4.6 - X3 Terminal Connection
Contents
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3. Liste 22045 45 ae x SN oc 672 M4 earth DIMENSIONS 229 overall Stamping LR 000000000 Ino poido Jo eq s puo 400 jo J dosd ay s Bujmosp 5141 46 PVD 3481 01 2003 RTS 40 80 Servoamplifier 80 AE 5750 Sop ey HOG 08 0 Dudun 244 89256505 XPS E 104 8 yod 1901 58840 4ewod saeonpoud aul X90 q yod go g pjou jjes 241 ul s Y x 0 4 9 MOOTE TWNINASL jo 01 yx gx JOJON G Z 2 AGL 91 A9g xow X 2 si 4840 4 ou 6 41 0 00101791
4. podos 20 104002 i uoissaiddns 0050 7 96 dA M 6 4eui01sn2 AQ 29 vugz AG 4euoj sng dWILYSAO 1 NOI Bonis 1 E NO YIMOd O 135934 300801 03395 40 0144945 YAO 1 202045 5 95 ON 20449 lt 08 0 514 uojoes ssojo 47 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 11 ADDITIONAL RESISTOR TYPE RTS 40 80 SPECIAL FEATURES 11 1 Description The additional resistor type RTS 40 80 drive has an extra terminal block X5 for connecting the external resistor e The sales reference is RTS 73204R8R e The minimum value of resistor that can be connected 15 4 5 The resistor must have high pulse capacity greater than 25 times 500 W for 2 seconds 25 kJ The 9 RE69004 resistor that can be used must fan cooled Caution Connections to X5 terminals 1 and 2 must be insulated and made with conductors of suitable cross section 1 mm2 Any short circuit between them or with the casing or other conductors may permanently damage the drive 11 2 Dimensio
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7. 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 5 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 1 GENERAL The RTS 40 80 servoamplifier is a four quadrant speed controller designed to drive medium power dc motors up to 6500 W mechanical power The output stage features IGBT type technology and is galvanically isolated with a Hall effect current sensor External inductors are not required except for AXEM motors because of high frequency inaudible 17 kHz PWM chopping It is a single axis controller wall mounted with front panel connections Functions tachometer or U RI speed regulation current control current reduction with speed current reduction with temperatu
8. cio H INTEGRAL ACTION USER C103 MECHANICAL OSCILLATION REJECTION R101 PROPORTIONAL GAIN R102 DERIAVTIVE ACTION NOT FITTED AS STANDARD m R103 RATED CURRENT 2 1 H R104 H Y2 R10 R109 MAXIMUM TIME OR PULSE CURRENT 4 4 R113 PULSE CURRENT R131 H GRADIENT 3 R132 ACTIVATION SPEED 6 R133 MOTOR EMF 7 R134 MOTOR RESISTANCE R135 OVER SPEED LIMIT 8 H R136 H MOTOR ELECTRICAL TIME CONSTAN 9 RB SUPPLY VOLTAGE ______ 4 B SETTINGS 2 3 66068 SELECTION 66068 SELECTION 0 CURRENT SPEED CURRENT SPEED 51 COMMAND TYPE SPEED CURRENT SPEED CURRENT 52 OUTPUT TYPE U RI e TACHO U R 53 SERVOCONTROL TYPE PVD 3481 01 2003 RTS 40 80 Servoamplifier 6 4 Nominal Speed Adjustment R105 standardised value close to the calculated value and adjustable with potentiometer SPEED ADJUST R105 192000 Nn speed for set point of 10 in rpm Speed Nn in rpm R105 in The equipment may be adapted for speeds lower than those shown above but this hinders servo amplifier performance with regard to drift and gain The maximum value not to be exceeded for R105 is 4 75 MO 27 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 5 Pulse current adjustment R113 6 5 1 Pulse current modification via R113 RTS 40 80 200 R113 inko 24 033llim
9. Imax R113 inkO 0 392 0 825 6 5 2 Current limitation by external resistance or external voltage by external resistance RTS 40 80 200 lelim in amps lelim in Imax ppm pee per prp by external voltage linear from V to 10 V with 10 V Imax 28 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 6 1 f t Adjustment R103 R109 6 6 1 Trigger limit f t R103 R103 adjusts the triggering threshold enabled by the drive with mean current lo lo is generally the rated motor current RTS 40 80 200 lo in amps lo rated motor current Imax drive pulse current 80 A S pe 6 6 2 trigger delay R109 R109 modifies the time constant for triggering One second to llim from 0 lo 0 30 40 50 10 in Si bat bal iad ud Bd Two seconds to llim from lo 20 0 40 50 70 iim in Im R109 10000 3320 1820 1210 Operating times of more than 2 sec can be considered provided that the R103 and R113 values determining o and llim are adjusted 29 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier Example R109 562 20 30 40 50 70 in i i R109 1210 lo 20 30 40 50 70 in LT i The maximum value of resistor R109 is 1 21 2 x lo 2 seconds when R103 is infinite the trigger current i
