RD750 manual - Advanced Micro Controls Inc
Contents
1. amp Default 15 14 13 12 11 10 9 8 7 6 5 4 2 1 Bit 0 RDC Velocity Velocity exceeds maximum limit of resolver digital converter See Resolver Tracking Speed on 13 for more information This bit will reset itself once the velocity reading decreases Bit 1 RDC Tracking RDC exceeded maximum tracking rate Caused by extremely high acceleration values This bit will reset itself once the acceleration rate decreases Bit 2 RDC Mismatch Maximum amplitude mismatch between the sine and cosine signals Error in wiring or significantly higher impedance on one winding Cold solder joint loose connection etc Bit 3 RDC Degrade Degradation in sine cosine signals Generally a wiring issue or electrical noise induced into the cable Bit 4 RDC Loss Sine Cosine signals have changed significantly during machine operation and are now too low to be accurately mea sured This is typically an indication of an installation issue or break error in resolver cabling Bit 5 RDC Clipping Sine Cosine signals have changed significantly during machine operation and are now too high to be accurately measured This is typically an indication of an installation issue or break error in resolver cabling Bit 6 Excessive Phase Err The phase shift between the Reference and Sine Cosine signals has2. Feedback 0 Real Encoder Feedback 2 147 483 647 Displays the position feedback value of the resolver This can be used as a source for the main control Port 0 Feedback Select See Note Below Encoder Status RO 16 bit Encoder Status integer Status Information from the RD750 Options HomMrk Event o HomMrk Armed Direction gt 4 5 N 6 o Event o Homeln Armed v gt IT 15 14 13 12111 10 9 Bit 0 Z Chan Enable State of the corresponding bit in the Encoder Cfg parameter Bit 1 A Chan Only State of the corresponding bit in the Encoder Cfg parameter Bit 2 A Input Emulated signal based on the present position reported by the RD750 in the Encoder Feedback parameter P4 Bit 3 A Not Input Emulated signal based on the present position reported by the RD750 in the Encoder Feedback parameter P4 Bit 4 B Input Emulated signal based on the present position reported by the RD750 in the Encoder Feedback parameter P4 Bit 5 B Not Input Emulated signal based on the present position reported by the RD750 in the Encoder Feedback parameter P4 Bit 6 Z Input Emulated signal based on the present position reported by the RD750 in the Encoder Feedback parameter P4 Bit 7 Z Not Input Emulated signal based on
3. Resolver TR Is Lower Than Expected Resolver Phase Shift Fault and Resolver TR Is Higher Than Expected 2 gt 5 Ro 5 Jp Excessive Phase Shift Error Resolver Fault Resolver Tracking Error Resolver OK Resolver OK Latched Faults that are now clearable IER NO NNN Red LED on When both are on the LED may Green LED on J appear to be orange in color Both LED s off Figure 4 LED2 Resolver State Blink Patterns The Hardware Fault condition can occur at any time If it does occur check over the installation and cabling and reset the card by either issuing a software reset or cycling power to the drive If the error remains contact AMCI technical support for further assistance Thefive red LED blink patterns Resolver Phase Shift Measurement Fault through Resolver Phase Shift Fault and Resolver TR Is Higher Than Expected will only occur when the RD750 is testing the connec tion to the resolver on power up If they occur check your cable type cable and resolver wiring and resolver specifications and adjust the DIP switch settings as suggested DIP switch settings are only read on power up so you must issue a software reset command or cycle power to the drive before the RD750 will accept the changes Excessive Phase Shift Error should rarely occur and only if the r
4. 030009 7 50 Vrms 7 05 0 27 to 0 84 8 45 Vrms BEBE o5 9 40 Vrms BEBE 055 0 22 to 0 68 10 30 Vrms MEME 04 02010063 11 25 Vrms 140z BE 2 01910058 12 20 Vms 0 MEQUE 036 0170054 BEBE sse BEBE 0160050 1410Vms BABA 20 m m 0 32 0 15 to 0 47 15 00 Vrms Figure 7 DIP Switch Settings 16 ADVANCED MICRO CONTROLS INC Installing the RD750 Setting Encoder Jumper and DIP Switches continued Settings for Common Resolvers RD750 Suggested Settings T Maximum Resolution TERT TT Model 4 Speed o apor Tod Specified Reference Voltage Frequency Setting bits AMCI R11X C10 7 AMCI R11X J10 7 Moog Poly Scientific JSSB 21 B 02J Reliance 800123 2R Tamagawa TS 2014N181E32 Reliance 800123 2S Tamagawa TS 2014N182E32 Reliance 800123 2T Tamagawa TS 2014N185E32 Reliance 800123 R Tamagawa TS 2087N1E9 Reliance 800123 S Tamagawa TS 2087N2E9 Reliance 800123 T Tamagawa TS 2087N5E9 Reliance 800123 1R Tamagawa TS 2087N11E9 Reliance 800123 1S Tamagawa TS 2087N12E9 O Maximum Resolution is based on the 20 750 ENC 1 limit of 80 000 counts per turn Exceeding this value will cause errors in velocity feedback and the motor commutation angle calculations Total c
5. 1 Marker Events are generated Note that the RD750 always generates Z pluses on the encoder outputs as well as in the Encoder Status bits reported to the drive gt Direction Setting this bit reverses the count direction of the resolver It is strongly recommended that you issue a software reset or cycle power to the drive after the count direction is reversed See addi tional notes below Encoder PPR Configures the drive for the number of Pulses Per Revolution encoder lines emulated by the RD750 This parameter must be set to Resolver Position Resolution x Resolver Speed 4 Resolver Position Resolution is set by the DIP switches on the RD750 Resolver Speed is an inherent property of the resolver and is equal to the number of electrical cycles generated per mechanical rota tion of the resolver s shaft For example when using 14 bit position resolution and a 2X speed resolver the Encoder PPR must be set to 16 384 x 2 4 8 192 Other parameters are emulated by the RD750 so it appears to be a 20 750 ENC 1 module to Rockwell Auto mation software All ENC 1 parameters and how the RD750 emulates them are listed in the Option Module Parameters section starting on page 22 Additional Notes on Reversing Count Direction There are two ways to reverse the count direction when using resolvers The first is to reverse the connec tions of the sine winding at the resolver input connector on the RD750 The second method is by
6. Tamagawa TS 2014N181E32 Reliance 800123 2S Tamagawa TS 2014N182E32 Reliance 800123 2T JSSB 21 B 02J Tamagawa TS 2014N185E32 Reliance 800123 R Tamagawa TS 2087N1E9 Reliance 800123 S Tamagawa TS 2087N2E9 Reliance 800123 T Tamagawa TS 2087N5E9 Reliance 800123 1R Tamagawa TS 2087N11E9 Reliance 800123 1S Tamagawa TS 2087N12E9 Table 1 Common Resolver Sensors Resolver Transmitters Resolver transmitters have the rotor as their primary winding The excitation voltage is applied to the primary and the return signals are read off of the sine cosine stators The RD750 is designed to be compatible with all common 1 kHz to 20 kHz resolver transmitters Resolver Control Transformers Resolver control transformers have the stators as their primary windings Two voltages are applied to the resolver that defines an electrical angle The rotor output voltage and phase is equal to the difference between the electrical angle supplied through the stators and the mechanical angle of the resolver s shaft When using the RD750 it is possible to operate a control transformer backwards by applying the signal to the rotor and reading the resulting stator waveforms You must be aware of the following when using con trols transformers The operating frequency remains the same gt The transformation ratio will not be what is stated on the resolver s label or its specifications sheet Most
