packaged ministep drives PD Series A range of universal ministep drives including fully EMC- compliant versions The PD Series, featuring 4000-step/rev resolution and a universal 'go anywhere' power supply, comprises four basic models and a number of variants. Drives are available for step-direction input using an external controller, together with combined indexer-drives in both standard and EMC-compliant versions. All models in the PD range feature a bus voltage of 70VDC, peak output current of 3A or 5A/phase and resolution up to 4000 steps/rev to give smooth rotation at all speeds. The drives operate from all AC supply voltages in the 105-240V range without adjustment. This is achieved using an integral switch-mode power supply which incorporates power factor correction. There is extensive built-in protection to guard against overheating, short circuits and supply faults. For applications requiring rapid deceleration of high-inertia loads, the 5A drives are available in alternative versions with a built-in regenerative power dump. The PD-E series EMC-compliant versions are designed to comply fully with the European EMC Directive. They incorporate all necessary screening, optical isolation and AC line filter components - no external add-on units are required. These models take the guesswork out of drive installation since they are guaranteed to meet the EMC standards when installed according to the instructions. PD series general features PDS drives for step-direction input nSingle-axis packaged drive with switch-mode Designed primarily for use with an external controller, the power supply and optional built-in indexer PDS range has fully opto-isolated inputs for TTL-level step and direction signals. Separate non-isolated inputsnStandard and EMC-compliant versions available are provided for single-ended control signals operating at n4 selectable resolutions between 400 and 12V levels. 4000 steps/rev PDS models are available with two current ratings - 3A nAlternative 3A and 5A current ratings (5A only on (PDS13) and 5A (PDS15). The 5A version can also be PDHX-E with high-performance indexer) supplied with a built-in power dump circuit - information nOperation directly from 110V or 230V AC on the choice of version will be found later in this section. supplies without adjustment Both the 3A and 5A variants are available in EMC- nSelectable standby function for 80% or 50% compliant versions. With the simplified installation, of programmed current at standstill reduced external wiring and guaranteed compliance, this version represents a cost-effective alternative to the usenShort-circuit & overtemperature protection of external filters and signal conditioning.nOptional regenerative power dump on 5A versions All PDS models incorporate a dual-speed clock generator PDS & PDS-E drive features with adjustable ramping for manual positioning or simple on-off control. The clock generator is controlled by logicnDesigned to operate from external step-direction inputs for the slow and fast speed ranges, the speed in controller each range being preset by multi-turn potentiometers. A nTTL-level step-direction inputs with optical isolation separate potentiometer controls the slope of the linear nBuilt-in clock generator with dual speed ranges and acceleration and deceleration ramp used in the fast adjustable linear ramping range. nCompatible with Parker 6000-series indexers nSelf-test feature to check motor & drive function 4 Automation A A PDX & PDHX-E indexer-drives PD Series A complete positioning system Tube filling application The PDX and PDHX-E models form a complete digital positioning system in a single package. They combine a PD Crimp/Seal series drive with an integral processor-based position controller. The command language is based on Parker's Filler Photo popular X-Code which is user-friendly and easy to learn yet Sensor extremely versatile. Programming is simplified using X- Registration Ware, an IBM PC™ compatible development package Mark offering terminal emulation, tutorial and editing functions. A Signals to PLC The PDX indexer-drive Start The low-cost PDX package incorporates the OEM010 Move indexer module described later in this catalogue. This unit Complete Conveyor is capable of a range of standard positioning tasks including Stepper step-and-repeat indexing, incremental or absolute PDHX Motor positioning and automatic homing. It can store up to 7 Drive motion sequences in its non-volatile memory, and is equipped with programmable inputs and outputs to interface with external equipment. This application is part of a production line for cosmetic The PDHX15E EMC-compliant indexer- products. Pre-printed tubes are to be filled with the product, then crimped and sealed. The printed image must