10. LM LA LN 09 0 514 016 vOr OZ 91 SIM 5314 PUB SS M 49440 VAMPE Hd 3 90 shen _ 4 paldoo 5104410 1010 pasnpoidas jbhuapiuoo 12145 8 PUD anisnjoxe ay s 15 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 4 3 Front Panel RECOVERY 0 OVERCURRENT 0 OVERVOLTAGE 7 PARVEX UNDERVOLTAGE 0 OVERTEMP 7 TACH FAULT 16 PVD 3481 GB 01 2003 POWER ON SPEED ADJ SPEED Y OFFSET 1 L1 L1 L1 L1 L1 L1 RTS 40 80 Servoamplifier 4 4 X1 Terminal Connection TERMINAL Permissible cable cross section 1 5 mm multistrand Use screened cables Designation The screened connected to earth terminals QD Tacho differential inputs Use shielded cable with 1 TACH Input shielding connected to terminal 3 2 TACH Input Input voltage must not exceed 100 V 3 Tachometric cable shielding Do not connect shielding at tacho end 4 REF Input Speed or current differential reference depending on position of selector switch S1 5 REF Input 10 V correspon
11. Ns in tr mn 6000 6500 7000 R131 in 13 7 RTS 40 80 200 700 lim 2220 R132 6 9 Adaptation to the U RI function 133 134 This adaptation is necessary even when operating with tachometer generation to supervise tachometer failure R133 is used to adjust the gain depending on the motor back emf For standard power supply transformers R133 or T with RD6606B RD6607B e e RTS 40 80 200 R133 79 inko e Ub controller bus dc voltage in volts Ke motor emf in volts 1000 rpm Kb bus voltage reduction ratio 20 for RD6606B 7 4 for RD6607B 34 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier R134 is used to adapt the motor resistor to its power supply circuit brushes cables R134 inka 19000 xr 15007 with RD6606B RD6607B Ub Kb Ub controller bus dc voltage in volts motor and supply circuit resistance ohms For standard power supply transformers Ub 190 V RTS 40 80 200 R134 75 inkO 6 10 Adaptation to max N R135 Resistor R135 determines the tripping limit of maximum speed for tachometric servo control and U RI operation 10Nn 7500 Nn Nn speed for 10 V set point in rom R135 inkQ Nn in tr mn 3000 3500 R135 in 6 81 8 25 Nn in tr mn 6000 R135 in 39 2 6 11 Adaptation to motor inductance R136 Resistor R136 adapts the courrent loop gain to the load inductance 2201 R136 In KQ Ub controll
12. incorrect In many cases it is not possible to increase gain to produce overshoot especially for high inertia systems FIG 1 a b c graphs obtained with increasing R101 values 38 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier FIG 2 In some cases gain limitation is due to resonance the motor starts to whistle or vibrate at high frequencies gt 100 Hz A 1 filter must be included at a frequency 3 to 4 times lower than the oscillation so the gain can be increased by the same ratio This can be done by connecting a C103 capacitor in parallel with the R101 proportional gain resistor and increasing the capacitor until the whistling stops usually several tens of nF and then continuing to increase gain while monitoring FIG 2 a b c graphs obtained with overshoot and torque ripple The C103 10 nF capacitor is increasing C103 values ready fitted as standard in parallel with the R101 gain resistor FIG 3 Speed When gain is set the C101 integration capacitor must A be reduced to produce 15 20 overshoot still for small speed increments FIG 3 a b c graphs obtained with decreasing C101 values 39 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 7 3 DIAGNOSTIC HELP ENERGISING POWER ON on ide d flashes POWER ON off Check which LED on front Measure voltage at terminals U V panel voltaae Check fuse Check fus
