Manual - Ocean Controls
Contents
1. Web Site www leadshine com OY ssncsrine Technology Co Ltd DCS920 Brush DC Servo Drive 7 Servo Setup Setup Sequence 1 Set RH15 RH16 and RH17 for motor current limits to protect motor during setup Disconnect motor and monitor CURR Ref signal at P1 9 while making settings 2 Set CH18 RH20 on header for armature inductance 3 Connect enable inputs Set S1 for your enable signal polarity 4 Connect motor and if used tachometer 5 Connect drive to transformer isolated DC power supply 6 Adjust pots and switch S2 according to operating mode Component Header STD VALUES PART FUNCTION NOTE 1 STANDARD VALUE CHANGES WITH DIFFERENT MODELS O RH20 LOAD INDUCTANCE COMPENSATIO SS O 15V 15V O HDR19 HEADER INTERNAL VOLTAGES 4 7NF O C gt CH18 LOAD INDUCTANCE COMPENSATIO RH17 PEAK TIME LIMIT O O O O RH16 CONTINUOUS CURRENT LIMIT O O RH15 PEAK CURRENT LIMIT O O RH14 IR COMP FEEDBACK HEADER LOCATION y w 7 PREAMP DC GAIN HI FREQ ROLLOF re 60 4K O RM2 POTERE NED Gus 100K O RH11 AUX INPUT O O RH10 OUTPUT VOLTAGE FEEDBACK 10MEG O O RH9 OFFSET TEST NOTE DIP SWITCH POLARITY A N X T a a TACH INPUT LEAD NETWORK O O 51 52 N 100K O _ RH6 TACH INPUT O CH5 REF INPUT LEAD NETWORK O O RH4 100K O O RH3 REFERENCE INPUT 0 22UuF O lt _D o COMPONENTS IN DOTTED LINES CH2 op INTEGRATOR R C ARE NOT INSTALLED AT FACTO2. Peak current limit should be set greater than continuous current limit If Ipeak lt Icont then peak overrides continuous limit and Icont Ipeak Minimum setting for peak current is 0 Minimum setting for continuous current is 16 with RH16 0 W Continuous Current Limit RH16 Choose RH16 based on the motor manufacturers specification for your motor Table values give basic settings This setting keeps the motor within its thermal limits Note that this limit measures average current and will not work on symmetrical waveforms such as might occur during system oscillation Use an external thermal circuit breaker for protection from such over current faults Continuous Current Limit 100 80 60 40 20 RH16 k9 open 100 39 15 1 Note Values in bold amp italics are factory installed standard Continuous current sense is for average current Symmetrical waveforms with zero average value may cause over temperature shutdown of drive or motor damage due to high I R losses Peak Current Time Limit RH17 Header component RH17 controls the length of time for which the drive will output peak current When peak currents that are less than the drives peak rated current this time will increase eventually becoming infinite as you reach the continuous current After a polarity reversal the peak time will be twice that of a unipolar current change Tel 086 0755 26434369 8 Web Site www leadshine com A Leadshine Technology Co Ltd DCS9
3. Typical Connections and Settings Order Information APPENDIX Contents Table of Contents ME ELLA E0 Enia i E E E ecto sca ts EAEAN TEA AATA P E A EEE E dente sede ce necro AOA OE eese e E EE E EE E E E EVO 1 C t A EE E E E A EA A I Web site www leadshine com DCS920 Brush DC Servo Drive A Leadshine Technology Co Ltd DCS920 Brush DC Servo Drive 1 Introduction The DCS920 PWM servo drive is designed to drive brush type DC motors at a high switching frequency The drive can interface with digital controllers or be used stand alone and requires only a single unregulated DC power supply Input Ref gain Tach Gain Loop gain Integrator Frequency and Offset can be adjusted using 26 turn potentiometers The offset adjusting potentiometer can also be used as an on board input signal for testing purposes Furthermore 3 red green LEDs indicate 2 Features High Performance and Cost effective 3 kHz bandwidth Wide load inductance range 0 2 40 mH Flexibility Internal 40 pin socket configures amp with no soldering Separate and adjustable current Limits Continuous Peak and Peak time No integrator windup when disabled Modes of Operation Current Tachometer Velocity 3 Applications X Y Stages Robotics Tel 086 0755 26434369 operating status for faster setup The drive is fully protected against over voltage under voltage over current short circuits fro
