RTS Series DC Servo Drive Instruction Manual
Contents
1. English 95 with covered option Gre doc 25095 MIV 19041580 LON OG 211 1307 l pD49 0 12A 3PH RTS V2 Wall mounted WITHOUT CUSTOMISATION CARD 212 overall VERSION WITH OR 0 3Kg Cover weight Uonosuoujno 2 005 o peanpo de eq 19 62 j S puo JO ewsnjoxo si 5141 19 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 28055 VOC SNOISN3HIG v 9 2 27 2 WI iil sh rZ EUE se peiunou iow ZA SLY uns mca NOLLVSINOLSNO 1 YO NOISM3A 0 bx6 1 H 219 45 Ayadosd ewsnjoxe Siu USHUM INO 110014 paldoo A1208 si puo Jo Jo 920852. 19 uim 17 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER ELX 304790GB E 95 with covered option English ITINI NVI JHI 12041580 ION 2204 92098 Or 211 06 42 0 081 5 2 Wall mounted ARD 212 over all VERSION WITH OR WITHOUT CUSTOMISATION LR Stamping 0 45Kg Cover weight 00105201110 U8jjuM INO 905 Jo eq 0 2 ANOIS puo Jno jo si 5141 18 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER leo Wb leaf 1 X 04745GB L FE
3. gt S puo no jo q4edo4d ewsnjoxa y s bujWDup 5141 11 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER i en N j SY 3 e3 sd Loy ie N 3 A d Te LE gii ES 53 a o as g 3 5 A N Lu N NS 25 o 1 O 15x GS ES 4 II G ein be 55 T x ET gt lt 5 5 c gt ES N NEN a an Cy lt 2 S E 5 d X a 5 amp N N ies S E E E 65 1 ozm IN O n zd M 5 1 S 8 5 A 0 E ts as 5 105 1774 0 32 vds 5 202745 32795 S NOLLV ILLN 3A NOLLV TLLN JA gt Q 06 FEE 8e 06 lt MOV ON N 7 06 5 UOWOSHOuiTb 10414 paldoo TION pe2npo4de4 pejjusuDaj eq JOUUDD _ 5 S jo N eui siu gt m
4. 1 VOR OZ FLY 40 dexe 26 44 ZX X SN lt Ld puoas ninus xX pulus Wo 4 dn S puo sno s 6 A03 4 eq jouuco Kado UonbsHoujnb 051114 Mo 21002 mij L 5 5 T GAO 135440 03395 1353 03345 N3 900501 NIV9 N3 Q33dS NO 40 03345 VAO EER Advil 7606045 1202045 ge 4 AHOVI 00 Jas I AQV3M gh 4 5 2 z 49403510 92 9994 L H agit 29u038n2 m 17060 45 27 PVD 3487 GB 03 2004 WWW comoso com Ad4LLVE 514 SNVYOVIG NOLLOdNNOO DOC 1 451603 Idd mE 0196 3 RTS 2nd Generation SERVO AMPLIFIER 300801 7 116 1120919 804 1120919 Yd 186 ONINILHOLL
5. 521 501 011 081 051 921 vor 2020 4S y 6 85 6XG01 GCL 021 961 Hug voz 2020 4S 92 50 GIL 601 921 2 22020 45 2 6382 98 8 06 01 Z6 Hug 68 10000 35 L aurem DU1U449 x o xH H 29 SOd 50959 Suoisuau q 940u2 12 SNOISN3MIIG d 9 08206 X133 315 514 MOHD FBIM jequiu xH 41 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER DLPLOAC RENE 73 7 0 X144 SNOISNINIG ages Bom 3 JiM SIM 903 NORD ME aw sues jo 56 99 66 6 11 60 4116624 2 5 2 s NP jo 9 015 9 9 6 93010405 Pi d 56 01 10 G 0 63 NY 9 8 12 E 5655 41 96 00 60 520963 0 unor v ISIN 6 60 60 V 3 TER 4 EE X9 df 26 01 06 aoimag 5284 65 15 1 3 ZHY 1 AQuenbas 10 pejoeuuoo
6. FAULT DISPLAY y 5 m 1110166565 O 32 Lona GAIN nx ANE SELECTUR STRAP SPEED ADJ 152 4 4 53 H 101 H INTEGRAL ACTION 2 1 1 C103 H MECHANICAL OSCILLATION REJECTION a 8101 H PROPORTIONAL GAIN m 8108 H DERIAVTIVE ACTION NOT FITTED AS STANDARD 8103 H RATED CURRENT 2 R104 TACHOMETER SYSTEM EMF y ve HRos H RATED SPEED R109 H MAXIMUM TIME DR PULSE CURRENT 4 R113 H PULSE CURRENT 18131 _ GRADIENT HRISe H ACTIVATION SPEED 6 H R133 MOTOR 7 2134 1 MOTOR RESISTANCE R135 OVER SPEED LIMIT 8 H R136 ga MOTOR ELECTRICAL TIME CONSTANT 5 H SUPPLY VOLTAGE 1 10 12 13 14 RR6605B PARVEX D0 I CURRENT SPEED 51 COMMAND SPEED CURRENT Se DUTPUT TYPE U RI TACHO 3 SERVOCONTROL D I SELECTOR STRAP S Q FAULT DISPLAY Ed 5 5 rex AN 5 SELECTION SPEED ADJ Bi Ye 524 E 1 Ua 101 H i INTEGRAL ACTION 5 DEPSE T C103 H MECHANICAL OSCILLATION REJECTION R101 PROPORTIONAL GAIN H 102 H DERIAVTIVE ACTION NOT FITTED AS STANDARD H RATED CURRENT 2 H 104 H 2
7. LON OG LONYLSEO 62 rams O we O O MV N 44 22545 0 9 unu uodo 21 20 PVD 3487 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 30474908177 65 with covered option 61 2204 2204 06 SUR 06 6 2 0 5 S t gt WITHOUT VERSION WITH OR overall 212 0 25Kg 0 9Kg t ver weight Weight Co n T UOnDSHOu no POW 10 paonposdas 10UUDO s jo Aysadosd anisnjoxa ay si siu 21 PVD 3487 GB 03 2004 www comoso com RTS 2nd Gener
8. pupAjs g z ZX 5 n nwg X DUIW1S GAO 13539 7 300801 3 03395 YO 03345 VAO J34 0 4295 550 2 eq jnq sesub doup seonpoud eui 5 ul s Kpja4 x L 135330 43385 ray 43385 K48310q gr 23 AGL 15 AO 2 AGL 49w0 8n2 obAgp DAZE ju amp uno pajos N uolssasddns oouo49J419 u 96 jouondo AOV3M 9 4 48215 s puo Aysadoid SIUL jouut SUDI 241 S pdo pa 5 U Jo peonpoJdei 28 PVD 3487 GB 03 2004 WWW comoso com 8025 945 319 514 r3 usibus 4 0920990 171 jos q N a31 X3 3Vd SNVAOVIG NOLLOJ3NNOO 53194405 JjSvHd 3JJeHl 349 YO 514
9. 12 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 1 NB leaf 1 X 30544068 p L agis F E 92 10A 3PH CARD 214 5 overall VERSION WITHOUT CUSTOMISATION Stamping LR 6060665066 A AM E95064 B 96035 uogosuoujno INO 905 20 peonpojde 10 2 j LS s PUD 13299024 ewsnjoxe y 5 5141 13 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER Be B Liste doc RTS V2 10E Rack BATTERY CARD 214 5 overall WITHOUT CUSTOMISATION VERSION Stamping LR 900000000 OOOOO A 95064 UOHDSHOQ nD 227222 o jouuDo 20 2 92 s Jo Ayadoid ewsnj oxe eui si Buimoup 5141 14 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER ii 26 20 61 ssp
10. 9 06 061 061 6 1 691 vAOCS ww 9 96 06 101 111 01 295 00295 229 X 5 6 3 0 3 05 ISvHd 3195 43 PVD 3487 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 8976606 133 777771 ul SUOISUBLUIG SNOISNIWIG d 9976550 4 314 615 TBM Tequinu uon5Sjnuspr 1504 10 N am ey em 5525 F mw 314 51 Udo SRN Sg a gww 01 532 GZ 001 002 Gre SLL 005 VMS Z 8 111 LL o4mjpjououuou 24010495 41 96 50 08 140963 2 525 g E N E ST 86 0 82 215 2 5 zu 01 6381 OZ 9 011 081 061 G91 GZZ Z Supodes 06 60 90 v 3 555 p byg 61129 OLXOGL 66116111061 VAMG O 9 111 LL 6 12 df 6 0 60 Sumos 5554 uojoas qxo G
11. 7 20 SIM 4010u4 RTS 2nd Generation SERVO AMPLIFIER IM LA LA LA vVOS O 514 VAMOL lt 0 06 9 SIM 9 lt 57 PUO SS M 49440 VANS LA Asosindwog 9 ng 9 4030 680 96 edA ZJ 1941015404 Ta 14 4 SS M JO 57 4 pordo eq 1 10405004110 INO peonpoudei pojjusuba ARMS pub jo Aysadosd ewsnjoxe y si SIUI 29 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 4 3 Front Panel RTS V2 Battery Rack RTS V2 Battery wall mounted Power on can SPEED OFFSET Xl PARVEX Power on SPAD SPEED OFFSET 0 1 3 4 5 10 7 8 1 2 3 4 5 6 7 8 9 30 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER RTS V2 10 E Rack RTS V2 12 E Rack RTS PARVEX O POWER ON an SPEED OFFSET Xl
