ISD handbook - Motor Technology Ltd
Contents
1. i 12d 49 LE E v DA ER 3 i M edz caz RINE E een 3 Old px od IN Yo hun Ls CN 3UR JE pe U to i CA ub 462 eo 3M0d 1 an Zaz c5 3 and rai E iun Gun 881 qus 1 x 129 29H S 8 2 OO 19 Te Tun2. itt tenen en 6 eiii eie Det a t d rte A 6 Input Output signals eem 7 Protections zs t cttm tdt Die tin pene DO DET Don dem adds 7 Operating temperature issimoketinai aa e ae haa iakaat niei ekain eath 7 Others EE 7 CONNECTIONS iret die e edet end iste ree 10 MAIN SUPPLY CONNECTIONS 0 ccccccceeececeeececeeeeceeeeceeeeeceaesecaeeseeeesaeeesaeescaeeseeeeessaeeeseaseseeeeees 12 MOTOR CONNECTIONS A 51 Bet tro ag ea ttd 13 CLAMP RESISTOR CONNECTONS bre n RR ead pe tla m rete 13 BRAKE AND AUX CONNECTIONS a a 13 CONNECTIONS TO THE CONTROL enne 14 CONNECTIONS TO RESOLVER 15 CONNECTIONS TO THE PERSONAL COMPUTER SERIAL LINE 15 TABLE OF CONDUCTORS SECTION V S CONVERTER 12 16 EEDS DESERIRTION aa 16 1 SEGMENT BISPEAY een uicina deam 17 Powerup ein satt nt aaa 17 Normal operation didt dico naar odd tn Ead ee de da rd de x ties 17 TEST POINTS DESCRIPTION n t on ee b oe aaa e Pon eade enu 18 JUMBERSt HEHE emet Ltu eue 19 IBEJSD PG INTERFACE ra ti ete ite ini 20 ISD PC SOFTWARE INSTALLATION ae ed e Eee 20 Intelligent Servo Drive ISD300R series User Manual i PGr
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4. e P5 P6 set the internal switchmode supply to operate from the auxiliary 110 Vac supply input e P7 P8 set the internal switchmode supply to operate from the 310 Vdc power bus these jumpers are mutually exclusive with P5 P6 The following jumpers are on the interface board e JP1 JP2 used for testing only normally closed Intelligent Servo Drive ISD300R series User Manual 20 ISD PC INTERFACE THE ISD PC INTERFACE The ISD PC interface allows to properly setup all drive parameters to fit the final user application The interface running under Windows on a PC is a friendly and easy to use environment either for setting application parameters and for verification of the correct installation during commissioning ISD PC SOFTWARE INSTALLATION PC requirements 386DX33 or faster cpu with at last 4M of RAM Color monitor reccomended Runs under Windows 3 1 3 11 Wiindows 95 Windows NT RS232 serial line COM1 or COM2 for connecting the drive Pointing device mouse or equivalent Installation First copy the ISD INI file supplied with the ISD PC to your current Windows directory Edit edit the line port com1 in the ISD INI file to set the serial line you are currently using to connect the drive COM1 or COM2 are supported Attention DO NOT CHANGE the parameters of the serial line baud rate parity etc otherwise it will not be able to connect the drive Run the ISD EXE executable file The PC_I
5. can be sourced for no more than 0 5 second After this time the Ixt protection trips and the output currrent is automatically limited to the rated current The protection do not cause the opening of the FAULT contact Ixt protection is automatically reset after 10 seconds provided that the rated continuous currrent is set at least 796 less than the Ixt threshold Otherwise it stays latched until the power is removed to the unit Operating temperature e Operating temperature 10 C 40 For sizes 15 20 and 30 forced ventilation is necessary for operation in the full temperature range at the rated current see Cooling requirements e Storage temperature 10 C 70 C Others e Current loop bandwidth 3 kHz e Speed loop bandwidth 200 Hz e Linearity better than 0 6 Intelligent Servo Drive ISD300R series User Manual 1503008 SERIES SERVOAMPLIFIERS
6. motor shaft The correct value degrees should be determined following the Application note no 003 using procedure B for point 3 Resolver positioning Procedure A do not work with 150300 drives Command generator window SW1 when cleared to 0 set the input reference to 0 When active allows the input referenceto be fed to the drive command generator Its status is shown by L2 lamp Reference bandwitdth S2 insert a low pass filter on the reference input when low Should be set to high when current command is used Reference amplitude adjust T4 adjust the amplitude of the reference for maximum command It allows 100 to 200 regulation to work with NC which have from 5V to 10V full scale output Reference selection S3 sets the input reference for the command generator to external internal n a or ramp If set to ramp adjust the ramp duration with Trimmer T5 Ramp duration T5 Coarse fine setting of the ramp duration Speed loop pole placement S4 set the position of the compensation of the PI loop Speed loop gain S5 set the minimum gain of the speed loop Set to Low first than increase the Gain adjusting trimmer If the gain increase is not sufficient for the application set 5 to High and readjust the Gain adjust trimmer T3 Intelligent Servo Drive ISD300R series User Manual 28 ISD PC INTERFACE Gain adjust T3 coarse fine adjust of the speed loop gain This trimmer can only
