Moog T161 User Manual
Excerpt from
BRUSHLESS ELECTRIC MOTORS
AND DIGITAL CONTROLS
USER'S MANUAL (obsolete)
SERIES T161 DIGITAL RACK MOUNT CONTROLLERS
SERIES 160 RACK MOUNT POWER SUPPLY
SERIES 300A BRUSHLESS SERVO MOTOR
This is a portion of a user’s manual made available in segments on the website for the
convenience of our customers. If you have questions or need additional information please
contact us
This manual describes the functionality and features of the present version of the T161,
160 and 300A Product Family. Not all of the described features are available in previous
versions of the T161, 160 and 300A.
Information contained herein is subject to change without notification and should not be construed
as a commitment by Moog Inc. This manual is periodically reviewed and revised. Moog Inc.
assumes no responsibility for any errors or omissions in this document. Critical evaluation of the
manual by the user is welcomed. Your comments will assist us in future product documentation.
Copyright Ó 1993 by Moog Inc. All rights reserved.
.
Moog Inc., Electric Drives Group
Regional Centers:
USA: +716-655-3000
Germany +49-7031-622-0
Italy +39-010-96711
Japan: +81-463-55-3615
See www.moog.com to find the location nearest you.
SECTION FOUR - COMPONENT DESCRIPTION AND SPECIFICATION 4.1
4. COMPONENT DESCRIPTION AND
SPECIFICATION
This Section provides descriptions and specifications for the RMC Power Supply, the T161
Series Controllers, the B81318-001 Hand Held Terminal, the Encoder Simulator Option
Card, and the 300A Series Motors.
4.1. Power Supply Description, Specifications
The power supply has the following features:
• Single or Three Phase A-C Operation
• Direct off-line 220 VAC Operation
• Soft Start (A-C Inrush Current Limiting)
• Integral Shunt Regulator
• Fast Bus Discharge
• Phase Loss Detection
• Provision for External Regen Resistor
• Regen Electronic Circuit Breaker
• Power Supply Fault Relay
• Diagnostic LED's
The major components of the power supply are indicated in Figure 4-1.
WARNING
Power supplies contain large capacitors that maintain high voltage on the
DC+ to DC- terminals for several minutes after input power is removed if the
regen resistor circuit is open (fuse blown or wiring open).
Wait at least 5 minutes after power shutdown for capacitors to discharge.
Using a multimeter, measure the DC BUS (at X7 Pin #1 and #2) to ensure
that it has been discharged. Failure to follow this procedure might result in
serious personal injury.
4.1.1. Diagnostic LED's
The status of the power supply may be monitored using the diagnostic LED indicators on
the front panel as listed in Table 4-1.
4.2 SECTION FOUR - COMPONENT DESCRIPTION AND SPECIFICATION
4.1.2. Circuit Description
The power supply consists of four functional blocks:
• High voltage rectification and filtering
• Low voltage control power supply
• Shunt regulator circuit
• Monitoring and fault logic circuits
Figure 4-2 is a block diagram of the 160 Power Supply.
LED
#
1
2
3
4
5
6
7
LED
Color
Green BUS ACTIVE Greater than 30 VDC is present on the
Green LOGIC VOLTAGE OK The + 15, - 15, and + 5 VDC are
Red REGEN FUSE BLOWN The fuse protecting the regen resistor
Red THERMAL FAULT Baseplate over temperature
Red DC BUS OVER VOLTAGE DC Bus has exceeded 400 VDC.
Yellow REGEN ACTIVE The regen circuit is active because the
Red LOSS OF PHASE Phase loss or power loss on incoming
Label Condition Indicated
high voltage DC bus.
present.
has opened.
bus voltage exceeds the regen cut-in
threshold or a-c power has been lost and
a fast bus discharge is occurring.
AC mains.
TABLE 4-1. 160 POWER SUPPLY STATUS INDICATORS
4.1.2.1. High Voltage Rectification and Filtering
The a-c mains input is rectified by a three phase diode bridge and filtered by a large bank
of electrolytic capacitors to generate a nominal 300 VDC supply at
25 amps. This high power 300 VDC supply is unregulated and will vary in direct proportion
with the a-c mains input.
4.1.2.2. Low Voltage Control Power Supply
Control power for the logic circuits is generated by a fly back current mode converter.
There is no isolation from the a-c mains provided by this supply.
