Parker Hannifin Outboard Motor HD130 User Manual

HD65 & HD130 Stepper  
Drives User Guide  
For engineering  
For engineering  
assistance in Europe:  
Parker Hannifin plc  
Digiplan Division  
21 Balena Close  
assistance in the U.S.:  
Parker Hannifin Corporation  
Digiplan Division  
5500 Business Park Drive  
Rohnert Park, CA 94928  
USA  
Poole, Dorset  
England, BH17 7DX  
Telephone: 0202-699000  
Fax: 0202-695750  
Telephone: (800) 358-9070  
Fax: (707) 584-8015  
th  
Part No: 1600.051.07  
7
September 1992  
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IMPORTANT INFORMATION FOR USERS  
Installation and Operation of Digiplan Equipment  
It is important that Digiplan motion control equipment is installed and operated in such a way that all applicable  
safety requirements are met. It is your responsibility as a user to ensure that you identify the relevant safety  
standards and comply with them; failure to do so may result in damage to equipment and personal injury. In  
particular, you should study the contents of this user guide carefully before installing or operating the  
equipment.  
Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or special  
damages of any kind whatsoever, including but not limited to lost profits arising from or in any way connected  
with the use of the equipment or this user guide.  
SAFETY WARNING  
High-performance motion control equipment is capable of producing rapid movement and very high forces.  
Unexpected motion may occur especially during the development of controller programs. KEEP WELL CLEAR  
of any machinery driven by stepper or servo motors. Never touch it while it is in operation.  
!
High voltages exist within enclosed units, on rack system backplanes (motherboards) and on transformer  
terminals. Keep clear of these areas when power is applied to the equipment.  
The information in this user guide, including any apparatus, methods, techniques, and concepts described  
herein, are the proprietary property of Parker Digiplan or its licensors, and may not be copied, disclosed, or  
used for any purpose not expressly authorised by the owner thereof.  
Since Digiplan constantly strives to improve all of its products, we reserve the right to modify equipment and  
user guides without prior notice. No part of this user guide may be reproduced in any form without the prior  
consent of Digiplan.  
© Digiplan Division of Parker Hannifin plc, 1991  
– All Rights Reserved –  
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User Guide Change Summary  
The following is a summary of the primary changes to this user guide  
since the last version was released. This user guide, version  
1600.051.07, supersedes version 1600.051.06.  
This user guide has been updated to incorporate the style common  
to our user guides. Some drawings have also been updated. All  
technical information remains unchanged.  
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CONTENTS  
i
Table of Contents  
Introduction..............................................................................................................1  
Product Description.........................................................................................1  
Specification....................................................................................................1  
Power Connections.........................................................................................2  
Motor Connections..........................................................................................2  
General Wiring & Earthing Recommendations ...............................................2  
Transformer Primary Connections ..................................................................5  
Control Signals................................................................................................8  
Setting Up the Drive........................................................................................10  
Motherboard Link .................................................................................10  
Current Programming...........................................................................11  
Stepping Mode Selection .....................................................................11  
Standby Current...................................................................................12  
Boost Current.......................................................................................12  
Anti-resonance Dropout Speed............................................................12  
Current Profile Setting (Half-step Mode) ..............................................13  
Fuses ..............................................................................................................14  
Test Points......................................................................................................14  
MS20 Microstep Card ..............................................................................................15  
Description......................................................................................................15  
Setting Up the Microstep Card........................................................................16  
Operation of the Drive Protection Systems...........................................................17  
Overload Protection ........................................................................................17  
Supply Failure Protection................................................................................17  
Overtemperature Protection............................................................................17  
Fault-finding Guide..................................................................................................19  
Returning the System......................................................................................20  
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HD65 & HD130 STEPPER DRIVES USER GUIDE  
1
Introduction  
The HD65 and HD130 stepper drives are bipolar, chopper-regulated  
units designed to operate with a wide range of motors. They  
incorporate all power supply components for direct operation from a  
mains transformer. The two drives deliver nominal motor currents of  
6.5A and 13A respectively, and both operate at a motor supply of  
240V DC.  
Product  
Description  
All translation and current control functions are performed by a ULA-  
hybrid translator, and this incorporates a number of useful features  
including an anti-resonance circuit and automatic current square-off.  
The drives can be fitted with the optional MS20 microstep card which  
gives 1000 or 2000 steps/rev from a standard 200-step motor.  
Nominal output current (2 phase on) 6.5A (HD65), 13A (HD130)  
Specification  
Motor supply voltage  
Current boost  
240v DC  
30%  
Maximum boost duration  
Nominal standby reduction  
Current programming  
Current programming steps  
Maximum stepping rates  
5 seconds (internally limited)  
50% (at rated current)  
By DIL switch down to 50% of rated current  
0.5A (HD65), 1A (HD130)  
Full step 20kHz  
Half step 50kHz  
1/5 step 100kHz  
1/10 step 100kHz  
AC power requirements  
Motor supply range 86-172v AC at 7A  
(HD65), 14A (HD130).  
Logic supply 18-0-18 at 850mA.  
Fan supply (HD130) 115v RMS at 150mA.  
+24v at 250mA (500mA with external  
2200uF capacitor added)  
Logic 1 level +11v to +13v or open circuit.  
