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ACS800 User Manual

1. SRV300 signal Function Not Used Not Used Not Used Not Used Not Used Not Used 5V Supply 5V Sensor OV Supply OV Supply Pin Out Table Heidenhain Encoder Cable Colour Socket Pin Brown Green Blue White Green 10 No Inner screen connection SRV300 screw terminal for T1 amp T2 1 7 I Encoder Socket Pins See Note 3 8 8 OV Sensor ECLK ECLK EDATA EDATA Issue Date A 22 10 02 First Issue White 4 Violet 8 Yellow 9 Grey 14 Pink 17 Outer Connector screen housing Modification Notes Copyright 2003 Quin Systems Ltd See Note 3 9 10 11 12 Earth Stud on Chassis Drawn HO Approved QU N Copyright in this drawing resides i Use Heidenhain Encoder Connector housing Cable Part No 266 306 01 I o 1 W D Ree NRO DA SRV300 Screw Terminal T1 or T2 See Note 3 unused cores not shown NOTES 1 Connection table for Heidenhain ROC410 ROC412 ROC413 ROQ424 ROQ425 2 Also shown in Quin drawing no QDV 2 2 023 3 Guidance for use of encoder pins 1 amp 4 a Pins 1 amp 4 need not be used if the PSU voltage is 5V and the volt drop to terminals 7 amp 10 is less than 0 25V 7 Earth Stud b Pins 1 amp 4 need not be used if the PSU voltage is 5 25V and the volt drop to terminals 7 amp 10 is less than 0 5V An adjustable PSU is required c The Blue core may be connected in parallel with the Brown Green co
2. 4 8 Position monitoring The DM command can be used to monitor the demand and actual positions of a motor channel The display will also show the position error The DO command will switch this off The trace command TR together with the trace word TW will provide additional diagnostics and can be used to report master axis position information at the same time as a slave axis Refer to the PTS Reference Manual for more details Copyright 2003 Quin Systems Ltd 71 PTS Scope allows position information to be monitored graphically Four traces are available to allow comparisons between channels PTS Scope can be used to monitor additional parameters in a system Refer to the on line help for more details on the capability of PTS Scope 4 9 Fault logging It is often necessary to record the events leading up to an error The TW LG and DG commands are available to define what and how much information is to be logged Full details are provided in the PTS Reference Manual Note the QQ command on the SRV300 will not work and parameters can t be changed from DrivesWindow if there is a fault condition in the drive This fault can be cleared by from DrivesWindow or the ABB Control Panel by selecting LOCAL and then RESET 4 10 Board Configuration Two jumper blocks are provided on the SRV300 board These are identified as J1 and J2 There should be no need for the end user to change these jumper settings The factory settings are sh
3. Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply OV Supply ECLK ECLK EDATA EDATA Table 9 SinCos Encoder Connections Screen connections The encoder cable should be overall screened with individually screened twisted pairs for the signal lines The outer screen should be tied to the earth star point in the drive and to the screen pin of the encoder or its connector depending on the encoder manufacturer The inner screens should also be tied to the earth star point in the drive but should be left disconnected at the encoder end 2 7 2 3 1 PTS Language Parameters and Configuration Settings for absolute SinCos Encoders Copyright 2003 Quin Systems Ltd 35 Set FS12 to enable absolute SinCos encoder feedback Use the NB parameter to specify the resolution Refer to the encoder cable assembly drawing DRG17 at the end of this manual Copyright 2003 Quin Systems Ltd 36 2 7 2 4 EnDat Absolute An EnDat encoder is a Heidenhain product similar in specification to a SinCos device In absolute mode it behaves as a SinCos A 300kHz clock rate is used This limits the maximum encoder cable length to 70m Two options are available for the supply voltage 5V d c 5 or 10 30V d c Encoders are available as single turn or multi turn Note a different FS value is required for each FS should be set to 13 for single turn and should be set to 14 for multi t
4. Output range 0 to SV Copyright 2003 Quin Systems Ltd 22 D to A resolution 12 bits smoothed PWM Output impedance lt 1000 Digital inputs Voltage rating 24V nominal Input current 10 20 mA typical 50 mA maximum Threshold voltage 10 16V Reverse voltage 5V maximum Isolation voltage 250V a c peak or d c Digital outputs Saturation voltage output on 1 9V maximum at full load current Load current 100 mA maximum Isolation voltage 250V a c peak or d c Copyright 2003 Quin Systems Ltd 23 2 6 Position Feedback Devices A position feedback device is used to pass position information back to a control system This information may be used to close the position loop on a motor or it may inform the control system of the position of some other part of a machine which is not driven by the control system Feedback devices are either relative or absolute A relative device is limited to specifying distance travelled and direction of movement Using this information a control system is able to determine the position of a device relative to its position at power up or to some other user defined datum An absolute position feedback device on the other hand is able to specify its actual position at any time The datum for this absolute position data is the encoder s zero position or a previously defined position on the machine At power up an absolute device can report its actual position A system which uses re
5. Quin Systems Limited ABB ACS800 Quin SRV300 Standalone SERV Onet Drive Installation Manual Issue 3 0 December 2003 MAN436 Important Notice Quin Systems reserves the right to make changes to the products described in this document in order to improve the design or performance Examples given are for illustration only and no responsibility is assumed for their suitability for particular applications Reproduction of any part hereof without the prior written consent of Quin Systems is prohibited Although every attempt has been made to ensure the accuracy of the information in this document Quin Systems assumes no liability for inadvertent errors Suggestions for improvements in either the products or the documentation are welcome Relevant Directives The product is designed to be incorporated into a system for the control of machinery and needs external equipment to enable it to fulfil this function It must not be relied upon to provide safety critical features such as guarding or emergency stop functions It must not be put into service until the machinery into which it has been incorporated has been declared in conformity with the Machinery Directive 89 392 EEC and or its relevant amendments The installation instructions in this manual should be followed in constructing a system which meets these requirements The product has been tested in typical configurations and meets the EMC Directive 89 336 EEC and the Low Vo
6. Cables and connectors in the above 8 schemes are identified using CBA part numbers For reference the pin outs of these cables and connectors are detailed in the subsequent drawings A separate drawing is used for each part number These cables and connectors are all available from Quin Systems and it is suggested that Quin supplied parts are used wherever possible However to allow cables connectors to be checked or made up in the field the user can make reference to the information in these attached drawings The content of each drawing has been taken from the Quin master drawings on the issue date of this manual as shown on the front page Each drawing in this manual includes a cross reference to the Quin master drawing number Please check the Quin web site to check for any up issues to these drawings or to this manual A password is required for access to the web site Please contact Quin Systems Ltd for help Contact details are included on page ii of this manual The drawings are numbered as follows DRG01 CBA137 A SERVOnet feed lead 9 pin D connector DRG02 CBA137 B SERVOnet terminator 9 pin D connector DRG03 CBA137 X SERVOnet lead 9 pin D connectors DRG04 CBA151 B SER VOnet terminator RJ45 connector DRG05 CBA151 X SERVOnet lead RJ45 connectors DRG06 CBA152 FEMALE RJ45 to 9 pin D female adaptor DRG07 CBA152 MALE RJ45 to 9 pin D male adaptor DRG08 No CBA number CANbus encoder connections DRG09 CBA139 A Serial lead ad
7. Heidenhain Cable Colour Encoder Socket Pin Yellow Green Pink Grey 12 10 No Connection Red 7 Blue 2 Pin 9 and Connector Housing Outer Screen Modification Notes SRV300 screw terminal for T1 amp T2 an PI Ain PB Wid Koj 10 11 12 Earth stud on chassis Drawn HO Approved Outer Screen Use Lapp cable Part No 0034042 NOTES 1 Connection table for Stegmann SinCos sensor 2 Also shown in Quin drawing no QDV 2 2 021 QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk C Copyright Copyright in this drawing resides with the company no unauthorised reproduction is permitted 7 OOND NH HH NRO SRV300 Screw Terminal T1 or T2 7 Earth Stud SinCos Encoder Lead S No N A Issue Scale Drg No DRG17 A 1 1 Index A absolute feedback ass claire aan ACS 800 Firmware Manual 9 48 52 58 Analogue VO ici Ia nant aaa analogue inputs EE ll RI aa Analogue OUtput vi Re li i ilo dille D HASNOSCS STO RN o nee eil ale de cd Sia IPCC I i PSN RPE REE BPP DAE Di dei ale dol Re ne ne EONS TE lana DoveMindow s Sss tutele LR AN MR ALAN And ur eee eat LT A Nue 52 E Machine Manager 39 52 55 56 57 62 66 67 MOCBssogniiatata ona Saia ai lei e le isa Mini Machine Manager ses M
8. The demand position is calculated by the PTS firmware 256 times s POSITION DEMAND POSITION DEMAND SPEED ACTUAL POSITION The above diagram can be summarised by the following expression Demand Speed KPe KI eit KD e e 1 KV pi pi 1 KF d di KA u ui 1 Where KP proportional gain constant KI integral gain constant KD differential gain constant KV velocity feedback gain constant KF velocity feed forward gain constant KA acceleration feed forward gain constant e position error demand position measured position dj demand position pi measured position u demand speed di di 1 Copyright 2003 Quin Systems Ltd 48 2 13 1 Position Loop Proportional Gain KP This command sets the proportional gain of the system The proportional gain acts on the measured position error which is calculated as the difference between the current demand position and the position measured by the encoder High gain gives the system a faster response and tighter position control but if the gain is too high the system may oscillate For best results the proportional gain should be set as high as possible without inducing severe overshoot or oscillation 2 13 2 Position Loop Integral Gain KI This command sets the gain for the integral term in the controller transfer function When integral control is used the system integrates the position error by adding the c
9. 977 6728 permitted e mail sales quin co uk website www quin co uk Drg No DRG03 A 1 1 Pin Out Table Function CAN _L CAN H CAN_GND CAN_GND CAN_V Error line SERVOnet continuity line CAN_Shield ON ou A D Issue Date Modification Notes A 03 10 02 First Issue Copyright 2003 Quin Systems Ltd Drawn HO Approved RJ45 Male connector viewed from the contacts side I o 1 D m Use Farnell no 546 124 or RS no 455 258 Both use same termination tool AMP ref no 734218 3 available from Farnell no 546 148 or RS no 120 5307 QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk NOTES 1 Quin cable stock no CBA151 B 2 Also shown in Quin drawing no QDV 2 2 011 Copyright 66 ee ae SERVOnet opyright in this A drawing resides Terminator with the company RJ45 Connector no unauthorised reproduction is S No N A permitted Drg No DRGO4 91 92 Issue A RJ45 Male connector QUAULWONH IILKEITTKHI Pin Out Table Function CAN L CAN H CAN_GND CAN_GND CAN_V Error line SERVOnet continuity line CAN_Shield Date 04 10 02 First Issue oN aun O NI Modification Notes Cat FTP patch cable Cable Numbers Quin Stock No CBA151 1 CBA151 2 CBA151 3 CBA151 5 CBA151 10 Draw
10. ABB Control Panel has been used on an ABB drive check that the panel status has been returned to R for remote external use 3 7 1 Start up Data Parameter Group 99 Start up parameters are defined in group 99 This data should be taken from the name plate on the motor The following table gives values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual Note it is necessary to enter data for parameter group 99 before data can be entered for parameter group 20 Subsequently changing the nominal motor speed parameter 99 08 will affect the speed limits for parameters 20 01 and 20 02 Copyright 2003 Quin Systems Ltd 57 Parameter Description Motor Control Mode DTC Yominal Motor Voltage 400V Yominal Motor Current 14 9A Yominal Motor Frequency 51 6Hz Vominal Motor Speed 1500rpm Yominal Motor Power 7 5kW No Motor ID Run The MC parameter in the PTS must be set to a value which is equal to the resolution of the encoder on the back of the motor This parameter is channel specific and the resolution must be defined in counts per revolution For example a quadrature encoder which provides 2048 pulses per revolution ppr on channel 1 should have its MC parameter set as follows CH1 MC8192 N B Edge counting provides a x4 multiplication to the encoder s ppr resolution 3 7 2 Start Stop Dir Parameter Group 10 Start stop dir parameters are defined
11. Hyperlink CANbus cable Quin Stock No CA2049 Farnell No 296 788 Copyright Copyright in this drawing resides connections CANbus Encoder with the company 9 pin D Connector no unauthorised reproduction is S No N A Issue permitted Drg No DRGOS A 1 1 95 96 Additional Cables End View inside 9 pin D type Socket Female and the integrated RJ45 socket RS 314 8155 Blue RS485 RS232 Function Function TERM H Tx DATA RTS Rx DATA CTS TERM L GND V BIAS Tx DATA Tx DATA Rx DATA Rx DATA Issue Date Modification Notes A 04 10 02 First Issue B 04 12 03 Combine tables and change dwg title and notes Pin Out Table Cable colour Blue Orange Black Red Green Yellow Brown Grey Drawn HO HO RJ45 Male connector 9 pin RJ45 D socket Socket Oo 0 YU BR wn Approved GB GB oN Aun PW D QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk Cat 5 UTP patch cable Part No RS 405 4348 1m Long Blue Port B RJ45 Male connector PEGE I O O1 D NOTES 1 Quin cable stock no CBA139 A 2 Also shown in Quin drawing no QDV 2 2 018 NOTES FOR PORT B CONNECTION This Adaptor MUST be used in conjunction with the cables listed below to connect the RJ45 port B in a PTS unit to the following o
12. If the drive is replaced then either the ID run needs to be repeated or the ID run back up data should be downloaded using the DrivesWindow software A repeat ID run may require the motor to be dismounted from the machine For this reason it is important that the download option is readily available It is also important that the user does not inadvertently write to parameter 99 10 The motor should now be tested by running it in open loop mode A PC running PTS Toolkit should now be connected to Port A of the Machine Manager The user should be familiar with the use of PTS Toolkit and have an understanding of the mnemonic commands detailed below These are fully described in the Quin PTS Reference Manual A procedure for driving a motor in open loop mode is given below Step 1 Motor channel selection Use the PTS CH command to select the motor channel for testing This will be CH1 for a Standalone drive Refer to the section on Module and Channel Numbering above if using a SERVOnet system Step 2 Pre set the demand speed The demand speed is specified by the value of the OM parameter This should be set initially to 0 Step 3 Enable the drive for open loop operation Type AOI to enable the drive Increasing the value of OM should force the motor to rotate faster in one direction Each time the OM value is changed the drive will receive a step change in demand velocity For this reason increase OM in increments of 50 to keep the step cha
13. LEDs are fitted next to the power connector on the Machine Manager These should all be lit when the 24V supply is present 4 1 3 Mini Machine Manager Three 7 segment displays are provided on the front of the Mini Machine Manager These should be lit when the unit is powered up In normal operation the display should show RDY at power up followed by the number of channels found on the SERVOnet network Once SERVOnet has been initialised the word CAN will be displayed The 7 segment displays are also used to report error codes These are described in the Machine Manager Installation Manual and in the PTS Reference Manual The Mini Machine Manager also provides host I O for which there is a green LED for each digital input and a red LED for each digital output 4 2 Serial Port Testing Each SRV300 provides two serial ports Port A and Port B as shown in tables 13 and 14 A SERVOnet system also incorporates a Quin Machine Manager which itself provides two serial ports also defined as Port A and Port B Copyright 2003 Quin Systems Ltd 66 Port A on the SRV300 can be tested using a PC running PTS Toolkit On power up the SRV300 should identify itself either as an axis module or as a Standalone unit If the drive is configured as an axis module then it will prompt for a new module number at power up If the drive is configured as a Standalone unit then the Quin copyright text will be displayed and the SRV300 will complete its power up proced