13. the mid position with the SPEED OFFSET potentiometer RTS B on front panel Blt 6 Speed adjustment MSEE The SPEED ADJUST potentiometer produces fine calibration of speed for given reference We joja 5 Gain adjustment By increasing gain the servo motor becomes more rigid Turn the GAIN potentiometer clockwise until the motor is ulum unstable and vibrates i bh Then turn the potentiometer back one or two turns If there is d oo 2 large load the potentiometer the potentiometer adjustment range may be inadequate and resistance R101 will have to be increased 10 V REFERENCE CONNECTION Application Potentiometer reference 5 e 5 1 15 1 4 4 Terminal block X2 7 4 6 ov 2 Lo OUI 659 1 1 15 VDG 3 4 Inputs not connected 5 PLC CN p RTS 1 PLC CN z gt 5 181 X Terminal block X1 2 b 4 10 6 e Blindage 5 8162 5 RIS2 8 y Na 4 6 2 6 5 Shielding not connected at numerical control The connecting cable by shielded twisted pair for the tacho and reference is available as an option 1 Terminal 4 may be connected to terminal 8 Example 10 V P 10 linear potentiometer R1 R2 1 8 1 2 W resistor 37 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 7 2 Complete speed loop adjustment Systematically applicable when J c
14. 1 GB 01 2003 RTS 40 80 Servoamplifier FELX 305008 2 0000 REET pegs OOOOOOO Liste dob D JHL 12101590 LON OG 92095 aoods 7 7 2 ununi GLE M4 earth overall 229 Stamping LR 000000000 00000 97012 03 10 96 paonpojde Ajjou s si jo Bulmbup 8141 11 PVD 3481 01 2003 RTS 40 80 Servoamplifier 4 ELECTRICAL CONNECTIONS 4 1 General Wiring Requirements 4 1 1 Appliance handling See the safety instructions given at the beginning of this manual In particular wait for all the front panel LEDs to go off completely before doing any work on the servo amplifier 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 asse
15. 10 and X1 11 not connected connect the power to the controller The POWER ON LED should light if not check the transformer wiring and relays If the POWER ON LED flashes measure the transformer secondary voltage Adjust the output voltage if necessary with the 5 terminals The motor then turns freely by hand Zero speed set point X1 4 X1 5 0 V release the controller 1 10 and X1 11 to 0 V the motor must be under torque If the motor races cut the power and check the signals from the tachometer cut out or reversal before switching on again RES and or fault If the motor howls or vibrates possibly with IFT fault reduce the controller gain with the front panel potentiometer If the controller had switched to fault mode POWER ON flashing clear the fault by resetting X1 12 to 0 V d Gradually increase the controller set point and observe motor acceleration Check the motor rotates in the opposite direction when the set point is reversed If a fault arises on reversal for a 10 V set point adjust the controller gain see paragraph e If the fault persists wire the power transformer secondary to the 5 terminals MAU fault on LED strip e Adjust the front panel settings if necessary SPEED offset zero speed at zero set point adjust when warm SPEED adj fine adjustment of speed for 10 V set point GAIN turn clockwise to find the point of instability of the motor and its load adjustmen
16. 50 Hz Current regulation precision 2 of nominal current at 25 C Current loop linearity 1 of nominal current at 25 C 7 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 2 2 Mechanical Characteristics Storage temperature 20 to 70 C operating temperature 0 to 40 C from 40 to 60 C 3 5 of nominal current per degree Maximum altitude 1000 m above 1 of nominal current per 100 m Protection Index IP 20 2 3 MIMIC DIAGRAM 8 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 21025 eis X3A3Vd OIWIN 5 Y7 buiduib3s 26 50 21 66086441 3 ASL AO AGL 1 uam paido eq ey si siy s pub INO 7001105209110 AVONPSUDAL 1994J9 uuo EX Y 3481 01 2003 RTS 40 80 Servoamplifier See the following page drawing number FELX 305008 10 PVD 348
17. 504 MVIS AGEL 8 1134 4115 009 092 AMVIMIMd b S ZS 23 15 13 9 YVIS i 9 q 5 25 15 0 235 N ze xo t 658666 ase Lo no es 13 1s 23 25 es d 89044206 4 SNOISN3HIG SHS 31M S1M suds 4equimu 1X8 uonisog 9 08 05 S L 011 06 6 LL 4 29 OL O 1XOvC 1095 OSE 092 VAMOL 02111 LL 9 01 11 092 1056 OL 092 VAME 9 61111 Sg 01 091 002 992 091 lt 62 VAMY LL 2 01 001 002 602 562 vAMG Z 121111 LL 9 521 081 4641 44 SCC VAM9 1 91111 2 9 06 081 GGL 966 VAML LL L 2 por D1340 2977 17798 809 D gt d I I 1 200000000006 4 5 T 01 ld 20 AJUO 22 PVD 3481 GB 01 2003 89 08207 Xldj SNOISNGNIG XIAN is zz a1 ss w 314 514 pa awos amojpuawo
