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Dynaserv DM & DR Direct Drive Servos User Guide

1. ON TEST OFF AC DC GND MOTOR E POSN LO Y AGND TORQ 1 m Measure and verify incoming power The Dynaserv has separate power inputs for the control and main power supplies These inputs can be jumpered together This configuration is valid for both 115VAC and 230VAC models The 200VAC version requires three phase power Connect but do not energize the power input Chapter Y Getting Started 7 U Check the cable connec tions and apply power to omase TFT the drive The drive is always energized in servo off state Servo on and servo off are indicated by the pres ence on or absence off of a decimal after the UNE 3 LED character POSW IC AC Power Cable Encoder Motor Cable Cable Step O A To enable the servo apply 5V to pin 24 and GND pin Compumotor 2 5 E Expanded View ol 3 connector 4 This activates the servo posw state Confirm that the Ground display now reads If the 9 9 P display does not show consu
2. eee i ie e DE dde 6 Bench Test unione eB RUNE RERO 7 6 CHAPTER 5 INSTALLATION gem 11 Environmental CONSI 5 3 trt e cree ta e Re e e Ra rt Re e ERRAT PERS 11 22 eet ee ota te ee qoe e bea p E i i cde rc e 11 Drive Mountilrig ocu eie Ge is i LE ics 11 DE BM Metor Mounting 13 Operation Cautions 1 2 ini Rt A RADI Ee Pb 14 Preparation tor Operativas te ated hatin anes ems Pa een a e e eee 14 Factory Jumpet SetlingS emet ene coire nce e a ees 15 Control Mode Jumper settings a a 15 Velocity Signal Filter SettingAJ 16 Feedback amp Position Pulse Resolution 16 Velocity Loop E CLE 17 Origin 2 Channel Pulse Output Signal 23 era nnne nnne 17 Positioning Completion Width Setting S1 4 2 1 0 0 eene cnn rc 18 Notch Filter Board uii uh ca te ier ea e etre c ce oed 18 Wiring Cables aetetdel queo nati ata arts at nte 19 Wiring Cautions ee 20 Motor Drive Connection ED aae edid TE 20 Indexer Drive Connection neto de bed e e eit Dabei 20 alada nadas 23 Inp t and Output Signals 2 a E eret mt er ipe ARS 25
3. RPS 700 600 500 400 300 200 DR5500A DR5400A DR5300A 100 0 5 1 0 Speed rps 1 5 2 0 2 5 Ib ft 592 518 444 370 296 222 148 Torque N m 80 70 60 50 40 30 20 DR5000 Series B Type Motors 230V DR5070B DR5050B DR5030B 20 3 0 4 0 Speed rps Chapter O Hardware Reference 5 0 lb ft 56 49 42 35 28 21 14 39 DR Motor Performance 40 DR Series Type Motors 120V N m DR1400A 296 400 259 850 222 800 185 281300 250 5 DR1200A 5 148 200 o e DR1150A 111 150 74 DR1100A 100 DR1050A 37 50 0 0 05 1 0 1 5 20 Speed rps bt DR Series B Type Motors 120V N m 45 0 60 DR1060B 37 5 50 DR1045B 30 0 40 5 0810308 S 225 30 5 15 20 DR1015B 75 10 DR1008B 0 0 0 5 1 0 15 20 Speed rps DR Series E Type Motors 120V Nem 222 300 185 DR 250E 250 DR1220E 148 200 3 DR1160E S 1 150 LS DR1130E 74 DR1100E 100 DR1070E 37 50 0 0 0 5 1 0 15 20 Speed rps Dynaserv User Guide Torque Torque
4. 14 DM1015B 7 10 1 0 Speed rps 42 Dynaserv User Guide 2 0 DM Series Type Motors 240V n m 222 185 148 111 Torque 74 DM Series Type Motors 240V n m 56 80 300 DM1200A 250 DM1150A 200 DM1100A 150 DM1050A 100 50 0 0 5 1 0 1 5 Speed rps 2 0 DM1075 DM1045B DM1030B DM1015B 1 0 1 5 Speed rps Dimensional Specifications This section contains dimensional specifications of Dynaserv motors The dimen sions are presented in millimeters mm Motor Dimensions Types A and E DR A Series 6 8 screw depth 12 DR 1050 158 1 DR 1100 185 1 DR 1150 212 1 DR 1200 250 1 DR 1300 304 1 DR 1400 358 1 DR 5300 309 1 DR 5400 363 1 DR 5500 417 1 Equal circular division le 5 0 2 0 0 0 3 0 02 0 06 252 215 Hole 150 2 DR 1070 183 1 DR 1100 210 1 r Rotor DR 1130 243 1 DR E Seri DR 1160 271 1 eries 6 M8 screw depth 12 DR 1220 327 1 DR 1250 355 1 Equal circular division r Rotor Stator Motor Cable g 3 2 X 4 gt 6 M8 Depth 12 lt Equal circular division Y a o cu N
5. 3us Minimum Rotating Direction Command Signal Velocity Command Input VIN This analog input signal gives the motor rotating velocity command value The maximum rated CW velocity is 10V The maximum rated CCW velocity is 10V in the 10V input range input impedance is 100 This input is only valid in Torque mode or Velocity mode Shorted in Position mode May be shorted on the driver side Es gt Velocity Monitoring Output VELMON Motor analog velocity monitoring output voltage At maximum velocity 5 V CW At maximum velocity 5 V CCW Output impedance 1 The analog velocity monitoring output circuit is shown below Used with 100 KO terminated VELMON pf A gt lt AGND 3 The table below describes Dynaserv s velocity detection capabilities Model Velocity Detection of Detection Model Sensitivity V rps Limit Revs rps DR1015B DR1060B DR1070E DR1100E 5 0 2 0 3 0 DR1050A 5 0 1 5 2 3 DR1130E DR1250E DR1100A DR1400A 5 0 1 5 1 5 DM B 5 0 2 0 2 4 DM A 5 0 1 0 1 2 DR5015C DR5030B DR5070B 5 0 4 0 5 0 DR5300A DR5500A 5 0 2 0 3 0 Chapter Installation 25 Phase UP DOWN Pulse Output Signals A U B D Pulse signals indicate the motor s position You can select the states of two pulse outputs with Control Board jumpers see JP11H3 Phase Output Pulse The following pu
6. 6 5 5 IS VAC ON 1 T 5 a 1 0 5 2 Red O 7 DEN A 8 c 0 1 xm v de VB VB 0 White A Vg VEL 1 1 POSN 20 AGND Vo Black Vo Black 59 STARE 1 GND Green GND Green CN2 NS x 2 TB2 n N No shield on DR Series Encoder Cable Codes DM Series Compumotor omase HE POSW 9 2 ps 9 Lo La Encoder P7 Cable e CN2 0 E Honda Connector a Motor 1 Red Cable 2 3 Blue 9 4 Blue White Tei 5 Brown 6 Brown White 7 Green 8 Green White 9 10 Orange White 11 Resolver Cable Codes DR Series Compumotor Era Motor POSW CS Lim Atal able e s CN2 Honda Connector A 9 SO 1 Brown White BS 50 2l0 i Brown s 9 siso 110 Green White GND 49180 3 TB1 co 610 Orange White co 710 4C180 6 0 Blue White
7. 0 01 0 02 0 03 0 04 0 05 oo o 2 Speed rps This function is only available in the DR series In the DM series the number of Z channels is not selectable The number of Z channels is as follows 100 BType 60 Positioning Completion Width Setting S1 When positioning in the Position Control mode is completed the CN1 connector COIN signal is set to ON This positioning completion width can be selected by the POSW switch on the front panel The following table shows the relationship between POSW switches with lt POSW 0 1 gt signal of the CN1 connector set to H and the positioning completion width At the same time when setting the position completion width using lt POSW 0 1 lt signal set the POSW switch in 4 steps as shown in the following table With a combination of and L of the POSW signals the same selection as the POSW switch can be obtained Position Completion POSW POSW Set Value Width Unit Pulse POSW 1 POSW 0 Switch 0 1 H H 1 5 H L 0 2 20 L H 3 100 L L 4 2 H H 5 10 H L 4 6 40 L H 7 200 L L 8 4 H H 9 20 H L 8 A 80 L H B 400 L L 8 D 40 H L C E 160 L H F 800 L L 1 pulse 1 max resolution Notch Filter Board Each Dynaserv comes with a Notch Filter Board to help combat mechanical resonance in the system For more information on the Notch Filter Board refer to Chapter Maintenance amp Troubleshooting
8. 1 9 F1 21 TP6 GND L a TP1 VOUT 72 3 20 80 30 120 OFFSET eS 40 160 25 Connector 5 VIN First Order Lag Filter Jumper Setting Adjustment Procedures Since the offset voltage will change when the settings of pots Q1 and Q2 are changed you should adjust the offset adjustment pot VR1 so that the voltage difference between TP1 VOUT and TP3 VIN does not exceed 50mV When taking signals from TP1 TP3 and TP6 be careful not to touch any other pins or parts of the pattern General Filter Specifications Specification System Dual switched capacitor notch filter first order lag filter Dimensions mm 75 40 board size Interface DM series Directly installed on control board DR series Connected by 10 pin connector to control board Power Supply 15V 50 mA 56 Dynaserv User Guide Input Voltage Range 10V Output Offset Voltage 100 max 0 to 50 Notch and First Order Filter Specifications Notch Filter Section First Order Lag Filter Section Specifications Specifications Notch Frequency 150 to 1 5 kHz Jumper Pin Setting 20 80 Hz Setting Range 30 120 Hz 40 160 Hz Q Value Setting Range 0 5 to 2 5 Setting via user Solder in locations added resistor C C18 capacitor R21 Notch Frequency TP 4 Stage 1 Monitoring Terminal Frequency X 100 TTL level TP 5 Stage 2 Frequency X 100
9. 4mA Max drive Outputs current 15mA 5 lt lt 24V Internal eg Pin27 Maximum Current 15mA Need pull up resistor i e Vec 5VDC thus 7 R gt 5VDC 15mA max LN gt 330 ohms eg Pin28 4 TLP521 4 24 VCC 750x4 28 ISRVON a1 26 Es 25 3 CC SE 2 VCC xS 35 GAINM i i D ISS221X4 R 750x2 TLP521 4 33 JGAINL ili 40 VCC E 39 RST y D 22 VCC Iss221x3 TLPS21 4 21 2 521 4 2 VCC 750x4 5 1 FN3 t1 4 VCC 2 3 2 3 6 E 5 8 VCC 7 FNO 155221 4 i TLP521 4 10 VCC 750 2 9 CPOSWI 13 12 VCC AG 11 POSWO 155221 HCPL 2602 or equal 20 DIR 155123 19 DIR 131 gt 4 HCPL 2602 or equal 45 STEP 155123 E 46 STEP 1141 13 aus 261 531 14 A U sd 29 I B D 5 30 B D 43 72 44 12 so 15 RDY mE E 16 DGND 47 48 I DGND O 27 COIN EE ___ 28 DGND X j TLP521 4 41 OVERFLOW 155221 42_ H j 31 lt TLIM TFF 32 vds 17 VELMON q 18 AGND 49 100k 50 AGND Chapter Installation 23 The following t
10. connection OK d 255 2 4 Power voltage too low Correction Y Power on again b Amplifier Error Over voltage 0001 Consult Compumotor Application Department NO Y Consult Compumotor Application Department Amplifier Error A Set test switch ON LED Detail display E 2d Y Correction Y Power on again Over Current 0003 gt e wre No Powersupply Sy gt voltage too high A A d NO Motor Cable 525 connection OK 22 YES e Load inertia too much gt SS 2 a A MA NO 22 N lt Motor part grounded gt 7 _ YES o a lt Operation duty too high ZUM 24 cR 4 Y pas T Correction NO Correction y Y Power on again Power on again Consult Compumotor Application Department Chapter Maintenance amp Troubleshooting 51 6 Over load Make duty low 74 N Over load C A P ad YES Motor s rotor locked gt gt _ Correction Operation duty Y too high 22 7 Power on again a Pd and reduce load Y NO Without specification
11. n Y 300 Encoder Cable g 6 8 le 5 20 2 S Stator Equal circular division 6 8 Depth 12 162 Hole 76 1 Encoder Cable g 6 8 Chapter O Hardware Reference 43 DR B Series DR 1015B 123 1 DR 1030B 151 1 DR 1045B 179 1 6 M6 screw depth 9 Equal circular division 4 20 2 67 6 M6 Depth 12 Equal circular division Motor Cable 8 3 2 X 4 9 86 22 05 Y m J 145 5 2 Hole 56 2 9 150 0 5 gt N Rotor 7 E 300 ncoder Cable 6 8 Unit mm DR B Series for the DR1008B only DR B Series for the DR1008B only Stator 6 M6 Depth 12 6 M5 screw depth 5 85 Equal circular division Equal circular division Fe Sao Sane bo Motor Cable 3 2 X 4 ES A ga pus 972 Ls 8 25 aan 518 8 8 3 7 SA ps o m m Rotor Encoder Cable 6 8 Unit mm 300 DRC Series DR5015C 167 1 Stat 4 M6 Depth 13 6 M5 screw depth 7 085010 140 1 x Equal circular division Equal circular division be 30 2 ems lo Motor Cable f 5
12. G ma e 42 Dimensional 43 Series ctos seo pem anms ies IE 44 5665 for the DR1008B only 44 DRG S6rl8S tie Sater este O tec tel e EAT 44 46 CHAPTER MAINTENANCE amp TROUBLESHOOTING 47 Problem 47 Motor Maintenance 47 Resolving Motor Tro ble cto AA 48 48 LED Displays ME 48 Procedure for Error Correction a ee ea rer rere dp edes 49 Returning the SyStelm 23 7 52 Reducing Electrical NOISE 53 Direct Drive Motors amp Resonance deere Geta dias 53 Resonance Measurement Methods 54 Resonance Counter 65 54 Resonance Compensation 54 Resonance Analysis Example niei aa deer iti ite dade deep cote dun t ee iere ua cx e pre erede 57 Eliminating RESONANCE 57 Resonance Tuning cei A ed oh ee ie NN 57 Torque 0 58 UNDE ER 61 Dynaserv User Guide OVERVIEW How To Use This User Guide Assumptions This user guide is designed to help you install develop and maintain your sys tem Each chapter begins with a list of specific objectives that should be met after you have read the chapter This section should help you find and use the infor
