Product User Manual
Contents
1. Disconnect all power sources to the servo before performing major maintenance or modifications to the servo drive Do not quickly and repeatedly turn on and off the power to the servo drive Do not subject the servo drive or any connected cables to excessive force or weight As some internal components of the servo drive will be electrically charged wait 60 seconds after immediate power off before physically handling the servo drive or attached components Do not touch the servo drive s heat sink during operation Ensure that there are no foreign objects blocking the heat ventilation openings on the servo drive s enclosure See Section 2 4 3 Mounting for proper spacing requirements After the power to the servo drive is turned off wait 60 seconds before physically handling the servo drive Do not open or remove any of the enclosures of the servo drive Contact DMM Technology Corp directly for repairs maintenance or inspection The servo drive should be treated as industrial waste during disposal Product Warranty Products from DMM Technology Corp are supported by the following warranty and return policies 1 year warranty from the date of purchase or 14 months from the month of Original manufacture 14 day return period from the date of purchase Within the warranty period DMM Technology Corp will replace or repair any defective product free of charge given that DMM Technology Corp is responsible for the2. Servo Drive Dimensions DYN3 H T AC Servo Drive Units mm E 2 4 2 Installation Requirements To avoid personal injury or damage to the product the user should review the general safety precautions outlined in page 3 of this manual Improper installation and mounting of the product can also cause personal injury or damage to the product Install and mount the servo drive in an environment free of hazardous substances such as flammable fluids or gases corrosive chemical fluids or gases water or direct sunlight Ensure that the servo drive will not be subject to splashes of cooling fluid oil or residual metal chips from the machinery If possible install and mount the servo drives in a NEMA rated control panel or enclosure to protect from hazardous foreign conditions or objects Ensure that the heat sink is not in direct contact with any surrounding objects The large amounts of heat generated during prolonged operation may damage surrounding objects or cause the servo drive to overheat In general the servo drive should be installed and mounted in a well ventilated low humidity area that will not be subject to vibration or shock 2 4 3 Mounting The servo drive should be securely mounted using two M6 sized screws through the mounting bracket on the back of the drive The DYN3 AC Servo drive utilizes convection cooling through the heat sinks on the left side of the servo drive In order to maximize heat dissipation t
3. as needed Modifies the acceleration deceleration time constant of the motor s response to a speed command Also O ACCETTANO IOLE i controls the response time of the first order low pass filter Reference Command Speed Acceleration Filtered l l l l l l l l l e eee oe p ee i e e e a a l l l l l l l l l l l _P e a Max Acceleration Max Acceleration The relation to physical acceleration deceleration time is measured as the rise time from 10 of the target speed to 90 of the target speed 59 98 Rise f 10 to 90 Ti _ _ S d ise from 10 to 90 Time Mae hace TOn econds 59 98 Physical Acceleration Time 1 2 x Max Acceleration Seconds Reference Voltage Zero Zone The servo drive s analog reference voltage input might be offset by a small voltage due to internal or external disturbances or latent voltage in the wiring Since this can cause the servo motor to rotate slowly even at OV input the DYN3 servo drive is programmed to attenuate and eliminate these noise offsets Reference voltages within the range of 20mV to 20mvV are treated as offset noise and the servo motor will not rotate within this input range Outside this range the servo motor s response follows the normal linear reference behaviour Motor Speed rpm 20mvi aay Analog Input Reference V 20mv gt Reference Zero Zone Encoder Output When the servo driv
4. be triggered in the servo drive in accordance with the faults detected in the system The DYN3 servo drive s external status LED s S1 and S2 can be immediately read to diagnose the driver status Upon initial power up and during all normal operation the S2 light will always be lit to indicate that the system is charged When a protective alarm is triggered the external status LED s will indicate the type of alarm triggered po ON BUINK ver Voltage S PONT ON ver Temperature TBD o BUNK O ON TBD Oo oF ON ver Current 7 1 2 Internal Driver Status Readout The alarm status of the drive can also be read using the dmmdyn3 exe program 1 Connect the host PC to the servo drive s JP2 port 2 Press Read on the Setting driver parameters and mode main screen 3 The Driver Status icon will display the current status of the Servo Drive 7 1 3 System Response and Reset Once the DYN3 servo drive s protective alarms are triggered power to the servo motor is immediately stopped and the shaft becomes free The servo drive is reset by turning the input power off then on again Any parameter or setting changes made to the servo drive will be retained no matter what alarm is triggered Troubleshooting Alarm Causes and Corrections Corrections Over Voltage Over Temperature Lost Phase The internal DC link voltage has exceeded the allowed maximum levels The servo drive s protective thermal resistor has detected an