7. nud Intelligent Servo Drive ISD300R series User Manual
8. All equipments should be installed in metal cabinet closed over all sides Conformity In this configuration the converter is compliant with the regulations referenced above Intelligent Servo Drive ISD300R series User Manual 35 PRESCRIPTION INSTALLATION WITHOUT FILTERS CONTROL UNIT CONVERTER CLAMP RESISTOR 380VAC THREE PHASE SS e Supply cable A no prescription Install a suppression ferrite KITAGAWA SFC10 e Motor cable B to prevent emission of the motor cable is recomended to use of shielded cable The shield must be connect to the converter ground terminal and to the ground terminal of the motor The cable length must be less or equal 25m Install a suppression ferrite KITAGAWA SFC10 F e Transformer must be shielded between primary and secondary windings and its rated power must be adeguate for equipment requirements e Clamp resistor C connected through twisted cable with length less or equal 2m e Motor signal cable D shielded cable with length less or equal 25m e Control connections E shielded cable with lenght less or equal 3m Conformity In this configuration the converter is compliant with all the regulation referenced above regarding immunity EN50082 2 In this configuration the converter is not compliant to the emission regulation EN55011 Emission Generic standard In this configuration the converte
9. CN 80 5 so i L STUDIO TECNICO PALEOLOGO COMM 10139 CAD 75S 30706794 DISEGNO VISTO DAL LATO COMPONENTI PRIMA ELECTRONICS CST492 SERIGRAFIA LC Fig 1 Printed circuit board layout base board Intelligent Servo Drive ISD300R series User Manual alo c ard ee 9 i 1 9 CP8 C57 x J EJ a CH LAI U35 UR1 U28 pzal bze gt Ber E R86 C42 8 e CN1 REVO1 e N N U25 eu Sr eL 2 017 N e c 2 2 BE o UTG 011 z o i X alel N 2 gt 121212 2 2 F e C 9 od amp U E w c N c37 019 n s o IS e E Q U n A3 N leo C24 RG2 C23 DOQQ 015 E 01 c gt a 1026 L Gooooo Bee Oe c Ik iul GST aur amp ISD300R SERIES SERVOAMPLIFIERS Us un a ceo DE Je 2 09 C17 C16 RN6 JRN4 C12 C9 C 5 S e RN2 a CN6 a 65 TP2 ree JOO Drei Fig 2 Printed ci
10. NTS NATURAL CONVECTION In single axis application the unit is used with its lateral heatsink standard The following CURRENT condition apply The above table applies with an ambient temperature of 40 C and unit mounted vertically with 40 mm free space on both sides and 200 mm above and below to ensure air circulation FORCED VENTILATION The unit has an internal temperature limit switch set at 80 C In the following table is shown the temperature rise AT of the heatsink at an ambient temperature of 40 C using a fan model PAPST multifan 4314 119x119 mm SIZE THRESHOLD CURRENT A TEMPERATURE The above table applies with an ambient temperature of 40 C and unit mounted vertically with 20 mm free space on both sides and 200 mm above and below to ensure air circulation The fan should be installed below the unit with 100mm maximum spacing from the drive The required airflow is 100 m h When using a 24Vdc fan as the above mentioned PAPST fan its power supply can be obtained from the drive using the brake 24V supply TB4 connector pin B B It should be checked that if the brake is used the total current consumption on this power supply brake fan is less than 0 8 A Intelligent Servo Drive ISD300R series User Manual 31 DIMENSIONS AND FIXING DIMENSIONS AND FIXING As already pointed the dimensions of the mono axis applications with lateral heatsink are different from the multi axis ones
11. NV50204 ENV50141 EN55011 EN61800 3 system Electrostatic discharge Electrical fast transient burst Surge immunity FULL LIGHTNING Power frequency magnetic field High frequency elettromagnetic fields Elettromagnetic field at 900 MHz with ON OFF modulation Radiofrequency Radiated and conducted emission Semiconductor power converters for adjustable speed electric drive Intelligent Servo Drive ISD300R series User Manual 33 PRESCRIPTION INSTALLATION WITH SPECIAL FILTER FOR CONVERTER CONVERTER CONTROL UNIT RESOLVER CLAMP MAIN RESISTOR SWITCH TRANSFORMER POWER SUPPLY e Supply cable A no presciption e Motor cable B to prevent emission of the motor cable is recommended to use shielded cable The shielding must be connected to the ground of the converter and to the ground terminal of the motor In this configuration due to the characteristics of the special filter for converter it is allowed to use unshielded cable The cable length must be less or equal 25m e Transformer must be shielded between primary and secondary windings and its rated power must be adeguate for equipment requirements e Clamp resistor C connected through twisted cable with length less or equal 2m e Motor signal cable D shielded cable with length less or equal 25m e Control connections E shielded cable with length
