Home

DBM 03 User`s Manual

Contents

1. 30123130 BOWL IOA 33123130 39 10D 31713 S 3W 438 SN3dWD5 831713 Sv 3 338 80123130 39V1710A 31001 NUI 1231U8d Sd XA 2015 HJIH T Ay ZHNOT ZHYOST 39S 41 6 July 98 Fig 2 1 Transformer Connections 230 VAC 110 VAC OPTIONAL RECOVERY RESISTANCE GROUND DELAY _ 150 200mS 42 6 July 98 oo oo oo ao Section 2 Installation 2 1 Wiring This section provides the necessary information to properly wiring the digital brushless system Mains connections via transformer or autotransformer Resolver and motor power wiring Signals wiring Other wiring gt qct 2 1 1 Mains Connections via Transformer or Autotransformer Figure 2 1 shows the electric diagram for transformer or autotransformer connection from three phase mains voltage to 230V See Appendix D for a correct sizing transformer is used it is recommended to set the HV to the ground the secondary neutral remaining floating It is recommended to use star primary winding and delta secondary winding If an autotrasformer is used the AT must not be connected to the ground REMAR
2. mm Kg CG2000 03 DBM PS 230 100 300 100 60 8 CG2001 03 DBM PS 110 V 110 100 300 100 60 8 CG2002 03 DBM PS 150 A 230 100 300 150 60 8 EXPANSION MODULES OUTPUT CURRENTS An external expansion CODE MODEL Type Rated Max __ module should be used for Arms Arms A mm Kg some configurations CG1002 03 EBM 50 140 EBM 50 100 140 90 10 including an axis rated over CG1003 03 EBM 70 180 EBM 70 127 180 90 10 25 This is due to thermal CG1004 03 EBM 70 240 EBM 70 170 240 90 10 COCOONS lable expansion modules are CG1050 03 EBM 80 240 EBM L 80 170 240 shown in the lefthand table Note to specify an expansion module please replace the third axis rating number with an E this ensures that the drive is configurated for use with an expansion module DBM 25 10 E 6 6 July 98 1 4 Interfaces Digital Output for simulated encoder optional Serial Link RS485 1200 19200 Baud full duplex to manage Acceleration limits Autophasing Control parameters Monitoring of internal parameters Range of analog interface System status Output for Drive OK axis 1 axis 2 axis 3 TTL compatible On Off Optoisolated e Drive OK e Drive Enable e Motor OK e Reference Enable Analog e Input velocity see MR command Resolver differential input signals Peak current limit input Output tachometer see ET command Max current velocity reference velocity erro
3. O 10 Phase V reference current output signal 11 Overtemperature input signal 12 Non coherent current input signal 13 BUS BAR fault input signal 14 Auxiliary voltages referred to HV 300Vdc not OK input signal s 23 6 July 98 FIG 1 9 Limit Switches Wiring DBM 1 2 os Let 5 2 Let 6 12 13 2 14 cable shield must be connected to ground see Section 6 0v CW Limit switch axis 1 CCW Limit switch axis 1 CW Limit switch axis 2 CCW Limit switch axis 2 CW Limit switch axis 3 CCW Limit switch axis 3 grounding of shield via connector shell J3 24 6 July 98 Tab 1 9 DBM Module 3 Connector when EBM Expansion is not present Limit Switches Connection see Fig 1 9 The J3 connector allows when the Expansion is not present the availability of CW CCW limit switches for each axis With the input enabled to OV the rotation is disabled in one direction and enabled in the other direction When the Expansion is present the J3 connector is used for signal connection to the Expansion module Pos pt OVcommon OE 2 CWlimitswitch axist O _ ING 1 1 4 NC 5 COW limit switch axis 1 6 CWlimitswitch axs2 10
4. 60 6 July 98 Offset Display Offset Displa RUN resolver poles ratio resolution resolution i Velocity structure 3 2 1 Command AC Acceleration Function it allows to set an acceleration ramp Whatever the input reference analog or digital the system will follow it but accelerations will never be faster than those set by this command It can be useful when the drive is connected to rather simple position controllers e g max 0 max with an application requiring progressive accelerations Syntax data monitoring M address AC data input address AC n CR Examples m 1AC100 lt CR gt sets an acceleration ramp 100ms for 1 B 2 AC CR it questions axis 2 about the acceleration ramp In case no one has been set the answer is ACC TIME ms 0 FIG 3 1 Acceleration Deceleration 61 6 July 98 3 2 2 Command Axis Disabled Function AD command makes the logic section ignore an axis and the relatives faults It is useful with DBM 2 axis if the third axis were not disabled the logic would reveal resolver fault and motor overtemperature preventing the drive from running Syntax data monitoring address AD lt CR gt data input B address AD n CR Note the axis disabled holds his address which can be interrogated via FA command REMARK AD and AE commands must be set only when the motor is standstill Examples B 1 AD 3 lt
5. gt it disables the 3rd axis of a module whose first address is 1 E 4AD 6 lt CR gt it disables the 3rd axis of a module whose first address is 4 B 1 AD lt CR gt 1 AXIS DISABLED 3 will be displayed if the 3rd axis is disabled 1 AXIS DISABLED 1 3 will be displayed if the 1st and 3rd axis is disabled 3 2 3 Command AE Axis Enabled Function the AE command enables an axis and relative faults Syntax data monitoring address AE data input B address AE n CR Address type axis Unit of measure n axis number Range 1 to 99 Default Password yes addressing no Opposite to AD See also AD Examples B 1 AE 3 it enables the 3rd axis of a module whose first address is 1 B 4 AE 6 it enables the 3rd axis of a module whose first address is 4 1 AE lt CR gt 1 AXIS ENABLED 3 will be displayed if the 3rd axis is enabled 1 AXIS ENABLED 1 3 will be displayed if the 1st and 3rd axis is enabled 62 6 July 98 3 2 4 Command AL Analog Limit Function it informs the controller that limit reference to be considered is analog see J7 connector Syntax command input address AL lt CR gt Address type axis Examples B 1 AL Sets the analog limit for axis 1 The display is cleared After this command a current limit can be set via J7 connector pos 14 and 33 range 0 to 10V The status can be interrogated via ST command REMARK DBM 03 has
6. i2 COW limit switch axs2 O i3 X jOWiimitswich axs3 ___ 14 COW limit switch axis 3 O IBEX 55 common Note CW means clockwise rotation when viewed from shaft end with default DI command 25 6 July 98 Tab 1 10 DBM Module J4 45 46 Connectors Resolvers Differential cos signal non inverted input Differential cos signal inverted input d Internally connected to OV common Differential cos signal non inverted input Differential cos signal inverted input Motor PTC input OV common Special for 10kHz carrier PTC _ Motor PTC input Cd 2 a Motor PTC input 8j PTE 20 Vpp 10kHz sinusoidal output signal for supplying primary resolver winding carrier 26 6 July 98 FIG 1 10 Speed Reference Wiring CNC DBM REF ov ov LI S J7 cable shield mustbe RF grounding of shield connected to the housing via connector shell DIFFERENTIAL INPUT CNC DBM gt REE Lov REF N No 0v cable shield mustbe RF grounding of shield connected to the housing via connector shell UNIPOLAR INPUT 27 6 July 98 Tab 1 11 DBM Module J7 Connector Analog Inputs and Simulated Encoder Outputs Logic OV it can be used as common for analog output supplies 15V Name Ai encoder output inverted phase A motori 1 B2 encoder output inverted phase B motor2 B8 e
7. recovery resistor cable CAUTION the unshielded cable provided with the drive is only for test purposes and not EMC compliant Reference Enable and OK cable RS485 cable flat cable between modules excluded simulated encoder cable if applicable The shields of the cables must be connected at both ends to the proper housing via full circumferential bond to metallic connectors or hose clamps FIG 6 3 GROUNDING OF SHIELD TO CONNECTORS AT MOTOR SIDE Cable shield Metal shell Shield must be clean and clamp tightened Motor and resolver connector In case of Sub D connector cable shield must be grounded to the metallic hood When there is not connector at drive side a kit with stand off screws and hose clamps is provided The shield of the cable must be uncovered from insulation coating and RF connected to the stand off through the hose clamp as in Fig 6 4 FIG 6 4 GROUNDING OF SHIELD WITHOUT CONNECTOR 126 6 July 98 FIG 6 5 CABLE GROUNDING AT DRIVE SIDE iby 5 NS D Ww 9 1 Reference Enable OK cable 2 Recovery resistor cable 3 z Motor power cable Sub D and unshielded cables not shown 127 6 July 98 Y is not necessary to shield the input power wires the bus bars the flat cabl
8. FIG 4 5 DBM Module POWER OK green LED off Green LED POWER OK OFF NO Green LED lt AUX PWR on DBM PS See Fig 4 1 YES Correctly tighten at NO Bars 3 Nm 26 Lb in the lt tightening Bus Bars OK YES Flat cable between DBM PS and DBM module OK Change flat cable YES Fault on module power circuit 102 6 July 98 FIG 4 6 DBM Module DRIVE EN green LED off Drive Enable Green LED DRIVE EN OFF Verify that 8 5 to 25Vdc NO voltage with 8 mA min current is applied to J8 and OV to J8 pin 8 Internal 15V used J8 pin 7 YES J8 pin 6 common connected to J8 pin 8 opto common Make connection YES Fault on input circuit 103 6 July 98 FIG 4 7 DBM Module REF EN green LED off Reference Enable Green LED REF EN OFF Verify that 8 5 to 25Vdc NO 74 voltage with 8 mA Internal 15V used current is applied to J8 pin 7 J8 pin 16 and OV to J8 pin 8 YES 8 6 common connected to J8 pin 8 opto common Make connection YES Fault on input circuit 104 6 July 98 FIG 4 8 DBM Module DRV OVT red LED on DBM Overtemperature Red LED DRV OVT ON Power the fan with 230 Vac or 110 Vac see nameplate Fan powered YES YES Verify the correct cooling of cab
9. We recommend to contact our Sales Locations or Service Centers for guidance on correct selection of drives 38 6 July 98 1 13 Block Diagrams FIG 1 15 Power Supply block diagram AT LOW VOLTAGE ENABLE EE 1204 AT _ 18 ud WH RECTIFIER LI FILTER MINES te RECOVERY CIRCUIT PHASE RECOVERY TEMPERATURE OK NOT OK NUT OK L i 110 220 FILTER 15 AT gt ME 1201 SINUSOIDAL SIGNAL M 1800L gt W 8 0L M8 o SIN 10KHz GENERATOR SQUARE WAVE GENERATOR 39 6 July 98 MN 1S0KHz FIG 1 16 Digital Section block diagram WIMINI 031970915 3 10 3 ANM NA3ATIDS3N 3 3 0 n 3svHd 338 simnvs ALITNDSSad wo Lf M 1901 300543 T 58 SY ANTI 3 i i 324353438 DOWNY N3 3 AING t 40 6 July 98 FIG 1 17 Analog Section block diagram EA EN 33 LNABAND 438 LINN SN3eWOD walt SVBN 138
10. 2 1 Examples 1 MV 2000 sets max velocity for axis 1 to 2000 rpm 1 MR 100 for axis 1 10V correspond to 2000 rpm 1 MV lt CR gt interrogates axis 1 about max velocity The answer will be A1 RPM MAX 2000 3 2 27 Command NP Number of Resolver Poles Function it informs the controller about the number of poles so that the right correspondence between mechanical speed and electrical frequency can be set Syntax data monitoring address NP CR data input B address NP n CR Address type axis Unit of measure Range 2108 Default Password es addressing Opposite to See also Examples B 1 NP 2 CR allows to set 2 poles for axis 1 E 1 NP CR allows to know the resolver pole number for axis 1 The answer will be A1 NUM OF POLES 2 78 6 July 98 3 2 28 Command OC Digital Offset Compensation only for setup technicians Function it allows to set the digital velocity offset Syntax data monitoring W address OC data input B address OC n Address type axis Unit of measure n 128 x 128 rpm where x 24 for 8 and 2 pole resolver x 32 for 6 pole resolver 010255 128 disables offset OC 128 sets CW offset OC 128 sets CCW offset Note OC command has replaced KD command from software version 3 2 Examples B 1 OC 8 CR adjust 30 rom CCW offset for axis 1 with 6 pole resolver E 4 OC CR if OC
11. Function it allows to manage the IT thermal protections which prevents the motor from an overheating too quick for the PTC operating time When the integral of current multiplied by time exceeds the IT value drive limits after operating time to nominal motor current see Tab 3 5 data monitoring address IT lt CR gt data input address IT xx lt CR gt xx special password Address type axis Unit of measure n ms Range 0 to 255 0 protection disabled Default see Tab 3 5 Password special password addressing Opposite to See also PC Notes protections has been implemented from software version 3 5 IT status can be interrogated via FA command bit g CAUTION do not change IT parameter A wrong set of IT can damage the motor 74 6 July 98 Tab 3 5 IT Protection The following table shows IT and PC values set in factory MOTOR DRIVE Operating MOTOR DRIVE Operating time time at drive at drive peak peak current current T DBMOS IT PC s 2 5 5 5 10 03 29 2030 25 9 55 713 20 03 5 M2060 5 9 54 682 20 06 10 eese 21 40 030 5 7 49 699 gt amp AJ OI WN 2 jo 40 045 60 03 60 04 6 045 M8 030 8 04 2 03
12. Pushbutton on front panel Remote Reset YES Red LED WTD OFF Fault caused by noise NO 8031 or DSP fault 109 6 July 98 FIG 4 13 DBM Module DRVF red LED on Drive Fault Red LED DRVF ON NO Other red LEDs lit Check via FA command the fault not reported by LEDs It can be Not coherent phase sequence Velocity error see EV command Personality card not YES present Bus Bars overvoltage undervoltage See the figure with the proper LED fault 110 6 July 98 FIG 4 14 Motor vibrates Axis enabled Motor with overspeed or running at a speed not related to the reference or vibrates NO _ 6resolver motor poles or 8 resolver motor poles 2 pole resolver with 6 pole motor YES y YES Check RS a command 2 Check RS command approx 17 000 or 39 000 61 000 RS 14 000 to 16 000 2 or 5 H YES YES Check power and resolver connections Remake Autophasing Internal fault 111 6 July 98 FIG 4 15 Keypad fault Keypad does not work Jr Serial cable J10 cable OK Make correct connection YES Baud rate 9600 4 Close G3 on Personality Card Baud rate set to 9600 74 Keyboard Baud rate correct Adjust the keyboard YES Baud rate CTRL CR Y to change Ba
13. it is essential that any paint or other covering material be removed before mounting the drive and the filter The maximum torque of mounting screws The filter can produce high leakage is as follows currents see Table FILTER Max FILTER Leakage current torque FN 258 100 35 FN 258 30 07 Note if two phases are interrupted worst case leakage current could reach 6 times higher levels The capacitors within the filters have FIG 6 1 FN 250 6 07 FILTER discharge resistors INSTALLATION ON DBM 03 DRIVE CAUTION the filter must be connected to ground before connecting the supply WARNING HIGH VOLTAGE DISCHARGE TIME APPROX 10 seconds Where single phase power supply is needed the single phase filter can be installed on the fan housing Figure 6 1 shows installation and wiring of FN 250 6 07 filter on fan housing of DBM 03 drive DBM AUX Cc ee AA T 125 6 July 98 6 3 WIRING AND GROUNDING All the following cables must be shielded with 85 minimum shielding coverage power motor cable see Fig 6 2 and 6 3 NOTES if a power terminal board is used at motor side the shield must be RF connected to toa metallic PG gland connectors at motor side can have a threaded clamp Cable shield must be grounded in the same way as in Fig 6 3 resolver cable see Fig 2 3 and 6 3 motor side FIG 6 2 GROUNDING OF SHIELD TO MOTOR CONNECTOR AT DRIVE SIDE
