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DLD Product Manual

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2. N 2 2135 S sno jo Apadood swsnjoxa ayy s Sul 46 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 5 2 Motor end connection Power connection There are two possibilities for connection Terminal block resolver connector Power connector resolver connector Terminal block connection For the terminal block the clamping nuts and washer come in a bag Take care when fitting the lugs not to loosen the connecting leads between the motor and the terminal block aD The power connection lugs are to be inserted between the striated washer and the flat washer Digpl3 D Motor direction of rotation by wiring as recommended a positive set point applied to the drive entails clockwise rotation viewed from the power shaft end Phase U ALIMENTATION SUPPLY SPEISUNG V Phase V W Phase W 1 Optional brake 24 V gt 1mm 2 Optional brake OV FREIN BRAKE Thermal BREMSE sensor 3 Thermal sensor cable gt 1mm 4 Thermal sensor 47 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier PLUG 220065R1610 1611 CABLE CROSS SECTION FOR PLUGS PLUG 220065R1610 power amp earth 0 14 1 5 Brake amp thermal 0 14 1 mm PLUG 220065R1611 power amp earth 0 75 2 5 mm Brake amp thermal 0 14 1 mm aam m conn FUNCTION 220065R1610 R1611 220065R3610 R3611 CABLE COLO
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9. X3 ENCODER connector X4 RS232 connector Gai I ET 2 EZAT SF OA CT IB 1 IED C CT IPD 29 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 3 1 Terminal blocks B1 B2 B3 B4 TERMINAL ITEM RMINAI Front Panel TERMINAL gene Marking FUNCTION perius CAPACITY Min 0 2 mm 24V input for Unpluggable Max 2 5 mm brake supply screw type flexible and rigid lead Motor connection Min 0 2 mm Unpluggable 2 5 mm screw type flexible and Motor brake lead Motor thermal protection EARTH Min 2 5 mm flexible and lead Low level Unpluggable supply screw type Mains connection For single phase mains Min 0 2 mm only B3 3 and B3 4 Unpluggable 2 5 mm to be connected screw type flexible and EARTH lead DC BUS Min 0 2 mm unpluggable Max 2 5 mm DC BUS screw type flexible and lead 4 3 2 Sub D connectors X1 X2 X3 X4 4 3 2 1 Sub D connector table Connectors with metal plated or metallic covers CONNECTOR TYPE MAX CONDUCTOR cable CROSS SECTION X1 9 pin plug for Resolver link max 0 5 mm on RESOLVER soldering soldering barrel X2 Logic and 2 INPUTS 25 pin plug for max 0 5 mm on soldering analog soldering barrel OUTPUTS inputs output X3 9 pin socket for Encoder e
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12. 41 General Wiring Requirements 4 1 1 Appliance handling 4 1 2 Electromagnetic compatibility 4 1 3 DIGIVEX Little Drive Sub D connectors 4 2 Standard Connection Diagram 4 3 Description of Terminal Blocks and Sub D Connector 4 3 1 Terminal blocks B1 B2 B3 B4 4 3 2 Sub D connectors X1 X2 X4 4 3 2 1 Sub D connector table 4 3 2 2 Sub D connector X1 Resolver 4 3 2 3 Sub D connector X2 Inputs Outputs 4 3 2 4 Sub D connector encoder emulation 4 3 2 5 Encoder emulation cable 4 3 2 6 Sub D connector X4 RS232 4 4 Connection Details 4 4 1 Main supply characteristics 442 Power component dimensions 4 4 3 Auxiliary power supply 4 4 4 Terminal block B1 brake supply 4 4 5 Earth connection to the chassis 4 4 6 Short circuit capacity UL 508 C certification 4 4 7 Fuse specifications UL 508 C certification 4 5 Connecting Servomotors 4 5 1 Power cable definition 4 5 2 Motor end connection 4 5 3 Resolver connection 4 5 4 Automatic control Input Output connection 4 6 Accessories and Tools 4 6 1 Cables 2 PVD 3530 GB 01 2005 19 20 20 22 23 23 23 23 24 24 29 30 30 30 31 33 36 36 38 38 38 39 39 40 40 40 40 41 41 47 49 50 50 50 DIGIVEX Little Drive Servoamplifier 5 AUTOMATIC CONTROL INPUT OUTPUT FUNCTIONS AND CHARACTERISTICS 51 5 1 Input Output Characteristics 51 5 1 1 Logic inputs 51 5 1 2 Logic outputs 51 5 1 3 Speed set point input 52 5 1 4 Current limitation input 53 5 1
13. This output must through an interface authorise the self support of the main contactor This logic output shifts from level 1 to level 0 in the folowing cases e On normal stoppage obtained by voluntary opening of the main contactor when the dc bus voltage shifts to the minimum value of authorised bus voltage e On amplifier fault requiring amplifier stoppage Caution The shift to O of this logic output during running must imperatively induce the opening of the main contactor with a maximum delay of 100ms E Link of the DC buses from n DLDs case Y Fuses Fault monitoring KM Main power contactor E J MA On At w AP Anti interference in C1 to Cn dry relay contact outside of the DLD driven by the DRV OK logic output 24V 50 mA max E C1 Interruption capacity 250 V 1 j N eontaets in max interface between logic series of n DLD s output and relay by automaton n lt 6 Logic output level 0 Relay open Logic output level 1 Relay closed 230V 10 56 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 5 3 Initilialization Sequence After auxiliary power has built up approx 300 ms To Mains supply present To 1s Motor operational 5 4 Stop Sequence 5 4 1 Normal stoppage Normal stoppage is achieved by deliberately opening the main contactor To lt contactor opened To delay The DRV OK output of the X2 plug shifts to 0 for minimum Bus voltage Th
14. 5 Analog outputs 53 5 1 6 Encoder emulation 54 5 2 RESET and Contactor Control 56 5 3 Initilialization Sequence 57 5 4 Stop Sequence 57 5 4 1 Normal stoppage 57 5 4 2 Stoppage due to a fault 57 6 SERVO CONTROL PARAMETER FUNCTION AND SETTING 58 6 1 Servocontrol Parameter Functions 58 6 1 1 List of parameters 58 6 1 2 Regulation selection current proportional Pl PI 58 6 1 3 Integration stoppage 61 6 1 4 Speed scaling 61 6 1 5 Filtering frequency 61 6 1 6 Predictors 62 6 2 Inputting Parameters 64 6 3 Setting with DIGIVEX PC Software 64 6 3 1 Outline 64 6 3 2 internal variables 65 6 3 3 Entering parameters via DIGIVEX PC software 66 6 3 4 X Setting loop parameters for speed regulation 66 6 3 5 Setting predictors 70 6 3 6 Setting current regulation parameters 74 6 3 7 Other characterization parameters 74 7 COMMISSIONING SERVO CONTROL PARAMETER SETTING DETECTING REASONS FOR STOPPAGE 75 7 1 Start up Sequence 75 7 1 1 Preliminary checks 75 3 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 7 1 2 Commissioning with DIGIVEX PC software 7 2 Detecting Reasons for Stoppage 7 2 1 Fault display drive function 7 2 1 1 Handling operational malfunctions 7 2 1 2 Current monitoring 7 2 4 3 Temperature monitoring 7 2 1 4 Monitoring the DC Bus voltage 7 2 1 5 Other monitoring 7 2 1 6 7 segment display 7 2 1 7 Corrective actions 7 3 Defaults description 8 APPENDIX Characteristics and dimensions subject to change
15. drive switching mode according to the length of the cable Parameters can be set with PME in Servo control settings under the hardware tab General case keep the default value For motor cable length 50m see DLD documentation Power bridge PAM frequency C Default value 4KHz 8KHz PWM mode 1 centered standard C PWM mode 2 Caution Any change must be done with null torque A and will take effect only after the drive has been stopped and powered again OK There are three possibilities Default values 8kHz PWM mode 1 4kHz PWM mode 1 4kHz PWM mode 2 Cancel parameters to be applied as follows Cable length L lt 50m 50 lt L lt 80m 80m L 120m shielded and non shielded Settings Default 4kHz 4kHz value DSF01 PWM mode1 DSF01 PWM mode 2 DSF01 Only modify the parameters in these specific cases Follow any modification by shutting down and restarting the variable speed drive Connection by connector The power connection on the motor by connector is available as an option The mating part of the connector plug can be supplied on request 42 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier xal tX 306454GB doc 8 5 08 point screw type terminal block os per EN 50 022 as per EN 50 035 Symmetrical rail 35x15mm Symmetrical rail 35x7 5mm
16. frequency Slope 2 40 dB d c Phase frequency Diggb17 D pl35 W 6 1 6 Predictors Purpose of predictors Four physical phenomena Vertical mass Dry friction Friction proportional to speed Acceleration Are direct and calculable causes of modification of motor torque The purpose of the predictors is by calculation to act directly on the current set point without recourse to the speed loop and without waiting for the speed error produced by these phenomena see block diagram The principle of predictor setting and work is to minimize the current set point part from the P 2 PI branch and therefore to reduce the speed error As these predictors are outside the speed loop which must be adjusted first they do not affect stability They provide an appreciable improvement on response time The acceleration predictor improves stability and allows gain to be increased in any position loop superimposed on the speed loop However it should be noticed that many speed servocontrols do not require the use of these predictors 62 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier General characteristics of each predictor Mass or gravity compensation vertical axis The current value in amps required by the motor to move the mass at constant speed average between up and down is introduced directly into the parameter Dry or static friction The friction force is fixed whatever the speed Its direct
