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MicroB Manual

1. 91 2 mm 82 mm 5 3 59 3 22 O 64 5mm 19 5 mm 2 53 0 76 NOTE Dimensions mm Inch MICRO B Service Manual Chapter 1 IE Description 1 6 Connections 1 1MOT 2 OK 3 TPRC 4 GND 5 10V 6 10V 7 ENABLE 8 REF 9 REF 10 CHA 11 CHB 12 13 GND 14 HALL A 15 HALL B 16 HALL C AT AT U V Ww Service Manual MICRO B 9 1 7 Signal inputs and outputs Signal Connector Description IMOT OUT Current Monitor Range 7 1 2 3 10 OK OUT TPRC IN OUT Description Vdc Output in Volts the current in the motor windings Since current is proportional to orque this output may be used o monitor the torque the motor is producing 3 5 Vdc nominal current 7Vdc Peak current Drive OK Open Collector output 50mA 24Vdc Max Normally closed opens when in protection mode l his signal can be used in 2 distinct modes A Motor Current Limit mode Connect an external resistor to GND pin 4 reduces the maximum current A 47K resistor reduces the current by 50 Note the drive velocity loop remains active B Current Reference Torque amp mode Input Range 10V which corresponds to the drives peak current output Service Manual Description Signal inputs and outputs Continued Continued 4 GND 5 10V OUT 6 10V OUT 1 ENABLE IN Servic
2. S5 Normally closed If Open install components for the Dynamic velocity costant CKV and RKV Consult factory for proper use S6 Normally closed If Open insert the GAIN resistor Static Gain Standard value 22ohm Continued 21 Service Manual Chap A Solder Bridges continued Adjustments S7 Normally closed If open install components for the Dynamic current constant CKI RKI Standard constant RKI 220 Kohm CKI 2 2nF Adjustments Reserved for Qualified Personnel Only S8 Normally open If closed when the IN protection operates the green OK LED goes off S9 Normally closed If open disables Encoder feedback and enables Hall feedback See section 85 3 S10 Normally open 120 Hall Commutation Close to select 60 Hall Commutation See section 4 1 S11 Normally closed If open the alarm protection for missing Hall Effect Signals will not disable the drive S12 13 Normally open Drive Enable logic high 8 24Vdc Close for Drive Enable logic low 6V See page 33 for additional information 22 Service Manual Chapter Installation 3 1 Power Supply Construction and Rating warninc use only Un regulated power supplies with the MicroB Drive The power supply is used to absorb the motor s BEMF Also with this scheme no braking resistor is generally needed The MicroB was designed to generate all required supply voltages in the Drive so
3. 000000000090 TERRA EARTH CAVO DI MASSA MOTORE MOTOR GROUND CABLE Collegare la massa alla carcassa del motore Connect ground to the body of the motor UVW M MICO B Service Manual Chapter 3 Installation It is important that the drive s ground connections are as short as possible and no longer than 20 cm The figure shows the connection using terminals fixed to the drive s base bottom This connection also reduces disturbances in the net The Motor ground cable has to be external not inserted in a multipolar cable with minimun section 1 5 mmq 0 059 square inch Drive power and signal cables must be shielded The cable shields must be connected to the body of the motor Shielded cable is not required for the motor power cable the UVW cables should be twisted together Service Manual MICRO B 29 mE Installation 3 4 Examples of Signal Connections l he following design shows an application utilizing a differential reference from a C N C l he drive is enabled using the Auxilary power supply 10V Connector 5 It is possible to use an external power supply for this function 24V DC It s also possible to Enable the drive using negative logic See page 33 24V EXT REF GND C N C
4. ENABLE Z On connector 2 OK an external relay coil was connected This output has a max rating of 50mA at 24Vdc Connect the power supply GND externally using connector 4 228 30 MICRO B Service Manual Chapter 3 Installation Examples of Signal Connections continued The following design shows an application using speed reference connections in the Common Mode The following figure shows an application with speed reference connections using an internal Micro B power supply speed potentiometer needs to be in the REF range of gt 10Kohm and lt 47Kohm Service Manual MICRO B 31 mE Installation Connections for operating in Torque Amp Mode Current Mode With a voltage output ex from a CNC you can command the drive in torque mode Applying a signal of 10V at TPRC causes the Micro B to supply positive or negative peak current Applying 5V gives you the nominal output current See figure 1 By connecting a resistive load at TPRC ex a potentiometer you can limit the output current In this configuration the internal velocity loop remains active See figure 2 Output current limit potentiometer 470K IM Ohm Pot 4REF 32 Service Manual Chapter 4 Installation Enabling drive with Positive Logic To enable the drive with positive logic ensure Solder Bridges S12 and S13 are open Vin
