P7000 Microstepping Drives Selection Guide

Transcription

1 P7 Microstepping Drives Selection Guide

2 Introduction New Name, Established Brands Danaher Motion s wide range of motion control systems and components offer customers an unprecedented choice in selecting the right solution for their particular application requirements. Our product innovations have been improving the efficiency and productivity of complex manufacturing operations for over 6 years through trusted brand names such as Dover, Kollmorgen, Pacific Scientific, Portescap and Thomson in industries as diverse as semiconductor, aerospace and defense, mobile-off-highway, packaging, medical and robotics. Danaher Motion s growing family of leading motion control products tells only half the story. With a worldwide service and support infrastructure, our field service engineers and support teams are available when you need them. It is part of the Danaher Corporation s unrelenting focus on you, our customer. That s why more and more design engineers are turning to Danaher Motion to meet their motion control requirements. Pacific Scientific P7 Drives and Step Motors - Choices without compromise. Our new Pacific Scientific P7 stepper drives and motors provide you servo-like system performance with the cost and simplicity of a stepper solution. System selection couldn t be easier. Choose from a select set of optimized motor drive combinations with the wide range of standard motor features you come to expect from Pacific Scientific. Looking for a little more performance? The P7 drives bring you a unique level of system smoothness, functionality, high-speed performance and innovation unmatched in the industry. Continuous Improvement It s the Danaher Way At Danaher, we are passionate about continually improving our operations to bring increasing value to our customers. The Danaher Business System (DBS) helps us improve the efficiency of our manufacturing and product development processes. DBS is a team-based approach based on the principles of Kaizen that lets us continuously and aggressively eliminate waste in every aspect of our business operations. The DBS focuses our entire organization on achieving breakthrough results that create competitive advantage in quality, delivery and performance advantages that we pass on to you, our customer. Whatever your motion control requirements may be, Danaher Motion has a solution that is right for you. Our unsurpassed product selection and service means faster time to market, higher reliability and increased productivity. Let the experts at Danaher Motion put a world of motion control solutions at your fingertips. Your World in Motion. Control It.

3 P7 Microstepping Drives Selection Guide P7 Introduction P7 Step Drives Danaher Motion introduces Pacific Scientific s P7 Series Step Motor Drives. Previously unheard of stepper features allow the P7 to provide true servo-like performance at a fraction of the cost. The P7 Step motor drives are the next generation of Pacific Scientific 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 -phase NEMA step motors with appropriate electrical characteristics (see page 5). The AC drive has an input voltage of or Vac and the P7 DC drive is rated for -75 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 Pacific Scientific 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 Graphical User Interface (GUI). A full line of standard PacSci stepper motors can be set up with the on-board switches. The GUI is also perfect with standard PacSci stepper motors and alternative motor types or one 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. Motor Stall Detection w/o Feedback for use with selected PacSci step motors Multistepping coarse steps to micro-steps Motor Wave Shape Tuning for ultra smooth low speed operation Mid-Band Anti-Resonance Control Idle & Rest Current Adjustment Optional Position Node (-PN model)

4 P7 Introduction P7 Step Drives (cont d) Stall Detection Digitally configured via DIP switches or through the GUI. Motor Stalling can be detected for select Pacific Scientific step motors. This is the only reliable stall detection method available to date which does not require a feed back device. 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. Motor Wave Shape Tuning Advanced current auto-tuning techniques provide extreme low speed smoothness comparable to many servo systems, but at a fraction of the cost. Whether using a standard PacSci stepping motor or another type, the drive probes the motor to determine it s electrical and mechanical characteristics. The current control algorithms are then optimized to the motor. Mid-Band Anti-Resonance Control All open loop stepper systems inherently are susceptible to mid-speed torque loss due to mechanical resonance in the system. The P7 utilizes pulse placement techniques to minimize mid-speed torque loss. Current Reduction Reduce motor heating and power consumption when the motor is at rest. The current can be scaled from -% in % increments. Internal Motion Engine An optional Motion Profile Generator adds enhanced indexing capabilities at significant savings when compared to the cost of a standard indexer. This allows the user to store up to 6 independent moves which can be executed via move select (BCD) inputs. Moves can be chained conditionally together creating the ability to generate numerous motion profiles. The GUI includes a Fill in the Blank Wizard to assist you in developing your profiles. MOTIONEERING Software makes the selection process easy. MOTIONEERING is a menu driven, Windows -based program that automatically takes into account load, motor and drive parameters. A wide variety of mechanisms are accommodated including: lead screw, rack and pinion, conveyor (belt and pulley), nip rolls, and rotary, as well as direct data entry. MOTIONEERING provides a versatile environment for choosing the optimum system for your application, and is available free of charge.

