BL57-1-2-C-00.xxx BL57-1-2-C-01.xxx(low speed) Brushless DC
Contents
1. File defaultO6 il Data 13 lug 2005 PLL PATIRE Hardware d Wok oem f semplice programma start stop il IL DES Default Brushless serie DES INGRESSI DES IN1 FINE CORSA ANTIORARIO DES IN2 FINE CORSA ORARIO DES IN3 START STOP DES IN4 DIREZIONE DES IN5 RAMPA ACCELLERAZIONE SI NO DES DES INGRESSO ANALOGICO 10 VOLT 4000 rpm 1 Ingressi Fisici FC_CCW BOOL 16 IN 1 FC_CW BOOL 17 IN 2 START_STOP BOOL 18 IN 3 DIR BOOL 19 IN 4 RAMPA OFF BOOL 20 PIN 5 VELOCITA INT 0 VL_MIS INT 10 5 ACC INT 51 RACC INT 1 fi I2T INT 30 variabili pid KP INT 11 m KIF INT 12 m KDB INT 13 m KIB INT 14 KDF INT 15 LFD INT 17 TIPO ENC INT 20 EMERGENZE MAX_AT BOOL 6 MIN AT BOOL 12 MAX IT BOOL 7 TERMICA BOOL 8 FAULT BOOL 9 RESET EMG BOOL 10 ON MOTORE BOOL 0 TARGET BOOL 2 DIREZIONE BOOL 1 DRIVE OK BOOL 21 OUT2 BOOL 22 TRIG OSC BOOL 5 RESET EMG BOOL 10 CK EXT INT 40 TIPO ACC BOOL 13 POS TARGET LINT 2 IN ANA INT 8 TIMER INT 9 TIPO RAMPA INT 21 TC OSC INT 28 I_ PARTENZA INT 37 TEST POINT SW_TP INT 29 TP1 INT 22 TP2 INT 23 TP3 INT 24 LIM CORR INT 36 COPPIA INT 39 VEL TMP INT 58 INT 59 FIRMA INIZIO PROGRAMMA MAIN LD FIRMA NE 0 JMPC NOST LD O ST TIPO ENC LD 10 ST I PARTENZA LD 1000 ST ACC LD 100 ST KP LD 1 ST KDF LD 200 ST KDB LD 10000 ST KIB LD 50 ST KI2. Brushless DC driver Closed loop Mod Bus User Manual INDEX 0 INTRODUCTION 0 1 Safety precautions 1 SYSTEM DESCRIPTION 1 1 Overview Key features General specifications Functional block Power supply I O RS 485 serial interface Integrated protection Low speed option N O UI UN 2 CONNECTION AND MECHANICAL DATA 2 1 Electrical connection 2 2 Mechanical data 3 OPERATIONAL MODE 3 1 Stand alone Default 3 2 Stand alone functions description 3 3 Stand alone Instruction List 1 2 0 INTRODUCTION Only qualified personnel should work with the product Use the product correctly after thoroughly reading the section Safety precautions The product described in this manual has been designed and manufactured for use in general industrial machinery and must not be used for any others purpose See table beyond to prevent equipment damage Protective range IP52 Ambient temperature 0 C to 45 C 32 F to 113 F non freezing Operation Humidity 85 or less non condensing environment Altitude Up to 3000m 9840ft above sea level Surrounding atmosphere No corrosive gas dust water or oil Storage environment Ambient temperature 25 C to 70 C 13 F to 158 F non freezing Humidity 85 or less non condensing Altitude Up to 3000m 9840ft above sea level Surrounding atmosphere No cor
3. N B To prevent accidentaly start of the motor at the power on the ON input In3 must be Low to enable the ON function In5 Acceleration level Optoisolated input In5 Hight 24V In5 Low OV maximum acceleration 0 sec acceleration 1 sec Maximum acceleration is possible according to max torque current available Ini Limit switch FC_CCW Optoisolated input Ini Ini Hight 24V motor OFF disable CCW direction Low OV none N B The limit switch logic function disable the direction and stop the motor Only the opposite direction is enable In2 Limit switch FC_CW Optoisolated input In2 Hight 24V motor OFF disable CW direction In2 Low 0 none N B The limit switch logic function disable the direction and stop the motor Only the opposite direction is enable In4 Direction DIR Optoisolated input In4 Hight 24V Ind Low 0 enable CCW direction enable CW direction Out1 DRIVE OK The drive is ready and no protections are active Out2 MOTOR SPEED A freguency value of motor speed is feedback through Out2 with the following function 300 rpm 30 Hz 3 000 rpm 300 Hz N B Stand Alone is the default resident program made in Instruction List language Is possible to replace or modify it through the RS485 connection using the IMide softwere as show in the Imide softwere manual 3 2 STAND ALONE Instruction List Societa SP EL s r l