Logic 0 level <+1v or short circuit to 0v  
Clock input 1K to +12v  
Other inputs 4K7 to +12v  
Open-collector NPN, +30v max. (off),  
15mA max. (on)  
Auxiliary DC output  
Input logic levels  
Input impedance  
Logic outputs  
Operating temperature range  
Maximum heatsink temperature  
Suitable motor type  
0° - 50°C  
85°C  
2/4 phase; 4, 6 or 8-lead (5-lead not  
suitable)  
Typical motor current rating (bipolar) 6A - 9A (HD65)  
12A - 18A (HD130)  
Minimum motor inductance  
1.5mH (HD65)  
0.75mH (HD130)  
Weights  
3.2kg (HD65)  
4kg (HD130)  
Dimensions (mm  
Height overall 262, pcb only 233, Depth  
overall 262, pcb only 220 Width 106 (4.2"  
nominal)  
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2
HD65 & HD130 STEPPER DRIVES USER GUIDE  
Power and motor connections are made to the drive motherboard as  
Power  
Connections  
illustrated in Figure 1. Screw terminals are provided on the  
motherboard for the AC input from the mains transformer. Suitable  
transformers for the HD drives are type TO132 for a single HD65  
and type TO124 for two HD65 drives or a single HD130. Refer to  
page 5 for the primary connections for various AC supply voltages.  
Connect the 172-volt winding to terminals L1 and L2 on TB1.  
Connect one 172-volt secondary to each drive when using a TO124  
to power two HD65 drives, and connect the two 172-volt windings in  
parallel when operating an HD130 (see diagrams on page 4). If a  
three-phase transformer is used, the line-to-line voltage must be 172  
volts and connections are made to terminals L1, L2 and L3.  
The HD130 requires 115 volts AC to operate its cooling fan and  
these connections are made to the "FAN" terminals on TB1. If  
required this supply can come directly from 115v AC mains. The fan  
connections are commoned together on a multi-axis rack.  
The logic supply requires 18-0-18v AC and this supply is connected  
to terminals 9, 10 and 11 respectively on socket SK1. The logic  
supply connections are also commoned together on a multi-axis  
rack.  
Motor connections are made to screw terminals on TB2. Refer to  
pages 6 and 7 for motor connection details, and ensure that the  
connections are made correctly. 1.5mm2 cable is recommended.  
To reverse the direction of rotation relative to the direction control  
input, interchange the connections to 1A and 1B.  
Motor  
Connections  
It is advisable to use a central earth stud mounted on the rack end  
plate or close to it. Mains earth, the transformer screen, the rack 0v  
bus and the enclosure metalwork should all be connected to this  
stud. In particular, the connection to the rack 0v bus should use  
1mm2 cable and should be kept as short as possible.  
General  
Wiring &  
Earthing  
Recommenda  
-tions  
Input/output signal connections longer than about 500mm should  
use wires having a collective or individual screen. In general it is  
better to route signal connections separately from power and motor  
connections. If the motor leads run in the same trunking as signal  
leads, then either the motor or signal leads should be screened.  
Connect the screen to the earth stud at one end, and insulate it at  
the remote end.  
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HD65 & HD130 STEPPER DRIVES USER GUIDE  
3
Where signal connections pass between units mounted in different  
enclosures and separately energised from the mains, optical  
isolation of all communication lines is recommended. It is still  
desirable that all such isolated systems have their 0v rails directly  
connected to earth.  
Motor leads should be collectively screened if they run close to  
power switching lines, particularly those driving unsuppressed  
inductive loads. Whilst noise picked up on the motor leads is  
unlikely to affect the motor directly, the noise gets coupled back into  
the drive system and can cause problems as a result.  
Contactors and relays feeding inductive loads should be adequately  
suppressed.  
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4
HD65 & HD130 STEPPER DRIVES USER GUIDE  
TB2  
TB2  
2A  
2B  
1B  
1A  
2A  
2B  
1B  
1A  
TB1  
TB1  
115V  
115V  
FAN  
FAN  
0V  
0V  
172V  
172V  
Motor  
Motor  
C1  
C1  
L1  
L2  
C2  
C2  
0V  
0V  
172V  
0V  
HD65  
HD130  
~
~
SK1  
SK1  
18V  
0V  
18V  
0V  
1
8
1
8
9
9
SK2  
SK2  
18V  
18V  
16  
16  
T0132  
Transformer  
T0124  
Transformer  
Connections for Single HD65 Drive  
Connections for Single HD130 Drive  
TB2  
TB2  
2A  
2B  
1B  
1A  
2A  
2B  
1B  
1A  
TB1  
TB1  
115V  
0V  
172V  
Motor  
Motor  
C1  
C1  
L1  
L2  
L1  
L2  
C2  
C2  
0V  
HD65  
HD65  
172V  
0V  
~
18V Bus  
Connections  
SK1  
SK1  
18V  
0V  
1
8
1
8
9
9
SK2  
SK2  
18V  
16  
16  
T0124  
Transformer  
Connections for Two HD65 Drives  
Figure 1. Power and Motor Connections  
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HD65 & HD130 STEPPER DRIVES USER GUIDE  
5
Standard Digiplan mains transformers for HD series drives have a  
four-winding primary arrangement as shown below. The table  
shows the primary voltages which can be selected, the sample  
connections being for 240v AC. Always wire the transformer primary  
first, then check the secondary output voltages on open-circuit  
BEFORE connecting to the drive.  