13. Ro Ry 1 1 Ro 1 RoC OMM a amp 80 70 2 First Order Lag Filter Circuit ai 615 10 dB far faz E c Wg nos nos 40 4 5 30 3 20 2 10 0 2 4 6 8 10 12 2 Gain dB Relationship Frequency Ratio n Phase and Gain First Order Lag Filter Transfer Function Notch Filter The notch filter circuit configuration is shown in the next figure The notch filter board is shown in the subsequent figure This filter is effective for suppression of high Q resonances at 100 Hz and above A switched capacitor filter is used for the circuit and the notch frequency and Q values can be set within a predeter mined range From a circuit configuration standpoint dual types providing two stages for notch frequency are typical and in this case the first order lag filter section is built into this construction Chapter O Maintenance amp Troubleshooting 55 User Settable Jumper Setting IO E 20 80 30 120 Qt Q2 40 160 Eds AW IN gt R Y MW pe OUT 100 X 100 X fne Oscillator Notch Frequency Setting i 1st Order Filter Dual Notch Filter y Q e a UJ UJ Q Value Q fn Af Q1 2 MN fni fno Transfer Function Frequency Hz Clock Monitor Q Value Setting Notch Frequency Setting Y 17 Q1 Q2 r Notch Frequency X 100
14. 188 8 0 Shield 4 O i FG 510 Black Chapter Installation 21 22 Drive Indexer Connection Compumotor POSW LINE CONT 0 120VAC 6 6 6 12000 GND 9 Saw Vg o Jem 9 TORQ CN2 2 gt ff 383993 Dynaserv User Guide LINE MN LINE CONT d GND 24 26 38 VCC 23 SRVON 25 IACT PACT 33 35 37 GAIN 20 DIR 19 DIR 45 STEP 46 STEP 13 14 A 29 30 43 7 44 Z 49 VIN 50 AGND 15 RDY 16 47 OVL 48 27 COIN 28 41 OVER 42 18 AGND O gt U Line Filter AC 115V 10 230 15 50 60Hz 1 1 C O O O O No V IA S gt lt Y f O rn E N O O Q A Vv oh Gy 0 S V A AN EA O O Connect to indexer controller i e Model 500 Indexer Drive Connection Inputs Vcc Internal eg Pin34 117500 NV 5 lt lt 24 f If using 5V no resistor is needed eg Pins3 Y If using 24V use a 1 2k resistor gt eh Normally open
15. DR Series A Type Motors 240V lb ft N m 296 400 259 350 222 DRIS00A 300 185 250 148 ET 200 150 74 100 37 DR1050A 50 0 0 05 10 15 2 0 Speed rps It DR Series B Type Motors 240V N m 45 0 60 DR1060B 37 5 50 DR1045B 30 0 40 DR1030B 22 5 30 DR1015B 7 5 10 DR1008B 0 Ib ft 222 0 5 DR Series E Type Motors 240V 1 0 Speed rps 1 5 2 0 N m 185 148 DR1250E DR1220E 300 250 111 DR1160E DR1130E 74 DR1100E DR1070E 200 150 100 0 37 MM 50 0 0 5 1 0 Speed rps 1 5 2 0 DR Series Motor Data Model Model Model Model Model Model Model Model Model 1008B 1015B 1030B 1045B 1060B 1070E 1100E 1130E 1160E Peak torque ft lbs 6 11 22 33 44 52 74 96 118 8 15 30 45 60 70 100 130 160 Rated speed rps 2 0 2 0 2 0 2 0 1 5 2 0 1 0 2 0 1 0 1 5 1 5 2 0 1 0 1 5 0 5 1 0 0 5 1 0 115 230VAC Maximum power 115 230VAC consumption KVA 0 4 0 8 0 6 1 2 1 0 2 0 1 0 2 0 1 0 2 0 1 2 2 4 1 3 2 6 1 4 2 8 1 6 3 2 Rotor inertia EA oz in x10 7 9 11 13 14 18 46 55 68 77 x10 15 21 24 26 33 85 100 125 140 Max resolution 507 904 507 904 507 904 507 904 507 904 614 400 614 400 614
16. TTL level ysis Example Oscillation in a servo system may not be due to a resonance peak Oscillatory limits are also determined by phase margin and gain margin Therefore when resonance compensation filters first order lag and notch are used attention must be given to amplitude and phase margin Particularly in robots this may vary according to the arm posture The worst case considered when designing the system Eliminating Resonance Resonance Tuning The following table summarizes the sources of vibration and the ways that you might eliminate resonance from your system Vibration Resonance Location Frequency Problem Counter Measure Base 39 Hz Servo rigidity reduction A Increase base rigidity due to absorption First order lead filter Bearings 79 2 Has resonance peak Mechanical damper on motor bearing section Moment First order lag filter mode Arm 134 Hz Has resonance peak A Increase arm rigidity Notch filter 276 Hz The following is a procedure of suppressing resonance vibration in a Dynaserv application without the use of FFT Analyzer or Oscilloscope The purpose is to adjust the Dynaserv optimum tuning high gain stiffness responsiveness with no resonance This procedure is done in the Position mode Set the and I lim to 3 Set Test Switch to ON up position On the Notch Filter board set Q1 and Q2 to 1 5 mid position Increase the DC Gain until resonance occurs
17. Velocity detection filter Hz selection Open when a mechanical resonance filter is installed Velocity detection filter Hz selection Open when a mechanical resonance filter is installed Mode selection Velocity input Torque input Open for standard models EE Indicates setting prior to shipment Note 1 Shorted Shorted Shorted Shorted Open Open Open Open Note 2 Velocity feed Gain VFFL forward amount 1 Type Magnification Shorted Shorted 100 With Jumper DC Gain X13 Shorted Open 95 Without Jumper DC Gain X1 Open Shorted 90 Open Open 85 Shorted Shorted 80 Shorted Open 75 Open Shorted 70 Open Open 65 Switch Volume Settings Done Prior to Shipment The table below shows the default values of the rotary switches and variable resistors For safety they are set to their minimum values Switch Name Volume Setting Status DC Gain Minimum position AC Gain Minimum position POSW 8 fc 0 0 TEST OFF Control Mode Jumper settings The following 6 control modes are available for the Dynaserv DR SR Series I PD Type Position Control Position Control Mode J Type Position Control Type Position Control Control Modes Speed Control Mode Type Velocity Control PI Type Velocity Control L____ Torque Control Mode Chapter Installation 15 The following table shows the validity or invalidity of the switches
18. 18 Dynaserv User Guide Wiring Cables This table contains the Dynaserv cable sizes and their rated currents The cables are cross referenced in the subsequent figure D AC Power Cable Current A Conductor Size Input 2 Feedback Cable Current A 9 Jumper Cable Conductor Size Current A A Type B Type E Type 20 15 20 More than 2 0 mm cross sectional area 14AWG Length Within 30mm 150 DC Maximum More than 0 2 mm cross sectional area 24AWG Twisted pair collectively shielded wire length within 30m 20 15 20 Conductor HIV More than 2 0 mm cross sectional area 14AWG Size 4 Interface Cable Current A 100 mA DC Maximum Conductor HIV More than 0 2 mm cross sectional area 24AWG Output Size Twisted pair collectively shielded wire length 9 Jumper Cable Current A Conductor Size within 30m 20 15 20 More than 2 0 mm cross sectional area 14AWG HIV Special heat insulation wire Current values rms of rated currents D AC Power Cable a Motor Encoder Motor Resolver Cable MOTOR HB Compumotor DYNASERV Posw 3 Jumper Cable TEST 9 GND OFF AC GAIN 7 DC GAIN 7 VELDO POSN po AGND bo TORQ TB1 m Outer s
19. CUT OFF FREQUENCY 16 D DC GAIN 17 27 34 VARIABLE RESISTOR 27 DC GAIN 9 DiGITAL Position Loop 2 DIRECT DRIVE MOTOR 2 DIRECT DRIVE SYSTEMS 2 DIRECTION 25 DM SreeD Torque PERFORMANCE Curves 40 DRIVE 1 SD 1 SR 1 Drive INDEXER CONNECTION 2 DRIVER 48 MAINTENANCE 48 E ELECTRICAL NOISE 53 ENCLOSURE 11 12 12 ENCODER 2 Cagle Copes DM Series 21 ENCODER FEEDBACK 1 F F V Gain 58 FACTORY SETTINGS 14 FAILED DRIVE 52 FC 26 FEEDBACK PULSE SIGNAL 16 FIRST ORDER LAG FILTER 55 G GEARING 2 GENERAL FILTER SPECIFICATIONS 56 1 1 0 Phase Output Pulse 6 DIRECTION INPUT 25 STEP INPUT 25 UP DOWN Phase OurPur Pulse 6 Vetocity COMMAND INPUT VIN 25 VeLociTY MONITORING OUTPUT VELMON 25 I O SIGNALS CN2 46 TB1 46 TB2 46 INDEXER DRIVE CONNECTION CN1 24 INTEGRAL FEEDBACK 3 J JUMPERS 14 16 JP1 16 UD AB 17 L LED CHARACTER 8 M MAGNETIC COMPONENTS 3 MAGNETIC FLUX 2 MAGNETIC RESOLVER 14 MECHANICAL COUPLING 13 MECHANICAL RESONANCE 53 34 Torque CONTROL 35 MODE 9 CONTROL 34 POSITION CONTROL 29 Test 30 MODES 29 MOTOR 47 48 FUNCTIONALITY 6 INSPECTION 47 MOTOR CABLE COLOR CODES 7 Motor Caste Copes DM amp DR Series 20 DIMENSIONS TYPES AND 43 MOTOR ROTOR 13 MOTOR SIZE 5 MOTOR SPEED 16 MOTOR TORQUE OUTPUT 5 MOTORS 1 43 DIMENSIONS 43 DM Series 1 DR Series 1 MOUNTING 11 AIR FLOW 13 DIMENSIONS 12 FASTENERS 12 PANEL MOUNTING
20. DR1100E DR1070E DC Gain fc LIM 1 2 0 3 4 D 5 3 0 3 1 5 1 8 5 4 1 5 3 6 1 2 6 13 4 5 3 6 7 8 2 6 5 9 25 3 6 7 8 20 5 9 16 50 9 3 7 20 29 16 22 65 8 3 8 29 41 22 32 80 7 2 9 41 62 32 49 100 5 2 10 62 125 49 98 110 2 5 Range DR5070B DR5050B DR5030B DC Gain fc LIM 1 2 No Load No Load No Load 4 D 6 3 0 7 0 5 0 4 8 4 4 0 7 2 0 0 5 1 7 0 4 1 5 13 3 5 2 0 4 8 1 7 4 0 1 5 3 8 25 A 3 6 4 8 13 4 0 11 3 8 11 50 9 1 7 13 19 11 16 11 15 65 8 2 8 19 27 16 23 15 22 80 7 1 9 27 41 23 36 22 34 100 5 2 10 42 82 36 72 34 68 110 2 4 Range DR1060B DR1045B 8 DR1015B DR1008B DC Gain fc LIM 1 1 1 1 0 1 3 E 6 2 1 1 2 2 1 2 0 4 1 2 0 2 4 D 6 3 2 2 5 3 2 5 1 2 3 3 0 2 1 5 0 8 C 4 4 5 3 11 5 10 3 3 7 1 5 3 5 1 2 8 13 B 3 5 11 21 10 20 7 14 3 5 7 7 2 8 6 1 25 A 3 6 21 53 20 50 14 36 7 7 20 6 1 16 50 9 1 7 53 74 50 70 36 50 20 28 16 23 65 8 2 8 74 105 70 100 50 72 28 41 23 33 80 7 1 9 105 158 100 150 72 108 41 61 33 50 100 5 2 10 158 315 150 300 108 217 61 123 50 102 100 2 45 Range DM1200A DM1150A DM1100A DM1050A DC Gain fc LIM 1 1 1 0 9 0 5 No Load 3 E 6 2 1 1 2 2 1 9 1 8 0 5 1 2 0 4 4 D 6 3 2 2 5 4 1 8 4 6 1 2 3 5 0 4 1 8 8 0 4 4 5 4 11 4 6 9 3 3 5 7 2 1 8 4 1 13 B 3 5 11 21 9 3 19 7 2 15 4 1 8 7 25 A 3 6 21 53 19 47 15 37 8 7 23 50 9 1 7 53 75 47 66 7 52 12 32 65 8 2 8 75 107 66 94 52 75 32 46 80 7 1 9 107 180 94
21. Driver ranges installation ps o environment y di MA Correcti Within specification ranges y Power on again Consult Compumotor Power on again Application Department Returning the System 52 If your Dynaserv is faulty you must return the drive and motor for replacement or repair A failed drive can damage motors If you must return your Dynaserv to effect repairs or upgrades use the following steps Step O Get the serial number and the model number of the defective unit s and a purchase order number to cover repair costs in the event the unit is determined by Parker Compumotor to be out of warranty Step 9 Before you ship the drive to Parker Compumotor have someone from your organi zation with a technical understanding of the Dynaserv and its application include answers to the following questions DOOOCO 0000909 Dynaserv User Guide What is the extent of the failure reason for return How long did it operate How many units are still working How many units failed What was happening when the unit failed i e installing the unit cycling power starting other equipment etc How was the product configured in detail What if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system sizing speed acceleration duty cycle iner
22. 0 1 4 D 6 3 0 4 1 7 0 3 1 5 0 1 1 2 8 4 4 1 7 4 1 5 3 6 1 2 3 1 13 3 5 4 8 6 3 6 7 8 3 1 6 8 25 A 3 6 8 6 22 7 8 20 6 8 18 50 9 1 7 22 31 20 29 18 25 65 8 2 8 31 45 29 41 25 36 80 7 1 9 45 88 41 82 36 55 100 5 2 10 88 136 82 125 55 110 110 2 4 Range DR1400A DR1300A DR1200A DR1150A DR1100A DC Gain fc LIM 1 1 2 0 9 0 5 1 4 0 1 3 E 5 2 1 2 2 3 0 9 1 9 0 5 1 3 0 4 1 2 0 1 0 6 4 D 3 3 2 3 5 6 1 9 4 8 1 3 3 6 1 2 3 3 0 6 2 3 8 2 4 5 6 11 4 8 9 7 3 6 7 5 3 3 6 9 2 3 5 1 13 2 5 11 22 9 7 19 7 5 15 6 9 14 5 1 11 25 2 6 22 55 19 49 15 38 14 36 11 27 50 9 2 7 55 77 49 68 38 54 36 50 27 38 65 8 2 8 77 110 68 97 54 77 50 72 38 55 80 7 2 9 110 166 97 146 77 116 72 108 55 82 100 5 3 10 166 331 146 292 116 232 108 215 82 165 110 2 6 Range DR1050A DC Gain fc LIMq 1 2 3 0 2 8 C 3 4 0 2 1 2 13 B 3 5 1 2 3 3 25 A 3 6 3 3 9 4 50 9 2 7 9 7 13 85 8 2 8 13 20 80 7 2 9 20 30 100 5 3 10 30 60 110 2 5 32 Dynaserv User Guide DR E Series DR B Series DM A Series Range DR1250E DR1220E DR1180E DR1130E DC Gain LIMq 1 1 4 1 3 1 0 8 3 E 4 2 1 4 2 6 1 3 2 4 1 2 0 9 1 7 4 D 3 3 2 6 6 2 2 4 5 9 2 5 1 7 4 4 8 0 3 4 12 5 9 12 5 10 4 4 8 8 13 8 3 5 12 24 12 23 10 20 8 8 18 25 2 6 24 60 23 57 20 50 18 44 50 9 1 7 60 85 57 80 50 70 44 62 65 8 1 8 85 121 80 115 70 99 62 89 80 7 1 9 121 181 115 172 99 149 89 134 100 5 1 10 181 362 172 344 149 298 134 267 110 2 5 Range
23. 12 ScREWS 12 MOUNTING RACK MOUNTING 12 OPERATING TEMPERATURE 11 OPTIONAL EQUIPMENT 5 OSCILLATION 53 COUNTER MEASURES 54 DAMPER 54 MEASUREMENT 54 MECHANICAL RIGIDITY 54 P PANEL LAYOUT 13 HORIZONTALLY 13 VERTICALLY 13 Position 2 POSITION 1 2 POSITION CONTROL SYSTEM 30 POSITION INTEGRAL FEEDBACK 29 POSITION MODE 2 POWER 7 POWER CIRCUIT 27 POWER INPUTS 7 R RATE 655 1 2 REPAIR 52 RESOLVER 2 RESOLVER CABLE Copes DR Series 21 RESOLVER FEEDBACK 1 RESONANCE 57 RETURN MATERIAL AUTHORIZATION RMA 53 ROTARY SWITCHES 15 5 SCALE FACTOR 7 SCALING 27 SERIAL PULSE INTERFACE BOARD JP23 17 1 18 SERIAL TAG 5 SERVO 8 SERVO CONTROLLER 2 SERVO DRIVER 16 SERVO OFF 8 Servo 8 SHIP KIT 5 SIGNAL 29 STEP AND DIRECTION 2 STORAGE TEMPERATURE 11 SWITCH FC 29 SWITCHES 14 SYSTEM GAINS 9 T TERMINALS 30 TEST switch 30 31 Torque 2 TORQUE 1 2 58 TORQUE MODE 2 UP DOWN phase 17 UP DOWN phases 17 Chapter Maintenance amp Troubleshooting 61 V VARIABLE RESISTOR 30 DC Gain 30 VARIABLE RESISTORS 14 15 VELocITY 2 vELOCITY 1 2 25 58 VELocirY CONTROL MODE 34 VELOCITY DETECTION 25 VELOCITY 2 VELOCITY MONITORING OUTPUT 25 VELOCITY SIGNAL FILTER 16 VIBRATION 12 62 Dynaserv User Guide