18. RTS 40 80 Servoamplifier CONTENTS SAFETY INSTRUCTIONS 5 DEN ERREUR 1 GENERAL 2 CHARACTERISTICS 21 Electrical Characteristics 2 2 Mechanical Characteristics 2 3 MIMIC DIAGRAM 3 DIMENSIONS 4 ELECTRICAL CONNECTIONS 41 General Wiring Requirements 4 1 1 Appliance handling 4 12 Electromagnetic compatibility 4 2 Wiring Diagram 4 3 Front Panel 4 4 X1 Terminal Connection 4 5 X2 Terminal Connection 4 66 X3 Terminal Connection 47 X4 Terminal Connection 4 8 Accessories 4 8 1 Input mains filter 4 8 2 Transformers 4 8 3 Inductors 5 EXTERNAL SETTING DISPLAY 5 1 Displays 5 2 Front Panel Settings 6 ADAPTATIONS 61 Strap and Switch Positions 6 2 Definitions 6 3 Regulation Card 64 Nominal Speed Adjustment R105 6 5 Pulse current adjustment R113 1 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 5 1 Pulse current llim modification via R113 6 5 2 Current limitation by external resistance or external voltage 6 6 l f t Adjustment R103 R109 6 6 1 Trigger limit f t R103 6 6 2 If t trigger delay R109 6 6 3 Calculation of maximum duration of pulse regime 6 7 Speed Information Adaptation R104 6 8 Adaptation to the current limitation curve speed function R131 R132 6 9 Adaptation to the U RI function R133 R134 6 10 Adaptation to max N R135 6 11 Adaptati
19. Servoampl 23 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 5 EXTERNAL SETTING DISPLAY 5 1 Displays POWER ON off no power supply to drive On drive OK Flashing drive fault RECOVERY recovery control Controller faults are distinguished and displayed by miniature LED strips on the front panel I F t excessive mean motor current OVERCURRENT motor short circuit or current too high OVERVOLTAGE bus voltage too high UNDERVOLTAGE bus voltage too low OVERTEMP excessive temperature TACH FAULT tachometer cut out or reversal overspeed 5 2 Front Panel Settings GAIN speed loop gain adjustment SPEED ADJ fine adjustment of maximum speed SPEED OFFSET fine adjustment of speed offset For current control operation capacitor C101 must be removed to give the broadest bandwidth with resistor R136 adapted to load inductance 24 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 ADAPTATIONS ATTENTION As the servoamplifiers settings are done at the factory the information on this page is not essential 6 1 Strap and Switch Positions Control mode S1 switch 51 speed control 1 current control Current or speed 1 information output solder tag 52 switch 52 current information 1 speed information 10 V output available at X1 9 10 V Imax 10V nominal speed Tachometer or U RI regulation solder tag or S3 switch 53 tachometer 1 U RI 0 Selection of LIM func
20. al reference between the mains and the TRS power supply p 20 FR 03036 Avoid running cables together ahead of and after the filter Filters sometimes have high leakage currents In this case comply with the standard connection diagrams when fitting them OTHER MEASURES Self inducting components must be protected against interference brakes contactor or relay coils fans electro magnets etc 4 2 Wiring Diagram See the following page drawing number FELX 305062 FELX 305823 13 PVD 3481 GB 01 2003 19025 940 x 3 YT 81511 96 01 60 21534 80863 200 63 210463 7 eq jouupo 104 588540 dosp 4emod seonpoad aul ou 8 x RTS 40 80 Servoamplifier 142014 0014 42019 Jouu 1701 go g joue Youd 8 8 9018 IVNIWSI3I 01 2 GZ ZX 2 04144191 AVIY 9 AGL AQ 4ewojsng AGL 135340 02345 0335 NIV9 NO 33MOd O ivi O
21. ds to rated motor speed at speed reference Use shielded cable with shielding connected to terminal 6 6 Shielding to be connected at numerical control end also 7 IRED Input Analogue current reduction This reduction can be driven either by voltage or by an external resistor by connecting it to terminal 8 External resistor value Percentage of maximum 10 20 30 40 50 70 servoamplifier current Resistance in 121 475 825 182 274 332 47 5 562 17 PVD 3481 01 2003 RTS 40 80 Servoamplifier TERMINAL Permissible cable cross section 1 5 multistrand Use screened cables Designation The screened connected to earth terminals QD OMA Internally connected to mechanical earth SPEED OR Signal providing speed or current image depending on OUT selector switch S2 position 10 V corresponds to the maximum the value Typical applications synchronisation of multiple conveyors master slave mode cutting tool wear surveillance SPEED EN SPEED ENABLE For connection to 0 V terminal 13 Connected to 0 V terminal 13 this input enables only LIM counter clockwise movement viewed from shaft end Y3 in position 2 3 corresponds to negative speed reference on RR6606B Typical application Clockwise stroke limit TORQUE EN TORQUE ENABLE For connection to 0 V terminal 13 to enable current to servomotor If the terminal is not connected the servomotor turns freely When the s