4. diagram in order to prevent fire and electric shock Do not turn Enable off InEn off all windings off while motor is operating The motor will stop and lose its holding ability which may result in injury or damage equipment For maintenance and inspection before working on the system shut off the power to the drive and wait 1 minute Failure to do so may result in electric shock Do not open disassemble or modify the drive Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product CAUTION Do not use the drive beyond their specifications or electric shock injury or damage to equipment may result Do not touch the drive during operation or immediately after stopping The surface are hot and may cause a burn Keep the area around the drive free of combustible materials in order to prevent fire or a burn To prevent the risk of damage to equipment leave nothing around the drive that would obstruct ventilation Provide a cover over the rotating parts output shaft of the motor to prevent injury The motor s surface temperature may exceed 70 C even under normal operating conditions If motor is accessible during operation post a warning label in a conspicuous position to prevent the risk of burns When an abnormality is noted stop the operation immediately or fire electric shock or injury may occur 1 4 1 SYSTEM DESCRIPTION 1 1 OVERVIEW This product line repres
5. F LD 32 ST LFD LD 80 ST LIM CORR I I Ji m Ji Ji fi fi fi fi fi fi fi fi fi fi OUT1 AVVIO CAMPIONAMENTO OSCILLOSCOPIO fi fi fi fi Ji Ji m TEMPO CAMPIONAMENTO OSCILLOSCOPIO fi fi fi fi m Ji fi fi Kp 100 Kdf 1 Kdb 200 Kib 10000 Kif 50 LFD 32 LD 2 ST SW TP LD 905 ST FIRMA NOST controlla che non sia in start alla partenza LD 1 ST TIPO LD 0 ST ON MOTORE LD START STOP JMPC NOST CAL CALC VEL ATT START LD 1 segnala su OUT 1 che il motore ok ST DRIVE OK CAL CALC VEL subroutine di calcolo della velocit LD START STOP attendi pressione tasto START STOP EQ 0 JMPC ATT START salta se non premuto LD 1 ST RESET EMG resetta eventuali emergenze LD DIR ST DIREZIONE copia direzione LDN DIR ANDN FC CW controlla condizioni Fine Corsa OR DIR ANDN FC CCW M OK ID amp IFC CW D amp IFC EQ 0 JMPC ATT START se non ok vai attesa start LD 1 ST MOTORE avvia motore ST TRIG OSC ATT STOP Ciclo attesa STOP CAL CALC VEL subroutine calcolo velocit CAL CECK FC controlla fine corsa JMPC NOST LD DIR EQ DIREZIONE JMPC NOCD LD DIR ST DIREZIONE Copia direzione LD 1 ST TRIG OSC LD START STOP attendi STOP JMPC STOP gt LD RAMPA OFF EQ 0 JMPC DEC L LD 0 ferma motore ST VELOCITA LD 100 ST TIMER LD 1 ST TRIG OSC AT
6. T TIM LD TIMER NE 0 JMPC LD 0 ST MOTORE JMP NOST DEC L LD 0 ST ON MOTORE ATT FR LD TARGET EQ 0 JMPC ATT FR JMP NOST CALC VEL LD RAMPA OFF EQ 1 JMPC ACC H LD ACC ST RACC JMP LB00 ACC H LD 0 ST RACC LBOO LD IN ANA MUL 1100 DIV 1000 ST VEL TMP GT 4000 JMPC LIMIT S LD VEL TMP LT 300 JMPC LIMIT_I LD VEL TMP ST VELOCITA RET LIMIT_S LD 4000 ST VELOCITA RET LIMIT_I LD 300 ST VELOCITA RET 1 subroutine calcolo velocita imposta la velocita controllando i limiti vel max 4000 vel_min 300 MM Controlla se le condizioni per il movimento sono valide CECK FC LDN DIR ANDN FC CW OR DIR ANDN FC CCW JMPC NO FC LD 0 ST ON MOTORE LD 1 RET FC LD FAULT EQ 0 JMPC NOFAULT LD 0 ST ON MOTORE ST DRIVE OK LD 1 RET NOFAULT LD 0 RET END IFC CW DIR IFC CCW IN1 I se finecorsa ferma motore controlla fault se fault ferma motore