12. 109 H MAXIMUM TIME OR PULSE CURRENT 4 8113 H PULSE CURRENT zi HRISIH GRADIENT H R132 H ACTIVATION SPEED 6 H 8133 MOTOR EMF E R134 H RESISTANCE M R135 H OVER SPEED LIMIT 8 H 8136 H ELECTRICAL TIME H SUPPLY VOLTAGE j A B 11 SETTINGS 12 13 Y3 1 anu 2 iS 5 6606B SELECTION RR 6606B SELECTION 0 0 CURRENT SPEED CURRENT SPEED S1 COMMAND TYPE SPEED CURRENT SPEED CURRENT 52 OUTPUT U RI U RI 53 SERVOCONTROL 6 PVD 3 57 487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER Symbols used rated speed of application for 10 V reference speed maximum pulse current of motor Imax maximum pulse current of servo amplifier maximum rated current of motor Ket gradient of tachometric generator in V per thousands of rpm Ke back electromotive force of motor in volts per rpm r resistance of motor and its supply circuitry in ohms L inductance of motor in mHenrys Ub bus voltage in volts 1 35 x Vin AC 1nF U RI Tacho 1 1 100 K 1100K 2 2 nF I 104 81 2106 88 TACHO selection L or U
13. U N T E D RTS RTS 3 10 40M RTS 10 20 60T RTS 12 24 B RTS 10 20 60M RTS 12 24 130M RTS 12 24 130T RTS 20 40 130T RTS 16 32 190T Dimensional PARVEX Ref Input supply Ventilation Supply drawing with or without customisation card RTS 5104 301 Single phase Not RTS 7104 301 fan cooled 4 FELX 304743 RTS53060102R Three phase Not p16 RTS73060102R fan cooled FELX 304749 RTS 52 0102 Battery Not p21 RTS 72BA0102 fan cooled FELX 304780 RTS 51060102R Single phase Not p17 RTS 71060102R fan cooled FELX 304790 RTS 51130102R Single phase fan cooled p18 RTS 71130102R FELX 304745 RTS 53130102R Three phase fan cooled connection p19 RTS 73130102R Internal FELX 304747 RTS 53130204R Three phase fan cooled connection p20 RTS 753130204R Internal FELX 304746 RTS 53190103R Three phase fan cooled connection p22 753190103R Internal With customisation card RZ6602 10 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 17 WEIGI RTS RACK 0 1 230V 1 426 72 CONN TION FRONT OPENING 84 VENTILA IS DIMENSIONS 12 5 jOVvdS NOLLWTILNAA 06 D 92 77 06 MOVM GILVILNIA ON 06 podos p
14. ODAgp no SN 20 00 no dn uoissaiddns sno m Hd Z X SD xNI X7 Ld dn 14 no T 1 VW WM 1 A esnj fy s 6 67 n 29 10 2 j 7 WSU Auedold ewsnjoxe s S Y A19115 8 puo jo 6 6 5 5 5 S E E 3 5 40 26 PVD 3487 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 00463 Vv 09197202 1 X3 AM Vd si NORA Sudu 79063 5 507 vc 153 2205677 lt 9 514 eq jouuoo jueuno pejo 0194 N lt 2 21 0 01 01 514 J doip 4emod 2 4952 40 95 001 20 8 SN 0013295 55042 Slim S 5 x 20 00 AOCZ 541 y20 q 297 n NUg g 2490 9 8075 26 ppuru 8 d ANOYOL M2018 IYNIWYIL i uoissaiddns 22 9 2 2 2 lt 2
15. sj sil u 702 0202 M4 uonoes uang 66 avol 64 joeuuoo l1N3NN O 1 HOIH V OC ZH 09 05 Of 1 00751 N3 0702 84 RTS 2nd Generation SERVO AMPLIFIER JN 5 47 PVD 3487 GB 03 2004 WWW comoso com 901 RTS 2nd Generation SERVO AMPLIFIER 99196709 X13 L 1 33113 SNM 325 MA 86 50 11 9 0867 UqN eus jo 23010425 2 s 99 19 21020495 MA 86 11 60 S 1863W 3 YA 26 11 02 9 87 6 2 998 66 6 4 86 60 21 9508630 a 7 26 10 22 9 0 87 8 8 vuonna 7 96 90 98 eames 00222 NI WON 2 0 PL 7H09 0S Ort 0 12 5 e qissiuued y 121 99 uogosuoqno usum pa105 ohvopyuoo 44246 s pub wiy Ino jo Ayadoid ewsnjoxe ayy si Jo poonpoidai ag SNOISN3HIG 3NIUDO d 99196707 X134 WUBI yd 3111
16. A 1 filter must be included at a frequency 3 to 4 times lower than the oscillation so the gain can be increased by the same ratio This can be done by connecting a C103 capacitor in parallel with the R101 proportional resistor and increasing the capacitor Lu until the whistling stops usually several tens of nF and then continuing to increase gain while monitoring FIG 2 a b c graphs obtained with overshoot and torque ripple The C103 10 nF capacitor is increasing C103 values ready fitted as standard in parallel with the R101 gain resistor X 100 300 Hz FIG 3 When the gain is set the C101 integration capacitor must be reduced to produce 15 20 overshoot still for small speed increments FIG 3 a b c graphs obtained with decreasing C101 values 54 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 3 Diagnostic helpl ENERGISING POWER ON on AM flashes d ON off Measure voltage at terminals U V W Check which LED on side of card No voltaae Voltage present Check fuse Check fuses main F1 gauge 5 x switch and Motor races and TAC LED lights up 20 transformer connections Check tachometric dynamo wiring invert tacho wires if fault arises during first time use Motor under current control selector 51 must be changed Motor fails to rotate Check motor wiring and fuses If the dl dT LED is on check the
17. NE NIY IZL ZA SIM V SNOISNINIG lt Iu 1219980807 29 1 qu 60 1H9I3M NE 7904 CA S1LY AO9 YOL 2 514 GHYVO NOILYSINWOLSN O NOISYIA X904 VEL TA SLY 9979 NOILVSINOLSNOD LNOHLIM YO NOISYSA Pardo eq 10 2 y 65 9 2 4 9 2 4 2 4 45 S ano jo Ayadosd euj s 54 uoosuoujno 40 92005 4 v 8ci Lol 029 weas O w O Lr 321 909 15 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER Nb leaf Shield M4 X 304743GB 1 L glish FE En 65 with covered option iste do L 2229 06 06 60V 40V Gg 1
18. 5 1 011 061 VAMEO9 O 67111 LL 29 OL 096 052 095 VAJOL 06111 11 9 OL 511 0 6 012 09 VAME 9 61111 di Sg Ol 0 1 002 986 091 562 81111 LL 7 OL 001 002 406 966 41111 e 9 521 08 641 551 GCC VAM9 91111 LL A 9 06x081 GGL 521 GTC VAYL 61111 LL 1 v A 2 so 4 suoisuaui 49MOd 15 504 v D 1 I ne 1400000000006 0 ld 404 AIUO 46 PVD 3487 GB 03 2004 WWW comoso com Jno noj paidoo 94 jouubo s puo uno jo eyouodes z Jo aumojouswou ul 36 55 26 60 02 v 3SIW TW 991226 E gt ewes 46 10 22 m 86 i i 4 3 3 S iu x i i EN 1 91 0 buipuedep uj SNOISN3WIG INI INO td 89 1606 X133 VOZ ud 43115 SNIYN FBIM Jequimu uonooimnuep pel uonisog ogpzuoujno 6 20 paonpojda 4 44660 nsnjoxe
19. LED remains on after cooling RESET to switch LED off Inadequate ac supply voltage Min U Power voltage too high Max U Energy return from load too high Excessive ac input voltage Short circuit of motor terminals Excessive mean motor current NOTE Recovery control is also displayed REC 49 PVD 3487 GB 03 2004 www comoso com axis fault see corresponding fault on side strip Miniature LED SIDE STRIP on side of RR 6605 card CORRECTION Check tacho wiring Check axis works correctly without tacho selector S3 in position 0 Check motor wiring Check ventilation Ambient temperature too high fit ventilation system Check supply phases are present Check input voltages Check transformer star delta coupling Check input voltages Reduce axis working speed to reduce braking energy Increase servo amplifier gain Check motor wiring Inadequate motor choke Axem motor add series choke Reduce servo amplifier gain Reduce working cycle RTS 2nd Generation SERVO AMPLIFIER 6 SERVO AMPLIFIER ADAPTATION Selector switch positions Selector S1 Position Position Selector S2 O I Position Usual position Position Selector S3 Position illi O Position 50 PVD 3487 03 2004 WWW comoso com Speed control Speed feedback is used Usual case Current control Speed
