SC900 Family Hardware Reference Manual Single
Contents
1. 0 5 uSEC RISE TIME b FILTER T T x T L 19005F 7 4 21 221 1000p CHAIN AAN 261532 4 22 221 2 2 TO 2 5V L 1000pF TO OPEN CIRCUIT DECODE 4 23 221 oor T amp COUNT CH BIN gt ANN 4 24 221 ed gt gt B CH BIN gt A AA 261532 2 2 2 2 1000 15K lt 215 lt 215 lt 15K 4 18 RTN gt OPTION CARD 4 25 USER 5 VDC 5 VDC 200 mA MAX 8 UNREG LX 4 14 261531 J LJ Lo CHAOUT EMU A 4 15 CH A OUT RESOLVER z 4 16 AM26LS31 POSITION TO 11 CH B OUT EMU B EMULATED 4 17 QUADRATURE PPR eer 4 19 261531 EncOut EMU Z EncOut 0 CHZOUT PASSES ENCIN A B TO EMU A B 4 18 gt CW ROTATION SC900 BASE UNIT ENCODER I O SC900 Family Hardware Reference Manual Rev D 5 Operating Without an Option Card The SC900 base servo drive can operate with or without an Option Card However the drive is shipped from the factory unconfigured with null parameters Therefore the first step in using a drive is to set the parameters by configuring the drive All of the adjustments are saved in non volatile Personality EEPROM The EEPROM has a minimum life of 100 000 writes with 1 000 000 being typical If cost economy or the security of pr2. 1 25 31 7mm FAN OPTION 3 63 92 2mm 4 25 POS D SUB FEMALE SC900 Family Hardware Reference Manual Rev D Index A F AC Switch 4 6 Fault Output 4 14 Accessories 2 2 Fault Reset 4 13 Analog and Digital I O Forced Air Cooling 2 3 Schematics 4 11 Fusing 3 4 Analog Command 3 6 B I O Terminations 4 1 BDIO 4 12 Installing 930WIN EXE 8 1 Brake Output 4 14 Internal Resistors 4 8 J CewInh 4 13 J1 AC Power 4 1 4 6 Connector Kits 2 3 AC Switch 4 6 Cwlnh 4 13 J2 Motor Power 4 2 4 7 D J3 Resolver 4 3 4 8 J4 Command 4 4 4 9 Dac Monitor List Table 4 10 Analog and Digital I O Diagnostics 6 1 Schematics 4 11 Digital Position BDIO 4 12 Commands 3 6 Encoder I O Schematics 4 16 E J5 Regeneration Interface 4 2 4 7 Earth Ground 4 1 4 6 M Emulated Encoder Output Signals 3 10 Manual Kits 2 4 Enable Input 4 12 Model Identification 2 1 Encoder I O Schematics 4 16 Motor Current Control 3 5 Encoder Inputs 4 15 Mounting Specifications 9 1 Mechanical Outlines 9 2 SC900 Family Hardware Reference Manual Rev D A 1 N Status LED Code List 6 3 Status LED Nominal Frequency Troubleshooting 6 5 Response 3 11 Numbering System 2 1 T Transformers 3 4 Troubleshooting 6 5 Operating Without an Option Card 5 1 V Option Cards 1 3 Velocity Loop 3 7 P W PC User Interface 8 1 Performance Weight 9 1
3. SCIENTIFIC HIGH PERFORMANCE MOTORS amp DRIVES MA900 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA900 List Price 20 U S April 1999 RevD SC900 Family Hardware Reference Manual Single Axis Resolver Based Brushless Servo Drives This document is copyrighted by Pacific Scientific Company It is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Pacific Scientific Company Copyright O 1996 1997 1998 1999 WARRANTY AND LIMITATION OF LIABILITY Includes software provided by Pacific Scientific Pacific Scientific warrants its motors and controllers Product s to the original purchaser the and in the case of original equipment manufacturers or distributors to their original consumer the to be free from defects in material and workmanship and to be made in accordance with Customer s specifications which have been accepted in writing by Pacific Scientific In no event however shall Pacific Scientific be liable or have any responsibility under such warranty if the Products have been improperly stored installed used or maintained or if customer has permitted any unauthorized modifications adjustments and or repairs to such Products Pacific Scientific s obligation hereunder is limited solely to repairing or
4. Alternating Drive transitioned from unconfigured to configured while enabled lAlternating Two AInNull events too close together F 1 Alternating Position following error fault F 3 Alternating Parameter memory error To further identify this fault see software variable ExtFault ExtFault 13 Control card non volatile parameters corrupt ExtFault 14 Option card non volatile parameters corrupt Alternating Unconfigured drive These fault states can not be reset with the Fault Reset function and require the line control power to be cycled 6 4 SC900 Family Hardware Reference Manual Rev D Status LED Troubleshooting Status Code Possible Cause 1 Blinking Loose or open circuit wiring to the resolver feedback connector J3 Actual motor speed exceeded 1 5 Max Of VelLmtLo or VelLmtHi or 21 038 RPM which is the over speed trip level For Encoder velocity feedback RemoteFB 2 check that EncIn is set properly to correctly scale the VelFB units 2 Blinking Loose or open circuit wiring to motor PTC thermal sensor J3 8 13 9 High ambient temperature at motor Insufficient motor heat sinking from motor mounting Operating above the motor s continuous current rating Inoperative cooling fan J Blinking High drive ambient temperature Restriction of cooling air due to insufficient space around unit Operating above the drive s continuous current rating Inoperative cooling fan Note See HSTem
5. 6 Q uv5 NOLLdO 0069S JIJILLISIDS d GNVWWOD 818 SANNAR 91 gt lt gt mWioa diIS lt L wwoaams ruawraHo lt gt lt NOLISOd lt IVLNSAWSHONI dN 315 dilS NI V 110 2 110 2 Nn San s gt lt gt 5 NOLLSOd LJVHS gt TVINAWNJYONI 1nO ino gt NLY gt lt Linv4 9 oiaa Divus s gt lt HOLMS LINT F voma os HNM inmo 972 2 asau Linvs T 2 9 NLY gt lt HOLINOW DVA snivis n3 OUD WALSAS gt AWD SOTVWNY PR era SOTVNY SC900 Family Hardware Reference Manual Rev D 4 1 1 O Definitions Earth Ground Chassis Ground Stud J1 AC Power 240 VAC 120 VAC 240 VAC 120 VAC Control Power Chassis Ground AC switch This input provides a point for the user to connect the drive to earth ground for safety On the SC9x5 connection is to a fixed terminal block position These terminals connect the 240 120 VAC power provided by the user to the drive s power output stage bus to drive the motor These terminals connect the 240 120 VAC power
6. SSvd MOT AV14d NOLLVDIdOud JIS sz OL Act AS ATE ATZ dn Tind s ui 63as8 SSVd MOT Av I3G NOLLVODIdO Hd gt 45 lt lt gt AS8 O 231501 TOuHINOD O AST dsa NI uj6ojeuy OL VIGNI AEE vvf Yali ZH 9r DOTVNV LINN 3SV8 0069S dsa NOW dsa INO NOW A EE 5 d4 t ARV seg eoe rez AS ET NVV 907 rez YALA ZH OOZT Rev D SC900 Family Hardware Reference Manual J4 Command RTN 4 5 13 18 Enable Input 4 6 BDIO 1 2 3 4 5 6 Bi directional 14 7 8 9 10 11 12 4 12 Continued This terminal is signal common for the analog and digital inputs and outputs This input is used to enable the drive and is active low The output stage is disabled when this input is inactive There is a 3 3 kQ resistor and diode in series to the internal pull up voltage A minimum drive sink capability of 5 mA is recommended and the maximum external pull up voltage is 30 VDC with respect to I O RTN This signal is detected with 1 V p p hysteresis and a selectable center point for the logic trip thresholds which also selects t
7. 2 25 57 2mm 1 12 28 6mm SC9X3 15 3 25 76 2mm 1 50 38 1mm N A SC9X4 30A 3 20 81 4mm 1 60 40 6mm 4 52 114 8mm 1 5 M5 CLINCH NUT J 0 45 11 4mm 8 66 220 0mm p un e RN E sysem Drm STATUS _ 903 SERVO a a Ss 9 E E E E a LJ d z 8 9 2 m m m a CA 5 D Bk x m a ne d b p lt d sit S fi Q AC POWER R A Y Y Y CHASSIS GND STUD W M5 NUT 1 25 31 7mm l4 9 2 SC900 Family Hardware Reference Manual Rev D SC9X5 4 10 63 270 1mm 0 38 H CHASSIS GND STUD W M5 NUT SC900 Family Hardware Reference Manual Rev D 9 5mm 15 75 400mm 9 00 SCIENTIFIC 5 905 SERVO MOTION TECHNOLOGY DIVISION 5 be hieus POWER a 2 00 5 00 16 75 425 5mm SC900 Family Options 0C900 BLANK PANEL OC9X0 OPTION CARD 134 44 2mm 5 00 127 0mm Hp 0 900 ET SCREW FASTENER a 5 62 142 7mm fe 5 30 134 6mm 1 062 27 0mm TERMINAL BLOCK ADAPTER DUAL 13 POS TERM BLOCK 0 90 22 9mm 2 95 74 9mm BUS 11 AC POWER SCREWJ 5 ESOLVER
