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TBF-R
User Manual
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MTS Systems TBF-R User Manual

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Pulse Width Modulated 4-Quadrant Servo Controller
Series TBF -R Installation Manual
For electronic commutated servo motors
2101 North Broadway
0199 Telephone: 507-354-1616 ©MTS Automation 1999 Fax: 507-354-1611
Important!
Reading these instructions prior to start-up is absolutely necessary. Dear customer, The following items and the “Safety Instructions” are for your benefit and are designed to
protect the amplifier from damage caused by incorrect use. According to the product liability law, everyone who puts a product which constitutes a risk for life and limb into circulation is obligated to provide safety instructions. These instructions should be clearly defined and should have an informative nature.
To assist you during installation, consider the following points:
• Protect the amplifier from aggressive and electrically conductive media. These may lead to a malfunction or destruction of the amplifier!
• Do not touch live parts. There is a risk of fatal injury!
• Trained personnel who are knowledgeable of the safety instructions must carry out
installation, connection and set -up.
• Performance and capabilities of the drive can only be guaranteed under proper use.
• Modifications, which are not authorized by MTS Automation - Custom Servo Motors,
as well as operation of the amplifier in a manner other than its intended use will void any warranty or liability.
• Our "Terms and Conditions" are the basis for all legal transactions.
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Table of Contents
Page
1 Safety Instructions.....................................................................................................................1
1.1 General notes ............................................................................................................................ 1
1.2 Qualified personnel.................................................................................................................... 1
1.3 Designated use..........................................................................................................................1
1.4 Description of symbols and signal words .................................................................................1
1.5 Safety notes...............................................................................................................................2
1.6 Set-up........................................................................................................................................ 2
1.7 Maintenance / Service...............................................................................................................3
2 Technical description................................................................................................................ 4
2.1 General information...................................................................................................................4
2.2 Technical data...........................................................................................................................5
2.3 Principle of the amplifier ............................................................................................................ 6
2.4 Block diagram............................................................................................................................ 7
2.5 Function description..................................................................................................................8
2.6 Function as current controller ..................................................................................................11
2.7 List of possible adjustments and indicators ............................................................................ 12
2.8 Front view ................................................................................................................................ 14
3 Connection of the device .......................................................................................................15
3.1 Pin assignment........................................................................................................................ 15
3.2 Explanation of the pin assignment...........................................................................................16
3.3 Wiring.......................................................................................................................................21
3.4 Connection diagrams ..............................................................................................................23
3.5 Measures for an installation in compliance with the EMC directives ......................................25
4 Set -up ........................................................................................................................................ 27
4.1 Connection...............................................................................................................................27
4.2 Presetting.................................................................................................................................27
4.3 Switching on and configuration ................................................................................................ 28
5 Optimizing the controller response ......................................................................................30
5.1 Amplification setting of the current regulators.........................................................................30
5.2 Alternating current amplification of the speed controller.........................................................30
5.3 Tachometer filtering.................................................................................................................30
5.4 Integral-action component of the speed controller..................................................................31
5.5 Direct voltage amplification of the speed controller.................................................................31
5.6 Derivative-action component in the tachometer feedback......................................................31
6 Troubleshooting.......................................................................................................................32
7 Options......................................................................................................................................34
7.1 Ballast circuit ...........................................................................................................................34
7.2 Bus boards ..............................................................................................................................35
8 APPENDIX .................................................................................................................................42
8.1 Dimensional drawing...............................................................................................................42
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List of Figures
Figure 1: Principle of the amplifier, D0140A.dsf.......................................................................6
Figure 2: Block diagram, D0158A.dsf........................................................................................7
Figure 3: Jumper setting, PC-TBF/2.plt....................................................................................11
Figure 4: Front views, FRONTS_TBFR.dsf..............................................................................14
Figure 5: Connection diagram (minimum connection), D0159B.dsf .....................................23
Figure 6: Connection diagram TBF -R, ED0160D.dsf............................................................ 24
Figure 7: Installation in compliance with the EMC directives, D0026B.dsf..........................26
Figure 8: Pin assignment - 19ì sub-rack, TBF_MZ.dra .........................................................36
Figure 9: Connection diagram TBF -R/BUS-S, ED0161C.dsf...............................................37
Figure 10: Connection diagram TBF-R/BUS-W, ED0087D.dsf ............................................38
Figure 11: Pin assignment - wall mounting, TBFWB_MZ.dra................................................39
Figure 12: Bus board TBF/BUS WE, BUSWE_MZ.dra........................................................41
Figure 13: Dimensional drawing TBF60/5, TBF-MZ3.dra......................................................42
Figure 14: Dimensional drawing TBF60/10, TBF-MZ2.dra....................................................43
Figure 15: Dimensional drawing TBF120/7, TBF-MZ1.dra....................................................44
Figure 16: Components inserted - upper side, TBF_BCR2.dra............................................ 45
Figure 17: Components inserted, lower side, TBF_BSR2.dra..............................................46
Figure 18: Components on lower side, RES3BSR1.dsf ........................................................ 47
Figure 19: Components on upper side, RES3BCR1.dsf.......................................................47
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1 Safety Instructions
1.1 General Notes
This start-up manual describes functions and gives all necessary information for the designated use of the subassemblies produced by Custom Servo Motors. The manufacturer is responsible for the preparation of an instruction manual in the national language of the end user. The preparation of machine-specific risk analyses is also the manufacturer's duty.
Observance and understanding of the safety instructions and warnings stated in this document is the condition for the riskless transport, installation and set -up of the components by qualified personnel.
1.2 Qualified Personnel
Must be able to correctly interpret and realize the safety instructions and warnings. Furthermore, the personnel entrusted must be familiar with the safety concepts of the automatization technique and must be trained accordingly. Unqualified actions at the subassemblies or the non -observance of the warnings stated in this document or attached to the subassemblies, constitute a risk to life and limb of the user, or cause damage to the machine or other material property.