20. PARVEX can SPEED ADJ SPEED OFFSET XI 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 c gt 31 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER RTS V2 12 E wall mounted RTS V2 12 A 130V wall mounted 1PH and 3PH PARVEX PARVEX POWER ON m 2 POWER ON GAIN GAIN ov O SPEED SPEED OFFSET OFFSET xl 1 2 LI 4 5 6 7 Il 8 LI 9 BBBHBHBRBB 32 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER RTS V2 16 A 190 V wall mounted Ii 2 3 j 4 8 00 3 M 33 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER RTS V2 20 A 130 V wall mounted o SPEED 1 OFFSET Qua dur 2 3 4 5 I 8 won 34 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 4 4 Terminal blocks X1 X2 AND X3 Torque value terminal block X1 0 4 Nm Terminal block X1 front panel connection terminal blocks X2 and X3 0 8 Nm Recommended cable cross section 0 5 mm 1 5 mm multi strand Use shielded cables with the shielding connected as stated below TE
21. RI 12 2 200KLJ 7 4 1 Tachometric generator voltage calibration R104 Resistor R104 is used to adapt the tachometric generator gradient to that of the servo amplifier 2V 1000 rpm Ca Ja e e e Roa w Do not exceed 100V on the tachometer input For a gradient of 1 V 1000 rpm short circuit the solder tags Y1 and Y2 with R104 Standard tachometric generator values are 3 V at 1 000 rpm e g TBN 103 6 V at 1 000 rpm e g TBN 206 20 V at 1 000 rpm e g TBN 420 These values are plated of tachometric generator e g Ke 6 mVrpm or 6 V at 1000 rpm 58 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 4 2 Rated speed selection R105 C102 SET R105 e R02 rb 1 sek HOOK 0 1 Fine speed adjustment 3 Offset TACHO selection or U RI Resistor R105 calibrates the useful speed of the application For a speed reference of 10 V the speed corresponding in rpm to the servo motor will be determined by R105 according to the table below Calibration accuracy supposes that R104 calibration value of the tacho is correctly set The SPEED ADJUST potentiometer on the front panel allows easy fine adjustment of speed Turning it clockwise increases speed for a given reference The equipment may be adapted for s
22. be affected The system time constant is factory set so the servo amplifier accepts maximum current for one second starting from 0 After one second the servo amplifier switches automatically to safety mode Standard resistor R109 is 562 kO for a maximum current lasting 1 second For a maximum current lasting 2 seconds resistor R109 must be 1210 kO 7 4 6 Adjustment of function f t R103 Function f t is designed to protect the servo amplifier and servo motor if the mean current required exceeds the rated current Resistor R103 is used to adjust the tripping limit authorised by the servo amplifier RTS 3 10 40 of rated RTS 10 20 60 12 24 130 12 24 24148 16 32 190 20 40 130 of rated 1 61 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 4 7 Adjustment of current limitation curve versus speed F n R131 132 15V Current reduction Resistor R131 is used to select the zero current point on the speed current diagram Resistor R132 determines the speed beyond which pulse current selected by R113 begins to decrease linearly with speed When function F n is not required 8131 10 R132 100 1 speed in thousands of rpm above which Ilim current decreases Ns speed in thousands of rpm at which current is zero Nr Ns N R131 values 1000 1500 2000 250
23. control is unused X1 4 X1 5 input becomes a current reference X1 9 output indicates current information 10 V corresponds to pulse current X1 9 output indicates speed information x 10 V corresponds to rated speed of application Tacho information is used in speed control Speed information is calculated from servo motor emf RTS 2nd Generation SERVO AMPLIFIER 7 COMMISSIONING Check the connection of the following items transformer relay system especially the emergency stop motor and any smoothing choke tachometer system ground circuit Speed and current inhibited X1 10 and X1 11 not connected Connect the power to the servo amplifier The POWER ON LED should light up if not check the transformer wiring and relay system If the POWER ON LED flashes measure the transformer secondary voltage RTS 10 20 60 Us 48 vac 43 vac lt Usec lt 53 vac RTS 3 10 40M Us 32 vac 29 vac lt Usec lt 35 vac RTS 12 24 130 T Us 100 vac 90 vac lt Usec lt 110 vac RTS 13 32 190 T Usz 135vac 122 vac lt Usec lt 148 vac RTS 20 40 130 T 5 100 vac 90 vac lt Usec lt 110 vac Adjust the output voltage as required with the 5 transformer terminals With zero speed reference X1 4 X1 5 0V Release the servo amplifier X1 10 and X1 11 at OV the motor must be under torque If the motor races cut the power and check the signals from the tachometer cut out or i
24. panel terminal block with the shortest possible link This usually means shielded motor cable is not required Chokes may also be inserted into the motor phase leads 24 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER MAINS FILTERING The mains filter must be mounted as close as possible to the potential reference plate between the mains and the power supply p 46 and 47 Use shielded cable or run the cable in metal trunking Avoid running cables together ahead of and after the filter Filters sometimes have high leakage currents In this case comply with the standard connection diagrams when fitting them OTHER MEASURES Self inducting components must be protected against interference brakes contactor or relay coils fans electro magnets etc 4 2 RTS Servo amplifier connection As a supplement to the block diagram see the appended diagrams RTS single phase FELX 303346 p 26 RTS three phase FELX 303261 p 27 RTS battery FELX 303738 p 28 Connecting serveral RTEs or RTSs with transformer FELX 305823 p29 The terminal block description and terminal functions are shown in the following pages The RTS servo amplifiers are factory set to match the characteristics of the servo motor to be used or the application where known When the servo motor is fitted with a brake adhere to the following activating sequence Limit current to a value less than the RTS setting Engage brak