12. SD window appears Execute the Connect command from the commands pull down menu to connect the drive The interface is now active Intelligent Servo Drive ISD300R series User Manual 21 ISD PC INTERFACE USING THE ISD PC INTERFACE The ISD PC interface startup windows is shown in fig 6 Most of the common settings are shown on the main windows 154300 User Interface Version 1 0 Isd File View Commands Tools Help 11 EE a 1 150300 96 48 00102 00 6 poles 17 0 000000 Sa 2 1013 0 000000 Fig 6 Startup window On these windows are shown the most important identification data of the converter Model I1 Size I2 Serial Number I3 Sw versions 15 the Configuration 16 and Motor Poles 17 These data cannot be modified by the user except for the Configuration 16 and Motor Poles I7 fields Use the 7 field for storing the name of the configuration file currently in use on the drive This will give simple way of identification of the current set of parameters in use on the drive Three lamps show the status of Enable L1 Armo L2 Fault L3 Nine smaller smaller red lamps show the actual faults An indication of the fault occurred is shown passing on the lamp icon with the pointing device Selector icon 1 Trimmer icons T1 T3 and Parameter icons P1 P4 are used for parameter setting Other windows are available by clicking on the picture of th
13. VA we recommend to limit the inrush current as shown For further informations about inrush current suppressors please contact your vendor TRANSFORMER R 10 ohm 50W ARMOURED RESISTORS 220 25A RELAYS Fig 5 Wiring for a line transformer with rated power gt 6kVA Intelligent Servo Drive ISD300R series User Manual CONNECTIONS MOTOR CONNECTIONS ground PE GND 1 2 frame M power to motor phases screw connection max 4mm terminals Note an optional noise suppressor ferrite clamp has been foreseen for motor cable CLAMP RESISTOR CONNECTIONS TB1 C2 to external clamp resistor C1 screw connection max 1 5mm terminals BRAKE AND AUX CONNECTIONS brake brake brake supply input 24Vdc 2A internal brake supply 24Vdc 0 8A max auxiliary power input 110 230Vac auxiliary power input 110 230Vac screw connection max 1mm terminals Note The drive automatically cuts off power and releases the electromechanic brake when connection between pins 3 and 4 is open Connect a potential free contact emergency switch between pins 3 and 4 or jumper them Intelligent Servo Drive ISD300R series User Manual 13 CONNECTIONS CONNECTIONS TO THE CONTROL UNIT High density 26 pin JP2 male sub D connector NS eo 8 e e e e eo e oY JP2 SIGNALS TOWARDS THE CONTROL UNIT FAULT2 error signal input relay
14. ables are valid for two pole resolvers If your resolver has a different number of poles resolver s poles number you must multiply the pulses per turn by 2 Intelligent Servo Drive ISD300R series User Manual 27 ISD PC INTERFACE Motor Poles 17 selection of the number of motor poles 4 6 8 poles motor are available This setting has no effects until the power is switched off and on again Remember to freeze the parameters before switching the drive off Resolver converter window Resolver excitation level T7 Value of the excitation signal Vrms Set this value taking into account the resolver transformer ratio The input level for Sin Cos signal should be 2Vrms 10 Resolver phase adjust T6 Phase adjust of the resolver signals Sin Cos against excitation to compensate resolver and cabling phase shift Adjust this trimmer by looking at the L4 lamp Increase the value until the lamp toggles Across the toggle point of the lamp there is the optimal value Note remember that you should issue the Connect command to have the refresh of the indicators active see ISD PC software Installation Resolver resolution S7 Selects the resolution of the resolver converter Note the resolution affects the maximum tracking speed of the resolver and therefore the maximum allowed speed of the motor RESOLUTION RPM MAX 12 Resolver phase adder 9 Adjust the mechanical phasing of the resolver with respect to the
15. built using IGBT transistors for the power stage has an integrated switching power supply integrated controller and protection circuits The power ground and the signal ground are galvanically insulated The converter generates an encoder simulation output with two quadrature signals and a 0 marker with a programmable resolution from 62256 to 1024 pulses turn The reference input is set through a 10V analog input all the other input signals are 24V optically coupled signals A potential free contact is available for FAULT signal drive OK The power supply and the control for an electromagnetic brake is incorporated in the drive PRODUCT IDENTIFICATION An identification label is applied on the side of the unit with the relevant identification data When contacting the customer service please report the Model Serial number and Part number which are indicated on the label Model ISD300RO5 Imi Serial 96 48 00101 00 nr 2XAROODOO106BCFO Intelligent Servo Drive ISD300R series User Manual 1503008 SERIES SERVOAMPLIFIERS MODEL SPECIFICATION Different models 5 sizes are available specification depending on size are shown in the table below er e Peak current trapezoidal e i m o a prommen A ow m _ memet A oe oe In Power loss at rated current with electromechanical brake Quiscent power loss disabled Quiscent power loss with electromec