Transformer  
Primary  
Connections  
1
5
9
2
6
3
7
4
120  
120  
120  
110  
20  
120  
110  
20  
8
110  
20  
110  
20  
10  
11  
12  
13  
14  
15  
16  
0
0
0
0
Figure 2. Transformer Primary Windings  
Input Voltage  
100  
AC Line 1  
AC Line 2  
Links  
1
5
1
1
5
1
1
5
5
1
1
5
5
1
9
1, 2, 3 & 4; 9, 10, 11 & 12  
5, 6, 7 & 8; 13, 14,15 & 16  
1, 2, 3 & 4; 13, 14,15 & 16  
9 & 2; 11 & 4; 1 & 3;10 & 12  
13 & 6; 15 & 8; 5 & 7; 14 & 16  
1 & 3; 13 & 6; 15 & 8; 14 & 16  
1 & 3; 13 & 2; 15 & 4; 14 & 16  
9 & 6; 10 & 7; 11 & 8  
9 & 6; 10 & 7; 11 & 8  
9 & 2; 10 & 3; 11 & 4  
9 & 2; 10 & 3; 11 & 4  
13 & 6; 14 & 7; 15 & 8  
110  
120  
200  
220  
230  
240  
360  
380  
400  
420  
440  
460  
13  
13  
10  
14  
14  
14  
12  
16  
12  
16  
16  
16  
16  
13 & 6; 14 & 3; 15 & 4  
13 & 2; 14 & 3; 15 & 4  
480  
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6
HD65 & HD130 STEPPER DRIVES USER GUIDE  
MOTOR CONNECTION DATA - WINDINGS IN SERIES  
N.C. - no connection.  
MAKE  
TYPE  
1A  
1B  
2A  
2B  
NOTES  
Evershed &  
Vignoles  
6-lead  
Red  
Green  
Blue  
Yellow  
Brown & Black N.C.  
8-lead  
Red  
Green  
Blue  
Yellow  
Link Grey & Pink, link  
White & Violet  
T.box  
1
3
4
2
Link 5 & 6, link 7 & 8  
Sigma  
6-lead  
Black  
Orange  
Red  
Yellow  
White/Blk/Org,  
White/Red/Yel N.C.  
8-lead  
Black  
Orange  
Red  
Yellow  
Link Wh/Blk & Wh/Org  
Link Wh/Red & Wh/Yel  
T.box  
1
3
2
4
Link 5 & 6,link 7 & 8  
White & Black N.C.  
Astrosyn,  
Rapidsyn,  
Slo-syn  
6-lead  
Red  
Red/Wh  
Grn  
Grn/Wh  
T.box (x6)  
8-lead  
1
3
4
5
2 & 6 N.C.  
Slo-syn  
Red  
Red/Wh  
Grn  
Grn/Wh  
Link Black & White, link  
Org & Blk/Wh  
T.box (x8)  
8-lead  
1
3
5
4
Link 2 & 6, link 7 & 8  
Stebon  
Red  
Yel  
Pink  
Blk  
Link Blue & violet, link  
White & Grey  
T.box  
T.box  
6-lead  
1
2
3
4
Link 5 & 6, link 7 & 8  
Link 5 & 6, link 7 & 8  
White & Black N.C.  
G.E.C.  
M.A.E.  
1
2
3
4
Grn/Wh  
Grn  
Red  
Red/Wh  
8-lead  
Black  
Orange  
Red  
Yellow  
Link Wh/Blk & Wh/Org,  
Link Wh/Red & Wh/Yel  
T.box  
T.box  
6-lead  
8-lead  
6
5
8
7
Link 1 & 3, link 2 & 4  
Link 2 & 3, link 6 & 7  
Yellow & White N.C.  
Zebotronics  
Oriental  
1
4
5
8
Black  
Green  
Green  
Grn/Wh  
Red  
Red  
Blue  
Red/Wh  
Sonceboz  
Link Org & Blk/Wh, link  
Black & White  
Japan Servo  
Escap  
6-lead  
8-lead  
Red  
Blue  
Green  
Red  
Yellow  
Yel/Wh  
2 x White N.C.  
Brown  
Org/Wh  
Link Brn/Wh & Org,  
Link Red/Wh & Yellow.  
Bodine  
8-lead  
Brown  
Orange  
Yellow  
Red  
Link Wh/Brn & Wh/Org,  
link Wh/Yel & Wh/Red.  
T.box  
1
3
4
2
Link 5 & 7,link 6 & 8  
Digiplan/Compumotor  
RM Motor  
8-lead  
Black  
Orange  
Red  
Yellow  
LinkWh/Blk & Wh/Org.  
Link Wh/Red & Wh/Yel  
Digiplan/Compumotor  
QM Motor  
8-lead  
Red  
Black  
White  
Green  
Link Yel & Blue  
Link Org & Brown  
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HD65 & HD130 STEPPER DRIVES USER GUIDE  
7
MOTOR CONNECTION DATA - WINDINGS IN PARALLEL  
For 6-lead motors, connections shown are for one half-winding.  
N.C. - no connection.  
MAKE  
TYPE  
6-lead  
8-lead  
1A  
1B  
2A  
2B  
NOTES  
Evershed &  
Vignoles  
Red  
Brown  
Blue  
Black  
Grn & Yellow N.C.  