5. of the device daly eneee AC SERVO DRIVE Model No DYN3 H O0 Serial No XXXXXXXXXXXXXXXX Input T4 amp T5 Output T2 Voltage 110 230VAC 0 400VAC Rated Load Current lt 10 0A lt 6 0A Frequency 50 60Hz 0 400Hz Phase 1 Phase 3 Phase 3 Phase Power Output 0 5kW CAUTION ENSURE THAT ALL CONNECTIONS ARE CORRECT BEFORE POWERING UP SERVO DRIVE TO AVOID SHOCK THE INPUT VOLTAGE MUST BE BELOW 230VAC BETWEEN ANY TWO PORTS OF TERMINALS T4 AND TS ENSURE THAT ALL APPROPRIATE CONNECTIONS ARE PROPERLY GROUNDED BEFORE USE WAIT S MINUTES AFTER POWER A OFF BEFORE MAKING PHYSICAL ADJUSTMENTS TO SERVO DRIVE CAUTION DO NOT TOUCH THE SERVO DAWES HEAT SINK DURING PROLONGED OPERATION ENSURE THAT THE SERVO DAVE IS PROPERLY MOUNTED ACCORDING TO THE AMBIENT CONDITIONS SPECIFIED IN THE USER MANUAL DMM Technology Corp www dmm tech com Made in Canada a Sample Name Plate for standard DYN3 H 0 75kW Servo Drive 1 2 2 Model Number Designation DYN 3 H XX DYN AC Servo Series Custom Modification Power Output Rating Code ive Seri Code Specification Servo Drive Series ET Code EE 1 5kW 2 0kW standard XX Custom Modified DHT Series Servo Motor Pair Power Supply Rated Output Rated Speed A saad DYN3 H 3000rpm 92M DHT 72 0 75W IMDHA TKW DYN3 T 32M DHT 28 2 0kW 2500rpm Section 2 Product Description and Preparation Ly Technology and Performance Features The DYN3 AC Servo drive features simplicity in ser
6. unusually high temperature inside the driver The encoder has detected an irresolvable position error in the motor relative to the command signal The servo drive has experienced an output power exceeding the rated value relative to the average value The servo motor cannot move to its command position and there is a backlog of current in the servo drive to try to move the servo motor Check and confirm the connections to the servo motor Check that the servo motor is driving a mass appropriate to its size Check for any mechanical irregularities that might be preventing the motors to move freely Add an external regenerative resistor Check that the drive s ventilation openings and heat sink are not being blocked Consult the servo drive s ambient temperature specifications and check if the operation conditions are met Check that the encoder feedback cable is securely plugged from the servo motor to the JP3 port of the servo drive Check for any mechanical irregularities that might be preventing the motors to move freely Check and confirm the connections to the servo motor Check that the servo motor is driving a mass appropriate to its size Check for any mechanical irregularities that might be preventing the motors to move freely Check that the encoder feedback cable is securely plugged from the servo motor to the JP3 port of the servo drive Check for any mechanical irregularities tha
7. 1 If internal 12Vis fo L2 C RO 110 230Vac etl Ne eee sC o o Single Three Phase i 50 60Hz TOH o o If external 24VDC lt q Servo Enable o Oo l DI1 ar e Hef A Phase Optional o o DI2 6 E oss Incremental gt OB ree B Phase Encoder Output a ozs 4 i If internal 12V is used ie e Optional o DI3 d Optional O DI 4 PULS PULS p SIGN 10V 10V Analog Reference Input a a aa nm G Wiring Configuration Details 3 4 1 Inputs The reference and digital inputs into the DYN3 servo drive should be connected to the host controller as follows Reference Input Analog Input Circuit Host Controller Servo Drive Twisted Pair Wires 10V 10V Output Position Reference Input Circuit Reference Pulse Train Input Line Driver Output Host Controller Servo Drive 5VDC TLL CMOS Logic Frequency lt 500kHz Open Collector Output External Power Host Controller Servo Drive 5VDC TLL CMOS Logic Frequency lt 500kHz Position Reference Input Circuit Reference Pulse Train Input Open Collector Output Internal 5VDC Power Servo Drive Host Controller 5VDC TLL CMOS Logic Frequency lt 500kHz Digital Input Relay Circuit Host Controller Servo Drive 24VDC L Open Collector Circuit Host Controller Servo Drive 24VDC 3 4 2 Outputs The digital outputs from the DYNS s
8. 60Hz Moulded Case elole Circuit Breaker ii Electromagnetic lolo Contactor Molex 7 pin connection to PC for servo tune up I O Connection to Host Controller Encoder Output Feedback External Regenerative Resistor Optional 3 2 2 Single Phase Input Main Power Supply Input 110 230VAC 50 60Hz Moulded Case Circuit Breaker Electromagnetic Contactor J iili Ensure that the power supply wires are not live when performing wiring procedures or modifications When connecting the power supply wires R S T to the servo drive leave the motor wires A B C disconnected There may be residual power in the wires or power supply that can momentarily actuate the servo drive and motor and cause damages Do not touch the R S T or L1 L2 power terminals of the servo drive during operation As residual power in the drive may cause electrical shock wait 60 seconds after power off before adjusting the connections Ensure that no part of the conductors in the cable is protruding from the terminal block housings Severe electrical shock or damages can occur if two different connections are shorted Wiring and inserting the Terminal Block Connectors The terminal blocks should be removed from the servo drive when making wiring modifications Strip the wires so that 8 10mm of the conducting portion can be used then twist and solder together the tip and insert into the terminal block housings Alternative
9. Dynamic Motor Motion Technology Corporation AC Servo Drive DYN3 Series User Manual Rev 1 14b December 2012 About This Manual Thank you for purchasing the DYN3 Series AC Servo drive from DMM Technology Corp Before the servo drive Is installed or used the contents of this manual should be read by the operator to ensure that the equipment is used and operated properly and safely This manual contains comprehensive information regarding the use of the DYNS servo drive including installation wiring tuning and troubleshooting The equipment operator or user should keep this manual in a location readily accessible whenever reference is needed General Safety Precautions The above symbols indicate critical situations where careful precautions must be taken Failure to follow these precautions can lead to damage of the product and related equipment or even physical injury or death A Warning The following precautions must be observed and followed before and during all servo drive operations The Servo System must be installed and operated in a clean environment free from water corrosive flammable and combustible materials and direct sunlight Before the servo is turned on ensure that an external emergency circuit is in place so that power can be immediately shut off Properly ground the earth terminal of the servo drive and motor See Section 3 2 Overall Wiring Configuration for grounding connection details