8. Characteristics 3 5 Wiring Diagram 4 5 Position Loop 3 8 Power Up Down Sequencing 7 1 Protection Circuits 6 1 R Resistance 4 7 Resolver Position Signal 3 9 Resolver Velocity Signal 3 10 SC900 Family 1 1 Accessories 2 2 Features 1 1 Specifications 3 1 Input Power 3 3 Output Power 3 1 Environmental 3 8 Resolver Feedback 3 9 A 2 SC900 Family Hardware Reference Manual Rev D
9. Unless otherwise specified the below specifications are worst case limits and apply over the specified operating ambient temperature and over the specified operating line voltage Resolver Position Signal Resolution Rev Repeatability Noise No Filtering 150 Hz Single Pole Filtered 10 Hz Single Pole Filtered dc Offset Temperature Drift Absolute Accuracy Drive only Drive with 20 arc min resolver Software Update Time SC900 Family Hardware Reference Manual Rev D 24 bits 0 0013 arc min lt X2 Rev 30 08 arc min rms lt 26 Rev rms 0 3 arc min rms 27 Rev rms 0 16 arc min rms lt 27 Rev rms 0 04 arc min rms lt 2 5 Rev C 0 08 arc min C 2 Rev 5 3 arc min 2275 Rev 25 arc min 1 mSec Resolver Velocity Signal Resolution Quanta Noise No Filtering 150 Hz Single Pole Filtered 10 Hz Single Pole Filtered DC Accuracy Typical 25 C Worst case Ripple Drive only Drive with 20 arc min resolver Offset Software Update Time Emulated Encoder Output Signals Available Resolutions PPR Binary Decimal Maximum Output Line Frequency Max Recommended Speed 16384 PPR Max Recommended Speed 4096 PPR Marker Pulse Width 3 10 lt 0 001 RPM 0 0143 RPM lt 3 RPM rms lt 0 6 RPM rms lt 0 06 RPM rms 0 01 0 05 0 75 p p at 1000 RPM 3 p p at 1000 RPM lt 0 0001 RPM 250 uSec 128 256 512 1024 2048 4096 8192 16384 125 250 500 1000 2000 4000 8000
10. 240 VAC 120 VAC Input 240 VAC 120 VAC Input 240 VAC Input CHASSIS GROUND 240 VAC 120 VAC CONTROL POWER Input 240 VAC 120 VAC CONTROL POWER Input Nin Ri wld SC900 Family Hardware Reference Manual Rev D 4 1 J2 MOTOR POWER SC9x2 3 7 5 mm Pluggable TB SC9x4 7 62 mm Fixed TB SC9x5 DIN Rail Fixed TB Pin Description 1 MOTOR CASE GROUND 2 MOTOR PHASE T Output 3 MOTOR PHASE S Output 4 MOTOR PHASE R Output J5 REGENERATION INTERFACE SC9x2 3 4 5 mm Fixed TB Pin Description 1 RESISTOR Output 2 BUS Output 3 BUS Output SC9x5 DIN Rail Fixed TB Pin Description 1 BUS Output INT EXT REGEN RESISTOR Output INT REGEN RESISTOR Output BUS EXT RESISTOR Output SC9x5 normal operation shorts J5 2 to J5 3 4 2 SC900 Family Hardware Reference Manual Rev D SC900 Base Servo Drive User Connections J3 FEEDBACK 5 0 mm Pluggable TB Pin Description RESOLVER S1 SIN Input RESOLVER 3 SIN Input RESOLVER S2 COS Input RESOLVER 54 COS Input SHIELD I O RTN RESOLVER R1 EXCITATION Output RESOLVER R2 EXCITATION RTN Output MOTOR PTC Input MOTOR PTC RTN Input AL NI Nn AJUTI SC900 Family Hardware Refe
11. 5 Hz 0 to gt 1 5 Hz or off 20 to gt 1 5 Hz or off 0 to 15 000 RPM V 0 to 10 L 2 16 bit mantissa ARxO set to a negative number allows complex poles zeros In this case 1 becomes the and the corresponding 0 is the frequency in Hz SC900 Family Hardware Reference Manual Rev D Position Loop Maximum Stable Bandwidth Update Period Position Range Position Error Range Command Resolution Position Loop Compensation Parameters KPP Range KPP Resolution KVFF Range KVFF Resolution General Max Delay Ac Line To Control Supply On Max Delay Ac Line To Fully Operational Environmental 100 Hz mSec 0 to 32768 Rev 0 to 4500 Rev 2 5 Rev 0 33 arc min 0 Hz to 150 Hz 16 bit 0 to 199 9 16 bit 0 75 Sec 2 0 Sec Fully operational by A of PACSCI LED status message Operating Ambient Temperature Convection Cooling Full 2 continuous rating Linearly derate 2 continuous rating per 1 T 25 C 75 C 0 C to 25 C 25 C to 60 C Operating Ambient Temperature Forced Air Cooling Full 2 continuous rating Linearly derate 2 continuous rating per 1 T 50 C 30 C Storage Temperature Humidity non condensing Altitude 0 C to 50 C 50 C to 60 C 40 C to 70 C 10 to 90 1600 m 5280 feet SC900 Family Hardware Reference Manual Rev D 3 4 Resolver Feedback Specifications Note
12. J 4 7 8 9 10 11 12 Fault Reset Input Cwlnh Input Ccwinh Input Each of the BDIOs is set and read by software every 2 mSec Each one can be configured to be any of the available functions and the configuration can be changed on the fly via digital communications to an Option Card The user s default configuration is stored in the non volatile memory The present state of each of these lines as well as the state of commanded outputs can be read via digital communications on an Option Card The logic polarity of these signals is also software programmable That is an input or an output can be defined to be active low or active high For edge triggered functions the active edge is programmable The list below describes the subset of the available functions and the mappings used as the factory defaults for each of the BDIOs BDIO 1 This input is used to reset the amplifier following a fault This input is programmed active low so that an open circuited input does not activate the function During Fault Reset active the output stage is disabled and the reset condition will be held in hardware for approximately 0 1 sec after Fault Reset is returned inactive BDIO 2 This input prevents further motion in the clockwise shaft motion direction If the shaft is already moving in the clockwise direction then the motor will decelerate to zero velocity with the maximum torque allowed by the user set output current limits This input will hav
13. Note The two resistors in the 9x4 are wired in parallel These connections provide the inputs for the resolver s sine cosine outputs Differential inputs with 75 Vusec common mode impulse range and 25 kQ input impedance These connections provide the resolver excitation output 9 2 V rms at 6510 42 Hz 75 mA rms maximum load These outputs are fully short circuit protected to COMMON or to each other at room temperature 25 C but at ambient temperatures above 50 C shorts longer than 5 minutes may cause damage These two inputs are intended to connect to a positive temperature coefficient thermistor or normally closed thermostatic switch imbedded in the motor windings When the resistance between these terminals becomes greater than 6 2 kQ the drive will fault and indicate a Motor Over Temperature fault This circuit directly interfaces with Pacific Scientific s standard motor PTC Note PTC RTN is connected to I O RTN SC900 Family Hardware Reference Manual Rev D J4 Command Analog CMD These inputs accept the analog command from the user This is a Inputs differential input to an A D It has a maximum single ended input J 4 1 2 range with respect to I O RTN on either input of 21V and an input impedance of 50kQ The full scale differential command input range is 13 5 V The offset and single pole low pass bandwidth of this signal is adjustable via a software setup parameter When used as a motion command t
14. motor ground connection and motor power wire shield Local electrical code may require using the Earth Ground Chassis stud for this function These terminals connect the internal shunt regulator resistor or provide the connection points for an external resistor or external capacitor bank to absorb regenerated energy from the motor Note that the SC9x5s have an additional terminal and when using the internal regeneration resistor as shipped from the factory terminals 2 and 3 are shorted together An external regeneration resistor goes from BUS to REGEN R INT EXT REGEN R for SC9x5 and a capacitor bank connects to BUS and BUS When using an external regeneration resistor make sure that the internal resistor is disconnected and that the external resistance follows the chart below within 10 Model Resistance SC9x2 500 SCOx3 252 SC9x4 1250 5 9 5 8Q SC900 Family Hardware Reference Manual Rev D Internal Resistors J3 Resolver Resolver S1 S2 53 54 Inputs Resolver R1 Excitation R2 Excitation RTN Outputs Motor PTC PTC RTN Inputs The table below lists values for internal resistors Model Resistance Pacific Scientific SC9x2 50 55 W 350 150000 00 Ohmite F55J50R SCOx3 25 55 W 350 150000 25 Ohmite F55J25R SC9x4 25 0 95 W 352 125000 00 Milwaukee 16 96 25C SC9x5 8 375 W rib 352 080000 00 Milwaukee 18 168 8R