22. er bus dc voltage in volts L motor inductance and any additional inductance in mH Resistor R136 adapts current loop gain to load inductance When selecting R136 take the closest value in the following range and its multiples 10 12 15 18 22 27 33 39 47 56 68 75 82 100 35 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 12 Adaptation of dc voltage RB Resistor RB is used to adapt limit values U MIN U tripping of supply voltage recovery RTS 40 80 200 Val transformer phase phase output voltage in Volts rms R136 dependent on voltage Ub must be readapted Resistors R133 R134 are to be re adapted for RD6606 and RD6607 only avae o __ 6 12 1 Effect of voltage adaptation on operating limits Vrms Ub MaxU MinU Recovery value in V in V in V Decin V Relin V 6 12 2 Effect of voltage adaptation on recovery Pulse power in W 13000 13000 7000 5800 4000 36 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 7 SPEED LOOP 7 1 Speed loop rapid adjustment Offset adjustment 228 m Once ambient temperature is stabilised adjust zero speed to PARVEX BI
23. ervomotor is fitted with a holding brake this input control must be synchronised with the brake control RESET Reset By connecting RESET to terminal 13 the fault memory is cleared and the controller is ready again if the fault has disappeared Switching the servoamplifier off and then back on has the same effect as resetting Connected to 0 V terminal 13 this input enables only LIM clockwise movement viewed from shaft end Y3 in position 2 3 corresponds to positive speed reference on RR6606B Typical application Counter clockwise stroke limit OV logic for connection to terminals 10 and 11 Logic link cable screening terminals 10 and 11 18 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 4 5 X2 Terminal Connection TERMINAL Permissible cable cross section 1 5 multistrand Designation 15 V power supply 25 mA 5 available for external applications Output via contact of sum of faults Contact opens if fault occurs and if power supply absent Permissible current 0 5 A Permissible voltage 230 V 4 6 Terminal Connection U phase of three phase power supply V Phase W Phase Earth For connection to the earthing bar of the appliance cabinet With cable cross section 2 5 mm min 4 7 Terminal Connection TERMINAL Permissible cable cross section 1 5 mm Designation Output Connection 4 2 Output Servomotor 4 3 D Earth For connection to the m
24. es main F1 gauge 5 switch and Motor races and TAC LED li x 20 transformer connections Check tachometric dynamo wiring invert tacho wires if fault arises during first time use Motor under current control selector 1 must be changed Motor fails to rotate Check motor wiring and fuses If the dl dT LED is on check the motor is not short circuited and there is no ground fault CT temperature LED is on Check the ventilation system is working correctly Ambient temperature of the electrical cabinet must be less than 40 C The motor is unstable and vibrates Reduce gain using the front panel potentiometer turn invers clockwise Check the motor and servo amplifier are grounded mandatory Check the speed reference is stable with oscilloscope and 15 V voltages if necessary Check the customisation components correspond to the motor Motor drift Adjust zero speed with the SPEED OFFSET Sa potentiometer Adjust speed with SPEED OFFSET Incorrect speed potentiometer Check Motor fails to rotate terminals X1 10 and X1 11 must be connected to No effect selector S1 must be in correct position reference voltage is present 40 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 8 COMMISSIONING FAULTS a check the connections to the following components transformer relays motor and any additional inductors tachometer controls b with the speed and current 1