1.3 Designated Use
is given when:
• any work on equipment of the machine/plant is carried out by a skilled electrician or by instructed persons under the supervision and guidance of a skilled electrician.
• the machine/pl ant is used only when in a safe and reliable state.
• the machine is used in accordance with instructions set out in the operating manual.
1.4 Description of symbols and signal words
DANGER! Warning against risk of serious injuries. Observance is absolutely necessary.
ATTENTION! Information, the non -observance of which may lead to substantial damage
!
to material property. Observance of these safety instructions is absolutely necessary.
IMPORTANT! This symbol refers to an information, important with regard to the use of the machine. Non -observance may lead to troubles.
1
1.5 Safety Notes
As the subassemblies are intended for installation in machines, freely accessible parts may carry dangerous voltage. The manufacturer must ensure adequate protection against contact.
Only qualified personnel, who knows the contents of these start-up instructions, must execute any work on these subassemblies. The instructions contained in this manual have to be observed strictly, as a wrong handling causes additional risks.
A correct transport, storage, set -up and assembly of the machine as well as careful operation and maintenance is an important condition for the
!
correct and safe operation of these products.
1.6 Set-up
The relevant safety and accident prevention regulations for the individual case are to be considered.
Devices, intended for installation in cabinets and housings must be operated only in built-in state.
Prior to setting up the devices, which are operated with line voltage, please check that the adjusted nominal voltage range is identical to the local line voltage.
For supply with 24V ensure that the low voltage is mechanically separated from the mains.
Deviations in the line voltage, exceeding the tolerances stated in the technical data for these devices, are not allowed, as this may lead to dangerous conditions.
Voltage dip or voltage failure requires precautions for restoring an interrupted program. Arising of dangerous operational states must be avoided.
EMERGENCY-STOP equipment must not effect an uncontrolled or undefined restart after unlocking. They must remain effective in all modes of operation.
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1.7 Maintenance / Service
For measuring or test work on any live device, please observe the relevant accident prevention regulations. The work must be done only with suitable measuring instruments and tools.
Service work on subassemblies is done exclusively by Custom Servo Motors staff.
Incorrect repair work by unqualified persons may lead to damage to material property, and bears a risk of injuries or mortal injuries. Open the main switches or unplug the main plug before opening the device or pulling it out of the sub-rack. When replacing defective fuses, please observe the stated electrical values. Incorrect modification s and work on the subassemblies lead to a loss of warranty claims and involves unpredictable risks.
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2 Technical description
TBF
60
/ 5
R
2.1 General Information
The series R amplifiers (= resolver) are servo amplifiers for speed control of brushless servo motors. They extract the information for the sine commutation of the motor and for the speed feedback from the signals of the resolver, attached to the motor. In addition to that, incremental encoder signals are simulated by these signals. This allows the realization of favorable solutions for a large range of applications with low and medium power levels.
The amplifiers work with a pulse-width modulated power amplifier in MOSFET technique. The design is a 3 HE (Euroformat) for 19" slide-in racks. These devices hav e an integrated power supply unit. The electronics is supplied internally from the intermediate circuit voltage, which also allows a battery -powered operation. The main characteristics are:
• Sine commutation
• Hybrid technique/ SMD technology
• 19 inch/3HE slide-in technique
• Internal power supply unit
• High dynamics
• High efficiency
• Almost no clock noise by doubling of the current frequency
• Short-circuit proof and ground contact proof
• Protective circuit: Undervoltage, overvoltage, overcurrent, overheating
• I2t current limiting
• Differential amplifier input
• Enable input
• External current limiting
• Limit switch inputs
• PLC compatible inputs
• Incremental encoder simulation
Type code:
Series Nominal voltage Nominal current Feedback with: R = Resolver
(Optional T = Tachometer generator and I = Incremental encoder is separated define.
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2.2 Technical Data
min.
Series TBF60/5R TBF60/10R TBF120/7R
Nominal voltage 60V 60V 120V Nominal current (peak value) 5A 10A 7A Pulse current (peak value) 15A 25A 18A
Intermediate circuit voltage max. 85VDC 85VDC 170VDC
25VDC 25VDC 70VDC
Recommended transformer voltage 54 AC 54VAC 95VAC Ballast circuit – – internal
Electronic supply internal Efficiency 93% Residual voltage drop (nominal current) 1.5V Clock frequency 9.5kHz Frequency of the current ripple 19kHz Current regulator bandwidth 1kHz Minimum load inductance (nominal current) Auxiliary voltage for external consumers
Set value input (differential amplifier) Internal resistance Control inputs Enable, Pos. -, Neg.­Stop, Integral-off Internal resistance Input Ext. Current limit.. 0-10V for 0-15A 0-25A 0-18A Internal resistance 20 kOhm Incremental encoder outputs A+, A -, B+, B­, I+, I - Electronic commutation Resolver Resolver 2 Pole, Primary : Rotor
Output conditioned tachometer voltage operation amplifier output
Scaling 10V/6000 rpm I2t message output ≥ 12V with ≤ 20mA Operational output potential free relay contact
Connections 1x plug-type connector DIN 41612-F48 Dimensions 160x100x40.3
Weight 0.5kg 0.8kg 1.0kg
*= external ventilation with Ieff > 4A additional filtering with Ieff > 4A or IIMP > 12A. Ieff= 4A and IIMP= 12A is adjustment ex factory
1.2mH 0.8mH 1.6mH
RS422
transformation Ratio 0.5 input voltage 7V rms; 10kHz
external load >10kOhm! Only short shielded lines!
max. 10W for 100V, 100mA 1x D-SUB 9-pole socket mm
160x100x55.5mm mm
160x100x80.8 mm
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2.3 Principle of the Amplifier
Current Controlle
r
The three-phase servo amplifiers of Series TBF are based on the principle of the speed control with secondary current control loop. In addition to that the current-mode logic controls the commutation of the electronically commutated servo amplifier (bru shless). The signal flow of this functional group is shown in the following figure.