14. optocouplers can only disable protection they can enable after resetting only The Drive Enable and Reference Enable opto isolated signals must be driven at 15V Such a procedure should be followed during installation and drive test G2 closed position 1 2 opto priority the optocouplers are the master and the keyboard can only be used for parameters setup Note Drive Enable priority is different from the use of the analog or digital reference You can choose an analog or digital reference by AR Analog or DR Digital commands and save The drives are supplied set to digital reference DR 2 2 3 Autophasing Note it is possible to limit the current in autophasing via IL command Check that the motor is free to rotate in both directions Check that no fault condition occurs red DRVF leds off eThe jumper G2 on the personality card must be opened Check that all module axes have analog drive enable on via positive logic and digital drive enable off e Send the password command for the module e Send the autophasing command for every axis of the module and save 49 6 July 98 Example for a double module with axis 4 and axis 5 FROM KEYBOARD 4 PW91 lt CR gt Enter the password for 2nd module primary axis 4 PASSWORD ON The correct answer is displayed lt CR gt Only for optional keyboard 4 AP lt CR gt Allow axis 4 autophasing AUTOPHASING IN PROGRESS AXIS PHASED 5 AP lt CR gt Allow
15. or torque ref signal see command axis 2 max range 10V see MR command See Fig 1 10 36 REF 1 Differential non inverting analog input for the speed reference E signal or torque ref signal see TC command axis 1 max range 10 see MR command See Fig 1 10 15Vdc output 30mA REMARK in DBM 01 version positions 31 32 and 33 were assigned to differential inverting Limit analog inputs If this option was used to change DBM 01 with DBM 03 it is necessary to properly specify differential analog Limit input in the order CG5502 code 29 6 July 98 FIG 1 11 Input Output Wiring 24V 24V Power Supply ov 24V 0V 8 Optoisolated input common Drive Enable Drive Enable Ref Enable 16 Reference Enable 9 1 Drive Drive 10 ME Optoisolated Output 11 1 Motor OK Motor OK J 12 Optoisolated Output cable shield must be RF grounding of shield J8 connected to the housing via hose clamp pin number is axis dependent 24V POWER SUPPLY 6 0V Common 7 15V dc output 8 Optoisolated input common Drive Enable 16 Reference Enable J8 pin number is axis dependent 15V INTERNAL SUPPLY for drive test 30 6 July 98 Tab 1 12 DBM Module 48 Connector Commands and Signals TACHO TEST 1 tachometer analog output axis 1 Range see ET command
16. personality card jumpers dbtalk communication program module replacement input sizing mechanical brake 2 6 July 98 123 123 126 128 129 130 131 131 132 134 135 136 Introduction This manual provides the necessary information for a proper installation and an effective use of DBM Digital Drives in the possible different configurations Its contents allow technicians to understand how the system works and to carry out installation procedures The safety instructions provided in this Manual are included to prevent injury to personnel WARNINGS or damage to equipment CAUTIONS To emphasize the differences between new DBM 03 User s Manual and old DBM 01 User s Manual a vertical line in the left margin of the text indicates new items Accident Protection Keep to the general security rules for electrical equipment s DBM PS power supply is electrically connected to mains WARNING High Voltage L and L pins and BUS BAR can have voltage 2300 even after switching off capacitive voltage Discharge Time Approx 6 Minutes WARNING High Voltage The recovery resistor is connected to the Bus Bar s and can have voltage gt 300 WARNING do not touch recovery resistor during operation to avoid scalas WARNING when required for an emergency stop opening motor phases must be preceded by disabling the axis The delay time must be at least 30 ms WARNING the drive should be located in an e
17. the status can be interrogated via ST command bit 3 2 7 Command AS Address Show Function it allows display of the basic address of a module if unknown To avoid simultaneous answers on the line from more than one module it is necessary that serial flat J2 is connected only between power supply and the questioned module It is different from SA command which is used to change basic address Syntax data monitoring B AS CR Address type Unit of measure Range Default Password no addressing compulsor Opposite to See also SA Examples B AS CR if the base address for such a module is 1 the answer will be ADDRESS MODULE 1 64 6 July 98 3 2 8 Command BR Baud Rate Function it allows to change transmission speed of the serial link Syntax data monitoring W address BR data input address Address type module Note modify the Baud Rate alsoat keyboard side it is necessary to type Control and after Type lt Y gt to change Baud Rate and after lt CR gt 3 2 9 Command CP Current Position Function it allows to know the position relative to electric revolution of the resolver at start up It is used when the application requires to know the absolute position Syntax data monitoring address CP Address type axis Examples E 2 CR Interrogates axis 2 about the current position If the starting
18. when mounting the enclosure of recovery resistor or motor choke to the panel it is essential that any paint or other covering material be removed before mounting the enclosure of recovery resistor or motor choke 128 6 July 98 6 5 SCREENING To effectively screening the system all the single screens CNC electronic cabinet machine must be connected together to effectively form one screen FIG 6 8 EMC GENERAL WIRING SCREENING cables 5 motor housing JOONPUOD 6 198101 uw juu 3d uonoeuuoo OW qe ueis S Buunsee 3NIHOVW Jojonpuo eAn28l0id gt 19114 ona 19114 ona puwa 3d ejqeu3 9 uonoeuuoo 54 5 1 890 SOINOUuLO313 129 6 July 98 6 6 SAFETY ASPECTS Noise suppression of Motor and Drive systems involves consideration of the earthing system and its effectiveness at high frequencies It should not be forgotten that is the safety system too and that the safety must take priority over EMC To reduce the radiated emissions the use of capacitance to earth is very effective In fact drives have Y type capacitors near the input power supply connector and Schaffner filters also include them These capacitors conduct current from phase to earth this can be in the order of hundreds of milliamperes WARNING appropriate safety measur
19. 0 1 overtemperature j 220Vac 3 phase sequence 0 OK 1 unbalanced phase k Personality card 0 OK 1 not A module DBM module m BUS BAR voltage 0 OK 1 overvoltage undervoltage n Aux Volt ref to HV 0 OK 1 out of tolerance 0 A module temperature 0 OK 1 overtemperature B B module eventual expansion module BUS BAR voltage 0 OK 1 overvoltage undervoltage q Aux Volt ref to HV 0 OK 1 out of tolerance r B module temperature 0 OK 1 overtemperature in case of checksum error check the parameters e g KP KI correct the wrong values and save Note the expansion missing the last characters are not significant Examples E 1 FA lt CR gt if OK the answer will be A1 FA 000000 P 00000 MA 000 B 000 73 6 July 98 3 2 21 Command IL Limit Current Limit Function it allows to program the peak current It is useful when undersized motors are used or during special tests Syntax data monitoring W address IL data input B address IL n CR Address type axis Unit of measure 96 max current n See also DL AL REMARK before executing IL command it is necessary to perform DL command Examples E 2 L it asks axis 2 about limit In default case the answer will be CURRENT LIMIT 100 B 211 90 CR it sets 90 current limit for axis 2 3 2 22 Command IT IT protection
20. 3 contains the shaft position information in the form of a digital word Specific bits of this digital word are fed to the resistive net in order to commutate internal resistances within the net Analog net inputs are supplied by detected SINe and COSine signals fed from the resolver to the DBM module by a shielded cable The net is made in such a way that its output that is the AC error in Fig 3 is zero if the digital word correspond to the current shaft position i e to the ratio of the SINe and COSine signals If the digital word does not correspond to the measured SIN COS ratio the AC error signal will be generated The amplitude of the AC error will correspond to the magnitude of the existing difference between the SIN COS ratio and the digital position stored in the UP DOWN counter The phase of the AC errors signal is determined by the error sign For positive errors the AC error will be 10kHz sinusoid in phase with the excitation signal and vice versa Due to the presence of the high frequency noise the AC error signal has to be filtered by an high frequency RC filter HF FILTER block in the Fig 3 The process of demodulation of the error is in effect a form of multiplication of the AC error by the excitation signal As the result of this operation an error signal is obtained having the average value correspondent to the R D converter internal error Hence the function of the phase sensitive demodulator in Fig is to expres
21. 60 03 2 04 60 045 4 02 4 03 15 33 20 02 10 15 15 A M6 02 20 03 03 8 02 8 030 80 02 80 03 43 40 02 40 03 e 6 045 od M8 030 M8 030 gt 40 02 240 030 60 020 4 02 360 030 lo mI amp O 80 02 o ES o o N 80 03 720 012 720 02 60 012 e o o A A REMARK the operating time at drive peak current is the operating time after a reset a steady state condition this time can be shorter according to the motor thermal simulation An overtemperature protection via PTC is also provided 75 6 July 98 3 2 23 Command Integral Gain Function it allows to set the speed loop integral gain KI value is directly proportional to the intensity of the integral action Syntax data monitoring address KI lt CR gt data input B address KI n Address type axis Examples E 2 KI CR it asks axis 2 about KI If it is 40 the answer will be A4 KI 40 B 2 KI 50 it sets the integral gain to 50 for axis 2 3 2 24 Command KP Proportional Gain Function it allows to set the speed loop error proportional correction gain value is directly prop
22. 90 the answer will be A4 OC 90 3 2 29 Command OF Off Function it allows to disable the digital Drive Enable for the addressed axis REMARK if opto Drive Enable are not enabled the following message will be displayed ERROR DRIVE EN OPEN If the axis is not phased AXIS NOT PHASED will appear If the jumper G2 is in position 1 2 closed the message NOT POSSIBLE will appear 79 6 July 98 3 2 30 Command Function it allows to enable the digital Drive Enable for the addressed axis see Par 2 2 2 REMARK if opto Drive Enable are not enabled the following message will be displayed ERROR DRIVE EN OPEN If the axis is not phased AXIS NOT PHASED will appear If the jumper G2 is in position 1 2 closed the message NOT POSSIBLE will appear 3 2 31 Command OV Analog Offset Function it allows to monitor and to set the analog offset of speed torque analog reference A fine adjustment of the analog offset can be done with successive steps by setting and monitoring the OV parameter Syntax data monitoring address OV CR data input B address OV n Address type axis Unit of measure Range 0 to 255 Default 128 Password yes addressing n Opposite to See also VO 80 6 July 98 3 2 32 Command PC Peak Current Function it informs the drive control section about the ratio between motor current and drive peak RMS current This way when IT prote
23. 95 CG1204 03 DBM 10 10 DBM 10 18 25 10 18 25 90 9 5 CG1207 03 DBM 15 15 DBM 15 32 45 15 32 45 90 9 5 CG1209 03 DBM 25 25 DBM 25 50 70 25 50 70 90 9 5 CG1319 03 DBM 1 5 1 5 1 5 DBM 1 5 3 5 5 1 5 3 5 5 1 5 3 5 5 90 10 CG1322 03 DBM 2 5 2 5 2 5 DBM 2 5 5 3 7 5 2 5 5 3 7 5 2 5 5 3 7 5 90 10 CG1300 03 DBM 05 05 05 DBM 5 10 6 15 5 10 6 15 5 10 6 15 90 10 CG1304 03 DBM 10 10 10 DBM 10 18 25 10 18 25 10 18 25 90 11 1308 03 DBM 15 15 15 DBM 15 32 45 15 32 45 15 32 45 90 11 CG1314 03 DBM 25 25 15 DBM 25 50 70 25 50 70 15 32 45 90 11 CG1727 03 DBM 05 50 05 DBM L 5 10 6 15 50 100 140 5 10 6 15 180 15 CG1743 03 DBM 05 70 05 DBM L 5 10 6 15 70 127 180 5 10 6 15 180 15 CG1708 03 DBM 10 50 10 DBM L 10 18 25 50 100 140 10 18 25 180 15 CG1747 03 DBM 10 70 10 DBM L 10 18 25 70 127 180 10 18 25 180 15 CG1734 03 DBM 15 50 15 DBM L 15 32 45 50 100 140 15 32 45 180 15 CG1774 03 DBM 15 70 15 15 32 45 70 127 180 15 32 45 180 16 CG1716 03 DBM 25 50 15 DBM L 25 50 70 50 100 140 15 16 CG1719 03 DBM 25 25 30 DBM L 25 50 70 25 50 70 16 Note we recommend to contact our Sales Locations or Service Centers for guidance on selection of drives not listed above e g 5 10 15 POWER SUPPLY INPUT CURRENTS CODE MODEL AUXILIARY WIDTH WEIGHT VOLTAGE Rated Output Rated Output Max Braking A V
24. Analog References To set the modules to use the analog references from the CNC it is necessary to enter the password to send the AR command to every axis and to save ST command can be entered to check if the commands have been accepted Note that e AR command can be sent via global address f there are two or more modules PW password and SV save commands can be sent to each module not only to each axis Example of enabling all the analog references for two modules with axes 1 2 3 and 4 5 FROM KEYBOARD 1 PW91 CR Enter the password for 1st module primary axis 1 PASSWORD ON The correct answer is displayed 4 PW91 CR Enter the password for 2nd module primary axis 4 PASSWORD ON The correct answer is displayed AR CR Enable analog reference for all axes 1 SV CR Save the configuration for 1st module 4 SV CR Save the configuration for 2nd module 1 ST CR Ask the status for axis 1 AIST E 10 Axis 1 status is displayed Check the 0 in the 2nd bit after bit i Repeat ST command and check other axes 2 2 5 2 Drive Enable with CNC Priority To give the priority for enabling and disabling the drive from the CNC it is necessary to pull out the personality card from the module install G2 jumper in position 1 2 closed and to pull in the card REMARK if there are more than one module do not swap the personality cards this will swap the module data 51 6 July 98 2 2 6 Velocity
25. FA string see FA command Set condition See figure 3 2 Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore at analog level with hysteresis reset button on drive or send pulse to REM RESET FIG 3 2 BUS BAR Voltage 395 V overvoltage 375 V Recovery circuit enabled 365 V Reset max voltage 300 V Bus nominal voltage e ee 255 Reset min voltage 190 V Undervoltage 95 6 July 98 Auxiliary HV referred voltages not norm Indicated by LED DRVF optoisolated output DRIVE OK bit N of the FA string see FA command Set condition when the level of auxiliary voltages referred to power stage HV becomes out of tolerance Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore at analog level with hysteresis reset button on drive or send pulse to REM RESET Drive overtemperature Indicated by LED s DRVF and DRV OVT optoisolated output DRIVE OK bit O of the FA string see FA command Set condition when a limit temperature is reached on the heatsink Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore power off and on monophase voltage Notes the temperature limit is detected by thermo switch IT Indicated by LED DRVF bit G of the FA string see FA command Set condition when the integral value IT int
