Parker HPD2N User Manual
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Parker HPD2N User Manual

Hpd n series high performance drive
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HPD N
(HPD2N, HPD5N, HPD8N, HPD16N,
HPD20N,HPD24N)
User's manual
rev. 8.5
November 2004
software rel. 41

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Summary of Contents for Parker HPD2N

  • Page 1 HPD N (HPD2N, HPD5N, HPD8N, HPD16N, HPD20N,HPD24N) User’s manual rev. 8.5 November 2004 software rel. 41...
  • Page 2 ACCELERATION CONTROL SOFTWARE & HARDWARE SPINDLE ORIENTATION EXPANSION FOR TOOL CHANGING RS-485 or RS-422 SERIAL LINK BUILT-IN P.L.C. Parker Hannifin S.p.A. HPD : Divisione S.B.C. Via Gounod, 1 – 20092 Cinisello B. everywhere (Milano) – Italy Phone: +39-02-66012478 Fax: +39-02-66012808 for any E-mail: drivesbc@parker.com...
  • Page 5 Guarantee cover is otherwise provided for 1 (one) year. This instruction manual is applicable to the standard version of the drive. Parker Hannifin S.p.A. - S.B.C. Division declines all liability for any whatsoever form of damage caused by inappropriate use of the drive.

  • Page 6: Table Of Contents

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual CONTENTS: 1. INTRODUCTION........................5 1.1. General information ....................... 5 1.2. Product description......................5 1.3. Direct mains connection....................6 1.4. Identification ........................6 2. Technical data ..........................7 2.1. Main hardware specifications..................7 2.2.
  • Page 7 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 5.1. Communication protocol....................81 5.2. Serial addresses and parameter lengths................ 87 6. Appendix A: HPD drive mechanical dimensions ..............89 7. Appendix B: hardware characteristics..................90 8. Appendix C: DC bus voltage thresholds .................. 91 9.

  • Page 8: Introduction

    In addition to the above functionality, the HPD drive is designed as an open system with the facility to accommodate hardware and software expansion cards. For further information on currently available expansion cards contact Parker Hannifin S.p.A. - S.B.C. Division directly or your local Dealer.

  • Page 9: Direct Mains Connection

    Previously, it was nearly 10 seconds. 1.4. Identification HPD drives are available in 6 models: HPD2N, HPD5N, HPD8N, HPD16N, HPD20N and HPD25N. The number that follows HPD is the value of drive rated current in amperes. Parker Hannifin S.p.A. Divisione S.B.C.

  • Page 10: Technical Data

    (see EN60204-1 standard, section 4.3.1). An excessive voltage may damage the drive. The following table describes the new ratings: Description Unit Value Mains voltage 90…480 HPD2N HPD5N HPD8N HPD16N HPD20N HPD24N Models Rated current Peak current (4 seconds) Input current Rated motor torque (@400 V~) 12.5...

  • Page 11: Software Features

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 2.2. Software features The following capabilities are implemented in the basic software supplied with the HPD drive: • Speed control • Advanced torque limit manager • Speed windows management • Positioning with trapezoidal speed profile •...

  • Page 12: Installation

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 3. INSTALLATION • The HPD drive must be installed in a vertical position (power terminal block X4 at the top). • Leave at least 190 mm clearance above and below the drive.

  • Page 13: Interference Suppression Hints

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 3.2. Interference suppression hints Because of the high speed voltage wavefronts in PWM, high levels of stray current may sometimes flow through capacitive couplings and earth systems. Stray currents of this type can affect other functional units.
  • Page 14 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Avoid: - routing noise emitting cables parallel to “clean” cables - parallel cables, especially in the vicinity of the filter (ensure physical separation) - cable loops (keep cables as short as possible and close to the common potential).

  • Page 15: Control Cubicle Layout Example

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 3.4. Control cubicle layout example All conductors down-line of the mains filter must be shielded and mounted to a copper bar with large contact area. Also the copper bar must present an ample area of contact with the cubicle mounting plate.

