Danaher Motion P70360 Reference Manual
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Danaher Motion P70360 Reference Manual

High performance microstepping drive
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P70360 (AC) High Performance Micro-
stepping Drive
Reference Guide
Part # M-SD-7AC-01
Rev D
Keep all product manuals as a product component during the life span of
the stepper drive.
Pass all product manuals to future users/owners of the stepper drive.
Helping you build a better machine faster.

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Summary of Contents for Danaher Motion P70360

  • Page 1 P70360 (AC) High Performance Micro- stepping Drive Reference Guide Part # M-SD-7AC-01 Rev D Keep all product manuals as a product component during the life span of the stepper drive. Pass all product manuals to future users/owners of the stepper drive.
  • Page 2 Printed in the United States of America NOTICE: Not for use or disclosure outside of Danaher Motion except under written agreement. All rights are reserved. No part of this book shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without the written permission from the publisher.

  • Page 3: Table Of Contents

    Danaher Motion 04/06 Table of Contents Table of Contents GETTING STARTED ....................1 ...................2 NPACKING AND NSPECTING ......................2 UMBER ......................2 CCESSORIES ......................3 PECIFICATIONS 1.4.1 ....................3 RIVE OWER 1.4.2 I/O S ..................4 PECIFICATIONS 1.4.3 .....................4 NVIRONMENTAL ..................4 ARDWARE NSTALLATION 1.5.1 AC B ............5...
  • Page 4 Table of Contents 04/06 Danaher Motion 4.4.3 ................25 TEPPER OTOR CREEN 4.4.3.1. Motor File Editor.................. 26 4.4.4 ....................27 ECHANICAL 4.4.4.1. User Units Ratio.................. 28 4.4.4.2. Load Information ................. 28 4.4.5 ................29 OMMAND ONFIGURATION 4.4.6 I/O C ..................30 ONFIGURATION 4.4.6.1. INPUTS....................31 4.4.6.2.

  • Page 5: Getting Started

    Danaher Motion 04/06 Getting Started GETTING STARTED Read this reference guide before you apply power to the drive. Mis-wiring of the drive may result in damage to the unit voiding the warranty. Improper grounding of the drive may cause serious injury to WARNING the operator.

  • Page 6: Unpacking And Inspecting

    Option 3 - 20 - 75 VDC 0 - no option 6 - 120/240 VAC CCESSORIES 106-113020-01 Base drive P70360-SDN or P70360-PNN Connector kit 106-113023-01 RS-485 drive P70360-R4N Connector kit 768-026902-01 26-pin D-Sub connector to terminal block adapter P7S2-232-9D RS-232 Serial cable RJ12 to 9 pin D-Sub connector 6 feet...

  • Page 7: Specifications

    Danaher Motion 04/06 Getting Started PECIFICATIONS Unless otherwise specified, the specifications are worse-case limits and apply over the specified operating ambient temperature and over the specified operating line voltage. NOTE 1.4.1 DRIVE POWER Specification P70360 Max Output Current (0-40° C) 2.5 A...

  • Page 8: I/O Specifications

    ARDWARE NSTALLATION Mount the P70360 to a cold plate using either 8x32 or M4 screws. It should be mounted upright with the heat sink fins on the left side of the drive. For convection cooling allow a minimum of 1 in (25.4 mm) of space around all sides.

  • Page 9: Ac Base Drive Mounting Dimensions

    Danaher Motion 04/06 Getting Started 1.5.1 AC BASE DRIVE MOUNTING DIMENSIONS 5.700 in [144.78 mm] M-SD-7AC-01 Rev D...

  • Page 10: Ac Drive With R4N Rs-485 Option Card

    Getting Started 04/06 Danaher Motion 1.5.2 AC DRIVE WITH R4N RS-485 OPTION CARD 5.730 in [145.52 mm] Rev D M-SD-7AC-01...

