Parker HPD N (HPD2N, HPD5N, HPD8N, HPD16N, HPD20N,HPD24N). User’s manual (2004)

left-sw

b40.4

offset

HIGH PERFORMANCE DRIVE

right-sw

b40.5

Pr 1

full scale

main ref.

ref. 1

stop

b40.6

Pr 7

Pr 2

b40.0

MAIN BLOCK DIAGRAM

A/D

torque demand

ramps values

Pr 3

band-width

full scale

S/H

Pr 8

speed control

limitator

Pr 35

b40.12

ref. 2

Pr 9

b40.2

b40.3

torque

Pr 10

Pr 16

max fq ref.

Pr 18

Pr 11

Pr 17

demand

F/D

Pr 4

user current limit

internal reference

ramp

b40.11

Pr 12

Pr 19

value

analog out

Pr 5

b40.13

b40.7

thermal image limit

reserved reference

motor speed

b41.11

Pr 38

Pr 33

Vout aux

rated current

over

reserved current limit

Param.

DESCRIPTION

R/W

over speed

Pr 13

Pr 21

Pr 25

SOFTWARE RELEASE

b 41.0

Pr 26

BAUD RATE

max

high

Pr 27

SERIAL LINK ADDRESS

Pr 14

b40.8

Pr 28

SHAFT POSITION

at speed

Pr 29

MOTOR POLES

Pr 30

RES. PHASE SHIFT

b 41.1

Pr 22

trip code

Pr 31

OPERATING MODE

present

last

low

aux reference

drive enabled

Pr 32

RATED SPEED

Pr 15

Pr 23

Pr 24

Pr 36

I2T ACCUMOLATOR

b41.12

over voltage

Pr 37

BRAKE RESISTOR USE

drive ok

under voltage

Pr 20

DC BUS VOLTAGE

over current

Pr 39

PHASE ADVANCE

b41.4

zero speed

resolver break

Pr 34

GAIN FOR TACHO

motor over temp.

hardware

B42.0

b 41.2

enable

power stage over temp

B42.1

ENCODER OUT RESOL.

b 41.7

external trip

B42.2

forward

b41.5

aux. trip

B42.5

QUADRATURE / FD

b 41.3

output short circuit

B41.14

EXTERNAL OPM

b 41.8

software

PLC check-sum

enable

B41.15

FLAGS

PAR. check-sum

B41.6

PRE ALARM

b40.9

B40.1

VIBRATION STOP.

B40.10

LOW VOLTAGE OP.

TRAPEZOIDAL POSITIONER

OPERATING MODE

in progress

b70.6

b70.7

profile generator

feed

Pr 56

forward

servo error

b70.5

window

servo error

- 1

A IQ

proportional

reserved

gain

reference

Pr 61:Pr60

Pr 57

Pr 6

Pr 51

Pr 52

ramps steady time

target position

speed

b70.8

Pr 63:Pr62

profile on

reset 1

reverse/forward

motor position

b70.10

target position = motor position = 0

b70.4

pulses

b70.11

target position = motor position = shaft position

Pr 65:Pr 64

Pr 50

reset 2

b70.9

incremental

steps for pulse

position

b70.12

target position = motor position

reset 3

b70.2

incremental position Pr 65:Pr 64 = 0

reset 4

DIGITAL LOCK

OPERATING MODE

master speed

Pr 55

b70.2

ratio

encoder

locked

master

Pr 51

b70.6

Pr 52

b70.8

Pr 53

ramp

feed

forward

proportional

gain

Pr 61:Pr60

Pr 57

Pr 6

reserved reference

target position

Pr 58

Pr 50

slip

Pr 63:Pr62

speed

max regulator

speed

motor position

reset 1

Pr 56

servo error

b70.10

target position = motor position = 0

b70.5

window

servo error

- 1

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. The PLC program must be entered as a list of instructions from the keypad;

alternatively the PLC can be programmed with the ladder diagram system using a PC on the

serial line with an interface such as Pcbrush. Default parameterisation (b99.12) provides a

PLC program (see appendix G) designed to fill the requirements of the broadest possible

range of applications, therefore it is not necessary to reprogram the PLC in the majority of

cases.

Main features of the PLC:

Program steps

scan time

6.144 ms

timers

instructions

stack depth

mathematic operations

16 / 32 bits

fast inputs (fast copy)

3 - (512 µs)

PLC PARAMETERS

Pr71 Constant value = -1. Double word.

Pr72 Constant value = 0. Double word.

Pr73 Constant value = 1. Double word.

Pr74 Constant value = 2. Double word.

Pr75 Constant value = 10. Double word.

Pr76 Constant value = 100. Double word.

Pr77 Constant value = 1000. Double word.

Pr78 Constant value = 1024. Double word.

Pr79 Constant value = 4096. Double word.

Pr80 Free parameter. Parameter with save facility at user’s disposal (word).