7. o o Reserved w Phase Shift Bit 1 Low TR The resolver s transformation ratio is lower than expected The Sine Cosine signals are present but cannot be mea sured accurately Decrease the TR setting on the RD750 to improve signal levels Bit 2 High TR The resolver s transformation ratio is higher than expected The Sine Cosine signals are present but cannot be mea sured accurately Increase the TR setting on the RD750 to improve signal levels Bit 3 Phase Shift Set to 1 if there is an error in measuring signal phase shift during initial tests Set after power up sequence only All used bits in P8 are latched bits Once set they will remain on until cleared by a Clear Fault Command These bits will trigger a Quadrature Loss event See Troubleshooting on the following page for more information Table 4 RD750 Parameter List 24 ADVANCED MICRO CONTROLS INC TROUBLESHOOTING Faults and Alarms The following table contains information on the faults and alarms available when using the RD750 NOTE gt The parameter and bit names are defined for 20 750 ENC 1 and these names will appear in your project Review the descriptions below to understand how and when the drive will trig ger a fault based on information from the RD750 Event Fault Type Configuration Auto Description Action s No t Alarm Text Parameters Reset xx000 Open Wire Configurable A position value cannot be d
8. 12 Vdc can potentially damage eguip ment that is designed for a 5 Vdc signal Figure 6 Encoder Output Voltage Jumper NOTE If the jumper is missing the encoder outputs will operate at 5 Vdc 20 Gear Drive Plymouth Ind Park Terryville CT 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com Installing the RD750 Setting Encoder Jumper and DIP Switches continued DIP Switch Settings Figure 7 below shows the DIP Switch settings for selecting the resolver and encoder resolution the reference freguency and the resolver s transformation ratio Backplane Gold Fingers Toggle switches are white Image to the right shows all switches in the off Logic 0 position EHEHEHHHEBEHHHH 2037 iam Resolver and Encoder Reference Position Resolution Freguency Range 10 bit 1 024 counts tumn 2 kHz to 20 kHz 12 bit 4 096 countstum 2 kHz to 20 kHz 14 bit 16 384 counts tum 2kHzto 12 kHz 16 bit 65 536 counts turn 2 kHz to 10 kHz Reference Freguency Optimal TR Resulting Reserved TR Range Reference Voltage H H Reserved B H B 2 0 kHz Reserved 256 Reserved 5 E 3 0 kHz BEEN 148 0 61 101 75 3 75 Vrms 5 5 04910150 4 70 Vrms BEBE 033 0200125 5 65 Vrms 5 0 35 to 1 07 6 60 Vrms BABB
9. a long on time Resolver TR is higher than expected increase the DIP switch set ting gt In order to set the TR you will have to 1 Manually change the DIP switch settings either up or down depending on the state of LED2 2 Cycle power to the drive or issue a software reset command to force the RD750 to read the state of the DIP switches 3 check the new state of LED2 and continue these steps until you find the proper setting Ideally you will find the entire range of settings where the resolver can be read successfully and set the TR setting to the center of this range SSeS _____________________________________________________________________________________________________________________________________________________________________________________________________________ ___ ___ 20 Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com OPTION MODULE PARAMETERS Parameter List The RD750 closely emulates the Single Incremental Encoder Option Module from Rockwell Automation eight parameters that are available on the 20 750 ENC 1 are also available on the RD750 NOTE gt The parameter and bit names are defined for 20 750 ENC 1 and these names will appear in your project Please note that some of these bits are not used by the RD750 and the meaning of others has been altered NOTE gt Phase Loss Count P7 and Quad Loss Count P8
10. are unaltered from the version posted by Advanced Micro Controls Inc on our official website www amci com You may incorporate portions of this documents in other literature for your own personal use provided that you include the notice Portions of this document copyright 2013 by Advanced Micro Controls Inc You may not alter the contents of this document or charge a fee for reproducing or distributing it Standard Warranty ADVANCED MICRO CONTROLS INC warrants that all eguipment manufactured by it will be free from defects under normal use in materials and workmanship for a period of 18 months Within this warranty period AMCI shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping charges prepaid within eighteen months from date of invoice and which upon examination proves to be defective in material or workmanship and not caused by accident misuse neglect alteration improper installation or improper testing The provisions of the STANDARD WARRANTY are the sole obligations of AMCI and excludes all other warranties expressed or implied In no event shall AMCI be liable for incidental or conseguential damages or for delay in performance of this warranty Returns Policy All equipment being returned to AMCI for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number issued by AMCI Call 860 585 1254 with the mode
11. cables suggested for use as the resolver extension cables Alpha 6053C and 6317 are the three pair versions of the cables suggested by Rockwell Automation for use with their incremental encoders Connected Eguipment WHT To BLK lt A D 2 RED E 2 BLK SS T Z SHLD BLK x SHIELDS N L Belden 9873 Alpha 6053C or exact eguivalents For cable lengths greater than 100 30 meters use Belden 9730 Alpha 6317 or exact eguivalents Figure 10 Encoder Output Wiring D CAUTION The RD750 can output 5 Vdc or 12 Vdc differential signals Setting the Encoder Jumper which is found on page 15 shows the location of the jumper used to set the out put voltage Verify the input voltage range of any eguipment you attach to the encoder outputs Operating the encoder outputs at 12 Vdc can potentially damage eguipment that is designed for a 5 Vdc signal 20 ADVANCED MICRO CONTROLS INC Installing the RD750 Determining the TR Setting of a Control Transformer Resolver Once the drive is powered the RD750 may reguire configuration changes to work properly with a control transformer resolver A true RMS voltmeter or oscilloscope will simplify the process but the Resolver Status LED can also be used to make the changes With a True RMS Meter or Scope 1 Measure and record the voltage across the REF R1 R2 connections on the resolver input conne
12. exceeded velocity data and motor commutation angle calculations will be incorrect Resolver Tracking Speed As explained in the following section Resolver Tracking Speed is the maximum rotational speed at which the resolver position can still be accurately decoded This refers to the rate at which the sinusoidal outputs change which is the mechanical rotational rate of the resolver s shaft multiplied by the resolver s speed For example a 5X speed resolver whose shaft is rotating at a rate of 2 000 RPM will have an apparent rotational rate of 10 000 RPM 2 000 RPM x 5 Resolver Tracking Speed Resolver Tracking Speed is the maximum rotational speed at which the resolver position can still be accu rately decoded Exceeding these speeds can affect positional accuracy Resolver Tracking Speed is based on the operating frequency and desired position resolution Operating Position Resolver Tracking Speed Frequency Resolution Single speed resolver 2 0 to 2 5 kHz i 7 500 RPM 3 0 to 5 0 kHz 1 30 000 6 0 to 8 0 kHz 1 60 000 10 0 to 20 0 kHz 1 150 000 O Maximum operating freguency for 16 resolution is 10 kHz Maximum operating frequency for 14 bit resolution is 12 kHz 3 Maximum operating frequency for 12 and 10 bit resolutions is 20 kHz Table 2 Resolver Tracking Speeds A resolver tracking error may be reported by the RD750 during times of apparent extremely high accelera tion The error is