17. is negative In principle l Gravity Em in Amps horizontal motion gravity 0 I Static friction s in Amps Enter these values into the parameters Enter the threshold value e g threshold max speed 1000 After introducing the values the result obtained can be checked with the same stimulus Check the input set point on one channel and the P PI PI output on the other channel This should give a result close to 71 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Setting the dynamic friction and acceleration parameters It is assumed that the dry friction and gravity predictors have been set Use a sine stimulus offset 0 peak to peak value 10 to 20 of maximum speed frequency 0 2 to 1 Hz Using the oscilloscope function display 4 The input set point on one channel Pl PI output on the other channel Acceleration predictor setting Increase the predictor until P PI PI2 output is minimized Too high a value increases P PI PI2 with a phase change Input reference Maximum positive acceleration P PI Pl x Output 2 Predictor if too high Time 4 Predictor correctly 1 adjusted DIGPL43 DI9 W Very marked difference between optimum setting and no predictor The correct setting corresponds to minimum amplitude P PI Pr output The predictor must allow 2 the P PI output to be reduced in a ratio of at least 5 to 10 72 PVD 3
18. 0 14 1 mm solder or crimp fit contacts 05 5 12 CO F N S Viewed from F RESOLVER CONNECTOR REMOVABLE PLUG motor end connector 220065R4621 solder fit contacts standard 220065R1621 crimp fit contacts For XD motors Connect by Sub D connector under rear cover cable routed through special cable gland Please ask for details 49 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 5 4 Automatic control Input Output connection See functions and characteristics of these inputs outputs in Section 5 Sub D X2 use the cable as in drawing FELX 304553 see 4 3 2 3 Sub D Encoder emulation cable reference see 4 3 2 5 Sub D X4 RS232 link with PC use a standard 9 pin RS232 cable extension see 4 3 2 6 4 6 Accessories and Tools 4 6 1 Cables Plain cables Resolver cable 6537P0001 Input Output cable CB 08304 Emulation cable CB 08307 Complete cables equipped with connectors and or Sub D connectors Resolver cable 220049R61 length in meters 5m 10m 15m 25m 50m Input Output cable DIG 04544R code 1 or 2 and length in meters 3m 5m 10m 15m 20m Encoder emulation cable DIG 04546R length in meters 3 5 10 15 20 For RS232 cable Sub D X4 see commercially available cables with 9 pin Sub D extension Power cable supplied unequipped or equipped with connector plug See 4 5 3 connection by connector 50 PVD
19. 232 serial link Energize the auxiliary parts low levels alone 0 is displayed Go On line via the PC with the PC in interactive mode Parameter adjustment functions connection If this connection is not carried out Check the compatibility of the serial link configuration PORT BAUD RATE etc 4 Check the serial link cable 4 Check that you are using the correct interface DIGIVEX DLD 75 PVD 3530 01 2005 DIGIVEX Little Drive Servoamplifier Once on line all the parameters in the DIGIVEX Little Drive can be read Using the PC help functions check the fault analysis for the lack of faults Check the SPEED RANGE CW CCW TORQUE input status Then configure the amplifier This can be done off line in a file and then transferred or modified on line Choice of motor Choice of servo control parameters without the power part their validity cannot be checked 4 Ancillary checks validate brakes analog outputs safety strategy etc Use the software to force the drive to zero torque Power up 1 is displayed Remove zero torque locking using the software or via hardware contact set TORQUE input at 24V Carry out system adjustment using stimuli dc stimuli square with peak to peak 0 Check max Square stimuli or setting procedure for adjusting servo control parameters DIGIVEX PC software for setting the predictors if necessary Check the driven mechanism can operate freely 7 2 Dete
20. 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 5 AUTOMATIC CONTROL INPUT OUTPUT FUNCTIONS AND CHARACTERISTICS 5 1 Input Output Characteristics 5 1 1 Logic inputs 24 V dc optocoupled inputs isolation voltage 100 V type 1 inputs under IEC 1131 2 these inputs may be connected directly to PNP type outputs no external load resistor required LOGIC INPUTS 825K MINI TYPICAL Level 0 input voltage OV SV Level 0 input current Oma 2 8mA Ton response time 0101 tms Toff response time 1100 1ms 5 1 2 Logic outputs The outputs are fed by an external 24V 24V terminal 13 and OV terminal 25 The three OV outputs are linked to terminal 25 Maximum authorised output current level 1 50 mA Residual current level 0 Negligible Response time 1 ms Voltage drop 2V 51 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Opto isolated output opto mos PNP type the load being for connection to the OV logic i e between the two contacts allocated to this output Limitation l 24V Logique E SL x 0V Logique 5 1 3 Speed set point input 4 7 4 7 ELIK ee 1K 10K EA1 EA1 4 7NF 52 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 5 1 4 Current limitation input 4 7 4 7 10 2 20K 20K 2 20K 20
21. 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier AUX 1 AUX 2 RESET 24V BRAKE SUPPLY CTN POWER YA AUXILIARIES CHOPPED POWER O SUPPLY D 15V 5V U MOTOR V MOTOR POWER W BUS VOLTAGE PROTECTIONS MANAGEMENT DRV OK AXE OK DRIVE RESOLVER REGULATION E aaa THERMAL PROTECTION SUB D I O AND SET POINT FANS RAK VOLTAGE BRAKE 9 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 1 3 2 Power supply functions Receives the 230 V mains supply through terminal block B3 and converts it into a 325V dc voltage Receives the 230V monophase mains supply through the same B3 terminal block for powering the auxiliary power supplies 15V 5V required by safety regulations May receive a 24 V supply via terminal block B1 for powering the motor brake 1 3 3 Servomotor control functions 1 3 3 1 Presentation The DIGIVEX Little Drive DLD servo amplifier is a 4 quadrant transistor control module for controlling brushless synchronous motors with resolvers NX LX LS LD spindle drive motors See separate documentation PVD3407 and PVD3535 The customization of the motor resolver unit and the setting of the servocontrol parameters are carried out using a PC with DIGIVEX software PME software DIGIVEX module under Windows These parameters are stored in an EEPROM permanent memory 1 3 3 2 Functions and block diagram See next page The diagram sh
22. 530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Remember that the value of tpr prediction time in ms is close to td start up time with id Load inertia motor inertia max Max torque td is the acceleration time from 0 to maximum speed with maximum torque td in seconds inertia in kgm max o in rd s torque in Nm Setting the dynamic friction predictor Once all the other predictors have been adjusted increase the dynamic predictor to minimize the P PI PI output signal When the setting is correct this output should be minimum and in phase with the input set point Minimum value DIGPL43 D 50 W 73 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 6 3 6 Setting current regulation parameters If the current option has been chosen the only adjustments needed are Current limitation take care in this type of application that it does not trip with mean or rms current monitoring Current limitation is often equal to permanent current Second order filter frequency This can only be done with the superior regulation loop giving the current set point 6 3 7 Other characterization parameters Logic and analog inputs outputs Access via I O servo control parameter adjustment function This means that it is possible to assign one of the internal variables to each of the two 10 V analog outputs assign a constant value up to 12V and 12V to the analog outputs force the logic inputs
23. Asymmetrical rail G 32 H2 15mm 72 C gt lt gt 7 a t Q 8888868 s DRIVE LILIDI DIETE DSFO1 43 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier jprpuepyuo2 413145 5 WY Jno Aysedoud anysnjoxe ay s Bulmosp Styl 91095 M 5 FIOFOT AV 215 m 5 790703 5 1 X13 EE Sess 10458 udi 66 9NILO3NNOO ESTEE OES on so JUL 33 2151 100 1 7154 9 0203 AV 53504 AsvIIIXDV 2 PUD 94D JOY 5101201 02 25 pepuauu
24. IGIVEX Little Drive Servoamplifier 1 GENERAL 1 1 Digital Servodrive All of the drives comprise Brushless servomotors with permanent magnets sine wave e m f and resolver based position measurement NX LX LS LD range servomotors A box type electronic control system including A power supply function for depending on the model 230 single phase mains supply or 230 V three phase mains supply A control function corresponding to the servomotor power and resolver for spindle drive motor control This module also controls energy discharge via internal Two connection options are available for these servomotors Terminal box resolver connector Power connector resolver connector 1 2 General Characteristics Input voltage rating 230V see 4 4 1 SINE PEAK PEAK TYPE SBE PERMANENT MAXIMUM REF PARVEX CURRENT CURRENT 230 DLD 2 4 single DLD13M02R phase 50 60 Hz 230 DLD 4 8 Singlo DLD13M04R phase 50 60 Hz 230 V DLD 2 4 three DLD13002R phase 50 60 Hz 230 V DLD 4 8 three DLD13004R phase 50 60 Hz 230 V DLD 7 5 15 three DLD13007R phase 50 60 Hz PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 1 3 Operating Principle 1 3 1 Block diagram The block diagram shows two parts A power supply section providing dc voltage to the power bridge and auxiliary power supplies regulation fans one part for axis control and monitoring control 8 PVD
25. K 4 7NF 10 5 1 5 Analog outputs 47 53 PVD 3530 01 2005 DIGIVEX Little Drive Servoamplifier 5 1 6 Encoder emulation Electrical characteristics The electrical output interface meets standard RS422 for differential serial links The circuit used is a LINE DRIVER of the MC26C31D type The electrical characteristics are therefore closely related to the use of this component Short circuit capability A single output may be short circuited at 0 V at any given time Signal form Signal levels U high gt 2 5V for high gt 20mA U low x 0 5V for low x 20mA CHANNEL A CHANNEL A CHANNEL B ZERO SIGNAL Switching time Rise or fall time defined from 10 to 90 of the magnitude in question without cable and without load tr tf 4ns typical value Time delay between direct and complemented channels Time delay defined at 5096 of magnitudes in question without cable and without load 6ns lt ta lt 6ns maximum Time delay between channels A B and the zero mark Time delay defined at 5096 of magnitudes in question without cable and without load 6ns lt td x 6ns maximum 54 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier ENCODER INTERFACE NUMERICAL CONTROL DIGIVEX CONNECTION Encoder Emulation The resolver is above all a position sensor It is used to measure the position of the rotor relative to the stator This function allows the tr
