P7000 Stepper Drives. P7000 Introduction

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1 P7 Introduction P7 Stepper Drives Danaher Motion introduces the P7 Series Stepper Drives. Previously unheard of stepper features allow the P7 to provide true servo-like performance at a fraction of the cost. The P7 Stepper Drives are the next generation of Danaher Motion s line of digital step motor controls. They bring you a unique level of system smoothness, functionality, high-speed performance and innovation unmatched in the industry. Available for AC and DC operation, the compact P7 is designed to power Danaher Motion step motors with appropriate electrical characteristics (see page ). The AC drive has an input voltage of or Vac and the P7 DC drive is rated for -7 Vdc. Its unique features make it an ideal solution for single or multi-axis applications that require high-speed performance or low speed smoothness. Like all of Danaher Motion s step motor drives the P7 series includes optically isolated step and direction inputs. The drives are configured by either on-board switches, or via the P7 Tools. A full line of standard stepper motors can be set up with the on-board switches. P7 Tools is also perfect with standard Pacific Scientific stepper motors and alternative motor types or ones with a unique winding. There are a number of advanced features offered in the P7 systems making it the best choice to meet your application requirements. step motors micro-steps to the stepper motor

2 P7 Microstepping Drives Selection Guide P7 Introduction P7 Stepper Drives (cont d) Stall Detection Detects a stalled motor without the use of expensive to %. Multistepping Also known as auto-smoothing. The P7 drive accepts full step pulse commands from the indexer and inserts fine micro-steps to smooth coarse low speed motion. This allows you to significantly upgrade machine performance without having to redesign machine control architecture. Auto-Tuning Advanced current auto-tuning techniques provide outstanding low-speed smoothness. The P7 senses the motor s characteristics and automatically fine tunes itself to meet your high-performance needs. This reduces installation and set-up time. Mid-Band Anti-Resonance Control allowing you to get more out of a smaller motor and virtually eliminating nuisance stalls and machine downtime. Dynamic Smoothing acceleration. Increases mechanical life of machine and reduces energy consumption. Intelligent Indexing Option (-PN) Wizard-like P7 helps you to develop and link motion tasks such as homing and conditional and unconditional indexing. You can be up-and-running quickly. Modbus RTU Compatible External interfaces make controlling motion simple for machine operators. P7 Tools The position node option allows you to configure up to 6 absolute or relative moves. You can specify the moves distance, acceleration, velocity, and deceleration rates, or simply specify the distance and total time for the move P7 will perform the calculations automatically. Current Reduction If you do not require the motor s full torque to hold a load at rest, you can select the right amount of current (torque) to reduce motor heating and power consumption. This increases the life of the system. Features and Benefits feedback. Saves up to % of system cost. allows low-resolution full step input pulses to be converted to smooth micro stepping commands increasing low-speed performance of your machine. increasing the mechanical life of your machine. eliminates the effects of the motor s natural resonance frequencies. Provides more usable torque throughout the speed range. Get more from a smaller motor instead of spending extra money on an over-sized motor. machine downtime.

3 P7 Features Features and Benefits (cont d) Start Move, Start/Stop Move, Stop Move, On Edge and Home.. Specifications Units P7 P76 Volts - 7 VDC or VAC Continuous Current Amps rms. Microstep Peak Current Amps peak 7.. Dedicated Inputs* - Programmable Inputs* - +/-Enable, +/- Step & Dir* VDC TTL 9 Configurable, Optically Isolated* - VDC Sinking or Sourcing +/-Enable, +/- Step & Dir* VDC TTL 9 Configurable, Optically Isolated* - VDC Sinking or Sourcing Fault Output, user-configurable output - Open collector - VDC Open collector - VDC Integer Settable -% Settable -% - - steps/rev - steps/rev Package Size W x D x H Inches (mm). x. x. (9 x x 7).6 x. x 6.7 (. x x 7) Ambient Temperature Degrees C - - Max Chassis Temperature Degrees C 7 7 Motor Frames - Max Shaft Power Watts - - mh - Installation Guide for details.