24. 141 75 112 46 69 100 5 2 10 180 320 141 282 112 224 69 138 110 2 4 Chapter Control Mode amp Adjustment 33 DM B Series Range DM1075B DM1060B DM1045B DM1030B DM1015B DC Gain fc 1 2 1 1 9 1 6 1 2 0 4 3 E 6 2 2 1 3 7 1 9 3 4 1 6 3 0 1 2 2 4 0 4 101 4 D 6 3 3 7 8 3 3 3 7 7 3 0 6 9 2 4 5 7 1 1 3 2 8 4 4 8 3 16 7 7 15 6 9 14 5 7 11 3 2 67 13 3 5 16 32 15 30 14 27 11 22 6 7 14 25 A 3 6 32 78 30 73 27 67 22 56 14 35 50 9 1 7 78 109 73 103 67 93 56 78 35 49 65 8 2 8 109 156 103 146 93 133 78 112 49 70 80 7 1 9 156 233 146 219 133 199 112 168 70 105 100 5 2 10 233 466 219 438 199 398 168 336 105 209 110 2 4 Velocity Control Mode Adjustment 34 In the Velocity Control mode the motor rotating angle is controlled so it corre sponds to the velocity command voltage 10V from the higher level controller The two control methods can be selected in the Velocity Control mode PI type and P type The following table shows the relationship between velocity command voltage and motor velocity Model Velocity Input Voltage rps V DR1008A to 1060B DR1070E DR1100E 2 10 DR1050A 1 5 10 DR1130E to 12505 DR1100A to 1400A 1 10 DR5030B to 5070B 1 1 PI Type Velocity Control The use of integral proportional action in velocity control achieves smooth distur bance resistant control This is the same control mode used in the conventional DC AC servo motor control In this control mode only the two DC GA
25. 26 624 Shorted Shorted 1 655 360 Series O 5 1 2 327 680 5 1 4 163 840 1 8 81 920 UD AB Jumpers The UD AB jumpers allow you to select the A B and UP DOWN phases The shorted jumper activates the A B phase The open jumper activates the UP DOWN phase Velocity Loop Gain The AC GAIN and DC GAIN rotary switches allow you to adjust the servo param eters and are accessible from the front panel of the drive Origin 2 Channel Pulse Output Signal Setting JP23 The point at which H changes to L CW direction or L changes to H CCW direc tion corresponds to the original position The CW and CCW directions are direction of movement when the motor is viewed from the load side Origin 2 channel repeatability depends on the homing speed RPS The follow ing figure shows the characteristics The number of origins per revolution can be selected by setting jumper lt JP23 gt VDC More than 20015 4 f ra During CW Rotation VDC More than 200 di During CCW Rotation A Type B Type E Type A Type B Type C Type x1 shorted with others open 200 124 150 104 68 52 x2 shorted with others open 400 248 300 208 136 104 x4 shorted with others open 800 496 600 416 272 208 x8 shorted with others open 1600 992 1200 832 544 416 Chapter Installation 17 Repeatability arc sec a o lt JP23 gt 5 xi o x2
26. Compliance Control Gain Setting cedere A cra ue EU Le 26 DG Gain Scalihng Seltllig ede 7 27 Power ON OFF rc at tl db dat id da tl al red dupla veda a 27 CHAPTER amp CONTROL MODE amp ADJUSTMENT nera 29 Position Control Mode AdjustMe nin ids ciais eta 29 Type Position Control orita nies 29 P Type Position 0 30 Position Control System Adjustment 30 Procedure for Adjustment without Measuring nnne 31 Setting The Dynaserv ControlS 32 Velocity Control Mode Adjustment 34 Torque Mode 5 35 CHAPTER HARDWARE REFERENCE 37 General Specifications ici A ae eid Heed ele 37 37 Series osse onn 085000 5 6 0 38 DM lio PU ade ida iaa 38 DR5000 Motor Performance temet A AAA ee a las 39 Contents DR Motor Performance its oen ertet rede ali 40 DR Series Motor Data x abere o eludet dicos 41 DM Series Motor Performance cete Lad t i nte De Fert terae gu doa coe He E Cae adc dede 42 DM Series Motor Performance x dessa
27. Getting Started Perform as many basic moves and functions as you can with the preliminary configura tion Try to simulate with no load attached the task s that you expect to perform when you permanently install your system After you have familiarized yourself with and or tested the system s functions and features carefully read Chapter Installation Begin the installation process Do not deviate from the sequence or installation meth ods provided Before you begin to customize your system check the system functions and features to ensure that you have completed the installation process correctly Related Publication IV For more information on motion control concepts and Compumotor s complete product line and product capabilities refer to the current Parker Compumotor Motion Control Catalog Dynaserv User Guide CHAPTER O Introduction The information in this chapter will enable you to 4 Understand the product s basic functions and features Product Description The Dynaserv is a high torque low speed highly accurate outer rotor type servo actuator that can be used in various applications related to factory automation including industrial robots rotary indexes etc The Dynaserv system s primary function is to seek and maintain a position com mand from an indexer or a velocity or torque command from a servo controller Digital electronics simplify the position loop and enable precise positioning The
28. ID type factory default setting D Calculate or otherwise verify the load inertia In order to make use of this adjustment method the load inertia must be known accurately At this time calculate the load multiple by dividing the load inertia kgem units by the motor Dynaserv rotor inertia Jy Set the TEST switch on the front panel to ON Chapter amp Control Mode 8 Adjustment 31 Take the computed load multiple and refer to the following tables For example suppose the K is 15 for a DR1200A the 5 range applies for this case The value in DC gain column 1 is 25 set the control to 25 When the value for either A or B series is within range 1 or 2 DC gain is 5 or less change the DC gain switching signal to H before carrying out the setting Similarly take the Column 1 values for fc and LIM in the same row and set their respective controls to those values When the above settings have been completed set the TEST switch to OFF to complete the adjustments Note The GAIN value for signal selection shown below is multiplied by the DC GAIN level value to obtain the total gain 5 295 52m Setting The Dynaserv Controls Approximate tuning parameters per inertia ratio Load to rotor DR A Series K Set Up Value Range DR5500A DR5400A DR5300A DC Gain fc 4 1 No load No Load No Load 3 E 6 2 0 4 0 3
29. Rotor 7 Encoder Cable a 6 8 300 9100 5 9 107 Hole 20 6 SS Unit mm 44 Dynaserv User Guide DM Series Type A Motor DM1200A 188 1 DM1150A 163 1 DM1100A 138 1 DM1050A 113 1 6 M6 Depth 15 48 48 gt 6 8 Depth 10 LA gt 7 Stator ON g e N 55 a d e AA N Bd 2 ols Y Y T 26 5 TM Encoder Cable 8 5 Rotor Motor Cable 6 10 1 DM1075B 194 1 7 DM1060B 168 1 DM Series Type B Motor DM1030B 113 1 DM1015B 113 1 Stator 6 M6 Depth 10 6 M6 Depth 8 0 06 0 02 2160 o 136 Motor Cable 10 1 Encoder Cable 8 5 Unit mm Chapter O Hardware Reference 45 I O Signals Between Motor and Driver TB1 Connection Signal Signal Name Meaning LINE MN AC input for motor drive power 115VAC or 230VAC AC input for motor drive power LINE CONT AC input for control circuit power 115VAC or 230VAC AC input for control circuit power GND Frame ground TB2 Connection Signal Signal Name Meaning LINE MN AC input for motor drive power 115VAC or 230VAC AC input for motor drive power LINE CONT AC input for control circui
30. analog velocity loop provides high stiffness and controllability DM amp DR Series Motors The Dynaserv s DD motors meet the needs of the advanced motion control envi ronment Two motor versions are available DR and DM Series The DR Series includes A high speed motor option up to 4 0 rps Brushless resolver feedback 9 models 50 to 500 Nm of the A type with an outer diameter of 264 mm 10 5 models 70 to 220 Nm of the E type with an outer diameter of 205 mm 8 8 models 8 to 60 Nm of the type with an outer diameter of 150 mm 6 2 models 10 to 15 Nm of the type with an outer diameter of 106 mm 4 The DM Series includes Incremental encoder feedback 6 models 50 to 200 Nm of the A type with an outer diameter of 264 mm 10 5 models 15 to 75 Nm of the B type with an outer diameter of 150 mm 6 SR amp SD Series Driver Although the system is defined by the motor number the drive will have its own part number on the serial tag When using the DR series the corresponding drive is the SR series and the DM series uses the SD drive series Both drives are available as 115VAC or 230VAC Some of the high performance drives require 200VAC Verify the drive type prior to set up Product Features Brushless Direct Drive Motor Encoder Feedback DM Series Chapter O Introduction 1 Resolver Feedback DR Series Compression loads up to 8900 lbs Overhung loa
31. and national electrical and safety codes Once the system has been properly installed and adjustments are made minimal adjustment should be required to maintain normal operation Each Dynaserv motor drive system is adjusted as a pair Do not change the motor driver combination Serial numbers on the motor and drive must match Unpre dictable motion can result with unmatched motors drives causing personal injury or system damage Consult the Compumotor Applications Department before interchanging systems Drive Mounting The Dynaserv should be installed in an enclosure that will protect it from atmo spheric contaminants oil metal flakes moisture and dirt The National Electri cal Manufacturers Association NEMA has established standards that define the Chapter Installation 11 degree of protection that electrical enclosures provide Industrial environments may contain airborne contaminants The enclosure should conform to an enclo sure NEMA TYPE 12 standard minimum You can mount the Dynaserv drive in a panel or rack configuration For panel mounting the Dynaserv has open end slots for flat panel mounting Refer to the figure below for dimensions and slot locations You should use 10 32 or 1 4 x 20 screws into captured nuts to mount the Dynaserv in a panel mount configuration Use locking type fasteners to prevent the drive from coming loose due to vibration When there is a vibration source near the drive mount the drive to t
32. close to the motor as the surface of the motor is magnetized Install the motor in an appropriate location as the motor is not dust proof watertight or oil proof Compatibility of the motor with the driver or vice versa of same model is possible only when they are of the same type i e When the motor code is DRIOQNOU60 1 and the driver code is 1160 the 9939 of the motor and driver shall be the same Never disassemble or modify the motor or the driver When such disassembling or modification is required consult Compumotor Compumotor accepts no responsibility for disassembled or modified motor and driver 12 13 14 15 With the motors of the Dynaserv DR series rust prevention coatings are applied to the loadmount part at the top and also to the fixed part at the bottom of the motor Before assembling the motor completely remove this coating using a cloth or paper dipped in petroleum solvent or chlorine sol vent The presence of the coating may lead to severe mechanical inaccuracies of the assembled system Rust prevention coating If the motor is placed on the floor or a table as shown below when carrying or installing the Dynaserv the cable is bent by the weight of the motor and this bending may cut the conductor wire When placing the motor be sure to use the supporting base which protects the cable from being bent The minimum bending radius shall be 50mm or more when installing the motor with the ca