26. Model DLD130 followed by 02 04 or 07 may be followed by R LOOK FOR LISTING MARK ON PRODUCT 995479001 Page 1 of 1 A not for profit organization dedicated to public safety and committed to quality service 83 PVD 3530 GB 01 2005
27. R THERMAL Orange PROTECTION D Yellow THERMAL PROTECTION Holding brake connection Brushless motors can be equipped with a specially sized brake to maintain the axis immobilized If 24 V 10 dc voltage is applied across the brake terminals the brake disc is free and the motor can rotate The 24 V dc supply used for brake control must be regulated and filtered The brake is to be connected to terminals B2 6 and B2 7 Thermal protection connection The two terminals of the thermal sensor located in the motor terminal box are to be connected to B2 4 and B2 5 48 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 5 3 Resolver connection The resolver is high precision sensor 10 angular minutes as standard which must be wired carefully Separate power cable routing Cable twisted and shielded in pairs no general shielding The shielding must be linked to the metal SUB D plug cover The shielding must not be linked to the motor side PARVEX SAS can supply this cable in either of two forms Separate cable in this case wire as in the drawing below Cable fitted with Sub D plug at the drive end and connector at motor end This solution is highly recommended as the cable is ready for use Maximum distance between the resolver and the DIGIVEX Little Drive 50 m Please ask about greater distances Maximum permissible cross section by the Sub D connector 0 5mm by the connector removable plug
28. SERIES SERVOREDUCERS 5 to 700 N m 5 POSITIONING SYSTEMS e Numerical Controls CYBER 4000 1 to 4 axes CYBER 2000 NC 1 to 2 axes e VARIABLE SPEED DRIVE POSITIONER gt SINGLE AXIS DSM gt POWER SINGLE AXIS DPM MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER DIGIVEX Little Drive Servoamplifier CONTENTS SAFETY INSTRUCTIONS PRODUCT RANGE 1 GENERAL 1 1 Digital Servodrive 1 2 General Characteristics 1 3 Operating Principle 1 3 1 Block diagram 1 3 2 Power supply functions 1 3 3 Servomotor control functions 1 3 3 1 Presentation 1 3 3 2 Functions and block diagram 1 3 3 3 Forcing logic inputs 1 3 3 4 Stimuli oscilloscope functions 1 3 3 5 Speed ramp function 1 3 3 6 logic outputs 1 3 3 7 Brake action 1 3 3 8 Monitoring reasons for stoppage 1 3 3 9 General characteristics of the DIGIVEX Little Drive 14 Compliance with Standards 2 ENERGY DISSIPATION 2 4 Braking Energy Dissipation 2 1 1 Calculating the power to be dissipated in the braking resistor 2 1 2 Braking energy dissipation 21 3 Braking capacity and module losses 1 PVD 3530 GB 01 2005 o N 10 10 10 12 12 12 14 14 15 15 16 17 17 17 17 18 DIGIVEX Little Drive Servoamplifier 2 2 DLD paralleling 3 DIMENSIONS ASSEMBLY MASS LABELLING CODING 3 4 Dimensions Assembly and Mass 3 2 Labelling and Coding 4 ELECTRICAL CONNECTIONS
29. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX Little Drive DIGITAL SERVOAMPLIFIER User and commissioning manual PVD 3530 GB 01 2005 PRODUCT RANGE TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery NX HX HXA 1 to 320 gt NX LX 0 45 to 64 N m High rotor inertia for better inertia load matching HS LS 3 3 31 Varied geometrical choice gt short motors range HS LS 3 3 to 31 or small diameter motors HD LD 9to 100 N m Voltages to suit different mains supplies 230V three phase for s rie L NX 400V 460V three phase for s rie H NX e DIGIVEX DRIVE DIGITAL SERVOAMPLIFIERS gt SINGLE AXIS DSD COMPACT SINGLE AXIS DuD DLD POWER SINGLE AXIS DPD gt MULTIPLE AXIS DMD PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS HV COMPACT SERIES HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kW up to 60 000 rpm e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 DC SERVODRIVES e RS SERIES SERVOMOTORS 0 08 to 13 N m e RTS SERVOAMPLIFIERS e RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere e AXL COMPACT
30. V W Cross sections as in the table on the next page 1 earth conductor green and yellow 2 twisted and shielded pairs for connection of the motor thermal protection Cross section in the order of 1mm 2 twisted and shielded pairs for connection of the holding brake if present Cross section in the order of 1mm Power cable cross section The cross sections given are for copper conductors The cable cross sections given in the table below take account of The rated drive current The motor drive distance service voltage loss RI The ambient temperature cable Joule losses RI the standardized increase in cable sections The cable section to be used is given in the table below Distance gt 50m DIGIVEX rating Copper cable cross section in Copper cable cross section in mm mm 2 4 and 4 8 7515 Use for standard lengths Copper 20 lt L lt 30m 30 L 50m L gt 50m cable m length Shielded L lt 15m 15 lt L lt 20m 20 L 50m DSF01 DSF01 See table below See table e DSF01 three inductances of 50 mH weakened to rise on rail DIN e For lengths superior to 50 m consult us 41 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier In the case of long lengths In the case of long cable lengths there is a special function in the DLD variable speed drive for versions of software above or equal to AP516V07 running with PME version 4 04 or above This function is used to adapt the variable speed
31. a the PME DIGIVEX software 1 3 3 5 Speed ramp function A ramp function is integrated into the drive unit for versions of software above AP516V07 running with PME version 4 04 or above This function is used to create time dependent linear speed ramps Parameters can be set in Servo control settings under the ramp tab i Servocontrol settings x Servocontrol Setting calculation Ramps Hardware JV Ramps actives Times t1 t2 t3 and t4 can be programmed from 0 to 1000s Speeds Vp and Vn can be programmed from 0 to 50 000 rpm Comment Vp and Vn are points on the ramp they can be defined outside of maximum motor speed However servo controls will limit the motor speed to the maximum authorized speed 12 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier How the ramp operates The ramp input can either be the analog input instruction or the stimuli generator as shown below Stimuli generator Input instruction To speed servo controls ON OFF stimuli In the event that the input is analog scaling is carried out by the input instruction product V speed range for 1V the speed range for 1 volt can be found in the servo control dialogue box Ramp activation is validated by the information TORQUE 1 enable torque activated Therefore the ramp operates as soon as the zero torque information is unlocked and an operating direction CW or CCW
32. amplifier 3 2 Labelling and Coding Physical identification by labels On DLD One label plate fixed to the appliance as in the model below AID Cen PARVEX LISTED AC SERVO Part number DLD13MO2R Tr Serial 00250 Date 12 04 Input Output Voltage 230V 1096 0 310V Phase 2 3 Current 3 3A rms 2A peak Freq 47 63Hz 0 1kHz Motor 380W 0 52HP Classe 1 IP 20 Temperature refer to user manual ATTENTION Chocs Electriques Les condensateurs restent charg s des tensions dangereuses Temps de d charge minimum 3 min Se r f rer la notice d utilisation WARNING Risk of Electric Shock Capacitors remain charged to dangerous voltage Minimun discharge time 3 min Refer to user manual www SSDdrives com Meaning of label indications e AC SERVO Alternating current converter e DLD DLD servo amplifier code e Serial servoamplifier serial number e Date date of manufacture Input Input current e Output Output current e Voltage Voltage mean value e Phase Phase number e Current Current peak value e Freq Frequency in Hz e Motor Motor power in W and in HP e Class Service class under NF standard EN60146 1 permanent e 1 20 Protection indice acording to NF EN 60529 standard The customization of the resolver is stored in a EEPROM memory The para
33. ansformation of the signal from the resolver into a series of pulses identical to those from an incremental encoder A B 0 and their complement Programming resolution and zero mark position This is done with the DIGIVEX PC software Resolution Adjustable between 1 and 16384 either by keys or be entering the number directly OFF LINE only Zero Mark Setting Setting by teaching with the PC working on line When the operator judges the position is suitable he confirms by acknowledging the zero mark 55 PVD 3530 GB 01 2005 Automatic system supply DIGIVEX Little Drive Servoamplifier 5 2 RESET and Contactor Control X215 Reset X2 21 to X2 24 Reset A rising 24V front applied to X2 5 as compared to X2 21 induces the reset after a fault Its worth noting that the reset can also be carried out by turning off the power supply completely mains and auxiliaries This control has no effect during normal operation The system must be reset after any active fault 2 6 DRV OK 2 18 DRV e This logic output is at level O if e the amplifier has neither low levels or neither power on the amplifier e the amplifier has low levels without power e This logic output is at level 1 if e The dc bus voltage is present and the amplifier does not display a fault e This logic output shifts from level 0 to level 1 on the setting up of a power bus due to the closing of the main contactor KM power contactor