Rd &  
Pink  
Grn &  
Grey  
Blue &  
Violet  
Yel &  
White  
T.box  
1 & 6  
Black  
3 & 5  
4 & 8  
Red  
2 & 7  
Sigma  
6-lead  
Wh/Blk/  
Orange  
Wh/Red/  
Yellow  
Or & Yellow N.C.  
8-lead  
Black &  
Wh/Or  
Or &  
Wh/Blk  
Red/  
Wh/Yel  
Yel &  
Wh/Red  
T.box  
1 & 5  
Red  
3 & 6  
Black  
2 & 7  
4 & 8  
White  
Astrosyn,  
Rapidsyn,  
Slo-syn  
6-lead  
Green  
Red/Wh &  
Grn/Wh N.C.  
T.box(x6)  
8-lead  
1
6
4
2
3 & 5 N.C.  
Slo-syn  
Red &  
White  
Blk &  
Red/Wh  
Grn &  
Blk/Wh  
Org &  
Grn/Wh  
T.box(x8)  
8-lead  
1 & 2  
3 & 6  
4 & 7  
5 & 8  
Stebon  
Rd &  
Blue  
Yel &  
Violet  
Wh &  
Pink  
Black &  
Grey  
T.box  
T.box  
6-lead  
1 & 6  
2 & 5  
2 & 5  
White  
3 & 8  
3 & 8  
Red  
4 & 7  
4 & 7  
Black  
G.E.C.  
M.A.E.  
1 & 6  
Grn/Wh  
Grn & Red N.C  
Grn & Blue N.C.  
8-lead  
Black &  
Wh/Or  
Or &  
Wh/Blk  
Red &  
Wh/Yel  
Yel &  
Wh/Red  
T.box  
T.box  
6-lead  
8-lead  
3 & 6  
1 & 2  
Black  
1 & 5  
3 & 4  
Yellow  
4 & 8  
5 & 6  
Red  
2 & 7  
7 & 8  
White  
Zebotronics  
Oriental  
Sonceboz  
Grn &  
Blk/Wh  
Or &  
Grn/Wh  
Red &  
White  
Blk &  
Red/Wh  
Japan Servo  
Escap  
6-lead  
8-lead  
Red  
White*  
Green  
White*  
Brn &  
Orange  
Brn/Wh &  
Org/Wh  
Red &  
Yellow  
Red/Wh &  
Yel/Wh  
Bodine  
8-lead  
Brn &  
Wh/Or  
Wh/Brn &  
Orange  
Yel &  
Wh/Red  
Wh/Yel &  
Red  
T.box  
1 & 7  
3 & 5  
4 & 6  
2 & 8  
Digiplan/Compumotor  
RM Motor  
8-lead  
Black &  
Wh/Or  
Orange &  
Wh/Black  
Red &  
Wh/Yellow  
Yellow &  
Wh/Red  
Digiplan/Compumotor  
QM Motor  
8-lead  
Red & Blue Blk & Yellow  
Wh & Brn  
Green & Org.  
* Use correct White for each phase.  
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8
HD65 & HD130 STEPPER DRIVES USER GUIDE  
SK1  
9
1
24V  
18V  
0V  
SK2  
FAULT  
ZERO  
PHASE  
R1  
R2  
18V  
0V  
ANTI  
RES  
BOOST  
DIRN  
CK  
SQ OFF  
D2  
D1  
EXT RESET  
SYNC  
ENG  
0V  
TP4  
TP3  
TP1  
TP2  
16  
8
SYNC  
SYNC  
Figure 3. Terminals on HD-Series Motherboard  
When the rack system is equipped with Digiplan control modules,  
the signal connections are made via 8-way jumper cables fitted to a  
mating connector on each drive motherboard. In these systems it is  
not normally necessary to make external signal connections to the  
drives, since all control signals go to the control card motherboard.  
Control  
Signals  
Where the rack is equipped with drives only, control connections are  
made to the two-part connectors on the drive motherboard (see  
Figure 3). The following list describes the function of each terminal.  
PIN 1 - +24v. This is an auxiliary fused output which provides 24  
volts unregulated at up to 500mA. If the load is to exceed 250mA, fit  
an external 2200uF 35v capacitor between this terminal and terminal  
8 (0v). Remember to observe the correct polarity.  
PIN 2 - Fault. This is a composite output signal which goes high in  
the event of an overload, short circuit, supply failure or  
overtemperature fault. It is driven by an open-collector transistor  
and should therefore be pulled up by an external resistor when the  
signal is required. The resistor should be returned to a voltage no  
higher then 30 volts and should not allow more than 15mA to flow  
when the output is low.  
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HD65 & HD130 STEPPER DRIVES USER GUIDE  
9
__________  
PIN 3 - Zero Phase. The zero phase output is low when the  
translator is in its primary state. This occurs every 8 steps in the  
half-step mode, and the signal will therefore go low 50 times per rev.  
with a 200 step/rev. motor. It corresponds with current flowing from  
A to B in each motor phase. At switch-on the translator is always  
reset to the zero phase state. The signal is used when establishing  
a mechanical reference or "datum" position. Ratings are the same  
as for the fault circuit. An LED on the front of the drive shows when  
the translator is in the zero phase state.  
