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PS-33xx_Servo-Drives-User-Manual

1. 9 AH I K2 o u AK i a i kr F AG AJ Zope BB 4 HOLES THRU FEEDBACK CONNECTOR sj i 7 MOTOR CONNECTOR E pm H Kv t me o AK S i A Bp dm h HOLES THRU 151 PS 33xx Rev D APPENDICES 7 7 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 7 3 S Series AC Servo Motors S or M400 Series Servo Motors PS 33xxi R and PS 33xxc R models only 40C Ambient Ratings Feedback Device ated Power watt Peak RPM Inertia Kg m2 Kt Nm Amp Torque Torque N Cont Ib in m RPM Part Number MAC S431 NMRO 12 20 1 38 5500 7000 790 2 Pole Resolver 0 00007 0 45 MAC S432 NMRO 24 40 2 76 5500 7000 1 590 2 Pole Resolver 0 00012 0 48 MAC S442 GMRO 36 70 415 3000 4000 1 300 2 Pole Resolver 0 00041 0 79 MAC S443 GMRO 48 90 5 52 3000 4000 1 740 2 Pole Resolver 0 00051 0 85 MAC S444 GMRO 68 60 7 75 3000 4000 2 430 2 Pole Resolver 0 00063 0 82 MAC S462 GMRO 108 00 12 20 3000 4000 3 830 2 Pole Resolver 0 00203 0 82 MAC S463 EMRO 154 00 17 40 2500 3600 4 560 2 Pole Resolver 0 00282 0 96 MAC S464 EMRO 194 00 21 92 1700 3000 3 900 2 Pole
2. Low DC Power Low AC Power ES AC Power Control Circuits Control Circuits gt Disconnect V R 6 a m Low r control a Bronch circuits con cross Ground E e us Ircurt high power drive referenc e E FEKS circuits ot o right points Ps angle to minimize a interference Provide ground rence for AC dU g each frame v ground strap E 3 TEE ET IRERSEEQFEEEREHRRER TETEME FEED FEEL Branch n Contactors i T ERR E BER ERR 5 7 3 78 mm AN 775 Cyr A g S Z P a s I3 PS 33xx PS 33xx f PS 33xx PS 33xx Motor coble ground points X NET on drive J SS aS Motor cable connector N A entry und sirap to Fi SN i SS ss Nod NAR NRAN AN SY the nect multiple panels together 1 mount in a cabinet Motor Cable Wireway 6 mu x vor welding cable A sr Vs o o eg BY Power GCN Ay 77 777 151 PS 33xx Rev D INSTALLATION AND WIRING 3 39 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 2 Communication Hardware Configuration The only hardware configuration that must be configured by the user prior to mounting is the method of communication and the node ID All mode
3. 3 50 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide When mounting any unit be sure to remove paint from the unit and the mounting surface to obtain metal to metal contact Use a serrated washer star washer to improve the connection If in doubt use a ground strap to ensure good connection between the unit and the panel Figure 3 10 Recommended Ground Strap Mounting Technique 151 PS 33xx Rev D _7 Door side panel or mounting panel scrape paint off area under star washer Pd O Star washer 10 38 stud or 10 328 bolt with star washer Lock nu ith star washer Strap INSTALLATION AND WIRING 3 51 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Wiring and Shielding Wired connections to the system are of two categories high power wiring and low power control signal wiring High power wiring and low power DC signal wiring within the panel or E enclosure should not share wire raceways and should be separated by a minimum of 12 inches 305 mm for parallel runs If wire paths should cross and touch they should do so only at right angles to each other Provide separate wire ways for main AC low power AC high power DC
4. r Maximum transition time 50nsec Minimum OFF time 500nsec Minimum ON time 500nsec STEP increments L motor position on falling edge DIR needs to be stable for 500nsec before STEP falls Input voltage range 3 5V to 7ZVDC 151 PS 33xx Rev D INSTALLATION AND WIRING 3 85 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 33 Schematic of PS 33xxi HSI Inputs HSI Inputs are t e HSI 1 499 Ohn e al Vow 24 a lt SE HS 1 ka HSI 2 F A E N 4 1 x Y c UN q HSI 2 i S Exceeding this voltage will result in damage to the equipment I The two High Speed Inputs HSI require a signal level of 3 5 7VDC 3 86 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Analog Input Outputs J2 If you are using the HSI inputs for command input you may skip the following section on Analog Inputs The PS 33xxi analog I O connector J2 contains connections for two analog inputs The analog inputs are software defined as ADC1 and ADC2 They are to be utilized as differential inputs to provide 10 VDC control signals to the amplifier These differential inputs should be driven via the users differential outpu
5. Pini lsolatedTO 6 mpte 8 neus 9 Reset Pma Analogi msa 6 JAnalog2in 8 Dreo 9 JAnalog2 Out 11 Analog Out Common 14 HSI2e Be 15 HSI2 B i7 HSH A Encoder Out A Encoder Out A J3 Encoder Feedback J3 Resolver Feedback Signa J5 Comm Port Pin Signal Pin DBOF RS 422 RS 485 1 Sine S2 Pin RS 232C RS 485 two wire 74 B 8 z L5 Re R2 8 5VDCReum 8 5VDCRetum Lo HALETHSI3 amp 9 HSI3s 10 Hsia t0 HSI3 Motor OT Motor OT Tx TB3 Ctrl Regen 151 PS 33xx Rev D INSTALLATION AND WIRING 3 93 API Controls 3 94 PS 33xx Series Digital Servo Drives Installation User s Guide Digital Inputs Outputs J1 The PS 33xxc digital I O connector Jl is a 26 pin sub D that contains connections for 10 inputs and 12 outputs to allow the user to interface to the most demanding application The user must supply a 5 30 VDC voltage to utilize the optically isolated I O Since the digital inputs are current activated the user may utilize PNP or NPN outputs to the controller The various methods of wiring inputs are shown in this section The drive RESET input
6. 151 PS 33xx Hev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 43 Schematic of PS 33xxc DRIVE OK Output Maximum Contact Ratings 2 Resistive load 50 A Op gt Time Typ 5 m Re Time Typ 5m e Life Medium J X perations Life Rated X 10 operations 7 Drive OK ZS 151 PS 33xx Rev D INSTALLATION AND WIRING 3 101 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 44 Schematic of PS 33xxc Encoder Outputs Si 6031 e Encoder A 0 20 a t 7 K Ohm l Encoder Out A we J2 Encoder Out B eg J2 22 Po T gt 2 A K Ohr l Encoder Out B 2 2 E e gt Encoder u 26CS RB 0 74 7 S di IK Ohm ii Enc r Out Z 0 2 Jifferential Preferred method for best noise immunity ngle Ended hae ps una Ze h reference to 5 C RETURN on jeep ike no connections to A gd output 3 102 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 45 PS 33xxd E HSI Signals Signals for High Speed Inputs Step Dir Direction Step 0 CCW 1 2 CW when falling Step Step Step CCW Step CW when HSI2 0 W COW Phase
7. Front face of connector MS3112bE14 5P PTO2E 14 5P Front face of connector MS3112E14 18P PTO2E 14 18P APPENDICES 7 11 API Controls 7 12 APPENDICES PS 33xx Series Digital Servo Drives Installation User s Guide 7 2 Motor Feedback Specification If the customer is utilizing a motor not supplied by API Controls then specific care must be taken to ensure that the motor feedback is compatible and able to interface to the PS 33xx series controllers It is the responsibility of the user to ensure compatibility 7 2 1 Standard Resolver Specification Resolver PCT Value Units Transformation Ratio 1 000 Phase Shift open circuit 6 degree Phase shift with Temp Drift 151 PS 33xx Hev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide 7 2 2 Commutating Encoder Specification Value Encoder 5 135 200 26LS31 26LS32 Alignment Z Channel __ See Note 1 EA ER ag aa 5 LM339 Alignment HALL1 SeeNote2 volts mamp kHz max mamp eo volts mamp o mamp 1 Low to High transition of Z Channel aligns with positive going zero crossing of motor Phase A to neutral back emf waveform 2 Low to High transition of HALL1 aligns with positive going zero crossing of motor Phase A to Phase C back emf waveform APPENDICES 7 13 API Controls
8. eseeeeseessesseeeeeeeeeeee enne enemies nenne 7 4 Figure 7 4 Motor Part Number Configuration essere rennen nre 7 5 Figure 7 5 Drawing MAC M Series sccscssecsoeessenecnstscnseceescnssscssessssssnsescstocstsceesonedscensoessesones 7 7 Figure 7 6 Drawing MAC S Series sc cs isse erne eee nennen nnne tenete netten rennen enne 7 9 Figure 7 7 Drawing MAC T Series sees nennen tnnt tnter tnter 7 11 Figure 7 8 Bus Dynamic Braking Interconnect eese nennen 7 13 Figure 7 9 Motor Dynamic Braking Interconnect Recommended eese 7 14 Figure 7 10 PS 33xxc CO Digital I O Connector J1 eese 7 15 Figure 7 11 PS 33xxc CO0 Analog I O Connector J2 eee 7 16 Figure 7 12 PS 33xxc C0 Motor Feedback Connector J3 essere 7 17 Figure 7 13 PS 33xxc C0 Motor Feedback Connector J5 essere 7 17 Figure 7 14 Mounting Schematic 0 0 eee eeeceeseeseeeseecscecseeceaecsaecsaeesseceseesseesseesseesseeeeaeeeaeeeaaeeaaeenaeed 7 18 151 PS 33xx Rev D TABLE OF ILLUSTRATIONS xxiii API Controls LIST OF TABLES Table 1 1 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 3 7 Table 3 8 Table 3 9 Table 3 10 Table 3 11 Table 3 12 Table 3 13 Table 3 14 Table 3 15 PS 33xx Series Digital Servo Drives Installation User s Guide Model Designations
9. n Prev Cancel 5 10 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 2 3 Summary of System Parameters Below we have listed the system parameters that may be present in the PS 33xx that you have purchased This list of parameters is provided for advanced users that may require access to specific system parameters and variables Not all of the parameters may be present in the specific model purchased Figure 5 1 System Logical Operators Category Code Description Unit Lower Limit Upper Limit Logical amp Logical AND Logical OR NOT EQUAL 2 Logical NOT this inverts all the bits 01010001 becomes 10101110 lt LESS THAN lt LESS THAN EQUAL EQUAL gt GREATER THAN gt GREATER THAN EQUAL Figure 5 2 System Parameters Analog Category Code Description Unit Lower Limit Upper Limit Analog inputs ADC1 Analog input 1 volts 10 10 ADC2 Analog input 2 volts 10 10 ADCS Analog input 3 volts 10 10 CAL1 Offset for analog input 1 volts 10 10 CAL2 Offset for analog input 2 volts 10 10 CAL3 Offset for analog input 3 volts 10 10 151 PS 33xx Rev D SYSTEM STARTUP 5 11 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 5 3 System Parameters Position Velocity Torque Category Code Description Unit Lower Limit Upper Limit Position Velocity Torque ACC Acceleration Rate RPM sec 0
10. command to increase the size of the spline table The X value in an Add command is less than or equal to the last point which was added to the table Spline table X values either time or master position must be increasing in value Following Error An event which monitors following error the difference between the target position and the feedback position has shut down the drive because the limit specified in the event has been exceeded Either increase the value programmed in the event or reduce the acceleration rate speed or time requirement for the programmed motion Illegal Operation An attempt was made to start or stop motion when the drive is not in position mode A specified time period is negative or zero A variable which was specified in a PID or Slew Variable command does not exist An attempt was made to stop motion when the drive has executing a Move At Such commands need to be terminated with a corresponding End Move At command An attempt was made to use a Hard Soft Stop Queued Motion command when the drive was not queuing motion An attempt was made to enter Master Position Tracking Mode when the drive was not in position mode or the drive was in a continuous move or the drive was executing a queued motion command Another Slew Variable instruction was encountered before the first had completed Only one such command may be active at a time Wait for In Position was executed
11. Bussman KLM 4 PS 3310 10 0 A RMS 500VDC Bussman KLM 10 PS 3320 10 0 A RMS 500VDC Bussman KLM 10 7 10 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 7 8 PS 33xx d i Cable Assemblies CA F6 2 CABLE ASSEMBLY ANALOG FLYING LEADS 2 FT CA F14 2 CABLE ASSEMBLY FEEDBACK FLYING LEADS 2 FT CA F24 2 CABLE ASSEMBLY IO FLYING LEADS 2 FT CA ID24 OPTO CABLE ASSEMBLY IO FLYING LEADS 2 FT I SERVO CA DB9 232 6 CABLE ASSEMBLY DB9 RS 232 6 FT Crimping Tools can be obtained from USA Schuster Electronics Tel 1 800 521 1358 P N DF11 TA2428HC CE Hirose D Tel 07 11 456 0021 Hirose UK Tel 01 90 826 0616 Table 7 9 PS 33xxc Cable Assemblies CA SD26 KIT CABLE ASSEMBLY FOR IO 26SUB D DIN BREAKOUT CA SD15 KIT CABLE ASSEMBLY FEEDBACK 15SUB D BREAKOUT CA SD26 OPTO CABLE ASSEMBLY FOR OPTO22 26SUB D 25D CA DB9 232 6 CABLE ASSEMBLY DB9 RS 232 6 FT The PS 33xxc requires two cable assemblies CA SD26 KIT Customers wishing to manufacturer their own cable sets may purchase the mating connectors from the table of PS 33xxc connectors below Adam Tech Part Number DB9 male solder cup DEO9PD Aluminum Back Shell DE09 DH AL TS Grommet Tree GS DE09 HD SD15 female solder cup HDT15SD Aluminum Back Shell DE09 DH AL TS Grommet Tree GS DA15 HD SD26 female solder cup HDT26SD Aluminum Back Shell DA15 HD AL TS Grommet Tree GS DA26
12. Channel as a feedback device Refer to section 7 2 2 for Commutating Encoder Specifications compatible with encoder based controllers The connections also include a non isolated 5 VDC supply for the HED Encoder power and motor over temperature sensor OT If a motor over temperature sensor is being utilized you must enable this feature in the software configuration Make this mode ACTIVE via parameter COT Check motor OT input Figure 3 36 PS 33xxi E Feedback Connector J3 151 PS 33xx Rev D J3 Feedback Encoder with Hall Signal Pin 13 14 Motor OT 5 VDC Return 5 VDC Out 9 HED2 10 7 Shield 8 HED 1 5 iZ CZ 3 B 1 2 d A cable assembly CA F14 2 may be purchased to facilitate wiring the J3 connector This cable assembly provides flying leads pre wired to the mating connector two feet in length INSTALLATION AND WIRING 3 89 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The PS 33xxi R motor feedback connector J3 is a 14 pin dual row connector that contains connections for resolver feedback The PS 33xxi R Series is a digital amplifier that will only accept a resolver as the feedback device Refer to section 7 2 1 for Commutating Resolver Specifications compatible with resolver based controllers The connections also include a non isolated 5 VDC supply for motor over temperature sensor OT If a motor over temperature sensor is being utilized yo
13. D s ve f bx al 2 Optional cable amp Optional cable amp Ja D o7 breakout terminal 7 strip e P CA SD15 KIT wo 151 PS 33xx Rev D INSTALLATION AND WIRING 3 107 API Controls 3 108 PS 33xx Series Digital Servo Drives Installation User s Guide Motor Feedback J3 The PS 33xxc E Series digital amplifier will only accept an encoder with Hall or an encoder with Commutation Tracks encoded on the Z Channel as a feedback device Refer to section 7 2 2 for Commutating Encoder Specifications compatible with encoder based controllers The PS 33xxc E motor feedback connector J3 is a 15 pin sub D that contains connections for encoder feedback The connections also include an isolated 5 VDC supply for hall and encoder power If a motor over temperature sensor is being utilized you must enable this feature in the software configuration Make this mode ACTIVE via parameter COT Check motor OT input The High Speed Input HSI3 on the motor feedback connector J3 is also used as a Hall Effect Device input thus is not available when configured for motors utilizing HED s This High Speed Input can be used as registra
14. PS 33xx Series Digital Servo Drives Installation User s Guide 7 2 3 Motor Connector Wiring 151 PS 33xx Rev D APPENDICES 7 1 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide REVISION DESCRIPTION Change vendor wire spec and marker Shrink 1 0 inch minimum or equiva m 2 6 inch t Shrink 1 0 inch minimum Vire Markers in a plas number AP Controls 45 Hazelwood Dr Amherst New York 14228 Phone 716 691 9100 Fax 716 691 9181 ssy Cable Assy CS 1631 xx CS 1831 7 2 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide P 4 L Heat Shrink 1 0 inch minimum xx F MARKER marked with the AP Controls 45 Hazelwood Dr Amherst New York 14228 Phone 716 691 9100 Fax 716 691 9181 ALLY FURNISHED Cable Assy CS 1723 xx 1 SPECIF 8 151 PS 33xx
15. E and low power DC Low power DC signal level wiring logic and analog signals leaving the panel enclosure on which the system is mounted should run in separate metallic conduits or channels from AC power motor power conductors or other power equipment circuits The analog and High Speed Inputs of the PS 33xx Series Amplifiers are differential inputs These differential inputs should be driven via the users differential outputs and should be connected with individually shielded twisted pairs to provide the best possible noise immunity All control signals interfacing to the system must be wired with twisted cable with at least one twist per inch to minimize inductive noise coupling Encoder and resolver wiring must be wired with individual twisted shielded pairs using cable equivalent to those listed in Table 3 3 below 3 52 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Clamp cable shield to pannel ground remove paint for direct mechanical contact Table 3 3 Suggested Wire Ground Strap o 151 PS 33xx Rev D Unused conductor pairs should be grounded to the SPG at one end only to avoid a ground loop Ensure that any interface cable shield is individually wired to the appropriate cable shield termination point Shields should be insulated from ground and all other electrostatic shields along the length of the run The ungrounded end
16. Faults cscs eterne torte nation eee rh ene nean des 5 38 Figure 5 28 APImate 2 0 Special Functions eese nennen ennt enint ene 5 39 Figure 5 29 APImate 2 0 Create New AXIS siderne eai aE E a AS ei TEKE 5 40 Figure 5 30 APImate 2 0 Monitor Window cesses nennen emeret nennen 5 41 Figure 5 31 APlImate 2 0 Monitor Menu seeseeseeeeeeeeeren rennen eene nennen nennt ren rennen 5 41 Figure 5 32 APIScope Target Position and Velocity enne 5 42 Eisure 5 33 APImate 2 0 File Print iecit eet EL eere on eee Poe re ERR Reit agno 5 43 Figure 5 34 APImate 2 0 Help Screens i cccccssssessteecceenncsedeessnisstheccesuanodecsdnsonteeddasontecehaessedesedacsiesnnss 5 44 Figure 5 35 APImate 2 0 Program CAM AUX Analog eseeseseeeeeeneeen eene eene 5 45 Figure 5 36 APImate 2 0 Program Reg essere neet tentent enne enne 5 46 Figure 5 37 APImate 2 0 Edit Copy and Paste Functions eene rennen 5 47 Figure 5 38 APImate 2 0 Edit Program Step sese nennen rennen 5 48 Figure 7 1 Outline Dimensions PS 3303 PS 3306d 1 eee eee 7 2 xxii TABLE OF ILLUSTRATIONS 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 7 2 Outline Dimensions PS 3306c PS 3310 PS 3320 csse 7 3 Figure 7 3 Drive Part Number Configuration
17. PS 33xx Series Digital Servo Drives Installation User s Guide 5 2 Applying Power prevent accidental motion during the amplifier configuration process 5 Before proceeding make sure that the ENABLE input is INACTIVE to 5 2 1 Theory of Operation The PS 33xx is a digital motion controller that will process commands within the hardware and software limits dictated by the user wiring configuration parameters events etc The output of the system is the motion s created in response to the command s input Flowchart your axis application so that you can determine the Cg function of inputs and outputs configuration operating mode etc This will save time and assist in the startup of a new application The importance of this cannot be over emphasized 151 PS 33xx Rev D 5 2 2 Summary of Functions 5 2 2 1 Enable Input The ENABLE input commands the drive to provide power to the motor it is a dedicated input and cannot be reassigned For safety purposes this input is leading edge triggered The PS 33xxi and PS 33xxc can also be enabled via software command The Enable Mode may be and ed or or ed with software and hardware 5 2 2 2 Motor Over Temperature OT Input Motor over temperature inputs are provided on the feedback connector J3 on the PS 33xx drives This input is wired to a N C thermal switch internal to the motor Z 10k means motor is OK If a motor OT sensor is to be utilized in an application
18. Suggested Contactor with MOL Mounting Description 9 3 N O aux 3 N O 2 N C 120 V coil 12 3NO aux 3 N O 2 N C 120 V coil 25 32 12 25 3 N O aux 3 N O 2 N C 120 V coil 32 3 N O aux 3 N O 2 N C 120 V coil 3 N O aux 3 N O 2 N C 120 V coil 80 3NO aux 3 N O 2 N C 120 V coil Use arc suppressor for relay coil Square D LA4DA1U The contactor is a BREAK BEFORE MAKE type to prevent damaging the amplifiers power section During an e stop the bus is shunted via the N C contact through the external regen resistor 151 PS 33xx Rev D APPENDICES 7 9 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 3 Options and Accessories Table 7 6 AC Fuse Selection AC Fuse Selection Table Drive Model Fuse Rating Fuse 5 A RMS 250V Bussman ABC 5 306 PS 3 10 A RMS 250V Bussman ABC 10 PS 3310 15 A RMS 500V Bussman FNQ 15 PS 3320 30 A RMS 500V Bussman FNQ 30 The preferred AC line over current protective device one for each unit is a three phase magnetic circuit breaker with a 5 8x instantaneous trip point The listed AC line fuses are recommendations only It is the user s responsibility to ensure compliance with applicable electrical safety codes Table 7 7 External Regen Fuse Selection Regen Fuse Selection Table Drive Model Fuse Rating Fuse J PS 3303 4 0 A RMS 500VDC Bussman KLM 4 PS 3306 4 0 ARMS 500VDC
19. Table 7 2 M Series AC Servo Motors sesssssssssseseeeseeeene nennen nene enennn nnns erne ennen trennen tensis 7 6 Table 7 3 S Series AC Servo Motors ssscccssscsssscesssseessscssrsccssnsscssssssagaeonscsessesestanseonascsscescnsesennacs 7 8 Table 7 4 T Series AC Servo MOtors eeccceccceesseceseeceeneeecseeeeeaaeceeaeecececeeeessaaeceeaeeceeeeessaeeseaaeseaaeees 7 10 Table 7 5 Suggested Contactors DIN Mount essere nne nne 7 9 Table 7 6 AC Fuse Selecon sireno eeo Reer Ean nE sabe Eoaea EOE a sates da sdcswdeneshas EETA EEEREN 7 10 Table 7 7 External Regen Fuse Selection ccccscsssescseseeescetseneseeessasensseseseseedesaseseteseeessenesnnsenees 7 10 Table 7 8 PS 33xx d i Cable Assemblies esses eere tese een entente nenne 7 11 Table 7 9 PS 33xxc Cable Assemblies 0 cccecssccessecseececesseceeseeceeneeceaeeeaeceeaaeccsneeesaeceeaaecseaeeseeeeesas 7 11 Table 7 10 External Regeneration Resistors eese rennen rennen 7 12 Table 7 11 Suggested Line Filters is alene drenge entente kennt ente battant tbe tane neon 7 12 151 PS 33xx Rev D LIST OF TABLES xxv API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 1 Introduction This section provides a summary of model designation and specifications basic warranty policies and customer service information 151 PS 33xx Rev D 1 1 About This User s Guide This User s Guide cont
20. both AC and DC Noise suppressors can be purchased locally and are an effective inexpensive method of eliminating potential noise problems in the system Any connection to an inductive load such as a DC coil should be terminated with a high speed flyback diode to absorb the high energy spikes caused when the coil is switched off and its magnetic field collapses Such diodes should be connected close to the inductive load to provide suppression at its source across the coil with the reverse polarity to the voltage that powers the coil The amount of energy absorbed is considerable and the diode must be rated accordingly Figure 3 12 Noise Suppression DC Relay TENE D e e ry L DC Power Supply T AS Input High Speed Flyback Diode 151 PS 33xx Rev D INSTALLATION AND WIRING 3 55 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Any connection to an inductive load such as an AC coil should be terminated with an RC snubber circuit or metal oxide varistor MOV to absorb the high energy spikes caused when the coil is switched off and its magnetic field collapses An RC snubber 4 7k ohm resistor in series with a 0 1 uf capacitor placed across an AC coil will effectively suppress noise generation Such suppression devices should be connected close to the inductive load to provide suppression at its source The amount of energy absorbed is considerable and the suppressor mus