34. atively be isolated from the system using a transformer whose secondary will not be earthed The voltage of the transformer secondary must be identical to the mains voltage 230V for mono appliances or three phase 230V 4 4 4 Terminal block B1 brake supply This terminal block is also able to receive a 24V power source voltage for the brake fitted to the motor It is supplied to the B2 motor terminal The customer is responsible for supplying an isolated regulated and filtered 24VDC voltage Protection against overvoltage by 1 Joule varistor this protection is effective from 30V A UL fuse must be used UL recommendation for 24Vpc voltage 4 4 5 Earth connection to the chassis Chassis earth The cable cross section must usually be identical to that of the mains connection in order to comply with standards in force 4 4 6 Short circuit capacity UL 508 C certification Suitable For Use on a circuit capable of delivering not more than 5000 rms symmetrical amperes 230 volts maximum 4 4 7 Fuse specifications UL 508 C certification The auxiliary input must be protectected by the fuses F2 type ATDR2 2A 600V class cc made by Ferraz SHAWMUT 40 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 5 Connecting Servomotors 4 5 1 Power cable definition Attention Only use copper core cables The motor drive power connection cables will have as a minimum three isolated conductors connected to phases U
35. case of three phase and between L N in the case of single phase upstream from the main contactor please refer to the relevant connection diagrams FELX 306198 for single phase and FELX 306199 for three phase Or obtained via an independent single phase power source and connected to the B3 terminal block In this case this power source must be isolated from the mains via a transformer secondary 230 10 100VA Or obtained from the intermediary mains voltage through diodes B3 is not connected In this option not recommended the cutting off of the mains power source leads to the loss of the low level power sources and in particular the pulses generated by the encoder emulation option 39 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Clarification 1 Connection of the auxiliary power source is not compulsory because it is fed internally by the direct bus Connection proves necessary if we want to save the position and the state through the encoder output emulation when for safety reasons the mains power is turned off 2 If the auxiliary power source is used it is essential for it to be connected to the same phases 2 out of 3 for three phase as the mains power supply see recommended diagram FELX 306198 for single phase and FELX 306199 for three phase to avoid damage to the appliance If this is not possible this auxiliary power source can possibly originate from another circuit but it must imper
36. cs 230 V single phase or three phase modules PARAMETER VALUE Frequency 47 63 Hz Minimum voltage 92 V rms Maximum voltage 253V rms Rated voltage 230V rms Dc voltage achieved 140 340V To guarantee mechanical power single or three phase for 2 4 and 4 8 caliber Three phase only for caliber 7 5 15 38 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 4 2 Power component dimensions one single drive Applicable to components ahead of the DLD fuses cables contactors etc these dimensions are dependent on _ Permanent current sine wave peak at slow motor speed as given in the characteristics Electrical power of mains supply 1 1 U rms o power source eff mainsP X 1 in single phase i eff UJ3 0 65 si Eff power source eff mainsP X 1 in three phase eff UV3 0 8 4 4 3 Auxiliary power supply The power supplies required for the controls 15V 5V ventilators are taken from an intermediate direct current voltage which can be Either obtained via a single phase power source coming from the mains bled off between 2 phases upstream from the main contactor B3 terminal block input please remember that the internal wiring is as follows THREE PHASE SINGLE PHASE gt EE L uL m gt j 1 h 44 The auxiliary power source input must be taken between two phases 1 122 62 13 L1 L3 in the
37. cting Reasons for Stoppage 7 2 1 Fault display drive function Incidents with drive operation can be displayed in two ways Onthe 7 segment display situated on the front panel of the amplifier e Via the software which indicates in uncoded language the nature of the problem and gives advice on corrective action 76 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 7 2 1 1 Handling operational malfunctions There are 2 kinds of malfunction e Malfunctions that require stoppage of the system These malfunctions must lead to The opening of the main contactor and disconnection of the power supply controlled by the DRV OK X2 6 X2 18 logic output See S 5 2 The fault is stored in the axis and the data is displayed on the front panel Malfunction leading to a reduction in the system s dynamic characteristics e For excessive DLD dissipater temperature For excessive mean drive current or excessive rms motor current if the drive parameter setting allows operation to continue The choice of continuing operation with reduced current or stopping is made by the current protection strategy in the servo control window of the parameter setting software These malfunctions lead to Areduction in the motor current The data being displayed on the front panel 7 segment display flashes 7 2 1 2 Current monitoring Mean drive current To prevent the motor thermal tripping by the thermal sensor the drive monitor
38. e earth screw at the back of the DIGIVEX Little Drive If this link exceeds 30 cm a flat braid should be used instead of a conventional lead CONNECTIONS Do not run low level cables resolver inputs outputs NC or PC links alongside what are termed power cables power supply or motor Do not run the power supply cable and the motor cables alongside one another otherwise mains filter attenuation will be lost These cables should be spaced at least 10 cm apart and should never cross or only at right angles Except for the resolver signals all low level signals will be shielded with the shielding connected at both ends At the DIGIVEX Little Drive end the shielding is made continuous by the Sub D connector mechanism The motor cables are limited to the minimum functional length The yellow and green motor cable lead must be connected to the box or front panel terminal block with the shortest possible link This usually means shielded motor cable is not required Chokes may also be inserted into the motor phase leads OTHER MEASURES Self inducting components must be protected against interference brakes contactor or relay coils fans electro magnets etc 23 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 1 3 DIGIVEX Little Drive Sub D connectors In order to ensure the system is free from disturbances it is essential for the rack to be properly connected to the earth plane of the electrical cabinet and for the covers o
39. ency and phase frequency Gain PI Gradient 2 40 dB d c Gain PI Gradient 1 20 dB d c Gain P if Phase Phase f f 180 Dipl17 D 34 W 6 1 4 Speed scaling The choice of motor drive combination determines the maximum possible speed The Maximum speed parameter can be used to reduce this maximum speed for the application This parameter is external to the speed loop and modifying it does not modify gain The Speed for 1 Volt parameter determines the speed gradient e g maximum speed can be obtained for 10 V 9 V or 7 V depending on the positioning control 6 1 5 Filtering frequency Resonance phenomenon Many systems have one or more resonance frequencies related most of the time to mechanical phenomena inertia or mass associated with the rigidity of the mechanical components belts screws reducing gear frames etc In a zone of reduced frequency around the resonance frequency there occurs Marked variations in loop gain Marked variations in the closed loop phase This leads to instabilities or squeaking with more or less violent oscillation 61 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Second order filter This phenomenon cannot be dealt with by P PI PI2 adjustment If the resonance cannot be dealt with mechanically the frequencies concerned must be eliminated This is the function of the second order low pass filter Gain
40. f the Sub D connectors to be EMI RFI shielded metal with shielding braid connection Make sure the Sub D connectors and their covers are properly connected lock screws fully tight GROUND CONNECTION Fold the shielding braid over the cable sheath Solder between the braid and the green and yellow lead 4 2 Standard Connection Diagram See the drawings on the following pages FELX 306198 FELX 306199 FELX 306460 FELX 306461 24 PVD 3530 GB 01 2005 OOTY a saniya T 2 5 9861902 XIII a 7 soot in IY Je 55 9157 66 21 51 715 7 90 3 V puo jo4ju02 0jno 840 JOY 5 01201 02 esn oj 8723 Kjbuoajs ueuj s jo u wdinb jin24D buisibueue y 8887 eq 05 dojs NJ p4opupjs Jo y Sone EE 5 UN
41. f the drive selected beforehand In this mode settings predictors neutralized The only functions operative Current limitation often reduced below the permanent drive current so as not to trip in mean rms values The second order low pass filter filtering frequency for reducing the effect of any resonance 58 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Choosing The drive is used in a speed loop with purely proportional gain This gain is the ratio between the output current and the speed error It is expressed in mA rpm CORRECTORS SPEED REFERENCE SPEED MEASUREMENT N RESOLVER RESOLVER TREATMENT For the same current if the gain increases the error e is reduced the rapidity of the system increases as does its bandwidth An increase in gain may lead to instability because of the other components in the loop resonances second order filter The use of proportional action P alone has the drawback of giving zero rigidity because there is no integration ahead of the current section 59 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier TORQUE DISTURBANCE SPEED REFERENCE PHASE POWER LAW SPEED MEASUREMENT N N RESOLVER RESOLVER TREATMENT Choosing PI proportional and integral action Compared with P action alone PI provides the following two modifications The gain open loop at zero frequenc
