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PVD 3484 GB

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6. ENCODER EMULATION OPTION RESOLVER DIGITAL PROCESSING EXTERNAL 0 5V EXCITATION SINE COSINE DIGIBLGB D W B RESOLVER 11 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier e On the right the motor resolver power unit Parameters can be set for motor selection which dictates drive caliber general resolver characteristics e The choice of the motor drive combination automatically determines some parameters current limitation protection f t typical servo control parameters Ahead of current control Second order filter for reducing resonance effects at high frequencies External reduction of current limitation e Resolver digital processing non parametric and the optional encoder emulation function number of points adjustable from 1 to 16 384 e Speed loop unit where the following parameters be set maximum speed for the application limited by the motor max speed scaling 1 V N rpm choice of corrector type proportional proportional and integration proportional and double integration or quite simply the choice of working in current regulation mode e Predictive action related to speed control These actions outside the speed loop directly affect the torque set point As they are outside they have little effect on loop stability Conversely they allow anticipated action without waiting for speed loop reaction These
7. B6 open the power contactor must then open within 100 ms following the OK opening Spindle motor To lt Fault detected on motor side To 3ms Tf gt The fault is passed on to the power supply when the motor speed is less than 50 rpm after a time period Tf Braking time the OK and ready contacts then open A restart is only possible after a RESET on terminal block B7 or via the push button The RESET is not active until the cause of the fault has been removed 63 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5 SERVOCONTROL PARAMETER FUNCTION AND SETTING 5 1 Servocontrol and Adjustment Parameters 5 1 1 List of Parameters Choice of type of regulation e Speed Proportional P Proportional integral PI Proportional double integral PI e Current regulation In all cases Minimum Value Maximum Value e Filtering frequency 20 Hz 800 Hz e Offset 196 max Speed 1 max Speed e Current limitation 0A Drive pulse In speed regulation P PI PI e Max Speed 100 rpm 100 000 rpm e Speed for 1 Volt 10 rpm 20 000 rpm 9 Proportional gain Drive Ipulse 156 Drive Ipulse x 210 e Integration frequency 0 1 Hz 150 Hz e Speed 1 and speed 2 48 rpm speed 1 speed 2 max speed Predictors gravity static or dynamic friction acceleration 5 1 2 Regulation Selection Current Proportional Current regulation Selecting current means current can be controlled dire
8. Square stimulus or adjustment procedure to set the servo control parameters PME software to set the predictors if necessary For all these manipulations make sure that the driven mechanism can run freely 6 1 3 Start up or Modification with the hand help Terminal Parameters transfer The general process is the same as above The hand help terminal is for systems that have already been programmed either by PME software or by transfer of parameters from one drive to another using the PC software or the terminal or by physically transferring the EEPROM containing the customised application SZ 6608B board 85 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 6 2 Fault finding 6 2 1 LED displays power supply function COLOUR FUNCTION POWER ON Power and auxiliary supplies present no fault with supply or drive control Auxiliary supply present No power supply either fault or switched off OVER VOLT bus overvoltage or mains voltage POWER OFF OVER CUR Internal excess current of supply or current capacitors charging circuit damaged current limiting resistor open or internal contactor damaged PHASE Missing mains phase Bus and mains overvoltage values are following Bus overvoltage Mains overvoltage 850V 550 Vrms In normal operation the LED status is as follows e POWER ON Green e POWEROFF Off e OVER VOLT Off e OVER CUR Off e PHASE Off Power supply
9. RTS SERVOAMPLIFIERS RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere AXL COMPACT 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 SINGLE AXIS DSM POWER SINGLE AXIS DPM MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER DIGIVEX Power Drive Servoamplifier CONTENTS SAEFETY Zumi A E E E 4 1 GENERAL 7 11 Digital Servodrive 7 1 22 Servoamplifier General Characteristics 7 1 3 Operating principle 8 1 3 1 Block diagram 8 1 3 2 Power supply function 10 1 3 3 Servomotor control function 10 1 3 3 1 Presentation 10 1 3 3 2 Functions block diagram 10 1 3 3 3 Logic Input Forcing 13 1 3 3 4 Stimulus Oscilloscope Function 13 1 3 3 5 logic outputs 13 1 3 3 6 Brake Action 14 1 3 3 7 Monitoring reasons for stoppage 14 1 3 3 8 DIGIVEX Power Drive General technical characteristics 15 1 4 Compliance with Standards 16 2 SPACE REQUIREMENTS ASSEMBLY LABELLING CODES 17 21 Dimensions and mounting 17 2 2 Labels codes 21 3 ELECTRICAL CONNECTIONS 23 3 1 General Wiring Requirements 23 3 1 1 Operating equipments 23 3 1 2 Electromagnetic Compatibility 23 3 1 3 DIGIVEX Power Drive SUB D Plug general 24 3 2 Typica
10. electric power drives with variable speed standard defines the compatibility criteria that have to be observed by an electronic device in an industrial environment Please find below several important points concerning the harmonic emission rate for drives and the impedance for the mains network to which it is connected Harmonic levels The harmonic content of the mains network currents varies depending on whether the drive consumes power or whether it returns energy to the mains supply When the drive issues rated AHeff Ih1 Ih1 drive returns its rated voltage to the mains supply the THD is approx 30 Please do not hesitate to contact us if you require further information voltage the level of harmonic distortion THD is approx 50 Contrarily if the Voltage fluctuation The repetitive working of a drive consuming then returning electrical energy to the mains supply can produce voltage fluctuations in the mains network to which it is connected In order for the drive to work properly and to satisfy the limits relative to the switching slots the rated voltage of the mains network must be at least equal to three times that of the drive 2 SPACE REQUIREMENTS ASSEMBLY LABELLING CODES 2 1 Dimensions and mounting See next pages Drawing FELX 306331GB FELX 305117GB FELX 305815 GB 17 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier m 1 i ale Gre doc 5 D 2
11. issue Date 2004 January 12 Underwriters Laboratories Inc This is to verify that representative samples of the product as specified on this certificate were tested according to the current UL an c UL requirements Electrical Ratings The output current ratings below are steady state 100 values Then a linear reduction of the currents based on the temperatures of the heatsink via NTC is applied from 70 16096 to 95 10096 The drive shuts down when the temperatures of the heatsink via NTC reaches 95 8 Output max power 16kW Thermal Protection Connection for Motor Connection B4 TH and TH TH is referenced to 0 V 15 V from TH to TH cum rho fC A fool UL International France SA UL International France SA Pursuant to the Corporate Services Agreement between UL International France SA and Umderwriters Laboratories Ine UL UL bereby accepts amd issues this Certificate of Compliance 97 PVD 3484 GB 04 2004
12. 61 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 4 5 1 Description of stop sequence times 4 5 2 Stop due to removal of mains To lt Removal of mains To 3ms lt Tcapa lt To 60ms gt Power bridge is stopped and capacitor preload internal contactor is opened To 25ms lt Tok lt To 60ms gt OK relay is opened on terminal block B6 To Td lt 1 gt After a time period Td approx 25 the status of the INIT signal changes Furthermore after this time the drive OK output on plug X2 is set to 24V A restart is only possible after a RESET on terminal block B7 or by the push button on the front panel 4 5 3 Stop following a fault on mains side To lt Fault detected on mains side To 3ms lt Aff Def lt To 200ms Stop of the power bridge and fault displayed on the power supply status LEDs To 25ms lt Tok lt To 200ms The OK and READY contacts on terminal block B6 open the power contactor must then open within 100 ms following the OK opening A restart is only possible after a RESET on terminal block B7 or via the push button 62 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 4 5 4 Stop following a fault on motor side Axis motor To lt Fault detected on motor side To 3ms gt The drive OK output on plug X2 changes to 0 The motor is no longer driven the FAULT LED lights up To lt Tok lt To 20ms gt The OK and READY contacts on terminal block
13. Cross section of about 1 mm e 1 shielding continuity conductor green orange to be connected to the servoamplifier earth 42 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Power cable cross section Cable cross sections shown in the table below make allowance for rated drive current motor drive distance service voltage loss RI ambient temperature cable Joule losses RI standardised increase of cable cross sections Depending on distance following cable cross section should be used ambiant lt 40 C Distance 100m 200m DIGIVEX Rating Cable cross section in mm2 DPD 50 80 10 16 25 DPD 100 120 25 25 50 50 DPD 150 50 70 DPD 200 DPD 300 In the case of a 230V three phase power supply cross section not compatible with the power terminal blocks provide an intermediate terminal block In the case of a 230V three phase power supply For an ambient temperature of 30 C Power cable list power plugs and equiped cables for H and L series motors Cable cross section mm Plugs 1 cables HD HX HV800 6537P0012 220065R3610 220049R46 LD LX LV800 HS900 Power Equiped LS900 6537P0013 220065R3610 220049R47 HD HV900 LD LV900 HXA HVA every HW and LV HD HV1000 LD LV1000 6537P0014 Length 05m 10m 15m 25m 50m Add the cable length to the equiped cable reference 1 Power Plug Straight with crimp fit contacts 43 PVD 3484 GB 04
14. to come on line If the system does not come on line Check the serial link configuration is compatible Check the cable 84 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier When the system is lt on line gt all the parameters in the DIGIVEX Power Drive can be read e Use the PC or the terminal to check if there is no fault COMMANDS FAULTS menu See possible diagnostics e If access to modification is prohibited level 1 read the parameters in the drive and check that they comply with the problem motor type maximum speed etc e f access to modification is allowed level 2 then configure the drive This may be done off line in a file which is then transferred or modified ON LINE Motor selection Speed or torque loop parameters selection note that without power it is not possible to check if these parameters are correct Auxiliary selections validate brakes analog outputs safety strategies etc e Replace the DIGIVEX Power Drive terminal block B6 OK and READY relays Use the software to force the drive to zero torque e Power up Normally the lt POWER ON y LED lights If all is in order check the brake if fitted works properly e Remove the zero torque lock with the software or by the hardware contact set T 0 input to 24V open any brake e Adjust the system using the stimuli PC software or terminal Direct current stimulus square with peak to peak 0 Check Nmax