14. PSU voltage is 5 25V and the volt drop to terminals 12 amp 10 is less than 0 5V An adjustable PSU is required c The Blue core may be connected in parallel with the Brown Green core by wiring to terminal 7 at the SRV300 The white core may be connected in parallel with the White Green core by wiring to terminal 8 at the SRV300 This will halve the volt drop The supply voltage at the PSU could be increased to 5 25V as in b above An adjustable PSU is required d The Blue and White cores could be wired to the sense terminals of a PSU The PSU will adjust its output to maintain 5V at the encoder A voltage sensing PSU is required Copyright Incremental Encoder Lead Square wave signals Copyright in this drawing resides with the company no unauthorised reproduction is S No N A permitted Drg No DRG12 99 H Encoder SRV300 Screw Socket Pins Terminal T1 or T2 5 2 Z 12 10 2 11 Connector housing I ou w ND Ree NRO Pin Out Table Use Heidenhain Encoder SRV300 signal Heidenhain Encoder SRV300 screw Cable Part No 244 957 01 j terminal for Function Cable Colour Socket Pin TI amp T2 A Brown 1 JA Green B Grey TE a NOTES Z Red 1 Connection table for Heidenhain ROD486 incremental encoders 2 Also shown in Quin drawing no QDV 2 2 019 3 Guidance for use of encoder pins 2 amp 11 a Pins 2 amp 11 need not be used if the PSU volta
15. board s 24V power is taken from the drive s internal 24V supply or from an external supply The choice is up to the end user but if the internal supply is used then it would be necessary to reboot the SRV300 in the event of an emergency stop condition since this would remove power to the RMIO board and break the comms link to the SRV300 Parameter Description Run enable Comm module Fault reset sel Comm module 1 for internal supply 2 for external supply 3 7 6 Limits Parameter Group 20 Limit parameters are defined in group 20 The following table states values for a specific application using a 4 pole 7 5kW motor The required values must be chosen to suit the user s application A full description of each parameter is given in the ACS 800 Firmware Manual The value for parameters 20 05 and 20 06 depend on whether the drive is fitted with a brake chopper Parameter Description Min motor speed Max motor speed Max drive output current to motor 200 Max allowed motor torque 300 NO Over voltage control OFF NO Under voltage control OFF 3 7 7 Start stop Parameter Group 21 Start stop parameters are defined in group 21 The following table suggests values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual Copyright 2003 Quin Systems Ltd 59 Parameter Description Start function Cnst DC magn Const
16. can be read using the RI command This will return a value of 1 for ON or 0 for OFF Refer to the PTS Reference Manual for more details The presence of a 24V signal will have to be tested using a multimeter at connector T4 X measured relative to T4 9 there are no input LEDs The signal can be conveniently provided by linking T4 10 24V I O supply to the input under test The input should draw between 10 and 20mA If an input is not switching but a voltage is present at the terminal check the level of the voltage The inputs have a threshold voltage of 10 to 16V The DB command debounce affects the operation of the digital inputs A 24V signal may correctly switch a digital input on as confirmed by the RI command but if the DB value is high then the execution of defined inputs DI will be delayed The MI and BI commands can also prevent the defined input commands from executing until the input has been enabled using the EI command The RI command will report if the input is block masked or enabled The sketch below shows the input circuitry for one digital input T4 9 is the OV I O supply as detailed in figure 5 The test input is one of the digital input terminals T4 1 to T4 8 Copyright 2003 Quin Systems Ltd 68 TLP121 OPTO ISOLATOR TEST INPUT T4 9 OV I O SUPPLY Figure 11 Digital Input Circuit SRV300 BOARD 4 5 Testing of Digital Outputs The digital outputs on the SRV300 board are PNP devices which can pr
17. earth star point in the drive and to the screen pin of the encoder or its connector depending on the encoder manufacturer The inner screens should also be tied to the earth star point in the drive but should be left disconnected at the encoder end 2 7 1 3 1 PTS Language Parameters and Configuration Settings for SSI Encoders Set FS5 to enable SSI binary encoder feedback Set FS6 to enable SSI gray code encoder feedback Use the NB parameter to specify the number of data bits Use the NZ parameter to specify the number of leading zeros Refer to the encoder cable assembly drawing DRG14 at the end of this manual Copyright 2003 Quin Systems Ltd 28 2 7 1 4 CANopen Relative CANopen encoders should be wired onto the SERVOnet network This network connects into sockets S1 and S4 on the SRV300 An adaptor is available to convert from the 8 way RJ45 sockets S1 or S4 to a 9 pin D male Only three connections are required to the encoder as shown in the following table Note if the CANopen encoder is at the end of the SERVOnet network then a 120 Ohm terminating resistor and a link must be fitted at the encoder The terminating resistor should be connected across the CAN _L and CAN H lines The link should tie the LINK line to ground Refer to drawing DRG08 at the end of this manual The NB parameter must be set to a value which matches the number of data bits returned by the encoder The NZ parameter must be set to a value which
18. in group 10 These are set automatically on power up by the SRV300 board and should correspond to the values given in the following table Parameter Description Ext 1 comm module Ext 2 comm module Direction request 3 7 3 Reference Select Parameter Group 11 Reference Select parameters are defined in group 11 Parameters 11 02 11 03 and 11 06 are set automatically on power up by the SRV300 board and should correspond to the values given in the following table Parameters 11 04 and 11 05 are user defined The table suggests values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual Parameter Description Ext1 ext2 select comm module Ext refl select Comm ref Ext refl Minimum value Ext refl Maximum value Ext ref2 select Comm ref 3 7 4 Constant Speed Selection Parameter Group 12 Parameter group 12 allows pre set constant speeds to be defined These are not required when using the SRV300 board Parameter 12 01 should therefore be set to 1 Copyright 2003 Quin Systems Ltd 58 12 01 Constant speed select not selected 3 7 5 System Control Inputs Parameter Group 16 System Control Input parameters are defined in group 16 Parameters 16 01 and 16 04 are set automatically on power up by the SRV300 board and should correspond to the values given in the following table Parameter 16 09 is used to specify whether the RMIO
19. network If in the above example the CANopen encoder is to be read by CHI on drive module 2 then set the CANopen encoder address to 2 and set FS9 on CHI of module 2 An example installation is shown as schematic 10 at the back of this manual Note it is not possible to use a CANopen encoder and CANopen I O at the same time with a standalone drive If the use of CANopen I O is enabled using the SK command then this will automatically prevent the CANopen encoder from working Hence if after working through the above configuration procedure it is not possible read position information back from the CANopen encoder check to see if the CANopen software feature has been enabled by typing SK To disable the feature enter CANopen against the prompt New Feature and then type lt return gt when prompted for the version number It will then be necessary to reboot the drive If the CANopen encoder fails to transmit data then PTS error code 102 will be displayed on the programming PC If this occurs check the cabling to the encoder its supply voltage baud rate setting and address switch setting The default baud rate is 500k bits s Refer to the encoder cable assembly drawing DRG08 at the end of this manual Copyright 2003 Quin Systems Ltd 30 2 7 1 5 SinCoder Relative A Sincoder is a Hiperface product supplied by Stegmann It behaves as an incremental encoder but its resolution can be specified by using the NB command to provide interp
20. power connector Subsequent figures show the various wiring options described above Copyright 2003 Quin Systems Ltd 14 24V Supply OV Supply 24V Supply OV Supply Note Pin 1 identified as Pin 1 is at the opposite side of P1 to all the other connectors on the SRV300 Figure 4 SRV300 Logic Power Connector Pin out Copyright 2003 Quin Systems Ltd 2 4 2 SRV300 Digital I O Power and Digital Inputs The SRV300 provides opto isolated digital I O for which it requires an external 24V d c supply connected to terminals T4 9 and T4 10 on the 10 way connector T4 The rating of this I O supply is application specific since it only needs to provide sufficient current to meet the specific requirements of the digital outputs As an upper limit each of the eight digital outputs can switch no more than 100mA There are no LEDs to show the state of the digital I O The I O supply is reverse voltage protected to 24V d c using an internal series diode Clamp diodes are also fitted to both the input and output circuits in order to provide a measure of protection for the opto isolators themselves However if an input needs to monitor the state of a coil directly then an external series diode should be fitted to protect the input This will prevent negative voltage spikes from inducing high reverse currents on the input when the coil is switched off Nue Sii am Digital Input 1 ag N Digital Input 2 J
21. the SRV300 is configured as a Standalone drive The Port B serial port on the Machine Manager is designed for use with an HMI This is normally configured as RS485 and hence requires equipment which operates with this interface in order to test the port Only one software feature as defined using the SK command can be enabled on Port B at any one time These features provide communications for the Quin Mini Operator s Panel the Quin Operator s Panel Modbus protocol Copyright 2003 Quin Systems Ltd 67 Data Highway protocol 4 3 PTS Error Messages Error messages are automatically reported through the serial port Port A of the Machine Manager on a SERVOnet system or through Port A of the SRV300 on Standalone units To see these messages a PC running PTS Toolkit s Terminal Window should be connected to the appropriate serial port A full list of possible error messages is given at the back of the PTS Reference Manual If the error message relates to a specific channel then this channel number will precede the error message PTS Terminal provides a large circular buffer It is possible to scroll back to look at error messages which have disappeared off the screen The LE command can be used to list the last 10 error messages from a circular buffer 4 4 Testing of Digital Inputs The digital inputs on the SRV300 board operate at a 24V d c level Applying a 24V signal to an input should switch that input on Its state
22. the system to be easily configured to suit an application The SRV300 can be used in one of three ways as part of a MultiDrive Installation with an ACS800 configured as a Standalone Drive with an ACS800 configured as a SERVOnet node A separate manual covers MultiDrive Installations This manual describes the Installation of an SRV300 when used either as a Standalone Drive or when configured as a SERVOnet node In both cases the SRV300 board is installed inside the drive chassis When used in standalone mode no other control equipment is required although an HMI can be connected directly to the SRV300 When used as a SERVOnet node additional SERVOnet nodes will exist together with a Quin Machine Manager to control the network These additional SERVOnet nodes may be further SRV300s or other Quin control products which can be configured as SERVOnet nodes The two schematics below should clarify these two types of installation SRV300 HMI ACS800 fitted with SRV300 Control Board Figure 2 Standalone Installation Copyright 2003 Quin Systems Ltd 12 Quin Machine NA im HMI ACS800 SRV300 ACS800 SRV300 Module 2 Module 1 SERVOnet Figure 3 SERVOnet Installation 2 3 2 Mechanical Installation The dimensions of the SRV300 Servo Controller are as follows Height 244 mm Width 76 mm 97 mm including connectors Depth 20 mm Weight 0 2 kg The SRV300 board is fitted inside a metal enclosure adjacent to t
23. to T6 3 must be within 15V to 20V relative to T6 1 0 Volts Analogue input Analogue input 0 Volts Analogue output 0 Volts Note Pin 1 identified as Figure 7 Analogue I O Connector Pin out Copyright 2003 Quin Systems Ltd 18 2 4 5 Encoder Supply Two encoders can be connected to the SRV300 Each encoder requires an external power supply which must be wired into connector T3 on the SRV300 as detailed below Terminals T3 1 and T3 2 accept the supply voltage for the encoder on channel 1 CH1 These are internally linked to terminals T1 7 and T1 8 respectively The voltage level must suit the type of encoder used on channel 1 Refer to the Electrical Specification for more details Terminals T3 3 and T3 4 accept the supply voltage for the encoder on channel 2 CH2 These are internally linked to terminals T2 7 and T2 8 respectively The voltage level must suit the type of encoder used on channel 1 Refer to the Electrical Specification for more details Note Terminals T3 2 and T3 4 are internally linked together and also to the SRV300 logic supply OV rails on pins P1 1 and P1 3 detailed above CH1 Encoder Supply OV Supply CH2 Encoder Supply OV Supply Figure 8 Encoder Supply to SRV300 Connector Pin out Copyright 2003 Quin Systems Ltd 19 2 4 6 Channel 1 Encoder CH1 The signal and power terminals for the channel 1 encoder are provided on connector T1 P
24. to keep the drive enabled even after removing power to the drive This will then use the stored energy in the drive to brake the motor This is particularly important when driving large inertias A mechanical brake may also be required The machine designer must also consider how to move off a limit switch If this can t be done manually then care must be taken when driving off a limit switch since this will require the switch to be by passed During such a recovery operation it would be advisable to reduce the peak current setting in the drive outside of the limit switches mechanical shock absorbers may be required in order to absorb any kinetic energy from the load if the motor braking above isn t sufficient finally bump stops will be required to define an absolute physical limit of travel The following points may also be worth considering when driving rotary axes in large inertia or high speed applications where the moving load can store large amounts of kinetic energy it may be necessary to use regenerative braking in order to dissipate this energy in an emergency stop situation Copyright 2003 Quin Systems Ltd 50 in applications where the load is allowed to coast to a stop the machine designer must ensure that it is not possible for the operator to open a guard and gain access to the moving parts of the machinery during its deceleration Copyright 2003 Quin Systems Ltd 51 3 Installation Procedure 3 1
25. to wait for a marker pulse display a reference error and then repeat Rotate the encoder The PC should display a reference error value DF each time the marker pulse is seen If this is not the case then the signal should be monitored using an oscilloscope Type AX WE to end the test Check that the encoder counts in both directions Run the display mode again DM and monitor the position value in the P column as the encoder is rotated forwards and backwards Check that the encoder value has not changed when the encoder is returned to its original position Copyright 2003 Quin Systems Ltd 70 Check that the encoder position value changes by the correct amount for each revolution of the encoder For an incremental encoder the value should change by 4 x the resolution of the encoder in pulses per revolution ppr providing the default value of FSO is being used For absolute encoders check that the encoder position value is consistent for a given encoder position when the SRV300 is powered up From an installation point of view check that the cable length does not exceed the maximum length recommended for the type of encoder being used Also check the integrity of the screen connections For completeness the encoder input circuitry is given below 680kQ ENCODER ENCODER COUNTER A D 39KQ ca ENCODER IA 10kQ ia ENCODER 220pF 220pF SAMPLE HOLD ADC 10pF 39kQ OV V Ref Figure 13 Encoder Input Circuit