15. replacing at its option at its factory any Products or parts thereof which prove to Pacific Scientific s satisfaction to be defective as a result of defective materials or workmanship in accordance with Pacific Scientific s stated warranty provided however that written notice of claimed defects shall have been given to Pacific Scientific within two 2 years after the date of the product date code that is affixed to the product and within thirty 30 days from the date any such defect is first discovered The products or parts claimed to be defective must be returned to Pacific Scientific transportation prepaid by Customer with written specifications of the claimed defect Evidence acceptable to Pacific Scientific must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Pacific Scientific Pacific Scientific also warrants that each of the Pacific Scientific Motion Control Software Programs Program s will when delivered conform to the specifications therefore set forth in Pacific Scientific s specifications manual Customer however acknowledges that these Programs are of such complexity and that the Programs are used in such diverse equipment and operating environments that defects unknown to Pacific Scientific may be discovered only after the Programs have been used by Customer Customer agrees that as Pacific Scientific s sole liability and as Customer s sole remedy Pacific Scient
16. 00 Maximum AC Line is specified to limit the line surges coupled to the drive Bus Voltage nominal standard drive 240 VAC Three Phase Input 320 VDC 120 VAC Single Phase Input 155 VDC SC900 Inrush Current amp Fusing Model Inrush Peak Inrush Pulse Fuse Type Manufacturer Number Current Width Part Number SC9x2 140 A 0 p 3 msec 15 A 250 V Time Bussmann MDA 15 Delay SC9x3 340 A 0 p 2 msec 20 A 250 V Time Bussmann MDA 20 Delay SC9x4 340 A 0 p 2 msec 30 A 250 V Slo Blo Littlefuse FLM 30 SC9x5 Operating current 30 A 250 V Slo Blo Littlefuse FLM 30 3 4 SC900 Family Hardware Reference Manual Rev D 3 3 Performance Characteristics Note Unless otherwise specified the below specifications are worst case limits and apply over the specified operating ambient temperature and over the specified operating line voltage Motor Current Control Motor Phase Current Waveform Motor Shaft Torque Ignoring motor magnetic saturation Peak Instantaneous Bandwidth Maximum Bandwidth Recommended Bandwidth Bandwidth Variation For Fixed Motor L Bandwidth Variation For 25 Ac Line Variation Update Period Recommended Motor Electrical Frequency SC900 Family Hardware Reference Manual Rev D Back EMF Matched Pseudo Sine K0 p 37 Drive IPeak 0 p K0 p 37 FB 1 5 kHz 1 0 kHz t 10 2 62 5 lt 400 Hz Ana
17. 16000 833 kHz 2900 RPM 11600 RPM Quadrature Pulse SC900 Family Hardware Reference Manual Rev D General 3 dB Bandwidth gt 1500 Hz 45 Phase Lag gt 400 Hz Resolver Excitation Frequency 6510 42 Hz Max Tracking Rate gt 48600 RPM Max Recommended Rate 25 kRPM Max Tracking Acceleration gt 16x10 RPM Sec Maximum Feedback Cable Length 50 m 164 ft Nominal Frequency Response 3dB 7 0 dB 6dB 12 dB 18 dB 24 dB MAGNITUDE 90 Deg T RESPOS T r 0 Deg 90 Deg VelFB ARESPOS 0 00025 T 180 Deg r 270 Deg d 34 1 10 100 1000 10000 FREQUENCY Hz SC900 Family Hardware Reference Manual Rev D 3 11 4 Terminations Introduction Except for the power connections on the SC9x4 and the SC9x5 all terminations are two piece pluggable connections Also all connectors are unique such that a cable can not be plugged into the wrong location or plugged in backwards In the list below an overbar on a signal name means that the signal is active low logic For example Enable enables the drive when this input is pulled low and disables the drive when it is high Earth Ground Chassis Grounding Stud M5 12 with nut and lock washer SC9x5s have fixed terminal block connection for grounding SC900 Power Board Connectors J1 AC POWER SC9x2 3 7 5 mm Pluggable TB SC9x4 7 62 mm Fixed TB SC9x5 DIN Rail Fixed TB Pin Description 1
18. ACT NEGLIGENCE STRICT LIABILITY TORT WARRANTY PATENT OR COPYRIGHT INFRINGEMENT SHALL NOT EXCEED THE PRICE SPECIFIED OF THE PRODUCTS OR PROGRAMS GIVING RISE TO THE CLAIM AND IN NO EVENT SHALL PACIFIC SCIENTIFIC BE LIABLE UNDER THESE WARRANTIES OR OTHERWISE EVEN IF PACIFIC SCIENTIFIC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION DAMAGE OR LOSS RESULTING FROM INABILITY TO USE THE PRODUCTS OR PROGRAMS INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE PRODUCTS OR PROGRAMS LOSS OF ANTICIPATED PROFITS OR OTHER SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER SIMILAR OR DISSIMILAR OF ANY NATURE ARISING OR RESULTING FROM THE PURCHASE INSTALLATION REMOVAL REPAIR OPERATION USE OR BREAKDOWN OF THE PRODUCTS OR PROGRAMS OR ANY OTHER CAUSE WHATSOEVER INCLUDING NEGLIGENCE The foregoing shall also apply to Products Programs or parts for the same which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Pacific Scientific s date of warranty No person including any agent distributor or representative of Pacific Scientific is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific except to refer purchasers to this warranty Table of Contents 1 Overview of the SC900 Family 2 Model Id
19. M applications but can be easily applied in end user applications In addition to industry standard capabilities and protection features the SC900 family includes many state of the art industry leading features Features e All digital DSP based control including the current loops e All system and application parameters set in software Digital auto tuning for easy and predictable set up e Advanced patented Digital Resolver to Digital DRDC converter with standard 5 3 are minute absolute accuracy and 24 bit position resolution U S Patent Number 5 162 798 e Advanced Signature Series sinusoidal current control for low shaft torque ripple and uniform control dynamics at all shaft speeds Modular construction with a user removable option card allowing easy configuration RS 232 485 serial interface SERCOS fiber optic multi axis interface Single axis programmable positioning Removable Personality parameters Field upgrade of drive software e Analog incremental digital serial or optionally SERCOS digital fiber optic command sources for shaft torque velocity or position control e 16 different emulated quadrature encoder output resolutions up to 16 384 PPR SC900 Family Hardware Reference Manual Rev D 1 1 Standard Features In addition to the above distinctive features The SC900 family s many industry standard features include Four base models covering 7 5 to 60 Amp peak Integral power supply wit