42. ing cycles ins This formula is for the least favourable case For a mechanism with substantial friction or with low reverse output the power to be dissipated may be greatly reduced The power to be dissipated by the axis must not exceed the permanent power admissible by the resistor Duration and repetition must not exceed the ratings in table 2 1 3 2 1 2 Braking energy dissipation Dissipation of breaking energy is carried out through a resistor or 2 resistors depending on the calibre situated in the module 17 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 2 1 3 Braking capacity and module losses 230 V single phase or three phase modules Definitions Maximum power Maximum power drawn resistance connecting is carried out at 360V hence MODULE RATING ae rane Resistor value Maximum current Pulse power Permanent power Maximum non repetitive duration Repetition Losses from modules at maximum power Low level consumption the power drawn has a maximum resistance value equal to 360 Pulse power maximum power dissipated by the resistor this power can only be drawn for a short time and in compliance with a certain cycle Permanent power to 25 C mean power that can be dissipated on a permanent basis by the resistor Maximum duration maximum duration in seconds for which the pulse power can be required starting from cold the resistor must be allowed to c
43. input Max voltage 35V OV power supply input Max current 160mA EA analog input EL logic input SA analog output SL logic output 34 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier ee EC X3AISIG 5 doo paplalds 43 1W3 Bue umugg S40j28uuo2 40128uu02 s40 20uuo2 pajojnsu Q 8ns eju uid gz buipjaius 1DJaua5 91902 GZ OXGZ 02 wjbue SOpD S D 52 2 3002 Burson uonoeuuo2 piosg Buipjaiys pio4q Guipjaiys doo paplalys 4M IW3 do 4M 1W3 0128uuO2 J0 98UU09 G gns amwa Ud SZ g 8ns alow uid gz Buipjaiys 1pjaus6 YM 9jqo2 GZ OXGZ woz 3009 Buon 1 01 SHLONIT GYVONVLS so H19N31 3009 3002 H19N31 e HIN T 3000 318v9 TINA 7 bd EKE LL Mau eee a e 9 g X33 Vd Jewojsno y q pepwojd Apz Q10 404 KUO ae S378v2 LNdiNO LNANI dV __ Foros AV 9 stosexv 5 300003 Av 3 26790791 8 86780702 i3 ve 166IAV 3 96770 72 Y 20 AuQ jou jnq papusawwosay ojjoK uesJb 3 ____ 5371972 LNdLNO LNANI doa Q 8ns
44. ion is opposed to motion the sign therefore depends on the speed set point sign In this case too the values are entered directly in amps for the required motor current to overcome friction The threshold expressed in rpm defines a speed band within which this compensation is zero current reference speed reference limit The threshold is of the order of 1 1000th of maximum speed This zone allows torque oscillation to be reduced during rapid and repeated changes of the speed sign This is the case in particular at rest when there is a position loop Dynamic friction compensation Friction proportional to speed encountered on some mechanical components using fluids Value to enter coefficient in amps rpm Acceleration prediction Depending on the total inertia load and motor rotor and on the desired acceleration the torque necessary is equal to C XJ do dt The set point is monitored therefore in order to send a set point that is proportional to inertia fixed and to acceleration to the current control This is one of the limits of the system there is no point in having a variation in the speed set point that is greater than the maximum possible acceleration of the motor given by do dt peak torque XJ Acceleration prediction is only useful if there is a ramp on the speed reference The parameter used is tpr prediction time in milliseconds tpr can vary between 0 ms no prediction t td
45. is off load time depends on the activity of the amplifier during this phase The motor continues to be driven until the output switchover then 0 is displayed 5 4 2 Stoppage due to a fault To lt Fault detection To 20ms Fault type displayed The external automatic system must then open the main contactor at the latest 100ms after the transition of the X2 plug from 0 to the DRV OK output The motor can no longer be driven 57 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 6 SERVO CONTROL PARAMETER FUNCTION AND SETTING 6 1 Servocontrol Parameter Functions 6 1 1 List of parameters Choice of regulation type Speed Proportional Proportional integral PI 2 Proportional double integral PI Current regulation In all cases Minimum value Maximum value e Filtering frequency 20 Hz 800 Hz e Offset 3 496 V max 3 496 V max e Current limitation 0A pulse drive For speed regulation P Pl PI e Maximum speed 100 rpm min 100 000 rpm min e Speed for 1 V 10 rpm min 14150 rpm min e Proportional gain pulse drive 156 pulse drive x 210 e Integration stop 0 1 Hz 100 Hz e Predictors gravity dry or dynamic friction acceleration 6 1 2 Regulation selection current proportional Current regulation Choosing current means current can be controlled directly therefore the motor torque through the torque coefficient Kt This then gives 10 V pulse peak current o
46. le Drive Servoamplifier There are three possibilities Non oscillating response Speed P too high P correct Dipl43gb D W A response must be obtained without overshooting and oscillation For example increase gain until oscillations gradually appear then reduce it by 20 to 3096 If the maximum value shown in the table is reached with P gain without reducing the filtering frequency then Stop increasing P Reduce the filtering frequency until the limit of oscillation Filtering frequency setting Oscillations may appear on the response obtained above even when speed is increasing Response with pseudo oscillation Speed measurement Dipl43gb D 44 W This gives frequency resonance probably mechanical origin fr 2 1 T greater than 100 Hz 68 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Then reduce the filtering frequency until the oscillation disappears almost completely If that cannot be done the maximum gain is reached If possible gain can be increased again until a response is obtained without oscillation Oscillation may reappear Reduce the filtering frequency a little more Notice that it is essentially P and filtering frequency that determine the bandwidth If the resonance frequency is too low adjust the filter frequency to a high value PI PI2 integral stop frequency setting Initial status P gain alone P and filtering frequency setting completed Integration stop freque
47. lectrical fittings on industrial machinery Compliance with the reference standards above implies observance of the wiring instructions and diagrams provided in this technical documentation which accompanies all equipment Incorporation in a machine The design of this equipment allows it to be used in a machine subject to Directive 98 37 EC of 22 06 98 Machinery Directive provided that its integration or incorporation and or assembly is done in accordance with trade practices by the machine manufacturer and in accordance with the instructions in this booklet UL Certification DIGIVEX Little Drive products are covered by UL and cUL certificate see section 8 16 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 2 ENERGY DISSIPATION The energy a module has to dissipate is broken down into Energy generated by braking Energy from rectifier and power bridge losses 2 1 Braking Energy Dissipation 2 1 1 Calculating the power to be dissipated in the braking resistor The permanent and pulse power levels given in the table below are limited by the characteristics of the breaking resistors When the application includes intensive cycles or long duration decelerations the mean power to be dissipated by each axis must be calculated 2 P in Watts A af 2 9 55 J Moment of inertia of the servomotor and the related load in kgm N Angular speed of motor shaft at start of braking in rpm f repeat frequency of brak
48. llution degree 9 To rise in a surrounding wall Motor temperature Drive temperature Resolver power supply Brake supply Other monitoring 15 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 1 4 Compliance with Standards DIGIVEX Little Drive CE Marking DIGIVEX Little Drive products have the CE marking under the European Directive 89 336 EEC as amended by Directive 93 68 EEC on electromagnetic compatibility as well as under the Electrical Safety Directive or Low Voltage Directive 73 23 EEC amended by Directive no 93 68 EEC The Directive concerning electromagnetic compatibility invokes the harmonized generic standards EN 50081 2 of December 1993 Electromagnetic Compatibility Emission Generic Standard Industrial Environment and EN 50082 2 of June 1995 Electromagnetic Compatibility Immunity Generic Standard Industrial Environment These two harmonized generic standards are based on the following reference standards EN 55011 of July 1991 Radiated and line conducted emissions ENV 50140 of August 1993 and ENV 50204 Immunity to radiated electromagnetic fields EN 61000 4 8 of February 1994 Power frequency magnetic fields EN 61000 4 2 of June 1995 Electrostatic discharge ENV 50141 of August 1993 Disturbances induced in cables EN 61000 4 4 of June 1995 Rapid transients The Low Voltage Directive groups all the electrical safety standards together including the EN 60204 1 Standard which covers e
49. meters can be read by the software Codification CODE DLD13MO2R __ DIGIVEX Little Drive DLD13M04R DIGIVEX Little Drive DLD13002R DIGIVEX Little Drive DLD13004R DIGIVEX Little Drive IGIVEX Little Drive DLD13007R FUNCTION monoaxe Ue 230V 2 4A monoaxe Ue 230V 4 8A monoaxe Ue 230V 2 4A monoaxe Ue 230V 4 8A monoaxe Ue 230V 7 5 15A single phase single phase three phase three phase three phase 22 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 ELECTRICAL CONNECTIONS 4 1 General Wiring Requirements 4 1 1 Appliance handling Please refer to the safety instructions given at the beginning of this booklet It is strongly recommended that personnel wait for the 7 segment display situated on the front panel to go off before undertaking any intervention of the servoamplifier or servomotor 4 1 2 Electromagnetic compatibility EARTHING Comply with all local safety regulations concerning earthing Utilize a metal surface as an earth reference plane e g cabinet wall or assembly grid This conducting surface is termed the potential reference plate All the equipment of an electrical drive system is connected up to this potential reference plate by a low impedance or short distance link Ensure the connections provide good electrical conduction by scraping off any surface paint and using fan washers The drive will then be earthed via a low impedance link between the potential reference plate and th
