Upload
trankhanh
View
218
Download
1
Embed Size (px)
Citation preview
HI-DRIVEDigital servo drives from 2 to 130A
Ser
ies
Hi-
Driv
e (Is
sue
1 S
epte
mb
er 2
008)
HI-DRIVEHigh performance servo drivesable to control up to 32 axisHi-Drive is a full-digital drive for brushless motors with current from 2 to 100A and operating from 230Vac or 480Vac supplies. Hi-Drive is able to control asynchronous motors, and its target market is where high precision, accuracy, performance, fieldbus connectivity and custom applications are required.Hi-Drive has several motion
control functions already built-in, including current, torque and speed control, positioning with trapezoidal profiles, digital lock with variable ratio and phase correction, electronic cam, real-time mode, S-ramp positioning , homing functions and position capture.The Hi-Drive performances can be increased by implementing in the drive an axis board with Power PC 400MHz
microprocessor able to drive up to 32 interpolated axis through CANopen DS402.From the simplest to the most complex application the Hi-Drive series suits specially the following application: printing machines, wood and metal working machines, feeders, palletizator, applications with different interpolated axis, robot.
TECHNICAL SPECIFICATIONS
Power supply 200÷277Vac monophase (±10%) 50-60Hz (±5%)
200÷480Vac three-phase (±10%) 50-60Hz (±5%)
Control supply 24Vdc
Overload 200% for 2s
Operation temperature 0÷45°C
Operation humidity <85% non condensing
Altitude 1000m asl with 1,5% derating every 100m
Protections IP20
International standard CE, Atex
From 2 to 130A
Model Output
nominal current
[A]
Overload
current
[A]
Size
HID 2 2 4
1HID 5 5 10
HID 8 8 16
HID 10 10 20
HID 16 16 322
HID 25 25 50
HID 35 35 703
HID 45 45 90
HID 75 75 135 4
HID 100 100 1805
HID 130 130 234
• current, torque and speed control
• positioner with speed control
• digital lock with variable ratio and
phase correction
• electronic cam
• configurable feedback input
• configurable second encoder input
• fieldbus RS232, RS422/485, Ethercat,
Canbus: SBCCan or CanOpen DS402
• DC Bus connection to the terminal
board possible
• built-in EMI filter (up to 10A)
• built-in braking resistor (up to 45A)
Input and output
X7
X8
X9
X10
X11
X1X2
X3
LED STATUS
X4
X5
X6
X1 Power supply
X2 Motor
X3 Braking module/Holding brake
X4 Fieldbus RS232 - PC connection
X5 5 optoisolated digital inputs 24Vdc
2 optoisolated digital outputs 24Vdc
1 Digital relay output (clean contact)
2 Differential analog inputs (±10V)
X6 Motor resolver input
X7 Configurable encoder input
X8 RS482/485
X9 Auxiliary encoder input RS422
X10 Encoder output
X11 Configurable Can interface
Dimensions and weights
Model Size A L P Weight
HID 2-5-8-10 1
428
87
227
5,8
HID 16-25 2 122 8,5
HID 35-45 3 227 16
HID 75 4 660250
320 40
HID 100-130 5 720 365 59
L
H
P
L
H
P
mm for dimensions, kg for weight
Key-pad optional SK161
size 2x6 characters with upload/download
functions (port RS232)
Accessories
Resolver cable
Incremental encoder cable
Absolute encoder EnDat + SinCos cable
Absolute encoder Hiperface + Sincos cable
Encoder Sincos cable
Motor cable
Servoventilation cable
Axis boardHigh performances CNThis board is an axis control one that when inserted in the Hi-Drive is able to increase the servo drive performances.The board, with a low dissipated power, can generate trajectories of “n” interpolated axis, pilotating the slave axis via
CANopen DSP402. The board can both manage resident input/output and field bus remote input/output and can be link to the plant net or to every operator panels via Ethernet TCP/IP. The board is equipped with an OPC server.
The board is equipped moreover with a multitasking real time operating system and can be programmed using standard programming and motion control languages.