10. M memory The servo drive is now in torque servo mode Control The reference input voltage corresponds to the commanded motor torque according to the servo motor s rated peak torque Motor Torque EE PE EEEE EN E E AT E E E O E A E NEEE A Peak Torque i i Analog Input Reference V ri P f 10 S Curve Filter and Transition The DYN3 servo drive s control loop actively applies a first order low pass filter during speed commands This filter smoothes out the servo motor s dynamics of motion and eliminates internal external noise in the reference command signal The response time is applied in proportion to the maximum acceleration setting of the servo drive The filter is factory programmed to an optimal setting for all applications and does not require adjustment Instantaneous l i i i Reference Command Speed Filtered Fi hi Transition l Reference Command Speed Filtered Acceleration Deceleration Soft Start Once the servo drive is given a reference voltage input from the host controller the rate of acceleration and deceleration can be controlled Since the velocity command is sent as a rough step reference it is often desirable to smooth out the servo motor s movement dynamics These parameters modify the motor s S curve profile by changing the acceleration and deceleration time constants when executing the target command torque This function allows the servo motor to move in a smooth
11. P4 Main Control I O Terminal All encoder feedback and output signals utilize TTL CMOS format Encoder Output 6 3 1 3 Control Terminal I O Details Terminal JP2 I O Mapping DI3 DI2 DI1 Ext 24VDC Input Int 14VDC Output T nt 5VDC Output 1 A REF Terminal JP2 detailed specifications Digital Input Common Ground EC Absolute Encoder Auto Home Open Closed Signal or 1 24VDC Input Input f oo scons Open Collector Output Emitter Side 7 poe Optional Digital Output ce cor sates Fo o SIGN Reference Sign Input Accepts Pulse Direction and CW CCW pulse train inputs 5VDC TLL CMOS Logic PULS Reference Pulse Input Frequency lt 500kHz Analog Reference Input Voltage 10VDC Analog A REF Voltage Relative to pin12 Digital Optional Digital Input Open Closed Signal or 1 24VDC t Servo Hold ee Input Output DO4 Servo Alarm D Voltage 5 24VDC Optional Digital Output Current gt 25mA SIGN Reference Sign Input Accepts Pulse Direction and CW CCW pulse train inputs 5VDC TLL CMOS Logic PULS Reference Pulse Input Frequency lt 500kHz Int Source Current lt 10mA 5VDC Output Settee Curent toma The optional digital input pin14 and optional digital output pin20 can be programmed with custom applications or allocations Overall Wiring Configuration 3 2 1 Three Phase Input Main Power Supply Input 110 230VAC 50
12. and input mode The edited programs are saved as Program1 txt Program5 ixt The edit tab is used to edit those instructions as well as G codes to let a single or multiple axis move together The DMM program allows simultaneous configuration of 5 independent programs Running Code Main operation screen for Running Codes 1 5 From this tab select Dyn3 Driver the servo setting dialog box will now be presented Servo Setting The primary servo parameters such as Command Mode Gain Torque Limit Acceleration Limit Gear Ratio and Pulse Ratio is set here After power on the 14bits absolute magnetic encoder is automatically ina RS232 communication mode the AbsSensor option is used to read save the MheSencar encoder position This option will not work if no RS232 UBS connection exists from the PC to the encoder Use this option to select the communication port from COM1 COM68 for both ComSet physical RS232 port COM1 COM2 and USB virtual COM port COM3 COM8 on the user s PC Pre Operation Checks Review the General Safety Precautions on p 3 of this manual before proceeding with any operations with the servo drive Ensure that all the wiring to the servo drive and servo motors are correct according to Section 3 of this manual Ensure that all appropriate wiring and connections are grounded Check for loose or frayed cables and wires Since the motor may be run at high speeds during the test operatio
13. ber parameter in the DYN3 drive The speed of motor rotation is determined by the frequency at which the pulse train is sent from the host controller Electronic Gear Number The amount of motor travel with reference to the number of input pulses is set using the parameter Gear_Num The number of reference pulses needed for one complete motor revolution is calculated as One Complete Revolution 4 x Gear_Num Pulses For example if Gear_Num is set to 4096 then 16 384 pulses are needed from the host controller for the motor to make one complete revolution Electronic gear ratio multiplier used to scale the Gear Num 500 to 4096 1 motor travel with reference to the number of input pulses from the host controller The speed of the servo motor can be controlled using this parameter in accordance with the output frequency of the host controller For example if the host controller outputs pulse trains at 100kHz and Gear_Num is set to 500 100 000 pulse sec 50 3000 4 x 500 pulse rev nevi eet me Motor Speed lf Gear_Num is set to 4096 with 200kHz pulse train 200 000 pulse sec See 2 32 4 x 4096 pulse rev Pane pma Motor Speed 5 2 2 Analog Input For 5V analog input motor will turn 90 4096 Gear_Num deg in the CW direction in position servo mode if the pin11 of JP4 is high or open otherwise will turn in CCW direction if the pin11 of JP4 is low If the pin11 of JP4 is high or open motor will turn in CW directi