21. c S E I b 3 p x z 5 G a 2 5 c m 5 i S55 3 o 6 E C 5 o m vo amp E cB 8 x z Z 5 ES o c N 8 o c O i x x EI A ed Q PO 7 c o FO 4 amp e m i fo DUM mp x x x x E 34 gt gt c e E 2 st 3 uL hd hd 7 14 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives 7 6 PS 33xxc R CO initial release of the Centennial amplifier is designated with a C0 in the part number The connector layout of the CO series is different from the production release of the Centennial unit This section documents these variations Figure 7 10 PS 33xxc CO0 Digital I O Connector J1 151 PS 33xx Rev D T 2 Pin 6 oro E55 9 10 12 13 E 15 16 BESV R 18 19 20 at 10 11 12 13 14 15 16 17 18 19 20 21 2 Installation User s Guide APPENDICES 7 15 API Controls 7 16 PS 33xx Series Digital Servo Drives Figure 7 11 PS 33xxc C0 Analog I O Connector J2 APPENDICES ncoder Out A ncoder Out B ncoder Out Z C M shell mi mimi mimo 26 Zz Pin 6 8 9 26 Installation User s Guide 151 PS 33xx Rev D API Controls Figure 7 12 PS 33xxc C0 Motor Feedback Connector J3 Figure 7 13 PS 33xxc C0 Motor Feedback Connector J5 151 PS 33xx Rev D PS 33xx Series Digital
22. custom motion profiles as a function of time e Complex CAM tables of up to 3000 data points can be entered to define custom motion profiles as a function of the master encoder input or as a function of the Auxiliary PID loop e Master slave relationships can be developed from the secondary encoder inputs providing motion output as a RATIO CAM or SPLINE e Auxiliary PID loop with 100 microsecond update rate can be utilized in conjunction with the analog inputs SPLINE CAM and master slave capabilities Applications such as web tensioning pump and motion profiling can be addressed with ease 151 PS 33xx Hev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide API Controls PS 33xx Series Digital Servo Drives Installation User s Guide vi TITLE PAGE 151 PS 33xx Hev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide The information contained in this document is provided for customer use only Every effort has been made to ensure the accuracy of this information However API Controls assumes no responsibility for any errors or omissions The information contained in this document is subject to change without prior notice Users critical evaluation is welcomed to assist in the preparation of future documentation Copyright 1997 by API Controls Inc All rights reserved Printed in the United States of America TITLE PAGE vii
23. s Guide The encoder outputs of the PS 33xxd E are not buffered Special care must be taken maintain the signal integrity Figure 3 20 PS 33xxd E Encoder Outputs Encoder PS 33xxd E NC Control LL Mor uu d Nar ra Pass Through ls 3 B J1 ES B 3 3 8 C ah gt gt cd x x ra 4 B Out J1 14 i TS Z Z Ou H gt Z 3 Z Out J1 p Differential Preferred method for best noise immunity 151 PS 33xx Rev D INSTALLATION AND WIRING 3 73 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 21 PS 33xxd E HSI Signals Signals for High Speed Inputs Step Dir Direction Step 0 CCW 1 CW when falling Step Step Step CCW Step CW when HSI2 0 when HSI1 0 V V Phase A Quadrature Phase B Quadrature CCW on A HSI1 rising with B HSI2 low Figure 3 22 HSI Signal Timing r Maximum transition time 50nsec Minimum OFF time 500nsec a Minimum ON time 500nsec STEP increments L motor position on falling edge DIR needs to be stable for 500nsec before STEP falls Input voltage range 3 5V to 7VDC 3 74 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS
24. then parameter COT must be set to Active for the PS 33xx to monitor this input SYSTEM STARTUP 5 5 API Controls 5 6 PS 33xx Series Digital Servo Drives Installation User s Guide 5 2 2 3 Reset Input The drive RESET input when active will cause the amplifier to immediately remove power from the motor and clear any re settable fault conditions If the drive is being provided an ENABLE input when the RESET input is activated the drive will immediately re enable and continue operation The RESET input on the PS 33xxc Series if active when power is applied ee will cause the unit to start its Boot Load Manager This will cause the unit to appear as if it has faulted the unit will not respond to any IO and will not enable until the RESET input is in the inactive state and then active state again Correctly configure your power up sequence s to prevent accidentally activating the units Boot Load Manager See Section 5 3 7 Update New Firmware for additional information 5 2 2 4 Foldback Output The FOLDBACK output is active when I t is actively reducing the motor output current to protect either the amplifier or the motor This output is only available on the PS 33xxd and PS 33xxi series controllers This in not considered a fault condition and will not appear in the fault history It is the responsibility of the user to properly use this output as required by the application 5 2 2 5 Servo OK Output The DRIVE
25. 001 100 000 CPOS CAM Position Revolutions Read Only DCV Digital Command Velocity RPM 15000 15000 DCC Digital Current Command Amps Model dependent DEC Deceleration Rate analog velocity mode only RPM sec 0 001 100 000 FPOS Feedback Position Revolutions 14 bit 1 4bit MAST Master Position encoder Revolutions Read Only PERR Position Error Revolutions Read Only PET Position Error Tolerance Revolutions 0 32565 POSM Motor Position Revolutions Read Only POSS Position in of Step Dir Step Up Down or Quad Steps Read Only VEL Velocity of feedback RPM Read Only Figure 5 4 System Parameters Configuration Category Code Description Unit Lower Limit Upper Limit Config BSPD Base Speed RPM 0 CDLY Commutation Delay Read Only CM Command Mode Velocity 0 Current 1 Position 2 Step amp Dir 3 Step Up Down 4 Quad 5 and CAN 6 0 6 COFF Commutation Offset Degrees 180 180 COT Check Motor OT Input 0 1 DCM Command Source Analog Digital 0 1 DM Drive Mode Analog 0 and DCC DCV 1 0 1 5 12 SYSTEM STARTUP 151 PS 33xx Rev D API Controls Category Config 151 PS 33xx Rev D Code EM EPPR FBF FBS FEED FSV HED IKPD IKPQ IMAX INER IPK IRA IRMS KF KI KP MFLX MIND MPOL MPOS ONE OSPD PPG REAL RFLX RGNI RGNL RPOL RRES SPPR SWE SWF Description Enable Source Opto Input 0 Opto Input and ed with SWE 1 0pto Input or ed with SWE 2 and SWE 3 Feedback Encoder Feedback Filter velocity Feedback Sign
26. 08 26 Wed 001 Illegal Operation S7Jul02 18 27 42 Wed 002 Illegal Operation 97Jul02 18 27 00 Wed 003 Illegal Operation 97Jul02 18 26 10 Wed 004 Illegal Operation 97Jul02 18 25 38 Wed 005 Bus Fault 97Jul02 13 20 21 Wed O06 Bus Fault 97Jul01 10 37 53 Tue 007 Bus Fault 97Jul01 09 01 33 Tue 008 Bus Fault 37Jun30 16 36 24 Mon 009 Bus Fault S7Jun30 14 57 02 Mon 010 E Stop 87Jun30 14 41 25 Mon 011 Illegal Operation 37Jun30 14 26 22 Mon 012 Illegal Operation S7Jun30 14 25 35 Mon 013 Illegal Operation S7Jun30 13 50 21 Mon 014 Bus Fault 37Jun30 13 34 33 Mon 015 Illegal Operation S7Jun30 13 21 19 Mon 5 38 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 5 Special functions Special functions are available when the mouse is placed on the green motor icon When in the connected application view the user may refresh the connected application view reread the data from the connected application from the amplifier or Upload New Firmware safety precautions to prevent accidental damage to the application The amplifier will be disabled while the firmware is being copied into flash memory POWER MUST NOT BE INTERUPTED DURING FIRMWARE UPLOAD 2 When uploading new firmware the user is prompted to observe Figure 5 28 APlmate 2 0 Special Functions APimate 97 Step Numbers Ctrl T 3 Feedback 3 Command 3 Tu
27. 33xx Series Digital Servo Drives Installation User s Guide 4 3 APImate 2 0 Configuration To take full advantage of the APImate 2 0 software features the user must first configure the software for his computer Launch the APImate software from your program menu Figure 4 1 below is an example of the file functions available from the Main Screen The user should take this time to configure the software for the printer The user should also confirm the communications port being utilized by the software to communicate to the amplifiers Whenever APImate is loaded a check is completed of the PC s ports to select the proper location of your communications port Shared IRQ s for the selected communications port and LAN MODEM or MOUSE will result in erratic operation of the software Figure 4 1 APImate 2 0 Main Screen APImate2 olx Edit Special Wizards Help New Application Ctrl N Open Existing Application Ctrl 0 Hose Application BURN Print Setup s foi Erime Eir Set up Communications A v use COM1 use COM2 use COM3 use COM4 Off line Exit APlmate 4 4 APImate SOFTWARE SETUP AND INSTALLATION 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide A green icon of a motor under the connected application lets you know which axes are currently connected to the PC The Axis Menu can be accessed via a right mouse click The feature Axis Memory F
28. 5 me E me a Les Sag eu pe EZ m nu gt 25 l g M E e e S z ES x 2A z ze m V zm E E i aF a E P o s 5 N oe 3 f ie 2 25 3 5 a x P sop ag peqpaa4 151 PS 33xx Rev D SYSTEM STARTUP 5 15 API Controls 5 16 PS 33xx Series Digital Servo Drives Installation User s Guide 5 2 4 General Description APImate 2 0 supplies the tools necessary to configure the amplifier to your application The screen images and descriptions provided in this section are intended to highlight some of the major features available within the software Wizards for Setup and Tuning are provided to step the user through the basic configuration of the system APIscope is provided to allow the user to capture data on the commanded and actual motor motion APImate2 provides HELP on commands parameters features and functions available within the PS 33xx Series product line Review this section to familiarize yourself with the features available prior to programming the unit This will save time in the startup of a new application SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 151 PS 33xx Rev D SYSTEM STARTUP 5 17 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 Amplifier Configuration 5 3 1 Wizard Axis Setup The amplifier configuration is done primarily via the Axis Setup Wizard The Setup Wizard will configu
29. A Quadrature Phase B Quadrature CCW on A HSI1 rising with B HSI2 low Figure 3 46 HSI Signal Timing r Maximum transition time 50nsec Minimum OFF time 500nsec Minimum ON time 500nsec STEP increments L motor position on falling edge DIR needs to be stable for 500nsec before STEP falls Input voltage range 3 5V to 7ZVDC 151 PS 33xx Rev D INSTALLATION AND WIRING 3 103 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 47 Schematic of PS 33xxc HSI Inputs He meuts Gre 5 5 vo 7 VL H HSI 1 hm Se lL A Vow EN A m HSI 1 lt HSI 2 lt Le A vor AW M lt HSI 2 S FEE Exceeding this voltage will result in damage to the equipment The four High Speed Inputs HSI require a signal level of 3 5 7VDC 3 104 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 48 Schematic of PS 33xxc Isolated Outputs External Power Supply J1 11 lt _ 1 1 12 lt _ TNVOUT v 1 5K Ohm lt i B 3 3m a gt J1 1 i Output 3 1 5K O
30. Adaptive Tuning feature to optimize the performance of the selected servomotor This Real time Adaptive Tuning feature is bi directional and includes load and inertia estimation and compensation It also provides an Active Current Loop Compensation gain and phase Optimal performance can be obtained on systems with varying inertial loads up to 50 1 Additional analog inputs and outputs can be utilized to interface to the user s environment Advanced mathematical capabilities 40 bit floating point LOG functions and trigonometric functions are available to simplify programming of complex motions Complex SPLINE tables of up to 3000 data points can be entered to define custom motion profiles as a function of time Complex CAM tables of up to 3000 data points can be entered to define custom motion profiles as a function of the master encoder HSI inputs or the Auxiliary PID s output Master slave relationships can be developed from the master encoder HSI inputs providing motion output as a RATIO CAM or SPLINE Auxiliary PID loop with 100 microsecond update rate can be utilized in conjunction with the analog inputs SPLINE CAM and master slave capabilities Applications such as web tensioning pump and motion profiling can be addressed with ease INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 38 PS 33xxc Connector Placement
31. Figure 3 46 Figure 3 47 Figure 3 48 Figure 3 49 Figure 3 50 Figure 3 51 Figure 3 52 Figure 3 53 PS 33xx Series Digital Servo Drives Installation User s Guide PS 33xxi E Feedback Connector J3 sss enne neret 3 89 PS 33xxi R Feedback Connector J3 s esssesssesseseseeeee eene entrent 3 90 PS 33xxc Connector Placement cccccceecceceeeceesnceceeeeeceaeecaeeeeaeceeaeeceeaeeseaaeceeaeceeneeees 3 93 PS 33xxc Digitial I O Connector J1 sessi 3 95 Schematic of PS33xxc Inputs eene nennen tenente ceiros ieii 3 96 PS 33xxc Analog I O Connector J2 sees eene enne enne 3 99 Schematic of PS 33xxc Analog Inputs eeeeeeeeeeeeeeenen nene 3 100 Schematic of PS 33xxc DRIVE OK Output eese nennen nennen 3 101 Schematic of PS 33xxc Encoder Outputs eese ene 3 102 PS 33xxd E HSI Signals err etate rer Ceres re He esce Urea PEE eo Ea 3 103 HSL Signal nin 3 103 Schematic of PS 33xxc HSI Inputs 20 eeeesseceseceseceseceseeeseeeseeeseeseneeeaeeeaeeeaeeenaes 3 104 Schematic of PS 33xxc Isolated Outputs eene rene 3 105 Schematic of PS 33xxc Analog Outputs essen 3 106 Typical Master Slave Configuration cc eeeessecsseceseceeceeceeeeseeeeeeeseeeeneeeneeeaeeeaaeenaes 3 107 Master Slave Drive Interconnect esesssseeesseseeeeee eese 3 107 PS 33xxc E Encoder Feedback Connec
32. Installation User s Guide Figure 7 6 Drawing MAC S Series E d FEEDBACK CONNECTOR Front face of connector MS3112bE14 5P PTO2bE 14 5P f EN Front face of connector MS3112E14 18P PTO2E 14 18P 151 PS 33xx Rev D 4 HOLES THRU BF 4 HOL Front face y MOTOR CONNECTOR ES THRU of connector MS3102E24 22P Front face of conn ector MS5102bE24 28 APPENDICES 7 9 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 7 4 T Series AC Servo Motors Turbo Servo Motors PS 33xxd E PS 33xxi E and PS 33xxc E models only Torque Torque Cont Peak Part Number Ib in N m RPM RPM MAC T171 NF40 Flying Leads on size 17 and 23 MS connectors on size 34 and 42 IP55 Rating nU Part Number in MAC T171 NF40 Part Number Power Con MAC T171 NF40 172167 1 172167 1 172167 1 172167 1 172167 1 MS3112E14 5P MS3112E14 5P MS3112E14 5P MS3112E14 5P MS3112E14 5P 7 10 APPENDICES ka in 192159 1 192159 1 192159 1 192159 1 192159 1 MS3116F 14 5S MS3116F 14 5S MS3116F 14 5S MS3116F 14 5
33. OK output is active when main power is applied and no fault conditions exist If the drive faults the SERVO OK output will be disabled It is suggested that this output be wired in series with the user s E Stop and Machine Enable to stop machine operation 5 2 2 6 High Speed Inputs The HSII and HSI2 inputs are utilized for applications requiring following of a master signal These inputs are configured by the software parameter Command Mode to accept Step Dir Step Up Down or Encoder Quadrature The Centennial Series provides additional HSI input s for registration or general usage On the PS 33xxd and PS 33xxi these inputs can also be utilized as general purpose inputs be sure to add the proper series resistance to prevent damage to these inputs SYSTEM STARTUP 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide 5 2 2 7 Analog Inputs The analog input ADC1 is dedicated for receiving a X10VDC as either a Current or Velocity Command when the unit is configured for analog modes of operation Parameter ADC1 represents the input voltage and parameter CAL1 the analog offset voltage The PS 33xxd and PS 33xxi have a 10 bit analog input The PS 33xxi provides an additional analog input named ADC2 with its corresponding offset voltage of CAL2 The PS 33xxc Centennial Series provides three 14 bit analog inputs named ADCI ADC2 and ADC3 with corresponding offsets of CALI CAL2 an
34. Purpose Description S Manufacturer Ground Strap ooo o0 Table 3 14 Motor Cable Selection Table 151 PS 33xx Rev D INSTALLATION AND WIRING 3 113 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide External Regen Resistors Table 3 15 External Regeneration Resistors External External Regen Continuous External Peak Resistor Kit PS 3303 147 Ohm 150 W RRK 0160 47 Resistor Kits include resistor fuse fuse holder and 1 meter of wire Line Filters Table 3 16 Suggested Line Filters Filter Selection Table AC Line In Part Number Description Schaffner P N ine Filter Single Phase 8 A FN350 8 29 F 1 12 ine Filter Single Phase 12 A FN350 12 29 CiIc v e c 3 o oc T F 1 20 ine Filter Single Phase 20A FN350 20 29 F 1 30 ine Filter Single Phase 30A FN350 30 33 ne Filter Three Phase 8 A FN351 8 29 T C T F 3 16 ine Filter Three Phase 16 A FN351 16 29 ine Filter Three Phase 25 A ne Filter Three Phase 50 A ine Filter Three Phase 80 A ine Filter Three Phase 110 A Required to comply with EC directive 89 336 EEC r E I T 3 114 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 4 APImate 2 0 Software Setup and Installation This section will guide the user through the APImate 2 0 or APlImate Lite software inst
35. Resolver 0 00361 1 04 U AH Ki K2 A AK BB BF AJ AG Part Number mm mm mm mm mm mm mm mm mm mm MAC S431 NMRO 14 30 5 20 86 80 3 7 100 250 MAC S432 NMRO 14 30 5 20 86 80 3 i 100 289 MAC S442 GMRO 19 40 6 30 109 2 95 3 9 115 265 MAC S443 GMRO 19 40 6 30 109 2 95 3 9 115 303 MAC S444 GMRO 19 40 6 30 109 2 95 3 9 115 341 MAC S462 GMRO 24 50 8 40 1524 130 3 5 12 165 291 MAC S463 EMRO 24 50 8 40 1524 130 3 5 12 165 329 MAC S464 EMRO 24 50 8 40 1524 130 3 5 12 165 367 Power Con FB Con Plug Kit IP67 Part Number Plug Plug Kit IP67 Plug 7 8 MAC S431 NMRO MS3112E14 5P 175 6F15 S01 MS3116F 14 5S MS3112E14 18P 175 6F15 S02 MS3116F 14 18S MAC S432 NMRO MS3112E14 5P 175 6F15 S01 MS3116F 14 5S MS3112E14 18P 175 6F15 S02 MS3116F 14 18S MAC S442 GMRO MS3112E14 5P 175 6F15 S01 MS3116F 14 5S MS3112E14 18P 175 6F15 S02 MS3116F 14 18S MAC S443 GMRO X MS3112E14 5P 175 6F15 S01 MS3116F 14 5S MS3112E14 18P 175 6F15 S02 MS3116F 14 18S MAC S444 GMRO MS3112E14 5P 175 6F15 S01 MS3116F 14 5S MS3112E14 18P 175 6F15 S02 MS3116F 14 18S MAC S462 GMRO MS3102E 24 22P 175 6F24 S01 MS3106F24 22S MS31202E 24 28P 175 6F24 S02 MS3106F 24 28S MAC S463 EMRO MS3102E 24 22P 175 6F24 S01 MS3106F24 22S MS31202E 24 28P 175 6F24 S02 MS3106F 24 28S MAC S464 EMRO MS3102E 24 22P 175 6F24 S01 MS3106F24 22S MS31202E 24 28P 175 6F24 S02 MS3106F 24 28S APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives
36. and Specifications eene 1 28 Node BEER iirenivIizebstoeT M 3 41 Communication Method Switch Selection 3 42 Suggested dic ei a 3 53 AC Power IBLl ertet rende E R e Se E E 3 59 Control Power Specifications senisesse teia Eei r Eea EE e aE ar E aS 3 61 Control Regeneration TB3 esisueririeerierieorasrasesrio riie En n Sune E Ei r i EES 3 62 Regeneration Circuit Specifications eese eene eene rennen 3 63 External Regeneration Resistor Specifications seen 3 63 Motor Connections T B2 2 i eee tice tette EE Fore eee LEER FREE a eH PR Lea era Led Pee ta 3 65 S gested Wife P 3 66 P5 335xx dA Cable Assemblies 5 inet to eerta aeo tet eres oae en Dee tenuta EEEN ERRES 3 112 PS 33xxc Cable Assemblies 5 rettet tree tr reina tetur Ecce ov ee ea e Re legene 3 112 Wire Selection Table eiii tet reete d cause seeaaaecdea coe teas oed orare apa 3 113 Motor Cable Selection Table sussurros eisien 3 113 External Regeneration Resistors eeeeeseeeseeeeeeeeeere eren nennen nnne 3 114 151 PS 33xx Rev D xxiv LIST OF TABLES API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 3 16 Suggested Line Filters 1 ient entire edi eet deserve bu Peto piede dea eee e 3 114 Table 6 1 Seven Segment Display 4 eei ient endete deben ae epo toa nto pede aiii eb che 6 2
37. based controllers Available features include e A graphical user interface program APImate 2 0 provides the user with the tools to easily configure the PS 33xx to his specific applications APImate 2 0 is a Windows95 based program that provides Wizards for axis setup tuning and high level programming language e Methods of control include stored program mode digital mode and the ability to accept Step Direction Step Up Down Quadrature and Analog inputs whereby you are commanding the servo system via an analog 10 VDC reference Determine your required configuration then review the appropriate section e With the communications port configured for RS 422 485 hardware and software allows for up to 31 axis to be digitally controlled from a single PC serial port or similar host device Multi axis start and stop along with on the fly speed change are only a few of the features available on these units e Hardware interfaces for ENABLE RESET and DRIVE OK are dedicated I O that allow you to interface to your machinery equipment e The PS 33xxc Series can also be configured to operate 300 volt induction motors in either vector or variable frequency control INSTALLATION AND WIRING 3 91 API Controls 3 92 PS 33xx Series Digital Servo Drives Installation User s Guide All modes of operation offer a PID loop tuning feature to optimize the performance of the selected servomotor All modes of operation offer a Real time
38. based on and consistent with IEEE Standard 518 1982 IEEE Guide for Installation of Electrical Equipment to Minimize Electrical Noise Inputs to Controllers from External Sources particularly Section 6 Installation Recommendations and Wiring Practices This standard must be followed All equipment grounding should also be in conformance with applicable National and Local electrical codes Failure to follow recommended procedures might result in incorrect system operation and void the product warranty When wiring the servo system proper wiring procedures must be followed The wiring is to be performed only by qualified electrical personnel familiar with the construction and operation of this equipment the hazards involved and the National Electrical Code NEC and local electrical codes Equipment damage and or injury could result if these procedures are not observed The user is responsible for conforming to all applicable local national and international codes 3 1 Shielding and Grounding of Electrical Panels Motion control servo systems contain digital and microprocessor circuitry that can be affected by Electro Magnetic Interference EMI They also contain switching amplifiers that can generate significant EMI at frequencies from 10 kHz to 300 MHz The potential exists for this switching noise to interfere with the correct operation of both the servo system and any other electrical equipment in the vicinity 15