26. 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk NOTES 1 Quin cable stock no CBA137 B 2 Also shown in Quin drawing no QDV 2 2 007 C Copyright Copyright in this drawing resides with the company no unauthorised reproduction is permitted Title SERVOnet Terminator 9 pin D Connector S No N A Issue Scale Dre No DRGO2 A 1 1 89 A D E H View of the solder Grey Hyperlink CANbus cable View of the solder buckets on the rear Quin Stock No CA2049 buckets on the rear of 9 way D type x Farnell No 296 788 of 9 way D type Socket Female 4 twisted pairs of 7x0 16mm Plug Male N plus overall screen nominal outside diameter 5 9mm Pin Out Table Cable 9way 9 way Function colour socket plug Reserved Brown CAN_L White Orange CAN_GND White Green SERVOnet continuity line CAN_Shield Screen CAN_GND Blue CAN_H Orange White Brown NOTES 1 Quin cable stock no CBA137 cable length in metres 2 Also shown in Quin drawing no QDV 2 2 007 Error line Green CAN_V White Blue o ono a F V Nje CON AH A VN Issue Date Modification Notes Drawn Approved Copyright A 03 10 02 First Issue HO U N CEN Q Copyright in this drawing resides Lead Quin Systems Ltd with the company 9 pin D Connector Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is S No N A Issue Scale Tel 0118 977 1077 Fax 0118
27. AND INPUT CONNECTOR PIN OUT FIGURE 6 SRV300 DIGITAL OUTPUT CONNECTOR PIN OUT FIGURE 7 ANALOGUE I O CONNECTOR PIN OUT FIGURE 8 ENCODER SUPPLY TO SRV300 CONNECTOR PIN OUT FIGURE 9 ENCODER CHANNEL 1 CONNECTOR PIN OUT FIGURE 10 FIGURE 11 FIGURE 12 FIGURE 13 FIGURE 14 FIGURE 15 FIGURE 16 FIGURE 17 FIGURE 18 FIGURE 19 FIGURE 20 FIGURE 21 FIGURE 22 FIGURE 23 FIGURE 24 FIGURE 25 FIGURE 26 ENCODER CHANNEL 2 CONNECTOR PIN OUT DIGITAL INPUT CIRCUIT DIGITAL OUTPUT CIRCUIT ENCODER INPUT CIRCUIT JUMPER LOCATIONS EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 1 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 2 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 3 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 4 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 5 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 6 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 7 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 8 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 9 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME 10 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME11 EQUIPMENT INTERCONNECTION DIAGRAM SCHEME12 Copyright 2003 Quin Systems Ltd 11 12 13 15 16 17 18 19 20 21 69 69 71 73 76 77 78 79 80 81 82 83 84 85 86 87 vii TABLE 1 TABLE 2 TABLE 3 TABLE 4 TABLE 5 TABLE 6 TABLE 7 TABLE 8 TABLE 9 Tables INCREMENTAL ENCODER CONNECTIONS SQUAREWAVE INCREMENTAL ENCODER CONNECTIONS SINUSOIDAL SSI E
28. Assessment should be undertaken by the machine designer in order to determine the safety level of the machine European Standard EN954 1 defines 5 such levels Establishing the safety level of the machine determines the choice and use of safety equipment In addition the Stop Category of the machine should be established This determines when the power to the motors must be removed The following points may also be worth considering when driving reciprocating axes software limits can be used to prevent the user attempting to drive a motor outside of its working stroke proximity switches can be fitted outside of the software limits in order to switch digital inputs These can be used to trigger quick decelerations and to prevent a motor attempting to drive further outwards The DI and DL commands in the PTS language can be used to achieve this Refer to the PTS Reference Manual for more information on the use of these commands hard wired limit switches can be fitted just short of the physical stroke limits These could be used to remove the power to the motor This is normally done by killing the supply to the drive itself rather than breaking the power connectors between the motor and drive However most drives incorporate a significant amount of capacitance and killing the power to the drive will not stop a motor immediately since these capacitors will store energy It may be necessary to apply a zero speed demand signal to the drive and
29. Copyright 2003 Quin Systems Ltd 44 29 CANopen I O The SRV300 board provides 8 digital inputs 8 digital outputs 1 analogue input and 1 analogue output CANopen I O modules can be used to increase the amount of digital and analogue I O in a system The expansion is limited and there are restrictions in the mix of digital and analogue CANopen modules CANopen I O can be added to a standalone drive or to a SERVOnet system The same restrictions apply in each case The configuration however is different Refer to the appropriate section below 2 9 1 CANopen I O restrictions It is not possible to use CANopen I O and a CANopen encoder with a single drive A separate drive is required for each CANopen device It is not possible to mix digital input modules and analogue input modules on the same Synchrolink SER VOnet network It is not possible to mix digital output modules and analogue output modules on the same Synchrolink SER VOnet network A maximum of 64 digital inputs can be used A maximum of 64 digital outputs can be used A maximum of 4 16 bit analogue inputs can be used A maximum of 4 16 bit analogue outputs can be used 2 9 2 Adding CANopen I O to a standalone drive Refer to example installation schematics 10 and 11 at the end of this manual Connect a programming PC to port A of the SRV300 in the standalone drive Use the SK command to enable the CANopen software option as follows type SK lt return gt This will di
30. Fax 0118 977 6728 permitted e mail sales quin co uk website www quin co uk Drg No DRG06 A 1 1 Copyright 2003 Quin Systems Ltd View inside 9 pin D type Plug Male and the integrated RJ45 socket Part No RS 314 8098 Pin Out Table Cable 9 pin RJ45 Function colour D socket Socket n c S CAN_L Blue CAN_GND Black SERVOnet continuity line CAN_Shield Grey CAN_GND Red CAN_H Orange Brown NOTES 1 Quin cable stock no CBA152 MALE 2 Also shown in Quin drawing no QDV 2 2 011 Error line Yellow CAN_V Green onon AUN Aan Fo Nn Ow Issue Date Modification Notes Drawn Approved C Copyright line alee n QU N RJ45 Socket to Copyright in this drawing resides 9 pin D Plug Male Quin Systems Ltd with the company SERVOnet Lead Adaptor Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is S No N A Tel 0118 977 1077 Fax 0118 977 6728 permitted e mail sales quin co uk website www quin co uk Drg No DRGO7 Issue Date A 04 10 02 First Issue Modification Notes Copyright 2003 Quin Systems Ltd CANbus Encoder View of the solder buckets on the rear of 9 way D type Plug Male 120R local CAN GND Drawn HO Approved QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk Grey
31. Group 22 Speed Control Parameter Group 23 Motor Control Parameter Group 26 Brake Chopper Details Parameter Group 27 Fault Functions Parameter Group 30 Set TR Address Parameter Group 92 Option Modules Parameter Group 98 Stage 2 Safety Check Motor Tuning Stage 1 Motor ID run and open loop operation Stage 2 PTS Parameter Setup and Close loop Operation Stage 3 Fine tuning the Motor Performance 3 9 3 1 Display Mode Position Monitoring 3 9 3 2 PTS Toolkit Tuning 3 9 3 3 PTS Toolkit Scope Copyright 2003 Quin Systems Ltd 47 47 3 9 3 4 Fine tuning Procedure 4 TROUBLESHOOTING 4 1 Visual Diagnostics 4 1 1 QManager 4 1 2 Machine Manager 4 1 3 Mini Machine Manager 4 2 Serial Port Testing 4 3 PTS Error Messages 4 4 Testing of Digital Inputs 4 5 Testing of Digital Outputs 4 6 Analogue Input Output Testing 4 7 Encoder feedback testing 4 8 Position monitoring 4 9 Fault logging 4 10 Board Configuration 4 10 1 J1 Reset and interrupt configuration 4 10 2 J2 Serial port A override 4 11 Replacing Equipment 4 11 1 Replacing the SRV300 5 EQUIPMENT INTERCONNECTION DIAGRAMS Copyright 2003 Quin Systems Ltd 68 68 69 70 70 71 72 72 72 73 73 74 vi FIGURE 1 INTERCONNECTION OF STANDALONE DRIVE ELEMENTARY Figures COMPONENTS FIGURE 2 STANDALONE INSTALLATION FIGURE 3 SERVONET INSTALLATION FIGURE 4 SRV300 LOGIC POWER CONNECTOR PIN OUT FIGURE 5 SRV300 DIGITAL I O POWER TO SRV300
32. Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk Copyright Copyright in this drawing resides with the company no unauthorised reproduction is permitted I ou YUN Ree NRO SRV300 Screw Terminal T1 or T2 7 Earth Stud Sincoder Lead S No N A Drg No DRG15 C Issue A Pin Out Table SRV300 signal Function A JA B B Not Used Not Used 5V Supply 5V Sensor OV Supply OV Supply OV Sensor ECLK ECLK EDATA EDATA Date 22 10 02 First Issue Heidenhain Cable Colour Green Black Yellow Black Blue Black Red Black Brown Green Blue White Green Inner screen White Violet Yellow Grey Pink Outer screen Modification Notes Copyright 2003 Quin Systems Ltd Encoder Socket Pin 15 16 12 13 7 al 10 No Connection 4 8 9 14 17 Connector housing Encoder Socket Pins SRV300 screw terminal for T1 amp T2 1 7 See Note 3 8 8 See Note 3 9 10 11 12 Earth Stud on Chassis Drawn Approved HO Connector housing NOTES Use Heidenhain Encoder Cable Part No 266 306 01 unused cores not shown 1 Connection table for Heidenhain ROQ413 and ROQ425 2 Also shown in Quin drawing no QDV 2 2 023 3 Guidance for use of encoder pins 1 amp 4 a Pins 1 amp 4 need not be used if the PSU voltage i
33. Magn time 7ms kW x motor kW x2 Stop function Coast DC Hold NO 3 7 8 Accel decel Parameter Group 22 Accel decel parameters are defined in group 22 The following table suggests values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual Parameter Description ACC DEC 1 2 SEL ACC DEC 1 ACCEL TIME 1 0s DECEL TIME 1 0s 3 7 9 Speed Control Parameter Group 23 Speed control parameters are defined in group 23 The following table states values for a specific application These parameters have been produced from a motor ID run and should not be copied through to the user s application Instead the user should perform a motor ID run himself as described later A full description of each parameter is given in the ACS 800 Firmware Manual Following a motor ID run it is possible to edit these gain term values in order to optimise the speed loop Parameter Description GAIN 10 2 s Integration time 0 16 s Derivation time 0 0 ms Acc compensation 0 1 s Slip Gain 100 0 Autotune Run NO 3 7 10 Motor Control Parameter Group 26 Motor Control parameters are defined in group 26 The following table suggests values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual Flux Optimization NO Flux braking YES 3 7 11 Brake Chopper Details Paramete
34. NCODER CONNECTIONS CANOPEN ENCODER CONNECTIONS SINCODER ENCODER CONNECTIONS ENDAT ENCODER CONNECTIONS SSI ENCODER CONNECTIONS CANOPEN ENCODER CONNECTIONS SINCOS ENCODER CONNECTIONS TABLE 10 ENDAT ENCODER CONNECTIONS TABLE 11 ENCODER FEEDBACK SUMMARY TABLE TABLE 12 S1 AND S4 SERVONET SOCKET PIN OUTS TABLE 13 S2 PORT A PIN OUTS FOR RS232 CONFIGURATION TABLE 14 S2 PORT A PIN OUTS FOR RS485 CONFIGURATION TABLE 15 S3 PORT B PIN OUTS FOR RS232 CONFIGURATION TABLE 16 S3 PORT B PIN OUTS FOR RS485 CONFIGURATION Copyright 2003 Quin Systems Ltd 26 27 28 29 31 32 33 34 35 37 38 39 40 42 43 44 vili 1 Introduction 1 1 Manual Overview This manual is presented in five sections Section 1 describes the use of this manual Section 2 provides background information which details the specification of the equipment and its use Anyone new to this equipment should read this section before proceeding to section 3 Section 3 provides a step by step installation procedure for the equipment Installation should only be undertaken by a competent electrical engineer Section 4 provides troubleshooting information to solve installation problems and any potential failures which might occur in use Section 5 provides a number of equipment interconnection diagrams These identify the cables adaptors and ports which are required when building up a system 1 2 Related Publications The user should read or refer to the
35. Onet node However a licence is required Please contact your local sales office or Quin Systems Ltd for information Step 7 If the drive needs to be configured as a Standalone unit then follow step 7 Run up PTS Toolkit s Terminal program and connect the serial lead from the PC to Port A on the SRV300 Use the appropriate serial lead Quin stock code CBA139 B Click on the connect icon Select the serial port to be used on the PC Click on Abort Detection If the SRV300 has already been supplied as a Standalone Unit then pressing lt return gt will display the current channel prompt 1 or 2 If pressing lt return gt displays a line prompting for a module number then this means that the drive is currently set up as a SERVOnet drive To change it to standalone type T for type and then S for standalone and then reboot Step 8 If a SERVOnet system is being installed then follow step 8 Power down connect the external supply to the RMIO board if set to external the 24V supply plug for the Machine Manager and switch the 12V SERVOnet supply on Power up The 24V d c supply LED on the Machine Manager should be lit Connect the PC to Port A on the Machine Manager The SERVOnet system should be seen to initialise Type VN and check that all the SERVOnet channels are seen Type CN and check that there aren t any SERVOnet errors Step 9 Configure the RMIO boards for Fieldbus operation by setting parameter 98 02 to Field
36. Overview This procedure provides a step by step guide to installing a Quin SRV300 board into an ABB ACS800 drive It should be read in parallel with the ABB Installation Manuals 3 2 Equipment Familiarisation The user should be competent with the use of the following equipment 3 2 1 Use of the CDP 312 Control Panel The CDP 312 Control Panel is an ABB product which connects directly to the ABB drive It allows the drive to be set up and monitored Its use is described in the ACS 800 Firmware Manual 3 2 2 Use of PTS Toolkit PTS Toolkit is a Windows based package which allows the user to program and monitor a motion control system manufactured by Quin Systems This software is supplied together with on line help files describing its use 3 2 3 Use of DrivesWindow DrivesWindow is a PC based software package supplied by ABB to allow the PC to communicate over a high speed fibre optic serial link to either a TSU or inverter drive Full instructions are supplied with the software 3 3 Mechanical Installation The mechanical installation of the SRV300 is described in detail below together with photographs showing it fitted to an ACS800 RS frame The installation of additional Quin equipment e g the Machine Manager in a SERVOnet system or the Quin Power Supply is described in the relevant Quin Installation Manuals The installation of additional ABB equipment is described in the relevant ABB Manuals The Quin SRV300 board is supp
37. RV300 Issue Identification The SRV300 Issue B board is identified as an ACS600 and is silk screen printed with the code PD0073 The SRV300 Issue C board is identified as an SRV300 and is silk screen printed with the code PD0078 Copyright 2003 Quin Systems Ltd 10 Figure 1 Interconnection of Standalone Drive Elementary Components SRV300 3 PHASE SUPPLY The RDCO board detailed above is plugged on top of the RMIO board as shown in the sketch below The PTS SRV300 controller card is housed within a sheet metal enclosure which is fixed OUTSIDE the ABB drive This sketch is drawn face on to the drive but with the SRV300 card swivelled 90 to show the fibre optic connectors and cables between it and the drive Note that each fibre optic cable will have a blue connector at one end and a grey connector on the other such that a correct connection will be achieved when the coloured ends of the cables are connected to the same colour connectors on the cards as shown in Figure 1 above Copyright 2003 Quin Systems Ltd 11 2 3 System Specification This section gives the overall specifications of the system including mechanical details and environmental requirements 2 3 1 Overview The SRV300 Servo Controller is a microprocessor based motion control board It allows an ABB motor drive system to be operated in closed loop position control and gives the end user access to a range of motion control commands to allow