7. al dimension mm 3 OPERATIONAL MODE Motor drive works in different operational mode gt Stand Alone external analog speed reference gt Internal speed reference and acceleration ramp generator Torque control The motor drive is supplyed in Stand Alone default operational mode 3 1 STAND ALONE default Stand Alone configuration allows use the driver in speed control with analog speed reference the connection to RS485 is not required To control the motor speed you need only 2 data v Speed reference v on off input Other common functions implemented are 5 555 Default in out configuration Limit switch CW Limit switch CCW Direction Drive OK Motor speed value J1 Pin Nr Pin Name Pin Function Description 3 Outi DRIVE OK Out active low drive ok 4 Out2 MOTOR SPEED Hz vs Motor speed 5 Ini FC CCW Limit switch CCW 6 In2 FC CW Limit switch CW 7 In3 ON OFF Active Hight motor On 12 In4 DIR Direction hight CCW 13 Ain Analog speed reference 0 10V 300 4000 rpm 14 In5 Acceleration level Active Hight max acc Table 3 1 3 2 STAND ALONE functions description Ain Analog speed reference The speed reference range Ain is 0 Vdc 10Vdc 300 rpm 100 rpm with Low speed option 4000 rpm Internal automatic Acc Dec ramp set at 6 000 rpm s In3 Motor ON Optoisolated input In3 Hight 24V motor ON In3 Low OV motor OFF
8. alf duplex 7 2 7 2 4 RS485 Protocol atea RN IN INA ModBus Ba d Rate Sen ana A A SANA huis i 19200 bps Protection Over voltage dale dei 86 VDC Under Voltage dini Pesan An Io ene eet atari a ERR Ex rad 18 VDC Electronic Temperature mna nennen nnn nnns 85 C 1 4 FUNCTIONAL BLOCK 24 60 VDC Fase U SWTICH 3 PHASE Fase V MODE POWER POWER STAGE Fase W GROUND S SUPPLY MONITOR POWER SUPPLY ANALOG IN Mr OPTOIN SERIAL R5465 INTERFACE TEMPERATURE SENSOR 1 5 POWER SUPPLY MIN Nom MAX Power supply AT 24 60 86 Vdc Power supply AT 0 Vdc Input current Inom 3 Adc Input current Peak Ip Adc Table 1 1 Single power supply not stabilized DC voltage required with min 1 000uF 100V external capacitor per unit 1 6 I O The BL5712Cxxx drive is supplied with a set of 555 Standard positive logic Input active high Provided for two nominal digital input voltage 24Vdc and 5Vdc Inputs and outputs functions can be programmed by RS485 Instruction List All inputs are protected against inverted polarity connection DIGITAL INPUT pin 5 6 7 12 14 low speed opto coupled input In2 In3 In5 2 high speed opto coupled input In1 In4 1 analog inpu
9. ents the ideal high tech low cost solution for motor designer who wants to realize motor and drive integration Designed for easy installation the motors supported are gt Step motor ST family gt Brushless DC motor BR family 1 2 KEY FEATURES Brushless motor driver with trapezoid profile Hall effect feedback Low speed option Single power supply Opto coupled input and output v 5 Digital input v 2 Digital output Standard input Positive active 10V analogue input reference Protection v Volt Max v Over temperature electronic area v lt Communication link RS485 up to 254 addressing units ModBus protocol to control point to point or multiple units Programming software I L Instruction List IEC 1131 3 Operation mode v Speed control v Torque control v Pulse movement step like 1 3 GENERAL SPECIFICATIONS Input voltage Vdc tT LR i 24 to 60 Vdc Output current MAX aa na io 3 5 Arms Motor speed limit Hall effect feedback 300 rpm Option Low speed MiniMmUum ui 100 rpm I O 2 opto coupled high speed digital inputs 200 Khz opto coupled low speed digital 5 Khz 2 opto coupled digital OUtput iii 3 MA Analog input Frangetta ae a 0 10 V Communication Differential h
