VSD-E Manual - Granite Devices
Contents
1. general purpose input 4 HSIN1 High speed optoisolated input Usually connected to controller OV 5 HSIN2 High speed optoisolated input Direction in Quadrature B in general purpose input 6 HSIN2 High speed optoisolated input Usually connected to controller OV 7 lO_VCC Voltage supply for isolated output Used to power output optoisolators if outputs are needed pins 3 5Vdc from controller 8 l1O_COM Same as 2 9 IN4 Medium speed optoisolated input SPI SCLK general purpose input 10 IN3 Medium speed optoisolated input SPI MOSI general purpose input 11 OUT2 Medium speed optoisolated output General purpose output 12 OUT1 Medium speed optoisolated output SP MISO general purpose output 13 GND Drive ground non isolated Used to supply analog input controls like potentiometer 14 5V_OUT 5V non isolated See electrical Used to supply analog input controls like potentiometer characteristics for maximum load 15 AIN1 Analog input non isolated Differential analog input general purpose digital input 16 AIN2 Analog input non isolated Differential analog input general purpose digital input www granitedevices fi 13 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 GRANITE HSIn HSIn 220 Figure 8 High speed optoisolated input equivalent circuit pins 3 6 A DEVICES 8 8 gt gt 23 S N OUTn IO_COM Figur2. Mech LED1 LED2 LED3 status brake output status 1 Blink Off Off Drive stopped until next logic power cycle Occurs if drive Off Hi Z Braking hasn t been configured powered first time or if motor type was modified in configuration 2 Blink Blink Off Drive initialization or AC motor phase search in progress On driving Off 3 Off On Off Enabled and running On driving Off 4 Blink On Off Recovering from follow error or from disabled state On driving Off 5 Off On Blink Input motion command range error On driving Off 6 Off Off Blink Following error On braking Braking 7 Blink Off Blink Motion error Motion stalled or encoder failure See chapter On braking Braking 10 4 8 Off Blink Off Disabled by user On braking Braking Blink Blink On Init or AC motor phase search failed Possibly too low voltage On braking Braking 10 Off Off On Other fault get details via SPI bus or contact us for support On braking Braking 11 Off Blink Blink HV bus over voltage or under voltage fault On braking if Braking under voltage otherwise Off Hi Z 12 Blink On Blink Overcurrent caused by bad tuning or short circuit fault With Off Hi Z Braking DC motors also faults if output phases are not properly wired in parallel 13 On Blink Blink Overtemperature On braking Braking or Off Hi Z 14 Blink Blink Blink Communication error invalid command or invalid command On braking Braking parameter Che
3. and commands will be specified additional documentation 12 2 Step amp Dir inputs Step dir position control In step dir position mode the drive will listen pulse commands from CMD port HSIN1 amp HSIN2 pins Drive will increment position target value when positive rising edge is detected at HSIN1 Direction of incrementation will be determined by the logic status of HSIN2 during rising step edge Status of HSIN2 should be pre set at least 150 nanoseconds before step edge In torque mode step dir works same in the same manner torque target will be incremented or decremented by step signals Step dir velocity control pulse frequency input If drive is configured for velocity control mode the step dir inputs will act as pulse frequency input where step pulse frequency will determine target speed of motor Direction input may be used to change rotation direction With 1 1 scaling input frequency will match encoder count frequency 12 3 Quadrature inputs In quadrature input mode the drive listens quadrature signals from CMD port HSIN1 amp HSIN2 pins Quadrature signal is similar to quadrature encoder signals which is typically used in applications like encoder follower and slave axis In all drive modes position velocity and torque quadrature input will increment or decrement target value depending on input signal direction www granitedevices fi 29 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual
4. operation can be achieved by choosing higher power rating resistor Activating regenerative resistor doesn t need any further drive configuration VSD E will attempt controlling AO always as regenerative resistor whenever it is not occupied by motor windings Warning never connect regenerative resistor if all 4 power output phases are used by motor www granitedevices fi 18 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 8 7 Connection to motor amp controller The figure below illustrates VSD E wiring to surrounding system Since CMD port pins are configurable please refer to chapters 7 4 p 13 10 5 p 27 and 12 p 29 about functionality of digital I O 12VDC oV CONTROLLER All signals 3 5V OV TTL or CMOS logic 12 160VDC GND Digital out GND Digital out GND Regenerative resistor GND Digital out Digital out Digital in Digital in OPTOISOLATED DIGITAL AC SERVO GND 10V Analog out Analog GND 1 Or inverted outputs Possible CHB encoder CHA signal CHA pass to IDX controller IDX GND 5V_OUT BRAKE 0 BRAKE_24V 2 Don t connect unless analog input needed 1 2 3 4 5 6 7 8 9 Note IO COM pins are same Only one necessary to connect to GND ENCODER amp HALL SENSORS Brake coil Brake coil OV up to 24VDC Figure 13 Typical controller and motor wiring This example uses AC motor w
5. IN i i O V TUTTO To Uo U Tn V 2 OO0OO0OO0OO0OO D CH Doo OO Oo DUDUT DO Do Aa fh Pl O g Le J s o E 2 a a IY 2 U ao C O Q O Ol 8 i i 2 9 Lt 14 6 l 96 4 _ L 99 zd Granite Devices Oy 358 44 99 175 33 Opiskelijankatu 4 D 644 http www granitedevices fi FI 33720 Tampere VAT code FI20944279 Finland www granitedevices fi 34 34 2009 08 12
6. connector kit 6 MOTOR Motor output connector 25 pin female D Sub 25 pin male D Sub connector connector kit 7 F1 HV power fuse 0 25x1 25 6 35x32 3AG or 3AB fuse mm included 8 LED1 Green indicator led Green led Plastic core optical fiber kit 9 LED2 Blue indicator led Blue led Plastic core optical fiber kit 10 LED3 Red indicator led Red led Plastic core optical fiber kit Notes e All mating connectors are included in optional VSD E installation kit ordered separately Optional optical fiber can be used to bring led signals to enclosure front panel www granitedevices fi 8 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 lt 7 Connectors 7 1 Power connector This is a modular removable high current connector for logic supply high voltage supply and regenerative resistor For high current gt 10 A applications dual wiring for GND and HV should be used to minimize resistance GRANITE A DEVICES 900000909 12U GND L HU AO Figure 2 Power connector pin out Signal name Function 12V Positive logic supply voltage GND Ground 2x connected parallel internally HV High voltage supply 2x connected parallel internally AO Regenerative resistor output shared with MOTOR connector phase A output www granitedevices fi 9 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ve
7. in position amp velocity modes Separate velocity limit can be set for homing motion Acceleration 1 to 32767 internal units Acceleration limit in position amp velocity modes Separate acceleration limit can be set for homing motion Recovery velocity 1 to 32767 internal units Velocity limit for error recovery motion position mode only Position 2 000 000 000 counts Position limits in encoder counts which becomes active after successful homing For position mode only Torque command bandwidth 100 to 3300 Hz This is a low pass filter for torque command Rejecting higher frequencies may provide quieter operation and avoid mechanical resonance The following table summarizes protection functions in VSD E Fault Range Function Overcurrent From 0 to max peak current 3A Overcurrent fault is generated amp drive stopped if measured phase current exceeds the configured value Overvoltage 20 to 170 Vdc Upper limit for allowed HV bus voltage Overvoltage fault is generated amp drive stopped if limit exceeded Undervoltage 10 to 165 Vdc Lower limit for allowed HV bus voltage Undervoltage fault is generated amp drive stopped if limit exceeded On power up drive will also wait for voltage to rise above this limit before initiating motor control Following error 0 to 16383 encoder counts or speed error A following error fault is gener