15. 0 5 e For removable connector plug 0 14 to 1 mm solder or crimp fit contacts RESOLVER REMOVABLE CONNECTOR PLUG connection at motor end 220065R4621 solder contacts standard 220065R1621 crimp fit contact For XD motors Connection with SUB D plug on rear cover cable inserted through special gland Please ask for details Dm 48 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 4 Accessories and tools Accessories Mains input filter For DIGIVEX Power Drive 50 80 FR 03636 For DIGIVEX Power Drive 100 120 FR 03064 For DIGIVEX Power Drive 150 FR 03100 For DIGIVEX Power Drive 200 FR 03200 For DIGIVEX Power Drive 300 FR 03200 Dimensions as in drawing FELX 304967 and 305452 see next pages Inductances for long cables between motor and servoamplifier Selection see S3 4 6 2 Dimensions see drawing FELX 302983 next pages Bare cables Resolver cable 6537P0001 Input output cable CB 08304 Emulation cable CB 08307 Complete cables fitted with connectors and or SUB D plugs Resolver cable 220049 61 lenght in meter 5m 10m 15m 25m 50m Input output cable FELX 304544R code 1 2 and length in metres 3 5 10 15 20 Encoder cable FELX 4546 1 lenght in meter 3m 5m 10m 15m 20m For RS 232 cable SUB D X3 see commercially available cables with 9 pin SUB D extension Cable for power delivered alone or with fit
16. 3 2 3 2 Resolver SUB D Plug Connection at DIGIVEX end SUB D 9 pin plug to X1 RESOLVER socket Maximum conductor cross section 0 5 mm CONTACT PURPOSE Cosine 51 Sine 52 Cosine 53 Sine 54 Excitation R1 1 2 3 4 5 6 7 8 9 0 V R2 3 Excitation 34 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Q gns 93 pibuq Buip1 lus 010 1910 8 10534 4 H19N31 GYVONVIS lt SI 3009 H19N31 1 318V9 31314803 198 700 3 I E 35 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier SUB D Plug X2 3 2 3 3 Input Output q CONTACT 1 Maximum conductor cross section 0 5 mm 10 V speed or current reference point 10 V speed or current reference point 10 V analog input point 10 V analog input point Input assigned to external current limitation 10 V max current 10 V analog output point 1 0 V analog output Output assigned to speed measurement by default 10 V max speed 10 V analog output point ANA2 0 V analog output Output assigned to current measurement by default 10 V max current SPEED RANGE Speed range choice CW enables clockwise rotation if input is active level 1 CCW enables counter clockwise rotation is input is active level 1 LYRE PURPOSE CHARACTERISTICS Analog co
17. 4 1013 buipjeius 6 9 96 sod pasim siod pajsim 0 e 6 XOW 2 SIH9N31 15 0 0 IH9N31 3002 LHONA Ix 3002 1 9 31 30 02 418 Tin S ET 3JON323J34321 NOH NGOYHd 7 49grcrooldg 4 2 7777 STIvS vcO563 WV 86 80 67 154 900003 WV 16 90 21 40 pejoeuuoco JON x eq 04002 JOU 104 p pu uuuuoo 2 doo 5 9 pejoeuuoo 9 5 oue ano Toug podos poidas 41219 pub jo doo 0 48 15 01 pejoeuuoo pipiq 45 jjedo4d si 511 ZY WA ld AQ 4epooue xAG L OXZ usaib X3AISIG 7 S3809N3 95 PVD 3484 04 2004 DIGIVEX Power Drive Servoamplifier 8 UL CERTIFICATE Certificate of Compliance Certificate Number 120104 E214717 Page 1 of 2 Report Reference 214717 October 23rd 2003 issue Date 2004 January 12 Underwriters Laboratories Inc Issued to PARVEX S A 8 AVE DU LAC 21000 DIJON FR
18. 5 1 5 Filtering Frequency 68 5 1 6 Predictors 68 5 2 Entering Parameters personnalization board change 70 5 3 Parameter setting using Parvex Motion Explorer software 71 5 3 1 Overview of Settings 71 5 3 2 Parameters setting Tools 72 5 3 3 Parameter Access Condition 74 5 34 Motor Selection and Parameter Entry via Parvex Motion Explorer PME Software 75 5 35 Loop Parameter Adjustment Speed Regulation Mode 75 5 3 6 Predictor Adjustment 79 5 3 7 Parameter Adjustment in Current Regulation Mode 83 2 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5 3 8 Other Parameters 83 6 STARTING UP SERVOCONTROL PARAMETER SETTINGS FAULT FINDING 84 6 1 Start Up Sequence 84 6 1 1 Prior Checks 84 6 1 2 First Time Starting with PME Software or the terminal 84 6 1 3 Start up or Modification with the hand help Terminal Parameters transfer 85 6 2 Fault finding 86 6 2 1 LED displays power supply function 86 6 2 2 Display Servoamplifier function 87 6 2 2 1 Drive Fault Processing 87 6 2 2 2 Current Monitoring 88 6 2 2 3 Temperature Monitoring 89 6 2 2 4 Miscellaneous Monitoring 89 6 2 2 5 Fault and Diagnostic Summary Chart 90 6 2 2 6 Corrective actions 91 6 2 2 7 T segment display SS 6611 mounted 91 7 OPTIONS 92 71 Possible associations 92 7 2 Encoder Emulation Card Option SC 6631 92 7 2 1 Resolution and Zero Signal Position Programming 92 7 2 2 Electrical Characteristics 93 7 2 3 SUB D Plug 94 7 2 4 Encoder Emulation Cable
19. ES S SSS 25 omy QU uem 6 Z 5 kaso sa lo a lt 21 25 6 WIA 5 gt a L 41 HDOW S 2755 5 S 0 SS lt lt lt lt mo uogosuoujnb usn mo paldos JO 10UUD2 j 432419 Si ano jo y S siu lt a 55 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 4 CHARACTERISTICS OF INPUTS OUTPUTS AND GENERAL OPERATION 4 1 Input Outputs Characteristics optocoupled 24 V dc inputs insulation voltage 100 V type 2 inputs to standard 1131 2 e these inputs may be connected directly to PNP type outputs external load resistor not necessary LOGIC INPUTS 22 1 TYPICAL 11 Response time 0101 ims Response time 1100 1m De Level Oinput voltage 90 5222 56 PVD 3484 04 2004 DIGIVEX Power Drive Servoamplifier Logic Output Characteristics Outputs are supplied by a 24 V internal source 24 V and 0 V insulated and common to terminals 25 and 13 No external 24 V source is to be connected to the outputs The 0V terminal of the three outputs and contact 25 are connected together e Max outpu
20. Second Order Filter This phenomenon cannot be treated by adjusting P PI PI If the resonance cannot be dealt with mechanically the frequencies concerned must be eliminated This is the job of the 2nd order low pass filter Gain frequency Slope 2 4 40 dB d c Phase frequency Diggb17 D pl35 W Resonance frequencies are usually higher than 50 or 60 Hz whereas oscillations from incorrect PI or PI settings are generally lower than 50 Hz 5 1 6 Predictors Purpose of Predictors Four physical phenomena vertical mass e dry friction e friction proportional to speed e acceleration are direct and calculable cause of changes in motor torque 68 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Predictors are intended by calculation to act directly on the current reference without going through the speed loop and without waiting for the speed error caused by these phenomena see block diagram The principle for adjusting and working on the predictors is to minimise the part of the current reference from the P PI branch and therefore to reduce the speed error As these predictors are outside the speed loop which must be set first they do not affect stability They considerably improve response time The acceleration predictor improves stability and can be used to increase the gain of any position loop superimposed on the speed loop However it should be noted that a number of speed serv
21. WON OL ZH09 0S 90A Orr uin 0 1295 s qissiuued y pe 21 121 99 SNOISNANIG 3NI 1100 d 89496702 135 yd 53 713 5 uonbounuoep 1 5 uonisod 041 9020 Ad 002 96080 7 01 91020 14016 ae soyd 14 JN ZH09 09 Juana eBoxoo 2090066 LEZ 80 9 79020 Ad bys 102 156 VoL 9 0 0 dd UE LOZ 192 VOL 91020 Xd L 1ubreM 0 3295 V queuing 4 04 GEL 01 LGL 51 PVD 3484 GB 04 2004 002 Pub YOO v 29 53411 SNIVW i132 0976 602 gpa QN 100 N 2157 04 04 9 1035 uonpjedo spud Ju1 SNOISNAWIG 3NITLOO ZZ0663 WV SZ1863 Wv SL863 Wv 0020 45 00120 44 008 GLE 081 Of 055 007 Occ 021 S 0863 WV U SuoISu Lui YOO vOOL 002580 43 00120 24 AN
22. and low gain System able to run no predictor The P gain and filter frequency adjustments are simultaneous If when increasing P gain the system starts to resonate this can be suppressed by reducing the filter frequency and then increasing P etc until a compromise is reached Maximum advised value for P There is a maximum recommended proportional gain depending on caliber and corresponding to maximum current ripple RATING P in mA rpm 100 120 1500 150 150 1800 Note this value may be exceeded under certain conditions Please ask for details Generate a speed set point step for instance 5 of maximum speed Display the oscilloscope function e Channel 1 input reference e Channel 2 speed reading Triggering on channel 1 at 1 or 2 of max N rising edge Increase gain P Excite the stimulus in on line mode The response at one speed reference scale is obtained 76 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Three cases may arise Non oscillating response Speed P too high P correct Dipl43gb D W A response must be achieved without overshoot and oscillation For example increase gain until oscillations appear progressively then reduce it again by 20 30 If the maximum value shown in the table is reached with P gain without having reduced filter frequency then stop increasing P reduce the filter frequency to the oscillation limit Filter frequency ad
23. by using fan washers The drive will be grounded by a low impedance link between the PRP and the ground on the front panel of the DIGIVEX rack If this link is longer than 30 cm use a flat braid or standard wire instead CONNECTIONS e Avoid routing low level cables resolver input output NC or PC links alongside power cables power supply or motor Also avoid routing the supply cable and motor cables together in order to conserve mains filter attenuation These various cables should be separated by at least 10 cm and never crossed or only at right angles if unavoidable e All low level signals shall be shielded and except for the resolver connection the shielding shall be connected at both ends At the DIGIVEX end the shielding is continued by the mechanical design of the SUB D plug e Motor cables must be kept as short as possible The green yellow motor lead must be connected to the front panel box with as short a connection as possible e This usually saves the need for using a shielded motor cable Chokes may be inserted on the motor phases see 3 4 6 2 23 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier MAINS FILTERING The equipment complies with standard EN55011 with a filter on the power input with minimum 60dB attenuation in the 150 kHz 30 MHz range The network filter must be fitted to the ground reference plane TRP at the mains end ahead of the KM contactor and as close as possible to the DIGIVEX Po
24. current monitoring DPD DPD DPD DPD DPD 50 80 100 120 150 200 300 Max bus operating current for 100 ms 200 300 Mains bridge blocking instantaneous current 86 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 6 2 2 Display Servoamplifier function Problems that arise may be displayed in 2 ways e the drive front pannel though the RUN gt and lt FAULT gt LEDs r3 LI een SIGNIFICATION Microprocessor function OK normal state xt xt Fault Operation continues with reduced performance xt Fault with power down CPU Fault with stop of the power RUN and FAULT LEDs off No suppl Xt Led on Cl Led flashing e By the RS232 link With the PME D software on PC which indicates clearly the type of fault and possible corrective actions With the hand help terminal 6 2 2 1 Drive Fault Processing 2 cases may arise e Faults with lt FAULT gt LED on These faults entail The main switch opens and the power is switched off The fault is stored in the drive e Faults with lt FAULT LED flashing These faults entail A reduction of the motor current No action on the OK contact of the DIGIVEX Power Drive These cases happen if The drive heat sink gets to hot The drive mean current the RMS current are to high and the drive parameter setting allows to continue to work in these conditions with a current reduction