5. 2 5 Ohm Ke 12 V kRPM n 3000 RPM E 12x 3000 36 V 1000 VM 36 2 5x3 8 45 V V2 45 56 V V1 _56 39 8 Vac 0 8 1 41 You ll use a transformer with the secondary V1 39 Vac 44Vac is OK Service Manual 24 Chapter 3 Installation Power Supply Construction and Rating continued The transformer s nominal power is calculated based upon adding all the motor powers together that will be driven by the transformer Where VA Motor power 1 motor power 2 etc Note In multi axis applications the transformer s power can be downgraded by 30 Capacitor The working voltage of the filter capacitor should be at least 20 greater than the supplies output voltage V2 The filter capacitor is calculated by the formula below C uF VA trasfo x 1000 V2 V2 No load supply output condition The filter capacitor is used to filter the rectified voltage to less than 1096 ripple and absorb the BEMF from the motors when they are braking Bleeder resistor The bleeder resistor is used to drain the charge from the filter capacitor when power is removed from the upply This helps in bringing the supply voltage down quickly This resistor is mounted directly across the filter capacitor To calculate the correct value and Uu wattage use the formula below eas RS Ohm _20 000 000 aa C uF P Watts V22 NA RS Where RS Bleeder resistor value and p Resistor Watt
6. f du HA 2 lv Continued Service Manual MICRO B 35 Chapter 3 Installation Hall Sensor Encoder Connections continued The Encoder input on the MicroB is for incremental single ended NPN or PUSH PULL output type encoders it will also work with a differential output type Only connect the A and B outputs to the drive if using a differential output type encoder The drive can supply voltage to the connector V equal o 5Vdc Preset in factory for 5Vdc 12Vdc optio nal he drive s 5dc supply is able to supply 130 mA for he encoder and Hall effect sensors Care should be taken when using V to supply the Hall switches and the encoder Measure the current draw it must not exceed the 130mA limit If the current exceeds 130mA use the controllers 5Vdc output for he encoder Be sure to also connect the common supply from the controller to the drive to complete the circuit If isolation is required between the drive and controller consult the fatcory for the correct wiring WARNING If you insert a load resistor between channel A and Aneg or between B and B neg of the Encoder Line Driver the encoder supply current will increase and the signal voltages will decrease they may not be large enough to commutate the drive logic input A and B V High gt 3 2Vdc low lt 1 5Vdc 36 Service Manual Chapt i Installation Hall Sensor Encoder Connections contin
7. gt 8V lt 24Vdc Unconnected input Drive Not Enabled Input to V Drive Enabled a TVec isa 5V d 100 Pr ENABLE I Toone Enabling drive with Negative Logic To enable the drive with negative logic ensure Solder Bridges 12 and 13 are closed Vin lt 6Vdc Unconnected input Drive Not Enabled Input to GND Drive Enabled 33 Service Manual Chap 3 Installation Hall Sensor Encoder Connections The following design shows typical connections between the drive and a brushless motor In such a configuration Hall effect and Incremental type Encoder Aand B signals are used The Encoder and Hall Sensor power comes from the V connector 12 For speed adjustment in this configuration see page 51 ENCODER HALL SIGNAL T hv TA z4 Continued MICRO B Service Manual Chapter 3 Installation Encoder Connection from External Power Supply The figure below shows a self powered MICRO B with Hall signals while the Encoder signals are powered externally The Ground of the external power supply must be connected to the drives GND For speed adjustment in this configuration see page 51 mo uL en a C gt z HREF e gt gt DODO DODO o 2 U VW Um ENCODER HALL SIGNAL VEXT GND L
8. low voltage systems Part 1 Principles requirements and tests CEI 64 8 Electrical system users of nominal voltage not exceeding a 1000V alternate current and a 1500V continuous current Montebello Vicentino 21 September 1998 Management Service Manual 62 E NOTES Service Manual 63 NOTES 64 Service Manual