8. least 10 second period of heavy use If measurements can t be done then maximum RMS power load can be estimated roughly by summing rated power values of motors in the system However in typical machines the average power consumption is significantly less than summed motor power Motor power consumption is proportional to product of actual torque and speed Power Speed Torque Following chart gives rough figure of power requirement in motion systems Moving slowly Moving fast Producing low torque Very low power consumption Low to medium power consumption Producing high torque Low to medium power consumption High power consumption Transformer Transformer size can be selected after RMS power demand is determined One should choose transformer with a safety margin since VA rating of transformers do not equal to RMS watts in linear PSU For example if RMS power consumption is 200 Watts then using of at least 300 VA transformer is recommended Transformer primary voltage should match with the voltage of AC mains network of your area Secondary voltage should be about 1 41 times smaller than desired DC bus voltage To convert DC bus voltage to transformer secondary voltage use equation Bridge rectifier U U DC secondary 1 41 Bridge rectifier should be able to handle peak current of rectification Typically a very high peak currents can be present during power up and during mot
9. sensorless motor phasing is used configured from GDtool Home switch Optional home switch should be connected between pins 4 and GND Contact to other conductors and machine ground must be avoided Figure 4 Encoder connector pin out 15 pin female D Sub os 2 32 M y input N input 22k GND GND GND GND Figure 5 Equivalent circuit for differential inputs pins 4 7 and Figure 6 Equivalent circuit for Hall sensor 12 15 inputs pins 1 3 www granitedevices fi 11 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 GRANITE 4 DEVICES Pin number signal name Function 1 HALL_W Hall input W 2 HALL_V Hall input V 3 HALL_U Hall input U 4 HOME Home switch input 5 IDX Channel Z index 6 CHB Channel B 7 CHA Channel A 8 GND GND 9 FG Frame ground FG connected internally to D Sub shells Connect to cable shield 0 GND GND 1 5V_OUT 5V output encoder power see electrical characteristics for maximum load 2 HOME Home switch input don t use 3 IDX Channel Z index 4 CHB Channel B 5 CHA Channel A www granitedevices fi 12 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 7 4 CMD connector This is a connector for optoisolated amp non isolated command I O SPI step dir quadrature PWM and analog interfaces are
10. 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 13 1 Motor configurations amp output currents GRANITE A DEVICES The following table summarizes VSD E output cababilities in different motor modes Configuration Continuous current DC or peak of sine Peak current DC or peak of sine Regenerative resistor output Notes available AC servo motor 10 A 20 A 15A if gt 55 C Yes Sinusoidal commutation BLDC servo motor 10 A 20 A 15A if gt 55 C Yes Trapezoidal commutation DC servo motor 10 A 20 A 15A if gt 55 C Yes DC servo motor 14A 40 A 30A if gt 55 C No parallel connection 2 phase stepper 7A 20 A 15A if gt 55 C No 3 modes possible Open loop Encoder assisted Closed loop servo 3 phase stepper 10A 20 A 15A if gt 55 C Yes 3 modes possible Open loop Encoder assisted Closed loop servo The following table summarizes VSD XE output cababilities in different motor modes Configuration Continuous current DC or peak of sine Peak current DC or peak of sine Regenerative resistor output Notes available AC servo motor 14A 20 A 15A if gt 55 C Yes Sinusoidal commutation BLDC servo motor 14A 20 A 15A if gt 55 C Yes Trapezoidal commutation DC servo motor 14A 20 A 15A if gt 55 C Yes DC servo motor 18 A 40 A 30A if gt 55 C No parallel connection 2
11. 8 7 for wiring guide 10 BRAKE_24V Motor holding brake supply voltage input See chapter 8 7 for wiring guide Note pins 9 10 have different function in drive Rev 2 vs Rev 1 160V vs 80V models www granitedevices fi 15 34 2009 08 12 GRANITE Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 NA DEVICES 8 Installation notes 8 1 Wiring Typical installation of drives in metal enclosure is presented in the figure below Negative HV voltage connected to frame ground FG Star distribution of power D Sub shells in electrical contact with enclosure FG Rectifier Cap E O OOOO Transformer Cable shield Switch Fuse Metal enclosure Frame ground FG L PE N Everything connected to FG PE are drawn as thick grey lines AC input Figure 12 Suggested VSD E installation scheme 8 2 Grounding Drive has two separate grounds for separate purposes which are named as GND ground and FG frame ground GND is the electrical OV potential shared with power supplies and all connector pins labeled as GND Connect GND to power supply OV terminal FG is the ground for EMI shielding which is located in D sub connector metal shells and D sub connector pins labeled as FG FG and GND are electrically floating against each other but are connected by EMI suppression capacitor inside drive Make sure that D sub shells make electrical contact to enclosure metal and
12. E www granitedevices fi 6 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 GRANITE DEVICES 5 Terms and definitions Term Definition Controller External motion controller or command source that controls VSD drive Typically a PC SPI adapter PLC step pulse source PWM source 10V source mechanical switches master encoder or potentiometer There are two main types of controllers Devices which produce only target signal to drive and drive does all motor controlling internally In this type controller does not need to get any feedback from motor i e encoder signals Devices which close control loop in them In these devices the controller requires feedback from motor i e encoder signal and uses it to produce velocity or torque command to drive Drive VSD E XE drive Reference target command target value A user commanded target position velocity or torque l e if user wishes motor to spin at 1000 0 rpm it is a speed reference RMS Root Mean Square FG Frame Ground A ground potential of enclosure and D Sub connector metal shells of drive FG is internally connected to drive GND through a bypass capacitor GND GND is drive ground potential which is present in following connectors POWER ENC CMD and EXT All GND pins in all connectors are internally connected together to same potential 5V_OUT 5V output against GND from
13. GRANITE DEVICES reliability first Evolution Table of Contents T MEOGUCT ON iseceteie see atredsa ctevtn igagixcsceneneatesecetentsaarsauneakeceaietdecnsrauteasaniatuveneqaatarecetse ts unssate E E EEA RAAS 2 2 MMPOMAMENOUIGES 252225 525 25 26s aidan Sonmmet utc ea S a AE aa aidan ea EEE E aa aA aa Aaa a EEEa Ra 3 3 Electrical sp cificati nS ic ce cdeccnde iann E hnd Tiei iai a teaa AEEA aE Aaaa O EEEE EEA A DEA EEA EE TAERA 4 A FOItUTO S iiaa E E E O ESEESE A i EEEE E EAE E E EAE N 5 5 Terms and definitions e a A E E AR EREE eet EEEE EEE 7 OPHySical OVERVIOW aiser na E A E A Ea aa E ET EE E A S EEE 8 Fs COMNMGCUONS ierre ienaa S a AE a a EE AEN EE EAA A AOA E EEEa iia ATOR a anette 9 Tal POWER CONNCCUOM ssenarinin venacdaccoasrdae ira Na e a AA edadea AE RECEA aana a asao EEE SES 9 T2 Motor CONN SCEOM sits iieiea atie Ena EEEE EE E EERE T ODEDE E INEN EES EA OEE AE EAA 10 7 3 Encoder CONNESCtOM ie case scaneveesrenian iaaa A EE EE EAE EEE dhs EA ENEE R ve 11 TA CMD CONMOCUON enirere anaana E EE ONO ESE RE OAE A EENEN ONE VAE ETEA a 13 72D EXT CONNECTOT apiinee soontes siaren e i EE A AEEA EE E EEAO a S EAA TOE ESEE A 15 8InstallationmNOtES ies aea a E EE T Ea 16 Bell WITING crniiin a aa EEA O TE Aaa aiee Ea AEE E GEETE EE 16 8 2 GrOUndIN O iacaa ena EDE ERa EE a Ea A EEEE E 16 8S MieldiN isao anres E e genes AOE E EN 17 GA PrOtECLIO asiaa a a a E e Ear EEE a O N E E 17 BD COOMMG A A E A A E TE 17 8 6 Regenerative reSiStOr 0 a