S pe e d C on tro lle r
+
–
+
–
–
–
M
nnom
+
–
C u rr e n t -m o d e
co ntr ol
R e s o lv e r
C o n d i it o n in g
R
Figure 1: Principle of the Amplifier
The speed control loop consists of speed controller, circuit, motor and speed measurement. The nominal speed value is externally given, e.g. through potentiometer, NC control or something similar. The actual speed value is determined at the motor shaft by a resolver. The difference between nominal value and actual value is formed at the summing point and transmitted to the speed controller. The speed controller then defines the required current set value.
The current control loop consists of the current controllers, the amplifier stage, the current measurement and the motor windings. The current set values available at the output of the current controller, control the six power switches of the inverter through a pulse-width modulator. With a PWM frequency of 9.5kHz this leads, due to the special activation, to a current ripple of 19kHz and consequently to a merely audible clock noise.
This secondary control loop (current) under another one (speed) guarantees a stable control with good dynamics and high rigidity of the drive. This even allows the easy realization of current limitations, necessary to protect the motor and the amplifier, just by limiting the output voltage of the speed controller (current set value).
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2.4 Block diagram
Figure 2: Block Diagram
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2.5 Function Description
The function of the amplifier is described by means of the block diagram shown in Figure
2.
2.5.1 Power Supply
• Power amplifier: Rectification and filtering form the direct voltage (intermediate circuit voltage UB),
necessary to operate the power amplifier, from the AC power supply. This intermediate circuit voltage can also be fed directly as d.c. voltage.
• Electronic supply The electronic supply takes place internally through a switched-mode power supply
from the intermediate circuit voltage.
2.5.2 Control Sy stem
• Speed controller and current limiting
The nominal speed value can be fed through the input differential amplifier. In the stage connected on load side the positive and negative set values are suppressed separately (limit switch logic). The speed set value, conditioned by this way, is then injected to the speed controller. The inverted tachometer voltage, injected to the speed controller, in this device, is gained from the resolver signals, by means of a corresponding procedure. The current set value is then available at the output of the speed controller.
There are different possibilities to limit the nominal current: The I
The actual current values are rectified, quadrated and run to a low pass. The circuit limits the current to the continuous current value, which corresponds to the position of the potentiometer P5, when the output voltage of the low pass reaches the voltage, adjusted at this potentiometer. Furthermore, the maximum possible nominal current can be adjusted to 0...15A, 0...25A or 0...18A with an externally fed voltage of 0...10V at the input I ext.
The maximum pulse current, deliverable by the device can be adjusted with the potentiometer P2 of the internal current limiting. This current limiting is connected on load side of the previously mentioned current limitations - this guarantees that the current adjusted here, can never by exceeded.
2
t current limiting reduces the current set value, using the following procedure:
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• Current-mode control and current controller As shown in the block diagram, the current-mode control must be passed through first,
to form the actual current set value for the current controller of the U-conductor current and of the V-conductor current. The nominal current of the speed controller output (conductor curren t) is converted, depending on signals of the resolver, in two current set values with an offset of 120º and fed to the current controllers for the phases U and V. The nominal current of the third phase W is imitated by subtraction at the outputs of the current controller. This guarantees, that the sum of the currents is always zero.
The pulse-width modulator generates from the three d.c. voltage signals for the conductor currents six PWM signals, which serve for activating the driver stage after the creation of the lag time.
2.5.3 Driver stage and power amplifier
The driver stage amplifies the signals, coming from the pulse-width modulator and by this activates the power transistors. MOSFET transistors are used in the power amplifier, which allows short switching intervals and low residual voltage drop and ensures a good efficiency.
2.5.4 Monitoring and Fault Logic, Enable
The intermediate circuit voltage and the current in the intermediate circuit are permanently monitored by the error detection. The device switches off the motor through the error logic when these values exceed certain quantities. The error logic also reacts when the device temperature exceeds the allowed values because of insufficient air circulation or a too high ambient temperature. Restart is possible only after switch -off and switch-on of the supply voltage.
Now the power amplifier can be enabled at the enable input with an external voltage, the motor turns.
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For safety reasons enable is possible only when the device is ready for operation! This avoids that the motor starts running in an uncontrolled manner when applying the operating voltage while the enable signal is
!
already applied. That means a permanent wired connection of e.g. +24V after the enable
input ensures that the motor will not start running when switching on the operating voltage.
The logic also switches off in case of undervoltage in the intermediate circuit and undervoltage of the electronic voltages. The device changes to readiness only when the minimum voltages, necessary for a safe operation, are available.
The motor slows down and enable is disabled if an undervoltage of the electronic supply occurs during the operation. If there is an undervoltage in the intermediate circuit the motor slows down and starts running when the minimum voltage is exceeded.
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2.6 Function as Current Controller
In the case the device was not ordered as current controller, the adjustment ex factory is "Speed control".
In some applications it may be useful to operate the TBF amplifier as a pure current controller, because a torque control is desired or the speed controller in the master control is already realized.
To set the amplifier to current control or speed control set the three soldering jumpers JP9, JP10 and JP11 (see figure) as follows:
JP9.1 to JP9.2 JP10.1 to JP10.2 JP11.1 to JP11.2 Speed control closed closed open Current control open open closed
Numbering of the soldering jumpers is as follows: e.g. for JP9: JP9.1= right field of the soldering jumper, JP9.2= left field of the soldering jumper.
Speed control Current control
Figure 3: Jumper Settings
J P 11
STR O M
J P 1 0
D R E HZ .
+
P C - T B F / 2( STR -D R Z )
11
2.7 List of Possible Adjustments and Indicators
2.7.1 The LEDs
LED1 (green) Indicates readiness of the device; lights also when the amplifier is
not enabled. LED2 (yellow) l2t- current limiting is active LED3 (red) Fault (overcurrent, overvoltage, overtemperature). LED4 (yellow) Ballast circuit operates (only for 120V devices).