SECTION FOUR - COMPONENT DESCRIPTION AND SPECIFICATION 4.3
4.1.2.3. Shunt Regulator Circuit
Rapid motor deceleration or an overhauling load creates a situation in which energy is
regenerated back into the high voltage power supply. This regenerative energy will charge
the power supply bus capacitors. To prevent capacitor over voltage a shunt regulator
circuit senses when the bus voltage exceeds the regen cut-in voltage and via a regen
transistor, switches a regen resistor across the d-c bus, (in shunt), to dissipate the regen
energy. Hysteresis in the shunt regulator circuit keeps the regen circuit active until the bus
voltage is reduced below the regen cut-out voltage. The frequency at which the regen
circuit operates is dependent upon the magnitude of the regen energy. If the regen energy
exceeds the capacity of the regen circuit, a higher capacity regen resistor must be used.
The supply includes an internal regen resistor with 40 watt capacity. An optional external
regen resistor with higher capacity can be utilized, as explained in Section 2.4.
An electronic circuit breaker protects the regen circuit against external short circuits and
protects the regen resistor from exceeding its continuous rating. If the regen resistor
continuous rating is exceeded the electronic circuit breaker disables the shunt regulator
circuit. In this case, additional regen energy from the motor will cause the d-c bus voltage
to increase until an over voltage fault occurs. Under this condition, the regen circuit is
undersized for the application. Figure 4-3 provides energy vs. time curves for the
electronic circuit breaker. A regen fuse is provided to protect the regen resistor in case of
failure of the regen circuit electronics. A monitoring circuit provides a REGEN FUSE fault if
the regen fuse blows. The regen electronic circuit breaker prevents nuisance tripping of
the regen fuse.
4.4 SECTION FOUR - COMPONENT DESCRIPTION AND SPECIFICATION
4.1.2.4. Monitoring and Fault Logic
There are two fault outputs in the supply. The "Customer Fault Output" is relay
K2 (4C1) capable of sinking or sourcing 1 amp and withstanding up to 75V. It
is "closed" during normal operation and will be "open" to indicate a fault. The
faults that are detected are Thermal Fault, Loss of Phase, Bus Over voltage,
Regen Fuse Blown and Soft start. Note that a fault indication in the power
supply will not stop the supply from operating, except that a blown regen fuse
will not allow the DC bus relay K1 to close. This means that the DC bus will
remain at 0VDC if the fuse is blown or missing when the unit is powered up.
The fault output relay should be monitored by the customer and the system
shut down in the event of a power supply fault. The Loss of Phase fault can
only be read through this fault relay output.
The "PSF" bit, an open collector output, goes out to the back plane and to each of
the controllers in the rack. It detects the same faults as the customer fault relay with the
exception of Loss of Phase and Thermal Fault. If the PSF bit detects a fault the
controllers disable. In the -007 and -008 models the soft start condition (i.e. powering up
the DC bus from high voltage AC) causes a "PSF fault". This is done to prevent the
controllers from enabling before the DC bus is fully charged. If the controllers were to be
enabled during soft start, the DC bus would not get fully charged and at the end of the soft
start period a hard start (i.e. very high inrush currents) would occur.
INTERNAL 40 WATTS
POWER (WATTS) TIME (SECONDS)
40 CONTINUOUS
50 90
100 15
200 6
300 4
500 2.5
1000 1.2
EXTERNAL 240 WATTS
POWER (WATTS) TIME (SECONDS)
240 CONTINUOUS
300 180
500 29
1000 9
1500 5
2000 4
2500 3
4000 1.8
TABLE 4.2 MODEL 160-007,008 POWER SUPPLY REGEN ELECTRONIC
CIRCUIT BREAKER TRIP CHARACTERISTICS
4.1.3. Specifications
A-C Input Voltage 220 VAC ±15% 50/60 Hz
D-C Output Voltage 300 VDC No-Load Unregulated
SECTION FOUR - COMPONENT DESCRIPTION AND SPECIFICATION 4.5
W
Three phase Single phase
Continuous Output D-C Power Operation Operation
With Cooling Fan 7.5 KW 2.5 KW
Without Cooling Fan 2.5 KW 0.8 KW
24 volt Input Power
Voltage Range 20 Vdc min to 35 Vdc max
Power Requirements 1 amp per axis @ 24 volts
Inrush current 2 amps for 50 msec @ 24 volts
Regen Cut-in Voltage 380 VDC ±5%
Regen Hysteresis Voltage 7 VDC ±5%
Internal External
50W 40W 8.3W 240W
Resistor Resistor
Peak Regen Power 2.8 kW 17 kW
Continuous Regen Power 40 W 240 W
Regen Fuse ABC-3 ABC-15
1
In parallel with internal 50
55W resistor.
Base plate Over temperature Trip Point 90°C ±5°C
Operating Temperature Range 0 - 55 °C ambient
Humidity 5% to 95% non-condensing
Altitude 3300 feet
5
Derate output 2% per 1000 feet above 3300 feet.
5
Weight 4.8 lb. (2.2 kg)
1
2
Loading...