4. control card Ref to card output Ref to card ground Using both inputs will reject ground noise between control card and drive Use shielded twisted pair cable to minimize noise pickup between drive and controller Negative tachometer input Maximum 60 V Use signal ground for positive input Positive tachometer input and signal ground Current Monitor Analog output signal proportional to the actual current output This pin has a maximum output of 6V when the drive outputs maximum peak current Measure relative to signal ground 6V Ipeak 1kQ 33nF R C filter Measures the command signal to the internal current loop This pin has a maximum output of 6V when the drive outputs maximum peak current Measure relative to signal ground 6V demands Ipeak 10 VOLTMON Weal 10 Eeaieittin 200 Tete Tel 086 0755 26434369 4 Web Site www leadshine com OY e Technology Co Ltd E ON Delay on Pos and Neg enables is lt I ms Positive Direction Inhibit See related description about haa Negative Direction Inhibit See related description about laa TTL level 5V output becomes high when power devices are disabled due to at least one of the following conditions inhibit output short circuit over voltage over temperature power up reset With the RESET input open output shorts or heatplate over temperature will latch off the drive until power is cycled off amp on or until the Reset input i
5. tech leadshine com before returning product for service Customer shall prepay shipping charges for products returned to Leadshine for warranty service and Leadshine shall pay for return of products to customer WARRANTY LIMITATIONS Leadshine makes no other warranty either expressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited to the 12 month duration of this written warranty Tel 86 755 26434369 14 Web site www leadshine com A Leadshine Technology Co Ltd SHIPPING FAILED PRODUCT DCS920 Brush DC Servo Drive If your product should fail during the warranty period e mail customer service at tech leadshine com to obtain a returned material authorization number RMA before returning product for service Please include a written description of the problem along with contact name and address Send failed product to distributor in your area or Leadshine Technology Co Ltd Floor 3 Block 2 Tianan Industrial Park Nanshan Dist Shenzhen China Also enclose information regarding the circumstances prior to product failure Tel 086 0755 26434369 15 Web Site www leadshine com
6. 20 Brush DC Servo Drive Peak Current Limit s 1 0 8 0 6 0 4 0 2 RH17 MQ open 10 22 1 330 Note Values in bold amp italics are factory installed standard Peak times double after polarity reversal 7 Typical Connections and Settings A complete servo system should include servo motor servo driver power supply controller and feedback device Typical connections of three operation modes are shown as the following Figure4 to figure6 Current Torque Mode TORQUE MODE ENCODER 3 S l I j j x GND 2 ENABLE 111 3 lt _ POSENABLE 112 p2 4 GND 2o F NEGENABLE 13 5 VDC NOTE S1 OFF for ground active enables Figure 4 Typical connection of torque mode For transconductance lout Vref Ipeak 10V 1 Set S2 ON 2 Set Ref Gain fully CW 3 Set Loop Gain fully CCW 4 To increase gain turn Loop Gain CW To decrease gain turn Ref Gain CCW Tel 086 0755 26434369 9 Web Site www leadshine com A Leadshine Technology Co Ltd Velocity Mode with Brush Tachometer DCS920 Brush DC Servo Drive VELOCITY MODE ENCODER POS ENABLE NEG ENABLE NOTE Fa S1 OFF for ground active enables VDC Figure 5 Typical connection of velocity mode Disconnect motor from machinery during setup Tachometer reversal will cause uncontrolled run away Set Tach Gain Loop Gain and Integ Freq pots fully CCW 1 Set S2 ON Connect motor a