33. dB 20dB dec 90 1 Phase 4 3 80 The following tables contain and KT values for DM and DR Series motors respectively Motor Type DM Series KF V KT V RAD S Nm V DM1050A 0 796 5V 2 3 92 A Type DM1100A 7 85 DM1150A 11 77 DM1200A 15 7 DM1015B 0 398 5V 2 2 1 97 B Type DM1030B 3 94 DM1045B 5 91 DM1060B 7 88 Motor Type DR Series KF V KT V RAD S Nm V A Type DR1050A 0 53 5V 2 1 5 4 86 DR1100A 0 796 5V 2 9 72 DR1150A 14 58 DR1200A 19 44 DR1300A 29 17 DR1400A 38 89 58 Dynaserv User Guide DR1070E 0 398 5V 2 2 4 91 DR1100E 7 37 DR1130E 0 796 5V 2 9 83 DR1160E 12 28 DR1220E 17 19 DR1250E 19 65 B Type DR1008N 0 398 5V 2 2 1 202 DR1015B 2 04 DR1030B 4 08 DR1045B 6 11 DR1060B 8 15 Motor Type DR Series KF V KT V RAD S Nm V A Type DR5030B 159 3 52 DR5050B 159 4 69 DR5070B 159 5 87 Chapter Maintenance amp Troubleshooting 59 60 Dynaserv User Guide Index A A B PHASE 17 AC GAIN 17 ANALOG VELOCITY 2 ANALOG VELOCITY 1 B BALL BEARINGS 3 BASE LEVELNESS 13 BENCH MOUNT 6 MOTOR 6 BENCH TEST 6 C CABLE 6 MOTOR 7 CABLES 5 6 7 19 ENCODER 20 MOTOR 20 RATED CURRENTS 19 sizes 19 Caurions 14 CN1 8 INPUTS 24 OUTPUTS 24 COMPENSATION FILTER 54 FIRST ORDER LAG FILTER 55 NOTCH FILTER 55 CONNECTOR 6 8 Pin HONDA 6 CN1 29 CONTAMINANTS 11 14 CONTROL BOARD JP1 16 CONTROLLERS 16 CORNER FREQUENCY 26
34. deadweight The following rules should be observed Damper resonance frequency Equipment resonance frequency Although the heavier the deadweight the greater the energy absorption the lowest limit is established by the following condition Deadweight weight gt 1 kg The damper mounting location should meet the following specification Directly above or below the individual axis motor Resonance Compensation Filters 54 Generally the term compensation filter refers to a filter of circuit configuration that compensates for resonance characteristics First order lag filter O Notch filter First Order Lag Filter This filter can reduce a resonance peak within the velocity band due to its small phase lag The transfer function and circuit are shown in the figure below As can Dynaserv User Guide be seen from the characteristics for various values of frequency ratio increasing too greatly reduces the phase margin so fd1 cannot be set very small In the actual circuit n be set to about 4 and 101 102 respectively can be set to 20 80 Hz 30 120 Hz or 40 160 Hz by selection with jumpers provided in addition separate terminals are provided so that any desired values for C and R2 can be soldered in In general the first order lag filter is an effective countermeasure for resonances around 100 Hz its circuitry is built into the same board as the notch filter Ro 1 n R4
35. rotation Ensure that the power is switched off when removing the side panel of the driver for jumper setting etc Dangerously high voltage is present inside the unit The motor rotates at high speed with high torque Beware of the rotating radius of the load when operating the motor with the load installed When installing a load to the rotor of the motor allow a space of 1 or more between the top surface of the motor and the surface of the load in order to maintain the proper alignment of the surfaces Never apply any force or press fit any materials into the center hole See the figure below Because a magnetic resolver is incorporated in the motor part shown in figure on the right avoid shock mechanical pressure or strong magnetic field A Mounted part 1mm or more Y A Rotor of the motor Use only such screws which shall not exceed the effective screw depth of the motor part in order to fix the load The use of long screws may cause damage to the motor If the motor is used with oscillating rotation move ments with a small angle 59 or less carry out a running in operation with back and forth movement about 10 times each move exceeding an angle of 90 at least The running in operation must be carried out every 10 000 times of back and forth oscillation movement in order to ensure proper lubrication of the bearings Materials easily affected by magnetism must never be brought
36. so the POSN signal becomes a square wave Set the TEST switch on the front of the driver to OFF Set the CN1 connector SERVO signal to H Dynaserv User Guide Step Step Step 9 Step O Step O Step O DC Gain 4 fc 1 to 16Hz Integral Limitter 1 Before Adjusting Optimized Wave Form Oscilloscope The adjustment procedure for P I type position control in the Test mode is as follows Connect an oscilloscope to the POSN signal terminals Set the CN1 connector SERVO signal to L Set the TEST switch to OFF Set the TEST switch on the front of the driver to ON Adjust the fc switch Its variable range is from 1 to 16Hz and it should be set around the center position under normal load conditions Set the AC gain control to a large value within the range in which there is no hunting Fine adjustment is done using the DC gain control Perform the above adjustments so the POSN signal becomes a square wave Set the TEST switch on the front of the driver to OFF Set the CN1 connector SERVO signal to H Procedure for Adjustment without Measuring Instruments The preceding section demonstrates the procedure for performing adjustments while monitoring the waveform this section demonstrates an adjustment proce dure that does not use any measuring instruments These adjustment methods are valid only in the case of the Position Control mode P
37. the limit value The smaller the limited value the smaller the wind up and Chapter Control Mode amp Adjustment 29 the shorter the setting time However if the limited value becomes too small the motor output torque is limited Therefore it is better to make the switch value large within the no wind up range Wind up is not always evident in Test mode so final adjustment is performed during normal operation DC Gain Variable Resistor The DC Gain variable resistor set the overall velocity loop gain The DC Gain variable resistor is a single turn pot that carries a non dimensional value of 0 5 to 5 DC Gain should be set as high as possible without the system vibrating since this will result in the most responsive system As a rule of thumb the DC Gain needs to increase as the inertia is increased The combination of driver CN1 connector signals GAIN to Land the DC Gain variable resistor results in an adjustment range of from 0 5 to 110 times When large inertias are present it will be necessary to use the scale factors Gain H toL to access adequate DC GAIN When there is an inertial change adjust the gain so that it becomes optimum at the maximum load P Type Position Control Positioning accuracy is not high because proportional control is used for position ing feedback This position control can be set for P and I types Refer to Control mode Jumper settings With the P type position control P P type a torq
38. to check for it Phase Shift Oscillation Reason Phase shift due to filter insertion Q Insert compensating shift insertion Conditions Letting 1 be the frequency at phase advancing filter into velocity which the actual motor velocity is 180 loop to lower fp A compensation phase shifted relative to velocity command filter should not be inserted if fv gt 0 oscillation occurs at fp if fp lt fv instead lower the DC GAIN Chapter Maintenance amp Troubleshooting 53 Resonance C Reason Due to mechanical resonance Increase mechanical rigidity to Frequency 100 Hz to 2 kHz lower resonance peak valueS Conditions Load mechanical resonance Fit mechanical dampers to lower characteristics enter into velocity control resonance peak values loop and velocity control system oscillates C Add resonance compensation filters Multiple resonance points are frequent to lower resonance peak values Resonance Measurement Methods Measurements of oscillatory phenomena are performed by measuring the transfer function for speed control in the Velocity P Control mode using a signal analyzer FFT analyzer When these measurements are performed either a random wave form or sine wave signal can be input as the VIN signal If an FFT analyzer is not available the resonance points can be found by applying the output of a sine wave generator to the analog velocity input and monitoring the ve
39. torque depends on the current Therefore torque is O at OV of command voltage and the maximum torque is produced at 8 5V When using the torque control mode carefully plan and design the velocity amp position control loops and a proper interlocking system will assure the final control system meets the exact specifications of the application Interpreting the Torque Monitor Output of the Dynaserv of Output Torque 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 of max Voltage 8 5V Chapter Control Mode amp Adjustment 35 36 Dynaserv User Guide CHAPTE R Hardware Reference The information in this chapter will enable you to General Specifications DR Series Find system specifications dimensions and performance quickly Find system settings DIP switches and configuration data wiring quickly Parameter Value Performance Repeatability 5 arc sec 0 00139 Accuracy 30 arc sec 0 0083 DRA Series Max stepping rate 45 arc sec 0 0125 DRB DRE Series 1 600 000 steps sec Power Volts 115VAC 1 phase or 230 VAC 1 phase Range 10 to 15 50 60 Hz Current 20 amps max Inputs Command Interface Step input Low going low pulse 150 nanoseconds minimum pulse width Direction Logic high CW rotation Logic low CCW rotation Analog input 10V command signal Outputs Encoder output encoder output 750 kHz max Environmental Weight Operati
40. 4 to 185 F 20 to 85 C 4 to 185 F 20 to 85 C Humidity 20 to 90 noncondensing 20 to 85 noncondensing No corrosive gasses Dust free atmosphere The Dynaserv is not waterproof oil proof or dust proof Parameter Value Performance Repeatability 2 arc sec 0 00056 Accuracy 25 arc sec 0 0069 Max stepping rate 1 600 000 steps sec Power Volts 115VAC 1 phase or 230 VAC 1 phase Range 10 to 15 50 60 Hz Current 20 amps max Inputs Command Interface Step input Low going low pulse 150 nanoseconds minimum pulse width Direction Logic high CW rotation Logic low CCW rotation Analog input 10V command signal Outputs Encoder output encoder output 393 kHz max Environmental Weight Operating Storage Humidity Driver Motor 13 2 Ib 6 kg See Table 32 to 122 0 to 50 C 32 to 113 F 0 to 45 4 to 185 20 to 85 C 4 to 185 F 20 to 85 C 20 to 90 noncondensing 20 to 85 noncondensing No corrosive gasses Dust free atmosphere The Dynaserv is not waterproof oil proof or dust proof 38 Dynaserv User Guide DR5000 Motor Performance Torque N m 800 DR5000 Series A Type Motors 200V The torque speed curves represent the available peak torque Continuous torques are approximately 2 3 of the peak value EN E o Output Torque Nm AB DR5015C DR5010
41. 400 614 400 Motor weight lbs 13 20 24 29 35 49 57 70 79 kg 6 9 11 13 16 22 26 32 36 Maximum axial load Compression lbs 6 744 6 744 6 744 6 744 6 744 8 992 8 992 8 992 8 992 Tension lbs 2 248 2 248 2 248 2 248 2 248 4 496 4 496 4 496 4 496 Maximum overhung load ft lb 148 148 148 148 148 295 295 295 295 Drive weight is 13 2 Ibs 6 kgs For alternating loads multiply these values by 0 3 Model Model Model Model Model Model Model Model Model 1100A 1200A 1300A 1400A 5015C 5030B 5070B 5300A 5500A Peak torque ft lbs 74 148 221 295 10 3 22 51 221 370 Nm 500 100 300 400 14 14 70 300 500 Rated speed rps 1 0 1 0 0 5 1 0 0 25 0 5 0 25 0 5 4 4 4 1 5 1 5 Rotor inertia oz in x10 109 156 186 219 4 38 14 2 19 7 186 0 251 6 kgm x10 200 285 340 400 8 8 36 340 460 Resolution Steps rev 819 200 819 200 819 200 819 200 212 992 278 528 278 528 425 984 425 984 Motor weight lbs 68 101 125 15 15 4 28 9 38 9 122 2 166 7 kg 31 46 57 68 7 7 17 5 55 75 Maximum axial load Compression lbs 8 992 8 992 8 992 8 992 1 100 6 600 6 600 8 800 8 800 Tension lbs 4 496 4 496 4 496 4 496 660 2 200 2 200 4 400 4 400 Maximum overhung load ft Ib 295 295 295 295 15 148 148 296 296 Maximum power consumption KVA 1 4 2 9 1 7 3 5 1 8 3 7 1 8 3 7 3 6 3 6 5 5 7 5 Drive weight is 24165 11kgs For alternating loads multiply these values by 0 3 Drive weight is 13 2 lbs 6 kgs For
42. Aga On the Notch Filter board adjust F1 to null tune out the resonance resonance is very close to the same frequency as the first tune it out with the same pot F1 If not use F2 pot N Repeat steps 5 and 6 until the DC Gain can no longer be increased without resonance 8 Repeat steps 5 6 and 7 adjusting F2 on the Notch Filter board Depending on the mechanical conditions of the application additional filtering may be necessary If resonance persists use the 1st Order Lag Filter 20 80 30 120 40 160 jumpers Use one of these jumpers to minimize resonance then repeat steps 5 8 Go to step 11 10 Increase the DC Gain until resonance occurs then try nulling it out with the 1st Order Chapter Maintenance amp Troubleshooting 57 Lag Filters jimpers 20 80 30 120 40 160 on the Notch Filter board Repeat steps 5 8 until maximum gain is obtained without resonance 11 Optimize the system tuning by increasing Fc and ILim Torque Constant and F V Gain TRQ VEL Torque Angular Accelaration Angular Velocity IN m rad sec rad sec 1 5 1 1 Kt Torque Constant m V Key GAIN V rad sec J Inertia kg m2 s Angular Velocity rad sec The above figure illustrates the transfer function between torque TRQ and velocity VEL when no resonance is present fo Kr Kev 2 1 00 Frequency Hz GAIN