50. mperature is less than 85 nothing happens 85 lt T 109 C there is a progressive reduction of current authorized by the motion 3 Or controller 110 lt T operations stop dissipater Can be linked to large braking cycles temperature Check e Electrical control cabinet ventilation e Good circulation around the motion controller Rotation speed measured at more than 15 above the maximum application speed Check 4 Pow a e Motion controller customization inappropriate to the motor and or the application e Speed instruction more than 15 above the maximum authorized value e Driving load The measured current exceeds the motion controller s pulse current by 3096 2 Check Maxia ONON e Long length of cable 6 Use of shielded cable with ity per unit length reached se of shielded cable with large capacity per unit leng e The motor programmed in the motion controller does not correspond to the connected motor 81 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier DEFAULT TYPE ACTION Excessive mean Mean current measurement of the mean current supplied by the motion controller Rms current calculation of the rms current supplied by the motion controller or Causes 7 e Oversized operating cycle rms e Mechanical binding spot current Braking recovery impossible 8 Bus overvoltage Pauses e Oversized operating cycle e Motion controller braking capacity much too low with regard t
51. mulation max 0 5 mm on ENCODER soldering output soldering barrel X4 9 pin plug for PC link max 0 5 mm on RS232 soldering soldering barrel 30 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 3 2 2 Sub D connector X1 Resolver DIGIVEX end connections Sub D 9 pin connector item ref X1 Maximum conductor cross section 0 5 mm CONTACT FUNCTION Cosine 51 Sine S2 Cosine S3 Sine S4 Excitation R1 1 2 3 4 5 6 7 8 9 Excite R2 R3 31 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier SOO doa 0 8n5 o1 piouq 6ulp1a145 9114 32019 8 4d010N X3 1910 jiHv3 10538 42018 e1 08 32018 0118 pou eng an18 32018 32018 J 52100 papje us 15 1 GZ Q X 9 8 q0 05 05 LS Sc lon LS H19N31 GYVONVIS lt 51 LS Ol 50 tS 50 W 1H9N31 3002 1H9N31 3009 H19N11 EVE 318V2 31314402 d UUCC 32 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 3 2 3 Sub D connector X2 Inputs Outputs CONTACT FUNCTION CHARACTERISTICS Speed or current set point 10V Analog conversion point 13 bits sign Differential input Speed or current set point 10 point Analog input 10V point Analog conversion 9 bits sign Differential input Analog input 10V point Input assigned to ex
52. n C18510 5 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length before shipment e Unpack the servoamplifier carefully and check it is in good condition Also check that data on the manufacturers plate complies with the data on the order acknowledgement If equipment has been damaged during transport the addressee must file a complaint with the carrier by recorded delivery mail within 24 hours Caution The packaging may contain essential documents or accessories in particular e User Manual e Connectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correctly and safely it must be transported stored installed and assembled in accordance with this manual and must receive thorough care and attention Failure to comply with these safety instructions may lead to serious injury or damage The cards contain components that are sensitive to electrostatic discharges Before touching a card you must get rid of the static electricity on your body The simplest way to do this is to touch a conductive object that is connected to earth e g bare metal parts of equipment cabinets or earth pins of plugs 6 PVD 3530 GB 01 2005 D
53. n into account or ignored If it is taken into account usual case excessive motor temperature causes a fault Ambient temperature This is measured between the electronic boards and operations are stopped when it exceeds 60 7 2 1 4 Monitoring the DC Bus voltage Recovery fault Motion controller electrical breaking capacity needs updating cycle too restricting Bus overvoltage Motion controller breaking capacity much too low with regard to the application 7 2 1 5 Other monitoring No resolver Resolver fault or wiring fault Overspeed Speed gt 1 15 times the maximum motor drive setting These two cases entail a fault with Data displayed on the 7 segment display 78 PVD 3530 01 2005 DIGIVEX Little Drive Servoamplifier 7 2 1 6 7 segment display Function to provide information on DLD status discriminating between faults Description Display Description 3 Flashing 7 Flashing PC SOFTWARE FAULT FINDING COMMENTS Excessive dissipater temperature Fan cooling stopped or excessive cabinet temperature Excessive ambient temperature Resolver fault Problem with resolver or wiring Bus overvoltage Regenerative braking impossible Disconnected from mains supply Excessive speed Speed reference gt 10 V 15 or speed parameter setting error 2 ____ Motor not connected Motor wrongly connected Liaison impossible CPU fault No power supply current mean gt drive rating Cur
54. nal control The control can monitor the drive outputs indicating zero speed to decide whether or not to apply the brake 14 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 1 3 3 8 Monitoring reasons for stoppage This monitoring may through strategic choice entail either stoppage or reduced performance for certain faults related to current Variables monitored Mean drive current Output current short circuit Dissipater temperature Motor temperature Ambient temperature Overspeed No resolver Maximum and minimum dc bus voltages 1 3 3 9 General characteristics of the DIGIVEX Little Drive 0 Power reduction with altitude Above 1000 m service power falls by 1 for every 100 m up to a maximum altitude of 4000 m Normal use 0 40 C Above 40 C service power falls by 20 for every 10 C up to a maximum temperature of 60 C The variable speed drive stops when the ambient temperature exceeds 60 C 85 without condensation Driven by DIGIVEX 100 000 rpm Speed static precision for load variation from 0 to In and for e rated voltage of DIGIVEX Little With analog set point 1 whatever the speed Drive Operating temperature relative humidity Electrical isolation of power bridge Mean current protection depending on drive rating Electrical protection Pulse current protection of drive and motor rms current protection of motor Protection against short circuits at bridge output Po
55. ncy 0 Still no integration System ready to run Select PI or PI Use the same stimulus as before index analysis On line increase the integration stop frequency until overshoot is obtained in the order of 25 30 in Pl 15 20 in PI Without oscillation If the frequency is too high fairly low frequency oscillations occur lt 50 Hz Frequency must then be reduced never readjust P gain Speed measurement fi too high correct pseudo period Time Dipl43gb D 45W 69 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Speed measurement pseudo period correct Time Dipl43gb D 46W Do not change PI to Pr without setting the integral frequency to O 6 3 5 Setting predictors Initial conditions All loop parameters P integral and filtering frequency max speed current limitation are set without predictors The system is ready to run Setting the Gravity and Static Friction predictors Notice that the gravity factor is zero for a horizontal axis Take a square stimulus offset 0 peak to peak value 3 to 5 of maximum speed in rpm frequency 0 2 to 1 Hz Using the oscilloscope function display The input set point 4 The current set point 70 PVD 3530 01 2005 DIGIVEX Little Drive Servoamplifier Input reference Current reference Diggb43 D 47W 1 and l are to be taken with their sign In general l
56. nsation for vertical masses Dry friction a friction force value is fixed The corresponding torque set point is applied its sign being that of the speed set point Viscous friction compensation for friction forces that are proportional to speed hydraulic or electrical system drive Acceleration changes in the speed set point drift are monitored and direct action is taken on the torque set point via a coefficient K the inertia image The analog input speed reference 13 bits sign non parametric On the left of the block diagram the set of logic and analog inputs outputs The parameter setting software is used for allocating some of these Inputs Outputs for forcing them to a logic status The inputs are then disconnected from the outside 11 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 1 3 3 3 Forcing logic inputs The software allows the logic input to be forced to a value Consequently via the software the SPEED RANGE CW CCW TORQUE inputs are able to disconnect them from the physical input force them by software to 0 or 1 1 3 3 4 Stimuli oscilloscope functions Certain functions integrated in the drive allow the speed set point to be excited dc voltage square response at one scale sine These stimuli are activated by a PC Their result stored in the amplifier can be seen on the PC screen by using the oscilloscope function a maximum of 4 variables can be displayed simultaneously vi