Pr81 Free parameter. Parameter with save facility at user’s disposal (word).

Pr82 Free parameter. Parameter with save facility at user’s disposal (word).

Pr83 Free parameter. Parameter with save facility at user’s disposal (word).

Pr84 Free parameter. Parameter with save facility at user’s disposal (word).

Pr85 Free parameter. Parameter with save facility at user’s disposal (word).

Pr86 Free parameter. Parameter with save facility at user’s disposal (word).

Pr87 Free parameter. Parameter with save facility at user’s disposal (word).

Pr88 Free parameter. Parameter with save facility at user’s disposal (word).

Pr89 Free parameter. Parameter with save facility at user’s disposal (word).

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. Parameter Pb91 is not saved at power up and is definitely at zero.

Pr92 First PLC timer. Every 6.144 ms if Pr92 is not at 0 the timer is decreased, if set to

zero b99.0 is set at 1.

Pr93 Second PLC timer. Every 6.144 ms if Pr93 is not at 0 the timer is decreased, if set

to zero b99.1 is set to 1.

b94.0 Forces a double word formatted operation. When the drive is powered up this

parameter is on zero. If it is on one, the first mathematical operation of the pico-PLC

is executed setting the three operands as double word type; after the operation is

executed b94.0 is automatically set to zero.

If Pr60..Pr68 are utilised, double word formatting is automatic (see text).

b94.5 Disables the first fast input (b94.5=0). Set to zero at power-up.

b94.6 Disables the second fast input (b94.6=0). Set to zero at power-up.

b94.7 Disables the third fast input (b94.7=0). Set to zero at power-up.

b99.0 First timer status. At 1 if Pr92 = 0

b99.1 Second timer status. At 1 if Pr93 = 0

b99.2 At 1 if the result of the last PLC operation is negative.

b99.3 At 1 if the result of the last PLC operation is zero.

b99.13 PLC status. Default=1. If set to 1 the PLC program is executed, if on zero the

program is not executed and modification of PLC instructions is enabled.

PLC INSTRUCTIONS

Pa.y

load bit y of parameter Pa in the stack

Pa.y

LDN

Pa,y

load inverted bit y of parameter Pa in the stack

Pa.y

OUT

Pa,y

set bit y of parameter Pa to the value loaded in the stack

Pa.y

OUTN Pa,y

set bit y of parameter Pa to the stack value and invert it

Pa.y

SET

Pa,y

if stack is at 1, set bit y of parameter Pa to 1

Pa.y

RES

Pa,y

if stack is at 1, set bit y of parameter Pa to zero

RST

AND

Pa,y

the bit loaded into the stack assumes the result of the

Pa.y

logical AND operation between itself and bit y of

parameter Pa

Pa.y

ANDN Pa,y

the stack bit assumes the result of the logical AND between

itself and inverted bit y of parameter Pa

Pa.y

Pa,y

the bit loaded into the stack assumes the result of the OR

between itself and bit y of parameter Pa

Pa.y

ORN

Pa,y

the stack bit assumes the result of the OR between itself

and inverted bit y of parameter Pa

Pa Pb Pc

ADD

Pa, Pb, Pc if stack bit is at 1, parameter sum operation is executed,

ADD

therefore: Pc = Pa + Pb

Pa Pb Pc

SUB

Pa, Pb, Pc if stack bit is at 1, subtraction operation is executed on

SUB

parameters, therefore: Pc = Pa - Pb

Pa Pb Pc

MUL

Pa, Pb, Pc if stack bit is at 1, multiplication operation is executed on

MUL

parameters, therefore: Pc = Pa ⋅ Pb

Pa Pb Pc

DIV

Pa, Pb, Pc if stack bit is at 1, division operation is executed on the

DIV

parameters, therefore: Pc = Pa / Pb

END

program end

END

Pa.y

FIN

0/1

fast scanning input

FIN

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. Therefore, reading of the inputs and output

updates can deviate temporally by up to 6.144 ms with respect to the physical event.

All pico-PLC instructions with the exception of mathematical instructions, operate on

single bits; moreover, available stack depth is a single bit.

Instruction LD (LDN) loads the bit defined as operand into the stack, while all other

logical instructions operate on the stack. Mathematical operations are executed only if the

stack bit is at 1.

The following logic operations truth tables are provided for the user’s convenience:

logical AND operations

logical OR operations

bit A

bit B

result

bit A

bit B

result

The relative inverted ANDN and ORN operations follow the same logic, except they use

the inverted value of the specified bit.

There are 8 bits with save facility from b90.8 to b90.15 reserved for the PLC; a further 8

bits from b91.8 to b91.15 are available for the PLC; these are not stored and are always at

zero at drive power-up.

Also 10 word parameters are reserved, specifically from Pr80 to Pr89 with save facility

and option for use as 5 double word parameters. For mathematical operations the pico-PLC

has 9 constants available, from Pr71 to Pr79 selected from those that are most frequently

utilised in standard applications.