20. This option card allows easy plug infield upgrades of the SC900 base servo drive s software for applications that do not need any option card functions This option card can also allow removable personality functionality SC900 Serial Communications option card to provide RS 232 485 communications for SC900 setup or for command Suffix 00 is standard 01 includes SC900 base servo drive software upgrade This option card also allows removable personality functionality Includes 3 floppy disk for 930 Dialogue the PC communications software SC900 SERCOS interface option card to provide command and setup over the industry standard SERCOS fiber optic ring Standard Programmable Positioning option card to provide programmable single axis motion control Enhanced Programmable Positioning option card to provide programmable single axis motion control The Enhanced version of the OC950 supports additional features including MODBUS Allen Bradley DF 1 Communications and Camming functionality Screw terminal and d subminiature mates for the SC90x servo drive x 2 3 4 or 5 to indicate base drive power level Screw terminal and d subminiature terminal block adapter mates for the SC90x servo drive x 2 3 4 or 5 to indicate base drive power level SC900 Family Hardware Reference Manual Rev D 2 3 Forced Air Cooling OF902 00x OF903 00x OF904 00x Manual and Documentation Kits MA900 MA930 MA940 MA950 IDE Bo
21. WIN The IBM PC and compatibles user interface utility for the SC900 with OC930 Option Card runs under Microsoft Windows 3 1 or Windows95 and is called 930WIN EXE The following procedures illustrate how to install and launch the utility with brief instructions For complete information on this utility please see the MA930 OC930 Hardware and Software Reference Manual To install 930 Dialogue for Windows Insert the 930 Dialogue for Windows diskette in your disk drive A or B Start Windows and choose Run from the File Menu of Program Manager At the Command Line type A setup or B setup and press Enter or click on OK To begin using 930 Dialogue for Windows open the 9330WIN Group in Program Manager if not already open Double click on the 930WIN icon to launch the program Once in the utility go to the Options Menu and select Port Configuration to specify a serial port for communication At this point the software is fully installed configured and ready for use SC900 drives are shipped from the factory in the Unconfigured state When they are first powered up they will flash U and will not run a motor Drives are easily configured with the 930WIN EXE utility SC900 Family Hardware Reference Manual Rev D 8 1 9 Mounting Specifications The SC900 packaging is totally enclosed single axis panel mount The figures on the next pages gives the key dimensions for use in physically mounting the product When m
22. arameter The scale factor of this incremental position command input is fully adjustable with software parameters Full decoding speed or more noise immune slow speed decoding is software selectable These two input pairs are differential and are detected by 26LS32 type RS 422 compatible line receivers As differential inputs the recommended common mode range is lt 7 V with respect to I O RTN and the guaranteed differential voltage logic thresholds are gt 0 2 V Recommended drivers should be able to source and sink 3 mA to from these inputs Each of these inputs have internal bias networks to allow easy connection to single ended sources When an input is open circuited it will bias itself to between 2 2 and 2 5 V thus the remaining input pair terminal will have a single ended guaranteed logic low for inputs 2 0 V and a guaranteed logic high for inputs 2 7V These levels are compatible with a TTL driver combined with a pull up resistor Pull up resistor should be 4700 These two connections provide an auxiliary power supply for the user This output is 5 Vdc 5 and is I O RTN short circuit protected This supply goes to the Option Card and may also appear on an Option Card I O connection point For example the 5 VDC on the OC930 J31 connector The maximum load limit for all connections to this supply is 200 mA SC900 Family Hardware Reference Manual Rev D 4 15 J4 Encoder 1 0 Interface Schematics Diagram ENCODER INPUTS
23. cific display and then the Status LED will display the appropriate operational state However the drive is fully functional in less time than it takes for the power up message Proper operation typically commences less than 2 0 seconds after the control power is up This time roughly corresponds to the drive being fully operational by the time the Him PRESECI is on the display The power up booting of the drive software is somewhat analogous to that on a desk top PC with the drive like a hard disc and the Option card like a floppy If the drive has no Option Card or the Option Card itself has no drive software on it then the drive uses the software on the Control Card However if there is an Option Card plugged in that does have drive software on it then the drive will use that software and the Status LED power up message will include o P t after the hex communications address This capability allows an Option Card to fully re program the base servo drive as needed or allows a standard Option Card to be bought with the latest base drive software to field upgrade an older such Examples of drive software upgrade Option Cards are OC900 002 01 and OC930 001 01 The drive and motor behave in a well defined manner without damage to the drive during intermittent or transient AC line conditions The system also behaves well when only the bus or only the control AC input voltages are powered and or intermittent The drive can be safely powered up
24. dard Firmware 128kx8 NVRAM and PacLAN 601 Enhanced Firmware 32kx8 NVRAM 602 Enhanced Firmware 128kx8 NVRAM 603 Enhanced Firmware 32kx8 NVRAM and PacLAN 604 Enhanced Firmware 128kx8 NVRAM and PacLAN XYZ Factory Assigned Hardware Customization 01 Firmware Version Factory Assigned 01 Base Servo Software Type Order Model Description SC933TN 001 01 SC903 001 01 15 Amp peak standard servo drive OC930 001 00 Serial Port Option Card 930 Dialogue 3 5 floppy for PC CA903 TB TB adapter SC903 connector kit MA900 SC900 Family Hardware Reference Manual MA930 OC930 Hardware and Software Reference Manual SC904AN 001 01 SC904 001 01 30 Amp peak standard servo drive CA904 Basic SC904 connector kit MA900 SC900 Family Hardware Reference Manual SC932NN 001 01 SC902 001 01 7 5 Amp peak standard servo drive OC930 001 00 Serial Port Option Card SC954NN 503 01 SC904 001 01 30 A peak standard drive OC950 503 01 Programmable Option Card with 32Kx8 NVRAM and PacLANTM SC900 Family Hardware Reference Manual Rev D 2 2 SC900 Accessories Plug In Cards 0 900 001 0 900 002 01 0C930 001 0x 0C940 001 01 0C950 50x 01 0C950 60x 01 Connector Mate Kits CA90x CA90x TB Blank option panel to cover an unused option card slot Option card with the latest SC900 base servo drive software
25. e no effect on motion in the counterclockwise direction This input is programmed active low so that an open circuited input does not activate the function This input is useful for a clockwise over travel limit switch Status display will alternate between 8 and an when the limit input is affecting motion BDIO 3 Analogous to the CwlInh input except that this input prevents counterclockwise motion Status display alternates between and j SC900 Family Hardware Reference Manual Rev D 4 13 J4 Command Input Mapped Off Brake Output Fault Output CH A OUT CH A OUT CH B Out CH B Out Outputs 4 14 15 16 17 CH Z OUT CH Z OUT Outputs 4 19 20 4 14 Continued BDIO 4 Input Mapped Off BDIO 5 This output is high i e open collector when the control power is off or when control voltage is on and the drive is disabled Enabled 0 This output is pulled low otherwise This output is intended to drive a normally open relay that in turn powers a mechanical brake on the motor shaft for applications that require a positive shaft lock when the servo drive is off BDIO 6 This output 1s high 1 e open collector when the drive is faulted or has no control power This line can be used to indicate a problem with the drive These two output pairs are differential TTL incremental position signals generated by the Resolver feedback electronics These outputs are quadrature encoder