4 P7 Microstepping Drives Selection Guide P7 DC Modular Drives - P7 Danaher Motion P7 Microstepping drives are Modular, Functional and Flexible Modular The Danaher Motion P7 DC stepper drive is modular to support a broad range of requirements. Its compact bookshelf style footprint is ideally suited for multi axis applications. It s common to use a single power supply as the source for multiple drives. Functional and Flexible it can be configured to get the optimum power out of the motor. With a wide input voltage range of -7 VDC the P7 is ideally suited to meet your application requirements. The drive can be set up using on-board selector switches or via the software utility provided, P7Tools. Current settings, Auto-Smoothing, are all selected through the switch settings. P7Tools includes a party motors, fine tuning and system archive and duplication. The P7 is offered in two standard versions. The P7-SD is designed with a conventional step and direction interface. Dedicated position node indexing capability to the base drive. This allows the user to program up to 6 independent moves. Agency Approval P7 Outline/Dimensions [mm (in.)] 6.9 (.).6 (.6) 8.78 (.).8 (.97) R..9 (.9).7 (.7).9 (.)

5 P7 DC Modular Drives - P7 P7 Wiring Diagram STEP + STEP - DIR + DIR - ENABLE + ENABLE - FAULT + FAULT - GND DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT6 (MV SEL ) DIGITAL INPUT7 (EOT +) DIGITAL INPUT8 (EOT -) DIGITAL INPUT9 (HOME) + V ISO I/O COM NO CONNECTION NO CONNECTION NO CONNECTION RS- RX GND RS- TX RS- RX RS- RX GND GND RS- TX RS- TX J J 6 COMMAND I/O COMM PORT P7 S Motor Selection S- Motor Selection S-; ; Step Resolution S-; 6; 7 Load Inertia Ratio S-8; 9 Dynamic Smoothing S- Current Reductions S- Multi-Stepping S- Stall Detection F 9 A B C D E S S MOTOR A - A + B - B + EARTH GND J6 MOTOR POWER To avoid electrical shock, motor ground must be connected to protective earth. MAIN POWER - 7 VDC DC+ DC- EARTH GND J7 DC POWER See Installation Manual for CE Compliant Installation Instructions. Do NOT use J7 as an on/off switch as hot plugging damages the connector. 6

6 P7 Microstepping Drives Selection Guide P7 AC Packaged Drives - P76 Danaher Motion P76 Microstepping drives are Packaged, Functional and Flexible Packaged The Danaher Motion P76 AC stepper drive is a packaged drive including an integral power supply. The P76 AC step drive is compact yet loaded with power. With a standard input voltage of or VAC, this product is a perfect choice to apply anywhere throughout the world. Functional and Flexible brand, it can be configured to get the optimum power out of the motor. The P76 accepts either a or VAC single-phase power source in the same package. The drive can be set up using on-board selector switches or via the software utility provided, P7Tools. Current settings, Auto-Smoothing, are all selected through the switch settings. P7Tools includes a party motors, fine tuning and system archive and duplication. The P76 is offered in three standard versions. The P76-SD is designed with a conventional step and direction interface. Dedicated a position node indexing capability to the base drive. This allows the interface device. Agency Approval P76 Outline/Dimensions [mm (in.)]. (.6) (.). (.) 7 (6.7) 6 adds.7 (.) 7

7 P7 AC Packaged Drives - P76 P76 Wiring Diagram STEP + STEP - DIR + DIR - ENABLE + ENABLE - FAULT + FAULT - GND DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT (MV SEL ) DIGITAL INPUT (Jog +) DIGITAL INPUT6 (Jog -) DIGITAL INPUT7 (EOT +) DIGITAL INPUT8 (EOT -) DIGITAL INPUT9 (Fault Reset) + V PULL UP/DN OUT + (Motor Moving) OUT - (Motor Moving) NC RS- RX GND RS- TX RS- RX RS- RX GND GND RS- TX RS- TX J J 6 COMMAND I/O COMM PORT P76 S Motor Selection S- Motor Selection S-; ; Step Resolution S-; 6; 7 Load Inertia Ratio S-8; 9 Dynamic Smoothing S- Current Reductions S- Multi-Stepping S- Stall Detection See Installation Manual for CE Compliant Installation Instructions F 9 A B C D E S S MOTOR To avoid electrical shock, motor ground must be connected to protective earth. A - A + B - B + EARTH GND See Figures a - c below. J6 J7 MOTOR POWER AC POWER RS8 PORT RS8 PORT J J R Option See page 8 of reference guide for RS8 wiring diagram. Figure a: Connection for a VDC bus using VAC. Use these for motors with - mh inductance. Figure b: Connection for a VDC bus using VAC. Use these for motors with - mh inductance. Figure c: Connection for a 6 VDC bus. Use this for motors with 7- mh inductance. AC POWER J7 LINE N EARTH GND ~ AC POWER J7 LINE N EARTH GND ~ AC POWER J7 LINE N EARTH GND ~ Connecting VAC to pin of AC power connector damages the drive. 8