16. contact 2 24VOUT auxiliary voltage output 24Vdc 0 8A max 3 ENABLE power enable input 4 DO NOT CONNECT 7 DONOTCONNECT DONOTCONNECT 0 VREF velocity orcurrent reference input 1 DONOTCONNCT lt 2 PL DONOTCONNECT DD 6 ME 9 Note signals marked with are optional and supplied on request Note connecting 24VSBLO to 24OUT the elecromagnetic brake is unlocked and motor s dynamic braking is disabled Intelligent Servo Drive ISD300R series User Manual CONNECTIONS CONNECTIONS TO RESOLVER Male 9 pin Sub D connector JP1 SIGNALS TO RESOLVER reference description pin THERMAL2 motor thermal protection not connected positive resolver reference positive resolver sinus signal positive resolver cosinus signal 6 THERMAL4 motor thermal protection 7 7 REFRES negative resolver reference 8 negatve resolver sinus signal negatve resolver cosinus signal Connect the thermostatic potential free contact n c or PTC resistor between these pins Intelligent Servo Drive ISD300R series User Manual CONNECTIONS TO THE PERSONAL COMPUTER SERIAL LINE Female 9 pin Sub D connector JPC SERIAL LINE CONNECTION reference description 1 ntomeced 4 notconnected III O 5 RS232 GND Rs232 ground 6 jnetcometed O 7 jnotconeced 8 notconnected o no
17. e drive or through the Block analyzer command in the Tools pulldown menu fig 7 Intelligent Servo Drive ISD300R series User Manual 22 ISD PC INTERFACE 154300 User Interface Version 1 0 Isd View Commands Tools Help r es Jes in J 2 _ Motor Resolver Fig 7 Block diagram window Clicking the appropriate function block other windows become available Monitoring fields show the current value of drive variables The value is updated every second when the ISD PC interface is connected to the drive Intelligent Servo Drive ISD300R series User Manual 23 ISD PC INTERFACE 154300 User Interface Version 1 0 Isd View Commands Tools Help LO fcc ed 2 Jes n a aise AC Fig 8 Command generator window This window shows a block diagram of the drive command generator block Most of the settings relevant to the speed loop are presented here Trimmer icons T4 T5 are shown selectors S2 S6 are shown and Switch SW 1 is shown Two more windows can be accessed directly from here clicking the functional block icons Power driver window fig 4 and Resolver converter window fig 5 Intelligent Servo Drive ISD300R series User Manual 24 ISD PC INTERFACE 154300 User Interface Version 1 0 Isd View Commands Tools Help CO fog ed 2 s Jes in Ca Motor Resolver LS Power Stage 0 00000 Fig 9 Power driver wi
18. equ lremients enr arn Rad ege A E rU Ne FER IER Rd De Installation c toot E n E D eon adiens USING THE ISD PC INTERFACE tie en e HE Er dates land ai ER de ete ed bee Parameters settinigs iue iie ce Et dde eL eL De go d d an de Startup wIndOW teed eel Bede aed 26 Resolver converter window 27 Command generator window 27 Saving and restoring Scope and waveform generator function GODEING REQUIREMENTS nn aa er NATURAL CONVECTION ee aki abt ins nee et ea FORCED VENTILATION tti n EDT PER ERI ide xs DIMENSIONS ANB FIXING et e t d n e e t e n ast LATERAL HEATSINK APPLICATION sss EMG PRESCRIPTION LINIE iov e t eed FOREWORD Serta fare datas eee RS REFERENCE STANDARDS uie eno deme ibtd INSTALLATION WITH SPECIAL FILTER FOR M EE INSTALLATION WITHOUT SPECIAL FILTER FOR CONVERT ER COnfOFTILy ie tite e ia etsi dad ete t e nett ve Cels a E aaa elo ab ER Lut he let INSTALLATION WITHOUT FILTERS sss eee enne Conformity ere ig ie
19. erate on the drive ATTENTION DANGEROUS VOLTAGES MAY REMAIN ON DRIVE TERMINALS AND INSIDE THE DRIVE ENCLOSURE UP TO 5 MINUTES AFTER THE POWER HAS BEN SWITCHED OFF Intelligent Servo Drive ISD300R series User Manual 1503008 SERIES SERVOAMPLIFIERS Clamping circuit e clamp ballast circuit short circuit protected e DC voltage threshold set at 400Vdc The braking resistor should be located externally and connnected to the relevant screw teminals on the front panel An intrenal Ixt circuit protects the clamping resistor limiting the average power to the value shown in the table below Install the appropriate resistor according to the drive model as shown MODEL CLAMPING PEAK POWER AVERAGE POWER RESISTOR 1 second 4 6 KW 100 W 10 6 kW 240 W 10 6 kW 240 W R20 100 16 kW 420 W R30 16 kW 420 W Electromagnetic brake e the brake can be connected on front panel terminals e internal power supply for the brake 24Vdc 0 8A max e brake release lock is automatically operated by the drive e connections for an optional emergency switch potential free contact in series with the brake are available Dynamic braking The drive is capable of braking the motor shorting its windings and controlling the motor current at a presettable level This feature is automatic in case of a fault or drive disable This feature can be disabled by connecting to 24V the input 24VSBLO pin 11 of connector JP2 If an electromagnetic bra
