Infranor SMT-BD1/D, SMT-BD1/A, SMT-BD1/F, SMT-BD1/E, SMT-BD1/G Operating Manual

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SMT-BD1/1A 220-12-W-T-BS

INFRANOR

OTHER SYMBOLS:

RGB ELEKTRONIKA AGACIAK CIACIEK

SPÓŁKA JAWNA

Jana Dlugosza 2-6 Street

51-162 Wrocław

Poland

biuro@rgbelektronika.pl

+48 71 325 15 05

www.rgbautomatyka.pl

www.rgbelektronika.pl

www.rgbautomatyka.pl

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OPERATING MANUAL

SERIES SMTBD1

DIGITAL BRUSHLESS SERVO CONTROLLERS

(Version 3.1)

European version 3.1

This is a general manual describing a series of servo amplifiers having the capability for driving AC Brushless servo motors. It concerns only the basic amplifier version SMT-BD1. The options and other amplifier versions are described in the complementary manuals. This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models.

Maintenance procedures should be attempted only by highly skilled technicians (EN 60204.1 standard) using proper test equipment. Read your warranty provision carefully before attempting to adjust or service the unit.

RECEIVING AND HANDLING

Upon delivery of the equipment, inspect the shipping containers and contents for indications of damages incurred in transit. If any of the items specified in the bill of lading are damaged, or the quantity is incorrect, do not accept them until the freight or express agent makes an appropriate notation on your freight bill or express receipt.

Claims for loss or damage in shipment must not be deducted from your invoice, nor should payment be withheld pending adjustment of any such claims.

Store the equipment in a clean, dry area. It is advisable to leave the equipment in its shipping container until ready for use. Each amplifier is checked carefully before shipment. However, upon receipt, the user should make sure that the amplifier received corresponds to or is properly rated in terms of rated voltage and current for the type of motor which is to be driven. The descriptive label affixed to the amplifier specifies electrical ratings.

Infranor Inc. reserves the right to change any information contained in this manual without notice. Infranor Inc. does not assume any responsibilities for any errors that may appear nor for any physical or material damage due to improper handling.

 1999 INFRANOR INC.

OPERATING MANUAL

INFRANOR

SERIES SMTBD1

“STANDARD”

(March 1999)

1.0.0 GENERAL ............................................................................................................................................ 5

1.1.0 Introduction ....................................................................................................................................... 5

1.2.0 General description............................................................................................................................. 5

2.0.0 SPECIFICATIONS................................................................................................................................ 7

2.1.0 Technical specifications...................................................................................................................... 7

2.1.1 Standard compatibility.......................................................................................................................10

2.1.2 "CE" Marking ...................................................................................................................................10

2.2.0 Block diagram...................................................................................................................................11

2.3.0 Main protections ...............................................................................................................................12

3.0.0 INPUTS / OUTPUTS...........................................................................................................................13

3.1.0 Connector locations...........................................................................................................................13

3.2.0 X1 resolver connector (Sub-D 9 points female) .................................................................................14

3.3.0 X2 position connector (Sub-D 25 points female) ..............................................................................14

3.4.0 X3 test connector..............................................................................................................................14

3.5.0 X4 input - output command connector (Sub-D 25 points male).........................................................15

3.6.0 X5 serial link (Sub-D 9 points male).................................................................................................16

4.0.0 CONNECTIONS..................................................................................................................................17

4.1.0 Connection diagrams.........................................................................................................................17

4.2.0 Wiring recommendation (according to IEC 801 and EN 55011 standards)........................................19

4.2.2 Motor and resolver cables..................................................................................................................19

5.0.0 ADJUSTABLE FUNCTIONS...............................................................................................................20

5.1.0 PC Graphical window (Infranor Digital Drive) ...................................................................................20

5.2.0 Parameter file menu (Files)................................................................................................................23

5.3.0 Software configuration menu (Setup) ................................................................................................23