26. ection Cooling 1 1kW 2 2kW 4 5kW 9kW 50 C Forced Air Cooling 1 1kW 2 2kW 4 5kW 9kW 50 C Convection Cooling 0 75kW 1 5kW 3 0kW N A 240 VAC single phase 25 C Convection Cooling 0 80kW 1 6kW 2 3kW N A 50 C Forced Air Cooling 0 80kW 1 6kW 2 3kW N A 50 C Convection Cooling 0 55kW 1 1kW 1 5kW N A The SC9x5 always comes with an integral 240 Vac 50 60 Hz fan For standard 120 VAC single phase operation derate the Peak and Continuous Output Power ratings by 50 Consult factory for 120 VAC bus voltage doubled customization specifications Although possible single phase operation of the SC9x4 and SC9x5 is not recommended SC900 Family Hardware Reference Manual Rev D 3 1 3 1 Output Power Specifications Cont d SC9x2 SC9x3 SC9x4 SC9x5 Power Stage Efficiency 95 96 97 97 Pront Shunt Regulator Power Peak Power 300 mSec 3 0kW 6 0kW 12kW 20kW Continuous Power 25 C Convection Cooling 20W 30W 100W 200W 50 C Forced Air Cooling 25W 50W 125W 200W 50 C Convection Cooling 20W 20W 100W 200W Maximum External Regen 16 12 6 10 Duty Cycle Bus Capacitance Energy Absorption From 320V Nominal Bus 15J 15J 30J 50J Output Current Ripple Freq f 20 kHz Minimum Motor 4 0mH 2 0mH 1 0mH 0 5mH Inductance 1 1 Maximum Motor 4H 2H 1H 0 5H Inductance 1 1 Maximum Motor Power 50 m 164ft Cable Length 3 2 SC900 Family Hardware Reference Ma
27. entification 2 1 Basic Servo Drive Package Order Numbering System 2 28C900 AccessOrieS 22 22 2 3 Electrical Specifications 3 1 Output Power 3 2 Input Power 3 3 Performance Characteristics 3 4 Resolver Feedback Specifications 4 Terminations Drive Wiring Diagram o s o ecoa 2e 4 1 Definitions ce aree ee Dae Monitor List s s s e anh poe x ce we Rec ee ee ak J4 Analog and Digital I O Interface J4 Encoder I O Interface 5 Operating Without An Option Card 6 Diagnostics and Protection Circuits Statas LED Code Lists s nk eR ERR UE daly Status LED 7 Power Up Down Sequencing 8 PC User Interface 9 Mounting Specifications Drive Mechanical Index SC900 Family Hardware Reference Manual Rev D 1 1 2 1 2 2 3 1 3 1 33 3 4 3 8 4 1 4 4 4 5 4 8 4 9 6 3 6 5 1 Overview of the SC900 Family Introduction This manual describes a family of economical high performance medium power single axis servo drives meant to go with resolver equipped brushless 3 phase permanent magnet motors The SC900 family is focused on medium to large volume OE
28. eventing parameter changes in the field 1s desired then the base SC900 can have parameters stored in its non volatile memory via an Option Card and then the Option Card removed When a drive powers up it will always load the parameters from the internal non volatile memory If there is an Option Card plugged in at power up and the internal non volatile memory is unconfigured then the drive will check the parameter memory on the Option Card and if it is configured will load it instead This allows the drive s parameter personality to reside on the removable Option Card which allows easy replacement of a broken base servo and keeping the custom parameters of that axis without down loading from a PC again If the internal non volatile memory is not configured and there is no Option Card or the Option Card non volatile memory is also unconfigured the drive will display LUE on the status LED and will not allow the power output to be enabled For additional information on configuring a base SC900 to operate without an Option card plugged in see the MA930 OC930 Hardware and Software Reference Manual SC900 Family Hardware Reference Manual Rev D 5 1 6 Diagnostics and Protection Circuits Introduction The drive is fully protected against normal abuse and has a 7 segment LED visible on the front panel to indicate drive status The base servo drive has the following specific protections e Output motor short circuit protection line t
29. g Attempt to upgrade the drive s software will not work Contact factory for upgrade details Resolver wiring error Remove J2 and J3 connectors Cycle power If fault is now a 2 then correct resolver excitation wiring Internal failure Return to factory for repair E amp Alternating Unconfigured drive Status LED alternates LI after power up was fully configured with the drive motor power enable active This fault can be reset or the control ac power cycled to get the drive motor operating E 1 Alternating The AInNull function was re activated too soon after going inactive This can be caused by switch bounce on the input pin mapped to activate AInNull 1 Alternating The motor is either stalled or partially jammed The value for PosErrorMax is set too sensitive for the loop tuning and commanded motion profiles F 3 Alternating Glitch while last saving the NV parameters Swapped option card has corrupted NV memory contents Hardware problem with the NV memory See ExtFault status variable to determine whether NV memory corruption is inside the drive or on the option card Re Download parameters to restore drive operation SC900 Family Hardware Reference Manual Rev D 6 7 7 Power Up Down Sequencing Upon power up the 7 segment Status LED will display PRESCI pause pause the digital communications address if any in HEX any Option Card spe
30. h totally enclosed panel mount packaging e Single resolver motor feedback survives hostile environments e Extensive protection circuits and diagnostics to ease set up e IGBT power stage with inaudible high frequency PWM e Combined with Pacific Scientific s R series S series and PMA series brushless permanent magnet servo motors the available peak torque ranges from 10 Ib in to 800 Ib in 1 1 to 90 Nm UL Recognized 508C File number 150845 e CSA equivalent to UL 508 e SO 9001 SC900 Family Hardware Reference Manual Rev D Option Cards Option cards extend the base SC900 functionality and allow the operating adjustments and parameters to be set These personality adjustments parameters can be stored in the base SC900 s non volatile EEPROM memory or in the Option card s non volatile EEPROM memory If the personality 1s stored in the base SC900 then the Option card can be removed after setting the parameters and a blank panel substituted to lower the installed cost or to prevent un authorized changing of drive personality in the field Available Option Cards include OC900 001 Blank panel to cover option slot OC930 001 00 Serial Communications Option Card RS 232 or RS 485 to set parameters OC940 001 01 SERCOS Option Card Industry standard LAN fiber optic interface for command and to set parameters OC950 50x 01 Standard Single Axis Programmable Positioning Option Card OC950 60x 01 Enhanced Single Axis Programmab
31. he gain from this input is also adjustable via a software setup parameter DAC Monitor These analog outputs are general purpose monitor points The 1 2 Outputs output range is 5 V with a resolution of 10V 256 0 039 V The 4 3 4 source impedance is 1 which yields a maximum short circuit to I O RTN current of 5 mA These outputs are updated at the VELOCITY LOOP update rate There is a 10 kHz analog LPF on these outputs Each DAC MONITOR can be mapped by software to be one of a number of internal variables The scale factor and the frequency of a single low pass filter pole are software adjustable on each output by the DM1Gain DMIFO and DM2Gain DM2F0 software parameters for DAC Monitor 1 and 2 respectively Variables marked with a are not range clamped and are allowed to wrap around when the signal exceeds the output dac s voltage range The other variables will clamp at maximum when they exceed the analog voltage range The table on the following page lists the defined signal mappings SC900 Family Hardware Reference Manual Rev D 4 9 Dac Monitor List Table DMxMap Variable Description DAC Out Units 0 AnalogOutx Actual Analog Output Command V V 1 VelFB Measured Velocity DM2 Default 1 V kRPM 2 VelCmdA Actual Velocity Command VelCmdA 1 V kRPM 3 VelErr Velocity Error 1 V kRPM 4 FVelE