13. lengths lt 100 ft Belden 9730 recommended for lengths gt 100 ft Reference Output Freguency Programmable from 2 kHz to 20 kHz Factory Default of 2 5 kHz Connector AMCI Part Wire Strip Length Sensor Transformation Ratio Programmable from 0 15 to 1 75 Factory Default of 0 45 Reference Output Voltage Set by Sensor Transformation Ratio Setting Programmable from 3 75 to 15 0 Vrms Factory Default of 10 30 Vrms Reference Output Current 50 mArms maximum Resolver Position Resolution 10 12 14 or 16 bits per turn 1 024 4 096 16 384 or 65 536 steps over a single turn Factory Default of 14 bits per turn Encoder Resolution Set by Resolver Position Resolution setting Encoder Output Type Differential Jumper selectable to 5 or 12 Vdc Encoder Output Current 25 mA per channel Environmental Specifications Ambient Operating Temperature 0 to 50 32 to 122 F Storage Temperature 40 to 70 C 40 to 158 F Product designed for operation in EN 61800 5 1 Pollution Degree 1 and 2 environments Status LED s See Status LED s starting on page 10 Connectors Mating connectors are included with the RD750 and are available separately under the following AMCI part numbers Max Tightening Torque Weidmueller Resolver MW 9 28 14 AWG 0 236 6 mm 2 21 Ib in 0 25 Nm 1615710000 Encoder MW 7 28 14 AWG 0 236 6 mm 2 21 Ib in 0 25 Nm 1610190000 O Assuming a single speed resolver Multi speed
14. likely it won t even be the reciprocal of the specification If you have an oscilloscope you can easily measure and calculate the TR or you can use the RD750 to determine settings that will work for the module Positional accuracy will suffer The final accuracy will depend on the resolver you use but 10 bit accu racy or better 20 min is typical Repeatability as opposed to accuracy will remain extremely high typically 1 count regardless of your resolution setting 12 ADVANCED MICRO CONTROLS INC Introduction to the RD750 Compatible Sensors continued Single and Multi Speed Resolvers The most common resolver is known as a single speed resolver It is manufactured in such a way that one turn of the resolver s shaft produces one sinusoidal cycle on the sine and cosine output windings Multi speed resolvers are wound with additional poles so that one rotation of the resolver s shaft produces multiple sinu soidal cycles on the outputs This is important in three ways in RD750 applications Z Pulse Output The RD750 Encoder Output emulates the electrical cycles of the resolver For exam ple if a 5 speed resolver is used the RD750 will output five Z pulses for every mechanical rotation of the resolver s shaft Maximum Position Resolution The RD750 emulates the 20 750 ENC 1 option module in Rockwell Automation software The ENC 1 module has a resolution limit of 80 000 counts per turn If this value is
15. parameters are not counters on the RD750 They are bit fields that show resolver errors The names of these bits are defined by AMCI and can be added to your RSLogix 5000 or Studio 5000 project by using User Defined Tags Display Name Values Full Name Description File Data Encoder Cfg Encoder Configure integer Configures the count direction and active encoder channels Options Default 8 5 5 81 21 1 89 218 2 2 8 2 8 8 a ojojojojojojojojojojo 15 14 13 12 11 10 9 8 7 6 5 Bit 0 2 Chan Enable If this bit is reset to 0 the RD750 will not generate Marker Events which indicate that the resolver position has passed through electrical zero If set to 1 Marker Events are generated Marker Events are indicated by bit 8 of the Encoder Status word P5 8 Note that the RD750 always generates Z pluses on the encoder outputs as well as in the Encoder Status bits reported to the drive Bit 1 A Chan Only Not used by the RD750 but the state of this bit affects the operation of the PowerFlex drive It is strongly sug gested that this bit always be reset to 0 If this bit is set to 1 the drive will ignore errors reported in the Quad Loss Count register P8 and the number of counts per turn generated by the RD750 must be set to less than or equal to 20 000 instead of 80 000 Bi
16. rare non fatal and will clear itself once the acceleration rate decreases The Resolver Tracking Speed refers to the rate at which the sinusoidal outputs are changing For single speed resolvers this is equal to the rotational rate of the resolver s shaft For multi speed resolvers this is equal to the rota tional rate of the resolver s shaft multiplied by the speed of the resolver 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com SPECIFICATIONS Sensor Type Resolver Transmitters and similar sensors with sine cosine stator outputs such as variable reluctance transducers Number of Resolver Input Channels One Installation Locations Slots 4 or 5 of the PowerFlex 750 backplane Weight 0 167 Ibs 0 076 kg with mating connectors Input Power All power is drawn from the 750 Series backplane Current Draw 12 Vdc 145 mA without sensor 170 mA with AMCI R11X J resolver 240 mA with reference shorted by 5 2 Fault Condition 12 Vdc 60 mA without sensor 90 mA with AMCI R11X J resolver 160 mA with reference shorted by 5 2 Fault Condition 24 Vdc 10 mA with no load on encoder outputs Measurement Method Ratiometric Compensates for and eliminates most sources of error including phase shift voltage drift electrical noise and temperature changes Maximum Cable Length 1000 ft with proper cable and installation Belden 9730 recommended for
17. resolvers will produce these counts over a single electrical cycle of the resolver s outputs Care in pro gramming must be exersiced to ensure the total num ber of counts per mechanical rotation do not exceed 80 000 counts 14 ADVANCED MICRO CONTROLS INC INSTALLING THE RD750 Setting Encoder Jumper and DIP Switches RD750 Orientation Figure 5 shows you how the card must be ori ented before using the rest of this section to set the encoder jumper and the bank of DIP switches that configure the resolve interface The figure also shows the location of the jumper and the bank of DIP switches In this orientation the white silkscreen writing on 4 the RD750 is upside down However this tation makes the DIP switches follow a binary pattern and this is the orientation that the RD750 will have once it is installed in the drive Figure 5 RD750 Orientation Setting the Encoder Jumper The encoder jumper selects the output voltage of the encoder signals generated by the RD750 The two choices are 5 Vdc or 12 Vdc outputs Figure 6 is a close up of the Encoder Jumper This image shows the two pin jumper on the pins that select the 5 Vdc outputs This setting is the factory default To make the encoder outputs operate at 12 Vdc move the two pin header to the 12V and center pins D CAUTION Verify the input voltage range of any eguipment you attach to the encoder outputs Operating the encoder outputs at