  • Page 16: Hpd Drive Mains Filters

    B rating add a transformer to the power supply (shielded primary and secondary). Users must allow space in the control cubicle to accommodate filters implemented at the time of the project. Parker Hannifin S.B.C. division filters provide both mains and motor output filter functions.
  • Page 17 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Configuration 1 Class A convertitori filtro rete RETE SBC3RDXX H P D H P D H P D H P D Where HPD rating is between 2 and 16 A...
  • Page 18 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Configuration 2 Class B drivesi mains filter motor filter MAINS SBC3RDXX H P D SBC3MYY H P D SBC3MYY H P D SBC3MYY H P D SBC3MYY Where HPD rating is between 2 and 16 A The sum of drive rated current values must not exceed the XX mains filter rated current can be 10 or 20 and represents the motor filter rated current;...

  • Page 19: Terminal Assignments

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 3.6. Terminal assignments Power Serial interface High Performance Drive Resolver Encoder IN Encoder OUT Analog signals and Control voltages and digitaloutputs digital inputs...
  • Page 20 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Terminal board X1 Terminal board X4 motor PTC + ( 24 V ) motor PTC - resolver, EXCT + resolver, EXCT - U PHASE resolver, SIN + V PHASE resolver, SIN -...

  • Page 21: Power Connections

    If cable length exceeds 35 m install a triple inductance between drive and motor with rated current identical to HPD rated current. Minimum conductor size is 1.5mm 2 for HPD2N and HPD5N , 2.5mm 2 for HPD8N and 4mm 2 for HPD16N, HPD20N and HPD24N.

  • Page 22: Power Connection Layout

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Earth connections To reduce the length of individual conductors that must be connected to earth we recommend using an earth busbar located as near as possible to the drive. The busbar must be made of copper to ensure low inductance. It must also be mounted on insulated fixings.

  • Page 23: Signal Cable Connections

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 3.9. Signal cable connections A twisted and shielded pair must be employed for the analogue reference. The cable for emulated encoder signals must comprise three twisted pairs with a common shield.
  • Page 24 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual In the first case the scheme to use is the follow: In case of parallel connections to more than one HPD, connections to pins 9, 5, 6, and 8, must be made only on the last drive in the group.
  • Page 25 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual When CLOCK and DIR signals are to 5Vdc, execute the connections: - Cable shielded with 3twisted pairs. - Connect the resistances near to the terminal of the drive (max. 5cm).

  • Page 26: Encoder Emulation

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 3.11.1. Encoder emulation On connector X7 there are signals of encoder emulation phase A, phase B and phase C (reference zero). The signals are RS-422 type. For the relative programming of pulses per revolution consult the Basic parameters chapter in this manual, bit b42.0, b42.1 and b42.2...

  • Page 27: Braking Resistor

    X4; connect one end of the resistor to terminal 9 and the other to terminal 11on X4. The external resistor value must be 40 ohm for HPD2N, HPD5N, HPD8N and HPD16N, 27 ohm for HPD20N and HPD24N, and a thermal magnetic circuit breaker must be installed between resistor and drive.

  • Page 28: Parameters And Programming

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4. PARAMETERS AND PROGRAMMING The features: torque, speed, acceleration and position control are the task of a dedicated electronic circuits. In this chapter you can see how to set up and the meaning of any parameter, functional block diagrams and advanced functions description too.

  • Page 29: Using The Keypad

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual The principal parameter units and resolutions are: parameter unit resolution speed revolutions per minute acceleration seconds / 1000 rpm. 0.001 position 4096 steps / revolution 1/4096 revolution current % of the drive peak current 4.1.

  • Page 30: Commissioning The Hpd Drive

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual In addition to the parameter values and the pico-PLC instructions, the display may show the following messages: r. xx At the time of power-up this message indicates the software version installed (2 seconds approx.).
  • Page 31 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual where: InM is rated motor current at zero rpm in Ampere InD is rated drive current in Ampere The maximum value of Pr33 is 50.0 except for HPD20N because the limit is 31.
  • Page 32 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual The drive is preset with default values designed to meet the requirements of the majority of applications. With the default values the pico-PLC in the drive runs the program described in...