5 P7 Microstepping Drives Selection Guide P7 Features Features Open Loop Stall Detect (OLSD) allows detection of stalled motor without an encoder or resolver for select Pacific Scientific step motors. Multi-Stepping allows low-resolution full step input pulses to be converted to smooth micro stepping commands. Dynamic Smoothing rounds the edges of the move profile (psuedo-s curve). Minimizes jerk during acceleration. Xtreme Smoothing eliminates the effects of the motor s natural resonance frequencies. Provides more usable torque throughout the speed range. Anti-Resonance best performing and largest range in the industry (7. ). Provides optimum torque and nulls midrange instability. Programmable jog function with dual speed settings on -SD, -PN and R (Note: R is only available on P76) models. Current reduction modes with programmable time and reduction amount. Nine programmable inputs allow Jog+, Jog-, Jog Speed, EOT+, EOT-, Move Select, Soft Reset, Start Move, Start/Stop Move, Stop Move, On Edge and Home. Fault Output and one user-configurable output 5- VDC. All I/O user configurable to active high or active low operation 5- VDC. Compact size and ability to mount tightly together. Agency approvals UL recognized 58C, type R file #E7798, CE compliant, EMC standard EN68- and safety EN578. Flash Firmware for field retrofittable upgrades. Diagnostic LEDs provide easy drive assessment. RS Standard (Both P76 and P75) RS85 Option (P76 Only) Configurable software for custom motor options and fine tuning. Optional Position Node feature allows simple indexing up to 6 moves. Specifications Units P75 P76 Input Voltage Range Volts - 75 VDC or VAC Continuous Current Amps rms 5.5 Microstep Peak Current Amps peak 7..5 Dedicated Inputs* - Programmable Inputs* - +/-Enable, +/- Step & Dir* 5 VDC TTL 9 Configurable, Optically Isolated* 5- VDC Sinking or Sourcing +/-Enable, +/- Step & Dir* 5 VDC TTL 9 Configurable, Optically Isolated* 5- VDC Sinking or Sourcing Fault Output, user-configurable output - Open collector 5- VDC Open collector 5- VDC Idle Current Reduction Integer Settable -% Settable -% Step Resolution - -5 steps/rev -5 steps/rev Package Size W x D x H Inches (mm). x. x. (9 x x 7).6 x 5. x 6.7 (5. x x 7) Ambient Temperature Degrees C -5-5 Max Chassis Temperature Degrees C 7 7 Motor Frames - Nema 7,,, Nema,, Max Shaft Power Watts 55 Speed Range Revs/Second -5-5 Motor Inductance Range mh -5 * A current limit resistor is needed over 5V. See Reference Guide and Installation Guide for details. 5- ( VDC BUS) 7- (6 VDC BUS)

6 P7 DC Modular Drives - P75 Pacific Scientific P75 Microstepping drives are Modular, Functional and Flexible Modular The Pacific Scientific P75 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 The drive is designed to power -phase NEMA 7 frame motors with appropriate electrical characteristics (see pg. 5). Whether you are using a Pacific Scientific brand or other it can be configured to get the optimum power out of the motor. With a wide input voltage range of -75 VDC the P75 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, Motor Wave Shaping, Mid-Band Anti-Resonance and current reduction are all selected through the switch settings. P7Tools includes a Graphical User Interface (GUI) to allow set-up for custom windings, third party motors, fine tuning and system archive and duplication. The P75 is offered in two standard versions. The P75-SDN is designed with a conventional step and direction interface. Dedicated inputs are available for Jog+/-, enable and Step/direction control. The user provides the pulse train to rotate the motor. The P75-PNN adds a position node indexing capability to the base drive. This allows the user to program up to 6 independent moves. These moves can be executed through move select (BCD) inputs. Agency Approval CUL, CE P75 Outline/Dimensions [mm (in.)] 6.9 (.).6 (.6) 8.78 (.).8 (.97) R..9 (.9).7 (.7).95 (.5) 6