20. hanica Sd Efficiency at rated current PWM switching reauenc ore Mechanical specification gee ISD300T05 ISD300T10 ISD300T15 ISD300T20 ISD300T30 eot T Ha 268x53x230 268x53x230 268x63x230 268x63x230 268x63x230 Intelligent Servo Drive ISD300R series User Manual 1503008 SERIES SERVOAMPLIFIERS TECHNICAL CHARACTERISTICS Main supply e Three phase input 230 Vac 10 20 e DC bus nominal voltage 310Vdc e Internal switching power supply for the control circuitry e Maximum output voltage to the motor 9596 of the DC bus 310Vdc e Galvanic insulation between the control circuitry and the power stage Auxiliary supply e Auxiliary supply 110 230Vac 30VA optional selectable through jumpers on the base board The auxiliary supply is needed when the status of the LED indicators and the encoder simulation function should be maintained active also after removing the main power supply 220Vac three phase When using the auxiliary supply the input voltage on the main supply can be reduced up to 35 Vac three phase minimum by eliminating the undervoltage protection via a dedicated jumper on the base board see Jumpers for usage with low voltage motors Enclosure The drive has a metallic enclosure protection grade IP20 suitable for vertical fixing through two 5 screws on a panel WARNING The drive operates with high voltage only qualified personnal should be allowed to op
21. increase the gain Trimmer T3 is available also in the Startup window Mode select S6 Selects operating mode either speed mode or current mode Saving and restoring settings After that the drive is set according to the desired application parameter should be permanently stored in the non volatile memory of the drive To accomplish this use the Freeze command in the Command pull down menu The interface asks also for a file name to be written on the disk with the parameter set is possible to store the current application paramenters also to a file on the disk using the Save as command in the File pull down menu The file saved can be stored on the PC disk for documentation and for initializing new drives with the same parameters To accomplish this use the command Open in the File pull down menu The selected file is trasferred to the drive Remember to Freeze the settings to store them in the non volatile memory In case of a wrong setting of parameters the default values factory setting of the drive parameter can be recalled though the Restore default command in the Command pull down menu Intelligent Servo Drive ISD300R series User Manual 29 ISD PC INTERFACE Scope and waveform generator function This function can be accessed through the Waveform generator command in the Tools pull down menu The scope shows like the front panel of a common digital scope Buttons are available for selecting trigger level s
22. ke is conected to the drive the brake is also energized released Resolver e reference frequency 12kHz e reference voltage selectable up to 7 1 Vrms 100 mA max e required input voltage for sin and cos signals 2Vrms 10 e digital phase shift compensation between reference and sin cos inputs resolver and cable compensation e digital phasing of the resolver with respect to the motor shaft Intelligent Servo Drive ISD300R series User Manual 1503008 SERIES SERVOAMPLIFIERS Input Output signals e digital input for power enable ENABLE 15 24V 20mA e FAULT output potential free contact 24V 1A e power supply output 15V 50mA e analog reference input 10V differential 1kQ impedance e digital output for encoder emulation A B Z RS422 5V differential with selectable resolution e analog input 0 10V unipolar 1kQ impedance for setting the limit of the output current from 096 OV to 10096 10V of the rated current of the drive Option Protections e under overvoltage on DC bus e short circuit between motor terminals and or ground e overcurrent e resolver connection fault wire broken or overvoltage on resolver input signals e overspeed e drive overtemperature e motor overtemperature In case of intervention of any of the above protection the FAULT contact is opened The protections are cleared by cycling the ENABLE input off and on again e protection circuit The peak current