  • Page 33: Basic Parameters

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr33 Rated current that can be delivered by the drive (can be maintained indefinitely) expressed in percent of the peak rated current of the drive. Pr35 Instantaneous current requested by the motor expressed as a percentage of drive peak rated current.
  • Page 34 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Internal reference . Unit=rpm, range=±9000, default=0. If b40.12=1 and b40.13=0, Pr7 will be the same as Pr5. Reserved read-only speed reference . Unit=rpm, range=±9000. If b40.2=1 Pr6 is only utilised as a speed reference for the control loop. The active operating mode will enter its speed request in parameter Pr6.
  • Page 35 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr19 Peak current . Unit=%, range=0..100.0%, resolution=0.1%, default=100.0%. Maximum current that the drive can deliver to the motor expressed as a percentage of drive peak current. It is good practice to maintain this value to within 3 times the rated motor current.
  • Page 36 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr33 Motor rated current . Unit=% of peak current, range=10.0..50.0%, resolution=0.1% default=50.0%. Enter motor rated current. Pr34 Tacho generator emulation output gain . Default=127. Use parameter 34 to alter analogue output gain in proportion to speed (terminal 9 on board X2). The analog output value (Volt) is: ⋅...
  • Page 37 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual BINARY PARAMETERS Binary parameter Pb40 can be read, written and saved. Binary parameter Pb41 provides information regarding system status. Parameters Pb42 and Pb99 are read/write parameters with save facility. b40.0 Selecting the first or second speed reference full scale value .
  • Page 38 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual b40.14 Serial communication enable . Default=0. Set this parameter to 1 to enable serial comms. b40.15 Reserved. Must remain on zero . b41.0 Overspeed . When the absolute motor speed value exceeds the value set in Pr13, b41.0 is on 1, otherwise it is on 0.

  • Page 39: Basic Commands

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual b42.6 Torque compensation . Default=1. When set to 1 torque compensation is implemented to improve linearity of response. b42.7 Reserved. b99.6 Extended menu enable . Default=0. Set to 1 to enable the extended menu.

  • Page 40: Calibrating Speed Loop

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.5. Calibrating speed loop IMPORTANT CONCEPTS SPEED LOOP: the main task of any drive is to control motor speed so that it follows, as faithfully as possible, the required speed, which is generally referred to as the REFERENCE.
  • Page 41 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual BEFORE STARTING Before starting observe figure 1. Fig. 1 The graph shows system response to a square wave speed reference. Channel 1 (Ch1) is speed and channel 2 (Ch2) is motor current. The channel 1 oscilloscope probe is connected to terminal 9 of X2 and channel 2 to terminal 7 of X2.
  • Page 42 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Fig.2 For higher values of Pr17 system response will resemble the situation of figure 3 below. Fig.3 The optimal value of Pr17 can be considered when system response is as shown in figure 4.
  • Page 43 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Fig.4 We must therefore obtain approximately 10% overshoot. Make sure that the overshoot is not followed immediately by undershoot. Once you have set the optimal value for Pr17 pay attention to the movement of the motor shaft: if it moves smoothly without vibration and noise, you can deduce that system calibration procedures are terminated.
  • Page 44 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Fig.6 If the driven mechanical system is prone to oscillation, we recommend using very low values for Pr16; in this configuration the HPD drive will smooth out motor torque requests to prevent the creation of mechanical oscillation.
  • Page 45 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual CALIBRATION WITHOUT INSTRUMENTS If an oscilloscope is not available, proceed as follows: A) Calculate the value of Pr16 as described earlier. B) Calculate Pr17 using the following formula: ⋅ ⋅...

  • Page 46: Operating Modes

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.6. Operating modes Operating modes are selected by means of parameter Pr31, whose default value is 0. Each operating mode commands a speed loop by means of parameter Pr6 and can limit motor torque with parameter Pr21 (see block diagrams).

  • Page 47: Low Voltage Procedure (Rel. Sw.41 Or More)

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr60:61 Reserved. Pr62:63 Reserved. Pr66:67 Reserved. 4.6.3. Low voltage procedure (rel. Sw.41 or more) 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.