32. he pull up voltage With the BDLgcThr parameter set to 0 the trip voltages are 2 1 and 3 1 volts with 5 volt nominal pull up while with BDLgcThr set to 1 the trip voltages are 4 0 and 5 0 with a 12 volt nominal pull up This input is filtered with a 2 mSec time constant low pass filter to prevent false triggering from noise These six I O connections are user programmable discrete inputs or outputs As outputs they are open collector with 30 volt with respect to I O RTN and 100 mA current sinking maximum ratings These outputs are not short circuit proof BDIO 6 has a higher maximum current sinking rating of 200 mA As inputs these signals are detected with 1 V p p hysteresis and a selectable center point for the logic trip thresholds With the BDLgcThr parameter set to 0 the trip voltages are 2 1 and 3 1 volts with 5 volt nominal pull up while with BDLgcThr set to 1 the trip voltages are 4 0 and 5 0 with a 12 volt nominal pull up These inputs are filtered in hardware with a 20 Sec time constant low pass filter for noise suppression On each line there is a 3 3 resistor and a diode in series to the internal pull up voltage A minimum drive sink capability of 5 mA is recommended to fully pull these inputs to a logic low During AC power down or during the power up reset period these lines are held in the open collector state SC900 Family Hardware Reference Manual Rev D J4 Command l O Continued BDIO 1 2 3 4 5 6 Bi directional
33. ific will correct documented failures of the Programs to conform to Pacific Scientific s specifications manual PACIFIC SCIENTIFIC DOES NOT SEPARATELY WARRANT THE RESULTS OF ANY SUCH CORRECTION OR WARRANT THAT ANY OR ALL FAILURES OR ERRORS WILL BE CORRECTED OR WARRANT THAT THE FUNCTIONS CONTAINED IN PACIFIC SCIENTIFIC S PROGRAMS WILL MEET CUSTOMER S REQUIREMENTS OR WILL OPERATE IN THE COMBINATIONS SELECTED BY CUSTOMER This warranty for Programs is contingent upon proper use of the Programs and shall not apply to defects or failure due to I accident neglect or misuse ii failure of Customer s equipment iii the use of software or hardware not provided by Pacific Scientific iv unusual stress caused by Customer s equipment or v any party other than Pacific Scientific who modifies adjusts repairs adds to deletes from or services the Programs This warranty for Programs is valid for a period of ninety 90 days from the date Pacific Scientific first delivers the Programs to Customer THE FOREGOING WARRANTIES ARE IN LIEU OF ALL OTHER WARRANTIES EXCEPT AS TO TITLE WHETHER EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTY OF MERCHANTABILITY OR OF FITNESS FOR ANY PARTICULAR PURPOSE AND ARE IN LIEU OF ALL OTHER OBLIGATIONS OR LIABILITIES ON THE PART OF PACIFIC SCIENTIFIC PACIFIC SCIENTIFIC S MAXIMUM LIABILITY WITH RESPECT TO THESE WARRANTIES ARISING FROM ANY CAUSE WHATSOEVER INCLUDING WITHOUT LIMITATION BREACH OF CONTR
34. in any sequence with any of the control inputs in any state and when the power up reset time is over the drive will immediately begin the appropriate operation For example with the Enable input hard wired to I O RTN and the motor and control AC power applied simultaneously the power stage will enable and the drive will control the shaft immediately after the power up reset time of less than 2 0 sec 1s over If there is a fault upon power up the drive will go from power up reset to the fault state immediately without enabling the drive SC900 Family Hardware Reference Manual Rev D 7 1 Although safe it is not recommended that the motor bus power be applied with the control power already statically on and the drive enabled when the motor inductance is near the drive s minimum inductance specification If this sequence is applied with a motor having the drive s minimum inductance the drive may fault on over current Either apply both motor and control power simultaneously or 1f control power is already on apply motor bus power with the drive disabled The diagnostic information displayed by the 7 segment LED is available over the digital communications link if applicable When power is removed from the drive the drive will continue operating until a control supply voltage fault or a bus voltage fault is detected 7 2 SC900 Family Hardware Reference Manual Rev D 8 PC User Interface MA930 Installing 930WIN EXE Starting 9330
35. inking Excessive regen in application Improper external regen wiring or components on J5 Blinking Actual bus over voltages are usually but not always detected and displayed as a blinking 7 fault See that entry for more information b Blinking Short circuited wiring on the output J4 25 Load exceeds the current rating of this supply E Solid Drive hardware failure or drive software bug E Blinking See the status variable ExtFault for further information about the exact failure 1 Alternating Check the measured bus voltage VBus and the fault threshold VBusThresh to make sure they are consistent 2 Alternating Ambient temperature is below drive specification Drive s internal temperature sensor has a wiring problem 3 Alternating Problems with encoder feedback wiring to J4 when CommsSre 1 Load inertia more than 100 times the motor inertia leading to settling times long compared to the 2 second encoder commutation alignment artificially extend the alignment time by pulsing the hardware enable J4 6 E 4 Alternating OC930 001 01 drive software upgrade card was used to set up an old drive Then either no or a standard OC930 001 00 no software upgrade option card is installed resulting in the old software being used in the drive SC900 Family Hardware Reference Manual Rev D Status Code Possible Cause E 5 Alternatin
36. le Positioning Option Card If the above Option Cards do not do have the desired functionality contact the factory for a list of the latest available Option Cards SC900 Family Hardware Reference Manual Rev D 1 3 2 Model Identification 2 1 Basic Servo Drive Package Order Numbering System SC903N N 00 1 0 1 SC9 Servo Drive Family Designation 0 Command Interface Option Card Designation 0 No option card installed No communications setup interface Analog or Incremental Digital Command 3 OC930 001 00 installed RS 232 485 Serial Communications Setup Analog Incremental Digital or Serial Command 4 OC940 001 01 installed SERCOS Communications amp Control 5 OC950 50x 01 installed Single Axis Programmable Positioning 3 Power Level 2 3 75 A cont 4 25 C 7 5 pk 3 7 5 cont 25 15 0 A pk 4 15 A cont 25 C 30 0 A pk 5 30 A cont 50 C 60 0 A pk NN Accessories and Cooling Options Nx No accessories xN No fan convection cooled Ax Basic connector kit manual s Tx TB adapter connector kit manual s x2 240 Vac Fan cooled 1 120 Vac Fan cooled SC900 Family Hardware Reference Manual Rev D 2 1 Example Order Numbers 001 Customization Code 001 Standard Unit 501 Standard Firmware 32kx8 NVRAM 502 Standard Firmware 128kx8 NVRAM 503 Standard Firmware 32kx8 NVRAM and PacLAN 504 Stan