39. extremely useful tool is the ability to create Arbitrary Expressions If the user wishes to monitor the value of analog input 1 minus the analog input 2 the arbitrary expression would be ADC1 ADC2 Figure 5 31 APlmate 2 0 Monitor Menu Clear Target Position Target Velocity Tasks second Events second Motor Current Motor Velocity Feedback Angle Feedback Position Analog Input Motor Current Arbitrary Expression 151 PS 33xx Rev D SYSTEM STARTUP 5 41 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The APIscope icon is located on the center bar and can only be accessed when in the Connected Application view APIscope provides a graphic view of specific parameters that can be monitored as a function of time The features of Capture Repeat Trigger and Print are available for the collection of data The Trigger command must be located within the motion program and can be found under the Utilities menu when creating editing a program Figure 5 32 APIScope Target Position and Velocity N Target Position em rev eference city Error Repeat Trigger ae Capture amp Plot time seconds 5 42 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The system printer must be configured prior to printing application data When located on an Application icon the user may access the print function
40. group of parameter s deal with the motor configuration and is provided for informational purposes only These parameters are defined by the Setup Wizard and should not be changed by the user Some of the parameters shown may not apply for the specific motor being driven in your application Improper configuration of these parameters may result in an unstable system configuration or damage to the motor Figure 5 17 APImate 2 0 Motor Parameters APlimate 97 File Edit Special wizards Help lel Es amp BB Connected Application Base Speed BSPD 5355 RPM Bu P53320c MES 231 NROD No Motor Torque Constant KT 0 540 Nm Amp B Parameters oO Minimum Flux at Top Spd MFLX 1 000 Weber O Modes Mutual Inductance MIND 0 0253 Henrys DO Motor Motor Pole Count MPOL 8 pole 3 Feedback Imaginary Axis Gain REAL 0 000 1 Command Rated Flux at Base Spd RFLX 1 000 Weber O Tuning Rotor Resistance ARES 41 0000 Ohms B Events B Active Program s amp D Program Library E Status S i Applications amp BB c program fileskapimate97 sa i 151 PS 33xx Rev D SYSTEM STARTUP 5 29 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The next group of parameters deal with motor feedback These parameters are set through the Setup Wizard and need not be changed by the user A Feedback Filter FBF parameter is provided for users with application noise on the feedback signal lines Low value
41. procedures listed below to ensure proper installation e Do not mix power and control signal wiring in the same conduit duct or wire tray without 12 inches 305 mm of separation e Utilize shielded four 4 conductor wiring with drain for motor power cabling Follow electrical codes to ensure the proper wire gauge for the motor and amplifier being installed into your application e Provide separate a wire way for the high power DC cables to the motor e The motor wiring must be properly strain relieved to ensure that interconnect wiring and connections do not become damaged e Motor thermal overloads MOL s are required to protect the motor when loads currents exceed the motor design limits e If your motor is provided with an internal thermal Over Temperature OT switch it should be wired to the appropriate connections on the amplifier Make this mode ACTIVE via parameter COT Check motor OT input Table 3 9 Motor Connections TB2 151 PS 33xx Rev D TB2 Motor Pin 4 Shield Phase U A Phase V B 1 Phase W C INSTALLATION AND WIRING 3 65 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 4 Low Power DC Connections Special care must be taken to ensure that the proper wiring is employed for the model being installed into your application Please review Section 3 3 on electrical procedures before proceeding High power wiring and low power DC signal wiring within the
42. strap to a good Physical Earth PE ground to which other panels cabinets and the controlled machinery are similarly grounded Use ground straps made of 1 inch 25 mm silver tinned flat copper braid a to connect cabinet doors to enclosures the first sub panel to the enclosure and each sub panel to the next The PE ground could consist of a copper rod driven into the earth a grounding electrode a building column which is embedded in the earth or another mass which has been determined to be at a true earth ground potential A copper rod driven into the earth is the recommended method arrangements should not be used Use Star grounding arrangement Chain grounding or daisy chain 151 PS 33xx Rev D INSTALLATION AND WIRING 3 49 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The system ground and equipment grounds for other units on the panel if any should be individually wired to the SPG utilizing 10 AWG 5 5 mm stranded copper wire In any system connection to a physically separated piece of equipment or another part of the control system careful attention should be given to the avoidance of ground loops Ground loops can cause erratic system operation Where electrical codes call for the typical green safety ground wires use E them in addition to any ground strap suggested in this guide
43. when active will cause the amplifier to immediately remove power from the motor and clear any re settable fault conditions The RESET input on the PS 33xxc Series if active when power is applied cer will cause the unit to start its Boot Load Manager This will cause the unit to appear as if it has faulted the unit will not respond to any IO and will not enable until the RESET input is in the inactive state and then briefly active state again Correctly configure your power up sequence s to prevent accidentally activating the unit s Boot Load Manager See Section 5 3 7 Update New Firmware for additional information The ENABLE input is dedicated and cannot be reassigned The user must configure the software EVENT of enable on rise to start the active program on active state of the ENABLE input Likewise the program execution will stop on fall or inactive state of the input disabling the controller Outputs on the PS 33xxc can be utilized as current sink or source outputs Connections for Output Power and Output Com are provided for purposes of optical isolation This supply may be separate from the input supply The various methods of wiring inputs are shown in this section INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 39 PS 33xxc Digitial I O Connector J1 J1 Digital 1 O Isolated IO o u N C M shell A cabl
44. 00 Watt 47 Ohm ER 150 Watt 75 gt Ohm 10 Ohm Yes 0 0 Watt 200 Watt 150 47 Ohm No EA 150 Watt 75 50 Ohm 10 Ohm Yes 0 50 Watt 200 Watt 612 1 Ed id ERE E 7 Total ENABLE RESET plus 3 Isolated 5 30 VDC Configure Source or Sink plus 2 HSI 3 6 12 10 20 20 40 3 6 6 12 1 ER ES 12 Total ENABLE RESET plus 8 Isolated 5 30 VDC Configure Source or Sink plus 4 HSI 3 Additional Features to all models 1 2 3 4 1 28 INTRODUCTION APImate2 0 Programming Configuration Software Communication via RS 232 422 485 7 segment diagnostic display and Fault History PS 33xxC includes Time Date stamp I square t Over Voltage and Over Current PS 33xxC includes Over Temp protection Terminal interface for data entry adjustment PS 33xxC includes second com port For single phase AC derate current 33 at 115 AC and 50 at 230 AC High Speed Inputs 3 5 7VDC Does not include regen resistor dissipation 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 1 1 Continued Model Designations and Specifications Features 40C Ambient Model 1 Inputs Secondary Outputs Digital Outputs Outputs Control Methods Motor Cont Analog Encoder Analog Encoder Types kW Input ET 1 1 reer ies SENE a E erent eee 1 Utilize the two DRIVEOK None Analog Velocity Brushless Differen
45. 1 PS 33xx Rev D INSTALLATION AND WIRING 3 35 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide While most manufacturers including API Controls design their products to minimize susceptibility to EMI immunity is greatly affected by installation techniques Some responsibility for avoiding EMI related problems must fall to the system integrator This section describes panel layout wiring grounding and shielding techniques effective in designing and integrating a servo system into your application codes safety requirements must be followed The user is responsible for conforming to all applicable local national and international codes 5 If there is a conflict between recommendations in this manual and safety As in all engineering designs a trade off between the perfect solution and what is practical is unavoidable You may not be able to apply all the suggestions we make but careful attention to EMI reduction will minimize startup costs and future operating problems in any installation 3 1 1 Panel Layout General Placement How parts are placed on the sub panel and on the enclosure door will play an important role in reducing the effects of EMI When designing a control panel for the servo system the panel builder must recognize a system s two worst enemies heat generation and electrical noise The importance of proper control panel layout cannot be overemphasized First it will set t
46. 22 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The Tuning Wizard is typically utilized in conjunction with APIscope to monitor the commanded motion versus the motion output The slider bars are provided to assist with making adjustments The slider bars are arranged in the order of importance the most important is displayed at the top of this Tuning Wizard screen During the adjustment process the software will automatically adjust the Kp Ki and Kf parameters If the system becomes unstable during this process select DEFAULT or REVERT then select CHANGE Figure 5 11 APlmate 2 0 Wizard Tuning APImate 97 ioj x File Edit Special Wizards Help BG Connected Application H amp e amp PS3320c MES 231 NRUO Node 1 mm a EB Parameters ia APIScope Node 1 O Modes O Motor O Feedback Target Position system rev O Command O Tuning Ej Events ERA m O maa s Damping Scope Feedforward Gain E PERREEEE HEEL KEEL CEE ERE HE HE E E E E E ee ee KER Response PO Default Revert a ge 15 y 25 EB Capture amp Plot time seconds Ex 151 PS 33xx Rev D SYSTEM STARTUP 5 23 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 2 Parameters For ease of identification and function system parameters are grouped into Modes Motor Feedback Command and Tuning parameters When positioned o
47. 33xx Series Digital Servo Drives Installation User s Guide A parameter Software Fault or SWF has been provided that will allow the user to terminate program execution on a software fault The application may require the program to continue execution after the external RESET input is activated This is extremely useful in applications where the user cannot allow interruptions of the process or motion program such as in web handling applications The default configuration for parameter SWF is inactive The user may toggle this parameter to active to allow the program to abort and disable the amplifier This is extremely useful in applications where the controller is programmed to range check values of entered variables or data Figure 5 16 APImate 2 0 Modes Stop Program on Fault SWF APImate 97 File Edi Special Wizards Help ial x amp BlB Connected Application B Command Mode CM Pasition B PS3320c MES 231 NRO Command Source DCM Digital B Parameters m Drive Mode DM Brushless Ci Modes Enable Source EM SWE or ed with Opto Ci Motor Stop Pam on Fault SWF i Ci Feedback N 1 Command O Tuning B Events 2 B Active Program New Value for Stop Pam on Fault k e Program Library E Status amp B Applications ce 0 m GQ c program filesvapimatet JL Active 5 28 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The next
48. 33xx Series Digital Servo Drives Installation User s Guide Figure 3 23 Schematic of PS 33xxd E HSI Inputs eet IIR puts are 3 5 to e HSI 1 hm a mi HSI 1 e e HSI 24 N A Y vy 2 o RU l j HSI 2 5 SEE Exceeding this voltage will result in damage to the equipment I The two High Speed Inputs HSI require a signal level of 3 5 7VDC 151 PS 33xx Rev D INSTALLATION AND WIRING 3 75 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide PS 33xxd E Analog Input J2 If you are using the HSI inputs for command input you may skip this section The PS 33xxd E analog I O connector J2 contains connections for a single analog input This differential analog input is intended to provide 10 VDC control signal to the amplifier The differential input should be driven via the users differential outputs and should be connected with individually shielded twisted pairs to provide the best possible noise immunity Depending on the software configuration the analog signal software name ADC1 can be utilized to provide a velocity or current command 10 bit resolution to provide the required motion Figure 3 24 PS 33xxd E Analog I O Connector J2 J2 Analog I O Pin Analogl O Pin Analog VO 5 6 5 Analogi in 6 Analogt in 2 A cable assembly CA F6 2 may be purc
49. 422 485 Four Wire Switch 9 is ON for termination xxx1x jresistor on last unit 3 2 2 Comm Port J5 It should be noted that the PS 33xxc Centennial series controllers have an additional communications port to allow it to pass information to additional units This feature is useful in applications where the Centennial series controller is acting as a master and the application requires data transfer to slave axis Figure 3 2 Comm Port Pin Definition J5 J5 Comm Port J5 CommPot ined DB9 F RS 422 RS 485 E e Pin RS 232C RS 485 two wire Tx 9 j vbpc j PS 33xxc only Comm Port 2 The maximum current is limited to 120ma for use with the T 330 Data Terminal 3 42 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide RS 232 Three Wire Configuration This is the factory default configuration This communication method is used for applications requiring less than 25 feet of communications cable Figure 3 3 Schematic of RS 232 Wiring PC Port 151 PS 33xx Rev D INSTALLATION AND WIRING 3 43 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide RS 422 485 Two Wire Configuration This communication method is used for applications requiring less than 5000 feet of communications cable The PCB 485 communications card is required This method is cost effective and provides inc
50. 5 Schematic of RS 422 485 Wiring Four Wire Method sse 3 46 Network Connections for CAN essssessssseseseseeeeee enne ene nene enne enne renee 3 47 PS 33xx Series Dimensional Illustration eee ceseceseceseceseceseeeseeeseesseeeeneesaeeeseeeaaeeaaes 3 48 Recommended Ground Strap eeeeeeeseeeeeeeen rennen rennen nennen nenne 3 50 Recommended Ground Strap Mounting Technique eee 3 51 Ground Strap for Secondary Control Power esee 3 54 Noise Suppression DC Relay 1 n etit tienes tde teer cce ete lacet seen dene i 3 55 Noise Suppression AC Relay seeeeeeseeeeeeeeeen eren retener 3 56 Noise Suppression SS Relay sees nennen nen rene rennen 3 57 Regeneration Sidi 3 63 xviii TABLE OF ILLUSTRATIONS 151 PS 33xx Rev D API Controls Figure 3 16 Figure 3 17 Figure 3 18 Figure 3 19 Figure 3 20 Figure 3 21 Figure 3 22 Figure 3 23 Figure 3 24 Figure 3 25 Figure 3 26 Figure 3 27 Figure 3 28 Figure 3 29 Figure 3 30 Figure 3 31 Figure 3 32 Figure 3 33 Figure 3 34 Figure 3 35 PS 33xx Series Digital Servo Drives Installation User s Guide PS 33xxd Connector Placement c sccc ccscseccscieseesesteessnacsevvecngeteeacsuucvesscsbacsebsusornssnestbens 3 68 PS 33xxd E Digital I O Connector J1 eese eren rene 3 70 PS 33xxd E Digital Inp ts erecto ter
51. API Controls PS 33xx Series Digital Servo Drives Installation User s Guide SUMMARY OF SAFETY CONSIDERATIONS This section contains duplications of each NOTE CAUTION and WARNING presented in the body of this document These safety considerations are grouped according to the section that they appear in It is highly recommended that the safety considerations contained in this section be reviewed prior to equipment installation or operation NOTES CAUTIONS and WARNINGS contained in the text provide important information A NOTE provides additional or special information to assist E operation maintenance personnel Disregarding a NOTE may cause inconvenience but will not result in personal injury or equipment damage damage may occur Failure to heed a CAUTION will result in some form of damage to the equipment however personal injury is unlikely A CAUTION is provided in a procedure whenever electrical or mechanical if the WARNING is not heeded Electrical or mechanical damage may A WARNING is provided in a procedure where personal injury may occur also occur viii SUMMARY OF SAFETY CONSIDERATIONS 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Installation and Wiring When wiring the servo system proper wiring procedures must be followed The wiring is to be performed only by qualified electrical personnel familiar with the constr
52. ATION AND WIRING 3 79 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 27 PS 33xxi Connector Placement J2 Analog I O Pin Signal Pin Signal 5 Analog 1 in 6 Analog 1 in J4 Network Pin Signal Shield Shield 4 Reserved J3 Feedback Encoder with Hall L2 Ping Signal Pinf Signal Motor OT Motor OT 5 VDC Return 5 VDC Out J5 Comm Port von Pin RS 232C RS 485 two wire L2 Tx Tx R 4 NC Rx Rx Tx Le rv L R NC J3 Feedback Res Pin Signal Pinf Signal TIK TIK COM COM 8 9 avoc Pin Name Ctrl 3 Cirl 5 1 Regen J1 Digital I O Ping Signal Pin Signal 9 inputs 10 input5 7 nput4 HSI2 8 nput4 HSI2 5 input3 HSI1 6 Input 3 HSI1 TBI AC Power TB2 Motor Pin Name 3 80 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Digital Inputs Outputs J1 The PS 33xxi Series is an intelligent amplifier with I O capability The PS 33xxi digital I O connector J1 contains connections for 5 inputs plus 2 HSI inputs and 4 outputs to allow the u
53. Because Motion Matters This is a Discontinued Product Contact Kollmorgen Customer Support at 1 540 633 3545 or email us at support kollmorgen com If assistance is required PS 33xx Series Digital Servo Drives Installation User s Guide Doc 151 PS 33xx Rev D API Controls 45 Hazelwood Drive Amherst New York 14228 716 691 9100 e Fax 716 691 9196 800 566 5274 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide PREFACE Congratulations You ve just purchased the finest amplifier in its class The PS 33xx Series is designed to provide reliable long term and economical operation in demanding field environments Without exception the PS 33xx Series Digital Servo Drive outperforms every other competitor in the critical areas of performance integration via its extensive I O ease of field service and the versatility of its all digital design 151 PS 33xx Rev D The PS 33xx Series amplifiers are a new generation of digital servo amplifiers available in current ratings from 3 to 20 amps continuous The product series includes three product families the PS 33xxd a Digital servo drive the PS 33xxi an Intelligent servo drive and the PS 33xxc Centennial servo drive Each model of the PS 33xxd i Series utilize a space vector control algorithm and each model of the PS 33xxc Series are DSP based All models of the PS 33xx Series can be configured to operate Brushless DC servomotors in a
54. Controls PS 33xx Series Digital Servo Drives Installation User s Guide 6 Maintenance Troubleshooting This section summarizes the status and error codes that may be displayed on the PS 33xx Series Digital Servos It also makes recommendations for troubleshooting and fault recovery procedures 6 1 Status Display A seven segment display is located on the front of the PS 33xx Series amplifier to provide the user with information on the current status of the amplifier If a fault condition exists that prevents the unit from performing its function the seven segment display will indicate the error code s If multiple errors are present the codes will scroll to allow you to determine the type of errors present Table 6 1 below shows the meaning of each code combination 151 PS 33xx Rev D MAINTENANCE TROUBLESHOOTING 6 1 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 6 1 Seven Segment Display Display Segment number nn indicates the unit s ID Amplifier over temp fault disabled Verify condition exists provide additional cooling reduce motion requirements Bus fault The output is disabled due to an under voltage or over voltage condition CF Configuration fault disabled Important system configuration parameters are missing Disabled bus voltage not present Enable input is not active Following Error stopped Verify the moto rs ability to meet the load requiremen
55. D and the EVENT to fault if the following error is exceeded 151 PS 33xx Rev D SYSTEM STARTUP 5 9 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 2 2 10 Commanding Motion The possible methods of commanding motion are so varied that it not practical to document them all here All commands are documented in the APImate2 Help Menus Edit Program Step lt empty gt GoTo PID Utility 10 Motion Edit Program Step lt empty gt GoTo Edit Program Step CAM Move Forward CAM Move Reverse Loop Spline T able Loop Spline Table Forever Set Linear Spline Mode Spline Move Forward Spline Move Reverse Spline Pre Compute Utility 10 Motion Spline AUS PID Output Absolute Move Time limited AUX PID P gain Begin Master Position Tracking AUS PID Reference Change Move At Velocity AUX PID Scaling Don t Queue Motion Command Lock DCV to AUX PID output End Move At Set PID Integrator LIMIT Hard Stop Queued Mation Set PID LIMIT Index Shortest Time Set PID Integrator LIMIT Index Speed limited Spline Table Re Allocate Table Number Set PID LIMIT Move At Until Input Active Start AUS PID Controll Move At While Current lt Move At While Input Active Scale Move to Feedback Null Variable Move to Feedback Null Prev Queue Motion Command End Position rev D me pe A Maximum Speed revisec
56. HD 151 PS 33xx Rev D APPENDICES 7 11 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 7 10 External Regeneration Resistors External External Regen Continuous External Peak Resistor Kit PS 3303 47 Ohm 150 W RRK 0160 47 PS 3306 d Table 7 11 Suggested Line Filters F 1 8 F 1 12 F 1 20 F 1 30 F 3 8 F 3 16 Required to comply with EC directive 89 336 EEC Schaffner EMC Inc USA 201 379 7778 7 4 Recommended Spare Parts Left Blank 7 12 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 5 Relevant Engineering Prints Figure 7 8 Bus Dynamic Braking Interconnect Contactor for Bus Dynamic Braking enable main M aux Zr Dynamic Braking e T 2 lt a o B 2 t gt o 5 pu t o a H n v gt e nal 151 PS 33xx Rev D APPENDICES 7 13 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 7 9 Motor Dynamic Braking Interconnect Recommended v Ex E z S 5 o 3 3 o
57. IPTION lor wire spec ard marker Feet 2 5 Inch xx P MARKER Wire Markers Wire Markers or euivalant in a plastic t number P2 SHIELD P4 P4 E P5 AP Controls 45 Hazelwood Dr Amherst New York 14228 Phone 716 691 9100 Fax 716 691 9181 cs C 3 5666 xx 7 6 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide REVISION DESCRIPTION Change vendor wire spec and marker 2 5 Inch xx P MARKER Wire Markers Wire Markers Clamp M 7 12A Marker Conductor Pair At AP Controls 45 Hazelwood Dr Amherst New York 14228 Phone 716 691 9100 Fax 716 691 9181 Cable Assy CS 7100 xx CS 7100 151 PS 33xx Rev D APPENDICES 7 7 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 8 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 2 4 Suggested Contactors DIN Mount Table 7 5 Suggested Contactors DIN Mount
58. Rev D APPENDICES 7 3 API Controls Marker PS 33xx Series Digital Servo Drives Installation User s Guide REVISION DESCRIPTION 0257 Change vendor wire spec and marker Wire Markers I Wire Markers Marker Z REF C5 3442 7 4 APPENDICES packaged in a plastic bag xx part number n Controls 45 Hazelwood Dr Amherst New York 14228 Phone 716 691 9100 Fax 716 691 9181 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide REVISION DESCRIPTION 7 Change vendor wire spec and marker xx P MARKER Wire Markers Clamp M 7 128 Marker Conductor Pair At 151 PS 33xx Rev D z Wire Markers BP Controls 45 Hazelwood Dr Amherst New York 14228 Phone 716 691 9100 Fax 716 691 9181 Cable Assy CS 5100 xx APPENDICES 7 5 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide REVISION DESCR