25. for 30 ms after the ON command Conversely opening of the OK relay causes the main contactor to open The OK relay opens in the following circumstances No phase Recovery fault Maximum power bus voltage Minimum power bus voltage Drive fault Auxiliary supply fault Overcurrent Current capacitors charging circuit damaged current limiting resistor open or internal contactor damaged 60 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 4 4 Initialization Sequence Times description of the initialization sequence To Upon energizing To lt Mains present To 30ms lt Tok lt To 120ms gt OK relay closed terminal block B6 To 300ms lt Tcapa lt To 700ms gt capacitor preload internal contactor closed Tinit gt Tcapa 60ms gt INIT signal LED POWER ON lights up The drive OK output on plug X2 is set to 24V The INIT initialization signal enables the drive to work 4 5 Stop Sequence Attention In the case of a motor with flux weakening HV or HW spindle motor the mains contactor should not be opened when the motor speed is greater than 50 rpm Opening the contactor may cause overvoltages on the DC power bus and shorten the life of the drive For emergency stops we recommend that an electric braking be induced through an action on the CW and CCW inputs on plug X2 A waiting period corresponding to the maximum braking time of the motor should be observed before the contactor is opened
26. paopubis U 2 09 05 1 gt e6oyo2 xo 00622 WYON 2 08 ZH09 0S 99A 09r 2 5 ajgissiuued x DIGIVEX Power Drive Servoamplifier 3 g 5 58 2 70 8 Juan JN PJDpubjs 4no jnouj paidoo pejusuDJj 104402 j UOHDSIJOUjnID Jo peanpojdai 10415 5 way jo 4 29 70 xe Si Si 52 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier X IJJ SNOISNANIG X3A3 Vd Ww 5525 wa JSVHd 33UHl a jo eyo4odes 96 60 11 GC0863 WV 2 nir NOLLOJNNOO 5018 4 71 JP qN 836 0095 2 anor v ISIN 16 0 2 8 sas 828 56 5 28020 35 NOY 26 21 11 v 88 5 8 8835 TW 222 gt buduojs WJ 16 20 80 Sumo lt SUC IS 9 G
27. parts of equipment cabinets or earth pins of plugs 6 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 1 GENERAL 1 1 Digital Servodrive A servodrive using a DIGIVEX Power Drive servoamplifier comprises e A brushless servomotor with permanent magnets a sinusoidal emf and resolvers for position measurement HX HS HD HV HW range servomotors e A DIGIVEX Power Drive servoamplifier comprising A power supply function with direct 400V 50 60Hz 480V mains input 550V DC bus voltage output This module also controls energy regeneration to the mains network A servomotor control function power and resolver for axis or spindle drive motors Two connection arrangements for servomotors are proposed e Terminal box resolver connector e Power connector resolver connector 1 2 Servoamplifier General Characteristics BRAKING PEAK PEAK TYPE MAINS CONTROLLABLE CAPACITY BY PERMANENT PULSE POWER REGENERATION CUBRENT TO NETWORK 400 480 V 3ph DPD 50 80 50 60 Hz 550 V 20 kW 20 kW 50A 80A Max 480 1096 400 480 V 3ph DPD 100 120 50 60 Hz 550 V 40 kW 40 kW 100A 120A Max 480 1096 400 480 V 3ph DPD 150 50 60 Hz 550 V 60 kW 60 kW 150A 150A Max 480 1096 400 480 V 3ph DPD 200 50 60 Hz 550 V 80 kW 80 kW 200A 200A Max 480 1096 400 480 V 3ph DPD 300 50 60 Hz 550 V 120 kW 120 kW 300A 300A Max 480 1096 UL and c UL required Power is limited to 16kW An exter
28. power is applied The automatic control diagram must be complied with in full 24 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 1 joe 408 40227 90 5 08 05 X3A4Vd O 1 03 WV 20 10 81 10 01 11 m 220904 1 3 10 10 80 DOW 1 22227 Arc 4 73 Sag 3 2350 5525 7 886 091329 2 gy sossaiddns 86 5 5 5 anny 4 085929 plnous Wy 2 Jo opluoo 84 x 98 e 3888 AID uo jndjno 01U05 SE 8 2 5 2 850 0 94041 xe E385 35 Ave 9uj dn M Seas 20999 69258 S ge SJ yD JQ JO y sec n 97 3A10838 9 24028 9 2 11 3 5 29 0 4 oway k 4 a a E VW 3 3 j Et i 5 t D 9
29. with B7 7 resets the system after a power supply or drive fault Note that the front panel reset button can also be used or turning off the power completely power and auxiliaries This control has no effect during normal operation The system must be reset after any active fault 4 3 main contactor control B6 1 B6 2 READY contact Cut out power max voltage 250 Vac max 1A This contact is closed if D C voltage is correct gt 200V dc e the drive has not indicated any regulation type fault no resolver incorrect low level auxiliary supply fault not erased by reset This contact allows test closure of the main contactor The POWER OFF LED lights It is mandatory to wire the ready contact into the power supply automatic control line of the main switch See wiring diagram 3 2 59 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier B6 3 B6 4 OK Contact Cut out power max voltage 250 Vac max 1A The contact is closed if e AUX supply is correct power supply is present gt 200 V dc the servoamplifier auxiliary and power indicates faults The contact allows the main contactor to be self maintained the green POWER ON LED glows Main contactor management Closure of the READY relay if the external safety devices are correct authorises closure of the main contactor if the ON push button is activated The OK relay button ensures the main contactor self holds
30. wo 1 DIGIVEX Power Drive Servoamplifier Front panel DPD 200 and DPD 300 PARVEX DIGIVEX TEMPS DE DECHARGE MINIMUM 3 MINUTES WARNING CAPACITORS REMAIN MAIN AUXILIARY BRAKE o SUPPLY SUPPLY SUPPLY o 400 480 Vrms 400 480 Vrms 0 3 Arms TH BR 50 60 Hz 55 40 Vix 24V OV NR vi wi vl vl litt 02 v2 w2 1 1 1 DB e lt CIs o moor JO 31 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 9 one control sub assembly integrated in the box to which the control signals are connected terminal blocks B6 and B7 SUB D X1 X2 X3 X4 and 5 plugs 08 ON FAULT POWER overcur O OvERVOLT O PHASE 5 RESET O ENCODER DIGIVEX POWER CONTROL INPUTS OUTPUTS 9 15232 o gt gt g 111111 00 Lm 85 O gt lt 32 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 2 2 Terminal block 81 82 B4 B5 B6 B7 Terminal block description MARKING TERMINAL FRONT PANEL FUNCTION TERMINAL TERMINAL CAPACITY BLOCK TYPE MAINS SUPPLY Connection To Mains fixed screw type DPD 50 80 max 10 mm flexible max 25 mm rigid DPD 100 120 max 25 mm flexible max 35 mm rigid DPD 150 and DPD 200A max 50 mm flexible max 50 mm rigid DPD 300 35 mm rigide 95 mm maxi AUXILIARY SUPPLY BRAKE S
31. 2004 DIGIVEX Power Drive Servoamplifier 3 3 7 2 Guidelines for long cables between the motor and drive For the DPD 50 80 DPD 100 120 and DPD 150 provide inductors for lengths of more than 70m standard cable or 50 m shielded cable as shown in the table below These inductors cannot be used with flux weakening motors spindle motors The cable length must be less than 70m standard cable or 50 m shielded cable for these motors To be fitted between the DIGIVEX Power Drive as close as possible to the drive and the motor Dimensions see S 3 7 DPD 50 80 DPD 100 120 DPD 150 Length cable Shielded 50to 135 m 70 to 135 m DEDE SF02026 SF02026 SF02027 340 uH 340 uH 190 uH 3 3 7 3 Connection to motor Power Connection Two connection arrangements are provided except HX300 which has the connector version only e terminal box resolver connector power connector resolver connector 44 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Terminal Box Connection The clamp nuts and washers for the terminal box come in a bag Take care when fitting the terminals not to loosen the connecting wires between the motor and the terminal box Insert the power connection lugs between the striated washer and the flat washer Dipl3gb ds4 Direction of Motor Rotation When wired as specified a positive speed reference applied to the drive causes clockwise rotation as viewed from power
32. 4 DIGIVEX Power Drive Servoamplifier 5 3 7 Parameter Adjustment in Current Requlation Mode If the current option is selected the following items only are to be adjusted current limitation Take care with this type of application not to trigger upon monitoring of mean current and rms current Often current limitation permanent current Second order filter frequency This can only be done with the upper regulation loop providing the current reference 5 3 8 Other Parameters Logic and Analog Inputs Outputs Access either via the menus COMMANDS INPUT ASSIGNMENT or COMMAND OUTPUTS ASSIGNMENT or in interactive mode by clicking on the I O at the left of the block diagram This makes it possible to e Assign one of the internal variables to each of the two analog outputs Force the logic inputs to or 1 HIGH or LOW The logic inputs outputs are assigned on a permanent basis Encoder Emulation Option Choice of number of marks from 1 to 16 384 per revolution off line e Validation of zero signal in teach mode on line Miscellaneous Choices e Choice of processing strategy for monitoring in mean and rms currents current reduction or power cut out see PME software DIGIVEX Drive modul instructions PVD 3483GB e Choice of brake use strategy current reduction or not when brake is applied see PME software DIGIVEX Drive modul instructions PVD 3483GB e Choice of motor thermal protecti
33. 9 SJ9x4094Q JO 0599 0925 o o o ooo 8852 fg YOLOW q 9 se z 1 Else 151 10 y TM VA A E e tU sis 1M MAG suay 70 28 09 08 26 anig HL sana 087607 087 00 JO CM nig lA 914 5 2 0 ZA D P AANS AANS 5 DVE ASTTIDAY NVW 5 E Epi 5 Lap wee 00 I 3 1 p 61 2108 1 9 m T 5 5 912216 7 joule Q E 4 E 1 Q EI 7 JEN x mm n a 3 n om J 5 8 3 7063 _ I RE JU l 3 405534 V e 2 96 005 2 J pozy S 95 S3Snj 23 5 95 S3Sn 14 3 YOLOVINOD 7 407 2euuo2 gy 4ossejddns abins HOLIMS INIT 1S 89929 pjnous Wy 02 jAoO 90 uoo mod O y 3 6 0 15 ueui 21 Duisibueua y U eq m xoojq Ajayos dojs uo 0709 2 jo y S S 002 ddd osnj 8 7 9 n 2 DIGIVEX Power Drive Servoamplifier 3 2 1 Surge Suppressor KM Power Contactor AP Surge Suppressor The power contactor coil KM should n
34. 94 8 UL CERTIFICATE 96 3 PVD 3484 GB 04 2004 DIGIVEX Power Drive 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 4 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers 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 e 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 qualifi
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36. ANCE This is to certify that Power Conversion Equipment representative samples of Three Phase Input Model DPD DPM Have been investigated by Underwriters Laboratories Inc in accordance with the Standard s indicated on this Certificate Standard s for Safety UL 508C Power Conversion Equipment CSA C22 2 No 14 95 Industrial Control Equipment Additional Information See Addendum for Electrical Ratings Only those products bearing the UL Listing Mark for the US and Canada should be considered as being covered by UL s Listing and Follow Up Service meeting the appropriate requirements for US and Canada The UL Listing Mark for the US and Canada generally includes the UL in a circle symbol with C and US identifiers LON the word LISTED a control number may be alphanumeric assigned by UL and the product category name product identifier as indicated in the appropriate UL Directory Look for the UL Listing Mark on the product aon X UL International France SA UL International France SA Puryusm to the Corporate Services Agreement between UL laternational France SA and Underwriters Laboratories Loc UL UL hereby accepts amd isues this Certificate of Compliance For questions in France vou may 330 1 60 19 8x 96 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Certificate of Compliance Certificate Number 120104 E214717 Page 2 of 2 Report Reference 214717 October 23 2003