When using mathematical instructions (ADD, SUB, MUL, DIV) note that operators are

assumed as words with their relative signs. If a double word operation is necessary, parameter

b94.0 must be set to 1 before the operation; after the operation the PLC will automatically set

the bit to zero. Parameters Pr60...Pr69 are considered as double words so an operation like

[ADD 71 72 64] will write the result -1 in the double word Pr64:65 without having to set

b94.0=1 before the operation. If Pr80=-1 and Pr81=0, the operation [ADD 80 72 64] will have

the result Pr64:65=-1, while the same operation performed with b94.0=1 will assume Pr81 as

the high part of the double word Pr80:81 so the result will be Pr64:65=65535. In the first case,

therefore, operands other than Pr60...Pr69 will be treated as words, while in the second case

they will be treated as double words.

Note that in mathematical operations on double words, operands and results are defined as

follows: the operand parameter defines the least significant part while the most significant

part is represented by the word with the next serial address (see chapter Serial addresses and

parameter lengths). Parameters from Pr50 to Pr69 and from Pr80 to Pr89 are successive.

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. These settings remain valid until the next mathematical operation is

performed (the operation is executed only if the stack bit is equal to one). A mathematical

operation can be performed, setting the result in one of the constant parameters (Pr71...Pr79)

in order to set bits b99.2 and b99.3.

In the case of the DIV operation, if it is executed on a double word the most significant

part of the result contains the rest of the division, i.e. if you set b94.0=1 and perform [DIV 79

77 80] the result will be Pr80=4 and Pr81=96.

Note that parameters Pr23, Pr24, Pr25, Pr26, Pr27, Pr29, Pr31 and Pr34 are bytes like Pb42

and Pb94; therefore, these parameters cannot be used for mathematical operations; logical

operations must be used to alter their values.

FIN instruction. Three instructions are provided for high speed input acquisition: in this

case the scan is executed at 512µs (normal scanning is 6.144ms). If used, FIN instructions

must be the first PLC instructions. The first FIN instruction copies digital input 1 into bit y of

parameter Pb40

(second operand=0) or Pb70

(second operand

=1). The second FIN

instruction copies digital input 2 into bit y of parameter Pb40 (second operand=0) or Pb70

(second operand=1). The third FIN instruction copies digital input 3 into bit y of parameter

Pb40 (second operand=0) or Pb70 (second operand=1). If the second operand is added to

value 2, before the input is copied it will be inverted. If a FIN instruction is included at any

other position in the program it will have no effect. FIN instructions can be enabled/disabled

for each FIN: 1st FIN enabled if b94.5=0; 2nd FIN enabled if b94.6=0; 3rd FIN enabled if

b94.7=0.

A FIN instruction in the PLC program after the first three instructions or after any other

type of instruction will always be ignored.

There are two timers Pr92 and Pr93 at the disposal of the user. To use the first timer simply

load the time in terms of number of samplings (6.144 ms) in parameter Pr92: for example

Pr92=100 is equivalent to 614 milliseconds. Pr92 automatically decreases through time, bit

b99.0 remains on zero until the timer interval has elapsed; when Pr92=0 then b99.0=1. The

same functionality applies to the second timer regarding parameter Pr93 and bit b99.1. Ensure

that Pr92 Pr93 b99.0 and b99.1 are refreshed only after the first pico-PLC program scan.

The maximum number of instructions is 64 including the END instruction. Note that

mathematical operations occupy the space of two logical operations so when they are used the

maximum number of instructions available is decreased accordingly.

The PLC program must always be terminated with an END instruction.

The pico-PLC program can be edited on a PC (see Programming with Pcbrush) or directly

from the keypad. In this latter case, to facilitate procedures, when you need to delete an

instruction, select it and then press [M] to display the type of instruction; now keep [M]

pressed and simultaneously press [-]; when both keys are released the instruction will be

deleted. On the contrary, in order to add an instruction after In06 for example, select the next

instruction In07, press [M] to display the type of instruction; now keep [M] pressed and press

[+] simultaneously; when both keys are released an FIN instruction will be inserted. In this

latter procedure make sure that the instructions in the program are no more than the maximum

number or you will lose the last one(s). The pico-PLC program can be edited or altered only

when the PLC is in stop status (b99.13=0).

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. Note that the pico-PLC scanning time is 6.144

msec and the maximum number of instructions is 64; moreover, the PLC is designed

principally to manage the drive’s digital inputs and outputs.

In addition to a concise description of the application, the examples show the settings

required for HPD parameters and the pico-PLC program. The program is shown in ladder

diagrams and instruction listings.