38. SERVOnet power feed CBA137 X D type SERVOnet lead X length m CBA151 X RJ45 SERVOnet lead X length m CBA152 MALE RJ45 to 9 pin D Male Converter Q Control 1 CANbus Encoder ACS800 ACS800 Module 2 Module 1 SERVOnet CBA152 MALE CBA152 FEMALE Encoder CBA151 X CBA151 X CBA151 CBA137 X Lead i CBA137 A Note Refer to the attached drawing DRG08 for details on connecting a CANbus encoder Figure 18 Equipment Interconnection Diagram Scheme 4 Copyright 2003 Quin Systems Ltd Machine CBA137 A SERVOnet power feed Manager CBA151 X RJ45 SERVOnet lead X length m CBA151 B RJ45 SERVOnet terminator CBA152 MALE RJ45 to 9 pin D Male Converter SERVOnet SERVOnet ACS800 ACS800 Module 2 Module 1 CBA152 MALE CBA151 B CBA151 X CBA151 X CBA137 A Figure 19 Equipment Interconnection Diagram Scheme 5 80 CBA137 A SERVOnet power feed CBA137 X D type SERVOnet lead X length m CBA151 X RJ45 SERVOnet lead X length m CBA151 B RJ45 SERVOnet terminator CBA152 MALE RJ45 to 9 pin D Male Converter ACS800 Module 2 CBA151 B CBA151 X Figure 20 Equipment Interconnection Diagram Scheme 6 Copyright 2003 Quin Systems Ltd Mini Machine Manager SERVOnet Q Control 1 ACS800 SER VOnet Module 1 CBA152 MALE CBA151 X CBA137 X CBA137 A Red Black 81 Machine CBA137 A SERVOnet power feed Manager CBA137 X D t
39. U OV 1 Copyright 2003 Quin Systems Ltd 87 B View of the solder buckets on the rear of 9 way D type Socket Female 0 volts Black I Diode BAV21 100R 2W 12 volts Red 2 core Red and Black twisted pair size 16 0 2 Pin Out Table 2m long ends crimped with ferrules 9 way Function socket Reserved CAN L CAN_GND SERVOnet continuity line CAN_Shield CAN_GND CAN_H NOTES 1 Quin cable stock no CBA137 A 2 Also shown in Quin drawing no QDV 2 2 007 Error line CAN_V Ojon oan A WNT Issue Date Modification Notes Drawn Approved Copyright A 30 09 02 First Issue ao U N SEE Q Copyright in this drawing resides Feed Lead Quin Systems Ltd with the company 9 pin D Connector Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is S No N A Issue Scale Tel 0118 977 1077 Fax 0118 977 6728 permitted e mail sales quin co uk website www quin co uk Dre No DRGO1 A 1 1 E Issue A Pin Out Table Function Reserved CAN_L CAN_GND SERVOnet continuity line CAN Shield CAN_GND CAN _H Error line CAN_V Date Modification Notes 01 10 02 First Issue HO Copyright 2003 Quin Systems Ltd Drawn Approved GCB View of the solder buckets on the rear of 9 way D type Plug Male QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118
40. al cabinet Pin Number Signal CH1 Encoder Supply OV Supply ECLK ECLK EDATA EDATA Note Pin 1 identified as Figure 10 Encoder Channel 2 Connector Pin out Copyright 2003 Quin Systems Ltd 21 2 5 Electrical Specification The electrical characteristics of the SRV300 Servo Controller module are listed below External power supplies Encoder supply 5V for incremental and EnDat 9V for SinCos and SinCoder 12V for CANopen 24V for SSI and EnDat Digital I O supply 24V d c This input on terminals T4 9 and T4 10 is reverse voltage protected Logic supply 24V 19 to 36V 115mA 30mA Encoder input Incremental Maximum input pulse frequency 1 MHz maximum 4 x10 counts per second Interface voltage 5V peak to peak max Track A input leads track B input for positive direction Analogue Level 1V peak to peak nominal Cycle rate 10 sin cos cycles per second SinCos Maximum speed 6000 R P M Interface Hiperface 9600 baud data channel Maximum cable length 100m SSI Clock rate 300 kHz max cable length 70m Bits 12 to 24 EnDat Clock rate 300kHz max cable length 70m Analogue input Input range 10V differential Input voltage on A relative to system ground 10V maximum 5 V minimum Input voltage on A relative to system ground 20V maximum 15 V minimum A to D resolution 10 bits Input impedance 30kQ Analogue output
41. an Digital Input 3 Digital Input 4 Digital Input 5 Digital Input 6 Digital Input 7 Digital Input 8 OV I O Supply 24V I O Supply Note Pin 1 identified as Figure 5 SRV300 Digital I O Power to SRV300 and Input Connector Pin out Copyright 2003 Quin Systems Ltd 16 2 43 SRV300 Digital Outputs The eight digital outputs from the SRV300 are provided on the 8 way connector T5 as detailed below Each output can source up to 100mA Warning these outputs are not current limited or short circuit protected If switching a relay always make sure that a flywheel diode is fitted across the coil to prevent the back EMF from damaging the SRV300 Digital Output 1 Digital Output 2 Digital Output 3 Digital Output 4 Digital Output 5 Digital Output 6 Digital Output 7 Digital Output 8 Note Pin 1 identified as Figure 6 SRV300 Digital Output Connector Pin out Copyright 2003 Quin Systems Ltd 17 2 4 4 Analogue I O Analogue I O is provided on the 6 way connector T6 as shown below Terminals T6 1 T6 4 and T6 6 are internally linked together and to the SRV300 s OV supply rail on P1 1 and P1 3 It may be necessary to earth this common OV rail to ensure a clean signal on the analogue input The analogue input voltage is measured across terminals T6 3 to T6 2 Note the voltage applied to T6 2 must be within SV to 10V relative to T6 1 The voltage applied
42. aptor for ports A and B Copyright 2003 Quin Systems Ltd 74 DRG10 DRG11 DRG12 DRG13 DRG14 DRG15 DRG16 DRG17 Copyright 2003 Quin Systems Ltd CBA139 B LS LOL I No No CBA number No CBA number No CBA number No CBA number No CBA number No CBA number No CBA number Serial lead for port A CANopen I O connections Encoder cable assembly square wave Encoder cable assembly sinusoidal Encoder cable assembly SSI Encoder cable assembly Sincoder Encoder cable assembly EnDat Encoder cable assembly SinCos 75 Manager CBA137 A SERVOnet power feed CBA151 X RJ45 SERVOnet lead X length m CBA151 B RJ45 SERVOnet terminator CBA152 MALE RJ45 to 9 pin D Male Converter ACS800 ACS800 Module 2 Module 1 SERVOnet CBA151 B CBA152 MALE CBA151 X CBA151 X CBA137 A Figure 15 Equipment Interconnection Diagram Scheme 1 76 CBA152 MALE RJ45 to 9 pin D Male Converter CBA151 B ACS800 Module 2 CBA151 X Figure 16 Equipment Interconnection Diagram Scheme 2 Copyright 2003 Quin Systems Ltd Machine Manager Q Control 1 ACS800 Module 1 SERVOnet CBA152 MALE CBAIS1 X CBA137 X CBA137 A Red Black 77 Q Control 1 CBA137 B CBA152 FEMALE CBA151 X Figure 17 Equipment Interconnection Diagram Scheme 3 78 ACS800 Module 2 CBA151 X ACS800 Module 1 SERVOnet CBA152 MALE CBA151 X CBA137 A Red Manager CBA137 A
43. be used without giving excessive overshoot or oscillation thus improving the speed of response of the system 2 13 5 Position Loop Velocity Feedforward KF This command allows the user to set the gain for the velocity feedforward term in the controller transfer function It uses the demand velocity as opposed to the measured velocity and is particularly useful when following a set position or velocity profile If a system is using proportional gain only then there will be a steady position error when running at constant velocity known as velocity lag The feedforward gain has the effect of reducing the velocity lag by adding a component dependent on the demand velocity into the demand signal output The velocity lag error may be easily reduced to zero or even made negative by increasing the value of the feedforward gain Alternatively velocity lag may be reduced to zero by the use of integral gain but this has other effects as well Copyright 2003 Quin Systems Ltd 49 2 13 6 Position Loop Acceleration Feedforwards KA This command allows the user to set the gain for the acceleration feedforward term in the controller transfer function It uses the demand acceleration as opposed to the measured acceleration and is useful when following a set position or velocity profile The effect of KA is to provide a component of the output signal proportional to the required demand acceleration 2 14 Safety Using Guards and Limits A Risk
44. bered channel Monitor the analogue input with the DA command This should read about 1024 Set the full scale negative output 5 Volts with the command OM 2047 DA should now report a value of 1024 Undefine the output and return its voltage to 0 by typing KM0 OM0 AO0 Note This test doesn t actually provide a full test of the analogue input since it will accept a 10V swing and is only tested over a 5V swing 4 7 Encoder feedback testing An encoder connector is provided for each of the two channels on the SRV300 as described in sections 2 4 6 and 2 4 7 Encoder testing requires the use of PTS Toolkit The procedure for testing each channel is the same once the channel has been selected using the CH command Type CH1 lt return gt to select channel 1 or CH2 lt return gt to select channel 2 Use the appropriate FS command to match the encoder type as described in section 2 7 Check that the encoder value does not change when the encoder is stationary Type DM to run the display mode and check the value in the P column A jitter of a few counts is normal especially for a high resolution encoder However the value should not vary wildly or drift up or down over a period of time DO will turn the display mode off If the encoder provides a marker pulse and is wired up check that it is being seen Type RM1 DZ1 RWO FRO SRO to allow the signal to be seen but to prevent it having any effect TypeWF DF RP to force the SRV300
45. bus 98 02 2 This needs to be done using the ABB Control Panel Step 10 Configure the fibre optic baud rate by setting 70 01 to 1 This needs to be done using the ABB Control Panel Step 12 Test each encoder Refer to the Feedback Options section above for connection details Use the DP command to read the encoder position on a particular channel Step 13 Reboot the system After the reboot communication should be established between the SRV300 and the RMIO board in the ABB drive After rebooting check that a value of 2 is read back using PTS Toolkit by typing QQ9802 lt return gt on the motor channel of the drive On a Standalone drive the motor channel will be CH1 On a SERVOnet system the motor channel will be CH1 on module 1 CH3 on module 2 CH5 on module 3 etc With this parameter set to 2 it will be possible to read other parameters from the PTS using the QQ command If parameter 9802 is not set to 2 i e the comms has not been set to Fieldbus then the QQ command will read back parameter values of 0 3 7 Setting Drive parameters As well as the parameters listed above it is also necessary to set or confirm the values of a number of configuration parameters within the drive These parameters are listed below The drive parameters can be set in one of three ways Copyright 2003 Quin Systems Ltd 56 a Using the Control Panel plugged into the ABB drive b Using PTS Toolkit running on a PC This is connect
46. e Encoders 2 7 2 1 SSI Absolute The following table provides the connection information for a Stegmann AG661 multi turn when wired to channel 2 s encoder connector T2 Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply US OV Supply GND ECLK CLOCK ECLK CLOCK EDATA DATA EDATA DATA Table 7 SSI Encoder Connections Screen connections The encoder cable should be overall screened with individually screened twisted pairs for the signal lines The outer screen should be tied to the earth star point in the drive and to the screen pin of the encoder or its connector depending on the encoder manufacturer The inner screens should also be tied to the earth star point in the drive but should be left disconnected at the encoder end 2 7 2 1 1 PTS Language Parameters and Configuration Settings for SSI Encoders Set FS7 to enable SSI binary encoder feedback Set FS8 to enable SSI gray code encoder feedback Use the NB parameter to specify the number of data bits Use the NZ parameter to specify the number of leading zeros Refer to the encoder cable assembly drawing DRG14 at the end of this manual Copyright 2003 Quin Systems Ltd 33 2 7 2 2 CANopen Absolute CANopen encoders should be wired onto the SERVOnet network This network connects into sockets S1 and S4 on the SRV300 An adaptor is available to convert from an 8 way RJ45 socket S1 or S4 to a 9 pi
47. ecessary to use CBA139 A together with a standard Quin serial lead CBA139 as shown in the schematic below The screen is tied to the bodies of both D types in CBA139 thereby ensuring that the PC remains earthed to the chassis of the drive 9 PIN D F MALE SRV300 Cat 5 cable CBA139 A Quin Serial Lead PC Port A CBA139 COM Once an SRV300 is configured for use in a SERVOnet system port A on the SRV300 is not required unless the SRV300 needs to be configured back to being a Standalone system Copyright 2003 Quin Systems Ltd 4 Pin Number RS485 signal Tx DATA Rx DATA GND Tx DATA Rx DATA Table 14 S2 Port A pin outs for RS485 configuration Copyright 2003 Quin Systems Ltd 42 Pin Number RS232 signal RIS CIS Table 15 S3 Port B pin outs for RS232 configuration Copyright 2003 Quin Systems Ltd 43 Pin Number RS485 signal TERM H Tx DATA Rx DATA TERM L GND V bias Tx DATA Rx DATA Table 16 S3 Port B pin outs for RS485 configuration The V bias pin and the termination pins 1 and 4 are used when Port B is configured for RS485 operation in a multi drop environment Refer to the Quin Manual MANS526 PTS Modbus Interface Users Manual for more details and a wiring diagram Port B can also be used in a half duplex 2 wire configuration This is also described in the PTS Modbus Interface Users Manual
48. ecification to a SinCos and may also be used in relative mode thereby making it equivalent to a Sincoder The maximum cable length for an EnDat encoder is 100m Unlike a SinCos an EnDat encoder requires additional clock pulses This in turn requires an extra screened twisted pair of cores in the cable to it 2 7 Feedback Options The SRV300 is designed to accept position feedback signals from a range of devices both relative and absolute These are described below Note however that issue B boards are limited to accepting squarewave signals from incremental encoders only Refer to section 2 2 1 for information of issue identification An example connection table is presented for each encoder option This table provides information for a specific encoder together with the signal descriptions used by the encoder manufacturer PTS language parameters and configuration settings are also listed Full details on the PTS language are given in the PTS Reference Manual Copyright 2003 Quin Systems Ltd 25 2 7 1 Relative Feedback Devices 2 7 1 1 Incremental Encoders with Squarewave Outputs Relative The following table provides the connection information for a Stegmann DG60L when wired to channel 2 s encoder connector T2 Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply OV Supply ECLK ECLK EDATA EDATA Table 1 Incremental Encoder Connections Squarewave Screen connec
49. ed to Port A of the Machine Manager if using a SERVOnet system or directly to Port A on the SRV300 if using a Standalone drive c Using DrivesWindow running on a PC which is connected to the ABB drive directly using a fibre optic link Having followed through the Stage 1 Power up Procedure described above then the drive parameters can be conveniently set using the QP command The use of this command is described in detail in the PTS Reference Manual An example is given below Example To set parameter 99 05 to 400 first change to CHI for a standalone drive and then type QP9905 400 Note The QP command can only be used on an odd numbered motor channel Note also that the group parameter syntax is not used with the QP command the dot is not required Once the drive parameters have been set they can be saved to Non Volatile Memory NVM by setting parameter 250 to 1 as follows Example To save drive parameters on a standalone drive type CH1 QP250 1 Note This does not save the PTS program use the SP command to save parameters profiles maps and sequences to non volatile memory on the SRV300 board Refer to the PTS Reference Manual for more details Warning Do not change the value of parameter 98 02 from its required value of 2 This will break the communication between the SRV300 board and the RMIO and it will be necessary to change this value back using the Control Panel or through the DrivesWindow software If the
50. figuration Settings for Sincoders Set FS11 to enable Sincoder feedback Use the NB parameter to specify the resolution Refer to the encoder cable assembly drawing DRG15 at the end of this manual Copyright 2003 Quin Systems Ltd 31 2 7 1 6 EnDat Relative An EnDat encoder is a Heidenhain product similar in specification to a SinCos device In relative mode it behaves however as a SinCoder A 300kHz clock rate is used This limits the maximum encoder cable length to 70m Two options are available for the supply voltage 5V d c 5 or 10 30V d c The following table provides the connection information for an EnDat encoder when wired to channel 2 s encoder connector T2 Pin Number SRV300 Signal Encoder Signal T2 1 A A 122 A A 12 3 B B T2 4 B B T2 5 Z T2 6 IZ 12 7 CH2 Encoder Supply Up T2 8 OV Supply GND T2 9 ECLK CLOCK T2 10 ECLK CLOCK T2 11 EDATA DATA T2 12 EDATA DATA Table 6 EnDat Encoder Connections Screen connections The encoder cable should be overall screened This screen should be tied to the earth star point in the drive 2 7 1 6 1 PTS Language Parameters and Configuration Settings for EnDat encoders Set FS11 to enable EnDat encoder feedback Use the NB parameter to specify the resolution Refer to the encoder cable assembly drawing DRG16 at the end of this manual Copyright 2003 Quin Systems Ltd 32 2 7 2 Absolut