57. o the application Causes Excessive e Check connections 9 motor e The motor is confined and cannot cool down temperature e Motor does not have a temperature sensor this sensor was not acknowledged during customization Causes r Recovery fault e Cycle too restricting e Axis recovery capacity exceeded 82 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 8 APPENDIX UL CERTIFICATE Northbrook Illinois 847 272 8800 Melville New York 631 271 6200 Santa Clara California 408 985 2400 Research Triangle Park North Carolina 919 549 1400 Camas Washington 360 817 5500 Underwriters Laboratories Inc PARVEX 5 8 AVE DU LAC 21000 DJON FRANCE RE Project Number s 01ME08920 Your most recent Certification is shown below You may also view this information or a portion of this information depending on the product category on UL s Online Certifications Directory at www ul com database Please review the text and contact the Conformity Assessment Services staff member who handled your project if revisions are required For instructions on placing an order for this information in a 3 x 5 inch format you may refer to the enclosed order form for UL Card Service NMMS February 27 2002 Power Conversion Equipment PARVEX S A E214717 8 AVE DU LAC 21000 DIJON FRANCE Open type servo drives Single Phase Input Model DLD13M followed by 02 or 04 may be followed by R Three Phase Input
58. o0284 IS 53504 14 Kjbuoajs ueuj si 3 KJ uiyoow jo jueudinbe uo Buisibueue y ui pejaesul 59 HOLMS YIMOd oq yoojq Ajayos 5 UD 0209 NI 5 Jo y I HOLIMS 3JNIT 15 55 WN 90 8 9 18 mer 9 bujuejuDi Puru E 3 puojjs n inu G Z g 0 19 Eg 100409 519 DUIS og U rd udi AOSZ v8 v ve z EH E ayDJ9 DIDA 500290002 ES 3X6 za i E O o yi Xx SO n E ET Q amp LT 5 8 3018 E i ug M gt 5 gt 1 7 Jg J E oe e 1 i a Ly B dO O p t n M YA 10S 34 Wy Ex rd v d A009 29 55912 vz zdaiv 21 95 052 YZ A009 OD 55910 AO09 99 55910 vg vr 14 14 f _ ed 95 AOSZ V8 96 AOSZ Vr N g v N r z 3d 4 gr N 75 vx p oc mq H3HIO OL 8 Z 9 44 PVD 3530 GB 01 2005 025 z m j 5 S 90703 AV 2 5 XH 95 10458 COSS WVYOVIC 9NIL23NNOO Roe vns 29 8181 L07 07E1 73sj 9P0Z03 AV V 54574 Aevi illxnv 23 53504 INN 13 HOLMS YAMOd WY HOLIMS IS
59. ool down before braking again Module losses losses specific to the module the value shown in the table is that obtained when the module is used at maximum power Low level consumption consumption of the low level power supplies in Watts 18 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 2 2 DLD paralleling The braking capacity of applications requiring the use of several DLD placed in the same electrical control cabinet can be increased 0 It is only a question of linking the DC buses from all the DLD using the B4 connector provided for this purpose The operation quite simply comprises of combining the braking capacities of all the appliances 1 If cycle simultaneity does not exist between the axes There is no synchronization between the braking axes 2 It is possible to use the axes synchronism according to the following cycles Braking of one axis whilst another axis is accelerating the braking energy is used to accelerate the other axis Connections Connector Contact Function B4 1 DC B4 2 DC Connections are carried out from DC to DC DC to DC Maximum number of parallel axes 6 Connecting cover cables section 1mm minimum cable reference UL 1015 AWG16 Maximum length of connection 300mm of connecting cable connection to be kept as short as possible Every axis must remain connected to the electric mains supply it is absolutely forbidden to connect 1 axis
60. ows the main drive functions and the setting parameters ph PARVEX Digital Drive DIGIVEX UNTITLED Seren IGS 7 CEEL 10 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier On the right of the diagram the motor resolver power section Parameters can be set for the choice of motor which dictates the drive rating the general characteristics of the resolver The choice of the motor drive combination determines a number of parameters current limitation I f t protection standard servo control parameters Ahead of current control 4 Second order filter for reducing the effect of high frequency resonance 4 External reduction of current limitation Resolver numerical processing non parametric and the encoder emulation function number of lines adjustable from 1 to 16384 Choice of type of regulation torque or speed In speed loop Parameters can be set for maximum speed for the application limited by the maximum motor speed scaling 1 V N rpm choice of corrector type proportional proportional and integral proportional and double integration Predictive actions associated with speed control These actions acting outside the speed loop directly affect torque As they are external they have little effect on loop stability However they allow anticipated actions without waiting for the speed loop reaction The predictive actions or predictors are Gravity compe
61. rent Drive RMS current gt o motor Excessive dissipater temperature Max current reduced depending on temperature 79 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 7 2 1 7 Corrective actions The incidents that may arise from wiring errors or mishandling are as follows Resolver fault 4 Check the resolver connection Overcurrent 4 poor motor connection motor phase missing 4 programmed motor does not correspond to connected motor Overspeed Nmax incorrectly set Accidental transition to torque regulation Motor fails to run and remains without torque System is set to zero torque hardware or software input TORQUE 70 The torque has been forced to zero during a global transfer Reset system torque see software 4 The motor is not connected Motor fails to run but torque present CW and CCW inputs set to zero hardware or software Check with software 80 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 7 3 Defaults description DEFAULT TYPE ACTION Detection of 51 52 53 and 54 signal absence Resolver fault Loss of resolver excitation Veff rated value 7V Frequency 8012 Hz on R1 R2 R3 2 Loss of sin S2 S4 or cos 51 S3 signals too low resolver transformation ration Bad contact check connectors Ambient this is measured between the electronic boards and operations are stopped when the temperature exceeds 60 C Excessive Dissipater ambient If the te
62. s the rms current I f t The rms current is compared to the permanent permissible current at slow rotation by the motor l after first order filtering following motor time constant This data which is characteristic of the motor is known to the drive when the choice of motor drive is made As before there is a choice between two strategies 4 Strategy 1 Stoppage due to the DRV OK output shifting to logic 0 which must induce the opening of the main contactor 4 Strategy 2 Reduction of the pulse current at 0 9 l motor The 7 segment display flashes 77 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Drive output current There are two forms of monitoring 4 Short circuit protection monitoring of current drift Excessive output current maximum current Check whether the current as measured exceeds the drive pulse current by 30 In both cases there is stoppage due to the DRV OK output shifting to logic O which must induce the opening of the main contactor 7 2 1 3 Temperature monitoring DIGIVEX Little Drive dissipater temperature 4 If the temperature is less than 85 at the dissipater nothing happens Between 85 and 109 C there is a reduction in the pulse current which can release the 7 segment display flashes at low frequency At 110 C stoppage of the amplifier Servo motor winding temperature Each motor has a thermal sensor When customizing the drive this sensor can be take
63. scope Speed for 1 V and maximum speed The maximum possible speed is set when the motor drive choice is made It can be reduced only here Choose a dc stimulus of say 1 volt Check the value obtained for the measure speed in rpm variable using the variable observation or oscilloscope functions 66 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Proportional gain adjustment Initial status Switch to proportional gain P alone Filtering frequency fc to maximum 800 Hz and low gain System ready to run no predictor Proportional gain and filter frequency are adjusted simultaneously If by increasing proportional gain the system starts to resonate the resonance must be eliminated by reducing the filter frequency then increasing P etc until a compromise is found Maximum recommended for P There is a maximum advisable proportional gain depending on the drive rating and corresponding to maximum current oscillation RATING P In mA rpm 75 15 This gain may be exceeded under certain circumstances Please ask for details Generate a speed set point scale 0 5 to 1 V Use the oscilloscope function to display Channel 1 the input set point Channel 2 gt the speed measurement Trigger on channel 1 at 5 or 10 percent of N max leading edge Increase gain P The stimulus is excited on line The response is collected at one scale of speed set point 67 PVD 3530 GB 01 2005 DIGIVEX Litt
64. selected When CW or CCW is deactivated the motor decelerates in accordance with the pre set ramp which means that CW or CCW cannot be selected as mechanical stops Important remarks When TORQUE is successively deactivated and reactivated the speed is reduced to zero prior to following the progression of the ramp The ramp function must be deactivated when a DLD with digital control is used to carry out a check on the axis position 13 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 1 3 3 6 logic outputs Speed detection The OUT1 output status acts the following Criterion OUT1 Speed lt Threshold OUT1 1 Speed gt Threshold OUT1 0 NB 19 rpm x threshold OUT1 x 100 000 rpm Speed reached OUT2 output changes to 1 status when the motor speed is within the range given by or the Threshold OUT2 value Limit OUT2 Limit 0072 input instruction threshold OUT2 lt actual speed lt input instruction threshold OUT2 NB 48 rpm x threshold OUT2 x 5252 rpm 1 3 3 7 Brake action The drive can be declared in the parameters with a brake function The 24 V brake supply terminal block B1 is monitored by the drive 24 V present Axis under torque Removal of limitation of 9096 of rated motor current 24 V absent Axis at reduced torque with 90 of rated motor current The brake engage or release order is in no event given by the drive but by the exter
