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Panel Mount, Digital Motor Controller

1. 306 TABLE 5 10 FLANGE 306 TABLE 5 11 MOTOR DESIGN 5 5 2000 0 0 001 307 TABLE 5 12 ELECTRICAL DESIGN 8 000000 0 308 TABLE 5 13 MECHANICAL DESIGN 5 8 nn n n n n 309 TABLE 5 14 ENCODER SIMULATION CONFIGURATION OPTIONS eH 313 TABLE 7 1 SOFTWARE HARDWARE COMPATIBILITY TABLE eee 344 TABLE 7 2 SOFTWARE CHANGE RECORD PER n n n e n nnne nnn nnn nnn nnn nnn 346 MOOG T164 SERIES USER S MANUAL
2. rod nepar r naaa 350 INDEX RLEMLYU Rc 355 MOOG T164 SERIES USER S MANUAL BRUSHLESS ELECTRIC MOTORS AND DIGITAL CONTROLS USER S MANUAL P N C22468 001 INC BRUSHLESS TECHNOLOGY PRODUCTS SERIES T164 901 SERIES T164 903 SERIES T164 905 SERIES T164 907 SERIES T164 909 SERIES T150 901 SERIES G4XX DIGITAL PANEL MOUNT CONTROLLER DIGITAL PANEL MOUNT CONTROLLER DIGITAL PANEL MOUNT CONTROLLER DIGITAL PANEL MOUNT CONTROLLER DIGITAL PANEL MOUNT CONTROLLER POWER SUPPLY BRUSHLESS SERVO MOTORS Moog Inc Industrial Controls Division East Aurora New York 14052 0018 Telephone 716 652 2000 Telefax 716 687 4870 MOOG T164 SERIES USER S MANUAL THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL DESCRIPTION DATE EFFECTIVITY Initial Release 04 20 98 ALL CORRECT MISCELLANEOUS ERRORS 07 24 98 SECTIONS 1 1 5 1 1 10 1 2 REMOVE RS485 SUPPORT CORRECT H1 TERMINAL COMMANDS E DUE E 4 1 2 4 1 2 8 4 1 3 2 4 1 3 2 4 1 7 1 2 4 1 7 1 2 4 1 8 2 4 1 18 4 2 4 2 1 4 2 1 4 2 1 1 4 2 2 4 4 2 2 5 4 2 4 1 4 2 6 1 1 4 2 9 2 3 4 3 1 4 3 1 1 4 3 1 1 1 4 3 1 1 3 4 3 2 4 4 3 2 5 4 3 4 1 4 3 6 1 3 4 3 9 5 2 5 2 2 6 5 2 3 5 3 5 4 5 5 5 6 5 6 2 5 7 5 7 5 9 FIGURES 1 1 2 11 2 13 2 15 2 17 2
3. 552 5 508 21 75 20 0 MODEL T150 901 SERIES POWER SUPPLY SHOWN WITH COVER REMOVED FIGURE 2 19 T150 901 Power Supply 2 5 KW 2 Pole Regen Configuration Rating label TIGHTEN TO 1 8 Nm 16 in Ibs MIN 75 C COPPER WIRE ONLY U U U 2 3 4 dict dict d c 4 A n n n n TB2 1 Final Configuration Label HJ Add final configuration label here FIGURE 2 20 Final Configuration Label Mounting Location MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 51 2 8 MOTORS INSTALLATION Motors should be sized by qualified personnel Improper sizing will directly affect performance and reliability NOTE The components making up the drive system may only be installed and serviced by duly qualified personnel The accident prevention regulations UVV VBG 4 VDE 100 VDE 105 and the installation regulations EN 60204 Part 1 prEN 50178 must be taken into account Unqualified work on the drive components and failure to comply with the warnings contained in this manual or affixed to the components can result in serious physical injury or damage to prope
4. EUR ETE 121 FIGURE 4 13 DATA LOGGER SETUP e n n n nnn nnn nnn nnn n nnn anna annua 122 FIGURE 4 14 DATA TRIGGER DIALOG e n e e e n nnn nnn nnn nnn nnn 123 FIGURE 4 15 DATA LOGGER CONTROL PANEL 200 0 10000 n nennen nennt 124 FIGURE 4 16 SAVE AS DIALOG BOX er err er E 126 FIGURE 4 17 OPEN DIAEOG BOX eene ree rt eire E MIU 127 FIGURE 4 18 PARAMETERS 127 FIGURE 4 19 ENGINEERING USER INTERFACE 128 FIGURE 4 20 BLOCK DATA u LD 129 FIGURE 4 21 MANUAL BLOCK SAVE FILE 20 2 e 130 FIGURE 4 22 FRONT PANEL TEST POINTS DIALOG 000 2 0 0 0 0000000002 130 FIGURE 4 23 DRIVE STATUS 2000 006 132 FIGURE 4 24 FILE SAVE DIALOG BOX oroi 1 n n n n nen nnn nnn nnn nnn nn nnn n nn 134 FIGURE 4 25 MOOG GUI FILE OPEN DIALOG BOX 2 20 0 00 000 nnn nnn nnn nnn anu 135 FIGURE 4 26 LOGFILE PLAYER 00000 0 0000000 nua 135 FIGURE 4 27 FILE
5. INTEGRA IME CONSTAN gt WEL YJUSTED CN A J 5 gt gt SYSIEM D v B v VE P u COMMAND x y Z OA N C SMALI FIGURE 4 41 Velocity Mode Tuning Waveforms Note If the Function Generator along with the Data Logger are used for tuning the user may choose to utilize the Combined Tuning dialog box via the Setup option in the Drive menu This box contains both the Data Logger Control Panel and the Function Generator to simplify the user interface 4 1 13 5 2 TORQUE MODE TUNING To set the drive to Torque mode select the Torque Mode button in the Tuning dialog box FIGURE 4 40 The tuning of the inner current loop in WinDrive compatible drives is pre programmed during drive initialization Hence no parameter tuning is required in torque mode Select the Exit button The Save to EEPROM dialog box FIGURE 4 30 will appear See section 4 1 11 3 for directions on Save to EEPROM MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 151 NOTE In Torque Mode the input command reference is a current command to the power amplifier that drives the motor The term Torque Mode is adopted because the motor produces a nearly linear torque per ampere of input current 4 1 13 6 ADVANCED OPTIONS The Advanced Options dialog box allows the user t
6. 102 FIGURE 3 15 SAVE TO EEPROM DIALOG BOX enne enne enne eren ener eene entren en 103 FIGURE 3 16 SUCCESSFULLY SAVED TO EEPROM NOTICE 103 FIGURE 4 1 SYSTEM HARDWARE 8 44 106 MOOG T164 SERIES USER S MANUAL INDEX 353 FIGURE 4 2 POSITION OF LINKS FOR RS232 COMMUNICATION eeceeennne e e e e e n nnne nnn nnn nnn nnn nnn 106 FIGURE 4 3 WINDRIVE 0200 40 108 FIGURE 4 4 COMMUNICATION PORT DIALOG BOX ececeeeeeeeeen e n e e n nnn nnn nnn nnn nnn nnn nn nhan nan 109 FIGURE 4 5 RS 2 e e e e n n n nnn 109 FIGURE 4 6 PASSWORD nnn nnn nnn nnn nnn nnn 110 FIGURE 4 7 USER ACCESS LEVEL NOTIFICATION 110 FIGURE 4 8 DRIVE TYPE OFFLINE DIALOG 2 2 2 200200000000000000000000000000000000000000000000 ne 111 FIGURE 4 9 MOOGHELP 112 FIGURE 4 10 HELP TOPICS MOOGHELP 2000000 0 0 000000000 nennen 113 FIGURE 4 11 WINDRIVE MAIN 113 FIGURE 4 12 FLOATING TOOLBAR
7. J 225 MOOG T164 SERIES USER S MANUAL Table of Contents 434 Drive 2 u n qu asua 226 4 3 4 1 Standard Motor ConfigUratI nu l UA LL la 228 4 3 4 2 Non Standard Motor Configuration eese nennen trenes 229 4 3 5 Drive Tuning 4 3 5 1 Basic Control Loop COllCepts iere iare arit RE HERR MERGE RES SER SEE PER ERE EAE a ae 232 4 3 5 2 Gain Adjust Mode sisenta ieis nq th bere teet pe teet i i e n p ines ii 236 4 3 5 3 Parameter Set Up 4 3 5 4 Velocity Mode Standard Tuning 238 4 3 5 5 Velocity Observer iere Eo ei Gr 4 3 5 6 Torque Mode Tuning 4 3 5 7 Saving Configuration Data 4 5 0 Command eve Re 4 3 6 1 Setting and Listing Parameters 4 3 6 2 Motor Operational Modes 4 3 6 3 Operating Conditions 4 3 6 4 Sp 9 4 37 Command Reference Encoder Simulation Option 4 3 7 1 Setting and Listing Parameters Encoder Simulation Option esses 268 4 3 8 Command Reference Extended I O Option 4
8. 292 2 31 Brushless Tech Q01o68y en eerie i rer ie sassa sasa 292 GSP MS anie MEX m 294 5 3 2 1 l EnIJLc 295 5 3 2 2 Part Number Cross ak 296 533 MotoreDrive Selection aede A SSES 297 5 34 Performance Data zero be RP usss 298 5 3 5 Mounting and Installation 0220204040 E rennen enne 300 5 3 5 1 Motor Dim hsiOtis o Ero E m DO c ERR RETE 300 5 3 5 2 Installation Gu idelme 5 5 nri nte er n EXER CLE AERE NEN 301 5 3 5 3 Rated Bearing Load Capacity 5 trente bibit eie tiere te eter ees tee tete 302 5 3 5 4 ua u PEE 305 5 3 5 5 uon 306 XXE TUMULI EM 307 23 9 7 Handling cessie ere ri sa EE T ARE IEEE EFE HESS REESE EE 310 Sb HANDHELD SERVICE TERMINALS onini bern iren XS Rt Rev ee hl bee EXEC 311 52 ENCODER SIMULATION OPTION CARD yc iti iecit obe RID DEOR RE OY RIEF ar RAO RA MA A n 312 MEE Gib cio 312 5 5 1 1 A and a AREST EEE 312 5 5 1 2 Mark
9. WARNING Power supplies contain large capacitors that maintain high voltage ont the d c to d c terminals for several minutes after input power is removed if the regen resistor circuit is open fuse blown or wiring open Wait at least 5 minutes after power shutdown for capacitors tol discharge Then use a voltmeter to check for safe voltage from nel d c terminal to the d c terminal before contacting terminals or commencing any service or maintenance activities to ensure that no lethal voltages are present Failure to follow this procedure can result in serious personal injury MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 277 5 1 1 DIAGNOSTIC LEDS The status of the power supply may be monitored using the diagnostic LED indicators on the front panel as listed in TABLE 5 1 5 1 2 CIRCUIT DESCRIPTION The power supply consists of four functional blocks High voltage rectification and filtering Low voltage control power supply e Shunt regulator circuit Monitoring and fault logic circuits FIGURE 5 1 is a block diagram of the T150 901 Power Supply LED Label Condition Indicated Color Green BUS ACTIVE Greater than 30 V is present the bus Yellow REGEN ACTIVE The regen circuit is active because the bus voltage exceeds the regen cut in threshold or a c power has been lost and a fast bus discharge is occurring
10. FIGURE 4 64 Standard Velocity Mode Tuning Wave Forms Use the P command to enter the gain adjust mode for the velocity loop proportional gain term refer to Section 4 3 5 2 Using the U command increase the P gain until the shaft is turning Use the E command to exit the gain adjust mode Set the drive to automatic mode disable manual mode using the OM command refer to Section 4 3 6 4 11 Use the P command to re enter the gain adjust mode Use the U command while monitoring the velocity response on the oscilloscope to increase the P gain until a slight overshoot occurs in the velocity response Use the D command to decrease the P gain until the overshoot just disappears Use the E command to exit the gain adjust mode Use the command to enter the gain adjust mode for the velocity loop integral time constant refer to Section 4 3 5 2 Using the U command increase the loop response until a slight overshoot occurs again Use the E command to exit the gain adjust mode Use the P command to re enter the gain adjust mode Use the U command to improve the slope of the step response FIGURE 4 64 illustrates the velocity wave form for a properly tuned loop Use the OR command to set the command reference to the analog reference refer to Section 4 3 6 4 1 Offsets in the drive and the users velocity command may be trimmed out with the automatic offset command Apply the desired zero s
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12. 5 4 0000 0100 181 TABLE 4 3 FUNCTION GENERATOR 203 TABLE 4 4 5 206 TABLE 4 5 DESCRIPTION OF 9 217 TABLE 4 6 SOFTWARE CONFIGURABLE 5 06 238 TABLE 4 7 FUNCTION GENERATOR 8 263 TABLE 5 1 T150 901 POWER SUPPLY STATUS INDICATORS 00000 00 0 0 277 TABLE 5 2 T164 SERIES DRIVE STATUS INDICATORS e nnn nnn 285 TABLE 5 3 PART NUMBER CROSS a n n 296 TABLE 5 4 MOTOR DRIVE 5 297 TABLE 5 5 MOTOR BRAKE 5 04 0 020004 1000000 0050 a n ans a e eaa s 298 TABLE 5 6 MOTOR PERFORMANCE 299 TABLE 5 7 MOTOR DIMENSIONAL DATA 00000 060000000000 300 TABLE 5 8 INSTALLATION 8 1 n nnn 302 5 95
13. FIGURE 3 4 Password Dialog Box Click OK in the Windows User Access Level dialog box WinDrive for Windows FE Access Level 1 User Privileged Access FIGURE 3 5 User Access Level Notification Dialog Box 3 7 CONFIGURING THE DRIVE Select the Basic Drive Setup option from the Drive menu The option will present the user with a series of dialog boxes which step through the basic configuration parameters needed to allow motion at the motor shaft NOTE Prior to initial setup sections 3 7 1 through 3 7 4 the drive should be disabled using one of the following f4 key disable button on the floating tool bar or select disable from the drive menu MOOG T164 SERIES USER S MANUAL 94 SECTION THREE QUICK SETUP 3 7 1 MOTOR SELECTION Within the Se ect Motor dialog box select the servo motor as follows Actual Selected Motor Motor Type Standard Motor List C Non Standard 6422 200 6412 200 6422 400 G412 400 6422 600 G412 600 6422 800 G412 800 FIGURE 3 6 Select Motor Dialog Box 3 7 1 1 STANDARD MOTOR SELECTION Select Standard in the Motor Type section From the Motor List window select the Moog motor model number To view selected motor parameters select the View button When the correct motor is chosen select the Download button 3 7 2 REFERENCE SOURCE Select one 1 reference source in the Reference Source dialog box from the following
14. eene 84 2E COMPONENT W RING Hodie inb EHE RUP Hood Mec dni HIE Wr UT Hed ME 84 2 11 1 Transtormer WIE 85 2 11 2 Model T150 901 Power Supply 85 2 11 3 Drive Su u teme oie usus Pepe 86 2 11 4 Mot p WAPI 8 u Su 87 So DDICB SEEUP 89 d re 89 Jak WINDRIVE STARTUP 95 EFIE FISSO I EUR ERA HR TN CFR ree 90 22 OPENING THE PROGRAM x a recie n HOUR ITUR DIA PUR CU UR E I ME 91 JA CONFIGURING THE COMMUNICATION PORT raciste etras DE RU I ERA RT AE 91 3 9 SELECTING DMMUNICA TION PROTOCOL uuu TUE 92 3 9 1 RS232 Sef Dy usu 92 20 E r 93 3d CONIGURING THE DRIVE scivo a are 93 377 1 Motor Selections un y D ee pet ege oce pr 94 3 7 1 1 Standard Motor Selections 94 SWEET 94 3 7 3 Setting Torque And Velocity Limits eese rennen 97 SE bun qe 98 37 5 E 98 3
15. 4 2 7 3 Marker Width 4 2 7 4 Encoder Simulation Option Status OESA 4 2 7 5 Faults 7E neas enhn 4 2 7 6 Encoder Position 7E ro ora nn A EE N YR ERE INERAT FEVER RR 4 2 8 Command Reference Extended I O Option essere 4 2 8 1 Setting and Listing Parameters Extended I O Option 4 29 Configuration Commands Summary 4 2 9 1 Moog Command Format 4 2 9 2 Command Sel List aret ine rae ra RIP UR EO e Ree 4 3 TERMINAL EMULATION COMMUNICATIONS WITH C4 FIRMWARE eene een 216 4 3 1 Serial Communications eesessssseeeesseeee eene ene enne nennen nennen innen tenter nnne 217 4 3 1 1 Communication Hardware Setup sese Iunisi nete nennen nennen 217 4 3 2 Moogterm Terminal Interface 218 4 3 2 1 Minimum System Requirements For Moogterm eee 218 4 3 2 2 Moogterm Startup ss u M 218 4 3 2 3 Emulator Screen Feat reSiuu uu usa e eed tive pt 222 4 3 2 4 Ncc UU 229 4 3 2 5 Func on EE 223 4 5 3 Command Line 224 4 3 3 1 Full Help Reduced Help Mode Hf
16. 39 2 72 T150 901 Power Supply 240 Regen Configuration esee 41 2 7 3 T150 901 Power Supply 600 W Regen Configuration eee 43 27 4 150 901 Power Supply 1000 W 2000 W Regen Configuration Europe only 45 27 5 T150 901 Power Supply 2500 W Regen Configuration seen 47 2 7 6 150 901 Power Supply 2 5 kW 2 Pole Regen Configuration eee 49 8 MOTORS INSTALLATION i ll RARI UAR HR UAY BUS ERE IR 51 p MEE iSi ee EM 52 262 2Intended Use deiectis nite 53 MOOG T164 SERIES USER S MANUAL Table of Contents auis ce 2 9 1 Safety requirements for nennen nem nennen mne 2 9 1 1 Requirements Conductors and 2422 4 1 0000 00000000000000 0 2 9 1 2 Wiring Practices Connections and routing 2 9 1 3 Wiring Practices Conductor and cable runs essere 58 2 9 1 4 Wiring Practices Conductors of different circuits seen 58 2 9 1 5 Wiring Practices Identification of 59 2 9 1 6 Wiring Practices Identification of the protective conductor 2 9 1 7 Wiring Practices Identification of the neutral conductor 2 9 1 8 Wiring Practices Identification of other conductors eese 2 9 1 9 Wiring Practice
17. Configure the W2 jumper for RS232 communications as shown in FIGURE 4 2 4 3 2 MOOGTERM TERMINAL INTERFACE NOTE The procedures in section 4 3 2 are written for use with e Moogterm software version 3 0 dated 11 10 97 e DMC firmware version C4 dated 1 15 98 The user must consult Moog for updates to the procedure for drives with any other software or firmware version date 4 3 2 1 MINIMUM SYSTEM REQUIREMENTS FOR MOOGTERM IBM compatible PC with 386 or higher processor running MS DOS 6 1 or higher with 2MB RAM and 500K of free hard disk space VGA display with a resolution of at least 640 x 480 pixels Moog Moogterm System Disk An RS232 Communication Interface Cable 4 3 2 2 MOOGTERM STARTUP To run the Moogterm software place the Moogterm disk in drive A Type a Moogterm on the command line and press return The text file Readme txt describes the operation of the setup file Follow the configuration steps shown below MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 219 In the Configuration screen select to proceed to the communication mode configuration ESC to exit Moogterm Pressing RETURN sets the communication and port ID to the defaults in the cfg file If a cfg file does not exist the user is sent to the communication mode screen MOOG T164 SERIES USER S MANUAL 220 SECTION FOUR CONFIGURATION AND T
18. Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL 326 SECTION SIX TROUBLESHOOTING GUIDE No Motion Continued from Previous Page Condition T164 Series Drive s SYSTEM ENABLE LED s off POWER SUPPLY OK LED s on All other Drive s LEDs off Possible Cause 1 YESC No drive hardware enable s input to J1 Check Correct User Vexternal Power Supply output Nol Q Wiring to from T164 Series Drive s J1 Connector s Enable output s from System Motion Drive Possible Cause 2 No drive software enable s Check Correct Issue MI software command when using Cx firmware Issue ENABLE or MI command when using Hx firmware Condition T164 Series Drive s SYSTEM ENABLE LED s off POWER SUPPLY OK LED s off All other Drive s LEDs off Possible Cause YES User External 24 V d c Supply Power Off Nol Check Correct Input Wiring Fusing of 24 V d c Supply Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 327 No Motion Continued from Previous Page Condition T164 Series Drive s SYSTEM ENABLE LED s on POWER SUPPLY OK LED s on All other Drive s LEDs off Possible Cause 1 YESC No command input Check Correct C Command input from System Drive must not be 0 volts Possible Cause 2 Axis is Mechanically Bound Jammed Check Correct C Mechanical Power Transmission
19. V EXT p RESERVED 9 gt RESERVED 71 10 5 N WIRE RANGE 14 AWG TO 26 AWG A RECOMMENDED TERMINAL SCREW TORQUE 5 0 5 IN LBS 56 06 NM A WIRE STRIP LENGTH 27 IN 7 0 mm WIRING SIDE g TWISTED PAIR FIND MOOG PART DESCRIPTION QUANTITY 1 B69687 012 CONNECTOR 12 P SUPPLIED BY 1 CABLE INDIVIDUALLY SHIELDED 2 MAKE ITEM TWISTED H PAIR cota ed BELDEN 9891 FIGURE 2 25 Encoder Simulation Option Card Cable MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 73 USER 5 CONTROLLER J5 CONNECTOR J5 CONNECTOR r 7 MAX SPECIFICATION 100Vd c OR 70Va c 0 5 I 59 AUTO V EXT MODE a 2114 I 8 AUTO 1 LIMIT pz 25 CW CCW i LIMIT pz 6 CCW T TORQUE VELOCITY Hg NOTES SELECT T WIRE RANGE 2 08mm2 TO 0 128mm2 s SYSTEM READY T4AWG TO 26AWG SYSTEM READY L A RECOMMENDED TERMINAL RELAY gt 2 SCREW TORQUE if THE LIMIT 0 59 a ONIN THERMAL LIMIT me ora 5 0 0 5 in Ibs ACTIVE A WIRE STRIP LENGTH 7 0
20. 2 2 2 00 n e n nnn nnn n n aen nn 148 FIGURE 4 41 VELOCITY MODE TUNING WAVEFORMS 3 150 FIGURE 4 42 ADVANCED OPTIONS 151 FIGURE 4 43 VELOCITY OBSERVER TUNING WAVE 8 154 FIGURE 4 44 CHANGE PASSWORD 155 FIGURE 4 45 DMC EXTEND FUNCTION CARDS 156 FIGURE 4 46 ENCODER SIMULATION CARD 2 8 157 FIGURE 4 47 IT THERMAL LIMITS 158 FIGURE 4 48 CONFIGURATION SELECT 5 0 0 165 FIGURE 4 49 COMMUNICATIONS MODE SCREEN eee e n e e e n 165 FIGURE 4 50 COMMUNICATIONS PORT SELECTION 5 0 4 004 e e 166 FIGURE 4 51 CONTROLLER TYPE SELECTION SCREEN 2 00001 enn nnn nnn nnn nnne nnn 166 FIGURE 4 52 MAIN EMULATOR SCREEN 2222 2 168 FIGURE 4 53 VELOCITY MODE BLOCK 177 FIGURE 4 54 TORQUE MODE BLOCK DIAGRAM 1 2 10000000000000000000000000 nete 179 FI
21. Limited static torque High degree of wear and mechanical friction Large size Limited resistance to overloading Q Poor transfer of dissipated heat from the rotor outwards In a brushless servomotor the basic principles of the stator and rotor are exactly the other way round The magnetic field of the rotor is the exciting field and rotates in accordance with the rotor speed The rotor position is transmitted to the drive viaa resolver and the stator winding is then connected in such a way as to yield a magnetic field which is always offset 90 in relation to the rotor field In this case the winding is switched by the power electronics instead of being switched mechanically by the commutator as in a conventional d c machine Unlike the mechanical commutator the power electronics is maintenance free and wear free Load fluctuations are controlled via the current intensity as in a conventional d c motor The torque is once again proportional to the current thus yielding equally good control capabilities The following diagrams similarly illustrate two load cases Exciting field Exciting field AE m p ai N Armature field N Armature field Wa V 4 S 1 ene Z 8 D SEO FIGURE 5 9 BI Servomotor FIGURE 5 10 Servomotor low load high load The synchronous motor SM with a mechanical design similar to the servomotor but rarely with permanent magnets is u
22. North American Drives Operations Panel Mount Digital Motor Controller User s Manual 1164 Series Controller E CE SEE rie x x lt lt F Table of Contents 1 TABLE CONTENTS GENERAL INFORMATION t ul k u OE OE EA 1 pP 2 11 1 Isolation Transformer User 2 112 Input Circuit Breaker User 3 1 1 3 Power Supply 17150 90 4 1 1 4 Drive Model T164 enne nennen enhn E nnne 6 1 1 5 Serial Set up Terminal User 8 1 1 6 VDC Power Supply User Supplied essen 8 1 1 7 Brushless Servo Motorsissa enres ee r EE E EEEE E EEE ean EE EAEE 9 1 1 8 Heat sinks Electronic 9 1 1 9 Mating Connectors Cables and Wiring sees 9 E 10 1 51 System Safeguards u E 11 1 2 1 1 General Safety Requirement tesco enero torte ood 11 1 2 1 2 Specific Safety Requirements mra sesasicasosscosccusecatssayesds ses scuat RH HE EE E Fe e Led 11 1 22 Equipment Safety niet teneo te
23. 44 FIGURE 2 15 T150 901 POWER SUPPLY 1000 2000 WATT REGEN CONFIGURATION 46 FIGURE 2 16 FINAL CONFIGURATION LABEL MOUNTING LOCATION eene enne 46 FIGURE 2 17 T150 901 POWER SUPPLY 2500 WATT REGEN CONFIGURATION ccce 48 FIGURE 2 18 FINAL CONFIGURATION LABEL MOUNTING LOCATION 48 FIGURE 2 19 T150 901 POWER SUPPLY 2 5 KW 2 POLE REGEN CONFIGURATION 50 FIGURE 2 20 FINAL CONFIGURATION LABEL MOUNTING 22 444444 4 4 50 FIGURE 2 21 TB3 POWER SUPPLY FAULT PSF OUTPUT 66 FIGURE 2 22 DRIVE 11 CABLE STANDARD I O esee enema 67 FIGURE 2 23 DRIVE J3 CABLE SERIAL COMMUNICATION 00010000 70 FIGURE 2 24 DRIVE TB1 CABLE 24VD C 4 0 00002000200 01010 6000000000000000000000000 1 71 FIGURE 2 25 ENCODER SIMULATION OPTION CARD CABLE eene emen emen enne ense enne ener ener en 72 FIGURE 2 26 J5 EXTENDED I O OPTION CARD 4 1 0000 73 FIGURE 2 27 J6 EXTENDED I O OPTION CARD 74 FIGURE 2 28 EXTENDED INPUTS BRACKET enne eren 75 FIGURE 2 29 CAN INTERFACE I O OPTION CAR
24. 7 gt Z pue D 4 4 C ES amp Com gt Final Configuration Label i Add final configuration label here FIGURE 2 16 Final Configuration Label Mounting Location MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 47 2 7 5 T150 901 POWER SUPPLY 2500 W REGEN CONFIGURATION WARNING operate unit with cover removed WARNING Do NOT perform procedures described on this page with the power on The T150 901 Power Supply contains lethal a c and d c voltages in operation Switch off all incoming a c power ensure all motors are stopped wait five 5 minutes ensure all front panel LEDS are off then remove and tape exposed wire ends from TB1 and TB2 before removing the cover and configuring external Regen resistors or fuses This kit C09838 022 contains Fuse 25A Quick Blow Label final configuration Installation specification T150 901 PSU 2500W regen kit Resistor 8 ohm 1 5 kW 2 Resistor mounting bracket kit 2 Fuse Block O Q N Instructions 1 Secure the external regen resistors with the supplied mounting brackets Observe mounting location requirements of section 2 5 of this Users Manual Mounting bracket feet may be turned in to conserve space 2 Connect one end of each external regen resistor together and the connect to pins 1 and 2 of TB5 wiring each pin separately 3 Connect the othe
25. Axis Identification This function allows a axis number assignment of 0 59 and is set with two dip switch packages One package assigns the Tens bit the other the Ones bit MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 319 vx ym SU I du UR Va Ac E i E INPUT CIRCUITS V x o TJ OUTPUT V EXT j MEE NS TATA m 0 CIRCUITS AUTO MANUAL I p SYSTEM READY B Ja Ul 1 FE T I fed D t IJ P PoE E THERMAL LIMIT eM i 1 U A 7 ACTIVE RELAY C LOL zv reo res i B d Hindi Y Ms a 5 i CCW LIMIT i c H ri v BOARD EVE ANE x IDENTIFICATION 7 TORQUE VELOCITY I DECODER ADDRESS BUS bee ee S 4 FIGURE 5 23 EXTENDED I O OPTION CARD STD I O BLOCK DIAGRAM 89666 002 5 7 92214 003 POINT CONTROL MODULE OPTION DESCRIPTION The POINT motion control card is a programmable extended function card that can be interfaced to any Moog series T164 DMC
26. Epp in PEA TORQUE VELOCITY a IDENTIFICA l I VI BED lt DECODER ADDRESS BUS BRAKE CONTROL I INPUT ANALOG TORQUE LIMIT D AXIS IDENTIFICATION FIGURE 5 22 EXTENDED OPTION CARD FULL VERSION BLOCK DIAGRAM B89666 003 MOOG T164 USER MANUAL 318 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 6 2 SPECIFICATIONS Inputs CW Limit CCW Limit Torque Velocity Select Auto Manual Select Voltage range 4 5 35 V dcc Current ratings user must source or sink the following 1 2mA 5Vd c 12 1 mA 30 V d c per input Outputs Thermal Limit Active Relay System Ready Relay Relay Reed Maximum Specifications 100 V d c or 70 V r m s 0 5 Amps r m s Operating Temperature Range 0 55 C ambient Electrical Specification B89666 003 only Brake Control Input Voltage range 4 5 35 V d c on a per input basis usermust source or sink the following current ratings 1 0 mA Q 4 5 V d c 14 0 mA 35 V d c Brake Control Output User must supply 24 V d c Current Rating of supply to be sized to brake current specifications Brake Output relay Fuse Protected 3 0 A max Spare Analog Input currently being software assigned Analog Torque Limit Electrical Specification 10 V d c input current requirement less then 5 mA
27. Watchdog Timer Logic Under voltage I T Current Foldback Short Circuit Motor Over temperature Drive Over temperature Resolver Loss d c Bus Over voltage MOOG T164 SERIES USER S MANUAL 284 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION JUMPEI R POSITION GATE DRIVE PS CPU PW BOARD W2 JUMPER EPROMS RSu85 2 1 RS232 4 CPU lu mels jE OPTION BUS CONNECTOR TEST POINT 1 ACCEPTS 080 TEST POINT 2 PLUG FROM EITHER END OR TOP COMMON e TB2 POWER CONNECTOR 1 24VDC LOGIC POWER CONNECTOR COOLING FAN ALL MODELS EXCEPT 7164 901 IGBT POWER MODULE HOUSING ASSEMBLY STATUS LED INDICATORS 4 lt STANDOFFS TO MOUNT J2 RESOLVER CONNECTOR OPTION CARD BRACKET MOUNTING HOLES OPTION CARD CONNECTOR ACCESS SLOT OPTION CARD MOUNTING SCREWS L J1 STANDARD 1 0 CONNECTOR J3 COMMUNICATION CONNECTOR POWER DISTRIBUTION PW BOARD OPTION CARDS OPTION CARDS OPTION BUS CABLE ASSEMBLY FIGURE 5 3 T164 SERIES DRIVE COMPONENT IDENTIFICATION MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 285 5 2 1 DIAGNOSTIC LEDS The status of the Drive may be monitored using the diagnostic LED indicators on the
28. Yellow LOSS OF Phase loss or power loss on a c mains PHASE Yellow THERMAL Base plate over temperature FAULT Yellow REGEN FUSE Regen circuit fuse blown TABLE 5 1 T150 901 Power Supply Status Indicators 5 1 2 1 HIGH VOLTAGE RECTIFICATION AND FILTERING The a c mains input is rectified by a three phase diode bridge and filtered by a large bank of electrolytic capacitors to generate a nominal 325 V d c supply at 50 amps This high power 325 V d c supply is unregulated and will vary in direct proportion with the a c mains input A d c bus fuse protects against long term overloads and d c output short circuits 5 1 2 2 LOW VOLTAGE CONTROL POWER SUPPLY Control power for the logic circuits is generated by a fly back switchmode converter This control voltage also powers the cooling fan There is no isolation from the a c mains provided by this supply MOOG T164 SERIES USER S MANUAL 278 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 1 2 3 SHUNT REGULATOR CIRCUIT Rapid motor deceleration or an overhauling load creates a situation in which energy is regenerated back into the high voltage power supply This regenerative energy will charge the power supply bus capacitors To prevent capacitor over voltage a shunt regulator circuit senses when the bus voltage exceeds the regen cut in voltage and via a regen transistor switches a regen resistor across the d c bus in shunt to dissipate the regen
29. MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 65 2 10 SPECIFIC CABLES 2 10 1 POWER SUPPLY TB3 CABLE PSU FAULT OUTPUT CONNECTION For TB4 TB5 connections see section 2 7 Wire this cable per FIGURE 2 21 Use a two conductor shielded cable to wire the Power Supply Fault Output to user supplied sequencing logic which disables all drives when a power supply fault occurs The Power Supply Fault Output requires a user supplied external 4 5 to 35 Vd c power source This may be the same source as used for the Drive I O refer to section 2 5 1 CAUTION The T164 Series Drives should not be enabled during AC power up until the Power Supply Fault Output clears The user must supply the logic to accomplish this interlock Failure to delay enabling of the Drives having any other external load on the T150 Series Power Supply on power will defeat the proper operation of the soft start circuitry the T164 901 Power Supply can result in tripping of the AC input circuit breaker and or damage to the T164 901 Power Supply resulting in the equipment becoming unsafe 2 10 2 DRIVE J1 CABLE STANDARD I O CABLE Use a multi conductor shielded cable and wire per FIGURE 2 22 Velocity torque command wires must be a shielded twisted pair with shield terminated at the T164 Series Drive as shown in FIGURE 2 22 NOTE An external 4 5 to 35 Vd c power sour
30. WARNING perform procedures described this page with the power on i The T150 901 Power Supply contains lethal a c and d c voltages operation Switch off all incoming a c power ensure all motors are stopped wait five 5 minutes ensure all front panel LEDs are off remove and tape exposed wire ends from TB1 and TB2 before removing the cover and configuring external Regen resistors or fuses This kit C09838 006 contains Label final configuration Installation specification T150 901 PSU 600W regen kit Resistor 8 ohm 750 W Resistor mounting bracket kit Q N Instructions 1 Secure the external regen resistor with the supplied mounting brackets Observe mounting location requirements of Section 2 5 of this Users Manual Mounting bracket feet may be turned in to conserve space 2 Connect the external regen resistor between pins 1 and 2 of TB4 3 Place the supplied Final Configuration Label along the bottom of the housing beside TB2 as shown in FIGURE 2 14 MOOG T164 SERIES USER S MANUAL 44 SECTION TWO INSTALLATION AND WIRING SEE CABLE WIRING SECTION 4 8 MODEL 1150 901 SERIES POWER SUPPLY SHOWN WITH COVER REMOVED FIGURE 2 13 T150 901 Power Supply 600 Watt Regen Configuration Rating label TIGHTEN TO 1 8 Nm 16 in Ibs MIN 75 C
31. Yet pesen 2400 E REGEN 204 600 dL S CONNECTOR ray 25 e XE TBS PX ua 2525 e Lor REGE 2 ol REGEN 2 5 TIGHTEN TO 1 8 16 In Ibe SY CONNECTOR 3 o REGEN ONLY 75 C COPPER WIRE ONLY 4 01 REGEN A 76 20 IE 1 0 CONNECTOR jam 2 43 20 40h cHassis EARTH 1 70 S 255 00 16 10 o3 A 10 04 n TITT A 5 L T H o o AA ge 311 80 12 28 50 87 324 00 12 78 CAUTION WARNING T y 1 14 37 70 1 48 VERTICAL MOUNTING REQUIRED 9 AIR FLOW TIGHTEN TO 1 8 MISC COPPER _ 4 Fi o oce 2 gt j Dc gt i 3oT DC SS ss 4 TB2 c TERMINAL 1 Note dimension s are in Millimeters dimensions in brackets in Inches Terminal block will accept CSA 8 4mm 8 AWG wire maximum TB1 and TB2 Top and bottom must remain unobstructed by 75mm 3 inches to provide adequate air flow for cooling Recommended terminal screw torque 1 50 0 05Nm 13 2 0 5 in Ibs TB1 and TB2 Recommended terminal screw torque 0 25 0 05Nm 5 0 0 5 in Ibs TBS 4 and TB5 Wire range CSA 2 08 to 0 081 14 AWG to 28 AWG 4 and 5 Wire range CSA 5 26 mm to 0 081 mm 10 AWG to 28 AWG T
32. A Automatic mode velocity limit RPM M Manual mode velocity limit RPM N velocity scale adjust P velocity loop Proportional gain Nm rad sec T Torque limit Nm A Automatic mode torque limit Nm M Manual mode torque limit Nm W velocity mode compensator filter bandwidth Hz Setting Motor Operating Modes M MOTOR OPERATIONAL MODES H Help I Motor Enable hardware enable must be asserted O Motor Disable or any other non defined key for the M command Setting Options O OPTIONS A Analog reference input filter enable disable C control Compensator options 1 torque mode 2 velocity mode 3 Relative Position mode 4 Absolute Position mode D thermal protection enable disable E Encoder simulation options REQUIRES ENCODER SIMULATION OPTION L number of Lines 256 512 1024 2048 4096 8192 16384 M set Marker width 90 180 360 degrees S Status of encoder simulation F test point options list TP1 and TP2 currently programmed signals A assign signal to TP1 Default Idc current monitor 1 actual velocity 2 filtered velocity 3 Idc current monitor 4 observer estimated velocity 5 observer position error B assign signal to TP2 Default actual velocity 1 2 3 4 5 G function Generator options N set function generator speed amplitude and offset P set function generator Period and duty cycle T set function generator Torque amplitude and offset l Input offset L Limit switches REQUIRE
33. Check whether the nameplate on the device matches the nameplate illustrated above This documentation must not be used for commissioning and startup if the nameplates do not match Devices without nameplate are not covered by the manufacturer s warranty and must not be put into operation MOOG T164 SERIES USER S MANUAL 296 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 3 2 2 PART NUMBER CROSS REFERENCE The order number for motors is made up as follows Global Product 8 Series 4xx configuration Special design s note US Europe Model numbers are defined consecutively for special customized motors The line number consequently does not give any indication of the model properties These are defined by the Model Master File Frame Size A 5 E 55mm Flange 70mm Flange 100mm Flange 140mm Flange 190mm Flange O TABLE 5 3 Part Number Cross Reference MOOG T164 SERIES USER S MANUAL 4xx xxxR L Revision Index uration of shaft extension Shaft Sealing No Yes No Yes Config Reduced Reduced Reduced Reduced 1 5 3Nm 6Nm G4x4 G4x5 G4x6 15Nm 25Nm 15Nm 25Nm 50Nm Active Length in 0 1 inch Code o nm G4x2 G4x3 G4x4 G4x5 G4x6 105 105 105 110 115 110 L15 L10 120 0 20 25 20 130 5 140 140 140 L50 160 SECTI
34. Do NOT perform procedures described on this page with the power on The T150 901 Power Supply contains lethal a c and d c voltages in operation Switch off all incoming a c power ensure all motors are stopped wait five 5 minutes ensure all front panel LEDs off then remove and tape exposed wire ends from TB1 and TB2 before removing the cover and configuring external Regen resistors or fuses This kit CO9838 023 contains Fuse 25A Quick Blow Label final configuration Installation specification T150 901 2500W regen kit Resistor 8 ohm 1 5 kW 2 Resistor mounting bracket kit 2 Fuse block O Q N Instructions 1 Secure the external regen resistors with the supplied mounting brackets Observe mounting location requirements of section 2 5 of this Users Manual Mounting bracket feet may be turned in to conserve space 2 Connect one end of the two external regen resistors together and then connect to pin 1 of TB5 3 Connect the other ends of the two regen resistors together and then connect to one end of the fuse block 4 Connect the other end of the fuse block to pin 4 of TB5 Do not remove the shorting links from the plug in TB5 Install the supplied 25A regen fuse in the fuse block Place the supplied Final Configuration Label along the top of the housing beside TB2 as shown in FIGURE 2 20 MOOG T164 SERIES USER S MANUAL 50 SECTION TWO INSTALLATION AND WIRING
35. They are defined as follows NOTE NOTES are general in nature and are intended to emphasize information CAUTION CAUTIONS are to alert personnel to actions that could cause equipment damage resulting in the equipment becoming unsafe WARNING WARNINGS serve to make personnel aware of potentially hazardous actions that may result in personal injury MOOG T164 SERIES USER S MANUAL 2 SECTION ONE GENERAL INFORMATION 1 1 SYSTEM COMPONENTS The following components are required to build a MOOG brushless motor velocity or torque digital control system refer to FIGURE 2 2 and FIGURE 2 3 Section 5 provides more thorough descriptions and complete specifications of these components NOTE Throughout this Section references are made to user supplied equipment In instances third party products are listed Moog has found these products to perform satisfactorily with the T164 Series equipment and T150 901 Power Supply when used as described herein Moog assumes no responsibilities provides no guarantees of performance or product availability nor provides any warranties associated with third party equipment 1 1 1 ISOLATION TRANSFORMER USER SUPPLIED This is a required part of the total system and serves the following functions Matching the mains supply line voltage to the required power supply input voltages Mains isolation Limiting available short circuit fault current to be with
36. Use the Folders window to select the folder you wish to look in In the File name window enter the 8 3 formatted file name you wish to load Or select the file from the window list of files below the File name header Make sure the Save file as type is set to Moog Data Logger mdl Click the OK button to Load the data MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 127 Open 21x File name Folders vit c windrive Cancel sample mdl e cs so mdl windrive Help Network List files of type Drives Moog Data Logger amp mellon moog FIGURE 4 17 Open Dialog Box 4 1 9 2 5 MANIPULATING PLOT TEXT AND GRID LINES O Text Parameters To edit graph labels double click on the chosen label A Text Parameters dialog box is displayed allowing the user to change text font and font color FIGURE 4 18 Grid Lines Horizontal and Vertical grid lines be added removed using the Grid Lines choice in the Plots menu Text Parameters Text 20Arms 8192 Font Times New Roman Color Black Size 6 Bold Italics Underline Cancel FIGURE 4 18 Text Parameters Dialog Box MOOG T164 SERIES USER S MANUAL 128 SECTION FOUR CONFIGURATION AND TUNING 4 1 9 3 ENGINEERING USER INTERFACE EUI The EUI or Engineering User Interface provides access to individual drive parameters which depending on user access level may
37. mm mm mm mm mm mm mm mm mm mm Nm ISO ISO ISO 286 ISO DIN 748 ISO ISO ISO 286 ISO ISO 286 ISO DIN 13 1 DIN 912 DIN 912 286 286 286 ISO 286 286 286 DIN 6885 286 DIN 6885 286 8 8 8 8 Model 2XX Axx 6xx 8xx G4x2 55 109 4 122 4 147 4 198 4 17 0 9 0 63 40 19005 20 9 210010 2 5 5 5 14 7 2 3x3 3 0 24 3953 2 5 8 M5 x 22 5 64 3 70 114 3 139 8 165 3 203 3 22 0 9 0 75 gg 309 23 44 25 55 16 85 44 4 o 2 5 8 5 22 5 64 4 100 133 2 146 21171 2 222 2121 19 8 1151514 40 io 2 3 9 32 155 6x6 4 0 s 7 66 3 4 16 8 30 16 IG4x5 140 169 6 194 6 220 1 271 1114 412 21 165 e 50 24 3295 3 5 11 40 20 8x7 5 0 0 98 8 M4 x 16 M10 x 40 30 IG4x6 190 186 5 224 5 262 5 301 0 37 011 0 215 9 60 32 4 13 5 40 27 10x8 10 0 lso 128 M4 x 16 M12 x 40 38 Pmax Maximum width of motor end view excluding BB Maximum height of pilot of mounting flange of D Distance between end of shaft and key terminal housing etc motor BC Distance between mounting flange of motor to A Motor length without shaft pilot mating BF Clearance hole in mounting flange of motor shoulder on shaft always 0 mm connector XD Usable length of keyseat gE Diameter of hole for shaft in flange of motor B Additional length of motor for motors with brake R Bottom of keyseat to opposite side of shaft F Width of motor between recesses
38. 4 1 9 2 3 SAVING PLOT DATA Proceed with the following commands to save plot data to disk Select Save Plots from the Plots menu A Plot Header dialog box will appear In it enter the heading for the plot you are saving Next the Save As dialog box appears In this box enter the following Inthe File name field enter a 8 3 formatted name Use the Drives window to select the disk drive you wish to save to If the drive is an unlisted network drive use the Network button to map the necessary drive Use the Folders window to select the folder you wish to save in Make sure the Save file as type is set to Moog Data Logger mdl Click the OK button to save the data MOOG T164 SERIES USER S MANUAL 126 SECTION FOUR CONFIGURATION AND TUNING Save As File name Folders sample mdl Cy c S windrive Cancel so mdl Network Save file as type Drives Moog Data Logger c mellon moog FIGURE 4 16 Save As Dialog Box 4 1 9 2 4 LOADING PLOT DATA Proceed with the following commands to Load plot data from a disk L Select Load Plots from the Plots menu A Open dialog box appears Use this box to search for the mdl file you want to open Search using the following methods Use the Drives window to select the disk drive you wish to look for the file in If the drive is an unlisted network drive use the Network button to map the necessary drive
39. 400 i 200 0 0 10 20 30 40 TIME Seconds TIME Seconds EXTERNAL 600 WATT EXTERNAL 2500 WATT 5000 40 4000 REGEN 3000 REGEN 30 ENERGY 2000 ENERGY 20 Watts 1000 Watts 40 0 2 4 6 8 1012141618 TIME Seconds TIME Seconds FIGURE 5 2 Model T150 901 Power Supply Regen Electronic Circuit Breaker Trip Characteristics MOOG T164 SERIES USER S MANUAL 282 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 1 3 SPECIFICATIONS a c Input Voltage Rating a c Input Power Rating a c Input Current Rating d c Output Voltage Rating 220 V r m s 50 60 Hz 15 kW 50 A r m s max 300 350 V d c No Load lt 20 Volt Ripple to 100 Amps d c Bus Fuse Bussmann FWH 60A or Three PhaseOperation a c Input Current Rating Continuous Output d c Current Rating Peak Output d c Current 3 seconds Peak Output d c Current 1 second Regen Cut in Voltage Regen Hysteresis Voltage equivalent Unregulated 50 Amps r m s 50 Amps d c max 75 Amps d c 100 Amps d c 380 V d c 5 7 V d c 3 V d c T150 901 POWER SUPPLY REGEN SPECIFICATIONS Internal External External External 500 55W 100225W 80750w 4Q 3KW Resistor Resistor Resistor Resistor Peak Regen Power 2 8 KW 17 KW 17 7 KW 36KW Continuous Regen Power 40 W 240 W 600 W 2500 W Regen Fuse 5M3FDC 5M10FDC 5M15FDC 5M25FDC parallel with internal 50255W resistor Requires optional external
40. MOOG T164 SERIES USER S MANUAL 332 SECTION SIX TROUBLESHOOTING GUIDE Erratic motion Continued from Previous Page Condition Excessive Speed Runaway Possible Cause 1 YES Wiring error Check Correct Check resolver cable and shields per J2 cable drawing refer to FIGURE 2 31 Possible Cause 2 Wrong Drive Motor combination Check Correct Proper motor model number programmed refer to Section 4 Possible Cause 3 Encoder Simulation Option System Motion Drive phasing Check Correct Check motion drive encoder phasing Possible Cause 4 Drive Failure Check Correct Substitute same model drive retry Possible Cause 5 Motor Failure Check Correct Substitute same model motor retry MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE T164 Series Drive Troubleshooting 333 Condition Yellow SYSTEM FAULT LED flashes YES gt Now Possible Cause Drive has not been initialized Check Correct Perform Set up Tuning refer to Section 4 YES gt Now Condition Yellow BRIDGE OVERTEMPERATURE LED on Yellow SYSTEM FAULT LED on F Query Lists Bridge Overtemperature Fault when using C4 firmware View the FAULTS STATUS BAR when using H1 firmware Possible Cause 1 IT Foldback set too high Check Correct Section 4 Possible Cause 2 Cooling fan failure or heat sink dirty clogged Check Correct Heat sink air flow unrestricted Clean as n
41. MOOG T164 SERIES USER S MANUAL 64 SECTION TWO INSTALLATION AND WIRING Cables connecting the 300 Vd c bus from the T150 901 Power supply to the T164 Series Drives must be as short as possible The supply wires should be twisted together Motor power cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable At the T164 Drive end of the cable the shield should be earthed to Chassis Earth using a 180 degree metal clamp P clip connection to ensure a good HF earth bond Secure the clip using conductive bolts and locking washers For CE compliance motor resolver cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable Signal cables must be shielded with the cable shield securely connected to make a good HF earth bond to Chassis Earth at both ends of the cable Additional electromagnetic compatibility EMC measures which must be installed on a c power input Line Filter cables are given in section 2 3 of this Users Manual Additional electromagnetic compatibility EMC measures which must be installed on equipment cables associated with the T150 901 Power Supply and T164 series Drives are given in section 2 5 2 of this Users Manual Further information about electromagnetic compatibility EMC requirements which must be met when the T150 901 Power Supply and T164 series Drives are given in sections 1 3 2 5 and 2 7 of this Users Manual
42. The pulse is set at an arbitrary position that is determined by the resolver adjustment setting used for motor commutation This is a factory setting and not user adjustable The electrical width of the MARKER pulse is selectable in pulse widths of 90 180 or 360 The factory default configuration is 90 marker width The output waveforms for the Encoder Simulation are shown in FIGURE 5 21 MOOG T164 USER MANUAL 314 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION PASSIVE COMPONENTS DIGITAL SELECTION CHANNEL B CHANNEL GENERATION OPTIONAL OUTPUTS VELOCIEY MULTIPLEXER OPTICALLY R D CIRCUITRY ISOLATED MARKER MARKER RESOLVER CONVERTER SIGNALS Ro dee MARKER GENERATION I POLARITY V EXT SENSE GND EXT DECODER Li DIGITAL OR gt MANUAL IDENTIFICATION ADDRESS SELECTION d BUS DATA BUS FIGURE 5 20 ENCODER SIMULATION OPTION CARD BLOCK DIAGRAM 5 5 2 SPECIFICATIONS Resolver Reference Input Differential 10V d c max Signal Inputs Sine Cosine Differential 2 Vr m s 1596 Input Power Requirements 5 V d c 5 200 mA d c max 1 User must supply isolated power source Dynamic Characteristics Line
43. Velocity 4 861E 1 RPM gt 4 2 6 3 3 CURRENT LIMITS L The L command lists the Max current limit setting Note that the current limits are the lesser of motor model limits or drive model limits Example usage of L command gt PL lt CR gt Max Current 8 690E 0 Arms gt 4 2 6 3 4 BRIDGE TEMPERATURE B The B command lists the drive bridge temperature Example usage of command gt B lt CR gt Bridge Temp 90 0 DegC gt 4 2 6 3 5 MOTOR TEMPERATURE M The M command lists the motor thermistor temperature Note that the user must wire the motor thermistor wires to the T164 Series drive to detect a motor over temperature fault Example usage of M command gt M lt CR gt 0 0 DegC gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 199 4 2 6 3 6 DRIVE STATE S The S command lists the present state of the following drive parameters Compensator Limit Switches Thermal Protection Manual Mode Brake Enable Analog Reference Filter Velocity Observer Example usage of 25 command gt 25 lt gt Controller Status Compensator Displays configuration data 1 Torque Mode 2 Velocity Mode 2 more lt CR gt Press RETURN or any key to proceed Limit Switches Limit switch mode Disabled Yes more lt CR gt Press RETURN or any key to proceed Thermal Protect Motor Thermal Protection Mode Disabled
44. WOODOOODOOOD J2 123456789 12345878910 COMMUNICATION 56 78 12 43 56 78 12 43 TBS TB4 TB3 STANDARD 1 0 RESOLVER PORT RESOLVER RESOLVER REGEN REGEN PSE CONNECTOR T184 SERIES 6412 6415 T150 901 DIGITAL MOTOR 1 BRUSHLESS BRUSHLESS POWER CONTROLLER MOTOR MOTOR SUPPLY 24VDC LOGIC Do DC OPTION AA 1234 TB2 loo gol TB1 OOO ia TB2 Cio FIGURE 2 24 SES TB1 CONTROLLER CABLE 6 AWG 6 AWG 10 AWG A CONNECT TO 2 5 ON T164 SERIES DIGITAL MOTOR CONTROLLER 2 amp 3 6 TO 2 6 2 T164 SERIES DIGITAL MOTOR CONTROLLER 2 TO TB1 1 TO TB1 3 CONNECT TO TB1 ON T164 SERIES DIGITAL MOTOR CONTROLLER 2 FIGURE 2 32 GLOBAL MOTOR POWER CABLE TO USER S 24VDC OR SOVDC BRAKE SUPPLY AND CONTROL CIRCUITS INTERLOCKS FIGURE 2 32 GLOBAL MOTOR POWER CABLE FIGURE 2 4 TYPICAL SYSTEM SCHEMATIC DIAGRAM A MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 32 USER 1 0 n CONNECT IONS CONNECT TO TB2 CONNECT TO TB1 ON CONNECT TO T150 201 T184 SERIES DIGITAL EARTH GROUND POWER SUPPLY MOTOR CONTROLLER 1 N 123456789 12345678910 COMMUNICATION 56 78 12 43 56 78 12 43 STANDARD 1 0 RESOLVER PORT RESOLVER RESOLVER H 8 T164 SERIES 5413 5414 DIGITAL MOTOR 2 BRUSHLESS BRUSHLES
45. ir _ k Ecsscssssq 222220223 3015 3118 3255 MOQO 11 87 12 28 7 1 12 82 4 EEREN marean 5 1 Y HPP PPEP TE A SAT 1 48 AIR FLOW OUTER TEST POINTS TERMINAL 1 NET m T2B 1 I 6A MOTOR CONNECTION I eB MOTOR CONNECTION I eC MOTOR CONNECTION 2 MOTOR EARTH Q CHASSIS EARTH Pe l P EST TERMINAL 1 r lt 4 ie o 24v I ur 2 o 24v 15 NO 3 o L 24v RETURN 125 aa TB1 L 1 24 RETURN 5 a Connector AAA 24V LOGIC POWER OPTION CONN LAA MOOG PART B44299 001 Notes 1 Alldimensions are in millimeters dimensions in brackets in inches 2 TB2 Maximum wire size CSA 3 25mm 12AWG on models T164 9X1 9X3 and 9X5 3 Size wire for load do not fuse or switch d c bus for proper regeneration protection 4 Recommended terminal screw torque 0 55 0 05 Nm 5 0 0 5 in 1 5 5 and bottom must remain unobstructed by minimum distance of 75mm 3 inches to provided adequate air flow for cooling 6 Wire range CSA 2 08mm to 0 128mm 14AWG to 26AWG 7 Internal assembly contains electrostatic sensitive components Proper handling procedures must be used with cover removed MIL STD 1686 Class 1 8 Recommended terminal screw torque 0 7 0 06 Nm 6 2 0 5 in Ibs 10 Fan assembly not used on model T164 9X1 11 M5 or 10 mountin
46. options MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 95 Reference Source x Reference Source Analog Input C Function Generator C Point DMC only Cancel FIGURE 3 7 Reference Source Dialog Box Analog Input This input is selected when the user is supplying a 10 Vd c reference After Analog Input is selected press the Set Up button to configure the analog input parameters in the Analog Input dialog box as follows Analog Input x Velocity Scaling RPM 10 Set Input Offset mV Reference Input Filter Enable Automatic Input Offset Zero FIGURE 3 8 Analog Input Dialog Box Velocity Scaling Enter the maximum motor velocity RPM that will correspond to a 10V input signal Set Input Offset mV Enter the zero speed offset voltage if any The Factory default is 0 mV Reference Input Filter Enable Check this box to enable a software based filter that attenuates high frequency noise components in the reference signal Automatic Input Offset Zero Select this button to automatically null the analog input when internal and external offsets are present in the system with the reference set to zero 0 Update Select the update button to store the settings in memory Exit Select the Exit button to return to the Reference Source dialog box MOOG T164 SERIES USER S MANUAL 96 SECTION THREE QUICK SETUP Function Generator Selec
47. should be disabled using one of the following f4 key disable button on the floating tool bar or select Disable from the Drive menu 4 1 13 1 MOTOR SELECTION Within the Se ect Motor dialog box select the servo motor as follows Actual Selected Motor Motor Type Standard Motor List C Non Standard 6422 200 G412 200 6422 400 G412 400 6422 600 G412 600 6422 800 G412 800 FIGURE 4 33 Select Motor Dialog Box MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 141 4 1 13 1 1 STANDARD MOTOR SELECTION Select Standard in the Motor Type section From the Motor List window select the Moog motor model number To view selected motor parameters select the View button When the correct motor is chosen select the Download button 4 1 13 1 2 NON STANDARD MOTOR SELECTION Select Non Standard in the Motor Type section This will allow the user to access the Remove Motor Add Motor and Edit buttons Proceed as follows Determine if a motor from the Motor List can be selected as the system motor use the View button to see motor parameters If a motor matches select it and press Download Continue to section 4 1 13 2 f no motor matches the system motor the motor parameters must be entered by one 1 of the following routines Select the Add Motor button and enter the motor parameters in the Nonstandard Motor Parameters dialog box Select OK This will return you
48. when dismantling the parts The permissible axial and radial forces are in all cases exceeded by the pulses due to hammering MOOG T164 USER MANUAL 302 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 3 5 3 RATED BEARING LOAD CAPACITY Radial load capacity shown in FIGURE 5 14 to FIGURE 5 18 are for a B10 life of 20 000 hours applied at shaft extension midpoint Curves are based on minor axial shaft loads Consult factory for other loading conditions Maximum permissible axial and radial forces for brushless MOOG servomotors during installation refer TABLE 5 8 Motor size G4x2 G4x3 4 4 G4x5 G4x6 Axial force 1 150N 150N 300N 400 500 Radial force 1 500N 500N 1000N 1600N 2000N 1 During installation Lower loads apply for the rotating motor see catalog TABLE 5 8 Installation Loads Motor Series G4x2 Speed rpm Radial Load Capacity N FIGURE 5 14 Radial Load Capacity G4x2 MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 303 Motor Series G4x3 12000 8000 Q 6000 75 9 Q 4099 2000 0 0 100 200 300 400 500 Radial Load Capacity N FIGURE 5 15 Radial Load Capacity G4x3 Motor Series G4x4 12000 10000 8000 o 6000 O 9 4000 2000 0 O 100 20 300 400 50 60 70 800 90 1000 Radial Load Capacity N FIGURE 5 16 Radial Load Capacity G4x4 MOOG T164 USER MANUAL 304
49. 133 Setting Torque And Velocity Limits 41 134 Limit Switches CHER AE 41 13 6 oio eee o tatio REO Re 4 1 14 Password 4 1 14 1 User Access Levels 4 1 14 2 Password Setup Change eee 4 1 15 pO e 4 15 1 Extended Function Cards a aar roseo sepe c Fa PEE ES PENNEC ES 4 1 15 2 Encoder Simulation n MOOG T164 SERIES USER S MANUAL Table of Contents 4 1 16 Equipment and Personal 41 161 Manual Mode Automatic Mode 4 1 162 Thermal Limits 41 16 35 Drive Disablibg oun eon e EE pre REEF REDE HERE 4 1 17 Brake Apply Reledse teet tette tr ete te eo EHE EQ ERR qapa T PETI ege Pe Peine eh 4 1 18 Trouble SHOotfIng a M 4 1 18 1 Communication Problems n nunana 4 2 TERMINAL EMULATION COMMUNICATIONS WITH H1 FIRMWARE 4 2 1 Serial Communications 4 2 1 1 Communication Hardware Setup 4 22 Moogterm Terminal Interface 4 2 2 1 Minimum System Requirements For Moogterm eese 4 2 2 2 Moogterm Startup esisiini 4 2
50. 19 2 22 2 24 2 27 2 32 2 6 2 7 2 8 2 9 4 2 4 52 4 6 4 62 5 21 5 22 TABLE 5 5 MOOG T164 SERIES USER S MANUAL Information herein is subject to change without prior notice should not be construed as a commitment by Moog Inc This manual is periodically reviewed and revised Moog Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments will assist us in preparation of future product documentation Printed in the United States of America Copyright 1998 by Moog Inc All rights reserved MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 1 1 GENERAL INFORMATION This user s manual is intended to provide sufficient information on how to install wire and tune brushless electric motor system which includes all of the equipment outlined in Section 1 1 Section 1 2 covers SAFETY and SYSTEM SAFEGUARDS Section 1 3 covers Electromagnetic Compatibility This user s manual must be read and understood before applying power and operating the equipment described This equipment must be installed only by service personnel technically qualified to a minimum level of British HNC in electrical engineering or equivalent All information in this manual is directed towards such personnel only Throughout this user s manual may be found NOTES CAUTIONS and WARNINGS
51. 3 8 1 Setting and Listing Parameters Extended I O Option sse 271 4 3 8 2 Drive State 29 C 272 4 3 9 T164 Series Drive Main Menu C4 Command 5 273 5 COMPONENT DESCRIPTION AND SPECIFICA TION 276 5 1 POWER SUPPLY DESCRIPTION SPECIFICATIONS 51 11 Diagnostic LEDs eee 2 1 22 DescriptIOB sient bonne eese oen Red 5 124 High Voltage Rectification and 277 5 1 2 2 Low Voltage Control Power Supply 5 1 2 3 Shunt Regulator Circuit deae n bebe tender eee delegit be He hi di 5 1 2 4 Momtornns and o tent REPERIO ERN IO OUR ce Sei Neto 5 1 3 Specifications 5 2 T164 SERIES DRIVES DESCRIPTION SPECIFICATIONS 5 2 1 Diagnostic 05 5 2 2 Circuit Description asas 5 2 2 1 Logic Power Supply 5 2 2 2 CPU Section 5 2 2 3 5 2 2 4 D229 S226 9227 p u u etre ee EP ERE eite y Re ee eds eh RA MEE eia EUER MOOG T164 SERIES USER S MANUAL Table of Contents 3 IOO SERIES u ba cies ca u
52. 37 50 90 29 7 0 09 1 0 G4x2 Axx 62110 0 5 1 2 14 37 0 42 1 0 325 7400 9000 10000 0 42 20 70 15 7 013 12 4 2 6 62120 0 95 2 15 2 6 6 4 0 74 1 6 530 6800 7900 9000 0 46 9 90 9 1 0 22 1 5 G4x2 8xx 62140 1 7 285 5 83 1 26 2 1 820 6200 6300 7000 0 60 6 30 7 2 041 23 G4x3 2xx 63105 0 6 1 6 1 5 4 6 0 49 1 2 450 8800 9600 10500 0 40 15 20 18 8 0 16 1 4 G4x3 4xx 63115 1 65 3 2 4 7 10 6 1 44 2 7 950 6300 7200 8000 0 53 4 90 8 5 0 39 2 0 G4x3 6xx 03125 2 55 3 4 8 5 12 4 2 29 3 1 1150 4800 4900 5500 0 75 5 10 10 3 0 62 26 G3L40 3 7 4 2 13 16 3 3 43 3 8 1400 3900 4100 4500 0 90 4 10 8 9 0 97 3 5 G4x3 8xx 213 16 3 3 43 3 8 1400 3900 4100 4500 0 97 1 3 341 3 2 9 0 1 0 2 3 580 5800 8800 10000 0 42 5 10 8 52 1 05 3 0 G4x4 4xx 64110 2 6 4 8 6 5 15 0 1 7 3 1 950 5500 6900 8000 0 54 2 70 5 78 155 3 6 G4x4 6xx 641 20 4 7 6 7 12 5 20 0 4 0 5 7 1800 4300 5200 5800 0 70 1 50 4 60 2 60 4 7 G4x4 8xx G4L40 8 2 9 2 22 28 0 6 3 7 1 2310 3500 4200 4700 0 69 0 90 3 50 4 70 6 9 G4x5 2xx G5L10 5 8 9 5 12 2 24 4 6 7 5 2310 4800 6100 6800 0 61 0 86 4 29 4 60 7 7 G4x5 4xx G5L20 11 2 11 258 33 9 2 9 0 3370 3500 3800 420 1 02 0 74 4 81 8 00 9 9 G4x5 6xx G5L30 16 6 12 9 40 38 14 0 10 9 3960 2700 3000 3300 1 29 0 64 4 84 11 50 12 1 G4x5 8xx