51. following ABB manuals before attempting to install the equipment The Hardware Manual for the ACS 800 Drive used The Firmware Manual which is compatible with ACS 800 Standard Application Program 7 x Installation and Start up Guides for the optional devices for the ACS 800 Copyright 2003 Quin Systems Ltd 9 2 Background Information 2 1 Overview This section presents background information which must be read or understood in order to ensure a successful installation 2 2 Equipment Identification A Quin ABB ACS800 drive system comprises a number of elementary components These are identified by the following part numbers e SRV300 Quin Controller board which incorporates the PTS firmware e RMIO ABB motor control and I O board e RDCO 03 Rev B ABB DDCS link board for fibre optic communications A drive system may be supplied complete with the SRV300 board assembled and pre configured Alternatively the Quin SRV300 board may be supplied separately and will need installing and integrating with the ABB products by the end user This manual describes the installation procedure The interconnection of the above equipment when installed is shown in the sketch on the following page for a single standalone drive Note Contactors fuses and auxiliary power supplies have been omitted at this stage for simplification The equipment is not drawn to scale Cable entry positions are pictorial for clarification 2 2 1 S
52. ge is 5V and the volt 5V Sensor Blue See Note 3 drop to terminals 12 amp 10 is less than 0 25V OV Supply White Green b Pins 2 amp 11 need not be used if the PSU voltage is 5 25V and the volt drop 8 to terminals 12 amp 10 is less than 0 5V An adjustable PSU is required OV Sensor White See Note 3 c The Blue core may be connected in parallel with the Brown Green core by wiring to terminal 7 at the SRV300 The white core may be connected in Not Used 9 parallel with the White Green core by wiring to terminal 8 at the SRV300 This Not Used 10 will halve the volt drop The supply voltage at the PSU could be increased to 5 25V as in b above An adjustable PSU is required Not Used di d The Blue and White cores could be wired to the sense terminals of a PSU The Not Used 12 PSU will adjust its output to maintain 5V at the encoder A voltage sensing Connector Earth Stud PSU is required housing on Chassis See Note 3 Earth Stud Z Black 5V Supply Brown Green 7 Screen Issue Date Modification Notes Drawn Approved Copyright yrig A 22 10 02 First Issue ao U N DEEE Q Copyright in this drawing resides Encoder Lead Quin Systems Ltd with the company Sinusoidal Signals Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is S No N A Issue Scale Tel 0118 977 1077 Fax 0118 977 6728 permitted e mail sales quin co uk website www quin co uk Drg No DRG13 A 1 1 100
53. gth m CBA152 FEMALE RJ45 to 9 pin D Female Converter CANopen ae ACS800 Module S1 S4 CANopen I O Lead CBA152 FEMALE CBA151 X CBAI51 A 24V 4 06 3a 12V 2 Note Refer to the attached drawing DRG11 for details on connecting CANopen I O PS Q4P PSU OV 1 Black Figure 24 Equipment Interconnection Diagram Scheme 10 Copyright 2003 Quin Systems Ltd 85 CBAISI A RJ45 Synchronlink power feed CBA151 X RJ45 SERVOnet lead X length m CBA152 FEMALE RJ45 to 9 pin D Female Converter CANopen CANb VO e ACS800 ACS800 Module Module S1 S4 S1 S4 CANbus encoder lead CBA151 X CANopen I O Lead CBA152 FEMALE CBAISI A CBA151 X Note Refer to the attached drawing DRG08 for details on connecting a CANbus encoder Note Refer to the attached drawing DRG11 for details on connecting CANopen I O PS Q4P PSU OV 1 Figure 25 Equipment Interconnection Diagram Scheme11 86 Machine CBA137 A SERVOnet power feed Manager CBA151 X RJ45 SERVOnet lead X length m CBA152 MALE RJ45 to 9 pin D Male Converter CBA152 FEMALE RJ45 to 9 pin D Female Converter SERVOnet SERVOnet ACS800 ACS800 Module 2 Module 1 CANopen I O BA151 X Lead 5 CBA152 FEMALE CBA152 MALE CBA151 X CBA151 X CBA137 A 24V 4 OV 3 Note Refer to the attached drawing DRG11 for details on connecting CANopen I O 12V 2 Figure 26 Equipment Interconnection Diagram Scheme12 Oe PS
54. he ACS800 chassis for which an installation kit is available Fibre optic cables are provided for inter connecting the SRV300 board and the RDCO interface as shown in figure 1 above These cables have specific lengths and should be installed such that they are allowed to take up their own path Refer to section 3 for a detailed description of how to assemble the metal enclosure to the drive chassis 2 3 3 Environmental Specification The following operating conditions apply to the Quin SRV300 board when installed vertically for normal convection cooling Operating conditions for the ABB equipment are detailed in the appropriate ABB manual Temperature storage 0 to 70 C Temperature operating 0 to 45 C Relative humidity 20 to 80 non condensing Forced air ventilation will be required to operate the board at higher ambient temperatures 2 3 4 System Hardware Features The SRV300 provides the following hardware features 2 serial ports configurable to RS232 or RS485 Copyright 2003 Quin Systems Ltd 13 2 CANbus connectors 8 digital inputs 8 digital outputs l analogue input l auxiliary analogue output 1 closed loop motor control channel using fibre optic demand signals and encoder feedback 1 master encoder or virtual channel 2 4 Connector Pin outs Each connector pin out is tabulated adjacent to a sketch of the SRV300 board This cross reference clearly identifies the location of each connecto
55. in out details are given below The SRV300 allows a range of different encoder types to be connected For this reason not all terminals will be required for a given installation Terminals T1 7 and T1 8 provide the supply voltage to the encoder These are internally linked to terminals on connector T3 as described above which receive the incoming power Note the encoder signals are not opto isolated Care must be taken to ensure that screened cable is used from T1 to the encoder and that the screen is cleanly earthed in the electrical cabinet Pin Number Signal CH1 Encoder Supply OV Supply ECLK ECLK EDATA EDATA Note Pin 1 identified as Figure 9 Encoder Channel 1 Connector Pin out Copyright 2003 Quin Systems Ltd 20 2 4 7 Channel 2 Encoder CH2 The signal and power terminals for the channel 2 encoder are provided on connector T2 Pin out details are given below The SRV300 allows a range of different encoder types to be connected For this reason not all terminals will be required for a given installation Terminals T2 7 and T2 8 provide the supply voltage to the encoder These are internally linked to terminals on connector T3 as described above which receive the incoming power Note the encoder signals are not opto isolated Care must be taken to ensure that screened cable is used from T1 to the encoder and that the screen is cleanly earthed in the electric
56. lative feedback however will need to be driven to a known position in order to define its datum This is normally achieved by using an additional reference sensor The encoder type is defined using the FS command in the PTS language Refer to the PTS Reference manual for more details SSI and CANopen encoders always report absolute position values However it is possible to treat them as relative devices by using the appropriate FS command When selected as a relative device an SSI or CANopen encoder will behave like an incremental encoder to the user As such the encoder position value will be relative to the encoder s position at power up or relative to a zeroed position as defined by the user Single turn and multi turn encoders both SSI and CANopen can be defined as relative or absolute devices The main advantage of a relative SSI or CANopen encoder is that it is not possible for the position to drift as could an incremental where lost pulses or noise could affect the position counter A SinCos is an absolute feedback device in that its actual position can be determined at power up using its parameter channel This is done automatically by the PTS firmware Thereafter however the system behaves as a relative device with a user definable resolution determined by the value of NB To force a read of the absolute data at any time after power up it is necessary to change the FS to 0 and then back to 12 while the encoder is stationary Al
57. le 2 74 Encoder Speed Limitations 2 8 Serial port connections 2 9 CANopen I O 2 9 1 CANopen I O restrictions 2 9 2 Adding CANopen I O to a standalone drive 2 9 3 Adding CANopen I O to a SERVOnet system Copyright 2003 Quin Systems Ltd 39 45 45 45 45 2 13 2 13 1 2 13 2 2 13 3 2 13 4 2 13 5 2 13 6 2 14 Module and Channel Numbering An Introduction to Motor Tuning The Speed Loop The Position Loop Position Loop Proportional Gain KP Position Loop Integral Gain KI Position Loop Differential Gain KD Position Loop Velocity Feedback Gain KV Position Loop Velocity Feedforward KF Position Loop Acceleration Feedforwards KA Safety Using Guards and Limits 3 INSTALLATION PROCEDURE 3 1 3 2 3 2 1 3 2 2 3 2 3 3 3 3 4 3 5 3 6 3 7 3 71 3 7 2 3 7 3 3 7 4 3 7 5 3 7 6 3 7 7 3 7 8 3 7 9 3 7 10 3 7 11 3 7 12 3 7 13 3 7 14 3 8 3 9 3 9 1 3 9 2 3 9 3 Overview Equipment Familiarisation Use of the CDP 312 Control Panel Use of PTS Toolkit Use of Drives Window Mechanical Installation Electrical Installation Pre power up checks Stage 1 Power up Procedure and Checks Setting Drive parameters Start up Data Parameter Group 99 Start Stop Dir Parameter Group 10 Reference Select Parameter Group 11 Constant Speed Selection Parameter Group 12 System Control Inputs Parameter Group 16 Limits Parameter Group 20 Start stop Parameter Group 21 Accel decel Parameter
58. lied pre mounted inside a metal case It is therefore necessary to fit the SRV300 case assembly to the drive chassis The comms link between the SRV300 and the ACS800 drive is provided by two fibre optic cables These are supplied with the SRV300 assembly and need to be fitted after the mechanical installation A channel section bracket is attached to the side of the metal case This needs to be bolted to the base of the gland bracket at the bottom of the drive This assembly is Copyright 2003 Quin Systems Ltd 52 shown in the following photograph Although this obscures one of the gland holes sufficient gland holes are still available for power and signal cables a iji D gt SL 4 The fibre optic cables should be fitted and routed as shown in the following two photographs gt Copyright 2003 Quin Systems Ltd 53 Care must be taken to route the fibre optic cables in order to maximise the bend radius 3 4 Electrical Installation The electrical installation is described in section 2 above The installation of additional Quin equipment e g the Machine Manager or Quin Power Supply is described in the relevant Quin Installation Manuals The installation of additional ABB equipment is described in the relevant ABB Manuals 3 5 Pre power up checks Before applying power to an installation for the first time it is important to run through the following checklist Check that the correct su
59. llows 4 parameters to be monitored graphically The motion stimulus and gain terms can be adjusted using PTS Terminal The results can be recorded to a resolution of 1 servo loop and the results saved to disk on the PC Again full details are provided in the help menu 3 9 3 4 Fine tuning Procedure A motor should be tuned empirically Attempting to model a system mathematically would require complex transfer functions to be available and would be difficult to compute due to the control loops being digital and running asynchronously Tuning a motor empirically essentially involves forcing it to try and make movements which it is unable to follow The resultant errors can then be monitored and minimised As described above the ACS800 SRV300 drive system incorporates a speed loop in the ABB drive board and a position loop in the SRV300 board It is important to fine tune the inner loop the speed loop first The motor ID run will have established initial values for the gain terms in the speed loop These are Parameter 23 01 proportional gain Parameter 23 02 integral gain Parameter 23 03 derivative gain Parameter 23 04 acceleration feedforward gain To fine tune this inner speed loop use the AO and OM commands described above in order to force a step change in speed demand to the drive The result can be monitored graphically using PTS Scope By adjusting the speed loop gain terms in the drive the response can be optimised for set
60. ls should be set as described in section 2 8 The system should then be rebooted and the application software downloaded via the Machine Manager The program should then be saved using the SP command Static precautions should be taken when handling the board Copyright 2003 Quin Systems Ltd 73 5 Equipment Interconnection Diagrams The following pages provide equipment interconnection schematic diagrams which identify the cables adaptors and ports which are required when building up a SERVOnet system using the SRV300 The schematics are grouped in terms of their equipment mix and clarify the where 9 pin D and RJ45 connectors are used Contents Scheme 1 Machine Manager 2 x ABB SRV300 Drives Scheme 2 Machine Manager 2 x ABB SRV300 Drives 1 x Q Motion 1 Scheme 3 As scheme 2 but with Q Motion as last node Scheme 4 Machine Manager 2 x ABB SRV300 Drives 1 x Q Motion 1 CANbus encoder Scheme 5 Mini Machine Manager 2 x ABB SRV300 Drives Scheme 6 Mini Machine Manager 2 x ABB SRV300 Drives 1 x Q Motion 1 Scheme 7 Mini Machine Manager 2 x ABB SRV300 Drives 1 x Q Motion 1 CANbus encoder Scheme 8 2 x ABB SRV300 Drives Synchrolink Scheme 9 Standalone Drive with HMI programming PC and CANbus encoder Scheme 10 Standalone drive with CANopen I O Scheme 11 Two Standalone Drives Synchrolinked together with CANopen encoder and CANopen I O Scheme 12 Mini Machine Manager 2 x ABB SRV300 Drives CANopen encoder and CANopen I O
61. ltage Directive 73 23 EEC as amended by 93 68 EEC The product as normally supplied has low voltages accessible to touch and must be mounted within a suitable cabinet to meet any required IP rating to BS EN 60529 Copyright Notice Copyright 2003 Quin Systems Limited All rights reserved Reproduction of this document in part or whole by any means without the prior written consent of Quin Systems Limited is strictly prohibited Copyright 2003 Quin Systems Ltd i Unpacking and Inspection Inspect the packaging for external signs of damage if possible before signing the delivery receipt This may indicate that it has been mishandled in transit When unpacking the system keep all the packaging materials if possible If it is necessary to ship the system to another site or to return it for service the original packing can be re used Inspect the system carefully when it is unpacked Check for any loose parts any circuit boards loose in their card guides cables not connected or any bending of the case or chassis If any defect or damage is suspected do not connect power to the system Notify the carrier immediately and contact your sales office or the Quin Systems Service Department Quin Systems Limited Service Department Oaklands Business Centre Oaklands Park Wokingham Berkshire RG41 2FD England Telephone 44 0 118 977 1077 Fax 44 0 118 977 6728 Email sales quin co uk support quin co uk Web site http w
62. mitted e mail sales quin co uk website www quin co uk CANopen I O connections 9 pin D Connector S No N A Issue Scale Drg No DRG11 A 1 1 Issue A Encoder Socket Pins Connector housing SRV300 signal Function A JA B B Z Z 5V Supply 5V Sensor OV Supply OV Sensor Not Used Not Used Not Used Not Used Date 22 10 02 First Issue Pin Out Table Heidenhain Cable Colour Encoder Socket Pin Brown Green Grey Pink Red Black Brown Green Blue White Green White Pin 9 amp connector housing Modification Notes Copyright 2003 Quin Systems Ltd SRV300 screw terminal for T1 amp T2 1 7 See Note 3 8 See Note 3 9 10 11 12 Earth Stud on Chassis Drawn Approved HO QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk O Ho u PUNE Hu 2 12 SRV300 Screw 4 Terminal T1 or T2 Use Heidenhain Encoder Cable Part No 244 957 01 See Note 3 A Earth Stud NOTES 1 Connection table for Heidenhain ROD426 or Stegmann DG60L incremental encoders 2 Also shown in Quin drawing no QDV 2 2 019 3 Guidance for use of encoder pins 2 amp 11 a Pins 2 amp 11 need not be used if the PSU voltage is 5V and the volt drop to terminals 12 amp 10 is less than 0 25V b Pins 2 amp 11 need not be used if the
