PDF (Drive User Manual)
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1. W 4 Ws J Rotor Inertia gem J Load Inertia gem ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 24 ElectroCraft powering innovation User Manual SCO B1 40 05 01 7 3 Analog Inputs Sv Set Value Input for Speed An external analog signal for speed entered using Sv input X1 3 If the voltage is lower than 0 5 V the motor stops If the voltage is positive the drive is working in the regulation area Over 5 V the motor is unregulated with a limited maximum speed through the nmax potentiometer Additional information about the schematic refer chapter 3 2 Range of Input Voltage OVto 5V Input Impedance 2100 kOhm Permanent Input Protection 0 6 V to 30 V Remark If the external Sv input is used for the set value the Speed potentiometer has to rotate to the left stop 8 Accessories amp Options e Choke modules IA3100 with 3 x 50 uH and IA3101 with 3 x 100 uH ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 25 ElectroCraft powering innovation User Manual SCO B1 40 05 01 9 Basic Troubleshooting Motor runaway e The logic of the hall connection is permuted e Reduce the maximal speed with pot nmax Motor noise e Use additional choke in the motor Motor has no torque e Increase the admissible current with max pot Motor drifts at standstill e The input value for the set value isn t stable Motor is going hot e Use an additiona2. the drive switch the Dis and the Brake input to ground 3 Set the internal Speed potentiometer to maximum speed 4 Turn the potentiometer nmax until the desired maximum speed is reached 5 Adjust with the max potentiometer the maximum motor current to a value requested by you It is of major importance that this value is lower than the maximum admissible constant current see motor data sheet To measure the motor current use a current probe in one of the motor cables with a oscilloscope or a multimeter 6 To change rotation direction of the motor connect the Dir input to ground Note In case of using the switches for Dir or Brake refer chapter 7 1 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 11 ElectroCraft powering innovation e D 9 Ki i ei O O o 5 E G Been o 0 2 4 2 Wiring Example II AOT AC A ddns samod 6 Ls apg 8 peeds 01 zs LO S0 Op 18 00S 8 ell 1 s s R_ y 29A zi s ke xl puo s SE et euo i n9 v ri uw s D N ye120429 3 XOUUU pus z EI EN I T aa D xe peeds ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 12 User Manual SCO B1 40 05 01 ElectroCraft powering innovation 4 2 1 Adjustment procedure for Example ll p ON uec 9o JS Potentiometer pre setting refer chapter 5 2 Set the
3. without exceeding its thermal rating To determined by applying DC current through two windings with locked rotor while monitoring temperature It s specified with motor windings at maximum rated temperature and 25 C ambient temperature motor mounted to a heat sink Refer to individual specs for heat sink size Controller This term describes a functional block containing an amplifier power supplies and possibly position control electronics for operating a servomotor or step motor Demag current Is the current level at which the motor magnets will start to be demagnetized This is an irreversible effect which will alter the motor characteristics and degrade performance Drive It s an electronic device that controls torque speed and or position of an AC or brushless motor Typically a feedback device is mounted in or on the motor for closed loop control of velocity and position Driver Is the electronics which convert step and direction inputs to high power currents and voltages to drive a step motor The step motor driver is analogous to the servomotor amplifier s logic Efficiency The ratio of power output to power input Encoder Is a feedback device which converts mechanical motion into electronic signals The most commonly used rotary encoders output digital pulses corresponding to incremental angular motion For example a 1000 line encoder produces 1000 pulses every mechanical revolution The encoder consists of
4. 05 01 2 2 Mechanical Data Mechanical Dimensions L x W x H Weight Mounting 2 3 Ambient Conditions Operation Temperature Storage Temperature Humidity Non Condensing Overtemperature Protection 2 4 Digital and Analog Inputs Disable Dis Direction Dir Brake Hall 1 2 3 S1 S2 S3 Set value Sv 2 5 Outputs Auxiliary Voltage Outputs 6V Auxiliary Voltage Outputs S ElectroCraft powering innovation 90 x 50 x 30 mm 125g M4 screws 10 to 45 C 40 to 85 C 20 to 80 RH 80 C Open Collector TTL CMOS Switch Open Collector TTL CMOS Switch Open Collector TTL CMOS Switch TTL 6 VDC Resistance 1 kOhm Analog 0 5 VDC Resistance gt 100 kOhm 6 V 10 mA 6 V 20 mA ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 ElectroCraft powering innovation User Manual SCO B1 40 05 01 3 Drive Overview 3 1 Block Diagram 6V 20mA Power Output Current Limit DE z E og 5 e o i 2 u lt Si CS E _ p Input Amplifier ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 6 User Manual SCO B1 40 05 01 3 2 ElectroCraft powering innovation Input amp Output Schematics gt Input Hall S1 S2 S3 Input Dis Dir Brake ElectroCraft E Mail info electrocraf