59. S MS3116F 14 5S Power watt Halls 1024 line encoder Halls 1024 line encoder Halls 1024 line encoder Halls 1024 line encoder Halls 1024 line encoder Halls 2048 line encoder Halls 2048 line encoder Halls 2048 line encoder Halls 2048 line encoder Halls 2048 line encoder Sockets 170361 1 4 170361 1 4 170361 1 4 170361 1 4 170361 1 4 Feedback Device FB Con 172171 1 172171 1 172171 1 172171 1 172171 1 Inertia Kt Kg m2 Nm Amp AJ AG in 172163 1 172163 1 172163 1 172163 1 172163 1 in Sockets 170361 1 15 170361 1 15 170361 1 15 170361 1 15 170361 1 15 MS3112E14 18P MS3116F 14 18S MS3112E14 18P MS3116F 14 18S MS3112E14 18P MS3116F 14 18S MS3112E14 18P MS3116F 14 18S MS3112E14 18P MS3116F 14 18S 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 Drawing MAC T Series Au Re H ka eu on d kr F AG at j BE BB 4 HOLES THRU FEEDBACK CONNECTOR eX MOTOR CONNECTOR Pa i para IH i AK K1 E s KC AJ L e Br BB 4 HOLES THRU
60. Servo Drives J3 Resolver Feedback 12 N Pin si 2 Si 6 ERN 8 EM 12 J5 Comm Port DB9 F Primary RS 422 Pin RS 232 RS 485 15VDC 15VDC PS 33xxc Only Com Port 2 Installation User s Guide APPENDICES 7 17 API Controls Figure 7 14 Mounting Schematic 3 871 198 9 315 DIA J i i a 5 10 52351268 31 0454123031 O Y a g n 7 18 APPENDICES PS 33xx Series Digital Servo Drives Installation User s Guide 9 4934 139 0 151 PS 33xx Rev D
61. a copy of the APImate 2 0 software for each installation and their end user for additional tuning and maintenance of the equipment from your PC to prevent conflicts with older versions Use Windows95 Before proceeding REMOVE any previous installations of APlmate 2 0 ADD REMOVE Programs to uninstall previous installations To obtain APImate 2 0 upgrades return the CD ROM to your point of a purchase with a purchase order that will be utilized for tracking shipment Upgraded software will be installed ONLY on the original CD ROM 4 2 APImate SOFTWARE SETUP AND INSTALLATION 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide 4 2 2 Installation Procedure The APImate 2 0 user interface program is supplied on a read write CD ROM disk Install this disk in the CD ROM drive of your PC select the Add Remove Programs icon and follow the instructions for adding a program emove Programs An Install Shield is provided to guide you through the installation process Follow the instructions presented in the Install Shield Note that extensive help menus are available with APImate to assist the user in determining the function of each command parameter or feature Help screens for commands and parameters are accessed by first highlighting the item and then performing a right mouse click APImate SOFTWARE SETUP AND INSTALLATION 4 3 API Controls PS
62. a the right mouse key Below is an example of a CAM type motion being controlled through the two analog inputs and the Aux PID Loop Figure 5 35 APImate 2 0 Program CAM AUX Analog CAM motion using AUX and analog inputs AU PID P gain is ONE AUX PID I gain is ZERO AUX PID D gain is ZERO AUX PID Reference is ADC1 AUX PID Feedback is ZERO AUX PID Offset is amp DC2 AUX PID Scaling is RATE AUX PID Output is PID Start AUX PID Controller Set Feedback Position to 0 0 Clear Spline T able 1 Add to Spline T able 1N0 0 1 1 2 0 sustem rev Loop Spline Table 1 Fotever Precompute Spline Table 1 Queue Motion Command CAM Move FWD Table 1 Scale of 1 LOOP Wait 5000 msec Stop and Hold AUX PID Controller Go To LOOP End Program 0 151 PS 33xx Rev D SYSTEM STARTUP 5 45 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Below is an example of a program that may be used for Form Registration The system moves continuously until an input is active then moves an offset distance of one revolution waits 200 ms and stops Figure 5 36 APimate 2 0 Program Reg Set Acceleration Rate to 50 system rev sec Sample Reg program LOOP Set Feedback Position to 0 0 Move At 8 system rev sec Until Input 0 Trigger Capture End Move At Move By 1 system rev Wait 200 msec End Program 0 R 5 46 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Dig
63. ace for data communications In addition its built in inputs outputs allow for hard wired connections for motor feedback and to sensor switches to ensure motion that is in sync with the user s environment In Position Mode the amplifier will execute stored motion program s in response to external inputs Step amp Dir Command Mode In Step amp Dir command mode the amplifiers High Speed Inputs HSI1 and HSI2 are utilized to accept direction and step signals respectively The amplifier utilizes the parameters similar to position mode in addition to the Command parameter Step Pulse Count SPPR The SPPR parameter controls the number of Step signals equivalent to one revolution of the motor shaft Step Up Down Command Mode In Step Up Down command mode the amplifiers High Speed Inputs HSII and HSI2 are utilized to accept Step and Step signals respectively The amplifier utilizes the parameters similar to position mode in addition to the Command parameter Step Pulse Count SPPR The SPPR parameter controls the number of Step signals equivalent to one revolution of the motor shaft Quad Encoder Command Mode In Quad Encoder command mode the amplifiers High Speed Inputs HSI1 and HSI2 are utilized to accept encoder quadrature A and B channels respectively The amplifier utilizes the parameters similar to position mode in addition to the Command parameter Step Pulse Count SPPR The SPPR parameter controls the number of encoder quadra
64. ains the information necessary to install wire start up operate and service a PS 33xx Series Digital Servo Drive The product series includes three product families the PS 33xxd a Digital servo drive the PS 33xxi an Intelligent servo drive and the PS 33xxc Centennial servo drive To simplify the use of this User s Guide we have organized the information into logical sections In addition we have created individual sub sections on each of the PS 33xx models for information specific to that model When configuration information is specific to a model of the PS 33xx it will be noted at the beginning of the section The sections common to all modes of control and configuration are also covered 1 2 Model Designations and Specifications INTRODUCTION 1 27 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 1 1 Model Designations and Specifications Model 1 Feedback Current T Regen Regen Device ien nos Internal External Per 3306d E IPS 3306i E ree Oi E inia E PS 3303i R Resolver PS 3306i R oe Oi R p R PS 3306c E Encoder Hall PS 3306c R XS ETC Resolver ENTE Encoder Hall PS 3320c R Resolver Resolver 6 12 10 20 20 40 Features 40C amen Cabinet Inputs Digital Watts a FREE RESET plus 2 HSI 3 90 253VAC 1 4xVAC 47 Ohm il 150 Watt 1 3 Phase nominal wa 47 63Hz 50 Ohm 10 Ohm Yes 50 Watt 2
65. al Servo Drives Installation User s Guide TIME System variable Seconds TR Translation Ratio ratio of distance to motor rev 16384 16384 VDC Bus voltage present DC Read Only Model dependent VFF VF Mode Frequency Hz 16384 16384 VFI VF Mode Current Command Amps Model dependent ZERO System variable Read Only Figure 5 5 System Parameters IO Category Code Description Unit Lower Limit Upper Limit IO IN Bit representation of inputs that are active Read Only IN Force input bits on OFF Function call represents input bits that are inactive Read Only ON Function call represents input bits that are active Read Only ON Function call represents input bits that are active Read Only 5 14 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 5 6 Function Block Diagram ISILAdNI Eum SA AEEmr 8323 PCs mavu m o I F E E T p 2295 aN Qa T m 2 FE T E Es 3 3 2 n i Pes a2 7 m as S um T lt Fi a fe E 3o un i Va m 2 e w a c Em 3 zx SESS m a 5 amp S5 2 a 7 ET a i 5 am IN Tr m ow eu ro zm m zum aOR Sm om Paes w TTo 399
66. allation APlImate 2 0 is a Windows95 based program that provides Wizards for axis setup tuning and high level programming APlmate Lite is a Windows95 based program that provides Wizards for axis setup tuning of the digital models only The graphical user interface of the APlmate programs provides the user with the tools to easily configure the PS 33xx to his specific application APImate 2 0 and APImate Lite are registered trademarks of API Controls 4 1 Hardware Requirements To take full advantage of the tools available within APImate 2 0 the system integrator must have a PC with Windows95 a hard disk with a minimum of 10M free space a communications port a mouse and a CD ROM drive 151 PS 33xx Rev D APImate SOFTWARE SETUP AND INSTALLATION 4 1 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 4 2 Software Installation 4 2 1 Preliminary Steps The APImate 2 0 user interface program is provided on a CD ROM The purchased copy is considered a site license The end user may make backup copies for multiple installations of this software When available software and firmware upgrades may be made available to end users with purchased copies To obtain upgrades return the CD ROM to your point of purchase with a purchase order that will be utilized for tracking shipment Upgraded software will be installed on the original CD ROM and returned It is recommended that the OEM or system integrator purchase
67. an ill formed expression an expression with spaces or other illegal characters or possibly missing illegally specified or undefined variables A signal is missing for motor feedback An illegal value was specified for an input or an output in a command Each drive has a specified limited number of IO points which are available for general use An illegal value was specified for an input or output in an event Each drive has a specified limited number of IO points which are available for general use An expression has evaluated to a value not legal for the command or context it is used in For example a negative time in a command which needs a positive non zero time MAINTENANCE TROUBLESHOOTING 6 3 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Spline Error The number of points in a spline table is less than 3 at least three points make up a spline table The specified spline table does not exist Depending on the drives configuration there are a limited number of spline tables available to load data into Typically there are four such tables numbered zero 0 through three 3 The number of points specified in a Spline Table Re Allocate exceeds the available memory dedicated to spline tables There is no space available in a spline table to add anymore data points this error occurs in the Add to spline table command Either reduce the number of points or use the Re Allocate
68. and Scale Motor Feedback device type Velocity 10V Analog Cmd Displays the current status of the HED inputs Current Loop D axis gain Current Loop Q axis gain Maximum Allowed Current Motor Inertia Max allowable current at the moment 12t read only Current ref in amps Foldback RMS Current Limit Velocity feedforward gain Velocity Integeral gain Velocity proportional gain Motor Torque Constant Minimum Flux at Top Spd Mutual Inductance Motor Pole Count Marked Position On event such as On Input System variable Overspeed Fault Setpoint Position Proportional Gain Imaginary Axis Gain Rated Flux at Base Spd Regen Integration Increment Limit on Integrated Regen Feedback Resolver Rotor Resistance Step Pulse Count used to set electronic gear ratio Software Enable 0 Disabled 1 Enabled Stop Pgm on Fault PS 33xx Series Digital Servo Drives Installation User s Guide Unit Lower Limit Upper Limit 0 3 pulses rev 1 324768 Hz 0 10 000 Counts 100000 100000 Model dependent RPM 0 01 100000 1 6 Read Only Read Only Amps Model dependent kg m 0 000001 Amps Read Only Amps Model dependent Amps 0 01 dependent 0 10000 Nm RPM sec 0 10000 Nm RPM 0 10000 Nm Amp 0 10000 Weber 0 15000 Henrys pole 3 16 Revolutions Read Only Read Only RPM 1 100000 1000 min 0 100 1 1 Weber 0 15000 Read Only Read Only pole 2 Ohms 0 01 10000 pulses rev 1 65536 0 1 0 1 SYSTEM STARTUP 5 13 API Controls PS 33xx Series Digit
69. ay be either encoder or resolver The motor manufacturer upon request will supply additional motor parameters Figure 5 9 APImate 2 0 Wizard Induction Motor Application v 6000 151 PS 33xx Rev D 0 001 5 ll o o0 2 Axis Setup Wizard EQUITES positiona Under program STI tre R Generic Induction 7 R Divewilactas a Slave and accent a Master Encoder nput oj 4096 o a Tachometer LPGITITTTU UG DTT E rates restat SYSTEM STARTUP 5 21 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Only the PS 33xxc Centennial series can be configured for DC Brush Motors Interconnect wiring for this motor type is not covered in this guide The Connections at TB2 motor connector will determine the maximum voltage that will be applied to the motor windings The motor feedback may be Tachometer Encoder or Resolver depending on the application The tachometer feedback is wired into the ADC2 input to provide the velocity feedback The user must enter the tachometer calibration in Volts KRPM The motor manufacturer upon request will supply additional motor parameters Figure 5 10 APImate 2 0 Wizard DC Brush Motor Axis Setup Wizard Application requires positioning Under progrenncontrall i Generic DC Brush ha fio ENIM 20 p Jo Dive wilactas a slave an accents Mester Encoder Input C C 0 c Commutation lacks rra 5
70. bly CA F14 2 may be purchased to facilitate wiring the J3 connector This cable assembly provides flying leads pre wired to the mating connector two feet in length INSTALLATION AND WIRING 3 77 API Controls 3 78 PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 6 PS 33xxi Series Each PS 33xxi Intelligent Series unit is an amplifier power supply intelligent controller and heatsink integrated into a single standalone package They will accept high level commands directly eliminating the need for a motion controller and can be operated stand alone networked or as a digital amplifier Each unit has the ability to store and execute motion programs The PS 33xxi E Series is a digital amplifier that will only accept an encoder with Hall or an encoder with Commutation Tracks encoded on the Z Channel as a feedback device The PS 33xxi R Series is a digital amplifier that will only accept a resolver as the feedback device All PS 33xxi Series servo controllers are intended to be utilized as stand alone controllers and thus do not provide an encoder out signal All PS 33xxi Series servo controllers provide the user with the same basic components e A graphical user interface program APImate 2 0 provides the user with the tools to easily configure the PS 33xx to the specific application APImate 2 0 is a Windows based program that provides Wizards for axis setup tuning and high level programming languag
71. c MES 231 NROO Node 1 Node 1 is Disabled Stopped Present Faults None s elocity 1683 1 RPM End Program Status 1 Status as of 7 2 97 7 15 08 PM Reset Drive The End Program Status shows the code returned from the current program of last fault status if non zero This is useful in determining the cause of program fault SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The I O folder provides the current status of I O points This folder is extremely useful and allows the user to check the status of I O points force inputs and outputs ON and OFF to assist in system integration process Figure 5 26 APlImate 2 0 Status I O Legend 1 0 is off 170 is on 1 0 is forced off 170 is forced on N 00069 Inputs 9032 Oooo Dutputs e 6009068 90607 To force a change in status of an input or output click the mouse on the corresponding input or output indicator 151 PS 33xx Rev D SYSTEM STARTUP 5 37 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The Fault folder provides a history of system faults that resulted in the amplifier being disabled Highlighting the fault and using the right mouse key can access additional information regarding the particular fault selected Figure 5 27 APlmate 2 0 Status Faults General 000 Bad Event ID Number 37Jul02 19
72. ceed the system integrator must determine the motor parameters and type of motor being used The PS 33xxd and PS 33xxi amplifiers can only operate Brushless DC servomotors The PS 33xxc Centennial units can operate three different motor types Brushless DC servomotor Induction motor vector control Induction motor variable frequency control and Brush DC servomotor All models of the PS 33xx series are easily configured as a servo amplifier in a current reference mode for direct input to the current loop or as a velocity speed controller All modes of operation offer a PID loop tuning feature to properly control API Controls Brushless DC servomotors SYSTEM STARTUP 5 1 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 1 2 Modes of Operation This section is to briefly describe possible modes of operation that the user may adopt for their application For additional information on parameters and function please refer to Figure 5 6 Function Block Diagram and Figure 5 13 APImate 2 0 Drive Mode DM Analog Current Mode In analog current mode the amplifier will accept a current reference command on the analog input ADCI This analog input is 10 VDC where a 10 volt command results in the maximum peak current of the selected model the PS 3310 has a peak rating of 20 amps RMS thus a 10 volt command results in 20 amps RMS output This is the primary or inner current loop of the amplifier and is the m
73. cessories Cable Assemblies Table 3 11 PS 33xx d i Cable Assemblies CA F6 2 CABLE ASSEMBLY ANALOG FLYING LEADS 2 FT CA F14 2 CABLE ASSEMBLY FEEDBACK FLYING LEADS 2 FT CA F24 2 CABLE ASSEMBLY IO FLYING LEADS 2 FT CA ID24 OPTO CABLE ASSEMBLY IO FLYING LEADS 2 FT I SERVO CA DB9 232 6 CABLE ASSEMBLY DB9 RS 232 6 FT Crimping Tools can be obtained from USA Schuster Electronics Tel 1 800 521 1358 P N DF11 TA2428HC CE Hirose D Tel 07 11 456 0021 Hirose UK Tel 01 90 826 0616 Table 3 12 PS 33xxc Cable Assemblies CA SD26 KIT CABLE ASSEMBLY FOR IO 26SUB D DIN BREAKOUT CA SD15 KIT CABLE ASSEMBLY FEEDBACK 15SUB D BREAKOUT CA SD26 OPTO CABLE ASSEMBLY FOR OPTO22 26SUB D 25D CA DB9 232 6 CABLE ASSEMBLY DB9 RS 232 6 FT The PS 33xxc requires two cable assemblies CA SD26 KIT Customers wishing to manufacturer their own cable sets may purchase the mating connectors from the table of PS 33xxc connectors below Adam Tech Part Number DB9 male solder cup DEO9PD Aluminum Back Shell DE09 DH AL TS Grommet Tree GS DE09 HD Saas eee eee SD15 female solder cup HDT15SD Aluminum Back Shell DEO9 DH AL TS Grommet Tree GS DA15 HD EGRE MEME SD26 female solder cup HDT26SD Aluminum Back Shell DA15 HD AL TS Grommet Tree GS DA26 HD 3 112 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 3 13 Wire Selection Table
74. ct either the amplifier or the motor Exceeding this voltage will result in damage to the equipment If you need to operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input I The two High Speed Inputs HSI require a signal level of 3 5 7VDC All models of the PS 33xxd E Series have two High Speed Inputs HSI that can be utilized for the purpose of supplying Step Direction Step Step or a Quadrature input command to the unit Software configuration of the unit s Command Mode parameter CM must be performed to utilize the two HST s as command signals 151 PS 33xx Rev D INSTALLATION AND WIRING 3 69 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 17 PS 33xxd E Digital O Connector J1 Pin f Isolated IO Pin Isolated IO 23 24 9 Spare 10 Spae 7 HSI2 8 HSI2 5 Asin 6 HSI1 1 2 Exceeding this voltage will result in damage to the equipment If you need 1o operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input I The two High Speed Inputs HSI require a signal level of 3 5 7VDC A cable assembly CA F24 2 may be purchased to facilitate wiring the J1 connector This cable assembly provides flying leads pre wired to the mating connector t
75. ct similarly to interrupts in that they are continuously evaluated background events Removing the check mark from the Enabled box can temporarily disable an event All events are automatically re enabled upon a RESET command or power cycle This is done as a safety measure to prevent the limit inputs or other features from becoming accidentally disabled during the machine integration process Examples of some of these events are shown on Figure 5 21 through Figure 5 23 Figure 5 21 APimate 2 0 Events Menu APImate 97 File Edit Special Wizards Help lal x lil Connected Application Bu P53320c MES 231 NROO Node 1 8 Parameters It Feedback Position gt X Stop T ERA It Feedback Position 4 Stop otor If Fdbk Pos gt X Set Clr Qutput 3 Feedback If Fdbk Pos lt Set Clr Output FRunfStop on Rise F all of Enable 3 Command Quick Stop if Input is OFF Ci Tuning Run from Step on Rise of Input BENI It Following Error gt X Fault B Active Program amp DR Program Library E Status li Applications amp QQ c program filesvapimateS7 sample 1 EN Run Stop on Rise F all of Input Output controlled by Speed IV Enabled 151 PS 33xx Rev D SYSTEM STARTUP 5 33 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 5 22 APImate 2 0 Events Run From Label on Active Input APImate 97 File Edi Special Wizards Help edi
76. d CAL3 These additional analog inputs can be utilized with the built in PID loop to address applications such as web tensioning pump and motion profiling Analog inputs may be utilized to monitor additional analog signals such as pressure temperature or load transducers The user would create a program step to monitor the input s values and take appropriate action lg AD Cle ARS Se iae Co o ENS ORSON SYSTEM STARTUP 5 7 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 8 5 2 2 8 Analog Outputs The PS 33xxc Centennial Series provides two analog outputs for controlling external devices or for providing information on status of the unit By default ANALOG OUT is a 0 to 10 VDC representation of velocity VEL and ANALOG OUT is 0 to 10 VDC representation of current IREF with respect to the amplifier s maximum rating A PS 3320c drive commanding full velocity with 10 amp utilization will output 10 VDC and 2 5 VDC The user may reassign the analog outputs to represent any system or user variable The output update time is 400us with user scaling available Commands for utilization are shown here SYSTEM STARTUP Edit Program Step First AUX DAC scaling If Then Clear Variable If Then End Program Program First AUX DAC Program Second AUX DAC Quick Stop on Input Mask Second AUX DAC scaling Set variable expression Slew Variable Software Disable S
77. d i 7 2 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 7 2 Outline Dimensions PS 3306c PS 3310 PS 3320 m 151 PS 33xx Rev D APPENDICES 7 3 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 7 3 Drive Part Number Configuration Input Power Series Powe
78. define custom motion profiles as a function of the master encoder input The Centennial series also offers an Auxiliary PID loop for entry into the CAM tables Master slave relationships can be developed from the secondary encoder inputs providing motion output as a RATIO CAM or SPLINE PREFACE iii API Controls iv PREFACE PS 33xx Series Digital Servo Drives Installation User s Guide The PS 33xxc Centennial Series Servo Controllers are one of the most advanced DSP motion controllers available and will meet your needs into the next century Additional features for the Centennial are e The PS 33xxc Series can also be configured to operate 300volt induction motors in either vector or variable frequency control e All modes of operation offer a Real time Adaptive Tuning feature to optimize the performance of the selected servomotor This Real time Adaptive Tuning feature is bi directional and includes load and inertia estimation and compensation It also provides an Active Current Loop Compensation gain and phase Optimal performance can be obtained on systems with varying inertial loads up to 50 1 e Additional analog inputs and outputs can be utilized to interface to the user s environment e Advanced mathematical capabilities 40 bit floating point LOG functions and trigonometric functions are available to simplify programming of complex motions e Complex SPLINE tables of up to 3000 data points can be entered to define