14. Ver 1 05 12 4 PWM amp Analog inputs PWM input VSD E has PWM input CMD port HSIN1 that is controlled by a signal where duty cycle ratio of logic 0 and logic 1 will determine amplitude of command Since PWM input doesn t have polarity the input signal will be always positive Zero level is at 50 duty cycle negative when duty cycle is below 50 and positive when above 50 0 and 100 duty cycles are theoretical references only and in practice cannot be used Drive sets output command value to zero if PWM input is not detected i e no logic transitions pass through optoisolator To stay in valid duty cycle range limiting input to 5 95 range is recommended Analog input VSD E has two analog inputs CMD port AIN1 amp AIN2 which will measure input signal differentially Both inputs have nominal input range of 10 Volts and output command is obtained by difference of input pin voltages Positive 10V difference i e AIN1 10V AIN2 O0V will equal 100 command and negative 10V difference i e AIN1 9V AIN2 1V will equal 100 command No difference will equal 0 command AIN1 AIN2 Analog input offset amp scaling can be altered for example to achieve 0 5 V analog input with 2 5 V zero level PWM amp Analog command scaling in torque mode the torque command will be proportional to peak current configured by user in GDtool l e with 1 2 input amplitude equals 75 PWM duty cycle or 5V voltage difference the out
15. apacitor voltage rise Power supply capacitors may be charged up to drive s over voltage fault level up to about 200 Vdc See chapter Regenerative resistor on page 18 for more information Fuses Use slow blowing fuses that can withstand the peak currents required by drive under all normal load conditions Finding optimal fuse size may require experimenting 9 2 Example circuits Following figures show simplified PSU cases Line filters may be required before AC input to comply with local EMI regulations Note that fuses are optional with VSD E DRIVE41 HU GND LOGIC_U LOGIC_GND DRIVE2 FUSE1 TRI HU AC in GND i LOGIC_U LOGIC_GND DRIVE3 HU GND LOGIC_U LOGIC_GND Figure 14 Simple transformer based linear PSU up to about 500 Watts Drive can be powered also by a switching mode power supply SMPS A diode D1 and capacitor C1 are required to prevent regenerative current from flowing back to SMPS www granitedevices fi 21 34 2009 08 12 FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 xa rir DRIVE1 HU GND LOGIC_V LOGIC_GND DRIVE2 SWITCHING PSU HU GND LOGIC_U LOGIC_GND AC in DRIVE3 HU GND LOGIC_V LOGIC_GND Figure 15 Switching mode power supply SMPS circuit 9 3 Power up sequence Before powering up the first time it is highly recommend to check all connections for correctness It is advised to use multimete
16. ases it is recommended to connect a 1 nF capacitor between SPI connector pins 1 and 2 Also wrapping USB cable around ferrite core may suppress noise 8 4 Protection VSD E has on board fuses for HV bus If protection also against wiring failure is required then an additional fuse after power supply is recommended VSD E has been supplied with 20A slow blow fuse which is adequate for most cases In maximum power DC motor operation a higher rating fuse may be necessary supplied by user User may also replace default fuse to a smaller one if lower protection threshold is desired For additional motor protection fuses can be added in series to motor phase wires In three phase motor fusing two leads should be enough in most cases and for DC motor one lead will be sufficient protection It is recommended to do initial testings with reduced HV bus voltage and with lower current fuse rating 8 5 Cooling Additional cooling should be used if aluminum plate temperature rises above 70 Celsius during intensive load Improved cooling can be achieved generally by two ways e Adding forced air flow by using a dust filtered fan Only in VSD E mounting a standard Half brick heat sink on VSD E aluminum plate with thermal grease Two M3 screws up to 8 mm length can be used to mount the heat sink The most efficient cooling can be achieved by combining both methods To reduce drive heat generation logic supply voltage may be lowered to 8 10VDC A
17. ated amp drive stopped if motor position or velocity deviates more than specified limit from commanded target value Motion error 0 to 16384 This generates fault amp stops drive if enough motor speed is not detected at certain torque command level This can provide protection for DC motor runaway Mechanical blocking Encoder failure Motion error typically reacts faster than the following error SPI watchdog 0 to 65535 PID cycles Communication fault is generated amp drive stopped if SPI communication is lost for given amount of time SPI communication error Invalid command invalid parameter or CRC error Communication fault is generated amp drive stopped if an error is detected in SPI command www granitedevices fi 26 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 GRANITE A DEVICES Short circuit gt 60 A fixed A fast reacting protection for output short circuit Overtemperature gt 70 C fixed Generates overtemperature fault amp stops drive if measured PCB temperature exceeds a fixed value Program amp hardware Internal code amp data integrity checking Generates a fault amp stops drive if memory corruption or hardware fault is detected in DSP May be caused by too low logic supply voltage or slow rise time of logic supply Analog input overvoltage gt 11Vor lt 11V Diode c
18. brought into this connector Pins 1 12 are optoisolated GRANITE A DEVICES N HSIN inputs pins 3 6 are differential which can be driven from three kinds of outputs single ended differential or open collector In typical single ended application negative pins are wired to control source ground Rest of isolated digital I O pins 7 12 share common voltage levels IO_COM If valid output from OUT1 or OUT2 is needed it is necessary to supply 3 to 5V between pins IO_COM and IO_VCC Analog interface pins 13 16 are not isolated and care must be taken when connecting to equipment AIN input pins can also be used as configurable digital inputs It is possible to utilize voltage supply pins 13 14 to power external optoisolators that drive AIN inputs as digital circuit Note functionality like disable input or servo ready output can be configured from GDtool to any unused general purpose I O See chapter 10 5 Configurable I O functions 10 12 14 16 a a 9 1113 15 a E 1 Figure 7 CMD connector 8x2 0 1 centers shrouded header Pin number Electrical feature Functions slash separated signal name 1 NC Not connected Reserved for future use 2 l1O_COM Common voltage for optoisolated Reference voltage for single ended optoisolated I O 1 0 OV from controller 3 HSIN1 High speed optoisolated input Step in Quadrature A in PWM in
19. cable shields are connected to FG through corresponding pins or D sub shells www granitedevices fi 16 34 2009 08 12 GRANITE FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES 8 3 Shielding Shielded cables are required to avoid interference problems and data errors in communication cables Connect cable shields to FG only from drive end If a compliance for CE or UL is required the system should be characterized as whole in appropriate test arrangements Noise shielding tips Minimize the parallel running distance between HV and GND power wires to minimize the conductor loop area In other words twist the HV and GND wires together or use cable with two condcutors e lf wiring distance from drive to power supply capacitors is greater than 30 cm and configured peak current greater than 5A it may be necessary to connect a 330 uF 200V capacitor directly to POWER connector terminals between GND and HV pins e Always use separate cables for motor and encoder no matter how small the motor is In shared cable high dV dt of motor outputs may easily couple to encoder wires causing errors In some cases it may be more optimal to connect encoder cable shield to GND instead of FG In such case shield must contact single GND pin only and avoid any other contacts i e motor chassis must be isolated from encoder cable shield In some cases noise may disturb communication with GDtool In such c
