HI-DRIVEDigital servo drives from 2 to 130A

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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

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