65. start up time from 0 to maximum speed with full drive current There is then 100 correction 63 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 6 2 Inputting Parameters Customization parameters for the motor amplifier unit are entered on start up using a PC with the PME software under WINDOWS The transition of this customization to a different calibre amplifier leads to the generation of a fault The parameters contained in the EEPROM are saved 6 3 Setting with DIGIVEX PC Software 6 3 1 Outline SELECT MOTOR DRIVE COMBINATION SELECT TYPE OF REGULATION CURRENT SPEED P PI PI POSSIBLE SETTINGS Max Speed Current limitation Speed for 1 Volt CURRENT LIMITATION SECOND ORDER FILTER fc FILTER fc amp PROPORTIONAL GAIN P ADJUSTMENT suppress resonance NO PREDICTOR ENTER PI OR PI Set integral stop frequency GRAVITY AND DRY FRICTION PREDICTORS DYNAMIC FRICTION AND ACCELERATION PREDICTORS 64 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 6 3 2 internal variables Accessible internal variables via DIGIVEX PC software The following internal variables may be selected PARVEX PESANTEUR 8 FROT wiSoUEU LiMITRTIOM DE ACCELERATION COURANT SPEED VECTOR FiLTRE lt End ORDRE CONTROL J EMULATION TRATEMENT NMUMERIQUE DU RESOLVER FESE Reference Input set point in rpm Speed measuremen
66. t in rpm P PI output in Amps Sum in Amps Current set point in Amps Acceleration in ms Viscous friction in Amps Dry friction in Amps Pesenteur in Amps 10 Position in degrees 11 Phase current U in Amps 12 Phase current W in Amps N gt The 4 selected variables are chosen from the list of variables 65 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Access via the name of the variable this is valid for the 16 above plus the following variables e Temperature e Auxiliary input in Volts e Bus voltage in Volts LF generator e Active in Amps Position filtered in degrees e Reactive lin Amps Speed filtered e Id current in Amps DLD thermal load Iq current in Amps Motor thermal load Ud voltage in Volts Recovery thermal load e Uq voltage in Volts It should be noticed that these variables can be assigned to the two analog outputs which means a separate oscilloscope can be used 6 3 3 Entering parameters via DIGIVEX PC software See DIGIVEX PC software instructions Choice of rating Choice of motor standard or special Choice of resolver Entering servo control parameters global transfer Assigning inputs outputs and variables Use of the oscilloscope function Use of stimuli function 6 3 4 Setting loop parameters for speed regulation This can be done by using the Setting Assistant menu or directly with the stimuli and oscillo
67. ternal current limitation 10V max current Analog output 10V point Analog conversion ANA1 Max voltage 10V OV of analog output Max current 10 mA Output assigned to speed Protected against short measurement circuits 10V maximum speed Analog output 10V point Analog conversion ANA2 Max voltage 10V OV of analog output Max current 10 mA Output assigned to current Protected against short measurement circuits 10V maximum current SPEED RANGE Type 1 optocoupled 24V logic inputs to IEC 1131 2 Speed range choice CW enables clockwise rotation if input is active level 1 see characteristics on following pages CCW enables counter clockwise These inputs must have a 24V rotation if input is active level 1 supply to have level 1 EA analog input EL logic input SA analog output SL logic output 33 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier Inputs Outputs Sub D connector continued CONTACT FUNCTION CHARACTERISTICS TORQUE enables torque if Optocoupled 24V type 1 logic input is at 1 inputs under ICE 1131 2 Optocoupled 24V type 1 logic inputs under ICE 1131 2 Logic inputs OV For EL1 EL2 EL3 EL4 and RESET The logic inputs are common via the OV logic Max 50 optocoupled PNP 24V output OUT1 speed detection Max 50 mA optocoupled PNP 24V output OUT2 speed detection Max 50 mA optocoupled PNP 24V output 24V power supply
68. to O or 1 The logic inputs outputs are assigned permanently Encoder emulation Choice of number of marks between 1 and 16384 per turn off line Validating by teaching of zero mark position on line Miscellaneous choices Choice of processing strategy for monitoring of mean or rms currents current reduction or power opening Choice of brake strategy current reduction or not in the event of brake closure Choice of user strategy for thermal protection of motor with or without thermal protection See PME MODULE DIGIVEX Little Drive PVD 3536 manual 74 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 7 COMMISSIONING SERVO CONTROL PARAMETER SETTING DETECTING REASONS FOR STOPPAGE 7 1 Start up Sequence 7 1 1 Preliminary checks Wiring check Power and auxiliary connections to DLD Reset wiring External 24 V supply for brake Check the resolver connections Motor end DLD end Check the power brake and thermal connections Motor end DLD end Supply type check Power 50 60 Hz 230 V single or three phase Auxiliaries single phase 50 60 Hz 230 V Brake supply 24 V dc 10 including oscillation Caution Before doing any work on the system make sure the power bus is at 0 V Wait at least three minutes after the motors have come to a complete stop before starting work Wait for the 7 segment display to go off 7 1 2 Commissioning with DIGIVEX PC software Connect the PC via the RS
69. to the mains and then use the DC bus link as a power supply for the axes connected via this connection Follow the electrical connection plans on pages 25 and 26 especially with regard to all axis and line fuses The axes linked together by the DC buses must be connected to the same electric mains supply A clear 10mm must be spaced between each axis Plan of dimensions see page 19 Electrical connection plans see pages 25 and 26 19 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 3 DIMENSIONS ASSEMBLY MASS LABELLING CODING 3 1 Dimensions Assembly and Mass See the following pages drawing numbers FELX 306455 20 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier A 5 iy wy O secs M eese BEEEEEEE P gt E a B 2 aopds wwol 391 NIS ui Cc ERI Q 5 38 0 661 gt lt gt a a 5 gt 2 5 3 1 i el 5 5 i 1 VW i 1 5 i iH fili a liliis ui di i HE Weight 1 3Kg A 0 1104 z 020 AM 02035 e or UOuoSUOQjno Us juM INO jnouj paldoo 4o pe3npojda jouuo2 Aas St jo KApadoud anisniDxa ay s umosp Sj 21 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servo
70. u 3 A009 fojop own 99 85019 L4 5825 95 53 AS A009 22 geag dina 8 99 vz 29539 pajoeuuoo sesng 23 5525 2 gt A009 22 ssoD A009 22 sso A009 22 5590 38 ve ve vua v vz zuaiv 14 96 ve 96 vv 95 A0GZ vz Si s7 SA d10 v z U 27039 U 52029 reni wo cms vo Aver P JH jis EE E H ID 1 VJ FE RES L EZI E EZI Q ven2sjoad fd 10011291020 OWL n 121 ar co Th g os 8 TH 2 LJ e frst d e TET 7 NA LII Mpeg om ID pa aan osas an i W amp amp N sng 8 M d BEE e uH lt eQ Aen mnm eO amen 4 dd ion 24 dd 8 6 OFL 3d SG1d YFHLO 014 4 1 E 4 ny 75 72 8 4 9 t 2 L 28 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 4 3 Description of Terminal Blocks Sub D Connector All the input outputs required for operation are arranged on the front panel in the form of B1 brake power supply terminal B2 motor terminal B3 power supply and auxiliary power terminal B4 DC Bus X1 RESOLVER connector X2 INPUTS OUTPUTS connector
71. without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www SSDdrives com 4 PVD 3530 GB 01 2005 75 76 76 77 77 78 78 78 79 80 81 83 DIGIVEX Little Drive Servoamplifier SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers may contain non insulated live AC or DC components Users are advised to guard against access to live parts before installing the equipment Even after the electrical panel is de energized voltages may be present for more than a minute until the power capacitors have had time to discharge Specific features of the installation need to be studied to prevent any accidental contact with live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations e Check the bonding circuit Lock the electrical cabinets e Use standardised equipment Mechanical hazard Servomotors can accelerate in milliseconds Moving parts must be screened off to prevent operators coming into contact with them The working procedure must allow the operator to keep well clear of the danger area All assembly and commissioning work must be done by qualified personnel who are familiar with the safety regulations e g VDE 0105 or accreditatio
72. y is infinite If there is a torque surge there will be an angular discrepancy of the motor shaft compared with the state at rest This angle will be proportional to the torque applied and there will not be any permanent speed drift The system can be said to be rigid This rigidity is strictly proportional to the integration stop frequency The proportional gain P sets the bandwidth fo system rapidity The integral action entails 90 phase shift which creates instability This phase shift is not troublesome at low frequencies but may make the system unstable at higher frequencies It is therefore best to adjust the integral stop frequency correctly 0 2 0 3 times the bandwidth fo Choosing PI action proportional and double integration Compared with P action alone PI provides the following two modifications Rigidity when stopped is infinite When motor torque surges and after a transient period the motor shaft returns to the position it was in at rest there is no longer any permanent position discrepancy The double integral action entails a 180 phase shift at low frequencies Poor adjustment of the integral stop frequency may entail instability in the system Restrict to 0 1 to 0 2 times the bandwidth fo 60 PVD 3530 GB 01 2005 DIGIVEX Little Drive Servoamplifier 6 1 3 Integration stoppage See the previous paragraph for the function of this parameter Below is its definition after the Bode graphs only gain frequ

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