43. DC Gain Unloaded Motor A 4 Mid range Step C To complete the bench test turn on the Test mode switch see previous figure The switch is recessed in the drive When you turn the switch on the motor will rotate back and forth at a rate of 2 5 Hz If the motor rotates as described the motor is operational and you may proceed To stop the motor turn the Test mode switch off Chapter 2 Getting Started 9 10 Dynaserv User Guide CHAPTER Installation The information in this chapter will enable you to Ensure that the complete system is installed correctly Mount all system components properly Environmental Considerations You must consider the environment in which your system will be operating Proper mounting wiring and grounding will ensure trouble free operation WARNING The Dynaserv motor is not dust proof water proof or oil proof and measures must be taken if the system will be operating in such environments Compumotor recommends that you operate and store the Dynaserv in the follow ing conditions Storage Temperature 4 F to 185 F 20 C to 85 C 1 Operating Temperature 32 F to 122 F 0 C to 50 C Complete System Configuration Safety is the primary concern when installing any motion control system This chapter provides guidelines that you should use to ensure the safety of the opera tor and equipment Install all Compumotor hardware in conformity with local
44. Dynaserv DM amp DR Direct Drive Servos User Guide Compumotor Division Parker Hannifin Corporation p n 88 013940 01 B March 1995 Motion amp Control Q O O Important User Information To ensure that the equipment described in this user guide as well as all the equipment connected to and used with it operates satisfactorily and safely all applicable local and national codes that apply to installing and operating the equipment must be followed Since codes can vary geographically and can change with time it is the user s responsibility to identify and comply with the applicable standards and codes WARNING Failure to comply with applicable codes and standards can result in damage to equipment and or serious injury to personnel Personnel who are to install and operate the equipment should study this user guide and all referenced documentation prior to installation and or operation of the equipment In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever including but not limited to lost profits arising from or in any way connected with the use of this user guide or the equipment O Compumotor Division of Parker Hannifin Corporation 1993 1994 All Rights Reserved The information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Com
45. FLOW 41 42 Deviation Counter Overflow or Deviation counter overflow signal is output only in Position Overspeed Excess Position Error Control mode This signal is set to L when the deviation counter value is 32767 The overspeed signal is set to L when feedback pulse output frequency is 3 MHz It is set to L if the number of motor revolutions exceeds 7 5V in the Position Control or Velocity Control modes Z 43 Origin Pulse Signal for detecting the original positions obtained by equally Z dividing motor 1 revolution 200 for the A series 150 for the E series and 124 for the B series and changes from H to L CW and from L to H CCW OVL 47 Overload Set to during overload it simultaneously reduces motor Indicates Vcc signal power output 24 Dynaserv User Guide current automatically to 1 3 Input and Output Signals The step direction and velocity inputs and the velocity monitoring and pulse output signals employ a different circuit design than the inputs and outputs previously defined Step Input Signal The step input is a drive position command pulse signal The pulse signal is in positive logic and its minimum pulse width is 150 ns Direction Input Signal This direction input signal sets the direction that the motor rotates The motor rotates CW when this signal is set to H and CCW with it is set to L Position Command Pulse Signal 6 More than 150 ns 3us Minimum _
46. GM GL Gain 1 4 7 10 13 16 19 22 III 2 2 The product of the gain scale factor and DC GAIN variable resistor setting is the total gain Note the following conditions when power is ON When turning ON the main and control circuit power supplies turn them ON simulta neously or turn ON the control circuit power first When turning them OFF turn them OFF simultaneously including after instantaneous power failure or turn OFF the main circuit power first Rush current in both the main and control power circuits is about 25A peak The motor is enabled servo on about 200 ms after SRVON is set to L When the main power circuit is active RDY H indicates driver trouble Use a se quence circuit to turn OFF the main power circuit when RDY However after the control and main circuit power supplies are turned ON the RDY H condition is maintained for up to 3 seconds Therefore hold the power ON signal for more than 3 seconds Chapter Installation 27 28 Dynaserv User Guide CHAPTER Control Mode amp Adjustment The information in this chapter will enable you to Effectively use the operating modes and adjust the system to meet your application s needs Recognize and understand important considerations that must be addressed before you implement your application Understand the system s capabilities Position Con
47. IN and AC GAIN adjustment controls are adjusted a DCGAIN The combination of the driver CN1 connector GAIN multiplier signals results in an adjustment range of from 0 5 to 120 times b GAIN Velocity loop band damping is adjusted P Type Velocity Control Since velocity control is effective only in proportional action response is fast but is strongly influenced by disturbances in the controlled motor In this Control mode only the DC GAIN variable resistor at the front of the driver is adjusted While in this velocity mode the test switch becomes invalid Adjustment of Velocity Control System Adjustment of velocity control system can be carried out in the Test mode By turning the test switch on the front panel to ON apply a 2 5Hz square waveform signal to the speed input in the driver and the motor starts back and forth move ments repeatedly at a small rotating angle Under this condition observe the VEL Signal at the front panel on an oscilloscope and adjust DC GAIN and AC GAIN so that VEL Signal becomes an optimum waveform as shown in the figure below Dynaserv User Guide gt GAIN 0 DC GAIN 2 POSN 20 5 AGND 20 Waveform Before Adjustment Optimum Waveform Torque Control Mode Adjustment In the torque control mode current flows through the motor corresponding to the current command voltage 8V from the higher level controller Motor output
48. able describes 1 inputs functions and characteristics Signal Name Pin No Function Description FNSFN2FN1FNG POSW 1POSW Y DIR DIR IRST SRVON 1 GAIN H GAIN M GAIN L RST STEP STEP VIN AGND 1 2 3 4 5 6 7 8 9 10 11 12 2019 37 38 35 36 33 34 39 40 45 46 49 50 Indicates signal power input FN to 3 and POSW to 1 are wired ORed with the rotary switch on the interface card Compliance Setting Positioning Completion Rotating Direction Command Integral Capacitor Reset Servo On Integral Proportional Action Selection Gain Selection CPU Reset Position Command Pulse Velocity Command Input Torque Command Input Analog Input GND The signal for setting the fc switch on an interface is a 4 bit Servo Stiffness Setting positive logic binary number that can be set in 16 steps of fc 1 to 16 Hz This signal sets a deviation counting value to output Pulse Width End positioning completion pulses A four step setting can be made in ranges of 1 to 100 2 to 200 4 to 400 or 8 to 800 together with POSW switch setting The motor rotates CW with this signal set to H and CCW with it set to L When viewed from the load side it is the same hereafter The integral capacitor in the velocity loop is shorted The motor is set to the servo ON status 0 2 seconds after this signal is set to L to set the driver to the com
49. after they have been disassembled or modified without our permission Preparation for Operation You may need to reset some jumpers switches and variable resistors within the driver box to meet your application s requirements The jumpers variable resis tors and switches are on a board inside the Dynaserv The factory settings how they are set when you receive the Dynaserv are set as shown in subsequent figures and tables 14 Prior to opening the drive always turn power OFF Remove the side plate of the driver box Never touch the high voltage generation section even with power turned OFF Never touch switches and variable resistors other than those specified Dynaserv User Guide A screws Driver Box lt JP2 gt jumper Factory Jumper Settings lt JP1 gt Jumper MODE CALIB RATE 1 RATE 2 UD AB VFFH VFFM VFFL GAIN H lt JP2 gt Jumper T 100 200 VEL TLIM See following table See following table Position command pulse multiplying factor setting Position command pulse multiplying factor setting With jumper A B phase Without jumper Up Down pulse Velocity feed forward amount setting Note 1 Velocity feed forward amount setting Note 1 Velocity feed forward amount setting Note 1 DC gain magnification setting Note 2 Velocity I type control Velocity P type control
50. al damping and or inserting compensation filters With high frequency oscillations in particular it is usual for there to be multiple resonance peaks and to implement optimal countermeasures requires accurate location of the resonance frequencies by appropriate measurement methods The following table is a summary of the characteristics of the low frequency oscillation phenomena referred to as oscillation or resonance Oscillation Symptoms Oscillation Reasons Conditions Countermeasures Hunting Reason Poor adjustment Make fp lt 2 5 fv Frequency Several Hz Conditions fo Where fp Position loop response frequency Hz fv Speed loop response frequency Hz fc Natural oscillation frequency Hz J Load inertia kg m2 G DC gain multiplier K Constant see attached table Windup Reason Poor adjustment Reduce lt LIM gt see adjustment procedure Frequency Several Hz Load inertia is too great Q Conditions May occur when load is Load multiple lt K gt guidelines great load inertia lt JL gt is 10 times or DM 50 to 150 more motor s rotor inertia lt JM gt and DR 70 to 500 integral limiter lt LIM gt or lt fc gt is large and large deviation is imposed by a step input etc Since windup may sometimes not appear in Test mode if lt JL gt is 10 or more times lt JM gt you should impose a large deviation 10 or more by external force or other means
51. alternating loads multiply these values by 0 3 Chapter O Hardware Reference 41 DM Series Motor Performance Model Model Model Model Model Model Model 1015B 1030B 1045B 1050A 1100A 1150A 1200A Peak torque ft lbs 11 22 33 37 74 111 148 Nm 8 15 30 45 50 100 150 200 Rated speed 115VAC 2 0 2 0 1 0 1 0 1 0 0 5 0 5 rps 230VAC 2 0 2 0 2 0 1 0 1 0 1 0 1 0 Power Consumption load Max 115 230VAC KVA A 0 9 1 8 1 2 2 3 1 2 2 3 1 4 2 8 1 6 3 1 1 7 3 5 1 7 3 5 Rotor inertia oz in x10 6 6 8 2 10 4 52 5 65 1 77 6 91 3 kgm x10 12 15 19 96 119 142 167 Max resolution lbs 655 360 655 360 655 360 1 024 000 1 024 000 1 024 000 Motor weight lbs 12 17 21 32 42 53 64 kg 5 5 7 5 9 5 14 5 19 24 29 Maximum axial load Compression los 6 600 6 600 6 600 8 800 8 800 8 800 8 800 Tension lbs 2 200 2 200 2 200 4 400 4 400 4 400 4 400 Maximum overhung load ft lb 148 148 148 296 296 296 296 Drive weight is 13 2 For alternating loads multiply these values by 0 3 DM Series Motor Performance wt DM Series Type Motors 120V um 222 185 300 DM1200A 148 250 DM1150A 111 Torque DM1100A DM1050A 1 0 Speed rps wt DM Series B Type Motors 120V um 56 DM1075B 49 80 DM1060B 42 70 60 DM1045B 50 Torque 8 DM1030B 40 0 20