  • Page 48: Maintenance And Commissioning

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.6.4. Maintenance and commissioning This operating mode is designed to assist technical personnel during commissioning. Mode 8 provides various tests to check drive wiring. It’s also possible to move the move the shaft manually by means of Pr50, b70.1 and b70.2 or using the internal profile generator,...

  • Page 49: Positioner

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr60:61 Reserved. Pr62:63 Reserved. Pr64:65 Reserved. Pr66:67 Reserved. Pr68:69 Reserved. b70.0 Start profile . Set 1 to execute the programmed profile. Remember to set b40.2=1 to effectively switch the speed reference to the control loop.
  • Page 50 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual PARAMETERS FOR OPERATING MODE 9 Pr50 Pulse input multiplication factor K . Default=1. If b70.9=1 frequency/direction input pulses are multiplied by Pr50 and the result is added to Pr64:65. The frequency input direction signal must be forced to a fixed level (logical 0).

  • Page 51: Digital Locking

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual b70.12 Reset type 3. Command to set the reference equal to the motor position. Accepted only when no profile is in execution. b70.13 Reserved. b70.14 Reserved. b70.15 Reserved. 4.6.6. Digital locking Operating mode 10 is a tracking function referred to a frequency input signal (connector X6) set as an encoder signal with b42.5=1;...

  • Page 52: Stepper Motor Emulation

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr59 Reserved. Pr60:61 Position controller reference. Unit=steps. Pr62:63 Motor position . Unit=steps, 4096 steps per revolution. Pr64:65 Reserved. Pr66:67 Reserved. Pr68:69 Reserved. b70.2 Digital locking engaged . During locking with ramp (Pr52) other than zero, this bit indicates the termination of the transitional phase.
  • Page 53 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pr57 Position control loop proportional gain . Default=100, range 0..32000. Pr60:61 Position control loop reference . Unit=steps. Pr62:63 Motor position . Unit=steps, 4096 steps per revolution. Pr64:65 Reserved. b70.5 Servo-error . b70.5 is set to 1 if the absolute position error is greater than the value in Pr56.

  • Page 54: Spindle Orientation

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.6.8. Spindle orientation When this mode (12) is selected it becomes operational when b40.2=1. The motor reaches the speed in Pr50 on the ramps in Pr52. It now spins at constant speed until it reaches the position set in Pr54;...
  • Page 55 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual • Read/write parameter PrX Pr X A = value of PrX • Read/write parameter PrX Pr X B = value according to values of A and PrX • Read-only parameter...
  • Page 56 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual left-sw b40.4 HIGH PERFORMANCE DRIVE offset right-sw b40.5 Pr 1 full scale main ref. ref. 1 MAIN BLOCK DIAGRAM stop b40.6 Pr 7 Pr 2 b40.0 torque demand ramps values...
  • Page 57 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual REFERENCE SELECTION offset Pr 1 full scale main ref. ref. 1 Pr 7 Pr 2 b40.0 ramps values Pr 3 full scale Pr 8 b40.12 ref. 2 Pr 9 b40.3 b40.2...
  • Page 58 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual ACCELERATION CONTROL OPERATING MODE ramps Pr 50 Pr 55 Pr 6 max speed reserved reference Pr 7 main ref MAINTENANCE & COMMISSIONING manual speed b70.1 OPERATING MODE Pr 50 b70.2...
  • Page 59 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual TRAPEZOIDAL POSITIONER OPERATING MODE in progress b70.6 b70.7 profile generator feed Pr 56 forward servo error b70.5 window servo error proportional reserved gain reference Pr 61:Pr60 Pr 57 Pr 6...
  • Page 60 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual STEPPER LIKE OPERATING MODE feed forward b70.6 Pr 56 servo error b70.5 window servo error k mul pulses input Pr 51 proportional gain Pr 61:Pr60 Pr 57 Pr 6 reserved reference...