18. the Universal Feedback Board 20 750 UFB 1 when Integrated Motion is used Rockwell Automation literature should be followed to add a PowerFlex drive to your control system Rock well Automation publication MOTION UM003D explains how to create a new project that supports inte grated motion as well as how to add and configure a PowerFlex 755 drive When creating your project remember to Enable Time Synchronization Choose an Ethernet communications module that supports the CIP Sync protocol and verify that the fol lowing parameters are set correctly The Electronic Keying parameter must be set to Exact Match or Compatible Keying The Time Sync Connection parameter must be set to Time Sync and Motion Detailed information on configuring PowerFlex 755 drives for use with ControlLogix L6x and L7x control lers can be found in the following Rockwell Automation publications PowerFlex 750 Series AC Drives publication 750 PM001 Integrated Motion on the EtherNet IP Network Configuration and Startup publication MOTION UM003 Logix5000 Controllers Motion Instructions publication MOTION RM002 Integrated Motion on the EtherNet IP Network publication MOTION RM003 Connected Components Workbench PowerFlex 750 Series drives can be configured with the Connected Components Workbench software This software is available for free download at http ab rockwellautomation com programmable controllers connected
19. the present position reported by the RD750 in the Encoder Feedback parameter P4 Bit 8 Marker Event When channel Z is enabled this bit indicates that the resolver position has passed through zero For single speed resolvers this occurs once per rotation For multi speed resolvers this occurs once for every electrical cycle of the resolver This bit will remain on until cleared by a clear fault command Bit 9 Inv Home In State of the corresponding bit in the Encoder Cfg parameter Not used by the RD750 Bit 10 Home Input A Home Input is not available on the RD750 This bit is always 0 Bit 11 Homeln Armed Indicates that the homing logic of the drive is configured to latch the resolver position on the next transition of the home input The RD750 does not have a discrete input and will respond by capturing the resolver position at the next electrical zero position of the resolver Bit 12 Homeln Event Normally 0 Set to 1 in response to Homeln Armed event after the resolver position passes through an electrical zero position Reset with a Clear Errors command from the drive Bit 13 HomMrk Armed Indicates that the homing logic of the drive is configured to latch the resolver position on the next marker Z pulse The RD750 will respond by capturing the resolver position at the next electrical zero position of the resolver Bit 14 HomMrk Event Normally 0 Set to 1 in response
20. to HomMrk Armed event after the resolver position passes through an electrical zero position Reset with a Clear Errors command from the drive Bit 15 Direction State of the corresponding bit in the Encoder Cfg parameter Error Status RO 16 bit Error Status integer Default 7 Chan Enbl o Marker Event o A Chan Only Status Information that will result in a feedback loss condition Options SI Comm Loss Reserved Reserved Reserved Slolalalala 21218121818 151515191912 Burnum sf 9 5 4 Bit 0 Open Wire Set when an error in the resolver signals prevents a valid position measurement from being made Bit 1 Phase Loss Set by drive in response to error bits in the Phase Loss Count parameter P7 Bit 2 Quad Loss Set by drive in response to error bits in the Quad Loss Count parameter P8 Bit 15 SI Comm Loss Indicates a communication loss between the main control board and the RD750 over the Serial Interface backplane Default Open Wire continued on next page TE gt The RD750 uses Phase Loss Count P7 and Ouad Loss Count P8 parameters as status bits when there is a latched fault or temporary error with the position value These bits must be monitored to assure proper feedback The RD750 does not reset or freeze the Encoder Feedback value when an error occurs 20 Gear Drive Plym
21. to figure 7 DIP Switch Settings on page 16 the Optimal TR column is the median value of the range listed in the Range column If your resolver s TR falls within the listed range the setting will work with the RD750 For example if your resolver has a TR of 0 45 any Optimal TR setting in the table from 0 83 to 0 32 will work but the setting that is optimized for 0 45 gives the RD750 the widest range of adjustment to compensate for variations in the resolver s TR Note that the TR setting also sets the value of the RD750 s reference voltage Operating a resolver at a volt age below its specified value never affects the accuracy of the resolver Operating a resolver at a voltage above its specified value rarely affects the accuracy of the resolver and this only occurs if the input power sat urates the cores of the resolver The RD750 s Analog Buffer minimizes the risk of this happening when you operate the resolver above its specified reference voltage If you have concerns about operating your resolver at a higher reference voltage you can choose your TR setting based on the reference voltage However the TR of your resolver must fall within the TR Range listed for that reference voltage TR Setting for Control Transformer Resolvers Determining the TR setting for a control transformer resolver reguires powering the system and either mea suring the resolver signals or using the resolver status LED as feedback For now s
22. to the drive after the count direction is reversed Encoder PPR Encoder Pulses Per Revolution Configures the drive for the number of Pulses Per Revolution encoder lines emulated by the RD750 This parameter must be set to Resolver Position Resolution x Resolver Speed 4 Resolver Position Resolution is set by the DIP switches on the RD750 Resolver Speed is an inherent property of the resolver For example when using 14 bit position resolution and a 2X speed resolver the Encoder PPR must be set to 16 384 x 2 4 8 192 Fdbk Loss Cfg 3 FltCoastStop Feedback Loss Configure 0 Ignore 7 Chan Enbl Single Ended RD750 Resolver Feedback Option Module Min Max 2 20000 Configures how the drive reacts to an error status condition for the feedback 1 Alarm Ignore 0 No action taken 2 Fit Minor ys 3 FltCoastStop Alarm 1 Type 1 alarm indicated Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault FltCoastStop 3 Major fault indicated Coast to Stop continued next page 22 ADVANCED MICRO CONTROLS INC Option Module Parameters Parameter List continued RD750 Resolver Feedback Option Module Display Name Values g di Full Name t Description 5
23. ADVANCED Conrrots Inc RD750 Resolver Feedback Option Module for PowerFlex 750 Series Drives s m 2 2 Products GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applica tions Therefore the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application While efforts have been made to provide accurate infor mation within this manual AMCI assumes no responsibility for the application or the completeness of the information contained herein UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS INC BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEOUENTIAL DAM AGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN No patent liability is assumed by AMCI with respect to use of information circuits eguipment or software described in this manual The information contained within this manual is subject to change without notice This manual is copyright 2013 by Advanced Micro Controls Inc You may reproduce this manual in whole or in part for your personal use provided that this copyright notice is included You may distribute copies of this complete manual in electronic format provided that they