5.4.0 Advanced functions menu ..................................................................................................................23

5.5.0 Utilities menu....................................................................................................................................25

5.6.0 Help Menu........................................................................................................................................25

6.0.0 COMMISSIONING..............................................................................................................................26

6.1.0 Checking the amplifier configuration..................................................................................................26

6.2.0 Putting into operation........................................................................................................................26

6.3.0 Amplifier commissioning and adjustment...........................................................................................27

7.0.0 FAULT FINDING................................................................................................................................31

7.1.0 System default...................................................................................................................................31

7.2.0 Stored defaults..................................................................................................................................31

7.3.0 Operating problems...........................................................................................................................33

7.4.0 Service and maintenance....................................................................................................................34

8.0.0 APPENDIX..........................................................................................................................................35

8.1.0 Hardware adjustments.......................................................................................................................35

8.2.0 Resolver connections.........................................................................................................................37

8.3.0 Motor connections ............................................................................................................................37

8.4.0 Logic control adjustment...................................................................................................................40

8.5.0 BPCW software installation...............................................................................................................42

8.6.0 360o shield on the connectors............................................................................................................44

1.0.0 GENERAL

1.1.0 Introduction

Series SMT-BD digital servo modules are PWM servo amplifiers that provide speed control for AC sinusoidal motors (brushless) with transmitter resolver.

The pluggable SMT-BD1 system is available as a single-axis block version or as a multi-axis version that can receive up to seven axes in a standard 19" rack including the power supply.

The basic amplifier module SMT-BD1 / A or B provides speed control for AC synchronous motors.

• SMT- BD1 / C version with option card SMT - Ix allows the direct position control of the motor by means of

an incremental position input command (stepping motor emulation).

• SMT- BD1 / D version with option card SMT - Ix allows the direct position control of the motor by means of

an incremental encoder position input command for applications such as electronic gearing.

• SMT- BD1 / E version with option card SMT - Ix allows the tension control of a material (thread or film) by

means of an analog tension sensor for winding/unwinding applications master/slave drives.

• SMT- BD1 / F version with option card SMT - Ix allows the indexing of a spindle motor axis for tool changes,

according to four programmable positions over one revolution.

• SMT- BD1 / G version with option card SMT - Ix allows product registration function using master/slave

operation.

• SMT- BD1 / H version with option card SMT - Ix allows all communication with the CAN interface instead of

the + 10V.

The parameter setting software BPCW, which is IBM-PC compatible with the WINDOWS® operating system, allows the display of all amplifier parameters as well as their easy modifications.

1.2.0 General description

SMT-BD1 amplifiers have their own DC/DC converter to provide appropriate logic voltage. This power supply

provide the bus power voltage of 310 VDC as well as the auxiliary power supply which is necessary particularly when the position output information needs to be saved.

Each module is packaged as a 6 U "double Eurocard":

• one power board with IGBT transistors

• one logic board with DSP (Digital Signal Processing).

SMT- BD1 amplifier controls directly the motor torque and speed by means of the information provided by a transmitter resolver sensor.

The motor speed or torque input command is an analog command (± 10 V). The motor position is available as two channels (A and B) and their complements, and one or several marker pulse(s) per revolution. The number of pulses per revolution is programmable. Errors are displayed on the amplifier front panel.

All control parameters are programmable by means of a serial link and saved in a single EEPROM memory. The auto-configuration and auto-tuning functions allows for easy and quick commissioning of the amplifier.

The basic software BPCW, which is IBM-PC compatible with the WINDOWS® operating system, allows the display and modification of all amplifier parameters. The extended version of the BPCW software include the digital oscilloscope, the simulation function as well as the cogging torque compensation.