37. SSD Parvex SAS 8 du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX Power Drive Digital servoamplifier User and commissioning manual PVD 3484 GB 04 2004 SSS mum 0 352 M 17771 vi TED al ls 0 EST PA 18 XS gt PRODUCT RANGE 1 BRUSHLESS gt SERVODRIVES TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery NX HX HXA 1to 320 N m gt NX LX 0 45 to 64 N m High rotor inertia for better inertia load matching HS 15 3 3 10 31 Varied geometrical choice short motors range HS LS 3 310 31 or small diameter motors HD LD 9to 100 Voltages to suit different mains supplies gt 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 MULTIPLE AXIS DMD e PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 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
38. SSING 0 5V EXCITATION SINE COSINE Figure reference Input set point in Speed reading in rpm P PI in amps Sum in amps Current set point in amps Acceleration in ms Dynamic friction in amps Static friction in amps Position in degrees Phase U current in amps Phase W current in amps 0 0 N The two variables can be selected eleven variables above only from the list in the TOOLS OSCILLOSCOPE table Access via This is valid for all variables the 11 above plus the following 73 PVD 3484 GB 04 2004 RESOLVER either in interactive mode by positioning the two probe tips on the diagram for the the variable name DIGIVEX Power Drive Servoamplifier Temperature in degrees C Bus voltage in volts Id set point in amps Iq set point in amps Id measurement in amps Iq measurement in amps Voltage Ud in Volts Voltage Uq in Volts Auxiliary input in Volts Low frequency generator stimuli Notice that these twenty one variables can be assigned to the two analog outputs that allows eventually to use an external oscilloscope 5 3 3 Parameter Access Condition Access levels Level 1 is permanently accessible and can be used to modify proportional gain within bounds 0 7 1 4 speed for 1 V reference 10 and maximum speed unless already at max speed offset 1 It can also be used
39. The selection of drive behaviour stop or continue with performance reduction is made by the choice of current protection strategy in the loop parameter setting window 87 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 6 2 2 2 Current Monitoring Drive mean current Each servoamplifier is characterized by two currents For example for a DIGIVEX Power Drive 50 80 permissible permanent current 50 sine wave peak value maximum pulse current 80A permissible for a limited time 0 3 1 s To prevent excessive overheating of the drive the mean current I f t is compared after about two seconds filtering with the permanent permissible current rating There is then a choice between two strategies Strategy 1 Fault with opening of the power supply OK relay and the main contactor Strategy 2 Reduction of the permanent drive current of 90 of the permanent permissible current The FAULT LED flashes Motor rms current To prevent the motor from being tripped by the thermal sensor the drive monitors the rms current P f t The rms current is compared with the permanent permissible current under slow rotation by the motor lo after first order filtering with 20 sec time constant This data is characteristic of the motor and is known to the drive when the motor drive selection is made As before there is a choice of two strategies Strategy 1 fault Strategy 2 reduction of drive pulse current t
40. U Phase U ALIMENTATION SUPPLY SPEISUNG V Phase V W Phase W 1 Optional brake 24 V cable gt 1mm 2 Optional brake OV FREIN BRAKE SONDE PTC BREMSE 3 PTC sensor cable gt 1mm 4 PTC sensor Dipl2gb D W Connector Connection Power can be connected using a connector as an option The removable part of the connector plug can be supplied on request 45 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 846 PLUG 220065R3610 PERMISSIBLE CABLE CROSS SECTION FOR PLUGS PLUG 220065R3610 Power amp Ground 6 16 Brake amp thermal protection 1 2 5 mm PIN OUT FUNCTION 220065R3610 CABLE COLOUR BRAKE Green Red THERMAL Orange GROUND Green Yellow 02 2 W2 Shielding to be connected to the Green Orange earth at the servoamplifier end 46 PVD 3484 04 2004 DIGIVEX Power Drive Servoamplifier Holding Brake Connection Brushless motors may be fitted with a brake of suitable dimensions to hold the motor immobilised If 24 V dc 10 is applied across the brake terminals the brake disc is released and the motor can rotate The 24 V dc current for brake control must be regulated filtered It is to be connected to terminal block B3 and is then distributed internally The brake is to be connected to terminals B4 3 and B4 4 Thermal protection Connection The 2 terminals of the PTC sensor or dry contact located in the motor terminal box are to be co
41. UPPLY Low Level Supply 24V input for brake fixed screw type unpluggable screw type min 0 2 mm max 4 mm flexible wire max 6 mm rigid wire min 0 2 mm max 2 5 mm flexible wire and rigid TH BR Motor thermal protector Motor brake control unpluggable screw type min 0 2 mm max 2 5 mm flexible wire and rigid Connection Fixed screw type Identical to B1 Drive ready for connection to mains regulation and power OK unpluggable screw type min 0 2 mm max 2 5 mm flexible wire and rigid 12V for DPD 50 80 12V for DPD 50 80 24V user output 15V user output logic input 33 unpluggable screw type PVD 3484 GB 04 2004 min 2 mm max 2 5 mm flexible wire and rigid DIGIVEX Power Drive Servoamplifier 3 2 3 SUB D plug chart 3 2 3 1 SUB D PLUGS Metallized or metal cover sockets PLUG TYPE MAX CONDUCTOR cable end Qu a CROSS SECTION 2 9 pin male Resolver Connection Max 0 5 on solder solder type shaft 2 INPUTS OUTPUTS X3 9 pin male PC or programming Max 0 5 mm2 on solder RS232 solder type terminal link shaft 9 pin female Encoder emulation Max 0 5 mm on solder solder type output optional shaft Max 0 5 mm2 on solder m o meet For X4 and 5 plugs see S 7 options 25 pin male Logic and analog 0 5 mm on solder solder type inputs outputs shaft
42. a lt 6 ns maximum Time Lag between Channels A B and Zero Signal Time lag defined as 50 of magnitudes considered without cable and without load 6 ns lt td lt 6 ns maximum 93 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5V ENCODER INTERFACE lt 5V 1 NUMERICAL CONTROL DIGIVEX DRIVE CONNECTION 7 2 3 SUB D Pluq Nine pin encoder Sub D Plug Maximum conductor cross section 0 5 mm2 A V 7 2 4 Encoder Emulation Cable Cable composed of three 0 14 mm2 twisted pairs one 0 5 mm2 twisted pair for 5 V supply and general shielding PARVEX recommended cable reference CB08307 Cable may be supplied fitted with SUB D plug see drawing FELX 304554GB 94 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3025 du 134 S40jonpuoo woljoK uooJb joeuuoo pio4q 5 Burpjeius doo 0 29 2 G GNs 0 6 Bulpjaiys 6 9 26 Jod E 2 0 2 8404 pejsi 91400 X 3 Ad Vd 378VO YOLVINNT 7 3 TBD T 40j28uuo2 t gnS uid 6 pio4q 5 doo papjalys G gNS uid 6 4 45 doo papjalys
43. ctly therefore motor torque through the torque coefficient Kt This the gives 10 V peak pulse current of the drive selected In this mode PI PI adjustment and predictors are neutralised The only operative features are e Current limitation often adjusted below permanent drive current so as not to trip in mean and rms values e The second order low pass filter filtering frequency for reducing possible resonance effects 64 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Selection of P The drive is used in speed loop mode with purely proportional gain This gain is the ratio between the output current and the speed error It is expressed in rpm CORRECTORS CURRENT 225 REFERENCE REFERENCE SPEED MEASUREMENT N RESOLVER RESOLVER TREATMENT Dipl17gb D pl32 W For the same current if the gain increases the error decreases the system quickness increases and its bandwidth also Increased gain may lead to instability because of other components in the loop resonance second order filter The use of proportional action P alone has the drawback of providing zero stiffness because there is no integration ahead of the current part 65 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier TORQUE DISTURBANCE SPEED REFERENCE PHASE POWER LAW RESOLVER SPEED MEASUREMENT N RESOLVER TREATMENT Thus if a torque jog is i
44. ecessary have a surge suppressor AP connected in order not to destroy prematurely the internal relay contact of the drive This module should be use whether the power contactor supply is AC or DC The relay manufacturers Telemecanique LC1 series ABB B series provide surge suppressors fitted relays wether the power contactor supply is AC or DC for various voltages RC module Diode Zener Diode Varistor 28 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Front panel terminal blocks and SUB D plugs Front panel DPD 50 80 O 08 08 PARVEX DIGIVEX 9 a DPD 50 80 MAIN SUPPLY 400 V rms 2 DI 47 63Hz MOTOR 0 400 V rms eL ATTENTION ifs CONDENSATEURS RESTENT CHARGES OES TENSIONS DANGEREUSES TEMPS DE D CHARGE MINIMUM MINUTES WARNING CAPACHORS REMAN CHANGED 10 DANGEROUS VOLTAGE MMM DSCHARGE TIME 3 MNES 29 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier The system comprises box incorporating the power part connection to mains terminal blocks B1 B2 and to servomotor terminal blocks B3 B4 B5 at the bottom of the front panel Front panel DPD 100 120 and DPD 150 MAN AUXILIARY SUPPLY SUPPLY 400 480 Vins 400 480 Vers 0 3 Arms 5D 60 Hr Ul wv wi PARVEX DIGIVEX 30 PVD 3484 GB 04 2004 BRAKE SUPPLY MOTOR HM e EN
45. ed personnel who are familiar with the safety regulations e g VDE 0105 or accreditation C18510 5 PVD 3484 GB 04 2004 DIGIVEX Power 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 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 e User Manual 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
46. for reading all parameters e Level 2 is accessible by entering a password and is used for altering all the parameters as required for the application This level can be used on line or off line with the PME software or the terminal The access code is stored in EEPROM as a parameter Off Line Mode If working at level 2 and with the PME software off line mode can be used for preparing complete parameter files motor selection servocontrol parameters inputs and outputs etc This is data processing work on files File Open Save as Working on line with access to level 2 In this mode there is an RS232 connection between the PC and its software and the DIGIVEX Power Drive servoamplifier 74 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier To go lt online gt Check via File serial link configuration that the PC configuration is compatible with the servoamplifier 9600 bauds 8 data bits no parity 1 stop bit Call up Connect To go off line again Call up Disconnect When going on line all the parameters in the drive are copied to the PC Any parameter altered by the PC will be copied back to the drive On line mode has the following features e resolver parameters cannot be modified loop parameters can only be modified by the or keys as numerical values cannot be keyed in directly e if a complete parameter file is to be sent via the serial link first time loading copying f