  • Page 61: Digital Input And Output Programming

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.8. Digital input and output programming 4.8.1. Pico-PLC The internal pico-PLC makes it possible to connect peripheral systems (inputs/outputs) to the parametric system of the HPD drive. The PLC can be used to copy a digital input into a bit parameter, copy a bit parameter into a digital output and perform mathematical and boolean calculations.
  • Page 62 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual b90.X Digital input X status . If X is greater than 7, parameter with save facility at user’s disposal (b90.0 = drive enable). b91.Y Digital input Y status . If Y is greater than 7, parameter with save facility at user’s disposal.
  • Page 63 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual PLC INSTRUCTIONS Pa.y Pa.y load bit y of parameter Pa in the stack Pa.y Pa,y load inverted bit y of parameter Pa in the stack Pa.y Pa,y set bit y of parameter Pa to the value loaded in the stack Pa.y...
  • Page 64 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual OPERATIONAL DESCRIPTION The pico-PLC program is scanned every 6.144 msec; at each sampling first the inputs are read, then the two timers are updated (Pr92 Pr93 b99.0 and b99.1), the user program is scanned, and finally the outputs are updated.
  • Page 65 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual At the completion of each mathematical operation b99.2 is set to 0 if the result is positive, and to 1 if the result is negative; likewise, b99.3=0 if the result is zero and b99.3=1 if it is different from zero.

  • Page 66: Examples And Applications

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.8.2. Examples and applications The following examples illustrate possible functionalities obtained by suitable programming of the HPD pico-PLC. The suggested solutions offer the possibility of reducing the components required to build the machine or part of the machine while, in many cases, also cutting the overall cost of the application.
  • Page 67 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 4: filtered digital input at 60 msec 90.1 90.1 90.10 72 75 92 if digital input 1 is low, load 60 msec ANDN 90.10 on counter; 72,75,92 if digital input 1 is high for 60 msec 99.0...
  • Page 68 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 6: filter (600 msec) for reading the value of a parameter 99.13 35 60 60 Add Pr35 and Pr60 99.13 35,60,60 99.0 60 76 81 if timer 1 expired calculate filtered Pr35 99.0...
  • Page 69 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual In certain cases a more precise axis zero reference is required; this is achieved using, in addition to the proximity sensor on the machine, also the motor position transducer. In this setup the proximity sensor signal is correlated with the first zero on the motor position transducer.
  • Page 70 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 8: execution of modulus in digital locking (FILE: E001.HPD) To obtain the following functionality: with reference to the figure assume you have a conveyor transporting product and a blade roller driven by the HPD drive. At start up on an external command the blade roller is aligned with a zero reference (proximity sensor).
  • Page 71 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual BLADE PROX SENSOR SLAVE MOTOR SENSOR MASTER ENCODER When you have set the default values set the following parameters: Pr5=10 (homing speed), Pr31=10, b99.11=1, b40.2=1, b40.12=1, Pr52=0, b70.3=1, Pr87:86=modulus - ramp, Pr89:88=modulus in which the ramp is expressed in steps, i.e.
  • Page 72 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 70.8 Fast input for digital lock trigger 90.1 70.8 94.5 90.1 if the axis is locked 70.8 fast input disabled 91.1 94.5 and output enabled (cycle in progress) 91.1 if homing has been carried out the bit is 91.10...
  • Page 73 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 9: movement with digital locking and return to origin (FILE: E002.HPD) To obtain the following functionality: with reference to the figure below assume there is a conveyor transporting product and a carriage running parallel to the conveyor and controlled by an HPD drive.
  • Page 74 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 91.12 91.12 70.8 return start management 70.8 with trapezoidal profile 91.12 91.12 91.10 91.10 40.2 if homing exec. ref=pr6 40.2 locking start request 90.1 70.8 90.1 locking 70.8 cycle output on 91.1...
  • Page 75 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 10: Inter-Drive Communication IDC (Inter Drive Communication) refers to a specific configuration of the serial port of the HPD drive that makes it possible to interchange parameters between two or more units.
  • Page 76 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 11: 5 positioning with teach-in (FILE: E003.HPD) To obtain the following functionality: with reference to the figure, assume you need to acquire 5 different machine positions and then execute them automatically.
  • Page 77 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Input 6 Input 5 Input 4 position dimension Pr81:80 Pr83:82 Pr85:84 Pr87:86 Pr89:88 other combinations axis zero If you want to set the dimension from the keypad, press [F3] and the display will show the message “dimension xx...
  • Page 78 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 90.2 91.10 40.2 90.2 If digital input 2 and homing not ANDN 91.10 yet executed, executes homing 40.2 90.3 91.10 70.10 90.3 If digital input 3 and homing not ANDN 91.10 yet executed 91.10...
  • Page 79 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 12: 5 positioning (FILE: E004.HPD) Referring to the figure below, assume you need to move the carriage to 5 different positions selected by means of three digital signals. MOTOR...
  • Page 80 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual terminal 12 on X3 = execute positioning - pulse command terminal 13 on X3 = execute homing - pulse command terminal 14 on X3 = PNP axis zero proximity sensor...
  • Page 81 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Example 13: reading 4-digit controller (FILE: E005.HPD) You wish to change the value of parameter Pr83 using a 4-digit controller. Four digital inputs and four digital outputs are used for this:...
  • Page 82 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual CONNECTION OF 4-DIGIT PRESELECTOR 1 2 4 8 C 1 2 4 8 C 1 2 4 8 C 1 2 4 8 C x1000 x100 Example 14: programmable zero speed window Assume you want the value of the main analogue reference to remain below a programmable threshold when it is cancelled.