Example 1: two inputs for on/off functions

90.1

90.2

91.2

90.1

digital input 1 sets bit b91.2 to on

91.2

digital input 2 sets bit b91.2 to off

91.2

ANDN 90.2

OUT

91.2

Example 2: changing a parameter value with the up/down keys

90.1

99.0

05 73 05

09.1

digital input 1 in high status increases

ADD

AND

99.0

parameter Pr5 by one unit every 614

92 76 92

ADD

05.73.05

msec

ADD

92.76.92

ADD

90.2

99.0

05 71 05

90.2

digital input 2 in high status decreases

ADD

AND

99.0

parameter Pr5 by one unit every 614

ADD

05.71.05

msec

92 76 92

ADD

92.76.92

ADD

Example 3: command on positive front of a digital input

90.1

90.10

70.8

90.1

digital input 1 sets bit b70.8 just once

ANDN 90.10

when the signal changes from low to

SET

70.8

high

90.1

90.10

90.1

OUT

90.10

Example 4: filtered digital input at 60 msec

90.1

90.10

72 75 92

90.1

if digital input 1 is low, load 60 msec

ANDN 90.10

on counter;

ADD

72,75,92

if digital input

1 is high for 60 msec

99.0

RST

99.0

b99.0 will be set to 1 and b90.11=1

RST

90.1

90.10

72 75 92

LDN

90.1

if digital input 1 is high, load 60 msec

ADD

AND

90.10

on counter

99.0

ADD

72,75,92

if digital input

1 is low for 60 msec,

RST

99.0

b99.0=1 and b90.11=0

RST

90.1

90.10

OUT

90.10

90.1

AND

99.0

90.1

99.0

90.11

SET

90.11

b90.11 is the status of filtered digital

SET

LDN

90.1

input 1

AND

99.0

90.1

99.0

90.11

RST

90.11

RST

Example 5: correlation between parameter values

99.13

00 80 72

99.13

calculate difference between

Pr0

and

SUB

0,80,72

Pr80 to set b99.2 and b99.3

99.3

81.0

99.3

OUT

81.0

if Pr0=Pr80 then b81.0=1

99.2

81.1

99.2

OUT

81.1

if Pr0<Pr80 then b81.1=1

99.3

81.2

LDN

99.3

OUT

81.2

if Pr0<>Pr80 then b81.2=1

LDN

99.2

99.3

81.3

if Pr0>Pr80 then b81.3=1

ANDN

99.3

OUT

81.3

99.2

81.4

LDN

99.2

if Pr0>=Pr80 then b81.4=1

OUT

81.4

99.3

81.5

99.3

if Pr0<=Pr80 then b81.5=1

99.2

OUT

81.5

Example 6: filter (600 msec) for reading the value of a parameter

99.13

35 60 60

99.13

Add Pr35 and Pr60

ADD

35,60,60

99.0

60 76 81

DIV

99.0

if timer

1 expired calculate filtered Pr35

DIV

60,76,81

setting result in Pr81

60 60 60

SUB

60,60,60

zero set Pr60

92 76 92

ADD

92,76,92

reset time m 1 to 600 milliseconds

ADD

81.15

81 71 81

81.15

if Pr81 is negative its sign changes

MUL

81,71,81

MUL

Example 7: homing

If you are using an operating mode with spatial control (9, 10 or 11) and you need to align

the motor with a zero position defined by a proximity sensor when the system is powered up.

You can use two digital inputs, one for the homing command and one to acquire the

proximity sensor signal. The commands are pulse type and the homing command is executed

once only.

After setting the default values set up the required operating mode (Pr31=xx, b99.11=1,

b40.2=1, and any other settings required) and then set the homing speed for the zero

proximity sensor in Pr5 and set b40.12=1 to enable Pr5 when b40.2 reaches zero.

Terminal 13 on X3 = pulse command - execute homing.

Terminal 14 on X3 = PNP axis zero proximity sensor.

Bit b91.10 is utilised to signal that the operation is terminated. Note that bits from b91.8 to

b91.15 are at the disposal of the PLC and cannot be stored in the memory.

The program is as follows:

90.2

91.10

40.2

90.2

homing command not

ANDN

91.10

executed, disables operating

RST

40.2

mode

91.10

40.2

91.10

If homing command executed,

SET

40.2

re-enables operating mode

90.3

91.10

70.10

90.3

if proximity switch operated

SET

ANDN

91.10

resets operating mode counters

SET

70.10

sets homing executed flag

91.10

SET

91.10

SET

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.

The following example provides this functionality using operating mode (9) (trapezoidal

profile).

After setting default values, set up operating mode

9 (Pr31=9, b99.11=1, b40.2=0,

b40.12=1, and any other settings required) and then enter the zero proximity sensor homing

speed in Pr5.

Terminal 13 on X3 = homing pulse command.

Terminal 14 on X3 = PNP type axis zero proximity sensor.

Terminal 11 on X2 = digital output. Switches to 1 when the homing phase is terminated.

The following bits are utilised b91.8, b91.9, b91.11.