47. frequencies Poor integral stop frequency setting may make the system unstable It should be limited to 0 1 0 2 times the bandwidth fo 66 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5 1 3 Integration frequency See the previous paragraph for the role of this parameter The definition from Bode curves only is given below gain frequency and phase frequency Gain PI Slope 1 620 dB d c 5 1 4 Speed Scaling Gain P Gain P 2 Slope 2 40 dB d c Gain P Dipl17gb D pl34 W The choice of motor drive unit fixes a 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 changing it does not alter the gain The speed for 1 Volt parameter fixes the speed gradient e g the maximum speed can be obtained for 10V 9V or 7V depending on the positioning control PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5 1 5 Filtering Frequency Resonance Many systems have one or more resonance frequencies related usually to mechanical phenomena inertia or masses stiffness of the mechanical components belts ball screws gears frames etc In reduced frequency areas around the resonance frequency there are large variations in loop gain e large variations in phase in closed loop mode This leads to instability or squealing more or less violent oscillations
48. iables monitored e mean servoamplifier current output current short circuit power bridge input current e dissipater temperature e motor temperature e ambient temperature e overspeed e resolver e Maximum and minimum dc bus voltages e mains phase e Motor rms current 14 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 1 3 3 8 DIGIVEX Power Drive General technical characteristics Power loss with altitude Operating temperature relative humidity Power loss of 1 per 100 m above 1000 m up to maximum 4000 m Normal use 0 to 40 C Power loss of 20 per 10 C above 40 C m up to maximum 60 C Drive stops when ambient temperature is higher than 60 85 without condensation 0 05 rpm or 1 30 000 of maximum speed Controlled by DIGIVEX 65 000 rpm Static speed accuracy for zero load variation at rated current and for rated voltage of DIGIVEX Power Drive Electrical protection With analog reference 1 regardless of speed Galvanic insulation of power bridge Mean current protection in line with drive calibre Pulse current protection of drive and motor Rms current protection of motor Protection against short circuits at bridge output Mains network overvoltage Mechanical protection IP20 to IEC 529 when rack mounted Pollution degree UL 2 enclosure mounting Other monitoring devices Motor temperature Drive temperature Cooling air temperature Brake supp
49. justment Oscillations may arise on the response achieved above even during the increase in speed Response with pseudo oscillation Speed measurement Resonance occurs here probably of mechanical origin of frequency fr 1 T generaly more than 100 Hz Reduce the filtering frequency until the oscillation almost vanishes If impossible maximum gain is attained 77 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier If possible gain may be increased again until a response with no oscillation is obtained Oscillation may appear again if so reduce the filtering frequency slightly Notice that it is essentially P and the filtering frequency that fix the bandwidth Ifthe resonance frequency is too low adjust the filter frequency to a high value PI PI Integral Stop Frequency Setting Initial status gain alone P setting and filtering frequency completed e Integration stop frequency 0 e Still no integration e System able to run Select PI or PI Use the same stimulus as before speed set point step On line increase the integration stop frequency until overshoot of about 25 30 in PI 15 20 in PP With no ripple If the frequency is too high ripples appear at fairly low frequency lt 50 Hz Frequency must then be reduced never readjust gain P Speed measurement fi too high correct pseudo period Time 78 PVD 3484 GB 04 2004 DIGIVEX Power Drive Se
50. l Connection Diagram 24 3 2 1 Surge Suppressor 28 3 2 2 Terminal block B1 B2 B3 B4 B5 B6 B7 33 3 2 3 SUB D plug chart 34 3 2 3 1 SUB D PLUGS 34 3 2 3 2 Resolver SUB D Plug 34 3 2 8 3 Input Output SUB D Plug X2 36 3 2 8 4 Nine pin RS232 SUB D Plug 39 3 3 Mains supply and auxiliary supply connections 40 3 3 1 Mains characteristics 40 1 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 3 2 Power component dimensioning 41 3 3 3 Auxiliary supply 41 3 3 4 Terminal block B3 Brake Supply 42 3 3 5 Earth connection 42 3 3 6 X Short circuit capability 42 3 3 7 DIGIVEX Power Drive Servomotor connection 42 3 3 7 1 POWER Cable Definition 42 3 3 7 2 Guidelines for long cables between the motor and drive 44 3 3 7 3 Connection to motor 44 3 3 7 4 Resolver Connection 48 3 4 Accessories and tools 49 4 CHARACTERISTICS OF INPUTS OUTPUTS AND GENERAL OPERATION 56 41 Input Outputs Characteristics 56 4 2 User supply and RESET 59 4 3 main contactor control 59 4 4 Initialization Sequence 61 4 5 Stop Sequence 61 4 5 1 Description of stop sequence times 62 4 5 2 Stop due to removal of mains 62 4 5 3 Stop following a fault on mains side 62 4 5 4 Stop following a fault on motor side 63 5 SERVOCONTROL PARAMETER FUNCTION AND SETTING64 5 1 Servocontrol and Adjustment Parameters 64 5 1 1 List of Parameters 64 5 1 2 Regulation Selection Current Proportional PI PI 64 5 1 3 Integration frequency 67 5 1 4 Speed Scaling 67
51. livenopowerpeset 6 Maxmumdrivecurentreachedordi dtfaut 8 ______ 9 Excessive motor temperature I dot CPU fault Unlisted fault 91 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 7 OPTIONS 7 1 Possible associations Integrated 7 segment Indexing SIN COS Option compatibility encoder display function encoder SC6631 SS6611 SH6601 SC6643 Integrated encoder SC6631 7 segment display 556611 Indexing function SH6601 SIN COS SC6643 x Association examples Integrated encoder 7 segment display OR Integrated encoder Indexing function 7 2 Encoder Emulation Card Option SC 6631 The resolver is above all a position sensor It is used to measure the position of the rotor relative to the stator An optional card placed in the upper part of the DIGIVEX Power Drive regulation card can be used to convert the signal from the resolver into a string of pulses identical to those from an incremental encoder A B 0 and their complements 7 2 1 Resolution and Zero Signal Position Programming This can be programmed using the Parvex Motion Explorer software or via the terminal The parameter is called up e either in graphic mode click twice in the encoder emulation or via the menus Parameters options e or by the terminal keyboard Resolution Adjustable from 1 to 16 384 either by the keys or by entering a number directly OFF LINE onl
52. lled power is P 1 1 U rms x 10 motor where Io permanent current at low speed Maximum lo Recommended fuses ___ May be replaced by circuit breakers UL and c UL compliance required UL fuse 40A 600V JDDZ 3 3 3 Auxiliary supply The supply required for regulations 15V or 12V for DPD 50 80 5V 24V fans not for 200A and 300A are taken internaly from an D C direct voltage rated 550V which may be obtained e either via a single phase supply from the mains between two phase wires ahead of the main contactor terminal block B2 input from an independent single phase supply 230V or 400V 480V connected to terminal block B2 In this case the supply must be isolated from the mains by a transformer Secondary 230V or 400V 480V 10 100VA for DPD 50 80 to DPD 150 and 200 VA for DPD 200 and DPD 300 UL and c UL compliance required AM2A or ATDR2A fuses Class CC UL fuses are necessary to protect the auxiliary input 41 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 3 4 Terminal block B3 Brake Supply A 24V supply may be fed into this terminal block for the brake fitted to the motor is fed to the motor terminal block B4 Regulated filtered 24V 10 Protection against overvoltage by 26 Joule varistor This protection is operational from 30V WARNING Do notuse the 24V on terminal block B7 for this function UL and c UL compliance required 2A fuse UL
53. ly Resolver supply 15 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 1 4 Compliance with Standards DIGIVEX Power Drive The CE mark of this product is affixed to the front panel silk screen printing The DIGIVEX Power Drives 100 120 150 200 and 300 have the CE marking under the European Directive 89 336 EEC as amended by Directive 93 68 EEC on electromagnetic compatibility well as under the Electrical Safety Directive of Low Voltage Directive 73 23 EEC amended by Directive no 93 68 EEC The European Directive concerning electromagnetic compatibility refers to the harmonised generic standards EN 50081 2 of December 1993 Electrical Compatibility Generic Standard for Emissions Industrial Environments and EN 50082 2 of June 1995 Electromagnetic Compatibility Generic Standard for Immunity Industrial Environments These two harmonised generic standards are based on the following standards EN 55011 of July 1991 Radiated and conducted emissions ENV 50140 of August 1993 and ENV 50204 Immunity to radiated electromagnetic fields 61000 4 8 of February 1994 Mains frequency magnetic fields EN 61000 4 2 of June 1995 Electrostatic discharge ENV 50141 of August 1993 Interference induced in cables EN 61000 4 4 of June 1995 Rapid transient The Low Voltage Directive groups all the electrical safety standards together including the EN 60204 1 Standard which covers electrical fittings on i
54. m current set point in A bus voltage in V position in degrees to the two analog outputs and using an external oscilloscope e With the Parvex Motion Explorer PME Software Three tools can be accessed Generation of speed set point fixed square sine of which the amplitude frequency and mean value are adjustable Stimuli Oscilloscope function for displaying and recording the response curves of any two of the internal variables available Adjustment procedure using the above two functions parameters window to make the adjustment except for predictors from the single scale response 72 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Accessible internal variables using Parvex Motion Explorer software or the terminal The choice of internal variables is as follows DIGIVEX DRIVE BLOCK DIAGRAM GRAVITY Gc DRY FRICTION SIGN N OMPENSATION ANALOGUE Co constant INPUT BUS 550V K COMPENSATION PENSA INPUT ACCEL TORQUE CURRENT C 0 INPUT dN dt COMPENSATION LIMITATION N 0 INVERTER SPEED 9 SCALING PI PII ER SS RNA OR TORQUE SPEED OR TORQUE ROTOR POSITION POWER REFERENCE ENCODER EMULATION OPTION RESOLVER DIGITAL XTERNAL SPEED PROCE
55. mains off 89 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 6 2 2 5 Fault and Diagnostic Summary Chart 25 LED on E LED off RF rapid flashing SF slow flashin g RUN FAULT PC SOFTWARE PROGRAMMING LED LED FAULT FINDING CONSOLE FAULT COMMENTS Gree Red FINDING Max drive Overcurrent current reached dl dT fault Short circuit Output or earth short circuit Excessive mean average fault Too much current asked of drive current Excessive rms I RMS fault Too much current asked of drive Cycle current too demanding Excessive motor Motor overtemp Cycle too demanding or no motor fan temperature cooling Excessive dissipater overtemp temperature Excessive ambient Ambient overtemp Fan cooling stopped or excessive cabinet temperature temperature Resolver fault Resolver fault Problem with resolver or wiring Excessive speed Overspeed Speed reference gt 10 V or speed parameter setting error Bus overvoltage Bus overvoltage Regenerative braking impossible Disconnected from mains supply Customization card EEPROM fault Customization card incompatible with fault drive rating or drive type Drive spindle definition SPINDLE Control type drive spindle incompatible BIT DEF with customization cardSZ6608B Motor not connected MOTOR Disconnect Motor wrongly connected Liaison impossible power supply RUN FAULT PC SOFTWARE PROGRAMMING LED LED FAULT FINDING CONSOLE FAULT COMMENTS Red FINDING Excessive