  • Page 83: Programming With Pcbrush

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 4.9. Programming with Pcbrush The HPD serial kit is supplied to enable communication between a PC and the drive. The kit includes an RS-422/RS-232 converter, relative 230V~ power supply and serial connection cable.

  • Page 84: Serial Interface

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 5. SERIAL INTERFACE The drive communication protocol is “master-slave” half-duplex type on an asynchronous RS-485/RS-422 line. The drives assume control of the line only following interrogation by the master. Up to 32 drives can be connected on the same serial line, allocating each a different serial address in parameter Pr27.
  • Page 85 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual The message structure is: [STX] [CMD+ADDR] [LUN] [PAR] [D0] ... [Dn] [CHK] where: [STX] = $7E transmission start indicator. If a field other than STX should assume the value $7E in the message, this field is followed by a ($00) to ensure that it cannot be interpreted as an [STX].
  • Page 86 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual [CMD4] = parameter read message; format: [STX] [100+ADDR] [LUN] [PAR] [CHK] [CMD5] = parameter write message; format: [STX] [101+ADDR] [LUN] [PAR] [D0] ... [Dn] [CHK] [CMD6] = byte parameter bit change message; format:...
  • Page 87 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual For parameter addresses and lengths refer to the relative table. In the case of PLC instructions, each one occupies 2 or 4 bytes, the format of which is described below.
  • Page 88 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Serial line application examples For a better understanding of how to implement the serial line communication protocol, we have provided a few examples for each type of message. The values are entered simply by way of example.
  • Page 89 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Case 6: setting a bit to 0 Assume you want to disable the drive by software (b40.9=0); assume that drive serial address is 0. The message to transmit is: [$7E][$C0][$02][$5D][$FD][$00][$1C]...

  • Page 90: Serial Addresses And Parameter Lengths

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 5.2. Serial addresses and parameter lengths Parameter Address Length Meaning 038h motor speed in rpm 034h analogue reference 03Ah full scale 1 03Ch full scale 2 036h frequency full scale...
  • Page 91 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Pb41 056h flags used by main block Pb42 060h flags used by main block Pr50 064h Pr51 066h Pr52 068h Pr53 06Ah Pr54 06Ch Pr55 06Eh Pr56 070h Pr57 072h...

  • Page 92: Appendix A: Hpd Drive Mechanical Dimensions

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 6. Appendix A: HPD drive mechanical dimensions 81.5 Dimensions can be changed at discretion of the manufacturer. drive type weight kg HPD2N HPD5N, HPD8N, HPD16N, HPD20N,HPD24N...

  • Page 93: Appendix B: Hardware Characteristics

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 7. Appendix B: hardware characteristics digital input input impedance 15..30 0..3 digital output type PNP open collector VH using internal supply 20..26 IO for single output IT current for all outputs using internal supply IT current for all outputs using ext.