2.0.0 SPECIFICATIONS

2.1.0 Technical specifications

Operating voltage DC bus 310 VDC (270 V < DC bus < 340 VDC) Auxiliary supply voltage 310 VDC ( 200 V < Uaux < 340 VDC) Motor phase-phase output voltage 200 Vrms for DC bus 310 V

Output currents for the Fusing mode of the I2t protection (see chapter 8.3.3)

AMPLIFIER U rated Imax (A rms)

SMT-BD1 - 220/04 240 4,4 2 SMT-BD1 - 220/08 240 8,8 4 SMT-BD1 - 220/12 240 13,8 6 SMT-BD1 - 220/17 240 17,7 8,5 SMT-BD1 - 220/30 240 30,8 10 12 15 SMT-BD1 - 220/30r 240 30,8 10 15 SMT-BD1 - 220/45 240 48,6 10 15 20 SMT-BD1 - 220/45r 240 48,6 10 20 23 SMT-BD1 - 220/60 240 61 10 19 25 SMT-BD1 - 220/60r 240 61 12 26 30 SMT-BD1 - 220/70 240 70 25 30 35 SMT-BD1 - 220/100 240 100 25 30 35

Amplifier max. rated current (Arms)

(Vrms) 1 s WITHOUT

FAN*

FAN TYPE

Output currents for the Limiting mode of the I2t protection (see chapter 8.3.3)

Amplifier continuous current (Arms)

AMPLIFIER U rated Imax (Arms)

(Vrms) 1 s WITHOUT

FAN*

SMT-BD1 - 220/04 240 4,4 2 SMT-BD1 - 220/08 240 8,8 4 SMT-BD1 - 220/12 240 13,8 6 SMT-BD1 - 220/17 240 17,7 8,5 8,5 SMT-BD1 - 220/30 240 30,8 8,5 12 15 SMT-BD1 - 220/30r 240 30,8 10 15 SMT-BD1 - 220/45 240 48,6 8,5 15 18 SMT-BD1 - 220/45r 240 48,6 10 20 23 SMT-BD1 - 220/60 240 61 8,5 17 20 SMT-BD1 - 220/60r 240 61 12 26 30 SMT-BD1 - 220/70 240 70 17 30 35 SMT-BD1 - 220/100 240 100 25 30 35

* Maximum ambient temperature = + 40° C, fan 1 = 56 l/s, fan 2 = 90 l/s.

Note: SMT-BD1-X/Xr amplifiers are equipped with an additional heatsink in order to increase the rated current. The width of these amplifiers is then 18 TE instead of 12 TE.

FAN TYPE

PWM Switching frequency 10 KHz

Minimum inductance between phases 1 mH

Current regulator (PI) adjusted to motor

Current loop bandwidth Cut-off frequency for 45° phase shift: > 1 KHz

Internal current limitation Imax: 20% to 100 % Irated: 20% to 100 % of Imax

Imax duration = 1 second

External current limitation 0 to 10 V (resolution = 12 bits)

100 to 0 % of the internal Imax limitation

Analog speed input command ±10 V, standard resolution = 12 bits and

16 bits in option

Motor accel/decel ramp range From 0 to 30 s between zero speed and

max. speed

Speed regulator PI2 Sampling period = 0,5 ms

Integrator anti-saturation system Antiresonance filter Adjustable numerical gains

Speed loop bandwidth Cut-off frequency for 45° phase shift

Programmable : 50 Hz, 75 Hz or 100 Hz

Max. motor speed Adjustable from 100 rpm to 14000 rpm

Speed range 2048 : 1 with 12 bits input command

32768 : 1 with 16 bits input command

Encoder position output * Quadrature output A and B channels with n marker

pulse(s) per revolution. Programmable

resolution:

max. 8192 ppr up to 900 rpm max. 4096 ppr up to 3600 rpm max. 1024 ppr up to 14000 rpm Accuracy: 8 arc minutes + ¼ point (2 arc minutes + ¼ point on special request)

Analog outputs (test points) Speed input command (CV): ±10 V for ± max. speed Speed monitor (GT) ±8 V for ±14000 rpm Current input command (IDC): ±10V, DAC OUT 1