63. n HO Length m 1 2 3 5 Approved RS Part No RS 405 4461 RS 405 4477 RS 405 4483 RS 405 4506 RS 405 4512 Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 RJ45 Male connector ONnukwne NOTES 1 Quin cable stock no CBA151 cable length in metres see cable no table 2 Also shown in Quin drawing no QDV 2 2 011 Copyright pn ee SERVOnet opyright in this drawing resides Lead with the company RJ45 Connector no unauthorised reproduction is S No N A Issue Scale permitted e mail sales quin co uk website www quin co uk Drg No DRGO5 A 1 1 View inside 9 pin D type Socket Female and the integrated RJ45 socket Part No RS 314 8111 Pin Out Table Cable 9 pin RJ45 Function colour D socket Socket 4 1 n c CAN L Blue CAN_GND Black SERVOnet continuity line Brown CAN_Shield Grey CAN_GND Red CAN H Orange NOTES 1 Quin cable stock no CBA152 FEMALE 2 Also shown in Quin drawing no QDV 2 2 011 Error line Yellow CAN_V Green Oo M DA un A WIN Issue Date Modification Notes Drawn Approved e Copyright SR m sa QU N RJ45 Socket to Copyright in this drawing resides 9 pin D Socket Female Quin Systems Ltd with the company SERVOnet Lead Adaptor Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is S No N A Issue Scale Tel 0118 977 1077
64. n D male Only four signal connections are required to the encoder as shown in the following table Note if the CANopen encoder is at the end of the SERVOnet network then a 120 Ohm terminating resistor and a link must be fitted at the encoder The resistor may be jumper selectable within the encoder itself Alternatively the resistor should be connected across the CAN _L and CAN H lines The link should tie the LINK line to ground Refer to drawing QDV 2 2 011 The NB parameter must be set to a value which matches the number of data bits returned by the encoder The NZ parameter must be set to a value which specifies the number of leading zeros The following table provides the connection information for a CANopen encoder when wired onto SERVOnet Pin Number S1 S4 Signal 9 pin D Adaptor Encoder Signal CAN L CAN H CAN GND LINK TO CAN GND DIS BR ISIN j Alo OI ITS Table 8 CANopen Encoder Connections Screen connections The encoder cable should be overall screened It should be connected to pin 5 of the 9 pin adaptor or to pin 8 of the RJ45 socket if an adaptor is not used 2 7 2 2 1 PTS Language Parameters and Configuration Settings for CANopen Encoders Set FS10 to enable CANopen encoder absolute feedback Use a 500k bits s baud rate Follow the configuration procedure described above for using CANopen encoders in relative mode Refe
65. n an RJ45 to 9 pin D converter should be used Quin stock code CBA152 MALE converts from an RJ45 socket to a 9 pin D type male This should be used for connecting to a 9 pin D type female on the SERVOnet module Quin stock code CBA152 FEMALE converts from an RJ45 socket to a 9 pin D type female This should be used for connecting to a 9 pin D type male on the SERVOnet module Pin Number RS232 signal Tx DATA Rx DATA GND RTS CTS Table 13 S2 Port A Pin outs for RS232 configuration The normal Quin serial lead Quin stock code CBA139 is a 9 pin D female to a 9 pin D male which connects the serial port on a PC to a 9 pin D serial port on a Quin controller However port A on an SRV300 board is presented as an RJ45 socket and a different serial lead is therefore required Quin stock code CBA139 B connects the 9 pin D male connector on a PC to the RJ45 on the SRV300 using a 3m length of lead This is shown in the schematic below Copyright 2003 Quin Systems Ltd 40 E HE SRV300 CBA139 B 3m Cat 5 cable adaptor PC Port A COM Note CBA139 B also provides a separate external earth lead This should be tied to the drive chassis The connection procedure is as follows i Connect the 9 pin D to the comms port on the PC first ii Connect the earth tag to the drive chassis iii Connect the RJ45 plug into port A on the SRV300 Where commissioning requires the use of a longer serial lead it is n
66. ne SERVOnet module Example installations are shown as schematics 4 and 7 at the back of this manual If using a CANopen encoder on a standalone drive then set the encoder node number to 1 using its address switches and define the drive as module 1 using the CNI command It is only possible to use a single CANopen encoder with a standalone drive It is also necessary to define the drive as a clock master by setting CK1 The CANopen encoder can be read back on either CH1 or CH2 on the standalone drive Set FS9 on whichever channel is required An example installation is shown as schematic 9 at the back of this manual If using a CANopen encoder on a Synchrolink system then the PTS configuration is similar to that for a SERVOnet system described above Each drive needs to be assigned a unique module number but this time by using the CN command It is also necessary to define one drive as the clock master using the CK command For example if two drives are synchrolinked together then the first should be defined as module 1 using the CNI command and the second as module 2 using the CN2 command It is necessary to connect to port A of each drive in turn Module 1 can be defined as the clock master using the CK1 command Channel 1 CH1 and channel 2 CH2 will exist on module 1 A different channel 1 CH1 and channel 2 CH2 will exist on module 2 Note this is different to SERVOnet where there is a unique channel number for each PTS channel on the
67. ng When configured as a SERVOnet drive each module SRV300 requires a unique module number and can appear as one or two channels Since PTS programs use the channel numbers as opposed to the module numbers it is important to know the relationship between them This is explained in the following table for a 3 module system Module Channel CH Description Number Number Motor channel for module 1 Encoder virtual channel for module 1 Motor channel for module 2 Encoder virtual channel for module 2 Motor channel for module 3 Encoder virtual channel for module 3 The module number and channel choice is best set up with the SERVOnet network off This can be done by removing the 12V SERVOnet supply Connect to Port A of the SRV300 When prompted type m to set up the module number or c to change the number of channels to be used 2 11 An Introduction to Motor Tuning This section provides a background to motor tuning The tuning procedure is described in section 3 Each SRV300 is designed to operate a motor in closed loop position control This involves calculating where the motor should be its demand position and measuring where it actually is its actual position The control loops within the SRV300 and within the ABB drive attempt to make the actual position match the demand position i e to put the motor where it should be This applies when the motor is held stationary as well as when it is rotating Two cont
68. ng With all the above start up procedures completed the motors are now ready for tuning This is a three stage operation The first stage is described as a motor ID run in the ABB Installation Manuals and should be undertaken with the motor off the machine The second stage involves setting initial values for the PTS parameters which determine the stability of the position loop The motor should then be tested by running it in closed loop Again this should be undertaken with the motor off the machine Copyright 2003 Quin Systems Ltd 61 The third stage involves adjusting the various gain terms in the system in order to fine tune the performance of the motor once it has been mounted and their loads connected In all cases the user must ensure that the emergency stop circuit is functioning correctly so that the motors can be stopped quickly if necessary It would be as well to set any safety relay time delay to a minimum at this stage 3 9 1 Stage 1 Motor ID run and open loop operation A motor ID run is required when a system is first commissioned if the drive is replaced ifan ID run is specifically requested by writing to parameter 99 10 The motor ID run procedure is described in detail in the Start up data chapter of the ABB ACS800 Firmware Manual Once complete it is possible to upload the ID run data to a PC for back up using the DrivesWindow software This would need to be done for each motor in the system
69. nges small at this stage Setting OM to progressively large negative numbers should drive the motor in the opposite direction at increasing speeds Type AO0 to disable the drive The motor should be seen to run smoothly in each direction Copyright 2003 Quin Systems Ltd 62 3 9 2 Stage 2 PTS Parameter Setup and Close loop Operation The initial values for a number of PTS mnemonic parameters should now be set prior to running the motor in closed loop mode A procedure is given below Step 1 PTS Parameter Set up The following PTS parameters should be defined on the motor channel Set the SE parameter to 1000 This defines a limit for the position error above which the SRV300 will automatically disable the drive This is a relatively low value to provide an early trip during this commissioning stage Set the initial value for the six gain terms as follows KP100 KVO KDO KF256 KIO KAO Set the initial value for the CW control word to 01010000 Set the initial value for the SB bound parameter to 4000000 This is required for the following encoder test Type ZC to zero the position counter Step 2 Monitor the encoder feedback The encoder feedback for the motor is received at the odd numbered channel on the SRV300 Manually turn the motor shaft through one revolution in one direction and type DP to read the encoder s position The reported value may be negative buts its magnitude should be approximately the number of encoder coun
70. od b s senean ee Ree 0 CO IONE EN A anna ann N power supplys s par teen ds ns col Gis dun Ci ne ir ested Cre ta he RIESI yay Re RE ne nes Mimet rase 48 52 56 57 62 65 66 S SOFIA LI POLTE n A SR nni ala la ei ioni Ala COSCON LIES a lele 1 te nc nes dant a 40 SERVO RSR RARE IRA 29 34 39 40 47 Sil COS soa RS A a 22 24 25 31 32 SSL re RSR SR re es entiers Te 22 24 TSU iaia entra MO aies tte fn ds anne faste E tn dde Tnt Copyright 2003 Quin Systems Ltd 56 67 68 56 66 67 35 37 38 28 33 38
71. olation on the analogue signals For a conventional encoder which produces 1024 cycles per revolution on the SIN and COS signals then an NB value of 12 will result in a resolution of 4096 counts per encoder revolution The NB parameter is used to provide interpolation on the analogue signals For a conventional encoder which produces 1024 cycles per revolution an NB value of 12 would result in a resolution of 4096 counts per encoder revolution NB can be increased to a maximum value of 24 This would theoretically produce a resolution of 16 8 million counts per revolution although noise would produce increasing amounts of jitter at higher values of NB NZ is not required with a SinCos The following table provides the connection information for a SinCoder when wired to channel 2 s encoder connector T2 Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply OV Supply ECLK ECLK EDATA EDATA Table 5 SinCoder Encoder Connections Screen connections The encoder cable should be overall screened with individually screened twisted pairs for the signal lines The outer screen should be tied to the earth star point in the drive and to the screen pin of the encoder or its connector depending on the encoder manufacturer The inner screens should also be tied to the earth star point in the drive but should be left disconnected at the encoder end 2 7 1 5 1 PTS Language Parameters and Con
72. otor is lumpy then the KP may be too low Determine a value for KP where the motor runs smoothly Step 5 Set the KF gain term Copyright 2003 Quin Systems Ltd 63 Run the motor at 20000 counts s as described in step 4 Type DM to produce a continuous trace of position data the third column displays the position error While the motor is running increase the value of KF The position error should be seen to reduce as the KF term is increased For a given value of KP a particular value of KF should produce a position error which hovers around 0 Type DO to stop the display mode Step 6 Testing the motor at maximum speed With the motor still running from step 5 the SV parameter can now be increased in order to run it faster Raise the value of SV until the motor is running at the peak speed required in the application The KF gain term should be re established since it can be determined more accurately at higher speed Stop the motor and check that it can run at the required peak speed in the reverse direction 3 9 3 Stage 3 Fine tuning the Motor Performance The above two stages have established the gain terms for the speed and position loops which will allow the motor to be driven smoothly in both open and closed loop control However these values now need to be adjusted in order to cope with the load inertia of the machine and to suit the motion requirements of the application For dynamic applications which require precise motor cont
73. ovide a 24V source current up to 100mA The outputs are switched using the SO set output and CO clear output commands and their state can be confirmed using the RO read output command The output signal can be checked using a multimeter to measure the voltage between the test output and T4 9 the I O OV supply The sketch below shows the output circuitry for one digital output T4 9 is the OV I O supply and T4 10 is the 24V I O supply as detailed in figure 5 The test output is one of the digital output terminals T5 1 to T5 8 as detailed in figure 6 TLP127 OPTO ISOLATOR T4 10 24V I O SUPPLY TEST OUTPUT T4 9 OV I O SUPPLY SRV300 BOARD Figure 12 Digital Output Circuit Copyright 2003 Quin Systems Ltd 69 4 6 Analogue Input Output Testing The analogue input and output can be tested at the same time This is done by linking the output to the input programming an output voltage and reading it back on the input Connect the analogue input terminal T6 3 to the adjacent 0 Volts terminal T6 4 Connect the analogue input terminal T6 2 to the analogue output terminal T6 5 Refer to figure 7 for terminal locations Enable the analogue output at a 0 volt level with the commands KM0 OM0 AO2 on the even numbered channel of the SRV300 Monitor the analogue input with the DA command A value close to zero should be seen Set the full scale positive output 5 Volts with the command 0M2047 again on the even num
74. own below 4 10 1 J1 Reset and interrupt configuration Jumper J1 is used to set up the power up reset options and interrupt signals for the MC68376 processor It is factory set with pins 7 and 8 linked DUARTIRQ linked to IRQ2 4 10 2 J2 Serial port A override The serial ports on the SRV300 module can be configured for either RS 232 or RS 485 operation This is software selected using the CF command However J2 allows this software configuration for port A to be overridden for testing For normal operation under software control pins 1 and 2 should be linked To force RS 232 operation pins 3 and 4 should be linked Copyright 2003 Quin Systems Ltd 72 WDI 1 2 WDT SD03 3 4 SD02 SDI3 ARQ4 5 6 DDCCIR ARQ2 7 8 DUARTIRQ PFAIL 9 10 IRQ7 ARQI 11 12 TSTME TSC EXTAL 13 14 0V WDO 15 16 0V Jumper 1 Pin out Jumper 2 Pin out SRV300 Component Side Figure 14 Jumper Locations 4 11 Replacing Equipment As described in section 2 2 above each drive requires 3 boards In the event of a board needing replacing it is important to understand the implications over and above the physical replacement of the board itself 4 11 1 Replacing the SRV300 Following a replacement of the SRV300 board it will be necessary to define its module number and how many of its channels are to be used It will then be necessary to download the application software via the Machine Manager The module number and the number of channe
75. pen Absolute 12V d c 10 Data bits Leading Zeros Incremental Relative 5V d c 11 Resolution N A sinusoidal Sincoder Relative 7 12V d c 11 Resolution N A EnDat Relative 5V d c or 11 Resolution N A 10V to 32V d c SinCos Absolute 7 12V d c 12 Resolution N A EnDat Absolute 5V d c or 13 Resolution N A Single 10V to 32V turn d c EnDat Absolute 5V d c or 14 Resolution N A Multi 10V to 32V turn d c Table 11 Encoder Feedback Summary Table 2 7 4 Encoder Speed Limitations Number of data bits Maximum Speed NB Counts s 500 000 1 000 000 2 000 000 4 000 000 The above table shows the relationship between the maximum encoder speed and the number of data bits passed back from the absolute encoder The limitation is imposed by the 256Hz sampling rate and the need to take at least two samples within one encoder revolution in order to determine the encoder s direction of rotation For example the absolute limit with 12 bit data would be 256 x 2048 524 288 counts s The 500 000 count s limit provides some headroom but still results in a rotational speed of over 7000rpm Copyright 2003 Quin Systems Ltd 38 2 8 Serial port connections Four serial ports are provided on the SRV300 board as RJ45 sockets They are identified as S1 S2 S3 and S4 Their location and pinouts are shown on the following figures Note Port A S2 and port B S3 can be config