14. cause of the defect This warranty does not cover cases involving the following conditions The product is used in an unsuitable or hazardous environment not outlined in this manual resulting in damages to the product The product is improperly handled resulting in physical damage to the product Including falling heavy impact or shock Damages resulting from transportation or shipping after the original factory delivery Unauthorized alterations or modifications have been made to the product Alterations have been made to the Name Plate of the product Damages resulting in usage of the product not specified by this manual Damages to the product resulting from natural disasters Within the 14 day return period DMM Technology Corp will refund the full amount of Original factory product cost This policy does not cover cases involving the following conditions The product has experienced cosmetic alterations or irreversible electronic modifications The product does not conform to the original factory manufactured standards Factory components included in the purchased package such as cables software or accessories of the product is missing Alterations have been made to the Name Plate of the product Contents of this Manual IEEE FROOUL TMS WAIN ition cccnuetinnsts tun chenyetotocuusbunetc E E OE EE E habe EE aa 3 General Safety PreCautions ccccccccce cence eee eee n eee eens een e eee eed ae eee nesses see eegaeeenegae
15. creen The Driver Status should now read ServoOnPosition to indicate that the servo drive is operating normally and in standby for commands 8 Ifthe servo drive is not in RS232 command input mode select the RS232 command input mode then click Save All 9 The JOG operation and Test Movements can now be executed by selecting the appropriate radio button corresponding to the movements The 4 Test Movement functions including Trimming Sinusoidal Step and Constant Speed JOG can command the servo motor to rotate or vibrate extremely fast Ensure that the servo motor is securely mounted at its flange to avoid damage to the equipment machinery or any physical bodies ma ma Oe Be AUN Dl l al l N OD Command Motor Movement Description The absolute position of the servo motor can be trimmed from 1 to 4096 Since the ABS 14 0 Trimming absolute encoder has a resolution of 16 384ppr this corresponds to a maximum of 90 movement when trimming The motor moves along an oscillated smooth sinusoidal S curve The frequency parameter Sinusoidal controls the frequency of oscillation and the amplitude parameter controls the travel amplitude per oscillation period Constant Speed JOG The motor moves along an oscillated rough stepped S curve The frequency parameter controls the frequency of oscillation and the amplitude parameter controls the travel amplitude per oscillation period The motor is run at a constan
16. d smooth out the motion Torque Constant is a first order filter constant the bigger value means wider frequency range of that filter The filter can be expressed as a S a Where a 26 TrqCons i e if TraCons 100 then a 2600 This filter is used to smooth out the torque sent to the torque servo loop especially for the heavier loads when a bigger Speed Gain setting is used If a very quick response servo with small load is desirable the bigger value even such as 127 should be used to ensure the required stability and dynamic response Determine the S curve acceleration when using RS232 mode to make point to point motion Also controls the response time of the first order low pass filter in soeed and torque servo control Determine the S curve max speed when using RS232 mode to make point to point Motion On Position Range Gear Num Pulse Num Driver ID On position range is a value used for determining whether the motor have reached the commanded position or not That on position range is selectable according to user s requirement Suppose the Pset is the commanded position and Pmotor is the real motor position if Pset Pmotor lt OnRange it is said motor is on the commanded position otherwise not That OnRange is from 1 127 The real position on range is OnRange 360 deg 16384 The amount of motor travel with reference to the number of input pulses is set using the parameter Gear_Num T
17. e is commanded in Speed Servo Mode the position servo loop should be achieved in the host controller Refer to Section 5 4 Encoder Output for more details Position Servo Mode The DYN3 servo drive accepts 4 types of command input modes for position servo control Pulse Sign CW CCW Analog SPI Optional 5 2 1 Pulse Sign and CW CCW Pulse Train The Pulse Sign and CW CCW pulse train command modes have the following form Pulse Form Forward Direction Reverse Direction Pulse Pulse Pulse Sign JUUUUL LO o Pulse Train Specifications JUUU T gt 2 0us d 5VDC TLL CMOS Logic Input wiring for Pulse Train Position Servo Mode Refer to Section 3 3 2 Wiring for Position Servo Control to see the complete wiring details for position servo mode Host Controller Servo Drive Setting 1 Open the Setting driver parameters and mode main screen 2 Under the Servo Mode option box select Position Servo by clicking on the corresponding radio button 3 Under the Command Input Mode option box select either Pulse Dir or CW CCW 4 Click Save All to save these changes into the servo drive s EEPROM memory The servo drive is now in position servo mode with Pulse Sign or CW CCW pulse train command Control The up edge of the pulse train is active for counting For every reference pulse received from the host controller the amount of motor rotation is determined by the Electronic Gear Num