53. 500 Volt C09762 025 000 TB5 C09900 001 Option only for Europe MOOG TABLE 2 2 Power Supply Continuous Regen Power Options T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 39 The following notes apply to FIGURE 2 9 through FIGURE 2 19 1 2 ON Regen fuse see TABLE 2 2 Secure external regen resistor with supplied mounting brackets Use M5 or 10 hardware to mount brackets to panel mount resistor in a location that will allow adequate heat dissipation and such that heat from the resistor is not directed to air intake of other equipment Keep combustible material and wires at least 100mm 4 inches from the 225W resistor At least 200mm 8 inches from the 750W resistor 300mm 12 inches from 1 5kW resistor 55 Watt internal regen resistor is in parallel with 225 Watt external regen resistor in this configuration Internal 500 resistor should be connected to J3A for 240W regen operation Internal 500 resistor should be connected to J3B for 600W regen operation Internal 500 resistor should be connected to J4 for 2 5kW regen operation Jumper J3C should be placed in position 2 3 for 240W 600W regen resistor Jumper J3C should be placed in position 1 2 for 1kW 2kW and 2 5kW regen resistor 2 7 1 T150 901 POWER SUPPLY 40 W REGEN CONFIGURATION WARNING operate unit with cover removed WARNING perform procedures descri
54. 6 1 10 Typically this frequency may be set to 600 Hz depending on motor servo noise The P and l gains may now be tuned up again in the normal fashion described in Section 4 3 5 4 FIGURE 4 65 E compares the response of an observer based system with a normal velocity loop system Now the response settles in just 2 2 mS whereas without the observer the step settled in about 12 mS The observer response also shows a smaller overshoot Use the C command to save configuration data in EEPROM refer to Section 4 3 5 7 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 243 TORQUE E TORQUE Sut ett OBSERVER POSITION ERROR OSCILLATORY LOAD 1 6 Nm div c OBSERVER POSITION ERROR x A hy a TUN 7 WELOCITY HO RPM div ms div E PERFORMANCE COMPARISON FIGURE 4 65 Velocity Observer Tuning Wave Forms MOOG T164 SERIES USER S MANUAL 244 SECTION FOUR CONFIGURATION AND TUNING 4 3 5 6 TORQUE MODE TUNING In torque mode the input command reference is a current command to the power amplifier that drives the motor The term torque mode is adopted because the motor produces a nearly linear torque per ampere of input current The tuning of the inner current loops of the T164 Series drives is pre programmed during drive initialization Hence no parameter tuning is required in torque mode Skip this Section for standard o
55. 90 Max Speed RPM Encoder Position Deg Update Encoder Position FIGURE 3 14 Encoder Simulation Card 2 Dialog Box Configure the Encoder Simulation card ESM using the dialog box as follows Choose the incremental Line Count from the pull down list via the arrow at the end of the Line Count window Discrete range 128 16384 Select a Marker Width from the pull down list at the field end The width choices are 90 180 360 Factory default is 90 See FIGURE 5 21 C The Max Speed is determined in software and displayed This field is not accessible by the user The Encoder Position is determined from the system can be updated using the Update Encoder Position button This field is not accessible by the user After configuration of the ESM card is complete select the Update button to save the configuration Select Exit to close the dialog box 3 7 7 SAVE TO EEPROM Use this function to write the fully configured drive parameters to the drives non volatile EEPROM memory Follow these steps to Save To EEPROM Select Save To EEPROM from the File menu Select Save in the Save To EEPROM dialog box MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 103 Save to EEPROM Close Help FIGURE 3 15 Save to EEPROM Dialog Box Wait for the Successfully saved to EEPROM notice in the Moog WinDrive for Windows dialog box FIGURE 3 16 Select
56. Devices Interference With Other Machine Parts Possible Cause 3 Optional Motor Brake Set Check Correct C User External Brake Power Supply Brake Control Circuitry and Interlocking Possible Cause 4 Insufficient motor output torque Check Correct Insufficient velocity loop gain refer to Section 4 0 Uncouple motor from load and initiate command Mechanical binding excess friction Motor sizing improper Possible Cause 5 Wrong Drive Motor combination Check Correct Proper motor model number programmed refer to Section 4 0 MOOG T164 SERIES USER S MANUAL 328 SECTION SIX TROUBLESHOOTING GUIDE Erratic motion Condition High frequency audible sound YES gt Now Possible Cause 1 Wiring error Check Correct Resolver wiring from motor to Drive J2 connector Resolver shield connection refer to FIGURE 2 31 Loose wiring connections System earthing refer to Section 2 9 Possible Cause 2 Noisy input command Check Correct Drive J1 connections wiring shield earthing refer to FIGURE 2 22 Possible Cause 3 Wrong Drive Motor combination Check Correct Proper motor model number programmed refer to Section 4 Possible Cause 4 Improper Drive Set up Tuning Check Correct Repeat Set up Tuning refer to Section 4 0 Possible Cause 5 Motor Fault Check Correct Check motor winding d c resistance line to line See motor data sheet
57. Exposed surface area of enclosure W Watts dissipated Tmax Maximum ambient temperature of equipment 55 C for T164 Series Tamb Ambient temperature outside enclosure of Rated Power Dissipation Watts Continuous T164 901 T164 903 T164 905 T164 907 T164 909 T150 901 Output Current 3 phase 0 18 20 2 25 2 5 25 44 55 65 40 50 53 70 9 135 175 80 75 66 95 145 225 260 120 100 78 200 325 160 TABLE 2 1 Estimated Power Dissipation For T164 Series T150 901 Power Supply MOOG T164 SERIES USER S MANUAL 31 SECTION TWO INSTALLATION AND WIRING FIGURE 2 22 J1 CONTROLLER CABLE USER 1 0 G E CONNECTIONS HAND HELD TERMINAL FIGURE 4 PC OR TERMINAL USER SUPPLIED CONTACTOR USER SUPPLIED CIRCUIT BREAKER USER SUPPLIED 220VAC PHASE TO PHASE DO NOT GROUND HIGH VOLTAGE SECONDARY NEUTRAL IF WYE CONNECTED 10 AWG MIN 3 PHASE 3 ISOLATION AC PLANT TRANSFORMER SUPPLY USER SUPPLIED USER SUPPLIED 24VDC POWER SUPPLY USER SUPPLIED EARTH GROUND A AWG IE C ET Cp Ceci Se RESOLVER CABLE J3 COMMUNICATION EXTERNAL FAULT CABLE s PORT CABLE RESISTOR OPTION gt 2 5 KW T3 ONLY p TIT B Er d if E B B si LN d H H TH DNI fH i i lao OO Jl ODOODOOOODD
58. I O See safety precautions for further requirements FIGURE 2 21 TB3 Power Supply Fault PSF Output Cable MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 67 USER CONNECTIONS CONTROLLER J1 CONNECTOR J1 CONNECTOR USER SPLY DEVICES MEE Vxout 4 5 35VDC FOLDBACK gt 1 gt r xout ACTIVE 2 B0mA USER SPLY DEVICES Vxout 4 5 35VDC CONTROLLER me xout FAULT s gt U gt 4 gt AMP_FLTC 50mA ENABLE ENABLE INPUT CONTROLLER 44 Ns ENABLE VELOCITY TORQUE COMMAND NOTES A WIRE RANGE 14 AWG TO 26 AWG RECOMMENDED TERMINAL SCREW TORQUE Gel 5 gt 5 0 5 IN LBS J1 e 56 06 NM TT WIRE STRIP LENGTH RET xIN 27 IN 7 0 mm V xn 4 5 35VDC 16 bs COMMAND SIGNAL MUST BE TWISTED SHIELDED CONTROLLER IS ENABLED BY CURRENT FLOW PAIR CABLE CHOICE OF ACTIVE HIGH OR ACTIVE LOW ENABLE CONFIGURATION IS AT USERS DISCRETION VCMD POSITIVE WITH RESPECT TO VCMD CAUSES CLOCKWISE CW MOTOR g TWISTED PAIR ROTATION FIND MOOG NO PART NO DESCRIPTION QUANTITY 1 B89518 009 CONNECTOR S P SUPPLIED BY MOOG USER SPLY 2 MAKE ITEM CABLE AE FIGURE 2 22 DRIVE J1 CABLE STANDARD MOOG T164 SERIES USER S MANUAL 68 SECTION TWO INSTALLATION AND WIRING 2 10 3 DRIVE J3 CABLE COMMUNICATIONS CABLE For RS
59. Komitee f r Industrie Norm National Commission Elektrotechnische Verband Electric Normung Deutscher Code MG Elektrotechniker i Certified compan EN ISO 9001 DIN ISO 9001 ISO 9001 Quality systems model for ISO 9001 EN ISO 9001 DIN ISO 9001 ISO 9001 quality assurance in design development production installation and servicing Machine guidelines 89 392 EWG 89 392 EWG 89 392 EWG CE Machine safety directive 91 368 EWG 91 368 EWG 91 368 EWG 93 44 EWG 93 44 EWG 93 44 EWG EMC guidelines 89 336 EWG 89 336 EWG 89 336 EWG CE EMC directive 93 68 EWG 93 68 EWG 93 68 EWG 93 44 EWG 93 44 EWG 93 44 EWG Low voltage guidelines 73 23 EWG 73 23 EWG 73 23 EWG CE Low voltage directive 93 68 EWG 93 68 EWG 93 68 EWG 93 44 EWG 93 44 EWG 93 44 EWG Standard for safety of electric UL 1004 motors 1994 Safety of machinery IEC 204 1 EN 60204 1 DIN EN 60204 1 electrical equipment of machines part 1 general requirements VDE 0113 1 TABLE 5 11 Motor Design Standards MOOG T164 USER MANUAL 308 Relevant standards for electrical equipment SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION devices for rated voltages up to 1000 a c up to 1200 V and rated currents up to 500 A for each pole TABLE 5 12 Electrical Design Standards MOOG T164 USER MANUAL Standard International Europe Deutschland USA English IEC EN CENELEC DIN VDE NEMA Internati
60. Logged Variable This option determines what system variable is plotted on the y axis of the data logger plot i e actual velocity Time in seconds is always plotted on the x axis MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 123 If IDC CURRENT MONITOR is selected the plot will yield a value on the Y axis as follows 8192 is full scale demand current which is scaled to the minimum of the drive or motor peak current If velocity speed in RPM is selected the plot will yield a value on the Y axis as follows 2x Y Axis Value Velocity RPM Trigger The trigger parameter is used to establish the point from which data logging begins Set to one 1 of the following three 3 triggers DLOG SYNCFLAG Data logger sync flag FG TRIGGER Function generator trigger Data logging begins when the function generator output signal starts TRIGGER FLAG allows user to select trigger from a list of system variables in the DATA TRIGGER dialog box see section 4 1 9 1 2 4 1 9 1 2 DATA TRIGGER SETUP Open the Data Trigger dialog box from the Data Trigger option in the Data Logger menu NOTE In order to select a system variable as the trigger the user must define the Trigger to be TRIGGER FLAG in the Data Logger Setup dialog box see section 4 1 9 1 1 Trigger Levet D Bata Trigger Enable I Trigger Variable Mode ACTUAL VELOCITY x 2 6 Rising Edge Fal
61. Mode 5 Velocity TP signal wrap around problem fixed 346 SECTION SEVEN SOFTWARE REVISION NOTES CAN INTERFACE PROFILE MODE SOFTWARE SOFTWARE SOFTWARE SOFTWARE FIRMWARE SOFTWARE CHANGE LETTER REVISION EPROM RECORD NUMBERS G 2 C09244 002 C09355 002 C09356 002 FIRMWARE SOFTWARE CHANGE FACTORY EPROM RECORD KIT NUMBERS NUMBER C09792 001 C09789 001 C09790 001 TABLE 7 2 Software Change Record Per Revision MOOG T164 SERIES USER S MANUAL SECTION SEVEN SOFTWARE REVISION NOTES THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL 347 348 SECTION EIGHT MOOG REPAIR CENTERS 8 MOOG REPAIR CENTERS WARNING Repair internal adjustments to the T150 901 Power Supply 164 Series Drives must not be attempted All faulty items must be returned to Moog Service Centers for maintenance and repair Moog Service Centers located at the following addresses USA Moog Inc North American Drives Operations Division East Aurora New York 14052 0018 Telephone 716 652 2000 Telefax 716 687 4870 Europe Moog GmbH Hanns Klemm Strasse 28 D71034 Boblingen Germany Telephone 0049 07031 6220 Telefax 0049 07031 622 100 MOOG T164 SERIES USER S MANUAL SECTION EIGHT MOOG REPAIR CENTERS THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL 349 350 SECT
62. No more lt CR gt Press RETURN or any key to proceed Manual Mode Manual Limit Mode Disabled Yes more lt CR gt Press RETURN or any key to proceed Break Released Brake Mode No more lt CR gt Press RETURN or any key to proceed Analog Ref Analog Filter Mode Filter Enabled Yes more lt CR gt Press RETURN or any key to proceed Observer Velocity Observer Veloc Enabled No gt T164 SERIES USER S MANUAL 200 SECTION FOUR CONFIGURATION AND TUNING 4 2 6 3 7 FAULTS F The F command lists the present fault status including what faults have occurred and what faults are still present Faults reported are Resolver Fault Drive Over Temperature Short Circuit Fault Logic Power Supply Fault Motor Temp Fault Bus Over Voltage Fault Example usage of F command gt PF Parameter Fault more lt CR gt Resolver Fault Occurred more lt CR gt Resolver Fault Present more lt CR gt gt 4 2 6 4 OPTIONS 4 2 6 4 1 COMPENSATOR REFERENCE SOURCE OR The OR command selects either the analog input software function generator or the point interface as the input command reference source Default State Analog Input The following example shows selection of the analog input as the reference source See Section 4 2 6 4 7 for example showing selection of the function generator as the input reference source Issue C command to permanently save changes made using OR Example us
63. OC command selects between torque 1 velocity 2 relative position 3 and absolute position 4 modes of operation Default State Velocity Mode Compensator NOTE Changing the compensator will reset all parameters to default values Issue C command to permanently save changes made using OC Example usage of OC command gt OC lt CR gt Select Command Mode Sure Y N Y Enter Y to continue any other key to abort Option 2 Enter 1 for Torque Mode 2 for Velocity Mode 3 for Relative Position Mode 4 for Absolute Position Mode or H for Help The SYSTEM FAULT LED flashes during reconfiguration Controller in Velocity Mode gt 4 3 6 4 3 REFERENCE INPUT FILTER OA The OA command enables or disables the command reference input filter This is a low pass filter with a 3dB point of 1 KHz refer to Section 5 2 2 3 It is used to attenuate high frequency noise on the input command signal Default State Reference Filter Enabled Issue C command to permanently save changes made using OA Example usage of OA command gt OA lt CR gt Enable Analog Filter on Reference Input Y N Y Reply Y to enable any other key to disable filter gt MOOG T164 SERIES USER S MANUAL 262 SECTION FOUR CONFIGURATION AND TUNING 4 3 6 4 4 OBSERVER ENABLE DISABLE OO The OO command enables or disables the velocity observer software see Section 4 3 5 5 Default State Observer Disabled Issue C comm
64. OPEN 2 6 137 FIGURE 4 28 CONFIGURATION DOWNLOAD 00000 0 000 137 FIGURE 4 29 CONFIGURATION UPLOAD DIALOG 138 FIGURE 4 30 SAVE TO EEPROM 40000 0 000 00 139 FIGURE 4 31 SUCCESSFULLY SAVED TO EEPROM NOTICE a 139 FIGURE 4 32 UNITS DIALOG BOX 20 2 0 0000 n n nen nnn 139 FIGURE 4 33 SELECT MOTOR e e enn nnn nnn nnn nn nnn nnn n n nnn n n 140 FIGURE 4 34 NONSTANDARD MOTOR PARAMETERS DIALOG BOX 142 FIGURE 4 35 REFERENCE SOURCE 142 FIGURE 4 36 ANALOG INPUT n e e n e n n nnn 143 FIGURE 4 37 FUNCTION GENERATOR 144 FIGURE 4 38 LIMITS nnn nnn nnn nnn 145 FIGURE 4 39 LIMIT SWITCHES DIALOG BOX a 02 nnn nn nnn nnn n nnn nnn nnn enean aaa 146 FIGURE 4 40 TUNING
65. Phase U A Phase V B and Phase W C be wired exactly as shown in TABLE 2 6 2 10 9 2 DRIVE J2 CABLE RESOLVER CABLE NOTE Avoid running this cable near other high power wiring Wire the motor resolver connector in accordance with FIGURE 2 31 MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING Pin assignment for Motor Power Cable and Mating Connectors 79 Partnumber for Europe and Asia Market stands for cable length in meter standard lengths are 010 10 meters and 020 20 meters Partnumber for US Market stands for cable length in meter standard length are 005 010 015 020 in meters TABLE 2 4 Motor Power Cable MOOG T164 SERIES USER S MANUAL Pin Layout Pin Connection Part Number Part Number Part Number Cable Description Cable Specification Size Power Cables Mating Bare Power Assembled Power Cable Connector loose Phase W B47914 001 xxx A63472 001 B47890 001 AWG 16 OD 12 mm 472 in Phase 0 Power Lead Wires Designed for use in Cable Phase V AWG 17 Tracks and Oil Environment 24V Brake i Temperature Range 50 C to 24V Brake C22294 001 xxx 90 C continuous operation PE ith overall shield Phase U B47915 001 xxx B47736 001 B47903 001 4x2 5mm AWG 14 OD 13 mm 512 in Phase V Power Lead Wires Designed for use in Cable Phase W 2x1 0mm AWG 17 Tracks and Oi
66. SECTION FOUR CONFIGURATION AND TUNING 229 NOTE It is very important that the motor model number is entered correctly as the T164 Series Drive sets many parameters automatically based this configuration This is also a good point to confirm that the proper drive model is connected to the proper motor If you reply N to the above question you will be asked to re enter If you are satisfied with the motor and drive configuration enter Y and the T164 Series Drive will respond as follows Wait Defaults Set Enter first letter of command or H for help gt The T164 Series Drive has now initialized and has set its parameters to the following safe values before returning to the main menu Drive in Velocity Mode Thermal Protection Enabled Reference Filter Enabled Manual mode disabled enabled if Extended I O option card present Speed scaling set to nominal value of motor speed Low P gain and long I time constant for velocity loop compensator This new configuration data will be lost when power is removed until it is saved to EEPROM refer to Section 4 3 5 7 However this step should wait until all setup and tuning procedures of Sections 4 3 4 and 4 3 5 are completed NOTE Re configuring the drive by changing the motor type the compensator etc will cause all previous tuning information to be lost Option Card parameters including Encoder Simulation will also be lost It is therefore
67. Set the Velocity Scale Factor to match the RPM of the motor to a given velocity command input using the SN command refer to Section 4 3 6 1 7 This step is only necessary if the input command range is less than 10 volts or the desired maximum motor speed is less than the motor no load speed Set the drive to manual mode using the OM command refer to Section 4 3 6 4 11 The drive is tuned using a low frequency square wave command while observing the velocity response on an oscilloscope The low frequency square wave can be supplied from an external source or by the internal software function generator as described below MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 239 Set the command reference source to the function generator using the OR command refer to Section 4 3 6 4 1 Set up the function generator parameters to 1096 of rated motor RPM speed amplitude 0 RPM speed offset 1 second period and 50 duty cycle WARNING Insure that the application allows using this speed amplitude and length of travel period duty cycle without damage to the machine before proceeding with the tuning procedure For monitoring velocity connect an oscilloscope to front panel test point TP2 with common with the following settings Horizontal Amp 20 mS Division Vertical Amp 1 V Division Direct the velocity feedback signal to TP2 using the OFB2 command refer to Section 4 3 6 4 8 The two 2
68. Signal Assignment TP2 Obs Est Vel TP2 Signal Assignment gt 4 3 6 4 9 THERMAL PROTECTION OD FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The OD command disables drive and motor thermal protection When thermal protection is disabled the drive does not underoo a fatal fault shutdown when drive and or motor over temperature occurs However the appropriate over temperature front panel LED illuminates as does the FOLDBACK ACTIVE LED and the FOLDBACK optoisolator output indicating a non fatal fault User hardware can detect the FOLDBACK output while a F query can determine what non fatal fault occurred allowing the user hardware to initiate a safe machine shutdown MOOG T164 SERIES USER S MANUAL 266 SECTION FOUR CONFIGURATION AND TUNING Default State Thermal Protection Enabled CAUTION Disabling drive and or motor thermal protection can lead to drive and or motor damage Issue C command to permanently save changes made using OD Example usage of OD command gt OD lt CR gt Disable Thermal Protection Y N Enter Y to disable any other key to enable gt 4 3 6 4 10 FOLDBACK CURRENT LIMITING OT FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The IT Foldback feature is intended to protect the drive and or motor from overheating due to excessive operation at peak current The product of the peak current limit Ipeak and the maximum
69. T164 SERIES USER S MANUAL 238 SECTION FOUR CONFIGURATION AND TUNING Parameter Reference Section SLA SLM Automatic and or Manual Speed Limit 4 3 6 1 5 STA STM Automatic and or Manual Torque Limit 4 3 6 1 9 sw Compensator Filter Bandwidth 4 3 6 1 10 Enable Disable Reference Input Filter 4 3 6 4 3 Enable Disable Thermal Protection 4 3 6 4 9 IT Foldback Limit Settings 4 3 6 4 10 TABLE 4 6 Software Configurable Parameters 4 3 5 4 VELOCITY MODE STANDARD TUNING After completing drive initialization as described in Section 4 3 4 and changing any other parameters to match specific application requirements as described in Section 4 3 5 3 the user needs to tune the velocity loop to optimize performance This Section provides a recommended velocity mode standard tuning procedure The procedure should be followed in the sequence listed For torque mode applications proceed to Section 4 3 5 6 WARNING The motor should be uncoupled if incorrect movements during the aiel tuning procedure can damage the machine If this is not possible the safety limit switches of the machine must be connected through hardware limit circuits such that the drive is hardware disabled if a limit switch is activated Disable the drive using the hardware enable switch Set the Control Compensator to Velocity Mode using the OC2 command refer to Section 4 3 6 4 2
70. Three meter terminated shielded communications cables were connected to the J1 output ports of each drive A 24Vd c external power supply was connected to both drives An external regen resistor was connected via a 5 meter shielded cable to the T150 901 Power Supply Ten meter shielded motor power and motor resolver cables were connected between the drives and the motors The motor power cable and external regen resistor cable shields were earthed to Chassis Earth using P clips Shielded cable was used for the mains power input cable and all power cable connections between the a c input power Line Filter and the T150 901 Power Supply power input Unshielded cable was used for all connections between the T150 901 Power Supply and T164 Drives and for the external 24 Vd c supply to the T164 Drives All cables from Drive output ports were grouped together and routed along the frame of the fixture in a manner typical to cable routing on machinery The motor power and resolver cables were grouped together and installed in a fixed routing to the motors The output port cables motor and resolver cables regen resistor cable and power input cables had segregated routings Relevant EMC tests were also conducted using this configuration with the following alternative components installed Schaffner FN351 36 33 mains filter installed in place of the Siemens B84143 A36 R filter Schaffner FN258 42 07 mains filter installed in place of the Siemens B8
71. Voltage as defined by European standard EN 60950 Refer to section 1 2 1 all external d c supply voltages must be supplied from power supplies which are compliant with the requirements of the E U Directive 89 336 EEC As amended by Directive 92 31 EEC and 93 68 5 2 2 2 CPU SECTION The microprocessor CPU used in the control is an 80C186 It interfaces to 16K of RAM 128K of EPROM EEPROM A D converter D A converter watchdog timer fault detection and display circuitry and UART serial communication device The CPU stores setup parameters in EEPROM so that they are available after power is removed and reapplied It takes in the discrete enable input and the analog command input from the customer interface Under the conditions of proper setup no control faults and valid enable the CPU enables the output stage and provides the commutated phase current commands to drive the motor in either the torque controlled mode or the velocity controlled mode One of these modes is selected by the user The CPU accepts user setup information and provides status information via the UART serial interface Faults are detected and processed by the CPU A watchdog timer which has a time out time of 2 5 milliseconds will disable the drive were the CPU to fail 5 2 2 3 ANALOG TO DIGITAL SECTION The analog command input J1 9 and J1 8 has an input voltage level of 10 V d c It is brought in to a differential amplifier T
72. WIRE STRIP LENGTH 34 aeg T INPUT PER I Dp gt 6 5 mm HA TL Ay USER CONNECTIONS EXTRA INPUTS BRACKET TO V INPUT EXT 5V 35VDC PUT USER MUST SOURCE OR SINK AT SV 2 1mA AT 30V 1 AUTO MANUAL 2 CLKWISE i am CCLKWISE ZY En al 1 I 5 TORQUE VELOCITY 3 4 V COMMON FIND MOOG oe DESCRIPTION QUANTITY 09906 005 CONNECTOR 5 P SUPPLIED BY MOOG I USER SPLY 2 MAKE ITEM CABLE N AR FIGURE 2 28 Extended Inputs Bracket Cable MOOG T164 SERIES USER S MANUAL 76 SECTION TWO INSTALLATION AND WIRING USER CONNECTIONS CAN 1 0 X1 CONNECTOR X1 CONNECTOR r5 QUICK V EXT STOP 2 1 QUICKSTOP cw T LIMIT i 2 cw cew t p LA ILLA 3 CCW NOTES HOME 11 E NN NE SWITCH 2 x kn Ki N WIRE RANGE 4 HOMESWITCH 15 AWG TO 26 AWG BRAKE A BRAKE l RELAY RECOMMENDED TERMINAL RELAY SCREW TORQUE 7 A 3
73. avoid large changes in parameters when the motor is running Other features of the main menu are The letter H can be typed at any time to request help about a suitable command The CTRL X key combination will reset the T164 Series Drive and has the same effect on drive software as turning the power off then on Commands entered are not case sensitive e g SP and sp are both recognized When more is displayed enter any character to continue When current values of parameters are presented they may be accepted by pressing RETURN CH 4 3 3 1 FULL HELP REDUCED HELP MODE The main menu may be used in either full help or reduced help mode In the full help mode the user is individually prompted for each letter of a command In the reduced help mode the user must enter all letters of a command at the prompt MOOG T164 SERIES USER S MANUAL 226 SECTION FOUR CONFIGURATION AND TUNING Example of setting the Velocity Loop Proportional Gain in full helo mode Enter first letter of a command or H for help S Enter Set Command Enter second letter of a command or H for help P Enter Proportional Gain Command Example of the same command in reduced help mode gt SP lt CR gt Enter Set Proportional Gain Command The help level may be increased or decreased by typing or after the main menu prompt gt Example of reducing help level Enter first lette
74. be read from or written to the drive The Engineering User Interface E U l is opened by selecting the E U I Icon or the Input option from the Low Level menu Command Result 42900000 Command History log Result History MOTOR KT MOTOR LTT MOTOR RTT FIGURE 4 19 Engineering User Interface Dialog Box The E U I dialog box has four 4 fields that function as follows Command User enters or selects via arrow pull down menu system variable Result Value of system variable in the Command field Command History List of system variables user has selected and sent from the command field Result History List of results returned from the system after a send instruction The E U I dialog box has three 3 buttons that function as follows Send Sends the value of the variable in the Command window to the drive for a response The response is then listed in the Result window Exit Closes the E U dialog box Help Opens the help screen 4 1 9 3 1 CHANGING A SYSTEM VARIABLE To change the value of a system variable enter a space or equal sign after the variable in the Command field followed by the desired value for the parameter Press the send button to write the new variable to the drive MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 129 4 1 9 4 BLOCK DATA Block data is information about the motor type drive model firmware
75. block The P and l terms must be tuned for the particular application The torque command is passed through either the automatic mode torque limiter or the manual mode torque limiter depending upon the OM command software switch The resulting torque command current command is input to the IT foldback block which protects the motor and the drive from delivering excessive peak currents Finally the current command enters a digital to analog D A converter after which the analog current command is passed to the power amplifier stage to drive the motor MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 233 OG o6 SLA LLA SOFTWARE PROGRAMMABLE FUNCTION GENERATOR A wy emir sos SWITCH AO VELOCITY ANALOG REFERENCE oon SLM LLM COMMAND SOFTWARE SWITCH J MANUAL MODE VELOCITY LIMIT SHE Jc AUTOMATIC MODE G P ay SOFTWARE TORQUE LIMIT SWITCH IT STM LTM FOLDBACK SECOND pc Gp ORDER FILTER MANUAL MODE TORQUE LIMIT SOFTWARE SWITCH POSITION VELOCITY CONVERSION VELOCITY VELOCITY MODE COMPENSATOR HARDWARE CONTROLABLE WHEN EXTENDED 1 0 OPTION CARD IS USED FIGURE 4 62 Velocity Mode Block Diagram MOOG T164 SERIES USER S MANUAL 234 SECTION FOUR CONFIGURATION AND TUNING 4 3 5 1 2 TORQUE MO
76. breaker must be installed in a manner to e easily accessible It shall be located between 0 6 meters and 1 9 meters above the servicing level a maximum height of 1 7 meters is recommended 2 3 POWER LINE FILTERING An a c power input Line Filter is required to be installed by the user in the a c power input supply lines to the mains Isolation Transformer The following power input Line Filter is recommended Type B84143 A36 R manufactured by Siemens Germany Rated 36 A r m s The following Line Filters have also been tested with the configurations of T150 901 Power Supply and T164 Series Drives referenced in Section 1 3 of this Users Manual and it has been found that they do not adversely affect the EMC characteristics of these configurations Type FN351 36 33 manufactured by Schaffner Switzerland Rated 36 A r m s Type FN258 42 07 manufactured by Schaffner Switzerland Rated 42 A r m s Care must be taken when installing the a c power input Line Filter to ensure that the ability of the filter to function effectively is not degraded When installing the Line Filter care must be taken to implement the following measures Install the Line Filter an earthed metal panel There must be continuous earth continuity with good HF bonding between this panel and the panel on which the T150 901 Power Supply and T164 Series Drives are mounted This must result in continuous earth continuity with good HF bonding between
77. by 5 MOOG T164 SERIES USER S MANUAL 214 SECTION FOUR CONFIGURATION AND TUNING 4 2 9 2 11 ENCODER SIMULATION COMMANDS Command Description OELA ESM2 Encoder Line count OEMA 5 2 Encoder Marker width OESA 5 2 Encoder Maximum Speed E ESM2 Encoder Position 4 2 9 2 12 ANALOG COMMANDS Command Description SR LR Position Scaling defining Revs 10Volts on test points SN LN Velocity Scaling defining RPM 10Volts on test points and analog velocity reference OTA Signal to Test Point A DMC Tp1 RMC Tp10 OTB Signal to Test Point B DMC Tp2 RMC 3 OTPO Zero Test Point Position when Actual Position displayed on test points OI Analog Input Offset 02 Automatic Analog Input Offset Calculation OA Enable Disable Reference Input Filter 4 2 9 2 13 POSITION AND VELOCITY COMMANDS Description P Motor Shaft Position PR Motor Shaft Revolutions 2 Motor Shaft Velocity 4 2 9 2 14 DRIVE COMMANDS Command Description Break Set Release MI MO Drive Enable Disable CntrIX Drive Reset MQ Drive Quick Stop Used to servo stop the motor The drive stays enabled in order to reset the flag the Drive must be disabled 25 List a Number of Drive Parameters Status Compensator Limit Switches Manual Mode etc 4 2 9 2 15 EEPROM FUNCTION COMMANDS Description C Save Parameter set to
78. by a box Q which can be used as an installation check off list The terminal block layout on all power supplies and drives has been designed to isolate low voltage from high voltage circuits Cabinet wire ways should be arranged to maintain this physical separation See sections 2 9 2 9 1 and 2 9 2 of this Users Manual for safety and EMC requirements for cables CAUTION Do not cable AC mains 300 Vd c bus or motor power wires with 24Vd c wires or other control wires Maintain segregated cable routings The wiring steps discussed in this Section are shown schematically in FIGURE 2 2 FIGURE 2 3 FIGURE 2 4 and FIGURE 2 5 which include wire size information NOTE Prior to installing pre wired cables each cable should be checked rung through using a volt ohm meter to insure proper wiring continuity and no shorting MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 85 2 11 1 TRANSFORMER WIRING m Wire phases from the a c power input Line Filter to the mains isolation transformer primary 2 11 2 MODEL T150 901 POWER SUPPLY WIRING Wire 380 400 V a c 3 Phase mains to a user supplied power supply circuit breaker supply disconnecting device Make a secure and reliable connection between the chassis of the equipment and Earth Wire 380 400 V a c 3 Phase mains from the circuit breaker supply disconnecting device to a user supplied a c power Line Filter Refer to section 2 3
79. circuit resistors used with the T150 901 Power Supply must be installed in enclosures which provide a degree of ingress protection against liquids and objects of at least IP54 and which are accessible to technically qualified service or maintenance persons only Protection against electric shock must be maintained when installing these resistors All external Regen resistors shall be mounted to allow adequate heat dissipation and such that heat from the Regen resistor is not directed to air intakes of other equipment For EMC purposes use shielded or armored cable to connect the external Regen resistor to the T150 901 Power Supply The length of this cable should be as short as possible The shields of these voltage supply cables should be connected to Chassis Earth using a 180 degree metal clamp P clip connection to ensure a good HF earth bond Secure the clamp using conductive bolts and locking washers Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be earthed to the panel by use of a 360 degree metal cable gland Refer to sections 2 5 2 5 1 and 2 5 2 for equipment mounting and installation instructions for EMC suppression measures Refer to sections 2 9 2 9 1 and 2 9 2 for further safety and EMC requirements for cable installation NOTE Regeneration energy in high inertia and or rapid deceleration applications can exceed the regen circuit maximum rating The T
80. command sequences can be recognized by the gt prompt Commands use two or sometimes three letters e g LP or STA The first letter is common to a group of parameters and determines the action desired The second and third letters determine parameters The first set of letters acceptable to the main menu are C Change or Store Configuration Parameters in EEPROM SSM Standard Motor Configuration SNM Non Standard Motor Configuration 1 Velocity Loop Integral Time Constant J Observer Inertia L List Parameter M Motor Operational Modes Options P Velocity Loop Proportional Gain S Set Parameter 121 Query Operating Conditions Numbers may be entered using decimal or scientific notation with up to six significant digits Examples of valid numeric entries gt 2 9 2 lt gt Enter numbers and press RETURN gt 029 lt CR gt gt 0 029 lt CR gt gt 203789 lt CR gt gt 203 789 lt gt All numeric entry should be terminated by pressing the RETURN lt CR gt key Invalid Command gt MOOG T164 SERIES USER S MANUAL 170 SECTION FOUR CONFIGURATION AND TUNING If a mistake is made entering a number entry may be aborted by making a deliberate error such as typing x instead of a digit There is no provision for editing entries All numeric parameters entered are compared against an acceptable range Ifa parameter is outside this range then the value is clamped to the
81. desirable to follow Sections 4 3 4 and 4 3 5 in sequence 4 3 4 2 NON STANDARD MOTOR CONFIGURATION Applications employing non standard motor models require the data listed on the following page Skip this Section if using a standard motor MOOG T164 SERIES USER S MANUAL 230 SECTION FOUR CONFIGURATION AND TUNING NOTE The following conversions are useful for motor parameters K Nm Arms 113 Ib in Arms Arms To Nm K Nm Arms where 1 Rated Continuous Motor Phase Current T Rated Continuous Torque In Rated Peak Motor Phase Current lp Arms To Nm Kr Nm Arms x Tp Rated Peak Motor Torque x O To configure for a non standard motor proceed with drive initialization as outlined in Section 4 3 4 1 above Enter the non standard motor model number when prompted for the motor model number After confirming the model number entered the drive will recognize a non standard motor model number and prompt for entry of motor parameters as shown below Example of entering non standard motor parameters using the D command gt D Enter Drive Configuration Command Drive Initialization Sure Y N Y Enter Y to continue any other key to abort Moog T164 00X VerC4 02 15 98 EEPROM ID 0 more lt CR gt Press RETURN or any key to proceed Drive Disabled Motor e g D314 L10 304 111A 304 000 lt CR gt Enter non standard motor model number here 304 00
82. determined in software and displayed This window is not accessible by the user The Encoder Position is determined from the system can be updated using the Update Encoder Position button This window is not accessible by the user After configuration of the ESM card is complete select the Update button to save the configuration Select Exit to close the dialog box Save settings to EEPROM see section 4 1 11 3 4 1 16 EQUIPMENT AND PERSONAL SAFETY WinDrive contains the following functions to ensure equipment and personal safety MOOG T164 SERIES USER S MANUAL 158 SECTION FOUR CONFIGURATION AND TUNING 4 1 16 1 MANUAL MODE AUTOMATIC MODE Manual and Automatic mode operating limits can be set in the Limits dialog box Section 4 1 13 3 Manual limits are only accessible if an extended card or a extra inputs bracket is installed The factory default Manual Mode values 10 of the Automatic Mode limits 4 1 16 2 IT THERMAL LIMITS The T Thermal Limits dialog box FIGURE 4 47 is used to configure three 3 parameters that control current in the system Access the T Thermal Limits dialog box under the Set up option in the Drive menu CAUTION maintain equipment personal safety the values of Continuous Current Peak Current and IT Time should be set less than the systems servo motor s limits Enter the parameters as follows Continuous Current Enter the cu
83. energy Hysteresis in the shunt regulator circuit keeps the regen circuit active until the bus voltage is reduced below the regen cut out voltage The frequency at which the regen circuit operates is dependent upon the magnitude of the regen energy If the regen energy exceeds the capacity of the regen circuit a higher capacity regen resistor must be used The T150 901 Power Supply includes an internal regen resistor with 40 watt capacity Optional external regen resistors with higher capacities can be utilized as explained in section 2 7 The T150 901 Power Supply can also provide 2500 watts of regen capability as explained in section 2 7 5 An electronic circuit breaker protects the regen circuit against external short circuits and protects the regen resistor from exceeding its continuous rating If the regen resistor continuous rating is exceeded the electronic circuit breaker disables the shunt regulator circuit In this case additional regen energy from the motor will cause the d c bus voltage to increase until a Drive over voltage fault occurs Under this condition the regen circuit is undersized for the application FIGURE 5 2 provides energy vs time curves for the electronic circuit breaker A regen fuse is provided to protect the regen resistor in case of failure of the regen circuit electronics A monitoring circuit provides a REGEN FUSE fault if the regen fuse blows The regen electronic circuit breaker prevents nuisance tripping of the r
84. for mounting C Thickness of flange plate of motor S1 Width of key Screws gAJ Diameter of mounting bolt circle in flange of S2 Height of key G Thread in motor shaft type and length motor H Recommended fixing screws type and length Diameter of pilot on flange of motor M Tightening torque for flange screws shaft 00 Diameter of shaft extension All dimensions without tolerance are according to DIN ISO 2768 part 1 category AH Mounting surface of flange of motor to end of Draufsicht auf Welle Front view on shaft TABLE 5 7 Motor Dimensional Data mit Bi with brake remse Additional dimensions e g for connectors and mating connectors can be found in the catalogue MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 301 5 3 5 2 INSTALLATION GUIDELINE recommends that hexagon socket head screws to DIN 912 8 8 see column H in TABLE 5 7 be used to secure the motor Assembly is made very much easier by using an Allen key with ball head particularly in the cases of motor sizes 2 and 3 The screws used to install these motor sizes must not be more than 40 mm long motors can become very hot up to 150 C winding temperature in operation Good heat dissipation must therefore be ensured when installing the motor i e it should be flanged onto a suitably solid metal part of the machine Adequate convection must also be e
85. front panel as listed in TABLE 5 2 LED Color Green Green Yellow Yellow Yellow Label SYSTEM ENABLE POWER SUPPLY OK FOLDBACK SYSTEM FAULT BUS OVER VOLTAGE d c Bus voltage has exceeded maximum rating Condition Indicated Power amplifier is activated Current output has been folded back due to excessive demand or a non fatal fault occurred when another Yellow LED is on A hardware or software fault has occurred Yellow Yellow SHORT CIRCUIT RESOLVER LOSS Short Circuit in Motor Motor Wiring or Drive Output Stage Resolver feedback signal out of specification or lost Yellow Yellow BRIDGE OVERTEMP MOTOR OVERTEMP Drive Base Plate over temperature Motor over temperature Motor thermistor must be connected to drive TABLE 5 2 T164 Series Drive Status Indicators 5 2 2 CIRCUIT DESCRIPTION This description of the T164 series drive refers to FIGURE 5 4 the drive block diagram 5 2 2 1 MOO LOGIC POWER SUPPLY Logic power for the control is generated internally It requires an externally provided 24 V d c It generates an isolated 5V d c 15V d c and 15V d c which are used to power the control circuitry and 12V d c to drive the drive s cooling fan s G T164 SERIES USER S MANUAL 286 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION WARNING All external d c supply voltages must be derived from a Safety 2 Low
86. gt Controller T164 007 more lt CR gt Motor 304 111A more lt CR gt RS485 Multidrop Axis Number 0 more lt CR gt Command Source an Analog Reference more lt CR gt Controller in Velocity Mode more lt CR gt No Option Card Installed gt 4 3 6 1 2 SECTION FOUR CONFIGURATION AND TUNING Displays only after configuration data saved Press RETUHN or any key to proceed Controller Model Number Press RETUHN or any key to proceed Motor Model Number Press RETUHN or any key to proceed Press RETUHN or any key to proceed Command Source Analog Reference or Function Generator Press RETUHN or any key to proceed Velocity or Torque Mode Press RETUHN or any key to proceed List of Installed Option Cards SETTING LISTING S L ALL APPLICATION PARAMETERS NOTE The application parameters can also be set and or listed on an individual basis using other commands described throughout Section 4 3 6 1 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 247 The S command sets all application parameters The L command lists all application parameters The application parameters are Motor No Load Speed Velocity Scaling RPM Velocity mode only Velocity Loop Proportional Gain Nm Rad sec Velocity mode only Velocity Loop Integral Time Constant sec Velocity mode only Compensator Filter Bandwidth Hz Velocity
87. identifies what motor is connected to the T164 Series Drive The user must perform drive configuration during initial commissioning or replacement of the equipment and any time a different motor is connected to the drive The command D is used for drive initialization Example of drive configuration gt D Enter Drive Configuration Command Drive Initialization Sure Y N Y Enter Y to Continue any other key to abort If the drive does not have valid configuration data EEPROM a cold start will occur upon power up When a cold start occurs the drive automatically executes a drive configuration command The Drive Initialization Sure prompt described above does not occur for a cold start The SYSTEM FAULT LED will flash until drive initialization is complete The drive then prints its sign on message to identify itself and asks the user for the motor type as follows Moog T164 90X Ver02 04 05 93 EEPROM ID 0 more lt CR gt Press RETURN or any key to proceed Drive Disabled Motor e g D314 L10 304 111A 305 121A Enter appropriate motor model number here The drive is pre programmed with all motor parameters for standard motor models For non standard motor models the user must manually enter the motor parameters refer to Section 4 3 4 2 The choice of motor is displayed next and the user is asked to confirm it 305 121A OK Y N Y Enter Y if model number is correct MOOG T164 SERIES USER S MANUAL
88. key to enable gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 273 4 3 8 2 2 ENABLE DISABLE MANUAL MODE OM When an Extended l O card is used the drive defaults to manual mode enabled Automatic mode manual mode disabled is activate by current flow in the AUTO MANUAL input of the Extended card The OM command refer to Section 4 3 6 4 11 can still be used to disable automatic mode 4 3 9 T164 SERIES DRIVE MAIN MENU C4 COMMAND SUMMARY Initialization CTRL X RE INITIALIZE C STORE DRIVE PARAMETERS IN EEPROM D DRIVE INITIALIZATION Help H HELP ALWAYS INCREASE HELP LEVEL DECREASE HELP LEVEL Adjustments I INTEGRAL TIME CONSTANT Sec D Down incremental adjust mode E Exit H Help L List S Set numerical input U Up incremental adjust mode Z Zero J OBSERVER INERTIA D E H L S U Z P VELOCITY LOOP PROPORTIONAL GAIN Nm rad sec D E H L S U Z Listing Setting Parameters L LIST PARAMETER show system configuration M Motor parameters Z Zeta damping ratio of velocity mode compensator filter MOOG T164 SERIES USER S MANUAL 274 SECTION FOUR CONFIGURATION AND TUNING L LIST PARAMETER S SET PARAMETER All tuning parameters D FUNCTION NOT SUPPORTED E limit switch braking deceleration rad sec REQUIRES EXTENDED OPTION H Help I Integral time constant sec J velocity observer inertia L velocity Limit RPM
89. log file data to disk for future use CL Print Plots Three 3 options are available from the Print Plots option Print Graph Prints the selected plot Print Page Prints plots for both datalogger channels MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 115 Print Options Parameters for plot printing may be changed here Print Logfile Prints the current logfile Print Setup Printer and printing options are configured using Printer Setup Save to EEPROM Saves the current drive configuration to the non volatile EEPROM Configuration Upload Transfers the drive parameters listed in the cfg file from the drive to a specified log file Configuration Download Transfers parameters stored in a log file to the drive Passwords Allows the setup and changing of drive access passwords Exit Exits the WinDrive system 4 1 7 1 2 DRIVE MENU OPTIONS Setup Ten 10 choices are available from the Setup option Reference Source Sets the reference source for the drive Tuning Adjusts the drive tuning parameters Limits Set and adjust torque and velocity limits Motor Motor parameters are entered using this option For standard Moog motors parameters are selected automatically from a motor parameter database For non standard motors all parameters must be entered by the user Limit Switches Limit Switches may be enable
90. machine must be connected through hardware limit circuits such that the drive is hardware disabled if a idi switch is activated 0 Disable the drive using the hardware enable switch Confirm that the message Drive is in Velocity Mode is displayed at the top of the Tuning dialog box FIGURE 3 12 If itis not select the Velocity Mode button and reconfirm message Confirm that the drive velocity and torque limits ARE SET TO 10 OF NORMAL SYSTEM LIMITS see section 3 7 3 WARNING During tuning set the drive to 10 of rated torque and speed via manual mode or by altering automatic mode parameters Failure to do so might result in machine damage and or personal injury Apply a low frequency squarewave reference source This source can be supplied from an external source or by the internal software Function Generator see section 3 7 2 Set the command reference source to 1096 of the rated motor rpm 0 rpm Offset 1 second period and 50 duty cycle WARNING Insure that the application allows using this speed amplitude and length of travel period duty cycle without damage to the machine before proceeding with the tuning procedure Configure WinDrive so that the torque demand variable IDC CurrentMonitor is monitored in one of the two Data Logger Channels see section 4 1 9 1 or at one of the Front Panel Test points see section 4 1 9 5 via an oscilloscope This signal must not saturate duri
91. of Observer Position Error oscillates excessively when the velocity makes a step chance as shown in FIGURE 4 43C The load may not be adequately modeled by the observer Adjust the Observer J parameter in the Advanced Options dialog box according to Jest TOO SMALL or Jest TOO BIG Observer Position Error plots as shown in FIGURE 4 43B After each Observer J adjustment select the Update button Adjust until the Observer Position Error plot resembles the Jest CORRECT plot in FIGURE 4 43B Typically there will be some viscous friction present so that the Observer Position Error plot will step appropriately when the shaft velocity makes a step change MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 153 Check for proper tuning by monitoring the Front Panel Test Points via an oscilloscope or with the Data Logger the Observer Estimate Velocity and the Actual Velocity response These two plots should be identical FIGURE 4 43D shows the velocity loop response with and without the observer switched on Note the lack of overshoot in the velocity response To achieve higher gains adjust the Low Pass Cutoff frequency in the Advanced Options dialog box The P and l gains may now be tuned up again as described in section 4 1 13 5 1 Save final tuning configuration to EEPROM See section 4 1 11 3 for directions on Save to EEPROM FIGURE 4 43E compares the response of an observer based s
92. of a conventional brush type d c motor where rotor and stator are exchanged In a conventional d c motor the rotor rotates in a stationary magnetic field whereas in the bl servomotor this field is rotating with the rotor This exciting field can be obtained by an ordinary winding as well as by a permanent magnet For MOOG Motors this is always a high energy permanent magnet ng field _ Exciting field Excited thrai T eie winding FIGURE 5 5 Principle of d c Motor a nermanent magnet FIGURE 5 6 Principle of Servomotor To obtain torque the motor needs an additional winding The current in this winding causes another magnetic field which has to be rectangular to the exciter field for maximum torque When the rotor is turning in this second winding a voltage is induced BEMF Those windings are called armature windings in literature With the d c motor this winding is in the rotor whereas in the brushless servomotor it is in the stator Exciting field EN Armature field N Qs J man winding FIGURE 5 7 d c Motor with magnetic fields MOOG T164 SERIES USER S MANUAL _ Exciting field 222744 Armature field lt AL 79 Armature winding FIGURE 5 8 Servomotor with magnetic fields SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 293 The decisive disadvantages inherent in the underlying principle of a d c motor are
93. of this Users Manual Wire 380 400 V a c 3 Phase mains from the power Line Filter to a user supplied mains isolation transformer Refer to section 1 1 1 of this Users Manual Q Wire 220 V a c 3 phase from transformer secondary to the input poles of a user supplied drive contactor Refer to section 2 4 of this Users Manual Q Wire 220 V a c 3 phase from the drive contactor output poles to power supply terminals TB1 1 TB1 2 and TB1 3 TB1 1 and TB1 2 Q Wire power supply terminal TB1 4 to chassis Earth tie point NOTE All chassis earth wires from the power supply s and drive s must ii individual wires terminated to a single earth tie point Perform the following two steps for 3 inch 76 2 mm drives Models T164 901 through T164 905 only Wire d c from power supply terminal 2 1 or TB2 2 to drive terminal TB2 8 Note for multiple 76 2 mm 3 inch drives Models T164 901 through T164 905 d c may be daisy chained from one 76 2 mm 3 inch drive terminal TB2 9 to another 76 2 mm 3 inch drive terminal TB2 8 Wire from power supply terminal TB2 3 2 4 to drive terminal TB2 6 Note for multiple 76 2 mm 3 inch drives Models T 164 901 through T 164 905 d c may be daisy chained from one 76 2 mm 3 inch drive terminal TB2 7 to another 76 2 mm 3 inch drive terminal TB2 6 MOOG T164 SERIES USER S MANUAL 86 SECTION TWO INSTALLATION AND WIRING Perform the fol
94. on cables and conductors shall not exceed 596 of the nominal voltage The current carrying capacity of the conductors and cables is determined by both The maximum allowable conductor temperature under the highest possible steady state current under normal conditions The ultimate allowable short time conductor temperature under short circuit conditions A conductor cross sectional area shall be such that for the highest steady state current or its equivalent the conductor temperature does not exceed the value given in TABLE 2 3 MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 57 Types of insulation Maximum conductor Ultimate short time temperature under conductor temperature normal conditions under short circuit deg C conditions see Note deg C Polyvinyl chloride PVC 70 160 Rubber 60 200 Cross linked polyethylene 90 250 XLPE Silicone Rubber SiR 180 350 NOTE Assuming adiabatic behavior for a period of not more than 5 s TABLE 2 3 Maximum Allowable Conductor Temperatures 2 9 1 2 WIRING PRACTICES CONNECTIONS AND ROUTING All connections especially those of the protective bonding circuit shall be secured against accidental loosening The means of connection shall be suitable for the cross sectional areas and nature of the conductors being terminated In the case of aluminum or aluminum alloy conductors particular consideration shall be given to
95. overcome the maximum speed limitation Example usage of SN command when encoder speed limitation occurs gt SN lt CR gt Vel Scaling 1 000E 4 RPM at 10V RPM 20000 lt CR gt User inputs speed higher than encoder speed limitation gt 4 3 7 1 3 LINE COUNT OEL OEL command allows the user to modify the Encoder Simulation Module s line count The user is not allowed to enter a line count that has a higher encoder maximum speed limitation The OEL command can only be issued when the motor is disabled Line Count Units None Line Count Default Value 1024 Line Count Acceptable Values 128 256 512 1024 2048 4096 8192 16384 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 269 Example usage of OEL command gt lt gt Options L Line Count M Marker Width S ESM Status gt gt gt L 3 Set line count to 4096 Encoder Status Present Encoder Status is displayed Marker Width 90 Degrees more lt CR gt Press RETURN or any key to proceed Line Count 4096 more lt CR gt Press RETURN or any key to proceed Speed Range 0 6000 RPM more lt CR gt Enter First Letter gt 4 3 7 1 4 MARKER WIDTH OEM The OEM command allows the user to modify the Encoder Simulation Module s marker width The OEM command can only be issued when the motor is disabled Marker Width Units Degrees Marker Width Default Value 90 Mark
96. principle parameters affecting the velocity loop dynamics are the Velocity Loop Proportional Gain P and the Integral Time Constant 1 The proportional gain term affects the amplification of the error between actual velocity and reference velocity The higher the P term the more the error is amplified A high gain produces a stiff velocity loop response Generally axes with higher inertia need higher gain settings Gain can not be increased without bound as excessive gain will cause the loop to become unstable The integral time constant affects the loop response or how fast an axis will respond to a velocity disturbance If response is too low I too high the axis will be slow to react and might start oscillating because it can t keep up with the disturbance If response is too high I too low the axes will respond to almost any disturbance including electrical noise and may start a higher frequency resonance or chatter The P term should be adjusted first Turn off the I gain by using the SI command refer to Section 4 3 6 1 3 to set I equal to seconds Use the LI command to confirm a value for the integral time constant of Infinity indicating the integrator is turned off Enable the drive hardware enable first then MI software enable with the function generator initialized as detailed above MOOG T164 SERIES USER S MANUAL 240 SECTION FOUR CONFIGURATION AND TUNING