  • Page 11: Wiring

    Danaher Motion 04/06 Wiring WIRING ONNECTOR OCATIONS With the option of RS485 there are added connector locations added. (See J2 and J3 in the diagram below.). NOTE P7000 R4 Option M-SD-7AC-01 Rev D...

  • Page 12: Functions B Y Connector

    Wiring 04/06 Danaher Motion UNCTIONS ONNECTOR 2.2.1 J2 & J3 – RS-485 Master GISO Internal to Drive Before connecting units on a multidrop bus, each individual unit must be configured with a unique unit address. NOTE 2.2.2 J4 CONNECTOR – COMMAND I/O J4 is a 26-Position High Density D subminiature female connector.

  • Page 13: Step, Direction And Enable Inputs

    Step, Direction and Enable Inputs 2.2.2.1. Step Input The P70360 increments its internal step counter on the ON-to- J4 1, 2 OFF transition of the LED in an opto isolator. Minimum ON and minimum OFF times are both 250 ns. This results in a maximum step input frequency of 2 MHz.
  • Page 14 Wiring 04/06 Danaher Motion Direction Input J4 3, 4 The DIRECTION input is similar to the step input except that it employs a slower opto isolator. Allow for a 55 µs setup time from changes at the DIR input prior to transition of the STEP input.

  • Page 15: Connection Scheme For Differential Step And Direction Signals

    Danaher Motion 04/06 Wiring Connection Scheme for Differential Step and 2.2.2.2. Direction Signals Internal to Drive INDEXER Step + Step + Shield Step - Step - Series Limiting Resistor Common/GND 100 (Vp-5) ohm (See Note) Always use shielded, twisted-pair cable for step and direction signals.

  • Page 16: General Purpose Inputs

    Danaher Motion General Purpose Inputs 2.2.2.4. There are nine configurable General Purpose Inputs (GPI’s) on the P70360 drive. All the inputs share a common optically isolated bus (Pull Up/Down). The common bus simplifies the wiring allowing a common point to connect either sinking or sourcing input devices.

  • Page 17: Fault Output (J4-7, 8)

    Danaher Motion 04/06 Wiring The GPI defaults for the P70360-SDN include Jog+, Jog-, EOT+, EOT- and Fault Reset. MV SEL 1, MV SEL 2, MV SEL 3 & MV SEL 4 are the additional GPI defaults when using the P70360-PNN.

  • Page 18: J5 Serial Connector (Rs-232)

    Wiring 04/06 Danaher Motion 2.2.3 J5 SERIAL CONNECTOR (RS-232) RJ12/RJ11 Phone Style Description J5-1 No Connection J5-2 RX232 J5-3 I/O RTN J5-4 No Connection P7S2-232-9D J5-5 TX232 No Connection J5-6 RJ12/RJ11 Phone Style Standard RJ12/RJ11 Plug Parameter Specification Baud rate...

  • Page 19: Connecting A Motor

    4-flying lead configuration. If your motor has 6 or 8 leads, you should consult your distributor or the factory for assistance. If you are using a motor other than a Danaher Motion brand, make certain that the insulation material is rated for 230 VAC operation.

  • Page 20: J7 Connector - Ac Power

    Wiring 04/06 Danaher Motion 2.2.5 J7 CONNECTOR – AC POWER (Connector view from front of drive). Do NOT inadvertently plug the AC connector into the motor connector on the drive. This damages the drive! CAUTION J7 AC Power for 320 VDC Bus...

  • Page 21: Configure The Drive With Switches

    Danaher Motion 04/06 Configure the Drive with Switches CONFIGURE THE DRIVE WITH SWITCHES The drive is configured by either using P7000Tools or the switches on the top of the drive. The instructions that follow detail how to configure the drive using the switches.