24. NTROLS INC Table of Contents General Information Important User Information Standard Warranty Returns Policy 24 Hour Technical Support Number We Want Your Feedback About this Manual AUIGIONCE Trademark Notices Revision Record Previous Revisions Navigating this Manual Manual Conventions Where To Go From Introduction to the RD750 The RD790 nonem R D Converter Encoder Output Software Configuration Notes on Reversing Count Direction Status LED S LED1 Host Drive Connection State LED2 Resolver State Compatible Sensors Resolver Transmitters Resolver Control Transformers Single and Multi Speed Resolvers Resolver Tracking DET Specifications 14 Installing the RD750 Setting Encoder Jumper and DIP Switches 15 RD750 Orientation 15 Setting the Encoder Jumper 15 DIP Switch Settings 16 Settings for Common Resolvers 17 Determining Settings for Other R sol
25. VANCED MICRO CONTROLS INC INTRODUCTION TO THE RD750 The RD750 For over twenty years Rockwell Automation and Advanced Micro Controls Inc have partnered together to offer the most advanced sensor interface technology on the market Based on this long standing relationship AMCI is proud to announce the first and only resolver interface module for the PowerFlex 750 Series AC Drives from Rockwell Automation Utilizing advanced resolver to digital conversion technology the RD750 can interface with a wide variety of resolvers including those from AMCI Moog Reliance and Tamagawa as well as many others R D Converter The heart of the resolver to digital converter is a monolithic IC that utilizes a ratiometric Type II tracking loop converter for high speed data acguisi tion without velocity induced errors To be as accurate as possible the monolithic R D converter reguires a very specific return voltage from the sine and cosine windings as well as minimal phase shift between the reference voltage and these return sig nals The RD750 has additional hardware to guarantee R D conversion accuracy Analog Buffer The analog buffer presents a specific load to the resolver This load prevents the mag netic cores of the resolver from saturating if it is operated at a voltage higher than its published specifi cation A resolver can always be operated at a lower voltage without accuracy concerns Analog Multiplier On po
26. Vets 17 Frequency Setting 17 TR Setting for Transmitter RESOIVETS Lii i pee 18 TR Setting for Control Transformer Resolvers 18 Installing the RD750 19 Wiring the Resolver Input 20 Reversing Count Direction 20 Encoder Output Wiring 20 Determining the TR Setting of a Control Transformer Resolver 21 With a True RMS Meter OE SCOD ore 21 With the Resolver Status LED LED2 us cte prebere 21 Option Module Parameters Parameter List 22 Troubleshooting Faults and Alarms 25 Software Configuration Drive Add On Profiles 26 Integrated Motion 26 Connected Components Workbench 26 DriveTools DriveExecutive 26 1is t3 3 3 LLL mrlrlrlr2r2r22 r1111111Tr11111111111l 111101 srrmrs 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Table of Contents Notes 1is t Tf1Tr 1111 11111 1 1 s i 11111 L G 20 Gear Drive Plymouth Ind Park Terryville CT 06786 4 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Read this chapter to learn how to navigate through this manual and familiarize yourself with the conventions used in it The last section of this
27. cable lengths less than 100 feet or Belden 9730 for any length These cables are low capacitance cables with three individually shielded twisted pairs They has been used in thousands of AMCI installations without issue Figure 9 below shows how to wire the Belden 9873 or 9730 cable to the resolver input connector on the RD750 BK ojia 54 Blu aN RED 1 it 1 Winding 2 9 52 vel SHLD O SING a 54 rj n R2 BIK Wht SIN 52 BLK E SHLD SHIELD J Rotary R1 Red Wht COS 2 53 0 Transformer Wire Color Cos O 51 BLK i SHLD WHT Li SHIELD Belden 9873 9730 or exact eguivalents For cable lengths greater than 100 30 meters use Belden 9730 or exact eguivalent Figure 9 Resolver Input Wiring Reversing Count Direction There are two ways to reverse count direction One option is with the Direction configuration data bit The other is by reversing the SIN S2 S4 connections on the resolver input connector In figure 9 above you would reverse the connections of the WHT BLK pair Encoder Output Wiring Figure 8 below shows the suggested wiring from the encoder output connector of the RD750 to your eguip ment Belden 9873 and 9730 are the same
28. changed significantly during machine operation This is usually an indication of an installation issue Bits P7 6 through P7 2 are latched bits Once set they will remain on until cleared by a Clear Fault Command These bits will trigger a Phase Loss event See Troubleshooting on the following page for more information Quad Loss Count RO Real Quadrature Loss Count Additional Resolver Status Information from the RD750 In the 20 750 ENC 1 module for Rockwell Automation this parameter stores the number of times a quadrature loss error occurs within a one millisecond sample interval There is no equivalent error in a resolver interface so the RD750 uses this parameter to transmit additional resolver status information Depending on which bits are set this parameter value will be between 0 and 15 NOTE The following bit names are designations from AMCI They will not appear in the 20 750 ENC 1 tags if you choose to transmit this information from the drive User defined tags can be used to add these bit names to your project Options Reserved Reserved E t n n EN 5 v gt v n Q a 6 v gt o n a 8 9 gt 2 2 2 2 9 n n n n n 9 15 14 13 12111 10 9
29. chapter high lights the manual s remaining chapters and their target audience Audience This manual explains the set up installation and operation of AMCI s RD750 Resolver Feedback Option Module for the Allen Bradley PowerFlex 750 Series AC Drives It is written for the engineer responsible for incorporating these modules into a design as well as the engineer or technician responsible for its actual installation Trademark Notices The AMCI logo is a trademark of Advanced Micro Controls Inc All other trademarks contained herein are the property of their respective holders Revision Record This manual 940 0E012 is the third release of this manual It adds additional information on the encoder emulator and its outputs It was initially released on September 16 2013 Previous Revisions 940 0E011 Second Release 9 3 2013 Added information on using control transformer resolvers 940 0E010 Initial Release 8 15 2013 Navigating this Manual This manual is designed to be used in both printed and on line formats Its on line form is a PDF document which requires Adobe Acrobat Reader version 7 0 to open it Bookmarks of all the chapter names section headings and sub headings were created in the PDF file to help navigate it The bookmarks should have appeared when you opened the file If they didn t press the FS key on Windows platforms to bring them up Throughout this manual you will find blue text that functions as a hy