9. only a simple single voltage power supply is needed Use the schematic and formulas provided below to design a supply a suitable drive power supply o oH F2 i u VI C RS AC PEN V2 Power o AT a Transformer A single ground is used in the drive connected to AT so DO NOT USE AN AUTO TRANSFORMER Use a standard heavy duty power transformer as shown in the schematic above The VA rating should be 10 greater than the power needed by the system to insure cool operation DO NOT CONNECT ANY TRASFORMER PRIMARY OR SECONDARY SIGNALS TO GROUND Keep the AT and AT wires between the power supply and the MicroB as short as possible Voltage The primary voltage depends on what is available locally for a single phase The secondary voltage is calculated from the motor s voltage at the required operating speed The secondary voltage V2 is V2 dc Vmotor 0 8 23 Service Manual URRE Installation Power Supply Construction and Rating continued Where VM E Rix Im 1000 VM Motor voltage V E motor BEMF V m I motor A Ri Winding resistance Ohm Ke Voltage constant V kRPM n Max speed RPM Considering you must keep a certain margin during the motor s breaking phase you should never exceed a voltage of 60Vdc 44 Vac from transformer The max value is 80Vdc and the min value is 20Vdc Example Brushless DC Motor with the following data m 3 8 A Ri
10. EE Brushless Servo Am fel ke EUEN This manual describes the mechanical and electrica characteristics of the MicroB servoamplifier series It is important that the installation procedures are only performed by qualified personnel in accordance with loca safety guidelines Whoever installs the equipment must follow all of the technical instructions printed in this manual For more information please contact AXOR s technica department All rights reserved Reproduction in whole or in part is prohibited without prior written consent of the copyright owner All specifications are subject to change without prior written consent of the copyright owner All specifications are subject to change without notification Service Manual MICRO B Ver MCB gb 24 01 2002 1 Index Description 1 Description co e O O1 4 Oo Bo ntroduction Technical Features Drive Description Drive Label Description Drive Dimensions Connections Signal Inputs and Outputs Power Supply Inputs and Outputs 2 Regulation and L E D Indicator 2 1 Potentiometer Adjustments 2 2 Protections 2 3 L E D Indicators 2 4 Personalizations and Settings 2 5 Solder Bri 3 Installation 3 1 Power Su dges pply Construction and Rating 3 2 Multiple Axes Connections 3 3 Ground a 3 4 Example 3 5 Power a 3 6 CE EMC 4 Notes nd Shield Connections of Signal Connections d Motor Connections Wir
11. RE UVW MOTOR GROUND CABLE Collegare la massa M alla carcassa del motore 42 Connect ground to the body of the motor MICRO Service Manual Chapter 3 Installation CE EMC Wiring Requirements Continued The standard for electromagnetic compatibilty is summarized in CEI EN 61800 complete Micro B conformity is assured only if it is installed following the precise assembly criteria expressed below The fundamental assembly requirements are summarized below 1 Use shielded cables both for power connections to the transformer and the motor and for signal connections to the controller 2 Separate the power cables from the signal cables if these need to cross cross at right angles 3 Correctly ground all the points shown 4 Use ferrite suppressors where shown NOTE the MicroB drive 7777 MASSA QUADRO connections as shown on the GROUND PLANE previous page with d accessories complies with ATERRAT EARTH the EMC standard CE EN 61800 3 norm Sezione aliment LAT Power AT supply section Fl Service Manual MICRO B 43 Chan CE EMC Wiring Requirements Continued Previous page picture connection description It is important that the drive s ground connections are carried out using the shortest cable possible which should not be longer than 20 cm Connections are shown using terminals fixed to the drive s base bottom t