20. ck cabling amp jumper settings Electrical noise may also cause this 15 Blink On On Internal error possibly caused by logic undervoltage or too Off Hi Z Braking slow logic voltage rise time If troubles contact us for support See also 11 16 On Off Blink Drive ready for firmware update Off Hi Z Braking 17 Off Blink Blink Firmware upgrade failed cycle power and try again Off Hi Z Braking 18 Off Blink Blink Blinking very slowly Memory checksum error install upgrade Off Hi Z Braking firmware again or contact us if problem stays Hi Z stands for high impedance state output voltages are freely floating between GND and HV Mechanical braking engages after 1 3 second delay from error or disable status to let motor speed spin down by electrical braking For fault troubleshooting please see chapter 14 Troubleshooting and chapter 10 4 Limits amp fault monitoring www granitedevices fi 28 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 12 Physical command inputs The VSD drive supports multitude of input command modes to realize maximum versatility The SPI input mode is referred as SPI input while all other input modes are referred as pulse inputs Pulse inputs include Step dir Quadrature PWM Indexer and Analog inputs 12 1 SPI input SPI input allows operating drive the most flexible way from programmable controllers SPI input format
21. d time 125 ns HSI1 amp HSI2 inputs A PWM mode input frequency 3 5 30 100 kHz 8 o Analog input voltage range 11 11 V AIN1 amp AIN2 Mechanical brake output load 0 800 mA At EXT connector 0 24 V i Motor continuous output current See chapter 13 1 on page 32 A Fs Motor peak output current See chapter 13 1 on page 32 A 5 Peak current duration 1 sec e 6 Motor output switching frequency 20 kHz E Effective motor output voltage swing 88 Percentage of HV X voltage Torque control bandwidth 1 3 3 kHz Motor dependent S Q Feedback PID loop sampling frequency 2 5 kHz 8 Efficiency 95 At full power Motor inductance per HV supply voltage 0 005 mH V i e with 60V supply 0 005mH 60 0 3mH www granitedevices fi 4 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 4 Features Motor support Supports AC BLDC brushed DC servomotors 2 amp 3 phase stepping motors and linear motors Unstallable stepper control with encoder feedback operates like a servomotor e AC BLDC motor support with and without Hall sensors Position control Relative and absolute position commands e Infinite motion range e Configurable 32 bit absolute position limits after homing Configurable velocity and acceleration limits e Soft recovery from error configurable recovery speed e Drive tracks position during fault and restores to correct position after clearing
22. damage the device and will void warranty In uncertain cases always contact us for clarification Granite Devices reserves rights to make changes to this document and specifications without notice Status of stepping motor support The stepping motor support in VSD E firmware version 1 20 is preliminary and intended for development use only Customers are recommended to wait for final stepper motor support before using VSD E for steppers When ready the upgrade will be freely downloadable from Granite Devices web site However the firmware V1 20 is already able to control stepper as high pole count sinusoidal AC servo motor with encoder This can be achieved by entering following configuration parameters in GDtool Motor type AC Pole count 100 1 8 deg step motors Motor phase count 2 As back EMF voltage constant of stepping motors is relatively high this mode provides only limited speed operation Typical characteristics of this mode are Typical top speed 500 1500 rpm e Unstallable Precise torque control available No mid band resonance problem The upcoming firmware upgrade will provide following additional properties Operation to high speeds up to 7000 rpm Operation also without encoder e Digital mid band resonance damping www granitedevices fi 3 34 2009 08 12 GRANITE FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES 3 Electrical specifications Important Thes
23. e 9 Optoisolated output equivalent circuit pins 11 12 INn 220 IO0_COM Figure 10 Medium speed optoisolated input equivalent circuit pins 9 10 Note In the schematics figures the shaded end represents drive logic side which is insignificant from user s point of view www granitedevices fi 14 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 we fall 7 5 EXT connector This is a connector for motor holding brake and encoder pass through signals for external use Encoder signals are internally connected to ENC connector pins allowing encoder feedback passing to external controller Also differential line termination resistors can be wired to EXT connector For motor holding brake wiring see chapter 8 7 Brake status in different conditions has been specified in chapter 11 All of EXT connector pins are non isolated External optoisolation may be necessary Figure 11 EXT connector 5x2 0 1 centers shrouded header Pin number Electrical feature signal name 1 CHB Connected to ENC pin 6 2 CHB Connected to ENC pin 14 3 CHA Connected to ENC pin 7 4 CHA Connected to ENC pin 15 5 IDX Connected to ENC pin 5 6 IDX Connected to ENC pin 13 7 GND Connected to drive ground 8 5V_OUT 5V output see electrical characteristics for maximum load 9 BRAKE Motor holding brake output See chapter
24. e specifications apply only for VSD E XE Rev 2 the 160VDC model See back of drive PCB to verify your drive revision For drive Rev 1 R1 specs check manual archive from our web site Description Min Typ Max Units Notes a Logic supply voltage 8 9or12 14 Vdc HV supply voltage 12 160 Vdc Max surge 180 Vdc z Logic supply current consumption 200 700 mA 200 mA user g 5V_OUT load a 5V_OUT load combined ENC CMD EXT 0 400 mA Total load 7 HV supply current consumption 0 001 38 A Depends on motor iy load amp speed o Operating temperature heatsink amp PCB 10 70 C F Humidity 0 95 Non condensing Q Power dissipation 2 5 20 TBD Ww Encoder count rate 0 4 MHz After 4X decoding a digitally filtered S Encoder supply voltage 4 8 5 0 5 2 V A B Z inputs impedance 2000 Ohm See figure 5 p 11 SPI bus baud rate 0 80 kbit s o Output optoisolator drive capability 0 5 mA See figure 9 p 14 2 Output optoisolator supply voltage 3 6 Vdc Voltage diff from pin g 10_VCC to IO_COM U E Optoisolator input threshold current logic 1 6 3 mA All inputs S Optoisolated digital logic input voltage 3 0 to 5 5V CMOS or TTL logic All inputs c compatibility Greater voltage range by external resistor x Optoisolator minimum logic 1 hold time 125 ns HSI1 amp HSI2 inputs Optoisolator minimum logic 0 hol
25. equipped with an quadrature incremental encoder with differential or single ended open collector or TTL outputs see chapter Encoder Stepping motors can be operated with or without encoder Encoder notes 2 channel encoder is enough for all motor types ndex channel is not required but is supported for precise homing e Hall or commutation sensors are not required but are supported for AC BLDC motors e Suitable encoder resolutions are from about 100 PPR to 131070 PPR pulses or lines per revolution Motor voltages and currents can introduce some limitations to motor output speed and torque but does not cause unsuitability Motor voltage is the limiting factor for maximum speed For example if you have a 200 VDC brushed DC servo motor and run it at 140 VDC using VSD E then you can expect to get a speed of 88 140V 200V 61 of motor s rated speed 88 comes from VSD E effective voltage swing at power outputs see Electrical specifications Motor current is the limiting factor for maximum torque For example if you have motor rated for 20A DC and drive s maximum output is 10A DC then you get 50 of the rated torque VSD E has dual range current sensing HDRT High dynamic range torque control which makes it suitable also for very small motors such as ones with rated current around 100 mA Note 200 VAC AC servo motors would reach about 40 60 of their rated speed on 160 VDC drive supply www granitedevices fi 31 34