25. harge gt 10 J motors Caution servo amplifiers are factory set based on parametersprovided by the customer this setting does not usuallyrequire adjustment Before adjusting the speed loop all the adjustable parameters must be fixed current limits speed scale C103 setting speed limits Adjusting the speed scale setting alters loop gain and means readjustments are required C101 8108 Equipment required Storage oscilloscope digital if possible easy to trip Gain Manual speed reference generator battery box or low frequency generator with series capacitor to produce zero mean speed out and return about a position Decade box for capacitor and resistor adjustment Reference battery box with oscillator for automatic control is available as an option Speed amp Method FIG 1 Adjust the gain potentiometer to the centre so gain may be varied up or down after adjustment 4 Fit a large integration capacitor C101 10uF or strap Adjust proportional gain starting by R101 10 kQ Speed recorded between N measurement and 0 V analogue overshoot 10 Increase R101 until 10 overshoot speed reference increment Always use small speed reference increments e g 100 rpm or less so the system remains linear For large increments current limitation torque limitation masks the real situation and reduces overshoot The adjustment obtained with high speed increments would be
26. hed current of 4 A 40 with pulse current limited by R113 to 1 20 20 22 25001 im 1 5 310 30 A EL The authorised duration of the pulse current will be a t 0 7s b t 0 4s 32 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 7 Speed Information Adaptation R104 The R104 resistor is used to adapt the tachometer generator gradient to that of the controller 2V 1000 rpm 100 Ket 2 Ket electromotive force of the tachometer generator in volts per 1000 rom R104 inkQ Ket 2 3 4 5 6 8 10 12 15 20 104 200 100 68 51 33 24 20 15 11 obtain a gradient of 1 1000 rpm short circuit the solder tags Y1 Y2 with R104 CAUTION Do not exceed 100V on the tachometer input 6 8 Adaptation to the current limitation curve speed function R131 R132 Resistor R131 is used to select the zero current point on the speed current diagram Resistor R132 determines the speed beyond which pulse current selected by R113 begins to decrease linearly with speed When function F n is not required R131 10K R132 100 K 1 Ilim Nr Ns N Nr speed in thousands of rpm above which current decreases Ns speed in thousands of rpm at which current is zero 33 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier R131 B2009 in Ns Ns in tr mn 2000 2500 3000 3500 4000 R131 in 392 333 27 4 22 1 20
27. mbly 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 the earth screw at the back of the RTS If this link exceeds 30 cm a flat braid should be used instead of a conventional lead CONNECTIONS Do not run low level cables 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 All low level signals will be shielded with the shielding connected at both ends e 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 12 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier MAINS FILTERING The mains filter must be mounted as close as possible to the potenti
28. 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 Check the bonding circuit Lock the electrical cabinets 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 accreditation C18510 4 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length before shipment Unpack the servoamplifier carefully and check it is in good condition e Also check that data on the manufacturer s plate comries with 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 User Manual