_____  
PIN 4 - Boost. Connecting this input to 0v increases the motor  
current by approximately 30%. The drive is not rated for continuous  
operation with boost applied, and if the input is held low the current  
will revert to its normal level after 5 seconds.  
PIN 5 - Direction. Taking this input low will reverse the direction of  
motor rotation. The direction should only be changed when the  
motor is stationary or running within the start/stop speed range. Do  
not change the direction signal within 5uS of the low-going edge of a  
clock pulse.  
_____  
PIN 6 - Clock. A low-going transition on this input causes the motor  
to advance one step. The width of the low-going pulse should be at  
least 4uS. Ensure that the pulse width is consistent with the  
maximum input frequency, which can be as high as 100kHz with the  
microstepping option operating at 2000 steps/rev.  
________  
PIN 7 - Energise. This input enables the motor to be de-energised  
so that it may be rotated slowly by hand without switching the  
system off. Switch 9 on the motherboard must be turned off in order  
to use this facility. The input should then be connected to 0v in order  
to energise the motor. DO NOT turn the motor at high speed with  
the drive de-energised as this may overload the power dump circuit.  
Similarly the drive should not be de-energised whilst the motor is  
running.  
PIN 8 - 0v. Use this terminal as a common return for the control  
signals.  
PIN 9 - 18v AC in. See power connection on page 4.  
PIN 10 - 0v. Connection for the 18v AC centre tap.  
PIN 11 - 18v AC in.  
PIN 12 - 0v. An additional common return for control inputs.  
PIN 13 - Anti-resonance. With this input connected to 0v, the drive  
operates in its normal chopping mode at all speeds. With the input  
high or open-circuit, the anti-resonance system is brought into  
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10 HD65 & HD130 STEPPER DRIVES USER GUIDE  
operation provided the speed is less than about 440 half steps/sec.  
This speed is programmable (see "Setting up the drive"). Switch 6  
may be turned on to hold this input permanently at 0v and so prevent  
the anti-resonance system from operating.  
_________  
PIN 14 - Square-off. When this input is open-circuit, the motor  
current is "squared off" to the one-phase-on level at approximately  
3200 half steps/sec. This gives improved midrange torque  
compared with the usual two-level current profile. However the input  
may be taken to 0v which will cause the drive to square off  
permanently. Square-off can also be disabled (see programming  
switch 0 under "Setting Up the Drive").  
_____________  
PIN 15 - External Reset. Connect to 0v to reset a fault condition  
(provided the cause of the fault has been removed). An alternative  
method of resetting is to temporarily remove power.  
PIN 16. Sync. Connecting the sync terminals of several drives  
together will cause all the chopper regulators to synchronise,  
eliminating beat fre-quencies and minimising the audible noise at  
standstill. Turret lugs are provided on each side of the motherboard  
to simplify interconnection between adjacent drives. All drives in a  
single rack may be interconnected in this way, but it is not  
recommended to connect drives in different racks together.  
Setting Up the  
Drive  
Motherboard Link  
The two-position link on the motherboard is fitted in position "a" for a  
standard drive operating in the full or half step mode. Position "b" is  
used when the optional microstep card is fitted.  
A 10-position programming switch on the motherboard sets up the  
main operating conditions, and in most applications this will be the  
only adjustment required. Certain parameters are determined by  
resistors on the drive and on the motherboard, and again the values  
as supplied have been optimised for all normal applications.  
Information is given on changing these parameters should this prove  
necessary.  
The functions of the programming switch are as follows:  
1-4:  
5:  
Current programming. (see next section).  
Square-off switch. Turning this switch "on" has the same  
effect as grounding the "square-off" terminal, i.e. gives  
permanent square-off at the one-phase-on current except at  
standby.  
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HD65 & HD130 STEPPER DRIVES USER GUIDE 11  
6:  
Anti-resonance. Turn "on" to inhibit the anti-resonance  
circuit (closing this switch performs the same function as  
connecting terminal 13 to 0v.).  
7 & 8: Mode switches. (See table on following page under Stepper  
Mode Selection.)  
9:  
Energise. Turn "on" to keep the drive permanently  
energised (closing this switch performs the same function as  
connecting terminal 7 to 0v).  
0:  
Square-off inhibit. Turn "on" to delay the onset of square-off  
until a clock pulse frequency of 15kHz is reached. This  
effectively inhibits the square-off function. Square-off  
operates normally with this switch "off". The switch is only  
active in the 200 or 400 step/rev mode.  
Current  
Programming  
The following table shows the settings of switches 1-4 for various  
motor currents. The values shown in the table are two-phase-on  
levels, and are nominal values only since they depend to some  
extent on motor inductance. The selected current should not exceed  
the current rating of the motor. In the half step mode the one-phase-  
on current is approximately 35% greater than the level with two  
phases on, giving a similar electrical power into the motor. Bear in  
mind that if permanent square-off is selected there will be a  
significant increase in average motor current at low speeds.  