The program is as follows:

If homing command is given

90.2

91.9

40.2

90.2

and not yet executed, disables

ANDN

91.9

RST

operating mode: the motor

RST

40.2

runs at speed set in Pr5

90.3

91.0

91.9

90.3

when proximity

sensor

ANDN

91.0

SET

operates alignment is enabled

SET

91.9

on the resolver zero position

40.2

SET

40.2

SET

91.9

41.2

91.8

79 28 64

proximity sensor trip is

AND

41.2

followed

by trapezoidal

SUB

ANDN

91.8

profile to align with resolver

SUB

79.28.64

70.8

zero position

SET

70.8

SET

91.8

SET

91.8

SET

91.8

if alignment with resolver

ANDN

70.8

91.8

70.8

91.0

zero is terminated, sets axis

ANDN

91.0

zero terminated output

SET

91.0

41.4

91.11

40.2

41.4

if drive is OK operating mode

ANDN

91.11

SET

is enabled

SET

40.2

91.11

SET

91.11

SET

The precision of the positioning on the zero

resolver depends on the stability of the motor in the moment in which the trapezoidal profile

is calculated for final alignment. You must therefore make sure that the motor shaft has

stopped before this calculation. In the example above, the halted motor test is done with bit

b41.2. In this case, the imprecision is due to the fact that this bit has a precision of ±1 rpm.

Should greater precision be required, in place of the test b41.2 set a sufficient delay to ensure

that the motor shaft has stopped.

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). On

receipt of the next pulse command, which is generated by a product detection sensor, the

blade roller drive locks onto the conveyor master so that the product is always cut at precisely

the same length; when the cut is terminated the blade roller reassumes the starting position

awaiting the next cutting command.

In this case the program permits the homing procedure (see chapter 1) and then, on receipt

of the command from the product sensor, it assumes digital locked mode and covers a space

equal to the value of Pr87:86; when it reaches this distance the drive unlocks and ramps down

to the standby position defined by parameter Pr89:88 = modulus. Note that one motor shaft

revolution corresponds to 4096 steps so the modulus value to set is equal to the number of

steps required by the motor shaft to execute a full revolution of the blade roller. The value of

Pr87:86 must be less than the value of the modulus (=Pr89:88).

The master encoder mounted to the conveyor shaft provides the drive with a position

reference during the digital locking phase.

PROX SENSORBLADE

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. it is the space that the axis must

cover during ramp down. Pay attention when programming Pr89:88 and Pr87:86 because

these parameters are utilised as double word format by the PLC but they must be set up as two

pairs of single whole words from the keypad. For example, if the modulus is 40960 steps,

Pr89 must be set to 0 and Pr88 must be set to 24576.

Terminal 13 on X3 = homing pulse command

Terminal 14 on X3 = NPN type axis zero proximity sensor

Terminal 12 on X3 = pulse command - digital locking engage sensor.

Terminal 12 on X2 = exit - high during modulus execution; if a digital lock command is

transmitted during execution of the modulus it will be ignored.

The delay before digital locking varies by up to 2.048 msec max.

The following auxiliary parameters are utilised: Pr83, Pr84, Pr85, b91.10, b91.12.

It is assumed that parameter Pr34 is not used.

The program is as follows:

70.8

FIN

8.1

Fast input for digital lock trigger

FIN

90.1

70.8

94.5

90.1

if the axis is locked

SET

AND

70.8

fast input disabled

91.1

SET

94.5

and output enabled (cycle in progress)

SET

91.1

if homing has been carried out the bit is

91.10

70.8

94.0

91.10

enabled.

SET

AND

70.8

86 62 84

SET

94.0

Force double word operation (comparison)

SUB

86.62.84

comparison for release test

85.15

55 72 05

AND

85.15

ADD

55.72.05

release test Pr86<Pr62

40.2

copy master speed into internal speed

RST

40.2

reference and enable it

RST

70.8

RST

70.8

release axis

RST

94.0

SET

94.0

force double word operation

SET

88 62 84

SUB

88.62.84

Pr84 = remaining space

SUB

94.0

SET

94.0

force double word operation

SET

84 55 83

DIV

84.55.83

Pr83 = time to reach zero rpm

DIV

91.12

SET

91.12

ramp stopped flag

SET

91.12

94.0

SET

94.0

ramp down management?