5. 6 amp 5 connect to power supply 5 vc Pin 7 input Disable Dis 7 J Dis Pin 8 input Brake Br s Brake MI Pin 9 amp 10 amp 11 input for hall signals X2 Gnd 3 Pin 12 voltage output 6 VDC S4 12 Pin 13 GND 3 11 Pin 14 amp 15 amp 16 connect to motor 52 19 si 9 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 15 ElectroCraft powering innovation User Manual SCO B1 40 05 01 5 2 Potentiometers x nmax ar Imax Speed Turning to the Left Turning to the Potentiometer Function ccw Right cw nmax Definition of max number Value is decreased Value is increased of revolutions Imax Set value for max current Increase the current Reduce the current Speed Set the motor speed Decrease motor Increase motor speed speed Potentiometer setting for start up n max I max Speed Middle Middle Left stop ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 16 ElectroCraft powering innovation User Manual SCO B1 40 05 01 6 Glossary nmax Use this potentiometer to adapt the desired maximum speed to the amplitude of the present set value For Example if maximum of 5V is to be used for maximum Speed then send 5V and adjust that maximum with the nmax potentiometer Take care not to exceed meaningful limits An exaggerated value may avoid to control the drive and making it impossible e g to line up the system in speed con
6. ElectroCraft powering innovation 2 Q PWM Servo 05 A For Brushless Commutated DC Motors up to 175 W SCO B1 40 05 01 User Manual SCO B1 40 05 01 e Brushless drive in a small compact open frame aluminium module e Different methods of mounting for fast installation e Inputs and outputs via screw terminals e User adjustable current limiter e Wide range supply voltage between 12 and 40 VDC for different kinds of DC power supplies e Protected against overtemperature and over current e MOSFet technology efficiency 95 e Continuous current up to 5 A e Peak current up to 10A Basic drive description The SCO B1 40 05 01 drives are designed to drive DC brushless type motors They require a single DC power supply for operation The drives are to be used with a single motor They have the functionality to operate as an independent speed control The drives are protected against short circuits under voltage over temperature and over current It has multiple possibilities of operation and serves as a reliable choice for your motion control needs ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 1 User Manual SCO B1 40 05 01 ElectroCraft powering innovation Table of Contents 1 Safety amp Installation 3 2 Specifications u J 4 3 Drive Overview IIl 6 ME
7. R II BE 9 5 Explanation of Terminals amp Potentiometers 15 6 GJOSSAN c 17 7 Description of Inputs and Outputs 22 8 Accessories amp Options ansnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 25 9 Basic Troubleshooting u T T 26 10 Warranties amp Disclaimers 27 11 gt ee aaae SECA a EE EEEE REEE aa aE 28 Used Symbols Indicates a warning or caution concerning operations that may lead to A death or injury to persons or damage to property if not performed correctly In order to use the drive safely always pay attention to these warnings Indicates a clarification of an operation or contains additional explanations or operational requirements for a procedure Reading these notes is much recommended ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 2 ElectroCraft powering innovation User Manual SCO B1 40 05 01 1 Safety amp Installation The SCO B1 40 05 01 requires installation by qualified personal which must pay attention to significant safety and other regulatory standards They should be thoroughly familiar with the entire system before beginning installation Before final operation of machine be sure to test hookup with motor disconnected from the load Improper wiring
8. a glass or metal wheel with alternating transparent and opaque stripes detected by optical sensors to produce the digital outputs ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 19 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Feedback It is a signal which is transferred from the output back to the input for use in a closed loop system Four quadrants Refers to a motion system which can operate in all four quadrants i e velocity in either direction and torque in either direction This means that the motor can accelerate run and decelerate in either direction Gain The dynamical behaviour of the servo amplifier must be compatible to the particular connected motor The adjusting procedure is performed using the Gain potentiometer A bad adaptation i e if the Gain value has been selected too high can be easily recognized by excessive motor vibration or noise Consequential mechanical damages cannot be excluded furthermore an overtemperature situation may arise due to high currents inside the motor Inductance The electrical equivalent to mechanical inertia that is the property of a circuit which has a tendency to resist current flow when no current is flowing and when current is flowing has a tendency to maintain that current flow NTC Negative Temperature Coefficient A negative temperature coefficient thermistor is used to detect and protect a motor windi