76. pply voltage has been selected for all equipment Check that the E Stop push button s are in Check the Earth continuity Check that the MCBs are the correct rating for voltage current and inrush Check that the cabinet isolator is off Check that all the MCBs are off Check that all the fuses are removed on the d c outputs from power supplies Copyright 2003 Quin Systems Ltd 54 Remove plugs to P1 and T3 connectors on the SRV300 boards Remove the external 24V power from the connector in the drive if external logic power is being used for the ABB RMIO board This is a configuration option described in the ABB manuals Remove the 24V supply connector to the Quin Machine Manager if used Switch the 12V SERVOnet supply off if fitted Connect the motor power cables encoder feedback motor brake and motor fan cables 3 6 Stage 1 Power up Procedure and Checks The following list provides a step by step procedure for the first stage of powering up a system Checks should be made at each step If a check fails refer to the troubleshooting section or the ABB documentation for more help Step1 Apply mains supply to cabinet Check that the phase to phase voltage is within tolerance Step 2 Turn Cabinet isolator on Check the supply voltage to the MCBs which are not interrupted by the emergency stop contactor Step 3 Switch on MCBs for low voltage d c power supplies for Quin Controller boards Check out
77. ptions 1 OPERATOR PANEL Extra cable needed CBA118 2 Mini Panel Extra cable needed CBA127 3 PROFACE RS232 Extra cable needed CBA169 4 PROFACE RS485 Extra cable needed CBA194 NOTES FOR PORT A CONNECTION This Adaptor MUST be used in conjunction with cable part no CBA139 to connect PC Comm port to the RJ45 port A in a PTS unit Cable No CBA139B can also be used to connect PC Comm port to the RJ45 port A in a PTS with a MAX length of 3m Copyright nS SRV300 Copyright fn this Port A amp B Adaptor drawing resides with the company RJ45 to 9 Pin D Female no unauthorised reproduction is S No N A Issue Scale permitted Dre No DRGO9 B 1 1 PC End View inside 9 pin D type Socket Female and the integrated RJ45 socket Cat 5 UTP patch cable RS 314 8199 Green 7 Part No RS 405 3884 4 3m Long Green Z SRV300 Port A RJ45 Male SA RJ45 Male connector connector OAanNaAaunRWNH o J O OU D RS232 Pin Out Table Blade terminal to 4 3 3m Green Yellow 0 5mm earth lead connect to drive earth Cable 9 pin RJ45 solder to the shell of 9 pin D connector Function colour D socket Socket exit case through hole next to jackscrew before connecting signal cable then lace to CAT 5 with cable ties and Blue terminate with blade crimp Orange pi Black Red Green Yellow Grey NOTE 1 This cable is NOT an adaptor it is NOT suitable fo
78. put voltage and polarity of power supplies Step 4 Fit d c fuses on above power supplies Cycle the power if required Check voltage and polarity at the unplugged connectors T1 P3 the Machine Manager if used the SERVOnet 9 pin D supply lead if used and the external supply for the RMIO board if used Step 5 Power down fit plugs TI and P3 to the SRV300 controller s plus the external supply for the RMIO if used Power up Step 6 If the drive is to be used as a SERVOnet node then follow step 6 to set the module number Note Operation as a SERVOnet node requires a licence Connect the earth tag of the serial lead Quin stock code CBA139 B to the chassis of the drive Plug the serial lead connectors into Port A on the SRV300 and the comms port on the PC Power up the SRV300 wait 10 seconds and then run up PTS Toolkit s Terminal program Click on the connect icon Select the serial port to be used on the PC Click on Abort Detection If the SRV300 has been supplied for use as a SERVOnet node then pressing return will display a prompt line Type M lt return gt and enter the required module node number The section Module and channel numbering above explains how the two are related If the SRV300 has been supplied as a standalone system then pressing return will display the current channel prompt 1 or 2 It is possible to re configure a standalone Copyright 2003 Quin Systems Ltd 55 system as a SERV
79. r Group 27 If a brake chopper is being used then the drive needs to know the electrical specification of the resistor unit These should be specified in parameter group 27 Copyright 2003 Quin Systems Ltd 60 3 7 12 Fault Functions Parameter Group 30 Fault Function parameters are defined in group 30 The following table suggests values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual Parameter Description Comm FLT FUNC fault MAIN REF DS T OUT 1 00 s I O Config Func NO 3 7 13 Set TR Address Parameter Group 92 TR address parameters are defined in group 92 Parameter 92 02 is set automatically on power up by the SRV300 board and should correspond to the value given in the following table 92 02 Main DS Act 1 305 Fault word 1 3 7 14 Option Modules Parameter Group 98 Option module parameters are defined in group 98 The following table suggests values for a typical application A full description of each parameter is given in the ACS 800 Firmware Manual 98 02 2 COMM MODULE LINK FIELDBUS 98 07 1 Comm Profile ABB Drives 3 8 Stage 2 Safety Check Step1 Release emergency stop push buttons and reset the emergency stop circuit Resetting the safety relay should result in a 3 phase supply being switched to the drive s Step 2 Press an emergency stop button Check that the main emergency stop contactor drops out 3 9 Motor Tuni
80. r and the order of the terminals 2 4 1 SRV300 Logic Power The SRV300 requires a 24V d c logic supply Supply current 150mA It is also suggested that RMIO card in the ABB drive is powered from an external 24V supply Such a modification is documented in the ABB hardware manual The factory setting is to have the RMIO card powered from the drive s internal supply However this approach has a serious limitation when the power to the drive is lost as occurs during an E stop then the 24V supply is also lost and the drive logic power is lost The power connector for the SRV300 should be supplied with the equipment together with a number of crimp pins For reference the connector housing is available from Farnell order code 630 494 Manufactured by JST part number VHR 4N Pins are available from Farnell order code 630 500 Manufactured by JST part number BVH 21T P1 1 A suitable crimp tool is also available from Farnell order code 630 512 Note there is no visual indication that an SRV300 board is powered up The logic power connections are shown below for the power connector P1 on the SRV300 Two pins are provided for the supply rail These pins are internally linked on the SRV300 board as detailed below P1 1 is linked to P1 3 OV Supply P1 2 is linked to P1 4 24V d c Supply It is only necessary therefore to connect to one pair of pins e g P1 1 and P1 2 The following figure shows the location and pinout of the P1
81. r screens should also be tied to the earth star point in the drive but should be left disconnected at the encoder end 2 7 1 2 1 PTS Language Parameters and Configuration Settings for Sinusoidal Incremental Encoders Set FS11 to enable sinusoidal incremental encoder feedback Use the NB parameter to specify the encoder resolution in bits CW bit 5 specifies the count direction Refer to the encoder cable assembly drawing DRG13 at the end of this manual Copyright 2003 Quin Systems Ltd 27 2 7 1 3 SSI Relative The following table provides the connection information for a Stegmann AG612 single turn SSI encoder when wired to channel 2 s encoder connector T2 The NB parameter must be set to a value which matches the number of data bits returned by the encoder The NZ parameter must be set to a value which specifies the number of leading zeros Refer to the PTS Reference Manual for more details Note the maximum encoder speed is determined by the value of NB Refer to the Encoder Speed Limitations table at the end of this section for full details Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply US OV Supply GND ECLK CLOCK ECLK CLOCK EDATA DATA EDATA DATA Table 3 SSI Encoder Connections Screen connections The encoder cable should be overall screened with individually screened twisted pairs for the signal lines The outer screen should be tied to the
82. r to the encoder cable assembly drawing DRG08 at the end of this manual Copyright 2003 Quin Systems Ltd 34 2 7 2 3 SinCos Absolute A SinCos is a Hiperface product supplied by Stegmann It provides absolute position information through its digital parameter channel and incremental encoder signals via its SIN and COS signals The absolute position is read at power up and can be read subsequently by setting FS to 0 and back to 12 while the encoder is stationary The NB parameter is used to provide interpolation on the analogue signals For a conventional encoder which produces 1024 cycles per revolution an NB value of 12 would result in a resolution of 4096 counts per encoder revolution NB can be increased to a maximum value of 24 This would theoretically produce a resolution of 16 8 million counts per revolution although noise would produce increasing amounts of jitter at higher values of NB NZ is not required with a SinCos It is possible to zero the position of a Hiperface encoder or to set a position value corresponding to a specific position of the encoder shaft This requires the encoder to be powered up and for a PC to be serially connected to its data lines using an RS232 to RS485 converter Running Stegmann s Hiperface programming tool on the PC will then allow the encoder s position to be read or set The following table provides the connection information for a SinCos encoder when wired to channel 2 s encoder connector T2
83. r use with further cable and it is intended to directly connect the PC Comm port to the RJ45 port A in a PTS unit with a MAX length of 3m Note the crossed connection at pins 7 amp 8 This cable cannot be used for Port B Refer to Cables no CBA139 B N DOO UV RW ND Brown O MND 01 Hw dD Issue Date Modification Notes Drawn Approved C Copyright Title A 04 10 02 First Issue HO SRV300 Programming Cable from B 04 12 03 Pins 7 amp 8 are now crossed amp add notes HO Copyright in this PC COMM P i i ort to SRV300 C 05 12 03 Reverse positions of pins 7 amp 8 in both connectors HO drawing resides Quin Systems Ltd with the company Port A RJ45 Connector Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is S No N A Issue Scale Tel 0118 977 1077 Fax 0118 977 6728 permitted e mail sales quin co uk website www quin co uk Dre No DRG10 Cc 1 1 Copyright 2003 Quin Systems Ltd 98 Issue A Date 04 10 02 First Issue Modification Notes View of the solder buckets on the rear of 9 way D type Plug Male 120R local CAN GND Drawn HO Approved Grey Hyperlink CANbus cable Quin Stock No CA2049 Farnell No 296 788 Copyright QU N Copyright in this drawing resides Quin Systems Ltd with the company Oaklands Park Wokingham no unauthorised Berkshire RG41 2FD reproduction is Tel 0118 977 1077 Fax 0118 977 6728 per
84. re by wiring to terminal 7 at the SRV300 The white core may be connected in parallel with the White Green core by wiring to terminal 8 at t he SRV300 This will halve the volt drop The supply voltage at the PSU could be increased to 5 25V as in b above An adjustable PSU is required d The Blue and White cores could be wired to the sense terminals of a PSU The PSU will adjust its output to maintain 5V at the encoder A vo PSU is required Copyright Quin Systems Ltd with the company Oaklands Park Wokingham no unauthorised tage sensing SSI Encoder Lead Berkshire RG41 2FD reproduction is S Tel 0118 977 1077 Fax 0118 977 6728 permitted 0 N A e mail sales quin co uk website www quin co uk Drg No DRG14 101 102 B Issue A Encoder Socket Pins Connector housing Pin Out Table SRV300 signal Function cos REFCOS SIN REFSIN Not Used Not Used 9V Supply OV Supply Not Used Not Used EDATA EDATA Date 22 10 02 First Issue Heidenhain Encoder Cable Colour Socket Pin Yellow Green Pink Grey Brown 12 White 10 Inner No Screen Connection Pin 9 and Connector housing Modification Notes SRV300 screw terminal for T1 amp T2 1 9 10 11 12 Earth Stud on chassis Drawn HO Approved Outer Screen Use Lapp cable Part No 0034042 NOTES 1 Connection table for Stegmann Sincoder sensor QUIN Quin Systems
85. rol these values need to be determined as accurately as possible Various tuning and diagnostic tools are available to achieve this These are first discussed before finally suggesting a procedure for fine tuning a motor 3 9 3 1 Display Mode Position Monitoring This utility has already been used in stage 2 step 5 above The DM command turns the utility on while the DO command turns it off This display mode data can be free running or presented as historical data if a parameter is given after the DM command Full details are available in the PTS Reference Manual This command is useful for setting up KF when the motor is driven at a constant speed checking the variation of position error as a quick check of the spread of position error 3 9 3 2 PTS Toolkit Tuning The Tune a Motor utility is provided under the Tools menu of PTS Scope It allows the 5 position loop gain terms to be determined empirically by applying a motion stimulus and monitoring the result graphically using two traces Full details are provided in the help menu within PTS Scope The speed loop gain terms of parameters 23 01 23 02 23 03 and 23 04 can either be accessed using the ABB Control Panel or by using PTS Terminal to address these registers using the QP and QQ commands It may not however be necessary to adjust these speed loop gains after having performed an ID run Copyright 2003 Quin Systems Ltd 64 3 9 3 3 PTS Toolkit Scope PTS Scope a
86. rol loops are available to the user one in the ABB drive the speed loop and one in the SRV300 the position loop The output from the position loop in the SRV300 is a speed demand signal which is passed to the ABB drive via the fibre optic link Position feedback from the motor is received by the SRV300 The motor s measured speed is also passed to the ABB drive by the SRV300 2 12 The Speed Loop The purpose of the speed loop in the ABB drive is to ensure that the motor rotates at the speed demanded by the SRV300 It calculates a speed error which is then used to accelerate or decelerate the motor in order to correct its speed Certain parameters within the drive affect how this speed loop performs These parameters are the gains terms in group 23 Refer to the ACS 800 Firmware Manual Group 23 parameters for more information on the speed loop Copyright 2003 Quin Systems Ltd 47 2 13 The Position Loop The purpose of the position loop in the SRV300 is to control the position of the motor well tuned position loop will result in the motor s actual position closely matching its demand position Six gain terms are available to the user for adjusting the performance of this position loop These are shown in the figure below and then discussed individually The six gain terms are identified by two letter mnemonics which should be used through PTS Toolkit when changing their values Refer to the PTS Reference Manual for more details
87. s 5V and the volt drop to terminals 7 amp 10 is less than 0 25V b Pins 1 amp 4 need not be used if the PSU voltage is 5 25V and the volt drop to terminals 7 amp 10 is less than 0 5V An adjustable PSU is required c The Blue core may be connected in parallel with the Brown Green core by wiring to terminal 7 at the SRV300 The white core may be connected in parallel with the White Green core by wiring to terminal 8 at the SRV300 This will halve the volt drop The supply voltage at the PSU could be increased to 5 25V as in b above An adjustable PSU is required d The Blue and White cores could be wired to the sense terminals of a PSU The PSU will adjust its output to maintain 5V at the encoder A voltage sensing PSU is required QUIN Quin Systems Ltd Oaklands Park Wokingham Berkshire RG41 2FD Tel 0118 977 1077 Fax 0118 977 6728 e mail sales quin co uk website www quin co uk Copyright Copyright in this drawing resides with the company no unauthorised reproduction is permitted I o 1 w ND Ree NRO SRV300 Screw Terminal T1 or T2 See Note 3 2 Earth Stud EnDat Encoder Lead S No N A Drg No DRG16 103 104 B Issue A Connector housing Pin Out Table SRV300 signal Function cos REFCOS SIN REFSIN Not Used Not Used 9V Supply OV Supply Not Used Not Used EDATA EDATA Date 22 10 02 First Issue Encoder Socket Pins