79. des access to four folders that show the current status of the Connected Application Good programming practice is to create your motion program utilizing variable names in place of constants This allows the user to edit the variable values without the need of editing the program In addition it allows the variable to be modified via the T 330 Data Entry Terminal Figure 5 24 APlImate 2 0 Status Folder for Variables The Variables folder is used to create monitor and interactively change values assigned to User Created variables Variables will automatically be created here prior to use within a motion program APImate 97 File Edi Special Wizards Help 8 08 Connected Application 5 6 P53320c MES 231 NROO No B Parameters I easevevocity M COMMAND oe INDEXLENGTH Ci Motor PGAIN Ci Feedback PD ae O Command FA O Tuning A TOFEEDBACK B Events Add Delete Present Value B Active Program e Program Library A Status SQ Applications QG c program files apimate9 sa 1 New Value e Henge 151 PS 33xx Rev D SYSTEM STARTUP 5 35 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 36 The General Status folder shows the current status of the amplifier The amplifier can be software reset from this location without triggering the Reset Input or cycling power Figure 5 25 APlimate 2 0 Status General Drive P53320
80. dins saunccit saa EEEE EOE ERE EREE 6 1 xvi TABLE OF CONTENTS 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 6 2 Fault RECOVELY EC M 6 3 Ta PP SucteLE G 7 1 Tel Product Specification vec iccsesssctegesushsstesvaslsrzesstebeessyususessabsciessasssvagesesteadasdbecestabentesbane 7 2 7 2 Motor Feedback Specification esee nennen 7 12 7 3 Options and ACCeSSOFIeS 2x ertet etre E deep Mee ea eru Ep de aax 7 10 7 4 Recommended Spare Parts sese rennen nennen 7 12 7 5 Relevant Engineering Prints eor tbt tt tette t te Ri RES ivaa 7 13 1 6 PS 33KO R CU sitet e reb Ue pe sy c esi Dive Ue Ra eso Mv Sene bets 7 15 151 PS 33xx Rev D TABLE OF CONTENTS xvii API Controls PS 33xx Series Digital Servo Drives Installation User s Guide TABLE OF ILLUSTRATIONS Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Typical Panel Wray E 3 39 Comm Port Pin Definition J5 esses ener AANA entren nens 3 42 Schematic of RS 232 Wining ise ien hse tenta te ice HH a isai 3 43 Schematic of RS 422 485 Wiring Two Wire esses enne 3 44 Schematic of RS 422 485 Wiring Alternate Two Wire Method sssss 3 4
81. e e Methods of control include stored program mode digital mode and the ability to accept Step Direction Step Up Down Quadrature and Analog inputs whereby you are commanding the servo system via an analog 10 VDC reference Determine your required configuration then review the appropriate section e Complex SPLINE tables of up to 16 data points can be entered to define custom motion profiles as a function of time e Complex CAM tables of up to 16 data points can be entered to define custom motion profiles as a function of the master encoder HSI inputs e Master slave relationships can be developed from the master encoder HSI inputs providing motion output as a CAM or RATIO of the input command INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide e With the communications port configured for RS 422 485 hardware and software allows for up to 31 axis to be digitally controlled from a single PC serial port or similar host device Multi axis start and stop along with on the fly speed change are only a few of the features available on these units e A network communications port allows the user to configuration each unit as a device in a Control Area Network consult factory for availability e Hardware interfaces for ENABLE RESET DRIVE OK and FOLDBACK are dedicated I O that allow you to interface to your machinery equipment 151 PS 33xx Rev D INSTALL
82. e assembly CA SD26 KIT may be purchased to facilitate wiring the Jl connector This cable assembly includes a three foot cable with a DIN 3 mount terminal strip 151 PS 33xx Rev D INSTALLATION AND WIRING 3 95 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Inputs are activated by current flow The choice of ACTIVE HIGH or ACTIVE LOW is at the user s discretion Figure 3 40 Schematic of PS33xxc Inputs External Power Supply k 20K Ohn 520 ig 4 N t VDC Uo gt vA gt ACTIVE HIGH CONFIGURATION A nu J Jil 26 10 20K Ohm r p pi b VA NA ACTIVE LOW NFIGURATION 3 96 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide Analog Input Outputs J2 The PS 33xxc analog I O connector J2 is a 26 pin sub D that contains connections for simulated encoder output two High Speed Inputs HSI three analog inputs two analog outputs and their associated signals The DRIVE OK is also provided on this connector DRIVE OK The DRIVE OK is a N O relay contact that is active when main power is applied and no fault conditions exist Analog Inputs The three analog inputs are to be utilized as differential input s to provide 10 VDC control signals to the amplifier These differentia
83. e original CD ROM prevent accidental motion during the amplifier configuration process 5 Before proceeding make sure that the ENABLE input is INACTIVE to 151 PS 33xx Rev D SUMMARY OF SAFETY CONSIDERATIONS xiii API Controls PS 33xx Series Digital Servo Drives Installation User s Guide System Startup When the amplifier is shipped from the factory the parameters are set for Cg velocity mode control The High Speed Inputs HSI require a signal level of 3 5 7VDC Exceeding this voltage will result in damage to the equipment The preferred interface is a differential output for improved noise immunity prevent accidental motion during the amplifier configuration process Flowchart your axis application so that you can determine the function of inputs and outputs configuration operating mode etc This will save time and assist in the startup of a new application The importance of this cannot be over emphasized 9 E Before proceeding make sure that the ENABLE input is INACTIVE to The RESET input on the PS 33xxc Series if active when power is applied will cause the unit to start its Boot Load Manager This will cause the unit to appear as if it has faulted the unit will not respond to any IO and will not enable until the RESET input is in the inactive state and then active state again ji Correctly configure your power up sequence s to prevent accidentally act
84. e placed in the incoming power lines immediately after the safety circuits and before any critical control components The PS 33xx Series controllers do have built in suppressors to protect them from line induced noise and transients However these internal devices cannot prevent such noise from affecting other parts of the system such as high speed sensor inputs and analog circuits Line filters will be necessary to achieve conducted noise levels to meet requirements for the CE Mark Refer to Table 7 11 for suggested line filters e Mount filters as close as possible to incoming power feed as practical e The incoming power feed should be as short and direct as possible e Do not bundle clean wiring from filtered sources with dirty unfiltered wiring INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Control Power TB2 3 TB3 Option purchased with the optional Control Power configuration Do not make connections to Cirl and Cirl terminals units not factory configured for this option will be damaged Units damaged as a result of improper installation will not be covered under API s warranty policy E The section applies only to models of the PS 33xx that have been Wiring a separate Control Power should be considered where loss of control power is critical or an orderly shutdown in the event of a power loss is required Refer to the Table 3 5 fo
85. ensions The PS 33xx is designed for easy installation into an electrical cabinet or sub panel The integral heatsink and mounting surface heat plate design increases the heat dissipation path and the product reliability The user must attach the PS 33xx to a suitable mounting surface to optimize heat dissipation Allow a minimum distance of 12 inches 305 mm above and below each drive and a minimum of 3 inches 78 mm on each side of the drive to Se eliminate a servo system s two worst enemies heat generation and electrical noise PS 3303 06 d i PS 3310 20 d i PS 3306 10 20c Consult the Appendices for mounting dimensions 3 48 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 Electrical Procedures Read this section before proceeding with any system wiring SEC 3 3 1 Wiring Precautions Grounding To minimize the effects of electrical noise a systematic rack panel and system grounding procedure should be followed Review Section 3 1 Shielding and Grounding of Electrical Panels for pertinent information The panel or rack in which the equipment is installed should provide a Single Point Ground hereafter referred to as SPG stud or bar The SPG should be welded or bolted inside the enclosure and be electrically continuous with the mounting assembly The panel s SPG should in turn be tied by a 1 inch 25mm braided
86. eries servo controllers provide the user with the same basic components e Communications interface to your host computer for configuring the PS 33xxd E servo controller e A graphical user interface program APImate 2 0 provides the user with the tools to easily configure the PS 33xxd E to a specific application APImate 2 0 is a Windows based program that provides Wizards for axis setup and tuning e System software including commands and parameters that allow you to configure the servo controller to your application to enter and manipulate data and to tune the performance of the unit to your application e Methods of control include the ability to accept Step Direction Step Up Down Quadrature and Analog mode whereby you are commanding the servo system via an analog 10 VDC reference in either the current or velocity speed mode Determine your required configuration then review the appropriate section e Master slave relationships can be developed from the secondary encoder inputs providing motion output as a RATIO e Hardware interfaces for ENABLE RESET DRIVE OK and FOLDBACK are dedicated I O that allow you to interface to your machinery equipment INSTALLATION AND WIRING 3 67 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 68 Figure 3 16 PS 33xxd Connector Placement J2 Analog I O Pin Analogl O Pinz Analogio 5 Analogtin 6 Analo
87. eti g a e eti aa E 3 71 PS 33xxd B Digital Outp ts poitea 3 72 PS 33xxd E Encoder Outputs eese ener nennen enne 3 73 PS 33xxd E HSI Signals etre rite rre Eta ee LEE ea et Hen ETHER 3 74 HSI Signal Warn 9 s iet eer ee ttes pt BESS once bp eos bee eec opedyeo Huge STADE SENE SENSE NER 3 74 Schematic of PS 33xxd E HSI Inputs eeesesseeseeseeeeeeeeeeee nene nre rennen 3 75 PS 33xxd E Analog I O Connector J2 esee 3 76 Schematic of PS 33xxd E Analog Inputs eese nennen 3 76 PS 33xxd E Feedback Connector J2 seen rennen 3 77 PS 33xxi Connector Placement nne ir E EEE EE E E 3 80 PS 33xxi Digital I O Connector J1 esee 3 82 PS 33xxi Digital Input eie eene etin enden a aa E bd 3 83 PS 33xxi Digital Output eere rtt eter terr to RE rey etra ee eo ire RE REEE 3 84 PS 33xxd E HSI Signals efti it dede sd res eet Hee cet ln eel EOD pneu e EET eb gests 3 85 SI Signal loni E 3 85 Schematic of PS 33xxi HSI Inputs eese trennen nennen enne 3 86 PS 33xxi Analog I O Connector J2 essere eren eren eene 3 87 Schematic of PS 33xxi Analog Inputs W u u ssessrre nerne eee nerne renere ennen nene rennen 3 88 151 PS 33xx Rev D TABLE OF ILLUSTRATIONS xix API Controls Figure 3 36 Figure 3 37 Figure 3 38 Figure 3 39 Figure 3 40 Figure 3 41 Figure 3 42 Figure 3 43 Figure 3 44 Figure 3 45
88. feedback connector J3 is a 15 pin sub D that contains connections for a resolver feedback and two High Speed Inputs HSI3 and HSI4 The connections also include an isolated 5 VDC supply for customer usage If a motor over temperature sensor is being utilized you must enable this feature in the software configuration Make this mode ACTIVE via parameter COT Check motor OT input Software commands for utilization of the High Speed Inputs HSI3 and HSI4 wil be supported with future releases of Firmware and APImate2 enhancements INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 53 PS 33xxc R Resolver Feedback Connector J3 J3 Resolver Feedback Pin Signal 6 JR R 8 5VDCRetum 9 HSI3 5 4 Spare Exceeding this voltage will result in damage to the equipment If you need 1o operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input The four High Speed Inputs HSI require a signal level of 3 5 7VDC A cable assembly CA SD15 KIT may be purchased to facilitate wiring the J3 connector This cable assembly includes a three foot cable with a DIN 3 mount terminal strip 151 PS 33xx Rev D INSTALLATION AND WIRING 3 111 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 8 System Ac
89. fier Placement and Installation The amplifier module s will be installed by the user into an industrial cabinet Dimensions for the amplifier modules are given in Figure 3 8 Figure 3 1 shows a typical panel layout for four PS 33xx Series modules Allow a minimum distance of 12 inches 305 mm above and below each je drive and a minimum of 3 inches 78 mm on each side of the drive to eliminate a servo system s two worst enemies heat generation and electrical noise Use ground straps made of 1 inch 25 mm silver tinned flat copper braid a to connect cabinet doors to enclosures the first sub panel to the enclosure and each sub panel to the next Where electrical codes call for the typical green safety ground wires use Cg them in addition to any ground strap suggested in this guide 9 38 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 1 Typical Panel Layout Incoming plant distribution line should have enough AC three phase power to supply the panel without a line voltage drop This line should be isolated from large AC mo SCR heater units or other un in the plant that may cause large and unwanted power disturbances Incoming ground reference connection Take back to plant distribution box with 6 or larger wire
90. for a Brushless DC motor The user is required to provide minimal information about the motor type the application mode and the command source Figure 5 8 APImate 2 0 Wizard AC Brushless Motor Check box to select Position Velocity or Following Mode Select none for Current Mode operation Axis Setup Wizard r Application 4 1 f Motor ype MAC S443 GMRO Pole Count Inertia kane JU 00051 Torque Constant Nm amp o BE Brushless v Application requires positioning under program control 0 001 Required Positioning Accuracy in parts of a motor revolution Anang Elaote Wonitiane imum Differential Input Voltage 1 aximum Required Velocity Change in RPM FE Required Velocity Command at that Voltage rat Time seconds Rated Current amp RMS 4 Feedback Bale Count A drop down list of standard motor types offered by API Controls is available to simplify the amplifier configuration 5 20 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Only the PS 33xxc Centennial series can be configured for Induction Motors The induction motor must be a 300 volt winding when the amplifier is operated from a 230VAC 32 supply The motor feedback m
91. g1 in Shield 1 Spare 2 Spare J4 Network Pin Signal J3 Feedback Encoder with Hall Pin _ Signa Pinz Signa Motor OT Motor OT 5 VDC Return 5 VDC Out 9 HED2 HED 3 Shield 8 HED 1 p5lz jelz X E ee F RS 422 RS 485 1 2 Ping AS 2320 RS 485 two wire J1 D 0 Pin Isolated lO Isolated IO Shield Shield Foldback Foldback Spare Spare Z out A out TB2 3 Ctrl Regen 9 Spare t10 Spre 7 Hsi2 8 HS2 5 Hs1 6 HSi Enable hase V B i TB1 AC Power AC IN Pin INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide PS 33xxd E Digital Inputs Outputs J1 The PS 33xxd Series is a digital amplifier with limited I O capability The unit has optically isolated predefined hardware inputs for ENABLE and RESET inputs and hardware outputs for SERVO OK and FOLDBACK Suggested wiring of these I O points is shown below The drive RESET input when active will cause the amplifier to immediately remove power from the motor and clear any re settable fault conditions The SERVO OK output is active when main power is applied and no fault conditions exist The FOLDBACK output is active when I t is actively reducing the motor output current to prote
92. hased to facilitate wiring the J2 connector This cable assembly provides flying leads pre wired to the mating connector two feet in length Figure 3 25 Schematic of PS 33xxd E Analog Inputs puts Cariacg S 33xxd Series 3 76 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide PS 33xxd E Motor Feedback J3 The PS 33xxd E motor feedback connector J3 is a 14 pin dual row connector that contains connections for Hall Effect Device HED and encoder feedback The connections also include an non isolated 5 VDC supply for the HED Encoder power and motor over temperature sensor OT If a motor over temperature sensor is being utilized you must enable this feature in the software configuration Make this mode ACTIVE via parameter COT Check motor OT input The PS 33xxd E Series is a digital amplifier that will only accept an encoder with Hall or an encoder with Commutation Tracks encoded on the Z Channel as a feedback device Refer to section 7 2 2 for Commutating Encoder Specifications compatible with encoder based controllers Figure 3 26 PS 33xxd E Feedback Connector J2 151 PS 33xx Rev D J3 Feedback Encoder with Hall Pin Pin Signal Signal 13 14 5 VDC Return 5 VDC Out 9 HED 2 HED 3 7 Shield 8 HED1 akk 0 89 d2 L2 BR 4 Be 1 2 A cable assem
93. he power section of the PS 33xx Series Digital Servo modules Refer to Section 7 Appendices for engineering data on the selection of contactors fusing filters and related information on the specific model being installed System interconnect diagrams are provided in Section 7 5 Relevant Engineering Prints Be certain to use the diagram that refers to your system Review Section 3 1 Shielding and Grounding of Electrical Panels for information on placement of components High power wiring and low power DC signal wiring within the panel or E enclosure should not share wire raceways and should be separated by a minimum of 12 inches 305 mm for parallel runs If wire paths should cross and touch they should do so only at right angles to each other e Provide separate wire ways for main AC low power AC high power DC and low power DC e Restrict all high voltage power wiring and power devices such as circuit breakers contactors fuses etc to an area separate from the low level control wiring e Constant voltage transformers can be installed if the AC power tends to drop below the specified minimum voltages required to keep the controllers from resetting e Where loss of control power is critical or an orderly shutdown in the event of a power loss is required consider wiring the Control Power from a separate feed Consult the following section for wiring and specifications Use care to ensure the correct pinout is
94. he stage for good noise free wiring practices described later in this section Second it will minimize the effects of heat generation Allow a minimum distance of 12 inches 305 mm above and below each drive and a minimum of 3 inches 78 mm on each side of the drive to eliminate the potential problems of heat generation and electrical noise Proper control panel layout can be achieved by following the simple rules listed below Review additional information on electrical procedures in Section 3 49 3 36 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide Do not mix power and control signal wiring in the same conduit duct or wire tray without 12 inches 305 mm of separation Provide separate wire ways for main AC low power AC high power DC and low power DC Restrict all high voltage power wiring and power devices such as circuit breakers contactors fuses etc to an area separate from the low level control wiring as stated above The area above the amplifiers is to be used for the wiring of low level noise sensitive control signals such as analog input and output signals and motor feedback signals When mounting any unit be sure to remove paint from the unit and the mounting surface to obtain metal to metal contact Use a serrated washer star washer to improve the connection If in doubt use a ground strap to ensu
95. hm gt 1 14 Output 2 ows Qutput 12 INSTALLATION AND WIRING 3 105 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The two analog outputs first and second AUX DAC s are factory defined as SPEED and CURRENT outputs The user may wish to re assign the AUX DAC s to a system or user variable to provide an additional interface to the users environment A scale factor must be set to properly scale the variable to the 10 volts range of the DAC Analog outputs are updated every 400uUseconds Figure 3 49 Schematic of PS 33xxc Analog Outputs I 10ma Max w Ps DACI 1K Mir Uz 1 Analog Com J2 DAC2 1K Min 02 1 Shield 3 106 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 50 Typical Master Slave Configuration High Inputs V Oz I Motor I I Motor Figure 3 51 Master Slave Drive Interconnect o Jc Optional cable amp akout terminal Jy Ji strip conss v CA SD26 KIT e oq 9 2 8 J2 z A S P
96. ice sosser he ener tette etia esee d sees EE AEA Nea 1 31 2 Unpacking Inspection and Storage eere eee estes eene ense states etas tns ee eee 2 33 2 1 Unpacking and Inspection eese rennen nennen nennen nene 2 33 pobre 2 33 p EPI E 2 34 3 Installation and Wiring sssecccscessscssssssscsctonssessecsescesdonscesssosescestoosss ENE 3 35 3 1 Shielding and Grounding of Electrical Panels eese 3 35 3 2 Communication Hardware Configuration eecceesceeseeesecsseceseceaeeeeeeseeeseeeseeeees 3 40 3 3 Electrical Procedut s ee eme tne rrr ERE E RECO EEEE eR Reds 3 49 4 APImate 2 0 Software Setup and Installation e cesse ee eee eter ente nean 4 1 4 1 Hardware Requirements ene eter eee reed ere te rH see Egen Een e dosage 4 1 4 2 Software Installation ecccceseceessecesecceceeeceeeceeaaeceeaeeceeeeseaaecseaeeeeeeeseaeeeeaaecseneeess 4 2 4 3 APImate 2 0 Configuration scientie tete periit tbe da saei iaiia 4 4 De System Startup mL 5 1 5 1 Preparation for Startup eee diente ee tiger et HE Sere Re sin inei aeai aaie 5 1 5 2 Applying Power cm 5 5 5 3 Amplifier Configuration sissisodan aiina ais 5 18 6 Maintenance Troubleshooting cssssccsssccsssccssssscssssscsssccsssssssesssssssscsssssssesssseseees 6 1 6 1 Status DIS Play cestersrcsvecsscicdnsspediersseapeditssscvedusssogenvadte