2.7.2 The Potentiometers
Potentiometer 1 Signal Potentiometer scales the nominal speed input to match the
maximum velocity feedback used for adjusting the maximum motor
speed (10 to 100%). Potentiometer 2 Pulse current limiting; range from 10 to 100% of the rated peak
current. Potentiometer 3 Adjustment of the amplification of the speed controller. Potentiometer 4 Offset adjustment of the speed controller. Potentiometer 5 Continuous current limit; range from 0 to 100% of rated peak current.
2.7.3 The Test Points
MP0 Ground ref erence 0V MP1 Nominal voltage Voltage at the differential - nominal speed input (referred to ground) MP2 Output of the speed controller (set value): 10V ≈ 15A (TBF60/5R) ≈ 25A (TBF60/10R) ≈ 18A (TBF120/7R) MP3 Tachometer voltage: 10V ≈ 6000 rpm MP4 Fault diagnosis 9V ±0.4V ≈ Overcurrent 8V ±0.4V ≈ Overvoltage 7V ±0.4V ≈ Overtemperature MP5 Current monitor Phase V: 10V ≈ 15A (TBF60/5R) ≈ 25A (TBF60/10R) ≈ 18A (TBF120/7R) MP6 Current monitor Phase U: 10V ≈ 15A (TBF60/5R) ≈ 25A (TBF60/10R) ≈ 18A (TBF120/7R)
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2.7.4 The Soldering Jumpers
JP1 to JP8 Adjustment only for devices without resolver. JP9 Closed when operating the device as speed controller, open for current
control. JP10 As JP9 JP11 Open when operating the device as speed controller, closed for current
control JP12 Only for adjustment by factory JP13 Only for adjustment by factory
2.7.5 The Internal Potentiometers
P6 Only for adjustment by factory P7 Only for adjustment by factory P8 For special requirements to clock frequency of the power amplifier a
potentiometer can be used here (normally no components inserted) P9 Only for adjustment by factory P10 Only for adjustment by factory
2.7.6 The DIP switches
S1 Adjustment to pole number of the motor
1 2 Poles Comment on on 8 off on 6 Delivery condition on off 4 off off 2
S2 Adjustment of the number of pulses per rotation from incremental encoder
simulation
1 2 Pulse
number off off 128 off on 256 on off 512 Delivery condition on on 1024
Comment
13
2.8 Front view
Figure 4: Front Views
14
3 Connection of the device
3.1 Pin Assignment
Conn. 1 (F48) 2z Integral off 26z Power GND
2b Pos. Stop 26b Power GND 2d Neg. Stop 26d Power GND
4z GND Ref. 28z Motor W 4b Nominal speed input (-) 28b Motor W 4d Nominal speed input (+) 28d Motor W
6z + 5V 30z Motor V 6b Ready 30b Motor V 6d Ready 30d Motor V
8z + 15V 32z Motor U 8b Enable input 32b Motor U 8d Tachometer output 32d Motor U
10z N.C. 10b
10d 12z N.C.
12b Track A+ 12d Track A - Connector 2 (D-SUB/9-pole/socket)
Track Ι+ Track Ι-
14z N.C. 14b Track B+ 1 S4-Resolver 14d Track B- 2 S2-Resolver
16z GND 3 S3-Resolver 16b 16d Iext. 5 R1-Resolver
18z GND 6 Shield 18b ñ 15V 7 Shield 18d + 15V 8 Shield
20z + UB 9 R2-Resolver 20b + UB 20d + UB
22z AC 2 22b AC 2 22d AC 2
24z AC 1 24b AC 1 24d AC 1
I2t-message
4 S1-Resolver
15
3.2 Explanation of the pin assignment
mally closed contact), the positive set values will be
3.2.1 Connector 1 (F48)
2z
2b, 2d
4z GND-REF Reference ground for measuring the conditioned
4b, 4d
6z +5V Output of a +5V power supply, carrying
6b 6d
Integral switch-off The integral -action component of the speed controller
can be switched off at this input by injecting a high signal (15 to 30V) . This may be useful, e.g. for positioning tasks. The motor does not drift slowly, but has a lower holding moment.
During the normal operation, this input is inactive. The input is not to be wired for this case or is to be connected to ground.
Positive Stop, Negative Stop
When these inputs are not used, they have to be connected to +15V.
Set value+; Set value-
Ready for operation Ready for operation
A limit switch logic can be realized with these inputs. For a running of the motor in positive direction the input Pos.Stop is to be connected to +15V ... +30V. When the connection is interrupted, e.g. by a limit switch (nor suppressed and the motor is therefore braked with the maximum adjusted pulse current. Negative speeds are still possible. Simultaneously with the active stop function the integral -action component is being switched off. The same applies for the Neg.Stop input, but for the negative rotational direction.
tachometer voltage. Av oid external connection with GND or Power-GND of the device, not via protective earth terminal either (ground loops).
Inputs of a differential amplifier to define the speed set value. Terminal 4d has a positive effect again st 4b. The maximum differential voltage must not exceed ±10V. Always both inputs have to be wired, e.g. set value + at the output of the D/A converter and set value­at the output of the analogue GND of the D/A converter.
capacity+10mA. Potential-free Reed contact to indicate the ready-for-
operation status of the device. The contact is closed when the device is ready for operation. Maximum voltage 100V for 100mA.
16
8z +15V Output of the +15V electronic voltage for supply of the
limit switch inputs Pos.Stop, Neg.Stop. Carrying capacity together with 18d: 10mA.
8b Enable input This connection is to be applied for enable input to a
voltage of +15V to +30V, after the ready contact is closed. The motor is disabled with the input open.
As in chapter 2.5 the following applies: Enable of the motor is possible only
!
8d Output Tachometer Output of the conditioned tachometer signal. A signal
10z, 12z, 14z 10b, 12b, 14b
10d, 12d, 14d 16z GND 0V reference potential for +5V, +15V and -15V.