9. ator In brushless motors commutation is done by the switching electronics using rotor position information obtained by Hall sensors Hall sensor Is a feedback device which is used in a brushless servo system to provide information for the amplifier to electronically commutate the motor The device uses a magnetized wheel and hall effect sensors to generate the commutation signals Back EMF The voltage generated when a permanent magnet motor is rotated This voltage is proportional to motor speed and is present regardless of whether the motor winding s are energized or de energized Closed loop This is broadly applied term relating to any system in which the output is measured and compared to the input The output is then adjusted to reach the desired condition In motion control the term typically describes a system utilizing a velocity and or position transducer to generate correction signals in relation to desired parameters Cogging A term used to describe non uniform angular velocity Cogging appears as jerkiness especially at low speeds Continuous rated current The maximum allowable continuous current a motor can handle without exceeding the motor temperature limits ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 18 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Continuous stall torque Is the amount of torque at zero speed which a motor can continuously deliver
10. could cause a motor run away condition and cause serious injury or damage to the machine and personal Before starting installation of the SCO B 1 40 05 01 be sure that main power is disconnected After powering the drive it should not be touched by hand or risk shock Take care that in case of regeneration or in brake operation the energy recovery must be buffered by the power supply and or a braking module Ensure with electronically stabilized power supplies that protection circuit isn t react Don t switch off the power supply while the motor is turning in this case the drive could be destroyed by regeneration We recommend connecting a capacitor of 1000 uF per each ampere output current close to power input in parallel Do not repair or open drives enclosure Result would result in personal injury and would void all warranties The SCO B1 40 05 01 is not complying with the European directive EN 61800 3 1996 for his own but the following points can be helpful Ametal mounting plate with correct grounding is mandatory e For installation purposes tooth lock washers have to be used e For most wiring schemes only shielded cables are admissible to suppress interference with other devices Damaged items have to be replaced e Provide for a large contact area between shields and mounting plate e The motor has to be grounded in the prescribed manner e The drive is an Electrostatic Sensitive Device ESD Electro
11. f Input Voltage 0 to 6 VDC Input Impedance 210 kOhm Permanent Input Protection 0 6 to 24 VDC High level 22 4 VDC Low level 1 VDC ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 23 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Brake Braking the Motor If the Brake input X1 8 is at LO potential or GND is the function not activated active LO At HI or not wired the motor is breaking suddenly by shorting the motor windings to GND even if the Enable input is switched off Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 2100 kOhm Brake disabled 0 6 VDC or connected to GND Brake activated 23 5 VDC or open Note A Don t exceed the maximum breaking speed otherwise the output stage could be destroyed The maximum allowed breaking speed is limited by the maximum permitted short circuit current and the maximum allowed kinetic energy lt 8A eW lt 4Ws By the motor data s it is possible to calculate the maximum breaking speed max allowed braking D 8Aek e Ry pj 0 08O min speed limited by current 4 4 k Speed Constant min V 128A Rap 7 Terminal Resistance Phase Phase O At a given moment of inertia the maximum breaking speed is calculated as follow max allowed braking 365 m speed limited by kinetic D 10000 min energy J RT J L
12. information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 2100 kOhm Drive disabled 0 6 VDC or connected to GND Drive activated 23 5 VDC or open ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 22 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Dir Direction Changing the Direction of the Rotation If the Dir input X1 1 is at LO the motor turns in clockwise or counter clockwise at HI or open he works in the opposite direction The direction depends by the commutation sequence of the motor Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 2100 kOhm Direction e g CCW rotation 0 6 VDC or connected to GND Direction e g CW rotation 23 5 VDC or open Note A It is to avoid changing the direction on fly otherwise the motor also the drive can be damaged For changing the direction please follow this way e Disable to LO wait until motor has stopped e Change the Dir level e Enable auf HI motor is working in the other direction S1 S2 S3 Hall Feedback of the Motor The hall inputs X2 9 X2 10 and X2 11 are connected to the hall signals of the motor The supply voltage is given by the S output at X2 12 and GND X2 13 The drive needs the signals to do the commutation and control the speed Additional information about the schematic refer chapter 3 2 Range o
13. internal Speed potentiometer to the left stop To activate the drive switch the Dis input to ground Set the external Speed potentiometer to maximum speed Turn the potentiometer nmax until the desired maximum speed is reached Adjust with the max potentiometer the maximum motor current to a value requested by you It is of major importance that this value is lower than the maximum admissible constant current see motor data sheet To measure the motor current use a current probe in one of the motor cables with a oscilloscope or a multimeter ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 13 e ElectroCraft Q D Y ER ei O O o 5 E G Been o 0 2 o o 2 gt e a S og amp o o e 4 3 Wiring Example Ill Minimal Wiring ele o1 zs 4 es i s et euo ri iw si ew 91 ew LO S0 Or 18 OOS Vy v y amp 120429 3 eg 8 sa z 29A s puo s aot v S B puo z a t AOT AC A ddns samod OGNA AND ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 14 User Manual SCO B1 40 05 01 ElectroCr aft powering innovation 5 Explanation of Terminals amp Potentiometers 5 1 Terminals Terminal Label Description 1 pir 2 Gnd d 1 input Direction Dir 3 Sv Pin 2 GND Pin 3 input set value Sv 4 6v X1 5 ean Pin 4 voltage output 6 VDC n Pin