97. program the Point control see the Point Users Manual Part C05100 MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 97 3 7 3 SETTING TORQUE AND VELOCITY LIMITS Setup the system torque and velocity limits as follows Manual Mode Disable Automatic Mode Normal Velocity Limit RPM Normal Torque Limit 5857 0 55857 Reduced Torque Limit 0 55857 Manual Mode Reduced Velocity Limit RPM FIGURE 3 10 Limits Dialog Box Manual Mode Disable Check this box to disable Manual Mode limits The drive will then run using the values in the Automatic Mode section Automatic Mode Normal operating mode limit values Normal Velocity Limit Enter maximum allowed motor speed RPM in normal operation The default value is the same as the Nominal Speed value in the Standard Non Standard Motor Parameters dialog box see section 3 7 1 Normal Torque Limit Enter maximum allowed motor torque NM in normal operation The default value is approximately ten 10 times the Torque Constant value in the Standard Non Standard Motor Parameters dialog box see section 3 7 1 Manual Mode Reduced operating limits These limits are not functional a DMC drive unless an extended card or a extra inputs bracket is installed Reduced Velocity Limit Enter a reduced motor speed limit to ensure proper tuning and safe system operation Reduced Torque Limit Enter a
98. reduced motor torque limit to ensure proper tuning and safe system operation MOOG T164 SERIES USER S MANUAL 98 SECTION THREE QUICK 3 7 4 LIMIT SWITCHES If the drive system has limits switches connected configure them as follows Limit Switches x Limit Switches Disabled Quick Stop Deceleration Rate Rad s FIGURE 3 11 Limit Switches Dialog Box Limit Switches Disabled Check box to disable limit switch inputs Quick Stop Deceleration Rate If limit switch inputs are enabled this variable determines the rate at which the drive decelerates the motor after a limit switch is tripped 3 7 5 TUNING In the Tuning dialog box select Torque or Velocity Mode based on the systems operating mode Based on your selection go to the corresponding tuning mode section below 3 7 5 1 BASIC VELOCITY TUNING MODE This section provides a recommended velocity mode standard tuning procedure for use with WinDrive The procedure should be followed in the sequence listed below Drive is in Velocity Mode Torque Mode Velocity Mode Velocity Loop Gain Nm Rad s Integral Time Const S Advanced Options Automatic Update FIGURE 3 12 Tuning Dialog Box MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 99 WARNING The motor should be uncoupled if incorrect movements during the tuning procedure damage the machine If this is not possible the safety limit switches of the
99. refer to FIGURE 2 22 Possible Cause 6 Wrong Drive Motor combination Check Correct Proper motor model number programmed refer to Section 4 Possible Cause 7 Improper Drive Set up Tuning Check Correct Repeat Set up Tuning refer to Section 4 Possible Cause 8 Motor Fault Check Correct Check motor winding d c resistance line to line See motor data sheet for correct d c winding resistance values Check motor winding resistance line to earth Line to earth resistance should measure infinity i e open QO Uncouple and disconnect motor rotate shaft Check for lumpy rotational resistance as shaft is rotated If lumpy measure winding resistance Replace motor as necessary with same model motor retry Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL 330 SECTION SIX TROUBLESHOOTING GUIDE Erratic motion Continued from Previous Page Condition Motion Deadband Possible Cause 1 YESC Improper Drive Set up Tuning Check Correct Repeat Set up Tuning refer to Section 4 Possible Cause 2 Binding backlash in mechanical power train Check Correct O Check for excessive friction L Check for mechanical backlash Possible Cause 3 Drive Failure NO J Check Correct O Substitute same model drive retry Condition Overshoot Possible Cause 1 YESC Improper Drive Set up Tuning Check Correct Q Repeat Set up Tuning refer to Section 4 Possible Cau
100. s continuous per motor phase All drives are configurable in either velocity or torque control mode The drive outputs a synthesized variable frequency and variable amplitude three phase sinusoidal current for accurate control of motor speed and torque All drives include an internal switchmode power supply SMPS which generates drive logic power This internal SMPS operates from a user supplied external 24 Vd c source The external 24 Vd c allows control power to be maintained without high power energized The external 24 Vd c voltage must be a Safety Extra Low Voltage SELV As defined by European standard EN 60950 and must also be supplied from a power supply which is compliant with the European Union EU EMC Directive 89 336 EEC as amended by EU Directives 92 31 EEC and 93 68 EEC BASE MODEL NUMBER CURRENT RATING CONT PEAK A r m s 1164 901 5 10 164 903 10 20 164 905 20 40 T164 907 40 80 1164 909 60 140 TABLE 1 1 Model 164 Series Definition Several option cards are available for the T164 Series Drives an Encoder Simulation Card an Extended input output I O card a Point Card a CAN Interface Card and Input Brackets The Encoder Simulation card using rotor position data from the output of a resolver to digital converter emulates a rotary incremental encoder The output signals of the Encoder Simulation card are optically isolated The Extended I O card provides additional is
101. select the Cancel button For On Line Help select the Help button Configuration Download FileName C WINDRIVE SM1 LOG Browse FIGURE 4 28 Configuration Download Dialog Box 4 1 11 2 CONFIGURATION UPLOAD Copies the drive configuration data from connected drives EEPROM to disk MOOG T164 SERIES USER S MANUAL 138 SECTION FOUR CONFIGURATION AND TUNING To run a Configuration Upload proceed as follows Select Configuration Upload from the File menu Inthe Configuration Upload dialog box FIGURE 4 29 fill in the following information Enter the File Name log extension you wish to save the uploaded data to The following information is optional it is only for user reference User Name Company Date Application Comment Software Version Drive Type and Comment Select the OK button to copy the drives EEPROM parameters to disk Configuration Upload User SCOTT MELLON Company Date 23 December 1997 Application Software Version 03791 001 Controller DMC 001 Comment FIGURE 4 29 Configuration Upload Dialog Box 4 1 11 3 SAVE TO EEPROM Use this function to write the fully configured drive parameters to the drives non volatile EEPROM memory Follow these steps to Save To EEPROM Select Save To EEPROM from the File menu Select Save in the Save To EEPROM dialog box FIGURE 4 30 MOOG T164 SERIES USER S MANUAL S
102. service terminals MOOG T164 USER MANUAL 312 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 5 ENCODER SIMULATION OPTION CARD The Encoder Simulation Option Card has the following features Emulates Rotary Incremental Encoders Line Count and Marker Width programmability through User Interface Software Ability to read Digital Position information through User Interface Software Error status monitored by User Interface RS422 Differential Incremental Encoder Outputs outputs are optically isolated Customer supplied V external input is polarity protected Buffered Analog Velocity Output Option Consult Factory OO OOO DD 5 5 1 CIRCUIT DESCRIPTION The Encoder Simulation emulates the functionality of a rotary incremental encoder The differential outputs of the Encoder Simulation are A A MARKER and MARKER The design is based on a Resolver to Digital R D converter to generate rotor position data The position data is then multiplexed and converted into optically isolated and buffered incremental encoder quadrature outputs Power for the isolated outputs is provided by a user supplied 5 V d c power supply or the internal 5Vd c power The Built In Test BIT output of the R D converter is monitored Logic 0 for BIT condition indicates 100 LSBs of error Causes of BIT error are loss of signal inputs or loss of resolver reference When this occurs the Encoder Simulation outputs will go to a known st
103. should never be used instead of a hardware circuit For individual drive communication the RS232 interface should be used Moogterm software which runs on IBM compatible PCs is available for RS232 applications In addition to providing a full screen interface Moogterm allows downloading and uploading of drive parameters Instructions for use of Moogterm are included on the Moogterm distribution disk available from your Moog Sales Representative Connect the terminal to the T164 Series Drive J3 Communications Connector using the cable described in Section 2 10 3 Set the terminal serial interface parameters to 9600 baud 1 start bit 7 data bits no parity and 2 stop bits There is no hardware handshaking 4 3 1 1 COMMUNICATION HARDWARE SETUP Use an RS232 serial cable Before a drive can be configured the hardware should be setup see FIGURE 4 1 as outlined below MOOG T164 SERIES USER S MANUAL 218 SECTION FOUR CONFIGURATION AND TUNING 4 3 1 1 1 RS232 COMMUNICATION MODE JUMPER SETUP Set the drives RS communication mode position jumper W2 for RS232 as in FIGURE 4 2 See FIGURE 5 3 for jumper location The Factory Default is RS232 jumper pins 1 2 4 3 1 1 2 RS232 SETUP In order for the PC to communicate with the drive in RS232 mode proceed as follows Connect an RS232 cable with the wiring as shown in FIGURE 2 23 The cable is connected from one of the communication ports of the PC to the serial port of the drive
104. temperature rating on demand Degree of Protection IP67 DIN VDE 0470 1 EN 60529 IEC 529 at shaft extension optional shaft seal is needed Installed Position Any good heat dissipation permits higher continuous power Ambient temperature in Operation 25 C to 55 motor continuous power is Runout automatically limited by drive at temperatures over 55 Class R DIN 42955 R IEC72 MOTOR SUPPLY STALL INPUT POWER MODEL VOLTAGE vdc TORQUE Nm CURRENT G4X2 X1X 24 09 11Watt 458 mA ji ae G4X3 X1X 11 Watt 458 mA X2X 10 Watt 417 mA Hcc G4X4 X1X 13 Watt 542 mA X2X 19 Watt 792 mA i K G4X5 X1X X2X G4X6 X1X X2X TABLE 5 5 Motor Brake Ratings MOOG T164 SERIES USER S MANUAL SECTION FIVE DESCRIPTION AND SPECIFICATION 299 Motortype Stall Data Data Miscellaneous Data Continuous Continuous Peak Peak Rated Rated Rated Rated Theoret Maximum Torque Terminal to Terminal to Moment Weight Stall Stall Stall Power Load Permissible Constant Terminal Terminal ofInertia w o Torque Current Torque 0 Resistance Inductance w o Brake Mmax Pn kt Lit J m Nm Watt Nm Arms mH kgem kg G4x2 2xx G2L05 0 25 0 65 0 5 1 9 0 18 0 5 150 8100 10200 11500 0
105. the enclosure of the Line Filter and the enclosures of the T150 901 Power Supply and T164 Series Drives C Remove paint or other insulating materials and provide conductive corrosion protection at the mounting points for the Line Filter Secure the filter using conductive bolts and conductive locking washers MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 23 Locate the Line filter as close as possible to the T150 901 Power supply Total cable length from Line Filter to mains Isolation Transformer Transformer to Contactor and Contactor to T150 901 Power Supply should not exceed 1 meter Keep all cable lengths as short as possible and route separately from other cables and conductors Use shielded or armored cable for all connections from Line Filter to mains isolation Transformer Transformer to Contactor and Contactor to T150 901 Power Supply The shields of these voltage supply cables should be earthed to Chassis Earth using a 180 degree metal clamp P clip connection Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be earthed to the panel by use of a 360 degree metal cable gland Ensure that the Line Filter is firmly connected to mains earth and that the Protective Earth PE of the Line Filter is correctly connected to the Protective Earth PE of the T150 901 Power Supply and T164 Series Drives Ensure that there is good high frequenc
106. the more the error is amplified A high gain produces a stiff velocity loop response Generally axes with higher inertia need higher gain settings Gain can not be increased without bound as excessive gain will cause the loop to become unstable The integral time constant affects the loop response or how fast an axis will respond to a velocity disturbance If response is too low I too high the axis will be slow to react and might start oscillating because it can t keep up with the disturbance If response is too high I too low the axes will respond to almost any disturbance including electrical noise and may start a higher frequency resonance or chatter The P term should be adjusted first Turn off the I gain by using the SI command refer to Section 4 2 6 1 1 to set I equal to seconds Use the LI command to confirm a value for the integral time constant of Infinity indicating the integrator is turned off CL Enable the drive hardware enable first then MI software enable with the function generator initialized as detailed above MOOG T164 SERIES USER S MANUAL 184 SECTION FOUR CONFIGURATION AND TUNING INTEGRAL CONSTANT TOO SMALL a SYSTEM 2D v VELOCITY _ u COMMAND 00 5 an FIGURE 4 55 Standard Velocity Mode Tuning Waveforms Use the PU command to refer to Section 4 2 5 2 increase the P gain until the shaft is turning Set the drive to automatic
107. the power supply operates with high voltages which can prove extremely dangerous if touched WARNING Beware of mechanical hazards Servomotors can accelerate highly dynamically They also have enormous torque The following points must therefore be noted when starting the system The danger zone of the motor must be cordoned off The system must feature a guard door preventing personnel from reaching into or entering the danger zone The drive system must be de energized automatically as soon as the guard door is opened The motor may accelerate inadvertently on account of wiring faults software errors Appropriate safety precautions must therefore be ped in the system to ensure that neither personnel nor machine components are endangered in any way MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 53 Servomotors can become very hot in operation Good heat dissipation must therefore be ensured when installing the motor i e it should be flanged onto a suitably solid metal part of the machine Adequate convection must also be ensured Forced cooling e g with fans will increase the continuous power while bad convection may decrease the continuous performance In individual cases the motor must furthermore be protected against contact due to the risk of burns NOTE Beware of hot parts Sticker on servomotor In extreme applications the surface of the servo
108. time at Ipeak determines the value called Max It When the current command exceeds the continuous current setting Icon the product of current and time is computed When this IT product becomes greater than the Max It value the drive enters foldback and the output current is reduced down to the continuous current level The drive remains in foldback until the current level goes below the continuous current rating Using the OT command the user may configure three parameters Ipeak Max Time at Ipeak and lcont as follows Foldback Acceptable Range Default Value Parameter 0 to Drive Rated Ineak Drive Rated Ipeak Max Time at Ipeak 0 1 to 5 Seconds 2 Seconds Icont 0 to Drive Rated Icont Drive Rated Icont MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 267 Example usage of OT command gt lt gt 7 997 1 Arms Ipeak 60 CR Set the peak limit to 60 amps Max Time at Ipeak 2 000E 0 S T 1 CH Set the time at peak to 1 second Icont 3 498E 1 Arms Icont 30 CH Set the continuous limit to 30 amps gt 4 3 6 4 11 MANUAL ENABLE DISABLE command enables disables manual mode In manual mode the velocity and torque limits are set to preset manual mode values refer to Section 4 3 5 1 3 Manual mode may also be enabled disabled by hardware if an Extended I O Option card is installed refer to Sect
109. to proceed Press RETURN or any key to proceed Press RETURN or any key to proceed Press RETURN or any key to proceed SECTION FOUR CONFIGURATION AND TUNING 193 More CH Press RETURN or any key to proceed Observer Inertia 1 250E 0 Kg cm 2 gt 4 2 6 1 5 SETTING LISTING SN LN VELOCITY SCALING The SN command selects the velocity scaling The velocity scaling is the speed that corresponds to a 10 volt input velociiy command Normally this is the motor no load speed For a maximum input command less than 10 volts or a desired maximum speed less than the maximum rated motor speed use the following equation to calculate the velocity scaling RPM to enter 1 VelocityScalingRPM MaxrequiredRPM 2 MaxInputCommandVoltage Where Max Input Command Voltage lt 10 and Max Required RPM lt Max Rated Motor RPM Velocity Scale Factor Units Revolutions Per Minute at 10 Volt Command Input Velocity Scale Factor Default Value Motor Nominal Speed Velocity Scale Factor Min Value 200 Velocity Scale Factor Max Value 15 000 Issue C command to permanently save changes made using SN Example usage of SN command set 5 volt maximum command input equal to 3000 RPM maximum required RPM gt SN lt CR gt Veloc Scaling 5 800E 3 RPM 10V 6000 lt CR gt 3000 RPM at 5V gt The LN command lists the current velocity scaling Example usage of LN command gt LN lt CR gt Veloc Scaling 4 799E 3 RPM 10V gt M
110. to the Select Motor dialog box With the newly added motor highlighted select the Download button Proceed to section 4 1 13 2 Select a motor from the Motor List window with parameters close to the system motors Select the Edit button In the Nonstandard Motor Parameters dialog box change the necessary motor parameters to duplicate the system motor Select OK This will return you to the Se ect Motor dialog box With the edited motor highlighted select the Download button Proceed to section 4 1 13 2 MOOG T164 SERIES USER S MANUAL 142 SECTION FOUR CONFIGURATION AND TUNING Continuous Stall Current lo Arms Peak Current Imax Arms Nominal Speed nN RPM Maximum Speed nmax RPM Torque Constant kT T Kt Irms Nm Arms Motor terminal resistance Rtt ohms Motor Inductance Ltt mH Motor Poles Ironia J DMC Current Loop Gain DMC Motor thermistor Present FIGURE 4 34 Nonstandard Motor Parameters Dialog Box 4 1 13 2 REFERENCE SOURCE Select one 1 reference source in the Reference Source dialog box from the following options Reference Source Ed Reference Source Analog Input C Function Generator C Point DMC only Cancel Help FIGURE 4 35 Reference Source Dialog Box C Analog Input This input is selected when the user is supplying a 10 reference After Analog Input is selected press the Set Up button to configure the analog i
111. understood the previous sections of this manual are to use the following section 3 1 WIRING Refer to Section 2 for safety and EMC installation requirements for cables and wiring Wire the 24 Vd c to the terminal TB1 as indicated in FIGURE 2 24 Wire resolver cable to J2 connector as indicated in FIGURE 2 31 Wire motor power cable as indicated in FIGURE 2 32 Wire the T150 901 Power Supply as stated in section 2 5 2 D D oO O D If necessary wire the appropriate external regen resistor to the T150 901Power Supply reference Section 2 7 Wire drive I O to J1 connector as indicated in FIGURE 2 22 Q Apply power to the 24 Vd c logic TB1 input NOTE The System Fault LED will flash at a rate of 1 per second ae indicates the drive is waiting for initialization MOOG T164 SERIES USER S MANUAL 90 SECTION THREE QUICK SETUP 3 2 WINDRIVE STARTUP This section assumes the following WinDrive has been installed correctly For instructions for this please consult Section 4 1 of the manual The drive has been wired correctly and the 24Vd c logic supply has been applied The SYSTEM FAULT LED should be flashing on and off at the rate of approximately one per second The RS232 cable has been connected correctly The RS232 mode jumper W2 is set for the correct communications mode After completion of the following section consult Section 4 for details on tuning the dri
112. used to setup the drive Log Files are displayed in the Log File Display box in the lower left hand side of the WinDrive Main Screen see FIGURE 4 11 4 1 10 1 LOG FILE RECORDING To begin recording a Log File select Start Record from the Log Files menu To stop recording a Log File select Stop Record from the Log Files menu NOTE Tuning Parameters are only updated to the recording Log File after the Update button is selected of if the Return key is pressed on entering a parameter 4 1 10 2 LOG FILE SAVING LOADING 4 1 10 2 1 SAVING A LOG FILE Proceed with the following commands to save a Log File to disk L Select Save from the File menu Next the File Save dialog box appears In this box enter the following MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING n the File name window enter a 8 3 formatted name MOOG T164 SERIES USER S MANUAL 133 134 SECTION FOUR CONFIGURATION AND TUNING Use the Drives window to select the disk drive you wish to save to If the drive is an unlisted network drive use the Network button to map the necessary drive Use the Folders window to select the folder you wish to save in Make sure the Save file as type is set to Log File log Click the OK button to save the data File Save File name Folders c windrive Cy E windrive Cancel Help Network Save file as type Drives Log Fi
113. version and firmware version release date This data is contained in the memory of the connected drive 4 1 9 4 1 BLOCK DATA DIALOG BOX Used to read block data from the connected drive Open from the Low Level menu Block xi Block Data IDMC 903 FIGURE 4 20 Block Data Dialog Box The Block Data dialog box contains two 2 windows that function as follows Block Integer range 1 5 used to reference a data block string in the attached drive Data String contained in the block number referenced in the Block window C Description of Data stored in corresponding data block Block 0 Motor String Block 1 Controller String Block 2 Firmware ID Block 3 Release Date Block 4 Data Logger Channel 1 Block 5 Data Logger Channel 2 4 1 9 4 2 MANUAL BLOCK SAVE TO FILE Used to store Block Data to disk Open using the Save Block To File choice under the Low Level menu MOOG T164 SERIES USER S MANUAL 130 SECTION FOUR CONFIGURATION AND TUNING Manual Block Save To File Block Data Format Number 0 BYTE Length o WORD Save to file FIGURE 4 21 Manual Block Save To File Dialog Box Configure each of the following items in the dialog box Number Enter the Block number to be saved Length Enter the length of the byte word to be saved Format Select format to save Block Data in gt Save to File Enter file name 8 3 format and path where the data
114. with the technical documentation Where color coding is used for identification of conductors the following colors shall be used BLACK BROWN RED ORANGE YELLOW GREEN VIOLET GREY WHITE PINK TURQUOISE BLUE including LIGHT BLUE It is recommended that where color is used for identification the color be used throughout the length of the conductor either by the color of the insulation or by color markers An acceptable alternative may consist of additional identification at selected locations For safety reasons the color Green or the color Yellow shall not be used where there is a possibility of confusion with the bicolor combination GREEN AND YELLOW Color identification using combinations of those colors listed above may be used provided there can be no confusion and that GREEN or YELLOW is not used except in the bicolor combination GREEN AND YELLOW 2 9 1 6 WIRING PRACTICES IDENTIFICATION OF THE PROTECTIVE CONDUCTOR The protective conductor shall be readily distinguishable by shape location marking or color When identification is by color alone the bicolor combination GREEN AND YELLOW shall be used throughout the length of the conductor this color identification is strictly reserved for the protective conductor For insulated conductors the bicolor combination GREEN AND YELLOW shall be such that on any 15 mm length one of the colors covers at least 3096 and not more than 7096 of the surface of the conductor th
115. 0 3 IN LBS L__J 34 03 NM WIRE STRIP LENGTH 25 IN 6 5 mm N RELAY CLOSED WHEN OK SPECIFICATIONS 50 0 5A E A INPUT 5V 30VDC PER INPUT USER MUST SOURCE OR SINK 1 15mA 5V WIRING SIDE 12 1mA AT 30V FIND MOOG Pant NO DESCRIPTION QUANTITY 1 B53998 007 CONNECTOR 7 P SUPPLIED BY MOOG 1 USER SPLY 2 MAKE ITEM CABLE N HS FIGURE 2 29 Can Interface Option Card Cable MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 77 TROLLER CONTROLLER X2 CONNECTOR X3 CONNECTOR CAN I CAN OUT 1 EL gt 1 In CAN CAN 22 2 CAN CAN gt 7 gt gt 4 H gt L gt gt 5 5 x gt 6 gt gt 6 gt EXTGND EXTGND 3 3 V gt 8 gt gt 8 EXTV N A CAN INTERFACE CARD 120 LLKI 2 X3 paru CAN T 1 NT 2 gt gt 2 gt E E gt 7 gt gt T gt CAN IN N CAN OUT Hg EXTV N r1 gt 9 gt j 9 r1 i EXTGND tt p3 gt 5 N CABLE LENGTH TO EXCEED METERS FOR 1MBAUD OPERATION CABLE SHOULD NOT EXCEED 100 METERS FOR SOOKBAUD OPERATION SHOULD BE CONNECTED AT ONE END ONLY A VOLTAGE RANGE 7 13V DC FIND MOOG NO PART NO DESCRIPTION QUANTITY 1 MAK
116. 0 OK Y N Y Enter Y to continue any other key to abort Non Standard Motor Enter Parameters Y N Y Enter Y to continue any other key to abort Kt Nm Arms 1 5 lt CR gt Enter Torque Constant and press RETURN Number MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING Motor Poles 2 12 lt CR gt Ic Arms 20 lt gt Ip Arms 2 40 lt gt Max Speed RPM 3000 lt CR gt Ltt mH 2 1 CR Rtt Ohms 2 15 lt gt Wait Defaults Set Programmable current loop settings I Gain 0 15 5 lt CR gt Observer Inertia kg m 2 001 lt CR gt Max Speed RPM 3000 lt CR gt Resolver Pole Pairs 2 1 lt CR gt gt MOOG T164 SERIES USER S MANUAL 231 Enter Number of Poles and press RETURN Enter Continuous Current and press RETURN Enter Peak Current and press RETURN Enter Max Speed at Rated Torque and press RETURN Enter Terminal Inductance and press RETURN Enter Terminal Resistance and press RETURN Enter Current Loop Gain Setting and press RETURN Enter Motor Inertia and press RETURN Enter Motor Maximum Speed and press RETURN Enter Resolver Pole Pairs and press RETURN 232 SECTION FOUR CONFIGURATION AND TUNING 4 3 5 DRIVE TUNING 4 3 5 1 BASIC CONTROL LOOP CONCEPTS 4 3 5 1 1 VELOCITY MODE FIGURE 4 62 is a block diagram depicting the T164 Series Drive control loop in velocity mode Software commands are sh
117. 0 15 10 Enter Current Loop Gain Setting and Press RETURN More Press RETURN Resolver Poles 2 Enter Number of Resolver Poles and Press RETURN More Press RETURN T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 175 Contin Stall Current 3 99E 0 Arms Enter Continuous Current and Press RETURN More Press RETURN Motor Thermis Present Y N Yes Enter Y if Therm Present Enter N if not and Press RETURN More Press RETURN Observer Inertia 1 248 0 Kg cm 2 Enter Motor Inertia and Press RETURN More Press RETURN Wait Defaults Set gt MOOG T164 SERIES USER S MANUAL 176 SECTION FOUR CONFIGURATION AND TUNING 4 2 5 DRIVE TUNING 4 2 5 1 BASIC CONTROL LOOP CONCEPTS 4 2 5 1 1 VELOCITY MODE FIGURE 4 53 is a block diagram depicting the T164 Series Drive control loop in velocity mode Software commands are shown outlined above or below the appropriate block which they affect The analog input command is input to an analog to digital converter A D either directly or through an input reference filter as determined by the OA command software switch The OR command software switch allows command reference source selection of the digitized input command normal operation or a software programmable function generator used for tuning A programmable offset is summed with the command reference to null offsets in the loop The digitized command is then scaled by the velocit
118. 00000 write MOTOR LTT 8 500000 write MOTOR MAXIMUMSPD 8000 000000 write RESOLVER POLES 2 write MOTOR THERMPRES TRUE write MOTOR ILOOPGAIN 11 write MOTOR CONFIG TRUE write CNFG ACCESSPARAMS FALSE write Loop z Help FIGURE 4 26 Logfile Player Dialog Box Control the Logfile Player using the following Main Window List of Logfile variables divided into three 3 columns The left column shows the parameter name the center column gives the parameter value and the right column indicates the parameter type read or write Loop Box Check this box in order to play the log file continuously to the drive Remove the check to break the play loop MOOG T164 SERIES USER S MANUAL 136 SECTION FOUR CONFIGURATION AND TUNING Close Button a Select to close Logfile Player dialog box Stop Button Select to stop playing Logfile Pause Button u Select to pause playing of Logfile Play Button gt Select to start playing Logfile Step Button m Select to play Logfile line by line Echo To File Button Select to save Logfile and drive response as a text file This button opens Save As dialog box Follow instructions for saving a file found in sec 4 1 9 2 3 Replace the Save file as type with out Help Button Select to view On Line help 4 1 11 DRIVE CONFIGURATION SAVING AND LOADING 4 1 11 1 CONFIGURATION DOWNLOAD Writes a Logfile from disk dir
119. 030A D314 L05 to D314 L40 304 111A to 304 151A D315 L10 to D315 L50 305 111A to 305 141A D316 L15 to D316 L60 306 111A to 306 141A Velocity Loop Proportional Gain Min Value Velocity Loop Proportional Gain Max Value Issue C command to permanently save changes made using SP Example usage of SP command gt SP lt CR gt Vel Loop Gain 1 000E 2 Nm Rad Sec P lt CR gt gt The LP command lists the current velocity loop proportional gain Example usage of LP command gt LP lt CR gt Vel Loop Gain 1 000E 2 Nm Rad Sec gt 0 01 0 05 0 05 0 2 0 2 1 E 8 1 E8 MOOG T164 SERIES USER S MANUAL 254 SECTION FOUR CONFIGURATION AND TUNING 4 3 6 1 9 SETTING LISTING STA STM LTA LTM MOTOR TORQUE LIMITS The STA command sets the automatic mode torque limit and the STM command sets the manual mode torque limit The drive current limit value is the lesser of the drive current rating and the motor peak current rating Manual mode is intended to be a reduced power operating mode used for initial tuning or other situations in which full power could present personnel or equipment hazards refer to Section 4 3 5 1 3 Although it is possible to set manual velocity limits higher than automatic velocity limits this is not recommended because it defeats the safety principle of manual mode Automatic Manual Mode Torque Limits Units Newton meters Automatic Mode Torque Limit Default Value Drive Current Limit
120. 150 901 Power Supply 164 Series Drives must not be attempted All faulty items must be returned to Moog Service Centers for maintenance and repair Refer to Section 8 of this Users Manual MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 15 1 3 ELECTROMAGNETIC COMPATIBILITY The T150 901 Power Supply and T164 Series Drives are system components which must be installed in a correct manner to ensure that all electromagnetic compatibility EMC requirements are met The requirements of European Union EU EMC Directive 89 336 EEC as amended by EU Directives 92 31 EEC and 93 68 EEC must be met by all equipment systems and installations into which the T150 901 Power Supply and T164 Series Drives are installed For further information on the requirements of EU EMC Directive the user is recommended to refer to the publication Guidelines on the Application of Council Directive 89 336 EEC Brussels 25 26 October 1993 published by the Office for Official Publications of the European Communities Luxembourg The T150 901 Power Supply and T164 Series Drives have been tested for compliance with the requirements of the EU EMC Directive in so far as they can be regarded as single functional units The T150 901 Power Supply and T164 Series Drives have been tested in typical configurations and it has been found that these configurations meet the essential requirements of the EU EMC Directive De
121. 150 901 Power Supply internally disables regen when the regen rating is exceeded This action will result in drive over voltage faults In applications where high continuous regeneration energy is anticipated consult your Moog Sales representative requesting an application review Details of all internal and external Regen resistor options which can be installed with the T150 901 Power Supply are given in TABLE 2 2 Instructions for installing the different internal and external Regen resistor configurations are given in sections 2 7 1 through 2 7 6 of this Users Manual WARNING External resistors connected to the Drive d c bus voltage which can reach 400 Vd c Connections to external regen resistors must be electrically insulated and mechanically shielded for safety High voltage warning stickers are also recommended MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING WARNING When Performing any changes to the regen resistor configuration a c Input Power must be removed from the T150 901 Power Supply Wait 5 minutes upon removal of all a c input power before removing the power supply cover Do not operate the Power Supply with the cover removed CAUTION Operation of the T150 901 Power Supply with other than the specified fuse type for the particular regen resistor configuration can result in equipment malfunction and or damage resulting in the eq
122. 2 3 Main Emulator screen features 4 2 2 4 Screen Layout 4 2 2 5 KEYS euesan E E E E 4 2 3 Command Line FOrimat u u rsi ieina E E E EEE 4241 Drive Initialization u Sa spa aus aaa a s 4 2 4 1 Standard Motor Configuration 4 2 4 2 Non Standard Motor Configuration 425 Cani 4 2 5 1 Basic Control Loop Concepts 4 2 5 2 Adjust Mode 4 2 5 3 Parameter Set Up 4 2 5 4 Velocity Mode Standard Tuning 4 irritat etico i ERES PER SEE IER 4 2 5 5 Velocity Observer Tuning 4 2 5 6 Torque Mode nre hr rer t eret ir DOR CHR 4 2 5 7 Saving Configuration Data niter ipe etse EO RE ER EL PEE EIE EHE TER ERE RE Sie 4 2 6 Command Reference Base Drive Models esses 4 2 6 1 Setting and Listing Parameters uya mere eni fite e P ra db soe eb ie ee vata 4 2 6 2 Motor Operational Modes 4 2 6 3 Operating Conditions iioi ete t te e Pi Hee eee bnt 4 2 6 4 DoD 427 Command Reference Encoder Simulation Option 4 2 7 1 Setting Listing SN LN Velocity Scaling 4 2 7 2 Line Count OELA
123. 2 5 mm AWG 26 AWG 16 AWG 22 AWG 14 AWG 17 AWG 14 2 B47890 001 B47903 001 B47904 001 Bare B 1 B Refer TABLE 2 4 for detailed information Notes 1 Cable Length not to exceed 90 meter 300 ft 2 For CE Compliance Shield has to be attached on both sides TABLE 2 6 Motor Power Cable Specifications MOOG T164 SERIES USER S MANUAL 84 2 10 9 3 SECTION TWO INSTALLATION AND WIRING CRIMPING TOOLS FOR MOTOR CABLES Even when Pins are soldered extracting tools might be necessary TABLE 2 7 Cable Assembly Tools 2 11 COMPONENT WIRING Mating crimping tool positioner inserting tool extracting additional Connector tool information G4X2 G4X3 G4X4 Power Connection 47918 001 B47918 005 need no need Pins can Resolver Connection B47918 001 B47918 004 B47918 010 B47918 013 also be soldered G4X5 Power Connection Pins can Power Pins B47918 002 B47918 008 no need no need also be Brake Pins 47918 001 B47918 004 B47918 010 B47918 013 soldered Resolver Connection B47918 001 B47918 004 B47918 010 B47918 013 G4X6 Power Connection Pins can Power Pins B47918 002 B47918 006 no need no need also be Brake Pins B47918 002 B47918 003 no need no need soldered Resolver Connection B47918 001 B47918 004 B47918 010 B47918 013 The following sequence for wiring is a recommendation Individual wiring steps are denoted
124. 232 communications use a 3 wire conductor configured per FIGURE 2 23 If the communication device is a dumb terminal or DTE the pin out is shown in the top illustration If the communication device is a PC or DCE then the out is shown in the middle illustration For PCs the cable is in a Null Modem configuration If a commercial cable is used ensure a Null Modem adapter is included The 5Vd c from pin 9 is a supply used by the Hand Held Terminal and is not required by a user for any other device 2 10 4 VDC LOGIC POWER CABLE Wire the fused output of a user supplied 24 Vd c external power supply per FIGURE 2 24 Twisted pair is recommended to minimize radiation of high frequency switchmode noise generated by the SMPS in the T164 Series Drive If more than one drive is used the 24 Vd c external power can be daisy chained to additional drives as shown in FIGURE 2 24 Note that continuity of the 24 Vd c power occurs in the drive and not the plug Hence if a 24 Vd c Logic Power connector in a daisy chain is unplugged from its drive 24 Vd c power to all downstream drives is lost 2 10 5 ENCODER SIMULATION J4 CABLE OPTION Use individually shielded four pair CSA 0 556 sq mm 20 AWG cable and wire per FIGURE 2 25 MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 69 2 10 6 EXTENDED I O J5 CABLE OPTION USED WITH EXTENDED BOARD ASSEMBLY B89666 003 B89666 002 Use multi conductor sh
125. 3 2 5 FUNCTION KEYS Ctrl E Used to exit Moogterm Ctrl T Opens the File Transfer Function window so the user may choose one 1 of the following D download a parameter file from disk to the drive EEPROM After selecting D you will be asked to enter the file name 8 characters without the file extension where the parameters are stored U To upload from the drive EEPROM to disk After selecting U the user will be asked to enter a file name 8 characters without a file extension where the parameters are to be saved E Toreturn to the Main Emulator Screen MOOG T164 SERIES USER S MANUAL 224 SECTION FOUR CONFIGURATION AND TUNING 4 3 3 COMMAND LINE FORMAT Communication to the T164 Series Drive is via a terminal interface using the main menu The main menu will prompt you to enter a letter in the following format Enter first letter of a command or H for help gt All main menu command sequences can be recognized by the prompt Commands use two or sometimes three letters e g LP or STA The first letter is common to a group of parameters and determines the action desired The second and third letters determine parameters The first set of letters acceptable to the main menu are C Change or Store Configuration Parameters in EEPROM D Drive Initialization H Help 1 Velocity Loop Integral Time Constant J Observer Inertia L List Parameter M Motor Operational
126. 3 through 4 2 9 can be used with any terminal emulation device for data transfer and drive programming CAUTION Do not attempt configuration until at least Sections 4 2 1 through 4 2 5 have been read and understood Do not apply power until it is called for in the configuration procedure Throughout Section 4 2 references to the terminal apply to either a hand held terminal or a personal computer PC being used as a terminal Responses from the T164 Series Drive appearing on the terminal are shown indented in the following font 20 Dec 96 09791 001 EEPROMID 0 characters to entered are designated by the following type font 1 000 Y N The RETURN or ENTER key on the terminal is designated by the following symbol lt CR gt NOTE The procedures in section 4 2 are written for use with DMC firmware version H1 dated 12 20 96 The user must consult Moog for updates to the procedure for drives with any other software or firmware version date MOOG T164 SERIES USER S MANUAL 162 SECTION FOUR CONFIGURATION AND TUNING The T164 Series Drives utilize principally metric units TABLE 4 1 provides descriptions of the abbreviations used for units throughout Section 4 2 Abbreviation Unit Measure of 1 Newonmees 0 Torque kg cm Kilogram cm Inertia Rads sec Radians per second RPM Revolutions per minute Rads sec Radians seco
127. 4 Final Configuration Label d Add final configuration label here FIGURE 2 10 Final Configuration Label Mounting Location MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 41 2 7 2 T150 901 POWER SUPPLY 240 W REGEN CONFIGURATION WARNING Do operate unit with cover removed 7 WARNING perform procedures described on this page with the power on 150 901 Power Supply contains lethal vollages operation Switch off all incoming a c power ensure all motors are stopped wait five 5 minutes ensure all front panel LEDs are off remove and tape exposed wire ends from TB1 and TB2 before removing the cover and configuring external Regen resistors or fuses This kit C09838 002 contains Label final configuration Installation specification T150 901 240W regen kit Resistor 10 ohm 225 W Resistor mounting bracket kit O N Instructions 1 Secure the external regen resistor with the supplied mounting brackets Observe mounting location requirements of Section 2 5 of this Users Manual Mounting bracket feet may be turned in to conserve space 2 Connect the external regen resistor between pins 1 and 2 of TB4 3 Place the supplied Final Configuration Label along the bottom of the housing beside TB2 as shown in FIGURE 2 12 MOOG T164 SERIES USER S MANUAL 42 SECTION TWO INSTALLATION AN
128. 4143 A36 R filter Users are directed to refer to Section 2 of this Users Manual for installation information on EMC suppression components MOOG T164 SERIES USER S MANUAL 20 SECTION ONE GENERAL INFORMATION THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 21 2 INSTALLATION AND WIRING This section covers the installation wiring and cabling of the Moog brushless motor digital control system components pictorial diagram of a typical one axis system is shown in FIGURE 2 3 FIGURE 2 5 provides a typical multiple axis system schematic installation diagram FIGURE 2 3 and FIGURE 2 5 will be referred to throughout this user s manual WARNING This equipment must be permanently reliably connected to Earth and all conductive parts in the IP54 rated enclosure in which the 7150 901 Power Supply and T164 Series Drives are installed must bel lr connected to Earth System earth connections must be provided as shown in FIGURE 2 2 and FIGURE 2 5 Stranded copper wire not sealtite or another metallic covering must be used to carry the earth FAILURE TO PROVIDE AN ADEQUATE EARTH MAY CAUSE SERIOUS PERSONAL INJURY AND EQUIPMENT MALFUNCTION 2 1 POWER CIRCUIT BREAKER LINE FILTER DRIVE CONTACTOR INSTALLATION A a c power circuit breaker supply disconnecting device and a c power input Line Filter must be installed in the in the incoming a c primary power in
129. 5 C Ambient CAN Transceiver External Supply Optional Voltage range 7 15 Vd c Current rating 250mA max required 5 9 C09743 001 EXTENDED INPUTS BRACKET OPTION DESCRIPTION The Extended Inputs Bracket Option has the following features Provides four digital input functions Clockwise Limit Counter Clockwise Limit Torque Velocity Loop Select Automatic Manual Mode Select Inputs are source or sink current activated 5 9 1 CIRCUIT DESCRIPTION The Extended Inputs Bracket Option was designed to provide additional input functionality The input circuitry is optically isolated and can be source or sink current activated This adds considerable flexibility when mating to different front end systems FIGURE 5 25is a block diagram of the Extended Inputs Bracket Option MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 323 5 9 2 SPECIFICATIONS Inputs CW Limit CCW Limit Torque Velocity Select Auto Manual Select Voltage range 4 5 35 V d c Current ratings user must source or sink the following 1 2 mA 5 V d c per input 12 1 mA 30 V d c per input Operating Temperature Range 0 55 C ambient L INPUT CIR VUT SES ERI ODE nim K D MEE LIMIT f wig ik t I BE D LIM ave J ITY 2 DECODER 4 ADDRESS BUS FIGURE 5 25 EXTENDED INPUTS BRACKET OPTION BLOCK DIAGRAM MOOG T164 USER MANUAL 324 S
130. 50 901 Power Supply and T164 Series Drives must be installed by mounting on a panel with a flat solid surface in a manner that ensures that EMC earthing requirements are met There must be a clean flat conductive surface at all the mounting points It is important that there is good high frequency bonding between the panel the T150 901 Power Supply and T164 Series Drives Conductive bolts with conductive locking washers shall be used The T150 901 Power Supply and T164 Series Drives shall be bolted to the panel in a vertical orientation using M5 metric or 10 bolts The panel shall be installed to be free of excessive vibration The top and bottom of the T150 901 Power Supply and T164 Series Drives must remain unobstructed by at least 75 mm 3 inches to provide adequate air flow for cooling Mounting dimensions are shown on the equipment installation drawings FIGURE 2 6 for the T150 901 Power Supply FIGURE 2 7 for the T164 901 through T164 905 76 2 mm 3 inch Drives and FIGURE 2 8 for the T164 907 and T164 909 127 mm 5 inch Drives MOOG T164 SERIES USER S MANUAL Sejqeo eui jo spu uioq ye pejoeuuoo eq pinous pjelus eu sejqeo 1 A OS 1 pue 1eMwod 1010 esp pies dio 0 ood uone nsu sdil9 q 10 ejejd xoeq e qeo Jewo JOJOW JO pjeius eui puoq Ajeunoes ejqeo 1eAoseu pyeweis q peinjoejnue y 914194 0 0 202 82 llelsu AINO Spied uondo NYD
131. 6 L15 to D316 L60 306 1114 to 306 1414 0 5 Velocity Loop Integral Time Constant Min Value 0 5 E 3 Velocity Loop Integral Time Constant Max Value 3 Issue C command to permanently save changes made using SI MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 249 Example usage of SI command gt SI Integral Time Const 2 000E 1 s Ti 25 lt CR gt gt LI command lists the current velocity loop integral time constant value of Infinity is reported by the LI command when the integrator is off Example usage of LI command gt LI Integral Time Const 2 500E 1 s gt 4 3 6 1 4 SETTING LISTING SJ LJ VELOCITY OBSERVER INERTIA The SJ command sets the observer inertia parameter used for tuning in the optional velocity observer mode refer to Section 4 3 5 5 Velocity Observer Inertia Units Kilogram meter2 Velocity Observer Inertia Default Value 2 Jmotor Velocity Observer Inertia Min Value None Velocity Observer Inertia Max Value 9 999E5 Issue C command to permanently save changes made using SJ Example usage of SJ command gt SJ Observer Inertia 1 399E 4 kg m 2 2 1 5E 4 CR gt LJ command lists the current velocity observer inertia Example usage of LJ command gt LJ Observer Inertia 1 499E 4 kg m 2 gt MOOG T164 SERIES USER S MANUAL 250 SECTION FOUR CONFIGURATION AND TUNING 4 3 6 1 5 SETTING LISTING SLA SLM LLA LLM
132. 65150 25 148 60 43 20 0 11 8 4610 2200 2200 2400 1 9 0 56 5 44 18 40 16 6 G4x6 2xx 6115 14 22 37 72 9 1 14 2 3810 4000 5700 6300 0 64 0 23 1 86 27 20 15 1 4 6 4 G6L30 27 30 73 95 15 5 17 2 4870 3000 4200 4700 0 90 0 14 1 54 5240 21 1 G4x6 6xx 66145 39 38 108 117 25 5 24 8 6680 2500 3500 3900 1 03 0 11 1 46 77 00 27 1 G4x6 8xx G6L60 51 43 146 134 34 0 28 6 7830 2200 3000 3300 1 19 0 10 1 46 102 00 33 1 Motor flanged onto a steel plate 300 x 300 x 12 mm with the maximum permissible overheating of the winding at 100 K over a still air environment max 40 C The nominal point is the point for maximum continuous power Speed at which the EMF of the motor is equal to the d c bus voltage Speed at which the EMF of the motor reaches 360 V _ M _ Nm I Anus Measured at 25 C conversions 1 Nm 8 85 Ib in 1 kgcm2 8 85x10 Ib in sec 1 kg 2 2 Ib 1 kW 1 841 hp o0000 Note Shaded data is printed on the nameplate TABLE 5 6 Motor Performance Data MOOG T164 USER MANUAL 300 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 3 5 MOUNTING AND INSTALLATION 5 3 5 1 MOTOR DIMENSIONS Pra A eAK AH eU BB oBF XD R 51 52 D BC F G H M mm mm mm mm mm mm mm mm mm mm
133. 7 5 1 Basic Velocity Tuning dU rue bee Hd 98 3 7 0 Encoder Simulation eie e febre a dre sb ev Fee 101 2 7 5 6 n 102 MOOG T164 SERIES USER S MANUAL Table of Contents 4 CONFIGURATION AND TUNING 105 4 1 WINDRIVE COMMUNICATIONS WITH H 4 1 1 Software Setup uu u aaa p e 4 1 1 1 Minimum System Requirements eese enne 4 1 1 2 nnne 4 1 2 Communication Hardware Setup 4 1 2 1 Rs232 Communication Mode Jumper Setup 4 1 2 2 RS232 Set p s acce eoe pae beide mote eee 4 13 Windrive Startup M 4 1 3 1 Opening The Program deinem pe cree En i co pe re eds 4 1 3 2 On Line Mode 4 1 3 3 Off Line s iiie i ette dei epi i ite err rena PG p ee de 4 1 4 Dialog Box Button Functions aaa 4 1 5 OnsLine Help eee ERROR E REED REI ORE IDEEN MEE 4 1 5 1 Accessmp On Line Help oet ROO cdi 4 1 5 2 Searching For A Help Topic 4 1 6 Main Window Features 4 1 6 1 Window
134. 7 FUNCTION GENERATOR OPTIONS OR OG A software function generator intended to be used for tuning of the drive is available to be used as the reference command source The function generator provides a square wave programmable in amplitude offset period and duty cycle The function generator has the following parameters Parameter Units Range Default Value Speed Amplitude RPM 0 to 10 000 0 SpeedOffset RPM 10 000 0 Torque Amplitude Nm to Peak Torque 0 Nm Peak Torque to Peak Torque 0 6 0 to 10 Seconds 1 Duty Cycle 0 to 99 9 50 TABLE 4 7 Function Generator Settings The duty cycle parameter specifies the percentage of the period that the speed or torque amplitude is positive For the rest of the period the speed or torque amplitude is negative The speed and torque offsets allow unequal speeds or torques in both directions or unipolar speeds Speed Amplitude and Offset parameters are only activated when the drive is operating in velocity mode Similarly Torque Amplitude and Offset parameters are only activated when the drive is operating in torque mode The function generator is set up from the main menu using the following command sequence The command reference must be initialized to the function generator using the OR command after which the user will be immediately prompted to enter the function generator parameters In this example the function generator will be set up
135. ATION T B 0 1 MOTOR CONNECTION 5 2 9 4 MOTOR CONNECTIO 3 o 4C MOTOR CONNECTION SSS 4 o QD MOTOR EARTH s TIE 5 o CHASSIS EARTH Pa LI 8 9 r de M ey 3 ue d c ur OZ 272 OL NALHOL aN TERMINAL 1 POWER CONNECTOR AAA TERMINAL TBI MOOG P N B89720 002 TERMINALS 4 5 MOOG P N 89720 001 TERMINALS 1 3 6 7 All dimensions are in millimeters dimensions in brackets are in inches TB2 Maximum wire size CSA 8 4mm 8AWG on models T164 9X7 and 9X9 Size wire for load do not fuse or switch d c bus for proper regeneration protection Recommended terminal screw torque 0 55 0 05 Nm 5 0 0 5 in Ibs Top and bottom must remain unobstructed by minimum distance of 75mm 8 inches to provided adequate air flow for cooling Wire range CSA 2 08mm to 0 128mm 14AWG to 26AWG Internal assembly contains electrostatic sensitive components Proper handling procedures must be used with cover removed MIL STD 1686 Class 1 Recommended terminal screw torque 2 2 0 06 Nm 20 0 5 in Ibs M5 or 10 mounting screws 3 places 4 places on T164 9X7 and 9 9 FIGURE 2 8 T164 907 909 Digital Motor Drive MOOG T164 SERIES USER S MANUAL 36 SECTION TWO INSTALLATION AND WIRING 2 7 INTERNAL AND EXTERNAL REGENERATION REGEN RESISTORS OPTIONS All external Regen regenerative
136. Arms Nm Ky Nm Arms 1 Rated Continuous Motor Phase Current Te Rated Continuous Torque In Rated Peak Motor Phase Current Tp Rated Peak Motor Torque Pd To configure for a non standard motor proceed with drive initialization as outlined in Section 4 2 4 1 above Enter the non standard motor model number when prompted for the motor model number After confirming the model number entered the drive will recognize a non standard motor model number and prompt for entry of motor parameters as shown below Example of entering non standard motor parameters using the SNM commana gt SNM lt CR gt Enter Drive Configuration Command Motor Parameters Motor G423 600 Enter Motor ID Number Press RETURN T164 SERIES USER S MANUAL 174 SECTION FOUR CONFIGURATION AND TUNING More Press RETURN Motor Poles 8 Enter Number of Motor Poles and press RETURN More Press RETURN Kt 7 642E 1 Nm Arms Enter Torque Constant and press RETURN More Press RETURN Rtt 5 099E 0 Ohms Enter Terminal Resistance and press RETURN More Ltt 1 030 1 mH Enter Terminal Inductance and press RETURN More Press RETURN Nominal Speed 4 799E 3 RPM Enter Max Speed at Rated Torque and Press RETURN More Press RETURN Maximum Speed 5 500E 3 RPM Enter Max Motor Speed and Press RETURN More Press RETURN Peak Current Limit 9 98E 0 Arms Enter Peak Current and Press RETURN More Press RETURN gain
137. B3 TB4 and TB5 Units configured for 40 Watts of regen power See following section for regen power option and configuration Internal assembly contains electrostatic sensitive components Proper handling procedures must be used with cover removed 10 M5 or 10 mounting screws 3 places oo iogohhom FIGURE 2 6 T150 901 Power Supply Installation MOOG T164 SERIES USER S MANUAL 34 SECTION TWO INSTALLATION AND WIRING RESOLVER STANDARD 1 0 COMMUNICATIONS PORT J2 CONNECTOR J1 JS CONNECTOR 5 WITH DE9P qox T7088 1 9 REF 1 04 FLDBK E 1 gt SHIELD 2 REF RETURN 2 FLDBK C 2 gt Rs232 RX 3 SHIELD 3 AMP FLT E 3 gt RSsS232 TX 4 9 SIN 4 AMP FLT C 4 H RS485 TX 15e SIN 5 CONTROLLER ENABLE 5 5 cno 6 SHIELD o V EXTERNAL 6 RS485 TX 7 cos 7 SHIELD 7 gt L RE485 RX Bo COS l Bo q COMMAND 8 l 85485 Rx loo MOTOR THM RIN 9 COMMAND 9 gt L _ sv 100 MOTOR THM EE E LE TERMINAL 1 TERMINAL 1 1164 9 1 9X3 l AND 9 5 me 1 P 76 5 SLOT wz 3 3 02 1 45 2 L 1 70 255 0 634 10 04 A
138. CONFIGURATION AND TUNING 209 4 2 7 4 ENCODER SIMULATION OPTION STATUS OESA The OESA command displays the status of the Encoder Simulation Module The status displays the maximum speed of operation Example usage of OESA command gt OESA lt CR gt 5 2 Max Speed Present Encoder Status is displayed 1 500E 4 RPM gt 4 2 7 5 FAULTS F In addition to the faults described in Section 4 2 6 3 7 when an Encoder Simulation Option Card is present an Encoder Simulation Fault is also listed 4 2 7 6 ENCODER POSITION E The Encoder Simulation Option maintains a digital representation of position The E command allows the user to query this parameter Example usage of E command gt PE lt CR gt Position 1 607 2 gt 4 2 8 COMMAND REFERENCE EXTENDED OPTION This Section details the additional commands and command extensions activated when an Extended Option card is installed For a description of the Extended Option Card refer to Section 5 6 MOOG T164 SERIES USER S MANUAL 210 SECTION FOUR CONFIGURATION AND TUNING 4 2 8 1 SETTING AND LISTING PARAMETERS EXTENDED OPTION 4 2 8 1 1 SETTING LISTING SE LE LIMIT SWITCH EMERGENCY BRAKING DECELERATION FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The limit switch emergency braking deceleration parameter determines the deceleration rate of the motor when a limit switch is activated in eithe
139. COPPER WIRE ONLY C H U U n U d c dict d c 4 o n n PS 2 3 4 TB2 1 Final Configuration Label u Add final configuration label here FIGURE 2 14 Final Configuration Label Mounting Location MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 45 2 7 4 T150 901 POWER SUPPLY 1000 W 2000 W REGEN CONFIGURATION EUROPE ONLY WARNING operate unit with cover removed WARNING Do NOT perform procedures described on this page with the power on The T150 901 Power Supply contains lethal a c and d c voltages in operation Switch off all incoming a c power ensure all motors are stopped wait five 5 minutes ensure all front panel LEDs off then remove and tape exposed wire ends from TB1 and TB2 before removing the cover and configuring external Regen resistors or fuses This kit C09838 010 contains Note Two kits are required for 2000W option 1 ook WP Fuse 12A Quick Blow Label final configuration Installation specification T150 901 PSU 1000W 2000W regen kit Resistor 10 ohm 1 0 kW Resistor mounting bracket kit 2 Fuse Block Instructions 1 Secure the external regen resistor with the supplied mounting
140. Count Selection vs Bandwidth based on 5 kHz Resolver Reference 3 dB Closed Loop Line Count Selection PPR Bandwidth Hz 16384 8192 288 4096 2048 564 1024 512 1200 256 1100 128 1100 Digital Outputs A A B B MARKER and MARKER Optically Isolated RS422 Differential Outputs capable of driving 1000 terminated loads Output Logic High Voltage 2 5V min Output Logic Low Voltage Vol 0 5V max Operating Temperature Range 0 55 C ambient MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 315 COUNTERCLOCKWISE ROTATION AS VIEWED FROM MOTOR SHAFT END E HN y HI I i A Z 2201 zu 1A ARKER 1 MARKER 3 RKEF CLOCKWISE ROTATION AS VIEWED FROM MOTOR SHAFT END AN A E SO MARKER fo 18 36 RKER FIGURE 5 21 ENCODER SIMULATION OPTION OUTPUT WAVEFORMS MOOG T164 USER MANUAL 316 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 6 EXTENDED I O OPTION CARD DESCRIPTION SPECIFICATIONS Two cards are available B89666 002 and B89666 003 Both Extended Option cards have the following features C Provides four digital input functions 1 Clockwise Limit 2 Counter Clockwise Limit 3 Torque Velocity Loop Select 4 Automatic Manual Mode Select Inputs are source or sink current activated Provides two output relay function
141. D 2 4444 488880 76 FIGURE 2 30 X2 X3 CAN INTERFACE OPTION CARD SERIAL CABLE eene ene eneneni TT FIGURE 2 31 DRIVE J2 RESOLVER CABLEE n n nsn 81 FIGURE 2 32 MOTOR POWER 82 FIGURE 3 1 WINDRIVE 91 FIGURE 3 2 COMMUNICATION PORT DIALOG BOX ccccccecececececececececececececececececececececececececececeeesecesesess 91 FIGURE 3 3 COMMUNICATION PROTOCOL DIALOG BOX 92 FIGURE 3 4 PASSWORD 2 2248 93 FIGURE 3 5 USER ACCESS LEVEL NOTIFICATION DIALOG BOX ccccccesececececececececececececececececececeseeess 93 FIGURE 3 6 SELECT MOTOR 22 eene en eese eese eese eren eren en een 94 FIGURE 3 7 REFERENCE SOURCE DIALOG BOX seen ene 95 FIGURE 3 8 ANALOG INPUT 0 95 FIGURE 3 9 FUNCTION GENERATOR DIALOG BOX 96 FIGURE 3 10 EIMITS DIAEOG eden dte Er 97 FIGURE 3 11 LIMIT SWITCHES 22 20 0 2 4 4 4444444000 98 FIGURE 3 12 TUNING DIALOG BOX tette ere PER U ep ele APER EN eR PENES VE 98 FIGURE 3 13 VELOCITY MODE TUNING 5 4444444 101 FIGURE 3 14 ENCODER SIMULATION CARD 2 DIALOG