26. ffset move after homing Automatic homing after power up or manual homing by a command Configurable torque acceleration and velocity limits for homing sequence Fault detection amp protections Motor dynamic braking on faults and disable except for overcurrent and overvoltage e Configurable following error limits from 1 to 16383 units position encoder counts or velocity error e Configurable motion fault detection with 0 2 second response time Sensing of DC motor runaway e Sensing of stepping motor stall when encoder feedback is present e Sensing of blocked motion e Overvoltage detection and power stage shutdown to prevent failures caused by regenerative braking current Undervoltage detection e Configurable overcurrent detection and shutdown Short circuit protection On board HV power fuse Overtemperature protection e Motor heat temperature modeling I t protection Internal program amp data memory error detection Input command range error detection SPI communication error detection Other features User configurable general purpose inputs outputs on unused pins e Field upgradeable firmware Eased panel installation e Mounting for optical fibers for bringing LED signals to front panel e Regenerative brake resistor output limitations apply see chapter 13 1 on page 32 Connector with pass through encoder signals for external controller Mounting holes for standard Half brick heatsink on VSD E not in VSD X
27. hin user specified fault limits Most common reasons include Regenerative supply pumping During motor braking supply voltage tends to increase as motor acts as generator To verify this attach voltmeter to PSU to check voltage during fault To prevent this use regenerative resistor see chapter 8 6 Regenerative resistor Supply voltage gone below lower voltage limit This may be caused by undersized power supply I m getting SPI communication errors This is most likely caused by electrical interference Check correctness of shielding and grounding of the system and try locating the interference source See chapter 8 3 Shielding for noise filtering tips www granitedevices fi 33 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 15 Mechanical dimensions GRANITE 4 DEVICES The drawings are for VSD XE 160 but similar dimensions are found on VSD E IGES model available Dimensions mm 93 5 0 2 2 g 60 2 0 2 i 50 8 0 2 3 8 40 5 N wot i M g e 000000000006 oo0o0ooocooooN z z ok 00000000000 o Rosacea C Ni
28. ieve the desired current For AC motors VSD E implements sinusoidal field oriented current control which provides the optimal torque amp response speed in all conditions Velocity controller Velocity controller uses velocity measured from encoder and compares it against target velocity command The measured velocity vs commanded velocity differential is fed to a PI controller that outputs torque command Encoder position Figure 16 Overview block diagram of PI type velocity controller Position controller Position controller uses measured position value from encoder and compares it against target position command The calculated position error is fed to a simple P controller proportional gain that outputs velocity command This controller type is also known as PIV controller www granitedevices fi 24 34 2009 08 12 GRANITE Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 X 2 DEVICES Output voltage Encoder position Figure 17 Overview block diagram of PIV type position controller Alternative form of position control is PID controller which is also available as option in GDtool This mode uses traditional PID controller to calculate torque command directly from position error signal Feedforwards In velocity amp position control it is beneficial to use available target velocity and acceleration information to calculate estimates of needed torque commands The g
29. is VSD E documentation and understand it completely before operating the device If case of questions please contact us for support This manual applies only for VSD E 160 and VSD XE 160 models Rev 2 text in back of drive PCB For older VSD E amp VSD XE VSD E R1 in back of PCB drives please see manual archive from our web site Warnings and hazards This drive has been designed to be operated on isolated DC power supply only Optoisolator isolation distance creepage on circuit board is less than 2 millimeters A recommended way for emergency stopping is to cut HV bus voltage and activating motor brake if possible Using optoisolated disable input may not be enough for emergency stopping Drive should be installed in ventilated enclosure Dust filters are recommended when fans are used The worst case operating temperature should not exceed 70 Celsius degrees measured from aluminum plate Drive should not be used in applications where failure or malfunction could lead to danger large financial loss health hazard injury death or other unbearable loss Granite Devices can t be held responsible if such risks are taken This document may contain human errors When operating with drive take every precaution you can Granite Devices do not take any responsibility of damages that may be caused by following or not following this document Failure to follow given guidelines or operating outside given specifications may
30. ith Hall sensors and holding brake All of connections are not needed if certain features are not used Note All GND labeled pins in all of VSD E connectors are internally connected together All power supplies should have floating outputs or be tied to same ground level externally www granitedevices fi 19 34 2009 08 12 GRANITE Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES 9 Power supply VSD E runs on unregulated or regulated isolated power supply which means that there is no galvanic or conductive connection between the AC mains and DC bus A linear transformer based PSU is preferred over switching mode power supplies SMPS for servo systems since transformers are capable of delivering high peak output power just like motors are For logic power a separate regulated 12V power supply is required Warning This is only a very brief guide of powering the system in basic cases An experienced electrician should always be consulted when designing or building power system Pay attention to RMS and peak terms in this text Mixing these may lead to unpredictable results 9 1 Basic guide for sizing linear PSU components In short PSU should be sizes so that it does not overload or overheat during any condition in machine use Since servo systems typically have greatly varying load it might be necessary to find effective power consumption by measuring RMS power consumption of the system during at
31. lamps will protect from overvoltage at analog inputs Reverse polarity HV or logic power input Diode clamped HV and series diode polarity protections for voltage inputs against reverse input voltage polarity 10 5 Configurable I O functions All physical inputs and outputs that are not occupied by fixed functionality such as step dir inputs or SPI bus can be configured from GDtool to match user s needs General purpose OUTPUT pins Any physical output up to 2 can be configured to display any internal status or fault register bit For example useful output signal may be chosen from following table Source signal Description Fault stop This becomes logic 1 if drive is stopped on any fault Follow error warning This becomes logic 1 if position or velocity following error is greater than 1 8 of configured follow error fault level Target reached This becomes logic 1 if motion command has reached its target i e when positioning travel is complete after acceleration and deceleration Servo ready This becomes logic 1 when servo is ready for user commands Homing status This becomes 1 when homing sequence is running Home switch status This represents the digital status of home switch input in ENC connector General purpose INPUT pins Any physical input up to 6 can be configured to operate internal functions described in the following table Functi