18. eeeeneseneeas 3 PROGUGL VV AMUN serseri E I EAE EEE E EE E A E EOE 4 Before using the Product ccce cece cece cece ee eee eee eee eeneeeeeeeenaeeees 1 1 1 Unpacking the contents 2 Model Designation 1 2 1 Nameplate Information 1 2 2 Model Number Designation 1 3 DHT Series Servo Motor Pair Product Description and Preparation c cc ccc eee ece eee ee eeeeeeeaeeeens 2 1 2 1 Technology and Performance features 2 2 Servo Drive Specifications 2 2 1 General Specifications 2 2 2 Power and Control Noise Filters 2 3 Servo Drive Component Description 2 4 Installation and Mounting 2 4 1 Servo Drive Dimensions 2 4 2 Installation Requirements 2 4 3 Mounting Wiring and I O Connections cece cece cece eee ee eee ea ee eeaeeenaeeeeseeenes 3 1 3 1 Terminal Circuit Specifications 3 1 2 Power Circuit Terminals 3 2 2 Control Circuit Terminals 3 2 3 Control Terminal I O Details 3 2 Overall Wiring Configuration 3 3 Control Wiring Configuration 3 3 1 Wiring for Speed Torque Servo Control 3 3 2 Wiring for Position Servo Control 3 4 Wiring Configuration Details 3 4 1 Inputs 3 4 2 Outputs 3 4 3 Encoder Output 3 4 4 Regenerative Resistor 3 5 Control Block Diagram 3 6 Example Connections to Host Controller 3 6 1 DMB4250 8B J OD El ANON cuyccansncansusanressvaeeasdeneercassonsunearvonsencenssauaneuneiwesauenvoranoencs 4 1 4 1 Software Configuration 4 2 Pre Operation Checks 4 2 1 Connectio
19. ervo drive are all configured as photocoupler outputs and should be connected to the host controller as below A Relay or Gate Receiver circuit should be used at the host controller Photocoupler Output Relay at Host Controller Servo Drive Host Controller Current gt 25mA Photocoupler Output Gate Receiver at Host Controller Servo Drive Host Controller V Current gt 25mA 3 4 3 Encoder Output The encoder output from terminal JP5 of the DYN3 servo drive utilizes line driver output circuits The host controller should use a Line Receiver circuit Line Drive Output Line Receiver at Host Controller Servo Drive Host Controller me m C C J l B Phase Z Phase 3 4 4 Regenerative Resistor An external regenerative resistor can be connected between pins R1 and R2 of terminal T3 The regenerative resistor is recommended for the DYN3 T AC Servo Drive paired with the 31M DHT 15 1 5kW capacity or 32M DHT 28 2 0kW capacity servo motors Regenerative Resistor Control Block Diagram External Regenerative i Resistor Q s R Servo l B Motor I ki J f R Main Power Supply S T Switching Power Supply Control Power LLQ Suppl PES ADO Isolated Control Current Sensor Feedback RS232 Serial CPU Absolute Encoder Port Real Time Emulated E Encoder Output Isolated I O Command I O Example Connections to Host Controller 3 6 1 DMB4250 8B Pulse Train C
20. he drive must be mounted in a position with the air flowing along the vertical axis The drive also has openings on the side panels for additional low pressure heat dissipation benefits Cooling fans should be installed at locations on top of and below the servo drive to force air circulation and promote ventilation Since most of the weight of the servo drive rests on the metal heat sink and back panel the drive should be held by these metal parts and not by the plastic part gt 100mm Air Flow Direction Section 3 Wiring and I O Connections Ly Terminal Circuit Specifications 3 1 1 Power Circuit Terminals T2 Motor Control Power 0 400VAC 0 20A Peak T3 50 1000 Regenerative Resistor 1 0 2 0kW 7 110 230VAC 5 50 60Hz 5 Logic Control Power 110 230Vac 5 50 60HZ 5 Voltage between any two terminals lt 230VAC T5 Main Control Power Grounding Terminals 3 1 2 Control Circuit Terminals JP2 RS232 to PC Communication Interface TTL CMOS Input TTL CMOS Output Internal 5VDC Power Internal 5VDC Power Power Serial data in for both UART and SPI input Serial data in for both UART and SPI input Clock signal for SPI input signal for SPI input Clock signal for SPI input BN Serial data out for both UART and SPI output Serial data out for both UART and SPI output a d See Section 3 1 3 for details JP3 Encoder Feedback J
21. he number of reference pulse needed for one complete motor revolution is calculated as One Complete Revolution 4 x Gear_Num Pulses For example if Gear_Num is set to 4096 then 16 384 pulses are needed from the host controller for the motor to make one complete revolution The speed of the servo motor can be controlled using this parameter in accordance with the output frequency of the host controller For example if the host controller outputs pulse trains at 200kHz and Gear_Num is set to 500 200 000 pulse sec Motor Speed a aa 4 x 500 pulse rev 100rpm If Gear_Num is set to 4096 200 000 pulse sec Motor Speed _ aioe a 4 x 4096 pulse rev 12 2rpm Scale of output pulse number for the emulated incremental encoder output signal The output pulse number is adjustable from 500 to 2048 per motor shaft revolution and the total quadrature counter number is 4 Pulse_Num per motor shaft revolution This is equivalent to 2000 to 8056 quadratures per revolution Every drive has an unique ID number which can be assigned or read out by using ServoSetting dialog box WHEN RS485NET BOX NOT CHECKED and there is only one Drive connected through the RS232 port The default ID number for every Drive is 0 That ID number can be used for the network connection of RS485 or for drive identification purposes WHEN RS485NET BOX is CHECKED and there are more than one Dri
22. k rotational soeed A reference input of OV corresponds to zero speed positive voltage corresponds to a CCW direction of rotation and negative input corresponds to CW direction Motor Speed rpm a E E E E OAS EE EN ED EE EE sar E OEE E A EEEE 3 fw Peak Speed r 1 TI 7 Analog Input Reference V a S Curve Filter and Transition The DYNS servo drive s control loop actively applies a first order low pass filter during speed commands This filter smoothes out the servo motor s dynamics of motion and eliminates internal external noise in the reference command signal The response time is applied in proportion to the maximum acceleration setting of the servo drive The filter is factory programmed to an optimal setting for all applications and does not require adjustment Instantaneous i i Reference Command Speed Filtered _ Fi A Transition i Reference Command Speed i Filtered oOo ae Acceleration Deceleration Soft Start Once the servo drive is given a reference voltage input from the host controller the rate of acceleration and deceleration can be controlled Since the velocity command is sent as a rough step reference it is often desirable to smooth out the servo motor s movement dynamics These parameters modify the motor s S curve profile by changing the acceleration and deceleration time constants when executing the target command speed This function allows the servo motor to move in a smooth or rough manner