142. D COUPLING MOOG T164 USER MANUAL 306 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 3 5 5 RUNOUT The reduced runout provided by MOOG motors allows the attachment of various gear heads The precision manufacturing of the motor avoids loads caused by misalignments between motor and gear heads Diameter of the Shaft Maximum Extension Runout gU mm Tolerance Class R mm to 10 0 015 over10to18 0 018 over18to30 0 021 301050 0 025 L AH see TABLE 5 7 2E E 5 5 Rundlauf runout TABLE 5 9 Shaft Runout Koaxialit t concentricity Planlauf perpendicularity Pilot Diameter of Mounting Flange gAK mm to 22 over 22 to 40 40 to 100 over 100 to 230 over 230 to 450 Maximum Concentricity and Perpendicularity Tolerance Class mm 0 025 0 03 0 04 0 05 0 063 x 10 1 mm see TABLE 5 7 for values TABLE 5 10 Flange Concentricity Perpendicularity MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 307 5 3 6 DESIGN STANDARDS The G400 series has been designed assembled and tested in conformity with the following standards see TABLE 5 11 TABLE 5 12 and TABLE 5 13 for design standards Standard International Europe Germany USA English IEC EN CENELEC DIN VDE NEMA International Europ isches Deutsche NEC Electrotechnical
143. D WIRING lt 1 289 2 11 38 267 amp 10 5 1 414 69 2 li MODEL T150 901 SERIES POWER SUPPLY SHOWN H TO WITH COVER REMOVED ge 5 FIGURE 2 11 T150 901 Power Supply 240 Watt Regen Configuration Rating label TIGHTEN TO 1 8 Nm 16 in bs MIN 75 C COPPER WIRE ONLY CLE D XY 5 gt gt C dg uL 5 D L 3 34 4 24 4 lm x x C C 8 SS SS FN TB2 1 Final Configuration Label i Add final configuration label here FIGURE 2 12 Final Configuration Label Mounting Location MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 43 2 7 3 T150 901 POWER SUPPLY 600 W REGEN CONFIGURATION WARNING Do operate unit with cover removed
144. DE FIGURE 4 63 is a block diagram depicting the T164 Series Drive control loop in torque mode Software commands are shown outlined above or below the appropriate block which they affect Operation is the same as explained above in Section 4 3 5 1 1 except that the input command reference is now a torque command instead of a velocity command and the velocity scale factor velocity observer and P and l loop compensation networks are not used 4 3 5 1 3 AUTOMATIC MANUAL MODE Automatic and manual modes pertain to the torque and velocity limits In automatic mode the normal torque and velocity limits are in effect In manual mode the torque and velocity limits are reduced from the normal automatic mode limits The manual mode is useful during commissioning to limit available torque and velocity while tuning the drive or other situations in which full power could present personnel or equipment hazards Manual mode is enabled or disabled using the OM command and if an Extended Option card is installed by the absence manual mode or presence automatic mode of current flowing in the AUTO MANUAL input Refer to Section 4 3 6 4 11 for information on enabling and disabling manual mode Section 4 3 6 1 5 for setting listing the automatic manual mode velocity limits and Section 4 3 6 1 9 for setting listing the automatic manual mode torque limits MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 235 os SO
145. DE 0627 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 309 Relevant standards for mechanical design Standard International Europe Deutschland USA English IEC EN CENELEC DIN VDE NEMA International Europ isches Deutsche NEC Electrotechnical Komitee f r Industrie Norm National Commission Elektrotechn Verband Electric Normung Deutscher Code Elektrotechniker MG Degrees of protection provided by IEC 529 EN 60529 DIN EN 60529 enclosure IP code VDE 0470 1 Oylindrical shaft ends for electrical IEC 72 DIN 748 1 amp 3 MG machines ISO R 775 1969 11 Mounting flanges for rotating DIN 42948 electrical machinery Dimensions tolerances and NEMA mounting MG 7 Tolerances of shaft extension run IEC 72 DIN 42 955 out and of mounting flanges for rotating electrical machinery Mechanical vibration balance ISO 1940 1 DIN ISO 1940 1 quality requirements of rigid rotors determination of permissible residual unbalance Mechanical vibration balance ISO 1940 2 DIN ISO 1940 2 quality requirements of rigid rotors Balance errors Ball bearings conrad type for DIN 42966 electrical machines tolerances and radial clearance Drive type fastenings without taper DIN 6885 1 action parallel keys keyways deep pattern ISO general purpose metric screw ISO 724 DIN 13 1 threads Part 1 coarse pitch threads in diameter range 1 mm to 68 mm nominal sizes General tolerances tolerances for ISO 2768 1 EN 22768 D
146. E ITE CONNECTOR 9 WAY D TYPE MALE USER SPLY 2 MAKE ITE CONNECTOR 9 WAY D TYPE FEMALE USER SPLY 3 MAKE ITEM CABLE BELDEN 9842 USER SPLY FIGURE 2 30 X2 X3 Can Interface Option Card Serial Cable MOOG T164 SERIES USER S MANUAL 78 SECTION TWO INSTALLATION AND WIRING 2 10 9 MOTOR RESOLVER AND POWER CABLE Use of the made up cable sets is recommended for connecting the MOOG brushless servomotors These cable sets are available in standardized lengths refer to TABLE 2 4 and TABLE 2 5 If MOOG cables are not used the values specified below with regard to the cable make up must be maintained in all cases See TABLE 2 7 for assembly tooling which might be required for the mating connector attachment Depending on location there are two global sources for cables specified Europe and Asia America MOOG GmbH MOOG INC NADO Hanns Klemm Strasse 28 Jamison Road 71034 Boeblingen East Aurora NY 14052 GERMANY USA phone 0049 7031 622 0 phone 001 716 652 2000 fax 0049 7031 622 100 fax 001 716 687 4870 2 10 9 1 MOTOR POWER CABLE Wire the motor power connector in accordance with FIGURE 2 32 Use wire sizes based on the motor s continuous stall current r m s and wire length requirements Wiring must be in accordance with standard EN 60204 1 See section 2 9 and 2 9 1 of this Users Manual For proper drive commutation of G400 series motors it is required that the motor phase conductors
147. ECTION FOUR CONFIGURATION AND TUNING 139 Save to EEPROM Close Help FIGURE 4 30 Save to EEPROM Dialog Box Wait for the Successfully saved to EEPROM notice in the Moog WinDrive for Windows dialog box FIGURE 4 31 Select OK MOOG WinDrive for Windows IN Successfully saved to EEPROM FIGURE 4 31 Successfully Saved To EEPROM Notice 4 1 12 UNITS SETUP This function is used to select the units of measure associated to system variables To open the Units dialog box select Units from the Drive menu Unit Type Temperature Current KT Velocity Inductance FIGURE 4 32 Units Dialog Box MOOG T164 SERIES USER S MANUAL 140 SECTION FOUR CONFIGURATION AND TUNING To configure units of measure for each user variable Select the Unit Type in the left window Choose the required unit of measure from the Unit window on the right 4 1 13 DRIVE TUNING For optimum servo system performance the drive must first be tuned To allow WinDrive to automatically guide you through the basic tuning dialog boxes select Basic DriveSetup from the Drives menu and complete the setup in subsections 4 1 13 1 through 4 1 13 5 Any stage of the tuning setup may be individually selected using the choices under the Setup option in the Drive menu or selecting the corresponding buttons in the Windrive Main Window Button Console NOTE Prior to initial setup sections 4 1 13 1 through 4 1 13 4 the drive
148. ECTION SIX TROUBLESHOOTING GUIDE 6 TROUBLESHOOTING GUIDE WARNING not attempt to repair or make internal adjustments to the drive or power supply Lethal voltages are present and changes to factory calibration can result in serious equipment and or personnel risk and void the equipment warranty All faulty items of this equipment must be returned to Moog Service Centers for maintenance and repair The following charts list typical system power supply drive and motor troubleshooting conditions A list of possible cause s is given for each condition For some conditions there are multiple possible causes which are generally listed in order of increasing complexity for the stated conditions A list of check correct action recommendations is listed below each possible cause s The diagnostic LEDs visible through the Drive and Power Supply front panels indicate equipment status and are useful in troubleshooting Additional Drive fault status information can be queried via a terminal or computer connected to the J3 Communications Connector serial port refer to Section 5 It is important to note that this section describes Moogterm commands and WinDrive commands menus when applicable When using C4 Moogterm compatible firmware the query commands S and F are especially useful for drive troubleshooting When using H1 WinDrive compatible firmware in terminal emulation mode the query commands S and F are especia
149. EEPROM The Drive saves the configured parameters to non volatile storage 4 2 9 2 16 FAULT DIAGNOSTIC COMMANDS Command Description F FL Latched Fault Status MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 215 4 2 9 2 17 POINT OPTION CARD COMMANDS Command Description OPA POINT Diagnostic Channel A OPB POINT Diagnostic Channel B D POINT Dual Port RAM Status MOOG T164 SERIES USER S MANUAL 216 SECTION FOUR CONFIGURATION AND TUNING 4 3 TERMINAL EMULATION COMMUNICATIONS WITH C4 FIRMWARE This section is intended to give the user a full understanding of programming a T164 DMC containing C4 firmware while using a terminal emulation program Subsection 4 3 2 describes using Moogterm with the T164 however the instructions in sections 4 3 3 through 4 3 9 can be used with any terminal emulation device for data transfer and drive programming CAUTION Do not attempt configuration until at least Sections 4 3 1 through 4 3 4 1 have been read and understood Do not apply power until it is called for in the configuration procedure Throughout Section 4 3 references to the terminal apply to either hand held terminal or a personal computer PC being used as a terminal Responses from the T164 Series Drive appearing on the terminal are shown indented in the following font 20 Dec 96 C09791 001 EEPROMID 0 more The characters to be entered
150. ENGTH NOT TO EXCEED 50 FEET 15 METERS FOR RS232 OPERATION ZA CONNECTOR TYPE AND PIN OUT VARIES PER APPLICATION REFER TO TABLE ABOVE FIGURE 2 23 Drive J3 Cable Serial Communication T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 71 BOTH ENDS TEES NER USER CONNECTIONS CONTROLLER TB1 CONNECTOR USER SUPPLIED DEVICES 24VDC 2UVDC POWER SUPPLY 24V RETURN DAISY CHAIN TO ADDITIONAL 164 SERIES NOTES CONTROLLERS WIRE RANGE 14 AWG TO 26 AWG RECOMMENDED TERMINAL WIRING SIDE SCREW TORQUE 5 0 5 IN LBS 56 06 NM WIRE STRIP LENGTH 27 IN 7 0 mm WIRE COLORS ARE OPTIONAL JUMPER PIN 1 TO PIN 2 AND PIN 3 TO PIN 4 TO PROVIDE CONTINUITY OF 24VDC CONTROL POWER WHEN CONNECTOR IS UNPLUGGED FOR MULTIPLE AXIS APPLICATIONS ppp mp 5 TWISTED PAIR FIND MOOG PART NO DESCRIPTION QUANTITY B89518 004 CONNECTOR 4 P SUPPLIED BY MOOG USER SPLY FIGURE 2 24 Drive TB1 Cable 24Vd c Logic Power MOOG T164 SERIES USER S MANUAL 72 SECTION TWO INSTALLATION AND WIRING 5V EXT J4 CONNECTOR USER CONNECTIONS CONTROLLER J4 CONNECTOR f AS LT DA m Pp N Ts Sept n n I YELLOWS e E ORANGE b B sgg BLUE m EN B l GREEN gt 22 AWG p een MARKER 55 BLACK LIU me gt MARKER 11 WHITE p 6 7
151. EQUIREMENTS Users are required to implement safety measures into all equipment systems and installations into which the T150 901 Power Supply and T164 Series Drives are installed In addition safeguards must be an integral part of workcell design installation operator training and operator procedures where this equipment is used Users are directed to refer to the European Union EU Machine Safety Directive 89 392 EEC as amended by EU Directives 91 368 EEC 93 44 EEC and 93 68 EEC and EU Low Voltage Directive 73 23 EEC as amended by EU Directive 93 68 EEC for essential health and safety requirements to be met Furthermore the requirements of the EU EMC Directive 89 336 EEC as amended by EU Directive 92 31 EEC and 93 68 EEC must be met by all equipment systems and installations into which the T150 901 Power Supply and T164 Series Drives are installed For further information on the requirements of the European Union Directive on machine safety the user is recommended to refer to the publication Community Legislation on Machinery Pierre Massimi and Jean Pierre Van Gheluwe 1993 published by the Office for Official Publications of the European Communities Luxembourg ISBN 92 826 5692 6 For further information on the requirements of the European Union Low Voltage Directive for electrical safety of machinery the user is recommended to refer to European Standard EN 60204 1 1992 Safety of Machinery Electrical equipment of machin
152. FTWARE PROGRAMMABLE FUNCTION GENERATOR AUTOMATIC MODE VELOCITY LIMIT A SOFTWARE SOFTWARE SWITCH INPUT 10 SWITCH ANALOG FILTER REFERENCE SL M LLM EAN SOFTWARE SWITCH J MANUAL MODE VELOCITY LIMIT PROGRAMMABLE OFFSET m AUTOMATIC MODE TORQUE LIMIT A SOFTWARE SWITCH IT FOLDBACK rus MANUAL MODE TORQUE LIMIT POSITION TO VELOCITY CONVERSION TORQUE MODE COMPENSATOR AN HARDWARE CONTROLABLE WHEN EXTENDED I O OPTION CARD IS USED FIGURE 4 63 Torque Mode Block Diagram MOOG T164 SERIES USER S MANUAL 236 SECTION FOUR CONFIGURATION AND TUNING 4 3 5 2 GAIN ADJUST MODE The gain adjust mode is for use during tuning of the velocity loop parameters Integral Time Constant I the Observer Inertia J the Velocity Loop Proportional Gain P and the Position Mode loop gain G The gain adjust mode is entered by entering the appropriate letter I J P or G depending upon the velocity loop tuning parameter to be adjusted Once in the gain adjust mode the user can enter S to set the parameter directly L to list the present value of the parameter U to increase the parameter incrementally D to decrease the parameter incrementally Z to essentially zero the parameter H for help on gain adjust mode commands E or any other non defined gain adjust mode key
153. GURE 4 55 STANDARD VELOCITY MODE TUNING 85 0800 00 184 FIGURE 4 56 VELOCITY OBSERVER TUNING WAVEFORMS 000000 100 187 MOOG T164 SERIES USER S MANUAL 354 INDEX FIGURE 4 57 CONFIGURATION SELECT SCREEN cccccccesecececececececececececececececececececececececseseececececececesecs 220 FIGURE 4 58 COMMUNICATIONS MODE SCREEN eene emen en eene 220 FIGURE 4 59 COMMUNICATIONS PORT SELECTION SCREEN eene eene nennen enne nnn 221 FIGURE 4 60 CONTROLLER TYPE SELECTION SCREEN cccccccecececececececececececececececececececececececececeeesecscs 222 FIGURE 4 61 MAIN EMULATOR SCREEN cccsssscececececececececececececececececececscecececececececececececseeeseecececececss 223 FIGURE 4 62 VELOCITY MODE BLOCK DIAGRAM 0 48444448 233 FIGURE 4 63 TORQUE MODE BLOCK DIAGRAM nennen enne nennen nnns seen nete nasse 235 FIGURE 4 64 STANDARD VELOCITY MODE TUNING WAVE FORMS eene emen enne nnn 240 FIGURE 4 65 VELOCITY OBSERVER TUNING WAVE 5 2 4 0 2 243 FIGURE 5 1 MODEL T150 901 POWER SUPPLY BLOCK DIAGRAM mH 279 FIGURE 5 2 MODEL T150 901 POWER SUPPLY ELECTRONIC CIRCUIT BREAKER TRIP CHARACTERS TIOS iore eR TE n PIPER Urt qe ee EE OPERE TREIPe E EVER 281 FIGURE 5 3 T164 SERIES DRI
154. IN ISO 2768 1 linear and angular dimensions with out individual tolerance indications TABLE 5 13 Mechanical Design Standards MOOG T164 USER MANUAL 310 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 3 7 REPAIR HANDLING Since correct disassembly cannot be guaranteed by all the attachments not fitted by MOOG such as gearboxes gear wheels pinions etc must be dismantled if a brushless servomotor has to be repaired Any dirt on the front flange of the motor must also be removed Repairs by external personnel are excluded for reasons associated with product liability since the applicable safety regulations e g VDE guidelines and quality standards cannot normally be met by the customer warranty rights are voided if the sealing varnish on the screws of the servomotor is broken If at all possible a detailed description of the fault or failure should be enclosed with the shipping documents The words For repair should feature prominently on the delivery note The motor must be packed so that it is protected against knocks and bumps as well as against damage in transit The shaft and connectors have to be protected using adequate packaging Please send the motor to the appropriate location outlined in Section 8 MOOG Repair Centers MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 311 5 4 HAND HELD SERVICE TERMINALS Hand held s
155. INDOWS 95 double click on theWinDrive icon FIGURE 3 1 WinDrive Icon 3 4 CONFIGURING THE COMMUNICATION PORT From the Communication Port dialog box select the PC communication port linked to the drive then click the OK button Communication Port Select your comm port peseesescensensensenee Comm 2 Comm 3 Comm 4 Off line _ FIGURE 3 2 Communication Port Dialog Box MOOG T164 SERIES USER S MANUAL 92 SECTION THREE QUICK SETUP 3 5 SELECTING COMMUNICATION PROTOCOL The drive must be configured to communicate with a PC using RS232 mode The mode can be identified by the 3 last digit of the model number of the drive This digit will be a 2 if the drive is configured for RS232 Please consult the factory if it is necessary to change the configuration RS Type FIGURE 3 3 Communication Protocol Dialog Box 3 5 1 RS232 SETUP Check that the wiring of the RS232 cable as per specified in Section 2 Plug the cable into the correct Com port on the PC and into connector J3 Click on the RS232 button and then OK MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 93 3 6 ENTERING THE PASSWORD Q Enter zero 0 for the password and click on OK to accept The default value when the drive has been unconfigured is 0 This be changed after configuration see Section 4 for details Please enter password number Change
156. ION NINE WARRANTY NEW PRODUCT 9 WARRANTY NEW PRODUCT This section provides the Moog Standard Product Warranty portion only of Moog Inc North American Drives Operations Division Terms and Conditions of Sale A complete copy of Terms and Conditions is available upon written request a Moog warrants that each item of its manufacture shall at the time of shipment to Buyer conform to applicable specifications and drawings and be free from defects in material and workmanship Design essential performance or other provisions expressly stated to be goals or objectives shall not be deemed to be requirements subject to this Warranty b Unless otherwise specified Moog s obligation under this Warranty shall be limited to repair or replacement at Moog s option of any item which within twenty four months from date of shipment to Buyer is proven to Moog s satisfaction to have been nonconforming at the time of shipment As a condition of this Warranty Buyer shall notify Moog in writing of any claimed nonconformance immediately upon discovery and shall return the item to Moog for inspection Moog shall not be responsible for any work done or repairs made by others at any time Disassembly by anyone other than persons authorized by Moog will void the terms of this Warranty C Moog shall not be responsible for the performance of any product which incorporates items manufactured by Moog unless such performance is expressly designated as Moog s
157. J Example usage of SJ command gt SJ CH Observer Inertia 1 399E 4 kg m 2 1 5E 4 CR gt LJ command lists the current velocity observer inertia Example usage of LJ command gt LJ CH Observer Inertia 1 499E 4 kg m 2 gt 4 2 6 1 3 SETTING LISTING SLA SLWLLA LLM MOTOR VELOCITY LIMITS The SLA SLM commands set the automatic manual mode motor velocity limits Manual mode is intended to be a reduced power operating mode used for initial tuning or other situations in which full power could present personnel or equipment hazards refer to Section 4 2 5 1 3 Although it is possible to set manual velocity limits higher than automatic velocity limits this is not recommended because it defeats the safety principle of manual mode being a reduced power mode Automatic Manual Mode Velocity Limits Units Revolutions Per Minute Automatic Mode Velocity Limit Default Value Velocity Scale Factor N 10 Volts Max RPM Automatic Mode Velocity Limit Min Value 50 Automatic Mode Velocity Limit Max Value Motor Dependent Manual Mode Velocity Limit Default Value 1096 Automatic Mode Default Value Manual Mode Velocity Limit Min Value 50 Manual Mode Velocity Limit Max Value Motor Max Speed MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING Issue C command to permanently save changes made using SLA and SLM Example usage of SLA and SLM commands gt SLA lt CR gt Automatic Mode Veloci
158. Kt Automatic Mode Torque Limit Min Value 0 Automatic Mode Torque Limit Max Value Drive Current Limit Manual Mode Torque Limit Default Value 10 Drive Current Limit Manual Mode Torque Limit Min Value 0 Manual Mode Torque Limit Max Value Drive Current Limit Issue C command to permanently save changes made using STA and STM Example usage of STA and STM commands gt STA lt CR gt Enter command to set automatic mode torque limit Automatic Mode Torque Limit 4 040E 0 Nm CR Accept the current value gt STM lt CR gt Enter command to set manual mode torque limit Manual Mode Torque Limit 4 000E 1 Nm CR Accept the current value gt LTA command lists the current automatic mode torque limit and the LTM command lists the manual mode torque limit Example usage of LTA and LTM commands gt LTA lt CR gt Enter command to list automatic mode torque limit Automatic Mode Torque Limit 4 040E 0 Nm gt LTM lt CR gt Enter command to list manual mode torque limit Manual Mode Torque Limit 4 000E 1 Nm MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING MOOG T164 SERIES USER S MANUAL 255 256 SECTION FOUR CONFIGURATION AND TUNING 4 3 6 1 10 SETTING LISTING SW LW COMPENSATOR FILTER BANDWIDTH FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The SW command sets the bandwidth parameter Wn of the second orde
159. LOAD 1 6 Nm div c OBSERVER POSITION ERROR x a ni EE VELOCITY HO RPM div ms div E PERFORMANCE COMPARISON FIGURE 4 56 Velocity Observer Tuning Waveforms MOOG T164 SERIES USER S MANUAL 188 SECTION FOUR CONFIGURATION AND TUNING 4 2 5 6 TORQUE MODE TUNING In torque mode the input command reference is a current command to the power amplifier that drives the motor The term torque mode is adopted because the motor produces a nearly linear torque per ampere of input current The tuning of the inner current loops of the T164 Series drives is pre programmed during drive initialization Hence no parameter tuning is required in torque mode Skip this Section for standard or observer velocity mode applications WARNING The motor should be uncoupled if incorrect movements during the drive tuning procedure can damage the machine If this is not possible the safety limit switches of the machine must be connected through hardware limit circuits such that the drive is hardware disabled if a limit switch is activated Set the Control Compensator to Torque Mode using the OC1 command refer to Section 4 2 6 4 2 Offsets in the drive and the users torque command may be trimmed out with the automatic offset command Apply the desired zero speed command to the drive and issue the OZ command refer to Section 4 2 6 4 6 Use the C command
160. Layout 4 1 7 X Accessing Functions 0024 21 10000 enne nnne nene ennt enne seen entente 4 1 7 1 Menu Bat isis 4 1 7 2 Toolbar Icons 4 1 7 3 ueniet iret eO stt 4 1 7 4 Short Cut K ys E 120 4 1 7 5 Floating Tool Bar 4 1 8 Communication Mode Configuration And Usage 4 1 8 1 Changing Communication Mode or 4 19 Windnve Monitoring ete Rot yet et ee tere petens 4 1 9 1 Data 4 1 9 2 Data Logger Plots 4 1 9 3 Engineering User Interface 4 1 9 4 Block Data ene 4 1 9 5 Front Panel Test points 4 1 9 6 Drive Status ices ihe mee 4 1 10 dai Log File 4 1 10 2 Eog File Saving Loading ois u asas 4 1 10 3 Log File Playing 4 1 11 Drive Configuration Saving And Loading 4 1 11 1 Configuration Download 4LIL2 Configuration Upload enit creer e ERROR ERES 4111 3 SaveToBEBPROM etii REGE ERU FRU 4 1 12 Units Setup 4 1 13 Drive Tuning 4 1 13 1 Motor Selection 4 1 13 2 Reference 5 OUNCE 4 1
161. MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 271 4 3 8 1 SETTING AND LISTING PARAMETERS EXTENDED OPTION 4 3 8 1 1 LISTING L MOTOR AND DRIVE CONFIGURATION In addition to the data described in Section 4 3 6 1 1 presence of an extended I O option card is reported Example of additional data listed by usage of L command gt L CH Same listings as shown in Section 4 3 6 1 1 except for No Option Card Installed 4 3 8 1 2 SETTING LISTING S L ALL APPLICATION PARAMETERS In addition to the parameters listed in Section 4 3 6 1 2 the following parameter is added to the S and L commands when an Extended I O Option card is installed Limit Switch Emergency Braking Deceleration rad sec Example of additional parameter listed by S command Emergency Decel 5 000E 4 Rad Sec 2 more CH Press RETURN or any key to proceed 4 3 8 1 3 SETTING LISTING SE LE LIMIT SWITCH EMERGENCY BRAKING DECELERATION FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The limit switch emergency braking deceleration parameter determines the deceleration rate of the motor when a limit switch is activated in either the CW or CCW direction Due to shaft loads inertia friction the desired deceleration rate may not be reached in actual application Limit switches are only functional when the Extended option card is used The SE command sets the braking de
162. MOTOR VELOCITY LIMITS The SLA SLM commands set the automatic manual mode motor velocity limits Manual mode is intended to be a reduced power operating mode used for initial tuning or other situations in which full power could present personnel or equipment hazards refer to 4 3 5 1 3 Although it is possible to set manual velocity limits higher than automatic velocity limits this is not recommended because it defeats the safety principle of manual mode being a reduced power mode Automatic Manual Mode Velocity Limits Units Revolutions Per Minute Automatic Mode Velocity Limit Default Value Velocity Scale Factor N 10Vd c Max RPM Automatic Mode Velocity Limit Min Value 50 Automatic Mode Velocity Limit Max Value Depependent on Motor Manual Mode Velocity Limit Default Value 1096 Automatic Mode Default Value Manual Mode Velocity Limit Min Value 50 Manual Mode Velocity Limit Max Value Dependent on Motor Issue C command to permanently save changes made using SLA and SLM Example usage of SLA and SLM commands gt SLA Automatic Mode Velocity Limit 5 800E 3 RPM 4000 CR gt SLM Manual Mode Velocity Limit 5 800E 2 RPM 400 CR gt The LLA LLM commands list the automatic manual mode motor velocity limits Example usage of LLA and LLM commands gt LLA CR Automatic Mode Velocity Limit 4 000E 3 RPM gt LLM CR Manual Mode Velocity Limit 4 000E 2 RPM gt MOOG T164 SERIES USER S MAN
163. Mode Torque Limit 4 000E 1 Nm gt 4 2 6 1 8 SETTING LISTING SW LW COMPENSATOR FILTER BANDWIDTH FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The SW command sets the bandwidth parameter Wn of the second order compensator filter refer to Sections4 2 5 1 1 and 4 2 5 1 2 MOOG T164 SERIES USER S MANUAL 196 SECTION FOUR CONFIGURATION AND TUNING Wn Units Hertz Wn Default Value Depends upon motor model D312 L05 to D313 L40 302 029A to 303 030A 286 4 D314 L05 to D314 L40 304 1114 to 304 1514 190 9 D315 L10 to D315 L50 305 111A to 305 1414 191 D316 L15 D316 L60 306 111A to 306 1414 191 Wn Min Value 100 2 Wn Max Value 599 8 Issue C command to permanently save changes made using SW Example usage of SW command gt SW lt CR gt Enter command to set filter freq Second Order Filter Freq 1 909E 2 Hz Wn 200 CR Set the Filter Freq to 200 Hz gt LW command lists the current second order filter bandwidth parameter Wn Example usage of LW gt LW lt CR gt Enter command to list filter freq Second Order Filter Freq 1 999E 2 Hz gt 4 2 6 1 9 LISTING LZ FILTER DAMPING RATIO 2 The LZ command lists the current damping ratio parameter Zeta of the second order compensator filter refer to Sections 4 2 5 1 1 and 4 2 5 1 2 Zeta Units Dimensionless Zeta Default Value 0 7 Example usage of LZ command gt LZ lt CR
164. Modes O Options P Velocity Loop Proportional Gain S Set Parameter 2 Query Operating Conditions Increase Help Mode Decrease Help Mode Most parameters are entered as real numbers and stored accurate to 1 percent Numbers may be entered using decimal or scientific notation with up to six significant digits Examples of valid numeric entries gt 2 9 E 2 lt CR gt Enter numbers and press RETURN gt 029 lt CR gt gt 0 029 lt CR gt gt 203789 lt CR gt gt 203 789 lt gt All entry should terminated pressing the RETURN lt gt key MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 225 If an entry error is detected by the software the following message will be displayed along with a prompt to reenter gt Q Invalid Selection gt If a mistake is made entering a number entry may be aborted by making a deliberate error such as typing x instead of a digit There is no provision for editing entries All numeric parameters entered are compared against an acceptable range If a parameter is outside this range then the value is clamped to the appropriate limit of the range Note that no message is displayed when entries are truncated Thus it is good practice to list all parameters using the appropriate L command after they have been entered All parameters may be set or listed when the motor is running However it is advisable to
165. OK WinDrive for Windows IN Successfully saved to EEPROM FIGURE 3 16 Successfully Saved To EEPROM Notice MOOG T164 SERIES USER S MANUAL 104 SECTION THREE QUICK SETUP THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 105 4 CONFIGURATION AND TUNING Within this section there are three 3 main subsections The first two 2 subsections are for use with H1 firmware the final subsection 4 3 contains instructions for C4 firmware To determine the firmware version in your drive review the nameplate model number as shown below T164 9XX X XX XX X XX Two 2 character firmware version ie H1 4 1 WINDRIVE COMMUNICATIONS WITH H1 FIRMWARE This section is intended to give the user a full understanding of programming T 164 DMC containing H1 firmware while using the WinDrive program 4 1 1 SOFTWARE SETUP 4 1 1 1 MINIMUM SYSTEM REQUIREMENTS IBM compatible PC with 386 or higher processor running MS Windows 3 1 1 with 4MB RAM and 3MB of free hard disk space 486 or higher processor running MS Windows 95 with 16MB RAM and 3MB of free hard disk space VGA display with a resolution of at least 640 x 480 pixels A Moog WinDrive System Disk An RS232 Communication Interface Cable 4 1 1 2 INSTALLATION To install the WinDrive software place the WinDrive disk in drive A Windows 3 1 1 From the program manager File
166. ON FIVE COMPONENT DESCRIPTION AND SPECIFICATION 297 5 3 3 MOTOR DRIVE SELECTION Possible motor and drive combinations are shown in following table The shaded cells define the motor drive combination with highest performance MOTOR T164 Series Controllers T164 901 T164 903 1164 905 1164 907 1164 909 CURRENT RATINGS Ic Ip eris Stall Torque 5 10 10 20 Arms 20 40 Arms 40 80 Arms 60 140 kt Tc Tp Tc Tp Tc Tp Tc Tp Tc Nm A ms ims i Nm Ib in Nm Ib in Nm Ib in Nm i 0 6 1 5 5 13 Torque Continuous 4 7 12 5 8 2 17 0 5 8 12 2 51 108 11 2 25 8 99 228 16 6 40 0 25 0 58 0 221 513 25 60 221 531 12 8 23 5 113 208 14 37 124 327 27 63 239 556 27 73 239 646 39 78 345 690 39 108 345 956 TABLE 5 4 Motor Drive Selection NOTES 1 Torques TT are specified as continuous peak stall ratings 2 Drive currents II are specified as continuous peak rms amps per phase 3 Motor peak torques are specified for at least 1 second out of 10 seconds and less than 15 saturation Contact Moog for higher torque at lower duty cycle MOOG T164 SERIES USER S MANUAL 298 5 3 4 SECTION FIVE DESCRIPTION AND SPECIFICATION PERFORMANCE DATA Temperature for Transport and Storage 25 C to 90 Operating Temperature 25 C to 155 C higher
167. OOG T164 SERIES USER S MANUAL 194 SECTION FOUR CONFIGURATION AND TUNING 4 2 6 1 6 SETTING LISTING SP LP VELOCITY LOOP PROPORTIONAL GAIN The SP command sets the velocity loop proportional gain required for tuning in velocity mode refer to Section 4 2 5 4 Velocity Loop Proportional Gain Units Newton meters Radian per Second Velocity Loop Proportional Gain Default Value Depends upon motor model D312 L05 to D313 L40 0 001 303 030A 0 001 D314 L05 to D314 L40 304 1114 to 304 1514 0 01 D315 L10 to D315 L50 305 111A to 305 1414 0 05 D316 L15 to D316 L60 306 1114 to 306 1414 0 2 Velocity Loop Proportional Gain Min Value 1 E 8 Velocity Loop Proportional Gain Max Value 1 E8 Issue C command to permanently save changes made using SP Example usage of SP command gt SP Veloc Loop Gain 1 000E 2 Nm Rad s CR gt command lists the current velocity loop proportional gain Example usage of LP command gt LP lt CR gt Vel Loop Gain 1 000E 2 Nm Rad S gt 4 2 6 1 7 SETTING LISTING STA STM LTA LTM MOTOR TORQUE LIMITS The STA command sets the automatic mode torque limit and the STM command sets the manual mode torque limit The drive current limit value is the lesser of the drive current rating and the motor peak current rating Manual mode is intended to be a reduced power operating mode used for initial tuning or other situations in which full power could present personnel or equipment ha
168. OPTION CARDS 4 1 15 1 EXTENDED FUNCTION CARDS Open the DMC Extended Function Cards dialog box FIGURE 4 45 from the Drive menu This dialog box shows the extended function cards installed in the drive being monitored DMC Extended Function Cards Ed Encoder Simulation Module ESM2 Iv Extra Input Bracket 5 Extended 170 Card Basic Functionality E Extended 170 Card Full Functionality Point Card P Axis ID Card E FIGURE 4 45 DMC Extend Function Cards Dialog Box MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 157 4 1 15 2 ENCODER SIMULATION An optional Encoder Simulation Card may be set up using the Encoder Simulation Card 2 dialog box Open this dialog box via the Encoder button in the Main Window Button Console FIGURE 4 11 or by selecting Encoder under the Setup option of the Drive menu Encoder Simulation Card 2 Ed Line Count 1024 Marker Width Deg 90 Max Speed RPM Encoder Position Deg 2 153 Update Encoder Position FIGURE 4 46 Encoder Simulation Card 2 Dialog Box Configure the Encoder Simulation card ESM using the dialog box as follows Choose the incremental Line Count from the pull down list via the arrow at the end of the Line Count window Discrete range 128 16384 Select a Marker Width from the pull down list at the window end The width choices are 90 180 360 Factory default is 90 See FIGURE 5 21 The Max Speed is
169. OW LAYOUT L Outer Frame Standard Microsoft Windows Frame with minimize maximize and exit Icons Menu Bar Pull down menus to access all WinDrive features Main Tool Bar Icon buttons for various functions and commands WinDrive Status Bar 1 Compensator Mode Drive Status Fault Status Axis ID D D DO D Main Window Button Console Six buttons to access the primary Configure Tune Dialog Boxes Data Logger Plots Contains the output of one two data logging channels for drive parameters Log File Display Displays Log File contents of a recording or previously recorded Log WinDrive Status Bar 2 Displays status of Read Write parameter Drive State Limit Switches GUI Mode Logging Communications PC Interface Bar Tool Bar Help Caps Lock Num Lock Scroll Lock Floating Toolbar Quick Stop Enable Drive Disable Drive buttons NOTE The Main Window Button Console Log File Display and Data Logger Plots are broken into a three way split window The mouse cursor converts to a vertical or horizontal resize cursor while over top of a divider line To resize one of the windows hold down the left mouse button while over top of the windows divider line and move the mouse 4 1 7 ACCESSING FUNCTIONS 4 1 7 1 MENU BAR 4 1 7 1 1 FILE MENU OPTIONS Open Opens a previously saved log file extension log or data logger file extension mdl file Save Saves the current data logger or
170. R SYSTEM E M 5 FIGURE 1 2 T164 90X BOXCAR 5 5 7 FIGURE 2 1 POWER LINE FILTER ROUTING 4 44 4 ener eren eren en en en 23 FIGURE 2 2 TYPICAL INSTALLATION CONFIGURATION WITH SUPPRESSION MEASURES INSTALLED VE 26 FIGURE 2 3 TYPICAL SINGLE AXIS SYSTEM PICTORIAL DIAGRAM 44 4 8 29 FIGURE 2 4 TYPICAL SYSTEM SCHEMATIC DIAGRAM 2 31 FIGURE 2 5 TYPICAL SYSTEM SCHEMATIC 32 FIGURE 2 6 T150 901 POWER SUPPLY INSTALLATION ccccccccecececececececececececececececececececececeeececececececesess 33 FIGURE 2 7 T164 901 164 903 AND T164 905 DIGITAL MOTOR 34 FIGURE 2 8 T164 907 909 DIGITAL MOTOR DRIVE cccecsessececececeesssececececeeseaececececseseseceseeeeeeneaees 35 FIGURE 2 9 T150 901 POWER SUPPLY 40 WATT REGEN CONFIGURATION ecce ene eneneneneneni 40 FIGURE 2 10 FINAL CONFIGURATION LABEL MOUNTING LOCATION ccccccsesesesecesecssececeeseeseseeeseceeess 40 FIGURE 2 11 T150 901 POWER SUPPLY 240 WATT REGEN CONFIGURATION ccce 42 FIGURE 2 12 FINAL CONFIGURATION LABEL MOUNTING LOCATION 42 FIGURE 2 13 T150 901 POWER SUPPLY 600 WATT REGEN CONFIGURATION ecce 44 FIGURE 2 14 FINAL CONFIGURATION LABEL MOUNTING 20 2 4 44444 4 4 0
171. S CONTRDLLER MOTOR MOTOR 24VDC LOGIC POWER POWER POWER OPTION 241Q TO USER S 24VDC BRAKE SUPPLY AND CONTROL CIRCUITS INTERLOCKS USER 1 0 H H4 4 5 gt 5 gt 5 gt CONNECTIONS o o NDTES 123456783 1 2345678910 couch TION 56 78 12 43 56 78 12 43 NUES STANDARD 1 0 RESOLVER PORT RESOLVER RESOLVER DO NOT FUSE OR SWITCH T164 SERIES 5415 5416 DIGITAL MOTOR 43 BRUSHLESS BRUSHLESS SIZE WIRE FOR LOAD CONTROLLER MOTOR MOTOR 8 AWG FOR MODEL T184 907 AWG FOR MODEL 164 909 24VDC LOGIC POWER POWER OPTION P PPP WIRING OF CONTROLLER TB2 POWER TERMINAL SHOWN FOR MODELS T164 901 903 905 TO USER S 24VDC BRAKE SUPPLY AND CONTROL CIRCUITS INTERLOCKS FIGURE 2 5 TYPICAL SYSTEM SCHEMATIC DIAGRAM B MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 33 Piet oPEN cOLLECTOR OUTPUT 201 c 2 91 POF EMMITER TB3 TERMINAL 1 DN ON Saa AE TERMINAL 1 Ne wie a
172. S EXTENDED I O OPTION M Manual mode enable disable O enable disable Observer R input command Reference source T IT limit settings Z automatic input offset Zero MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 275 Query Operating Conditions OPERATING CONDITIONS B Bridge drive temperature E Encoder position Degrees REQUIRES ENCODER SIMULATION OPTION F Faults H Help L current Limits M Motor temperature P motor shaft Position Degrees S drive State V motor shaft Velocity RPM MOOG T164 SERIES USER S MANUAL 276 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 COMPONENT DESCRIPTION AND SPECIFICATION This section provides descriptions and specifications for the T150 901 Power Supply the T164 Series Drives the Hand Held Service Terminal the Encoder Simulation Option card the Extended Option Card s the CAN Interface card the Extended Inputs Bracket and the G4XX Series Motors 5 1 POWER SUPPLY DESCRIPTION SPECIFICATIONS The power supply has the following features Integral Heat Sink and Cooling Fan Three Phase a c Operation Direct Off Line 220 V r m s Operation Soft Start a c Inrush Current Limiting Input MOV Transient Protection Integral Shunt Regulator Fast Bus Discharge Phase Loss Detection Provision for External Regen Resistor Regen Electronic Circuit Breaker Power Supply Fault Opto isolator Diagnostic LEDs
173. S USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 177 SOFTWARE PROGRAMMABLE FUNCTION GENERATOR hE A SOFTWARE SOFTWARE SWITCH AUTOMATIC MODE VELOCITY LIMIT INPUT 10V REFERENCE SWITCH ANALOG REFERENCE A D PAOLO SLM LLM COMMAND SOFTWARE Fp SWITCH PROGRAMMABLE OFFSET MANUAL MODE VELOCITY LIMIT 02 01 SI LI Sp AUTOMATIC MODE 571 TORQUE LIMIT eia IT 2 STM LTM FOLDBACK SECOND Gp ORDER d FILTER SP LP SW LW MANUAL MODE TORQUE LIMIT pe SOFTWARE SWITCH POSITION VELOCITY A D R CONVERSION VELOCITY OBSERVER SJ LJ VELOCITY MODE COMPENSATOR AN HARDWARE CONTROLABLE WHEN EXTENDED 1 0 OPTION CARD IS USED FIGURE 4 53 Velocity Mode Block Diagram 4 2 5 1 2 TORQUE MODE FIGURE 4 54 is a block diagram depicting the T 164 Series Drive control loop in torque mode Software commands are shown outlined above or below the appropriate block which they affect Operation is the same as explained above in Section 4 2 5 1 1 except that the input command reference is now a torque command instead of a velocity command and the velocity scale factor velocity observer and P and I loop compensation networks are not used MOOG T164 SERIES USER S MANUAL 178 SECTION FOUR CONFIGURATION AND TUNING 4 2 5 1 3 AUTOMATIC MANUAL MODE Automatic and manual modes pertain to the torque and veloci
174. S485 O Expansion Cards 0 None ESM B89378 001 Software Revision 2 CAN isolated C09242 001 4 CAN non isolation C09242 003 Hx Windrive 5 Point B92214 004 Cx Moogterm 6 Extended I O B89666 002 Gx CAN Profile Mode 7 Extra Inputs Bracket 1st slot only 09743 001 8 Extended I O Card Full Version B89666 003 For the Expansion Cards The first digit equals first slot second digit equals second slot slot 1 should be used prior to using slot 2 FIGURE 1 2 T164 90X Boxcar System MOOG T164 SERIES USER S MANUAL 8 SECTION ONE GENERAL INFORMATION 1 1 5 SERIAL SET UP TERMINAL USER SUPPLIED A serial communication port is provided for configuration and monitoring of the T 164 Series Drive An RS232 interface should be established for drive communications using a user supplied IBM compatible personal service set up computer PC or a hand held service terminal See also Section 4 3 of this Users Manual The hand held terminal or personal computer are service engineer tools only and must be installed so that use of the key sequences which allow control of the machine functions is accessible to authorized qualified service personnel only All such hand held service terminals or service set up computers must be CE marked as compliant with the EU EMC Directive 1 1 6 VD C POWER SUPPLY USER SUPPLIED To develop control power the user must supply a 24 Vd c power supply The 24 Vd c cont
175. SEARCHING FOR A HELP TOPIC In the MoogHelp dialog box select the SEARCH button From the Help Topics Moog Help dialog box FIGURE 4 10 enter or select By double clicking on one of the subjects in the lower portion of the screen the topic you are searching for From within MoogHelp click on any highlighted underlined word to be transferred to the corresponding help topic NOTE The mouse pointer becomes a hand when at a Help Link MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 113 rua E cesset FIGURE 4 10 Help Topics MoogHelp Dialog Box 4 1 6 MAIN WINDOW FEATURES The WinDrive Main Window provides a Graphical User Interface GUI to setup and monitor the system drive s Outer Menu Bar Leg Dita Legge Lew Lies Ves Frame Main Tool ap el ie d Eod ee 31 Bar LkwacWi 0 ITE Wu WinDrive Status Uns 1 Motor 427 400 Main Window Button Console Data Logger Plots e mpm eje Ispla j zelus APM ZInducrance mH REFEHENCESELECT REFEHENCESELECT WinDrive PC Congas Mac Kappa a Status Bar 2 Interface Esai I Bar FIGURE 4 11 WinDrive Main Screen T164 SERIES USER S MANUAL 114 SECTION FOUR CONFIGURATION AND TUNING 4 1 6 1 WIND
176. SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION Motor Series G4x5 Speed rpm 0 200 400 600 800 1000 100 1400 160 Radial Load Capacity N FIGURE 5 17 Radial Load Capacity G4x5 Motor Series G4x6 8000 7000 6000 g 8 o 4000 O 9 3000 2000 1000 0 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Radial Load Capacity N FIGURE 5 18 Radial Load Capacity G4x6 MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 305 5 3 5 4 COUPLING A flexible coupling offers the advantages of economy allowance for misalignment and reduction of backlash Flexible disc or bellows style couplings are recommended The couplings are available for both plain shaft as well as for slot and key configurations The shaft key should then be a close clearance or light press fit into the coupling key way Refer to FIGURE 5 19 for flexible coupling detail CAUTION rigid coupling should not be used Normal runouts and eccentricities will result in damage to motor and or load shaft and bearings LOA 3 A 1 ETIA 2 m SHAF a 5 H H nU ATTK ad 4 Fr 7 cC KEY MOTOR SHAFT i RR 1 ZH gt DOUB FLEXIB COUPLING DETA FLEXIBLE COUPLING FIGURE 5 19 MOTOR LOA
177. Section 4 3 5 2 Jest may be adjusted in this mode using U and or D commands followed by E to exit gain adjust mode or using the SJ LJ commands refer to Section 4 3 6 1 4 FIGURE 4 65 B also shows Berr when is tuned correctly Serr steps with a slight ripple superimposed 9er is a measure of the model uncertainty and of any disturbance torque which may be present Normally there will be some viscous friction present so that Berr will step appropriately when the shaft velocity makes a step change NOTE If Gay oscillates excessively when the velocity makes a step change as shown in FIGURE 4 65 C then do not use the observer since the load may not be modeled adequately by the observer As a final check of proper tuning enter OFA4 to monitor observer velocity on TP1 and compare it with the actual velocity response which was shown on TP2 in FIGURE 4 65 A These should be identical Switch on the observer by using the OO command reference Section 4 3 6 4 4 and then Y to the subsequent prompt FIGURE 4 65 D shows the velocity loop response when the observer is switched into the loop Note the lack of overshoot because of a better measurement of velocity The servo noise generated is also reduced MOOG T164 SERIES USER S MANUAL 242 SECTION FOUR CONFIGURATION AND TUNING In order to achieve higher gains the compensator filter frequency may now be set higher using the SW command refer to Section 4 3
178. TOR 305 FIGURE 5 20 ENCODER SIMULATION OPTION CARD BLOCK DIAGRAM 314 FIGURE 5 21 ENCODER SIMULATION OPTION OUTPUT WAVEFORMS 315 FIGURE 5 22 EXTENDED I O OPTION CARD FULL VERSION BLOCK DIAGRAM B89666 003 317 FIGURE 5 23 EXTENDED I O OPTION CARD STD I O BLOCK DIAGRAM 89666 002 319 FIGURE 5 24 C09242 00X CAN INTERFACE MODULE OPTION eene 321 FIGURE 5 25 EXTENDED INPUTS BRACKET OPTION BLOCK DIAGRAM Ht 323 MOOG T164 SERIES USER S MANUAL INDEX 355 INDEX OF TABLES TABLE 1 1 MODEL T164 SERIES DEFINITION 6 TABLE 2 1 ESTIMATED POWER DISSIPATION FOR THE T164 SERIES 30 TABLE 2 2 POWER SUPPLY CONTINUOUS REGEN POWER OPTIONS eee ne n nnn enne 38 TABLE 2 3 MAXIMUM ALLOWABLE CONDUCTOR 57 TABLE 4 MOTOR POWER CABLE ete Neue EHE Ge 79 TABLE 2 5 MOTOR RESOLVER n n s nan a n 80 TABLE 2 6 MOTOR POWER CABLE 83 TABLE 2 7 CABLE ASSEMBLY eder EUR 84 TABLE 4 1 DESCRIPTION OF 5 162 TABLE 4 2 SOFTWARE CONFIGURABLE
179. The user needs to tune only one additional parameter to use the observer The observer is set up using the following procedure Tune the velocity loop using the normal procedure described in Section 4 2 5 4 FIGURE 4 56 A shows a typical tuned velocity loop response to a step reference command It shows the torque response on the drives TP1 test point and the actual velocity response on TP2 The size of the step velocity reference should be small enough to avoid saturation of the torque signal Note the single overshoot of about 24 in the velocity response and the 12 ms settling time Tune the observer by setting up the observer inertia parameter Jest Monitor the observer error signal at the drives TP1 test point by using the OFAS command FIGURE 4 56 B shows the usual starting point for tuning Jest is too small Use the JU JD or SJ commands to adjust Jest refer to Sections 4 2 5 2 and 4 2 6 1 2 FIGURE 4 56 B also shows Berr when Jest is tuned correctly Serr steps with a slight ripple superimposed is a measure of the model uncertainty and of any disturbance torque which may be present Normally there will be some viscous friction present so that Berr will step appropriately when the shaft velocity makes a step change NOTE If err oscillates excessively when the velocity makes a step change as shown in FIGURE 4 56 then do not use the observer since the load may not be modeled adequately by the obser
180. UAL SECTION FOUR CONFIGURATION AND TUNING 121 4 1 7 5 FLOATING TOOL BAR The Floating Toolbar controls power to the motor and can be moved as required about the screen Stop F2 Drive Enable F3 and Drive Disable F4 commands are accessible see section 4 1 7 3 for command definition from the Floating Toolbar The buttons can be selected with the mouse or the appropriate function key The Floating Toolbar operates exclusively in the foreground and may still be used if WinDrive is being run as a background task a 5 Stop F2 si rs FIGURE 4 12 Floating Toolbar 4 1 8 COMMUNICATION MODE CONFIGURATION AND USAGE 4 1 8 1 CHANGING COMMUNICATION MODE OR PORT To change the PC communication port while in WinDrive select Reset Comm from the Low Level menu The Communication Port FIGURE 4 4 dialog box will appear from it select a new communications port or select Off line to work Off line 4 1 9 WINDRIVE MONITORING 4 1 9 1 DATA LOGGER WinDrive s Data Logger function is used for monitoring and recording system parameters This information is read by WinDrive and plotted in the Data Logger Output Window 4 1 9 1 1 DATA LOGGER SETUP Open the Data Logger Setup dialog box using the Data Logger Set Up Icon or from the Setup option in the Data Logger menu MOOG T164 SERIES USER S MANUAL 122 SECTION FOUR CONFIGURATION AND TUNING Data Logger Setup Data Logger Mode C Cha
181. UAL SECTION FOUR CONFIGURATION AND TUNING 251 4 3 6 1 6 LISTING LM MOTOR PARAMETERS The LM command lists the current motor parameters Motor Model Number Motor Torque Constant Number of Motor Poles Motor Maximum No Load Speed Motor Peak Current lp Motor Continuous Current lc Example usage of LM command gt LM lt CR gt Motor G422 200 more CH Press RETURN or any key to proceed Kt Nm Arms 3 699E 1 more CH Press RETURN or any key to proceed Number Motor Poles 8 more CH Press RETURN or any key to proceed Resolver Pole Pairs 1 more CH Press RETURN or any key to proceed Max Speed RPM 8 100E 3 more CH Press RETURN or any key to proceed Ip Arms 1 899E 0 more CH Press RETURN or any key to proceed Ic Arms 6 499E 1 more CH Press RETURN or any key to proceed Prog Current Loop Gain 11 EO MOOG T164 SERIES USER S MANUAL 252 SECTION FOUR CONFIGURATION AND TUNING more CH Press RETURN or any key to proceed Ltt mH 29 7 EO more CH Press RETURN or any key to proceed Rtt Ohms 50 9 0 more lt gt Press RETURN or any key to proceed Current Control Max Speed RPM 8 100E3 gt 4 3 6 1 7 SETTING LISTING SN LN VELOCITY SCALING The SN command selects the velocity scaling The velocity scaling is the speed that corresponds to a 10 volt input velociiy command No
182. UNING ow zb pep e ejes A MOOG BRUSHLESS TECHNOLOGY FIGURE 4 57 Configuration Select Screen In the Communications Mode screen enter the number corresponding to the RS mode of communication FIGURE 4 58 w 2 Exe e efe COMMUNICATIONS MODE Grabau Select a Communications Mode between Moogterm and Drive FIGURE 4 58 Communications Mode Screen MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 221 In the Communications Port Selection screen enter the number of the PC communication port linked to the drive FIGURE 4 59 COMMUNICATIONS PORT SELECTION SERIAL 1 CONM1 Default COM2 gt Select a Communications Port for Moogterm to Drive Communication lt FIGURE 4 59 Communications Port Selection Screen MOOG T164 SERIES USER S MANUAL 222 SECTION FOUR CONFIGURATION AND TUNING A Controller Type Selection screen will appear Select option two 2 from the list FIGURE 4 60 Controller Type Selection Screen 4 3 2 3 MAIN EMULATOR SCREEN FEATURES The Moogterm Main Emulator Screen provides a User Interface to setup and monitor the system drive s 4 3 2 4 SCREEN LAYOUT Screen Footer List of available commands Center of Screen Used to input command set and view drive data MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 223 FIGURE 4 61 Main Emulator Screen 4
183. V d c drop under normal operation 4 Output open circuits to indicate Drive fault 5 Output shorts to indicate foldback active d c Bus Overvoltage Fault Trip Level 415 Vd c 4 Serial Interface Type RS232 Baud Rate 9600 Parity None Data word 10 bit 7 data 1 start 2 stop Resolver Interface Excitation Frequency 4 9 kHz Excitation Output 4 0 V r m s 100 mA Sine Cosine Return 2 0 V r m s 30 KO input impedance differential Efficiency gt 95 6 6 Rated Continuous Current 50 Rated Output Voltage Velocity Loop Update Rate 2 5 kHz 24 V d c Control Power Input21 35 V d c 1 5 Amp Min Baseplate Overtemperature Trip Point 90 C 5 C MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 291 Operating Temperature Range 0 55 C ambient Humidity 596 to 9596 non condensing Altitude 3300 feet T Derate output 2 per 1000 feet above 3300 feet Weight T164 901 through 905 4 8 kg 10 5 Ib T164 907 909 5 9 kg 13 Ib MOOG T164 SERIES USER S MANUAL 292 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 3 G400 SERIES MOTORS The motor described in the following are standard motors For special configurations like frameless motors encoder attachments please consult Moog 5 3 1 BRUSHLESS TECHNOLOGY The mechanical design of the brushless bl servomotor is similar to a synchronous machine while its principle of operation corresponds with that
184. VE COMPONENT IDENTIFICATION cere 284 FIGURE 5 4 T164 SERIES DRIVE BLOCK 8 287 FIGURE 5 5 gt PRINCIPLE OF DO MOTOR sio nere VERSER GUI Er A eee 292 FIGURE 5 6 PRINCIPLE SERVOMOTOR 4 4 292 FIGURE 5 7 D C MOTOR WITH MAGNETIC FIELDS n emen enne enne enne enne ener eene ene 292 FIGURE 5 8 SERVOMOTOR WITH MAGNETIC FIELDS n 292 FIGURE 5 9 SERVOMOTOR 44 44 293 FIGURE 5 10 BL SERVOMOTOR HIGH LOAD n Lal 293 FIGURE 5 11 SYNCHRONOUS MOTOR LOW LOAD ccccccesecesecececececececececececececececececececeeseseeeeeeeeeess 293 FIGURE 5 12 SYNCHRONOUS MOTOR HIGH LOAD cccccccececesecececececececececececececececececeeseeeeceeececess 293 FIGURE 5 13 EXAMPLE 295 FIGURE 5 14 RADIAL LOAD CAPACITY 4 2 l T u ut sese inier ense eren eren eren ener en nen 302 FIGURE 5 15 RADIAL LOAD CAPACITY G4X3 aun au eren ener en een 303 FIGURE 5 16 RADIAL LOAD CAPACITY GAXA 00000 00044440000 303 FIGURE 5 17 RADIAL LOAD CAPACITY GAXS 304 FIGURE 5 18 RADIAL LOAD CAPACITY G4X6 eren eren een 304 FIGURE 5 19 MO
185. WARE CONTROLABLE WHEN EXTENDED I O OPTION CARD IS USED FIGURE 4 54 Torque Mode Block Diagram MOOG T164 SERIES USER S MANUAL 180 SECTION FOUR CONFIGURATION AND TUNING 4 2 5 2 GAIN ADJUST MODE The gain adjust mode is for use during tuning of the velocity loop parameters Integral Time Constant I the Observer Inertia J the Velocity Loop Proportional Gain P and the Position Mode loop gain G Use the following list of functions to perform the described action to the gain variables S to set the parameter directly ie gt SP to set the Velocity Loop Proportional Gain L to list the present value of the parameter ie gt LP to list the Velocity Loop Proportional Gain U to increase the parameter incrementally ie gt PU to incrementally increase the velocity loop gain Q D to decrease the parameter incrementally ie gt PD to incrementally decrease the velocity gain Both the XU substitute either P l or J for X and the XD commands operate an incremental mode that acts like a non linear software potentiometer Each time the XU command is successively issued the gain increase factor becomes 5 larger than the previous gain increase factor Thus after issuing one XU command the second gain value is 1 05 times the first gain value and after issuing a second XU command the third gain value is 1 1025 times the second gain value and 1 158 times the first gain value This process continues until the gain i
186. a Moogterm on the command line and press return The text file Readme txt describes the operation of the setup file Follow the configuration steps shown below In the Configuration screen select C to proceed to the communications mode configuration ESC to exit Moogterm Pressing Return sets the communications and port ID to the defaults in the cfg file If a cfg file does not exist the user is sent to the communication mode screen MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 165 e d Ee E efe Al MOOG BRUSHLESS TECHNOLOGY FIGURE 4 48 Configuration Select Screen In the Communications Mode screen enter the number corresponding to the RS mode of communication FIGURE 4 49 aw iee A COMMUNICATIONS MODE nverter Select a Communications Mode between Moogterm and Drive FIGURE 4 49 Communications Mode Screen MOOG T164 SERIES USER S MANUAL 166 SECTION FOUR CONFIGURATION AND TUNING In the Communications Port Selection screen enter the number of the PC communication port linked to the drive FIGURE 4 50 o s alele 5 COMMUNICATIONS PORT SELECTION SERIAL PORT DE COMI Default COMZ gt Select a Communications Port for Moogterm to Drive Communication lt FIGURE 4 50 Communications Port Selection Screen A Controller Type Selection screen will appear Se