56. mean Current reduction current OR I mean gt drive rating Excessive rms Current reduction Current Drive RMS current gt 0 motor Max current reduced depending on temperature Ea Excessive dissipater temperature 90 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 6 2 2 6 Corrective actions During a start up the main possible incidents due to wrong wiring or to wrong manipulations are as follows e Resolver fault Check the resolver connection e Overcurrent Wrong motor connection incorrect phases U V W The motor introduced by software is not in accordance with the motor really connected Overspeed Wrong maximum speed adjustment Software validation of torque loop instead of speed loop e Motor is not running and remains without torque The system is at zero torque lt Hard or lt Soft gt input T 0 The torque has been assigned at 0 during a global transfer Activate the torque see DIGIVEX PC SOFTWARE instructions or terminal instructions The motor is not connected e Motor is not running but torque is available The CW and CCW inputs are at zero Hard or Soft Check with software terminal 6 2 2 7 7 segment display SS 6611 mounted Function to provide information on DIGIVEX status discriminating between faults Format placed in the upper part of the DIGIVEX Description Display Description O Drve
57. n 9600 bauds 8 data bits 1 start bit 1 stop bit No parity No galvanic insulation Use maximum 5 m extension cable INTERNAL DIGIVEX 9 PIN SUB D PC SUB D CONNECTIONS DCD RD RXD TD TXD DTR 0V DSR RTS CTS 5 50 For programming terminal 1 2 3 4 5 6 7 8 9 5 N May be connected without danger to DIGIVEX pin 9 39 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 3 Mains supply and auxiliary supply connections 3 3 1 Mains characteristics For 17 50 to 300A DIGIVEX Power Drive RATING DPD 50 80 DPD 100 120 DPD 150 DPD 200 DPD 300 Frequency 48 to 62 Hz Minimum voltage 200 V rms Maximum voltage 530 V rms Usual voltage 400 480 V 10 Rated rms current 64 100 130 200 Direct voltage 1 35 Uer An auto transformer is required for 480V rms 10 voltage The system can be operated with 230V rms mains supply but the speeds and powers shown in the motor servoamplifier characteristics are no longer achieved An external mains filter is required for compliance with electromagnetic compatibility requirements The DIGIVEX Power Drive supply features IGBT transistors Braking energy is returned to the mains supply Mains monitoring e no phase e overcurrent e Voltage between phases too great 40 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 3 2 Power component dimensioning The insta
58. nal fan is required to achieve the stated performances for the DPD 200 and 300 see Section 3 5 Accessories 7 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier DPD 50 80 DPD 100 120 DPD 150 DPD 200 DPD 300 1 3 Operating principle 1 3 1 Block diagram This block diagram features two parts e A power supply section providing dc voltage to the power bridge and auxiliary power supplies regulation fans e adrive control and surveillance monitoring part 8 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier KM U1 U2 E 3 PH 8 388 1 2 CHOKH 9 POWER POWER W2 W BUS VOLTAGE PROTECTION MANAGEMENT B2 INITIALIZAT ION 1 24V 12 3 B7 15 RESOLVER SUB D E DRIVE REGULATIO 6 7 84 RESET THERMAL PROTECTION SUB D 1 0 and BE m 1 SET POINT 2 24V B6 FANS 93 1 4 24V BRAKE 953 2 SUPPLY 12 V DPD 50 80 9 PVD 3484 GB 04 2004 MONSYNOGB D DIGIVEX Power Drive Servoamplifier 1 3 2 Power supply function e Receives the 230V or 400V 480V mains supply through terminal block B1 and converts it into a dc voltage e Returns braking energy to the mains network diode bridge IGBT transistors e The single phase 400V or 480V mains supply is fed into terminal block B2 to generate the auxiliary supplies 15V 5V 24V and 12V 5V 24Vfor DPD 50 80 required for reg
59. ndustrial machinery The DIGIVEX Power Drive 50 80 complies with the CEI 1800 3 product standard electric power drives with variable speed with the addition of an external filter in observance of the EN 55011 radiated and conducted emissions standard as well as an overvoltage protective device between phases and ground connection in accordance with the diagram below fuses power Ce Overvoltage protective device to DPD o EP auxiliary Type of overvoltage protective device to be associated with DPD 50 80 15KA 440V Compliance with the reference standards above implies observance of the wiring instructions and diagrams provided in this technical documentation which accompanies all equipment 16 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Incorporation in a machine The design of this equipment allows it to be used in a machine subject to Directive 98 3 7 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 and c UL conformity The DIGIVEX Power Motion 50 80 product is UL and c UL certified with the following operating characteristics Main voltage Input current Continuous output power Arms 400V 32A 16 kW 480V 30A 18 kW see certificate chapter 8 Electromagnetic compatibility The CEI 1800 3
60. ngerous voltage Minimun discharge time 3 min Refer to user manual www parvex com Fax 33 0 3 80 42 41 19 Current Freq Moteur Classe IP20 RMS Current Fr quency in Hz Motor power in kW et in HP Service class according to NF EN60146 standard 1 permanent Protection indice according to NF EN 60529 standard 9 DPD DIGIVEX Power Drive excluding DPD 50 80 one front panel label as in the model below Convertisseur CA CA E 3 400 64A 5 U 990V DPD1 1 00 fn 50 60Hz N S rie Ic 100A Closse MADE IN FRANCE Date Meaning of label markings CA CA converter alternating current alternating current converter DPD DIGIVEX Power Drive servoamplifier code E 3 400V Input voltage and current fn Frequency S 0 55V Output voltage and permanent output current Amps Peak Classe Service class to standard NF EN60146 1 permanent Serial number and date of manufacture PVD 3484 GB 04 2004 21 DIGIVEX Power Drive Servoamplifier On DPC DIGIVEX Power Control removable block excluding DPD 50 80 One label on the front panel on the internal connector indicating the same serial number as the DPD One label on the 52 66088 subprint DPD module code corresponding motor maximum speed N max for a given reference usually 10 V One label on the EEPROM marked U47 indicating the
61. nnected to B4 1 and B4 2 Motor Ventilation Connection Some motors can be delivered as fan cooled versions Fan characteristics e Supply voltage 400V or 480V three phase 50 60 Hz as standard Power consumption 45 W Connector type connection plug 220056P0200 supplied on request When connecting check the direction of fan rotation and check that airflow is produced The direction of airflow is shown on the dimension drawings Removable connector plug F 35 54 6 95 Vue F 29 Dipl7gb T dm8 h 47 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 3 7 4 Resolver Connection The resolver is a high precision sensor 10 angular minutes as standard It must be carefully wired e Separately routed power cable Twisted pair cable sine cosine and excitation with individual shielding of the pairs The pair shielding should be connected to the metal cap of the SUB D plug Do not connect the pair shielding at the motor end PARVEX can supply the cable in either of two versions Separate cable in this case wire as shown in the diagram below e Cable fitted with SUB D plug at drive end and connector at motor end This solution is strongly recommended as the cable is ready for use Maximum distance between resolver and DIGIVEX Power Drive 200 m Please ask about longer cables Maximum permissible cross sections e For SUB D plug
62. ntroduced when stopped there will be a permanent speed error related in particular to gain P and the system will run as long as the torque is present Notice that in modes P PI and PI all of the predictors are validated PI Selection proportional and integral action By comparison with P alone provides the following two changes Gain open loop at zero frequency is infinite if there is a torque jog there will be an angular discrepancy of the motor shaft relative to the rest state This angle will be proportional to the torque applied and there will be no permanent speed drift It is then possible to speak of rigidity of the system This rigidity is strictly proportional to the integration stop frequency e Proportional gain P fixes the bandwidth fo system response time Integral action entails 90 phase shift which generates instability This phase shift is not troublesome at low frequencies but may make the system unstable at higher frequencies The integral stop frequency should therefore be correctly adjusted 0 2 0 3 times the bandwidth fo PI Selection proportional and double integration action By comparison with P alone PI brings about the following two changes e Rigidity at rest is infinite Upon a motor torque jog and after a transient period the motor shaft returns to its rest position there is no permanent position discrepancy e The double integral action entails a 180 phase shift at low
63. nversion 14 bits sign Differential input Analog conversion 9 bits sign Differential input Analog conversion 7 bits sign Max voltage 10 V Max current 3 mA Protected against short circuits Analog conversion 7 bits sign Max voltage 10 V Max current 3 mA Protected against short circuits 24 V optocoupled logic inputs type 2 under IEC standard 1131 2 5 see characteristics following pages These inputs must be supplied with 24 V EA Analog Input EL Logic Input SA Analog Output SL Logic Output 36 PVD 3484 04 2004 DIGIVEX Power Drive Servoamplifier Input Output SUB D Plug CONTACT PURPOSE CHARACTERISTICS EL4 Torque torque enable if inputis Type 2 logic input under HIGH IEC 1131 2 5 EL4 Drive OK 24 V optocoupled PNP output max 50 mA reais Speed detection OUT2 24 V optocoupled PNP output max 50 mA Supply available for logic max 50 mA via R 22 Q inputs outputs Speed detection OUT1 24 V optocoupled PNP output max 50 mA EA Analog Input EL Logic Input SA Analog Output SL Logic Output 37 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier JAE 0979602 2 ES X3AISIG pioaq do papjaiys 43 1W3 Bue s40j28uuo2 40128uu02 s40 28uuo2 pajojnsu Q 8ns eju uid gz buipjaius josauab 9 992 GZ OXGZ wog