25. 0 3000 3500 4000 4500 5000 5500 6000 6500 7000 12 1 6 131 162 82 5 562 392 33 3 274 221 20 182 162 15 137 12 1 62 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER R132 values 9o of maximum current 7 4 8 Calibration of function U RI R133 R134 This adaptation is necessary even when operating with a tachogenerator to ensure tacho safety speed signals from U RI and from the tacho are compared constantly and must be of the same order of magnitude EMF per 1000 rpm The electromotive force constant KE indicates the voltage measured on the armature for an off load speed of 1000 rpm at 25 C Under load for agiven voltage motor speed will be current between terminals in Amps R armature resistance in Ohms N U RI 1000 U voltage across terminals in Volts KE EMF constant in Volts per 1000 rom 63 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER To calculate motor speed coefficients R and KE must be calibrated by the resistor values RTS 3 10 40 180 RTS 10 20 60 260 KE RTS 12 24 130 540 KE below RTS 12 24 96 KE RTS 12 24 192 KE RTS 16 32 760 KE RTS 20 40 540 KE e g RX 120 L servo motor with RTS 3 10 40 KE 11 5 V 1000 rpm 133 15 2 5 0 134 100 1 with RR6606C R133 kQ 192 R134 kQ 77R 7 4 9 Tripping limit c
26. 0A JA RTS V2 Wall mounted WITH OR WITHOUT CUSTOMISATION CARD VERSION 212 overall Stamping LR 0 25 4 Cover weight E 12 04 96 27222 Jo peonpojdeJ 10 2 jonuapyuos 41345 S pub sno jo easnjpxe eui S buwbup 5141 16 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 3055 409 VO 3 Ad Vd a 0 19 L 209 0 peL EE ZA SLIM 95750751 7753 26 0 71 qN NOLVSIMOISQO LNOHLM YO NOISHIA 2402 6Y1 3ubrey 212 FW PI9 uS 5 s s07 eq j 1914 4 ay s Duiwbup 5141 92005 Uonpsoujno 905 Jo peonpojdel p 18208801 8656 081 2 OOOOOOOOO OOOOO 65 O w 088 O 1
27. 10 48Vacsi to _ 100 859 10 v 4 o Vbeteyzv 130 24 Minimum motor choke 94 08 BRAKING ENERGY DISSIPATION CAPACITY nh Mean power 15W option Max pulse power 400 option 8 without 4500 4500 496 of cycle as 1 30 without 180 180 00 1 Maximum non repetitive Losses dissipated by RTS DIMENSIONS H x L x D mm Rack version single phase 130 51 216 Rack version three phase 130 51 216 130 51 216 130 61 216 battery Wall mounted single phase 150 61 212 180 61 212 Wall mounted three phase 150 61 212 150 61 212 150 92 212 150 115 221 150 115 221 battery Rack wall mounted weight 0 8 1 0 8 1 2 0 8 1 0 85 1 8 1 9 1 9 7 PVD 3487 GB 03 2004 www comoso com iagram RTS 2nd Generation SERVO AMPLIFIER 2 2 Block d X 3 0 0 15 i 25752721 15156296277 7402 jj s Siu pejjuusupJ fous 5 JNO jo Ino 696 ewsnioxe ou 0 9 0 7 anbJo jou491u ASL AO AGL 3 4Joonpsup4 eye gon WWW comoso com PVD 3487 GB 03 2004 RTS 2nd Generation SERVO AMP
28. 15 610 Ude SNL 61 521 5 98 XO uonisog RTS 2nd Generation SERVO AMPLIFIER 45 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 2 x s 5255 89075402 134 SNOISNGMIIG i 104 ava 1 5 23 tv war fusos 375 B eus sunjoousuiou 23030485 m 534 a WA 86 70 81 GEORGI 0 822 5 IW EE ni 68 11 21 Hen MERI 2 LAE AM 9 231 5 4 355770 5 2 0 XVW FYNLVYAdNAL ZH 09 06 AON3nO3j 22 45 v 3SlMd YVIS AGEL AMYONOO3S Z 30 15 AMVWIMd 5 65 7 ZS Z3 1513 AO0 ONITANOD MVIS 9 7 5 25 15 i AMVONO23S N espe v ee nee dase pee e ee 1315 es es es 0 8 SNOISNINIG d 90 20 X134 585 7 51 udg suol jequinu uonpounuepi OL vonisod NI SNOISN3MIG 9 09 061
29. 5 SNIYW 1equinu Pel uonsog 041 002 0 9 12015 2 09 05 OL 79070 45 97070 45 91020 MJ IN 5 ww U LEZ 80 9 79070 Hd bxc 4101 102 152 vor 9 0 0 Hd 2 Up 102 Lee 91 91020 84 L 6 9 4 9 5 g 1 9 504 SUOISUBLUIG 611 9n _ i i H e 5 4 M gt 4 48 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 5 LED DISPLAYS LED displays are possible only if the supply voltage is present The Ready relay in this case must not be incorporated in the auto hold of the power supply POWER ON energised axis no power on axis Check wiring fuses internal fuse FU 5x20 5 A rating 3 10 10 A gauge 10 20 12 24 16 32 20 40 FLASHING RESET to clear faults terminal 12 FAULT DISPLAY TAC CAUSE Tacho wire cut Tacho wire inverted Overspeed Motor wire cut Motor wire inverted Dissipater temperature too high
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31. LIFIER 3 DIMENSIONS LABELLING 3 1 Dimensions RTS servo amplifiers are available in two formats for vertical mounting in single Europe 3U DIN rack in two widths 10 and 19 wall or panel mounted with rear angle bracket Racks are available with or without ventilation while RTS wall mounted versions have individual ventilation where required RTS 12 24 130T RTS 20 40 130T and RTS 16 32 190T Unventilated racks are for RTS 3 10 40M only 230 V single phase fan connection To terminal block located at the bottom of the rack front panel Power consumption RACE234V22 2 x 15W fans RACE238V32 3 x 15W fans CODE WIDTH RACE234 42E 107 FELX 303532 p12 RACE234V22 an coolec 42E 107 FELX 303532 p12 RACE238 84E 19 FELX 303531 p11 RACE238V32 sn coolec 84E 19 FELX 303531 p11 Dimensions Parvex Ref Input supply Compulsor Fan supply j Dimensional drawing ref y voltage ventilation Without With customisation customisation card card RTS 3 10 40M RTS 4104 301 Single phase 2 5 6104 301 Single phase RTS 12 24 B RTS 42 0102 Battery FELX 303814 p14 p15 RTS 10 20 60T RTS 43060102R 1 Three phase FELX 303440 FELX 303805 RTS 63060102R p13 p15 Yes 230V RTS 12 24 RTS 43130102 Three phase 130T RTS 63130102R With personalizing card RZ6602 9 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER gt gt
32. RMINAL 35 PVD 3487 GB 03 2004 www comoso com DESCRIPTION TERMINAL BLOCK 1 differential inputs Use shielded cable with shielding connected to terminal 3 Input voltage must not exceed 100 V Tacho Tachometric cable shielding Do not connect shielding at tacho end Speed current differential reference depending on position of selector switch 51 10 V corresponds to rated motor speed at speed reference Use shielded cable with shielding connected to terminal 6 Shielding to be connected at numerical control end also RTS 2nd Generation SERVO AMPLIFIER 47 Qhms 47 Ohm 1 9 10 nF 1 Courant o Vitesse TERMINAL 36 PVD 3487 GB 03 2004 www comoso com DESCRIPTION TERMINAL BLOCK 1 Analogue reduction of current Reduction may be controlled either by voltage or by resistor between 7 and 8 This input may be used for example when the servo motor is against a mechanical abutment Resistor value 10 30 50 70 90 100 332 10 221 392 562 infinity V reference to be connected internally in the casing Signal providing speed or current image depending on selector switch 52 position 10 V corresponds to max speed or current value Pulse current value shown in RTS characteristics chart See also identification section Typical uses motion synchronisation master slave mode cutting tool wear monitoring To be connected via an external contact to term