187. age of OR command gt OR CR Options 1 Analog Ref 2 Function Gen 3 Point I F 2 1 lt CR gt Enter 1 2 or 3 to choose command reference gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 201 4 2 6 4 2 CONTROL COMPENSATOR SELECTION OC The OC command selects between torque 1 velocity 2 modes of operation Default State Velocity Mode Compensator NOTE Changing the compensator will reset all parameters to default values Issue C command to permanently save changes made using OC Example usage of OC command gt lt gt Options 1 Torque Mode 2 Velocity Mode 2 Enter 1 for Torque Mode 2 for Velocity Mode The SYSTEM FAULT LED flashes during reconfiguration 4 2 6 4 3 REFERENCE INPUT FILTER OA The OA command enables or disables the command reference input filter This is a low pass filter with a 3dB point of 1 KHz refer to Section 5 2 2 3 It is used to attenuate high frequency noise on the input command signal Default State Reference Filter Enabled Issue C command to permanently save changes made using OA Example usage of OA command gt OA lt CR gt Enable Analog Reference Filter Y N Yes lt gt Reply Y to enable N to disable filter gt MOOG T164 SERIES USER S MANUAL 202 SECTION FOUR CONFIGURATION AND TUNING 4 2 6 4 4 OBSERVER ENABLE DISABLE OO The OO command enables or disable
188. and has set its parameters to the following safe values before returning to the main menu Drive in Velocity Mode Thermal protection enabled Brake control full extended I O option card Analog Reference Filter enabled Limit switches disabled enabled if Extended I O option card present Manual mode disabled enabled if Extended I O option card present Speed scaling set to nominal value of motor speed Low P gain and long I time constant for velocity loop compensator MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 173 This new configuration data will be lost when power is removed until it is saved to EEPROM refer to Section 4 2 5 7 However this step should wait until all setup and tuning procedures of Sections 4 2 4 and 4 2 5 are completed NOTE Re configuring the drive by changing the motor type the compensator will cause all previous tuning information to be lost Option parameters including Encoder Simulation will also be lost It is therefore desirable to follow Sections 4 2 4 and 4 2 5 in sequence 4 2 4 2 NON STANDARD MOTOR CONFIGURATION Applications employing non standard motor models require the data listed on the following two 2 pages Skip this Section if using a standard motor NOTE The following conversions are useful for motor parameters K Nm Arms 113 Ib in Arms Arms To Nm K Nm Arms where lp
189. and install all cables in a fixed routing Data signal cables motor and resolver cables regen resistor cables and power input cables shall have segregated routings Where cable routings must intersect it is recommended that they intersect at an angle of 90 degrees to minimize EMC noise coupling Where signal and power cables must run in parallel it is recommended that these cables are separated by at least 20 cm Where possible cables should be routed in earthed shielded cable ducting to minimize electromagnetic noise coupling Use shielded or armored cable to connect the external regen resistor if installed to the T150 901 power supply The length of this cable should be as short as possible The shields of these voltage supply cables should be earthed to Chassis Earth using a 180 degree metal clamp P clip connection to ensure a good HF earth bond Secure the clip using conductive bolts and locking washers Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be earthed to the panel by use of a 360 degree metal cable gland Refer to Section 1 2 1 and Section 2 7 for safety and other relevant installation requirements for Regen resistors Cables supplying external d c supply voltages to the T164 Series Drives For example the 24 Vd c supply must be as short as possible The supply wires should be twisted together or alternatively shielded cable should be used
190. and to permanently save changes made using OO Example usage of OO command gt lt gt Use Observer Velocity Estimate Y N Y Reply Y to enable any other key to disable observer gt 4 3 6 4 5 INPUT OFFSET ADJUST OI The Ol command adjusts the input offset voltage Offset Units mVolts Default Offset Value 0 Min Offset Value 700 Max Offset Value 700 Issue C command to permanently save changes made using Ol Example usage of Ol command gt Ol lt CR gt Input Offset 0 0 mV Current value displayed 100 CH Enter desired offset value gt 4 3 6 4 6 OFFSET ADJUST OZ The automatic offset adjust command OZ allows the input voltage to be automatically nulled to compensate external and internal offsets The correct procedure for use is Set command value from the host PLC etc to zero Issue the OZ command at the gt prompt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 263 On receiving the OZ command the drive takes 200 ms to determine the average of the next 100 samples of the analog reference voltage and place the negative of the result in the input offset register The offset will be limited to a maximum value of 700 mV The default offset value is 0 mV Issue command to permanently save changes made using OZ Example usage of OZ command gt OZ lt CR gt Offset Nulled C to Save gt 4 3 6 4
191. appropriate limit of the range Note that no message is displayed when entries are truncated Thus it is good practice to list all parameters using the appropriate L command after they have been entered All parameters may be set or listed when the motor is running However it is advisable to avoid large changes in parameters when the motor is running Other features of the main menu are The CTRL X key combination will reset the T164 Series Drive and has the same effect on drive firmware as turning the power off then on Commands entered are not case sensitive e g SP and sp are both recognized When more is displayed enter any character to continue When current values of parameters are presented they may be accepted by pressing RETURN CR 4 2 4 DRIVE INITIALIZATION NOTE The installation and wiring described in Section 2 should be completed and verified before proceeding with drive initialization CAUTION The 7164 Series Drives should not be enabled during a c power up until the Power Supply Fault Output clears The user must supply logic to accomplish this interlock Failure to delay enabling of the Drives or having any other external load on the T150 901 Power Supply on a c power up will defeat the proper operation of the soft ml circuitry in the T150 901 Power Supply and can result in tripping of the a c input circuit breaker and or damage to the T150 901 P
192. ar or Enable Controller option in the Drive menu Check the Automatic Update box in the Tuning dialog box to force changes made to P or to be immediately sent to the drive Place the cursor in the Velocity Loop Gain field P and use either the up arrow at the right end of the field or the up arrow keyboard key to increase the P gain until the motor shaft begins turning Continue increasing the Velocity Loop Gain P while monitoring the Actual Velocity on the Data logger Plot or via an oscilloscope from the Front Panel Test Point Increase P until a slight overshoot occurs in the velocity response as seen in FIGURE 4 41A Decrease the Velocity Loop Gain P by using the down arrow at the right end of the field or the down arrow keyboard key Decrease P until the overshoot just disappears see FIGURE 4 41C Place the cursor in the Integral Time Const field 1 while still monitoring the Actual Velocity Decrease using the down arrow or the down key until a slight overshoot occurs in the velocity response again Place the cursor back in the Velocity Loop Gain P field and increase the value until the slope of the step response is similar to that in FIGURE 4 41D MOOG T164 SERIES USER S MANUAL 150 SECTION FOUR CONFIGURATION AND TUNING For Advanced Velocity Mode tuning options see section 4 1 13 6 When finished Tuning select the Exit button and proceed to section 4 1 11 3 for directions on Save to EEPROM
193. are being used 4 1 7 2 TOOLBAR ICONS The Tool Bar contains fifteen 15 icons which from left to right perform the following functions File Open Icon Opens previously saved datalogger plots and log files This function is also available from the main application menu under File Open File Save Icon Saves Current data logger plots or log files to disk for future use This function is also available from the main application menu under File Save Data Logger Control Panel Icon Opens the Data Logger Control Panel dialog Box This dialog box may also be opened from the main application menu under Data Logger Control Panel Fi BL li T MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 119 YI A Data Logger Set up Icon The Data Logger operating parameters are set up from this dialog box This function may also be opened from the main application menu under Data Logger Setup Engineering User Interface System parameters can be viewed and changed within the E U dialog box This function may also be opened from the main application menu under Low Level E U l Input Separate Plots Icon Separates data logger plots into separate windows This function is also available from the main application menu under Plots Display Individual Combine Plots Icon Superimposes the two current data logger plots into one window Also available from the main application menu under Plots Display S
194. are designated by the following type font 1 000 Y N The RETURN or ENTER key on the terminal is designated by the following symbol lt CR gt NOTE The procedures section 4 3 written for use with DMC firmware version C4 dated 01 15 98 The user must consult Moog for updates to the procedure for drives with any other software or firmware version date The T164 Series Drives utilize principally metric units TABLE 4 5 provides descriptions of the abbreviations used for units throughout Section 4 3 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 217 Abbreviation Unit Measure of Nm Newton meters Torque kg m2 Kilogram meter2 Inertia Rads sec Radians per second Velocity RPM Revolutions per minute Velocity Rads sec2 Radians per second2 Acceleration Hz Hertz Frequency 5 Seconds Time Aeff Peak of Wave Form Amperes Current Arms Root Mean Square Amperes Current TABLE 4 5 Description of Units 4 3 1 SERIAL COMMUNICATIONS The communication link between the T164 Series Drive and the terminal is half duplex the drive ignores commands when writing to the terminal WARNING hardware enable disable switch wired so that the motor can bef stopped quickly in an emergency must be provided at all ded Software enable disable commands do not meet safety requirements and
195. ariable value becomes true DL Control Panel Status Channel 1 Finished Status Channel 2 Finished FIGURE 4 15 Data Logger Control Panel Dialog Box MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 125 4 1 9 2 DATA LOGGER PLOTS Following the completion of data logging the information is plotted on charts in the Data Logger Display Window This information can be manipulated as follows 4 1 9 2 1 FORMATTING DATA PLOTS Plot data layout can be changed by selecting one 1 of the following plotting choices from the Display choice in the Plot menu or the Plotting icons on the tool bar C Superimposed Displays a single graph with two plots channel 1 and channel 2 Individual Displays each channel plot on separate graphs Channel one 1 is in the upper half or the display window channel two 2 is in the lower half Blow Up Expands the selected graph to fill the data logger display window To select a graph left click the mouse while the pointer is over the graph Restore Graph Redraws current plots C Keep Previous Select this to keep the previous set of plots The next set of plots created will then be overlaid on the previous plots 4 1 9 2 2 STORING PLOT DATA To Store plot select the Keep Previous option from the Display choice under the Plot menu The previous plot will remain on the graph along with the current data superimposed over it
196. ate FIGURE 5 20 is a block diagram of the Encoder Simulation option card 5 5 1 1 A AND B OUTPUTS The A and B outputs are in quadrature i e B will lead A by 90 when the motor is rotating clockwise CW as viewed looking at the motor front mounting plate and A will lead B by 90 when the motor is rotating counterclockwise CCW The phase relationship of A and B can be used to determine motor direction Since the Encoder Simulation outputs are in true quadrature the ripple associated with the duty cycle variation of a normal encoder is avoided when using X2 or X4 counting schemes MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 313 The resolution of the Encoder Simulation in pulses per revolution ppr is programmable from 128 ppr to 16384 ppr The factory default resolution is 1024 ppr The allowable motor operating speed range is reduced at higher Encoder Simulation resolutions as indicated in TABLE 5 14 R D Resolution Line Count Motor Speed Range Bits Pulse Per Rev RPM 16 16384 0 1400 16 0 1400 14 4096 0 6000 2048 0 6000 1024 0 15000 12 512 0 15000 256 0 15000 128 0 15000 TABLE 5 14 ENCODER SIMULATION CONFIGURATION OPTIONS 5 5 1 2 MARKER PULSE The MARKER or INDEX pulse is used to indicate a reference point within one mechanical revolution of the motor shaft NOTE The marker pulse is not referenced to the key of the motor shaft or housing
197. bed this page with the power The T150 901 Power Supply contains lethal and d c voltages operation Switch off all incoming a c power ensure all motors are eene wait five 5 minutes ensure all front panel LEDs are off remove tape exposed wire ends from TB1 TB2 before removing the cover and configuring external Regen resistors or fuses MOOG T164 SERIES USER S MANUAL 40 SECTION TWO INSTALLATION AND WIRING 4 7 c dl AC O AN AU n DE 1 ij Q 4214 9 ili 169 2 M 4 J FIGURE 2 9 T150 901 Power Supply 40 Watt Regen Configuration Rating label TIGHTEN TO 1 8Nm 16 in Ibs MIN 75 C COPPER WIRE ONLY U U n dict dict d c 4 n n n n n TB2 1 2 3
198. before proceeding If the EEPROM contains configuration data the drive will display the following message EEPROM Start Wait The drive saves data in its EEPROM which is a non volatile memory When power is applied the drive will attempt to initialize itself using the data its EEPROM If a valid set of parameters is in EEPROM the following message is then displayed Parameters Set from EEPROM The drive will be ready to enable once the red SYSTEM FAULT LED stops flashing The drive will then print its sign on message which identifies the software version and EEPROM ID number Moog T164 00X Drive Model Number Ver02 04 05 93 Software Version Date EEPROM ID 0 more CH Press RETURN or any key to proceed If the user knows the configuration and parameters are satisfactory the drive may be enabled without any further input from the terminal This would be the normal procedure after initialization and tuning have been completed After the user presses any key to continue the drive proceeds to the main menu MOOG T164 SERIES USER S MANUAL 228 SECTION FOUR CONFIGURATION AND TUNING Enter first letter of command or H for help gt 4 3 4 1 STANDARD MOTOR CONFIGURATION The T164 90X has motor parameters installed for the 300 series D31X series and G4XX series motors These are considered standard motors For non standard motors parameters are required to be entered manually Drive configuration
199. bled more lt CR gt Press RETURN or any key to proceed Reference Filter In more lt CR gt Press RETURN or any key to proceed Velocity Observer Disabled gt MOOG T164 SERIES USER S MANUAL 260 SECTION FOUR CONFIGURATION AND TUNING 4 3 6 3 7 FAULTS F The F command lists the present fault status including what faults have occurred and what faults are still present Faults reported are Resolver Fault Controller Over temperature Short Circuit Fault Logic Power Supply Fault Motor Over temperature Bus Over voltage Example usage of F command gt F Resolver Fault Occurred more CR Resolver Fault Present more CH gt 4 3 6 4 OPTIONS 4 3 6 4 1 COMPENSATOR REFERENCE SOURCE OR The OR command selects either the analog input or the software function generator as the input command reference source Default State Analog Input Issue C command to permanently save changes made using OR Example usage of OR command gt OR lt CR gt Command Reference Initialization Sure Y N Y Enter Y to continue any other key to abort Options 1 Analog Ref 2 Function Gen 3 Point I F 1 2 gt gt 1 Enter 1 2 or 3 for Reference mode selection Analog Initialization The SYSTEM FAULT LED flashes during reconfiguration gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 261 4 3 6 4 2 CONTROL COMPENSATOR SELECTION OC The
200. brackets Observe mounting location requirements of Section 2 5 of this Users Manual Mounting bracket feet may be turned in to conserve space Connect one end of each external regen resistor to pins 1 and 2 of TB5 wiring each pin separately 3 Connect the other end of each regen resistor to the fuse block s 4 Connect the other end of the fuse block s to pins 3 and 4 of TB5 using a separate wire to each pin of TB5 Install the supplied 12A regen fuse s in the fuse block Place the supplied Final Configuration Label along the bottom of the housing beside TB2 as shown in FIGURE 2 16 MOOG T164 SERIES USER S MANUAL 46 SECTION TWO INSTALLATION AND WIRING 44 274 250 10 79 9 84 Y 1 Ta OPTION 2 OPTION 1 2kW OPTION REQUIRES 1kW OPTION REQUIRES TWO 1kW REGEN KITS 1kW REGEN KIT MODEL T150 901 SERIES POWER SUPPLY SHOWN WITH COVER REMOVED FIGURE 2 15 T150 901 Power Supply 1000 2000 Watt Regen Configuration Rating label TIGHTEN TO 1 8 Nm 16in Ibs MIN 75 C COPPER WIRE ONLY Ip 2 2 5 4 C C lt 3 Z X e E XV jo Das
201. c bus wiring to the Drives is found to be reversed a blown fuse is a strong indication that the Power Supply is defective and should be replaced MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 339 Motor Troubleshooting Condition Motor Too Hot Over 135 C on Housing or Smoking Possible Cause 1 YESC Wired Wrong Check Correct Q Motor Wiring refer to Figure 2 7 2 8 2 9 2 10 2 33 2 34 or Table 2 4 as appropriate Possible Cause 2 Overloaded axis stalled or binding Check Correct Review motor sizing C Check for excessive load and or friction Interference with other machine parts Possible Cause 3 Ambient temperature too high Check Correct Measure ambient temperature Possible Cause 4 Motor connected to wrong drive Check Correct Proper motor model number programmed refer to Section 4 0 Possible Cause 5 Incorrect Drive Set up Tuning Check Correct Repeat Set up Tuning refer to Sections 4 Possible Cause 6 Motor Failure Check Correct Substitute same model motor retry Nox Possible Cause 7 Drive Failure Check Correct Substitute same model drive retry Continued on Next Page MOOG T164 SERIES USER S MANUAL 340 SECTION SIX TROUBLESHOOTING GUIDE Motor Troubleshooting Continued from Previous Page Condition Motor Noisy Possible Cause 1 YESI Loose coupling or mounting Check Correct Coupling stiffn
202. cable pre wired FIGURE 2 32 appropriate based on motor model series motor phase A U to drive TB2 1 motor phase B V to drive TB2 2 motor phase C W to drive TB2 3 motor earth to drive TB2 4 and motor power cable shield to drive TB2 5 MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 87 Connect a chassis earth wire from drive TB2 5 to chassis earth tie point NOTE All chassis earth wires from the power supply s and drive s must be individual wires terminated to a single earth tie point 2 11 4 MOTOR WIRING Repeat steps in this Section for each motor in the system Q Plug and screw tight resolver cable to motor resolver connector Q Plug and screw tight motor power cable to motor power connector Perform the following step only for motors with a static holding brake option Connect brake leads to external 24Vd c power source Refer to FIGURE 2 32 MOOG T164 SERIES USER S MANUAL 88 SECTION TWO INSTALLATION AND WIRING THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 89 3 QUICK SETUP WARNING This equipment must be installed only by service persons technically qualified All information in this manual is directed towards such persons only NOTE This section is to be used as a general guideline only It is Moog s understanding that only technically qualified personnel who have read and
203. ce user supplied is required for the I O functions The amperage rating of this power source will depend on the number of I O functions utilized Refer to sections 5 and also to sections 1 2 1 1 3 2 5 1 and 2 5 2 for safety EMC requirements The user should monitor each drive fault and foldback active optoisolator output It is the users responsibility to provide external circuitry to shut down all axes of a machine if a drive fault occurs MOOG T164 SERIES USER S MANUAL 66 SECTION TWO INSTALLATION AND WIRING W E STRIP LENGTH 7 0mm 0 27 in TWO CONDUCTOR SHIELDED CABLE CSA 2 08mm TO 0 128mm TO USER 14AWG TO 26AWG FRONT END CONTROLLER _ FAULT INPUT H ALL WIRE amp CABLES POWER SUPPLY CONNECTOR TB3 USER SUPPLIED SUPPLIED BY MOOG P N 89518 002 WIRE RANGE CSA 2 08mm 0 128mm 14AWG TO 26AWG PIN 1 RECOMMENDED TERMINAL SCREW TORQUE TB3 0 56 0 06Nm 5 0 5 in Ibs POWER SUPPLY Lx 2 x TO USERS FRONT END JH i a dod ao FAULT INPUT Notes pertaining to cable wiring to TB3 1 The Power Supply fault output must be connected to the user supplied sequencing logic which disables all drives when a power supply fault occurs A user supply external power source of 4 5 to 35Vd c is required for this circuit and may be the same source as used for the drive
204. celeration Braking Deceleration Units Radians Second Braking Deceleration Default Value 5 4 Braking Deceleration Min Value 1 Braking Deceleration Max Value 1 E6 MOOG T164 SERIES USER S MANUAL 272 SECTION FOUR CONFIGURATION AND TUNING Issue C command to permanently save changes made using SE Example usage of SE command gt SE lt CR gt The current deceleration value is displayed 5 000E 4 Rad Sec 2 2 10E4 CHR Enter new deceleration value gt command lists the current braking deceleration Example usage of LE command gt LE lt CR gt Emergency Decel 1 000E 5 Rad Sec 2 more c CR gt 4 3 8 2 DRIVE STATE 25 In addition to the drive parameters listed in Section 4 3 6 3 6 the 26 command lists the present state of the following parameter when an Extended Option Card is installed Limit Switches Enabled Disabled 4 3 8 2 1 LIMIT SWITCHES OL The OL command enables disables the clockwise CW and counterclockwise CCW limit switch functions of the Extended I O Option Card When enabled the CW CCW motor rotation is inhibited whenever the CW Limit CCW Limit input is not asserted Default State with Extended Present Limit Switches Enabled Issue C command to permanently save changes made using OL Example usage of OL command gt OL lt CR gt Disable Limit Switches Y N N Enter Y to disable any other
205. d by Fair rite and shall be installed on the cable approximately 50 mm 2 inches from the ESM II port J4 MOOG T164 SERIES USER S MANUAL 28 SECTION TWO INSTALLATION AND WIRING Q T164 Drives with Point option cards installed must additionally have a clip on ferrite installed on the signal cable to the Point port X4 This shall be a Type 0443T164151 ferrite manufactured by Fair rite and shall be installed on the cable approximately 50 mm 2 inches from the Point port X4 Q T164 Drives with CAN option cards installed must additionally have clip on ferrites installed on the signal cables to the CAN ports X2 X3 A Type 28 2024 0 0 ferrite manufactured by Steward shall be installed through 1 5 turns see FIGURE 2 2 on the cables approximately 50 mm 2 inches from the CAN ports X2 X3 This clip on ferrite shall be installed as above on all CAN daisy chain connection cables as well as at the T164 Drive end of the signal cable form the remote CAN Host Drive User supplied This clip on ferrite shall also be installed as above at the remote CAN Host Drive end of the signal cable The above information is summarized in FIGURE 2 2 which shows a typical installation configuration with EMC conformity measures installed Further details for the correct installation of external Regen resistors is given in Section 2 7 of this Users Manual Further details for the correct installation shielding and safety color coding of cables an
206. d conductors in given in Section 2 9 and throughout Section 2 of this Users Manual MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 29 T164 SERIES DIGITAL EXTERNAL I s SERVOMOTOR CONTROLLER REGEN RESISTOR OPTION CONTACTOR USER SUPPLIED USER 1 0 e CONNECTIONS POWER SUPPLY USER SUPPLIED N EARTH CIRCUIT BREAKER USER SUPPLIED EARTH BACK PLATE MUST BE aN CONDUCTIVE AT ALL CONNECTION POINTS 13 SERIAL COMMUNICATION CABLE TO USER S TERMINAL LINE FILTER USER SUPPLIED J2 RESOLVER CABLE G400_SERIES BRUSHLESS MOTOR 3 ISOLATION TRANSFORMER USER SUPPLIED USER SUPPLIED 24V d c POWER SUPPLY CONNECT TO TB ON CONTROLLER FIGURE 2 3 Typical Single Axis System Pictorial Diagram MOOG T164 SERIES USER S MANUAL 30 SECTION TWO INSTALLATION AND WIRING 2 6 POWER DISSIPATION To calculate cabinet cooling requirements TABLE 2 1 provides approximate equipment power dissipation values If the application employs regeneration be sure to include the regen resistor power dissipation use the continuous wattage rating of the regen resistor if actual application regen dissipation is unknown The following formula can be used to estimate the required enclosure size Consult the enclosure manufacturer for recommendations regarding ventilated applications E amb 2 38 Where A
207. d faulty operation and to avoid the equipment becoming unsafe Torque screws to the specified values noted on the installation and cable drawings Do not solder the ends of the cables to be inserted into screw clamp terminals All connections to the T164 Series Drives are through removable plug in mating connectors All mating connectors except Communications Port connector J3 are supplied with the drive CAUTION All electrical supply wires and cables to this equipment must be installed in wireways cable routings which are smooth and free from sharp edges CAUTION All external electrical wiring connected to this equipment must be color coded accordance with European Standard 60204 1 requirements Refer to section 2 9 1 of this Users Manual MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING CAUTION All wires and cables entering and leaving the IP54 rated enclosures or cabinets containing the T150 901 Power Supply the T164 Series Drives and the resistor s must be protected and anchored in accordance with the requirements of EN 60204 1 Refer to section 2 9 1 1 of this Users Manual CAUTION Ferrite EMC suppression components are required to be installed by the user cables connected to certain ports on the 150 901 Power Supply and T164 Series Drives Details of ferrite suppression components which have been tested with th
208. d or disabled using this option and the quick stop deceleration entered or adjusted Encoder Encoder Input parameters are set by the user with this option Front Panel Test Points Two user configurable test points are available on the front lexan of the drive The Front Panel Test Points option determines the output signal type at each test point Advanced Options Allows 1st Order or 2nd Order low pass filter on Velocity Loop Gain term Also allows the user to tune the velocity observer Thermal Limits Sets and adjusts the IT current time thermal limits If thermal foldback is being used this option will be ghosted i e if the motor configured is a G41X or D31X series motor Combined Tuning This option provides the user with the tuning reference and data logger dialog boxes sized correctly to fit on the main window with the plots MOOG T164 SERIES USER S MANUAL 116 SECTION FOUR CONFIGURATION AND TUNING Basic Drive Setup A basic drive set up is the fastest means of manually tuning and configuring a drive All parameters essential for the basic setup are set by the user Quick Stop Performing the same function as the F2 key or the Stop button of the Floating Toolbar this function performs a servo stop on the connected motor Enable Drive This function enables the drive to switch power to the connected motor Also available by pressing F3 pressing the Enable button on the Float
209. d to technically qualified service maintenance persons only The User must restrict to technically qualified service maintenance persons only instructions on use of key sequences for such service tools which allow the control of the machine functions MOOG T164 SERIES USER S MANUAL 14 SECTION ONE GENERAL INFORMATION 1 2 2 EQUIPMENT SAFETY All persons must observe sound safety practices during the operation and testing of all electrically powered equipment Prior to first use power should not be applied to the T150 901 Power Supply and T164 Series Drives until all instructions in the Configuration Section of this Users Manual have been carried out WARNING P must always be removed from the T150 901 Power Supply and T164 Series Drives before commencing any servicing maintenance repair or upgrading of this equipment WARNING DO NOT remove or replace any assemblies subassemblies or components with primary power present WARNING Lethal vollages remain present within this equipment when power mains power is removed It is recommended to refrain from commencing any servicing maintenance repair or upgrading of this equipment until at least five minutes after power shutdown It is further recommended to measure the voltage level at all high voltage terminals before commencing any such activities to ensure that no lethal voltages are present WARNING Repair internal adjustments to the T
210. ded to allow the user to set the number on the bus The switches are then read once on power up The card utilizes an Intel 82526 CAN drive which interfaces to the main processor used on the drive control card The 82526 interfaces to the bus via a CAN transceiver which is ISO 11898 compliant It is possible to electrically isolate the transceiver and provide power to it either via external supply located outside of the drive or locally from a d c d c converter which is supplied from the drive 5V supply QUICK STOP CLOCKWISE LIMIT CAN BUS CCLOCKWISE LIMIT PTIONAL TRANSCEIVER SUPPLY HOME WIT INTERNAL NO ISOLATION INTERNAL DC DC CONVERTER ll EXTERNAL SUPPLY IRANSCEIVER INPUTS EEEE RELAY AXIS ID OPTICALLY CONTACTS SWITCHES ISOLATED 82526 CAN CONTROLLER L DECODER BUFFER __ BUFFER D0 D7 D0 D7 T BUFFER D0 D7 ADDRESS BUS Z DATA BUS J FIGURE 5 24 C09242 00X CAN INTERFACE MODULE OPTION MOOG T164 USER MANUAL 322 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 8 2 SPECIFICATIONS Digital Inputs Quick Stop CW Limit CCW Limit Home Voltage range 5 30 Vd c Current ratings user must source or sink the following 2 mA 9 5 Vd c per input 12 mA 30 Vd c per input Output Brake Relay Relay Type Reed Maximum Specifications 50 Vd c 500mA continuous Operating Temperature 0 5
211. e 1 ees uo dilo J 4 4 eur SUEN iE ilt A00F 7 524 eseug e ejqeo jo spue ujoq sisseuo uuea S 0 pjelus 4H poob einsu3 seb p pl lus eq Pinoys jeubis gove paiddns 1esn jeug Er ue e z uonpes eos e qeo pepjerus esn Jo seJIM Y ISIM 1 slsseuo uue 0 puoq JH einsu3 e 1 lqissod se yous se 27 Ape deey 26 ejqeo peunouue pepjelus esf 2 e qissod se uoys se se qeo L FIGURE 2 2 Typical installation configuration with EMC suppression measures Installed MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 27 2 5 2 T150 901 POWER SUPPLY AND T164 SERIES DRIVES AND ASSOCIATED EQUIPMENT Additional electromagnetic compatibility EMC measures must be installed on equipment associated with the T150 901 Power Supply and T164 series Drives The following measures must be implemented Use shielded or armored cable to connect the external regen resistor if installed to the T150 901 power supply The length of this cable should be as short as possible The shields of these voltage supply cables should be earthed to Chassis Earth using a 180 degree metal clamp P clip connection to ensure a good HF earth bond Secure the clip using conductive bolts and locking washers Alternatively if the cable is required to pass through an enc
212. e Disengages the attached brake to allow the motor shaft to move freely MOOG T164 SERIES USER S MANUAL 160 SECTION FOUR CONFIGURATION AND TUNING 4 1 18 TROUBLE SHOOTING 4 1 18 1 COMMUNICATION PROBLEMS If WinDrive is unable to communicate with T164 drive check the following Confirm that the drive has control 24 Vd c logic power Check the serial communications cable for correct connection and wiring Make sure the drive has finished booting up The drive takes approximately 20 seconds to boot up before WinDrive is able to communicate with it Check that the RS232 communications mode jumper is in the correct position See section 4 1 2 1 Ifa Time out occurs during Log File upload download or Save to EEPROM check the following Make the RS232 cable is connected correctly Ifthe PC has an older processor the value of the Timeout parameter under ComRS232 in the WinDrive ini file may be increased If you experience other WinDrive problems please note the error and contact applications engineer MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 161 4 2 TERMINAL EMULATION COMMUNICATIONS WITH H1 FIRMWARE This section is intended to give the user a full understanding of programming a T164 DMC containing H1 firmware while using a terminal emulation program Subsection 4 2 2 describes using Moogterm with the T164 however the instructions in sections 4 2
213. e Does Not Set YES gt No Possible Cause 1 Control circuits Check Correct d c Power to the brake must be removed to set the brake Possible Cause 2 Axis enabled Check Correct Brake should normally be released when axis is enabled Possible Cause 3 Brake failure Check Correct Replace motor Continued on Next Page MOOG T164 SERIES USER S MANUAL 342 SECTION SIX TROUBLESHOOTING GUIDE Motor Troubleshooting Continued from Previous Page Condition Optional Brake Does Not Release Possible Cause 1 YES Brake d c Power Supply Check Correct Q Not energized Q Fuse blown Improper voltage output or wrong polarity for brake coil Possible Cause 2 Control Circuits Check Correct d c Power must be applied to the brake to release the brake Other interlocking of control circuits Proper voltage and current capacity Broken or missing wire Possible Cause 3 Brake failure Check Correct Replace motor MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL 343 344 SECTION SEVEN SOFTWARE REVISION NOTES 7 SOFTWARE REVISION NOTES NEW PRODUCT The following firmware versions are compatible with the following option cards and hardware revisions Option Card Software Revision T164 90X R Hardware Revision R Encoder Simulation Card _ H1 C1
214. e Roman either upper or lower case Insulated single core conductors shall be color coded as follows BLACK and d c power circuits RED a c control circuits BLUE d c control circuits and C ORANGE interlock control circuits supplied from an external power source Exceptions to the above are permitted as follows for internal wiring on individual devices purchased completely wired where insulation is used that is not available in the colors required or Where multicore cable is used but not the bicolor combination GREEN AND YELLOW MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 61 2 9 1 9 WIRING PRACTICES WIRING INSIDE ENCLOSURES Panel conductors shall be supported where necessary to keep them in place Non metallic channels or ducts shall be permitted only when made with a flame retardant insulating material where possible earthed shielded metal cable ducting should be used to minimize EMC noise coupling It is recommended that electrical equipment mounted inside the enclosures be designed and constructed in such a way as to permit modification of the wiring from the front of the enclosure Where this is not possible and control devices are connected from the rear of the enclosure access doors or swingout panels shall be provided Connections to devices mounted on doors or to other movable parts shall be made using flexible conductors in accordance with Europ
215. e been completed After the user presses any key to continue the drive proceeds to the main menu gt MOOG T164 SERIES USER S MANUAL 172 SECTION FOUR CONFIGURATION AND TUNING 4 2 4 1 STANDARD MOTOR CONFIGURATION Drive configuration identifies what motor is connected to the T164 Series Drive The user must perform drive configuration during initial commissioning or replacement of the equipment and any time a different motor is connected to the drive The command SSM is used for standard motor configuration The T164 90X has motor parameters installed for the 300 A G4XX and D31X series motors These are considered standard motors Example of standard motor configuration gt SSM lt CR gt Enter Standard Motor Configuration Command Motor G412 204 Enter Standard Motor Model Number Wait Defaults Set gt The SYSTEM FAULT LED will flash until drive initialization is complete The drive is pre programmed with all motor parameters for standard motor models refer to TABLE 5 4 and TABLE 5 6 For non standard motor models the user must manually enter the motor parameters refer to Section 4 2 4 2 NOTE It is very important that the motor model number is entered correctly as the T164 Series Drive sets many parameters automatically based on this configuration This is also a good point to confirm that the proper drive model is connected to the proper motor The T164 Series Drive has now initialized
216. e by pressing F4 or selecting Disable Controller from the Drive Menu or clicking on the Disable button of the Floating Toolbar fl Drive Disable Icon This function removes power from the motor 4 1 7 3 FUNCTION KEYS F1 HELP KEY Displays MoogHelp contents page if no dialog box s are open Displays function specific help for dialog box if open F2 STOP KEY Used to Quick Stop servo stop a turning motor The drive is still enabled after F2 is pressed The drive must first be disabled before it can be re enabled to start the motor again ENABLE KEY Used to Enable the drive apply power to the motor If an analog reference source has been set up with a voltage greater than OVdc the motor should begin turning when the drive is enabled FA DISABLE KEY Used to Disable the drive remove the motor power If a motor is turning when F4 is pressed the motor will stop 4 1 7 4 SHORT CUT KEYS ALT KEY FUNCTION Used to access the main menu groups by holding down the ALT key and pressing the corresponding underlined letter in the menu name i e Pressing F while holding down the ALT key opens the File menu CTRL KEY FUNCTION Used to access the individual menu choices by holding down the CTRL key and pressing the corresponding underlined letter in the choice name i e While in the File menu pressing S while holding down the CTRL key will Save the current file MOOG T164 SERIES USER S MAN
217. e installed by the user on cables connected to certain ports on the T150 901 Power Supply and T164 Series Drives Details of ferrite suppression components which have been tested with the typical configurations of T150 901 Power Supply and T164 Series Drives are referred to in Section 1 3 2 of this Users Manual and are given in Section 2 5 of this Users Manual Detailed installation instructions for such ferrite EMC conformity components are given in Section 2 5of this Users Manual Shielded cable is required to be installed by the user for many external user cable connections to the T150 901 Power Supply and T164 Series Drives Details of areas where shielded cable must be installed and details of earthing arrangements which must be implemented for the shields of such cables are given in Section 2 5 and Section 2 9of this Users Manual Installation requirements for external Regen Regenerative Circuit resistors are given in Sections 2 5and 2 7of this Users Manual MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 17 1 3 2 T150 901 POWER SUPPLY AND T164 SERIES DRIVES EMC TEST CONFIGURATIONS Configuration 1 The configuration consisted of three phase a c mains input via a Siemens B84143 A36 R filter and 380 220 V r m s 3 Phase Step Down mains isolation transformer to a T150 901 Power Supply plus T164 901 T164 903 and T164 909 Drives Three meter terminated shielded communications cables were connected to the J1 out
218. e other color covering the remainder of the surface Where the protective conductor can be easily identified by its shape position or construction e g braided conductor or where the insulated conductor is not readily accessible color coding throughout its length is not necessary but the ends or accessible positions shall be clearly identified by the graphical symbol 417 IEC 5019 or by the bicolor combination GREEN AND YELLOW MOOG T164 SERIES USER S MANUAL 60 SECTION TWO INSTALLATION AND WIRING 2 9 1 7 WIRING PRACTICES IDENTIFICATION OF THE NEUTRAL CONDUCTOR Where a circuit includes a neutral conductor identified by color the color shall be LIGHT BLUE LIGHT BLUE shall not be used for identifying any other conductor where confusion is possible In the absence of a neutral conductor a LIGHT BLUE conductor may be used for other purposes except for use as a protective conductor Where identification by color is used bare conductors used as neutral conductors shall be either colored by a LIGHT BLUE stripe 15 mm to 100 mm wide in each compartment or unit or at each accessible position or colored LIGHT BLUE throughout their length 2 9 1 8 WIRING PRACTICES IDENTIFICATION OF OTHER CONDUCTORS Identification of other conductors shall be by color either solid or with one or more stripes number alphanumeric or a combination of color and numbers or alphanumeric When numbers are used they shall be Arabic letters shall b
219. e typical configurations of T150 901 Power Supply and T164 Series Drives referred to in section 1 3 1 of this Users Manual are given in section 2 5 2 of this Users Manual Detailed installation instructions for such ferrite suppression components are given in section 2 5 2 of this Users Manual CAUTION Shielded cable is required to be installed by the user for many user cable connections to the T150 901 Power Supply and T164 Series Drives Details of areas where shielded cable must be installed details of earthing arrangements which must be implemented for the shields of such cables are given in sections 2 5 2 and 2 9 2 of this Users Manual Installation requirements for external Regen Regenerative Circuit resistors are given in sections 2 5 and 2 7 of this Users Manual CAUTION Additional electromagnetic compatibility EMC measures which must be installed on a c power input Line Filter cables are given in section 2 3 of this Users Manual CAUTION Additional electromagnetic compatibility measures which must be installed on equipment cables associated with the 1150 901 Power Supply and T164 series Drives are given in section 2 5 2 of this Users Manual MOOG T164 SERIES USER S MANUAL 56 SECTION TWO INSTALLATION AND WIRING 2 9 1 SAFETY REQUIREMENTS FOR CABLES 2 9 1 1 REQUIREMENTS CONDUCTORS AND CABLES All cables and conductors us
220. ean standard EN 60204 1 to allow for the frequent movement of the part The conductors shall be anchored to the fixed part and the movable part independently of the electrical connections Conductors and cables which do not run in ducts shall be adequately supported Terminal blocks or attachment plug socket combinations shall be used for control wiring which extends beyond the enclosure Power cables and cables of measuring circuits may be directly connected to the terminals of the devices for which the connections were intended 2 9 1 10 WIRING PRACTICES WIRING OUTSIDE ENCLOSURES The means of introduction of cables or ducts with their individual glands bushings etc into an enclosure shall ensure that the degree of protection is not reduced Conductors and their connections external to the electrical equipment IP54 enclosures shall be installed in suitable ducts i e conduit or cable trunking systems as described in section 2 9 1 11 except for suitably protested cables which may be installed without enclosing ducts and with or without the use of open cable trays or cable support means Fittings used with ducts or multiconductor cable shall be suitable for the physical environment Flexible conduit or flexible multiconductor cable shall be used where it is necessary to employ flexible connections to pendant push button stations The weight of pendant stations shall be supported by means other than the flexible conduit or the fle
221. ecessary Cooling fan operation Sufficient clearance above and below unit Possible Cause 3 Ambient Temperature Too High Check Correct Temperature of Cabinet Possible Cause 4 Wrong motor drive combination Check Correct View Drive Setup I T Thermal Limits when using H1 firmware Proper motor model number programmed refer to Section 4 Use OT command to query IT settings when using C4 firmware refer to Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL 334 SECTION SIX TROUBLESHOOTING GUIDE T164 Series Drive Troubleshooting from Previous Page Condition Yellow MOTOR OVERTEMP LED on Yellow SYSTEM FAULT LED on F Query Lists Bridge Overtemperature Fault when using C4 firmware View the FAULTS STATUS BAR when using H1 firmware D Possible Cause 1 YES Motor Thermistor Thermostat Not Connected Check Correct Thermistor Thermostat Wiring refer to FIGURE 2 31 Possible Cause 2 Motor Overtemperature NO J Check Correct Q Refer to Motor Troubleshooting Condition Yellow RESOLVER LOSS LED on Yellow SYSTEM FAULT LED on F Query Lists Bridge Overtemperature Fault when using C4 firmware View the FAULTS STATUS BAR when using H1 firmware Possible Cause 1 YESC J2 Resolver Cable miswired or poor connection Check Correct Cable wiring refer to FIGURE 2 31 Possible Cause 2 Excessive electrical noise pickup Check Correct J2 cable sh
222. ectly to the connected drive To run a Configuration Download proceed as follows Select Configuration Download from the File menu The File Open dialog box appears FIGURE 4 27 In the dialog box complete the following Use the Drives window to select the disk drive you wish to look for the file in If the drive is an unlisted network drive use the Network button to map the necessary disk drive Use the Folders window to select the folder you wish to look in In the File name window enter the 8 3 formatted file name you wish to load Or select the file from the window list of files below the File name header Make sure the Save file as type is set to log Click the OK button to load the data MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 137 File Open File name Folders Cancel aidan log ec sm1 log Sy windrive Help Network List files of type Drives Log File log amp c mellon moog FIGURE 4 27 File Open Dialog Box The Configuration Download dialog box appears FIGURE 4 28 This dialog box shows the file you selected in the top window Proceed as follows based on the file name If the file name and path are correct select the OK button to download the file to the drive If a different file is desired select the Browse button to return to the File Open dialog box To exit the Configuration Download process
223. ed shall be specified as compliant with the requirements of European standard EN 60204 1 for the environment in which they are installed and for the voltage and current carried Conductors and cables shall be specified and selected so as to be suitable for the operating conditions e g voltage current protection against electric shock grouping of cables and external influences e g ambient temperature presence of water or corrosive substances mechanical stresses which can exist Wherever possible insulated conductors and cables which have flame retardant properties shall be used Conductors shall be of copper Conductors of any other material shall have a nominal cross sectional area such that carrying the same current the maximum conductor temperature shall not exceed the values given in TABLE 2 3 Where aluminum is used the cross sectional area shall be at least 16 mm Where insulated conductors and cables can constitute a fire hazard due to the propagation of a fire or the emission of toxic or corrosive fumes e g PVC guidance from the cable supplier should be sought In particular it is important to maintain the integrity of circuits having a safety function e g emergency stop for as long as possible under these conditions The mechanical strength and thickness of the insulation shall be such that the insulation cannot be damaged in operation or during laying especially for cables pulled into ducts The voltage drop
224. egen fuse MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 279 REGEN FUSE 4 1 TB5 1 TB5 2 OPTIONAL 4 DC INTERNAL REGEN 1 TB42 TB5 3 TB5 4 J REGEN RESISTORS RESISTOR REGEN active REGEN ELECTRONIC 1 FULL WAVE CIRCUIT 220 vac tB1 2 BRIDGE 3 PHASE RECTIFIER BREAKER 50 60 Hz TBi 3 TB1 u TB2 1 TB2 2 7 rB2 3 C rB2 4 LOSS OF PHASE OVERTEMP MAINS LOSS 1 INRUSH CTRL EN POWER SUPPLY LOGIC FAULT TB3 2 LOGIC SMPS CONTROL FIGURE 5 1 MODEL T150 901 POWER SUPPLY BLOCK DIAGRAM MOOG T164 SERIES USER S MANUAL 280 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 1 2 4 MONITORING AND FAULTS The a c mains sensed to provide a PHASE LOSS FAULT Jumper JW1 allows the user to disable the PHASE LOSS FAULT for single phase applications The a c mains sense is also used to determine a c power loss and a c power present The a c power loss is used to activate the regen circuit to provide a fast bus discharge safety feature The a c power present is used to control soft start When a c power is first applied to the supply the regen resistor is in series with the bus capacitors to limit the inrush charging current At a fixed time delay after a c power present is sensed the soft start relays energize to switch the regen resistor out of the bus capacito
225. elay enabling of the drives or having any other external load on the T150 901 Power Supply on a c power up will defeat the proper operation of the soft start circuitry in the 7150 901 Power Supply and can result in tripping of the a c input circuit breaker and or damage to the T150 901 Power Supply When the system is set up correctly as outlined the previous section WinDrive is run by double clicking the WinDrive icon The first window to appear will be the Communication Port dialog Box which allows a user to select a PC communication port 4 1 3 1 OPENING THE PROGRAM From the Program Manager WINDOWS 3 1 Task Bar WINDOWS 95 double click on the WinDrive icon FIGURE 4 3 WinDrive Icon 4 1 3 2 ON LINE MODE On line Mode is when the PC communications port is connected via RS232 to a powered drive In order to run in ON LINE mode proceed as follows From the Communication Port dialog box select the PC communication port linked to the drive then click the OK button MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 109 Communication Port Select your comm port Port MAY C Comm 2 C Comm 3 C Comm 4 C Off line Hep FIGURE 4 4 Communication Port Dialog Box From the RS Type dialog box select RS232 serial communications mode then click the OK button 85 232 85232 EI C RS 485 Help FIGURE 4 5 RS Type Dialo
226. ence Input Filter OD Enable Disable Thermal Protection OT Foldback Limit Settings 4 2 6 4 10 TABLE 4 2 Software Configurable Parameters MOOG T164 SERIES USER S MANUAL 182 SECTION FOUR CONFIGURATION AND TUNING 4 2 5 4 VELOCITY MODE STANDARD TUNING After completing drive initialization as described in Section 4 2 4 and changing any other parameters to match specific application requirements as described in Section 4 2 5 3 the user needs to tune the velocity loop to optimize performance This Section provides a recommended velocity mode standard tuning procedure The procedure should be followed in the sequence listed For torque mode applications proceed to Section 4 2 5 6 WARNING The motor should be uncoupled if incorrect movements during the drive tuning procedure can damage the machine If this is not possible the safety limit switches of the machine must be connected through hardware limit circuits such that the drive is hardware disabled if a limit switch is activated Disable the drive using the hardware enable switch Set the Control Compensator to Velocity Mode using the OC2 command refer to Section 4 2 6 4 2 Set the Velocity Scale Factor to match the RPM of the motor to a given velocity command input using the SN command refer to Section 4 2 6 1 5 This step is only necessary if the input command range is less than 10 volts or the desired maximum motor speed is less than
227. ends the input information to the drives RAM Active dialog box remains open OK Immediately sends the input information to the drives RAM and closes the active dialog box Download Immediately sends the input information to the drives RAM Active dialog box remains open Exit Closes the active dialog box without saving data Close Exits the active dialog box without saving data Cancel Closes the active dialog box without saving data D D D D Save Stores the configuration data to the drives EEPROM MOOG T164 SERIES USER S MANUAL 112 SECTION FOUR CONFIGURATION AND TUNING 4 1 5 ON LINE HELP Help screens are available for all of the WinDrive functions gt MoogHelp IG XI File Edit Bookmark Options Help Contents Welcome to the Moog WinDrive Help System This system provides help information for the various dialog boxes windows text fields buttons tool bars and status bars that make up the Moog WinDrive Graphical User Interface GUI The Help System can be accessed through the F1 function key on the keyboard the pull down Help menu or the Help button that appears on each WinDrive dialog box FIGURE 4 9 MoogHelp Dialog Box 4 1 5 1 ACCESSING ON LINE HELP On Line Help may be accessed by using any of the following Choose the Contents option from the Help menu Press the F1 key while in the WinDrive program Press the HELP button while any dialog box 4 1 5 2
228. er PUISE ooa 313 5 3 2 Specifications ose erui ER ee eee ee p AE Ee Eta 314 5 6 EXTENDED I O OPTION CARD DESCRIPTION 8 00 040 316 2 6 1 Circuit Description uendere erre rr eee eie eere rie ER PI a ends 316 5 0 2 Specifications seei a gii et petere aei decet vets apne His tiende 318 5 7 B92214 003 POINT MOTION CONTROL MODULE OPTION DESCRIPTION 319 29 4 General Eeat res eoo cien E ete ebd 320 5 12 Pertornmarnce Tee ie cete Eo eau depo EE Pe uqa aaa 320 58 C0924200X CAN INTERFACE MODULE iib UL L ih rrt 1 L HR CEP Re IHE ta ERES E cis 320 5 8 1 Circuit Description tite tenere b Han ERE E one etg 320 SE Team 322 5 9 C09743 001 EXTENDED INPUTS BRACKET OPTION DESCRIPTION 322 5 9 1 Cucut Description osse Hetero prre rre spe veo et nad 322 2 9 2 deel 323 6 TROUBLESHOOTING CUED ER opecsssescevisnescesissensectnsesiacsnce seavansendavinsessaadevenvacinvessecdusentassevanstoieenss 324 7 SOFTWARE REVISION NOTES NEW PRODUCT LA 344 8 MOOG REPAIR CENTERS 348 5
229. er Width Acceptable Values 90 180 360 Example usage of OEM command OEM Input Encoder Marker Width 2 lt CR gt Set marker width to 180 degrees Marker Width 180 Degrees gt MOOG T164 SERIES USER S MANUAL 270 SECTION FOUR CONFIGURATION AND TUNING 4 3 7 1 5 ENCODER SIMULATION OPTION STATUS OES The OES command displays the status of the Encoder Simulation Module The status displays the line count marker width and maximum speed of operation Example usage of OES command gt 5 lt gt Encoder Status Present Encoder Status is displayed Marker Width 90 Degrees more CH Press RETURN or any key to proceed Line Count 1024 more CH Press RETURN or any key to proceed Speed Range 0 15000 RPM gt 4 3 7 1 6 FAULTS F In addition to the faults described in Section 4 3 6 3 7 when an Encoder Simulation Option Card is present an Encoder Simulation Fault is also listed 4 3 7 1 7 ENCODER POSITION E The Encoder Simulation Option maintains a digital representation of position The E command allows the user to query this parameter Example usage of E command gt 2 lt gt Encoder Position 4 102E 1 Deg 4 3 8 COMMAND REFERENCE EXTENDED OPTION This Section details the additional commands and command extensions activated when an Extended I O Option card is installed For a description of the Extended I O Option Card refer to Section 5 6
230. ere the disconnect does not also serve as an emergency stop device its operating handle shall not be RED Black or Grey is recommended MOOG T164 SERIES USER S MANUAL 4 SECTION ONE GENERAL INFORMATION Be provided with a means permitting it to be locked in the OFF position e g by padlocks Disconnect all live conductors of its power supply circuit Have a breaking capacity sufficient to interrupt the current of the largest motor when stalled together with the sum of the normal running currents of all other motors and or loads The handle of the supply disconnecting device circuit breaker shall be installed in a manner to be easily accessible It shall be located between 0 6 meters and 1 9 meters above the servicing level a maximum height of 1 7 meters is recommended WARNING supply disconnecting device circuit breaker be switched to the OFF position before any service or maintenance activity is commenced It is also recommended to install a drive rated three pole contactor between the output of the AC mains isolation transformer and the incoming a c voltage supply power lines of the T150 901 Power Supply refer to FIGURE 2 2 and FIGURE 2 3 This contactor should be controlled directly by Emergency stop buttons and other series connected safety switches to remove a c input power in any situation affecting personnel safety 1 1 3 POWER SUPPLY MODEL T150 901 The Power Supply co