32. lso avoid using unnecessary high HV voltage to minimize heating Typical cooling requirements VSD E can be typically used without additional heat sinks and fans when average output current is below 4 Amps and Surrounding air temperature below 35 C VSD E can be typically stressed to its maximum ratings without additional heat sinks when moderate air flow is passing by the drive surface fan cooling and cooling air temperature is below 30 C www granitedevices fi 17 34 2009 08 12 FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 xa irh Drive s built in over temperature protection disables motor control and dynamically brakes motor if surface temperature rises above 70 C Dynamic braking will be disabled and motor will free wheel if temperature rises above 75 C It is recommended to do careful testing at elevated ambient temperatures before making conclusion of system cooling sufficiency 8 6 Regenerative resistor Regenerative braking resistor can be installed to prevent HV bus voltage increase and overvoltage faults during motor deceleration The problem exist when significant masses are decelerated which will cause supply voltage pumping as motor acts as a generator VSD E drives uses the A output phase of power stage to drive current through regenerative resistor when HV bus voltage gets close to or exceeds configured upper limit of HV bus voltage Regenerative output option is available only in motor
33. modes which don t occupy A output For supported modes see chapter 13 1 Motor configurations amp output currents Note it is usually enough to have one regenerative resistor in multi axis system unless required braking current is higher than 10 Adc Sizing regenerative resistor The current through resistor must not exceed 10 Adc so the minimum allowed resistance becomes _HVbusUpperVoltageLimit R min 10A Dissipated power increases in power of two as voltage increases Resistor peak power becomes _ HVbusUpperVoltageLimit P min R selected Since braking is momentary resistor power rating can be often selected below calculated peak power Sizing example We have 160 Vdc bus voltage on medium size machine where we want to size a braking resistor The minimum allowed resistance becomes 160V 10A 160 which would equal about 160V2 16Q 1600 Watts of braking power Since typical systems don t need so much braking we choose resistance of 1500 which equals power of 171 Watts Resistor with power rating of 100 W should be safe choice in this example Connecting resistor Regenerative resistor should be connected to POWER connector between pins AO and GND Shielded cable is recommended if longer than 10 cm wires are being used Especially overloaded resistor may get extremely hot over 200 C possible It is absolutely necessary to place the resistor away from any heat sensitive surfaces such as wires and circuit boards Cooler
34. nin inihian Ea i i i ELEA RAE EE MA REINA aiaa 18 8 7 Connection to motor amp CONtrOIEL 0 0 ttnt unnn tunn A AENNAAEENEEENEEAEENAEEEEEEEEEEEEEEE EEEE 19 9 Power SUP DIV ss icctecitcndececesa sites a E EA T E aa eE a hd E Ea 20 9 1 Basic guide for sizing linear PSU COMPONENTS ners annie tear eee Enana 20 9 2 Example CIRCUS ereo st baccccmndoe E Gesu pavinds ret eeeexdoemenscu linen cbheaetyiar sete E E N 21 9 3 Power Up SCQUEINC Gini isssicesavisiseelaciencesertciedtasercecdeauhapaadis ESVE sis OA EEEE EEE Aiia AE IEN Eid 22 10 Drive NOG I Cirkin aa tage a aea EREE area A EREA EEDE EREE ERAS AEE NIER NENE ETENEE 23 10 1 Input command PFOCESSING riiim a nEn teens EAA aE a iE 23 10 2 Motor Control MOSS voici iaae nnna aea E EEEa EE E a EA EEEa 23 10 3 Motor control algorithms sssini nean a iaa i a GNE aE Eaa a EERO REETA 24 10 4 Limits amp fault Monitor arosai aa naik ETET R ETa ESATEA 26 10 5 Configurable 1 0 fUNCUONS resinen aa aaaea O E E AG nbe 27 11 LED Status indicator Sesa uuena eaa ie aaa E EA E EESE 28 12 Physical command INPULS 45 cece csencitedeesnosserents nadacpiundentitnteetianesceeaunncseanitedtacedsnerecnasamaceshagabtudhecakhanseaadinents 29 T21 SPU Ube iae ich sta anrea EE AA Ea a a EEEE Ea EEEE NA E EE E REE 29 12 2 Stepe Di WMPUUCS issira e E E ES satan E a e Er E aE o EE 29 12 3 Quadrature INPUES cee rttr artnr t Artt AEEEEEAEEEEEEREEAAEEEEENEEEEEEAEEREEEREEEEEEEEEAEEEEEEEEEREEEEEEEEEEEE 29 12 4 PWM amp Analog inp
35. oal of feedforward is to produce as good as possible torque output signal before any error is formed This greatly reduces time to respond in commands Feedforward is based on known behavior of machine parameters such as mass and friction www granitedevices fi 25 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 10 4 Limits amp fault monitoring GRANITE DEVICES The following table summarizes available settable operation limits in VSD E Limit Range Function Peak current From 0 up to 40000 mA Limitations apply in certain modes see chapter 13 1 Motor peak current limitation Continuous current From 0 up to 14000 mA Limitations apply in certain modes see chapter 13 1 Motor continuous current limitation Homing current From 0 up to 14000 mA Limitations apply in certain modes see chapter 13 1 Motor current limit during homing motion Phase search current From 0 up to 10000 mA Limitations apply in certain modes see chapter 13 1 Motor current during AC BLDC Stepper phase search few seconds during start up Not needed if Hall sensors are present Thermal time 30 to 7200 seconds Thermal limiting calculates motor temperature rise as function constant of l t This will limit output current to continuous current level if thermal model indicates maximum motor temperature Velocity 1 to 32767 internal units Velocity limit
36. on Description Disable drive If this input has logic value 1 drive will disable motor control and let motor free wheel Clear faults edge sensitive Rising edge in this input will clear active faults to allow continuing operation of drive Start homing edge sensitive Rising edge in this input will start homing sequence Run indexer sequence Drive can contain multiple stored motion sequences that can be executed by user defined input signal Rising edge of input will start motion sequence Multiple functions can share one input pin This makes it possible to share single pin for both disable drive and clear faults www granitedevices fi 27 34 2009 08 12 GRANITE Fluxeon VSD E amp VSD XE 160 For drive revision 2 Manual Ver 1 05 we DEVICES 11 LED status indicators The VSD E has three LEDs green red and blue which have combinations of blinking and steady states to indicate current status or fault Blinking sequences have varying styles to make them easier to remember and distinguish later Drive statuses versus led statuses are described in the table below Only the fault that occurred first is displayed in LED indicators Other active faults that can be viewed in GDtool might have followed consequently as chain reaction after first one occurred No Green Blue Red Status Motor output
37. or peak loads Use at least safety factor of 3 when choosing rectifier current rating compared to RMS current Rectifier may need cooling to prevent overheating damage www granitedevices fi 20 34 2009 08 12 GRANITE FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES Capacitors VSD E HV bus accepts unregulated power up to 50 ripple voltage however designing a supply with maximum of 10 to 20 ripple is recommended To solve required power supply filter capacitor size use equation I T C load U where C is required capacitance in Farads loaa is the peak load current T cycle time of rectified voltage and Urippie is the desired maximum ripple voltage ripple Calculation example 1 If you need 70 Vdc DC bus voltage and you choose to design for 20 ripple then 70 20 14 V ripple Urippie Voltage is allowed If you are using full wave rectifier for 50 Hz mains voltage then cycle time T is 0 01 seconds If your peak power load is 500 Watts then liaa becomes 500W 70V 7 2 A 4 By substituting these values in equation above the minimum required capacitor value becomes load T _ 7 2A 0 01s U ipple 14V C 0 00514Farads 5000 uF Note capacitor voltage rating should be at least 20 greater than rectified DC bus voltage to provide sufficient safety headroom Warning during motor deceleration drive pumps energy back from kinetic energy to power supply which leads to c