30. cking on Cross Reference the cross reference text jumps you to referenced section When viewing the PDF version of the manual clicking on HTML Reference the HTML reference text will open your default web browser to the referenced web page Where To Go From Here This manual contains information that is of interest to everyone from engineers to operators The table below gives a brief description of each section s contents to help you find the information you need to do your job Starting Page Intended Audience Section Title Anyone new to the RD750 Resolver Feedback Option Module a to the This section gives a basic overview of the features available on the unit and status LED blink patterns Specifications Specifications table for the RD750 Anyone that must install an RD750 Includes information on DIP Installing the RD750 switch settings mounting grounding and wiring Option Module Anyone that needs a listing of the parameters available when using the 20 750 ENC 1 software profile and how the RD750 uses these Parameters settings Anyone that needs a listing of the fault codes available when using Troubleshooting the 20 750 ENC 1 software profile and when the RD750 will gen erate these codes Software Anyone that needs basic information on the Rockwell Automation Configura software packages that can be used to configure a PowerFlex 750 tion Series AC Drives with an RD750 6 AD
31. components workbench software When installing the software verify that the drive profiles are selected for installation and not just the micro800 profiles Option Modules are added to the drive while setting the drive s properties Help files that were installed with the software are available to assist you DriveTools DriveExecutive DriveExecutive software recognizes all peripheral cards installed in a drive when the software connects to the drive and you upload data from the drive You cannot manually add a 20 750 ENC 1 peripheral card to a 750 Series drive while off line Once the upload is complete the RD750 will appear as a 20 750 ENC 1 card in the Node Tree 26 ADVANCED MICRO CONTROLS INC Software Configuration Notes 20 Gear Drive Plymouth Ind Park Terryville CT 06786 27 Tel 860 585 1254 Fax 860 584 1973 http www amci com ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 WWW amci com LEADEHS IN ADVANCED CONTHOL PHODUCTS
32. ctor 2 Measure and record the voltage across the SIN S2 S4 connections If possible rotate the resolver until this voltage is at its minimum which should be in the millivolt range 3 Measure and record the voltage across the COS S1 S3 connections gt If you were able to rotate the resolver until the SIN voltage was at its minimum the effective TR for your control transformer is COS voltage REF voltage gt If you were not able to rotate the resolver the effective TR for your control transformer is TR desm valiga COS voltage REF Voltage Refer back to the DIP Switch Settings section on page 16 and set your DIP switch settings to the closest opti mal TR setting that you can Cycle power to the drive or issue a software reset command to re initialize the RD750 At this point the LED2 Status LED should be on and green If this is not the case refer back to fig ure 4 LED2 Resolver State Blink Patterns on page 11 for additional information on the state of the resolver connection With the Resolver Status LED LED2 If you followed the instructions for initial setup you set the TR DIP switch settings to a value of 0 50 When you apply power to the drive LED2 on the RD750 will most likely be in one of three states gt On Green Resolver is being read successfully Blinking Red with a short on time Resolver TR is lower than expected decrease the DIP switch set ting Blinking Red with
33. ely emulating the Rockwell Automation 20 750 ENC 1 Single Incremental Encoder Option Module In any Rockwell Automation software that supports the PowerFlex 750 Series Drives such as RSLogix 5000 or Studio 5000 software simply select the 20 750 ENC 1 module for the slot that the RD750 is plugged into and position and status information from the RD750 will be trans ferred to and from the drive The 20 750 ENC 1 module supplies captured position data to the drive during homing operations With the ENC 1 module homing can be done to the marker Z pulse of the encoder or to a discrete input The RD750 does not have a discrete home input If you issue a homing command to the drive that uses the marker pulse the RD750 emulates the result by using the electrical zero position of the resolver If you issue a homing command to the drive that uses the discrete input the RD750 will respond but it will still use the electrical Zero position of the resolver 8 ADVANCED MICRO CONTROLS INC Introduction to the RD750 The RD750 continued Software Configuration continued Most of the programmable settings on the 20 750 ENC 1 are not applicable to a resolver module However the following parameters do affect the operation of the RD750 and must be set correctly gt 7 Enable If this bit is reset to 0 the RD750 will not generate Marker Events which indicate that the resolver position has passed through electrical zero If set to
34. esolver or cable characteristics change significantly during drive operation Consider this a warning of an installation issue or a failure of the resolver or RD750 Resolver Fault occurs when there is an error with the resolver signals The RD750 checks the symme try of the sine and cosine voltages as well as their actual values A resolver fault is typically caused by cabling issues or improper DIP switch settings on the RD750 In the case of a transient fault such as electrical noise on the resolver cable the Resolver Fault condition will clear itself and begin to transmit valid data again The occurrence of the fault is latched and is shown on this status LED as well as by bits in the backplane data This bit can be cleared with a Clear Faults command from the drive gt A Resolver Tracking Error may rarely occur during times of apparent extremely high acceleration The error is non fatal and will clear itself once the acceleration rate decreases 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Introduction to the RD750 Compatible Sensors The RD750 is compatible with a broad range of resolvers and variable reluctance transducers including those listed below that are commonly used in VFD and servo systems Manufacturer Model Speed N Specifled Voltage AMCI R11X C10 7 AMCI R11X J10 7 Moog Poly Scientific Reliance 800123 2R
35. et the TR DIP switches to a value of 0 5 The procedure for setting the TR of a control transformer resolver is presented at the end of this chapter in the Determining the TR Setting of a Control Transformer Resolver section starting on page 21 18 ADVANCED MICRO CONTROLS INC Installing the RD750 Installing the RD750 Installation of the RD750 follows the same procedure shared by all Allen Bradley option modules 1 Firmly press the module edge connector into the desired port Note that the RD750 can only be installed in ports 4 or 5 2 Tighten the top and bottom retaining screws Recommended torque 4 0 Ibein 0 45 Nem Recommended screwdriver T15 Hexalobular Important Do not over tighten retaining screws Figure 8 Installing the RD750 20 Gear Drive Plymouth Ind Park Terryville CT 06786 19 Tel 860 585 1254 Fax 860 584 1973 http www amci com Installing the RD750 Wiring the Resolver Input When wiring the resolver to the RD750 cabling suggestions from your resolver s manufacturer should be fol lowed with the possible exception of grounding the cable shield at the resolver The RD750 connects the shields of the cable to the chassis of the PowerFlex drive and grounding the cable shields at the resolver or at any cable junction can lead to ground loops that may affect system performance If your resolver s manufacturer does not recommend an extension cable AMCI suggests Belden 9873 for