SET

SUB

88.62.84

Force double word operation

88 62 84

Pr84 = remaining space

SUB

SET

94.0

force double word operation

SET

DIV

84.83.84

84 83 84

calculate ramp speed

ADD

72.84.05

DIV

and write in internal reference

72 84 05

AND

41.2

ADD

41.2

72 72 60

ADD

72.72.60

if speed is zero

SET

94.0

reset position reference (modulus close)

ADD

force double word operation

94.0

SUB

62.88.62

SET

subtract modulus from motor dimension

62 88 62

RST

91.12

SUB

deactivate ramp in progress flag

91.12

RST

91.1

RST

deactivate cycle in progress output

91.1

RST

94.5

RST

91.10

enable fast output

94.5

ANDN

91.12

RST

SET

40.2

test if reference must be Pr6

91.10

91.12

40.2

90.2

SET

ANDN

91.10

test whether to execute homing

RST

40.2

execute homing

90.2

91.10

40.2

90.3

RST

ANDN

91.10

zero proximity sensor input

90.3

91.10

70.10

SET

70.10

honing end test…

SET

91.10

position reset

91.10

RST

94.5

homing flag

SET

LDN

91.10

enable fast input

94.5

SET

94.5

if homing not executed

91.10

94.5

RST

END

disable fast input

SET

program end

END

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. On receipt of an external start command the carriage is aligned on a zero

reference position (proximity sensor). With a second pulse command, provided by a product

detection sensor, the drive locks on to the conveyor in order to perform an operation on the

product at a precisely defined position; when this operation is terminated the carriage returns

to its starting position.

In this case the program makes it possible to execute homing (see chapter 1) after which,

on receipt of the manual command from the sensor, the carriage locks on and covers a

distance equal to the value of Pr87:86; when this distance is reached the drive unlocks and

stops according to the ramp programmed in parameter Pr83. The motor now automatically

returns to the origin position executing a trapezoidal profile with the ramps set in Pr80 and the

speed in Pr81. Note that one motor revolution corresponds to 4096 steps so the value to set in

Pr87:86 should correspond to the number of steps of the motor shaft needed for the carriage to

execute the required translation.

The master encoder on the conveyor shaft provides the drive with the necessary position

reference during digital locking.

SLAVE MOTOR

PROX SENSOR

CARRIAGE

SENSOR

MASTER ENCODER

After having set the default values, program the following parameters:

Pr5=10 (homing speed), Pr31=10, b99.11=1, b40.2=1, b40.12=1, Pr80=trapezoidal profile

ramp, Pr81=trapezoidal profile speed, Pr82=copy of P.51 in digital locking, Pr83=digital

locking release deceleration ramp, Pr84=copy of Pr53 in digital locking, Pr87:86=release

dimension in steps

terminal 13 on X3 = pulse command for homing execution

terminal 14 on X3 = axis zero position PNP proximity sensor

terminal 12 on X3 = digital locking sensor pulse command

terminal 12 on X2 = output; high during cycle execution; digital locking commands received

during cycle execution will be disregarded.

The digital locking delay interval can be up to 6.144 msec.

The following auxiliary bits are utilised: b91.10, b91.12.

Program (see on next page) :

91.12

70.8

91.12

return start management

SET

70.8

with trapezoidal profile

91.12

RST

91.12

RST

91.10

40.2

if homing exec. ref=pr6

SET

40.2

SET

90.1

70.8

locking start request

AND

90.1

SET

locking

SET

70.8

91.1

cycle output on

SET

91.1

SET

no ramp pr52=0

ADD

72.72.52

72 72 52

ADD

90.2

homing request

90.2

91.10

40.2

ANDN

91.10

RST

40.2

RST

90.3

91.10

70.10

stand by for proximity

ANDN

91.10

SET

reset dimensions

SET

70.10

91.10

homing exec. flag

SET

91.10

SET

31.1

91.10

91.1

94.0

if OPM = 10

AND

91.10

SET

if homing is done

AND

91.1

86 60 88

and locked

SET

94.0

forces double word

SUB

86.60.88

release

dimension

89.15

72 83 52

AND

89.15

reached ?

ADD

72.83.52

set release ramp

RST

70.8

and release axis

AND

41.2

RST

if speed is zero

SUB

31.31.31

41.2

31 31 31

disable OPM

ADD

72.72.70

SUB

reset all b70

72 72 70

ADD

72.80.51

ADD

trapezoidal profile ramp

72 80 51

ADD

72.81.52

trapezoidal profile speed

ADD

72 81 52

ADD

72.60.64

copy

position

ADD

incremental dimension

72 60 64

SET

70.4

and reverse for return

ADD

set OPM 9

ADD

71.75.31

70.4

SET

preset start

71 75 31

profile at next scan

SET

91.12

ADD

91.12

if no profile in exec.

LDN

70.8

SET

Motor stopped

AND

41.2

no profile preset

70.8

41.2

91.12

31.0

31 31 31

ANDN

91.12

and OPM is 9

SUB

AND

31.0

disable OPM

72 82 51

SUB

31.31.31

reset ratio

ADD

72.82.51

reset ratio

ADD

72.84.53

72 84 53

zero set slip

ADD

72.72.58

ADD

zero set all bits

ADD

72.72.70

72 72 58

ADD

SET

70.6

72 72 70

enable feed forward

ADD

72.75.31

70.6

set OPM 10

SET

RST

91.1

zero set current cycle

72 75 31

ADD

END

program end

91.1

RST

END

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.