23. lter 20kHz Analog input 10V to 10V dobite AD convener 2 2 2 Power and Control Noise Filters The power input into the DYN3 servo drive s control and logic power terminals are put through an RC filter to attenuate the input power switching noise This filter is active for both single or three phase inputs and is used to smooth out the power source before reaching key electronic components and hardware inside the servo drive An external noise filter can also be installed before the control and logic power inputs to eliminate noise and disturbances in the connection lines Example Connection to External Filter Main Power Supply Input 110 230VAC 50 60Hz Single Three Phase Moulded Case Circuit Breaker P 91 dlolo Electromagnetic Contactor 909 Common Mode EMI Filter o T SCHAFFNER FN610 1 or equivalent R Cx L cy P t E T o P L1 m E oH O H N m ow L2 Line Load R Servo Drive Component Description Connector T2 LED Status Indicator Lights Motor Control Terminal Connector JP2 RS232 to PC Communication Interface OUP Connector JP3 Connector T3 Encoder Feedback Regenerative Resistor Terminal L RI R2 Connector JP4 Connector T4 L1 Control Power Terminal L2 m Parallel Port I O Communication R i S T co Connector JP5 Dedicated Incremental Encoder Output Connector T5 Main Power Terminal Protective Earth Grounding Screws _ Installation and Mounting 2 4 2 4 1
24. ly a wire ferrule with an 8 10mm conducting portion can be attached and inserted into the terminal block housings With the cable in place tighten the terminal block screws to secure the connection then insert back into the servo drive 8 10mm lt gt Into Servo Drive Control Wiring Configuration 3 3 1 Wiring for Speed Torque Servo Control The following is a connection example for the DYN3 AC Servo drive in Velocity Servo Control Mode External 12 to 24VDc Servo Ready O Ta z e Optional O con fe z T At Speed eS Ma le a Co Alarm DO4 cs a If internal 12Vis 77777 INT 12 used TT EXT 12 If external 24VDC Servo Enable o o DI1 Optional o o DI2 E Optional Optional O DI 4 Ty If internal 12V is used 10V 10V Analog Reference Input e e Le L RRO RO L1 L2 C RO SC Ss E i Sa o B one a Q Servo Motor Encoder External Regenerative Resistor o 110 230VAC o Single Three Phase N 50 60Hz O TO A Phase Incremental B Phase Encoder Output Z Phase 3 3 2 Wiring for Position Servo Control The following is a connection example for the DYN3 AC Servo drive in Velocity Servo Control Mode External 12 to 24VDC pe z T a Motor j e Servo Ready fa a Optional a z FG Encoder a E At Speed M DO3 i z ost z RIC External Regenerative R2 Resistor Alarm DO4 O L
25. n for JOG operation 4 3 JOG Operation and Test Movements Servo Control Modes TEPEE TEETE E E TEETE T TT E ETETE T EET ETET 5 1 5 1 Speed Servo Mode 5 2 Position Servo Mode 5 2 1 Pulse Sign and CW CCW Pulse Train 5 2 2 Analog Input 5 2 3 SPI input 5 3 Torque Servo Mode 5 4 Encoder Output SVOTU E nce ec nar ee E nen ene ee oe eae 7 1 6 1 Overview of Parameters 6 2 Details of Parameters 6 3 Gain Tuning TROUIOIE SOO UNG ccs rele sees acct qeneceleu siete glee hee atu ween adenine genera 8 1 7 1 Error Code Diagnosis 7 1 1 Driver Status S1 and S2 7 1 2 Internal Driver Status Readout 7 1 3 System Response and Reset 7 2 Troubleshooting 7 3 After Sale Services and Repair Section 1 Before Using the Product LI Unpacking the Contents Upon opening the product packaging of your new DYN3 AC Servo drive please observe and ensure the following Check that the servo drive model corresponds with your order See section 1 2 2 Model Number Designation to verify that the model is correct Make sure that the package contains all components that was included in the order including v Servo Drive Servo Motor Cables Software v Y v v Accessories Inspect all products to see if anything was damaged during transportation Contact your dealer immediately if you find any inaccuracies or inconsistencies above Model Designation 1 2 1 Name Plate Information The DYN3 AC Servo drive s nameplate is located on the right panel
26. ns ensure that the rotor is not attached to any loose objects that may swing or fly out Let the motor run freely with nothing attached to the shaft during test operations Tightly secure or mount the motors at its flange 4 2 1 Connection for JOG operation Connect the power supply according to Power Section 3 2 Overall Supply Wiring Configuration g Controller e l PC Oooo 5 a ee o ay e ieee bar Japoou ll The servo motor s control cables should be connected as follows servo Motor Model Rated Motor Output A Red 92M DHT 72 B Blue 0 75 kW C Black A Red 31M DHT 15 B Blue 1 5 kW C Black A Red 32M DHT 28 B Blue 2 0 kW C Black JOG Operation and Test Movements The JOG operation and Test Movements should only be used to verify the servo drive and motor s operation Do not use these movements to actuate any machinery or equipment Connect the host PC to the servo drive s JP2 port Connect the Main Power R S T and control power L1 L2 to the servo drive Connect the servo motor and encoder to the servo drive Turn on the power to the servo drive The status charge lamp S2 is now lit and the servo motor s position is locked 5 Launch dmmdyn3 exe Select ComSet gt ComPort then select which communication port the host PC is connected to Select Servo Setting gt DYN3 Driver Press Read on the Setting driver parameters and mode main s