16b I2t-message This output has a low -impedance connection to +15V
16d I external Current limiting input, at which the pulse current, set at
when the device is ready for operation (green LED lights). This prevents the motor from running in an uncontrolled manner when the operating voltage is applied to the amplifier while the enable signal is active.
with a carrying capacity of 1mA is available, which corresponds to a DC tachometer. Use a short, shielded cable for the wiring. The reference point is 4z (GND-REF). Scaling is 10V≈ - 6000 rpm.
NC, NC, NC Track ΙΙ, Track A, Track B
Track ΙΙ-, Track A-, Track B-
These connections are not used (not connected), but they must not be applied with a voltage.
Together with 10d, 12d, 14d (track I -, track A-, track B-) these contacts form the outputs of the simulated incremental encoder signals. These outputs are designed as differential output drivers for each track. The output levels are >2,5V for high and <0,5V for low according to RS422, with a maximum carrying capacity of 20mA per channel. By this the TTL specification >2,4V for high and <0,8V for low is fulfilled Together with 10b, 12b, 14b (track I+, track A+, track B+) these contacts form the outputs of the simulated incremental encoder signals (see above).
when the I2t current limiting is active, otherwise it has a high impedance.
P2 can be limited from 0...100% by an external voltage from 0...10V. About 0A correspond to a voltage of 0V, and the pulse current set at P2 corresponds to a voltage of 10V.
17
Normally no external current limiting is used. In this case the input can be switched to +15V.
18z GND 0V reference potential for +5V, +15V, and -15V. 18b -15 V 15V supply for external use. Carrying capacity
18d +15 V -15V supply for external use. Carrying capacity
20z,b,d +UB Plus pole of the d.c. intermediate circuit. Here the plus
22z,b,d 24z,b,d
!
26z,b,d Power GND GND of the d.c. intermediate voltage circuit. GND
28z,b,d 30z,b,d 32z,b,d
-10mA.
together with 8z= 10mA.
pole of a probably existing external d.c. voltage can be supplied by circumventing the internal rectifier. If an additional filtering of the intermediate circuit voltage is necessary, the plus pole of the external electrolyte capacitor is connected here. An external ballast circuit can be connected here with the plus pole.
These three contacts have to be connected parallel, as the carrying capacity of one contact should not exceed 5A for 45°C.
AC2 AC1,
In no mode of operation and under consideration of all winding tolerances and line voltage variations, the transformer voltage must never exceed 60VAC (for 60 devices) and 120VAC (for 120V devices)! These three contacts have to be connected parallel.
Power GND is the point, the protective earth terminal has to be connected to. These three contacts have to be connected parallel.
Motor W Motor V Motor U
Supply inputs of the device. Here all secondary connections of a transformer are connected. For protection a fuse has to be built in the supply line.
connection of a probably existing external direct voltage. The minus pole of the external electrolyte capacitors has to be connected to 26z,b,d when an additional filtering of the intermediate circuit voltage is necessary. An external ballast circuit can be connected here with your minus pole. The housing of the motor is to be connected here too.
Output terminals of the power amplifier, to which the motor will be connected. 32z,b,d to line U, 30z ,b,d to line V and 28z,b,d to line W. Please consider, that when connecting the motor lines, all three contacts
18
each have to be connected parallel.
19
3.2.2 Connector 2 (D-SUB/9-pins/socket)
Connector 2 is intended for connecting a resolver. A two-pole transmitter with a transformation ratio of 0.5 is required as resolver. The input voltage of the rotor should be suitable for 7Vrms with 10kHz.
1 S4-Resolver Input for the stator signal S4 of a two-pole resolver. 2 S2-Resolver Input for the stator signal S2 of a two-pole resolver. 3 S3-Resolver Input for the stator signal S3 of a two-pole resolver. 4 S1-Resolver Input for the stator signal S1 of a two-pole resolver. 5 R1-Resolver Output of the 7Vrms/10kHz reference signal for the rotor
connection R1 of the resolver.
6 Shield Contact to connect the shielding of the resolver line, e.g.
common shield S4/S2 and common shield S1/S3.
7 Shield Contact to connect the shielding of the resolver line, e.g.
common shield R1/R2.
8 Shield Contact to connect the shielding of the resolver line, e.g. total
shielding.
9 R2-Resolver Connection for the resolver R2. This connection is internally
connected to GND.
20
3.3 Wiring
A careful wiring is absolutely necessary to guarantee a troublefree operation of the servo amplifier!
The control line for the servo amplifier, the signal lines of the motor and the motor lines are to be wired separately.
3.3.1 Protective Earth Terminal
Power GND (ST1 26z,b,d) must be connected with the protective earth terminal. Control unit and amplifier must have an equal potential. The equalized potential must be realized by a single connection between control unit and amplifier (ST1 26z,b,d). This connection should be a sufficiently strong line. The conductor cross section should at least correspond to that of the motor line, however, should not be smaller than 1.5mm2. As in the amplifier Power GND (ST1 26z,b,d), GND (ST1 18z and ST1 16z) and GND-REF (ST1 4z) are connected, no further terminal must be connected with control GND, to avoid ground loops.
3.3.2 Resolver Cable
The resolver cable must be shielded. The pairs S1/S3, S2/S4 and R1/R2 must be twisted. The shorter the twist, the better it is. Each pair has to be shielded separately within the total shield (see 3.5). The internal shields are to be connected to connector ST2 with ST2.6, ST2.7, ST2.8, the external shield is to be connected to the connector housing. Connection of the shields on the side of the motor is not allowed, and not to the connector housing either, as otherwise interference currents of the motor winding may be discharged through this shield, which would partly wreck the shielding effect (ground loops).
3.3.3 The Line Cable of the Motor
The power supply of the motor, that means the actual motor cable, has to consist of four stranded cores (U1,V1,W1,PE). The shorter the twist, the better it is. In order to minimize interference emission, you have to use a shielded cable. The shield must be connected with a low inductance to POWER GND (26z,b,d). On the motor side the shield has to be connected to the motor housing via the metallic connector housing. To guarantee a reliable functioning of the protective function ground contact resistance (safety against contact of the winding with the housing), the motor housing has to be connected with POWER GND (26z,b,d).