DIP Switch Settings  
Motor Current  
Motor Current  
1
2
3
4
for HD65  
6.5A  
6A  
for HD130  
13A  
12A  
11A  
10A  
9A  
OFF OFF OFF OFF  
ON OFF OFF OFF  
ON ON OFF OFF  
5.5A  
5A  
4.5A  
4A  
3.5A  
3A  
OFF OFF ON  
OFF ON ON  
OFF  
OFF  
OFF OFF OFF ON  
ON ON OFF ON  
8A  
7A  
6A  
ON ON ON  
ON  
Stepping Mode  
Selection  
The following table shows the stepping modes selected by switches  
7 and 8.  
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12 HD65 & HD130 STEPPER DRIVES USER GUIDE  
Resolution  
(with 200 step/rev  
motor)  
Stepping  
Mode  
DIP Switch  
Settings  
7
8
200 steps/revolution  
400 steps/revolution*  
1,000 steps/revolution  
2,000 steps/revolution**  
Full step  
Half step  
1/5 step  
1/10 step  
ON  
OFF OFF  
OFF ON  
OFF  
ON  
ON  
* Default resolution setting for HD65/130  
** Default resolution setting for HD65/130M  
The 1/5 and 1/10 step modes only apply if the optional microstep  
card is fitted (types HD65M and HD130M). In a standard drive  
(HD65 or HD130) the half-step mode is almost always preferable to  
full step, since the slight loss of torque is more than offset by  
smoother performance at low speeds.  
Standby Current  
The motor current is automatically reduced at standby; the reduction  
depends on the current setting, and is 50% with the drive set to its  
full current. At minimum current setting the standby reduction is to  
approximately 80% of regulated current.  
A larger reduction may be obtained by changing R76 on the drive,  
which is normally set at 560 ohms. Reduce the value to reduce the  
standby current further. This resistor is located at the bottom of the  
PCB opposite the main power supply capacitor, and is accessible  
without dismantling the drive. Do not use a value higher than 560R  
without consulting Digiplan.  
The standby current may be measured by a meter connected in  
series with one of the motor leads, or by using an oscilloscope (see  
"Test points" on page 14). Note that in modes other than full-step  
the current will vary with step position, so it is safest to make the  
measurement with the drive on zero phase. Remember to switch off  
before disconnecting a motor lead.  
Boost Current  
When boost is applied the motor current increases by approximately  
30%. This is set by R77 on the drive and is normally 68K. The  
resistor is located next to R76 opposite the power supply capacitor,  
and its value may be increased in order to reduce the amount of  
boost. Do not use a value lower than 68K.  
Anti-resonance  
Dropout Speed  
The anti-resonance circuit is inhibited at speeds above 440 full  
steps/sec, and this is determined by R1 on the motherboard. The  
standard value is 47K, and halving the resistor value will double the  
dropout frequency.  
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HD65 & HD130 STEPPER DRIVES USER GUIDE 13  
Current Profile  
Setting (Half-step  
Mode)  
In the half step mode, a two-level current profile is used at low  
speeds to equalise torque on alternate steps. Figure 4 shows this  
current profile with A and B representing the two-phase-on condition,  
and C the one-phase-on condition. When two phases are energised  
the current levels are 6.5A and 13A for the HD65 and HD130 drives  
respectively. These current levels are increased in the one-phase-  
on condition to 9A (HD65) and 18A (HD130) to help maintain the  
torque on intermediate steps.  
The function of the square-off circuit is to maintain torque output in  
the middle speed range where the average motor current is falling  
off due to winding inductance. The current profile is "squared off" to  
the one-phase-on level at 3200 half steps/sec. The square-off  
speed is determi-ned by R2 on the drive motherboard. The standard  
value is 33K, and halving the resistor value will double the square off  
speed. Do not change this resistor value without first consulting  
Digiplan.  
Turning on switch 5 will give permanent square-off. This will give a  
significant increase in low speed torque, but will also increase motor  
noise and temperature rise. This setting should therefore be used  
with discretion. Square-off is logically inhibited at standstill to  
prevent overheating. Turning on switch 0 will have the effect of  
permanently inhibiting square-off.  
When using a microstepping drive (HD65M or HD130M), switch 5  
should be in the "off" position. Note that selecting permanent  
square-off in a micro-step mode would effectively return the drive to  
the full step current profile.  
Step Pulses  
1
2
3
4
5
6
7
8
9
C
A
B
Phase 1  
Phase 2  
Figure 4. Normal Current Profile (Half-step Mode)  
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14 HD65 & HD130 STEPPER DRIVES USER GUIDE  
Step Pulses  
1
2
3
4
5
6
7
8
9
Phase 1  
Phase 2  
Figure 5. Current Profile with Square-off  
The main fuses are fitted on the inside of the motherboard and are  
accessible by removing the drive. Ensure that the power has been  
turned off before any fuses are inspected. Fuse ratings are as  
follows:  
Fuses  
FS1  
FS2  
- Fan fuse, 500mA quick acting.  
- Power dump fuse, 2 amp time-delay.  
FS3, FS4, FS5 - 172v AC input fuses;  
12.5 amp time-delay for HD65,  
25 amp time-delay for HD130.  
- 18v AC input fuses, 1 amp time-delay.  
- 24v DC auxiliary output fuse, 500mA quick acting.  
FS6, FS7  
FS8  
In addition there is an internal fuse within the drive module itself, in  
the 240v DC supply between the main capacitor and the switch set.  
This is a quick-acting type rated at 10A (HD65), 20A (HD130).  