231. ervice terminals may be used instead of a computer terminal for drive set up and monitoring All hand held terminals or similar equipment attached by the user to the T164 Series Drives must be CE marked as compliant with the requirements of the EU EMC Directive 89 336 EEC as amended by EU Directive 92 31 EEC and 93 68 EEC All hand held terminals must have a shielded cable which has a DE9P connector to mate with the T164 Series Drive J3 communications connector Metal connector hoods which make secure connections to the metal cable shield and to chassis earth of both the T164 drive and hand held terminal shall be used WARNING The Hand Held Service Terminal allows control of the machine cl in the final product application and must be installed only as a service too with access restricted to technically qualified service maintenance persons only Instructions on the use of key sequences for this hand held axes terminal which allow changes to the control of the machine functions must be restricted to technically qualified service maintenance only If problems occur when attempting to communicate with a T164 Series Drive the programmable parameters of the hand held service terminal are most likely set incorrectly All hand held service terminal parameters should be set to their default values with the exception of DATA BITS set to 7 and STOP BITS set to 2 Contact Moog for further information on the use of hand held
232. es Part 1 General requirements 1992 published CENELEC the European Committee for Electrotechnical Standardization Brussels Further information on the requirements of the EU EMC Directive are given in Section 1 3 of this General Information part 1 2 1 2 SPECIFIC SAFETY REQUIREMENTS The specific safety measures described below are required to be installed by the user into all equipment systems and installations into which the T150 901 Power Supply and T164 Series Drives are installed The user is required to provide safety interlocks to prevent unexpected restart during servicing of the T150 901 Power Supply the T164 Series Drives and any equipment attached to or driven by these units MOOG T164 SERIES USER S MANUAL 12 SECTION ONE GENERAL INFORMATION The T150 901 Power Supply and T 164 Series Drives themselves must be installed enclosures or cabinets which provide a degree of ingress protection against liquids and objects of at least IP54 These enclosures or cabinets must be accessible to technically qualified service or maintenance persons only The T150 901 Power Supply and T 164 Series Drives must be permanently and reliably connected to Earth and all conductive parts in the IP54 rated enclosure or cabinet must be permanently connected to Earth The Earth continuity between the earth terminal and any accessible part of the enclosure or cabinet shall be less than or equal to 0 1 ohms All external Regen Regenerat
233. ess Possible Cause 2 Wrong drive motor combination Check Correct Proper motor model number programmed refer to Section 4 Possible Cause 3 Improper Drive Set up Tuning Check Correct Repeat Set up Tuning refer to Sections 4 Possible Cause 4 Bearing Failure Check Correct Replace Motor Possible Cause 5 Excessive electrical noise NO J Check Correct Improper earthing and shielding Condition Excessive Cogging No System Power On and Unloaded Shaft Possible Cause 1 YESC Motor cable shorted Check Correct Check wiring refer FIGURE 2 32 FIGURE 2 4 FIGURE 2 5 FIGURE 2 7 as appropriate Possible Cause 2 Motor stator winding shorted Check Correct Replace motor Continued on Next Page MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 341 Motor Troubleshooting Continued from Previous Page Condition Motor Shaft Wont Turn When Disconnected from Load YES gt Now Possible Cause 1 Motor or resolver cable wired wrong Check Correct Q Motor Power Wiring refer to FIGURE 2 32 FIGURE 2 4 FIGURE 2 5 FIGURE 2 7 as appropriate Resolver Wiring refer to FIGURE 2 31 Possible Cause 2 Optional Brake Not Released Check Correct Brake Power Supply and Control Circuits Possible Cause 3 Motor Failure Check Correct Replace Motor Possible Cause 4 Bearing Seized Check Correct Replace Motor Condition Optional Brak
234. f L command gt PL lt CR gt Ipeak Limit 8 690E 0 Arms more CH Press RETURN or any key to proceed Max Time at 5 000E 0 s more CH Press RETURN or any key to proceed Icont Limit 8 680E 0 Arms gt 4 3 6 3 4 BRIDGE TEMPERATURE B The B command lists whether the drive bridge temperature is below or above the 90 C drive over temperature set point Example usage of command gt lt gt Bridge Temp lt 90 C gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 259 4 3 6 3 5 MOTOR TEMPERATURE M The M command lists whether the motor thermistor is below or above the 155 C motor over temperature set point Note that the user must wire the motor thermistor or thermostat wires to the T164 Series drives to detect a motor over temperature fault Example usage of M command gt M lt CR gt lt 155 C gt 4 3 6 3 6 DRIVE STATE S The S command lists the present state of the following drive parameters Compensator Mode Thermal Protection Enabled Disabled Manual Mode Enabled Disabled Reference Analog Command Filter In Out Velocity Observer On Off Example usage of S command gt 25 lt gt Controller Mode Velocity more lt CR gt Press RETURN or any key to proceed Thermal Protection Enabled more lt CR gt Press RETURN or any key to proceed Manual Mode Disa
235. field or the down arrow keyboard key Decrease P until the overshoot just disappears see FIGURE 3 13C Place the cursor in the Integral Time Const field I while still monitoring the Actual Velocity Decrease using the down arrow or the down key until a slight overshoot occurs in the velocity response again Place the cursor back in the Velocity Loop Gain P field and increase the value until the slope of the step response is similar to that in FIGURE 3 13D Q For Advanced Velocity Mode tuning options see section 4 1 13 6 MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 101 FIGURE 3 13 Velocity Mode Tuning Waveforms Note If the Function Generator along with the Data Logger are used for tuning the user may choose to utilize the Combined Tuning dialog box via the Setup option in the Drive menu This box contains both the Data Logger Control Panel and the Function Generator to simplify the user interface 3 7 6 ENCODER SIMULATION An optional Encoder Simulation Card may be set up using the Encoder Simulation Card 2 dialog box Open this dialog box via the Encoder button in the Main Window Button Console FIGURE 4 11 or by selecting Encoder under the Setup option of the Drive menu MOOG T164 SERIES USER S MANUAL 102 SECTION THREE QUICK SETUP Encoder Simulation Card 2 x Line Count 1024 Marker Width Deg
236. for 100 RPM 1 Hz 50 duty cycle square wave in velocity mode MOOG T164 SERIES USER S MANUAL 264 SECTION FOUR CONFIGURATION AND TUNING Example usage of OR command gt lt gt Reference Initialization Sure Y N Y Enter Y to continue any other key to abort Options 1 Analog Ref 2 Function Gen 3 Point I F 2 1 2 gt gt 2 Select Function Generator as Reference Source Func Generator Torque Amplitude when in torque mode Speed Amplitude 0 0 RPM 100 lt CR gt Set Speed to 100 RPM Func Generator Torque Offset when in torque mode Speed Offset 0 0 RPM 2 CR Accept Current Value No Speed Offset Func Generator Period 1 000E 0 s 2 CR Accept Current Value Period of 1 Second Func Generator Duty Cycle 5 000E 1 CH Accept Current Value Duty Cycle of 5096 Function Generator Initialization The SYSTEM FAULT LED flashes during reconfiguration gt long as the function generator is selected as the command reference after initially setting parameters the OGN command can be used to edit speed amplitude and offset the OGT command can be used to edit torque amplitude and offset and the OGP command can be used to edit duty cycle and period When function generator parameter initialization is selected the motor is software disabled Issue an MI command to re enable after changing parameters CAUTION Functi
237. for correct d c winding resistance values Check motor winding d c resistance line to earth Line to earth resistance should measure infinity i e open Uncouple and disconnect motor rotate shaft Check for lumpy rotational resistance as shaft is rotated If lumpy measure winding resistance Replace motor as necessary with same model motor retry Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 329 Erratic motion Continued from Previous Page Condition Surging Cogging Instability YES gt Now Possible Cause 1 Improper Shield Connections Check Correct Assure shields are full length of cabling for Drive J1 and J2 cables refer to FIGURE 2 22and FIGURE 2 31 Assure cables of option cards if used refer to Section 2 Possible Cause 2 Poor earthing Check Correct System earthing refer to Section 2 11 3 Possible Cause 3 Wiring error loose wiring and or connectors Check Correct Review motor power wiring to Drive including earth wire and shield refer to FIGURE 2 3 FIGURE 2 4 FIGURE 2 5 FIGURE 2 10 as appropriate Review resolver wiring from motor to Drive Possible Cause 4 Binding Backlash in mechanical power train Check Correct Inspect for cyclical binding or looseness in power train Possible Cause 5 Noisy Input Command Check Correct Drive J1 connections wiring shield earthing
238. g Box NOTE RS485 communications is not supported for the T164 drive MOOG T164 SERIES USER S MANUAL 110 SECTION FOUR CONFIGURATION AND TUNING Enter the drive password number Range 1 9999 The factory default is 0 Click the OK button Please enter password number Gose Change FIGURE 4 6 Password Dialog Box Click OK in the Windows User Access Level dialog box WinDrive for Windows Fi Access Level 1 User Privileged Access FIGURE 4 7 User Access Level Notification Dialog Box 4 1 3 3 OFF LINE MODE Off line Mode is activated when the PC communications port is not connected to a drive the drive is not powered on or the user has selected Off line in the Communications Port dialog box FIGURE 4 4 In order to run in OFF LINE mode proceed as follows Select OFF LINE mode from the Communication Port dialog box FIGURE 4 4 Then click the OK button Select control type RMC DMC from the Drive Type offline dialog box Then click the OK button MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 111 Controller Type offline x FIGURE 4 8 Drive Type offline Dialog Box NOTE Items in the various menu bars within WinDrive become ghosted when not applicable to the selected drive 4 1 4 DIALOG BOX BUTTON FUNCTIONS The select buttons within the WinDrive dialog boxes function as follows C Update Immediately s
239. g screws 3 places 4 places on T164 9X7 and 9X9 FIGURE 2 7 T164 901 T164 903 and T164 905 Digital Motor Drive MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 35 Notes Poo TB2 TERMINAL 1 J1 TERMINAL 1 J3 T164 9X7 J2 N zx p iwi AND 9X9 J1 J2 J3 amp TB1 PINOUTS gt ARE SAME AS FOR p oce OPTION 164 9 1 9X3 AND 9 5 SLOTS 9p b 127 0 MAX c 5 5c oo 1 5 00 94 0 16 1 254 7 3 70 0 63 10 03 A ik it SSSSSSSSSS Ioogoooooogoj Faut overvocrase O so e Loss pun 311 8 12 28 WT sssi 301 5 525 9 11 87 12 83 o LE i e 50 8 37 7 2 00 1 48 NOTSSHOWN AIR FLOW VERTICAL MOUNTING REQUIRED MOUNTING HOLE CLARIFIC
240. gt Now Condition Yellow LOSS OF PHASE LED on Possible Cause Loss of a phase of a c input power Check Correct Three Phase Plant Mains Supply Power Supply a c Input Wiring NN YES gt Now Condition Yellow THERMAL FAULT LED on Possible Cause 1 Ambient Temperature too high Check Correct Temperature of cabinet Possible Cause 2 Cooling fan failure or heat sink dirty clogged Check Correct Heat sink air flow unrestricted Clean as necessary Cooling fan operation C Sufficient clearance above and below unit Possible Cause 3 Excessive system duty cycle Check Correct 0 Application sizing power supply average current draw Possible Cause 4 Power Supply failure Check Correct Replace Power Supply Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL 338 SECTION SIX TROUBLESHOOTING GUIDE T150 901 Power Supply Troubleshooting Continued from Previous Page Condition Yellow REGEN ACTIVE LED is on excessively Possible Cause 1 YESC Regen fuse blown Check Correct 0 REGEN FUSE Possible Cause 2 Excessive aiding load Check Correct Review application sizing Possible Cause 3 Power Supply Failure Check Correct Replace Power Supply Condition Yellow REGEN FUSE LED is on Possible Cause 1 YESI Regen circuit fuse blown Check Correct Check d c bus wiring from Power Supply to Drives Replace REGEN FUSE Unless the d
241. gt Enter command to list filter damping ratio Filter Zeta 7 000E 1 gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 197 4 2 6 2 MOTOR OPERATIONAL MODES 4 2 6 2 1 STARTING STOPPING MI MO THE MOTOR The MI command provides a software enable for the motor while the MO command provides a software disable for the motor The hardware enable input overrides the software enable MI command The MI command is also used for enabling the motor when using the internal software function generator refer to Section 4 2 6 4 7 Example usage of MI and MO commands gt lt gt Enter to Software Enable Motor gt MO lt CR gt MO will disable motor Drive Disabled gt WARNING Rapid machine movement result when the MI command is used Issue this command only when ALL personnel are outside of the machine workcell and a hardware disable switch is directly accessible 4 2 6 3 OPERATING CONDITIONS 4 2 6 3 1 MOTOR SHAFT POSITION P The P command queries the motor shaft position Example usage of P command gt lt gt Motor Position 2 985E 2 Deg gt 4 2 6 3 2 MOTOR SHAFT VELOCITY V The V command queries the motor shaft velocity The speed reported is an average of the last one hundred sample periods MOOG T164 SERIES USER S MANUAL 198 SECTION FOUR CONFIGURATION AND TUNING Example usage of V command gt V lt CR gt Average
242. he choice is available in software see Section 4 2 6 4 3 to either use this command signal unfiltered or to use a low pass filter on the command The filter has a 3dB point of 1 kHz and an inband time delay of 360usec The command signals are converted by the A D converter a 12 bit converter The resolver excitation signal is sinusoidal at 4 9 kHz 4 V r m s and can drive up to 100 mA The resolver SIN and COS feedback signals are expected to be at a 2 V r m s level They are brought in to differential amplifiers filtered and converted by the A D converter MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 287 J1 STANDARD 1 0 4 CONNECTOR ELLE l DBAC 2 FOLDBACK i x STATUS M E c d perirent CURRENT CURRENT COMMAND ee 8 OTTOM TOP 5 N PWM GA CN WM 1 Le BOTTOM FROM a T150 901 POWER SUPPLY FIGURE 5 4 T164 SERIES DRIVE BLOCK DIAGRAM MOOG T164 SERIES USER S MANUAL 288 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 5 2 2 4 DIGITAL TO ANALOG SECTION The CPU outputs the properly commutated motor phase A and phase B current commands to the current loop through the D A converter section Two customer programmable test points are also pro
243. ielded cables for the input and output connectors and wire per FIGURE 2 26 2 10 6 1 EXTENDED 1 0 J6 CABLE OPTION USED WITH EXTENDED I O BOARD ASSEMBLY B89666 003 Use multi conductor shielded cables for the input and output connectors and wire per FIGURE 2 27 2 10 7 EXTENDED INPUT BRACKET CABLE OPTION Use multi conductor shielded cables for the input connector and wire per FIGURE 2 28 2 10 8 CAN INTERFACE I O OPTION CARD CABLE OPTION Use multi conductor shielded cables for the input and output connectors see FIGURE 2 29 2 10 8 1 CAN INTERFACE X2 X3 SERIAL CABLE OPTION Use multi conductor shielded communication cable and wire per FIGURE 2 30 MOOG T164 SERIES USER S MANUAL 70 SECTION TWO INSTALLATION AND WIRING USER CONNECTIONS A RS232 WIRING DIAGRAMS IBM PC COMPATIABLE 164 SERIES CONTROLLER DTE SERIAL PORT MATE J3 CONNECTOR MATE 25 PIN FEMALE DB 25S 9 PIN MALE DE 9P 1 CONTROLLER TRANSMIT DATA J3 CONNECTOR RECEIVE DATA 2 1 SHIELD ll SIGNAL GROUND 1 if 5 RS232 RX IBM PC COMPATIABLE 164 SERIES CONTROLLER 2 ee DTE SERIAL PORT MATE J3 CONNECTOR 9 FEMALE 255 9 PIN MALE DE 9P RS232 TX 1 gt 3 1 E TRANSMIT DATA Pct Hn 2 gt RECEIVE DATA SIGNAL GND H Z 3 5 z SIGNAL GROUND V w 5 gt gt 7 gt 8 10 WW 995 5V NOTES N CABLE L
244. ielding refer to FIGURE 2 31 Possible Cause 3 Motor resolver failure Check Correct Replace motor Possible Cause 4 NO Drive failure Check Correct Replace drive Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 335 T164 Series Drive Troubleshooting from Previous Page Condition Yellow SHORT CIRCUIT LED on Yellow SYSTEM FAULT LED on F Query Lists Bridge Overtemperature Fault when using C4 firmware View the FAULTS STATUS BAR when using H1 firmware Possible Cause 1 YESI Short in Motor Wiring or Connector Check Correct Motor power cable wiring between drive and motor refer to FIGURE 2 32 FIGURE 2 4 FIGURE 2 5 FIGURE 2 7 as appropriate Possible Cause 2 Motor Failure Check Correct Replace motor Possible Cause 3 Nol Drive Failure Output Bridge Shorted Check Correct Replace Drive Condition Yellow BUS OVERVOLTAGE LED on Yellow SYSTEM FAULT LED on F Query Lists Bridge Overtemperature Fault when using C4 firmware View the FAULTS STATUS BAR when using H1 firmware YES gt Possible Cause 1 Excessive regeneration causing Power Supply regen electronic circuit breaker to trip Check Correct Regeneration sizing resistance value and or power rating wrong Possible Cause 2 Optional external regen resistor configured or wired wrong Check Correct Configuration and wiring of optional exter
245. ilter and the T150 901 Power Supply power input Unshielded cable was used for all connections between the T150 901 Power Supply and T164 Drives and for the external 24Vd c supply to the T164 Drives All cables from Drive output ports were grouped together and routed along the frame of the fixture in a manner typical to cable routing on machinery The motor power and resolver cables were grouped together and installed in a fixed routing to the motors The output port cables motor and resolver cables regen resistor cable and power input cables had segregated routings MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 19 Confiquration lll The configuration consisted of three phase a c mains input via a Siemens B84143 A36 R filter and 380 220 V r m s 3 Phase Step Down Isolation transformer to a T150 901 Power Supply plus T164 907 and T164 909 Drives Both drives had ESMII cards installed Terminated unshielded communications cables of length 3 meters each were connected to the J4 ports of both ESM II cards A Fair Rite Products Type 0443164151 common mode ferrite clamp was installed on each of the cables at the ESM II J4 port An Oyster Terminals Type 4 service terminal peripheral was permanently connected to the J3 communications port of the T164 907 drive A B81655 Axis ID Module option card plus 3 meter terminated RS485 interface shielded cable was permanently connected to the J3 communications port of the T164 909 drive
246. imit to 60 amps More lt CR gt Icont 3 394e 0 Arms More lt CR gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 207 Max Time at Ipeak 2 000E 0 S T 1 CH Set the time at peak current to 1 second Set the continuous limit to 30 amps gt 4 2 6 4 11 MANUAL ENABLE DISABLE command enables disables manual mode In manual mode the velocity and torque limits are set to preset manual mode values refer to Section 4 2 5 1 3 Manual mode may also be enabled disabled by hardware if an Extended Option card is installed refer to Section 4 2 8 1 4 Default State Manual Mode Disabled Issue C command to permanently save changes made using OM Example usage of OM command gt lt gt Disable Manual Mode Y N Yes Y lt CR gt Enter Y to disable any other key to enable gt 4 2 7 COMMAND REFERENCE ENCODER SIMULATION OPTION This Section details the additional commands and command extensions activated when an Encoder Simulation Option card is installed For a description of the Encoder Simulation Option refer to Section 5 5 4 2 7 1 SETTING LISTING SN LN VELOCITY SCALING When an Encoder Simulation Option card is installed the maximum speed is constrained to the lesser of the encoder maximum speed or the motor maximum speed The encoder maximum speed limitation is listed in TABLE 5 14 and is inversely proportional t
247. in the interrupting rating of the a c input circuit breaker NOTE The system is designed to allow direct a c off line operation from a 220 Vr m s 50 60 Hz three phase source capable of delivering not more than 5000 r m s symmetrical amperes A mains isolation transformer constructed in accordance with European standard EN 60742 is required to meet applicable electrical safety requirements of European safety standard EN 60204 1 and to provide fault current limiting For CE compliance a 380 220 V 3 Phase step down transformer rated 15 kW maximum shall be used Transformers should be installed in a clean dry enclosed environment Consult manufacturers data sheets for maximum ambient temperature MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 3 1 1 2 A C INPUT CIRCUIT BREAKER USER SUPPLIED WARNING The T150 901 Power Supply requires the user to supply a c disconnecting device circuit breaker rated at 63 A r m s on all incoming a c voltage supply lines for each T150 901 Power Supply used in an application A hand operated supply disconnecting device circuit breaker shall be provided for each incoming supply This supply disconnecting device circuit breaker shall meet the requirements of European standard EN 60204 1 as detailed below This device shall disconnect the electrical equipment of the machine from the supply when required e g during work on the electrica
248. ing Toolbar and from the Drive Menu Disable Drive The disable function removes power from the motor Also available from the Floating Toolbar or by pressing F4 Broadcast RS485 only NOT SUPPORTED FOR T164 DRIVE Select Axis RS485 only NOT SUPPORTED FOR T164 DRIVE Drive Status Drive Status provides a table of current drive and motor information D D D D Extended Function Cards Extended Function Cards displays which option cards have been detected by the WinDrive software Apply Brake Applies the optional motor brake Release Brake Releases the optional motor brake Units The units in which WinDrive displays temperature torque current torque constant velocity and inductance may be changed with this option 4 1 7 1 3 LOG FILES MENU OPTIONS Start Record In order to begin writing a logfile the Start Record option is selected The log file window is automatically updated as new parameters and commands are entered Current units are written to the window as soon as Record is selected Stop Record On completion of log file recording Stop Record is selected Clear Record Clear record is used to erase the Log File Display Window A Save option is displayed before the current log file is cleared Logfile Player The log file player sends log files to the drive memory Log files may be played as a continuous stream of commands or in a string stepped through line by li
249. iod S1 Duty Cycle 4 FIGURE 4 37 Function Generator Dialog Box Speed Amplitude RPM Set the motor velocity in RPM For tuning a value equal to 1096 of the rated motor RPM should be used Speed Offset RPM This value in RPM is added to the Speed Amplitude for one direction of rotation and subtracted from the other A factory default value of 0 results in equal movement of the motor shaft in both directions Torque Amplitude Set the required motor torque NOTE EXCEED THE RATED MOTOR TORQUE Torque Offset This value sets the torque bias for the motor in both directions of rotation Period Enter the time in seconds for one cycle of motor operation Duty Cycle This value determines what percentage of the Period the Velocity or Torque Amplitude is positive The remaining portion of the period the amplitude is negative For tuning a duty cycle of 50 should be entered to produce equal clockwise and counter clockwise shaft rotation Point If the DMC drive contains a Point card the user may select this as the reference source To program the Point control see the Point Users Manual Part C05100 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 145 4 1 13 3 SETTING TORQUE AND VELOCITY LIMITS Setup the system torque and velocity limits as follows Manual Mode Disable Automatic Mode Normal Velocity Limit RPM Normal Tor
250. ion 4 3 8 2 2 Default State Manual Mode Disabled Issue C command to permanently save changes made using OM Example usage of OM command gt OM CR Disable Manual Mode YIN Y Enter Y to disable any other key to enable gt 4 3 7 COMMAND REFERENCE SIMULATION This Section details the additional commands and command extensions activated when an Encoder Simulation Option card is installed For a description of the Encoder Simulation Option refer to Section 5 4 MOOG T164 SERIES USER S MANUAL 268 SECTION FOUR CONFIGURATION AND TUNING 4 3 7 1 SETTING AND LISTING PARAMETERS ENCODER SIMULATION OPTION 4 3 7 1 1 LISTING L MOTOR AND DRIVE CONFIGURATION In addition to the data described in Section 4 3 6 1 1 presence of an Encoder Simulation Option card is reported Example of additional data listed by usage of L command gt L CH Same listings as shown in Section 4 3 6 1 1 except for No Option Card Installed Encoder Simulation Installed gt 4 3 7 1 2 SETTING LISTING SN LN VELOCITY SCALING When an Encoder Simulation Option card is installed the maximum speed is constrained to the lesser of the encoder maximum speed or the motor maximum speed The encoder maximum speed limitation is listed in TABLE 5 14 and is inversely proportional to line count For an application that is speed limited by the encoder the encoder line count must be reduced to
251. is to be saved Use the browse command to find existing file or file folder When the above items are configured click the Save button to write the Block Data to disk 4 1 9 5 FRONT PANEL TEST POINTS Two 2 programmable analog output channels used to monitor system parameters are available with every WinDrive compatible drive The output at each of the channels is set with the Front Panel Test Points dialog box Open using the Setup option in the Drive menu Front Panel Test Points xi Test Point 1 Analog Signal Torque Demand Test Point 2 Analog Signal Actual Velocity M Velocity Scaling 30 630 Zero Displayed Position Update FIGURE 4 22 Front Panel Test Points Dialog Box MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 131 The Front Panel Test Points dialog box has three 3 windows that function as follows Test Point 1 Analog Signal Sets system variable to be monitored at test point 1 Select variable by clicking on down arrow at right side of window this will bring up an alphabetical listing of system variables available Test Point 2 Analog Signal Sets system variable to be monitored at test point 2 Select variable by clicking on down arrow at right side of window this will bring up an alphabetical listing of system variables available Velocity Scaling RPM 10V Enter maximum motor velocity RPM corresponding to a 10V anal
252. isable for the motor The hardware enable input overrides the software enable MI command The MI command is also used for enabling the motor when using the internal software function generator refer to Section 4 3 6 4 7 Example usage of MI and MO commands MI Enter Command io Software Enable Motor gt MO MO or M and any other key except H or l will disable gt WARNING Rapid machine movement can result when the command is used ssue this command only when ALL personnel are outside of the machine workcell hardware disable switch is directly accessible 4 3 6 3 OPERATING CONDITIONS 4 3 6 3 1 MOTOR SHAFT POSITION P The P command queries the motor shaft position Example usage of P command gt lt gt Shaft Angle 2 985E 2 Deg gt MOOG T164 SERIES USER S MANUAL 258 SECTION FOUR CONFIGURATION AND TUNING 4 3 6 3 2 MOTOR SHAFT VELOCITY V The V command queries the motor shaft velocity The speed reported is an average of the last one hundred sample periods Example usage of V command gt V lt CR gt Wait Av Motor Velocity 4 861E 1 RPM gt 4 3 6 3 3 CURRENT LIMITS L The L command lists the current limit settings for IT Foldback refer to Section 4 3 6 4 10 Continuous Current Limit Peak Current Limit Maximum Time at Ipeak Note that the current limits are the lesser of motor model limits or drive model limits Example usage o
253. itioned air free of corrosive or electrically conductive contaminants The accumulation of dust dirt etc on the equipment must be avoided The T150 901 Power Supply T164 Series Drives and all conductive parts in the IP54 rated enclosure or cabinet must be permanently connected to earth The earth continuity between the earth terminal and any accessible part of the enclosure or cabinet shall be less than or equal to 0 1 ohms For Electrostatic Discharge ESD reasons all service or maintenance persons must ground themselves to the chassis of the equipment when performing service functions inside the IP54 rated enclosure or cabinet in which the T150 901 Power Supply and T164 Series Drives are installed This may be done by using an ESD wristband with earth strap All external Regen Regenerative circuit resistors used with the T150 901 must be installed in enclosures which provide a degree of ingress protection against liquids and objects of at least IP54 and which are accessible to technically qualified service or maintenance persons only Protection against electric shock must be maintained when installing these resistors The T150 901 Power Supply and T164 Series Drives are system components which must be installed in a correct manner to ensure that all electromagnetic compatibility EMC requirements are met Refer to Section 1 3 of this Users Manual MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 25 The T1
254. ive circuit resistors used with the T150 901 must be installed in enclosures which provide a degree of ingress protection against liquids and objects of at least IP54 and which are accessible to technically qualified service or maintenance persons only Protection against electric shock must be maintained when installing these resistors All external d c supply voltages used with the T150 901 Power Supply and T164 Series Drives must be derived from a Safety Extra Low Voltage SELV supply as defined by standard EN60950 Such SELV voltages do not exceed a value of 60 Vd c or 42 4 V peak under normal conditions and are supplied by circuits which are separated from all hazardous voltage conductors by permitted safety methods such as reinforced insulation The user is required to connect the PSU fault signal supplied by the Moog T150 901 power supply and amp fault supplied be the MOOG T164 90X drive to the front end drive system This must be done to prevent accidental start up following stoppage due to power failure or fault operation Interlocking must be installed by the user to delay drive enabling until the power supply fault output signal clears otherwise damage to the power supply may result All electrical supply wires and cables to this equipment must be installed in wireways cable routings which are smooth and free from sharp edges All external electrical wiring connected to this equipment must be color coded in accordance with E
255. l Environment 24V Brake Brake Wires Temperature Range 50 C to 24V Brake 22295 001 twisted shielded pair 90 C continuous operation PE ith overall shield Phase U G4x6 B47916 001 xxx 47711 001 47904 001 10mm AWG 8 OD 20 5 mm 807 Phase V Power Lead Wires Designed for use in Cable Phase W 2x1 0mm AWG 17 Tracks and Oil Environment 24V Brake Brake Wires Temperature Range 50 C to 24V Brake C22296 001 xxx twisted shielded pair 90 C continuous operation PE ith overall shield Bare cable not available in US Layout shows top view of Mating Connector 80 Pin assignment for Motor Signal Resolver Cable Mating Connector Pin Layout Pin Connection Motor Part Number Part Number Part Number SECTION TWO INSTALLATION AND WIRING Cable Description Cable Specification Power Cables Mating Bare Power Assembled Power Cable Connector loose B47886 002 A63021 001 B47885 001 4x2x0 25mm AWG24 4OD 7 mm 276 in twisted pairs twisted Designed for use in Cable with overall shield Tracks and Oil Environment Temperature Range 50 C to 22297 001 90 continuous operation Partnumber for Europe Asia Market Bare cable not available in US xxx stands for cable length in meter Layout shows top view of Mating Connector standard lengths are 010 10 meters and 020 20 meters Partnumber for US Market Xxx sta
256. l equipment When two or more supply disconnecting devices are provided protective interlocks shall be used where a hazardous condition or damage to the machine or to the work in progress could occur The supply disconnecting device circuit breaker shall be one of the following types a a switch disconnect in accordance with European standard EN 60947 3 utilization category AC 23B or DC 23B d a disconnect which has an auxiliary contact which in all cases causes switching devices to break the load circuit before the opening of the main contacts of the disconnect a a circuit breaker in accordance with European standard EN 60947 2 suitable for isolation in accordance with European standard EN 60947 3 The supply disconnection device disconnect or circuit breaker shall fulfill all of the following requirements 0 Isolate the electrical equipment from the supply and have one OFF and one position only clearly marked with O and 4 and with the actuating directions accordance with European standard IEC 447 Circuit breakers which in addition have a reset tripped position between and I are also deemed to satisfy this requirement Have a visible gap or position indicator which cannot indicate OFF until all contacts are actually open and there is an adequate isolating distance between all the contacts in accordance with European standard EN 60947 3 Have an external operating handle Wh
257. le log z mellon moog FIGURE 4 24 File Save Dialog Box 4 1 10 2 2 LOADING FILE Proceed with the following commands to load a Log File from disk Select Open from the File menu A GUI File Open dialog box appears FIGURE 4 25 Use this box to search for the log file you want to open Search using the following method Use the Drives window to select the disk drive you wish to look for the file in If the drive is an unlisted network drive use the Network button to map the necessary drive Use the Folders window to select the folder you wish to look in In the File name window enter the 8 3 formatted file name you wish to load Or select the file from the window list of files below the File name header Make sure the Save file as type is set to Moog Data Logger log Click the OK button to load the data MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 135 MOOG GUI File Open File name Folders c windrive Cancel Cy c E windrive Help Network List files of type Drives Log File log amp mellon moog FIGURE 4 25 MOOG GUI File Open Dialog Box 4 1 10 3 LOG FILE PLAYING Drives may be configured by playing the contents of the log file to their memory To open the Logfile Player dialog box select the Log File Player option from the Log Files Menu Logfile Player Ed MOTOR RTT 4 9
258. le usage of OZ command gt 27 lt gt Zero Analog Input Offset gt 4 2 6 4 7 FUNCTION GENERATOR OPTIONS A software function generator intended to be used for tuning of the drive is available to be used as the reference command source The function generator provides a square wave programmable in amplitude offset period and duty cycle The function generator has the following parameters Parameter Units Default Value Speed Amplitude RPM 0 to 18 000 0 Speed Offset RPM 18 000 0 Torque Amplitude Nm 0 to Peak Torque 0 Torque Offset Nm Peak Torque to Peak Torque 0 6 0 to 10 Seconds 1 0 to 99 9 50 TABLE 4 3 Function Generator Parameters The duty cycle parameter specifies the percentage of the period that the speed or torque amplitude is positive For the rest of the period the speed or torque amplitude is negative The speed and torque offsets allow unequal speeds or torques in both directions or unipolar speeds Speed Amplitude and Offset parameters are only activated when the drive is operating in velocity mode Similarly Torque Amplitude and Offset parameters are only activated when the drive is operating in torque MOOG mode T164 SERIES USER S MANUAL 204 SECTION FOUR CONFIGURATION AND TUNING The function generator is set up from the main menu using the following command sequence The command reference must be i
259. least IP54 These enclosures or cabinets must be accessible to technically qualified service or maintenance persons only Refer to Section 1 2 1 of this Users Manual For Electrostatic Discharge ESD reasons all service or maintenance persons must ground themselves to the chassis of the equipment when performing service functions inside the IP54 rated enclosure or cabinet in which the T150 901 Power Supply and T164 Series Drives are installed This may be done by using an ESD wristband with earth strap All external d c supply voltages used with the T150 901 Power Supply and T164 Series Drives must be supplied from power supplies which are compliant with the requirements the EU EMC Directive All external computers hand held terminals or similar equipment attached by the user to the T150 901 Power Supply and T164 Series Drives must be CE marked as compliant with the requirements of the EU EMC Directive An a c power input line filter is required to be installed by the user in the a c power input supply lines to the T150 901 Power Supply Details of a c power line filters which have been tested with the typical configurations of T150 901 Power Supply and T164 Series Drives referred to in Section 1 3 2 of this Users Manual and are given in Section 2 3 of this Users Manual Detailed installation instructions for such a c power line filters are given in Section 2 3 of this Users Manual Ferrite EMC suppression components are required to b
260. lect option two 2 from the list FIGURE 4 51 Controller Type Selection Screen MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 167 4 2 2 3 MAIN EMULATOR SCREEN FEATURES The Moogterm Main Emulator Screen provides a User Interface to setup and monitor the system drive s 4 2 2 4 SCREEN LAYOUT Screen Footer List of available commands Center of Screen Used to input command set and view drive data MOOG T164 SERIES USER S MANUAL 168 SECTION FOUR CONFIGURATION AND TUNING FIGURE 4 52 Main Emulator Screen 4 2 2 5 FUNCTION KEYS Ctrl E Used to exit Moogterm Ctrl T Opens the File Transfer Function window so the user may choose one 1 of the following D To download a parameter file from disk to the drive EEPROM After selecting D you will be asked to enter the file name 8 characters without the file extension where the parameters are stored U To upload from the drive EEPROM to disk After selecting U the user will be asked to enter a file name 8 characters without a file extension where the parameters are to be saved E To return to the Main Emulator Screen MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 169 4 2 3 COMMAND LINE FORMAT Communication to the T164 Series Drive is via a terminal interface using the main menu The main menu will prompt you to enter a letter in the following format gt All main menu
261. length shall be provided for this purpose The terminations of multicore cables shall be adequately supported where undue strain can be exerted on the terminations of the conductors Wherever possible the protective conductor shall be placed close to the associated live conductors in order to decrease the impedance of the loop 2 9 1 4 WIRING PRACTICES CONDUCTORS OF DIFFERENT CIRCUITS Subject to the constraints for EMC suppression given in sections 1 3 2 5 and 2 7 of this Users Manual conductors of different circuits may be laid side by side may occupy the same duct e g conduit cable trunking system or may be in the same multicore cable provided that the arrangement does not impair the proper functioning of the respective circuits Where these circuits operate at different voltages the conductors shall be either separated by suitable barriers or insulated for the highest voltage to which any conductor within the same duct can be subjected Circuits which are not switched off by the supply disconnecting device circuit breaker shall be either physically separated from other wiring or distinguished by color or both so that they can be identified as being live when the supply disconnecting device is in the OFF or OPEN position MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 59 2 9 1 5 WIRING PRACTICES IDENTIFICATION OF CONDUCTORS Conductors shall be identifiable at each termination in accordance
262. ling Edge FIGURE 4 14 Data Trigger Dialog Box Configure each of the following items in the dialog box Data Trigger Enable Check box to enable Data Trigger MOOG T164 SERIES USER S MANUAL 124 SECTION FOUR CONFIGURATION AND TUNING Trigger Variable Select the system variable to be used as the trigger from the pull down list activated by the down arrow at the box end Trigger Level Enter a point absolute number within the trigger variable s operating range at which the data logger will begin collecting data This point will have units corresponding to the Trigger Variable selected For example if actual velocity is the selected trigger variable the trigger level is set to RPM the unit of velocity used by WinDrive Mode Two 2 modes of triggering are available Select one 1 Rising Edge A trigger variable rising above the trigger level will trigger the data logger to begin recording Falling Edge trigger variable falling below the trigger level will trigger the data logger to begin recording 4 1 9 1 3 DATA LOGGER CONTROL When set up of the data logger is complete the Data Logger Control Panel is used to start the data logger Open the DL Control Panel by choosing Control Panel from the Data Logger menu Select Go from the dialog box to ready the data logger for recording NOTE If the logging Mode is set to One Shot the logger will start recording when the Trigger v
263. llowing features 5 8 1 Allows electrical isolation to the bus Allows daisy chaining of the bus from drive to drive Quick stop functionality implemented based on a digital input Brake control Hardware limit switches Home switch Axis ID Switches CIRCUIT DESCRIPTION The card implements three sets of functionality Drive Area Network C A N interface digital and Axis ID switches The purpose of the is to provide dedicated points from to which an external control can influence the drive behavior for e g implement a controlled deceleration of the motor shaft via the Quick Stop digital input The digital I O are functionality is as follows MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 321 Quick Stop Input Active when no current flows Clockwise Limit switch Counter Clockwise Limit switch Home Switch Brake Relay contacts Note the relay must be used in conjunction with a correctly rated brake relay external to the drive is differential serial bus The maximum baud rate is 1M Baud up to 40 metres For a detailed explanation of C A N please consult the Robert Bosch CAN Specification rev 2 0 Part A 1991 All external connections to the drive via CAN are ISO 11898 compatible Two 9 way D sub type connectors are supplied for this purpose In order to set the address of the drive on the bus two ID switches are provi
264. lly useful for drive troubleshooting When in WinDrive graphical user interface mode GUI mode select DRIVE DRIVE STATUS or view the FAULTS STATUS BAR MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 325 No Motion Condition T150 901 Power Supply BUS ACTIVE LED is off REGEN FUSE LED is off Possible Cause YESC a c Power off Check Correct Three Phase a c Plant Supply a c Input Circuit Breaker Optional a c Input Drive Contactor nov Optional Transformer Wiring User Control Circuits Interlocks Preventing a c Power Condition T150 901 Power Supply BUS ACTIVE LED is off REGEN ACTIVE LED is on REGEN FUSE LED is on Possible Cause YES REGEN FUSE blown Check Correct Check d c bus wiring from Power Supply to Drives Replace REGEN FUSE Unless the d c bus wiring to the Drives is found to be reversed a blown fuse is a strong indication that the Power No Supply is defective and should be returned for factory repair Condition T150 901 Power Supply BUS ACTIVE LED is on REGEN FUSE LED is off Possible Cause YES Qc BUS FUSE blown Check Correct C Measure 300V d c from d c to d c terminals of T150 901 Power Supply Fuse blown if 300 V d c not present Field replacement of the d c BUS FUSE is not recommended A blown nov fuse is a strong indication that the Power Supply is defective and should be returned for factory repair
265. losure panel earthed to Chassis Earth the shield may be earthed to the panel by use of a 360 degree metal cable gland Refer to Section 1 2 1and Section 2 7 for safety and other relevant installation requirements for Regen resistors Cables supplying external d c supply voltages to the T164 Series Drives For example the 24 Vd c supply must be as short as possible The supply wires should be twisted together or alternatively shielded cable should be used Cables connecting the 300 Vd c bus from the T150 901 Power supply to the T164 Series Drives must be as short as possible The supply wires should be twisted together Motor power cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable At the T164 Drive end of the cable the shield should be earthed to Chassis Earth using a 180 degree metal clamp P clip connection to ensure a good HF earth bond Secure the clip using conductive bolts and locking washers C Motor resolver cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable Signal cables must be shielded with the cable shield securely connected to make good HF earth bond to Chassis Earth at both ends of the cable Q T164 Drives with ESM ll option cards installed must additionally have a clip on ferrite installed on the signal cable to the ESM II port J4 This shall be a Type 0443T164151 ferrite manufacture
266. lowing two steps for127 5 inch drives Models T164 9077 and T164 909 only m Wire d c from power supply terminal TB2 1 or TB2 2 to drive terminal TB2 7 m Wire d c from power supply terminal TB2 3 or TB2 4 to drive terminal TB2 6 NOTE Daisy chained d c and d c wiring from a power supply to drives should be avoided if possible When necessary locate and wire highest current drives closest to the power supply Attach the appropriate power supply Regen cable pre wired section 2 10 1 2 11 3 DRIVE WIRING Repeat steps in this Section for each drive in system Q Plug in drive connector J1 Standard cable pre wired section 2 10 2 and connect to user equipment m Plug in drive connector J2 Resolver cable pre wired per section 2 10 9 2 Q Plug in drive connector TB1 24 Vd c Logic Power cable pre wired per section 2 10 4 and connect to user supplied 24 Vd c power supply Perform the following step only if using Encoder Simulation Option m Plug in drive encoder simulation option card connector J4 Encoder Simulation cable pre wired per section 2 10 5 and connect to user encoder input Perform the following step only if using Extended I O Option card Plug in drive extended option card connector J5 Extended Input cable pre wired per section 2 10 6 and connect to user extended input output circuitry Connect motor power
267. lt CR gt Disable Thermal Protection Y N No N lt CR gt Enter Y to disable any other key to enable gt MOOG T164 SERIES USER S MANUAL 206 SECTION FOUR CONFIGURATION AND TUNING 4 2 6 4 10 IT FOLDBACK CURRENT LIMITING IT FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The IT Foldback feature is intended to protect the drive and or motor from overheating due to excessive operation at peak current The product of the peak current limit Ipeak and the maximum time at Ipeak determines the value called Max It When the current command exceeds the continuous current setting the product of current and time is computed When this IT product becomes greater than the Max It value the drive enters foldback and the output current is reduced down to the continuous current level The drive remains in foldback until the current level goes below the continuous current rating Using the OT command the user may configure three parameters Ipeak Max Time at Ipeak and lcont as follows Foldback Acceptable Range Default Value Parameter 010 Drive Rated Ipeak Drive Rated Ipeak Max Time at Ipeak 0 1 to 5 Seconds 2 Seconds 0 to Drive Rated lcont Drive Rated lcont TABLE 4 4 IT Foldback Settings Issue C command to permanently save changes made using Example usage of IT command gt IT IT Protection Ipeak 7 997E 1 Arms 60 lt CR gt Set the peak current l
268. menu select Run In the Run program dialog box type AASetup Press Return Windows 95 From the Start menu select Run In the Run dialog box type A Setup Press Return MOOG T164 SERIES USER S MANUAL 106 SECTION FOUR CONFIGURATION AND TUNING When the installation is complete a WinDrive Group should be created in the Program Manager W3 11 Task Bar W95 Within the group a WinDrive Program Icon and a WinDrive Help Icon and a Textfile Icon readme txt should be visible The Help system can be started from the Program Manager by double clicking on the Help Icon or from within WinDrive using the F1 key Help Menu or Help buttons If the setup procedure fails an error message will be given the icons are not created or the software fails to run the disks may be damaged In this case a Moog Field Service Representative should be contacted The text file Readme txt describes the operation of the setup file 4 1 2 COMMUNICATION HARDWARE SETUP Use an RS232 serial cable Before a drive can be configured the hardware should be setup as outlined below PC Controller WinDrive running on IBM Compatible FIGURE 4 1 System Hardware Setup 4 1 2 1 RS232 COMMUNICATION MODE JUMPER SETUP Set the drives RS communication mode position jumper W2 for RS232 See Figure 5 4 for jumper location The Factory Default is RS232 jumper pins 1 2 W2 Jumper Factory Setting is for RS232 Link 1 RS 232 A FIGURE 4 2 Position of Link
269. mm 0 27 A RELAY CLOSED WHEN OK PUT 5V 30Vd c PER INPUT USER MUST SOURCE OR SINK 1 15mA AT 5V 12 30V FIND MOOG NO PART NO DESCRIPTION QUANTITY 1 69687 011 CONNECTOR 11 P SUPPLIED BY 006 1 USER SPLY 2 MAKE ITEM CABLE AX AR FIGURE 2 26 J5 Extended I O Option Card Cable MOOG T164 SERIES USER S MANUAL 74 SECTION TWO INSTALLATION AND WIRING USER CONNECTIONS CONTROLLER J6 CONNECTOR gt U BRAKE IN 5 _ 24VDC SUPPLY BRAKE N AN gt 7 on AIN 5 3 ANALOG TORQUE AIN gt 2 gt 4 LIMIT INPUT A NOTES WIRE RANGE 14 AWG TO 17 AWG RECOMMENDED TERMINAL AN SCREW TORQUE 5 0 5 IN LBS 56 06 NM WIRE STRIP LENGTH WIRING SIDE 27 IN 7 0 mm SIGNAL MUST BE TWISTED SHIELDED PAIR Q TWISTED PAIR SUPPLY SHOULD BE MAX 1 5A AT 24VDC SEE TABLE 5 5 FOR BRAKE DATA 2 SUPPLY RETURN SHOULD BE WIRED TO 7 ALSO FIND MOOG PART NO DESCRIPTION QUANTITY RB 09 6 007 7 P SUPPLIED BY MOOG MAKE ITEM CABLE USER 5 FIGURE 2 27 J6 Extended Option Card Cable MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 75 X4 CONNECTOR 12345 WIRING SIDE NOTES A WIRE RANGE 15 AWG TO 26 AWG RECOMMENDED TERMINAL SCREW TORQUE 3 0 3 IN LBS 03 NM
270. mode disable manual mode using the OM command refer to Section 4 2 6 4 11 Use the PU command while monitoring the velocity response on the oscilloscope to increase the P gain until a slight overshoot occurs in the velocity response Use the PD command to decrease the P gain until the overshoot just disappears Use the IU command to adjust the velocity loop integral time constant refer to Section 4 2 5 2 Using the IU command increase the loop response until a slight overshoot occurs again Use the PU command to improve the slope of the step response FIGURE 4 55 illustrates the velocity wave form for a properly tuned loop Use the OR command to set the command reference to the analog reference refer to Section 4 2 6 4 1 Offsets in the drive and the users velocity command may be trimmed out with the automatic offset command Apply the desired zero speed command to the drive and issue the OZ command refer to Section 4 2 6 4 6 Use the C command to save configuration data in EEPROM refer to Section 4 2 5 7 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 185 4 2 5 5 VELOCITY OBSERVER TUNING This Section explains the set up and tuning of the velocity observer The use of the observer will usually allow significantly higher velocity loop gains and bandwidths to be achieved The observer uses a software model of the motor and load to calculate a velocity estimate
271. mode only e Braking Mode Velocity Limit RPM e Braking Mode Torque Limit Nm 96 Automatic Manual Speed Limits RPM Automatic Manual Torque Limits Nm Observer Inertia kg m2 Function Generator Speed Amplitude Velocity and Function Gen Modes only Function Generator Speed Offset Velocity and Function Gen Modes only Function Generator Torque Amplitude Torque and Function Gen Modes only Function Generator Torque Offset Torque and Function Gen Modes only Function Generator Period Function Generator Mode Only Function Generator Duty Cycle Function Generator Mode Only Position Loop Proportional Gain Rad s Rel and Abs Position Mode Only Position Scale Factor in Rel and Abs Position Mode Only Max Position Command Difference in Rel and Abs Position Mode Only RS485 Multidrop Axis Number Issue C command to permanently save changes made using S Example usage of L command gt L Vel Scaling Only displayed when in velocity and position mode 5800 RPM at 10V more CH Press RETURN or any key to proceed Vel Loop Gain Only displayed when in velocity and position mode 1 000E 2 Nm Rad Sec more CH Press RETURN or any key to proceed Integral Only displayed when in velocity and position mode Time Const 2 000E 1 s more CH Press RETURN or any key to proceed Second Order Only displayed when in velocity and position mode Filter Fre
272. motor drive Addition of the POINT card allows the POINT DMC system to execute point to point closed loop positioning under the direction of a user programmed application sequence Isolated digital 1 and an analog input interface allows the system to react to external events and sensors All servo loop algorithms and user defined program sequences are resident within the system for true stand alone operation MOOG T164 USER MANUAL 320 5 7 1 5 7 2 OOOO SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION GENERAL FEATURES Plugs into T164 drive extended function slot Internal power from the T164 drive Field retrofit for existing T164 drives Pluggable I O connector with screw clamp terminations Standard D connector for serial ports Non volatile memory for user program storage Expandable functionality with additional extended function card 0 55 C ambient operation PERFORMANCE Absolute relative and position in time motion profiles User defined motion profile acceleration and velocity 200 hertz position and 2000 hertz velocity loop update rates Data logging and display of motion parameters such as position versus time For specification and detailed information please consult the Sales Department 5 8 C09242 00X CAN INTERFACE MODULE OPTION The card will implement C A N Interface as well as provide digital I O and node identification for each drive on the bus The card has the fo
273. motor may heat up to more than 100 and can cause skin burns if touched The servomotor must therefore be protected to prevent contact 2 8 2 INTENDED USE The drive components have been developed and built for installation and operation in industrial systems See additional information regarding installation mounting rated radial load and operating conditions in section 5 G400 Series Motors MOOG T164 SERIES USER S MANUAL 54 SECTION TWO INSTALLATION AND WIRING 2 9 CABLES This Section defines the cable requirements for the T164 Series Drives and related equipment NOTE Cabling and component wiring is critical in obtaining successful operation of the system Pay close attention to specified wiring practice information earthing and shielding requirements Improper wiring can result in EMC and other electrical noise generation and 2 motor performance resulting in the equipment becoming unsafe Assure chassis earth connections are securely made throughout the equipment The Earth continuity between the earth terminal and any accessible part of the equipment enclosure or cabinet shall be less than or equal to 0 1 ohms Terminate all individual chassis earth connections to a single tie point such as the equipment earth Bus All earth connections should be as short as possible Ensure that a good high frequency HF earth bond is maintained Tighten all terminal screws securely to avoi