36. etermined due to errors in the sine cosine Loss Cfg signals This bit is set when any of the status bits P7 6 through P7 2 Phase Loss Count parameter are set The blink pattern of the Resolver Status LED LED2 will also indicate the error xx001 Phase Loss Configurable P3 The drive checks the value of the Phase Loss Count parameter P7 Fdbk Loss Cfg every millisecond and calculates a running sum over an eight millisec ond time period This fault occurs whenever the eight millisecond sum exceeds 30 The RD750 defines seven status bits in the Phase Loss Count parame ter P7 6 P7 0 Bits P7 0 RDC Velocity and P7 1 RCD Tracking are not latched and will not cause this event to be triggered if they are the only bits in P7 that are on The remaining bits used in P7 P7 6 through P7 2 are latched Therefore this event will occur within eight millisec onds of any of these five bits turning on The only way to reset these five bits in P7 is witha by a Clear Fault Command xx002 Configurable P3 The drive checks the value of the Ouadrature Loss Count parameter Loss Fdbk Loss Cfg P8 every millisecond and calculates a running sum over an eight milli second time period This fault occurs whenever the eight millisecond sum exceeds 10 The RD750 defines three status bits in the Quad Loss Count parameter P8 3 P8 1 All of these bits are latched Therefore this event will occur within eight milliseconds of any of these three bits tu
37. l number and serial number if applicable along with a description of the problem during regular business hours Monday through Friday 8AM 5PM Eastern An RMA number will be issued Equipment must be shipped to AMCI with transportation charges prepaid Title and risk of loss or damage remains with the customer until shipment is received by AMCI 24 Hour Technical Support Number 24 Hour technical support is available on this product If you have internet access start at www amci com Product documentation and FAQ s are available on the site that answer most common questions If you require additional technical support call 860 583 7271 Your call will be answered by the factory dur ing regular business hours Monday through Friday SAM 5PM Eastern During non business hours an auto mated system will ask you to enter the telephone number you can be reached at Please remember to include your area code The system will page an engineer on call Please have your product model number and a description of the problem ready before you call We Want Your Feedback Manuals at AMC are constantly evolving entities Your questions and comments on this manual are both wel comed and necessary if this manual is to be improved Please direct all comments to Technical Documenta tion AMCI 20 Gear Drive Terryville CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to techsupport amci com ADVANCED MICRO CO
38. nection MEER EN Host Connection Lost I Host Connection Time Out Data Transfer Overrun Unsupported Data Size Host Connection OK Red LED on When both are on the LED may Green LED on J appear to be orange in color Both LED s off Figure 3 LED1 Host Connection Blink Patterns Errors in communication with the host may occur if the slot the RD750 occupies is not configured as a Rock well Automation 20 750 ENC 1 Single Incremental Encoder Option Module Errors may also occur due to environmental conditions such as electrical noise When an error does occur gt Verify that the slot is configured as a 20 750 ENC 1 Single Incremental Encoder Option Module in your software Issue a drive reset command or cycle power to the drive If the error still exists contact AMCI technical support for additional assistance 10 ADVANCED MICRO CONTROLS INC Introduction to the RD750 The RD750 continued Status LED s continued LED2 Resolver State r 1 Second gt lt 1 Second _ gt Hardware Fault Resolver Phase Shift SSS Measurement Fault m Resolver TR Is Lower Than Expected Decrease TR setting on RD750 Resolver TR Is Higher Than Expected Increase TR setting on RD750 Resolver Phase Shift Fault and BE
39. ounts from a resolver equals the resolution multiplied by the speed of the resolver For 2X resolvers the maximum total count is 2 4 X 2 32 768 For 5X resolvers the maximum total count is 212 X 5 20 480 Operating at 3 0 kHz instead of 2 5 kHz increases the Resolver Tracking Speed from 3 750 RPM to 15 000 RPM for 2X speed resolvers See Resolver Tracking Speed on page 13 for more information Operating at 3 0 kHz instead of 2 5 kHz increases the Resolver Tracking Speed from 1 500 RPM to 6 000 RPM for 5X speed resolvers See Resolver Tracking Speed on page 13 for more information Table 3 Suggested Settings for Common Resolvers Determining Settings for Other Resolvers Frequency Setting For most applications simply determine your resolver s rated operating frequency and choose the closest available setting on the RD750 This includes using the 2 kHz setting for any resolver that has an operating frequency rating of 1 kHz to 2 kHz The RD750 is not compatible with 400 Hz resolvers Generally speak ing a 20 shift in operating frequency will have a negligible effect on the resolver s outputs 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com Installing the RD750 Setting Encoder Jumper and DIP Switches continued Determining Settings for Other Resolvers continued TR Setting for Transmitter Resolvers Referring back
40. outh Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com Option Module Parameters Parameter List continued File RD750 Resolver Feedback Option Module Display Name Values 2 o Full Name Description K Phase Loss Count RO Real Phase Loss Count Resolver Status Information from the RD750 In the 20 750 ENC 1 module for Rockwell Automation this parameter stores the number of times a phase loss error occurs within a one millisecond sample interval There is no eguivalent error in a resolver interface so the RD750 uses this parameter to transmit resolver status information Depending on which bits are set this parameter value will be between 0 and 127 NOTE The following bit names are designations from AMCI They will not appear in the 20 750 ENC 1 tags if you choose to transmit this information from the drive User defined tags can be used to add these bit names to your project NOTE The Open Wire error bit in the Error Status parameter P6 will be set when any of bits P7 6 through P7 2 are also set The Open Wire error bit is not set of bit P7 0 RDC Velocity is set Options 5 Slo a 2 lt ola n 2 2 0 2 slslslslsls s s 8 8 0 2 0 5 0 ola 2 9 9 8 4 4 91 9
41. perlink in HTML documents Clicking on the text will immediately jump you to the referenced section of the manual If you are reading a printed manual most links include page numbers You will also find red text that functions as a hyperlink These links will bring you to the AMCI website Note that after clicking on a red link the program may ask for con firmation before connecting to the Internet The PDF file is password protected to prevent changes to the document You are allowed to select and copy sections for use in other documents and if you own Adobe Acrobat version 7 0 or later you are allowed to add notes and annotations 20 Gear Drive Plymouth Ind Park Terryville CT 06786 5 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Manual Conventions Three icons are used to highlight important information in the manual NOTE gt NOTES highlight important concepts decisions you must make or the implications of those decisions D CAUTION CAUTIONS tell you when eguipment may be damaged if the procedure is not followed properly WARNINGS tell you when people may be hurt or eguipment may be damagedif the pro cedure is not followed properly The following table shows the text formatting conventions Format Description Normal Font Font used throughout this manual Emphasis Font Font used the first time a new term is introduced When viewing the PDF version of the manual cli
