Unitek TVD3.2 bl, TVD3.2-115-bl Series Manual

MANUAL

p

3-phase Servo-Drive

TVD3.2-xx-bl

for ac synchro servo motors

with

a rotor position encoder

TVD3.2-bl

Industrieelektronik

GmbH

Industriestraße 1

D-71397

Tel. [phone]
Fax [phone]
email [e-mail]

// www.unitek-online.de

Htt

Leutenbach 3 - Nellmersbach

Version

0207-1

Servo - Drive TVD3.2 -xx- bl

Contents

CONTENTS

Safety advice, standards and guidelines 3
General Information 4
Applications 5
Build 6
Characteristics 6
Technical data 7
Dimensions compact device 8
Dimensions transformers and chokes 8
Dimensions multiple-axes combination 9
Connections 11
Connection diagram 12
EMC - advice 13
Connections - isolating transformer, compact device X3 14
Connections - mains module X10, motor power 15
Connection advice 16
Command value 17
Current limiting 18
Actual value connections 19
Signals - drive ready BTB, analog parameter measurement 20
Terminal connections 21
Components 22
Circuit diagram 23
Adjustments 25
Adjustment advice 26
Command value integrator 27
Speed actual value 29
Current limiting 30
Speed control loop circuit 31
Adjustment without measurement equipment 31
Standard set-up 32
Commissioning 33
Faults 34-35
Signals 36
Protocol 37
Guarantee 38
Encoder connections 39

Page

2

1 Basic - Information

Electronic equipment is not fault proof. This fact should be borne in mind for all possible
operating conditions.

ATTENTION - High voltage

AC 140V~, DC 220V=

Before installation or commissioning begins, this manual must be thoroughly read and
understood by the technical staff involved.

If any uncertainty arises, the manufacturer or dealer should be contacted.

TVD3.2 devices are power electric parts used for regulating energy flow for power plants.
Protection rating IP00.

Standards and Guidelines

The device and its associated components can only be installed and switched on where
the local regulations and technical standards have been strictly adhered to:

EU Guidelines 89/392/EWG, 84/528/EWG, 86/663/EWG, 72/23/EWG

EN60204, EN50178, EN60439-1, EN60146, EN61800-3
IEC/UL IEC364, IEC 664, UL508C, UL840
VDE Regulations VDE100, VDE110, VDE160
TÜV Regulations

Trade body guidelines VGB4

Safety advice

The user must ensure that in the event of :

- device failure

- incorrect operation

- loss of regulation or control
the axis will be safely de-activated.

It must also be ensured that the machine or equipment are fitted with device independent
monitoring and safety features.

Setting Adjustments

- should only be carried out by suitably trained personnel

- should only be carried out in accordance with health and safety guidelines

Installation

- should only be carried out when all voltages have been removed.

QS

Test results are archived with the device serial number by the manufacturer.

CE

The device adheres to the following: Guideline EU 89/336/EWG. EMV standards
EN61000-2 and EN61000-4.

TVD3.2bl 3

Servo - Drive TVD3.2 -xx- bl

General Information

General Information

The transistor 3-phase current servo amplifier SERVO-TVD3.2 in combination with the
brushless dc motor (ac synchro servo motor, EC motor provide a drive solution free of
maintenance and with a wide dynamic control range.

The drive displays the well-known good control characteristics of dc drives without the
disadvantages of the carbon brushes’ wear and the commutation limits.
The rotor moment of inertia is notably lower and the limit power is greater than with
equally constructed dc motors. This results in up to 5 times higher acceleration values.
The generated heat in the motor only occurs in the stator (cold shaft).
The motors always have the protection rating IP 65.
From the electrical view, the ac synchro motor is a synchro motor with a permanent
magnet rotor and a three-phase current stator.
The physical characteristics correspond to those of dc motors, that is, the current is
proportional to the torque and the voltage is proportional to the speed.
Current and voltage are precisely measured. The analogue circuits are simply
constructed.

It is possible to control the speed via the motor voltage, however, in order to achieve the
best control precision, always the tacho control is used.
The speed actual value is generated in the rotor position encoder plus bl-tacho.
The difference of the command value and the actual value is amplified in the speed
control loop circuit (P-I-controller) of the servo drive. This results in the current command
value, which is transferred to the three phase current controllers by means of the rotor
position signal. In the course of this the stator magnetic field leads the rotor magnetic
field by 90° electrically.
This field frequency is not controllable, it is automatically adjusted.
The motor currents are trapezoidal.
For dc and ac synchro servo amplifiers which are supplied by a dc bus, it must be
checked that the energy is fed back into the bus during brake operation (winding
machines, lifts, great centrifugal masses).
The ballast circuitry is rated for 3% duty cycle. An extended operating time can be
achieved by additional external resistors. (Option)

Information:

For motors
with incremental encoder UNITEK TVD3-2-xx-IN

with resolver UNITEK TVD3-2-xx-RS

with rotor position encoder UNITEK TVD3-2-xx-bl

For low-voltage applications UNITEK TVD3-230-xx-bl,IN,RS

For high power UNITEK TVD6-2 -bl,IN,RS

200V/400V up to 25/40A

For digital servo controllers UNITEK DS 400

200V/400V up to 50/100A

4

1 Basic - Information

Applications

Machines and installations for all types with a drive power of up to 0.8kW.