All fuses are 1-1/4 inch type. HBC (high breaking capacity) fuses  
are recommended for fuses FS3, FS4, FS5 and the internal drive  
fuse.  
At the base of the motherboard are test points which may be used to  
monitor motor current using an oscilloscope. The sensitivity is 10.8  
amps/volt for the HD65 and 21.5 amps/volt for the HD130.  
Test Points  
TP1 - phase 1 current monitor  
TP2 - phase 2 current monitor  
TP3 - reference voltage (factory use only)  
TP4 - 0v (use for scope probe earth lead)  
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HD65 & HD130 STEPPER DRIVES USER GUIDE 15  
MS20 Microstep Card  
The HD65M and HD130M drives are fitted with the MS20 Microstep  
Card which gives improved resolution and smoothness from a  
standard motor. Microstepping is achieved by proportioning the  
currents in the two motor windings so that the rotor takes up a series  
of intermediate step positions. In this way a standard 200-step  
motor may be made to perform 1000 steps/rev (1/5 step mode), or  
2000 steps/rev (1/10 step mode).  
Description  
Ideally the intermediate current levels will produce equally-spaced  
step positions as well as equal dynamic torque, without exceeding  
the dissi-pation limit of the motor. In practice this can be difficult to  
achieve and a compromise has to be made. If the current levels are  
plotted against rotor position the resulting profile resembles a  
sinusoidal shape. The optimum profile varies from one type of motor  
to another, and for this reason the MS20 card has a selection of 64  
alternative profiles which are stored in an Eprom and selected by an  
8-position DIL switch. This switch is accessible between the two  
edge connectors at the rear of the drive. The card has been  
programmed with a set of profiles which have been derived  
theoretically.  
A sinusoidally-based profile is obtained with all bit switches in the  
"off" position. Switches 2 - 6 may be used to set in an increasing  
binary number which will cause the profile to progressively "fill out"  
from a sinewave (switch 2 is the least significant bit). By turning on  
switch 7, increasing the number in switches 2 - 6 will then trim the  
profile down towards a triangular shape. In practice this tends to be  
more useful than the "filled out" form. Switches 1 and 8 should be  
left permanently off.  
A few examples are shown below - a "1" indicates that the switch is  
"on" .  
Switch position  
Profile  
Sinewave  
8
0
0
0
0
0
0
0
7
0
0
0
0
1
1
1
6
0
0
1
1
0
1
1
5
0
0
0
1
0
0
1
4
0
0
0
1
0
0
1
3
0
0
0
1
0
0
1
2
0
1
0
1
1
0
1
1
0
0
0
0
0
0
0
Slight fill-out  
Moderate fill-out  
Maximum fill-out  
Slight trimming  
Moderate trimming  
Maximum trimming  
Link 1 on the microstep card should be left in position "a". This link  
is provided for future implementation of an alternative profile in  
boost.  
Setting Up the  
Microstep  
Card  
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16 HD65 & HD130 STEPPER DRIVES USER GUIDE  
Link 2 is normally in position "a". Moving it to position "b" will cause  
a sinusoidal profile to be selected at standstill. With some motors  
this will give better static positioning than a filled-out or trimmed  
profile. Choosing the optimum profile for a given motor is best  
carried out with equipment which will accurately measure shaft  
position and torque. Since this is seldom available, empirical  
methods are normally used and can give perfectly acceptable  
results.  
The logical starting point is with all switches off to give a sinusoidal  
profile. Attach a light pointer to the motor shaft (cable ties are ideal),  
and run the motor very slowly. It will be visually apparent whether  
the steps are all similar or there is a cyclic variation in step size as  
the shaft rotates. Slowly increase the speed, and the sound from the  
motor will give an idea of the relative torque produced on successive  
steps. Again a cyclic pulsing sound implies associated torque  
variations  
Switch off, remove the drive and try setting a trimmed profile (see  
table on page 15). Repeat the exercise and compare the results.  
From this it should be clear whether more or less trimming is  
required, so choose another setting and try again. It is usually best  
to aim for the smoothest rotation rather than best static positioning.  
If the application demands significant torque from the motor, repeat  
the exercise with the motor loaded. This method usually reveals the  
useful range of profiles quite quickly.  
SINEWAVE  
FILLED-OUT  
TRIMMED  
Figure 6. Microstepping Current Profiles  
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HD65 & HD130 STEPPER DRIVES USER GUIDE 17  
Operation of the Drive Protection Systems  
There are three basic protection systems built into the drive, and  
these guard against damage caused by overloads, power supply  
faults and excess temperature. Operation of any of these protection  
circuits will de-energise the drive, and the reason for shutdown is  
indicated by an LED on the front of the drive. Provided the cause of  
the fault has been removed the drive may be re-energised by taking  
control terminal 7 to 0v or by temporarily removing power. Figure 7  
is a simplified diagram of the protection circuitry.  
Overload  
Protection  
An overload condition may be brought about by incorrect motor  
connection, short circuits across the motor terminals or any other  
condition causing excess current to flow. It may also arise if a very  
low inductance motor is desynchronised during deceleration. In any  
of these circumstances the overcurrent comparator will set the fault  
latch, turning on the appropriate LED and giving a fault output signal.  