12. The drive is factory set for 120 Have a qualified technician check the Hall Effect signals with a voltmeter or an oscilloscope This fault is a latching fault Refer to Chapter 2 5 for correct procedure on changing this function 17 Service Manual Chapter 2 Adjustments 2 4 Personalizations and Settings If the drive isn t set up for the servomotor follow these procedures If changes need to be made to internal drive settings please wait for at least 10 seconds after the power has been removed and the OK LED is off All of the personalizations are located inside of the Micro B To gain access to the adjustment pads and the solder bridges unscrew A and remove the cover B See figure below BAA LAAA ALL 4A vuvvvvvvvvuvv ZSEIOoo oomrom lpoooooooo 22 zu lbooooooo 18 MICRO B Service Manual Chaptor2 Adjustments Personalizations and Settings continued All of the adjustments are located in the area behind the potentiometers The resistors mount on headers spaced at 0 4 10 6mm pitch and the capacitors mount on headers spaced a 0 2 5 08mm pitch Use 1 8 or 1 4 watt resistors and radial lead capacitors RENC RCA RIN RIP GAIN Service Manual Encoder or Hall Effect resistor Chapter 5 1 Armature Feedback resistor Chapter 5 2 Droop compensation for internal motor resistance RI Chapter 5 2 Nomina
13. age 7 25 Service Manual Chapter 3 Installation Power Supply Construction and Rating continued Fuses Fuses are required on both the primary and secondary of the transformer to protect against harm to the system and the transformer itself They need to be of the slow blow type to handle current in rush at power up Locate the primary fuse F1 on the hot leg of the AC input power and the secondary fuse F2 on the side of the secondary output before the rectifier Use the for mula below to calculate the correct values for both fuses Where Fl F2 SS EJ RETE AC l o F 1 _ VA transformer x ll Vac primary ac F2 XMCB 2 5 5 3 16A XMCB 5 10 5A XMCB 816 l10A X MCB 10 20 20A A separate fuse F2 is required for each drive in a multi axis system 26 Service Manual Chapter 3 Installation 3 2 Multiple Axes Connections In case of connecting more than one axis to a single supply always connect each drive DIRECTLY to the supply and keep the wires as short as possible twist the and leads together as twisted pairs Try not to exceed 1 5 feet 0 5m in length Incorrect Wiring Technique Vdc Vdc 27 Service Manual Chapters 3 3 Ground and Shield Connections 28 Installation MASSA QUADRO GROUND PLANE L T MAX 20cm 8 inch aiment AT Power suppy AT
14. anual 5 Vdc 130 mA Max 10 Vdc 4 mA Max 250 Khz Max 2 5 Khz 10 9596 non condensing 10 6 oz 350gr 6500 Ft 2000m slm pter 1 Description 1 2 1 3 Calibration Pads Calibration Potentiometers Quick Disconnect Signal Terminal Block Quick Disconnect Power Terminal Block Fixing Screws Product Cover Product ID Label Serial Number a MICRO B Service Manual ON O O1 4 C5 DO on Chapter Description 1 4 Drive Label Description atio TYPE MCB060 5 10 PWM 0 LE SIARA 5 10A RA Date 27 04 98 Ord 368 98 The Product Label is on all Micro B Drives The Label printed above is a typical example To identify the various options see example below Product type and Identification TYPE MCB 60 2 5 5 PWM 0 2 5 5 5 10 Operating 8 16 ARM Armature voltage S 10 20 HAL Hall Effect I nom I Peak Velocity Feedback Options 00E Encoder 4 C9 DO ADJ is the identification of specific adjustments on the product for specific motors If the product is furnished Standard the ADJ will show the maximum operating current ADJ T29XX 10001 g 3000RPM Motor __ Imp Encoder Nominal speed ORD is AXOR s internal order number which relates to product distribution Always quote this number when asking for technical assistance Service Manual Chapter 1 5 Drive Dimensions Description 28 5 mm 1 12
15. be substituted by a wire bridge PROCEDURE 0 If the motor has an encoder do not connect it at this time it is not needed to confirm Hall effect operation and phasing LT 48 Service Manual m Notes Unknown Motor Procedure Continued 1 First wire the Hall sensor as shown in chapter 3 Hall signal connections Do not wire the motor leads at this point 2 Wire a switch or jumper between 10Vdc and Enable 3 Apply power and check the OK LED it should be ON 4 Turn the motor shaft if the OK LED stays on and the AH LED is off the Hall sensors are operating and properly connected 5 Ifthe OK LED goes OFF and the AH LED goes ON then the cause may be any or all of the following a The hall effect sensor is not powered Check with Voltmeter b A hall effect sensor is missing Check with Voltmeter c The motor has 60 commutation phasing close solder Bridge S10 Remove power before removing the cover and soldering 6 Connect the encoder leads as shown in Chapter 3 Hall sensor Encoder 7 Label the motor leads A B and C and connect them to U V and W as shown in Chapter 3 Motor Connections Continued Service Manual MICRO B 49 Chapter 4 Notes Unknown Motor Procedure Continued There are 6 possible combinations for the motor leads 5 will turn erratically and one will make the motor turn correctly Use the chart below as well as the descriptions to determine