drive appear in line with the sealed end, however the tubes are The fully EMC-compliant PDHX15E is equipped with the loaded from a hopper and the alignment at the filling station high-performance X150E controller which can accept motion is therefore random. commands via either RS232C or RS485 serial links. The A registration mark is printed on the tube along with the indexer is capable of storing up to 64 complete motion main image, and this mark should fall at the end of the programs in its non-volatile memory, and offers advanced sealed portion. The requirement is therefore to align the programming features such as conditional branching and mark before sealing. The stepper motor rotates the steel maths functions using up to 50 variables. housing containing each tube by means of a magnetic The X150E indexer has extremely flexible input and output coupling, and an optical sensor detects the registration facilities to ensure that integration into a PLC-controlled mark. From this point the motor continues to run for a system is straightforward. The ten programmable inputs preset distance and stops. The tube is then accurately can be set for either 5V or 24V switching levels, active-high aligned ready for sealing. (for connection to PNP outputs on the PLC) or active-low (for NPN outputs). Six programmable outputs are available Fast registration for high throughput incorporating both NPN and PNP output drivers which are rates selected by software. The accuracy of alignment depends on the rotational speed In addition to the basic control functions of the PDX, the of the tube and the response time of the sensor and PDHX-E can perform registration moves, following with controller. Fast rotation is essential for high throughput superimposed indexing and profiled velocity moves. rates, however this frequently results in reduced alignment accuracy. The PDHX-E has a dedicated input which Fieldbus communications options responds to signals from a registration sensor within 15μS. The PDHX-E may also be equipped with a Fieldbus card This ensures accurate and repeatable alignment even providing RS485 ASCII or binary communication up to when the tube is rotated at high speed. The result is a 345.6 kbaud. Fieldbus systems offer the possibility of large higher production rate and better presentation of the inter-unit distances, reduced wiring cost using distributed I/O product. and very high noise immunity. Additional Fieldbus options having alternative protocols will become available in the Simplified interfacing with host controller future. The filling line will typically be under overall control of a PLC. This will issue a start command to the PDHX-E, PDHX-E application example initiating an internally-stored routine. Signals are returned Tube filling and sealing is a typical example of an industrial to the PLC to indicate that the move is complete and to automation process in which the PDHX-E is ideally suited. confirm that registration was successful. The exceptional It illustrates operation of the drive as a standalone controller flexibility of the opto-isolated I/O circuitry in the PDHX-E using the registration function. guarantees compatibility with all types of PLC. 5 Automation A A A A A PD Series specifications PDS & PDS-E specifications Parameter Value Output current range PDS13 & PDS13E: 0.9A to 3A (peak), adjustable in 300mA steps PDS15 & PDS15E: 2.5A to 5A (peak), adjustable in 350mA steps DC bus voltage 70V Resolution 400, 1000, 2000 & 4000 steps/rev Protection Short-circuit, over/under-voltage, logic supply fault, overtemperature Standby current level 80% or 50% of set value Motor Type 2 phase hybrid; 4, 6 or 8 leads Minimum inductance 1mH Recommended induct. range 1 - 10mH Power input Voltage range 105-240V AC ±10% Supply frequency 47 - 63Hz Maximum supply current PDS13 & PDS13E: 2A; PDS15 & PDS15E: 3A (at 105V AC input) Step-direction inputs Differential Opto-isolated, TTL levels. Min. pulse width 1μS, max. frequency 200kHz Single-ended Non-isolated, low <+2V, high 10-12V, internal 4K7 pull-up to +12V, min. pulse width 8μS, max. frequency 50kHz Internal clock generator Speed range, slow 0.05 - 2 revs/sec Speed range, fast 1 - 55 revs/sec, ramped Accel/decel rate (linear) 20 - 500 revs/sec/sec Physical Operating temperature range 0°C - 50°C Humidity 0 - 95% non-condensing Weights PDS13 & PDS15: 1.7kg; PDS13E & PDS15E: 2.1kg PDX & PDHX15E common specifications Parameter Value Output current range PDX13: 0.9A to 3A (peak), adjustable in 300mA steps PDX15, PDHX15E: 2.5A to 5A (peak), adjustable in 350mA steps DC bus voltage 70V Resolution 400, 1000, 2000 & 4000 steps/rev Protection Short-circuit, over/under-voltage, logic supply fault, overtemperature Standby current level 80% or 50% of set value Motor