Should the high-voltage supply rise excessively, or any of the logic  
supply rails fall outside preset limits, the supply protection circuit  
comes into operation. It functions by using a comparator to compare  
each of the supply rails with fixed reference levels. If the preset  
limits are exceeded, the fault latch is set and the supply failure LED  
is illuminated. Note that an excessive rise in the high-voltage supply  
may result from failure of the power dump fuse FS2.  
Supply  
Failure  
Protection  
This mode of shutdown occurs if the heatsink temperature reaches  
85°C, which will generally be the result of inadequate cooling. The  
heatsink temperature is monitored by a thermal sensor mounted on  
the drive pcb. The output from the sensor sets the fault latch  
directly, and illuminates the Overtemperature LED. It will be  
necessary to allow time for the drive to cool down before it can be  
reset.  
Over-  
temperature  
Protection  
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18 HD65 & HD130 STEPPER DRIVES USER GUIDE  
PROTECTION CIRCUIT  
Over-  
temp  
Fault  
Output  
Over-  
load  
Thermal  
Sensor  
Fault  
Latch  
Supply  
Fault  
Phase 1  
Current  
Over-  
load  
Comp.  
0V  
Phase 2  
Current  
Zero  
Phase  
Zero Phase  
Output  
-H.T.  
-5V  
Over-  
volts  
Comp.  
+5V  
+12V  
+24V  
Figure 7. Simplified Protection Circuit  
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HD65 & HD130 STEPPER DRIVES USER GUIDE 19  
Fault-finding Guide  
If there is no response from the motor and the more obvious checks  
have been made, the following guide may help to identify the  
problem. Before going through the procedure, make sure that the  
motor shaft is free to rotate with the drive switched off.  
Turn the drive on and see which LEDs are illuminated. Then go to  
the appropriate heading below.  
Zero phase -  
listen for audible noise from the motor. If there  
is none, check for open-circuit motor leads,  
check energise input (motherboard switch 9 on  
or terminal 7 connected to 0v).  
Overload -  
switch off, disconnect the motor and switch on  
again. If the overload LED is still on, the drive  
has been damaged. If not check for short  
circuits or crossed motor connections. A very  
low inductance motor could also cause the  
drive to trip out, if this is suspected try  
connecting the motor in series.  
Supply failure -  
check the AC supplies coming into the  
motherboard. If these are OK, switch off, wait  
for 3 minutes, unplug the drive and check the  
fuses on the back of the motherboard. If OK,  
there is probably an internal failure within the  
drive.  
Over-temperature - the drive has overheated and should be  
switched off and left to cool. If it was previously  
working satisfactorily, better cooling is needed.  
On the HD130, check that the fan is running  
and is not obstructed.  
None at all -  
check as for "supply failure".  
If there is audible noise from the motor but the drive does not  
respond to clock pulses, look to see if the zero phase LED flashes.  
If clock pulses are entering the drive, the LED should flash or go dim  
depending on speed. If it doesn't, the drive is either not getting any  
pulses or is not responding to them. Make sure the clock pulses go  
low for at least 4uS and that the logic low level is below +1v.  
CAUTION  
Note that if the dump fuse (FS2) is blown it will take approxi-  
mately 3 minutes for the main supply capacitor to discharge.  
Always allow adequate time for the capacitor to discharge  
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20 HD65 & HD130 STEPPER DRIVES USER GUIDE  
before unplugging the drive. Whilst the drive will operate with  
FS2 missing or blown, it is essential that this fuse is fitted for  
safety reasons.  
If you must return your HD Drive to effect repairs or upgrades, use  
the following steps:  
Returning the  
System  
1. Get the serial number and the model number of the defective  
unit, and a purchase order number to cover repair costs in the  
event the unit is determined by the manufacturers to be out of  
warranty.  
2. Before you return the unit, have someone from your organisation  
with a technical understanding of the equipment and its  
application include answers to as many of the following questions  
as possible:  
• What is the extent of the failure/reason for return?  
• How long did it operate?  
• Did any other items fail at the same time?  
• What was happening when the unit failed (i.e., installing the unit,  
cycling power, starting other equipment, etc.)?  
• How was the product configured (in detail)?  
• What, if any, cables were modified and how?  
• With what equipment is the unit interfaced?  
• What was the application?  
• What was the system environment (temperature, enclosure,  
spacing, unit orientation, contaminants, etc.)?  
• What upgrades, if any, are required (hardware, software, user  
guide)?  
3. In the UK, call Digiplan for a GRA (Goods Returned  
Authorisation) number. Returned products cannot be accepted  
without a GRA number. The phone number for Digiplan Repair  
Department is 0202 690911. For Customer Service/Applications  
Department phone 0202 699000.  
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HD65 & HD130 STEPPER DRIVES USER GUIDE 21  
Ship the unit to:  
Parker Hannifin plc  
Digiplan Division,  
21, Balena Close,  
Poole,  
Dorset,  
England.  
BH17 7DX  
4. In the USA, call Parker Compumotor for a Return Material  
Authorisation (RMA) number. Returned products cannot be  
accepted without an RMA number. The phone number for  
Parker Compumotor Applications Department is (800) 358-9070.  
Ship the unit to:  
Parker Hannifin Corporation  
Digiplan Division  
5500 Business Park Drive  
Rohnert Park, CA 94928  
Attn: RMA # xxxxxxx  
5. Elsewhere: Contact the distributor who supplied the equipment.  
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