52. and variable resistors related to the control mode and the jumper pin settings for each control mode Jumper Name Position Control Velocity Control Torque Mode Section Switch Name 1 Mode Mode P Mode P Mode Mode Control Mode JP1 MODE Shorted Shorted Shorted Open Open Open CALIB Open Open Open Open Open Open RATE 1 RATE 2 O UD AB O O O VFFL O GAIN H 2 Shorted Open P Shorted Shorted Open Shorted Open Open 100 200 Shorted Shorted Shorted Shorted Shorted Open VE Open Open Open Shorted Shorted Open TPRQ Open Open Open Open Open Shorted V1 DC GAIN O O 9 AC GAIN 9 9 9 51 POSW O 9 9 9 52 fc O O O 9 9 9 ILIM O O VALID Affects motor performance INVALID Does not affect motor performance Velocity Signal Filter Setting JP 1 In addition to changing operating modes you can use the JP1 jumpers from the Control Board to select velocity signal filter cut off frequency The cut off fre quency is set to 100 Hz with 100 shorted and it is set to 200 Hz with 200 shorted For initial set up leave the jumper at the default 200 Hz Leave three jumpers open when using the low pass filters and the notch filters Chapter O Mainte nance 82 Troublesho
53. back pulse transmission cable are not wired to the earth connector Inspect the A B Phase and U D pulse jumper selections Check the feedback pulse rate 3 MHz maximum and the circuit response If the ends are not connected connect the driver to AGND and the controller to SG Driver Maintenance and Inspection Although the servo driver does not require daily maintenance and inspection it is advisable to clean it and check for loose screws periodically Overhaul the driver in the same way as the motor i e after 20 000 hours or 5 years LED Displays A 7 segment LED is mounted on the front panel of the driver to display the motor and driver s status Display details are shown below LED Display Display Details Cause Measures 0 Servo OFF normal status 0 Servo ON normal status 1 Servo OFF status after overspeed occurrence Encoder malfunctions 1 Servo ON status after overspeed occurrence Command input trouble check command input 2 RAM error occurrence Control board trouble requires repair 3 Encoder error occurrence Encoder malfunction encoder cable wiring check 48 Dynaserv User Guide Connector trouble check encoder cable connector 0000 Open circuit SIGO SIG1 stop 0001 Open circuit SIG1 stop 0002 Open circuit SIGO stop 0006 Abnormal frequency Smoother error 0007 Abnormal frequency Incorrect interruption detected 0009 Abnormal frequency Divided e
54. ble being bent Do not apply bending force repeatedly to the cable when it is used The cable specifications do not include application with a robot Never carry out a withstanding voltage test Carrying out this test even accidentally may damage the circuits Appropriate centering and alignment must be carried out when connecting the motor to a load The shaft metal of the motor may get damaged if the centering offset remains 10um or more E zw Centering offset 10um or less Table of Contents OM ESR Vol E 111 How To Use This User a ade 1 Yser Guide Contents tt 1 ri IV Installation Preparatoria id IV Related PUbliCation sorridere dete edite ritus ta bas IV CHAPTER INTRODUCTION oe 1 A CE 1 DM amp DR Series Motors scr ati 1 SR amp SD Series ete cde ant ain ed lore eee 1 Product Features RR HEUTE E T 1 interface Options 0 cata 2 Theory Of Operation ct ci mette UU e t td 2 CHAPTER GETTING STARTED 5 What You Should AVE evoca di 5 Drive Motor GonfigUratior arta n 5 Check
55. dependently You may have to dismantle your system and put it back together piece by piece to detect the problem If you have additional units available you may want to use them to replace existing components in your system to help identify the source of the problem Determine if the problem is mechanical electrical or software related Can you repeat or re create the problem Do not make quick rationalizations about the problems Random events may appear to be related but they may not be contrib uting factors to your problem Carefully investigate and decipher the events that occur before the subsequent system problem You may be experiencing more than one problem You must solve one problem at atime Document all testing and problem isolation procedures You may need to review and consult these notes later This will also prevent you from duplicating your testing efforts Once you have isolated the problem take the necessary steps to resolve it Refer to the problem solutions contained in this chapter If your system s problem persists call Compumotor at 800 358 9070 Motor Maintenance and Inspection Since this motor does not use wear prone parts the following daily inspection is sufficient Each inspection period varies with the environment and operating conditions Furthermore some parts that have been used for 20 000 hours or 5 years may need to be replaced requiring an overhaul if there are many of them When an overhaul or mot
56. ds up to 296 ft lbs Speeds up to 2 0 rps standard version 4 0 rps high speed version Torques to 370 ft lbs Resolutions up to 1 024 000 steps rev Analog Velocity Loop Digital Position Loop 10 KHz PWM Switching Frequency Accepts Digital Step and Direction for Position Control Accepts 10V for Torque or Velocity Control Monitor output representing velocity or torque Quadrature encoder output to interface with servo controllers or digital counter D D D DO D D D DO D DO Built in Test mode to simplify tuning Interface Options The Dynaserv can be operated in Position Velocity or Torque mode In Position mode the Dynaserv is compatible with all Compumotor Indexers In Position mode the Dynaserv moves one motor increment for each pulse received over the STEP input In Velocity mode or Torque mode the Dynaserv accepts a 10V analog signal representing a velocity or torque command In torque mode 8 5V represents the torque command make the Dynaserv fully compatible with a servo controller you can use the encoder output signal to close the position loop to your servo controller Theory of Operation Direct drive systems couple the load of the system directly to the motor without gears or pulleys Most servo motors do not have the torque or resolution required to satisfy many application needs Therefore mechanical methods such as speed reducers are implemented to meet system requirements Speed reducers
57. e information in this chapter will enable you to Verify that each component of your system has been delivered safely L Become familiar with the system components and their interrelationships Ensure that each component functions properly by bench testing What You Should Have Inspect your Dynaserv shipment upon receipt for any shipping damage Report any damage to the shipping company Compumotor cannot be held responsible for any damage incurred in shipping You should have received the following items in the Dynaserv ship kit Part Number Quantity Remarks Motor 1 Standard motor has10 ft motor and feedback cables except DR5000 A 18 in Drive 1 Drive is matched to specific motor Connector for CN1 1 MR 50LM Honda Tsushin Kogyo Connector for CN2 1 MR 8LM DR Honda Tsushin Kogyo MR 16LM DM Honda Tsushin Kogyo Fuse 2 6 x 32 mm 15A User Guide 1 DM amp DR Direct Drive Servos Part 88 013940 01 Optional Equipment 71 011858 01 1 Dynaserv Indexer Adapter Step Direction and Shutdown only 71 012985 10 1 Dynaserv Indexer 1 Oft cable complete I O Interface Drive Motor Configuration Dynaserv systems are pre configured and sold as motor drives A motor part number is included on the drive serial tag The motor part number must match the drive s part number The part numbers are based on the motor torque output and motor size System nomenclature is as follows D Motor Series Name M Encoder R Res
58. follow the installation procedures outlined in this user guide Pay special attention to the environment in which the Dynaserv will operate the layout and mounting and the wiring and grounding practices used Contents Developing Your Application Before you develop and implement your application there are several issues that you should consider D Clarify the requirements of your application Clearly define what you expect the system to do Assess your resources and limitations This will help you find the most efficient and effective means of developing and implementing your application Follow the guidelines and instructions outlined in this user guide Proper installation and implementation can only be ensured if all procedures are completed in the proper sequence Installation Preparation Before you attempt to install this product you should complete the following steps Successful completion of these steps should prevent subsequent perfor mance problems and allow you to resolve any potential system difficulties before they affect your system s operation 9 Become familiar with the user guide s contents so that you can find information that you need quickly Develop a basic understanding of all system components their functions and interre lationships Complete the basic system configuration and wiring instructions in a simulated environment not a permanent installation provided in Chapter 2
59. he panel with vibration insulators The Dynaserv has open end slots for rack mounting Refer to the figure below for dimensions and slot locations To simplify rack mounting the panel mount tabs at the rear of the Dynaserv are removable Use 10 32 or 1 4 x 20 screws into captured nuts to mount the Dynaserv in a rack mount configuration Use locking type fasteners to prevent the drive from coming loose due to vibration oa pur 1 Units inches mm 12 Dynaserv User Guide Panel Layout Encl Proper panel layout prevents equipment in the enclosure from overheating Each drive must have an unrestricted air flow The figure below iE S shows the recommended panel layout configura tion Mount the drive vertically If it is mounted horizontally heat will not be vented adequately and the drive will overheat e gt i DR DM Motor Mounting The motor can be mounted vertically or horizontally Incorrect mounting or an unsuitable mounting location may shorten the motor s life Rotor tightening torque A E Series 210 kg cm B C Series 110 kg cm Maximu
60. how ever have inherent problems Friction introduces inacuracies and backlash in the gears limits positional accuracy Gearing also ultimately limits the top speed of the system due to the large reduction The Dynaserv system consists of three major components Direct drive motor Drive Feedback device The direct drive motor is the heart of the Dynaserv system The motor provides very high torques in a modest package size The figure on the following page shows that torque is proportional to the square of the sum of the magnetic flux of the permanent magnet and the magnetic flux Oc of the stator windings Two factors help the Dynaserv to generate high torque First since the radius of the motor is large the tangential forces between rotor and stator work at a greater distance producing additional torque Second many small rotor and stator teeth create many magnetic cycles per motor revolution More flux contributing cycles create increased torque 2 Dynaserv User Guide Rotor Permanent magnet Stator A Stator B The motor contains precision ball bearings magnetic components and integral feedback in a compact motor package The motor is outer rotor providing direct motion of the outside housing and thus the load The cross roller bearings allow the motor to take very large compressing loads Chapter O Introduction 4 Dynaserv User Guide CHAPTER Getting Started Th
61. izes of CN1 and CN2 cables Less than 14 mm or 9 mm respectively Cable size is obtained under the condition that ambient temperature is 40 C and the rated current flows through three bundled leadwires HIV Special heat insulation wire allowable conductor temperature of 75 C Interface Cable Drive Controller Connection Controller Chapter Installation 19 Wiring Cautions Use specified multi core twisted pair cables with collective shielding for interface and feedback cables Conduct shield end treatment correctly Use thick conductors as grounding cables Ground the Dynaserv through a resistance of less than 100 Since high voltage current flows through motor and AC power cables make sure that their wirings are correct Motor Drive Connection The motor and encoder cables provided with the Dynaserv are pre wired If you need to re wire these cables use the following color codes and function descrip tions Motor Cable Codes DM amp DR Series 20 Dynaserv User Guide Motor Cable DR Series DM Series Motor Compumotor Motor DYNASERV OE 8 POSW 39 Encoder A ag Cable cow 8 ps 1 able 115 e