Type 2 phase hybrid; 4, 6 or 8 leads Minimum inductance 1mH Recommended induct. range 1 - 10mH Power input Voltage range 105-240V AC ±10% Supply frequency 47 - 63Hz Maximum supply current 3A (at 105V AC) Physical Operating temperature range 0°C - 50°C Humidity 0 - 95% non-condensing Weights PDX13, PDX15: 1.7kg PDHX15E: 2.8kg 6 Automation PD Series specifications PDX indexer specifications Parameter Value Operating ranges Position ±1 to 99,999,999 steps Velocity 0.001 - 50 revs/sec Acceleration 0.01 - 999 revs/sec/sec Serial communication Type RS232C: 3-wire (Tx,Rx, Gnd) Data format 9600 baud, 8 data bits, 1 stop bit, no parity Configuration Up to 256 positioners may be controlled via a single RS232C port Motion programs 7, max. 256 characters each (programs may be chained) Programmable inputs 3, TTL levels Programmable outputs 2, TTL levels, totem-pole (24mA source or sink) PDHX-E indexer specifications Parameter Value Operating ranges Position ±1 to 268,435,455 steps Velocity 0.0001 to 200 revs/sec 2 Acceleration 0.06 to 999,999 revs/sec Maximum encoder frequency 100kHz (lines/sec before multiplication) User resolution range 1 to 32,767 steps/rev Co-ordinate system Incremental or absolute Operating modes Preset, preset with speed change, continuous, scaled following, preset following, registration Serial communication Type RS232C: 3-wire (Tx,Rx, Gnd). RS485: 2-wire (single-ended) or 4-wire (differential) Data format 9600 baud, 8 data bits, 1 stop bit, no parity Configuration Up to 31 positioners may be controlled via a single RS232C or RS485 port Motion program storage Memory capacity 8000 characters total Number of programs 64, variable in length up to memory limit Program selection a) via RS232C/RS485, b) automatic execution at power up c) binary address on 'sequence select' inputs Optically-isolated inputs Home, end-of-travel limits, aux (registration), stop; 10 user-definable inputs (also used for motion program selection). Selectable pull-up or pull-down, 5V or 24V switching levels Optically-isolated outputs 6 user-definable; can also be assigned as watchdog, in-position and fault outputs. PNP or NPN open-collector, software-selectable. 5V or 24V source for PNP outputs. Maximum OFF voltage 30V, maximum ON current 300mA per output. Maximum total current from internal supply (PNP mode) 160mA. Use external supply for higher currents, up to 1A maximum Fieldbus module option Baud rate Up to 345.6k Maximum line length 1.2km Maximum no. of stations 31 Data format RS485 ASCII or binary 7 Automation PD Series dimensions & order codes Dimensions in mm 50 Fixing centres 250 222 235 (for M4 screws) 35 190 PDS13, PDX13, PDS15 & PDX15 55 Power dump option Applications involving rapid deceleration of high-inertia loads may require the addition of a circuit to dissipate the Fixing regenerated power. The need for a power dump will centres depend on the system inertia, the maximum speed and the 270 240 258 deceleration time. (for M4 The -D versions of the PD Series incorporate a power screws) dump with a continuous rating of 15 watts (170 watts peak). These versions are needed if the deceleration time in 2 seconds from a maximum speed ω is less than (Jω - 0.1), 2 where J is the total system inertia in Kg-m (including the motor) and ω is the maximum speed in revs/sec. If the 35 202 expression in brackets is negative, no power dump is PDS13E & PDS15E required. The dump option is strongly recommended with size 42 (metric 106) motors. 75 Ordering codes PDS13-2 3A drive with internal clock generator PDS15-2 5A drive with internal clock generator PDS15-D-2 5A drive with clock & power dump Fixing PDX13 3A drive with built-in indexer centres PDX15 5A drive with built-in indexer 251 292 272 PDX15-D 5A drive with indexer & power dump (for M6 PDS13E 3A EMC drive with clock generator screws) PDS15E 5A EMC drive with clock generator PDS15E-D 5A EMC drive with clock & power dump PDHX15E/232 5A EMC drive, X150E/RS232 indexer PDHX15E/485 5A EMC drive, X150E/RS485 indexer PDHX15E-D/232 5A EMC drive, X150E/RS232 & dump 38 224 PDHX15E-D/485 5A EMC drive, X150E/RS485 & dump PDHX15E 8 Automation PD Series performance data PDX13 with ST57-51P motor PDX13 with ST57-83P motor 0.8 0.5 Parallel Parallel 0.4 0.6 0.3 0.4 0.2 0.2 0.1 0 0 0 10 20 30 40 50 0 10 20 30 40 50 Speed, revs/sec Speed, revs/sec PDX15 with ST57-102P motor PDX15 with ST83-62P motor 1.2 1.0 Parallel Parallel 1.0 0.8 0.8 0.6 0.6 0.4 0.4 0.2 0.2 0 0 0 10 20 30 40 50 0 10 20 30 40 50 Speed, revs/sec Speed, revs/sec PDX15 with ST83-93P motor PDX15 with ST83-135P motor 1.6 5.0 Parallel Series 4.0 1.2 3.0 0.8 2.0 0.4 1.0 0 0 0 10 20 30 40 50 0 10 20 30 40 50 Speed, revs/sec Speed, revs/sec 9 Automation Torque, Nm Torque, Nm Torque, Nm Torque, Nm Torque, Nm Torque, Nm