• Power PC 400MHz microprocessor
• real time multitasking RTE operating
system
• cycle tasks, events pilotage and background
• interpolation up to 32 axes for CPU
• communication channels CanOpen DS402
• wide range of libraries function blocks
• 64MB RAM, 128MB extractable flash
memory and 128kB EEPROM
• RS232, RS485 and EthernetPROGRAMMING LANGUAGE
STRUCTURED TEXT for motion control functions
LADDER for machine cycles programming
ISO for tool machines programming
RHLL for robot programming
Connection to serial devices RS 422/485Programming Minigun
Device 2 Device 3 Device 4 Device ..n Device 16
Device 17 Device 18 Device 19 Device ..n Device 32
HiDrive+
Axis Board
Connection to serial devices RS 232Modem for on line service
ProgrammingOn line serviceCommunication with other control boardsCommunication with HMIOPC serverSCADA
RS 422/485
RS 232
Channel CAN 1
Channel CAN 2
Ethernet TCP/IP
we intend for “Device” every device with CANopen interface (drive, I/O gearcases)
Applications
This is a six axis vertical robot that drives the globe in order to direct a laser pointer on the city, selected from the onboard operator panel or from a remote interface. The application is driven by six servodrives, controlled by a CN board integrated in one of them. In the board
resides the interpolation and transformation part of the robot coordinates. The best quota to insert into the link space are transimetted to the single axis through CANopen with DSP402 profile, at fixed times by the synch message. In order to reach motion uniformity, at every synch, the CN sends
along with the joints best quota, the speed desidered. This way, every servodrive can inside execute a cubical interpolation of the information received. Moreover at every synch the real CN quota are sent back to the six joints.
Trajectory control of a six axis vertical robot
The human-machine interface is represented by an industrial PC. By the PC, the operator choose in a graphical globe the city it wants to reach and gives the start/stop command. So to show the system connective possibility, exploiting by
remote the TCP IP Ethernet port, there are four different applicative software: the first is the development enviroment RDE for programming and monitor the system. The second is a virtual robot completely equal to the real one, that
after receiving the joint quota (real-time) exactly repeats the motions. At the end, by OPC server the data are updated for a software application in BV written and another one written with a commercial Scada Xvision by Crickets Automation.
Code structure Hi-Drive Series
HiD X 2 S S Y1 Y2 Y3 R M Z K1 2 3 4 5 6 7 8 9 10 11 12
1 Servo family HiD: Digital servo drives
2 Standards X: Standard ATEX
3 Size 2/5/8/10/16/25/35/45/75/100/130 Amp
4 ProtocolS: Protocol SBC CAN (standard)
D: Protocol CANopen (DS402)
5 Second input encoder
S: Second input Encoder for SinCos - 1 Vpp signal
E: Second Encoder input for digital signals in quadrature - RS422
H: Second Encoder input for SinCos signal + Hall probe
6/7/8Optional boards
Y1 - Optional board Slot n.1
Y2 - Optional board Slot n.2
Y3 - Optional board Slot n.3
Boards list:
P=Profibus DP
I=I/O 8DI+8DO, 16DI+16D0
E5=Ethercat
S=Sercos
D=Devicenet
C=Scheda Robox, without compact flash
C1=Axis board up to 1,5 axis (with CANopen DS402) - fits the 3 slot
available
C2=Axis board up to 4 axis (with CANopen DS402) - fits the 3 slot
available
C3=Axis board up to 32 axis (with CANopen DS402) - fits the 3 slot
available
C4=Axis board up to ... axis (with CANopen DS402) - fits the 3 slot
available
C5=Axis board up to ... axis (with CANopen DS402) - fits the 3 slot
available
C6=Axis board up to ... axis (con CANopen DS402) - fits the 3 slot
available
9 Safety relay R: Built-in Safety relay cat.3 in compliance with EN954-1 and EN13849-1
10 Memory M: Memory area for retentive variables
11 Firmware revisionZ: Number of firmare revision (optional only for special versions up to
3 figures)
12 Special version K: customized special versions “D.E. 151” (special execution)
Software
The freeMotionWiz configuration software is available to configure the Hi-Drive system with just a few clicks of the mouse. Motionwiz features an easy and “friendly” interface to speed up installation, optimisation and diagnostics procedures. To simplify configuration, Motionwiz shows a typical Windows ® environment on the monitor with dialogue windows and toolbars.Motionwiz permits performingoperations in both “on line” mode, directly in the mechanism,
and in “off line” mode in remote on the PC. In this case, personalised configuration canbe sent to the mechanism subsequently.To simplify the configuration of systems with a large number of axis but with different cuts and the same operating mode, Motionwiz permits maintainingthe same mechanism configuration and only changing the type of selected motor. Inside the MotionWiz configurator is a database containing the data of
standard Parker motors.MotionWiz incorporates “picoPLC”, a built-in PLC enviroment programmable with standard language. PicoPLC allows the external word to communicate with the drive and to execute function sequences. Should the custom application require additional computational resources, an option board can be inserted which is programmable with PLC commands according to IEC 61131-3.