8 P7 Microstepping Drives Selection Guide SW GUI and Explanation P7Tools Our P7Tools utility makes it easy to get your system up and running. In fact, we believe it is so intuitive that you don t P7 Set Up Wizard P7 Tools Makes Complex Set-Up/Programming Very Straight Forward complex motion. Program up to 6 discrete move profiles. 9

9 Step Motor Outline Dimensions T-SERIES NEMA HIGH TORQUE MOTORS K SERIES NEMA HIGH TORQUE MOTORS Motor A MAX Length TH.6 T. T.6 T.6 X (8.8).8 X ø (.7).8 THRU EQUALLY SPACED ON A ø (98.).87 B.C. (. ±.).87 ±. MOTOR LEADS (.8) MIN. K +. (-.) -. T +. (-.) -.7 ø (7. ±.).87 ±. [ ] ød (.7). (.).6 L MAX. (8.8). Motor D K T L MAX K SERIES NEMA HIGH TORQUE MOTORS X (9.8). [ ] X ø (8.).8 THRU EQUALLY SPACED ON A ø (.7).9 B.C. (.9 ±.).7 ±. MOTOR (.8) Motor L MAX Length. 7. [ ] ø [ ] (ø. ±.) ø.86 ± (.6) (.).6 (.9).8 L MAX.

10 P7 Microstepping Drives Selection Guide Step Motor Outline Dimensions CT-SERIES NEMA 7 HIGH TORQUE MOTORS.68 (.67) MAX. (.).79 ±. (.7 ±.) MAX LENGTH. ±. (. ±.) Motor MAX Length CT.7 CT.6 CT.9 Ø.866 (.).86 (.9) Ø.969 (.).96 (.988) OPTIONAL MOUNTING M MOUNT = X M X. - 6H E MOUNT = X UNC #- B THREAD DEPTH.77 (.) MIN Ø.969 (.).96 (.988) OPTIONAL REAR SHAFT EXTENSION () MIN LEAD LENGTH #6 AWG (.mm ) CT-SERIES NEMA HIGH TORQUE MOTORS. (7.) MAX.86 (7.) X.8 (7.6).7±. (9.±.) MTG HOLES Ø. (.) MAX. LENGTH. (.).8±. (.6±.6) Ø. (6.).9 (6.7).(.) -A- Motor MAX Length CT.6 CT. CT. Ø.±. (8.±.6) Ø. (6.).9 (6.7). (.77) A # - GND SCREW.6 (.) DOUBLE ENDED SHAFT WITH ENCODER MOUNTING. (.77) A X #- UNC-B THRU ()MIN ON A Ø.8(6.) LEAD LENGTH # AWG(.mm ) OPTIONAL FLAT ON SHAFT.688 (7.) USEABLE FLAT.9 (.6) CT-SERIES NEMA HIGH TORQUE MOTORS Motor MAX Length CT. MTG HOLES Ø. (.66). (87.) MAX.7 (69.6) (X.8) (8.).9 ±. (. ±.) MAX. LENTH.9 (9.9). ±. (.7 ±.).88 () CT CT. (.) Ø.7 (9.).7 (9.) Ø. (.7).99 (.687) -A-.(.) Ø.87 ±. (7. ±.6).(.77) A.. (.7) (.) #6- GND SCREW DOUBLED ENDED SHAFT WITH ENCODED MOUNTING X #- UNC-8 THRU ON A Ø.8 (6.) B.C. () MIN LEAD LENGHT # AWG (.MM ).8 ().(.77) A

11 DC System Performance Curves Nema 7 - CT Series Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details. CTPxxx V 6V CTPxxx6 V 6V 6,,8,, 6,,8,, CTPxxx V 6V CTPxxx7 V 6V 6,,8,, 6,,8,, 8 6 CTPxxx V 6V 8 6 CTPxxx6 V 6V 6,,8,, 6,,8,,

12 P7 Microstepping Drives Selection Guide DC System Performance Curves Nema - CT Series Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details. 7 CTPxxx7 V 6V 7 CTMxxx9 V 6V 7 6,,8,, 6,,8,, 7 CTPxxx9 VDC 6 VDC CTMxxx V 6V 7 6,,8, 6,,8,, CTPxxx V 6V 6,,8,,