62. locity signal VEL on an oscilloscope while varying the generator frequency Resonance Counter Measures There are three counter measures for the resonance phenomena generally referred to as mechanical resonance items O and O in the previous table D Increase machine rigidity to reduce resonance peak values Fit dampers in the mechanical systems to reduce resonance peak values Insert machine resonance compensation filters to reduce resonance peak values These measures should be implemented in the order listed Mechanical Rigidity Increasing the mechanical rigidity requires increasing the structural rigidity of the device You should begin by minimizing play and looseness at all connections to raise the overall rigidity of the machine as a whole In addition you should also increase the rigidity of the individual structural components posts and arms An arm using a honeycomb or ribbed structure for example is more effective from a rigidity standpoint than a hollow construction Although increasing the rigidity may give rise to new resonances at higher frequencies such cases can be dealt with by the measures described in the sections that follow Dampers A damper is a mechanical means for absorbing and attenuating resonant energy Dampers generally consist of a rubber pad and deadweight A damper s resonance frequency can be varied by changing the thickness and material properties of the rubber pad and the weight of the
63. lse signal is output with the jumper UD AB on the controller board shorted This output is very similar to a standard incremental encoder CW Direction CCW Direction A Phase 750 KHz Maximum 750 KHz Maximum Pulse nee lt gt Pins 13 amp 14 B Phase 0 Pulse SENSUM Pins 29 amp 30 Q UP DOWN Phase Output Pulse The following pulse signal is output with the jumper UD AB on the controller board opened This output is appropriate for use with a simple counter CW Direction UP Pulse E MHz Maximum Signal 55 Pins 13 amp 14 CCW Direction DOWN Pulse 3 MHz Maximum Signal ST Pins 429 amp 430 Compliance Control Gain Setting You can set fe or corner frequency with the front panel rotary switch or with input signals FNG FN3 The following table shows the corner frequency values and corresponding switch positions FN3 FN2 FN1 FNG fc Switch Position fc Hz H H H H 1 H H H L 1 2 H H L H 2 3 H H L L 3 4 H L H H 4 5 H L H L 5 6 H L L H 6 7 H L L L 7 8 L H H H 8 9 L H H L 9 1 L H L H A 11 L H L B 12 L L H H 13 L L H L D 14 L L E H E 15 L L L 16 26 Dynaserv User Guide DC Gain Scaling Setting The following table shows DC GAIN scaling settings Power ON OFF GH
64. lt Chapter O Mainte nance amp Troubleshooting AC Power Cable Encoder Motor Cable Cable Dynaserv User Guide To change the rotary gain switch settings Compumotor insert a flat blade screw driver into the ENT arrow and tum to the 8 desired setting You can also use the flat rosw IS blade screwdriver to When the motor is enabled 00 current flows to the motor such When shipped from the factory RON the system gains are set to fe 5 2222 AC Power Cable RE minimum values so it is nor E mm COND 308 115 VAC mal for the motor to have little Motor 4 a ENE 12 6 1 torque Adjust the gain set UN qe tings to the recommended 1 o Fe values listed in the table MOTOR y 2 DC GAIN VEL Test Mode Switch AGND 20 Cable Cable DC GAIN Condition fc LIMf
65. m More than 1 mm Stator tightening torque Setting base levelness 0 01 A E Series 210 kg cm B C Series 110 kg cm Maximum Mechanical Coupling To couple a load with the motor rotor section use the following guidelines When coupling the load to the motor rotor keep a clearance of more than 1 mm between the load and the motor s upper surface to maintain surface accuracy Base levelness should be less than 0 01 mm Chapter Installation 13 Operation Cautions a a When tightening the screws always apply LOCKTITE 601 or its equivalent to these screws to lock them The driver is adjusted with the matched motor Do not change the motor driver combination This motor rotates at high speed and high torque To prevent accidents do not touch the rotating radius when operating with a load connected to the motor The motor is not dust proof water proof or oil proof Care must be taken to shield the motor from these contaminants The magnetic resolver is built into the motor Do not apply a strong force shock or magnetic field to the motor applicable to DR Motors only Since the motor surface is magnetically charged do not put any magnetized objects or substances near the surface Never disassemble or modify the motor or driver If they need to be modified contact Compumotor Compumotor is not responsible for the products operation
66. mand wait status Integral action is selected when this signal is set to H and proportional action selection is selected when this signal is set to L in Position Control mode Signal to select the variable DC gain range DC gain can be varied in the range of 0 5 to 110 times Set by the variable resistor The driver control section is initialized when this signal is set to L for more than 50 seconds Driver position command pulse signal pulse Use the following voltages to perform various functions Set to maximum number of revolutions input 10V CW 10V CCW 10V Torque command 8V Velocity Torque input analog GND The following table describes the CN1 outputs functions and characteristics Signal Name Pin No Function Description A U 13 Position Feedback Pulse Signal Pulse signal to indicate the motor rotatin position Either A U 14 or UP DOWN phase pulse can be selected by the jumper on B D 29 the board D D 30 RDY 15 16 Servo Ready This signal is set to the level about 3 seconds after driver power is ON VELMON 17 18 Velocity Monitoring Signal for monitoring the motor revolutions to output positive voltage for CW rotation and negative voltage for CCW rotation Velocity detection sensitivity is not guaranteed for motor revolutions exceeding 7 5V COIN 27 28 Positioning Completion Signal This signal is set to L when the deviation counter value is the POSW switch set value OVER
67. mation in this user guide This user guide assumes that the user has a fundamental understanding of computers basic electrical concepts basic motion control concepts and basic serial communication RS 232C concepts User Guide Contents This user guide contains the following information Chapter O Introduction This chapter provides a description of the product s basic functions features and theory of operation Chapter Getting Started This chapter lists items you should have received with your shipment A basic checkout procedure is provided Chapter amp Installation This chapter contains system mounting and wiring instructions Upon completion of this chapter your system should be completely installed and ready to perform basic operations Chapter amp Control Mode amp Adjustment This chapter provides additional information that will help you customize the system to meet your application s needs Important application considerations are discussed Sample applications are provided Chapter O Hardware Reference This chapter contains system performance specifications torque speed curves and motor dimension specifications Chapter Maintenance amp Troubleshooting This chapter describes system maintenance procedures Methods for isolating and resolving problems are provided Diagnostic error codes are listed Installation Process Overview To ensure trouble free operation you should
68. ment e L Set to H Set to H Adjusted to an appropriate value The motor does not move Under overload error Incorrect external wiring Under no load Inspect the wiring diagram in this manual Reduce the load or use a larger motor Rewire unit correctly use connection Motor rotation is unstable Wrong connection The motor and driver combination is wrong Check Phase and GND connections Check the numbers on the Rewire unit correctly use connection diagram in this manual Match product s with appropriate component s Consult Compumotor The motor overheats Ambient temperatire is high The motor is overloaded Check temperature should be below 45 Run the motor without its load Reduce the temperature below 45 When you start the motor lighten the load or replace existing motor with a large motor An abnormal sound is produced The unit is mounted incorrectly The bearings are worn or damaged The mounting base is vibrating The set screws are loose Check for sound and vibration near the bearing Check the mounting base Tighten the screws Replace the motor contact Compumotor Reinforce the mounting base The position is dislocated rate The A B Phase and U D pulse jumper selections are wrong The command pulse rate and width are not specified Both ends of the feed
69. ng Storage Humidity Driver Motor 13 2 Ib 6 kg See Table 32 to 122 0910 50 C 32 to 113 F 0 to 45 4 to 185 F 20 to 85 C 4 to 185 F 20 to 85 C 20 to 90 noncondensing 20 to 85 noncondensing No corrosive gasses Dust free atmosphere The Dynaserv is not waterproof oil proof or dust proof Chapter Hardware Reference 37 DR5000 Series DM Series Parameter Value Performance Repeatability Accuracy Max stepping rate DR5000 A 10 5 arc sec 0 00139 45 0 0125 1 600 000 steps sec DR5000 6 10 arc sec 90 arc sec 1 400 000 steps sec Power Volts Range Current Inputs All Models Command Interface Step input Direction Analog input Other inputs gain selection servo on etc 200VAC 3 phase 230 1 phase 10 to 15 5 to 15 50 60 Hz 50 60 Hz 20 amps max 20 amps Step and direction Position control 10V DC Velocity control low going pulse 150 nanosecond minimum pulse width Logic high CW rotation Logic low CCW rotation 10V DC max 5 to 25 volts pullup Outputs all Models Encoder output Other outputs in position alarm etc A B Quadrature signal 400 KHz max 7 Channel A 104 pulses rev B 68 pulses rev TTL Environmental Driver Motor Weight 24 Ib 11 kg See Table Operating 32 to 122 F 0 to 50 32 to 113 F 0 to 45 C Storage
70. ng configuration is for bench test only For permanent installation refer to y LN Chapter Installation Lf Bench Mount Test Bolts Step 9 Compumotor pynaserv 8 Connect the feedback cable the DR Series 8 pin Honda connector is gt 9 provided A 16 pin Honda connector is used with the DM Series These cables CN1 are pre wired com O FE Unig vAG NE 5 115 O GND ORE A E Jam Ve e NE e enr GND x 1 Encoder Cable Dynaserv User Guide Step 9 115VAC Motor Compumotor DYNASERV POSW 2 UNE CONT 9 115 VEL POSN Encoder Motor Cable Cable Step 9 AGND TORQ Connect the motor cable between the motor and drive Match the correct phase as specified on the terminal leads check color codes CAUTION Never connect motor cables when power 5 connected to the drive this may damage motor connector contacts AC Power Cable Motor Encoder Motor Cable Cable Compumotor DYNASERV POSW C9
71. olver Motor Speed 1 Standard up to 2 0 rps 5 High Speed up to 4 0 rps Peak Torque Nm 4 15 400 Depending on motor type Motor Diameter 4 A 10 8 BG Input AC Voltage 4 120 120 if omitted 240 Chapter 2 Getting Started 5 6 Check Out Procedure Bench Test This section provides a basic bench test of the Dynaserv drive Compumotor recommends that you complete these steps before you install the system perma nently This bench test is designed to test the motor s basic functionality During the bench test only Test Mode motion is possible For further motor operation the motor should be permanently mounted Refer to Chapter Y Installation For the bench test the following items are required A5VDC power supply with jumper leads power cord A Two 2 2 jumper wires Honda connector from ship kit Step Bench mount the Dynaserv motor Three bolts can be used to elevate the motor for the bench test When the motor is bench mounted it may be operated upright to allow for proper cable routing without restricting the rotation of the outside motor housing CAUTION Never operate the motor upside down with the rotor stationary This will cause cable wind up and possible sytem damage Q Never attach a load to the drive during the bench test procedure This mounti