With IDC enabled (Pr26=10) if bit b99.5 is set to 1 the HPD activates a broadcast

command by sending the value of Pr81 to the address of Pr80. HPDs that receive broadcast

commands with Pr26=10 automatically set b99.5 to 1 causing automatic transmission of Pr81

to the address of Pr80 in broadcast mode. Using this potential, it is extremely simple to

connect two HPD drives in a loop via the serial ports, and a short program on the internal

PLC will suffice to start transmission at power-on and restore it in the event of

communication errors. The following example describes the PLC program required to copy

Pr81 from the two drives in parameters Pr80.

Connection

function

drive 1

drive 2

drive 1

drive 2

Pr81

Pr80

Pr81

99.5

75 74 92

99.5

If broadcast is received

DIV

timer is set to 30ms

DIV

75.74.92

99.0

99.5

if time-out is present

99.0

SET

99.5

reset serial comms

75 74 92

DIV

75.74.92

and set timer

DIV

These PLC instructions must be entered on only one of the drives; both drives must have

parameter Pr26=10 to enable the IDC function.

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.

MOTOR

PROX SENSOR

CARRIAGE

POSITIONS: 0

This can be achieved using a smart keypad module (see appendix L, SBC1 program)

connected on the serial communications line with the drive and with the internal PLC. When

the machine is powered up the drive will stand by to receive the homing exec command and

the keypad will show the message “axis zero (F4)”. By pressing [F4] or sending a pulse

command to digital input 2 of the drive, the motor shaft will turn at the speed established by

parameter Pr5 until the intervention of the proximity sensor at digital input 3. The keypad

display will now present the message “automatic dimension 1”; digital inputs 4, 5 and 6 select

the position to be reached, while a pulse supplied to digital input 1 provides a trapezoidal

profile to reach the selected position. The following table shows the relationship between

parameters Pr80...Pr89 and the encoding of the 3 digital inputs; for example, input 4 on one

selects position 1 and the distance in steps between the zero axis point and position 1 is set in

Pr81:80, bearing in mind that one revolution of the motor shaft is equivalent to 4096 steps.

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

yyyy“ where xx defines the dimension in question and yyyy

determines the relative value. The [+] and [-] keys are used to modify the value yyyy while

[F3] changes the value xx.

If you wish to acquire the required position by moving the carriage, press [F1]: the display

will show the message “manual dimension xx “; [F1] selects the xx dimension to be

programmed while [+] and [-] are used to move the carriage. The [+] key provides the motor

start/stop in the positive direction, while [-] provides the start/stop in a negative direction; the

translation speed in this case must be set in parameter Pr4. Once the required position has

been reached, press [C] to confirm the dimension. Press [F2] to set automatic mode.

To store the parameters you have programmed press [S].

After having set the default values, set the following parameters on the HPD drive:

Pr4=10 manual translation speed

Pr5=5 homing speed

Pr31=9, b99.11=1, b40.2=1, b40.12=1

Pr81:80=dimension 1

Pr83:82=dimension 2

Pr85:84=dimension 3

Pr87:86=dimension 4

Pr89:88=dimension 5

terminal 12 on X3 = pulse command - execute positioning

terminal 13 on X3 = pulse command - execute homing

terminal 14 on X3 = PNP zero axis proximity sensor

terminal 15 on X3 = select position

terminal 16 on X3 = select position

terminal 17 on X3 = select position

terminal 11 on X2 = output: high during homing

terminal 12 on X2 = output, high during positioning

terminal 13 on X2 = output, high during manual translation

The following auxiliary bits are utilised: b91.10, b91.11.

The program is as follows:

90.2

91.10

40.2

90.2

If digital input 2 and homing not

RST

ANDN 91.10

yet executed, executes homing

RST

40.2

90.3

91.10

70.10

SET

90.3

If digital input 3 and homing not

91.10

ANDN 91.10

yet executed

SET

70.10

reset mode counters

91.0

SET

91.10

set homing executed flag

RST

91.0

set digital output 0 to zero

RST

70.8

91.1

70.8

copy bit b70.8 to digital output 1

OUT

91.1

41.4

91.11

40.2

41.4

if drive OK, enable operating mode

SET

ANDN 91.11

at power up

91.11

SET

40.2

SET

91.11

SET

END

program end

END

Inputs and outputs can be read and written directly via

the serial communications line so there is no need to use the pico-PLC if you have an

intelligent unit connected to the drive via the serial line. For more information regarding the

serial line, refer to the HPD user 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

PROXIMITY SENSOR

CARRIAGE

POSITIONS: 0

The positions are set in parameters Pr80...Pr89 in resolver steps taking the position of the

proximity sensor as the zero value. When the machine is powered up the drive remains in

standby mode awaiting the homing execution command: when a pulse command is supplied

to digital input 2 of the HPD drive the motor shaft will turn at the speed set in parameter Pr5

until the proximity switch provides a signal at digital input 3. At this point digital inputs 4, 5

and 6 select the position to be reached, while a pulse on digital input 1 makes it possible to

perform positioning on a trapezoidal profile. The following table shows the relationship

between parameters Pr80...Pr89 and the encoding on the 3 digital inputs; for example, only

input 4 on one selects position 1 and the distance in steps between the zero axis point and

position 1 is set in steps, bearing in mind that one revolution of the motor shaft corresponds to

4096 steps.