29. n corresponds to the permanent current of the controller For permanent currents lower than that of the controller R109 may be greater than 1 21 See the calculations based on expressions of R109 6 6 3 Calculation of maximum duration of pulse regime Based on the typical operating cycle below 30 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier llim pulse current set by R113 lu mean current in permanent use lo nominal current set by R103 t pulse current duration T repetition period lo of the mean current at established speed over the permanent current set by 1 R103 plot this value on the y axis of the graph Depending possible a ratio given by im R103 and R113 read on the x axis the duration t of the pulse current that does not trigger If t The minimum repetition period T can also be read from the x axis These values depend on the choice of resistor R109 The graph is plotted for R109 562 kQ For other values of R109 apply the correction factor to t and T readings 31 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier Network 10 11 5 R seau 10 11 0 2 0 4 2 2 2 2 4 2 6 2 Es eu P 1 54 1 67 1 76 1 90 2 2 14 2 26 2 39 2 53 2 66 2 82 2 96 Example of motor with 15 30 controller whose R103 is installed for a permanent current of 10 It is used for lu 4 establis
30. ns 48 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier Nb leaf 1 N deaf 1 fesses 1 1 pgs ELX 206041 Ig Liste toed Ruay tatino JO dob D 1 FHL 10041580 LON OG 2204 aoods 192 Ov RIS 40 80A GLZ M4 earth 229 overall Stamping VR 000000000 INO paldoo Jo pasnposdas 100003 _ s puo uy jo Ayadoid ay s siyy 49 3481 01 2003 RTS 40 80 Servoamplifier 11 3 Front Panel PARVEX RTS 2 2 z4 a 1 EH mmm _________ DBBBBIBBBBB B B Bg 15 y ED Recovery EXT minimum value 4 50 1 50 PVD 3481 GB 01 2003 11 4 Wiring Diagram RTS 40 80 Servoamplifier
31. on to motor inductance R136 6 12 Adaptation of dc voltage RB 6 12 1 Effect of voltage adaptation on operating limits 6 12 2 Effect of voltage adaptation on recovery 7 SPEED LOOP 7 1 Speed loop rapid adjustment 7 2 Complete speed loop adjustment 7 3 DIAGNOSTIC HELP 8 COMMISSIONING FAULTS 9 RAMP OPTION 10 BATTERY OPERATED RTS 40 80 FEATURES 10 1 Electrical Characteristics 10 2 X3 Terminal Connection 10 3 Adaptation to U RI Function R133 R134 10 4 Adaptation to dc voltage RB 28 28 29 29 29 30 33 33 34 35 35 36 36 36 37 37 38 40 41 43 44 44 44 44 44 11 ADDITIONAL RESISTOR TYPE RTS 40 80 SPECIAL FEATURES 11 1 Description 11 2 Dimensions 11 3 Front Panel 11 4 Wiring Diagram 2 PVD 3481 GB 01 2003 48 48 48 50 51 RTS 40 80 Servoamplifier Characteristics and dimensions subject to change 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 3 PVD 3481 GB 01 2003 RTS 40 80 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
32. otor frame 19 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 4 8 Accessories 4 8 1 Input mains filter Dimensions as in drawings FELX 304967 see following page 4 8 2 Transformers Dimensions as in drawings FELX 302570 see following page 4 8 3 Inductors These are compulsory with AXEM motors and motors whose winding inductance is less then the operating minimum recommended inductance SF 02024 Dimensions as in drawings FELX 302804 see following page 20 PVD 3481 GB 01 2003 RTS 40 80 Servoampl 5 89496702 X111 SNOISN3WIG INTLLNO X3ANVd EPI 2833 ont ud 33114 SNIVA E Dan adios ge Eaa RE an 86 0 11 scoseznv o FAN sesame sues oie st MA 86 11 60 3 an 26 11 02 1 333 3 MA 86 00 21 Y1 76 10 910 63 Av V 3853 12 5 1 2823 W 40 25 96 90 92 somos 5224 041 MJ 002 E 01 910 0 MJ 2
33. re external current reduction zero speed adjustment zero torque adjustment Fault clearance analogue speed or torque information Controler status on relay contact 15 V available recovery limitation customisation card optional ramp card internally mounted clockwise and counter clockwise stop feature 6 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 2 GENERAL CHARACTERISTICS 2 1 Electrical Characteristics Power supply three phase between 75 and 165 V ac maximum For use of standard transformers 85 100 110 135 8 150 V 11095 Output voltage 200 V dc with 150 V ac power supply Output current 40 A nominal 80 2 sec pulse starting from 1 0 Recovery Mean power max 525 W max Pulse power max 13 000 W Max cycle 4 Max uninterrupted duration 2 sec servoamplifier with 150 V ac supply Minimum inductance 0 4 mH for a form factor of less than 1 002 compulsory for AXEM motors Total dissipation 300 W excluding recovery Chopping frequency 17khz Power stage galvanically isolated Speed range tachometer regulation 1 10 000 U RI regulation 1 10 or U RI 100 with RR6606C and RD6606B or 6607B Static precision of typical speed for zero load at nominal current tachometer regulation Nmax Nmax 100 0 5 100 1000 1 5 1000 10 000 10 U RI regulation 20 Speed bandwidth depending on drive line up to 1