  • Page 22: Step

    Configure the Drive with Switches 04/06 Danaher Motion OTOR ESOLUTION Step Resolution (steps/motor revolution) Resolution S2-2 S2-3 S2-4 5,000 10,000 18,000 25,000 25,400 50,000 NERTIA The P7000 eliminates resonance, typical of step motors, with high-speed, digital processing of motor electrical activity. To use this feature, you must set three switches based on the load-to-rotor inertia ratio.

  • Page 23: Dynamic Smoothing

    Danaher Motion 04/06 Configure the Drive with Switches ™ YNAMIC MOOTHING Dynamic smoothing is a temporal filter ( 2nd- Order, Low-pass) applied to the command sequence to reduce jerk. It helps reduce overshoot and lessens the excitation of mechanical resonance in the system. It filters from...

  • Page 24: Encoderless

    TALL ETECTION The P70360 drive is uniquely designed to sense the motor shaft position at all times. The drive monitors the commanded position and compares it to the actual position. As with any 2 phase step motor, when the shaft position and commanded position are greater than two full steps apart a stall will be detected and the drive will fault.

  • Page 25: Using P7000Tools

    Danaher Motion 04/06 Using P7000Tools USING P7000TOOLS P7000TOOLS NSTALLING When you install P7000Tools, the Installation Wizard will check to see if you have a previous version of P7000Tools on your system. If found, it will uninstall it. After this, you will need to run the installation again to install the new version on your system.

  • Page 26: Toolbars

    Using P7000Tools 04/06 Danaher Motion OOLBARS Utilities Toolbar Creates a new project file in P7000 New Project Tools Opens an existing project file in P7000 Open Project Tools Save Project Saves the current project to a file Prints the selected drive configuration...

  • Page 27: Configuration And

    Danaher Motion 04/06 Using P7000Tools ONFIGURATION AND DDRESS If the globe on drive icon is green, then the program in the PC is identical to that in the drive. If the globe is yellow, then the program in PC is different from that in the drive.

  • Page 28: Status Screen

    Using P7000Tools 04/06 Danaher Motion 4.4.1 STATUS SCREEN Double-click to reset to zero System Status Disconnected Not online with the drive. Indicator off. Drive blinking green indicates online, but not enabled. Disabled Ready Drive online and enabled. Solid green indicator.

  • Page 29: Configuration Summary

    Danaher Motion 04/06 Using P7000Tools 4.4.2 CONFIGURATION SUMMARY The PRINT button is only available on this screen. The configuration summary is displayed. 4.4.3 STEPPER MOTOR SCREEN Motor Name Select from the list or create a custom file using Motor File Editor (see next section for details).

  • Page 30: Motor File Editor

    Using P7000Tools 04/06 Danaher Motion Operating Current Continuous current rating for the selected motor. Peak current rating for the selected motor. (Calculated by GUI based PEAK on continuous current rating.) Tooth Count Number of magnetic poles on the stator. Peak Torque Peak torque capability of the motor.

  • Page 31: Mechanical

    Danaher Motion 04/06 Using P7000Tools This screen is where you will enter custom motor parameters. The steps to define a custom motor are: Properties: The Properties box must be populated with values from a motor data sheet. All other values are calculated by the GUI software.

  • Page 32: User Units Ratio

    Using P7000Tools 04/06 Danaher Motion User Units Ratio 4.4.4.1. These values are used as parameters by the Move Profile Editor. NOTE Units Can be set to one of the following: Steps Revolutions Millimeters Inches Motor revs/rev This is a scaling function used in the Motion Node to accommodate a gearbox.

  • Page 33: Command Configuration

    Danaher Motion 04/06 Using P7000Tools 4.4.5 COMMAND CONFIGURATION Command Signal Configuration Here you can check the Step Resolution, Rotation Polarity, Enable Polarity, Stop Rate, Rate Limit, and Velocity Limit. Step Resolution 200 to 50,000 steps per motor revolution. When using a controller, set the drive resolution equal to the controller resolution.