Input 6

Input 5

Input 4

Position

Dimension

Pr81:80

Pr83:82

Pr85:84

Pr87:86

Pr89:88

other combinations

axis zero

After having set the default values, set the following parameters on the HPD unit:

Pr5=5 homing speed

Pr31=9, b99.11=1, b40.2=1, b40.12=1

Pr81:80= dimension 1

Pr83:82= dimension 2

Pr85:84= dimension 3

Pr87:86= dimension 4

Pr89:88= dimension 5

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

terminal 15 on X3 = position selection

terminal 16 on X3 = position selection

terminal 17 on X3 = position selection

terminal 12 on X2 = output, high during positioning

The following auxiliary bits are utilised: b91.10, b91.11.

Program:

91.10

40.2

91.10

homing already

SET

40.2

executed

enable

SET

operating mode

90.2

91.10

40.2

90.2

RST

ANDN

91.10

If digital input

90.3

91.10

70.10

SET

40.2

execute homing if not

SET

90.3

yet done

ANDN

91.10

SET

70.10

if digital input

3 and

SET

91.10

homing not executed:

70.8

72 72 64

reset counters

ADD

LDN

70.8

homing exec flag

90.4

90.5

94.0

ADD

72.72.64

digital output 0 at zero

AND

90.4

SET

ANDN

90.5

if profile terminated,

80 72 64

SET

94.0

select

dimension

ADD

80.72.64

according to the three

90.6

94.0

AND

90.6

digital inputs

SET

94.0

SET

ADD

88.72.64

88 72 64

LDN

70.8

ADD

AND

90.5

70.8

90.5

90.6

94.0

ANDN

90.6

SET

94.0

ADD

82.72.64

82 72 64

AND

90.4

ADD

SET

94.0

90.4

94.0

ADD

84.72.64

SET

LDN

70.8

84 72 64

ANDN

90.4

ANDN

90.5

ADD

AND

90.6

70.8

90.4

90.5

90.6

94.0

SET

94.0

SET

ADD

86.72.64

86 72 64

ADD

LDN

70.8

if profile terminated

AND

91.10

and input 1=1 execute

70.8

91.10

90.1

70.8

AND

90.1

profile

resetting

SET

70.8

direction

bit

and

70.4

RST

70.4

calculating

distance

RST

SUB

64.60.64

with respect to current

AND

99.2

motor position

64 60 64

SET

70.4

if negative sign set

SUB

b70.4=1

99.2

70.4

70.8

SET

OUT

91.1

digital

output

70.8

91.1

END

indicates profile on

program end

END

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:

block 12 of X2 = output to select the first digit (least significant) of the controller

block 13 of X2 = output to select the second digit of the controller

block 14 of X2 = output to select the third digit of the controller

block 15 of X2 = output to select the fourth digit of the controller

blocks 12...15 of X3 = inputs to read digits in BCD (block 12 is the least significant bit; the connection

diagram is shown on the following page).

90.1

Copy bit 0 digit BCD

90.1

80.0

OUT

80.0

90.2

copy bit 1 digit BCD

90.2

80.1

OUT

80.1

90.3

copy bit 2 digit BCD

90.3

80.2

OUT

80.2

copy bit 3 digit BCD

90.4

80.3

OUT

80.3

if first digit

calculate units

91.1

80 73 81

MUL

80.73.81

if second digit

MUL

calculate tens places

91.2

80 75 81

MUL

80.75.81

if third digit

MUL

calculate hundreds

91.3

80 76 81

MUL

80.76.81

if fourth digit

MUL

calculate thousands

91.4

80 77 81

MUL

80.77.81

sum the digitd calculated in

the

MUL

auxiliary parameter Pr81

99.13

81 82 82

ADD

81.82.82

if last digit (most significant)

ADD

copy the final value in Pr83

91.4

82 72 83

ADD

82.72.83

set parameter Pr82 to zero

ADD

SUB

82.82.82

updates the outputs so as to enable

82 82 82

the reading of the next digit

91.3

SUB

OUT

91.4

91.3

91.4

91.2

OUT

91.3

91.2

91.3

91.1

OUT

91.2

if the last digit has already been

91.1

91.2

LDN

91.2

read, restart the scan of the digits

ANDN

91.3

starting from the units

ANDN

91.4

91.2

913

91.4

91.1

OUT

91.1

END

end of program

END

Parker HPD N (HPD2N, HPD5N, HPD8N, HPD16N, HPD20N,HPD24N). User’s manual (2004) - page 3