  • Page 94: Appendix C: Dc Bus Voltage Thresholds

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 8. Appendix C: DC bus voltage thresholds 1024 OVER VOLTAGE Brake - high treshold Brake - low treshold normal operation area in-rush control excluded UNDER VOLTAGE in-rush control included The modification of the above thresholds makes potentially dangerous to wire together the DC BUSes of HPD”N”...

  • Page 95: Appendix E: Software Timers

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 10. Appendix E: Software timers Time slot Task running 256 μs Torque vector generation 512 μs Speed loop Fast operating mode manager Torque limit evaluation Speed reference manager Brake resistor manager Fast input 2.048 ms...

  • Page 96: Appendix F: Pico-Plc Default Program

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 11. Appendix F: pico-PLC default program 90.1 40.4 90.1 digital input 1 for left hand limit 90.10 switch enabled only if b90.10=1 OUTN 40.4 90.10 90.2 90.2 40.5 digital input 2 for right hand limit 90.10...

  • Page 97: Appendix G: Flash Information

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 12. Appendix G: flash information • USE b99.15 TO SAVE PARAMETERS • USE b99.14 TO SAVE PLC PROGRAM • TO CHANGE PLC INSTRUCTIONS b99.13 MUST BE AT 0 • WHEN CHANGING OPERATING MODE USE b99.11 TO LOAD DEFAULT PARAMETERS (b40.2=0)

  • Page 98: Appendix H: Alarms

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 13. Appendix H: Alarms If problems are encountered with the drive or the control system, use the following table to identify the fault and take the recommended corrective action. To cancel the error on the drive, first remedy the cause and then set Pb99.10 = 1 (reset).
  • Page 99 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Check the keypad connection and make sure it was installed correctly. The HPD’s LED display The drive goes in I T mode due to an overload (it required shows decimal points on more current that was available).

  • Page 100: Appendix I:options

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 14. Appendix I:options For the HPD converters, the following options are also available: Operator Interfaces Field bus interfaces profibus-dp EC-4 Device Net EC-4 CanBus EC-4 ModBus EC-4 Sercos EC-4 Absolut encoder interfaces...

  • Page 101: Appendix L: Ec4

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 15. Appendix L: EC4 15.1. Product description EC-4 is an expansion board for HPD-series converters which significantly improves performance. Basically, the code EC-4 identifies a hardware product. To use the EC-4, you need to install the software required.

  • Page 102: Block Diagram

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 15.3. EC-4 block diagram HPD bus ModBus link Can driver hpd bus-interface rs-485 driver LSPM-2 idt 7233 C167 2K x 16 dp ram profibus-dp Hiperface encoders controller interface AM 29F100...

  • Page 103: Product And Connectors Identification

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 15.4. Product and connectors identification The SW field on the label of the EC-4 panel must be filled in using indelible ink by the person who installed the software EC4 Exx...

  • Page 104: Installation

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 15.5. EC-4 installation ATTENTION HIGH VOLTAGE Before installing the EC-4 board, make surue that no wires are connected to the HPD converter. Remove the lower panel Insert the EC-4 board...

  • Page 105: Profibus-Dp Connector

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 16. Profibus-DP connector The Profibus-DP connector is a 9-pin female connector. PROFIBUS-DP CONNECTOR N. Pin Signal Description n.c. n.c. RxD / TxD – P Line of communication + CNTR – P...

  • Page 106: Can Bus Connector

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 17. Can Bus Connector The Can bus connector is a 9-pin male connector. CAN BUS CONNECTOR N. Pin Signal Description n.c. CAN_L Line of communication low CAN_GND Ground n.c. CAN_SHLD...

  • Page 107: Digital I/O

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 18. Digital I/O The Digital I/O connector is a 25-pin male connector DIGITAL I/O CONNECTOR N. Pin Signal Description DIN-0 DIGITAL INPUT 0 DIN-1 DIGITAL INPUT 1 DIN-2 DIGITAL INPUT 2...
  • Page 108 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual The output that guides an input of the EC-4 board must be a PNP type and have the 0V signal connected to one of the pins from 22 to 25.