23. less or equal 3m e filter special filter for converter code 2SMPM3338 OC cable is included Conformity In this configuration the converter is compliant with the regulations referenced above Intelligent Servo Drive ISD300R series User Manual 34 PRESCRIPTION INSTALLATION WITHOUT SPECIAL FILTER FOR CONVERTER CONVERTER CLAMP CONTROL UNIT SWITCH NET FILTER TRANSFORMER D D EP I A 4 A if A A RESOLVER fie FUSES MOTOR e Supply cable A no prescription e Motor cable B to prevent emission of the motor cable is recomended to use of shielded cable The shield must be connect to the converter ground terminal and to the ground terminal of the motor The cable length must be less or equal 25m e Transformer must be shielded between primary and secondary windings and its rated power must be adeguate for equipment requirements e Clamp resistor C connected through twisted cable with length less or equal 2m e Motor signal cable D shielded cable with length less or equal 25m e Control connections E shielded cable with lenght less or equal 3m e Network filter Siemens B84143 B XXR with following characteristics Nominal voltage 440 250 Vac 50 60Hz Phase number 3 Temperature range 25 40 gradi Nominal current range XX 8 12 16 25 36A for different models e Cabinet
24. lope trigger position trigger channel The scope starts pushing the Start button The Trigger lamp L5 is lit when trigger condition is met The Ready lamp L6 is lit when the buffer is filled After that by clicking on the scope graticule the selected waveforms are displayed on the screen The drive stores internally the samples of 8 channels 2ms sampling time for 1024 samples buffer Data are transferred to the screen by clicking on the graticule screen Displayed channels are selected through the buttons on top of the graticule Up to 8 different channels are displayed The waveform and scope window is shown in fig 6 154300 User Interface Version 1 0 Isd File View Commands Tools Help e el Waveform Oscilloscope es 5 5 7 8 r7 1120 rpmidiv Tigger L5 16 2273151515178 I4 p x1 2 8 Fig 6 Scope waveform generator window The waveform generator allows to connect to the drive an internally generated input waveform depending on the control mode speed or current selected The user can select the amplitude the shape and the period of the waveform For safety reason when the waveform generator is stopped the drive is disabled To enable again use the Enable switch in the Power driver window of the block analyzer Intelligent Servo Drive ISD300R series User Manual 30 COOLING REQUIREMENTS COOLING REQUIREME
25. ly is missing drive is disabled Manual brake release the dynamic braking is disabled End of stroke 1 n a End of stroke 2 n a both End of strokes active n a Intelligent Servo Drive ISD300R series User Manual 18 CONNECTIONS TEST POINTS DESCRIPTION On the front of the drive test points are accessible TP4 CURR istantaneous motor current REF reference voltage Vref TP2 TACHO speed 1 GND analog ground The voltage on REF test point depends on the Reference amplitude adjust setting With 100 amplitude the voltage on the test point is 4V whith 10V input to the drive reference input The voltage on TACHO test point depends from the resolution set for the resolver converter according to the following table RESOLUTION TACHO V krpm 12 bit 14 bit 16bit 8 The voltage on the test point CURR depends on the drive s model according to the following table Intelligent Servo Drive ISD300R series User Manual CONNECTIONS JUMPERS The following jumpers on the base board and on the interface board are factory settings and do not need to be changed by the user These jumpers are not accessible and require opening the enclosure The following jumpers are on the base board e PO P1 P9 used for testing purposes normally open e P2 undervoltage disable e P3 connects GND24V to GND GND24V is normally floating e P4 used for testing purposes normally open
26. motor LEAT control in motion INTELLIGENT SERVO DRIVE FOR BRUSHLESS MOTORS ISD300R SERIES USER MANUAL DOCUMENT NUMBER ISD MMR M001 INTERNAL REFERENCE ISD 142 SP EDITION 01 AUTHOR L DI STEFANO DATE 20 OCTOBER 1996 The material in this manual is for informational purposes only and is subject to change without notice PRIMA ELECTRONICS S p A assumes no responsability for errors or omissions neither is any liability assumed for damages resulting from the use of the information contained herein COPYRIGHT 1995 PRIMA ELECTRONICS S p A All rights reserved This document shall not be reproduced either entirely or in part without written authorization TECHNOLOGY LTD TEL 44 0 161 217 7100 MOTEC HOUSE CHADKIRK BUSINESS PARK FAX 44 0 161 217 7101 mo STOCKPORT CHESHIRE SK6 3NE eMAIL sales motec co uk Vi jeechnalogy 4 ENGLAND WEB www motec co uk Control in motion DOCUMENT INFORMATION edition data versione 1 20 October 1996 first edition 1503008 SERIES SERVOAMPLIFIERS INTELLIGENT SERVO DRIVE ISD300R SERIES DESCRIPTION This servoamplifiers is PWM controled converter with three phase power stage configuration suitable for driving brushless motors with resolver transducer The controller parameters are set by mean of a personal computer PC with specialized software The PC is connected with a serial interface to the drive The converter is