16. city The velocity doesn t drop due to the motors internal R x I For Speed Adjustment in this configuration see page 55 39 Service Manual FNIT pter 3 Installation 3 5 Power and Motor Connections Power cable specificationis recommended as follows 5 square mm up to 8 16 2 5 square mm up to 10 20 The U V and W drive outputs can be connected directly to the motor terminals The minimum motor inductance value is 0 8mH Where the motor armature inductance is less than 0 8mH use 3 chokes connected in series with the motor The amplifier itself is capable of driving motors with inductance between 0 8mH and 40mH 40 Service Manual Chapter3 Installation For some motors it may be necessary to alter the drive current loop This is done by opening solder bridge S7 and inserting a RKI resistor and a CkI capacitor in the personalization zone Service Manual MICRO B 41 Chapter 3 3 6 CE EMC Wiring Requirements Installation MASSA QUADRO TW GROUND PLANE 9 S 9 S 11MOT fe 20K L MAX 20cm 8 inch je 3TPRC 4GND e 54V I 60V 4 Rer 9 aR cm max H REF o 9 REF e 10 CHA rz s 11 CHB Fl 124V 18 GND FI A4 HALLA 2 SPIRE 8 15HALLB TURNS 3 9 16HALLC S giment AT AT 8 supply AT AT S U 8 w 8 Fl S M 1 p TERRA EARTH p A CAVO DI MASSA MOTO
17. e Manual In this mode the velocity loop is automatically disabled The TPRC terminal can be used in modes A and B as a drive s current Use an instrument with an input impedience greater than 100Kohm Drive Common Ground Corrisponds to power supply s ne gative AT input Power Supply 10Vdc 4mA Max Power Supply 10Vdc 4mA Max Drive Enable Range 8Vdc to 24Vdc It s also possible to enable the drive with a low signal by connecting a GND input to enable such a function close solder bridges 12 S13 Continued 11 Chapter Description Signal inputs and outputs Continued 8 REF IN Reference Positive differential input Velocity command 9 REF IN Reference Negative differential input Velocity command ET 10 CHA IN Encoder input Channel A High logic level gt From 3 2V to 24Vdc Low logic level lt From 0V to 1 5Vdc 11 CHB IN Encoder input Channel B High logic level gt From 3 2V to 24Vdc Low logic level From OV to 5Vdc 12 V OUT Power Supply 5V 130m Max Option V 12V 13 GND Drive Common Zero Signal Corresponds to power supply s negative AT input 14 15 16 HALL A B C IN Hall Sensor inputs from the motor Each input has a pull up resistor of 1 Kohm to 5Vdc High logic level gt 3 2V Low logic level lt 1 5V 12 Service Manual Chapter Description You may power the motor s hall se
18. er clockwise decreases motor overshoot Note Potentiometer is disabled in torque amp mode 14 Service Manual Chapter 2 Adjustments Potentiometer Adjustments continued ACC The solder bridges S1 S3 select the acc dec function ramp With this potentiometer we can adjust the slope of the acceleration and deceleration ramps Turning the potentiometer clockwise cw increases the ramp time from 0 1 to 1 Sec with 10 V reference It is also possible to increase or decrease the pre set max acc dec ramp by opening solder bridge S2 and inserting resistance RAMP See chapter 5 7 RAMP TIME ADJUSTMENT Service Manual MICRO B 15 Chapter Adjustments 2 2 Protections he Micro B is equipped with protection circuits to safeguard both the motor and the drive in case of malfunctions All faults are indicated by LEDs on the front of the drive See the next page The two types of interventions are Reversible and rreversible There are two types of faults Reversible Protection Intervention he drive is automatically reset restarted when the cau se of intervention has been corrected Over Current limitation Over under voltage input n E Irreversible Protection Intervention The drive is not reset restarted The power supply must be removed and the cause of intervention eliminated then the power supply can be replaced Note A mininum amount of time must pass in order to ensure t
19. er 5 for the setup procedures that will effect your application Feedback Types Hall effect encoder Internal PWM Armature Hall effect These drives have been factory set but these settings may need to be changed based on the motor and the load refer to Chapters 2 and 5 for the correct setting for your applications Changes are made using resistors potentiometers and solder bridges gt 4 MICRO B Service Manual Chapter Description n The nominal and peak current settings are adjusted by adding resistors to the area provided on the drive This is done by removing the cover and referring to Chapter 5 5 and 5 6 to select the correct values and placement on the drive s PCB Printed Circuit Board The drive dimensions are 5 33 x3 22 x 1 12 The MicroB is avaible in 4 nominal power versions listed below 2 5 5A 5 10A 8 16A 10 20A The operating temperature is from 32 to 104 F 0 to 40 C and no ventilating system is required as long as the spacing between the drives allow for adequate air flow 1 2 Technical Features 20 80 Vde 22 Khz 32 104 F 0 40 C 14 158 F 10 70 C 10uV Degree F 10 Vde 7 Vdc Pk curr Input Range PWM frequency Operating Temperature Storage Temperature Drift Analog input Velocity Current monitor On board Power Supplies Encoder and Hall Effect Auxilary power supply Max Encoder frequency Band Width Humidity Weight Altitude Service M