7. 4 ap NEG ENABLE 13 NEG ENABLE 5 ae NOTE S1 OFF for ground active enables Figure 6 Typical connection of voltage feedback with IR comp Voltage mode with no IR comp Procedure Determine the voltage gain required Example If 24V output is required with 10V input then Gain Output Voltage Input Voltage 24V 10V 2 4 Use the table for RH10 if the gain is common or use the formula to calculate uncommon gains Install the resistor in the amplifier header Position RH10 Gain ils 24 ee 15 RH10 kQ 12 24 aS 150 Use exact or next larger value RH3 must be factory default 100K Ohms See functional diagram Set S2 OFF Ref Gain Integ Freq amp Tach Gain pots fully CW Loop Gain pot fully CCW Connect oscilloscope to P1 10 Output Voltage monitor Apply 1V 10Hz square wave to Ref inputs Check for oscillation If oscillation occurs decrease RH12 to 10kQ Oscillation should now be gone Tel 086 0755 26434369 11 Web Site www leadshine com A Leadshine Technology Co Ltd DCS920 Brush DC Servo Drive The Loop Gain and Integration Gain can be adjusted to effect the step response Critical damping is recommended See the Step Response diagram Over damped J Critical damping Under damped Oscillations Figure 7 Step response Note If the motor has a large resistance refer to the following section for the IR compensation procedure However for most motors with low motor resistance and a normal bac
8. E INDUCTANCE TABLE PEAK O VV O V SERVO INTEG RH16 __ P2 MOTOR amp POWER CONNECTOR PREAMP FREQ CONT O 500K RH17 A MOTOR Voltage gain 1 PWM STAGE OUTPUT MOSFET a CURRENT He MOTOR IR COMP Pv 1 6V for VOLTAGE As GND CURRENT Ipeak iki B 4 8 kHz FILTER ae GND Gv vDC 5 1 8V at lpeak CURRENT MONITOR 8 4 8 kHz FILTER RH10 OUTPUT OUTPUT D VOLTAGE FEEDBACK VOLTAGE SENSE NOTE USE OF SHIELDED AH CABLES ON POWER MONITOR 4 8 kHz FILTER Vout 10 R GOTOR HRN ol 5 1 5a CASE SHOULD BE GROUNDED AUXILIARY FOR SHIELDING DC OUTPUTS A 20k 15 lt 4 CONVERTER 5 mA max 5 HDR19 als lt CASE GROUND NOT CONNECTED TO CIRCUIT GROUND 1 20mA MAX INTERNAL VOLTAGES PRESENT ON HEADER POWER GROUND AND SIGNAL GROUNDS ARE COMMON Figure 1 Block diagram of the DCS920 5 Specifications _ Supply Voltage Input VDC 24 90 Vout VDC 0 97 Ro Io Ro 0 2 Tel 086 0755 26434369 2 Web Site www leadshine com A Leadshine Technology Co Ltd DCS920 Brush DC Servo Drive Parameters Units Value lt Command Sources V Differential 100K between inputs 20V maximum Feedback Supported Tachometer Modes of Operation Current Tachometer velocity Voltage with IR compensation Motors Supported Brushed Voice coil Selectable with components on header socket 200 uH t
9. RY Figure 3 Component header z Toad wD a a a a 6 19 20 40 omponent CH18 nF ee a ee ee RH20 kQ 10 49 9 150 330 470 Note Values in bold amp italics are factory installed standard Values shown are for 90V At lower supply voltages RH20 may be increased and CH18 decreased To customize values short CH18 Tel 086 0755 26434369 7 Web Site www leadshine com A Leadshine Technology Co Ltd DCS920 Brush DC Servo Drive select RH20 for best step response in current mode next select CH18 for lowest value that does not degrade step response Values from table work well for most applications To optimize compensation with custom values 1 Turn S2 ON Disconnect tachometer if used Set REF GAIN pot fully CW Loop Gain pot fully CCW 2 Replace CH18 with a jumper short 3 Apply 20Hz square wave input to Vref Adjust for 0 25V at CURR Mon P1 8 4 Choose value for RH20 that gives best step response without oscillation 5 Replace CH18 with 4 7nF 6 If waveform shows gt 10 overshoot try larger capacitor until overshoot is 10 or less If no change is seen try smaller value for CH18 until overshoot appears Peak Current Limit RH15 Drives are shipped with no part installed in RH15 This delivers the drives peak rated current For lower settings use values from the table Peak Current Limit 100 80 60 40 20 RH15 kQ open 68 33 15 6 2 Note Values in bold amp italics are factory installed standard
10. User s Manual DCS920 Analog DC Servo Driver Version 1 0 2009 All Rights Reserved Attention Please read this manual carefully before using the driver Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China Tel 86 755 26434369 Fax 86 755 26402718 URL www leadshine com E Mail sales leadshine com The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Leadshine reserves the right to make changes without further notice to any products herein to improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages 2009 by Leadshine Technology Company Limited All Rights Reserved Wiring Notes OnNNANIN WD Nn BW NYO Tel 86 755 26434369 Block Diagrams Specifications Pin Assignment and Description