27. ndow In this windows are shown Enable switch SW2 Clear protection switch SW3 and Fault switch SWA Enable switch SW2 should always be on to allow enabling the drive Switches SW3 and SWA should always stay off for normal operations Intelligent Servo Drive ISD300R series User Manual 25 ISD PC INTERFACE 154300 User Interface Version 1 0 Isd View Commands Tools Help Dog ed 2 s Motor Resolver Fig 5 Resolver converter window This window shows the block diagram of the resolver conversion circuitry on the drive In this windows Trimmer icons T6 T9 and selector S7 are shown Note that Trimmer T8 Velocity offset is set in the factory to the correct value and should not be adjusted Lamp L4 Sincross is used for Resolver Phase adjust Intelligent Servo Drive ISD300R series User Manual 26 ISD PC INTERFACE Parameters settings Listed below are the parameter that can be set through the interface Setting is performed by clicking on the corresponding icon A dialog box appears with either a selection of choices or a digital trimmer with arrows icons for incrementing or decrementing the value After adjusting the value push the Set button to set the value and the Done to exit the dialog box Warning parameters are stored in volatile RAM until the configuration is saved in FLASH EPROM via the Freeze configuration command see Saving and restoring settings If the dri
28. play All the errors in this situation are not recoverable the converter is not operating properly the ISD interface on the PC cannot be operated Normal operation After powerup is completed the decimal dot starts blinking indicating that the drive has succesfully completed the self test phase The 150 interface on the PC works In this operating condition three different fault classes are displayed If more than one fault of different classes is present the display shows the fault belonging to the most severe class Hardware faults most severe n a overvoltage undervoltage overcurrent motor thermal protection overvoltage of the resolver excitation signal undervoltage of the resolver excitation signal NO oR OND All these faults will shut down the power In case more of a single fault is actually present the highest priority fault is displayed 1 highest priority Software faults P blinking wrong data in parameter storage drive is disabled 1 blinking Ixt protection The output current is limited automatically to the preset Cont Current level 10 seconds after the average current is returned below 7 of the threshold the previous operating conditions are restored and the fault indication is cleared 2 blinking 3 blinking drive thermal protection drive is disabled 4 blinking drive overspeed protection drive is disabled related faults least severe Brake 24V supp
29. r is compliant to the product specific regulation EN61800 3 for the class Restricted distribution and Second environment Intelligent Servo Drive ISD300R series User Manual 36 PRESCRIPTION Note Restricted distribution the mode of sales distribution in which the manufacturer restricts the supply of equipment to supplier customer or users who separatedly or jointly have technical competence in the EMC requiremets of the application drives Second environment the environment which includes all establishment other than those directly connected to a low voltage power supply network which supplies building used for domestic purposes It is available on request the documentation of the radiated and conducted emission measurements to perform adequate action If this equipment must work in the first environment please contact the manufacturer Intelligent Servo Drive ISD300R series User Manual 37 INDEX INDEX INTELLIGENT SERVO DRIVE ISD300R SERIES sse eene nnne enn 3 DESCRIPTION era 3 PRODUCT IDENTIFICATION n ced tree isis Ar nenn 3 MODEL SPECIFIGATION Ss a na be nu RP e doe FRE dn YR ERE Edere 4 TECHNICAL CHARACTERISTICS i iii bt e een 5 MainiSupply ttt eit ue ntt n diem dt 5 pae aan Han Rn 5 safe or nen 5 Glamping cirelit rei ee OR Rr 6 Electromagnetic brake e rte e e etta e din 6