21
3.3.4 Control Lines And Signal Lines Between Master Control Unit And Amplifier
For the definition of the speed reference, the master control unit normally provides an output of a digital/analogue converter. This output signal normally is measured against ground or against reference voltage. The input at the amplifier is a differential input with set value+ at 4d and set value- at 4b. The lines at these inputs have to be run to the control unit in the same cable. This cable has to be shielded, with connection of the shield to the servo amplifier and the control unit. Input+ of the TBF-R is connected to the set value output of the master control unit. Input- of the TBF-R is connected to the reference point for the set value output at the master control unit.
The lines I ext., Int.off, Ready output, Enable and Pos.Stop/Neg.Stop, if used, have to be wired in a shielded cable as well. These lines are measured against ground, that means the connection requested in 0. between TBF and master control unit is sufficient.
3.3.5 The Simulated Incremental Encoder Signals
The connection cable for the incremental encoder signals has to be shielded. The pairs track A+/track A-, track B+/track B- and track I+/track I - have to be twisted, the shorter the twist the better the interference immunity. Each pair is shielded separately within the total shield (see 0). The shield has to be connected on amplifier side and control unit side.
22
3.4 Connection Diagrams
3.4.1 Minimum connection
Figure 5: Connection Diagram (minimum connection)
23
3.4.2 Connection di agram
Figure 6: Connection Diagram TBF-R
24
3.5 Measures for an Installation in Compliance with the EMC Directives
Because of the compact design of servo amplifiers, no complete noise suppression measures are possible withou t modifying the design. Therefore the proposed measures shall help to keep the EMC directive for the total system. These measures are necessary only for the used inputs and outputs. In addition to that a single total interference suppression of the mains lead of all electronic subassemblies, installed in the system, is possible. This would lead to a cost reduction compared to single interference suppression.
In order to simplify the installation work, we offer a number of backplanes with integrated interference suppression elements and connection boards for ring toridal -core transformers with interference suppression elements too.
• Motor lines and control lines have to be wired as shielded lines in principle. Avoid
interferences and loops.
• All lines shall run in one direction only that means no wye connection, from the servo
amplifier via the mounting plate of the switch cabinet.
• The clearance between motor line, mains lead and control lines should be at least
20mm. Otherwise there is the risk of interference coupling.
• The shield of each cable has to be connected close by the servo amplifier with a
fastening clamp to the mounting plate of the switch cabinet. Please ensure a large blank metallic contact surface. The shield of the motor line has to be connected on both sides (the resolver line or the tachometer line only at one side) to the servo amplifier.
• The mains transformer has to be installed close by the servo amplifier. The secondary
line length of the transformer has to be as short as possible. Run the primary line of the transformer twisted with a clearance of at least 50mm to all other lines.
• The slide-in rack of the servo amplifier has to show a good HF contact to the mounting
plate of the switch cabinet, provide for sufficient earthing of the sw itch cabinet.
• To earth the shieldings, the metallic armored screw joints have to be used. Run them
through the switch cabinet wall, with a good metallic contact to the wall.
• For EMC reasons. the shields of one connection line must always have contact on both
sides. Low -frequency circulating currents, however, may occur. These so-called hum pick-ups are, for example, created by earthing on both sides and can be eliminated by a capacitiv coupling of the shield, which consequently allows high frequency efficiency.
It is useful to carry out an EMC examination for the complete system, consisting of many single components such as motor, servo amplifier, set value resolver, EMC filter, to guarantee a troublefree operation in compliance with the CE directive.
25
Figure 7: Installation in Compliance with the EMC Directives
26
4 Set-up
4.1 Connection
When the servo amplifier is used together with one of our motors, the connection does not cause any problems. In 3.4 you will find the connection diagrams. Connect the motor power contacts U, V, W, earth and shield as described there. The resolvers are also connected as described in 3.4.
When using an auxiliary drive together with the servo amplifier TBF, we offer to work out the correct connection diagram for you.
4.2 Presetting
Prior to set -up please read the chapters 1, 2, and 3. For connecting the power amplifier and the motor sensors, the specifications given in the connection diagrams 3.40 hav e to be strictly observed! Connecting the motor "in any way" and to exchange two phase in case of wrong directional run is not useful! We therefore offer to first check the capability of auxiliary drives in -house.
• Connect the power amplifier to the motor (see 3.4 Figure 5/Figure 6)
• Connect the sensors of the motor (resolver) to the servo amplifier (see 3.4 Figure 5/
Figure 6)
• Connect the amplifier with the power supply (see 3.4 Figure 5/Figure 6)
• The factory configures the servo amplifier so our motors will reach 3000 rpm with 10V
setpoint default.
If you need other speed values or if this motor/amplifier combination is set up
for the first time, please proceed as follows.
Input potentiometer P1 five turns from left stop Pulse current potentiometer P2 five turns from left stop Amplification P3 Shipped adjustment by two turns to the left
27
4.3 Switching On and Configuration
4.3.1 Procedure Until Amplifier is Enabled
Set enable input to logical 0! Give a speed reference of 0V!
Switch on control unit and amplifier supply! Release the brake of the motor, if available! Set enable input to logical 1! Turn P3 to the left, if the motor vibrates, until the vibration stops
4.3.2 Configuration of the Speed Controller Amplification
For the configuration of the amplification, the motor has to be coupled to load. Turn the potentiometer P3 to the right until vibrations are noticeable, reduce the amplification immediately by turning the potentiometer to the left until the oscillation stops and then turn it tick more to the left.
4.3.3 Configuration of Pulse Current and Continuous Current
For a first set -up, where the currents have been reduced as described under 4.1, or when a pulse current or continuous current, other than the preset values is required (see 2.2), the configuration can be done as follows:
Measure the current at MP2. The scaling is to be found under 2.7.3. Proceed as follows to load the motor in a way that it is operated to the pulse current and continuous current limits:
4.3.3.1 Pulse current Move the motor with minimum speed to a mechanical stop and leave the set value at the
amplifier so that the motor still tries to move towards the stop. Neither limit switch, nor IAB must be active
Turn P5 to the right stop and P2 to the left stop. Use the potentiometer (P2) to increase the pulse current to the desired value.