274. n Rate Rad 7s 300000 Cancel FIGURE 4 39 Limit Switches Dialog Box Limit Switches Disabled Check box to disable limit switch inputs Quick Stop Deceleration Rate If limit switch inputs are enabled this variable determines the rate at which the drive decelerates the motor after a limit switch is tripped 4 1 13 5 TUNING In the Tuning dialog box select Torque or Velocity Mode based on the systems operating mode Based on your selection go to the corresponding tuning mode section below 4 1 13 5 1 BASIC VELOCITY MODE TUNING This section provides a recommended velocity mode standard tuning procedure for use with WinDrive The procedure should be followed in the sequence listed below NOTE The two principle parameters affecting the velocity loop dynamics are the Velocity Loop Proportional Gain P and the Integral Time Constant 1 The proportional gain term P acts the measured velocity error which is the difference between the requested velocity and the actual velocity High P gain gives the system a faster response and tighter velocity control but if the gain is set too high the system may become unstable For best results the P gain should be set as high as possible without inducing severe overshoot or oscillation The Integral Time Constant sets the gain for the integral term in the velocity error compensation Integral gain is used to remove any steady state error In
275. nDrive Startup On line connection only Follow the On Line Mode steps outlined in section 4 1 3 2 up to the Password dialog box FIGURE 4 6 step Atthe Password dialog box enter the existing password Factory default is 0 Select OK The User Access Level notification is displayed FIGURE 4 7 Select OK Inthe Password dialog box select Change Inthe Change Password dialog box FIGURE 4 44 enter a new password Range 0 9999 Select OK Inthe Password dialog box select Close Save the Password to EEPROM see section 4 1 11 3 Change Password Please type in new password Password must be an integer between 0 and 9999 Cancel Hep FIGURE 4 44 Change Password Dialog Box MOOG T164 SERIES USER S MANUAL 156 SECTION FOUR CONFIGURATION AND TUNING From within the WinDrive program Select Passwords from the File menu Atthe Password dialog box enter the existing password Factory default is O Select OK The User Access Level notification is displayed FIGURE 4 7 Select OK Inthe Password dialog box select Change Inthe Change Password dialog box FIGURE 4 44 enter a new password Range 0 9999 Select OK Inthe Password dialog box select Close Save the Password to EEPROM see section 4 1 11 3 NOTE If a saved password is forgotten Moog application engineering should be contacted to reset the saved user password to a known value 4 1 15
276. nal regen resistor refer to Section 2 7 Possible Cause 3 Three phase input voltage too high Check Correct Three phase a c input voltage level to T150 901 Power Supply Possible Cause 4 T150 901 Power Supply failure Nol Check Correct Replace T150 901 Power Supply Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL 336 SECTION SIX TROUBLESHOOTING GUIDE T164 Series Drive Troubleshooting from Previous Page Condition Yellow FOLDBACK LED is on Possible Cause 1 YES gt Excessive Load Check Correct Uncouple motor from load retry Possible Cause 2 Wrong velocity scaling Check Correct Q Velocity scaling refer to Section 4 Possible Cause 3 Motor or Resolver wiring error Check Correct Q Motor Power cable wiring refer to FIGURE 2 32 FIGURE 2 4 FIGURE 2 5 FIGURE 2 7 as appropriate Resolver cable wiring refer to FIGURE 2 31 Possible Cause 4 Lack of 300 V d c Bus Check Correct Measure 300 V d c at Drive TB2 MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE T150 901 Power Supply Troubleshooting 337 Condition Green BUS ACTIVE LED off YES gt Now Possible Cause 1 a c Power Off Check Correct Three Phase a c Plant mains Supply a c Input Circuit Breaker Optional a c Input Drive Contactor Mains Isolation Transformer Wiring User Control Circuits Interlocks Preventing a c Power RN YES
277. ncrease factor reaches 2 0 at which point itis held constant for successive XU commands The XD command functions analogously except each successive gain decrease factor becomes 1 1 05 times the previous gain decrease factor until the gain decrease factor becomes 1 0 E 6 at which value it remains constant MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 181 Example use of the gain adjust mode to set the Velocity Loop Proportional Gain parameter gt LP lt CR gt List Proportional Gain Vel Loop Gain 7 00e 3 Nm Rad S gt gt SP lt CR gt Directly Set Proportional Gain Vel Loop Gain 7 00e 3 Nm Rad S Current Proportional Gain 2 Enter New Gain gt PU lt CR gt Incrementally increase P gain one 1 time Velocity Loop Gain Up gt 4 2 5 3 SET UP TABLE 4 2 Software Configurable Parameters lists parameters which optionally re configured Moog recommends that the default configuration of the parameters listed in TABLE 4 2 be used This Section may be skipped unless special application requirements exist If the user does desire to change any of these parameters it should be done before proceeding with loop tuning Command Parameter Reference Section SLA SLM Automatic and or Manual Speed Limit 4 2 6 1 3 STA STM Automatic and or Manual Torque Limit 4 2 6 1 7 SW Compensator Filter Bandwidth 4 2 6 1 8 OA Enable Disable Refer
278. nd Description OM Manual Mode Enable Disable Mode also depends on setting of the HAW Switch STA LTA Automatic Mode Torque Limit Set List STM LTM Manual Mode Torque Limit Set List SLA LLA Automatic Mode Velocity limit Set List SL WLLM Manual Mode Velocity Limit Set List 4 2 9 2 6 FUNCTION GENERATOR COMMANDS Command Description OR Defines the source from which the Drive derives its reference variables for its loop closure algorithms 1 Analogue Reference Source 2 Function Generator Source 3 Point I F OFT Function Generator Torque Amplitude OFTO Function Generator Torque Offset Function Generator Speed Amplitude OFNO Function Generator Speed Offset OFP Function Generator Period Function Generator Duty Cycle 4 2 9 2 7 LIMIT SWITCH COMMANDS Description OL Enable Disable Limit switches SE LE Limit Switch Braking Deceleration 4 2 9 2 8 THERMAL PROTECTION COMMANDS Command Description OD Disable Thermal Protection M Motor Temperature LM Motor Limit Thermal Foldback Only LB Bridge Limit 2 Bridge Thermistor Temperature LR RMS Limit 4 2 9 2 9 IT THERMAL PROTECTION COMMANDS Command Description IT IT Thermal Parameter Prompted for IT Time Peak current and Continuous Current 4 2 9 2 10 VELOCITY OBSERVER COMMANDS Command Description OO Use Observer Velocity estimate SJ LJ Observer Inertia JU JD Incremental Adjust Mode Observer Inertia adjusted
279. nd syntax consists of the following four character string OT A TP1 1 Actual Velocity 2 2 Filtered Velocity 3 Idc Current Command 4 Observer Estimated Velocity 5 Observer Position Error MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 205 Issue C command to permanently save changes made using OT Example usage of OT command gt OTB CH Program 2 to observer estimated velocity Signal to Test Point B 3 Signal at test point B Input number corresponding to test point B signal gt 4 2 6 4 9 THERMAL PROTECTION OD FOR MOST APPLICATIONS THE USER SHOULD NOT NEED TO ALTER THIS PARAMETER The OD command disables drive and motor thermal protection When thermal protection is disabled the drive does not undergo a fatal fault shutdown when drive and or motor over temperature occurs However the appropriate over temperature front panel LED illuminates as does the FOLDBACK ACTIVE LED and the FOLDBACK optoisolator output indicating a non fatal fault User hardware can detect the FOLDBACK output while a F query can determine what non fatal fault occurred allowing the user hardware to initiate a safe machine shutdown Default State Thermal Protection Enabled CAUTION Disabling drive and or motor thermal protection can lead to drive and or motor damage Issue C command to permanently save changes made using OD Example usage of OD command gt OD
280. nd2 Hz Hertz 5 Seconds Aeff Effective Amperes Current Apeak Peak of Wave Form Amperes Current Arms Root Mean Square Amperes Current TABLE 4 1 Description of Units 4 2 1 SERIAL COMMUNICATIONS The communication link between the T164 Series Drive and the terminal is half duplex the drive ignores commands when writing to the terminal WARNING A hardware enable disable switch wired so that the motor can be stopped quickly in a emergency must be provided at all times Software enable disable commands do not meet safety requirements and should never be used instead of a hardware circuit For individual drive communication the RS232 interface should be used MoogTerm software which runs on IBM compatible PCs is available for RS232 applications In addition to providing a full screen interface Moogterm allows downloading and uploading of drive parameters Instructions for use of MoogTerm are included on the MoogTerm distribution disk available from your Moog Sales Representative Connect the terminal to the T164 Series Drive J3 Communications Connector using the cable described in Section 2 10 3 Set the terminal serial interface parameters to 9600 baud 1 start bit 7 data bits no parity and 2 stop bits There is no hardware handshaking MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 163 4 2 1 1 COMMUNICATION HARDWARE SETUP Use an RS232 serial cable Before a drive can be configured the ha
281. nds for cable length in meter standard length are 005 010 015 020 in meters TABLE 2 5 Motor Resolver Cable MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING J2 CONNECTOR 81 MOTOR RESOL VER CONTROLLER RESOLVER CONNECT 1 ON MATING CONNECTOR 22 9 WHITE AR a 5 IL U2 EvPERATURE sensor BROWN y c I CREF IC Tent CONDUCTOR PEUT E Rog 220k9 101 Pad pe J2 4o_LSIN GREEN 51 Sm Resolver 2 59 SIN YELLOW 53 N S n COS GREY so oi CH J2 7o 60s PINK cm N o J2 jo E BUE S R RESOLVER CONNECTOR J2 20 pi oo n GAX2 G4x3 G4x5 G4x6 TWISTED PAIRS SHIELDING Find MOOG Part No Description Quantity No B47886 002 xxx Complete Cable Assembly 1 22297 001 1 63021 001 Signal Mating Connector 1 OD Cable 5 5 mm to 12 mm 217 in to 472 in Wire Gages 0 08 mm to 0 82 AWG 28 to AWG 18 2 B47885 001 Bare Cable 1 3 B89518 010 Connector 10P supplied by MOOG 1 Refer to TABLE 2 5 for detailed information Notes 1 Cable Length not to exceed 90 meter 300 ft 2 Recommended Terminal Screw torque 0 56 0 06Nm 5 0 5 in Ib 3 For CE Compliance Shield has to be attached on both sides FIGURE 2 31 Drive J2 Re
282. ne MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 117 4 1 7 1 4 DATA LOGGER MENU OPTIONS Control Panel The Data Logger Control Panel shows the current status of both data logging channels and provides access to the Go command which begins the logging of data Set Up Data logger parameters are entered in this dialog box Data Trigger Opens dialog box in which the user chooses a system variable to be the data logger trigger 4 1 7 1 5 LOW LEVEL MENU OPTIONS Input The EUI or Engineering User Interface provides access to individual drive parameters which depending on user access level may be read from or written to the drive Block Data Information on the motor type and the drive model firmware version number and firmware version release date Manual Block Save to File This dialog box allows the transfer of block data from a file to the drive and alternatively from the drive to a file Set Offline If working with a connected powered drive and the user wishes to operate off line this option should be selected Reset Comm Reset Comm is used if switching communications ports or switching from off line to on line mode 4 1 7 1 6 PLOT MENU OPTIONS Display Five 5 choices are available from the Display option Superimposed Superimposes the two data logger plots to allow for ease of comparison Individual Displays the data logger pl
283. nections between the T150 901 Power Supply and T164 Drives and for the external 24Vd c supply to the T164 Drives All cables from Drive output ports were grouped together and routed along the frame of the fixture in a manner typical to cable routing on machinery The motor power and resolver cables were grouped together and installed in a fixed routing to the motors The output port cables motor and resolver cables regen resistor cable and power input cables had segregated routings Configuration Il The configuration consisted of three phase a c mains input via a Siemens B84143 A36 R filter and 380 220 V r m s 3 Phase Step Down Isolation transformer to a T150 901 Power Supply plus T164 901 T164 903 and T164 905 Drives All drives had ESM II option cards installed The T164 905 Drive was driving a Moog Type G425 800 Motor The T164 903 Drive was driving a Moog Type G415 600 Motor The T164 901 Drive was driving a Moog Type G415 600 Motor A 24Vd c external power supply was connected to all drives An external regen resistor was connected via a 5 meter shielded cable to the T150 901 Power Supply Ten meter long shielded motor power and motor resolver cables were connected between the drives and the motors The motor power cable and external regen resistor cable shields were grounded to the Chassis Earth using P clips Shielded cable was used for the mains power input cable and all power cable connections between the a c input power Line F
284. ng motor acceleration deceleration i e must be less then 1 Vd c If the signal saturates then the Function Generator setup see section 3 7 2 must be altered or the Drive Torque Limit increased see section 3 7 3 until saturation does not occur MOOG T164 SERIES USER S MANUAL 100 SECTION THREE QUICK SETUP C Configure WinDrive so that the actual velocity variable ACTUAL VELOCITY is monitored in the second Data Logger Channel see section 4 1 9 1 or at the second Front Panel Test Point see section 4 1 9 5 Set the Integral Time Constant 1 in the Tuning dialog box to seconds Enable the drive Hardware enable first using the External Enable input then software enable using the F3 Key Enable button on floating tool bar or Enable Controller option in the Drive menu Check the Automatic Update box in the Tuning dialog box to force changes made to P or to be immediately sent to the drive Place the cursor the Velocity Loop Gain field P and use either the up arrow at the right end of the field or the up arrow keyboard key to increase the P gain until the motor shaft begins turning Continue increasing the Velocity Loop Gain P while monitoring the Actual Velocity on the Data logger Plot or via an oscilloscope Increase P until a slight overshoot occurs in the velocity response as seen in FIGURE 3 13A Decrease the Velocity Loop Gain P by using the down arrow at the right end of the
285. nitialized to the function generator using the OR command Example usage of OR command gt OR lt CR gt Options 1 Analog Ref 2 Function Gen 3 Point I F 2 lt CR gt Select Function Generator as Reference Source gt As long as the function generator is selected as the command reference and after initially setting parameters the OFN command can be used to edit speed amplitude the OFT command can be used to edit torque amplitude and the OFP command can be used to edit the period see section 4 2 9 2 6 for complete list of commands When function generator parameter initialization is selected the motor is software disabled Issue an MI command to re enable after changing parameters CAUTION Function generator changes result dangerous machine movement It is preferable to not make large changes in parameters The function generator parameters can be stored in EEPROM using the C command but this means that the function generator will be activated upon power up 4 2 6 4 8 PROGRAMMABLE ANALOG TEST POINTS OT Two programmable test points TP1 and TP2 are accessible through the drive front cover to aid in set up and troubleshooting of the drives refer to FIGURE 5 3 The signals at TP1 and TP2 are referenced to the common test point There are five signals which can be programmed to either of the two test points Default TP1 Signal Actual Velocity Default TP2 Signal Id c Current Command The comma
286. nnel 1 Continuous Channel 2 Shot Data Logger Enable No of Points Logged Variable Logging Rate Cancel FIGURE 4 13 Data Logger Setup Dialog Box The data logger function has two 2 channels for data recording each one 1 should be configured in turn The following parameters must be set da da Data Logger Enable Check box to enable data logging Mode Two modes of data logging are available select one 1 Continuous Mode Data is continuously logged until the trigger variable input by the user returns to a false value One Shot Mode Data is logged for a sample size equal to the value in the No of Points input box Number Of Points Determines the number of sample points to be recorded by the data logger in the cycle period range 1 512 The cycle period can be set in the Function Generator Dialog Box FIGURE 4 37 Logging Rate The logging rate determines how frequently data samples are recorded by the data logger Both the logging rate and the number of points determine the resolution of the data logger Longer time periods reduce the accuracy of the logged data Shorter time periods return improved data accuracy yet provide less information about the system response over time Range 1 1000 To calculate the time base x axis use the following formula No of Points x Logging Rate x Sample Period 45 mS Time Base Full Scale sec
287. nput parameters in the Analog Input dialog box as follows MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 143 Analog Input Ed Velocity Scaling RPMZ10V Set Input Offset mV Reference Input Filter Enable Automatic Input Offset Zero FIGURE 4 36 Analog Input Dialog Box Velocity Scaling Enter the maximum motor velocity RPM that will correspond to a 10V input signal Set Input Offset mV Enter the zero speed offset voltage if any The factory default is 0 mV Reference Input Filter Enable Check this box to enable a software based filter that attenuates high frequency noise components in the reference signal Automatic Input Offset Zero Select this button to automatically null the analog input when internal and external offsets are present in the system with reference set to zero 0 Update Select the Update button to store the settings in memory Exit Select the Exit button to return to the Reference Source dialog box Function Generator Select this reference source to use the software based function generator for drive tuning After Function Generator is selected press the Set Up button to configure the input parameters in the Function Generator dialog box as follows MOOG T164 SERIES USER S MANUAL 144 SECTION FOUR CONFIGURATION AND TUNING Function Generator x Speed Amplitude RPM Speed Offset RPM Torque Amplitude Nm Torque Offset Nm Per
288. nsured In individual cases the motor must furthermore be protected against contact due to the risk of burns Forced cooling e g with fans will increase the continuous power while bad convection may decrease the continuous performance Before connecting a coupling to the motor shaft the shaft must be thoroughly degreased When using a degreasing agent care must be taken to prevent it entering the bearing Otherwise the bearings permanent lubrication can no longer be guaranteed We recommend the use of a clamp coupling or shrink connection to ensure reliable torque transmission An inexpensive and service friendly connection is possible with the slot and key option ensure tight slot tolerances Impermissibly high axial and radial forces on the shaft can result in motor damage during installation The service life of the motor is impaired if the bearing is damaged in any way Adjusting the rotor shaft by force can impair the correct functioning of the optional brake to such an extent that it has little or no braking effect Excessive pressure and impacts on the front end of the shaft and rear housing cover must therefore be avoided under all circumstances NOTE Delicate part Sticker on servomotor A hammer must not be used to force the gearing gear wheel onto the shaft when installing such parts The screw thread in the center of the shaft must be used for this purpose An extractor supported on the center of the shaft must be used
289. ntegral time constant greater than or equal to 3 seconds turns off the velocity loop integrator Velocity Loop Integral Time Constant Units Seconds Velocity Loop Integral Time Constant Default Value Depends upon motor model D312 L05 to D313 L40 302 029A to 303 030A 0 1 D314 L05 to D314 L40 304 1114 to 304 1514 0 2 D315 L10 to D315 L50 305 111A to 305 141A 0 2 D316 L15 to D316 L60 306 1114 to 306 1414 0 5 Velocity Loop Integral Time Constant Min Value 0 5 E 3 Velocity Loop Integral Time Constant Max Value 6 Issue C command to permanently save changes made using SI Example usage of SI command gt SICH Integral Time Const 2 000E 1 Secs 25 lt CR gt gt LI command lists the current velocity loop integral time constant value of Infinity is reported by the LI command when the integrator is off Example usage of LI command gt LI lt CR gt Integral Time Const 2 500E 1 Secs gt MOOG T164 SERIES USER S MANUAL 190 SECTION FOUR CONFIGURATION AND TUNING 4 2 6 1 2 SETTING LISTING SJ LJ VELOCITY OBSERVER INERTIA The SJ command sets the observer inertia parameter used for tuning in the optional velocity observer mode refer to Section 4 2 5 5 Velocity Observer Inertia Units Kilogram cm Velocity Observer Inertia Default Value 2 Jmotor Velocity Observer Inertia Min Value None Velocity Observer Inertia Max Value None Issue C command to permanently save changes made using S
290. nverts the incoming AC voltage to the d c voltage supplied to the T164 Series Drives The Power Supply provides up to 15 kW continuous output power thus allowing a number of drives to operate from a single power supply unit The Power Supply also bleeds energy from the d c bus to an internal regeneration regen resistor when a motor or motors are in a regeneration mode Optional external mounted regen resistors are available for applications requiring higher regen capabilities refer to Section 2 7 MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 5 ALPHA ALPHA NUMERIC ALPHA NUMERIC i ALPHA 150 901 X XXX X X MODEL SERIES DESIGNATOR CE MARKED SERIES DESIGNATOR HARDWARE REVISION IDENTIFIER REQUIRED LEVEL MOOG LEXAN BLACK REGEN REGEN CONFIGURATION PER REGEN RESISTOR KIT BRAND NAME BRAND PEMS ON ERAND PEVISION DESCRIPTION UNCONFIGURED FOR REGEN MAROON 701 REGEN FULLY CONFIGURED 40W NONE USED WITH WINDRIVE C09838 002 REGEN INTERNALLY CONFIGURED ONLY C09838 006 REQUIERS ADDITIONAL REGEN RESISTOR KIT FOR C09838 010 FINAL CONFIGURATION C09838 022 C09838 023 NOTE AVAILABLE IN EUROPE ONLY FIGURE 1 1 T150 Boxcar System MOOG T164 SERIES USER S MANUAL 6 SECTION ONE GENERAL INFORMATION 1 1 4 DRIVE MODEL T164 SERIES Five drive current ratings are available rated 5 10 20 40 60 A r m
291. o line count For an application that is speed limited by the encoder the encoder line count must be reduced to overcome the maximum speed limitation MOOG T164 SERIES USER S MANUAL 208 SECTION FOUR CONFIGURATION AND TUNING Example usage of SN command when encoder speed limitation occurs gt SN lt CR gt Vel Scaling 1 000E 4 RPM 10V 15000 lt CR gt input a speed less than or equal to encoder speed limitation gt 4 2 7 2 LINE COUNT OELA command allows the user to modify the Encoder Simulation Module s line count The user is not allowed to enter a line count that has a higher encoder maximum speed limitation than the maximum speed scaling set with the SN command see Section 4 2 7 1 The OELA command can only be issued when the motor is disabled Line Count Units None Line Count Default Value 1024 Line Count Acceptable Values 256 512 1024 2048 4096 8192 16384 Example usage of OELA command gt OELA lt CR gt ESM2 Line Count 256 Lines 2 4096 lt CR gt Set line count to 4096 gt 4 2 7 3 MARKER WIDTH OEMA OEMA command allows the user to modify the Encoder Simulation Module s marker width The OEMA command can only be issued when the motor is disabled Marker Width Units Degrees Marker Width Default Value 90 Marker Width Acceptable Values 90 180 360 Example usage of OEMA command OEMA ESM2 Marker width 90 Deg MOOG T164 SERIES USER S MANUAL SECTION FOUR
292. o select the method of velocity estimation in order to refine velocity mode tuning Access the Advanced Options dialog box by selecting the Advanced Options button in the Tuning dialog box or under the Setup option in the Drive menu Advanced ptions x Velocity Estimation Use dp dt velocity estimate C Use observer velocity estimate Observer J kg n Control Mode C Velocity Mode 1st Order Velocity Mode 2nd Order Low Pass Cutoff Hz 286 487 Damping Factor FIGURE 4 42 Advanced Options Dialog Box In the Advanced Options dialog box there are two groups that function as follows Velocity Estimation Allows the user to select between one 1 of the following two 2 methods of motor velocity estimation Use dp dt velocity estimate The software uses a mathematical model to estimate the motor velocity from motor position and time data Use observer velocity estimate Allows the user to input an observer inertia so that the software can simulate the drive and motor system and determine the motor velocity to a higher resolution MOOG T164 SERIES USER S MANUAL 152 da SECTION FOUR CONFIGURATION AND TUNING Control Mode Allows the user to select between one 1 of the following two 2 methods for filtering noise in the current control loop Velocity Mode 1st Order Allows the user to input a 15 order filter low pass cutoff parameter for filtering noise in the curren
293. og reference source Note If using an analog reference input signal this variable should be set the same as the Velocity Scaling variable in the Analog Input dialog box see section 4 1 13 2 The Front Panel Test Points dialog box has four 4 buttons that function as follows Zero Displayed Position Use when Actual Position is assigned to a test point This function will then zero the displayed position to give a correct reading Exit Close the dialog box Update Sends dialog box data to drive to update test point signals Help Opens on line help screen 4 1 9 6 DRIVE STATUS The Drive Status dialog box provides a table of current drive and motor parameters and can be updated by the WinDrive software This dialog box is useful in both diagnostic and system querying procedures Open by selecting Drive Status from the Drive menu MOOG T164 SERIES USER S MANUAL 132 SECTION FOUR CONFIGURATION AND TUNING Brake Output Released Clockwise Limit Asserted Counterclockwise Limit Asserted Motor Velocity RPM 0 204 Motor Temperature DegC lt 155 Deg C Bridge Temperature DegC lt 90 Deg Motor Shaft Position Deg 82 840 T Current Limits Curent Arms FIGURE 4 23 Drive Status Dialog Box C Update button is used to display the latest parameter values in the dialog box 4 1 10 LOG FILES Log Files are a record of the parameter information
294. olated input and output capability The Point Card provides point to point position control that is sequenced by a User defined program Discrete analog and serial interfaces are available to allow sense and control of external devices Point provides a true stand alone single axis control system CAN is a high speed serial interface used for communication of real time position feedback command reference and status information The Input Brackets option allows clockwise cw and counter clockwise ccw limit inputs torque velocity selection and auto manual mode operation Consult Moog for additional information concerning the option cards MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION The complete model number describing a T164 Series drive utilizes a boxcar number system which is comprised of the base model number FIGURE 1 2 followed by suffixes which designate the model revision the option cards installed in option slots 1 and 2 and the drive software version Contact your Moog Sales Representative for current details on the box car model number system The T164 is described in a boxcar system Refer to FIGURE 1 2 Each option revision and model is described according to the following structure T164 90XX XX XX X XX Current Rating Labeling Kit 5 10 Arms 1A MOOG 10 20 Arms 2A Windrive 20 40 Arms 40 80Arms 60 140 Arms ommunications Hardware Revision Level i e A 2 RS232 4 R
295. on generator changes can result in dangerous machine movement It is preferable to not make large changes in parameters The function generator parameters can be stored in EEPROM using the C command but this means that the function generator will be activated upon power up MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 265 4 3 6 4 8 PROGRAMMABLE ANALOG TEST POINTS OF Two programmable test points TP1 and TP2 are accessible through the drive front cover to aid in set up and troubleshooting of the drives refer to Figure 5 4 The signals at TP1 and TP2 are referenced to the common There are five signals which can be programmed to either of the two test points Default TP1 Signal Idc Current Command Default TP2 Signal Actual Velocity The command syntax consists of the following four character string OF 1 Actual Velocity 2 2 Filtered Velocity H Help 3 Idc Current Command List Assignments 4 Observer Estimated Velocity 5 Observer Position Error An attempt to program a parameter to a test point that already appears at the other test point is not accepted and an appropriate message is displayed e g Output 2 Set to this No change made gt Issue command to permanently save changes made using Example usage of OF command gt OFB lt CR gt Program TP2 to observer estimated velocity Option gt gt gt 4 TP1 Current Cmd TP1
296. onal Europaisches Deutsche NEC Electrotechnical Komitee f r Industrie Norm National Commission Elektrotechn Verband Electric Normung Deutscher Code MG Elektrotechniker s Rotating electrical machines Rating IEC 34 1 60034 1 DIN EN 60034 1 MG 1 1 65 and performance IEC 2 915 CDV VDE 0530 1 1995 Rotating electrical machines IEC 2G 73 FDIS EN 60034 2 DIN EN 60034 2 Methods for determing losses and VDE 0530 2 efficiency and performance Rotating electrical machines IEC 34 5 EN 60034 5 DIN EN 60034 5 MG 1 1 25 Classification of degrees of VDE 0530 5 MG 1 1 26 protection provided by enclosure Rotating electrical machines IEC 34 6 60034 6 DIN EN 60034 6 MG 1 1 25 Methods of cooling IC Code VDE 0530 6 MG 1 1 26 Rotating electrical machines IEC 34 7 EN 60034 7 DIN EN 60034 7 MG 1 4 03 Classification of types of VDE 0530 7 construction and mounting arrangements IM Code Rotating electrical machines IEC 34 8 EN 60034 8 DIN EN 60034 8 MG 1 2 61 Terminal markings and directions of VDE 0530 8 rotation Rotating electrical machines IEC 34 9 EN 60034 9 DIN EN 60034 9 N A Noise limits VDE 0530 9 Insulation coordination for IEC 664 1 VDE 0110 1 equipment with low voltage systems Part 1 Principles requirements and tests Insulation coordinates for IEC 664 2 VDE 0110 2 equipment with low voltage systems Part 2 Partial discharge tests application guide Connectors and plug and socket DIN V
297. or later A Interface Card G2 or later A Point Card H1 C3 or later A Extended I O Std Ver H1 C1 or later A Extended Full Ver H1 C1 or later A Extended Inputs Bracket H1 A TABLE 7 1 Software Hardware Compatibility Table MOOG T164 SERIES USER S MANUAL SECTION SEVEN SOFTWARE REVISION NOTES 345 The following tables describe the software change record per revision MOOGTERM 4 10V SOFTWARE SOFTWARE SOFTWARE SOFTWARE REVISION FACTORY KIT NUMBER 1 LETTER 09476 002 090476 004 09475 005 MOOG T164 SERIES USER S MANUAL FIRMWARE EPROM NUMBERS C09477 002 C09478 002 C09477 004 C09478 004 C09477 005 C09478 005 SOFTWARE CHANGE RECORD Resolver position handling when the J2 is plugged and unplugged derived from B2 1 Added POINT functionality 2 Added warning for unsupported motor drive combinations 3 Added warning for incompatible EEPROM versions 4 Adjusted current loop gains for some motors Changes made to 303 030 303 029 Data Base 5 Added ability to enter G41X as well as G42X 6 Added support for 128 Line Count for the ESMII Card 1 Problem with Moogterm download with parameter files created from earlier versions of firmware has been corrected 2 Extended Board System Ready relay problem corrected 3 Motor Data base updated 4 Reference filter turned off while in Torque
298. otor via the pod SSM LM This String is written to when initializing a STANDARD motor via the pod SU This String is used to alter the displayed units of for example Torque Current Kt units available include Nm lb in Nm A Nm Arms lb in Arms A Arms 4 2 9 2 3 COMPENSATOR COMMANDS Command Description OC Compensator Type Selects between Torque and Velocity Modes of operation Changing the compensator will cause the system fault led to flash during reconfiguration and parameters will be reset to default values Note 1 Torque Mode 2 Velocity Compensator 2nd Order 3 Velocity Compensator 1st Order Velocity Mode Torque Mode Select SP LP Velocity Loop Gain Set List PU PD Incremental Adjust mode Velocity Loop Gain PU the present value of Velocity Loop Gain will increase by 5 PD the value will decrease by 5 SI LI Integral Time Constant Set List IU ID Incremental Adjust mode Integral Time Constant IU the present value will increase by 5 ID the value will decrease by 5 2L Max Current 4 2 9 2 4 FILTER COMMANDS Commad SW LW Compensator Filter Bandwidth 52 2 Compensator Filter Damping Ratio only valid if Second order filter MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 4 2 9 2 5 TORQUE AND SPEED LIMITS COMMANDS Comma
299. ots individually Blow Up Graph Expands the selected data logger plot to fill the data logger display window Restore Graph Restores undeleted graphs to the data logger plot display window Keep Previous Stores the previous data logger plots in memory MOOG T164 SERIES USER S MANUAL 118 SECTION FOUR CONFIGURATION AND TUNING Grid Lines Two 2 choices are available from the Grid Lines option Horizontal Grid Adds a horizontal grid to the current data logger plot Vertical Grid Adds a vertical grid to the current data logger plot Save Plots Saves the current data logger plots to disk for future use Load Plots Allows the user to load previously saved plots to the data logger plot display window 4 1 7 1 7 VIEW MENU OPTIONS Toolbar The icons for general WinDrive use the toolbar may be concealed or revealed using the view option Status Bar Showing drive and software information the status bar may be concealed increasing the size of the data logger plot window Floating Toolbar When not required the Floating Toolbar may be concealed using the View option also available with the Ctrl and F key combination 4 1 7 1 8 HELP MENU OPTIONS Contents Displays the contents of the WinDrive Help system Using Help Provides a full guide to using the WinDrive On line Help system 0 About Moog WinDrive Gives information on the version of WinDrive softw
300. ower Supply MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 171 WARNING Perform all drive initialization and configuration with the drive hardware enable OFF and power ON Failure to follow the correct procedure might result in machine damage and or personal injury Apply power to the T164 Series drive Immediately check the T150 901 Power Supply for any fault indications TURN POWER OFF IF ANY RED LEDs ILLUMINATE ON THE T150 901 POWER SUPPLY Correct the problem before proceeding If the EEPROM contains configuration data the drive will display the following message EEPROM Start Wait The drive saves data in its EEPROM which is a non volatile memory When power is applied the drive will attempt to initialize itself using the data in its EEPROM If a valid set of parameters is in EEPROM the following message is then displayed Parameters Set from EEPROM The drive will be ready to enable once the red SYSTEM FAULT LED stops flashing The drive will then print its sign on message which identifies the firmware version and EEPROM ID number 20 Dec 96 Firmware Release Date 09792 001 Firmware Version EEPROM ID 0 more lt CR gt Press RETURN or any key to proceed If the user knows the configuration and parameters are satisfactory the drive may be enabled without any further input from the terminal This would be the normal procedure after initialization and tuning hav
301. own outlined above or below the appropriate block which they affect The analog input command is input to an analog to digital converter A D either directly or through an input reference filter as determined by the OA command software switch The OR command software switch allows command reference source selection of the digitized input command normal operation or a software programmable function generator used for tuning A programmable offset is summed with the command reference to null offsets in the loop The digitized command is then scaled by the velocity scale factor which determines the maximum motor speed for a 10 volt command input After scaling the digital velocity command is passed through either the automatic mode velocity limiter or the manual mode velocity limiter depending upon the OM command software switch The position feedback from the motor mounted resolver is demodulated and passed through an A D converter The resulting digital position information is differentiated to obtain motor velocity feedback The OO software switch allows selection of the normal position to velocity conversion or the velocity observer method described in Section 4 3 5 5 The digital velocity feedback and command are compared to generate a velocity error torque command which is passed through a loop compensation network consisting of a proportional gain P term with a first or second order low pass filter and an integral gain I term
302. peed command to the drive and issue the OZ command refer to Section 4 3 6 4 6 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 241 Use the C command to save configuration data in EEPROM refer to Section 4 3 5 7 4 3 5 5 VELOCITY OBSERVER TUNING This Section explains the set up and tuning of the velocity observer The use of the observer will usually allow significantly higher velocity loop gains and bandwidths to be achieved The observer uses a software model of the motor and load to calculate a velocity estimate The user needs to tune only one additional parameter to use the observer The observer is set up using the following procedure Tune the velocity loop using the normal procedure described in Section 4 3 5 4 FIGURE 4 65 A shows a typical tuned velocity loop response to a step reference command It shows the torque response on the drives TP1 test point and the actual velocity response on TP2 The size of the step velocity reference should be small enough to avoid saturation of the torque signal Note the single overshoot of about 24 in the velocity response and the 12 ms settling time Tune the observer by setting up the observer inertia parameter Jest Monitor the observer error signal at the drives TP1 test point by using the OFA5 command FIGURE 4 65 B shows the usual starting point for tuning Jest is too small Use the J command to enter the gain adjust mode refer to
303. pin 5 The drive enable input goes to the microprocessor and informs it of the status of enable The enable bit also goes directly to the drive drive logic and can disable the drive independently of the microprocessor 5 2 3 SPECIFICATIONS d c Input Voltage Rating 300 V d c 350 V d c 310 V d c Nominal Input Current Ratings Model r m s Amps T164 901 5 T164 903 10 T164 905 20 T164 907 40 T164 909 60 d c Peak Output Voltage Rating 350 V d c Output Current Ratings r m s Amps Per Phase Peak Amps Per Phase Model Continuous Peak 5 Sec Continuous Peak 5 Sec T164 901 5 10 7 14 T164 903 10 20 14 28 T164 905 20 40 28 56 T164 907 40 80 56 113 T164 909 60 140 84 198 Output Current Ripple Frequency T164 901 through 905 20 kHz T164 907 909 10 kHz MOOG T164 SERIES USER S MANUAL 290 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION Analog Input Command Differential 10 Volts CW CCW Max Speed Velocity Mode 10 Volts Peak Current Torque Mode Input Impedance 20 Enable Input Supply Voltage Range 4 5 35 V d c Input Impedance 2 3KO Min Polarity Current Activated Configurable as Source or Sink 1 User must supply isolated power source Max Supply Max Source or Voltage Sink Current Drive Fault System Ready Output 35 Vd c 50 mA Drive Foldback Active Output 35 Vd c 50 mA 2 User must supply isolated power source 3 Output sources or sinks current with maximum 1 0
304. put lines of the mains isolation transformer Refer to Section 1 1 1 for a c mains isolation transformer requirements The a c power input Line Filter must be installed between the output of the a c power circuit breaker and the input of the mains isolation transformer A drive rated contactor shall be installed between the output of the mains isolation transformer and the primary power input of the T150 901 Power Supply The a c power circuit breaker supply disconnecting device a c power input Line Filter mains isolation transformer and drive rated contactor are all user supplied items 2 2 POWER CIRCUIT BREAKER SUPPLY DISCONNECTING DEVICE Install a circuit breaker supply disconnecting device in the incoming a c primary power lines This circuit breaker supply disconnecting device must be installed between the a c mains power supply and the input of the a c power input line filter The circuit breaker supply disconnecting device should be sized so that it provides adequate r m s protection based upon power supply kW rating 15 kW for the T150 901 Power Supply and primary voltage MOOG T164 SERIES USER S MANUAL 22 SECTION TWO INSTALLATION AND WIRING Surge current tolerance and single phase protection should also be considered when selecting a circuit breaker supply disconnecting device Refer to Section 1 1 2 for additional information regarding the AC input circuit breaker WARNING The handle of the circuit
305. put ports of each drive The T164 909 drive had an ESM Il option card installed with a terminated unshielded 3 meter communications cable connected to the ESM II port J4 A Fair Rite Products Type 0443164151 common mode ferrite was installed on this cable at the ESM II port J4 An Oyster Terminals 4 service terminal was permanently connected to the communications port J3 of this drive The T164 909 Drive with ESM Il option was driving a Moog Type G425 800 motor The T164 903 drive had a CAN option card installed with a 30 meter shielded cable connection to a remote Crisp Industrial 386 P C A Steward Type 28 2024 0 0 common mode ferrite was installed on this cable at the DMC CAN port X2 with 1 5 turns of the cable through the ferrite A Steward Type 28A2024 0A0 common mode ferrite was installed on this cable with 1 5 turns of the cable through the ferrite at the Crisp PC port end of the cable The T164 903 Drive with CAN CANBUS option was driving a Moog Type G415 600 Motor A three meter terminated CAN interface shielded cable was permanently connected to the second CAN card daisy chain port X3 A Steward Type 28A2024 0A0 common mode ferrite was installed on this cable at the DMC CAN Port X3 with 1 5 turns of the cable through the ferrite A three meter terminated shielded communications cable was connected to the CAN card X1 output port An Oyster Terminals Type 4 service terminal peripheral was permanently connected to
306. q 1 909E 2 Hz more CH Press RETURN or any key to proceed Automatic Mode Velocity Limit 5 800E 3 RPM more CH Press RETURN or any key to proceed MOOG T164 SERIES USER S MANUAL 248 SECTION FOUR CONFIGURATION AND TUNING Manual Mode Velocity Limit 5 800E 2 RPM more CH Press RETURN or any key to proceed Braking Mode Torque Limit 5 800E 2 RPM more CH Press RETURN or any key to proceed Braking Mode Velocity Limit 100 96 more CH Press RETURN or any key to proceed Automatic Mode Torque Limit 4 048E 0 Nm more CH Press RETURN or any key to proceed Manual Mode Torque Limit 4 048E 1 Nm more CH Press RETURN or any key to proceed Observer Inertia 1 399E 4 kg m 2 more CH Press RETURN or any key to proceed RS485 Multidrop Axis Number 1 gt 4 3 6 1 3 SETTING LISTING SI LI VELOCITY LOOP INTEGRAL TIME CONSTANT The SI command sets the velocity loop integral time constant required for tuning in the velocity mode refer to Section 4 3 5 4 Setting the velocity loop integral time constant greater than or equal to 3 seconds turns off the velocity loop integrator Velocity Loop Integral Time Constant Units Seconds Velocity Loop Integral Time Constant Default Value Depends upon motor model D312 L05 to D313 L40 302 1114 to 303 030A 0 1 D314 L05 to D314 L40 304 1114 to 304 1514 0 2 D315 L10 to D315 L50 305 111A to 305 141A 0 2 D31
307. que Limit Nm 5857 Manual Mode Reduced Velocity Limit RPH Reduced Torque Limit 0 55857 FIGURE 4 38 Limits Dialog Box Manual Mode Disable Check this box to disable Manual Mode limits The drive will then run using the values in the Automatic Mode section Automatic Mode Normal operating mode limit values Normal Velocity Limit Enter maximum allowed motor speed RPM in normal operation The default value is the same as the Nominal Speed value in the Standard Non Standard Motor Parameters dialog box see section 4 1 13 1 Normal Torque Limit Enter maximum allowed motor torque Nm in normal operation The default value is approximately ten 10 times the Torque Constant value in the Standard Non Standard Motor Parameters dialog box see section 4 1 13 1 Manual Mode Reduced operating limits These limits are not functional a DMC drive unless an extended card or an extra inputs bracket is installed Reduced Velocity Limit Enter a reduced motor speed limit to ensure proper tuning and safe system operation Reduced Torque Limit Enter a reduced motor torque limit to ensure proper tuning and safe system operation MOOG T164 SERIES USER S MANUAL 146 SECTION FOUR CONFIGURATION AND TUNING 4 1 13 4 LIMIT SWITCHES If the drive system has limit switches connected configure them as follows Limit Switches Ed Limit Switches Disabled Quick Stop Deceleratio
308. r charging path and into its normal configuration Note that a blown regen fuse or an open regen resistor will prevent the power supply from starting up and generate a REGEN FUSE fault indication A thermistor on the power supply base plate is used to generate a THERMAL FAULT if the temperature of the bridge rectifier exceeds its rating An opto isolator provides a POWER SUPPLY FAULT output for the user Under normal conditions the opto isolator is energized providing a low impedance between terminals TB3 1 and 2 Under fault conditions the opto is turned off providing a high impedance between terminals TB3 1and TB3 2 A fault condition is caused by any of the following Regen fuse blown Thermal fault Loss of Phase Unless disabled by JW1 Soft Start In Progress The user must provide an isolated d c power source for the POWER SUPPLY FAULT output It is recommended that the Drives not be enabled during a power supply fault This is especially important during start up to prevent load power from being drawn during the power supply soft start process MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 281 INTERNAL 40 WATT EXTERNAL 240 WATT 250 EGER CURED EE SEM ER 1200 7 gt REGEN 150 4 REGEN 800 ENERGY 19 seu 74 25 74 205352 ENERGY 600 r Watts
309. r compensator filter refer to Sections 4 3 5 1 1 and 4 3 5 1 2 Wn Units Hertz Wn Default Value Depends upon motor model D312 L05 to D313 L40 302 111A to 303 030A 286 5 D314 L05 to D314 L40 304 111A to 304 151A 191 D315 L10 to D315 L50 305 111A to 305 141A 191 D316 L15 to D316 L60 306 111A to 306 141A 191 Wn Min Value 100 2 Wn Max Value 599 8 Issue C command to permanently save changes made using SW Example usage of SW command gt SW lt CR gt Enter command to set filter freq Second Order Filter Freq 1 909 2 Hz Wn 200 CR Set the Filter Freq to 200 Hz gt LW command lists the current second order filter bandwidth parameter Wn Example usage of LW command gt LW lt CR gt Enter command to list filter freq Second Order Filter Freq 1 999E 2 Hz gt 4 3 6 1 11 LISTING LZ FILTER DAMPING RATIO ZETA The LZ command lists the current damping ratio parameter Zeta of the second order compensator filter refer to Sections 4 3 5 1 1 and 4 3 5 1 2 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 257 Zeta Units Dimensionless Zeta Default Value 0 7 Example usage of LZ command gt LZ CH Enter command to list filter damping ratio Filter Zeta 7 000E 1 gt 4 3 6 2 MOTOR OPERATIONAL MODES 4 3 6 2 1 STARTING STOPPING MI MO THE MOTOR The MI command provides a software enable for the motor while the MO command provides a software d
310. r end of each regen resistor together and the connect to the fuse block 4 Connect the other end of the fuseblock to pins and 4 of TB5 using a separate wire to each pin of TB5 Install the supplied 25A regen fuse in the fuseblock Place the supplied Final Configuration Label along the bottom of the housing beside TB2 as shown in FIGURE 2 18 MOOG T164 SERIES USER S MANUAL 48 SECTION TWO INSTALLATION AND WIRING TB5 552 5 508 21 75 20 0 MODEL T150 901 SERIES POWER SUPPLY SHOWN WITH COVER REMOVED FIGURE 2 17 T150 901 Power Supply 2500 Watt Regen Configuration Rating label DG 2C H TIGHTEN TO 1 8 Nm 16 Ibs MIN 75 C COPPER WIRE ONLY CLE gt r 2 2 32 4 U s U VS U dict d c d c d c n n TB2 1 Final Configuration Label i Add final configuration label here FIGURE 2 18 Final Configuration Label Mounting Location MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 49 2 7 6 T150 901 POWER SUPPLY 2 5 KW 2 POLE REGEN CONFIGURATION WARNING operate unit with cover removed WARNING
311. r observer velocity mode applications WARNING The motor should be uncoupled if incorrect movements during the drive tuning procedure can damage the machine If this is not possible the safety limit switches of the machine must be connected through hardware limit circuits such that the drive is hardware disabled if a limit switch is activated Set the Control Compensator to Torque Mode using the OC1 command refer to Section 4 3 6 4 2 Offsets in the drive and the users torque command may be trimmed out with the automatic offset command Apply the desired zero speed command to the drive and issue the OZ command refer to Section 4 3 6 4 6 Use the C command to save configuration data in EEPROM refer to Section 4 3 5 7 4 3 5 7 SAVING CONFIGURATION DATA Upon completion of drive parameter set up and tuning the configuration parameters should be permanently saved in EEPROM using the C command Any parameter changes made will be lost when power is removed if they are not saved in EEPROM The C command provides for an identification ID number to be stored with the parameter set This is useful to distinguish sets of parameters e g for different axes Valid ID numbers range from 0 to 9999 Non numeric characters should not be used for ID numbers NOTE Only one set of parameters can be stored in EEPROM at a time MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 245 A
312. r of a command or H for help gt gt Example of increasing help level gt Enter first letter of a command or H for help gt In either full or reduced help mode entering H will cause the drive to output a list of context sensitive command choices 4 3 4 DRIVE INITIALIZATION NOTE The installation and wiring described in Section 2 should be completed and verified before proceeding with drive initialization MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 227 CAUTION The T164 Series Controllers should not be enabled during a c power up until the Power Supply Fault Output clears The user must supply the s to accomplish this interlock Failure to delay enabling of the Controllers or having any other external load on the T150 901 Power Supply on a c power up will defeat the proper operation of the soft start circuitry in the T150 901 Power Supply and can result in tripping of the a c input circuit breaker and or damage to the T150 901 Power Supply WARNING Perform all drive initialization and configuration with the drive hardware enable OFF and power ON Failure to follow the correct procedure might result in machine damage and or personal injury Apply power to the T164 Series Drive Immediately check the 150 901 Power Supply for any fault indications TURN POWER OFF IF ANY RED LEDs ILLUMINATE ON THE T150 901 POWER SUPPLY Correct the problem
313. r the CW or CCW direction Due to shaft loads inertia friction the desired deceleration rate may not be reached in actual application Limit switches are only functional when the Extended option card is used The SE command sets the braking deceleration Braking Deceleration Units Radians Second Braking Deceleration Default Value 3 E5 Braking Deceleration Min Value 500 Braking Deceleration Max Value 1 E6 Issue C command to permanently save changes made using SE Example usage of SE command gt SE lt CR gt Quick Stop Deceleration 3 000e 5 Rads s 2 The current deceleration value is displayed 2 10E4 CH Enter new deceleration value gt The LE command lists the current braking deceleration Example usage of LE command gt LE lt CR gt Quick Stop Deceleration 1 000E 5 Rad s 2 gt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 211 4 2 8 1 2 DRIVE STATE S In addition to the drive parameters listed in Section 4 2 6 3 6 the 8 command lists the present state of the following parameter when an Extended Option card is installed Limit Switches Enabled Disabled 4 2 8 1 3 LIMIT SWITCHES OL The OL command enables disables the clockwise CW and counterclockwise CCW limit switch functions of the Extended I O Option card When enabled the CW CCW motor rotation is inhibited whenever the CW Limit CCW Limit input is not asserted Default State with Ex
314. ral to the motor The thermistor is embedded in the stator winding head and used for thermal protection 1 1 8 HEAT SINKS ELECTRONIC COMPONENTS The need for heat sinks and or air conditioning will depend on the duty cycle of the system and the surrounding ambient temperature The maximum ambient temperature to prevent damage to the drives and power supply described herein is 55 131 F T164 Drives and the T150 901 Power Supplies incorporate integral heat sinks which provide for air flow around the power devices Other than controlling ambient temperature additional heat sinking should not be required 1 1 9 MATING CONNECTORS CABLES AND WIRING Cables are not provided for the interconnections between the equipment described in Sections 1 1 1 through 1 1 6 Refer to Section 1 2 1 3 and Section 2 for safety and electromagnetic compatibility requirements for cables and wiring and details drawings on cabling requirements The power and resolver cables as well as the mating connector for the motor drive connections are available and can be purchased from MOOG Four different cable lengths 5 m 10 m 15 m and 20 meters are standardized See Section 2 10 for detailed information MOOG T164 SERIES USER S MANUAL 10 SECTION ONE GENERAL INFORMATION 1 2 SAFETY NOTE These safety precautions are guidelines only and are not claimed to be comprehensive The Moog Brushless Technology products described herein in conjunction with the sy
315. rdware should be setup see FIGURE 4 1 as outlined below 4 2 1 1 1 RS232 COMMUNICATION MODE JUMPER SETUP Set the drives RS communication mode position jumper W2 for RS232 as in FIGURE 4 2 See FIGURE 5 3 for jumper location The Factory Default is RS232 jumper pins 1 2 4 2 1 1 2 RS232 SETUP In order for the PC to communicate with the drive in RS232 mode proceed as follows Connect an RS232 cable with the wiring as shown in FIGURE 2 23 The cable is connected from one of the communications ports of the PC to the serial port of the drive Configure the W2 jumper for RS232 communications as shown in FIGURE 4 2 MOOG T164 SERIES USER S MANUAL 164 SECTION FOUR CONFIGURATION AND TUNING 4 2 2 MOOGTERM TERMINAL INTERFACE NOTE The procedures section 4 2 2 written for use with Moogterm software version 3 0 dated 11 10 97 DMC firmware version H1 dated 12 20 96 The user must consult Moog for updates to the procedure for drives with any other software or firmware version date 4 2 2 1 MINIMUM SYSTEM REQUIREMENTS FOR MOOGTERM IBM compatible PC with 386 or higher processor running MS DOS 6 1 or higher with 2MB RAM and 500K of free hard disk space VGA display with a resolution of at least 640 x 480 pixels A Moog Moogterm System Disk An RS232 Communication Interface Cable 4 2 2 2 MOOGTERM STARTUP To run the Moogterm software place the Moogterm disk in drive A Type
316. reasing the Integral Time Constant increases the drive response MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 237 Example use of the gain adjust mode to set the Velocity Loop Proportional Gain parameter gt Enter Proportional Gain Adjust Mode Gain Adjust Mode P gt gt L Note double gt gt prompt indicating gain adjust mode 1 000E 2 List the current P gain P gt gt S Directly set a new P gain Vel Loop Gain 1 000E 2 Nm Rad Sec P 02 lt gt P gt gt L List current P gain to check entry 2 000E 2 P gt gt U P gt gt U P gt gt U Incrementally increase P gain 3 times P gt gt L List current P gain to view result 2 680E 2 P gt gt D P gt gt D P gt gt D Incrementally decrease P gain 3 times P gt gt L List current P gain to view result 2 000E 2 P gt gt Z Zero the P gain P gt gt L List current P gain to view result 2 000E 6 P gt gt Z Zero the P gain again P gt gt L List and note truncation at minimum value 1 000E 8 P gt gt E Exit the Gain Adjust Mode gt 4 3 5 3 PARAMETER SET UP TABLE 4 6 lists parameters which may be optionally re configured Moog recommends that the default configuration of the parameters listed in TABLE 4 6 be used This Section may be skipped unless special application requirements exist If the user does desire to change any of these parameters it should be done before proceeding with loop tuning MOOG