26. If the fault condition is not present anymore the fault will be reset automatically To reset the fault on the Screen go to the next screen with the arrow keys Send Command ist ADDRESS O1 Driver Answer Communication Status REGULAR SET ADDRESS 01 POWER SUPPLY FAULT SELECTED AXIS FAULT OVERTEMPERATURE MOTOR OVERTEMPERATURE BRAKING CIRCUIT RESOLVER DISCONNECTED 220Vac INPUT AXIS SHORT CIRCUIT NOT CONGRUENT PHASE PERSONALITY CARD VELOCITY ERROR 12T Protection A MODULE FAULT DBM B MODULE FAULT EBM OVERTEMPERATURE BUS BAR VOLTAGE AUX VOLTAGE Ref AT OVERTEMPERATURE BUS BAR VOLTAGE AUX VOLTAGE Ref AT Display the Status Driver Answer Send Command 15 ADDRESS 01 Comunication Status REGULAR SET ADDRESS 01 i iF T MODULE STATUS SELECTED AXIS STATUS ENABLED REFERENCE ENABLE ON DRIVE ENABLE ON Opto DRIVE OK OUTPUT OFF TORQUE ENABLE OFF PRIORITY G2 DROP KEYBOARD REFERENCES DIGITAL EXPANSION EBM ADVISED ILIMIT DIGITAL SYSTEM CONTROL VELOCITY ROTATION C CLOCKUISE 2 SPARE OUTPUT B MODULE FAULT EBM OVERTEMPERATURE BUS BAR VOLTAGE AUX VOLTAGE Ref AT ANALOG OUT 1 EV AXIS 2 ANALOG OUT 2 IOUT AXIS 3 the i See Change parameters To change one parameter type the command string see Dri
27. July 98 SECTION 3 COMMANDS AND PROTECTIONS 3 1 General Features For serial communication according to standard RS485 DBM drives are connected in parallel multidrop and in slave configuration whereas the CNC the PC or the keyboard are in master configuration This is because the protocol is configured so that the drives are able to communicate only if inquired by the master to avoid contentions on the line As a consequence all the commands have been configured individually single axis questioned except those for which an answer is not foreseen therefore all the drives can be reached simultaneously There are 3 kinds of command e status monitoring Monitor commands on the status of the drive which displays axis configuration and eventual faults e data monitoring Monitor commands for displaying memorized motion parameters e g limit 100 etc e data command input Execute commands for setting and changing parameters e g speed pole number acceleration deceleration etc Remark if a mistake has been made while digitizing it is possible to reset the command by pressing CH CARRIAGE RETURN The commands are in ASCII format 1 bit start 8 bit data 1 bit parity even 1 bit stop Serial communication speed can vary from 1200 to 19200 Baud 58 6 July 98 Command syntax is as follows status monitoring B address COMMAND data monitoring B address COMMAND data input B address COM
28. Offset If it is necessary you can adjust the analog velocity offset by providing 0 analog speed reference and setting VO command for an automatic adjustment A fine adjustment can be done with successive steps via OV command REMARK the adjustment of the digital velocity offset must not be used to adjust the analog velocity offset and it is reserved to setup technicians It can be made by providing 0 digital speed reference VE 0 and setting OC command The opto Drive Enable must be high 2 2 7 Personality Card Jumpers WP default open if closed the EEPROM is write protected and SV command disabled G1 default open if closed connects TX of serial link to OV via pull down resistor G2 if closed gives priority to opto if open gives priority to keyboard G3 default open if closed set 9600 Baud rate and basic address 1 G4 default open if closed connects TX of serial link to 5V via pull up resistor G5 default open if closed connects a 120 resistor between RX and RX of serial link CAUTION it is recommended to close the WP jumper at the end of installation and setup Fig 2 4 Personality Card Jumper open N a lt Jumper closed REMARK personality card of DBM 03 has a software different from DBM 01 personality card To change DBM 01 with DBM 03 1 Switch on DBM 03 with 230V mono phase and replace the personality card with the old DBM 01 personality card with G2 a
29. R D resolution Resolution bit Max number of pulses per 256 1024 4096 16384 electrical revolution Max speed with 2 pole 24000 12000 3510 877 resolver rpm Max speed with 6 pole 8000 4600 1170 292 resolver rpm Max speed with 8 pole 6000 3510 877 219 resolver rpm 55 6 July 98 FIG 2 6 Starting Sequence Timing Chart Note 1 8 10 s T2 2 1 s T3220ms 4 3 s 5 gt 0 5 230 MONO PHASE 230 Vac THREE PHASE DRIVE ENABLE 1 REMOTE RESET MOTOR OK OUTPUT DRIVE OK 56 6 July 98 2 3 Operation After system wiring and installation it is possible to start the system according to the sequence shown in figure 2 6 Action e Connect 230Vac single phase power supply or 110Vac optional e Connect 230Vac three phase power supply Reset protections by pushing the RESET button on front panel or by sending a 20ms pulse to REM RESET opto input e Enable analog Drive Enable for each axis and Reference Enable via positive logic Effect e Digital and diagnostics circuits are fed Green LED on DBM PS AUX PWR ON Opto output MOTOR OK is enabled e 300V Bus Bars are fed Yellow LED on DBM PS PWR BUS ON Green LED on DBM POWER OK ON Possible faults are reset After 3s the opto output DRIVE OK is enabled e Green LED s on DBM DRIVE EN ON and REF EN ON WARNING HIGH VOLTAGE DISCHARGE TIME APPROX 6 MINUTES 57 6
30. Since the implementation of the scheme in Fig 2 is analog proportional and integral gains of the current controller are determined by the value of resistors and capacitors used For the purpose of allowing the matching of DBM with a non standard motor these components are mounted on a removable plug in modules namely the PWM90 hybrids These hybrids are fitted into the drive during the factory test At this time the current gain is adjusted according to the motor that is going to be used in conjunction with the drive Current gains are optimized in the sense of maximizing the current loop bandwidth while still keeping the noise current ripple and overshoot at an acceptable level The bandwidth of the current loop lies in the range of 900 1200 Hz In terms of the torque response time the motor fed from a DBM will respond to the torque command with a rise time 200 us 118 6 July 98 5 4 Speed and Position Sensing The DBM multi axis drive is equipped with an interface for resolver type shaft sensors These sensors are preferred for the reason of inherent absolute position sensing much wider operating temperature range than the optical devices and a robustness intrinsic to the resolver mechanical mounting that is the one of an electric machine Resolvers have a pair of detection windings on the stator side name SINE and COSINE winding spatially displaced by 90 degrees Excitation of the resolver is performed by a 10kHz 7Vrms si
31. a matter of fact undersizing the filter means less money but because the undersized filter provides better performance to EMC Example DBM PS 03 DBM 03 5 5 5 DBM 03 5 5 5 and contemporaneity factor of 0 8 For this application it is not necessary to use the 100A filter of the table The reference current is lin 6 5 0 8 24 A A 30A filter FN 258 30 7 can safely be used 6 2 3 FILTER DIMENSIONS Code Trade mark Dimensions D L5 L6 MEI EIC FN 250 6 07 AT6009 Schaffner 225 0 8 126 0 8 E a cone s AT6010 Schaffner 275 0 8 142 0 8 FN 258 42 07 os ae TIT TIT FIT 3 FN 258 55 07 S BT E1 FN 258 75 34 block eor s FN 258 100 35 the 250 6 07 filter has wiring leads length 300mm at both sides AT6011 Schaffner FN 258 30 07 TOP VIEW SIDE VIEW L5 17 L1 jh l 124 6 July 98 6 2 4 FILTER INSTALLATION The filter must be mounted on the same panel as the drive CAUTION leave a clear space of at least 60mm around the filter for air circulation when the cabinet does not have forced ventilation The filter must be connected as close as possible to the drive input If the separation between filter and drive exceeds around 30 cm 1 ft then a flat cable should be used for the RF connection between filter and drive REMARK when mounting the drive and the filter to the panel
32. described in the Fig 1 the stator phase currents has to be I cos 0 ip I cos 0 0 27 3 ic I 5 0 0 471 3 115 6 July 98 From the above equation one can derive the power the electromechanical conversion that is the power flowing through the machine air gap as the consequence of mutual interaction of the stator and rotor fluxes Bo Y 1 cos az 2 6 The electromagnetic torque obtained by dividing the air gap power with the field frequency Toin v3 Y 1 cos 2 2 6 2 S From 4 and 5 one can conclude that the usage of the motor with the sinusoidal electromotive force in the regime of sinusoidal current supply gives a shaft torque that does not possess the torque ripple inherent to the brushless DC motors with trapezoidal electromotive force As can be seen from 5 the torque depends on the amplitude of the stator current and on the angular displacement between the rotor flux and the stator magnetomotive force The DBM performs control of the torque magnitude through the stator current amplitude The phase advance of the stator current is set to 2 in the cases when it is necessary to accelerate in the sense of For decelerating with respect to the sense of rotation shown Fig 1 the phase advance 9j of the stator current is set to 2 Such a choice leads to the maximum torque for the given stator current that
33. gt sets analog out1 to 5V for 100 max current zoom out of axis 1 250 5 CR sets analog out2 J8 conn pos 5 to speed reference of axis 2 2 ES 16 CR sets analog out2 to 10 for 6140 rpm if NP 8 and MR 100 have been set for axis 2 Tab 3 3 ES for Max Current SO 1 to SO 3 WT CURRENT OUT 8 100 5 Tab 3 4 ES for Speed Reference and Velocity Error 100 SO 4 to SO 9 2 pole resolver 6 pole resolver 8 pole resolver MV ANALOG MV ANALOG MV ANALOG rpm OUT rpm OUT rpm OUT 6046 6165 6046 6046 5954 6140 71 6 July 98 3 2 18 Command Extra parameter for Tacho output Function it allows to scale the Tacho Tests outputs on J8 connector Syntax data monitoring address lt CR gt data input address CR Address type axis Range 50 to 100 Tacho outputs ET 10 MR 100 V for Examples 1 MV 3000 lt CR gt sets max velocity to 3000 rpm for axis 1 1 MR 100 CR sets max velocity reference to 10 V for axis 1 1 ET 50 CR sets ET parameter to 50 for axis 1 The Tacho Test 1 J8 pos 1 will be 5V for 3000 rpm 1 ET lt CR gt questions axis 1 about the extra parameter for Tacho Test 1 The answer is A01 EXTRA PAR FOR TO 50 3 2 19 Command EV Error Velocity Function it allows to set the maximum velocity error between reference velocity and the actual speed in rpm If the set value is ove
34. is in the maximum Nm A In order to insure maximized torque per amps the DBM control software is equipped with Auto phasing routine for the drive self adjustment see par 3 2 5 116 6 July 98 5 3 Current Control Loops Control of the magnetomotive force of the stator is implemented through the PI control of the stator phase currents That is the amplitude and the spatial orientation of the vector ls is performed by controlling its components Equation 3 gives the references of the motor phase currents that is they are bringing out waveforms that should be the stator phase currents It can be seen that the amplitude 15 plays the role of the torque demand or the torque reference Apart of the torque reference the derivation of the current references calls for the information about the rotor position 0r which is obtained from a Resolver to Digital converter connected to the resolver mounted on the motor shaft Feedback _ Gating signals Phase U PWM carrier Gating signals Phase W PWM carrier Feedback _ Gating signals Reference PWM carrier Fig 2 The phase currents U and V are measured by the LEM current sensors These sensors behave as current transformers capable of sensing both AC and DC components of the current The error discriminators see Fig 2 are determining the error that is the deviation of the measured phase currents with respect to the references The current references U and V ar
35. position is 4006 the answer will be A02 CURRENT POSITION 4006 65 6 July 98 3 2 10 Command CU Current U offset only for setup technicians Function it allows to set the offset of U phase current Syntax data monitoring W address CU data input B address CU n CR Address type axis Range 0 to 255 Note the CU command must be executed with digital Drive Enable disabled via OF command and the opto Drive Enable enabled Examples B 2 CU CR Interrogates axis 2 about the offset of the U current If U current offset is 128 the answer will be 02 CURRENT U OFFSET 128 CAUTION do not change CU parameter A wrong set of CU increases torque ripple 3 2 11 Command CV Current V offset only for setup technicians Function it allows to set the offset of V phase current Syntax data monitoring address CV data input B address CV n Address type axis Range 0 to 255 Default Note the CV command must be executed with digital Drive Enable disabled via OF command and the opto Drive Enable enabled no CU Examples B 1 CV CR Interrogates axis 1 about the offset of the V current If V current offset is 128 the answer will be A01 CURRENT V OFFSET 128 CAUTION do not change CV parameter A wrong set of CU increases torque ripple 66 6 July 98 3 2 12 Command Deceleration Function it allows to set a deceleration ramp Whatev
36. system performance between 10 and 16 bit Resolution of A D converter 12 bit or 14 bit optional 4 different velocity control structures to meet the most challenging requirements Digital low pass filter on speed loop Over travel limit switches available when Expansion is not present Totally programmable control and interface parameters Current bandwidth analog gt 1kHz Dead point absent Speed ratio 1 4000 Static current gain 10 5 A V Max operating temperature humidity 45 C 113 F 90 Derating for altitude gt 1000 m 3333 feet 1 per 100 m 333 feet Storage temperature 10 to 70 C 5 6 July 98 1 3 Technical Data DBM Module Input voltage 300 10 Three phase output voltage 180 DBM PS Power Supply Three phase input voltage 230Vac 10 50 60 Hz Auxiliary power supply input voltage 110Vac optional or 230Vac 10 50 60 Hz Auxiliary input power 55W for 3 axis module 60W for fans pair BUS BAR output voltage 300Vdc STANDARD MODULES OUTPUT CURRENTS CODE MODEL TYPE AXIS 1 AXIS 2 AXIS 3 Weight Hated Max Rated Rated Max A Arms Arms A Arms Arms A Arms Arms mm Kg CG1210 03 DBM 1 5 1 5 DBM 1 5 3 5 5 1 5 3 5 5 90 9 5 CG1212 03 DBM 2 5 2 5 DBM 2 5 5 3 7 5 2 5 5 3 7 5 90 9 5 CG1200 03 DBM 05 05 DBM 5 10 6 15 5 10 6 15 90
37. t axis 1 TACHO TEST 2 tachometer analog output axis 2 Range see ET command TACHO TEST 3 tachometer analog output axis 3 Range see ET command 4 i error outputs See ES and SO commands error outputs See ES and SO commands 6 OV jOVcommon 15Vdc output Imax 30mA 8 OPTOOV OptoisolatedOV 9 DRIVEOK Collector of Drive optoisolator DRIVE OK Emitter of Drive OK optoisolator MOTOR OK Collector of Motor OK optoisolator MOTOR OK Emitter of Motor OK optoisolator See Fig 1 11 See Fig 1 11 See Fig 1 11 16 REF EN Reference enable optoisolated input for the confirmation of the common reference to the three axis REF EN not active means no speed reference or zero torque az NC 17 18 REM RESET Remote reset optoisolated input for logic section reset equivalent to push button on the front panel 31 6 July 98 Tab 1 13 EBM Expansion optional 43 Connector See Fig 1 8 OV common p Auxiliary voltages referred to logic OV not output signal Phase U reference current input signal Torque enabled input signal Short circuit output signal Overemperatueoulputsigna 7 Expansion present input signal o o Z o Z o i O 8 Overtemperature input signal 9 10 Phase V reference current input signal o o 11 Overte