27. on otherwise will turn in CCW direction 5 2 3 SPI Input JP4 can be used as a clock input into servo drive for SPI Port JP4 is used for data input and data output For every input byte suppose it be SPI_in8 must be between 127 127 i e SPI_in8 0x81 0x7f The motor position will increase SPI_in8 4096 Gear_Number counts for every received byte The output byte is the content of Drive Status Register This mode can be designed for special user requirements Contact DMM Technology Corp for more details Torque Servo Mode In torque servo mode the DYNS servo drive utilizes an external analog reference voltage from the host controller to calculate a proportional motor control torque Internal parameters of the drive controls the speed acceleration and deceleration of the motor when actuating the torque command The reference voltage input mode can be analog RS232 or through a potentiometer Input wiring for Soeed Servo Mode Refer to Section 3 3 1 Wiring for Speed Torque Servo Control to see the complete wiring details for soeed servo mode Setting Servo Drive Host Controller 10V 10V Output 5 Open the Setting driver parameters and mode main screen 6 Under the Servo Mode option box select Torque Servo by clicking on the appropriate radio button 7 Under the Command Input Mode option box select either RS232 or Analog 8 Click Save All to save these changes into the servo drive s EEPRO
28. onfiguration This connection method should be followed for communication with all external devices using single ended pulse train outputs 5V DMB4250 8B 24 Servo Drive 2 Alarm 5 Pulse 2700 sign 2kQ Servo Hold PE ee Drive Internal 5VDC Control I O from DMB4250 8B Section 4 Operation gt _ z lt Software Configuration The DYN3 AC Servo drive utilizes the dmmdyn3 exe application program for tuning testing and programming The full dynamic movement range of the DYN3 AC Servo drive can easily be actuated using this program Set uo DMMDrv exe system Requirements Windows 98 XP 2000 Vista 7 CPU Speed gt 250MHz RAM gt 64MB Hard Disk gt 250MB 1 On the OEM DMM CD locate the file named PCtool_ForDyn folder and copy the entire folder onto your hard drive into the directory of your choice 2 Inside the PCtool_ForDyn folder locate the DMMDRV exe executable icon and double click to launch Toolbars File Edit RunningCode ServoSetting AbsSensor ComSet View Help DvI7aiz2zic Motor Motior LITT VIIA DMM Tech Canada Ready NUM The toolbars on the home screen are utilizes as follows DYN servos feature an integrated point to point S curve function and can use 2 or 3 motors to coordinate linear circular interpolation functions built into the drive These functions can be programmed and run in the RS232 comm
29. op should be achieved in the host controller Please refer to Section 5 4 Encoder Output for details Encoder Output In Speed or Torque servo mode using analog reference command input the encoder output signal should be used to make a position feedback to the host controller The host controller makes a PID servo loop then sends the analog reference signal to the servo drive The real time emulated incremental encoder signal output with scalable equivalent line number is adjustable through the dmmdyn3 exe program Pulse Num 500 to 2048 Scale of output pulse number for the emulated incremental encoder output signal The output pulse number is adjustable from 500 to 2048 per motor shaft revolution and the total quadrature counter number is 4 Pulse_Num per motor shaft revolution This is equivalent to 2000 to 8056 quadratures per revolution The output phases include A A B B and Z Z from port JP5 Refer to Section 3 4 3 Encoder Output for wiring details CCW CW I I I i i i l i i l l A Logic 5V A i TTL CMOS l l l I l I Section 6 Servo Tuning EEE As the inertia load on the servo motor varies from application to application the servo drive should be tuned and optimized according to the dynamic response feedback and performance requirements of the system The DYN3 AC Servo drive s range of programmable parameters and variables allows for maximum system optimization while maintaining simplicity and reliabili
30. or rough manner as needed Modifies the acceleration deceleration time constant of iat eedlepanon to 127 i the motor s response to a movement command Also controls the response time of the first order low pass filter Reference Command Speed Acceleration Filtered f J _ __ gt Max Acceleration Max Acceleration The relation to physical acceleration deceleration time is measured as the rise time from 10 of the target speed to 90 of the target speed 59 98 Rise f 10 to 90 Ti __ _ S d ise from 10 to 90 Time A econds 59 98 Physical Acceleration Time 1 2 x Max Acceleration Seconds Reference Voltage Zero Zone The servo drive s analog reference voltage input might be offset by a small voltage due to internal or external disturbances or latent voltage in the wiring Since this can cause the servo motor to rotate slowly even at OV input the DYN3 servo drive is programmed to attenuate and eliminate these noise offsets Reference voltages within the range of 20mV to 20mV are treated as offset noise and the servo motor will not rotate within this input range Outside this range the servo motor s response follows the normal linear reference behaviour Motor Torque 20mvi aay Analog Input Reference V 20mv gt Reference Zero Zone Encoder Output When the servo drive is commanded in Torque Servo Mode the position servo lo
31. t might be preventing the motors to move freely After Sale Services and Repair For services or repair inquiries contact your sales dealer or directly contact DMM Technology Corp Do not attempt to make modifications to the servo drive without the consultation of your dealer or DMM Technology Corp Unauthorized modification to the servo drive will void the warranty agreements As some internal components of the servo drive will be electrically charged wait 60 second after immediate power off before physically handling the servo drive components Returns and Repairs Users with products to be returned or repaired should first contact DMM Technology Corp Our sales representatives will direct your requests accordingly We strive to keep this manual as current and accurate as possible but small inconsistencies may occur Contact DMM Technology Corp directly for any questions or concerns Dynamic Motor Motion Technology Corporation DYNS Series AC Servo Drive Operation User Manual Rev 1 14b Copyright 2012 DMM Technology Corp