  • Page 34: I/O Configuration

    Using P7000Tools 04/06 Danaher Motion Velocity Limit Global limit on the velocity of programmed moves and jog speeds. Jog Configuration Here you can check the Acceleration/Deceleration, High and Low speeds. These parameters control ACCEL/DECEL and jog speeds that are generated by jog commands from within the user interface or the I/O.

  • Page 35: Inputs

    Danaher Motion 04/06 Using P7000Tools INPUTS 4.4.6.1. These nine configurable inputs can be configured as a group as either sinking or sourcing. Individually, they can be configured as either Active Closed or Active Open. All inputs, regardless of function, are subjected to digital debouncing and the Debounce Delay is applied globally.

  • Page 36: X-Smoothness

    Amplitude adjustment for 4 harmonic Phase adjustment for 4 harmonic All Danaher Motion's standard Pacific Scientific motors, which have been characterized for use with the P7000 drive, have nominal values for L1 & L2 stored in the motor files. Variances in the materials...

  • Page 37: Advanced Setup

    Danaher Motion 04/06 Using P7000Tools Step 2: Run each X-Smoothness group at the given test speed and verify the motor smoothness. You may find a better smoothing value by slightly moving the slider bars back and forth. It is very important to make the X-Smoothness adjustments at the proper test speeds with an unloaded motor.

  • Page 38: Anti-Resonance

    Using P7000Tools 04/06 Danaher Motion Anti-Resonance 4.4.8.1. Step motors are highly resonant, which results in vibration and ringing. The ringing utilizes a large fraction of the motor's available torque – thereby wasting performance. Furthermore, at mid-range velocities, the resonance can become so severe that the motor looses synchronism and stalls. The P7000 drives provide robust anti-resonance control to stop the vibrations and maintain equilibrium.

  • Page 39: Profiling

    Danaher Motion 04/06 Using P7000Tools Profiling 4.4.8.3. Profiling (Multi-stepping) refers to the process of altering the acceleration in the command sequence to reduce Jerk. Acceleration transients jar the application and may cause unwanted vibrations. When Dynamic Smoothing is enabled, the moment-to-moment move profile is passed through digital filters to smooth out the acceleration/deceleration transients.

  • Page 40: Motion Profile Generator

    Using P7000Tools 04/06 Danaher Motion 4.4.9 MOTION PROFILE GENERATOR Once the system is configured you can select Motion Generator by double clicking on the motion folder. Motion Node Clicking on this box Jog your motor with resets the value to 0.
  • Page 41 Danaher Motion 04/06 Using P7000Tools It is impossible to enter a set of move parameters that are inconsistent. For instance, it may be impossible to reach the target velocity using the specified acceleration in the programmed distance. If the programmed parameters do not define an attainable trapezoidal move, the Generator offers to collapse the move into a triangular profile by adjusting the velocity.
  • Page 42 Using P7000Tools 04/06 Danaher Motion You may initiate a move without using START MOVE. METHOD 2: You are limited to the following moves: 1, 2, 4, 8, 16, 32. To do this, configure as many MOVE SELECT inputs as required and DO NOT configure an input as START MOVE.

  • Page 43: Troubleshooting

    Danaher Motion 04/06 Troubleshooting TROUBLESHOOTING OMMON ROBLEMS Problems Possible Fixes Motor spins in wrong Reverse wires on one phase. Change direction direction polarity using P7000Tools Motion Profiles in table will The P7000 Drive is the SDN version not the PNN...

  • Page 44: Expanded Status Codes

    Troubleshooting 04/06 Danaher Motion XPANDED TATUS ODES LED Color Blinks Description Cause Solution Green Solid System OK Green Amplifier is The enable input (J4-5 & J4-6) is not De-assert the enable input or disabled asserted if ENABLE is configured disable the soft shutdown ACTIVE CLOSED or the enable input from P7000Tools.