38. velocity error axis 1 of the module SO8 velocity error axis 2 of the module SO9 velocity error axis 3 of the module Default Password addressing Opposite to See also Note the SO command must be executed with digital Drive Enable disabled via OF command and the opto Drive Enable enabled Example see also the examples in ES command 4506 CR sets velocity reference of axis 6 on Analog Out 1 J8 connector 4 86 6 July 98 3 2 42 Command SR Show Release Examples 1 SR lt CR gt the answer can be SOFTWARE REL MC 0 3 DSP 0 12 3 2 43 Command ST Status Function it allows to display axis status via a codified ASCII string Syntax status monitoring address ST Address type axis addressing no Answer explanation Aa STbcdEefglhijkl A Axis a Axis address ST Status b Priority G2 jumper on person card 0 opto G2 1 2 1 keyboard G2 2 3 C DRIVE OK opto output 0 absent 1 present d Expansion module 0 absent 1 present E z External opto input configuration e DRIVE EN Drive enable 0 OFF 1 ON f REF EN Reference Enable 0 OFF 12 ON g Internal internal variables config h Drive Enable 0 OFF 1 ON Reference Enable 0 analog 1 digital j LIMIT Current Limit 0 analog 1 digital k System control 0 velocity 1 torque Direction of rotation 0 1 CCW viewed from shaf
39. 10 RedLED Resolver 2 fault signal resolver M2 fault sin cos signals RF2 interrupted short circuit between signals or 10kHz carrier abnormal 11 Red LED j Resolver 1 fault signal resolver fault sin cos signals RF1 interrupted short circuit between signals or 10kHz carrier abnormal Motor M3 di O l OVT3 M2 overtemperature OVT2 Motor M1 overtemperature all axes peak current control only for setup technicians if current ILIMIT X limit is required see IL DL AL commands digital control reinitialization button RESET module overtemperature DRV OVT SHRT CCT SHRT CCT SHRT CCT RS485 input port and PWRS fault signals connector J3 Expansion connector for two axis module on three axis module some pins of this connector are used as test points 22 23 Green LED Reference enabled signal three axis speed reference enable see Tab 1 12 pos 16 20 6 July 98 24 Green LED Axis 1 enable see also ON command DRIVE EN 1 25 Green LED Axis 2 enable see also ON command DRIVE EN 2 26 Green LED Axis 3 enable see also ON command DRIVE EN 3 27 Green LED Auxiliary power OK POWER OK 28 Personality card it contains drive setup in a non volatile memory 30 32 L BUS BAR 300 BUS BAR 300Vde 300Vdc Motor phases 1 2 3 connector for DBM L module Tab 1 6 DBM Module EBM Expansio
40. 384 electrical revolution 85 6 July 98 3 2 41 Command SO SPARE OUTPUT Function it allows to set the Analog Outputs on J8 connector Parameters 1SO 1st module 4SO 2nd module 7SO 3rd module determine which signal is to be seen at the Analog Out 1 48 pos 4 Parameters 2SO ist module 5SO 2nd module and 8SO 3rd module determine which signal is to be seen at the Analog Out 2 48 conn pos 5 The possible outputs are max current velocity reference and velocity error The internal velocity reference has the slope limited by AC and DE commands and differs from the reference at the input connector The analog outputs can be scaled via ES command data monitoring binary output address SO CR data input B address SO n CR Address type 1 Analog Output 1 for basic address 1 see J8 connector pos 4 2 Analog Output 2 for basic address 1 see J8 connector pos 5 4 Analog Output 1 for basic address 4 see J8 connector pos 4 5 Analog Output 2 for basic address 4 see J8 connector pos 5 7 Analog Output 1 for basic address 7 see J8 connector pos 4 8 Analog Output 2 for basic address 7 see J8 connector pos 5 Unit of measure 0 to 9 Analog Outputs SO1 max current axis 1 of the module SO2 max current axis 2 of the module SO3 max current axis of the module SO4 velocity reference axis 1 of the module SO5 velocity reference axis 2 of the module SO6 velocity reference axis 3 of the module SO7
41. 98 1 9 Dimensions FIG 1 14 Dimensions in mm Note for DBM L modules 180 mm dimensions are the same as two side by side standard modules 90 5 370 50 prm CXS SS KKKS 4 Moe CSE SS STS OS ood ERLE 9 6 0p x Or WII ROKR LRS POWER SUPPLY 1 DRIVE L 177mm POWER SUPPLY 2 DRIVE L 268mm POWER SUPPLY 3 DRIVE L 358mm 36 6 July 98 1 10 The ventilation is provided by fans mounted under the modules The size and the number of fans are according to the system configuration Fan input voltage is 230 Vac or 110 Vac optional The input power is 60 W for each pair of fans CAUTION a free circulation must be guaranteed for the air flow TAB 1 15 FANS INPUT PAIR CONFIGURATION VOLTAGE DBM PS 2 DBM DBM PS DBM DBM PS 4 DBM DBM PS 1 DBM DBM PS 2 DBM DBM PS 3 DBM DBM PS 4 DBM Note to size the fans a DBM L 180 mm module counts as two DBM modules Example DBM PS one DBM module and one DBM L 180 mm module requires a DBM F4 fan type 1 11 Recovery Circuit The recovery circuit is formed by a switching regulator a recovery transistor and a recovery resistance While braking the motor returns energy which cannot be sent to the line since the rectifier circuit is not regenerativ
42. A string see FA command Set condition when the resolver is not connected or in short circuit at the power up when the resolver fails or is disconnected during running Effect the drive inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send pulse to REM RESET Motor over temperature Indicated by LED DRVF LED OVT optoisolated outputs DRIVE OK and MOTOR OK bit C of the FA string see FA command Set condition when a limit temperature is reached inside the motor Effect the drive inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send pulse to REM RESET Notes the fault information via LEDS and opto is reset when the motor temperature goes down the limit while the drive is disabled until the reset condition has been met Short on axis Indicated by LED DRVF LED SHRT CCT optoisolated output DRIVE OK bit D of the FA string see FA command Set condition when a short circuit is detected between the motor phases phase and ground phase and HV Effect the drive inhibit torque of all axes of the module Reset condition if the condition is not present anymore power off and on the aux power supply 93 6 July 98 Motor sequence not coherent Indicated by LED DRVF optoisolated output DRIVE OK bit E of the FA string see FA command Set condition when at le
43. Encoder CW rotation when viewed from shaft end Channel A Channel B C Marker Channel A Channel B C Marker 53 6 July 98 2 2 8 1 Setup for the Number of Steps Revolution From DBM 03 version the number of steps electrical revolution of simulated encoder can be set via software see SE commands REMARK the maximum number of pulses per electrical revolution depends on the R D resolution See Tab 2 1 The width of C marker can be A 360 A 2 180 or A 4 90 it must be specified in the order This parameter does not depend on the software commands Note to obtain the resolution per mechanical revolution it is necessary to multiply the pole pairs by the electrical resolution Example if a FAS T motor with 6 pole resolver is used 1024 pulses per electrical revolution mean 1024 3 3072 pulses per mechanical revolution 54 6 July 98 2 2 8 2 Resolution From DBM 03 version the resolution of Resolver to Digital converter will automatically be switched according to actual speed for optimum system performance between minimum see RN command and maximum resolution see RX command The speed range of R D resolution is included in the following table Tab 2 1 Max speed and max ppr versus
44. ING D 1 Sizing of Power Transformer Autotransformer It is necessary to refer to the rated output power of the motors the output power with 65K winding overtemperature is included in the Technical Data table of catalogs of servomotors to sum the power of single axes to multiply the sum by the contemporaneity factor factors often utilized are 0 63 for 2 axes 0 5 for axes 0 38 for 4 axes 0 33 for 5 axes 0 28 for 6 axes and by a correction coefficient 21 2 accounting for the losses of the motor drive system P Pan 1 2 0 2 Sizing of Fuses It is necessary to divide the above calculated power by the 300 V DC Bus 300 A W V Fuses must be the delay type because of high peak current inrush of the internal capacitors D 3 Auxiliary Power Transformer Auxiliary power 55 W for each 3 axis module and fan power 60 W for each pair of fans must be added D 4 Thermal sizing of cabinet To calculate cabinet cooling requirements table below provides estimated equipment power dissipation values If the application employs continuous braking it is necessary to include the recovery resistor power dissipation use the nominal power of recovery resistor if actual application recovery dissipation is unknown Power Dissipation Power IGBT s Input Supply Bridge Example with one Power Supply two modules a total output current of 60 Arms and continuous uncalculated braking the dissipate
45. K the auxiliary supply must be independent from the power supply if the fault information see FA command is to be retained in case of a mains failure 43 6 July 98 Fig 2 2 Soft Start TIMER DELAY 150 200 mS RESISTOR 44 6 July 98 m TO POWER SUPPLY MODULE TRASFORMER OR AUTOTRASFORMER IT En 20 2 1 2 Soft Start Figure 2 2 shows a current limit circuit for a standard configuration 1 Power Supply and 3 modules it is not strictly necessary for the system operation though it is recommended to limit the current through R S T phases on power up as filter capacitors at power supply input are uncharged and can require very high instantaneous current The three limit resistors must be short circuited after 150 to 200 ms They must be of high energy type to charge uncharge capacitors and must be rated 10 to 20 Q 100W The delay can be achieved by a timer CR2 in Fig 2 2 or by the circuit marked in Fig 2 2 In this case the component list is as follows Cc capacitor 0 1 uF 250V Cd electrolytic capacitor 20 uF 250V F1 F2 fuse 315 250V K1 bridge rectifier 1A 400V Re resistor 22 Q 5 resistor 10 5 T2 relay SPST 5A 220 coil 110 V 10 45 6 July 98 FIG 2 3 Resolver Wiring 44 15 46 CONNECTORS SUB 0 9 CONTACTS MOTOR CONNECTOR PT OOE 14 19 10 grounding of shield via grounding of shield via connect
46. MAND data command input E address COMMAND Remark press CH after each command string if the optional keyboard is used e Address there are three kinds of address Axis it is a number from 1 to 9 max number of axes in a system it identifies the axis selected for data monitoring input Module the module or basic address is referred to the possibility to get the execution of the command either addressing the chosen axis axis or any axis inside the module module This last possibility is valid for all axes within a module common commands e g temperature Global it is also possible to globally address all axes global address using the lt gt in place of the address number Command it consists of two letters e g AC AE etc e Datum it can be composed by a max of 4 figures or 3 figures and the lt gt symbol The lt gt symbol is optional Any data without a symbol is considered as positive 59 6 July 98 3 2 Commands All commands available for system management can be used to monitor and execute every datum To monitor it is sufficient to enter the address and the command to execute the address the command and the datum must be typed Tab 3 1 List of Commands Digital velocity for spare output Extra parameter for Tacho output ET EV Error velocity Fault IL lLimt IT IT protection BR DI DR EV FA IL IT
47. MOOG DBM 03 User s Manual GB 4019 Rev 9 July 98 DBM 03 USER S MANUAL Initial Release Correct miscellaneous errors wee 84 111 E ond Correct miscellaneous errors 7 27 28 29 33 66 68 84 86 91 28 Sept 95 Correct miscellaneous errors 55 73 83 94 24 Oct 95 Add facilities to change DBMO1 with DBM03 52 6 96 Add reference to DBTALK program 7 28 33 48 49 50 51 52 pinouts of RS232 RS485 converter correct 63 79 80 87 90 121 OC OV VO commands update personality card add DBM PS internal card jumpers correct miscellaneous errors 30 July 96 Add EMC paragraph update motor connector 1 3 5 8 33 35 42 44 46 pinout Fig 1 13 correct soft start configuration Fig 2 1 2 2 update resolver wiring Fig 2 3 according to EMC correct miscellaneous errors EN i 7 6 Feb 97 Add Section 6 EMC change par 1 6 CE 1 2 5 6 8 13 24 27 29 marking update all wiring figures according 30 31 34 35 38 45 46 48 to EMC add Appendix A serial link 49 52 56 75 82 85 88 multidrop add Appendix B Dbtalk 123 124 125 126 127 128 communication program update par 2 2 7 129 130 131 132 133 personality card correct miscellaneous errors od il m with 230Vac correct tab 3 5 IT PC correct 125 128 129 132 133 the leakage current of EMC filters correct miscellaneous errors 6 July 98 Add Appendix C D and E add defa
48. ack parameters p and are influenced by the numerical values KP and KI imposed by the user via serial link Moreover particular control routines performing the correlation and the AWU Anti Wind Up are influencing the values of the gains internal to the Digital Signal Processor These routines are designed so as to optimize the drive performance in various operating conditions and to alleviate the problems of noise and imperfection of the current controller In the simplified analysis illustrated in Fig 5 their influence on the gains should be neglected Relation between the gains p and in Fig 5 and the parameters KP and KI imposed by the user is given by 8 31 KP 1635 KI 7 The range of parameters KP and KI is 0 to 255 For typical 5 10 Nm motor connected to the load having 3 5 times the motor inertia the speed loop bandwidth can up to 60Hz having at the same time the torque ripple below 1 596 Higher bandwidths might be obtained at the penalty of an increased torque ripple In a typical application the torque ripple is originated by the noise at the drive analog inputs imperfection of the sensors and finite resolution of A D and D A converters applied within the drive control board 122 6 July 98 SECTION 6 ELECTROMAGNETIC COMPATIBILITY 6 1 European Directive 89 336 EEC Compliance with the European Directive 89 336 EEC is required for all electric and electronic products brought onto the European market
49. after December 31st 1995 drives with FASTACT motors meet the following EMC product standard related to the Directive EN 61800 3 1996 and EN 61800 3 A11 2000 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods Second environment industrial compatibility levels Remark equipments not intended to be used on a low voltage public network which supplies domestic premises May cause radio frequency interference Tests have been made in an independent competent body test house The installer of the drive is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be used We recommend filtering as per par 3 2 and wiring grounding and screening as per par 3 3 and 3 4 6 2 Filtering 6 2 1 Filter Types Code Trade mark Rated Current Max Voltage Drive type at 50 C 40 C at 50 C FN 250 6 07 e 258 7 07 mem 258 16 07 mer Me 9m mm FN 258 30 07 mm m m FN 258 55 07 FN 258 75 34 7 8 4 16 19 2 30 36 AT6012 Schaffner 42 50 4 3 x 480 FN 258 42 07 55 66 AT6015 Schaffner 100 120 3 x 480 DBMOS PS FN 258 100 35 123 6 July 98 6 2 2 FILTER SIZING The filter drive coupling in the previous table is a standard coupling The filter can be undersized according to the rms input current of the actual application This should be done not only because as