38. p dir 1 encoder count pulse Homing internally quadrature SPI Quadrature 1 encoder count count controller cascaded with Analog 10V 16383 counts follow error velocity Absolute PWM analog PWM 0 100 16383 counts recovery controller SPI SPI 1 encoder count count www granitedevices fi 23 34 2009 08 12 GRANITE Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 NA DEVICES 10 3 Motor control algorithms VSD E motor control is based on cascaded controllers a k a series connected where each controller block controls only torque velocity or position Cascaded controller yields significantly higher dynamic performance than typical PID controller and is also easier to tune in Cascading means connecting controller blocks in series The lowest level controller is a torque controller which can be commanded directly in torque mode or controlled by a velocity controller Velocity controller can be commanded directly in velocity mode or by a position controller For controller tuning guide read our GDtool user manual Torque controller Torque is proportional to motor current so in other words torque controller is a current controller Torque controller measures actual phase currents and compares them against commanded current and feeds the difference to PI gain block Output of torque controller is fed to power stage voltage commands or output PWM duty cycle ratios that is needed to ach
39. parallel B amp C must we wired in parallel e In parallel DC mode C amp B and A amp D must we wired in parallel A output is internally connected to POWER connector AO Don t install regenerative resistor if A output is occupied by motor www granitedevices fi 10 34 2009 08 12 GRANITE Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 NA DEVICES 7 3 Encoder connector This is a 15 pin female D Sub connector for feedback devices Quadrature encoder Hall sensors and home switch Encoder Both single ended TTL or open collector and differential encoders can be used To use single ended encoder connect encoder outputs to positive inputs only and leave negative inputs unconnected O Single ended encoders are not recommended for much longer than 3 meter cable length e For differential encoder connect positive and negative inverted outputs to corresponding input pins o For long cable lengths much beyond 3 meters it is may be necessary to terminate differential pairs with 120 Ohm resistors connected from A to A B to B etc A 10 nF capacitor can be connected in series with termination resistor to reduce encoder current consumption Terminators can be soldered inside D Sub connector housing or connect them externally to EXT connector Hall sensors Optional open collector or TTL Hall sensor AC amp BLDC motors only can be connected to corresponding inputs or left open if
40. phase stepper 10 A 20 A 15A if gt 55 C No 3 modes possible Open loop Encoder assisted Closed loop servo 3 phase stepper 14A 20 A 15A if gt 55 C Yes 3 modes possible Open loop Encoder assisted Closed loop servo Note motor current limits can be adjusted by 1 mA resolution Note drive will automatically limit maximum peak currents if surface temperature exceeds 55 C see Peak current column www granitedevices fi 32 34 2009 08 12 FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 xa rir 14 Troubleshooting I m getting overcurrent faults Overcurrent fault may be caused by following reasons 1 Measured motor current exceeds fault current level configured in GDtool 1 Check that configured fault current level is at least 10 greater than configured peak current 2 Check that torque controller does not have overshooting step response see GDtool manual 2 In DC motor mode output phases may not be properly connecter parallel 3 Short circuit If drives are properly configured they will never generate unexpected overcurrent faults I m getting following error faults Measured motor position or velocity differs more than user specified limit from target position or velocity Try increasing follow error limit or adjust feedback gains and trajectory planner limits to reduce followig error I m getting overvoltage or undervoltage faults Measured HV bus voltage is not wit
41. put current will be 1 2 of motor s peak current In velocity mode the velocity will be proportional to velocity limit configured by user in GDtool GDtool l e with 1 2 input amplitude 25 PWM duty cycle or 5V voltage difference the output speed will be 1 2 of velocity limit in reverse direction The default scalings can be adjusted by user Scaling sensitivity can be altered by adjusting GDtool input scaling multiplier divider just like in other modes User may also eliminate possible input signal offset by adjusting PWM Analog input offset parameter in GDtool 12 5 Indexer inputs Drive can be configured as indexer device where drive executes preprogrammed position velocity or torque sequences by simple logic level pulse to any user configurable input Multiple sequences can be stored in memory and sequence activation inputs can be chosen by user Note Indexer operation is not yet supported by GDtool software Indexer will be available in future releases www granitedevices fi 30 34 2009 08 12 GRANITE FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES 13 Motor compatibility This is a short guide for determining whether or not a motor is suitable for VSD E Motor type must be one of the following rotary or linear Permanent magnet brushed DC Permanent magnet brushless DC BLDC Permanent magnet AC 2or3 phase stepping motor 3 4 6 and 8 wire motors Servomotors must be
42. r 1 05 7 2 Motor connector Motor connector is a 25 pin female D Sub connector with four power outputs and one frame ground FG pin Six output pins are connected in parallel for higher current carrying capacity and maximum current per output pin is 3 3 A Figure 3 Motor connector pin out 25 pin female D Sub GRANITE A DEVICES Pin Description shells 1 internally connected to D Sub metal Frame ground FG Connect to cable shield and motor frame 2 7 internally connected parallel Motor phase C output 8 13 internally connected parallel Motor phase B output 14 19 internally connected parallel Motor phase D output 20 25 internally connected parallel Motor phase A output shared with regenerative resistor output The following table summarizes the wiring for different types of motors Output pins AC BLDC DC parallel DC Stepper 2PH Stepper 3PH D Phase W Armature Armature Phase A Phase A c Phase V Armature Armature Phase A Phase B B Phase U Armature Armature Phase B Phase C A Used by optional Armature Used by optional Phase B Used by optional regenerative regenerative regenerative resistor resistor resistor FG Motor frame amp Motor frame amp Motor frame amp Motor frame amp Motor frame amp cable shield cable shield cable shield cable shield cable shield Notes e in DC motor mode non
43. r to make sure there is no short circuits in connections and all voltage polarities are correct Powering up Powering up logic and HV bus can be done in any order or simultaneously If logic power is being connected first drive will wait for HV bus rise before initiating motor control Opto in 3 IN3 in CMD connector should be held at logic O or keep unconnected while powering up logic supply voltage If logic 1 is driven to IN3 during power up drive will enter into GDtool configuration mode which overrides functions of pins IN3 IN4 and OUT1 for SPI communication or enters in a device firmware upgrade mode Correct IN3 pin setting is ensured in VSDEPI breakout board design Power rise times Very fast rise time on HV bus voltage must be avoided to prevent damage on power components Don t place a mechanical switch or relay right before HV inputs Instead place switch devices before filtering capacitors or transformer HV bus rise time should be longer than 5 milliseconds If logic voltage rise is too slow drive may generate an error status which can be reset by power cycling see chapter LED status indicators Logic voltage rise should be faster than 50 milliseconds Delaying power up If necessary drive motor control start up can be delayed by driving logic 1 value to user configured disable input while power supplies are switched on Drive begins motor initialization after disable input value is released to logic 0 Disable input mu