14. l choke in series with the motor see accessories Motor speed too low e Increase the range with pot nmax e Increase the admissible current with max pot e Supply voltage too low No motion even though enable is on e Check power supply and the wiring e Overheating protection is active e Check the polarity of the motor windings and hall signals e Is the phasing 120 of the hall correct e The polarity of the motor windings or hall signals is permuted e The feedback loop is open Check wiring Over temperature e Use an additional cooling e Reset the amplifier Note Beware that the maximal working temperature of 80 C in the driver is not reached otherwise the drive will be switched off ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 26 ElectroCraft powering innovation User Manual SCO B1 40 05 01 10 Warranties amp Disclaimers e Contents are subject to change without notice e Electrocraft will not be liable in any way for direct indirect incidental or consequential damages caused by the use of this product or document e Per Electrocrafts Terms amp Conditions the user of Electrocrafts accepts all responsibility and risks involved with applying this product into their machinery and indemnifies Electrocraft against all damages e Any reproduction of this product and document is strictly prohibited Limited Warranty Electrocraft products unless otherwise stated i
15. n specifications are warranted for a period of 18 months from date of shipment to be free from defects in materials workmanship and to conform to the specifications Liability under this warranty shall be limited to the repair or replacement but not to the installation of any defective product at Seller s option Products will be repaired or replaced at the Seller s option Under no circumstance shall the user repair or modify the product Failure to adhere to this will void all warranty For Warranty Repair or Technical Assistance contact Customer Support North America USA amp Canada Motion Control Technologies 800 697 6715 Email info electrocraft com Customer Support Europe except Germany Middle East Africa Australia Central amp South America Customer service at 44 0 127 050 8800 Email EMEAsales electrocraft com Customer Support Germany Customer service at 49 0 711 727205 0 Email info electrocraft de ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 27 ElectroCraft powering innovation User Manual SCO B1 40 05 01 11 Dimensions 90 0 60 0 4x 4 4 4x 4 4 15 0 gt 30 0 n 25 6 10 0 All dimensions in mm SCO B1 40 05 01_E09 Subject to change without prior notice ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 28
16. ng from exceeding its maximum temperature rating it is also used in a servo amplifier Resistance of the device decreases with an increase in temperature Open loop A system in which there is no feedback Motor motion is expected to faithfully follow the input command Stepping motor systems are an example of open loop control ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 20 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Pulse Width Modulation PWM 1 A PWM controller amplifier switches DC supply voltage on and off at fixed frequencies The length of the on off interval or voltage waveform is variable 2 Pulse width modulation PWM describes a switch mode as opposed to linear control technique used in amplifiers and drivers to control motor voltage and current PWM offers greatly improved efficiency compared to linear techniques Regeneration The action during motor braking in which the motor acts as a generator and takes kinetic energy from the load converts it to electrical energy and returns it to the amplifier Resonance Oscillatory behavior caused by mechanical limitations Ringing Is an oscillation of a system following a sudden change in state Speed Describes the linear or rotational velocity of a motor or other object in motion Tachometer A small generator normally used as a rotational speed sensing device The tachometer feeds its signal
17. r e A separate cable has to be used Analog Signals Sv e n most cases no shielding required This may be different for low level signals or in an environment with strong magnetic interference e Connect the shield on either end of the cable For 50 60 Hz interference remove the shield on one side Digital Signals Dis Dir Brake e Noshielding required To verify a trouble free operation and the conformity to CE regulation it makes only sense to test the system as a whole with all components installed motor amplifier supply pack EMC filters cables etc Note To improve the noise immunity always connect unused logical inputs to a fix potential GND or 6V ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 9 ElectroCraft powering innovation Q D Y ER ei O O o 5 E G Been o 0 2 4 1 Wiring Example I Les e re vn el s is peeds GER LO S0 Or 18 OOS ri uv e en i s Migr xti E euo _ eng s sia 4 22A DN puo s not v AS e puo z AOT ACV Kjddng 180g OdA AND Aes p 4 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 10 ElectroCraft powering innovation User Manual SCO B1 40 05 01 4 1 1 Adjustment procedure for Example I 1 Potentiometer pre setting refer chapter 5 2 2 To activate