64. o 0 9 motor The FAULT LED flashes Drive output current Two features are monitored Protection against short circuits Current derivative monitoring Excessive output current max checks whether the measured current exceeds the drive pulse current by 30 In both cases the fault is tripped 88 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 6 2 2 3 Temperature Monitoring DIGIVEX Power Drive dissipator temperature If the dissipator temperature is less than 70 C nothing happens From 70 to 94 C the pulse current that the drive can deliver is reduced the FAULT LED flashes slowly At 95 C fault tripped Servomotor winding temperature Each motor has a thermal sensor This sensor may or may not be taken into consideration when customizing the drive If taken into consideration usual case excessive motor temperature causes a fault Ambient temperature Operation is stopped if the ambient temperature measured between the electronic cards exceeds 70 C 6 2 2 4 Miscellaneous Monitoring No resolver Resolver fault or wiring fault Overspeed Speed gt 1 15 times the maximum motor drive speed setting These two cases produce a fault with e red FAULT LED lights No D C voltage This situation may be produced by simply switching off the power with no fault or by a power supply fault If the loss of power is not caused by a drive fault e the RUN LED remains on e the FAULT LED re
65. o controls do not require the use of these predictors 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 mean between rise and fall is introduced directly in the parameter e Dry or static friction The friction force is fixed whatever the speed The direction is opposed to movement the sign depends therefore on the speed reference sign In this case too the value of the current in amps required for the motor to overcome friction is entered directly The limit expressed in revolutions per minute defines the speed range in which compensation is zero current reference speed reference 1 limit Dipl17gb D pl36 W The limit is in the order of 1 1000th of maximum speed This zone is used to reduce torque oscillation during rapid and repeated changes of the speed sign This is particularly the case at rest when there is a position loop 69 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 9 Dynamic Friction Compensation This is friction proportional to speed encountered on certain mechanical items using fluids Value to enter coefficient in amps rpm Acceleration Prediction Depending on the total inertia load and motor rotor and of the desired acceleration the necessary torque is equal to C XJ dw dt The change in the reference speed is monitored to send a reference
66. on strategy with or without thermal protection 83 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier PA 6 STARTING UP SERVOCONTROL RAMETER SETTINGS FAULT FINDING 6 1 Start Up Sequence 6 1 1 Prior Checks Wiring Check e Power and auxiliary connections to DIGIVEX Power Drive e Wiring of Reset e External arrival of 24 V source for motor brake e Check resolver connections at motor end at DIGIVEX Power Drive e Check the power brake and thermal sensor connections at motor end at DIGIVEX Power Drive Power Supply Type Check Power 50 60 Hz 400V 10 or 480 10 e Auxiliaries single phase 50 60 Hz 400 V 10 or 480V 1096 e Brake supply 24 V dc 10 ripple included Warning Before any work make sure that the power bus is at 0 V Wait at least three minutes after the motors have come to a complete stop before carrying out any work Wait for all LEDs to go out 6 1 2 First Time Starting with PME Software or the terminal So as not to supply power remove terminal block B6 from the DIGIVEX Power Drive This prevents the main switch from closing e Connect the PC via the RS 232 serial link e Supply the low level auxiliary part only This can only be done by drawing the 400 V or 480V single phase auxiliary supply from ahead of the main switch The Power Off led of the DIGIVEX Power Drive lights up e Check that the fans work airflow e Use the PC Connection menu
67. oo 5 8 5 s 2 5 S B 8 o e i UOHOSUOYIND 400 jnoujw 222 pe3npoJde 5 12685 S uu jo aarsnjoxe ou Guimosp 541 20 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 2 2 Labels codes Markings On DPD 50 80 DIGIVEX Power Drive 50 80 one front panel label as shown on model below This label gives the electrical characteristics required by UL and c UL drive compliance R V E X Made in France CED Meaning of label indications AC SERVO Part number DPD27050 SERVO Alternating current converter Serial Nr 00250 066 07 03 a DPD27050 DPD 50 80 servoamplifier code I Input Output Serial Nr Servoamplifier serial number Voltage 400 1305 0 400V Date Manufacturing date Phase 3 3 Input Input characteristics Current 2 SA Output Output characteristics M s Voltage RMS Voltage Motor 16kW 1 3 U out x out 22HP Phase Phase number Classe1 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 da
68. orer software The DIGIVEX Power Drive parameters can be set by accessing the DIGIVEX tab 5 3 1 Overview of Settings SELECT MOTOR DRIVE COMBINATION SELECT TYPE OF REGULATION CURRENT SPEED lt CURRENT LIMITATION POSSIBLE SETTINGS SECOND ORDER FILTER fc Max Speed Current limitation Speed for 1 Volt FILTER fc amp PROPORTIONAL NO PREDICTOR GAIN P ADJUSTMENT _ suppress resonance ENTER PI OR PIs Set integral stop frequency GRAVITY AND DRY FRICTION PREDICTORS DYNAMIC FRICTION AND ACCELERATION PREDICTORS 71 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5 3 2 Parameters setting Tools e Without Parvex Motion Explorer PME software or terminal There is no access to setting changes It is possible only to display the two variables assigned to the two analog outputs on a standard oscilloscope These are usually Output 1 speed measurement Output 2 current set point e With the terminal without Parvex Motion Explorer PME software If the system allows complete access level 2 the terminal provides access to the servo control parameters regulation type gain etc Two types of display are available either by direct read out on the LCD display of input set point current set point bus voltage Temperature speed measurement by assigning two of the 5 internal variables input set point in rom speed reading in rp
69. predictive actions or predictors are Gravity compensation of vertical masses Dry friction a given friction value is set the corresponding torque reference is applied its sign being that of the speed reference Viscous friction compensation of friction proportional to speed hydraulic or electrical system drive Acceleration changes in the speed reference derivative are monitored and action is taken directly on the torque reference via a coefficient K image of inertia value e Analog input speed reference 14 bits 1 bit of signe non assignable e On the left of the block diagram the logic and analog inputs outputs The parameter setting software is used for assigning certain functions to these inputs outputs forcing them to a logic state The inputs are then disconnected from the outside 12 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 1 3 3 3 Logic Input Forcing The software or through hand help terminal can be used to force a logic input to a particular value Using the software the CW zero speed clockwise CCW counter clockwise and T zero torque inputs may be e disconnected from the physical input forced by software to 0 or 1 HIGH or LOW 1 3 3 4 Stimulus Oscilloscope Function Functions integrated in the drive can be used to excite the speed reference dc voltage square response to scale sine These stimuli may be activated by a PC or by the
70. proportional to inertia fixed and acceleration to the current control This illustrates a limitation of the system there is no point in having a speed reference that changes more than maximum possible motor acceleration given by dw dt peak torque gt J Acceleration prediction is only worthwhile if the reference speed features a ramp The parameter used is tpr prediction time in milliseconds tpr ranges from 0 ms no prediction t td starting time from 0 to maximum speed with full drive current There is then 100 correction 5 2 Entering Parameters personnalization board change Application parameters for the motor drive unit are introduced at start up using a PC under Windows via the Parvex Motion Explorer PME software DIGIVEX Modul They may be read and in part altered via the hand help terminal The characterization is safeguarded in an EEPROM mounted on a plug in sub print These datas can therefore be transferred from one drive to another of the same size Transfer of data from this EEPROM to a servoamplifier of different rating generates a fault The parameters stored in the EEPROM are retained Customization unit reference 546608 B e With a short circuit on Jo for spindle motors e With an open circuit on Jo for axis motors Label e Motor name e Speedreference value e Adjustment number 70 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 5 3 Parameter setting using Parvex Motion Expl
71. recommended on the 24VDC voltage 3 3 5 Earth connection Frame ground To comply with UL 508 C the earth wire cross section should be at least 1OAWG 6mm To comply with existing standards the copper earth wire cross section should be identical to that of the mains connection up to 16 mm For mains cross sections between 16 mm and 35 the minimum cross section for the ground conductor is 16 mm For mains cross sections greater than 35 mm the cross section of the ground conductor should be at least equivalent to half the cross section of the mains conductor 3 3 6 Short circuit capability UL and c UL compliance required the DPM50 80 should be used with power circuits with a maximum capability of current equal to 5000Arms symmetrical UL 508 C 3 3 7 DIGIVEX Power Drive Servomotor connection 3 3 7 1 POWER Cable Definition UL and c UL compliance required Only use cables with copper core The power drive connector cables must have as a minimum requirement e Three insulated conductors connected to U2 V2 W2 phases Cross sections as in the table below The internal chokes of the DIGIVEX Power Drive allow as a general rule there is no need to use shielding on the three power conductors one ground conductor green yellow two shielded twisted pairs for connection of the motor thermal protection Cross section of about 1 mm two shielded twisted pairs for connection of the holding brake if fitted
72. rom one drive to another e the torque set to 0 T 0 by software during the transfer After transfer the torque must be reset to 1 by forcing the input T 0 see DIGIVEX PC software instructions PVD 3483 GB e the drive checks compatibility with the drive caliber It may reject the file if incompatible 5 3 4 Motor Selection and Parameter Entry via Parvex Motion Explorer PME Software See Parvex Motion Explorer PME software DIGIVEX modul instructions PVD 3483 GB e Choice of rating Motor selection standard or special Resolver selection Entering servocontrol parameters global transfer Assigning inputs outputs and variables Using the oscilloscope function Two parameters set Extended parameter set option 5 3 5 Loop Parameter Adjustment Speed Regulation Mode This can be done by using the Setting Assistant menu or directly with the stimuli function and oscilloscope Speed for 1 V and maximum speed Maximum possible speed is fixed by the choice of motor drive combination It can be reduced only 75 PVD 3484 04 2004 DIGIVEX Power Drive Servoamplifier To check the result selecta continuous set point of say 1 V by the Stimuli e Use Drive Status COMMANDS menu or oscilloscope function to check the value obtained for the speed measurement in rpm variable Proportional Gain Setting Initial status e Change to proportional gain P only e Filtering frequency fc to maximum 800 Hz