97. igital Current Reference DCC 0 00 Amps t amp Centennial Axis M433 Mxxx 0201 Maximum Allowed Current IMA 5 0 Amps 8 Parameters s Overspeed Fault Setpoint SPD 6000 0 RPM O Modes VF Mode Frequency WFF 0 0 Hz O Motor VF Mode Current Command VFI 0 0 Amps 3 Feedbac 3 Tuning Centennial Axis deltran 151 PS 33xx Rev D SYSTEM STARTUP 5 31 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The last group of parameters is the tuning parameters These parameters are configured through the Setup Wizard and can be adjusted through the Tuning Wizard Figure 5 20 APImate 2 0 Tuning Parameters APImate 97 dol x File Edit Special Wizards Help nected Application Velocity Proportional Gain KP 0 004 Nm RPM lications Velocity Integral Gain KI 0 30 Nm RPM sec c program files apimate9 samples for re Velocity Feedforward Gain KF 0 800 CP Program Library Position Proportional Gain PPG 3 00 1000 min t amp Centennial Axis axis s System Inertia INER 0 00017 kg ne t Centennial Axis M433 Mxxx 0201 Parameters Ci Modes Ci Motor Ci Feedback O Command D Centennial Axis deltran 5 32 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 3 Software Events The user has the ability to select from a group of software events The software events are utilized to reduce programming to a minimum Software events a
98. igure 5 12 APImate 2 0 Drive Parameters esses eene enne nente enr ennrennen 5 24 Figure 5 13 APImate 2 0 Drive Mode DM nennen enne tnnt nte nnnt en 5 25 Figure 5 14 APImate 2 0 Enable Source EM eseessesseeeeeeeeeen ener enhn ettet enne en 5 26 Figure 5 15 APImate 2 0 Command Mode CM esses 5 27 Figure 5 16 APImate 2 0 Modes Stop Program on Fault SWE essere 5 28 Figure 5 17 APImate 2 0 Motor Parameters esee eene enne enne enne 5 29 Figure 5 18 APImate 2 0 Feedback Parameters esee nennen rennen nen 5 30 Figure 5 19 APImate 2 0 Command Parameters eese eene rennen rennen 5 31 151 PS 33xx Rev D TABLE OF ILLUSTRATIONS xxi API Controls Figure 5 20 APImate 2 0 Tuning Parameters eese en rennen 5 32 Figure 5 21 APImate 2 0 Events Menu sssseseessseeseeneeneeen nennen ener een enne trennen enne nnen nae 5 33 Figure 5 22 APImate 2 0 Events Run From Label on Active Input esses 5 34 Figure 5 23 APImate 2 0 Events Quick Stop if Input is Off sess 5 34 Figure 5 24 APImate 2 0 Status Folder for Variables sese 5 35 Figure 5 25 APImate 2 0 Status General eese enne nne ener entere 5 36 Figure 5 26 APIm ate 2 0 Status IO ice ter t Iona ctt irte beg eso ttee d iet ines DX epa pavo Du epe n 5 37 Figure 5 27 JAPImate 2 0 Status
99. ile will make a snapshot or backup copy of the existing unit This snapshot is saved as a file type SNA and includes all the information necessary to completely duplicate the function of an amplifier When requesting applications assistance this file may be sent via e mail to assist in prompt response to your application needs Call our toll free customer service number described in Section 1 4 to obtain our current e mail address Be sure to supply additional application information that may be useful in determining your application configuration and desired function Figure 4 2 APImate 2 0 Axis Menu APImate 97 L OL x File Edit Special Wizards Help s i Connected Application Sa PS 3320c ME guiada DO Lo 2 Paramete Firmware Information E 151 PS 33xx Rev D O Mode gige nee bytes O Moto 1 Feed O Comr O Tunir B Events Calibrate Analog Inputs B Active Pr Set Axis Date and Time Set Aris lsontauravon Set Drive Name Ph Program Axis Memory gt File A Status File gt Axis Memory S i Applications 0 c program fileskapimate97 sa 1 APImate SOFTWARE SETUP AND INSTALLATION 4 5 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The firmware information presented here must be available when calling for applications assistance This information will provide you with the Model and Kernel Version of the firmware currently installed in flash Figu
100. is Demo B Parameters O Modes 3 Motor 3 Feedback O Command O Tuning gt rm oc Drive Mode DM Brushless Enable Source EM Opto Input Command Mode CM Velocity Command Source DCM Analog Stop Pgm on Fault S WF Inactive Check Motor OT Input COT Inactive O0 6B BB BB BB BB BB ER EB ER 151 PS 33xx Rev D SYSTEM STARTUP 5 25 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The user must select the amplifiers ENABLE Mode EM When enabled the amplifier power output stage becomes active Opto Input refers to the hardware enable input and Parameter SWE refers to Software Enable whereby the unit is enabled via a software command To provide the user with the most versatility possible the two enable sources can be and ed or or ed together Each time the Axis Setup Wizard is accessed the software will a automatically disable the amplifier and change the ENABLE Mode EM to Opto In This is done to protect the user and the application If you are utilizing the Software Enable SWE command the ENABLE Mode EM must be changed after visiting the Axis Setup Wizard Figure 5 14 APlimate 2 0 Enable Source EM APImate 97 Bl x File Edit Special Wizards Help Drive Mode DM Brushless Enable Source EM Opto Input Command Mode CM Pasition Command Source DCM Analog St
101. it Fixed C166 RISC kaa Point IPS 33xxc E TI TMS320 40 MHz Bil bit Floating 512K 512K PS 33xxc R DSP Point INTRODUCTION 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide 1 3 Warranty The standard warranty is stated in the Standard Conditions of Sale These standard terms and conditions are attached to the quotation form and are part of order acknowledgments sent out from the factory 1 4 Customer Service 1 4 1 Factory Service API Controls is committed to quality customer service We maintain a toll free telephone number 800 566 5274 staffed by experienced technicians dedicated to providing quick and accurate responses to our customers application and installation questions 1 4 2 On Site Field Service On site field service installation and startup assistance are offered on an hourly basis Please contact our Applications Department at 800 566 5274 for current rates and applicable information 1 4 3 Training We have found that properly trained support personnel are an important factor in successful and efficient equipment operation Consequently we provide formal training seminars aimed specifically at maintenance and operating personnel These seminars can be conducted at our Amherst facility or at your site Please contact our Sales Department at 716 691 9100 for additional information INTRODUCTION 1 31 API Cont
102. ital Servo Drives Installation User s Guide APImate provides Copy Clear Insert and Delete functions that the user will find useful in editing programs The ability to copy and insert program steps between application programs provides tools to create complex routines in a minimum of time Figure 5 37 APImate 2 0 Edit Copy and Paste Functions APImate 97 of x File EBAY Special Wizards Help n JESUS n Set Feedback Position to 0 0 Paste Program stepis Ren TOP Paste Program stepis WT TS Set Acceleration Rate to 750 rev sec Clear Program Step s If Input 6 is ON Go To ANALOG DEMO purus MM CNN uU UDMEE CM 2 Insert Multiple Empty Steps 4 Wait 500 msec Delete Multiple Steps H B Parameters 0 1 Events e Centennial Axis data ANALOG DEMO DCM 0 CM 0 151 PS 33xx Rev D SYSTEM STARTUP 5 47 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide APImate provides the user of the Intelligent and Centennial Controllers with menus of commands related to Utility Motion Logical IO Spline and PID functions A subset of the Motion commands are shown below with an example of a Move at VELOCITY while current is less than X This command allows a constant velocity move that is current limited while in a position loop This type of motion may be used in applications where part is clamped via the motors motion Figure 5 38 APimate 2 0 Edit Program Step Edit P
103. ivating the units Boot Load Manager See Section 5 3 7 Update New Firmware for additional information xv SUMMARY OF SAFETY CONSIDERATIONS 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Opto In This is done to protect the user and the application If you are utilizing the Software Enable SWE command the ENABLE Mode EM must be changed after visiting the Axis Setup Wizard Each time the Axis Setup Wizard is accessed the software will Cg automatically disable the amplifier and change the ENABLE Mode EM to seconds Low values entered for the Feedback Filter FBF may result in an unstable situation If FBF 100 Hz the feedback is sampled every 01 safety precautions to prevent accidental damage to the application The amplifier will be disabled while the firmware is being copied into flash memory POWER MUST NOT BE INTERUPTED DURING FIRMWARE UPLOAD 5 When uploading new firmware the user is prompted to observe 151 PS 33xx Rev D SUMMARY OF SAFETY CONSIDERATIONS xv API Controls TABLE OF CONTENTS PS 33xx Series Digital Servo Drives Installation User s Guide 1 Introduction m 1 27 1 1 About This User s Guide eerie reete ete eere dern nee dede eap eda 1 27 1 2 Model Designations and Specifications essere 1 27 1 3 Eau 1 31 14 Customer Serv
104. ked Each unit has the ability to store and execute motion programs Additional features available are Stored program mode refers to a method of control where you create and store motion programs on the servo controller system and execute the programs when required Motion programs provide the user with the ability to perform repetitive functions without having to type each individual command line every time you wish to perform the same function In this mode you may choose to initiate a program through your communications port or establish a monitor program to allow an input to trigger or begin execution of a particular sequence of commands Networked configuration allows for up to 31 axis from a single PC serial port or similar host device Multi axis start and stop along with on the fly speed change are only a few of the networked features available on these units The user must request the Intelligent Servo Protocol ISP doc and the Intelligent Motion Language IML doc to gain a better understanding of the network requirements Complex SPLINE tables of up to 16 data points on the PS 33xxi Intelligent Series and 3000 data points on the PS 33xxe Centennial Series Servo Controllers can be entered to define custom motion profiles as a function of time Complex CAM tables of up to 16 data points on the PS 33xxi Intelligent Series and 3000 data points on the PS 33xxc Centennial Series Servo Controllers can be entered to
105. l inputs should be driven via the user s differential outputs and should be connected with individually shielded twisted pairs to provide the best possible noise immunity Depending on the configuration the primary analog input 1 software defined as ADC1 to provide a velocity current or a user defined 14 bit analog signal to generate the required motion Analog inputs 2 and 3 software defined as ADC2 and ADC3 are available to provide additional input signals for transducers as required in applications such as web tensioning pump or clamping operations Analog Outputs The two analog outputs first and second AUX DAC s are factory defined as SPEED and CURRENT outputs The user may wish to re assign the AUX DAC s to a system or user variable to provide an additional interface to the user s environment A scale factor must be set to properly scale the variable to the 10 volts range of the DAC Analog outputs are updated every 400useconds INSTALLATION AND WIRING 3 97 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide High Speed Inputs The two HSI inputs HSI1 and HSI2 are dedicated as a master encoder input An auxiliary PID loop with a 100 microsecond update rate is available on the PS 33xxc controller The AUXILIARY PID can be utilized in conjunction with the master encoder inputs HSI1 and HSI2 and or analog inputs along with SPLINE CAM and Master Slave capabilities for application
106. lated Input lt NA Corresponding Input PS 33xxi E Input 5 24 gt S voc Sinking Output ae Input Return Era PS 33xxi E Input 5 24 T voc Sinking Output o o Input Return 151 PS 33xx Rev D INSTALLATION AND WIRING 3 83 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The DRIVE OK FOLDBACK and outputs 1 and 2 can be wired as current sourcing or current sinking with a maximum sink of 35 mA per output An additional external power source of 5 30 VDC is required The outputs are not short circuit proof Figure 3 30 PS 33xxi Digital Output PS Sskxe PS 33xxl Output Isolated Output EN Corresponding Output PS 33xxi E Sourcing Input LE Output C 5 24 VDC Output Return Vv PS 33xxi E Output Sinking C 5 24 Input VDC sg Output Return Vv 3 84 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 31 PS 33xxd E HSI Signals Signals for High Speed Inputs Step Dir Direction Step 0 CCW 1 2 CW when falling Step Step Step CCW Step CW when HSI2 0 W COW Phase A Quadrature Phase B Quadrature CCW on A HSI1 rising with B HSI2 low Figure 3 32 HSI Signal Timing
107. ls of the PS 33xx Series Digital Servos have identical communications Comm Port J5 thus making it possible to install a mixed combination of Intelligent and Centennial units for the most demanding applications During initial power up the PS 33xx s seven segment status display will briefly indicate the units node setting For example API id06 will be displayed to indicate that the node ID is 06 For additional information on the status display consult Table 6 1 on page 6 1 Set the unit s axis id and method of communications prior to proceeding E with mounting Once configured we suggest that the front of each unit be marked with its unique Axis ID to facilitate installation and startup The user must configure the PS 33xx Series Digital Servo prior to mounting the unit To accomplish this task the cover of the PS 33xx must be removed no tools are required 1 Grasp the heatsink in one hand and the enclosure in the other Gently squeeze the center semi circle feature of the enclosure to disengage the locking mechanism and slide it off the front of the drive 2 Locate the 10 position dip switch and set the units AXIS ID and COMMUNICATIONS METHOD per Table 3 1 and Table 3 2 below 3 After the switches are configured we suggest that the user indicate the axis number on the front of each unit for later identification 4 To reinstall the cover gently slide the cover into position until the locking mechanis
108. m is engaged 3 40 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 2 1 Node Selection The user must configure the axis selection switches to define the communications method and axis address of the unit A unique axis address from 1 through 31 must be selected for each unit when multiple axes will be on the same communications link The default factory setting is node 1 The unique axis address 0 is reserved for applications where the PS 33xx is connected to a T 330 Data Terminal This address will result in the communications port being reconfigured for 9600 baud The T 330 data terminal is used to adjust amplifier parameters in the PS 33xxd or entering variables and application data into the PS 33xxi or PS 33xxc when utilized as a standalone controller Table 3 1 Node ID Switch Selection 151 PS 33xx Rev D Node ID Axis Switch Axis b te35 b 12345 0 00000 16 00001 6 01100 22 01101 8 00010 24 00011 9 10010 25 10011 Node 1 is factory default node OFF 0 d 1 0 is reserved for terminal mode ON 1 INSTALLATION AND WIRING 3 41 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 3 2 Communication Method Switch Selection Communication Methods Switch 678910 Communication 00100 RS 232 Three Wire 11001 RS 422 485 Two Wire 00001 RS
109. ment can be transported by hand or lift truck Personnel handling this equipment should be trained in approved and safe handling techniques In the unlikely event that a unit needs to be returned to the factory call our toll free customer service number described in Section 1 4 to obtain a Return Material Authorization Be sure to suitably pack the unit to endure the rigors of shipping 2 3 Storage It is often necessary to store the control equipment for some period of time before it is actually installed Since electrical components are delicate and easily damaged proper storage is very important to the future performance of the equipment Store the equipment in a clean dry non corrosive location protected from sudden temperature changes high levels of moisture shock and vibration Ambient temperature should not exceed 60 C room temperature is recommended The minimum temperature must remain above 0 C and also above the dew point of the ambient air When placing the equipment in storage cover it to protect it against dust and or dirt However the cover must not be airtight in order to allow air circulation and prevent moisture from being trapped inside 2 34 UNPACKING INSPECTION AND STORAGE 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 Installation and Wiring This section summarizes the recommended practices for installation of the servo equipment These practices are
110. munity those recommended by API Controls may result in erratic behavior and reduced noise immunity Use 10k resistors if not in PC Card install at PC Utilizing RS 422 485 communications cards by other manufacturers than FR end of communications cable Figure 3 6 Schematic of RS 422 485 Wiring Four Wire Method 1 FO PCB 485 DB25 Connector o O O o O o P O 2 o 12 6 13 o 5 25 O 24 O o O o O o e s 0 VDC pet 3 46 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 2 3 Network J4 Models of the PS 33xxi Series can be purchased with connections for a Control Area Network or CAN interface This method of digital control allows the user to communicate to a group of amplifiers at a rate up to 3M baud The use and function of the CAN interface is covered in a separate document consult the factory if additional information is required for a Control Area Network or CAN interface If you have not purchased this model MAKE NO ELECTRICAL CONNECTIONS TO THIS I Models of the PS 33xxi Series can be purchased with connections J4 CONNECTOR Figure 3 7 Network Connections for CAN J4 Network Pin 5 Reserved Reserved Reserved Reserved 1 Reserved 151 PS 33xx Rev D INSTALLATION AND WIRING 3 47 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 2 4 Mounting Dim
111. n analog current reference mode or as an analog velocity speed controller The PS 33xxc Centennial Series can also be configured to operate induction motors in either vector or variable frequency control In addition the PS 33xxi and PS 33xxc are easily configured as a standalone programmable position controller and interface to the application via extensive inputs outputs All modes of operation offer a PID loop tuning feature to optimize the performance of the selected servomotor Each PS 33xx Series unit is an amplifier power supply controller and heatsink integrated into a single standalone package The compact size and integrated design of the PS 33xx amplifier simplifies the installation process and reduces downtime should the need for replacement arise PREFACE API Controls PS 33xx Series Digital Servo Drives Installation User s Guide PREFACE Fundamentally a PS 33xx amplifier is a computer that is dedicated to motion control Like every other computer it has its own operating system data storage capabilities data manipulation capabilities and interface for data communications In addition its built in inputs outputs allow for hard wired connections for motor feedback and to sensor switches to ensure motion that is in sync with a user s environment All PS 33xx Series servo controllers provide the user with the same basic components including e Communications interface to your host computer or T 330 Data Te
112. n the Parameters icon in APImate the user may use a right mouse click to Copy Parameters to Buffer and paste to a new motor application in the off line applications folder When positioned on the Parameters icon in a Connected Application the user has an additional option to Initialize Parameters to factory default settings Figure 5 12 APImate 2 0 Drive Parameters APImate2 OL x File Edit Special Wizards Help Connected Application i Applications amp Bl Napimate2 demo demo020498 EP Program Library at Centennial Axi Parameter Copy Buffer ihitalize Parameters iio O Feedb Paste from Parameter Copy Buffer O Command O Tuning Ci Events 5 24 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The Drive mode is typically set through the Setup Wizard and should not be changed by an inexperienced user If system parameters become corrupted return to the Setup Wizard to reset the system parameters Figure 5 13 APimate 2 0 Drive Mode DM APImate2 oix File Edit Special Wizards Help B ii apimate2demo demo020498 G Program Library amp Centennial Axis Spindle t Centennial Axis X Axis amp Centennial Axis x2 t Centennial Axis X Axis 0224 amp Centennial Axis x4 Centennial Axis xworks Centennial Axis oldy t Centennial Axis Yworks t amp Centennial Axis zworks New Value for Drive Mode Centennial Ax
113. ning EJ Events B Active Program A Program Library A Status AG Applications amp Bli c program fileskapimateS7 sample 151 PS 33xx Rev D SYSTEM STARTUP 5 39 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide When positioned on the off line Applications icon a right mouse click will prompt the user to create a new axis Once created the user may utilize the Setup Wizard to configure the axis and adjust parameters to suit the new application We suggest that the user create an off line application folder for each machine type Axis created within this application folder can be utilized as a location to backup programs parameters and events for the machine application Figure 5 29 APImate 2 0 Create New Axis File Edit Special Wizards 5 40 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The System Monitor Window is active only when there is an amplifier in the connected application icon The monitor window appears at the lower left hand corner of the APImate Main screen The monitor window is updated approximately every one half second Figure 5 30 APImate 2 0 Monitor Window 1 Motor Current 0 00 amps TABSIADCI ADC 0 009250 A double left mouse click will result in a menu of items being listed that the user may select from The items that can be monitored are shown in the Monitor Menu below An
114. oftware Enable Trigger Capture Wait D well Zero the Feedback Position x 151 PS 33xx Rev D API Controls 5 2 2 9 Starting Stopping a program PS 33xx Series Digital Servo Drives Installation User s Guide The PS 33xxi and PS 33xxc Series provide the user with the flexibility of more than thirteen conditions to begin or stop the execution of the active program The user may also create software or variable range checking conditions to End Program execution The user should review all his options to determine the one s that best meets their requirements One example is that the user may configure the software EVENT of Run Stop on Rise Fall of Input To start the active program activate the input Likewise the program execution will stop on fall or inactive state of the input Options available in the Event Menu are shown here If Feedback Position lt Stop If Fdbk Pos gt X Set Clr Qutput If Fdbk Pos lt X Set Clr Output Runi Stop on Rise F all of Enable Quick Stop if Input is OFF Run from Step on Rise of Input If Following Error gt X Fault Output controlled by Speed Runi Stop based on Level of Input Start Program if Input On Start Program on Rise of Input Stop Program on Rise of Input Start Program Running at Powerup Enabled OK Additional methods of stopping execution of a program via a system Fault is the setting of the Command Over Speed OSP