18. static discharge needs to be avoided NOTE Certain applications may involve special requirements Consult Factory ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 3 User Manual SCO B1 40 05 01 2 2 1 ElectroCraft powering innovation Specifications Electrical Data Power Supply Voltage 12 to 40 VDC Residual ripple lt 5 The lower limit is monitored by integrated undervoltage trip WARNING Do not exceed 40V Overvoltage will damage the drive Nominal Current 5A Peak Current 10A Maximum Power only achievable with 175 W additional heatsink 1 8 K W amp proper mounting over a current of 3 5 A Switching Frequency 20 kHz Efficiency 95 Induction Specification amp caution for low Optional choke modules are often an inductance motors economical solution for low inductance or other motors if an overheating situation occurs in regular intervals Contact factory service for details Power and signal terminals The diameter must be suited for the connecting wires of the current load The recommendation is 1 5 mm AWG16 the minimum is 0 13 mm AWG28 Maximum wire diameter with respect to the terminal is 2 5 mm AWG14 Strip the wire insulation of the cables on a length of maximal 8 mm For stranded wire use end sleeves with the corresponding length ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 4 User Manual SCO B1 40
19. t com www electrocraft com May 2009 7 ElectroCraft powering innovation User Manual SCO B1 40 05 01 3 3 Control Elements 1 pir M3 Gnd nmax M2 ElectroCraft Sg o al Imax A SCH Gnd Ata S 5 vec er PLN s3 v 7 dis SCO BI 40 05 01 s2 19 Brake S1 3 4 Operation Modes Hall Mode At hall mode the feedback information is coming from hall switches which are mounted in the motor or a hall encoder which is mounted at the motor The speed regulation is good at each load condition and qualified for each application to control the speed of a system also for high speed application ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 8 ElectroCraft powering innovation User Manual SCO B1 40 05 01 4 Wiring According to the safety directives a correct cable selection is mandatory Regular inspection is advisable Damaged burned or kinked items have immediately to be exchanged Power Vcc GND e Normally no shielding required e When connecting several amplifiers to the same supply pack use star point wiring Motor Wiring 30 cm e Only shielded cables are recommended e Connect the shield to the ground lug of the servo amplifier e A separate cable has to be used e Choke modules are useful to reduce PWM pulses Connection to hall gt 30 cm e Only shielded cables are recommended e Connect the shield to the controlle
20. to a control which adjusts its output to the motor accordingly called closed loop feedback control Thermal protection A thermal sensing device mounted to the motor to protect it from overheating This is accomplished by disconnecting the motor phases from the drive in an over temperature condition ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 21 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Torque Is a measure of angular force which produces rotational motion This force is defined by a linear force multiplied by a radius e g Ib in or Nm Torque is an important parameter of any motion control system Torque mode In this mode the driver controls only the current of the motor The speed of the motor depends on the load because only the output force of the motor is regulated Two Quadrants Refers to a motion system which can operate in two quadrants by changing the direction of the motor speed ore in one quadrant with active accelerate and decelerate Watt One horsepower equals 746 watts 7 Description of Inputs and Outputs 7 1 Digital Inputs Dis Disable Activating or Disabling the Output Stage If the Dis input X1 7 is at GND potential or LO the output stage remains in the locked state The motor stands still or slow down without brake The output stage is activated if not wired at all or a voltage signal gt 3 5 V is set to the Dis input Additional
21. trol operation under load Imax The following action requires the motor to be operated with maximum load The motor current may be measured e g using current probe with effective value display or by means of an ammeter located in the motor line Imax decide on the maximum possible motor current The following limits have to be observed Left stop 5 of rated current of 5 A Right stop 100 of rated current 0 20 96 Note Do not overheat the motor For this reason the max limit should always be selected lower than the maximum admissible constant current The peak current of the drive can be rise up to 10 A Speed The function for the Speed potentiometer is to adjust the motor speed Hall mode This is a closed loop speed mode which is using the hall signals as a feedback input for the speed ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 17 ElectroCraft powering innovation User Manual SCO B1 40 05 01 Brushless motor A class of motors that operate using electronic commutation of phase currents rather than electromechanical brush type commutation Brushless motors typically have a permanent magnet rotor and a wound stator Commutation Is a term which refers to the action of steering currents or voltages to the proper motor phases so as to produce optimum motor torque In brush type motors commutation is done electromechanically via the brushes and commut
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