Should the device reduce the continuous current before the adjustment is completed, disable the amplifier and wait for a recovery time of 10 to 20 seconds then carry out the configuration once again. Optimum values are often achieved after several repeated adjustments.
28
4.3.3.2 Continuous Current
Leave P2 in the posit ion determined as described above, adjust P5 with five turns from left stop.
Once again, move the motor with minimum speed to a mechanical stop and leave the set value at the amplifier so that the motor still tries to move towards the stop. Neither limit switch, nor IAB must be active.
After expire of the pulse current phase, the current is automatically reduced to the continuous current, adjustable at P5. For adjusting P5, always turn slowly. After a short time the new continuos current flows.
Adjustment becomes essentially easier when instead of the motor, three wye-connected reactors are connected to the motor connections. The reactors should have a minimum load inductance and a saturation current, that exceeds the maximum current of the amplifier.
4.3.4 Setting the Maximum Motor Speed
The amplifier is set ex factory to a motor speed of max. = 3000 with 10V input voltage for our motors. In order to reduce the maximum motor speed, turn the input potentiometer to the left, to increase the motor speed turn it to the right.
4.3.5 Offset Adjustment of the Speed Regulator
The offset adjustment has to be carried out in a warm operating status of the device. Define the set value zero (short-circuit the input). Adjust motor drift by setting P4 to zero.
29
5 Optimizing the Controller Response
5.1 Amplification setting of the current regulators
The adjustment a.c. amplification of the current regulators is done with the resistors R25 (standard 4.7kOhm) and R26 (standard 4.7kOhm) (see Figure 16), where each resistor is part of a voltage divider. Smaller resistor values increase the amplification. A response is seldom necessary here. Should, however, motors with higher winding resistors are used, the motor heats up already in idle operation, as the resistor of the winding, together with the inductance of the winding leads to high reactive current. Remedy is possible by increasing the amplification.
During the test stage, the fixed resistors can be replaced by potentiometers (25kOhm) and in series production the values determined can be realized by fixed resistors.
Both resistors must have the same size. The accuracy must be 1% or higher. For adjustment, increase the current amplification with low speed until an "oscillation”
becomes noticeable (a stronger motor noise starts with approx. 1kHz). Immediately reset the amplification until the oscillation stops and a tick more.
5.2 Alternating Current Amplification of the Speed Controller
To adjust the amplification, couple the motor to load and define a set value of 0V. Turn the potentiometer P3 to the right until the oscillation starts, immediately reset the amplification until the oscillation (amplified motor noise because of rotary oscillation of the motor shaft with approx. 200Hz) stops and a tick more.
5.3 Tachometer Filtering
The capacitor C21 is responsible for the tachometer filtering (see Figure 16). When operating the drive with a three-phase tachometers a standard value of 22nF is enough. It allows a very good dynamic controller response.
30
5.4 Integral-Action Component of the Speed Controller
The capacitor C27 is responsible for the integral -action component of the speed controller (see Figure 17).
The standard value of C27 is 220nF.
5.5 Direct Voltage Amplification of the Speed Controller
The resistor R71 is intended for modifying the static rigidity (see Figure 17). The rigidity decreases with increasing resistor value. The standard value is 330Ohm.
5.6 Derivative-Action Component in the Tachometer Feedback
By inserting a resistor (R80) normally not provided with components and a capacitor (C25), a differential action can be given for special requests to the control of the tachometer feedback.
31
6 Troubleshooting
Green LED (POWER.) does not light, axis does not move, no holding torque:
• -15V or +15V or +5V overloaded by external consumers or short-circuited.
• Fuse S1 is defective.
• External fuse to the power amplifier is defective.
Green LED (POWER.) lights, axis does not move, no holding torque:
• Interruption of the motor lines.
• Power amplifier enable is missing.
• Power amplifier enable took place but the device was not ready.
• Input I extern is not wired.
• Input Pos.Stop and Neg.Stop are not wired.
Axis does not move, motor has several positions with holding torque during one turn, with oscillating engagement when the motor is manually displaced:
• Wrong polarity of the motor.
• Wrong setting for number of mot or poles
• Motor line interrupted.
• Wrong resolver connection or wrong adjustment of the resolver.
Axis traveling, weakly pronounced holding torque:
• Pulse current potentiometer in I Imp left stop position.
No axis traveling, motor has no holding torque:
• No speed reference available.
• Motor shaft blocked.
Yellow LED (I2t) lights:
• Wrong adjustment of the potentiometer I eff.
• Mechanical friction too large.
• Oscillations approx. 200Hz because of wrong adjustment of the potentiometer (ampl.).
• A hum on the input line.
32
Red LED (FAULT) lights:
• Operational voltage too high (8V ±0.4 at MP4).
• Braking energy too high (8V ±0.4 at MP4).
• The thermal switch reacted, as the heat sink temperature is >80º (7V ±0.4 at MP4).
• Short-circuit in the motor or ground contact of a motor line (9V ±0.4 at MP4).
Uncontrolled high motor speed:
• Wrong polarity of the resolver or wrongly adjusted.
• Wrong polarity of the motor.
Motor does not reach the desired speed:
• Speed reference values attenuated too strong by P1.
• Operational voltage too low.
• Driven load set too high or current limiting set too low.
No smooth running of the motor:
• Alternating current amplification too high.
• Insufficient resolver line shielding or shield connected wrongly.
• Interference by wrong input wiring.
Yellow LED (BALLAST) permanently lights:
• Power supply too high.
Motor heats up strongly in idle operation:
• A motor with a high internal resistance is used (see 5.1).