32. t speed defined by the parameter The direction of rotation is controlled by the Reverse Turn selection and the rate of acceleration deceleration during reverse turn is controlled by the Max Acceleration parameter Note that the servo drive will throw a Lost Phase protective alarm if the motor is commanded to run above its maximum speed Section 5 Servo Control Modes LO Speed Servo Mode In speed servo mode the DYN3 servo drive utilizes an external analog reference voltage from the host controller to calculate a proportional motor control soeed The motor speed is feedback into the DYNS servo drive to achieve the servo control loop The reference voltage input mode can be analog RS232 or through a potentiometer Input wiring for Soeed Servo Mode Refer to Section 3 3 1 Wiring for Speed Torque Servo Control to see the complete wiring details for soeed servo mode Setting Host Controller Servo Drive 10V 10V Open the Setting driver parameters and mode main screen Under the Servo Mode option box select Speed Servo by clicking on the corresponding radio button 3 Under the Command Input Mode option box select either RS232 or Analog 4 Click Save All to save these changes into the servo drive s EEPROM memory a eo N The servo drive is now in speed servo mode Control The reference input voltage corresponds to the commanded motor speed according to the servo motor s pea
33. ty The DYN3 servo drive s internal parameters are programmed using the DMMDrv exe program under the Servo Setting menu Overview of Parameters AS Control Modes Name Range Units Default Speed S Position P a ue T Main MainGain oo ETE 127 S P T O vamser Details of Parameters Main Gain Speed Gain Integration Gain Torque Constant Max Acceleration Max Speed The main gain for the servo loop should be increased as the load increases The bigger value of Main Gain means relatively wider frequency range of servo loop The main gain for the servo loop should be increased as the load increases The bigger value of Speed Gain means relatively wider frequency range of servo loop Physically the heavier load should have lower dynamic ability so the servo loop frequency range should be more narrow by using bigger value of Speed Gain If the Speed Gain is set too high for bigger loads there will be some loud noise because the torque command Is too coarse and not smooth A smaller setting of Trqcons see TrqCons could be used to attenuate this noise The integrator in the servo loop to ensure the error between position command and real position be zero during the steady state operations Also this integrator will let the servo have more ability to attenuate the outside disturbance torque The bigger value of Integration Gain the more ability of the servo to attenuate the outside disturbance torque an
34. ve connected to the RS485 232 network only the setting for the Drive with the indicated ID number in the ServoSetting dialog box can be read out or saved 6 3 Gain Tuning The 3 Gain Parameters and the Torque Constant of the servo drive must be tuned and optimized according to the system response requirements These parameters are internally co dependent and should be set relatively close to one another to avoid noise The optimal value of these parameters depends on the characteristics of the load coupled to the servo motor including Mass Inertia Friction Rigidity Stiffness In general the Gain settings should be increased as the above conditions increase If the system s servo gain is set too high it will create unwanted vibration and noise The system should be tested by observing the physical system s response and drive dynamics to a particular setting For systems with a high degree of coefficients for resonance for example belt drives pulleys the Integration Gain parameter should be decreased to avoid resonance amplification Together these parameters control how tightly the motor s position is maintained and how quickly the motor follow its command position from the host controller Thus the servo system s smoothness rigidity and precision can be greatly optimized by tuning the servo gain Section 7 Troubleshooting Ly Error Code Diagnosis 7 1 1 Driver Status S1 and S2 During operation protective alarms can
35. vo integration and high performance while maintaining industry standard motion control methods and compatibility In addition to the Velocity Position and Torque servo modes the drive can be programmed in RS232 mode using simple predefined software and prepackaged code to program control methods of motion that offer dynamic accuracy and versatility suitable for all applications Tuning and monitoring the servo s behaviour is simplified through the use of a Graphical User Interface The drive can be easily configured for seamless integration with a variety of host controllers such as PLC s or dedicated motion controllers Servo Drive Specifications 2 2 1 General Specifications General Specifications AC input voltage 110 230Vac 5 50 60Hz 5 Input Type 110VAC 230VAC 110VAC 230VAC 110VAC 230VAC current RMS 3 94A 1 88A 7 87A 3 76A 10 49A 5 02A Inrush current 40 Feedback 14 bit Absolute Encoder Control input 1 phase 110 220Vac 50mA Communication RS232 for tuning also position speed torque input External power thermal resistor Regeneration Control 50 100Q 1 0 2 0kW Altitude lt 2000m 6562ft from sea level Operating temperature O to 60 deg 32 to 140F Storage temperature 20 to 80 deg 4 to 176F Humidity 0 to 90 non condensing UL CE TBA Weight 1 5kg CMOS TTL compatible 5V line drive or open collector Pulse direction input Max pulse frequency 500kHz Input resistor 25k ohm input RC fi
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