44. several connectors All 5V_OUT s are in same potential and share a common current loading limit see Electrical specifications HV A high voltage amp high current supply for drive Motor power is drawn from HV Logic supply A logic circuity voltage supply for drive Cable shield A metallic EMI shield foil or braid inside cable surrounding all wires Regenerative resistor An optional external resistor that can be used to dissipate returned energy from motor when motion is braking or decelerating Can prevent supply voltage pumping and overvoltage www granitedevices fi 7 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 6 Physical overview All the listed features are documented in more detail in the following chapters 7 Figure 1 VSD E physical layout GRANITE A DEVICES in Figure 1 Name Description Type Mating part 1 CMD User command 1 0 port 8x2 pin header 0 1 16 pin IDC connector centers kit 2 SPI SPI port 6x1 pin header 0 1 GD USB adapter centers ordered separately 3 EXT Encoder pass through signals amp 5x2 pin header 0 1 10 pin IDC connector mechanical brake output centers kit 4 POWER Power supply amp brake resistor connector Removable terminal included block 5 ENC Encoder Hall sensors and home switch 15 pin female D Sub 15 pin male D Sub input connector
45. st stay low during whole initialization process i e while blue led not constantly on If drive gets interrupted by disable signal during initialization process an initialization fault condition will occur Init fault can be cleared only by power cycling www granitedevices fi 22 34 2009 08 12 GRANITE Fluxeon VSD E amp VSD XE 160 For drive revision 2 Manual Ver 1 05 we DEVICES 10 Drive logic This chapter describes the internal operation of VSD E drive 10 1 Input command processing Trajectory planner Trajectory planner is an input filter that limits commanded acceleration and velocity to user specified levels Trajectory planner works in position amp velocity modes User may set different acceleration and velocity limits for homing operation and separate velocity limit for error recovery moves By default acceleration limit is not active in pulse input modes since usually acceleration limiter is implemented in controller Acceleration limit in pulse modes can be enabled from GDtool settings It is advisable to have only one acceleration limit in system since double limiting may cause significant motion lag Input scaling VSD firmware has adjustable input multiplier and divider which allow freely adjusting the scaling ratio of input torque velocity or position commands Total scaling ratio is determined by equation Scaling Multiplier Divider For example scaler can be used to get around of possibly limited ou
46. the fault Velocity control e Configurable velocity and acceleration limits Soft recovery from error e Configurable input command sensitivity Command inputs Optoisolated step direction input step on rising edge Optoisolated quadrature input Optoisolated PWM input Optoisolated SPI Serial Peripheral Interface bus 10V analog input Input reference smoothing filter l e step train jitter reduction Configurable fractional scaling or gearing ratio e Input multiplier from 1 to 32767 Input divider from 1 to 32767 PID amp PIV controller e Anti windup design User selectable 32 bit PID or PIV filter Acceleration and velocity feed forwards Adjustable anti dither region with separate PID PIV gains 2 5 kHz update rate Torque controller Field oriented sinusoidal flux vector control www granitedevices fi 5 34 2009 08 12 Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 GRANITE AMA DEVICES Tunable anti windup PI torque controller Full PWM frequency update rate 50 us High dynamic range torque control HDRT 1 8 mA current sensing resolution HV bus voltage variation compensation voltage doesn t affect tuning Adjustable torque command low pass filter 100 3300 Hz Homing controller Fully configurable homing sequence can be combined from Home switch or hard stop search settable direction Encoder index pulse search settable direction e Adjustable 32 bit position o
47. tices will notify about important safety concerns and status of current firmware Chapter 3 Electrical specifications contains tabular data of drive electrical properties Chapter 4 Features lists the most important features of VSD E Chapter 5 Terms and definitions describes the most important terms used in this manual Chapter 6 Physical overview gives overview of electromechanical aspects amp connector locations Chapter 7 Connectors describes connector pin outs and circuity behind these connectors Chapter 8 Installation notes describes how to properly install drive in a enclosure Chapter 9 Power supply describes how to choose or build suitable power supplies Chapter 10 Drive logic describes the internal logic amp algorithms of drive Chapter 11 LED status indicators lists the LED indicator meanings Chapter 12 Physical command inputs describes the control interfaces of drive Chapter 13 Motor compatibility helps to determine if motor is compatible to VSD E Chapter 14 Troubleshooting contains answers for the most common troubles Chapter 15 Mechanical dimensions contains mechanical dimension of the drive For practical approach to drive installation please also read Getting Started with VSD E amp VSD XE manual downloadable from product site www granitedevices fi 2 34 2009 08 12 GRANITE FI uxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES 2 Important notices Be sure to read through th
48. tput pulse frequency of controller i e in step dir mode while using high resolution encoders Even when using scaling full encoder resolution is preserved internally to maximize motor performance Input smoothing filter VSD firmware incorporates a sophisticated digital filter for input commands reducing jerkiness and increasing motion smoothness especially when input scaling gt 1 0 Input filtering can be enabled or disabled from GDtool It is advisable not to use filtering when position or velocity feedback loop is located outside drive as filtering adds small delay to input 10 2 Motor control modes The following table summarizes different motor control modes and reference inputs available in VSD E Control mode What is Command types and Command scale Available selected controlled respective physical with default 1 1 input scaling internal from GDtool inputs and 0 offset command sources Torque Motor produced Absolute PWM analog Analog 10V 100 peak current torque or force SPI PWM 0 100 100 peak current SPI 16383 100 peak current Velocity Motor speed Absolute PWM analog Analog 10V 100 max speed internally step dir frequency PWM 0 100 100 max speed cascaded with quadrature SPI SPI 16383 100 max speed torque controller Step dir 1 encoder count pulse Quadrature 1 encoder count count Position Motor position Incremental step dir Ste
49. uts EU IU eters ia eaaa 30 12 5 INDEXER IM PUtS ies cecicecue dea ehel aE stan wags E a E A A heen ey adat ease sted deanpanceteereeee dts 30 T3 MOtOr compatibility sasar es a aoa E T AA E de auubuade pin A AEE 31 13 1 Motor configurations amp Output CULeNtS eee a eee ene e eee see aa nena eeaies 32 14 Troubleshooting sistas cecevaveeceereeaced a aE Ea a NE A E Oa E AA na aE Ea EN 33 15 Mechanical dimMeNSION SasciaNS AA aati 34 Note this manual mostly discusses about VSD E 160 but same specifications apply also for VSD XE 160 The differences of drive models are listed in chapter 13 1 Motor configurations amp output currents p 32 Specifications are subject to change without notice Warning Never operate this drive with non isolated power supply l e rectified 115VAC mains voltage or with autotransformer Doing so may be lethal especially due to non isolated logic circuity and very high earth currents of this product Granite Devices or its personnel will not carry any consequences or give any warranty if this rule is broken VSD E XE has been designed only for electrically isolated power supply GRANITE Fluxeon VS D E amp VS D XE 1 60 For drive revision 2 Manual Ver 1 05 A DEVICES 1 Introduction Thank you for choosing Granite Devices VSD drive This manual will give an detailed view of drive electrical amp mechanical specifications and will guide for proper installation Chapter 2 Important no
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