73. rvoamplifier Speed measurement correct pseudo period Time Do not change PI to without resetting integral frequency to zero 5 3 6 Predictor Adjustment Initial Conditions e All loop parameters P integral frequency and filtering max speed current limitation are set without predictors e The system is able to run Adjusting Gravity and Static Friction Predictors Notice that the gravity factor for a horizontal axis is zero e Take a square stimulus offset 0 peak to peak value 3 5 max speed in rpm frequency 0 2 1 Hz e Display with the oscilloscope function input reference current reference 79 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Input reference Current reference Nota I and l must be taken with their sign generally l is negative In principle e Gravity in amps horizontal movement gravity 0 a Lb e Static friction E in amps e Enter these values in the parameters e Enter the threshold value e g threshold max speed 1000 e After entering the values the same stimulus can be used for checking the result obtained e Display the input reference on one channel and the P PI PI output on the other channel The result should be similar to that shown below P PI PIs Output 80 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Dynamic Friction and Acceleration Predictor Adjustment As
74. software reference e g 506 16 The drive customised parameters stored in this plug in EEPROM memory The parameters be read software Hand help terminal see following sections e For DPD 50 80 The cover of the drive must be removed to access the EEPROM located on the SR6628B Codes Power supply 400V 480V DPD27050 DPD 50 80 DPD17100 DPD 100 120 DPD17150 DPD150 DPD17200 DPD 200 DPD17300 DPD 300 For DPD 200 and DPD 300 devices the sales reference for compulsory fan cooling can be found in 3 5 22 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 3 ELECTRICAL CONNECTIONS 3 1 General Wiring Requirements 3 1 1 Operating equipments Please follow the safety orders given at the beginning of this manual In particular before any work on the servoamplifier or on the servomotor you must wait for the total extinction of all the LEDs situated on the front panel 3 1 2 Electromagnetic Compatibility GROUNDING e Adhere to all local safety regulations concerning grounding Use metal surface as a ground reference plane e g cabinet wall or assembly grid This conducting surface is termed the potential reference plane PRP All the equipment of an electrical drive system is connected to the PRP by a low impedance or short distance link First make sure that the connections conduct electricity properly by scraping off the surface paint if necessary and
75. suming the dry friction and gravity parameters are set e Use a sine stimulus offset 0 peak to peak value 10 20 of max speed frequency 0 2 1 Hz e With the oscilloscope function display the input reference on one channel the P PI PI output on the other channel e Acceleration predictor adjustment Increase the predictor to minimise P PI output Too high a value increase P PI PI lt with a phase shift Input reference i Maximum positive Predictor too weak acceleration zero P PI Pls Output Time Predictor correctly adjusted Very marked difference between optimum setting and no predictor Correct setting gives minimum amplitude to P PI PI output The predictor should reduce PI PI output by a ratio of at least 5 to 10 81 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier Remember that the value in ms of tpr prediction time is close to td start up time with td Load inertia motor inertia o max max torque td is acceleration time from 0 to max speed with maximum torque td in seconds inertia in kgm max in rd s torque in Nm e Dynamic friction predictor adjustment After setting all the other predictors increase the dynamic predictor to minimise the P PI PI output signal When correctly set the minimum output should be obtained and in phase with the input reference Input reference Minimum value 82 PVD 3484 GB 04 200
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77. t current level 1 50 mA e Residual current level 0 negligible Response time 1 ms e Voltage drop for 50 2 Opto insulated output load to be connected to 0 V logic between the two contacts assigned to this output LOGIC OUTPUTS 24 V internal 57 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier SPEED REFERENCE INPUT 14 bits sign 2 2 nF CURRENT LIMITATION INPUT 9 bits sign 4 7 nF i 22K 22K 11K 4 7 nF DIGPL17 D 18W 3 3 nF ANALOG OUTPUTS 47 5 Ohms 47 5 Ohms 58 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 4 2 User supply and RESET B7 1 24 V regulated B7 2 0 Vof24 V e Max 24 V 50 mA power supply Do not use for brake supply 9 Protection against overloads and short circuits by current limitation This supply is for logic inputs but is also used internally for the fan power supply There is no common point with the metal case 7 3 15V regulated 12V regulated for DPD 50 80 7 4 0V of 15V 0V of 12V regulated for DPD 50 80 7 5 15V regulated 12V regulated for DPD 50 80 e Maximum power supply 15V 10mA maximum of 12V 100mA DPD 50 80 Protected by 47 ohms resistor DPD 50 80 protected by regulator This supply is common with the internal supply of the POWER SUPPLY module There is no common point with the metal casing B7 6 Reset 7 7 Reset A 24 V rising edge applied across B7 6 compared
78. ted connector Ventilation CODE FUNCTION DPD IS DPD300 200 Straight inlet DPD I90 DPD300 200 Elbowed inlet DPD OS DPD300 200 Straight outlet DPD FOS DPD300 200 Straight fan outlet DPD FO90 DPD300 200 Elbowed fan outlet VN 10001 DPD300 200 400V 50Hz fan and 480V 60Hz fan VN 02004 DPD300 200 Hose VN 02006 DPD300 200 Protective mesh 49 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier FELX 30688868 7 7 BOOK SIZED MAINS FILTER 3PH 36A gt lt gt o lt A n G S Terminol block copocity 10mm Weight 1 75Kg Jw pejdos pode 2 2 4 24 5 S puo way 400 jo Aysadosd aarsnjoxa s SII 50 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier g29 96v0 X131 N LUN m ev SNOISNANIG ANI INO 99 YIL SNM 879 Sg amp Bii uo sg age i0 jnjolgu unou 239 9995 MA 86 80 11 G 0863 NY 9 2 85 HP qN jo 21020925 ri 86 11 60 9 887747 3 YA 46 11 07 Z91 63 WV 8 5 Bd 57555 buaodo MA 86 60 41 950863 07 YT 16 10 22 9 0 87 8 3 8853 S833 TW 9 22 6 2 5 7 96 90 92 22 95 sa 00222 N3
79. terminal The result stored in the drive may be displayed on the PC screen by using the oscilloscope function or sent to the 2 analog outputs 1 3 3 5 logic outputs e Speed detection OUT1 logic output status complies with the table below Criterion OUT1 Speed lt Limit OUT1 1 Speed gt Limit OUT1 0 NB 19 rpm lt limit OUT1 lt 100 000 rpm e Speed reached The OUT2 output status changes to 1 when the speed of the motor is within the range given by or the value of Limit OUT2 Limit 0072 Limit OUT2 gt input instruction limit OUT2 lt real speed lt input instruction limit OUT2 NB 48 rpm lt limit OUT2 lt 5252 rpm 13 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 1 3 3 6 Brake Action The motor can be declared in the parameters with a brake function The 24 V brake supply terminal block B3 is monitored by the drive e 24 V present Axis under torque Removal of limitation of 90 of rated motor current e 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 external control The control can monitor the drive outputs indicating zero speed to decide whether or not to apply the brake 1 3 3 7 Monitoring reasons for stoppage This feature may via strategy selection cause either stoppage or reduction in performance under certain current related fault conditions Var
80. ulation e 24V supply for the motor brake may be fed into terminal block B3 e Ensures interface with automatic control via terminal blocks B6 and B7 e A 5 LED array displays the power supply status 1 3 3 Servomotor control function 1 3 3 1 Presentation The DIGIVEX Power Drive servoamplifier is a transistor based four quadrant control module for synchronous brushless motors with resolver e HX HD HS axis motors See separate documentation e HV HW spindle motors See separate documentation Customized features for the motor servoamplifier unit and the servo control parameters are entered either via a PC with the PME software under Windows or via a hand help terminal These parameters are stored in two EEPROM memories one fixed store for parameters specific to the DPD one plug in store for application specific parameters 1 3 3 2 Functions block diagram See next page The diagram shows the main servoamplifier functions and setting parameters 10 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier INPUT dN dt SPEED 0 2 SCALING SPEED OR TORQUE REFERENCE GRAVITY COMPENSATION Tp DRY FRICTION COMPENSATION To ANALOG INPUT BUS 550V ISCOUS FRICTIO COMPENSATION To K N ACCEL TORQUE CURRENT COMPENSATION To K dv dt LIMITATION INVERTER V ee 2nd ORDER 7 FILTER ROTOR POSITION SPEED P Pl Pll OR TORQUE t
81. wer Drive A shielded power cable or a cable in a metal jacket must be used between the DIGIVEX Power Drive and the KM contactor as well as between the KM contactor and the filter Avoid running cables together ahead of and after the filter Do not connect other appliances in parallel with the DIGIVEX after the KM The filtre drive motor unit sometimes has high leakage currents which can give rise to the tripping of the ground fault circuit breaker The ground fault circuit protection must have a minimum threshold of 300mA We recommend the use of delayed ground fault circuit breakers OTHER REQUIREMENTS The self inducting components must be protected against interference brakes contactor or relay coils fans electro magnets etc 3 1 3 DIGIVEX Power Drive SUB D Plu eneral For immunity from interference it is essential for the rack to be correctly connected to the ground of the electrical cabinet and to use EMI RFI shielded type SUB D plug caps metal with shielding braid connected Make sure the SUB D connectors and their caps are properly fixed lock screws must be tight The shielding inside the SUB D caps must be as shown GROUND CONNECTION Flap the shielding braid over the cable Solder between the braid and the green yellow cable 3 2 Typical Connection Diagram See drawing FELX 305122 and 305937 It is mandatory to connect the auxiliary power supply to check the condition of the variable speed control before
82. y Zero Signal Adjustment Adjustment by teach mode with the PC running on line When the operator judges the position is suitable he confirms it by acknowledging the zero signal 92 PVD 3484 GB 04 2004 DIGIVEX Power Drive Servoamplifier 7 2 2 Electrical Characteristics The electrical output interface meets standard RS 422 for differential serial links The circuit used is a Line Drive type MC 26 LS 31 D The electrical characteristics are therefore closely related to the use of this component Voltage Supply The encoder emulation cards are galvanically isolated between the output stage via three opto couplers and need to be powered from a 5 V 10 100 mA external source as do the incremental encoders In no event can this supply used only for galvanic insulation be used to save position information from the resolver in the event of a break in the drive low levels Short Circuit Whitstanding A single output can be short circuited to 0 V at a given time Signal Pattern Signal levels e U high gt 2 5V high gt 20mA e U low lt 0 5V for I low lt 20mA CHANNEL CHANNEL 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 45 ns typical value Time Lag between Direct and Complemented Channels Time lag defined as 50 of magnitudes considered without cable and without load 6 ns lt t

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