30. rcuit board layout interface board Intelligent Servo Drive ISD300R series User Manual CONNECTIONS CONNECTIONS The present chapter illustrates the external connections of the ISD300 servoamplifier both towards the brushless motor and toward the numerical control d INTELLIGENT SERVODRIVE EFE ol 00000000 000000000 000000000 Fig 3 Front Panel Intelligent Servo Drive ISD300R series User Manual CONNECTIONS a Te Te 4 iii L amm 110 230 Vac Option VAUX To the Servoamps 24Vout 24Vbrin OOd00 Css EINE Resolver Itemref Quantity Designation material dimension etc Tolerance if not Drawing number otherwise specified MESI Designed Checked by Approved by date Filename Date Sheet Size Scale M Badalotti ocu ISD 100 DWG 22 10 96 Owner Title Name 0300 Wiring Diagram PRIMA ELECTRONICS S p A Article No Reference Edition Sheet Moncalieri Torino Italy Fig 4 Wiring diagram Intelligent Servo Drive ISD300R series User Manual CONNECTIONS MAIN SUPPLY CONNECTIONS TB3 EN R AN S line connection tri phases 220V IN T PE GND screw connection frame ring or fork terminal 3 5 mm internal diameter 8 0 mm external diameter When the line transformer has a rated power higher than 6k
31. t connected CONNECTIONS Intelligent Servo Drive ISD300R series User Manual CONNECTIONS TABLE OF CONDUCTORS SECTION V S CONVERTER SIZE TB2 TB3 TB4 motor cable power supply cable brake cable brake supply and services yas 1 5 mm 2 5 mm 1 5 mm2 2 5 mm2 0 5 1 mm2 4mm2 motor signal cable 0 14 0 22 mm JP2 control unit signal cable LEDS DESCRIPTION 0 14 mm2 On the front of the drive 6 LEDs are mouted to display the status The green LEDs are normally on and their meaning is L6 L5 L4 L3 L2 24Vdc supply to the brake 220V tri phase power on Auxiliary power supply on power enable digital input ENABLE on reference enable digital input ARMO on The red LED is normally off and it displays a fault when lit L1 DL8 DL7 Front view of LEDs Intelligent Servo Drive a fault occurred power has been cut off ISD300R series User Manual 17 CONNECTIONS 7 SEGMENT DISPLAY On the front of the drive is located a 7 segment display for status information The display shows the actual status of the drive and in case of a fault the code of the fault Depending on the operating phase the display have different meanings Power up internal self check in progress A internal powerup error 1 2 3 4 internal self check errors missing operating code The powerup condition is indicated by the absence of the decimal dot blinking on the dis
32. ve is switched off before saving all the current configuration is lost Startup window Continuous current P1 Coarse fine setting of the continuous current This is the current output level that is automatically set when Ixt protection has tripped Peak curent P2 Coarse fine setting of the peak current Available also in the Command generator window Brake current P3 Value of the current set during the dynamic braking Ixt threshold P4 Threshold for tripping the Ixt protection Reference offset compensation T1 coarse fine adjust of the reference offset Applicable only in speed mode Trimmer T3 is available also in the Command generator window Speed reference T2 coarse fine adjust of the speed reference It sets the speed of the motor when a full scale command is applied to the drive The full scale command is affected by the Reference amplitude adjust parameter The range is 5V 200 to 10V 100 Applicable only in speed mode Trimmer T2 is available also in the Command generator window Gain adjust T3 coarse fine adjust of the speed loop gain This trimmer can only increase the gain Trimmer T3 is available also in the Command generator window Encoder resolution setting S1 Four different resolutions are availble depending on the resolver resolution selected The table below shows the min Max range for each resolution RESOLUTION ENCODER PULSES TURN min max 1024 4096 2048 16384 These t
33. with rear dissipation The following figures show this two cases LATERAL HEATSINK APPLICATION DIMENSIONI D INGOMBRO PER APPLICAZIONI MONOASSE CON DISSIPATORE LATERALE OVER ALL DIMENSIONS FOR MONOAXIS APPLICATIONS WITH SIDE DISSIPATION Fissaggio mediante N 3 viti M5x30 Fixing trough N 3 screws M5x30 X 123 50 N a E 4 8 8 h i 6 00 53 00 x 63 00 e uM Note to guarantee an adequate air flow it is needed to leave a 40 mm clearae between the units in the multi axis application Intelligent Servo Drive ISD300R series User Manual 32 FOREWORD EMC PRESCRIPTION EMC PRESCRIPTION The converter is a product designed to be incorporated in amore complex equipment Therefore elettromagnetic compatibility depends by factors that are not totally under control of the manufacturer but depends on the installation wiring and grounding of the equipment In this manual are given instructions for installation in order to obtain comformity with actual standards for elettromagnetic compatibility This information have been collected after a comprehensive test campaign and their purpose is to make the job of the end user as easy as possible REFERENCE STANDARDS Generic Standard EN 50081 2 e EN 50082 2 industrial environment EN61000 4 2 EN61000 4 4 EN61000 4 5 EN61000 4 8 ENV50140 E
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