Especially as 4Q-servo-drive for feed axes where the following is required:

- high dynamic acceleration and braking cycles

- a wide control range

- high efficiency

- small motor dimensions

- highly repeatable, accurate and quiet moves

- ‘cold shaft’

For speed or torque control or combined speed/torque control incorporated within or
independent of position control loops.
Drives with constant speed as in conveyors, spindle drives, pumps, transversal or
longitudinal pitch drives.
AC synchro-servo-drives are more compact than other electric drives.

Applications

Particularly suitable for:

component equipment inserting machines, sheet-metal working machines,
machine tools, plastic working machines, assembly machines,
knitting and sewing machines, textile working machines, grinding machines,
wood and stone working machines, metal working machines, food processing machines,
robots and handling systems, conveyors, extruders, calenders, and
many other machines and installations.

Note

Use bl-drives where braking operations are predominant, e.g. when
deceleration is mainly required:

- winding machines, lifts, great centrifugal masses
The braking energy is annihilated in the ballast circuitry or fed into the
mains through the use of an external dc bus converter.
Energy compensation is possible for drives with several axes.

Motor features

- protection rating IP 65

- compact

- suitable for rough surroundings

- suitable for high dynamic overload

- free of maintenance

TVD3.2bl 5

Servo - Drive TVD3.2 -xx- bl

Build

Build

- Switch cabinet mounting or 3HE plug-in device
according to the VDE, DIN and EU regulations

- Standard analog control electronics

- Power electronics for 5A and 10A

- No galvanic isolation between the power connection and device

ground (GND)
GND = -UB = PE - housing

Components

- IGBT power semiconductors, comfortably over-dimensioned

- Only components customary in trade and industrially standardised are used

- SMD basic equipment

- LED displays

- 4 position binary switches for system set-up

- Precision potentiometers for fine adjustment

Characteristics

* Connection using an isolating transformer nom. 115V~ (max. 140V~)
* Differential command value input
* Speed and torque control
* Static and dynamic current limiting
* Current command value output
* Measurement points for current and speed
* Enable logic
* Emergency stop
* Braking in case of a mains failure
* Temperature watchdog for the motor and the device

6

1 Basic - Information

Technical Data

Power connection

- Compact device
with transformer nominal 115V~ (max. 140V~),20V~/24V=
with transformer + rectifier nominal 180V= (max. 200V=),20V~/24V=

- For a multiple axes mounting with mains module
transformer 1x or 3x 115V~ (max.140V~) plus

1 x 20V~/24V=

- Output voltage max. 3x110~

Spezification
Device TVD3.2-115 5 10

Stationary current output - continuous A= 5 10

- peak A= 10 20
Max. el. power W 450 900
Integrated quick ZW fuses AF AF 12.5 - 16 16
Dimensions compact device wxhxd see "Dimensions"

plug-in device wxh 12TE/3HE 12TE/3HE

Cooling at 60% d.cyc self self

100% d.cyc. self fan

Mains module TVD3-N 100-30

Power supply V~ 1x or 3x 115V~ plus 1x 20V~/24V=
Output voltage V= max. 200
Output current A= max. 30
Regen circuit with V= 220
Ballast power W 100% 50

WS 6000

Technical Data

Common specification

Protection rating IP 00
Format VDE 0100 group C, VDE 0160

Humidity rating class F acc. to DIN 40040
Site of installation < 1000m above sea level
Operating temperature range 0 ... 45°C
Extended operating temp. range up to 60°C reduced by 2%/°C
Storage temperature range -30°C to + 80°C

Speed control loop circuit

- control precision without actual value error ± 0.5%

- control range 1: 1000

Caution: The maximum connection voltages 140V~, 200V=

must not be exceeded even for short times.

The regen circuit may be destroyed.

TVD3.2bl 7

Servo - Drive TVD3.2 -xx- bl

Compact device

Compact device dimensions

Transformer dimensions
Transf.

typ

e

TE 8/2 100 85x 89x 82 2.0
TE 12/1 250 120x101x115 4.3
TE 12/3 400 120x133x115 6.8
TE 15/1 500 108x132x122 8.2
TE 15/3 800 150x150x132 13.5
TE 74/2 1300 175x140x160 15.4
TE 74/3 1600 175x150x160 18.5

Choke dimensions

Type

MDD 1.3a -2.5 3.5 80x 48x 90 1.1
MDD 1.6a -5 1.9 95x 54x108 1.3
MDD 1.6b -10 1.0 95x 58x108 1.4

Transformer
power VA

Curr.AInductance Dimensions

Dimensions
a/b/c mm

mH a/b/c mm

Weight
kg

Weight
kg

8

2 Mechanical Installation

Dimensions of a multiple axes combination

Multiple axes combination

TVD3.2bl 9

Servo - Drive TVD3.2 -xx- bl

Free

10

3 Electrical Installation

Connections overview

TVD3.2bl 11

Servo - Drive TVD3.2 -xx- bl

Connections diagram

Multiple axes combination

Compact device

12