• EtherCAT
• CANopen (DS402)
• Profibus DP
• Sercos
• SBCCan (standard)
Fieldbus
Motion Wiz and LogicLab
The Hi-Drive can be very versatile by using the most common fieldbus. The EtherCAT bus, based on the
industrial standard Ethernet, has been implemented within the Hi-Drive option so to best exploit the industrial PC capacities.
Sales Offices
Depliant Hi-Drive 192-001 EN (Issue 1 September 2008)
Your local authorized Parker distributor
Ser
ies
Hi-
Driv
e (Is
sue
1 S
epte
mb
er 2
008)
© 2008 Parker Hannifin Corporation. All rights reserved.
Parker Hannifin Spa SSD SBCVia C. Gounod, 1 20092 Cinisello Balsamo (MI) Tel: + 39 02 36108.1 Fax: + 39 02 36108400www.parker.com [email protected]
Australia Parker Hannifin Pty Ltd 9 Carrington Road Private Bag 4, Castle Hill NSW 1765 Tel: +61 2 9634 7777 Fax: +61 2 9899 6184
Belgium Parker Hannifin SA NV Parc Industriel Sud Zone 11 23, Rue du Bosquet Nivelles B -1400 Belgium Tel: +32 67 280 900 Fax: +32 67 280 999
Brasil Parker Hannifin Ind. e Com. Ltda. Av. Lucas Nogueira Garcez, 2181 Esperança - Caixa Postal 148 Tel: +55 0800 7275374 Fax: +55 12 3954 5262
Canada Parker Motion and Control 160 Chisholm Drive Milton Ontario L9T 3G9 Tel: +1(905) 693 3000 Fax: +1(905) 876 1958
China Parker Hannifin Motion & Control (Shanghai) Co. Ltd. SSD Drives 280 Yunqiao Road Export Processing Zone Pudong District Shaghai 201206 P.R.China Tel: +86 (21) 5031 2525 Fax: +86 (21) 5854 7599
France Parker SSD Parvex 8 Avenue du Lac B.P. 249 F-21007 Dijon Cedex Tel: +33 (0) 3 80 42 41 40 Fax: +33 (0) 3 80 42 41 23
Germany Parker Hannifin GmbH Von-Humboldt-Strasse 10 64646 Heppenheim Germany Tel: +49(0) 6252 798200 Fax: +49(0) 6252 798205
India SSD Drives India Pvt Ltd 151 Developed Plots Estate Perungudi, Chennai, 600 096, India Tel: +91 44 43910799 Fax: +91 44 43910700
Italy Parker Hannifin SPA Via Gounod 1 20092 Cinisello Balsamo Milano Italy Tel: +39 (02) 361081 Fax: +39 (02) 36108400
Singapore Parker Hannifin Singapore Pte Ltd 11, Fourth Chin Bee Rd Singapore 619702 Tel: +65 6887 6300 Fax: +65 6265 5125
Spain Parker Hannifin (Espana) S.A. Parque Industrial Las Monjas Calle de las Estaciones 8 28850 Torrejonde Ardoz Madrid Spain Tel: +34 91 6757300 Fax: +34 91 6757711
Sweden Parker Hannifin AB Montörgatan 7 SE-302 60 Halmstad Sweden Tel: +46 (35) 177300 Fax: +46 (35) 108407
UK Parker Hannifin Ltd. Tachbrook Park Drive Tachbrook Park Warwick CV34 6TU Tel: +44 (0) 1926 317970 Fax: +44 (0) 1926 317980
USA Parker Hannifin Corp. SSD Drives Division 9225 Forsyth Park Drive Charlotte North Carolina 28273-3884 Tel: +1 (704) 588 3246 Fax: +1 (704) 588-3249