33. RTS 2nd Generation SERVO AMPLIFIER CONTENTS SAFETY INSTRUCTIONS 1 GENERAL 2 TECHNICAL SPECIFICATIONS 2 4 RTS Servo amplifier performance chart 2 2 Block diagram 3 DIMENSIONS LABELLING 3 4 Dimensions 3 2 Labelling 4 ELECTRICAL CONNECTIONS 41 General Wiring Requirements 4 1 1 Appliance handling 4 1 2 Electromagnetic compatibility 4 2 RTS Servo amplifier connection 4 3 Front Panel 4 4 Terminal blocks X1 2 AND X3 4 5 Terminal block X2 connection 4 6 Terminal block X3 connection 4 7 Accessories 4 7 1 Plug in Customisation card 4 7 2 Extra choke 4 7 3 Transformer 4 7 4 Mains filter 5 LED DISPLAYS 6 SERVO AMPLIFIER ADAPTATION 7 COMMISSIONING 1 PVD 3487 GB 03 2004 www comoso com 23 24 24 24 24 25 30 35 38 38 39 39 39 40 40 49 50 51 RTS 2nd Generation SERVO AMPLIFIER 7 1 Speed loop rapid adjustment 7 2 Complete speed loop adjustment 7 3 Diagnostic helpl 7 4 Calibration 7 4 1 7 4 2 7 4 3 7 4 4 7 4 4 1 7 4 4 2 7 4 5 7 4 6 7 4 7 7 4 8 7 4 9 7 4 10 7 4 11 Tachometric generator voltage calibration R104 Rated speed selection R105 Pulse current adjustment R113 Current limitation by external resistance or external voltage terminal block X1 By external resistance By external voltage Time constant adjustment f t R109 Adjustment of function f t R103 Adjustment of cu
34. S 10 20 60M single phase TT 11135 FELX 303593 RTS 10 20 60T three phase TT 11136 FELX 303594 RTS 10 20 60T three phase TT 11137 FELX 303594 RTS 12 24 130T three phase TT 11139 FELX 303740 RTS 12 24 130T three phase 2 TT 11141 FELX 303740 RTS 20 40 130T three phase TT 11140 FELX 303740 RTS 16 32 190T three phase TT 11118 FELX 302570 RTS 16 32 190T three phase TT 11119 FELX 302570 RTS 16 32 190T three phase TT 11120 FELX 302570 4 7 4 Mains filter Choice of filters FILTER SERVOAMPLIFIER FR13020 RTS 3 10 40 as per drawing PARVEXFELX305144 RTS 10 20 60 p 47 RTS 12 24 130 RTS 20 40 130 03016 as per drawing PARVEX FELX304967 p 48 RTS 16 32 190 40 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER gOrOSCOZ XxX SNOISN3WIG 5 7 8 8 ET mer 314 514 404 MOHD ES aus jo aunyojouewou 10204 5 df 66 1 1 60 11663 2 ELLE 4 vi 56 70 12 9287 a 3 5 E Sueded 56 96 20 62 20987 6 80 72 6BOr6XWV 8 5535 In 2979 OS 5 wi 06 80 82 d 65 998 5554 ZH1G 9 6 lt 1 sod 104 ZH4X 1 0 lt puo 2 45 760 lt NIZI 2 sod 404 9 09 2 5 55042 1045 4 DIA indino ui 8 8
35. UNN SOd gt BuixiJ LM LA o o 9 27 GMVGNVIS 7 355 12 NOLLVINSNI 2 0 LNVIGNV ZH 09 06 7 07 4 07 330 39VITOA 0 0236 66 lt QVOT 39 170 AHYONOO3S 6 v 35109 AVIS ABF AMVONOOJS VIT3G NYIS 00 022 ss 7 Z3 15 13 2 5 v D S ZS 15 NOLLVININITY i ABVONOO23S zc 5 ue A8b Av 25 5 5 8 3 15 23 es 23 es G9 i 5 d p 1 fl oY Zd 40 44 PVD 3487 GB 03 2004 WWW comoso com 99097508 SNOW la me iq 85 8 aN awa iem 5 a M c 919 59 oS awe jo einjojouewou ejosadas Wi 96 70 62 6209637 lo z 5555 JO eunjipj2usuiou 21020025 Vj 6 01 0 660S67 NV 8 5 22 dr 56 60 90 50661 v 5553 5 8858 49888 59 56 50 20 sea mex S SS Z NOUISOd 04 AMVONOO3S NO FIGVIIVAY 38 ISAW YIMOd 1 101 6161 61 9 ogxogi ogi ori 6522 vayr 5 LM LA In N 6 9 521 5x6 SL 9 ogxosi osil ori G
36. ZS IS 27 43 0 indu 20 HW 60 lt 94 21042 U SUOISUaWIG ZHX4L1 6 9 0 UwG Z 9 06 59 ZG 04 25 09 2 vee wel 15060 4S 16 94 aH H 8 v uou INOW U 4aquiny 5 6929 4 SUOISUBLUG SNOISNINIG ld 97 XUY 3 5 03 MON 99 uonoognusp pal uonisod x e H3 1S 45 41 xH 42 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 91020455 pe E 41 96 20 62 62096 Lia 2221 94 231 0 5 3 5577 5 2 0 XVW INVIBAY ZH 09 06 A2N300333 0701 310 39V 10A ANVONOO3S 266 lt QVO 39 170 0 0235 A000 Sd 20 01 d ANVONOO3S 2 Apedoid awsnixe SI A fe 9 6 2 sod AO 4 500 ise AO C ui 5x61 9 52 28 921 01 01 0 1 y gw 890 06 05 061 1 591 9 9 0 01
37. ain components that are sensitive to electrostatic discharges Before touching a card you must get rid of the static electricity on your body The simplest way to do this is to touch a conductive object that is connected to earth e g bare metal parts of equipment cabinets or earth pins of plugs 4 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 1 GENERAL The RTS servo amplifier is designed for four quadrant control of DC servo motors up to mechanical powers of 2500 W It incorporates power and chopping supplies including the energy dissipation resistor for some versions This integration makes for easier wiring and allows front panel access for a more user friendly appliance Two formats are available Wall mounted type with rear angle bracket Europe single 3 u DIN rack type Several axes can thus be included in one 19 rack TECHNOLOGY CMS components surface mounted Genuine galvanic insulation to prevent sensitivity to interference Hall effect current sensor Chopping frequency 17 kHz Speed bandwidth up to 150 Hz Integrated short circuit protection Speed range With tachometer 1 10 000 U RI 1 10 10 V differential reference for speed or current e Differential tachometer input FUNCTIONS Switchable tachometer control in U RI Current or speed control Current reduction with speed Current reduction with temperature External current reduction Zero speed adjustmen
38. alibration R135 Resistor R135 determines the tripping limit of maximum speed for tachometric servo control and U RI operation FX 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 R 135 1 5 2 74 3 92 4 75 6 81 8 25 12 1 15 22 1 27 4 39 2 7 4 10 Current loop gain adaptation to motor inductance R136 RTS 3 10 10 20 12 24 16 32 20 40 R136 25101 5191 5101 5101 10 Ub drive bus direct voltage Volts L motor inductance and any additional inductance mH When selecting R136 take the value immediately below in the following range and multiples thereof 10 12 15 18 22 27 33 39 47 56 68 75 82 100 64 PVD 3487 GB 03 2004 WWW comoso com RTS 2nd Generation SERVO AMPLIFIER 7 4 11 dc voltage calibration RB Resistor RB is used to adapt limit values MAX U MIN U tripping of supply voltage recovery The standard values are as follows SERVO AMPLIFIER Input DC Max Min Dissipation resistance MODEL voltage voltage voltage voltage On limit Off limit VAC 1 V RTS 3 10 40 RTS 10 20 60 RTS 12 24 130 20 40 130 RTS 12 24 48 RTS 12 24 24 RTS 16 32 190 1 Remark The RTS servo amplifier may be used with supply voltages different from the standard values e g RTS 10 20 40 with 32 V supply RTS 16 32 140 with 110 V supply Please ask for details 65 PVD 3487 GB 03 2004 www comoso com