37. log Command Maximum Differential Range Maximum Single Ended Range Full Scale Tolerance Linearity Monotonic to S N Ratio Referred to Full Scale Full A D Bandwidth 150 Hz A D Bandwidth 10 Hz A D Bandwidth Offset Maximum Unadjusted Offset Offset Drift CMRR Digital Position Commands Modes Maximum Input Rate For Fast Decode Quadrature Decode Max Line Frequency Step Dir Decode Max Step Frequency Up Dn Count Max Frequency Minimum Fast Decode Pulse Width Fast Decode Direction Setup Time Fast Decode Direction Hold Time Relative Timing For Filtered Decode 13 5 Volts 21 Volts 5 worst case 1 typical 0 1 Full Scale lt 2 5 Full Scale 14 bits 16 bits 18 bits Adjustable to 0 50 mV 250 uV C typ gt 30 dB 60 Hz Quadrature Encoder Step amp Direction or Up amp Dn Count 800 kHz 800 kHz 800 kHz 0 6 uSec 0 6 uSec 0 6 uSec 4 8 or 16 to 1 e g Max Step Freq 800 200 100 or 50 kHz 3 6 SC900 Family Hardware Reference Manual Rev D Velocity Loop Maximum Stable Bandwidth Update Period Range Command Resolution Velocity Loop Compensation Parameters KVP Range Depends on KVP Resolution KVI Range KVI Resolution ARFO Range ARF1 Range ARZO Range ARZ1 Range CMDGAIN Range CMDGAIN Resolution gt 400 Hz 250 uSec 0 to 21 000 RPM 0 001 RPM to 12 6 1 4 L rad sec 16 bit 0 to gt 200 Hz 16 bit 0 01 to gt 1e5 Hz 0 01 to gt 1
38. nual Rev D 3 2 Input Power Specifications The drive is capable of direct line operation All units are fully isolated and do not require external isolation transformers Also the inrush current on the connection to the line is internally limited to a safe level for the drive There are no voltage selection or ranging switches required to operate within the specified voltage input ranges It is the responsibility of the user to supply appropriate fuses or circuit breakers in the AC Power motor power lines to comply with local electrical codes The control input power required depends on the option card plugged in and the load on user 5 Vdc It should be between 15 and 30 Watt The ac input motor power depends on output power and the losses in the power stage The control power input has a single UL CSA rated fuse in line with one of the ac line inputs SC900 Control Power Supply Input Voltage Range 90 to 264 VAC 47 440 Hz single phase or 130 to 370 Vdc Ride Through Time For AC Line Drop 90 50 2 gt 1 50 Hz cycle 120 VAC 60 Hz gt 2 5 60 Hz cycles 240 VAC 60 Hz gt 10 60 Hz cycles SC900 Family Hardware Reference Manual Rev D 3 3 SC900 Motor ac Power Supply Model Voltage Range Phases Transformer Maximum Number Suggested kVA AC Line kVA SC9x2 90 264 Vac lor3 2 0 kVA 100 kVA SC9x3 90 264 Vac lor3 3to4 kVA 100 kVA SC9x4 180 264 Vac 3 3 to6 kVA 250 kVA SC9x5 180 264 Vac 3 5 to 10 5
39. o line and line to neutral e Interface to Pacific Scientific s standard motor PTC or a normally closed thermostat to sense motor over temperature Internal monitoring of the power stage heat sink temperature for drive over temperature Bus over voltage detection Bus under voltage fault with adjustable threshold e Incorporating the measured heat sink temperature there is an excessive current I t fault This fault limits the peak current time and intelligently changes the continuous current fault trip dependent on the measured heat sink temperature to limit the continuous output current e Control voltage under voltage detection e The auxiliary 5V output is short circuit to I O RTN protected e All control outputs are short circuit to I O RTN protected e When a drive is powered up without valid Personality parameters the power stage cannot be enabled and no damage occurs to the drive e If there is an Option Card plugged in at power up then the drive will fault if the Option Card is unplugged while the power is still on The digital signal processor has a watchdog throughput fault to help detect drive software errors SC900 Family Hardware Reference Manual Rev D 6 1 The following sequence will occur when the protection circuits generate a fault The fault source is latched the output stage is disabled the Fault mappable output function is activated and the status display indicates the appropriate blinking faul
40. ounting multiple units on one panel there should be at least 20 mm 0 75 of air space on the sides and 40 mm 1 5 or air space above and below the unit When mounting multiple drives in a row some customers have found the stiffness of the drive and their mounting panel to be too low To increase the mounted mechanical integrity connect to the threaded insert on the top front edge The overall drive panel dimensions and the mounted depth not including mating connectors is listed in the below chart The extra depth for mating connectors 1s 1 0 or less Model Height Width Depth SC9x2 370 mm 14 5 60 mm 2 35 218 mm 8 6 SCOx3 370 mm 14 5 76 mm 3 25 218 mm 8 6 SC9x4 370 mm 14 5 114 mm 4 5 218 mm 8 6 SC9x5 425 mm 16 75 229 mm 9 0 269 mm 10 6 The OF90x optional fans mount below the units and are slightly larger than the 93 mm 3 65 width and 25 mm 1 0 thickness of the fan itself Model Weight SC9x2 1 6 kg 4 7 lb 5 9 3 32 kg 8 52 lb SC9x4 3 5 kg 9 32 lb 5 9 5 12 7 kg 34 Ib SC900 Family Hardware Reference Manual Rev D 9 1 Drive Mechanical Outlines SC9X2 SC9X3 SC9X4 i T I E 1 o 1 DIMENSIONS LEGEND MODEL PEAK A B SC9X2 7 5A
41. p and for information on measuring thermal margin in an application Blinking Mechanically jammed motor Motion profile accelerations too high Machine load on the motor increased perhaps by a friction increase Problem with wiring between drive and motor yielding improper motion Drive and or motor under sized for application Note See HSTemp and for information on measuring thermal margin in an application 5 Blinking Motor power wiring J2 2 3 or 4 short circuit line to ground neutral Motor power cable length is enough longer than the data sheet specification to cause excessive motor line to earth ground neutral capacitance 5 Blinking Insufficient control ac voltage on J1 5 to J1 6 External short on signal connector Internal drive failure SC900 Family Hardware Reference Manual Rev D 6 5 Status Code Possible Cause 1 Blinking Motor power wiring J2 2 3 or 4 short circuit line to line or line to ground neutral Internal motor winding short circuit Insufficient motor inductance causing output over current faults KIP or KII improperly set causing excessive output current overshoots Motor ac power input voltage too high Disconnected regeneration resistor on J5 External regeneration resistor ohmage too large yielding Bus Over Voltage fault 9 Bl
42. perature 3 Blinking Drive over temperature 4 Blinking Drive I t 5 Blinking SC9x3 Line neutral over current 5 Blinking Control 12 V under voltage 7 Blinking Output over current or Bus over voltage 9 Blinking Shunt regulator overload fi Blinking Bus over voltage detected by DSP Db Blinking Auxiliary 5 low L Blinking Not assigned Blinking Not assigned Processor throughput fault SC900 Family Hardware Reference Manual Rev D 6 3 Status Code Description F Blinking Control power ac line dip or power up self test failure To further identify this fault see software variable ExtFault ExtFault 1 Calibration data corrupted ExtFault 2 Excessive dc offset in current feedback sensor ExtFault 3 DSP incompletely reset by line power dip ExtFault 6 Excessive dc offset in Analog Command A D ExtFault 7 Unable to determine option card type ExtFault 8 DSP stack overflow ExtFault 10 Software and control card ASIC incompatible ExtFault 11 Actual Model not same as stored in NV memory ExtFault 12 Unable to determine power stage ExtFault 15 RAM failure ExtFault 16 Calibration RAM failure 1 Alternating Bus under voltage bus voltage VBusThresh 2 Alternating Ambient temperature too low 3 Alternating Encoder commutation alignment failed Only for CommSrc 1 4 Alternating Software and non volatile memory versions not compatible F 5 Alternating Control card hardware not compatible with software version