  • Page 45: Regulatory Information

    A.1.2 CE-APPROVAL The CE initials confirm that the P70360 drives satisfy all requirements of CE Directives. The equipment is not ready to operate without additional installations (cable, motor, etc.). Thus, all necessary tests and measurements had to be made on a typical installation.
  • Page 46 73/23/EEC (Low voltage Directive) and with Directive 89/336/EEC (EMC Directive). For the P70360-PNN and P70360-SDN EMC testing was done according to EN61800-3:1997 with the incorporation of amendment A11:2000 (Emission limits according to chapter 6.3.1 of that regulation, First environment / restricted distribution).
  • Page 47 Kollmorgen Industrial Drives and Pacific Scientific 201 Rock Rd Radford, VA 24141 Declares that the product(s): Designation DIGITAL STEPPER DRIVE Type P70360-PNN and P70360-SDN comply with the following relevant regulations: CE Guideline 72/23/EEC Low Voltage Directive Applied harmonized standards: EN 50178: 1998 CE Guideline...

  • Page 48: Low Voltage Directive And En50178

    Appendix A 04/06 Danaher Motion A.1.3 LOW VOLTAGE DIRECTIVE AND EN50178: The following requirements must be met to ensure compliance with the Low Voltage Directive and EN50178: Electronic drives contain electrostatic sensitive devices that can be damaged when handled improperly. Qualified personnel must follow ESD protection measures.

  • Page 49: Ul Requirements

    Danaher Motion 04/06 Appendix A When installing the P7000 into its operating location, it shall be ensured that any existing protective separation according to 5.2.18 of EN50178 is maintained throughout the entire length of the circuit in question. In installations the compliance for of the measures for protective separation shall be checked by visual inspection.

  • Page 50: Ac Mains - Conducted Emissions

    To meet the CE conducted EMC requirements an external line filter in series with the AC mains is necessary. It is the responsibility of the machine builder to choose filter(s) appropriate for the application, Danaher Motion is willing to assist in this choice. Often the decision is made to filter the machine as a whole instead of filtering the individual drives.

  • Page 51: Grounding Cable Shields For Emc

    Appendix A During CE testing a Corcom 6EQ1 line filter was qualified for use with a P70360 drive and a 15 m motor cable to represent worst case conducted emissions compliance. Information on this and other filters can be found at: Corcom, Inc.

  • Page 52: More Emc Information

    Example of 360 ° clamping of cable shields A.5.4 MORE EMC INFORMATION Additional information on EMC performance and noise reduction techniques can be found in the following Danaher Motion sources: • The Kollmorgen EMI Noise checklist. • Pacific Scientific Application Notes 106 - Reducing Motor Drive Line Noise and 107 - Reducing Motor Drive Radiated Emissions, which can be found at www.danahermotion.com.
  • Page 53 Danaher Motion 04/06 Appendix A DIN EN 50178, (VDE 0160) instructions relative to electronic equipment for use in power installations. Insure that the motor’s case is connected to PE ground. The fifth wire in the motor cable connecting J6,5 to the motor case accomplishes this.

  • Page 54: Firmware Upgrade Procedures

    PGRADE ROCEDURES Note the current operating system version in the Status screen. Check Danaher Motion's website to see if a new version is available. Download the new version (if appropriate) and move it into the P7000 directory. Perform the following steps in P7000Tools: Save your current drive configuration file and rename it or it will be erased during this process.

  • Page 55: Index

    Danaher Motion 04/06 INDEX INDEX AC Mains, 46 Outputs AC Mounting, 4 Fault, 14 AC Power, 9 Outputs, 14 Accessories, 2 General Purpose, 14 CD Approval, 41 P70530 Comm Port, 8 Cbus Command I/O, 8 blink codes, 30 Customer Support, 40...
  • Page 56 Sales and Service Danaher Motion is committed to quality customer service. Our products are available world-wide through an extensive authorized distributor network. To serve in the most effective way, please contact your local sales representative for assistance. If you are unaware of your local sales representative, please contact us.

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