8 bits resolution. Current monitor (Imon.): ± 10 V, DAC OUT 2: 8 bits resolution

Logic inputs Enable / Disable: ENABLE

Limit switch +: FC+ Limit switch - : FC- Current command: CI Zero speed input command: CV0 Reset: RAZ

* The total position accuracy must take into account the accuracy of the resolver used

Logic outputs Relay contact Umax = 50 V,

Imax = 100 mA, Pmax = 10 W

• "Amp ready": closed if amplifier OK, open if default

• "Power ready": closed if power OK, open if default

• IDYN signal: open if I2t threshold is reached

Error display LED on front panel and diagnostic by serial link

Motor and application parameter setting Serial link RS232 (standard) or RS422 / 485 (option)

Automatic functions Amplifier adjustment to the motor (AUTOPHASING)

Automatic regulator tuning (AUTOTUNING) Offset compensation on analog input CV

Electromagnetic compatibility IEC standards 801- 2 - 3 - 4, level 4 Conducted and radiated disturbances EN 5011 Group 1, class A Electrical standards for industrial machines N 60204.1: 1500 VAC - 1min insulation

Current leakage >3mA (EMI filters)

Temperature storage - 20° C to + 70° C operation 5° C to +40° C

From 40°C on, the rated currents must be reduced of 3 %/°C. Max. temperature: 50°C

Cooling Natural convection or forced air, according to the

2.1.1 Standard compatibility

SMT-BD1 amplifiers operating either in the RBF rack equipped with the mains filter BF-35/70, or the SMTBM- 20A single axis and BF-35, have been approved for their conformity with the Electromagnetic Compatibility standards:

• EN 55011, Group 1, Class A (conducted and radiated radioelectric disturbances)

• IEC 801 - 2 - 3 - 4 (noise immunity).

Results and test conditions of the LCIE (Laboratories Central des Industries Electriques), which is approved by the European Community, are referenced with n° 416040, 416041, 416042, and 416043.

Results of the tests made according to the Low Voltage directive is referenced in the LCIE report n° 413777.

Standard to be applied to the electrical equipment’s of industrial machines: EN 60204.1.

altitude: 1000 m (3300 feet) moisture: < 50 % at 40°C and < 90 % at 20°C

(EN 60204.1 standard)

rated current (see current table)

2.1.2 "CE" Marking

CE recognition marking has been affixed since 1995.

2.2.0 Block diagram

2.3.0 Main protections

2.3.1 Stored protections

PROTECTION ERROR DISPLAY LED*

Amplifier rated current overload #:

• flashing display = Idyn signal (I2t threshold is reached)

• continuous display = amplifier inhibited (I2t default)

Resolver cable interruption Resolver

Power stage failure: Power stage

• power supply overvoltage

• internal switch protection

• short-circuit between phases

Resolver converter failure R. D. C

Amplifier overtemperature °C Amp

Power supply undervoltage Undervolt.

Motor overtemperature °C Motor

Default of the amplifier parameter storage EEPROM

Amplifier automatic procedure: Busy

• flashing display = procedure operating

• continuous display = operating error

The operation mode of the I2t protection is described in chapter 8.3.3.

* = LED is unlit; = LED is lit.

I2 t

Reset of a stored default can be made:

• by means of the RESET function in the BPCW software

• via the default RESET input (pin 13 of the X4 connector)

• by switching off the amplifier power supply.

2.3.2 Fuse protections

F1 : Control of average DC current of the power board supply. F2 : Control of average DC current of the logic board supply.

AMPLIFIER TYPE F1 F2

Power Logic SMTBD1-220/04 to 12 10 AT 1 A SMTBD1-220/17 to 30 15 AT 1 A SMTBD1-220/45 20 AT 1 A SMTBD1-220/60 SMTBD1-220/70 SMTBD1-220/100 40 AT 5 AT

20 AT

40 AT

1 A

5 AT

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