317. regeneration resistor 3Requires two 80 1500W resistors in parallel MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 283 Max Supply Max Source Voltage Sink Current Power Supply Fault Output 35 V d c 50 mA 4 User must provide isolated power source Output sources or sinks current with maximum 1 0 Vd c drop under normal operation Output open circuits to indicate power supply fault Base Plate Over Temperature Trip Point 90 5 Operating Temperature Range 0 55 ambient Humidity 5 to 95 non condensing Altitude 3300 feet 8Derate output 296 per 1000 feet above 3300 feet Weight 4 88 kg 10 75 Ib 5 2 T164 SERIES DRIVES DESCRIPTION SPECIFICATIONS Drives have the following features Integral Heat Sink and Cooling Fan Pluggable Solderless Connectors Sinusoidal Three Phase Drive Resolver Based System Microprocessor Based Digitally Tuned Current Loop No Personality Modules Configuration Stored in Non Volatile EPPROM Programmable Velocity or Current Control Programmable Analog Test Points RS232 Serial Port Set up via MOOGTERM software Internal Logic Switchmode Supply Diagnostic LEDs 24 Vd c Control Power Input Extended I O Option Card Encoder Simulation Option Card Point to Point Position Control Option Card In addition Drives incorporate the following protection features
318. responsibility under the terms of the written agreement between Moog and the Buyer d Moog shall not be liable for improper use installation accidents operation or maintenance of items manufactured by Moog nor for any damage resulting therefrom or from negligence on the part of the Buyer s employees or agents e Moog shall not be responsible for any consequential or incidental damages occasioned by failure of any item supplied by Moog or by failure of any item in which a component manufactured by Moog is incorporated f Unless previously agreed to in writing Moog shall not provide field repairs modifications or any other field service under this Warranty 9 the warranties contained herein are exclusive and are given instead of all other warranties expressed implied or statutory including the implied warranty of merchantability or fitness for a particular purpose and all other obligations and liabilities With respect to contracts directly between moog and the u s government or any of its agencies the rights and remedies afforded to the government or agency by this standard product warranty are in addition to and do not limit any rights afforded by any other provision or provisions of the contract MOOG T164 SERIES USER S MANUAL SECTION NINE WARRANTY NEW PRODUCT THIS PAGE INTENTIONALLY BLANK MOOG T164 SERIES USER S MANUAL 351 352 INDEX INDEX OF FIGURES FIGURE 1 1 T150 BOXCA
319. rmally this is the motor no load speed For a maximum input command less than 10 volts or a desired maximum speed less than the maximum rated motor speed use the following equation to calculate the velocity scaling RPM to enter 10 VelocityScalingRPM MaxrequiredRPM MaxInputCommandVoltage Where Max Input Command Voltage lt 10 and Max Required RPM lt Max Rated Motor RPM Velocity Scale Factor Units Revolutions Per Minute at 10 Volt Command Input Velocity Scale Factor Default Value Motor Max Speed Velocity Scale Factor Min Value 200 Velocity Scale Factor Max Value 20 000 Issue C command to permanently save changes made using SN Example usage of SN command set 5 volt maximum command input equal to 3000 RPM maximum required RPM gt SN lt CR gt Vel Scaling 5 800E 3 RPM at 10V RPM 6000 CH 2000 RPM at 5V gt command lists the current velocity scaling MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING Example usage of LN command gt LN CH Vel Scaling 6000 RPM at 10V gt 253 4 3 6 1 8 SETTING LISTING SP LP VELOCITY LOOP PROPORTIONAL GAIN The SP command sets the velocity loop proportional gain required for tuning in velocity mode refer to Section 4 3 5 4 Velocity Loop Proportional Gain Units Newton meters Radian per Second Velocity Loop Proportional Gain Default Value Depends upon motor model D312 L05 to D313 L40 303
320. rmined by means of the part number cross reference see TABLE 5 3 Part Number Cross Reference by the 6th character of the model number e g length G4xx 4xx in the model number G422 414 Model Type A model type designation e g G2L10 is described by the following scheme GxLyyz with x motor size yy motor length z electric model dropped for standard motors Brake A description of an optional brake is added to the model type on the nameplate for instance 02110 brake 0 9 Nm MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 295 5 3 2 1 NAMEPLATE AC Servyo S N N131 Date 4Q96 odel G422 414 62110 brake 0 9 Nm IP65 1 100 IEC34 NEMA MG7 0530 51 MOOG G400 Series MOOG GmbH D 71034 B blingen Brushless Servomotor n O n 10000 min P 0325 kW J 015 My 05 Nm Ip 12 LN ot 25 C 207 Ohm 0 950 v FIGURE 5 13 Example Nameplate S N serial number Date production quarter and year Model motor model number Type electric model description optional brake NN nominal speed speed at Pn fmax maximum speed Pn nominal power maximum continuous power J moment of inertia Mo continuous stall torque lo continuous stall current Ri terminal to terminal resistance Ug bus voltage Further electrical data can be found in the catalogue NOTE The nameplate serves to identify the product For this reason
321. rol power option allows high voltage motor power to be removed from a T164 Series Drive without losing control power The acceptable voltage range for this supply is 21 to 35 Vd c with a minimum current rating of 1 5 A d c per T164 Series Drive connected This 24 Vd c power supply must be compliant with the requirements of the EU EMC Directive The 24 Vd c voltage output from the power supply must be Safety Extra Low Voltage SELV as defined by European standard EN 60950 NOTE Power supplies which incorporate internal electronic current limiting can cause problems in start up of the T164 Series Drives internal SMPS Such current limiting supplies must be capable of providing 2 amps minimum short circuit current per T164 Series Drive MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 9 1 1 7 BRUSHLESS SERVO MOTORS The standard G400 series brushless servo motors are offered in five frame sizes Each frame size includes four different stack lengths The continuous output power varies from 150 Watt to 7 8 KWatt Motors are also available with an optional static holding brake Normal connection to the motor requires two cables a power and a resolver cable The power cable provides three phase stator power protective earth and brake connections The resolver cable carries rotor position information and also the thermistor connections Position information is provided by a 2 pole pancake resolver which is integ
322. rom an external source or by the internal software Function Generator see section 4 1 13 2 Set the command reference source to 10 of the rated motor RPM 0 RPM offset 1 second period and 50 duty cycle MOOG T164 SERIES USER S MANUAL da u SECTION FOUR CONFIGURATION AND TUNING 149 WARNING Ensure that the application allows using this speed amplitude and length of travel period duty cycle without damage to the machine before proceeding with the tuning procedure Configure WinDrive so that the torque demand variable IDC CurrentMonitor is monitored in one of the two Data Logger Channels see section 4 1 9 1 or at one of the Front Panel Test Points see section 4 1 9 5 via an oscilloscope This signal must not saturate during motor acceleration deceleration i e must be less then 1 Vd c If the signal saturates then the Function Generator setup see section 4 1 13 2 must be altered or the Drive Torque Limit increased see section 4 1 13 3 until saturation does not occur Configure WinDrive so that the actual velocity variable ACTUAL VELOCITY is monitored in the second Data Logger Channel see section 4 1 9 1 or at the second Front Panel Test Point see section 4 1 9 5 Set the Integral Time Constant 1 in the Tuning dialog box to seconds Enable the drive Hardware enable first using the External Enable input then software enable using the F3 Key Enable button on floating tool b
323. rrent magnitude during steady state operation Peak Current Enter the maximum current permissible to flow in the system at any time IT Time Enter the length of time the system is permitted to run a peak current C Update Use the update button to sent the parameters to the drive Continuous Current Arms Peak Current Arms IT Time 2 FIGURE 4 47 IT Thermal Limits Dialog Box MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 159 4 1 16 3 DRIVE DISABLING 4 1 16 3 1 SOFTWARE DISABLE To perform an Emergency Stop select one 1 of the following F2key Stop icon on the floating tool bar see section 4 1 7 5 Quick Stop option from the Drive menu To perform a Servo Stop select 1 of the following F4key Disable icon on the floating tool bar see section 4 1 7 5 Disable option from the Drive menu 4 1 16 3 2 HARDWARE DISABLE Limit Switch emergency braking Accessed under the Setup option of the Drive menu this function allows the use of limit switches to limit the overall travel of a system see Section 4 1 13 4 Controller Hardware Enable The external enable input be used as a hardware disable see section 2 10 2 4 1 17 BRAKE APPLY RELEASE If the attached motor has a brake wired to the drive it can be operated from the Drive menu as follows LJ Apply Brake Engages the attached brake to stop the motor Release Brak
324. rtio oe tus erect ues ev ESSE 14 1 3 ELECTROMAGNETIC COMPATIBILITY EMC Vise Ia bti be p ER ERI REDE REIR 15 1 3 1 Specific Electromagnetic Compatibility EMC Requirements 2 24440221 15 1 3 2 T150 901 Power Supply and T164 Series Drives EMC Test Configurations 17 INSTALLATION AND WIRING aiscascessscansancinianssasiaanninsscapnsasiaaunad sacapssainaninis PHI ER ER DH MEER EFE 21 21 POWER CIRCUIT BREAKER LINE FILTER DRIVE CONTACTOR INSTALLATION eene 21 2 2 POWER CIRCUIT BREAKER SUPPLY DISCONNECTING DEVICE 5 ence erento ens e pna 21 23 e NER UR 22 2S L SSS u Rau 24 23 POGUHPSIENT POM TING 24 2 5 1 150 901 Power Supply and T164 Series 24 2 5 2 T150 901 Power Supply and T164 Series Drives And Associated Equipment 27 29 JIDOWBRDISSIPATION oa 30 2 7 INTERNAL AND EXTERNAL REGENERATION REGEN RESISTORS OPTIONS 36 2 7 1 150 901 Power Supply 40 W Regen Configuration 2 0 040
325. rty The work permitted within the scope of this manual may consequently only be undertaken by duly qualified personnel This includes the following people Planning and engineering design personnel familiar with the safety guidelines for measurement and control instrumentation C Operating personnel who have been duly instructed with regard to the handling of measurement and control instrumentation and who are familiar with the operating instructions contained in this manual Commissioning and service personnel authorized to start up ground and mark the circuits for components and systems in accordance with safety engineering standards MOOG T164 SERIES USER S MANUAL 52 SECTION TWO INSTALLATION AND WIRING 2 8 1 SAFETY INSTRUCTIONS The following safety instruction are related to motors and may only apply when replacing a component WARNING Danger High voltage The servo drives operate with potentially lethal voltages For this reason Disconnect the system from the mains supply Before starting any work on the drive system it must be disconnected from the power supply and secured against inadvertent reconnection by means of the master switch The servomotors must come to a complete stop Rotating servomotors can generate potentially lethal voltages by acting as generators NOTE Danger High voltage Sticker on the power supply and servomotor The symbol indicates that
326. s 1 System Ready Relay 2 Thermal Limit Active The B89666 003 card has the additional functionality Brake Control Analog Torque Limit Input ID Port Toggle Switches 5 6 1 CIRCUIT DESCRIPTION The Extended Option cards were designed to provide additional input and output functionality The input circuitry is optically isolated and can be source or sink current activated This adds considerable flexibility when mating to different front end systems The output circuitry utilizes reed relays to provide output contacts These contacts can then be utilized to monitor axis status MOOG T164 USER MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 317 mon LU s INPUT CIRCUITS V l ME ry C OUTPUT V EXT Hi ET o CIRCUITS AUTO MANUAL r1 i l SYSTEM READY HI i I RELAY 1 IRI du d E N A I t P I THERMAL LIMIT l li IE Bc JI ACTIVE RELAY Tas du ae 5 BRAKE RELAY CCW LIMIT mE H ae rare l IX opu LI
327. s Wiring inside enclosures eee 2 9 1 10 Wiring Practices Wiring outside enclosures 2 9 1 11 Wiring Practices Ducts connection and junction boxes 2 92 requirements for cables ssesseseeseeeeeeee rennen rene oe 2 10 SPECIFIC C ABLES 9 IEEE ure EU TU nS 2 10 1 Power Supply TB3 Cable PSU Fault Output Connection esee 65 2 10 2 Drive J1 Cable Standard I O Cable sisri enne 65 2 10 3 Drive J3 Cable Communications Cable 68 2 10 4 Vdc Logic Power Cable eee epa epe tt tet ernie 68 2 10 5 Encoder Simulation J4 Cable 68 2 10 6 Extended I O J5 Cable Option used with extended I O Board Assembly 89666 003 889666 002 0 202222 1 2 1 000000000000 enne nennen entente en rnnt en 69 2 10 6 1 Extended I O J6 Cable Option Used With Extended I O Board Assembly B89666 003 69 2 10 7 Extended Input Bracket Cable Option seen 69 2 10 8 Can Interface I O Option Card Cable 69 2 10 8 1 Can Interface X2 X3 Serial Cable Option nsn 69 2 10 9 Motor Resolver and Power 78 2 09 Motor Power Cable tUe oreet en ge eai edd 78 2 10 9 2 Drive J2 Cable Resolver a Gn ese imei E 78 2 10 9 3 Crimping Tools for Motor Cables
328. s for RS232 Communication 4 1 2 2 RS232 SETUP In order for the PC to communicate with the drive in RS232 mode proceed as follows Connect an RS232 cable wired as shown in FIGURE 2 23 The cable is connected from one of the communications ports of the PC to the serial port of the drive MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 107 C Configure the W2 jumper for RS232 communications as shown in section 4 1 2 1 4 1 3 WINDRIVE STARTUP NOTE The procedures in sections 4 1 through 4 1 18 are written for use with e WinDrive software version 1 4 4 dated 11 10 97 e DMC firmware version H1 dated 12 20 96 The user must consult Moog for updates to the procedure for drives with any other software or firmware version date WARNING A hardware enable disable switch wired so that the motor can e stopped quickly in a emergency must be provided at all times Software enable disable commands do not meet safety requirements and should never be used lieu of a hardware circuit I MOOG T164 SERIES USER S MANUAL 108 SECTION FOUR CONFIGURATION AND TUNING NOTE The installation and wiring described in Section 2 should be completed and verified before proceeding with drive initialization CAUTION The T164 Series drive should not be enabled during a c power up until the Power Supply Fault Output clears The user must supply the logic to accomplish this interlock Failure to d
329. s the velocity observer software see Section 4 2 5 5 Default State Observer Disabled Issue C command to permanently save changes made using OO Example usage of OO command gt lt gt Enavle Observer Velocity Y N No Reply Y to enable N to disable observer gt 4 2 6 4 5 INPUT OFFSET ADJUST OI The Ol command adjusts the input offset voltage Offset Units Default Offset Value Min Offset Value Max Offset Value Issue C command to permanently save changes made using Ol Example usage of Ol command gt Ol lt CR gt Analog Input Offset 0 0 mV Current value displayed 100 CR Enter desired offset value gt 4 2 6 4 6 AUTOMATIC OFFSET ADJUST OZ mV 700 700 The automatic offset adjust command OZ allows the input voltage to be automatically nulled to compensate external and internal offsets The correct procedure for use is Set command value from the host CNC PLC etc to zero Issue the OZ command at the gt prompt MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 203 On receiving the OZ command the drive takes 200 ms to determine the average of the next 100 samples of the analog reference voltage and place the negative of the result in the input offset register The offset will be limited to a maximum value of 700 mV The default offset value is 0 mV Issue C command to permanently save changes made using OZ Examp
330. se 2 Binding Backlash in mechanical power train Check Correct Check for excessive mechanical backlash or slipping broken coupling Possible Cause 3 Excessive inertia in mechanical power train Nol Check Correct Review load inertia reflected back to motor shaft Continue on Top of Next Page MOOG T164 SERIES USER S MANUAL SECTION SIX TROUBLESHOOTING GUIDE 331 Erratic motion Continued from Previous Page Condition Speed Too Slow YES gt Now Possible Cause 1 Manual Mode Enabled or Automatic Mode Velocity Limit set too low Check Correct Automatic Manual mode Velocity Limits refer to Section 4 Possible Cause 2 T150 901 Power Supply d c Bus Voltage low Check Correct C Measure d c bus voltage from d c to d c terminals of T150 901 Power Supply should be above 300 V d c CI Measure L1 L2 and L3 a c input voltages nominal is 220 V r m s Possible Cause 3 Drive Velocity Scaling set too low Check Correct C Check Drive Velocity Scaling refer to Section 4 Possible Cause 4 Low Velocity Command from System Motion Drive Check Correct Measure System Motion Drive command output Possible Cause 5 Drive Current Limits set too low Check Correct Check Drive Motor Torque Limit settings refer to Section 4 Possible Cause 6 Motor overload Check Correct Review sizing calculations Check for excessive friction binding Continue on Top of Next Page
331. sed in a different operating mode Exciting field Exciting field Armature field Armature field Po Wax gt 20 Yea i ES EE FS VA SY 2 N J w p 2 winding os pm winding FIGURE 5 11 Synchronous Motor FIGURE 5 12 Svhehironoue Motor low load high load MOOG T164 SERIES USER S MANUAL 294 SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION Load fluctuations cause different angles between the two magnetic fields whereas the armature field stays constant The decisive disadvantages inherent in the underlying principle of a synchronous motor are Bad controllability Q Low efficiency due to reactance currents The disadvantages listed above for conventional d c motors and synchronous motors do not apply for the brushless motor The MOOG motor is consequently characterized by the following points High torque yield with small motor size High overload capacity Q Full torque over the entire speed range Highly dynamic due to the small motor inertia Good controllability High efficiency Little friction C Maintenance free operation Robust design 5 3 2 IDENTIFICATION All motor specific data in this User Manual is associated to flange size and stack length of the motors Motor Size Determined by the 4th character of the model number e g Size G4x2 in the model number G422 414 Stack Length Can be dete
332. solver Cable MOOG T164 SERIES USER S MANUAL 82 SECTION TWO INSTALLATION AND WIRING CONTROLLER TERMINAL POWER BLOCK CONNECTION mu MATING CONNECTOR TB2 4 MOTOR GROUND 9 D m T NR TB2 1 U U TB2 2 o 98 0 12 3 m Wo m 2 1 H m NORMALLY CLOSED TB2 5 o SHIELD LS te Vires OPTIONAL QE 24 V BRAKE 0o 9 TWISTED PAIRS SHIELDING G4x2 3 4 G4x5 POWER MATING CONNECTOR G4X2 G4X3 GAX5 G4X6 G4X4 d d i U 2 U U V 4 y W 1 W W 5 Fe 6 E FIGURE 2 32 Motor Power Cable MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 83 Find MOOG Part No Description Quantity No G4x2 3 4 G4x5 G4x6 B47914 001 xxx B47915 001 xxx B47916 001 xxx Complete s 001 xxx C22295 001 xxx C22296 001 xxx Power Cable Assembly A63472 001 B47736 001 B47711 001 Power Mating OD Cable OD Cable OD Cable Connector 9 14 5 mm 12 18 5 mm 9 24 mm 354 570 in 472 728 in 354 945 in Power Wire Gage Power Wire Gage Power Wire 0 14 mm 1 5 mm 1 mm 6 mm 1 5 mm 16 mm AWG 26 AWG 16 AWG 17 AWG 10 AWG 16 AWG 6 Brake Wire Gage Brake Wire Gage Brake Wire Gage 0 14 mm 1 5 mm 0 3 mm 2 mm 1 mm
333. stem drive provide the capability for control of remote devices Typically these remote devices move at high speeds and exert considerable force Like all mechanical systems and most industrial equipment they must be treated with respect by both the user and the operator NOTE This user s manual defines user as the responsible person company and operator as a person who starts stops or monitors workcell operation This user s manual should be read by all personnel who operate or maintain the computer controlled systems or who work within or near the workcell NOTE Individuals responsible for the installation of the equipment described in this user s guide must insure 1 only technically qualified individuals are employed to work on the installation 2 these qualified individuals have the accompanying documentation available at all times when working on the installation and are obliged to use this documentation a consistent manner and 3 work on or close to the installation is prohibited for non technically qualified individuals This user s manual assumes that the user has a basic working knowledge of brushless technology servo products and the system drive The user should provide the necessary additional training for ALL personnel working within or around the workcell MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 11 1 2 1 SYSTEM SAFEGUARDS 1 2 1 1 GENERAL SAFETY R
334. t control loop Velocity Mode 2nd Order Allows the user to input a 2 order filter Low Pass Cutoff and Damping Factor parameters for filtering noise in the current control loop 4 1 13 6 1 VELOCITY LOOP TUNING USING THE VELOCITY OBSERVER In order to determine the velocity to a higher resolution follow the tuning steps below which incorporate both the Observer Velocity Estimate and Velocity Mode 2nd Order filter in the Advanced Options dialog box FIGURE 4 42 M Tune the velocity loop as detailed in sections 4 1 13 through 4 1 13 5 1 FIGURE 4 43A shows a typically tuned velocity loop response to a step reference command input The Torque Response and Actual Velocity are viewed via Front Panel Test Points TP1 and TP2 see section 4 1 9 5 Note the single overshoot of about 24 in the velocity response and the 12mS settling time Select Use observer velocity estimate in the Advanced Options dialog box FIGURE 4 42 Select Velocity Mode 2nd Order in the Advanced Options dialog box FIGURE 4 42 Leave the default settings in the Low Pass Cutoff and Damping Filter parameter windows Configure front panel test point 1 TP1 to monitor Torque Response and front panel test point 2 TP2 to monitor Observer Position Error View the output of these two test points with an oscilloscope set the time base to 2 ms div Monitor the output from TP1 and TP2 as shown in FIGURE 4 43B NOTE Do NOT use the Velocity Observer if the plot
335. t this reference source to use the software based function generator for drive tuning After Function Generator is selected press the Set Up button to configure the input parameters in the Function Generator dialog box as follows Function Generator x Speed Amplitude RPM Speed Offset RPM Torque Amplitude Nm Torque Offset Period 5 Duty Cycle 2 FIGURE 3 9 Function Generator Dialog Box Speed Amplitude RPM Set the motor velocity in RPM For tuning a value equal to 1096 of the rated motor RPM should be used Speed Offset RPM This value in RPM is added to the Speed Amplitude for one direction of rotation and subtracted from the other A factory default value of 0 results in equal movement of the motor shaft in both directions Torque Amplitude Set the required motor torque NOTE NOT EXCEED THE RATED MOTOR TORQUE Torque Offset This value sets the torque bias in Nm for the motor in both directions of rotation Period Enter the time in seconds for one cycle of motor operation Duty Cycle This value determines what percentage of the Period the Velocity or Torque Amplitude is positive The remaining portion of the period the amplitude is negative For tuning a duty cycle of 50 should be entered to produce equal clockwise and counter clockwise shaft rotation Point If the DMC drive contains a Point card the user may select this as the reference source To
336. tails of these T150 901 Power Supply and T164 Series Drives EMC test configurations are given in Section 1 3 2 of this Users Manual The EMC standards applied were as follows EMC Emission standard EN 55011 1991 Limits and methods of measurement of radio disturbance characteristics of industrial scientific and medical ISM radio frequency equipment Class A limits EMC Immunity standard EN 50082 2 1995 Electromagnetic compatibility Generic immunity standard Part 2 Industrial environment Both these standards are published by CENELEC the European Committee for Electrotechnical Standardization Brussels 1 3 1 SPECIFIC ELECTROMAGNETIC COMPATIBILITY EMC REQUIREMENTS The EMC measures outlined below are required to be installed by the user into all equipment systems and installations into which the T150 901 Power Supply and T164 Series Drives are installed Further details are given in the referenced Sections of this Users Manual The T150 901 Power Supply and T164 Series Drives must be installed by mounting on a panel in a manner that ensures that EMC earthing requirements are met Refer to Section 2 5of this Users Manual MOOG T164 SERIES USER S MANUAL 16 SECTION ONE GENERAL INFORMATION For safety reasons the T150 901 Power Supply and T 164 Series Drives and the panel on which they are mounted must be installed in enclosures or cabinets which provide a degree of ingress protection against liquids and objects of at
337. tegral gain also provides disturbance rejection or stiffness in the motor s reaction to an external torque load MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING MOOG T164 SERIES USER S MANUAL 147 148 SECTION FOUR CONFIGURATION AND TUNING Drive is in Velocity Mode Torque Mode Velocity Mode Velocity Loop Gain Nm Rad s Integral Time Const S Advanced ptions Automatic Update FIGURE 4 40 Tuning Dialog Box WARNING The motor should be uncoupled if incorrect movements during the tuning procedure can damage the machine If this is not possible the safety limit switches of the machine must be connected through hardware limit circuits such that the drive is hardware disabled if a limit switch is activated Disable the drive using the hardware enable switch Confirm that the message Drive is in Velocity Mode is displayed at the top of the Tuning dialog box FIGURE 4 40 If itis not select the Velocity Mode button and reconfirm message Confirm that the drive velocity and torque limits are set to 10 of normal system limits see section 4 1 13 3 WARNING During tuning set the drive to 10 of rated torque and speed via manual mode or by altering automatic mode parameters Failure to do so might result in machine damage and or personal injury Apply a low frequency squarewave reference source This source can be supplied f
338. tended Present Limit Switches Enabled Issue C command to permanently save changes made using OL Example usage of OL command gt OL lt CR gt Disable Limit Switches Y N Yes N Enter Y to disable N to enable gt 4 2 8 1 4 ENABLE DISABLE MANUAL When Extended used the drive defaults to manual mode enabled Automatic mode manual mode disabled is activate by current flow in the AUTO MANUAL input of the Extended card The OM command refer to Section 4 2 6 4 11 can still be used to disable automatic mode 4 2 9 CONFIGURATION COMMANDS SUMMARY 4 2 9 1 MOOG COMMAND FORMAT Certain conventions are used in the command set for the Drive The First Letter of a Command generally indicates a functional group S Set Parameter L List Parameter O SetLList Drive Option M Drive Commands Inquire Commands MOOG T164 SERIES USER S MANUAL 212 SECTION FOUR CONFIGURATION AND TUNING NOTE While using a POD the backspace function is implemented using a Cntrl H 4 2 9 2 COMMAND SET LIST 4 2 9 2 1 CONFIGURATION COMMANDS Description SC LC Indicates RMC or DMC Drive String T161 90 1 2 3 4 if HardWare Platform is RMC and DMC 90 1 3 5 7 9 if HardWare Platform is DMC ILV Displays firmware version of embedded code 4 2 9 2 2 MOTOR COMMANDS Command Description SNM LM This String is written to when initializing a NON STANDARD m
339. the communications port J3 of the drive The T164 901 drive had a Point option card installed with 3 meter terminated shielded cable permanently connected to the Point output port X4 A Fair Rite Products Type 0443164151 common mode ferrite was installed on the cable at the Point port X4 An operating routine was downloaded via the Point card communications interface port X3 connector prior to testing A B81655 Axis ID Module option card plus 3 meter terminated RS485 interface shielded cable was permanently connected to this Point communications interface port X3 during testing An Oyster Terminals 4 service terminal peripheral was permanently connected to the communications port X3 of the drive The T164 901 Drive with Point option was driving a Moog Type G415 600 Motor MOOG T164 SERIES USER S MANUAL 18 SECTION ONE GENERAL INFORMATION A 24Vd c external power supply was connected to all drives An external regen resistor was connected via a 5 meter shielded cable to the T150 901 Power Supply Ten meter long shielded motor power and motor resolver cables were connected between the drives and the motors The motor power cable and external regen resistor cable shields were grounded to the Chassis Earth using P clips Shielded cable was used for the mains power input cable and all power cable connections between the a c input power Line Filter and the T150 901 Power Supply power input Unshielded cable was used for all con
340. the motor no load speed Set the drive to manual mode using the OM command refer to Section 4 2 6 4 11 The drive is tuned using a low frequency square wave command while observing the velocity response on an oscilloscope The low frequency square wave can be supplied from an external source or by the internal software function generator as described below Set the command reference source to the function generator using the OR command refer to Section 4 2 6 4 1 Set up the function generator parameters to 10 of rated motor speed amplitude 0 RPM speed offset 1 second period and 5096 duty cycle WARNING Ensure that the application allows using this speed amplitude and length of travel period duty cycle without damage to the machine before proceeding with the tuning procedure MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 183 For monitoring velocity connect an oscilloscope to TP2 with common on with the following settings Horizontal Amp 20 ms Division Vertical Amp 1 V Division Direct the velocity feedback signal to TP2 using the OFB2 command refer to Section 4 2 6 4 8 The two 2 principle parameters affecting the velocity loop dynamics are the Velocity Loop Proportional Gain P and the Integral Time Constant 1 The proportional gain term affects the amplification of the error between actual velocity and reference velocity The higher the P term
341. the problem of electrolytic corrosion The connection of two or more conductors to one terminal is permitted only in those cases where the terminal is designed for that purpose However only one protective bonding circuit conductor shall be connected to one terminal connecting point Soldered connections shall only be permitted where terminals are provided which are suitable for soldering Terminals on the terminal blocks shall be plainly identified to correspond with markings on the diagrams The installation of flexible conduits and cables shall be such that liquids shall drain away from the fittings MOOG T164 SERIES USER S MANUAL 58 SECTION TWO INSTALLATION AND WIRING Means of retaining conductor strands shall be provided when terminating conductors at devices or terminals which are not equipped with this facility Solder shall not be used for this purpose Shielded conductors shall be so terminated as to prevent fraying of strands and to permit easy disconnection Identification tags shall be legible permanent and appropriate for the physical environment Terminal blocks shall be so mounted and wired that the internal and external wiring does not cross over the terminals 2 9 1 3 WIRING PRACTICES CONDUCTOR AND CABLE RUNS Conductors and cables shall be run from terminal to terminal without splices or intervening joints Where it is necessary to connect and disconnect cables and cable assemblies sufficient extra
342. to exit gain adjust mode Both the U and the D commands operate in an incremental mode that acts like a non linear software potentiometer Each time the U command is successively issued the gain increase factor becomes 5 larger than the previous gain increase factor Thus after issuing one U command the second gain value is 1 05 times the first gain value and after issuing a second U command the third gain value is 1 1025 times the second gain value and 1 158 times the first gain value This process continues until the gain increase factor reaches 2 0 at which point it is held constant for successive U commands The D command functions analogously except each successive gain decrease factor becomes 1 1 05 times the previous gain decrease factor until the gain decrease factor becomes 1 0 E 6 at which value it remains constant The Z command is actually a special case of the D command in which the gain decrease factor is 1 0 E 4 which quickly reduces but does not actually zero the parameter As a precaution several Z commands in succession will ensure a parameter is lowered to its minimum value Note that both the Observer Inertia J and the Velocity Loop Proportional Gain P parameters increase in value when the U command is used and decrease in value when the D command is used However the Integral Time Constant I parameter decreases in value when the U command is used and increases in value when the D command is used This is because dec
343. to save configuration data in EEPROM refer to Section 4 2 5 7 4 2 5 7 SAVING CONFIGURATION DATA Upon completion of drive parameter set up and tuning the configuration parameters should be permanently saved in EEPROM using the C command Any parameter changes made will be lost when power is removed if they are not saved in EEPROM NOTE Only one set of parameters can be stored in EEPROM at a time It is not recommended that a configuration with the function generator active be saved in EEPROM The OR command refer to Section 4 2 6 4 1 can be used to switch off the function generator Example usage of the C command gt C lt CR gt Enter Save Configuration Command EEPROM Save Wait MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 189 4 2 6 COMMAND REFERENCE BASE DRIVE MODELS This Section provides detailed information on all T164 Series Drive H1 software commands including default values limit values and examples of usage for base drive models Additional commands and command extensions for the Encoder Simulation Option Card and the Extended I O Option Card are detailed in Sections 4 2 7 and 4 2 8 respectively 4 2 6 1 SETTING AND LISTING PARAMETERS 4 2 6 1 1 SETTING LISTING 51 0 VELOCITY LOOP INTEGRAL TIME CONSTANT The SI command sets the velocity loop integral time constant required for tuning in the velocity mode refer to Section 4 2 5 4 Setting the velocity loop i
344. ty Limit 5 800E 3 RPM 4000 CR gt SLM lt CR gt Manual Mode Velocity Limit 5 800E 2 RPM 400 lt CR gt gt The LLA LLM commands list the automatic manual mode motor velocity limits Example usage of LLA and LLM commands gt LLA CR Automatic Mode Velocity Limit 4 000E 3 RPM gt LLM CR Manual Mode Velocity Limit 4 000E 2 RPM gt MOOG T164 SERIES USER S MANUAL 191 192 4 2 6 1 4 SECTION FOUR CONFIGURATION AND TUNING LISTING LM MOTOR PARAMETERS The LM command lists the current motor parameters Example usage of LM command gt LM lt CR gt Motor 304 111A more lt CR gt Motor Poles 12 more lt CR gt Kt 4 654 1 Nm Arms more lt CR gt Rtt 5 099E 0 Ohms More lt CR gt Ltt 1 030E 1 mH More lt CR gt Nominal Speed 5 800E 3 RPM more lt CR gt Maximum Speed 5 500E 3 RPM More lt CR gt Peak Current Limit 8 699E 0 Arms more lt CR gt I gain 10 More lt CR gt Resolver Poles 2 More lt CR gt Cont Stall Current 3 394E 0 Arms More CHR Motor Thermis Present Yes MOOG T164 SERIES USER S MANUAL Press RETURN or any key to proceed Press RETUHN or any key to proceed Press RETUHN or any key to proceed Press RETURN or any key to proceed Press RETURN or any key to proceed Press RETUHN or any key to proceed Press RETURN or any key to proceed Press RETUHN or any key
345. ty limits In automatic mode the normal torque and velocity limits are in effect In manual mode the torque and velocity limits are reduced from the normal automatic mode limits The manual mode is useful during commissioning to limit available torque and velocity while tuning the drive or other situations in which full power could present personnel or equipment hazards Manual mode is enabled or disabled using the OM command and if an Extended Option card is installed by the absence manual mode or presence automatic mode of current flowing in the AUTO MANUAL input Refer to Section 4 2 6 4 1 for information on enabling and disabling manual mode Section 4 2 6 1 3 for setting listing the automatic manual mode velocity limits and Section 4 2 6 1 7 for setting listing the automatic manual mode torque limits MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 179 os SOFTWARE PROGRAMMABLE FUNCTION GENERATOR AUTOMATIC MODE VELOCITY LIMIT A SOFTWARE SOFTWARE SWITCH INPUT 10 SWITCH ANALOG FILTER REFERENCE SL M LLM EAN SOFTWARE SWITCH J MANUAL MODE VELOCITY LIMIT PROGRAMMABLE OFFSET m AUTOMATIC MODE TORQUE LIMIT A SOFTWARE SWITCH IT FOLDBACK rus MANUAL MODE TORQUE LIMIT POSITION TO VELOCITY CONVERSION TORQUE MODE COMPENSATOR AN HARD
346. uipment becoming unsafe MOOG T164 SERIES USER S MANUAL 37 38 SECTION TWO INSTALLATION AND WIRING Power Supply Continuous Regen Power Options POWER SUPPLY T150 901 701 T150 901 702 T150 901 706 150 901 722 T150 901 722 T150 901 723 MODEL NUMBER REGEN POWER 40 Watts 240 Watts 600 Watts 1000 Watts 2500 Watts 2500 Watts MOOG KIT P N Standard 09838 002 09838 006 09838 010 C09838 022 C09838 023 2000Watts C09838 010 INTERNAL JUMPER Pins Pins Pins Pins Pins J3C POSITION 2 3 2 3 2 3 1 2 1 2 50 55 WATT INTERNAL J3A J3A J3B J4 J4 RESISTOR CONNECTED TO EXTERNAL REGEN None 10 Q 225 Watt 8 0 750 Watt 1 X 10 2 2x 2x89 2x80 RESISTOR Wired to 4 Wired to 4 1kW 2kW 1500 Watt 1500 Watt Wired to TB5 Wired to TB5 Wired to TB5 FUSE F1 ON PS CONTROL PWB MOOG P N EXTERNAL FUSE MOOG P N EXTERNAL REGEN CONNECTOR PLUG MOOG P N INCLUDED 3 AMP 500 Volt Non Time Delay C09762 003 000 none not required 10 AMP 500 Volt Non Time Delay 09762 010 000 TB4 C09727 002 15 AMP 500 Volt Non Time Delay 3 AMP 500 Volt Non Time Delay C09762 015 000 09762 003 000 none 12 AMP 500 Volt 09762 012 000 4 TB5 C09727 002 09727 004 3 500 Volt Non Time Delay C09762 003 000 25 AMP 500 Volt C09762 025 000 TB5 C09727 004 3 AMP 500 Volt Non Time Delay C09762 003 000 25 AMP
347. ult Motor Overtemperature fault Drive Overtemperature fault and Watchdog Timer fault are detected in hardware and reported to the microprocessor for processing In addition Bus Overvoltage Bridge Short Circuit and Watchdog Timer faults immediately disable the drive independent of the microprocessor The fault status and the motor current foldback status bits are reported to the user at the Standard Connector J1 Each output bit is optoisolated and can source or sink up to 50 mA at up to 35 V d c The output transistors acts like switches The fault status output is normally closed conducting current and opens during a fault The foldback status output is closed during foldback and open otherwise MOOG T164 SERIES USER S MANUAL SECTION FIVE COMPONENT DESCRIPTION AND SPECIFICATION 289 To source current and have active high outputs connect the output collectors pins J1 2 and J1 4 to the excitation voltage that the interface logic works from i e 24 V d c and tie each emitter to the inputs that the logic looks at To obtain active low outputs and sink current tie the output emitters pins J1 1 and J1 3 to the excitation voltage return and tie each collector to the inputs that the logic looks at refer to FIGURE 2 22 for an example of this The drive Enable input is found on J1 5 and J1 6 and is optoisolated A valid enable signal is applied when 4 5 Vd c to 35 V d c is applied from pin 5 to pin 6 or from pin 6 to
348. uperimposed Blowup Plots Icon Shows only one selected data logger plot in the data plot window This function is also available for the main application menu under Plots Display Blowup Graph Restore Plots Icon The Restore Plots Icon restores previous data logger plots held in memory Also available from the main application menu under Plots Display Restore Graph Reference Source Select Icon Opens the Reference Source Dialog Box so that the user can select the drives control source This function is also available from the main application menu under Drive Setup Reference Source Tuning Icon Opens the Tuning Dialog Box to enable scaling of the P and velocity loop values This function is also available from the main application menu under Drive Setup Tuning Limits Icon Opens the Limits Dialog Box to enable setting the automatic and manual motor limits This function is also available from the main application menu under Drive Setup Limits MOOG T164 SERIES USER S MANUAL 120 SECTION FOUR CONFIGURATION AND TUNING Drive Stop Icon This function brings the motor to a servo stop Also available by pressing F2 selecting Quick Stop from the Drive Menu or clicking on the Stop button of the Floating Toolbar Drive Enable Icon This function enables power to the motor Also available by pressing F3 or selecting Enable Controller from the Drive Menu or clicking on the Enable button of the Floating Toolbar Also availabl
349. uropean Standard EN 60204 1 requirements Refer to Section 2 9 1 of this Users Manual All wires and cables entering and leaving the IP54 rated enclosures or cabinets containing the T150 901 Power Supply the T164 Series Drives and the Regen resistor s must be protected and anchored in accordance with the requirements of EN 60204 1 Refer to section 2 9of this Users Manual MOOG T164 SERIES USER S MANUAL SECTION ONE GENERAL INFORMATION 13 A mains circuit breaker must be installed with this equipment This circuit must be installed in a manner accessible to the user and must conform with the requirements of EN60204 1 Para 5 3 2 and 5 3 3 Refer to section 1 1 2 and Section 2 1of this Users Manual A mains isolation transformer must be installed between the mains voltage supply and the power inputs of the T150 901 power supply This transformer is required to be constructed in accordance with the requirements of European standard EN 60742 to meet the requirements of standard EN 60204 1 For CE compliance this transformer shall be a 380 220VAC Phase transformer rated 15 KW maximum Overload protection must be installed for motors with ratings exceeding 2 kW connected to the T164 Series Drives All hand held service terminals and or service set up computers connected to the T164 Series Drives which allow control of the machine functions must be installed as service tools only and access to these service tools must be restricte
350. ust Where flexible conduit is adjacent to moving parts the construction and supporting means shall prevent damage to the flexible conduit or cable under all conditions of operation Flexible metal conduit shall not be used for rapid or frequent movements except when specifically designed for that purpose Prewired devices e g position switches proximity switches provided with an identified cable may be provided without provisions for termination of the conduit MOOG T164 SERIES USER S MANUAL SECTION TWO INSTALLATION AND WIRING 63 2 9 1 11 WIRING PRACTICES DUCTS CONNECTION AND JUNCTION BOXES All sharp edges flash burrs rough surfaces or threads with which the insulation of the conductors may come in contact shall be removed from ducts and fittings Where necessary additional protection consisting of a flame retardant oil resistant insulating material shall be provided to protect conductor insulation Ducts and cable trays shall be rigidly supported and positioned at a sufficient distance from the moving parts and in such a manner so as to minimize the possibility of damage or wear Cable trunking systems external to enclosures shall be rigidly supported and clear of all moving or contaminating portions of the machine or equipment into which they are installed 2 9 2 EMC REQUIREMENTS FOR CABLES Avoid close parallel routing of signal cables and power cables Always use the minimum length of cable necessary
351. ve and the use of the data logger for viewing signals NOTE The procedures in sections 3 2 through 3 7 7 are written for use with WinDrive software version 1 4 4 dated 11 10 97 DMC firmware version H1 dated 12 20 96 The user must consult Moog for updates to the procedure for drives with any other software or firmware version date WARNING A hardware enable disable switch wired so that the motor can be stopped quickly an emergency must be provided at all times Software enable disable commands do not meet safety requirements and should never be used instead of a hardware circuit NOTE The installation and wiring described in Section 2 should be completed and verified before proceeding with drive initialization MOOG T164 SERIES USER S MANUAL SECTION THREE QUICK SETUP 91 CAUTION The T164 Series drive should be enabled during a c power until the Power Supply Fault Output clears The user must supply the logic to accomplish this interlock Failure to delay enabling of the drives or having any other external load the T150 901 Power Supply on a c power up will defeat the proper operation of the soft start circuitry in the T150 901 Power Supply and can result in tripping of the a c input circuit breaker and or damage to the T150 901 Power Supply 3 3 OPENING THE PROGRAM From the Program Manager WINDOWS 3 1 Task Bar W
352. ver As a final check of proper tuning enter OFA4 to monitor observer velocity on TP1 and compare it with the actual velocity response which was shown on TP2 in FIGURE 4 56 A These should be identical Switch on the observer by using the OO command reference Section 4 2 6 4 4 and then Y to the subsequent prompt FIGURE 4 56 D shows the velocity loop response when the observer is switched into the loop Note the lack of overshoot because of a better measurement of velocity The servo noise generated is also reduced MOOG T164 SERIES USER S MANUAL 186 SECTION FOUR CONFIGURATION AND TUNING In order to achieve higher gains the compensator filter frequency may now be set higher using the SW command refer to Section 4 2 6 1 8 Typically this frequency may be set to 600 Hz depending on motor servo noise The P gains may now be tuned up again in the normal fashion described in Section 4 2 5 4 FIGURE 4 56 E compares the response of an observer based system with a normal velocity loop system Now the response settles in just 2 2 ms whereas without the observer the step settled in about 12 ms The observer response also shows a smaller overshoot Use the C command to save configuration data in EEPROM reference Section 4 2 5 7 MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 187 TORQUE E TORQUE Sut ett OBSERVER POSITION ERROR OSCILLATORY
353. vided by the D A converter section 5 2 2 5 CURRENT LOOP The current loop takes the command signals from the D A section and the motor phase current feedback signals and generates a closed loop current error signal which drives the PWM pulse width modulation stage PWM is used to convert the analog current error into a digital command for the three phase inverter bridge The setup parameters of the current loop are varied depending on the type of motor which is used This motor specific information is contained in EPROM and is provided to the current loop upon power up The gate drive takes the digital current loop PWM commands and level and amplitude shifts them to an appropriate voltage to drive the 6 high voltage IGBT transistors in the inverter output bridge 5 2 2 6 UART The UART universal asynchronous receiver transmitter is used to provide the CPU with communication information from the user and to provide the user with drive status information RS232 communication is available through the UART interface RS232 is a 3 wire standard computer serial interface for communicating from one device computer or terminal to one other device T164 Series Drive Connecting the jumper across pins 1 and 2 will set the drive for RS232 communication 5 2 2 7 FAULT DETECTION The fault detection block contains 9 status LEDs that are described in Section 5 2 1 The d c Bus Overvoltage fault Bridge Short Circuit fault Logic Power Supply Status fa
354. warning will be displayed if the function generator is set up as the command reference source when the C command is issued It is not recommended that a configuration with the function generator active be saved in EEPROM The OR command refer to Section 4 3 6 4 1 can be used to switch off the function generator Example usage of the C command gt C CH Enter Save Configuration Command Save Parameters Sure Y N Yc CR gt Enter Y to continue any other key to abort EEPROM ID 1 CH Enter desired ID number and press RETURN Wait Saving Drive Parameters in EEPROM EEPROM Written gt 4 3 6 COMMAND REFERENCE This Section provides detailed information on all T164 Series Drive C4 software commands including default values limit values and examples of usage for base drive models Additional commands and command extensions for the Encoder Simulation Option Card and the Extended I O Option Card are detailed in Sections 4 3 7 and 4 3 8 respectively 4 3 6 1 SETTING AND LISTING PARAMETERS 4 3 6 1 1 LISTING L MOTOR AND DRIVE CONFIGURATION The L command lists the following current motor and drive configuration data EEPROM ID Number Command Source Controller Model Number Compensator Mode Velocity or Torque Motor Model Number Option Card Status RS485 Multidrop Axis Number MOOG T164 SERIES USER S MANUAL 246 Example usage of L command gt L EEPROM ID Number 10 more lt CR
355. xible multiconductor cable except where the conduit or cable is specifically designed for that purpose MOOG T164 SERIES USER S MANUAL 62 SECTION TWO INSTALLATION AND WIRING Flexible conduit or flexible multiconductor cable shall be used for connections involving small or infrequent movements They shall also be permitted to complete the connection to normally stationary motors to position switches and to other externally mounted devices Connections to frequently moving parts shall be made with conductors suitable for flexing service in accordance with European standard EN 60204 1 Flexible cable and flexible conduit shall be so installed as to avoid excessive flexing and straining particularly at the fittings Cables subject to movement shall be supported in such a way that there is no mechanical strain on the connection points nor any sharp bending The loop shall have sufficient length to provide for a bending radius of the cable of at least ten times its outside diameter Where cables subject to movement are close to moving parts precautions shall be taken so that a space of at least 25 mm shall be maintained between the moving parts and the cables Where this distance is not practicable fixed barriers shall be provided between the cables and the moving parts The cable sheath shall be resistant to the normal wear which can be expected from movement and to the effects of atmospheric contaminants e g oil water coolants d
356. y HF bonding between enclosure of the Line Filter T150 901 Power Supply T164 Series Drives and Protective Earth PE Ensure that input and output cables from the Line Filter are segregated as much as possible to prevent noise coupling See FIGURES below It is essential that the input conductors to the Line Filter be completely segregated from both the filter output conductors and all other cables and conductors in the installed product P Clip Cable shield connection to earth Output cable Input cable LINE FILTER Correct Input Output Cable Routin FIGURE 2 1 Power Line Filter Routing MOOG T164 SERIES USER S MANUAL 24 SECTION TWO INSTALLATION AND WIRING 2 4 DRIVE CONTACTOR Install a drive rated contactor between the output of the mains isolation transformer and the power input of each T150 901 Power Supply This contactor shall be sized based on the continuous power of the system motor drive A rule of thumb of 5 amps kW continuous power can be used 2 5 EQUIPMENT MOUNTING 2 5 1 T150 901 POWER SUPPLY AND T164 SERIES DRIVES The T150 901 Power Supply and T164 Series Drives must be panel mounted within an enclosure or cabinet which provides a degrees of ingress protection against liquids and objects of at least IP54 Such enclosures or cabinets must be accessible to technically qualified service or maintenance persons only It is recommended that the cabinet is ventilated using filtered or cond
357. y scale factor which determines the maximum motor speed for a 10 volt command input After scaling the digital velocity command is passed through either the automatic mode velocity limiter or the manual mode velocity limiter depending upon the OM command software switch The position feedback from the motor mounted resolver is demodulated and passed through an A D converter The resulting digital position information is differentiated to obtain motor velocity feedback The OO software switch allows selection of the normal position to velocity conversion or the velocity observer method described in Section 4 2 5 5 The digital velocity feedback and command are compared to generate a velocity error torque command which is passed through a loop compensation network consisting of a proportional gain P term with a lowpass filter 1 or 274 order and an integral gain I term block The P and I terms must be tuned for a particular application The torque command is passed through either the automatic mode torque limiter or the manual mode torque limiter depending upon the OM command software switch The resulting torque command current command is input to the IT foldback block which protects the motor and the drive from delivering excessive peak currents Finally the current command enters a digital to analog D A converter after which the analog current command is passed to the power amplifier stage to drive the motor MOOG T164 SERIE
358. ystem with a normal velocity loop system Note that the response settles in just 2 2ms whereas without the observer the step settled in about 12ms MOOG T164 SERIES USER S MANUAL 154 SECTION FOUR CONFIGURATION AND TUNING m b S T 2 ORQUE z n wo Pe NR x ees x onl oe n mas pM DA eg 2254 Ar gt gt E E E een s d m OBSERVER Q p E pn d 5 POSITION ERROR Aaj 2d m VELOCITY Jest TOO BIG 2 m iv 2 ms d TUNED VELOCITY 1 P RESPONSE B TUNING THE OBSERVER 2 ORQUE 5 ji ji J gt up I E EE RE 2 r 2 OBSERVER J x POSITION ERROR O Efe ES VEL z VELOCITY 2 2 OSCILLATORY LOAD DO NOT USE OBSERVER D SWITCHING ON THE OBSERVER HO RPM div FIGURE 4 43 Velocity Observer Tuning Wave Forms MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 155 4 1 14 PASSWORD PROTECTION This function is used to control a users access to functions within WinDrive 4 1 14 1 USER ACCESS LEVELS Access level 0 General user access enable disable and monitor a drive Access level 1 Privileged user access drive tuning and configuration 4 1 14 2 PASSWORD SETUP CHANGE The user may set a password in using one 1 of the following methods At Wi
359. zards refer to Section 4 2 5 1 3 Although it is possible to set manual velocity limits higher than automatic velocity limits this is not recommended because it defeats the safety principle of manual mode MOOG T164 SERIES USER S MANUAL SECTION FOUR CONFIGURATION AND TUNING 195 Automatic Manual Mode Torque Limits Units Newton meters Automatic Mode Torque Limit Default Value Drive Current Limit Automatic Mode Torque Limit Min Value 0 Automatic Mode Torque Limit Max Value Drive Current Limit Manual Mode Torque Limit Default Value 10 Drive Current Limit Manual Mode Torque Limit Min Value 0 Manual Mode Torque Limit Value Drive Current Limit Issue C command to permanently save changes made using STA and STM Example usage of STA and STM commands gt STA lt CR gt Enter command to set automatic mode torque limit Automatic Mode Torque Limit 4 040E 0 Nm CR Accept the current value gt STM lt CR gt Enter command to set manual mode torque limit Manual Mode Torque Limit 4 000E 1 Nm CR Accept the current value gt The LTA command lists the current automatic mode torque limit and the LTM command lists the manual mode torque limit Example usage of LTA and LTM commands gt LTA CR Enter command to list automatic mode torque limit Automatic Mode Torque Limit 4 040E 0 Nm gt LTM lt CR gt Enter command to list manual mode torque limit Manual

Panel Mount, Digital Motor Controller

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