50. axis 5 autophasing AUTOPHASING IN PROGRESS AXIS PHASED 4 SV lt CR gt Save module 4 phasing Repeat the password autophasing procedures for subsequent modules if applicable e Make a hardware reset via button on drive or via positive logic on pin 18 of J8 connector 2 2 4 Wiring Checks After phasing each axis it is possible to check the wiring by rotating the motor via its digital reference e Enable analog Drive Enable and Reference Enable via positive logic e Check that G2 is in position 2 3 for keyboard priority e Send to every axis the ON command to enable digital Drive Enable the VE command for CW slow rotation the VE command for CCW slow rotation the OF command to disable the digital Drive Enable Example of checking axis 5 rotation FROM KEYBOARD 5 ON lt CR gt Enable digital Drive Enable for axis 5 Drive Enable led will be 5 VE 50 lt CR gt Set CW rotation at 50 rpm 5 VE 50 lt CR gt Set CCW rotation at 50 rom 5 OF lt CR gt Disable digital Drive Enable for axis 5 O Drive Enable led will be off 50 6 July 98 2 2 5 CNC Priority With the following procedures must be followed This way the CNC is the master and the keyboard is the slave as follows e Parameters managed by CNC Drive Enable Reference Enable Speed References e Parameters managed by keyboard or PC all dynamic parameters acceleration etc Status and Fault 2 2 5 1 Setting of
51. b terminal or a PC computer through the RS485 serial link Speed control loops of the axes are completely independent of each other The feedback for the speed loop error discrimination is obtained from the velocity observer illustrated in Fig 4 Simplified block diagram of the speed control loop is given in Fig 5 presented in a form suitable for easier understanding of feedback gains This block diagram should be used for the estimation of the drive performance in the stage of system selection and sizing Gain correlator and AWU Speed rad s gt 1 Js reference rad s observer Ko The speed observation constant Ko in Fig 5 is Ko 50 06 1 rad s The K1 block in Fig 5 approximates the drive power section and the motor It is assumed that the response of the current control loop may be neglected with respect to the dynamics of the speed loop Notice As the result of more detailed analysis that takes into account the interaction of both loops it is concluded that said simplification results in an error of less than 2 Hence the user is encouraged to use Fig 5 simplification as a toll for the system performance estimation The value of the parameter K1 may be calculated from the drive peak current 25 A in the case of DBM 10 25 and the motor torque constant Kt I AAT K Nm K1 Nm 121 6 July 98 The quantity J in Fig 5 stands for the total motor load inertia in kgm2 The values of the feedb
52. ct the converter to DBM J10 connector or DBS J2 connector An opto isolated PC card RS 485 full duplex is also available The following wiring must be used RS485 full duplex Connector DBM J10 Connector DBS J2 Connector Male Female e PC REQUIREMENTS 80286 80386 80486 microprocessor or better Hard disk and one diskette drive You need 2 Mbytes of disk space and 512 kbytes of RAM CGA VGA MCGA graphics card color VGA recommended MS DOS 6 2 or later ANSI SYS in CONFIG SYS e DBTALK PROGRAM The DBTALK program is available on floppy disk e INSTALL PROGRAM Insert diskette into drive A or drive B Type lt a install gt or lt b install gt The installation program will create the Directory C DBTALK will copy all the files in this new directory and will start the program START PROGRAM after the first installation Type lt cd dbtalk gt Type lt start gt e MOVE IN THE PROGRAM Start the selected procedure Select the field Reread parameters Move up down Go to previous next screen Exit Go to previous menu e SELECT PROGRAM DBM linker DBS linker PDBS Linker see PDBS Application Manual Setup SELECTING DESIRED PROGRAM DBM LINKER DBS LINKER PDBS LINKER SETUP PROGRAM 133 6 July 98 APPENDIX MODULE REPLACEMENT Once DBM module to be replaced has been identified it is necessary to follow this procedure Disconn
53. ction on drive current will be reduced to nominal motor current data monitoring B address PC data input address PC xx lt CR gt special password Address type axis Unit of measure n Range O to 100 Default see Tab 3 5 Password special password addressing Opposite to See also CAUTION do not change PC parameter A wrong set of PC can damage the motor 3 2 33 Command PR Motor Poles to resolver poles Ratio Function it allows to set the ratio between the motor pole number and the resolver pole number Syntax data monitoring address PR data input B address PR n CR Address type axis Examples 2 CR sets axis 2 for 6 pole motor and 2 pole resolver 2 PR CR questions axis 2 about the ratio between motor poles and resolver pole number The answer is A02 MOTOR RES POLES 3 CAUTION a wrong set of PR can damage the motor 81 6 July 98 3 2 34 Command PW Password Function it allows the operator to change critical parameters After executing PW command it is possible to enter the status in which such modification are permitted If you want to exit from this mode set PW again The DBM 03 release allows to change the password Syntax command input address PW lt CR gt data input B address PW Examples 1 PW91 if previously OFF the answer is PASSWORD ON 1 PW137 lt CR gt enters a new
54. d power is as follows Pd 25 2 50 16 60 1 60 A 370 recovery resistor power 1515 W 135 6 July 98 APPENDIX MECHANICAL BRAKE FAS series servomotors have as option a 24 Vdc electromagnetic safety brake CAUTION safety brake must be clamped and released with motor at standstill Dynamic brakings can seriously damage the brake and reduce the braking torque The release of the brake from OV to 24V and the clamp from 24V to OV must follow the sequence in Fig E 1 FIG E 1 Braking Sequence Timing Chart Note T1 gt 200 ms T2 application dependent 100 ms T4 gt 200 ms ON DRIVE ENABLE ON BRAKE 24V POWER SUPPLY RELEASE CLAMP ____________________ BRAKE REFERENCE ENABLE 0 y i b MOTOR SPEED 136 6 July 98 Moog Italiana S r l Electric Division Via Avosso 94 16015 Casella GE Italy Phone 39 010 9671 Fax 39 010 9671 280 GB 4019 Rev 9 July 98 Moog Italiana Srl reserves the right to alter any dimensions or data without prior notice Printed in Italy
55. dtologicOV 9 8Vdcreferredto logicOV 10 8Vdcreferredto logic OV gt 12 S 10 kHz sinusoidal wave for resolver and synchronism carrier Tab 1 3 DBM PS Power Supply J2 Connector RS485 Port Signal and PWRS Control Name 1 gqeRx RS4B5seralin 3 Tx RS485seriallink PWS fault 1 power binary coded faults level 1 5 5 input referred to logic 6 Rx RS485 serial link 7 Logic0V 8 Tx RS485 serial link pe PWRS fault 2 power supply binary coded faults level 2 Note Rx and Tx are the receiving and transmitting signals with reference to the drive In the rest of the manual RS485 serial link referring to Rx and Tx will not be specified anymore 12 6 July 98 In case of fault the type of fault is as follows J2ipos 4 J2ipos 9 HEU es wc aa ee 0 1 Recovery fault 1 0 OVER TEMP Overtemperature Tab 1 4 DBM PS Power Supply 410 Connector RS485 Port 5 1 o 5Vdc output referred to logic OV for power suppl Rx Logic 6 E wi i T Tx ae ae 1 8A DBM PS Internal Card FIG 1 4 DBM PS Card Jumpers Jumpers JP1 closed default connects 120 resistor between RX and RX JP2 closed default connects TX of serial link to OV via pull down resistor JP3 closed default connects TX of serial link to 5V via pu
56. e Returned energy tends to increase the BUS BAR DC voltage When HV reaches 375V the switching regulator brings the recovery transistor into conduction thus connecting the recovery resistance in parallel with filter capacitors The recovery resistance is formed by enameled wire fixed resistor s 37 6 July 98 If the recovery resistance works for intervals shorter than the time necessary to reach thermal equilibrium the resistor can temporarily handle power levels up to 10 times the nominal power rating of the resistor short time overload If not specifically requested systems are provided with standard 3 9 Q 370W recovery resistor An oversized Power Supply with three 8 2 Q 370 W parallel configuration is available WARNING an unusual application with motor driven by the load a large portion of the time could result in overheating of the recovery resistor An unusual application with motor driven by high inertial load from high velocity in very short deceleration time could result in the explosion of the capacitor It is suggested contacting our Customer Service WARNING do not touch recovery resistor during operation to avoid scalds Ventilated enclosures containing dynamic braking resistors shall provide a degree of protection of at least IP22 according to EN 60204 1 par 13 3 1 12 Standard Configurations The modules are available in almost all combinations in the multiple version see Fig 1 13A and 1 13B
57. e obtained from the DSP through the D A channel from the torque reference and using the coordinate transformation from the rotor d q to the stator a b c reference frame The current errors obtained are processed through the two PI current regulators The presence of 2 and not 3 current regulators for the 3 motor phase currents is due to the fact that the phase currents are tied by the relation 0 Hence only two of them are mutually independent variables Therefore current control scheme possesses 2 PI controllers the introduction of the third redundant one will deteriorate the performances 117 6 July 98 At the output the PI current controllers for phases V the reference values for the phase voltages U and V is obtained The reference voltage for the phase W is obtained by Uw Uyt Uy The three voltage references obtained in the prescribed manner are brought to the PWM modulation block The comparators in Fig 2 labeled sgn are supplied by the triangular PWM carrier Comparison of the modulation signals that is the voltage references with the PWM carrier gives gating signals These signals consist of pulses with the width determined by respective modulation signal The nature of this signals is digital either 0 or 1 Their state determines the three phase inverter switching Finally the average phase voltage brought to the motor winding corresponds to the voltage references shown in Fig 2
58. eceiver input 2 1 6 Serial Link Wiring CAUTION the serial link must be shielded and must be separated from the power cable through the use of independent duct conduit 47 6 July 98 2 1 7 Serial Link Connection REMARK for the first installation it is strongly recommended to use either the optional keypad or the DBTALK communication program 2 1 7 1 Keypad The keypad is an optional accessory product which can be used for drive setup and monitoring It must be connected to J10 connector If problems occur when attempting to communicate the keypad is most likely set incorrectly To start the setup procedure press then For each parameter the current setting is displayed together with a question asking if you want to change it The correct setting is BAUD 9600 WORD 8D E 1 STOP BLOCK MODE SINGLE LINE MODE FLASHING OFF KEY REPEAT ON SLOW Be sure to save at the end of the procedure by pressing lt Y gt when the display shows Make changes permanent Y N 2 1 7 2 DBTALK Communication Program See Appendix B 2 1 8 Other Wiring the braking resistor the flat cable for auxiliary supplies the keyboard or PC all the analog references 2 2 Installation 2 2 1 Starting Sequence Connect 230 Vac or 110 Vac single phase power supply e Multimodule configuration only Disconnect the first module from the serial link and assign basic address to the second module and so on for the ne
59. ect the power Remove the Bus Bars AT AT and GND and disconnect all connectors and flat cables see Fig 1 1 Unscrew the anchor screw on the top of the module and remove the module Only for same DBM versions Remove the Personality Card at the left of J1 connector by loosening the two screws After removing the card disconnect the flat cable REMARK on the personality card a EEPROM is mounted All dynamic parameters dynamic settings autophasing analog interfaces are stored in this EEPROM after every reset In case of module replacement it is recommended to save all parameters with the save SV command before removing the Personality Card ready for installation in the replacement module This retains and transfers all the previous module information s Remove the Personality Card from the new module and replace with the old one Mount the new module and tighten the anchor screw at the top Reassemble the Bus Bars all the connectors and flat cables Check all connections Enable the auxiliary voltage and check by the optional keyboard or PC all application dependent parameters In particular pole number max velocity max reference voltage llimit internal ramp generator CAUTION personality card of DBM 03 has a software different from DBM 01 personality card Do not swap personality cards between the two versions To change DBM 01 with DBM 03 see Par 2 2 7 134 6 July 98 APPENDIX D INPUT SIZ
60. egral of current in the motor multiplied by the time is over taken Effect when the fault is going on the current limit is reduced to the level of the motor rated current set by PC command Reset condition if the condition is not present anymore the protection is reset Push button on drive or send pulse to REM RESET to reset the fault status in FA string 96 6 July 98 Watchdog Indicated by LED DRVF LED WTD optoisolated output DRIVE OK Set condition when the micro controller or DSP fails Effect inhibit torque or all axes of the module Reset condition if the condition is not present anymore reset button on drive or send pulse to REM RESET Overspeed Indicated by LED DRVF optoisolated output DRIVE OK bit F of the FA string see FA command Set condition when an error between set speed and actual speed bigger than the programmed via EV command is detected Effect inhibit torque on axis Reset condition when the condition is no longer present reset button on drive or send pulse to REM RESET 97 6 July 98 SECTION 4 TROUBLESHOOTING FIG 4 1 DBM PS Power Supply AUX PWR green LED off Auxiliary Power Fault Green LED AUX POWER OFF Connect single phase 230 Vac or 110 Vac optional 10 Auxiliary power supply present YES Oversize the auxiliary power supply transformer cable size Current supplied sufficient 180 mA DC for 3 axis
61. er the input reference analog or digital the system will follow it but deceleration s will never be faster than those set by this command It can be useful when the drive is connected to a rather simple position controller e g max 0 max with application requiring progressive deceleration s see Fig 3 1 Syntax data monitoring W address DE CR data input address DE n CR Examples 1 DE 100 lt gt sets deceleration ramp 100 ms for axis 1 B 1 DE lt CR gt it questions axis 1 about the deceleration ramp In case no one has been set the answer is A01 DECEL TIME ms 0 67 6 July 98 3 2 13 Command DF Digital Filter Function it allows to set a low pass digital filter The filter reduces high frequency noise and resonance s When the Velocity Structure command is VS 0 or VS 1 the velocity reference is filtered When the Velocity Structure command is VS 2 or VS 3 the velocity error is filtered The value DF 0 switches the filter OFF Syntax data monitoring address DF lt CR gt data input B address DF Address type axis Unit of measure Range 0 to 255 The filter bandwidth is f Hz In 1 1 DF 512 21 300 10 Default 0 disabled Password 5 addressing no Opposite to See also VS Note the DF command must be executed with digital Drive Enable disabled via OF command and the opto Drive Enable enabled Examples E 2 DF 165 lt CR gt s