33
7 Options
T=×
×
7.1 Ballast circuit
A ballast circuit is necessary when the regenerative energy from motor and load is larger than the energy, which can be taken up by the filter electrolytic capacitors, until the maximum voltage is reached.
Because of the relatively large capacitor in the power supply unit: the TBF60/5R normally can do without a ballast circuit.
As for the TBF120/7R, the filter capacitor is only half as large and the voltage as well as the current is higher, this device is normally provided with a ballast circuit of 35W continuous power.
Should a braking causes the yellow LED (BALLAST) to light up and 8V can be measured at MP4, an additional ballast circuit (or a ballast circuit at all) has to be used. The following ballast circuits are available:
• The BS2/60 with 35W for the 60V device
• The BS2/120 with 80W and BS120/V with 125W for the 120V device
• The ballast threshold is 87V for the 60V device and 172V for 120V devices.
• For the determination of the braking power the following formula can be used:
00055. ²
P
J n
P= Power in [W] J= Mass moment of inertia in [kgm2] n= Speed in [rpm] T= Period durat ion in [s] (time from the begin of a braking procedure until the begin of the next braking
procedure)
34
7.2 Bus boards
7.2.1 For 19" sub-racks (article no. TBF/BUS-S)
Pin assignment of the screw -type terminals:
1 Int. Off 2 Neg. Stop 3 Pos. Stop 4 +5V 5 Ready 13 6 Ready 14 7 Track I­8 Track A­9 Track B­10 NC 11 NC 12 NC 13 I
14 GND 15 AC2 16 AC1 17 Power GND 18 Motor W 19 Motor V 20 Motor U 21 +UB
ext
.
22 GND-REF 23 Set value­24 Set value+ 25 +15V 26 Enable 27 Tachometer output 28 Track I+ 29 Track A+ 30 Track B+
31 I2t-message 32 +15V 33 +15V 34 ñ15V 35 GND 36 AC2 37 AC1 38 Power GND 39 Power GND 40 Power GND 41 Power GND 42 +UB
35
T B F /B U S
M KK 1A
42
1
S T 1
2Z
32
D B Z
21
Figure 8: Pin Assignment – 19” sub-rack
36
7.2.2 Connection diagram TBF-R/BUS-S
Figure 9: Connection Diagram TBF-R/BUS-S
37
7.2.3 Connection diagram TBF-R/BUS-W
Figure 10: Connection Diagram TBF-R/BUS-W
38
7.2.4 Pin assignment for wall mounting (article no.: TBF/BUS-W)
Pin assignment of the screw -type terminals: 1 Set value­2 Enable 3 I
ext
4 +15V 5 Int.off 6 Track A+ 7 Track A-
15
8 Set value+ 9 Ready 14 10 Pos Stop 11 GND 12 GND 13 Track B+ 14 Track B-
1
8
15 Tachometer output 16 Ready 13 17 Neg.Stop 18 -15V 19 I2t-message 20 Track I+ 21 Track I -
22
29
36
Figure 11: Pin Assignment (wall mounting)
22 Motor U 23 Motor V 24 Motor W 25 AC1 26 AC2 27 + UB
29 Track I ­30 Track B­31 Track A­32 Power GND 33 +5 Volt 34 PE
36 Track I+ 37 Track B+ 38 Track A+ 39 GND-REF 40 NC 41 NC
39
28 Power GND 35 GND 42 NC
40
7.2.5 For Wall Mounting with Higher Demands to EMC (Article No.: TBF/BUS-WE)
Pin assignment of the screw -type terminals: The bus board TBF/BUS-WE has the same pin assignment for the screw -type terminals
as the bus board TBF/BUS-W (see Figure 11).
7 14 21
S T 1
28 35
42
Figure 12: Bus Board TBF/BUS WE
P C - T B F / F I
41
8 APPENDIX
8.1 Dimensional drawing
TBF60/5R
3 .94 in.
S T 1
1 .59 in.
Figure 13: Dimensional Drawing TBF60/5
42
5 .05 in.
P C - T BF /2
TBF 60/10R
3 .9 4 in .
S T 1
1 .5 7 in.
2. 19 in .
Figure 14: Dimensional Drawing TBF60/10
P C - T B F /2
5 .0 5 in.
43
TBF 120/7R
3 .9 4 in.
S T 1
3 .1 8 in.
Figure 15: Dimensional Drawing TBF120/7
P C - T B F / 2
5 . 05 in .
44
8.1.1 Component mounting diagram TBF-R (upper side)
ST1
+
+
+
+
+
P7
_
R26 C21
R25 C25
R80 C27 R71
P6
P8
C4
Figure 16: Components Inserted (upper side)
45
8.1.2 Component mounting diagram (lower side)
R71 C27
R80 C25
R25 C21 R26
JP9
1 2
JP6
1
3
1
3
JP3
JP5
3
JP4
3
1
3
J1
1
3
J2
1 1
Figure 17: Components Inserted (lower side)
2 211
J12 J13
46
8.1.3 Component mounting diagram - sub-board
ST2
C44 C41 C43 C42 C46 C45 C40
R57 R56 R59 R58 R55
R35 R5
R19 C1 R18R20
R18A
C2 R28 R29
R43 R44
C23 R26 R27 R38 C22 C11 C20 R23 R24 C21 R25
R3 R2 C27
R1
R4
C5
C6
C12
R47A
C30 R48 R32 C10
R22A C19A
R49 C31 R33 C13
ST3
R54B
R54C
R54A
C25
R16 R17R39R40C28
C19 R37 R47
C3 R36 C16
C16A
R21 R22
C34 C33 C35
R51 R52
R42 R41
R8 R6 C18 R45 R9 R10
R13A
C9 R13 C7 R14 R15
R1 1 R12
ZD1 ZD2
R34 C8
R34A
PC-TBF/RES3
Figure 18: Components on lower side
R50
R7 R46 R30 C14 R31
_
+
T1 T4
DR1
DR2
P1
+
C29
P2
PC-TBF/RES3
Figure 19: Components on upper side
47
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