Grounding Two different grounding systems are used in the electric cabinets where the converters are usually installed The EMC grounding or HF high frequency reference which is the uncoated metal surface where drives and filters are installed safety or PE protective earth grounding according to EN60204 1 Install converter network filter 24V power supply etc on the metal surface so as to ensure the maximum possible electric contact HF connection between the zinc coated steel sheet and the converter s rear mounting plate Page 70 of 233 Parker Hannifin S p A Divisione S B C Hi drive User Manual 5 17 2 Connection cables and shielding Except the mains filter cables all other power and control cables must be shielded and kept separated min distance between cables 20 cm Where control cables must cross power cables make sure they are at an angle as near 90 as possible Shielded cable screens shall be free and grounded on a copper bar by means of a connection provided with cable gland 360 connection as shown in the drawing in order to ensure an appropriate conductivity The motor cables and the power cables can never run parallel Connection 360 Usually the screen is connected on both ends In some cases however the control cable screen resolver encoder I O low voltage power supply serial link may
253. y to NEC 310 16 Page 41 of 233 Parker Hannifin S p A Divisione S B C 5 3 Protections Hi drive User Manual The drive has no protections against short circuits and overload on the mains side The user is responsible for short circuit and overload the protection as follows 155 Fuse size on AC power supply network delayed 200A 250A 400A Fuse size on WDC control power supply 3 15A fast Fuse size on fan supply 2A delayed A thermo magnetic switch can be used instead of fuses with the same effectiveness but not in installations with UL standard For UL compliant installations use ultra fast fuses accordingly to UL standard RC JFHR2 See the following table Bussma Bussmann 70 10 1 HITY 70 20 1 70 30 1 HID75 Bussmann Bussmann Bussmann Bussmann Mains AC FWP10A14F FWP20A 14F FWP30A14F FWP 50B FWP 60B 3 Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut 70 10 1 70 20 1 A70P30 1 70 50 4 A70P60 4 Brake Bussmann Bussmann Bussmann Bussmann Bussmann amar FWP10A14F FWP20A 14F FWP20A14F FWP30A14F FWP 35B 2 Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut Ferraz Shawmut 70 10 1 70 20 1 A70P30 1 A70P30 1 A70P35 1 Bussmann Bussmann Bussmann Bussmann Bussmann DC Bus FWP10A14F FWP20A 14F FWP30A14F FWP 50B FWP 60B 2 Ferraz Shawmut Ferraz Shawmut Fer

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