62. es between the modules REMARKS FIG 6 7 PARTITION PENETRATION the shields of cables inside the cabinet must be 360 clamped to the cabinet wall see Fig 6 6 noisy cables must be kept away from sensitive cables by at least 30 cm 12 in Noisy cables include input power wires motor power and brake wiring Sensitive cables include analog or digital signal cables resolver cable reference enable and OK cable RS485 serial link simulated encoder wiring where noisy cables must cross power cables this must be done with angles as near to 90 as possible FIG 6 6 CLAMPING TO CABINET the crossing of the cabinet should be accomplished with a low impedance connection between cable shield and enclosure If a connector is not involved the shortest practical lengths of connecting strap should be used see Fig 6 7 Backpanel earth Screen is effectively earthed 360 of its radius 6 4 RECOVERY RESISTOR MOTOR CHOKE To meet the Machinery Directive the ventilated enclosures containing dynamic braking resistors shall provide a degree of protection of at least 22 EN 60204 1 par 13 3 To meet the EMC Directive these enclosures must be conductive The cable of recovery resistor must be shielded and the shield must be 360 clamped at both sides In some applications e g some size 3 FAS T motors a choke in series for each motor phase has to be added This choke must be shielded REMARK
63. es should be taken to ensure that this potentially dangerous current flows to earth CAUTION it is recommended to disconnect the drive and the EMC filters to carry out the AC Voltage Test of the EN 60204 1 par 20 4 according to the Machinery Directive 89 392 EEC and to the Low Voltage Directive 73 23 EEC in order not to damage the Y type capacitors between phases and ground while parts of circuits can be floating and possibly damaged during the test To make anyway this test it is recommended contacting our Service Centers 130 6 July 98 APPENDIX SERIAL LINK MULTIDROP A 1 DBM PS Internal Jumpers see par 1 6 In case of multidrop the following configuration must be used JP1 JP2 JP3 JP1 JP2 JP3 JP1 JP2 JP3 To user open open open Power Power Power Supply Supply Supply A 2 Personality Card Jumpers See par 2 2 7 1 JP1 JP2 JP3 closed Power Supply By default G1 G4 and G5 jumpers on the personality card are open no link termination s on modules In fact usually it is not necessary to close G1 G4 and G5 jumpers because the link termination s are already closed on the power supply anyway in specially noisy environments could be necessary to close them also as follows e Environment without noise JP1 JP2 JP3 G1 G4 G5 G1 G4 G5 G1 G4 G5 see par D 1 open open open Power Supply Module Module Module e Specially noisy environment JP1 JP2 JP3 G1 G4 G5 G1 G4 G5 G1 G4 G5 see par D 1 ope
64. et min R D resolution to 12 bit max R D resolution with 8 poles 3000 rpm according to Tab 3 6 B 2 RN CR questions axis 2 about the minimum of resolution The answer is A02 MINIMAL RES 12 Tab 3 6 Max speed versus resolution Resolution bit Max speed with 2 pole 24000 12000 3510 resolver rpm Max speed with 6 pole 8000 4600 1170 292 resolver rpm Max speed with 8 pole 6000 3510 877 219 resolver rpm 83 6 July 98 3 2 37 Command RS Resolver Shaft Function it informs about the phase shift between motor and resolver Syntax data monitoring address RS data input B address RS n CR Examples 1 RS CR the answer for axis 1 will be 1 RESOLVER SHAFT BIT XXXXX Where if the autophasing has been correctly made XXXXX 14000 to 16000 for 6 pole motor and resolver or 8 pole motor and resolver XXXXX approx 17000 or approx 39000 or approx 61000 for 2 pole resolver and 6 or 8 pole motor 3 2 38 Command RX Maximum of R D resolution Function it allows to set the maximum of Resolver to Digital converter resolution The R D resolution will automatically be switched according to actual speed for optimum system performance between RN minimum and RX maximum The default is 16 bit If acceleration rad s gt 314000 NP then RX must be set to 14 If RX equals RN the R D resolution is fixed Syntax data monitoring address RX CR da
65. ets the filter bandwidth to 206 Hz for axis 2 E 2 DF lt CR gt Interrogates axis 2 about the reference filter on the velocity reference The answer will 02 DIG FIL REF PAR 165 Tab 3 2 Filter Bandwidth DF Frequency DF Frequency DF Frequency DF Frequency 10 15 15Hz 80 90Hz 145 176Hz 210 280Hz 20 25 26Hz 90 102Hz 155 191 2 220 297Hz 30 35 40 45 110 50 115 55 68 6 July 98 3 2 14 Command DI Direction Function it allows to invert the direction of the motor rotation in case of analog or digital reference The drive is supplied set to CW rotation viewed from shaft end corresponding to positive during the installation To know what the actual configuration is ST command shall be asked Syntax command input address DI Address type axis See also ST Example B 4 DI CR it reverses the direction of motor rotation for axis 4 The display is cleared Note The status can be interrogated via ST command bit L 3 2 15 Command DL Digital Limit Function it informs the controller that the limit reference to be considered as active is digital programmable via IL command es Opposite to AL See also AL IL Notes Digital limit is standard on DBM drives whereas analog limit is optional The status can be interrogated via ST command bit J 69 6 July 98 3 2 16 Command DR Digital Reference Function it a
66. guration of this connector depends on the different combinations of sizes Notes M1 always corresponds to the more powerful axis M3 must not be connected in 2 axis configuration zx VS lt Te I T7 lt M2 M3 5 15 5 15 25 70 25 70 5 15 10725 5 15 25 70 125 70 10 25 10 25 10 25 25770 25770 sas 10725 10725 25770 25770 15 45 10725 15 45 5 15 15 45 15 45 15 45 115 45 15745 15745 15745 10725 5 15 5 15 10 25 5 15 15 45 5 15 5 10 25 Bl 10 25 15 45 15745 34 6 July 98 FIG 1 13B 180 mm Module 49 J10 connectors Motor Power wiring side The configuration of these connectors depend on the different combinations of sizes Notes M2 always corresponds to the more powerful axis M3 must not be connected in 2 axis configuration For U V W positions see Fig 1 13A 180 mm MODULE 180 mm MODULE iu NIS njn nye 888 a M o n X 180 mm MODULE nw SIE ens Ts Oxo um n fJ zie 5 EE SIS 35 6 July
67. iltering VS 1 standard gains reference filtering VS 2 gains multiplied by 4 error filtering VS 3 standard gains error filtering Note the V8 command must be executed with digital Drive Enable disabled via OF command and the opto Drive Enable enabled REMARK to change DBM 01 with DBM 03 with same gains it is necessary to 1 If PR 1 motor poles resolver poles set VS 1 or VS 3 2 If PR4 1 ex FAS T motor with 2 pole resolver set VS 0 or VS 2 91 6 July 98 3 3 Protections 3 3 1 Power Supply Recovery not ok Indicated by LED s DRVF drive fault on all drives LED DBR FAULT optoisolated output DRIVE OK bit of the FA string see FA command Set condition when recovery power transistor or recovery resistor is broken in short circuit when the recovery is active for too much time Effect all drives inhibit torque Reset condition if the condition is not present anymore power off and on monophase voltage Power supply overtemperature Indicated by LED s DRVF drive fault on all drives LED OVER TEMP optoisolated output DRIVE OK bit of the FA string see FA command Set condition when a limit temperature is reached Effect all drives inhibit torque Reset condition if the condition is not present anymore power off and on monophase voltage 92 6 July 98 3 3 2 Drive Module Resolver not ok Indicated by LED DRVF LED RF Resolver Fault optoisolated output DRIVE OK bit B of the F
68. inet Ambient temperature gt 45 C NO Undersize the duty cycle s 105 6 July 98 FIG 4 9 DBM Module SHRT CCT red LED on Short Circuit Red LED SHRT CCT ON YES Motor phases lt short circuited or grounded Change motor NO NO Auxiliary Change DBM PS voltages on power supply J1 connector OK YES NO Change flat cable Flat cable J1 OK 4 YES Fault on power stage 106 6 July 98 FIG 4 10 DBM Module OVT red LED on Motor Overtemperature Red LED OVT ON NO Pd Motor PTC lt connected to J4 J5 J6 Connect PTC YES value at 20 correct 100 to 400 ohm NO Fault on motor PTC YES Undersize the duty cycle 107 6 July 98 FIG 4 11 DBM Module RF red LED Resolver Fault NO Istheresolver shield connection OK YES Make correct connection Fault on oscillator circuit Resolver fault or connection not OK at motor side Red LED RF ON MEME Random fault NO NO 4 Other resolver connection OK YES NO Vref carrier present J4 J5 J6 20 Vpp 10 kHz YES NO Sin and cos signals present on J4 J5 J6 6 5 Vpp max 10 kHz for Vickers resolver YES Internal fault 108 6 July 98 FIG 4 12 DBM Module WTD red LED on Watch Dog Red LED WTD ON Reset via
69. it K 88 6 July 98 3 2 46 Command VC Velocity Control Note the status can be interrogated via ST command bit K 3 2 47 Command VE Velocity Function it allows to set velocity in case the digital reference is enabled see DR command If the drive is configured also as torque actuator it allows to set torque see TC command The numeric value can be preceded by Syntax data monitoring address VE lt CR gt data input B address VE n Note the maximum range for MV is 9999 To have extended range up to 32000 for negative speed it is necessary to set MV and to change direction via DI command Examples 1 VE 500 lt gt itsets axis 1 to 500 rpm 2 VE 500 CR it sets axis 2 to 500 rpm 89 6 July 98 3 2 48 Command VO Analog Velocity Offset Automatic Setting Default 0 REMARK S The VO command must be executed with digital Drive Enable off stopped motor Before executing the command it is necessary to check that the external opto input Drive Enable is enabled and keyboard Drive Enable is off OF command e addressing no V Notes If error gt 255 OUT OF RANGE is displayed 90 6 July 98 3 2 49 Command VS VELOCITY STRUCTURE Function it allows to set 4 different structures of the velocity control All the structures have a digital low pass filter processing the speed reference or the speed error signal The cutoff frequency of thi
70. ll up resistor 6 July 98 FIG 1 3 DBM 3 Axis Module 14 6 July 98 FIG 1 4 DBM 2 Axis Module 5 JE TIR SENT 4040004 4 OO OG 0 15 6 July 98 FIG 1 5 DBM 2 Axis and Expansion optional Module 00000000 oooooooo 5 MS WES PEEP Jdddddobor 16 6 July 98 FIG 1 6 DBM L 180 3 Axis Module 17 6 July 98 FIG 1 7 DBM L 180 2 Axis Module 18 6 July 98 FIG 1 8 EBM Expansion Module optional 19 6 July 98 Tab 1 5 DBM Axis Module See Fig 1 3 to 1 8 Name Motor phases 1 2 3 connector 6 J7 connector for analog references and simulated encoder output 7 Red LED generic fault the fault can correspond according to the type toa DRFV LED on the front end if other red LED s are not on out of the considered one it is necessary to interrogate the drive via serial link to know the fault reason see FA command Red LED Watch dog signal microprocessor circuit faults this LED is on WTD during reset Red LED Resolver fault signal resolver M3 fault sin cos signals interrupted short circuit between signals 10kHz carrier abnormal
71. llows to enable digital speed or torque reference The drive will consider as reference the number set via VE command and ignore connector J7 voltage Syntax command input B address DR Address type axis Unit of measure Range Default digital reference Password yes addressing yes Opposite to AR See also AR Note the status can be interrogated via ST command bit 1 70 6 July 98 3 2 17 Command ES Extra parameter for Spare output Function it allows to scale the Analog Outputs max current speed reference or error reference on J8 connector Syntax data monitoring address ES lt CR gt data input B address ES CR Address type 1 Analog Output 1 see J8 connector pos 4 2 Analog Output 2 see J8 connector pos 5 0 to 255 Analog outputs J8 connector 10V 10 mA Max current for axis 1 SO 1 axis 2 SO 2 or axis 3 SO 3 10 ES 16 V for 100 max current Speed reference for axis 1 SO 4 axis 2 SO 5 or axis 3 SO 6 ae velocity error for axis 1 ees 7 axis 2 SO 8 or axis 3 SO 9 Default 1 6 Password yes addressing no Opposite to See also MR MV NP SO Examples 1 SO 1 lt gt sets analog out1 J8 conn pos 4 to max current of axis 1 1 ES 16 lt CR gt sets analog out1 to 10V for 100 max current of axis 1 ES 32 sets analog out1 to 10 for 50 max current zoom in of axis 1 B 1 ES 8 lt
72. module Replace the 3 15 A fuse Internal 3 15 A fuse OK YES Fault of auxiliary power circuit 98 6 July 98 FIG 4 2 Power Supply OVER TEMP red LED on Overtemperature Red LED OVERTEMP ON Ambient temperature gt 45 C Verify the correct cooling of cabinet NO Power the fans with 230 Vac or 110 Vac Fans powered YES Output current gt nominal current 100 A 99 6 July 98 Connect the recovery resistance Replace the recovery resistance 3 phase input overvoltage Correctly tighten at 3 Nm 26 Lb in the Bus Bars NO YES YES NO FIG 4 3 DBM PS Power Supply DBR FAULT red LED on Recovery Fault Red LED DBR FAULT ON Recovery resistance connected YES Recovery resistance open or short circuited 3 phase input voltage gt 265 V Bus Bars tightening OK YES Too much recovery energy Undersize the duty cycle or oversize the recovery resistance 100 6 July 98 FIG 4 4 Power Supply PWR BUS yellow LED off Yellow LED PWR BUS OFF Is 3 phase 230 Vac 10 connected to DBM PS Connect 3 phase 230 Vac YES Is 300 Vdc present on the Bus Bars Fault of 3 phase input rectifier circuit YES Fault of detecting fault circuit 101 6 July 98
73. mperature output signal O Z o Z o o o o O 12 Non coherent current output signal o i3 BUS BAR fault output signal 14 Auxiliary voltages referred to HV 300Vdc not OK output signal DO s 32 6 July 98 Tab 1 14 Input Output Characteristics Optoisolated inputs 2 in 1 2 Drive enable 1 2 3 nom 10 mA Reference enable Imax 20 mA Remote reset Vmin 15Vdc Vmax 25V Optoisolated outputs z out 1 2 Drive OK max 20 mA Motor OK Vnom lt 25 Vdc Analog tacho z out 1000 outputs 1 2 3 5 Gain error 10 over production spread Max linearity error 2 over full range Analog outputs z out 100 Q Analog Out1 max 10 mA Analog Out2 Range see ES command Full scale 10V Velocity reference zin gt 20 inputs 1 2 3 Range see MR command Vmax 12V Drive OK outputs TTL compatible Fan out 5 LS loads 5 Simulated Encoder z out 100 Q differential output Full scale 7V differential 33 6 July 98 FIG 1 12 Motor Phases Wiring only one axis shown Motor DBM 7 N x 5 w w ground ground J9 J10 grounding of shield grounding of shield via connector clamp via connector clamp or RF connection to the ground screw in case of terminal board FIG 1 13A Module 49 Connector Motor Power wiring side The confi
74. n J1 Connector Auxiliary Power Supply oi 15Vdc referred to HV 300Vdc 4 18 referred to HV 300 5 _ 150KHzZ square wave to high side drives 6 NCE _7 18Vdcreferredto logic 8 18Vdcreferredto logic OV _ 9 8VdereferredtologicOV 000 O 10 8VdcreferredtologicOV 10 O pat Logic OVI 2 E ur o D e e IIO per 10kHz sinusoidal wave for resolver and synchronism carrier 21 6 July 98 Tab 1 7 DBM Module 42 Connector Power Supply Flat and RS485 Port Signals 4 PWRS fault 1 power supply binary coded faults 5 5Vdcoutput referred to logic OV 7 jogcOV 0 8 Pe ee eC ES PWRS fault 2 power supply binary coded faults Note In case of fault the type of fault is as follows M2 pos 4 J2Ipos 9 0 0 0 0 0 0 00 ae 1 DBR FAULT Recovery fault 1 0 OVER TEMP Overtemperature PHASE FAULT 22 6 July 98 Tab 1 8 DBM Module 93 Connector Expansion Connection OV common p _ Auxiliary voltages referred to logic OV not OK input signal Phase U reference current output signal o o o jTorqueenabledoutputsignal sd 5 input signal Overtemperature input signal 7 Expansion present input signal 8 Overtemperature output signal Cd NOS