115. oller The SERVO OK output is active when main power is applied and no fault conditions exist The FOLDBACK output is active when I t is actively reducing the motor output current to protect either the amplifier or the motor Outputs on the PS 33xxi can be utilized as current sink or source outputs This supply may be separate from the input supply INSTALLATION AND WIRING 3 81 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 28 PS 33xxi Digital I O Connector J1 J1 Digital 1 0 Pin Signal Pinf Signal 23 9 8 ES Exceeding this voltage will result in damage to the equipment If you need 1o operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input I The two High Speed Inputs HSI require a signal level of 3 5 7VDC A cable assembly CA F24 2 may be purchased to facilitate wiring the J1 connector This cable assembly provides flying leads pre wired to the mating connector two feet in length 3 82 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The optically isolated inputs ENABLE RESET Inputs 5 6 and 7 are current activated 10 m minimum Figure 3 29 PS 33xxi Digital Input Input PS 33xxo S 33 xxl eJk Ohms Iso
116. op Pam on Fault SWF Inactive Connected Application Applications BB c program files apimate9 sarr amp Program Library amp amp Centennial Axis axis Parameters O Modes E C Feedback cat C Command New Value for Enable Source Ci Tuning e Centennial Axis M4 Opto Input Opto Input SWE and ed with Opto In SWE or ed with Opto In Parameter SWE 5 26 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The Command Mode CM can also be accessed to allow the configuration of the unit The CM parameter is normally set through the Setup Wizard The amplifier must be disabled to allow changes to this parameter An example of the screen is shown below Figure 5 15 APImate 2 0 Command Mode CM APImate 97 File Edit Special Wizards Help Bi Connected Application B Applications H A c program files apimate9 Shr 3 RB c program files vapimate 37 ju Program Library 5 6 Centennial Axis 1 amp 3 Parameters 4 Motor 3 Command Quad Encoder CAN 151 PS 33xx Rev D Drive Mode DM Enable Source EM Opto Input Command Mode CM Current Command Source DCM Analog Stop Pgm on Fault SWF Inactive Check Motor OT Input COT Inactive D Mods D Feedback New Value for Command Mode D Tuning Current ial x Brushless SYSTEM STARTUP 5 27 API Controls PS
117. ost common mode of commanding motion with an external motion controller Analog Velocity Mode In analog velocity mode the amplifier will accept a velocity reference command on the analog input ADCI This analog input is 10 VDC where a 10 volt command results in the maximum velocity being commanded to the motor This maximum velocity is controlled via parameter FSV the maximum acceleration and deceleration rates are limited via parameters ACC and DEC respectively In this mode of operation the position loop is closed within an external motion controller and the PS 33xx controls the inner velocity and current loops When the amplifier is shipped from the factory the parameters are set for a velocity mode control When operating in analog velocity mode it is the users responsibility to verify the application s System Gain and amplifier s analog resolution 10 bit for the PS 33xxd I and 14 bit for the PS 33xxc to determine if a condition of dead band velocity exists If applications assistance is required please contact the applications department at API Controls 5 2 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Stand Alone Position Mode The PS 33xxi and PS 33xxe Series amplifiers are computers dedicated to motion control Like all computers each has its own operating system data storage capabilities data manipulation capabilities and an interf
118. panel or ge enclosure should not share wire raceways and should be separated by a minimum of 12 inches 305 mm for parallel runs If wire paths should cross and touch they should do so only at right angles to each other All control signals interfacing to the system must be wired with twisted cable with at least one twist per inch to minimize inductive noise coupling Encoder and resolver wiring must be wired with individual twisted shielded pairs using cable equivalent to those listed in Table 3 10 below Table 3 10 Suggested Wire Wire Selection Table Purpose ignal 22 AWG 2 Pair Shield amp Dran Alpha 5482C ignal 22 AWG 3 Pair Shield amp Drain Alpha 5484C ignal 24 AWG 2 Pair Shield amp Drain Low Capacitance Belden 8102 ignal 24 AWG 4 Pair Shield amp Drain Low Capacitance Belden 8104 ignal Belden 8108 ignal Alpha 3492C Belden 8132 ignal Alpha 3494C ignal Alpha 3498C Ground Strap 3 66 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 5 PS 33xxd E Series Each PS 33xxd E Series unit is an amplifier power supply controller and heatsink integrated into a single standalone package The PS 33xxd E Series is a digital amplifier that will only accept an encoder with Hall or an encoder with Commutation Tracks encoded on the Z Channel as a feedback device All PS 33xxd E S
119. r Rating Variations P Packaged 33 Servo Diives Relative Power Enecder with intemal 115 230 V within senes Feechack AC Power 22 Step Dives eg 3303 3 0 ampe Resolver Supply E RE 3306 6 0 amps Feecback D DC Iput 3310 10 D amps Analog 3320 20 0 ampe Optically 2205 5 0 ampe isolated Drive Type i via ain Control Type Brive i Intelligent Driva dea ooo ive H Half Ful Step Controller Drive X Indexer 7 4 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 7 4 Motor Part Number Configuration MAC T 23 2 Motor Type Motor Series Stack Connection General MAC AC Brushless T zTuibo Length F Aying Options Servo Motor S S Saias 2 Fiame Leads 5 z P65 Rated MST Step Motor D Disc Magnet Length M MS Matar Mz Seties of Motor Connector B Brake S Singe Shaft o Mo Cntion Motor Motor Feedback Diameter Winding Options 17 Frame C 2000 ipm R Resolver 26 Width of E 3000 ipm 3 1006 Line Motor G 4000 pm N 7000 ipm V 10 000 pm H Hall Effect only n No Option Options not available for all motors consult fazisry 151 PS 33xx Rev D APPENDICES 7 5 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 1 2 AC Motor Specifications Table 7 2 M Series AC Servo Motors Metric Series Servo Motors PS 33xxd E PS 33x
120. r control voltage requirements for each drive model being installed The Control power supply must be ISOLATED from chassis ground otherwise equipment damage and or injury could result Table 3 5 Control Power Specifications Model Control Power Requirements PS 33xxd C1 24 48 VDC 2 A maximum This PS 33xxi C1 power supply must be ISOLATED PS 33xxc C1 from chassis ground PS 33xxc R CO 151 PS 33xx Rev D INSTALLATION AND WIRING 3 61 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Table 3 6 Control Regeneration TB3 TB3 Ctrl Regen Pini Name 4 1 3 3 3 High Power DC Connections External Regen The PS 33xx can dissipate regeneration energy internally When applications require hard deceleration that exceeds the unit s ability an external regen resistor must be added to the system at the two terminals labeled Regen and Regen on TB3 A fuse should be placed in series with the regen resistor to protect the resistor Specifications of the regeneration circuits are summarized in Table 3 7 and Table 3 8 It is recommended that all heat generating resistors be mounted outside the cabinet with a protective enclosure that can reach 400 VDC Connections to external regen resistors must be electrically insulated and mechanically shielded for safety High voltage warning stickers are also recommended 5 External regen resistors are connected to the drive d c bus vol
121. re 4 3 APlImate 2 0 Firmware Information Axis information N Model P53320c Ic 20 Ipk 404 Kernel version 1 02 May 21 1997 11 41 25 Flash 1FA4 4802 NvRAM D54D 7CFC 5814 0531 0130 OOEC Code 31040 bytes Data 236712 bytes 327752 bytes 62 Date Time set as S7Jul02 19 32 14 Wed You are now ready to proceed with the configuration of the amplifier Before proceeding make sure that the ENABLE input is INACTIVE to prevent accidental motion during the amplifier configuration process 4 6 APImate SOFTWARE SETUP AND INSTALLATION 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 System Startup After the system has been installed and wired it is ready for startup This section will detail the startup procedure of the servo system and verify proper wiring and operation Parameter settings and tuning adjustments to the amplifier will be accomplished for your particular application To assist you in starting up the servo system a step by step Startup procedure has been included This procedure should always be followed to ensure proper operation of the servo system This procedure assumes that the correct interconnect diagrams have been followed and International National and Local electrical wiring codes have been carefully adhered to 151 PS 33xx Rev D 5 1 Preparation for Startup 5 1 1 Selecting Operation Mode Before the Startup procedure can pro
122. re all of the system parameters necessary to allow you to generate motion within your selected application The Setup Wizard should be the first screen accessed when configuring a new amplifier This wizard will utilize the information provided to create stable tuning parameters Kf Kp Ki and PPG Opto In This is done to protect the user and the application If you are utilizing the Software Enable SWE command the ENABLE Mode EM must be changed after visiting the Axis Setup Wizard Each time the Axis Setup Wizard is accessed the software will E automatically disable the amplifier and change the ENABLE Mode EM to The customer is required to have the minimal information about the motor type Kt Jmotor Icont feedback type etc Examples of these screens are shown below 5 18 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 5 7 APImate 2 0 Wizards APImate 97 Ox File Edit Special BG Connected Appl Bu ig M Paramet i Ci Modes Ci Motor Ci Feedback O Command 3 Tuning a B Events EJ Active Program B E Program Library Ei Status AG Applications Hf c program files apimate97 sample El Moton Rogan Tuning E 151 PS 33xx Rev D SYSTEM STARTUP 5 19 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide All versions of the PS 33xx Series can be configured
123. re good connection between the unit and the enclosure Use ground straps made of 1 inch 25 mm silver tinned flat copper braid to connect cabinet doors to enclosures the first sub panel to the enclosure and each sub panel to the next Where electrical codes call for the typical green safety ground wires use them in addition to any ground strap suggested in this guide Follow the electrical codes for grounding of the main three phase power transformer It is recommended that all heat generating resistors be mounted outside the cabinet with a protective enclosure Allow a minimum distance of 12 inches 305 mm above and below each drive and a minimum of 3 inches 78 mm on each side of the drive to eliminate the potential problems of heat generation and electrical noise No heat generating devices such as transformers inductors braking resistors etc should be mounted directly below the mounting assembly The motor wiring must be properly strain relieved to ensure interconnects wiring and terminal connections do not become damaged INSTALLATION AND WIRING 3 37 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide To obtain rated output current from all amplifiers the ambient air Cg temperature below the amplifiers must be between 0 C and 40T No heat generating devices such as transformers power supplies or power resistors should be mounted directly beneath the modules 3 1 2 Ampli
124. re wire raceways and should be separated by a minimum of 12 inches 305 mm for parallel runs If wire paths should cross and touch they should do so only at right angles to each other When operating off single phase VAC ensure that you have taken into account the amplifiers current de rating For single phase AC derate current 33 at 115 VAC and 50 at 230 VAC Failure to do so will result in damage to the amplifier and is not covered under the manufacturer warranty Use care to ensure the correct pinout is used for the main power connections Improper wiring will result in damage to the amplifier 4a PN 151 PS 33xx Rev D SUMMARY OF SAFETY CONSIDERATIONS xi API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The section applies only to models of the PS 33xx that have been purchased with the optional Control Power configuration Do not make connections to Cirl and Ctrl terminals units not factory configured for this option will be damaged Units damaged as a result of improper installation will not be covered under API s warranty policy The Control power supply must be ISOLATED from chassis ground otherwise equipment damage and or injury could result External regen resistors are connected to the drive d c bus voltage that can reach 400 VDC Connections to external regen resistors must be electrically insulated and mechanically shielded for safe
125. reased noise immunity those recommended by API Controls may result in erratic behavior and Utilizing RS 422 485 communications cards by other manufacturers than E reduced noise immunity Figure 3 4 Schematic of RS 422 485 Wiring Two Wire 1 25 o PCB 485 Q o DB25 Connector i o o o o o o e o o o o o o e o PS 33xx 13 25 3 44 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide This is an alternate method of wiring the inter axis cable and is used for applications requiring less than 5000 feet of communications cable The PCB 485 communications card is required This method provides additional noise immunity Utilizing RS 422 485 communications cards by other manufacturers than a those recommended by API Controls may result in erratic behavior and reduced noise immunity Figure 3 5 Schematic of RS 422 485 Wiring Alternate Two Wire Method PCB 485 DB25 Connector O O OQ Q O O OQ O O 0 O OOo 0o 00000 0 PS 33xx 13 25 151 PS 33xx Rev D INSTALLATION AND WIRING 3 45 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide RS 422 485 Four Wire Configuration This method is used for applications requiring less than 5000 feet of communications cable The PCB 485 communications card is required This method provides the highest noise im
126. rminal for programming or commanding the PS 33xx servo controller The T 330 can only be utilized to enter user data or system parameters The host computer is required to create the high level motion program e A graphical user interface program APImate 2 0 provides the user with the tools to quickly and easily configure the PS 33xx to a specific application APImate 2 0 is a Windows based program that provides Wizards for axis setup tuning and high level programming e System software including commands parameters and user defined variables that allow you to configure the servo controller to your application to enter and manipulate data and to tune the performance of the unit to your application e Methods of control include the ability to accept Step Direction Step Up Down Quadrature and Analog mode whereby you are commanding the servo system via an analog 10 VDC reference in either the current or velocity speed mode e Hardware interfaces for enable reset drive ok foldback and user programmable inputs travel limits home and outputs that allow you to interface to your machinery equipment 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide The PS 33xxi Intelligent Series and the PS 33xxc Centennial Series Servo Controllers accept high level commands directly eliminating the need for a motion controller and can be operated standalone or networ
127. rogram Step Absolute Move Shortest Time Absolute Move Speed limited Absolute Move Time limited Begin Master Position Tracking Change Move At Velocity Don t Queue Motion Command End Move At Hard Stop Queued Motion Index Shortest Time Index Speed limited Move At Until Input Active Move At while Current lt Move At While Input Active Move to Resolver Null xl pA Velocity mmisec as Percent Drive Current N Prev Cancel 5 48 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 7 Update New Firmware A special feature of the PS 33xx series drive is the ability of the user to upgrade the FLASH Memory with new firmware This feature is useful for performing field upgrades to units as software enhancements or custom commands are made available Functions are available when the mouse is placed on the green motor icon When in the connected application view the user may refresh the connected application view reread the data from the connected application from the amplifier or Upload New Firmware safety precautions to prevent accidental damage to the application The amplifier will be disabled while the firmware is being copied into flash memory POWER MUST NOT BE INTERUPTED DURING FIRMWARE UPLOAD 5 When uploading new firmware the user is prompted to observe 151 PS 33xx Rev D SYSTEM STARTUP 5 49 API
128. rols PS 33xx Series Digital Servo Drives Installation User s Guide 2 Unpacking Inspection and Storage This section provides information concerning unpacking and inspection of equipment proper handling procedures and storage considerations 151 PS 33xx Rev D 2 1 Unpacking and Inspection Although every precaution is taken to ensure the equipment is delivered in good condition it is essential that a careful inspection be made upon arrival at your plant While we make every effort at the factory to fully inspect test and package our products so that they reach you defect and damage free we cannot be responsible for handling by the shipper Remove the contents of the carton in which the unit was shipped Inspect the carton and all components for possible physical damage or discrepancies If there is any discrepancy in the order or if any damage is discovered it should be reported immediately to both the carrier and the factory and a damage claim should be filed immediately with the carrier This is your responsibility shipping damage and unreported shortages are not covered by the product warranty 2 2 Handling Electronic components in the control equipment are static sensitive Use proper procedures and common sense when handling the modules to prevent possible inadvertent damage UNPACKING INSPECTION AND STORAGE 2 33 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Control equip
129. s entered for the Feedback Filter FBF may result in an unstable situation If FBF 100 Hz the feedback is sampled every 01 seconds Figure 5 18 APImate 2 0 Feedback Parameters APImate 97 Jol x File Edit Special Wizards Help nected Application Feedback Resolver RPOL 2 pole lications Feedback Filter FBF 500 Hz c program files apimate9 samples for re Feedback Encoder EPPR 4096 pules rev GP Program Library s Feedback Sign and Scale FBS 1 000 t Centennial Axis axis Position Error Tolerance PET 0 00100 revs Centennial Axis M433 Mxxx 0201 Motor Feedback FEED Resolver B Parameters Ci Modes Ci Motor D Feedback O Command 3 Tuning Centennial Axis deltran 5 30 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The group of command parameters are also set via the Setup Wizard The user may wish to adjust the Maximum Allowed Current IMAX and Foldback RMS Current Limit IRMS to prevent over energizing the motor or limit excessive torque in the system Figure 5 19 APImate 2 0 Command Parameters APImate 97 olx File Edit Special Wizards Help nected Application Velocity 10 Analog Cmd FSV 0 0 APM lications Acceleration Rate amp CC 1000 0 RPM sec c program files apimate9 samples for re Deceleration Rate DEC 1000 0 RPM sec CP Program Library Digital Velocity Reference DCV 0 00 RPM t amp Centennial Axis axis D
130. s such as web tensioning pump and motion profiling The High Speed Input HSI3 on the motor feedback connector J3 is also used as a Hall Effect Device input thus is not available when configured for motors utilizing HED s Software commands for utilization of the High Speed Inputs HSI3 and HSI4 will be supported with future releases of Firmware and APImate2 enhancements Exceeding this voltage will result in damage to the equipment If you need to operate these inputs as general purpose inputs at 30 VDC then a current limit 2k Q resistor must be installed in series with the input I The High Speed Inputs HSI require a signal level of 3 5 7VDC 3 98 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 41 PS 33xxc Analog I O Connector J2 Pin AnalogO 2 Hsia 6 Andog2in 8 Diek 9 Andog2Ou 55xxc Series o7 A cable assembly CA SD26 KIT may be purchased to facilitate wiring the J2 connector This cable assembly includes a three foot cable with a DIN 3 mount terminal strip 151 PS 33xx Rev D INSTALLATION AND WIRING 3 99 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 42 Schematic of PS 33xxc Analog Inputs 3 100 INSTALLATION AND WIRING 10K Ohm Ohm amp Ohm OK Ohm 4 Jh ri
131. ser to interface to the most demanding application The user must supply a 5 30 VDC voltage to utilize the optically isolated I O Since the digital inputs are current activated the user may utilize PNP or NPN outputs to the drive The various methods of wiring I O are described in this section Exceeding this voltage will result in damage to the equipment If you need to operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input The two High Speed Inputs HSI require a signal level of 3 5 7VDC 151 PS 33xx Rev D All models of the PS 33xxi Series have two High Speed Inputs that can be utilized for the purpose of supplying a Step Direction Step Up Down or a Quadrature input command to the unit Software configuration of the Command Mode parameter CM must be performed to utilize the two HSI s as command signals See Figure 3 33 Schematic of PS 33xxi HSI Inputs if HSI1 and HSD2 are to be utilized as general purpose inputs3 and 4 The drive RESET input when active will cause the amplifier to immediately remove power from the motor and clear any re settable fault conditions The ENABLE input is dedicated and cannot be reassigned The user must configure the software EVENT of Enable on rise to start the active program on active state of the ENABLE input Likewise the program execution will stop on fall or inactive state of the input disabling the contr
132. should have the shield cut back and taped to prevent contact with other conductors or conduits If a twisted shielded pair must be broken at terminal boards or connector pairs the unshielded length is not to exceed 2 inches 50 mm and carry the shield through the connection on a separate pin or terminal Secondary power logic commons if provided by individual equipment should be directly wired from their source to the SPG utilizing 12 AWG 3 5 mm wire INSTALLATION AND WIRING 3 53 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 11 Ground Strap for Secondary Control Power Mount all units including the transformer using star washers Scrape paint off panel and T L KU TE transformer mounting legs 1 4 ground strap for high frequency nolse drain Ground stud in panel 2 from supply Scrope point off S RN T panel and use star washer e e Dv ww e x anm g LI 4 Safety ground wire Power leads Cshield twist for current Faults Metal Oxide aristor 3 54 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Noise Source Suppression It is necessary to suppress all relay and contactor coils
133. t an Even a 6 lt empty gt RuniStop on Rise F all of Input Bg If Feedback Position gt x Stop If Feedback Position lt X Stop If Fdbk Pos gt Set Clr Output If Fdbk Pos lt Set Clr Output RuniStop on RisefF all of Enable tft Ap Input Number s gA MATERIAL LOW Label IV Enabled Cancel k ioj x v RUN on Rise of Enable STOP on Fall of V Fault on following error gt 3 v Stop if Feedback Position gt 100 Error Code 1 v Stop if Feedback Position lt 100 Error Code 1 V empty v Quick Stop if Input 8 is OFF ATERIAL LOW on Rise of Input Figure 5 23 APimate 2 0 Events Quick Stop if Input is Off APlImate 97 File Edi Special Wizards Help eck an Ever a 6 lt empty gt RuniStop on RiselF all of Input B If Feedback Position gt X Stop If Feedback Position lt X Stop If Fdbk Pos gt X Set Clr Output If Fdbk Pos lt X Set Clr Output RuniStop on RiselF all of Enable Q Y if Input is OFF AG Ap Input Number amp BH v Enabled Cancel 5 34 SYSTEM STARTUP nl x v RUN on Rise of Enable STOP on Fall of vf Fault on following error gt 3 v Stop if Feedback Position gt 100 Error Code 1 v Stop if Feedback Position lt 100 Error Code 1 y empty 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 4 Amplifier Status The amplifier Status Icon provi