39. ation SERVO AMPLIFIER 309 409 0 X74 fe 2157 A061 v9 X SNOISNIWIG ETS 2 51 96 20 82 2159 Isrreesmy ECE 13409 664 36199 NOLLYSINOLSND LNOHLIM YO NOISSI3A ZIZ PIRIS 96 Gs 7 wm O 82 8 7 60 200001 WS 100140 OHS Lr ap OG NVA FHL 12041540 LON D49 0 6p m 46 2 02 20 121 22098 UM poido pijuoo A42038 pub Ino 6 aaisnjoxa si buimoup 514 40 pajjusupJ jOuUDO j 700105400110 U 22 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 3 2 Labelling RTS SERVO AMPLIFIER IDENTIFICATION Each RTS servo amplifier has an identification label affixed either on the metal plate at the rear for wall mounted versions or on the side of the heat sink for rack versio
40. e Cut RTS servo amplifier To restart proceed as follows limit current as above energise RTS release brake remove current limitation 25 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 1451603 X114 P AA ASVHdONOW SLY X3 3Vd SWYY VIA NOLO3NNOO eq jnq sesub j dosp seonpoud eui plou jjes ui s JIPOW a Trbuiduiojs 0 87 26 60 0 7154 7 lt 2 01 02 01 01 6 514 1 58010 2 PL Nug Q Dui 804 50204 uoyd 8 LX 300804 9NIN31HOLL M20 18 pupajs X 01 5 ZX pupais xX 6 1125955 72277 OUTLETS LX 40 101 1 135440 43345 L 13534 03395 T NJ 300801 43345 NO 6 f 100 MO 43295 VAO ix ie aaa 9 5 53 22 439 2 7 1 5 3 ZX AG Jawojsng AQ 5 vugz AGL 5 9 2 9 juea4no JOJON
41. ed to Reference Slope B must equal slope C inputs X2 3 Slope A shielding Slope B Analogue inputs reduction of current 7 Slope C eo Analogue Slope D 4 7 2 Extra choke Output speed or current value The extra choke is connected between the RTS and the servo motor as near as possible to the RTS It must be used when the servo motor choke is less than the values in the table on page 7 It should also be used when the RTS and servo motor are more than 50 m apart or 25 m where shielded cable is used 39 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER Recommended combinations RTS 3 10 40M single phase RTS 10 20 60 single phase SF020231 12A 2x0 25 mH or three phase drawing FELX 303434 p 42 RTS 12 24 130T three phase RTS 20 40 130T three phase SF02023 25A 1 5 mH drawing FELX 302804 p 41 RTS 16 32 190T three phase SF02022 16A 2 5 mH drawing FELX 302804 p 41 4 7 3 Transformer General specifications Power supply 230 400 V 50 60 Hz single phase or three phase depending on model Neutral brought out for three phase models Secondary with 5 taps except two models of drawing FELX 303740 45 Voltage drop between load and off load x 5 96 Recommended combinations SERVO AMPLIFIER MODEL NUMBER TRANSFORMERPOWER CODE DRAWING 11133 FELX 303593 TT 11134 FELX 303593 RTS 3 10 40M single phase RTS 3 10 40M single phase RT
42. inal 13 to enable speed reference Typical uses limit switch emergency stop RTS 2nd Generation SERVO AMPLIFIER TERMINAL 11 TORQUE 37 PVD 3487 GB 03 2004 www comoso com DESCRIPTION TERMINAL BLOCK 1 To be connected via an external contact to terminal 13 to enable current if terminal is not connected the motor free wheels When the motor is fitted with a holding brake synchronise control of this input with brake control Reset By connecting RESET to terminal 13 faults are cleared and the axis is ready again if fault has been corrected Switching the RTS off and then back on has the same effect as RESET Logic 0 V to be connected to terminals 10 11 and 12 via control contacts Logic connection cable shielding terminals 10 11 and 12 RTS 2nd Generation SERVO AMPLIFIER 4 5 Terminal block X2 connection Recommended cable cross section 0 5 1 5 mm TERMINAL DESCRIPTION TERMINAL BLOCK X2 10 Ohms 78L15 15 V 25 mA available for external X21 applications 2 2 2 3 10 Ohms 78115 Output via contact of sum of faults Contact opens if fault or mains failure 2 4 0 occurs Permissible current 0 5 X2 5 Permissible voltage 220 V ac 4 6 Terminal block X3 connection Recommended cable cross section RTS 3 10 1 5 mm RTS 10 20 12 24 16 32 20 40 2 5 mm TERMINAL DESCRIPTION Motor connec
43. motor is not short circuited and there is no ground fault Check the ventilation system is working correctly Ambient temperature of the electrical cabinet must be less than 40 CT temperature LED is on The motor is unstable and vibrates Reduce gain using the front panel potentiometer turn anti clockwise Check the motor and servo amplifier are grounded mandatory Check the speed reference is stable with oscilloscope and 15 V voltages if necessary Check the customisation components correspond to the motor Motor drift Adjust zero speed with the SPEED OFFSET CEES potentiometer Adjust speed with SPEED OFFSET potentiometer Incorrect speed Check Motor fails to rotate terminals X1 10 and X1 11 must be connected to OV No effect selector S1 must be in correct position reference voltage is present 55 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 4 Calibration CAUTION Servo amplifiers are factory set and the information in sections 7 4 1 7 4 11 are for reference only The components below are stud mounted and used to calibrate the servo amplifier for the corresponding motor Calibration is done at the manufacturer s facility before delivery and these components should not be modified 56 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER
44. ns The information should be recorded and stored as with the information about the corresponding servo motor Remember to record the A and or B label indications too SPECIMEN LABEL ov n i CA CC RTS V t on Fre 50 50Hz 8 0 MA V MADE N FRANE RTS code Number of phases Input voltage Input current ac Output voltage dc Output current dc The output voltage and current values correspond to those of the RTS model as in RTS servo amplifier performance chart A self adhesive label is placed on the RTS front panel Label A records N servo amplifier serial number R type of motor associated with RTS DT V emf of tachometric dynamo for 1000 rpm 10V TR reference value corresponding to maximum motor speed in rpm factory set Where the RTS is fitted with an RZ 6602 customisation card some of these indications are recorded on the self adhesive label on the customisation card label B This label also states the model of RTS LABEL A LABEL B DT V 10V TR 10V TR 23 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 4 ELECTRICAL CONNECTIONS 4 1 General Wiring Requirements 4 1 1 Appliance handling See the safety instructions given at the beginning of this manual In particular wait for all the front panel LEDs to go off completely before doing any work on the servo amplifier or se