10. ltage S 5 S 5 S Pt over current motor protection 1 9 OPTION LOW SPEED The minimum suggested working speed for brushless dc motor with hall effect feedback is 300 rpm The option Low speed with 64 ppr feedback instead 12 allows to control the motor as low as 100 rpm To order the Low speed option use code BL5712C O1 N B The lowest speed possible depends on motor quality so difference in low speed limit can occur 2 CONNECTION AND MECHANICAL DATA Drive connector J1 2 1 ELECTRICAL CONNECTION Pin Nr Pin Name Function Description 1 AT Vdc Positive power supply input 2 GND Gnd Negative power supply input 3 OUT1 Digital output Programmable function 4 OUT2 Digital output Programmable function 5 Ini Fast digital input Programmable function 6 In2 Digital input Programmable function 7 In3 Digital input Programmable function 8 D RS485 RS485 9 AT Vdc Positive power supply input 10 GND Gnd Negative power supply input 11 Common I O Common Input Output Common 12 In4 Fast digital input Programmable function 13 Ain Analog input Programmable function 14 In5 Digital input Programmable function 15 D RS485 RS485 e eeoececc 20200 o 9 6 9 6 6 FIG 2 1 J1 15 pins Sub D male Table 2 1 48V MAX 48V MAX COMMON 0 RX cd lt gt 2 S RX FIG 2 2 Wiring diagram 2 2 MECHANICAL DATA FIG 2 3 Mechanic
11. rosive gas dust water or oil Shipping environment Ambient temperature 25 C to 70 C 13 F to 158 F non freezing Humidity 85 or less non condensing Altitude Up to 3000m 9840ft above sea level Surrounding atmosphere No corrosive gas dust water or oil Table 1 1 1 3 0 1 SAFETY PRECAUTIONS The precautions described below are intended to prevent danger or injury to the user and personnel through safe correct use of the product Use th product only after carefully reading and fully understanding these instructions WARNING Do not use the product in explosive or corrosive environments in the presence of flammable gases locations subjected to splashing water or near combustibles Doing so may result in fire electric shock or injury Assign gualified personnel the task of installing wiring operating controlling inspecting and or troubleshooting the product Do not transport install the product perform connection or inspection when the power is on Always turn the power off before carrying out these operations Failure to do so may result in electric shock Provide a means to hold the moving parts in place for applications involving up down travel The motor loses holding torgue when the power is shut off or the driver is disable allowing the moving parts to fall and possibly causing injury or damage to equipment Connect the cables securely according to the wiring
12. t 2 low speed opto coupled output Unit Min Nom Max 5 V logic Vdc 4 5 12 Ini In2 In3 In4 In5 24 V logic Vdc 15 24 30 Ini In4 Hi speed INPUT mA 5 In2 In3 In5 Low speed INPUT mA 1 5 5 Freguency KHz 200 Hi speed INPUT Pulse width HS 1 5 Frequency KHz 5 Low speed INPUT Pulse width Hus 100 u On request Table 1 3 ANALOG INPUT pin 13 Unit Min Nom Max Input voltage Vdc 0 10 Input impedance ohm E gt 40k Resolution 10 Table 1 4 DIGITAL OUTPUT pin4 Unit Min Nom Max Voltage Vdc 48 Current mA u 3 Saturation voltage 3 ma Vdc 1 Leakage current HA 50 Table 1 5 1 7 RS485 SERIAL INTERFACE RS485 serial interface half duplex with Modbus protocol It s possible to connect up to 32 drives with a single RS485 converter or up to 254 using a line repeater Serial interface parameter Baud rate Parity Data bits Bit stop Bit start Line terminator 19200 Even 8 1 120 ohm 120 Ohm FIG 3 1 RS485 parallel connection ATTENTION In parallel connection be sure to have all drives with different identification number 1 8 INTEGRATED PROTECTION Power supply over voltage protection 86 Vdc Power supply under voltage limit 18 Vdc Driver over temperature protection 88 C I O protected against reverse vo
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