134. t be rated accordingly Metal Oxide Varistors MOV are less effective than an RC Snubber for noise suppression and tend to degrade over time Figure 3 13 Noise Suppression AC Relay e e e 0 ER Ol uF 1 AC Input a S noe Typical snubber ae cr cult e X 1 E gt e N Metal Uxide Varistor CM 3 56 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Solid state inputs that are driven from solid state outputs should have a bleeder resistor across the input to provide a path for the output s leakage current when the output is off This will help prevent false tripping on the input when the output is off This is extremely important when utilizing the high speed inputs of the PS 33xx The resistor s rating depends on the output device s leakage current and the input device s OFF voltage Figure 3 14 Noise Suppression SS Relay P ower Return Solid State Solid State utput Module Input Module Stopping false tripping of an input module by using a bleeder resistor 151 PS 33xx Rev D INSTALLATION AND WIRING 3 57 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 2 Power Connections This section will explain wiring associated with t
135. tage 3 62 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 15 Regeneration Circuit Regen Regen Fuse VEN 340 VDC External Regen 2 Nesistorn 1 e 4 O Ctrl N C contact on main contactor For applications where the user is required to remove all power from the unit during e stop Table 3 7 Regeneration Circuit Specifications Regen active at 377 VDC Bus fault Over Voltage active above 1400 VDC Bus fault Under Voltage active below 90 VDC Table 3 8 External Regeneration Resistor Specifications External External Regen Continuous External Peak Resistor Kit PS 3303 47 Ohm 150 W RRK 0160 47 PS 3306 d i Resistor Kits include resistor fuse fuse holder and 1 meter of wire 151 PS 33xx Rev D INSTALLATION AND WIRING 3 63 API Controls 3 64 PS 33xx Series Digital Servo Drives Installation User s Guide Bus Fault The PS 33xx s protection circuitry monitors the DC bus in hardware and or software to determine if excessive regeneration is occurring Exceeding the regeneration resistor s power rating will cause the regen circuit to be disabled which will result in a bus fault shutting down the amplifier to safeguard the system and displaying a fault see Table 6 1 When this bus fault condition exists the motor will become free wheeling and protective meas
136. them in addition to any ground strap suggested in this guide marked with its unique Axis ID to facilitate installation and startup Set the unit s axis id and method of communications prior to proceeding a with mounting Once configured we suggest that the front of each unit be those recommended by API Controls may result in erratic behavior and reduced noise immunity Use 10k resistors if not in PC Card install at PC Utilizing RS 422 485 communications cards by other manufacturers than S end of communications cable Models of the PS 33xxi Series can be purchased with connections J4 for a Control Area Network or CAN interface If you have not purchased this model MAKE NO ELECTRICAL CONNECTIONS TO THIS CONNECTOR Read Section 3 3 1 before proceeding with any system wiring Use Star grounding arrangement Chain grounding or daisy chain arrangements should not be used x SUMMARY OF SAFETY CONSIDERATIONS 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Where electrical codes call for the typical green safety ground wires use Cg them in addition to any ground strap suggested in this guide Do not mix power and control signal wiring in the same conduit duct or a wire tray without 12 inches 305 mm of separation High power wiring and low power DC signal wiring within the panel or E enclosure should not sha
137. tial HSI inputs 3 FOLDBACK and Current 10VDC 2MHz Isolated 5 30 Step Dir 10 bit Quadrature VDC 5 mA Max Step Step Resolution Quadrature PS 3320d E 2 DRIVEOK Differential FOLDBACK plus 10VDC 2 Isolated 5 30 10 bit VDC 5 mA Max Resolution yp cem SIN eim Dj lw Clo Yes No Digital Position Program Network Analog Velocity and Current Step Dir Step Step Quadrature Yes PS 3320iR PS 3306c E 3 Utilize two HSI Total 13 2 Outputs Digital Position Brushless Differential inputs 3 DRIVEOK S 4 10 VDC Program Analog DC Brush 10VDC 2MHz plus12 Isolated 12 bit Velocity and DC 14 bit Quadrature 5 30 VDC 30 Resolution Current Step Dir Induction NIN WIND Cop wow m wo Resolution mA Max Short Step Step VF and Circuit Protected Quadrature Vector Additional Features to all models 3 High Speed Inputs 3 5 7VDC 5 Plus an additional output for SERVO READY relay 1 A 250V Boe o oo 151 PS 33xx Rev D INTRODUCTION 1 29 API Controls 1 30 PS 33xx Series Digital Servo Drives Installation User s Guide Table 1 1 Continued Model Designations and Specifications Servo Loop Update Model Velocity Current Position Encoder following HSI1 amp HSD microsecond micro second micro second micro second Model Processor Clock COMM Sen CAN Mem Rem Hess as RET pO IPS 33xxd E Siemens 20 MHz 19200 Se 16 b
138. tion inputs for applications using motors with Z Channel encoded Commutation Tracks Software commands for utilization of the High Speed Inputs HSI3 and HSI4 will be supported with future releases of Firmware and APImate2 enhancements INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 52 PS 33xxc E Encoder Feedback Connector J3 J3 Encoder Feedback Pinf Signal pi A Cd 2 3 6 5 Encoder Hall 8 5 VDC Return HALL 1 HSI 3 Motor OT Motor OT HALL 2 HALL 3 Shield 16 IN C M shell Exceeding this voltage will result in damage to the equipment If you need 1o operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input l The four High Speed Inputs HSI require a signal level of 3 5 7VDC A cable assembly CA SD15 KIT may be purchased to facilitate wiring the J3 connector This cable assembly includes a three foot cable with a DIN 3 mount terminal strip 151 PS 33xx Rev D INSTALLATION AND WIRING 3 109 API Controls 3 110 PS 33xx Series Digital Servo Drives Installation User s Guide The PS 33xxc R Series is a digital amplifier that will only accept a resolver as the feedback device Refer to section 7 2 1 for Commutating Resolver Specifications compatible with resolver based controllers The PS 33xxc R motor
139. tor J3 sss 3 109 PS 33xxc R Resolver Feedback Connector J3 essen 3 111 Figure 4 1 APImate 2 0 Main Screen pingere ekte doneres 4 4 Figure 4 2 APImate 2 0 Axis Menu ee sese eden 4 5 xx TABLE OF ILLUSTRATIONS 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 4 3 APImate 2 0 Firmware Information eese ener ene nnr enn ennennenenn 4 6 Figure 5 1 System Logical Operators s eeeeeeeieeeeseseeeseeee eese enne nennen nnne nn nennen nennen tren 5 11 Figure 5 2 System Parameters Analog eese nennen nennen nre 5 11 Figure 5 3 System Parameters Position Velocity Torque eese 5 12 Figure 5 4 System Parameters Configuration esses eene nre 5 12 Figure 5 5 System Parameters IO eise cieeseeenit entia tata d ee ao SN SEES tea Poe thee ede reed en 5 14 Figure 5 6 Function Block Diagram seen nne rennen remet 5 15 Figure 5 7 APImate 2 0 Wizards iecur nente in ope ette tee be e rase P xin nbn oia 5 19 Figure 5 8 APImate 2 0 Wizard AC Brushless Motor esee ener 5 20 Figure 5 9 APImate 2 0 Wizard Induction Motor eese eene nene 5 21 Figure 5 10 APImate 2 0 Wizard DC Brush Motor nennen nen 5 22 Figure 5 11 APImate 2 0 Wizard Tuning eese eene een een nee rennen rennen 5 23 F
140. ts Verify tuning parameters function of feedback device function of Hall device L cR eee signal and load coupling Over Temp motor fault disabled Verify ENH ENEEN c nU Check program for errors SC Short Circuit Fault The output is disabled Check for shorts in motor and power leads to the motor Blinking when processor is functional If non blinking unit requires factory service 6 2 MAINTENANCE TROUBLESHOOTING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 6 2 Fault Recovery Software faults are cleared when the RESET input is activated Hardware faults are cleared ONLY after the condition has been cleared and the RESET input is activated Overspeed E Quick Stop End Program Fault Bad Var Label Bad Expression Feedback Loss Bad IO Number Bad Event IO Number Invalid Argument 151 PS 33xx Rev D The motor s velocity has exceeded the value in the OSPD overspeed parameter Either an event communications or an input has caused a quick stop or e stop condition The program has ended with a non zero End Program value A variable specified in an expression does not exist A variable specified in an expression is read only and cannot be changed The target label of a Goto does not exist The target label of a Call does not exist There was an error attempting to evaluate an expression The usual cause is
141. ts and should be connected with individually shielded twisted pairs to provide the best possible noise immunity Depending on the software configuration the analog signal software name ADCI can be utilized to provide a velocity current or user defined 10 bit analog signal to provide the required motion Figure 3 34 PS 33xxi Analog I O Connector J2 151 PS 33xx Rev D J2 Analog I O Pin Signal Ping Signal 5 6 5 Analog 1 in 6 Analog 1 in Shield Shield 2 A cable assembly CA F6 2 may be purchased to facilitate wiring the J2 connector This cable assembly provides flying leads pre wired to the mating connector two feet in length INSTALLATION AND WIRING 3 87 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 3 35 Schematic of PS 33xxi Analog Inputs Analog 1 in 5 lt dz 4 Analc in A Analog 2 in J2 4 J2 2 q Analog 2 in 3 88 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide PS 33xxi Motor Feedback J3 The PS 33xxi E motor feedback connector J3 is a 14 pin dual row connector that contains connections for Hall Effect Device HED and encoder feedback The PS 33xxi E Series is a digital amplifier that will only accept an encoder with Hall or an encoder with Commutation Tracks encoded on the Z
142. ture signals equivalent to one revolution of the motor shaft Exceeding this voltage will result in damage to the equipment The preferred interface is a differential output for improved noise immunity I The High Speed Inputs HSI require a signal level of 3 5 7VDC 151 PS 33xx Rev D SYSTEM STARTUP 5 3 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide CAN Command Mode The CAN command mode is only available on the PS 33xxi series with the optional CAN interface The amplifier can be issued digital commands in a current velocity or position mode This mode of operation is not currently supported Digital Command Source With a digital command source the amplifier must be configured to either CURRENT or VELOCITY Mode The amplifier will interactively and continuously accept commands for new digital currents or digital velocities parameters DCC and DCV respectively These digital commands may be generated internally to the amplifier via a program or externally via an ASCII command generated via the user s interface The ISP DOC and IML DOC files located on the APImate 2 0 distribution disk document the ntelligent Servo Protocol and Intelligent Motion Language utilized for ASCII communicating to the PS 33xx Series Digital Servo Amplifiers This information is required for users creating a multi axes master motion control program 5 4 SYSTEM STARTUP 151 PS 33xx Rev D API Controls
143. ty High voltage warning stickers are also recommended PN PN A The two High Speed Inputs HSI require a signal level of 3 5 7VDC Exceeding this voltage will result in damage to the equipment If you need to operate these inputs as general purpose inputs at 30 VDC then a current limit 2k O resistor must be installed in series with the input The RESET input on the PS 33xxc Series if active when power is applied will cause the unit to start its Boot Load Manager This will cause the unit to appear as if it has faulted the unit will not respond to any IO and will not enable until the RESET input is in the inactive state and then briefly active state again Correctly configure your power up sequence s to prevent accidentally activating the unit s Boot Load Manager See Section 5 3 7 Update New Firmware for additional information xii SUMMARY OF SAFETY CONSIDERATIONS 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide APImate 2 0 Software Setup and Installation from your PC to prevent conflicts with older versions Use Windows95 ADD REMOVE Programs to uninstall previous installations E Before proceeding REMOVE any previous installations of APlmate 2 0 To obtain APImate 2 0 upgrades return the CD ROM to your point of a purchase with a purchase order that will be utilized for tracking shipment Upgraded software will be installed ONLY on th
144. u must enable this feature in the software configuration Figure 3 37 PS 33xxi R Feedback Connector J3 J3 Feedback Resolver Ping Signal Pinf Signal 13 14 9 Spare 10 Spare 7 Shield 8 Spare 5 Ref Rm 6 Ref 2 1 2 A cable assembly CA F14 2 may be purchased to facilitate wiring the J3 connector This cable assembly provides flying leads pre wired to the mating connector two feet in length 3 90 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls 151 PS 33xx Rev D PS 33xx Series Digital Servo Drives Installation User s Guide 3 3 7 PS 33xxc Series Each PS 33xxe Centennial Series unit is an amplifier power supply DSP motion controller and heatsink integrated into a single standalone package They will accept high level commands directly eliminating the need for a motion controller and can be operated stand alone networked or as a digital amplifier Each unit has the ability to store and execute motion programs The PS 33xxc E Series digital amplifier will only accept an encoder with Hall or an encoder with Commutation Tracks encoded on the Z Channel as a feedback device Refer to section 7 2 2 for Commutating Encoder Specifications compatible with encoder based controllers The PS 33xxc R Series is a digital amplifier that will only accept a resolver as the feedback device Refer to section 7 2 1 for Commutating Resolver Specifications compatible with resolver
145. uction and operation of this equipment the hazards involved and the National Electrical Code NEC and local electrical codes Equipment damage and or injury could result if these procedures are not observed The user is responsible for conforming to all applicable local national and international codes If there is a conflict between recommendations in this manual and safety codes safety requirements must be followed The user is responsible for conforming to all applicable local national and international codes drive and a minimum of 3 inches 78 mm on each side of the drive to eliminate the potential problems of heat generation and electrical noise Allow a minimum distance of 12 inches 305 mm above and below each ee To obtain rated output current from all amplifiers the ambient air a temperature below the amplifiers must be between 0 C and 50T No heat generating devices such as transformers power supplies or power resistors should be mounted directly beneath the modules Use ground straps made of 1 inch 25 mm silver tinned flat copper braid E to connect cabinet doors to enclosures the first sub panel to the enclosure and each sub panel to the next 151 PS 33xx Rev D SUMMARY OF SAFETY CONSIDERATIONS ix API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Where electrical codes call for the typical green safety ground wires use Cg
146. ures should be employed to prevent personal injury or damage to the system This fault condition can be cleared by activating the Reset input or through cycling power to the unit When a bus fault occurs the user should examine the application to determine if an external regeneration resistor is required the motion can be slowed or that the proper equipment has been selected for the application During the deceleration phase of motion the motor will regenerate energy into the amplifier This regeneration will cause the voltage of the DC bus to rise The regeneration resistor will turn on when the bus voltage exceeds 377 VDC The peak power dissipation is calculated by the following formula V Bm PeakPower PS 3320 Rp 14kW Peak power dissipation occurs the moment the circuit is enabled As soon as regen is enabled the regeneration power begins to be dissipated in the resistor and unless the system is generating peak regen power greater than the regen circuit peak power capability the bus voltage decreases INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Motor Wiring The motor is the prime mover in any installation Special care should be taken to ensure that the motor is not damaged due to improper wiring and installation Review Figure 7 9 and Error Reference source not found for motor dynamic braking interconnect information Follow the general
147. used for the main power connections Improper wiring will result in damage to the amplifier 3 58 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The main power wiring is made to the terminal block TB1 Use care to ensure the correct pinout is used for the main power When operating off 115 VAC the L1 and L2 connections should be utilized Ensure that the amplifier s PE ground pin 1 is taken directly to the panel s SPG The preferred AC line over current protective device one for each unit is a three phase magnetic circuit breaker with a 5 8x instantaneous trip point When operating off single phase VAC ensure that you have taken into account the amplifiers current de rating For single phase AC derate current 33 at 115 VAC and 50 at 230 VAC Failure to do so will result in damage to the amplifier and is not covered under the manufacturer warranty Table 3 4 AC Power TB1 TB1 AC Power Pin AC IN HEM 3 fl2 0 23 1 151 PS 33xx Rev D INSTALLATION AND WIRING 3 59 API Controls 3 60 PS 33xx Series Digital Servo Drives Installation User s Guide Line Filters AC power brought into the panel can allow EMI to enter the panel This is especially true in facilities that have a large number of SCR controlled devices such as variable speed drives and heating or welding devices Line filters should b
148. via a right mouse click A Print Menu is displayed of all the items for a selected application After selecting the items to be printed the print key is selected Figure 5 33 APlmate 2 0 File Print Select All Select None 151 PS 33xx Rev D SYSTEM STARTUP 5 43 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide APImate provides the user with complete online help to provide examples and descriptions of specific commands and functions Where possible we have included graphic examples of features and functions Figure 5 34 APlmate 2 0 Help Screens amp APImate 97 Help k OF Xx File Edit Bookmark Options Help APIScope amp APIScope Node 1 BB x Scope Hi Target Position Target Position 0 04 0 06 time seconds Target Velocity tem revis 0 25 Target Velocit EH Repeat gger 0 0 00 010 Capture amp Plot 5 44 SYSTEM STARTUP 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 5 3 6 Active Program The user must select the Active Program icon to view the currently active program If a program exists then it will be displayed in the right window Ifa program is not shown the user can create a program by simply making a double left mouse click in the right window A menu of program commands will become available to assist in writing the program Additional help screens are available vi
149. within a Move At block An attempt was made to execute a spline or CAM command when the system was already executing one Arguments specified in a Move At or related command are not valid Arguments specified in a Move command do not make sense Too many Call s have occurred A Return has occurred without a Call A variable specified for DAC related commands does not exist 6 4 MAINTENANCE TROUBLESHOOTING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Short Circuit An amplifier fault has occurred in the power transistor stage Fault Bus Fault An bus related amplifier fault has occurred Amplifier The drive shutdown because internal thermal limits have been exceeded Overtemp Motor Overtemp The motor overtemperature thermal switch has been tripped If the motor does not have such protection change the value of the COT parameter which controls whether or not the thermal switch input should be examined 151 PS 33xx Rev D MAINTENANCE TROUBLESHOOTING 6 5 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 Appendices The information contained in the following appendices is provided for reference purposes 151 PS 33xx Rev D APPENDICES 7 1 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide 7 1 Product Specifications 7 1 1 Mounting Assembly Outline Dimensions Figure 7 1 Outline Dimensions PS 3303 PS 3306
150. wo feet in length 3 70 INSTALLATION AND WIRING 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The optically isolated inputs RESET and ENABLE are current activated Figure 3 18 PS 33xxd E Digital Inputs Isolated Input 5 24 VDC 5 24 VDC 151 PS 33xx Rev D Input PS 33xxog S 33xxi S 2 7k Ohms NN V WV Corresponding Input PS 33xxd E Input p D Sinking Output o o Input Return PS 33xxd E Input zi Sinking Output d o Input Return INSTALLATION AND WIRING 3 71 API Controls PS 33xx Series Digital Servo Drives Installation User s Guide The outputs DRIVE OK and FOLDBACK can be wired as current sourcing or current sinking with a maximum sink of 35 ma per output An additional external power source of 5 30 VDC is required These outputs are not short circuit protected Figure 3 19 PS 33xxd E Digital Outputs PS 33xxol PS 33xxi Hutput p Isolated Hutput Va Corresponding Uutput PS 33xxd E Sourcing Input o o Output C 5 24 VDC Output Return Vv PS 33xxd E Output Sinking C 5 24 Input VDC o o Output Return NA 3 72 INSTALLATION AND WIRING 151 PS 33xx Hev D API Controls PS 33xx Series Digital Servo Drives Installation User
151. xi E and PS 33xxc E models only Rated Torque Torque Cont Peak Power Feedback Inertia Kt Ib in N m RPM RPM watt Device Kg m2 Nm Amp MAC M161 HM60 2048 line encoder 0 000007 MAC M241 HM60 1 2048 line encoder 0 000021 MAC M242 HM60 2048 line encoder 0 000035 MAC M312 HM60 2048 line encoder 0 000211 MAC M511 EM80 I 8192 line encoder 0 001390 8192 line encoder 0 002500 8192 line encoder 0 003170 8192 line encoder 0 004600 Motors have front shaft seal and keyed Class B UL U AH Ki Kar A AK BF AJ AG Part Number mm mm mm mm mm mm MAC M161 HM60 MAC M241 HM60 MAC M242 HM60 MAC M312 HM60 MAC M511 EM80 MAC M512 EM80 MAC M711 EM80 MAC M712 EM80 oo oa O1 C5 k ai oo Socket or Socket or Power Con Clamp Clamp 172167 1 192159 1 170361 1 4 172169 172163 1 170361 1 172167 1 192159 1 170361 1 4 172169 172163 1 170361 1 172167 1 192159 1 170361 1 4 172169 172163 1 170361 1 172167 1 192159 1 170361 1 4 172169 172163 1 170361 1 9 MS3102A18 10P MS3106B18 10S MS3057 10A MS3102A20 29P MS3106B20 29S MS3057 12A MS3102A18 10P MS3106B18 10S MS3057 10A MS3102A20 29P MS3106B20 29S MS3057 12A MS3102A22 22P MS3106B22 22S MS3057 12A MS3102A20 29P MS3106B20 29S MS3102A22 22P MS3106B22 228 MS3057 12A MS3102A20 29P MS3106B20 29S 7 6 APPENDICES 151 PS 33xx Rev D API Controls PS 33xx Series Digital Servo Drives Installation User s Guide Figure 7 5 Drawing MAC M Series

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