88. specifies the number of leading zeros Note the maximum encoder speed is determined by the value of NB Refer to the Encoder Speed Limitations table at the end of this section for full details The following table provides the connection information for a CANopen encoder when wired onto SERVOnet Pin Number S1 S4 Signal 9 pin D Adaptor Encoder Signal N CAN L CAN H CAN GND LINK TO CAN GND Dia BRIS ID l Alo OI IU Table 4 CANopen Encoder Connections Screen connections The encoder cable should be overall screened It should be connected to pin 5 of the 9 pin adaptor or to pin 8 of the RJ45 socket if an adaptor is not used 2 7 1 4 1 PTS Language Parameters and Configuration Settings for CANopen Encoders Set FS9 to enable CANopen encoder relative feedback Use a 500k bits s baud rate If using a CANopen encoder on a SERVOnet system then set the encoder node number to equal that of the module number of the drive whose channel will be used to read the encoder data For example if CH4 on module 2 is required to read the actual position of the CANopen encoder then set FS9 on CH4 and set the CANopen node number to 2 using its address switches It is possible to assign a separate CANopen encoder to each SERVOnet module in a system It is not possible to assign more than Copyright 2003 Quin Systems Ltd 29 one CANopen encoder to any o
89. splay a list of the software options already installed Against the prompt New Feature type canopen lt return gt Against the prompt Version type 0 lt return gt Reboot the system The address setting of the CANopen device must match the CN value of the SRV300 With a standalone drive CN should be set to 1 Refer to Appendix B of the SERVOnet manual MANS529 for specific details on the use of CANopen I O 2 9 3 Adding CANopen I O to a SERVOnet system Refer to example installation schematic 12 at the end of this manual Connect a programming PC to port A of the Machine Manager Use the SK command to enable the CANopen software option as follows type SK lt return gt This will display a list of the software options already installed Against the prompt New Feature type canopen lt return gt Copyright 2003 Quin Systems Ltd 45 Against the prompt Version type 0 lt return gt Reboot the system The address setting of the CANopen I O must be set to 61 This is the module address of the Machine Manager It is therefore possible to add a CANopen encoder to the network along with the CANopen I O and to assign its address equal to the module number of one of the SERVOnet modules whose channel is required to receive the encoder position data Refer to Appendix B of the SERVOnet manual MANS529 for specific details on the use of CANopen I O Copyright 2003 Quin Systems Ltd 46 2 10 Module and Channel Numberi
90. ternatively the IN command can be issued A SinCos may be a single or a multi turn device The maximum cable length for a SinCos device is 100m A Sincoder is equivalent to a SinCos except that it is not possible to read its actual position at power up No reference pulse is provided by a Sincoder as is available with an incremental encoder An external reference sensor is therefore required as a check on the position counter in order to prevent possible drifting Incremental encoders can provide square wave or sinusoidal output signals The resolution of an encoder which produces square wave pulses is fixed by the model of the encoder This resolution is expressed in pulses per revolution ppr but the SRV300 is able to count the pulse edges on the two channels in order to increase this by a factor of 4 A 2500ppr encoder therefore produces 10000 counts per revolution The maximum output frequency of a given encoder together with its resolution will determine the encoder s maximum speed Sinusoidal versions are available with Copyright 2003 Quin Systems Ltd 24 varying resolutions These resolutions define the number of sinusoidal oscillations per encoder revolution By increasing the value of the NB command the SRV300 is able to provide interpolation on these signals and can hence increase this resolution in powers of 2 Again the output frequency and resolution limit the maximum encoder speed An EnDat encoder is similar in sp
91. tions The encoder cable should be overall screened with individually screened twisted pairs for the signal lines The outer screen should be tied to the earth star point in the drive and to the screen pin of the encoder The inner screens should also be tied to the earth star point in the drive but should be left disconnected at the encoder end 2 7 1 1 1 PTS Language Parameters and Configuration Settings for Squarewave Incremental Encoders Set FSO for 4x edge counting This is the default value after an RS parameter reset Set FS1 for 2x edge counting Set FSO for 1x edge counting CW bit 5 specifies the count direction Refer to the encoder cable assembly drawing DRG12 at the end of this manual Copyright 2003 Quin Systems Ltd 26 2 7 1 2 Incremental Encoders with Sinusoidal Outputs Relative The following table provides the connection information for a Heidenhain ROD486 when wired to channel 2 s encoder connector T2 Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply OV Supply ECLK ECLK EDATA EDATA Table 2 Incremental Encoder Connections Sinusoidal Screen connections The encoder cable should be overall screened with individually screened twisted pairs for the signal lines The outer screen should be tied to the earth star point in the drive and to the screen pin of the encoder or its connector depending on the encoder manufacturer The inne
92. tling time and overshoot Drive parameters can be saved using the QP250 1 command Once the speed loop gain terms have been optimised then it is possible to fine tune the position loop by using the Tune a motor option within PTS Scope or by running the motion for the application and monitoring the motor s performance using PTS Scope The gain terms within the PTS for the position loop can be saved using the SP command Copyright 2003 Quin Systems Ltd 65 4 Troubleshooting This section provides information on troubleshooting an installation Beyond the limitations of visual diagnostics the following equipment should be available a PC running PTS Toolkit Refer to section 3 2 2 for more details an ABB Control Panel amultimeter 4 1 Visual Diagnostics Visual diagnostics provide a quick and easy first step for fault finding on a system While they can allow the user to identify a fault without requiring any test equipment they are not however comprehensive The available visual diagnostics are discussed below On a SERVOnet system either a QManager a Machine Manager or a Mini Machine Manager will be used Visual diagnostics are provided on these units These are described below 4 1 1 QManager Four 7 segment displays are fitted to the front of the QManager These will be lit when the 24V supply is present Refer to the QManager manual for more information on this display 4 1 2 Machine Manager Four green
93. ts expected for one revolution of the encoder 4 x the encoder s ppr Rotate the motor back to its original position and type DP The value should be about 0 Step 3 Set the feedback sense of the position loop Type PC to enable the drive The motor should be stationary and hold its position If the motor moves quickly in one direction and the message Motor position error is displayed then this suggests that the position loop is operating with a positive feedback rather than the required negative feedback This can be corrected by changing CW from its existing value of 01010000 to 01000000 Type PC again and check that the motor now holds its position Step 4 Test the motor in closed loop Increase the SE parameter to 5000 Set the SV parameter to 20000 on the motor channel This defines the demand speed for the motor For a 10000 count revolution encoder an SV value of 20000 will define a required motor speed of 2 revolution per second Set the acceleration parameter SA and the deceleration parameter DC to the same value Type PC and then VC This should accelerate the motor up to 20000 counts s Type ST to decelerate the motor to rest Type VC to test the motor in the opposite direction and ST again to stop it Finally type MO to disable the drive In the above test the motor should be seen to run smoothly in both directions If the motor vibrates as it rotates then the KP parameter may be too high If on the other hand the m
94. ure by displaying the channel prompt 1 This serial port test is best undertaken with the SRV300 disconnected from the SERVOnet network since the port is disabled once a SERVOnet system has been initialised The PC s serial port needs to be configured as 9600 baud 8 data bits no parity 1 stop bit software handshaking If PTS Toolkit is not available Windows Hyperterminal can be used providing the serial port is configured as above Port A on the Machine Manager of a SERVOnet system should report the firmware version number a copyright prompt and the number of SERVOnet channels on power up For example a SERVOnet system with 3 SRV300 boards would report Machine Controller Version 2 2 Copyright 2001 Quin Systems Ltd SERVOnet Initialising Motorl found Axis module 1 Motor2 found Motor3 found Axis module 2 Motor4 found Motor5 found Axis module 3 Motor6 found Restoring sequences Don Restoring maps profiles Done Restoring parameters Done Modbus Interface Version 2 2 10 1 Modbus Interface Waiting to read unit number Modbus Interface Unit number set to 1 Restoring variables Done Motion Generator Version 1 1 8 1 I Note The motor found prompt does not refer to physical motors but SERVOnet channels Again Windows Hyperterminal can be used instead of PTS Toolkit if this is not available The Port B serial port on an SRV300 is not used in a SERVOnet system It is used for HMI comms when
95. ured as RS232 or RS485 Tables are given for each of these configurations Port B is not actually used in SERVOnet installations the data has been presented below for completeness HMIs are connected to Port B of the Machine Manager instead Pin Number Signal Table 12 S1 and S4 SERVOnet socket pin outs A SERVOnet network comprises a daisy chain of multi core connections between the various SERVOnet modules and the Machine Manager See figure 3 Terminating connectors must be fitted at each end of this daisy chain One of these terminating connectors should also provide the 12V d c power for the network The use of these connectors is described in the schematics at the end of this manual Where two SRV300 boards are adjacent modules in a SERVOnet network then the relevant RJ45 sockets should be connected together using a standard Cat 5 FTP screened patch cable S1 and S4 are physically identical so the two SRV300 boards could be connected as follows S1 to S1 S4 to S4 or SI to S4 Cat 5 FTP patch cables are available from RS against the following stock codes 1m length 405 4461 Copyright 2003 Quin Systems Ltd 39 2m length 405 4477 3m length 405 4483 Sm length 405 4506 10m length 405 4512 These cables are red to identify them as SERVOnet leads Where an SRV300 board needs to be connected to a Quin SERVOnet module which requires a 9 pin D connection the
96. urn Refer to the summary in table 11 for more details The following table provides the connection information for an EnDat encoder when wired to channel 2 s encoder connector T2 Note the pin order in the table has been deliberately chosen to match that of connector T2 as shown in figure 10 above Pin Number SRV300 Signal Encoder Signal CH2 Encoder Supply Up OV Supply GND ECLK CLOCK ECLK CLOCK EDATA DATA EDATA Table 10 EnDat Encoder Connections Screen connections DATA The encoder cable should be overall screened This screen should be tied to the earth star point in the drive 2 7 2 4 1 EnDat Encoders PTS Language Parameters and Configuration Settings for absolute Set FS13 to enable single turn absolute EnDat encoder feedback Set FS14 to enable multi turn absolute EnDat encoder feedback Use the NB parameter to specify the resolution Refer to the encoder cable assembly drawing DRG16 at the end of this manual Copyright 2003 Quin Systems Ltd 37 2 7 3 Feedback Summary Table Encoder Type Absolute Supply NB usage Relative Voltage Incremental Relative 5V d c 0 10r2 N A N A squarewave SSI Relative 10V dcto 50or6 Data bits Leading 32V d c Zeros SSI Absolute 10V d c to 7or8 Data bits Leading 32V d c Zeros CANopen Relative 12V d c 9 Data bits Leading Zeros CANo
97. urrent error to a running total Integral gain is useful to remove a constant position error due to a steady load or friction or in steady state velocity control but also tends to make the system overshoot the target position at the end of a move because of the error accumulated during the move This problem is known as wind up The integral action may be set up to avoid this problem such that it is operative only when the system is static by setting bit 7 of the control word to a 1 2 13 3 Position Loop Differential Gain KD This command sets the gain for the differential term in the controller transfer function This term uses the differential of the position error rate of change of error which represents the velocity error of the system This is useful where the position error is changing rapidly for example if the required motion is a step change in position 2 13 4 Position Loop Velocity Feedback Gain KV This command sets the velocity feedback gain constant The system uses the measured position to calculate the motor velocity and this velocity scaled by KV is used in the controller transfer function Note that differential control uses the rate of change of error while velocity feedback uses the rate of change of position Adding velocity feedback is similar to the effect of a tachogenerator connected externally to the motor drive in that it adds damping into the system This allows higher values of proportional gain to
98. ww quin co uk index html Copyright 2003 Quin Systems Ltd ii Version History Reason for Update 24 10 03 ER C Nu Amendment Record 2 04 12 03 DRGO9 GB Updated 2 04 12 03 DRGIO 96 GB Updated 2 04 12 03 NAMC S1 reference removed GB Correction 3105 12 03 DRGIO 96 GB Correction A Aa eni le ee _ ui Copyright 2003 Quin Systems Ltd iii Contents 1 INTRODUCTION 1 1 Manual Overview 1 2 Related Publications 2 BACKGROUND INFORMATION 2 1 Overview 2 2 Equipment Identification 2 2 1 SRV300 Issue Identification 2 3 System Specification 2 3 1 Overview 2 3 2 Mechanical Installation 2 3 3 Environmental Specification 2 3 4 System Hardware Features 2 4 Connector Pin outs 2 4 1 SRV300 Logic Power 2 4 2 SRV300 Digital I O Power and Digital Inputs 2 4 3 SRV300 Digital Outputs 2 4 4 Analogue I O 2 4 5 Encoder Supply 2 4 6 Channel 1 Encoder CH1 2 4 7 Channel 2 Encoder CH2 2 5 Electrical Specification 2 6 Position Feedback Devices 2 7 Feedback Options 2 7 1 Relative Feedback Devices 2 7 1 1 Incremental Encoders with Squarewave Outputs Relative 2 7 1 2 Incremental Encoders with Sinusoidal Outputs Relative 2 7 1 3 SSI Relative 2 7 1 4 CANopen Relative 2 7 1 5 SinCoder Relative 2 7 1 6 EnDat Relative 2 7 2 Absolute Encoders 2 7 2 1 SSI Absolute 2422 CANopen Absolute 2 7 2 3 SinCos Absolute 2 7 2 4 EnDat Absolute 2 1 3 Feedback Summary Tab
99. ype SERVOnet lead X length m CBA151 X RJ45 SERVOnet lead X length m CBA152 MALE RJ45 to 9 pin D Male Converter SERVOnet Q Control 1 CANbus SERVOnet Encoder ACS800 ACS800 Module 2 Module 1 CBA152 MALE CBA152 FEMALE CBA151 X Encoder CBA151 X Lead CBA151 X CBA137 X CBA137 A Note Refer to the attached drawing DRG08 for details on connecting a CANbus encoder Figure 21 Equipment Interconnection Diagram Scheme 7 82 CBA137 A SERVOnet power feed CBA151 X RJ45 SERVOnet lead X length m CBA151 B RJ45 SERVOnet terminator CBA152 MALE RJ45 to 9 pin D Male Converter ACS800 ACS800 Module 2 Module 1 CBA152 MALE CBA151 B CBA151 X CBA151 X CBA137 A Red Figure 22 Equipment Interconnection Diagram Scheme 8 Copyright 2003 Quin Systems Ltd 83 CBA139 A Port B serial lead CBA139 B Port A serial lead HMI CBAI51 A RJ45 Synchronlink power feed CBA151 X RJ45 SERVOnet lead X length m CBA152 FEMALE RJ45 to 9 pin D Female Converter User cable To suit CANbus p HMI Encoder C ACS800 Module S2 S1 S4 53 CBA139 A CBA139 B Encoder Lead CBA152 FEMALE CBA151 A CBA151 X Note Refer to the attached drawing DRG08 for details on connecting a CANbus encode Figure 23 Equipment Interconnection Diagram Scheme 9 84 CBAISI A RJ45 Synchronlink power feed CBA151 X RJ45 SERVOnet lead X len

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