45. nversion before switching on again fault If the motor growls or vibrates with possibly an IFT fault reduce servo amplifier gain by turning the front panel potentiometer anti clockwise If the servo amplifier had switched to fault mode POWER ON flashing use RESET X1 12 to OV to clear the fault Gradually increase servo amplifier reference and monitor motor acceleration Check the motor rotates in the opposite direction when the reference is reversed If a fault arises on inversion for a 10 V reference adjust servo amplifier gain see paragraph gain adjustment If the fault persists wire the power transformer secondary to the 5 terminals MAU fault on LED strip 51 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 1 Speed loop rapid adjustment Offset adjustment Once ambient temperature is stabilised adjust zero speed to the mid position with the SPEED OFFSET potentiometer PARVEX on the front panel POWER ON Speed adjustment The SPEED ADJUST potentiometer produces fine calibration of speed for a given reference Gain adjustment By increasing gain the servo motor becomes more rigid Turn the GAIN potentiometer clockwise until the motor is unstable and vibrates Then turn the potentiometer back one or two turns If there is a large load on the potentiometer the potentiometer adjustment range may be inadequate and resistance R101
46. orporated and or assembled in accordance with the rules of the art by the machinery manufacturer and in keeping with the instructions in this booklet 2 TECHNICAL SPECIFICATIONS Power reduction with altitude Above 1000 m 10 fall in useful power per 1000 m up to maximum 4000 m Normal use 0 to 40 C Ciperaung temperatur Above 40 C 35 fall in useful power per 10 C up to maximum 60 C Tachogenerator 100 V at input maximum voltage 1 10 000 with tachogenerator speed range 1 10 with armature reaction U RI Static precision of speed for From Nmax to Nmax 100 0 5 load variation of O at In and From Nmax 100 to 1000 1 5 for servo amplifier rated From 1000 to Nmax 10 000 10 voltage U RI control from Nmax to Nmax 10 20 2 2 of rated current at 25 i 1 of rated current at 25 Linearity Galvanic insulation of power bridge Magnetic current sensor Power outputs protected against phase to phase and phase to ground short circuits Plug in terminal blocks on front panel IP20 IP20 for shrouded versions Electrical protection 6 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 2 1 RTS Servo amplifier performance chart RTS CHARACTERISTICS 3 10 40M 10 20 60 12 24 B 12 24 130T 20 40 130T 16 32 190T at 40 ambient temperature single phase single three battery three phase three phase three phase e 58 1 16Vac 22 66
47. peeds lower than those shown above but this hinders servo amplifier performance with regard to drift and gain The maximum value not to be exceeded for R105 is 4 75 MQ 59 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 4 3 Pulse current adjustment R113 R113 modifies the maximum current authorised by the servo amplifier The standard pulse current is twice the value of the permanent current It may be set either internally by using R113 or by using current reduction input X1 7 Ired The table below shows the value of resistor R113 in kO versus the percentage of maximum current uo of maximum uo 7 4 4 Current limitation by external resistance or external voltage terminal block X1 7 4 4 4 By external resistance The table below shows the external resistor value versus the percentage of maximum current Voltage control between terminals 7 and 8 is also L possible In this case the current is linear with 10 V max of maximum mem 7 4 4 2 By external voltage Voltage control between terminals 7 and 8 is also possible In this case the current is linear with 10 60 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 4 5 Time constant adjustment f t R109 AUTION For safety reasons the values of resistors R109 and R103 must not be altered without authorisation from PARVEX Warranty may
48. rrent limitation curve versus speed F n R131 132 Calibration of function U RI R133 R134 Tripping limit calibration R135 Current loop gain adaptation to motor inductance R136 dc voltage calibration RB Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac 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 2 PVD 3487 GB 03 2004 www comoso com 52 53 55 56 58 59 60 60 60 60 61 61 62 63 64 64 65 RTS 2nd Generation SERVO AMPLIFIER SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers may contain non insulated live AC or DC components Users are advised to guard against access to live parts before installing the equipment Even after the electrical panel is de energized voltages may be present for more than a minute until the power capacitors have had time to discharge Specific features of the installation need to be studied to prevent any accidental contact with live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations e Check the bonding circuit Lock the electrical cabinets Use standardised equipment Mechanical hazard Servomotors can accelerate in milliseconds Moving par
49. rvomotor 4 1 2 Electromagnetic compatibility EARTHING Comply with all local safety regulations concerning earthing Utilize metal surface as an earth reference plane e g cabinet wall or assembly grid This conducting surface is termed the potential reference plate All the equipment of an electrical drive system is connected up to this potential reference plate by a low impedance or short distance link Ensure the connections provide good electrical conduction by scraping off any surface paint and using fan washers The drive will then be earthed via a low impedance link between the potential reference plate and the earth screw at the back of the RTS If this link exceeds 30 cm a flat braid should be used instead of a conventional lead CONNECTIONS Do not run low level cables resolver inputs outputs NC or PC links alongside what are termed power cables power supply or motor Do not run the power supply cable and the motor cables alongside one another otherwise mains filter attenuation will be lost These cables should be spaced at least 10 cm apart and should never cross or only at right angles Except for the resolver signals all low level signals will be shielded with the shielding connected at both ends At the RTS end the shielding is made continuous by the Sub D connector mechanism The motor cables are limited to the minimum functional length The yellow and green motor cable lead must be connected to the box or front