75. n E open open Power Supply Module Module Module 131 6 July 98 G1 G4 G5 open Module G1 G4 G5 closed Module APPENDIX DBTALK To you communicate with DBM DBS drives quickly and easily DBTALK provides several features e SETUP to choose Language Italian or English Serial link COM1 or COM2 PROGRAM SETUP MENU SETUP MENI oo SERIAL LINK ESC per Chiudere per Chiudere PROGRAM SETUP MENU PROGRAM SETUP MENU ITALIANO ENGLISH COM1 at 3F8 COM2 at 2F8 e UTILITY to Scan Baud rates ADDRESS AND BAUDRATE AUTOMATIC SCANNING BAUD c pau c BAUD c peu c 9600 9600 Scan Faults 06 17 1996 AUTOMATIC FAULT SCANNING 20 06 40 C FAULT DESCRIPTION FAULT DESCRIPTION 01 FA000000 P00000 000 B000 02 FA000000 PO00000 000 BOOO 403 FA000000 00000 4000 B000 Restore store Personality Card parameters To save the actual parameter set select STORAGE PARAMETER select the file e g ST1 press lt gt to change the description and press CR SETUP PERSONALITY CARD FILE SETUP SELECTION COM FUNCTION SELECTION POLI 6 6 RPM 3000 SE 1024 RESTORE PARAMETER STORAGE PARAMETER 3 STi9 Set Baud rates Start the Autophasing procedure Set Defluxing see DBS User s Manual e MANUAL to See Reset Faults
76. ncoder output inverted phase B motor 12 ILIMIT3 Analog input limit axis 3 referred to analog OV OV zero current 10 or not connected max current ILIMIT2 Analog input limit axis 2 referred to analog OV 0 to 10V 15 Shield Internally connected to OV 16 REF3 Differential inverting analog input for the speed reference signal or torque ref signal see TC command axis 3 max range 10 see See Fig 1 10 17 REF2 Differential inverting analog input for the speed reference signal or torque ref signal see TC command axis 2 max range 10 see See Fig 1 10 18 REF1 Differential inverting analog input for the speed reference signal or torque ref signal see TC command axis 1 max range 10 see See Fig 1 10 19 15Vdcoutput I 0 A2 B2 B3 28 6 July 98 Testing point 1 Shield Shield Internally connected to OV connected to ave OK output axis 1 Imax 5mA OK 1 OV not 5V OK DRIVE Drive OK output axis 2 Imax 5mA OK2 OV not 5V OK DRIVE Drive OK output axis Imax 5mA OK 3 OV not 5V OK REF3 Differential non inverting analog input for the speed reference signal or torque ref signal see command axis 3 max range 10V see MR command See Fig 1 10 35 REF2 Differential non inverting analog input for the speed reference signal
77. nd G3 jumpers closed 2 Reset the drive with reset button on front panel 3 Wait 30 sec 4 Switch off the drive 5 Restore G2 and G3 as before the removal The personality card is now set to DBM 03 format New parameters are 1SO 1 2SO 2 CU 128 CV 128 DF 0 ES 16 ET 80 PW 91 RN RX 12 PR 3 and VS 0 for 2 pole resolver PR 1 and VS 1 for 6 pole resolver SE 1024 if applicable Note if the number of pulses per revolution has to be different from 1024 SE parameter must be properly specified in the order after this setting the personality card cannot be used with DBM 01 with G2 and G3 closed DBM 03 does not work The situation is as follows G2 open G3 closed keyboard priority 9600 Baud base address 1 password ON G2 and G3 closed opto priority reading of DBM 01 parameters AC AL DL AR DR BR DE IL IT MR OC PC RS SA password OFF 52 6 July 98 2 2 8 Resolver to Encoder optional For position sensing a resolver to encoder option simulated encoder is available Encoder signals are 7V 100 impedance as follows e 2 channels of square wave output with a resolution from 128 to 1024 pulses per electrical revolution Channel B leads channel A by 90 for clockwise rotation when viewed from shaft end e 1 marker pulse per electrical revolution i e 1 3 3 marker pulses per mechanical revolution with a 6 pole resolver _ e complementary outputs A B and FIG 2 5 Simulated
78. nusoidal signal supplied to the resolver from the DBM module By means of a rotational transformer fitted within the resolver the excitation is being fed to the excitation winding installed inside the rotor of the resolver Through a transformer action 10 2 electromotive forces will be induced in the detection winding The amplitude and phase of these electromotive forces depend upon the shaft position Namely when the shaft is in such a position that the rotor excitation winding of the resolver is aligned with the SINE detection winding the induced electromotive force in the SINE winding will be on its maximum and will be in phase with the excitation signal At the same time the voltage detected at the terminals of the COSINE winding will be close to zero i e will be zero if we disregard the noise Moreover assuming that the SINE winding spatial axes is in opposite direction with respect to the excitation winding the situation will be alike but the SINE winding voltage will be in counter phase with respect to the excitation signal In the end the ratio of the SINE and the COSINE signals taken at the instant of positive peak of the excitation sinusoid will uniquely determine the shaft position 119 6 July 98 The process of extracting the shaft position from the detected signals is done by means of a monolithic R D converter see Fig 3 The key element is the ratiometric resistive net The digital counter in Fig
79. nvironment that is free from dust corroding fumes and fluids In condensing atmospheres the cabinet must be provided with an anti condensation device Tightening Torque CAUTION do not exceed the tightening torque of the table Tightening torque Thread Nm b in ms 6o 53 10 70 80 177 0 6 July 98 4 6 July 98 SECTION 1 DESCRIPTION 1 1 General Features The modular DBM series drives offer digital speed loop and digital analog interfaces They are suitable for use with 4 quadrant brushless motors having sinusoidal back e m f Construction allows the use of the power amplifiers only if required for easy CNC interface Hardware circuits are reduced by using Isolated Gate Bipolar Transistor IGBT components in the power section Control technique is sinusoidal The unique advantages of the digital technology 16 32 bit DSP based are Simplified installation through optimization of control parameters via software No potentiometer adjustments Autophasing Easy adaptation to different applications e g you may change the PI gain variables and choose between speed or torque control Compact assembly up to 3 axis control from a single module Flexibility up to 99 axes 240A peak per axis 1 2 Standard Features Three phase full bridge with Current reference refresh time 100 us Phases refresh time 300 us R D resolution automatically switched according to actual speed for optimum
80. omotive force induced in the windings during the rotation of the rotor Such motors have to be supplied with sinusoidal stator phase currents Having these currents shifted by 27 3 relative to each other and setting the stator current frequency at oy the resultant magnetomotive force will be a vector lg rotating at the rotor speed The magnetomotive force angle relative to the rotor flux is marked see Fig 1 114 6 July 98 Having a constant amplitude of phase currents the current vector will rotate at or having constant amplitude along the period Hence conditions of obtaining ripple free electromagnetic torque are fulfilled The torque generation and the current control loops are conditioned by the shaft sensor which is giving the rotor speed and the rotor position information An application of synchronous motor calls for an absolute position sensor in order to set the current angle 6 between the magnetomotive force and the rotor flux DBM is designed to interface with resolvers as the motor shaft sensors Details of the speed position sensing are described in par 5 4 In Fig 1 0r stands for the angular displacement of the rotor flux with respect to the phase A winding of the stator Assuming the speed of rotation oy Electromotive forces induced in the stator windings will be e A 0 cos 0 1 2 ep V 0 cos 0 7 6 ec 0 cos 0 5z 6 2 In order to obtain the magnetomotive force vector as
81. or clamp MOTOR VER CABLE RESOLVER CONNECTOR OUTPUT SIGNAL 46 6 July 98 2 1 3 Resolver Wiring Each DBM module can be connected up to 3 resolvers via the following connectors M1 axis 1 resolver 45 M2 axis 2 resolver J6 M3 axis 3 resolver A cable with 4 pair each pair twisted and individually shielded with an independent overall shield is recommended 22 AWG 0 38mme to 20 AWG 0 6 mm can be used Resolver cables must be separated from power cables by a distance of 30cm 12 inches by using a independent duct conduit It is recommended to avoid intermediary connections for resolver cables Figure 2 3 shows the wiring lay out of the resolver with differential output 2 1 3 Motor Power Wiring There are seven different motor power connections depending on module configuration See Fig 1 12 and 1 13 REMARK motor power cables must be shielded 2 1 5 Signals Wiring All the enable signals and OK signals must be connected REMARK it is suggested to connect the isolated output DRIVE OK to a remote control switch so that if a fault occurs the power supply is disconnected to avoid system damages 2 1 5 1 Simulated Encoder Signals Wiring Encoder signals cable must be shielded For lengths in excess of 5 m 16 ft the cable must have 3 pairs each pair twisted REMARK in noisy environments it is suggested to connect a 220 680 resistor between A and A B and B C and C at the r
82. ortional to the intensity of the requested action Syntax data monitoring address KP lt CR gt data input B address n Address type axis Examples E 4 KI CR it asks axis 4 about If it is 90 the answer will A04 KI 90 E 4 KI 50 it sets the integral gain to 100 for axis 4 76 6 July 98 3 2 25 Command Max Reference Function it allows to set speed torque max reference The drive will automatically make it corresponding to the maximum velocity see MV command It is advisable to set MR as near as possible conversion Syntax data monitoring W address MR CR data input B address n CR Address type axis Examples 1 MV 2000 CR 1 MR 100 lt CR gt for axis 1 10V correspond to 2000 rpm E 3 MR CR it interrogates axis 3 about max reference If MR 10V the answer will be MAX REFER V 10 0 REMARK S command can be executed only after resetting or giving MV command In case of torque control it must be MR 100 77 6 98 3 2 26 Command MV Max Velocity Function it allows to set max velocity referred to MR command Anyway such a max speed can never be overcome either by analog reference or by keyboard command Syntax data monitoring address MV data input B address MV n Address type axis Unit of measure n rpm REMARK velocity depends on resolution See Tab
83. password The answer is NEW PASSWORD IS 137 SAVE E 1 SV lt CR gt saves the new password Note that all new parameters will be saved if changed 1 PW137 lt CR gt the answer is be PASSWORD OFF CAUTION Password protected parameters must be set only when the motor is standstill 3 2 35 Command A D REsolution Function it allows to display the resolution of A D converter Syntax data monitoring address RE CR Example 1 RE CR it questions module 1 about the resolution of A D converter The standard answer is 12 BIT A D CONVERTER IS PRESENT REMARK the 14 bit A D resolution is an option CG5504 code We recommend to contact the Service Centers to restore the 12 bit resolution from the optional 14 bit resolution 82 6 July 98 3 2 36 Command RN Minimum of resolution Function it allows to set the minimum of Resolver to Digital converter resolution The R D resolution will automatically be switched according to actual speed for optimum system performance between RN minimum and RX maximum RN must be the maximum R D resolution according to max speed see Tab 3 6 If RN equals RX the R D resolution is fixed Syntax data monitoring W address RN data input B address RN n Example E 2 NP 8 CR allows to set the resolver pole number of axis 2 to 8 2 MV 3000 allows to set max velocity of axis 2 to 3000 rpm 2 RN 12 CR allows to s
84. pply are made via Molex type connectors Motor power are connected via a Harting type connector while I O connectors use Weildmuller type connector All other connectors are made via D type connectors All signals are positive logic active 15 not active OV not connected 1 8 DBM Configurations Three configurations are possible for the module DBM 3A 3 axis module see Fig 1 3 DBM 2A 2 axis module see Fig 1 4 DBM 2E 2 axis module with expansion see Fig 1 5 DBM L3A 3 axis 180 mm module see Fig 1 6 DBM L2A 2 axis 180 mm module see Fig 1 7 8 6 July 98 FIG 1 1 Inter module wiring AUX P S FLAT CABLE 1 DE PA J orma ox Ja oror 410 EXPANSION __ 9 N POWER CODE 051 A081 S N WU DANE EX 10 AXS2 EN 1 O aoz et oum Li Jorne ex 2 0 083 DRIVE EN 20 083 DBM PS JORE EN 3 O 30 um REF EN REF EN O a B RS485 m B dx SIGNALS x3 V o ov OOD OF O09 FAC OTS mee ST um mn Cums wen EXTERNAL oe B mane FAT oom COMMANDS I dao a Sore DBR FAULT mo S aw O PWR nus one MP COMMON Ons mee J o i JB POWER SUPPLY Om E
85. r aor at OK MOTOR OK js mee M PARE o Ow 230 0 7 HIE Liam o imeem 110 VAC M1 E OPTIONAL U DN RECOVERY amp qu f jig 28 RESISTANCE s o 2 RAE e GROUND 4 ae ape TA oo oo Cg us ae T 51 M3 Ee E ERES TO RESOLVERS 3 x 230 Vac TRANSFORMER OR AUTOTRANSFORMER TO MOTOR PHASES 9 6 July 98 FIG 1 2 Power Supply gt a n 2 a 10 6 July 98 Tab 1 1 DBM PS Power Supply See Fig 1 2 Pos Name 1 L1 phase three phase input voltage 230Vac 2 8 J L2 phase three phase input voltage 230Vac T L8 phase three phase input voltage 230Vac Ground 5 RR Recovery resistor Wd j aina PWR BUS 0 DBR Gua 12 Red LED Module overtemperature via TERI o threshold 80 C OVER TEMP Green LED j Auxiliary power supply OK AUX POWER RS485 output port to drives and power control fault BUS BAR HV 300Vdc 11 6 July 98 Tab 1 2 Power Supply J1 Connector Auxiliary Power Supply LPos Name 1 jNC Notcomeced pua cp NCE o c 3 15Vdcreferredto HV 300Vdc 4 18Vdc referred to HV 300Vdc 5 j t50kHzsquarewavetohighsidedrives 6 NCE 7 18Vdcreferredto logic OV 8 18Vdcreterre
86. r outputs see ES SO commands 1 5 Protection Module Auxiliary voltage out of tolerance BUS BAR overvoltage BUS BAR undervoltage Motor phase grounded Motor overtemperature Module overtemperature IT protection Abnormal resolver signal Short circuit on motor phases Non coherent three phase sequence Actual speed versus reference error Power Supply e Overtemperature e Recovery unit not OK 7 6 July 98 1 6 CE Marking Starting from Jan 97 drives have CE marking according to Low Voltage Directive Starting from Apr 97 the CE marking refers also to EMC Directive see Section 6 A Declaration of Conformity is available The Low Voltage Directive applies to all electrical equipment designed to use with a voltage rating of between 50 Vac and 1000 Vac and between 75 Vdc and 1500 Vdc The CE marking states that the electrical equipment has been constructed in accordance with good engineering practice in safety matters in force in the European Community and it does not endanger the safety of persons domestic animals or property when properly installed and maintained and used in applications for which it was made DBM 03 drives meet the following standard related to Low Voltage Directive CEI EN 60204 1 1993 par 6 2 3 20 3 20 4 1 7 System Wiring All of the analog and digital signal connectors auxiliary power supplies interfaces are front connected to the unit Connectors for auxiliary power su