72. or disassembly is required call Compumotor 800 358 9068 Chapter Maintenance amp Troubleshooting 47 Period Daily Inspection Item Sound and Vibration check Insulation Resistance Measurement Once a year Resolving Motor Trouble Inspection Details Widen the motor rotating range as much as possible when the motor is checked audibly and by touching Separate the coupling from the driver then measure the insulation resistance between the coil terminal and stator housing with an ohmmeter Evaluation No change is found under daily inspection If it is more than 10 itis OK If itis less than 10 consult Compumotor If motor trouble occurs take the appropriate measures in accordance with the information in the following table If the problem persists after corrective mea sures have been taken stop the operation immediately and contact Compumotor The table shows possible motor problems their causes what to inspect and how to resolve the problem Trouble Possible Cause s Item to Inspect How to Resolve No motor torque No AC power is applied The fuse has burned out The servo on SRVON terminal is set to H The CPU reset RST terminal is set to L The integral capacitor reset IRST terminal is set to L Fc ILIM DC gain is small Wiring inspection Fuse inspection Inspection Inspection Inspection Inspection Apply the specified AC power replace
73. oting contains instructions on using the low pass filter and the notch filter Feedback amp Position Pulse Resolution Settings JP1 16 The servo driver receives a signal from the feedback integral to the motor then outputs an A B phase or UP DOWN pulse signal to a higher level controller Jumper pins related to the feedback pulse signal are RATE 1 RATE 2 and UD AB The position command pulse signal multiplication factor is determined by setting jumpers 1 and RATE 2 on JP1 Adjusting these jumpers changes the position command pulse signal by 1 to 1 8 times table below However changes in the multiplication factor also change the resolution When operating the Dynaserv with lower pulse frequency controllers it may be necessary to reduce the resolution to realize full motor speed Motor Type Rate 1 Rate 2 Multiplication Factor Resolution DR B Shorted Shorted 1 507 904 Open Shorted 1 2 253 952 Shorted Open 1 4 126 976 Open Open 1 8 63 488 DR E Shorted Shorted 1 614 400 1 2 307 200 5 1 4 153 600 1 8 76 800 Dynaserv User Guide Shorted Shorted 1 819 200 O 5 1 2 409 600 5 1 4 204 800 1 8 102 400 DR5000B Shorted Shorted 1 278 528 Series O 5 1 2 139 264 5 1 4 69 632 1 8 34 814 DR5000A Shorted Shorted 1 425 984 Series O 5 1 2 212 992 5 1 4 106 496 1 8 53 248 DR5000C Shorted Shorted 1 212 992 Series 5 1 2 106 496 5 1 4 53 248 1 8
74. pumotor or its licensors and may not be copied disclosed or used for any purpose not expressly authorized by the owner thereof Since Parker Compumotor constantly strives to improve all of its products we reserve the right to change this user guide and equipment mentioned therein at any time without notice For assistance in the United States contact For assistance in Europe contact Compumotor Division of Parker Hannifin Parker Digiplan 5500 Business Park Drive 21 Balena Close Rohnert Park CA 94928 Poole Dorset Telephone 800 358 9070 England BH17 7DX Fax 707 584 8015 Telephone 1202 690911 Fax 1202 600820 Motion amp Control CHANGE SUMMARY The original version of this user guide was designed by Yokogawa Precision Corporation in Japan This user guide has been completely revised This user guide version 88 013940 01B supersedes version 88 013940 01 Much of the information from the original user guide has been incorporated in this document All instructions procedures graphics and technical tables have been written drawn and tested by Parker Hannifin Corporation s Compumotor Division in Rohnert Park CA USA The text has been reorga nized and edited for clarity and all graphics have been redrawn to better support steps and procedures provided in the user guide Installation and Operation Precautions 10 11 Never install the motor with the rotor fixed and the stator set free for
75. rror 5 Power supply error Control power supply voltage trouble Connector trouble requires repair 6 Counter overflow High acceleration deceleration High revolution check command input 7 ROM error occurrence Control board trouble requires repair 8 Main power supply trouble Decrease in main power supply voltage Fuse burnt out replace the fuse 8 CPU stop Control borad trouble requirement for repair Driver reset status 9 WDT error Illegal interrupt compulation overflow Control board trouble encoder cable wiring check A Power amplifier error High main power supply voltage Bad connector contact requires repair Power board trouble requires repair 0001 Overvoltage OOV signal ON 0003 Over current FAULT signal ON 6 Overload occurrence Servo ON status Heavy load review operation procedure Motor locked status locked status release 0 Overload occurrence Servo OFF status Ambient temperature too high reduce environmental temperature OTHER Trouble of elements relating to LED output Control board trouble requires repair For engineering assistance call Compumotor at 800 358 9070 For repairs see below Procedure for Error Correction 1 Encoder Error Encoder error 3 Y Check encoder _ cable connection P OK y Set test switch pet NO gt Correction _ Others Po
76. t power 115VAC or 230VAC AC input for control circuit power GND Frame ground CN2 Connection Signal DR Series Signal Name Connector Pin Meaning S0 1 Excitation Signal Output Sine phase 5180 1 50 2 Detection Signal Input Sine 09 S180 3 Detection Signal Input Sine 1802 SHIELD 4 Shield FG 5 Frame ground C0 6 Excitation Signal Output Cosine phase 0 6 CO 7 Detection Signal Input Cosine 0 C180 8 Detection Signal Input Cosine 1802 CN2 Connection Signal DM Series Signal Name Connector Pin Meaning V 1 Encoder Power Supply GND 2 Above Signal Ground O Signal 3 Encoder Phase 1 Signal GND 4 Above Signal Ground O Signal 5 Encoder Phase 1 Signal GND 6 Above Signal Ground ZERO 7 Detection Signal Input Cosine 0 GND 8 Above Signal Ground CLK 9 Encoder Sample Clock CLK 10 Above Signal Ground FG 11 Frame ground 12 16 No Connection Dynaserv User Guide CHAPTER Maintenance amp Troubleshooting The information in this chapter will enable you to Maintain the system s components to ensure smooth efficient operation Isolate and resolve system hardware problems Problem Isolation If your system does not function as you expect it to operate you must identify and isolate the problem When you accomplish this you can effectively begin to resolve and eradicate the problem The first step is to isolate each system component and ensure that each compo nent functions properly when it is run in
77. tia torque friction etc What was the system environment temperature enclosure spacing unit orientation contaminants etc What upgrades if any are required hardware software user guide Step 9 Call Parker Compumotor s Applications Engineering Department 800 358 9070 for a Return Material Authorization RMA number Returned products cannot be accepted without an RMA number Step O Ship the unit to Parker Compumotor Corporation 5500 Business Park Drive Suite D Rohnert Park CA 94928 Attn Reducing Electrical Noise For detailed information on reducing electrical noise in your system refer to the current Compumotor Catalog Direct Drive Motors amp Resonance The major feature of the direct drive motor is its lack of a speed reducer It there fore is fast highly precise and compact On the other hand because it is directly coupled to the load it is easy for the load s mechanical resonance characteristics to find their way into the velocity control loop causing oscillations in the velocity control system These oscillations may consist both of relatively low frequency several Hz hunt ing and windup phenomena and relatively high frequency phase shift oscillations and mechanical resonances Although most low frequency oscillations can be cured by driver adjustments high frequency oscillations require countermeasures such as improving mechani cal rigidity adding mechanic
78. trol Mode Adjustment In the Position Control mode motor positioning control is performed according to the command position sent from the higher level controller Two control methods are available in the Position Control mode the I PD type control system is se lected with the CN1 connector IACT PACT signal set to H and the P type control system with the same signal set to L Usually the I PD type control system is selected in the Positioning mode I PD Type Position Control This method uses position integral feedback and is suitable for applications that require highy accurate positioning A stable control characteristic is achieved even under load variation In this mode adjustments of fc switch LIMf switch and DC Gain variable resistor are necessary fc Switch The fe switch which controls the characteristic frequency is a 16 position rotary switch The switch s values represent frequencies of 1 16Hz The fc value can be set remotely with pins 1 8 on the connector FNO FN3 When using the rotary switch FNO FN3 must all be set to H no connection The value is a logical AND between the rotary switch and FN3 Chapter O Installation Compliance Control Gain Setting section discusses the relationship between the switch and the inputs LIM Switch This switch prevents the wind up phenomenon by limiting the output of the digital integrator during software servo computation The larger the switch number the larger
79. ue output which is proportional to the positioning error is obtained and compliance control is possible In this control mode only 16 switch and DC gain control are adjusted With the I type position control a high tact positioning can be achieved In this control mode the amount of velocity feed forward is adjusted with a jumper in addition to DC switch DC gain control and AC gain control Position Control System Adjustment Procedure 30 Step Step Step 9 Step O Step O Step O The position control system can be adjusted in the test mode Turning ON the test switch at the front of the driver generates a 2 4 Hz square wave position command signal inside the driver to output the motor position to the POSN signal terminals At this time ensure that the motor exhibits reciprocal action at very small rotating angles The adjustment procedure for I PD type position control in the test mode is as follows Connect an oscilloscope to the POSN signal terminals Set the CN1 connector SERVO signal to L Set the TEST switch to OFF Set the TEST switch on the front of the driver to ON Adjust the fc switch Its variable range is from 1 to 16Hz and it should be set to about 10Hz scale graduation 9 under normal load conditions Set the I LIM switch to a large value within the range where there is no hunting Select the I LIM switch GAIN H to L signal so they match the load condition Fine adjustment is done using the DC gain adjustments
80. wer on again SS _ LED detail display D 0006 Consult Compumotor Application Department 0007 y 0009 Command input Without specification ranges 2 gt a gt Y Within Correction specification ranges EUM RE YES lt Noise poor connector gt gt connection a s Y e a Wes Correction NO Y y Consult Compumotor Application Department Power on again Chapter Maintenance amp Troubleshooting 49 2 Over Speed Over Speed 1 n 4 A Command input NO correct 4 A Lu YES Motorand 0 YES Driver gt gt Mismatch 6 7 Correction NO Y Y Consult Compumotor Power on again Application Department 3 Over Count y E Over count 6 keer Y E NO 55 Already tuned gt 4 c YES Comand input gt correct E s a 0 Y Motor and PS YES Driver p _ Mismatch 2 Y Excessive YES external force applied to motor s rotor WE 2 Y N Correction NO Consult Compumotor Power on again Application Department 50 Dynaserv User Guide 4 Abnormal Power Supply YES Abnormal Main Power Supply 8 mE Power cable NO

Dynaserv DM & DR Direct Drive Servos User Guide

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Dynaserv DM &amp; DR Direct Drive Servos User Guide

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Dynaserv DM & DR Direct Drive Servos User Guide