50. t Zero torque adjustment Fault clearance RESET Analogue speed or torque information Servo amplifier status relay 15 V available 5 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER COMPLIANCE WITH STANDARDS RTS bears the CE mark under European Directive 89 336 EEC as amended by Directive 93 68 EEC on electromagnetic compatibility This European Directive refers to the harmonised generic standards EN50081 2 of December 1993 Electrical Compatibility Generic Standard for Emissions Industrial Environments and EN50082 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 EN 50140 of August 1993 and ENV 50204 Immunity to radiated electromagnetic fields EN 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 currents Compliance with the reference standards above implies adherence to the instructions and wiring diagrams in the technical documents supplied with the appliances Incorporation in Machinery The design of the equipment means it can be used in machinery covered by Directive 89 392 EEC Machine Directive provided that it is integrated or inc
51. tion cable cross section to be used see motor dimensions section Minimum motor inductance must be 0 4 to 1 mH depending on RTS rating Phase U of three phase supply For single phase supply this input is not connected Phase V Phase W Ground to be wired to cabinet ground rod by minimum 2 5 mm lead 38 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 4 7 Accessories 4 7 1 Plug in Customisation card The RTS includes a number of components for customising the axis These components are mounted as standard on the control card and may be mounted on a plug in customisation card as an option This means a wider rack version of RTS 3 10 40M RTS 10 20 60 three phase and RTS 12 24 Battery front panel width increased from 51 mm to 61 mm RAMP Card RG 6601 The ramp comes as a separate card that plugs into the RTS front panel The card is also an extension to terminals X1 1 to X1 9 of terminal block X1 The 15 V available on RTS terminal X2 is used to power the card The card protrudes from the RTS by 62 mm It is 36 mm high and 13 mm wide Adjustment The ramp can be adjusted by potentiometers between 0 06 sec Volt and 0 6 sec Volt Tacho inputs 15 V to be 0 5V 0 3 sec 3 sec connected to X211 0 10V 0 6 sec 6 sec shielding OV to be connected to X2 2 Slopes A and B can be adjusted independently Speed 1 V to be Slope A must equal Slope D reference connect
52. ts must be screened off to prevent operators coming into contact with them The working procedure must allow the operator to keep well clear of the danger area All assembly and commissioning work must be done by qualified personnel who are familiar with the safety regulations e g VDE 0105 or accreditation C18510 3 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER Upon delivery servoamplifiers are thoroughly inspected during manufacture and tested at length for bugs 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 e Connectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correctly and safely it must be transported stored installed and assembled in accordance with this manual and must receive thorough care and attention Failure to comply with these safety instructions may lead to serious injury or damage The cards cont
53. ustable parameters must be fixed current limits speed scale setting speed limits Adjusting the speed scale setting alters loop gain and means readjustments are required Equipment required Storage oscilloscope digital if possible easy to trip Manual speed reference generator battery box or low frequency generator with series capacitor to produce zero mean speed out and return about a position Decade box for capacitor and resistor adjustment Reference battery box with oscillator for automatic control is available as an option Method FIG 1 Adjust the gain potentiometer to the centre so gain may be varied up or down after adjustment Fit a large integration capacitor C101 10 or strap Adjust proportional gain starting by R101 10 Increase R101 until 1096 overshoot on speed reference increment Always use small speed reference increments e g 100 rpm or less so the system remains linear large increments current limitation 7 torque limitation masks the real situation and reduces overshoot The adjustment obtained with high speed increments would be incorrect In many cases it is not possible to increase gain to produce overshoot especially for high inertia systems 53 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER FIG 2 In some cases gain limitation is due to resonance the motor starts to whistle or vibrate at high frequencies 100 Hz
54. will have to be increased 40 V REFERENCE CONNECTION Application Potentiometer reference 15 j 7 5 15 VDO 4 c 24 R1 1 Terminal block X2 m 2 6 fa P I OV 2 NON Lo OUI R2 15VDQ 3 Inputs not connected PLC CN 5 RTS 1 PLC CN lt 1 8 RTS 1 Terminal block X1 NK CAM CX A 40 6 6 L fe Blindage 5 RTS2 1 5 RTS2 8 N4 e6 g6 NO YES Shielding not connected at numerical control end The connecting cable by shielded twisted pair for the tacho and reference is available as an option L 1 Terminal 4 may be connected to terminal 8 Example 10 V P 10 linear potentiometer R1 and R2 2 2 1 2 W resistor 52 PVD 3487 GB 03 2004 www comoso com RTS 2nd Generation SERVO AMPLIFIER 7 2 Complete speed loop adjustment Caution C103 C101 101 108 pm Speed Amp Gain Servoamplificateur pa INVERTER 1 9v battery Rer E 1 Speed recorded between N measurement and 0 V analogue overshoot 10 FIG 1 a graphs obtained with increasing R101 values Systematically applicable when J charge gt 10 J motors As servo amplifiers are factory set based parametersprovided by the customer this setting does not usuallyrequire adjustment Before adjusting the speed loop all the adj
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