13 DC System Performance Curves Nema - CT Series Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details. CTPxxx7/CTMxxx7 (6V) CTPxxx7 CTMxxx7 6 CTPxxx/CTMxxx (7V) CTPxxx CTMxxx 6,,8,, 6,,8,, 8 6 CTPxxx7/CTMxxx7 (6V) CTPxxx7 CTMxxx7 8 6 CTPxxx7/CTPxxx7 (7V) CTPxxx7 CTMxxx7 6,,8, 6,,8,, 8 CTPxxx7/CTMxxx7 (6V) CTPxxx7 CTMxxx7 8 CTPxxx7/CTMxxx7 (7V) CTPxxx7 CTMxxx ,, 6,,8

14 P7 Microstepping Drives Selection Guide DC System Performance Curves Nema - K Series Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details V 6V 8 6 7V 6V 8 6 6,,8, 6,, V 6V V 6V 6,,8 6 6,,8 Nema - K Series V 6,,8

15 P7 Microstepping Drives Selection Guide AC System Performance Curves Nema -CT Series Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details. 7 CTPxxx/CTMxxx CTPxxx CTMxxx CTPxxx6/CTMxxx6 CTPxxx6 CTMxxx6 7 6,,8,, 6,,8,, Nema -CT Series 7 6 CTPxxx9/CTMxxx9 CTPxxx9 CTMxxx9 6,,8,, 8 6 CTPxxx/CTMxxx CTPxxx CTMxxx CTPxxx/CTMxxx CTPxxx CTMxxx 6 6,,8,, 6,,8,, 6

16 P7 Microstepping Drives Selection Guide AC System Performance Curves Nema - K Series Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details. 6 KLG-L KLG-L 8 6 KLG-L KLG-L 6 9,,8,8 6 9,,,8 KLG-L KLG-L KLG-L KLG-L 6 9,,,8 6 9,,,8 Nema - K Series LG-L 6 9,,,8, KLG-L KLG-L KLG-L 6 9,,,8 7

17 P7 Motor Selection Guide CT Series Enhanced CT Series K Series Configuration P7 P76 V 6V 7V V X X CTPxxx X X CTPxxx7 X X CTPxxx X X CTPxxx6 X X CTPxxx X X Nema CTPxxx7 X X CTPxxx7 X X X CTPxxx9 X X CTPxxx X X X CTPxxx X CTPxxx X X CTPxxx X X X CTPxxx X CTPxxx6 X Nema CTPxxx7 X X X CTPxxx X CTPxxx9 X CTPxxx7 X X CTPxxx6 X CTPxxx X CTPxxx7 X X CTPxxx7 X CTPxxx X Nema CTMxxx9 X X CTMxxx X X X CTMxxx X CTMxxx X X CTMxxx X X X CTMxxx X CTMxxx6 X Nema CTMxxx7 X X X CTMxxx X CTMxxx9 X CTMxxx7 X X CTMxxx6 X CTMxxx X CTMxxx7 X X CTMxxx7 X CTMxxx X Nema Parallel X X Parallel X X Parallel X X Parallel X X KxxxG Series X KxxxG Series X KxxxG Series X KxxxG Series X Nema Parallel X X KxxxG Series X KxxxG Series X below the specific voltage listed, please consult Danaher Motion. 8

18 P7 Microstepping Drives Selection Guide P7 Ordering and Product Information P7 Model Number Scheme P7 6 - SD N - xxx Stepper Drive Family P7 = P7 Series Customization Omit field for standard configurations Current Rating =. Arms continuous,. Apeak (AC models only) = Arms continuous, 7. Apeak (DC models only) Feedback Device Support Voltage Range = - 7 VDC 6 = / VAC Electrical Options Functionality SD = Step/Direction base drive Accessories Included in Standard Drive Package Connector kit for P76-SDN & P76-PNN Connector kit for P7-SDN & P7-PNN Accessories Not Included in Standard Drive Package Terminal Block adaptor for I/O connector. P7S--9D - RS serial communication cable (DB-9 to Mod Jack) - 6 feet External power supplies available. Contact factory for selection assistance. Find Additional P7 Product Information DanaherMotion.com offers many new tools to help serve your needs. We ve developed an intuitive Web-based system to increase your knowledge of motion control, search our vast Advisors), and easily locate your nearest Danaher Motion distributor or Sales office. Visit for more information and see our latest tools. 9