11. ervo Drive Grounding amp Power Supplies Connect positive terminal of power supply to P2 5 negative terminal to P2 4 For best results do not ground power supply but ground each drive with heavy wire from P2 3 to equipment star ground point If power supply is gt l1m from drives add local filter capacitor near drives 250uF minimum per drive 8 Order Information DCS920 20A peak 10A continuous 24 90 VDC brush motor drive Note 1 For no pots or custom component configurations contact Leadshine sales leadshine com Tel 086 0755 26434369 13 Web Site www leadshine com A Leadshine Technology Co Ltd APPENDIX DCS920 Brush DC Servo Drive TWELVE MONTH LIMITED WARRANTY Leadshine Technology Co Ltd warrants its products against defects in materials and workmanship for a period of 12 months from shipping date During the warranty period Leadshine will either at its option repair or replace products which proved to be defective EXCLUSIONS The above warranty shall not apply to defects resulting from improper or inadequate handling by customer improper or inadequate customer wiring unauthorized modification or misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product OBTAINING WARRANTY SERVICE To obtain warranty service a returned material authorization number RMA must be obtained from customer service at e mail
12. k EMF range no IR compensation will be required Example Motor resistance R 0 5 Ohm Back Emf constant Ke 10V krpm What is the speed lost at 3000rpm if SAmps of current is continuously delivered Answer 5Amps 0 5ohms 2 5V 10V krpm 0 25krpm or 250rpm loss of speed not bad regulation Voltage mode with IR comp Voltage mode with no IR comp is used with position loops that have no D term or that output a position error signal only IR comp is used mostly with open loop speed control systems Procedure 1 Skip this step if no IR comp Jumper P1 6 to P1 8 Tach Gain pot now functions as IR comp adjustment full CW no IR comp 2 Select RH10 Use exact or next larger value 3 Set S2 OFF Ref Gain Integ Freq amp Tach Gain pots fully CW Loop Gain pot fully CCW 4 Connect oscilloscope to P1 10 Output Voltage monitor 7 Wiring Notes IMPORTANT ALWAYS REMOVE POWER WHEN CHANGING HEADER PARTS 1 All drive grounds are common P2 3 4 amp P1 2 7 Case is isolated from drive circuits 2 For ground active enable inputs set S1 OFF For 5V active enables set S2 ON open inputs will enable drive via internal pullups to 5V Tel 086 0755 26434369 12 Web Site www leadshine com A Leadshine Technology Co Ltd 3 For best noise immunity use twisted shielded pair cable for reference and tachometer inputs 4 For EMI reduction and CE compliance use shielded cable for motor and DC power DCS920 Brush DC S
13. m output to output and over temperature Power Range Supply Voltage 20 80 VDC Peak Current 20A Continuous Current 10A Differential Input 10 V Analog Current Monitor Output 3 LED Indicators for Faster Setup Normal Enable Power OK Fault Short circuits or over temperature Over Under voltage over current short circuits over temperature protection Surface Mount Technology Voltage IR Compensation Automated assembly machinery Automatically guided vehicles Web Site www leadshine com DCS920 Brush DC Servo Drive A Leadshine Technology Co Ltd 4 Block Diagrams SWITCHES SHOWN IN ENABLED POSITION FOR S1 OFF USE NORMALLY OPEN SWITCHES TO ENABLE IF S1 ON 1 OFF ENABLE POS ENABLE NEG ENABLE GROUND ACTIVE 5V OR OPEN INHIBITS GND S1 ON 5V OR OPEN CIRCUIT ACTIVATES ENABLE POS ENABLE NEG ENABLE GND INHIBITS 2 ENABLE INTEGRATOR RESET SWITCHES TURN ON WHEN AMP IS DISABLED s1 ZE Q LED S O POS ENABLE NORMAL FAULT G R STATUS POWER OK Ga NEGENABIE z INTEGRATOR m gia V s2 Se 14 FAULT OUTPUT 5V MAX CH13 220 PF 7 OFF VELOCITY MODE O O 1K ON CURRENT MODE RESET 7 CH2 0 22 UF RH12 cw O MOMENTARY SWITCH CLOSURE RESETS FAULT O O LOOP WIRE RESET TO GROUND FOR SELF RESET 60 4K GAIN 50K 33NF 100PF CURRENT LIMIT _ P1SIGNAL CONNECTOR SECTION m VALUE DEPENDS ON MODEL REIS SEE ARMATUR