34. t may vary with load inertia and elasticity then move back by one or two revolutions The point of instability may or may not be reached depending on the motor load The adjustment range can be shifted by increasing resistor R101 41 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier COMMISSIONING FAULTS TACH FAULT overspeed speed signal reversed or cut out OVER excessive dissipater temperature UNDER VOLTAGE AC supply voltage too low unsuitable transformer OVER VOLTAGE excessive energy return from load excessive AC supply voltage insufficient controller gain OVER CURRENT defective motor wiring AXEM motor wired up without additional inductor IF t excessive controller gain over restrictive operating cycle NO DISPLAY ON POWER ON AND FAULT DIODES transformer wiring protective fuse RTS internal fuse 42 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 9 RAMP OPTION The RG6602 ramp card slots into the RR6606 regulation card Y5 must be in the off position solder tag removed The ramp time value is adjustable by direction of rotation with potentiometers R1 and R2 The time can be adjusted from 0 6 sec to 6 sec for a set point of 10 V Time is increased by turning the potentiometers clockwise R2 R1 GABIG 22 q 02 4 Slopes can adjusted separately Slope potentiometer R2 Slope B potentiometer R1 Se
35. tion The LIM LIM function is selected with strap solder tag RR6606B RR6606C When the strap is in position 2 3 the SPEED ENABLE input LIM X1 10 is used to enable or disable clockwise motor rotation viewed from the shaft end Rotation is enabled when X1 10 is connected to the 0 terminal 13 of 1 Likewise the RESET input LIM X1 12 is used to enable or disable counter clockwise rotation of the motor Rotation is enabled when X1 12 is connected to the 0 V terminal 13 of X1 N B Y5 and Y6 must be in the ON position 25 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 6 2 Definitions Nn rated speed of application for 10 V reference speed Ilim maximum pulse current of motor Imax maximum pulse current of servo amplifier lo permanent motor current Ket speed information gradient in volts for 1000 rpm Ke back electromotive force of motor in volts per 1000 rpm r resistance of motor and its supply circuitry in ohms L inductance of motor in Henrys Ub bus voltage in volts 1 35 x Vin AC Val transformer phase phase output voltage in Volts rms 6 3 Regulation Card Spi 5401 FAULT DISPLAY Cows L 00522558 S Y5 c ero mE He SELECTION SPEED AD 3601524 2 153 8 br o
36. tpoint Slope A yy Slope B Slope B Slope A 43 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier 10 BATTERY OPERATED RTS 40 80 FEATURES 10 1 Electrical Characteristics Power supply Battery voltage 17 90 V Output voltage Ubatt 2 V Recovery None Minimum inductance 0 2 mH Total dissipation 70 W 10 2 X3 Terminal Connection X3 1 Battery X3 2 Battery X3 3 Earth to be connected to earth bar 10 3 Adaptation to U RI Function R133 R134 Use Ub voltage equals voltage battery depending on the in the formulas for calculating these two resistances R133 490 280 with RD6607B Ke Ke R134 190001 203r with RD6607B 10 4 Adaptation to dc voltage RB voltage battery resistance RB V no RB resistance 44 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier Power on GAIN O O OVERCURRENT 7 SPEED OFFSET UNDERVOLTAGE overreur 00000000 SPEED UM eat TORQUEEN wey 459121 00111 READY B 2 PARVEX RTS 45 PVD 3481 GB 01 2003 RTS 40 80 Servoamplifier Nb leat 1 N eaf 1 B 2 ELX 3055376 585 id e
37. u ajosod g df 56 11 60 2 52 RUE T Ins 96 10 12 89066409 9 M 96 20 62 640963 0 d 96 90 22 68096401 v 2 55 07326 9 C3 ny 06 80 62 swe comes 5 1 2145 uu jo aaisnjoxa ay si siu Nljg g lt NIC sod 4104 ZHAZL lt 7 puo ZHAG 760 NIZI Z sod 104 cxg uogoes sso4o 104504 jndjno 50005 940U2 12 SNOISNJMIG d 89908208 X144 31M SIM 34OHO 4equunu bxg g 011 081 051 921 vor 2020 45 gt 62675 4401 6XS01 521 1061 021 921 HWS L YSZ 82020 45 642 9 XS0L G11 601 921 HwS z vol 22020 35 Z bXg z 8 6 06 011 6 HUG 12020 45 joue g X O H 8 wou uou paopubjs 505 T 15 A Y T 5 V i 15 13 asso 1 RTS 40 80
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