43. provided by the user to the drive s control voltage power supply Convenience connector point for the user to connect the drive to earth ground Directly connected to the chassis and thus to the Chassis Ground Stud Note that local electrical code may require using the Earth Ground Chassis stud for this function Note The control voltage for the SC900 controllers is input to a switching power supply This input will accept voltages ranging from 120 to 240 Vac Separate control power inputs are required on the SC9x2 SC9x3 and SC9x4 controllers In the SC9x5 the control voltage inputs can be switched to the motor supply input power using the AC switch Having separate control and motor supply inputs permit controller electronics operation independent of high voltage motor power The AC switch only applies to the SC9x5 Note The switch is mounted on the right side of the drive Switch Position Explanation Ext Control power from J1 5 J1 6 Int Control power from J1 1 J1 2 J1 5 J1 6 open 4 6 SC900 Family Hardware Reference Manual Rev D J2 Motor Power Motor Phase T Motor Case Ground J5 Regeneration Interface Regen Resistor Bus Bus SC9x2 3 4 Bus Internal Regen Resistor Internal External Regen Resistor Bus SC9x5 These three terminations provide the 3 phase power output to the brushless motor This termination provides a convenient point for the
44. rence Manual Rev D 4 3 J4 COMMAND I O 25 Position D subminiature male Default functions for BDIOs are listed in Pin Description Pin Description 1 ANALOG CMD Input 14 CH A OUT 2 ANALOG CMD Input 15 CH A OUT 3 DAC MONITOR 1 Output 16 CH B OUT 4 DAC MONITOR 2 Output 17 CH B OUT 5 I O RTN 18 I O RTN 5 VDC RTN 6 ENABLE Input 19 CH Z OUT Output 7 BDIO 1 20 CH Z OUT Output Fault Reset Bi directional 8 BDIO 2 21 CH A IN Cwlnh Bi directional STEP STEP UP Input 9 BDIO 3 22 CH A IN Ccwlnh Bi directional STEP STEP UP Input 10 BDIO 4 23 CH B IN Mapped Off Bi directional DIR STEP DOWN Input 11 BDIO 5 24 CH B IN Brake Bi directional DIR STEP DOWN Input 12 BDIO 6 25 5 VDC 200 mA max Output Fault Bi directional 13 I O RTN 26 RTN on optional TB adapter mate 4 4 SC900 Family Hardware Reference Manual Rev D Drive Wiring Diagram 3 VL LLL 9 3 1053 8 YOLOW SSaq iHsnua DIELLN3AIDS ODIJ3I2Vd sna T N393M LNI lt 1XJ LNI sna sna v sna v exoc s 2 OWA OCT Dva orz 1 1 SOINOuLOa13 THIS H3HLO u3MOd YOLOW N 3934 uaMOd IV TOS 0S562O 0 lt 0 6 gt 04 0 6 gt TOS 0S690 6
45. rr Compensated Velocity Error 1 V kRPM 5 Position Measured Position 1 V Rev 6 PosError Position Error 1 V Rev 7 PosCommand Commanded Position 1 V Rev 8 Icmd Commanded Torque Current 1 V A 9 IFB Measured Torque Current 1 V A DMI Default 10 AnalogIn Filtered A D Input V V 11 EncFreq Encoder Frequency 1 V Hz 12 EncPos Encoder Position 10 V 4096 Cnts 13 ItFilt Filtered Output Current Amplitude 1 100 14 HSTemp Measured Heat Sink Temperature 1 15 Commutation Electrical Angle 1 V Cycle 16 IR Motor Phase R Output Current 1 V A 17 IS Motor Phase S Output Current 1 V A 18 IT Motor Phase T Output Current 1 V A 19 Motor Phase R Voltage Duty Cycle 1 100 20 Motor Phase S Voltage Duty Cycle 1 100 21 Motor Phase T Voltage Duty Cycle 1 100 22 VBus Drive Bus Voltage 1 V V 23 ResPos Resolver Absolute Position V Rev 24 Commanded non torque current 1 V A 25 Measured non torque current 1 V A 26 Torque Voltage Duty Cycle 1 100 27 Non torque Voltage Duty Cycle 1 100 28 VelCmd Velocity Command VelCmd 1 V kKRPM 65536 No change to variable selection turn range clamp off 65537 No change to variable selection turn range clamp on These variables are allowed to wrap around when the signal exceeds the output voltage range 4 10 SC900 Family Hardware Reference Manual Rev D J4 Analog and Digital I O Interface Schematics TWLIDIC LINN 3SV8 00625 Wwoua
46. t code Faults are cleared by activating the Fault Reset input or by cycling the 120 240 VAC Control Power The table on the following page lists the status display codes shown on the System Status LED In the basic product the LED decimal point is not used it is reserved for use with Option Card accessories A quick blinking display implies a hard fault If an entry is not specifically listed as blinking then the display is steady and if listed as just blinking then the display blinks quickly If an entry shows multiple characters then the characters alternately flash between the two values with unequal blank display pauses between to help indicate the intended character order See the following table for a detailed list of system status LED codes SC900 Family Hardware Reference Manual Rev D Status LED Code List Status Code Description 0 No faults power stage disabled control voltage OK 8 No faults power stage enabled control voltage OK SrAlternating faults power stage enabled CcwInh active preventing CCW motion B 4Alternating No faults power stage enabled CwlInh active preventing CW motion Alternating No faults power stage enabled CwInh and Cewlnh both active preventing motion 1 Blinking Velocity feedback VelFB over speed To further identify this fault see software variable ExtFault ExtFault 1 VelFB gt 21038 RPM ExtFault 2 VelFB gt max VelLmtxx 1 5 2 Blinking Motor over tem
47. to emulate an optical encoder The resolution of these signals 1 e the emulated line count is set by the EncOut parameter These outputs are buffered by 26LS31 type RS 422 compatible line drivers Maximum recommended load current is 20 mA which corresponds to a minimum line to line load resistance of 100 Q This drive capacity corresponds to 10 RS 422 compatible inputs such as the SC900 encoder inputs These outputs are indefinitely short circuit to I O RTN proof These two terminals function as a differential TTL marker pulse The output pulse occurs once per motor shaft revolution starting at resolver position 0 and its width is approximately one quadrature encoder width This output comes from an 26LS31 type RS 422 compatible line driver Maximum recommended load current is 20 mA which corresponds to a minimum line to line load resistance of 100 Q This drive capacity corresponds to 10 RS 422 compatible inputs such as the SC900 encoder inputs This output is indefinitely short circuit to I O RTN proof SC900 Family Hardware Reference Manual Rev D J4 Command Encoder Inputs 14 21 22 23 24 5 VDC 5 VDC RTN Output 4 25 18 Continued CH A IN CH A IN CH B IN CH B IN Step Step Dir Dir Step Up Step Up Step Dn Step Dn These inputs are used as a quadrature encoder step and direction or up and down count format incremental signal source The decoding mode is set by the EncMode p
48. ttom mounting force air cooling fan and bracket accessory kit for the SC9x2 Option suffix 002 is the standard 240 Vac 50 60 Hz model and suffix 001 is a 120 Vac 60 Hz model Bottom mounting force air cooling fan and bracket accessory kit for the SC9x3 or the SC9x4 Option suffix 002 is the standard 240 Vac 50 60 Hz model and suffix 001 is a 120 Vac 60 Hz model Note The SC9x5 always comes with an integral 240 Vac 50 60 Hz fan SC900 Family Hardware Reference Manual for the SC900 series basic servo drives OC930 Hardware and Software Reference Manual for the OC930 Serial Communications Option Card OC940 Hardware and Software Reference Manual for the OC940 SERCOS Interface Option Card OC950 Installation and Hardware Reference Manual and 950BASIC Reference Manual for the OC950 Single Axis Programmable Positioning Option Card Includes 3 gt PC floppy for 950IDE Integrated Development Environment SC900 Family Hardware Reference Manual Rev D 3 Electrical Specifications 3 1 Output Power Specifications SC9x2 SC9x3 SC9x4 SC9x5 Peak Output Current 0 p 5 seconds up to full 50 C 7 5 15 30 60 Continuous Output Current 0 25 C Convection Cooling 3 75A 7 5 15 30A 50 C Forced Air Cooling 3 75 7 5 15 30A 50 C Convection Cooling 2 5A 5 0A 10A 30A Peak Output Power 240 VAC 1 second up to full 50 C 2 2kW 4 5kW 9kW 18kW Continuous Output Power 240 VAC three phase 25 C Conv
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