14. nd tach and DC power enable drive and spin shaft If motor runs away reverse tachometer connections 2 Apply 5Hz square wave to Ref inputs Adjust for 0 25V at Tach input P1 6 3 Adjust Loop Gain pot CW until oscillation begins then back off 2 turns If oscillation cannot be eliminated reduce RH12 until adjustment is possible 4 Set S2 OFF Turn Integ Freq CW until overshoot exceeds 10 or oscillation begins Back off for best step response If overshoot is excessive with pot CCW change CH2 to 0 47mF and retry Use value of CH2 that gives good adjustment range for Integ Freq pot 5 Adjust Tach Gain pot for desired Vtach Vref ratio Repeat steps 2 4 Ref Gain pot will reduce Vtach Vref ratio without affecting tuning If oscillation occurs when motor is connected to load repeat steps 2 4 Tel 086 0755 26434369 10 Web Site www leadshine com DCS920 Brush DC Servo Drive A Leadshine Technology Co Ltd Voltage Feedback amp IR Comp In voltage mode the voltage that 1s output to the motor is fed back to close a voltage loop Since the voltage across the motor is proportional to the speed of the motor this will allow coarse control of the motor speed suitable for AGV s conveyors or a Mars Lander Operation will be much like a tachometer VOLTAGE FEEDBACK with IR COMP REF 4 1A PY P2 2 Lage P1 TACH INPUT CURR MON OUTPUT GND 2 gt ENABLE 11 pa 50S ENABLE 12 POS ENABLE P2 l
15. o 40mH Current mode 3kHz with 200uH load at maximum supply voltage varies with load inductance and RH20 CH18 values Voltage feedback mode 200Hz max Over voltage Under voltage Over current Over temperature Short circuit Phase Phase amp Phase Ground CE Compliance to 89 336 EEC Recognized Component to UL 508C 83 3 x 129 3 x 36 3 0 27 kg 0 59 Ib 20 65 Mechanical Specifications unit mm inch 25 4 mm 1 37 3 28 k 83 3 gt _ 34 8 Ba R REF GAIN TACH GAIN POTS LooP GAIN INTEG FREQ OFFSET DIP INTEG ON OFF 1 ENAB LO HI Sw NORMAL FAULT L FAU LEDS POWER OK 4 32 Figure 2 Mechanical specifications Recommend use side mounting for better heat dissipation Tel 086 0755 26434369 3 Web Site www leadshine com A Leadshine Technology Co Ltd Notes 1 Test conditions 25 C ambient Load 200uH in series with 1W VDC 90VDC 2 Lower inductance is acceptable for bus voltages well below maximum Use external inductance to meet requirements DCS920 Brush DC Servo Drive 3 Additional cooling and or heatsink may be required to achieve rated performance 6 Pin Assignment and Description EE ea 5 V 5 mA auxiliary power supply for customer use Short EE vosa circuit protected Reference ground common with signal ground Differential Reference Input 10 V Operating Range 20 V Maximum Input Connect both Ref inputs to
16. s grounded For self reset from such conditions wire Reset to ground and the drive will reset every 50ms 16 2 AUX Auxiliary analog input for test offset See block diagram please OG Oe isSSSSSCSCSDSY200 Brush DC Servo Drive _ Brush DC Servo Drive TTL level 5 V inhibit enable input With S1 OFF all Enable inputs must be grounded for the drive to operate For operation with cards that output 5V to enable the drive turn S1 ON Enable active level is now reversed so that grounding inputs will inhibit and 5V or open will enable S1 flips polarity of all enable inputs Note There is a 50ms delay between Enable TRUE and drive 1 MOTOR Positive Motor Output E Power Ground Common with signal ground Tel 086 0755 26434369 5 Web Site www leadshine com A Leadshine Technology Co Ltd Switch Functions S1 ENAB LO HI DCS920 Brush DC Servo Drive S2 Integrator S2 ON Torque mode integrator off flat gain OFF velocity mode ON OFF integrator on tachometer mode Tach feedback gain sets basic rpm volt ratio also used as IR comp feedback control TACH GAIN Logic Inputs Logic threshold voltage 2 5V Schmitt trigger inputs with hysteresis LO to HI transition Logic Outputs HI output voltage 2 4V min at 5 2 mA max 5V maximum Indicators LED s Power OK Green ON Power OK VDC gt 22V AND VDC lt 92V Tel 086 0755 26434369 6
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