7 P7 Microstepping Drives Selection Guide P7 DC Modular Drives - P75 P75 Wiring Diagram MOTOR STEP + STEP - DIR + DIR - SD + SD - FAULT + FAULT - GISO IN (MV SEL ) IN (MV SEL ) IN (MV SEL ) IN (MV SEL ) IN5 (MV SEL ) IN6 (MV SEL ) IN7 (EOT +) IN8 (EOT -) IN9 (HOME) + 5 V ISO I/O COM NC NC NC RS- RX GISO RS- TX RS- RX RS- RX GISO GISO RS- TX RS- TX A - A + B - B + EARTH GND J J5 5 6 J6 5 COMMAND I/O COMM PORT MOTOR POWER P75 To avoid electrical shock, motor ground must be connected to protective earth. MAIN POWER - 75 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. 7

8 P7 AC Packaged Drives - P76 Pacific Scientific P76 Microstepping drives are Packaged, Functional and Flexible Packaged The Pacific Scientific 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 The drive is designed to power -phase NEMA - frame motors with appropriate electrical characteristics (see page 5). Whether you are using a Pacific Scientific brand or other 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, Motor Wave Shaping, Mid-Band Anti-Resonance and current reduction are all selected through the switch settings. P7Tools includes a Graphical User Interface (GUI) to allow set-up for custom windings, third party motors, fine tuning and system archive and duplication. The P76 is offered in three standard versions. The P76-SDN is designed with a conventional step and direction interface. Dedicated inputs are available for Jog+/-, enable and Step/direction control. The user provides the pulse train to rotate the motor. The P76-PNN adds a position node indexing capability to the base drive. This allows the user to program up to 6 independent moves. These moves can be executed through move select (BCD) inputs. Agency Approval CUL, CE P76 Outline/Dimensions [mm (in.)] 5. (.6) RS 85 option adds 5.89 (.) (.) 7 (6.7) 6 (6.8).8 (5.7) RS 85 option adds.7 (.)

9 P7 Microstepping Drives Selection Guide P7 AC Packaged Drives - P76 P76 Wiring Diagram STEP + STEP - DIR + DIR - ENABLE + ENABLE - FAULT + FAULT - GND DIN (MV SEL ) DIN (MV SEL ) DIN (MV SEL ) DIN (MV SEL ) DIN5 (Jog +) DIN6 (Jog -) DIN7 (EOT +) DIN8 (EOT -) IN9 (Fault Reset) + 5 V PULL UP/DN OUT + (Motion Node Active) OUT - (Motion Node Active) NC RS- RX Gnd RS- TX J COMMAND I/O P76 See Installation Manual for CE Compliant Installation Instructions. RS- RX RS- RX GND GND RS- TX RS- TX J5 5 6 COMM PORT MOTOR To avoid electrical shock, motor ground must be connected to protective earth. A - A + B - B + EARTH GND See Figures Xa - Xc below. J6 5 J7 MOTOR POWER AC POWER RS85 PORT RS85 PORT J 5 J 5 R Option See page 8 of reference guide for RS85 wiring diagram. Figure Xa: Connection for a VDC bus using VAC. Figure Xb: Connection for a VDC bus using VAC. Figure Xc: Connection for a 6 VDC bus. 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. Use these for motors with 5- mh inductance. ~ AC POWER J7 LINE N EARTH GND Use this for motors with 7- mh inductance. ~