  • Page 109: Encoder And Serial Link

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 19. Encoder and serial link The encoder connector and serial link is a 25-pin female connector. The pins of the encoder connector and serial link change meaning as a function of the connection and the drive software installed.
  • Page 110 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual Using the incremental encoder connection, you can connect an RS-422 5V differential auxiliary encoder. On the same connector, the voltage of the encoder itself is also available. To program the voltage see the relative table.

  • Page 111: Motion Functions Concepts

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 20. Motion functions concepts This is a series of software functions for the EC-4 board that can meet all modern application needs. The main characteristics are shown below. Speed mode Used to generate a position profile that allows you to control the speed of the motor with the programmed acceleration limits.

  • Page 112: Examples Of Applications

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21. Examples of applications 21.1. Power supply for presses Presses Encoder roller Plate SBC Motor Dispaly Modbus protocol SBC Drive + EC4 expansion board Positioning value control on external encoder or resolver...

  • Page 113: Electronic Cam

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.2. Electronic cam Dispaly SBC Motor SBC Driver + EC4 expansion board Slave Master Homing function Electronic cam which can be stored on the EC-4 board Hold function to disengage and reengage the cam at a given master position An external device can be connected using Profibus DB, DeviceNet, or RS-422 serial interface in order change cam points in real time.

  • Page 114: Positioner With 250 Preset Levels

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.3. Positioner with 250 preset levels SBC Motor - Vertical axe SBC Motor - Horizontal axe Display Profibus DP connection to control device 250 preset levels incremental or absolute Encoder...

  • Page 115: Two-Axis Extractor

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.4. Two-axis extractor Extraction axe T eaching axe motor T eaching axe Extraction axe motor SBC Drive + EC4 expansione board Positioning value control on external incremental encoder, SSI encoder, or resolver...

  • Page 116: Vertical Robot

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.5. Vertical robot Vertical Robot SBC Driver + EC4 expansion board External Control CAN BUS line Interconnection of seven axes by SBC CAN BUS with ring management of space within...

  • Page 117: Continuous Press

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.6. Continuous press Serial connection and monitorin system HPD + EC4 expansion board SBC Motor Laser press roller On-the-fly correction of press module synchronism Serial control of motion parameters...

  • Page 118: On The Fly Cutting

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.7. On the fly cutting Encoder SBC Motor SBC Drive + EC4 expansion board Dispaly Modbus protocol Engage electric shaft with the line with phase recovery Ability to program n formats...

  • Page 119: Heat Sealer

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 21.8. Heat sealer serial connection to monitoring system HPD + EC4 expansione board SBC Motor Photoelectric cell. rolling press Heat sealer On-the-fly correction of bag size Serial control of motion parameters...

  • Page 120: Appendix M: External Bracking Modul

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 22. Appendix M: external bracking modul TECHNICAL CHARACTERISTICS Resistance value: RFE1 = 40 ohm, RFE2 = 27 ohm IP protection Max power dissipated 1000 W Max ambient temperature 45° C Delta T 90°...
  • Page 121 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual...

  • Page 122: Appendix N Application Description Form

    This will also enable us to tailor our technical support to your individual requirements. Fill in these forms in full and keep them with the machine technical documentation to facilitate maintenance. Parker Hannifin S.p.A. - Divisione S.B.C. / ITALY R & D department fax: +39-2-66016116 CUSTOMER name ..........
  • Page 123 Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual AMPLIFIER PROGRAMMING value value value value 42.5 70.6 42.6 70.7 42.7 70.8 70.9 70.10 40.0 70.11 40.1 70.12 40.2 70.13 40.3 70.14 40.4 70.15 40.5 40.6 40.7 40.8 60:61 40.9 62:63 40.10...

  • Page 124: Revision History Of The User's Manual

    Parker Hannifin S.p.A. - S.B.C. Division HPD N User’s Manual 24. Revision history of the User’s Manual Rev. 8.2 January 2004 sizing resistance of braking, sketch of connection procedure low tension given adjournment from the addendum appendix on form of external braking from 1kW...

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