42. rning on The only way to reset the bits in P8 is with a by a Clear Fault Com mand xx058 Module Fault Coast Module was commanded to write default values Defaulted The xx in the Event Number is equal to the slot the RD750 is installed in For example of the RD750 is installed in slot 5 a Phase Loss error will be reported as Event Number 05001 Table 5 RD750 Faults and Alarms 20 Gear Drive Plymouth Ind Park Terryville CT 06786 25 Tel 860 585 1254 Fax 860 584 1973 http www amci com SOFTWARE CONFIGURATION Drive Add On Profiles A PowerFlex 750 Series drive can be added to RSLogix 5000 or Studio 5000 projects as a Standard Drive using Drive Add On Profiles AOPs RSLogix 5000 v16 and higher or Studio 5000 is required At the time of this writing Add On Profiles were be available at hitp www ab com support abdrives webupdate soft ware html under the RSLogix 5000 Drive Add On Profiles non CIP Motion folder Option Modules are added to the drive while setting the drive s properties Integrated Motion PowerFlex 750 Series drives can be used as part of an Integrated Motion system Integrated Motion was previously known as CIP Motion With its 20 750 ENC 1 emulation the RD750 can be used in Integrated motion systems NOTE gt Like 20 750 ENC 1 module homing and registration functions are not supported when using the RD750 with Integrated Motion These functions are only supported by
43. setting a parameter bit in the software configuration registers Unlike the quadrature encoder the resolver is an absolute position device Because of this using either of the two methods to reverse count direction will result in a change in position value reported to the PowerFlex drive by the RD750 In some cases this change in position value may cause erratic movement or behavior when the drive is commanded to power a motor Because of this it is strongly recommended that you issue a software reset or cycle power to the drive after the count direction is reversed SSeS u 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com Introduction to the RD750 The RD750 continued Status LED s As shown in figure 2 two bi color status LED s on the RD750 offer visual feedback to simplify troubleshooting LEDI shows the status of the connection to the host drive while LED 2 shows the status of the resolver Each LED has several blink patterns that are shown in the following figures Each column in the figure represents one eighth of a second which means the table shows the LED s state for Backplane Gold Fingers two seconds For example Host Connection Lost is indi cated by blinking LEDI red at a 1 Hz rate Figure 2 RD750 Status LED s LED1 Host Drive Connection State 1 Second gt lt 1 Second gt No Active Host Con
44. t 2 Edge Mode When this bit is reset to 0 the PowerFlex drive uses an accumulated count to determine the speed of the motor When this bit is set to 1 the PowerFlex drive calculates speed based on the time between changes in resolver position Bit 3 Inv Home In Not used by the RD750 Bit 4 Single Ended Not used by the RD750 but the state of this bit affects the operation of the PowerFlex drive It is strongly sug gested that this bit always be reset to 0 If this bit is set to 1 the PowerFlex drive will ignore errors reported in the Phase Loss Count register P7 Bit 5 Direction Used to reverse the direction of rotation needed to produce an increase in position counts It is also possible to reverse count direction by reversing the S2 S4 connection at the resolver input connector When the resolver is connected as shown in Figure 9 Resolver Input Wiring resetting this bit to 0 results in clockwise increasing counts when looking at the resolver shaft Setting this bit to 1 results in counter clockwise increasing counts Using either of the two methods to reverse count direction will result in a change in position value reported to the PowerFlex drive by the RD750 In some cases this change in position value may cause erratic movement or behavior when the drive is commanded to power a motor Because of this it is strongly recommended that you issue a software reset or cycle power
45. teen settings that cover a range of 0 15 to 1 75 Reference Frequency Fifteen settings from 2 0 to 20 0 kHz Resolver Position Resolution Settings of 10 12 14 or 16 bits per turn T Inorder to control the level of the return signals Transformation Ratio is a more important setting to the RD750 then setting the level of the reference voltage Setting the TR sets the reference voltage between 3 75 and 15 00 Vrms 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com Introduction to the RD750 The RD750 continued Encoder Output In addition to the position velocity and status information available over the backplane the RD750 offers the resolver position data as an incremental guadrature encoder output The RD750 offers differential A B and Z outputs The outputs have a factory default output voltage of 5 Vdc but can be changed to 12 Vdc outputs with a single jumper The resolver position resolution also sets the resolution of the encoder output As shown in the figure below the encoder outputs make one guadrature state change for every one count change in resolver position The eguipment you attach to the RD750 must be capable of X4 decoding to achieve the same resolution as the resolver position Resolver Count Encoder Outputs UJ Figure 1 Encoder Output Waveforms Software Configuration Software configuration is simplified by clos
46. wer up or when the RD750 receives a reset signal from the drive the card reads the sine and cosine return voltages multiple times for approximately sixty milliseconds With these readings the RD750 calculates the proper coefficient for an analog multiplier that adjusts the sine and cosine signals so they are optimized for the monolithic R D converter Phase Compensator The readings that are used to set the analog multiplier are also used by the RD750 to determine the phase shift between the reference voltage and the return signals Once this value is known the RD750 generates a second reference signal that is identical in frequency to the first reference but phase shifted by the proper amount The first reference voltage signal drives the resolver The second reference is fed into the R D converter To the R D converter the reference and return sig nals appear to be in phase yielding a more accurate conversion The RD750 offers multi turn position feedback with a single turn position resolution of up to 65 536 counts per turn and a tracking rate of up to 150 000 RPM In addition to the single resolver interface the RD750 offers an A B quadrature output with Z pulse powered by differential output drivers These drivers are jumper selectable for 5 or 12 Vdc operation The module s basic configuration is accomplished with a bank of ten DIP switches located on the board The parameters set with these switches are Transformation Ratio Thir
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