10 SW GUI and Explanation P7Tools P7Tools is Pacific Scientific s latest Graphical User Interface (GUI) to date. Whether you are an experienced Microsoft Windows user or not, this utility makes it easy to get your system up and running. In fact, we believe it is so intuitive that you don t even need a manual. Just run the software and the Set Up Wizard will help you along. P7 Set Up Wizard The wizard then guides you through the mechanical configuration, drive command type and finally the I/O set up. In a matter of minutes your system is set up and you re ready to spin the motor. You can set up to 6 moves with the optional motion node. First you select the drive type. Then select your motor. The cursor highlights the subfolder being updated. Position Node For experienced users the Wizard is easily turned off. There are a number of advanced features, which give you the ability to control the motor like no other drive in the industry. Jog the motor with a click of your mouse. Moves can be chained together. Program up to 6 difficult move profiles.

11 P7 Microstepping Drives Selection Guide Step Motor Outline Dimensions T-SERIES NEMA HIGH TORQUE MOTORS N&K SERIES NEMA HIGH TORQUE MOTORS Motor AMAX Length TH.6 T. T.6 T.6 X 5 (85.85).8 X ø (5.57).8 THRU EQUALLY SPACED ON A ø (98.5).875 B.C. (. ±.5).875 ±. MOTOR LEADS (.8) MIN. K +. (-.5) -. T +. (-.) -.7 ø (7.5 ±.5).875 ±. [ ] ød (.75).5 (.5).6 L MAX. (8.8). Motor D K T LMAX HR HR HR HR N&K SERIES NEMA HIGH TORQUE MOTORS X 5 (9.85).5 [ ] X ø (8.).8 THRU EQUALLY SPACED ON A ø (5.7).95 B.C. (.9 ±.5).75 ±. MOTOR (.8) Motor LMAX Length HR 5. HR 7. [ ] ø [ ] (ø 55.5 ±.5) ø.86 ± (55.6).9 (.5).6 (.9).8 L MAX.

12 DC System Performance Curves P75 System Curves Speed Torque THH-L Speed Torque THG-L 8 6 6V V V V Speed Torque THH-L Speed Torque KHJ-L 5 6V V 7 6 7V 6V Speed Torque KHJ-L Speed Torque KHJ-L 7V 6V 8 6 7V 6V Speed Torque KHJ-L Speed Torque KHJ-L 7V 8 6V V 5 6

13 P7 Microstepping Drives Selection Guide DC System Performance Curves P75 System Curves (cont d) Speed Torque NHJ-L Speed Torque NHJ-L 5 7V 5 6V V 6V 5 6 Speed Torque NHJ-L Speed Torque NHJ-L V 6V 8 6 7V 6V Speed Torque NHJ-L 7V

14 DC System Performance Curves P76 System Curves - VDC Bus Speed Torque TMotors Speed Torque K/N 5 5 TLC-L TLC-L TC-L 6 5 KLG-L NLG-L 5 5 SPEED (RPS) SPEED (RPS) Speed Torque K/N KLG-L NLG-L 8 6 Speed Torque K/N KLG-L NLG-L SPEED (RPS) SPEED (RPS) Speed Torque K/N Speed Torque K/N KLG-L NLG-L KLG-L NLG-L SPEED (RPS) SPEED (RPS) Speed Torque K/N 5 KLG-L NLG-L SPEED (RPS)

15 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 =.5 Arms continuous,.5 Apeak (AC models only) 5 = 5 Arms continuous, 7. Apeak (DC models only) Feedback Device Support N = None Voltage Range = - 75 VDC 6 = / VAC Functionality PN = Motion Node indexing SD = Step/Direction base drive R = RS85 (P76 only) Electrical Options = None Accessories Connector kit for P76-SDN & P76-PNN included in standard drive package at no additional cost. P7S--9D - RS serial communication cable (DB-9 to Mod Jack) - 6 feet, sold separately Terminal Block adaptor for I/O connector, sold separately Connector kit for P75-SDN & P75-PNN included in standard drive package at no additional cost 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 product selection by product attribute (using our New Product Advisors), and easily locate your nearest Danaher Motion distributor or Sales office. Visit for more information and see our latest tools. 5

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