87. rcome a fault occurs Value 0 disables the command Syntax data monitoring address EV lt CR gt data input B address EV n Address type axis Unit of measure n rpm Range 1 to MV 0 disabled Default Password es addressing no Opposite to See also Remark While testing the drives via step response it is advisable to disable this protection or set a high value oftolerated error to avoid continuous faults Examples 1 100 lt CR gt itsets axis 1 to tolerate up to 100 rpm error without fault 3 EV CR it questions axis 3 about the maximum error allowed The answer is A3 VELOCITY ERROR RPM 20 if 20 rpm velocity error has been set for axis 3 72 6 July 98 3 2 20 Command FA Fault Function as only main faults have front panel LED indications when the generic LED DRVF lights up it is necessary to interrogate the drive via FA command The answer is a codified ASCII string see below Another function of the command is to reset the faults Answer explanation Aa FAbcdefgPhijkl l MAmno A axis a axis address FA fault b Resolver connection 0 OK 1 not OK C Motor temperature 0 1 overtemperature d Axis short circuit 0 OK 1 short circuit e 3 phase sequence 0 OK 1 not coherent phase f Velocity error 0 OK 1 not OK 9 It 0 off 1 on Power supply h Recovery unit 0 OK 1 not OK PWRS temperature
88. s filter can be adjusted by DF parameter see DF The value DF 0 switches the filter OFF VS 0 selects the speed controller having the feedback KP and KI gains four times higher than the standard gains and a digital low pass filter processing the speed reference signal This structure should be used in applications where the analog speed reference lines from the CNC are noisy and high gains are required VS 1 selects the speed controller having standard feedback KP and KI gains and a digital low pass filter processing the speed reference signal This structure should be used in applications where the analog speed reference lines from the CNC are noisy and normal gains are required VS 2 selects the speed controller having the feedback and gains four times higher than the standard gains and a digital low pass filter processing the speed error signal This structure should be used in applications with high ratios between load and motor inertia inertia mismatch and high gains are required VS 3 selects the speed controller having standard feedback KP and KI gains and a digital low pass filter processing the speed error signal This structure should be used in applications with high ratios between load and motor inertia inertia mismatch and normal gains are required Syntax data monitoring address VS data input B address VS n Address type axis 0 to 3 VS20 gains multiplied by 4 reference f
89. s the internal angular error in the form of a DC signal This signal is in turn fed to the input of a PI error analog amplifier The presence of the integral action insures that the steady state error will be zero The output of the error amplifier is fed to the UP DOWN Voltage Controlled Oscillator The function of this block see Fig 3 is similar to the conventional VCO The difference is that the VCO used is able of accepting bipolar input signals In other words the positive input signal fed to the VCO will produce UP counts of the digital counter with a frequency proportional to the magnitude of the input signal In situations where the input to the VCO is negative resulting counts will be DOWN i e decrementing This way the R D converters position tracking loop is closed The digital word from the UP DOWN counter is read by the DSP Position information is used for the purpose of performing the rotational transformation of variables from the rotor d q coordinate frame to the stator stationary a b c frame Moreover the shaft position taken in the form of a digital word serves as the input to the speed observation block illustrated in Fig 4 120 6 July 98 5 5 Speed Loop The speed control loop is implemented by the Digital Signal Processor fitted into the DBM module control board The speed reference normally comes from a CNC in the form of 10V 10V analog signal Alternatively the speed reference might be set by dum
90. t end 87 6 July 98 3 2 44 Command SV Save Function it allows to save all parameters in the personality card If the WP jumper on the Personality Card is closed the SV command is disabled see Par 2 2 7 Syntax command input address SV Address type module Unit of measure Range Default Password addressing Opposite to See also CAUTION the SV command execution time is 5s If a reset has been sent during this time EEPROM ERROR will appear and some data can be lost In this case the following steps must be met close G3 on the personality card send 1SV command if the basic address is not 1 send 15 command if 2 axis module disable 3rd axis via AD command open G3 on the personality card 3 2 45 Command TC Torque Control Function it allows to pass from speed control to torque control A torque control proportional to the input reference analog or digital positive or negative will be applied to the motor As for analog reference max torque will be given according to max voltage at the input reference As for digital reference max torque will be given when a value equal to the maximum one MV command is set via VE command Note that in that case VE velocity and MV max velocity mean torque and max torque It is an actual torque control and not a speed control with limited torque see IL command Note the status can be interrogated via ST command b
91. ta input B address RX n CR Address type axis See also Tab 3 6 Unit of measure bit Example 2 RX CR questions axis 2 about the maximum resolution of The answer is A02 MAXIMAL RES 16 if 16 bit R D resolution has been set for axis 2 84 6 July 98 3 2 39 Command SA Set Address Function it is used to assign the module a basic address different from default A module programmed as address 1 will automatically assign for the other axes the following address i e 2 3 if triple axis or 2 if double axis See also 5 REMARK To perform SA command only one module at the time must be connected to J2 flat cable 3 2 40 Command SE SIMULATED ENCODER OPTIONAL Function it allows to set the number of pulses per electrical revolution of simulated encoder The number of ppr must be lt ppr according to RN see Tab 3 7 Syntax data monitoring address SE data input B address SE addressing no Opposite to See also RN RX Tab 3 6 and 3 7 REMARK to enable a new SE value after setting and saving reset button on front panel or send pulse to REM reset Example 2 RN 12 CR allows to set min R D resolution for axis 2 to 12 bit 2 SE 1024 CR allows to set the pulses per electr revolution for axis 2 to 1024 Tab 3 7 Max ppr versus R D resolution Resolution bit Max number of pulses per 256 1024 4096 16
92. the Analog limit as standard 3 2 5 Command AP Autophasing Function AP command allows resolver auto phasing As in this phase the motor can rotate for a revolution fraction it is opportune to make sure it is free to rotate to avoid risk of friction which could compromise phasing accuracy So motor must be disconnected from load Syntax command input address AP lt CR gt Address type axis Note To execute AP all module axes must have optoisolated Drive Enable signals on and digital ones off see paragraph 2 2 3 via OF command To execute AP it is necessary that the G2 jumper on the personality card is in position 2 3 open which means priority from the keyboard see paragraph 2 2 2 Examples B 1 AP lt gt it allows axis 1 auto phasing During such operation a few seconds AUTOPHASING IN PROGRESS will be displayed when auto phasing is successfully carried out AXIS PHASED will be displayed otherwise ERROR IN AUTOPHASING will be shown If digital Drive Enable is enabled ON see above the message WARNING DRIVE EN CLOSED will appear The auto phasing is not allowed if a fault is on This case the message displayed will be ERROR FAULT STATUS 63 6 July 98 3 2 6 Command AR Analog Reference Function AR command allows enabling analog speed or torque reference pins ignoring VE command given from keyboard Syntax command input B address AR Address type axis Note
93. ud CR Internal fault 112 6 July 98 FIG 4 16 Motor at zero speed Axis enabled Motor at zero speed with speed reference not zero NO REF EN ON Make REF EN ON on J8 pin 16 YES YES ONwith digital reference or DR ON with analog reference Check via ST command Use coherent reference NO YES 0 Set correct value for NO standard value 20 Internal fault 113 6 July 98 SECTION 5 PRINCIPLES OF OPERATION 5 1 Introduction In this chapter principles of operation of the drive system comprising the DBM multi axis module and FAS T and FAS K synchronous motors with permanent magnet excitation will be described Theoretical background along with the necessary information specific for the DBM will be outline for the purpose of better understanding of the system for the aim of a comparison with other systems and for the ease of the parameter adjustments during the installation phase Issues of particular importance are the torque generation current control loops and the speed control loop 5 2 Torque Generation The DBM is designed for the torque and speed control of synchronous motors with permanent magnets on the rotor and with the sinusoidal distribution of the stator windings along the stator circumference Rather than trapezoidal EMF motors with concentrated stator windings these motors have sinusoidal electr
94. ult values 2 43 48 55 83 85 94 123 for keyboard setup add reset to enable SE 125 130 134 135 136 corres miscellaneous correct miscellaneous errors 23 May 97 Update standards with EN 61800 3 EMC 3 5 6 8 9 11 25 37 42 product standard correct fig 6 8 43 44 48 49 52 56 57 72 EMC Equipotential bonding update 220Vac 75 98 99 101 105 123 Table of Contents Introduction page 3 Section 1 general features 5 Description standard features 5 technical data 6 interfaces 7 protections 7 CE marking 8 system wiring 8 configurations 8 internal jumpers 13 dimensions 36 fans 37 recovery circuit 37 block diagrams 39 Section 2 wiring 43 Installation transformer autotransformer connection 43 soft start 45 resolver wiring 47 motor power wiring 47 connection to PC 48 installation 48 keyboard or opto priority 49 autophasing 49 personality card jumpers 52 resolver to encoder optional 53 operation 57 Section 3 general features 58 Commands and commands 60 Protections protections 92 Section 4 98 Troubleshooting Section 5 introduction 114 Principles of torque generation 114 Operation current control loop 117 speed and position sensing 119 speed loop 121 1 6 July 98 Section 6 EMC Appendix A Multidrop Appendix B Dbtalk Appendix C Appendix D Appendix E European Directive filtering wiring and grounding recovery resistor screening safety aspects internal jumpers
95. ve Manual on the PC keyboard Example 3VE3000 Send Command 3VE3000 Driver Answer Communication Status REGULAR ist ADDRESS 01 SET ADDRESS 03 MODULE 5 REFERENCE EN Opto DRIVE 0 PRIORITY G2 EXPANSION SPARE OU ANALOG OUT 1 ANALOG OUT 2 132 6 July 98 e INTERFACE REQUIREMENTS The RS422 interface wiring is based on one to one no multidrop principle Four wires are used With RS422 you can transmit and receive data simultaneously full duplex The RS485 half duplex uses only two wires It allows multidrop communication With RS485 half duplex you cannot transmit and receive simultaneously supports RS485 full duplex with four wires RS422 compatible Up to 99 DBM and up to 15 DBS drives can be connected in multidrop configuration RS232 485 CONVERTER KIT This very small external converter provides a full duplex interface between PC and DBM DBS The converter must be fit directly into a COM port RS232 of a PC This way the link becomes purely RS485 less susceptible to noise and able to transmit over much longer distances than RS232 The kit includes the converter to fit into DB25 S connector of the PC COM port The DTE DCE switch of the converter must be set to DCE Data Communications Equipment a DB25 to DB9 interface to be used if the PC COM port is DB9 S 2 cable to conne
96. vel of current measurement the three motor phases are not a triplet or when a phase is greater than a fixed limit Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send pulse to REM RESET Auxiliary voltages not norm Indicated by LED DRVF optoisolated output DRIVE OK bit N of the FA string see FA command Set condition when the level of 15V or 5V becomes out of tolerance Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send pulse to REM RESET Personality card absent Indicated by LED DRVF optoisolated output DRIVE OK bit L of the FA string Set condition when the personality card is not present or taken away during running Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send pulse to REM RESET EEPROM error Indicated by LED DRVF optoisolated output DRIVE OK bit L of the FA string see FA command EE ERROR on the keyboard Set condition when after the SV command a reset has been sent before 5 sec Effect inhibit torque of all axes of the module Reset condition check the parameters e g correct the wrong values and save 94 6 July 98 Bus not normal Indicated by LED DRVF LED POWER OK optoisolated output DRIVE OK bit M of the
97. xt modules all the modules from factory being usually configured with address 1 2 3 if 3 axis or with address 1 2 if 2 axis Example of basic address assignment for the 2nd module the first module being triple axis FROM KEYBOARD see Chapter 3 for a detailed description of commands 1 SA 4 CR Assign basic address 4 to the second module its primary axis 4 SV lt CR gt Save the address configuration 48 6 July 98 Note a module programmed as address 4 will automatically assign for the other axes the following addresses i e 5 6 if triple axis or 5 if double axis and so on for the next basic addresses e Check if NP pole number MV max velocity and max reference parameters are OK for the application Make a hardware reset via button on drive or via positive logic on pin 18 of J8 connector software reset via FA command being useless for digital control card reinitialization e Connect 230Vac three phase power supply WARNING HIGH VOLTAGE DISCHARGE TIME APPROX 6 MINUTES 2 2 2 Keyboard or Opto Priority On the personality card there is a jumper G2 See Fig 2 4 which gives priority to keyboard or to opto to execute Drive Enable command Drive Enable opto isolated signals are connected to J8 pos 13 14 15 G2 opened position 2 3 keyboard priority the keyboard or the device connected to the serial link is the master i e it allows to enable or disable motor current whereas the

Download Pdf Manuals

Related Search

Related Contents

Mercodan 655547 video splitter  USER GUIDE - Heartland Owners Manuals  Télécharger le PDF  produit triple action degraisse, degoudronne et desodorise  Philips 10FF2CMI 10.2" LCD 9.4" v.area 3:2 frame ratio PhotoFrame  LED-DMX-LICHTEFFEKT-PANEL  Carregar folheto (pt)  deutsch - Motortech  ASN-B  Home Decorators Collection WSFP46ECHD-4 Instructions / Assembly  

Copyright © All rights reserved. Failed to retrieve file