20. hat the drive is completely off prior to replacing the power supply Short circuit Over temperature Missing Hall Signals Improper Hall Commutation 2 3 L E D Indicators Five LEDs are located just in front ofthe potentiometers and show the current state of the drive 16 Service Manual Adjustments L E D Indicators Continued OK GREEN Normally ON This indicator shows that the drive is operating correctly If this LED is Off it is indicating at least one fault has been activated The faults that affect this LED are Over Under inputvoltage Over 80Vdc or under 20Vdc Over temperature Over 104 F 40 C Short Circuit Outputs shorted to each other or to ground IN RED Normally OFF This indicator is lit if the drive is in Over current mode ST RED Normally OFF This indicator is lit when he drives internal temperature reaches 104 F 40 C Remove power and wait for the drive to cool before re applying power If operating temperatures are close to the Max operating temperature of the drive a fan heat sink or air conditioner may be needed to remedy the problem OC RED Normally OFF This indicator is lit if there is a short circuit between the motor leads and or ground Remove power and examine the motor connecting leads for shorts before re powering the drive AH RED Normally OFF 1t lit it represents either missing Hall signals or incorrect 60 or 120 settings
21. he MicroB is provided with a Bil potentiometer that allows the motor current to be set to zero when 0 0 Vdc is applied to the REF You may compensate 200mV from reference input With the reference input at Zero turn the Bil potentiometer until the motor stops moving or the motor current is zero 56 Service Manual in MCB 10 20 A m3 UER Setting up the drive 5 5 Nominal Current Adjustment The MicroB is pre set to the nominal current rating of the drive if a lower current is needed to match the motor used refer to the chart below and select the correct resistor value to be fitted as RIN Use the table below to select the correct value 5 ue RIN n Kohm 10 93 85 77 Yl 62 58 5 46 42 560 390 100 Peak c rrent fjustment 20 184 177 163 18 142 134 116 106 99 57 Service Manual Chapter 5 Setting up the drive 5 7 Ramp time adjustment This function is enabled by solder bridges S1 S3 closed It allows adjustment of the ramp slope during both acceleration and deceleration Adjusting the ACC potentiomenter located in front of the drive clockwise cw increases the ramp time between 0 1 and 18 for a 10V reference change See note 1 It is also possible to modify the range of the ramp by opening solder bridge S2 and mounting a resistor RAMP with the values shown in the table below See note 2 1 S1 S2 88 Function Range Note 9 gt Ramp disab
22. he most common in today s brushless servo motors 60 phasing can be selected by closing solder bridge S10 The two charts below show both types of MicroB phasing 120 Hall sensor 101 100 110 010 011 001 RAL ee a 3 O 60 120 180 240 300 360 ELECTRICAL CYCLE 46 Service Manual Chapter4 Notes 60 Hall sensor 900 100 110 11 011 001 HALLA HALL B HALL O 60 120 180 240 300 360 ELECTRICAL CYCLE Signals produced by rotating the motor shaft clockwise Service Manual MICRO B 47 Chapter 4 Notes 4 2 Unknown Motor Procedure A simple procedure to use if the motor is not supplied by AXOR Since there is no unusual standard for brushless servomotor manufactures and drive manufactures for motor lead phasing a simple procedure is needed to get the wiring correct This procedure will help in getting your motor wired correctly if it was not supplied by AXOR The procedure below will get the motor operating in the shortest time This procedure needs to be performed by a qualified technician Initial parts needed 1 A 20 60 Vdc unregulated power supply Refer to chapter 3 2 A 10 47Kohm potentiometer to use as the speed reference or a 1 5 3V battery Refer to section 3 6 3 A Brushless motor with 5Vdc Hall Effect commutation and 120 or 60 phasing 4 A MicroB suitable for the above motor 5 An Enable switch can
23. his reduces disturbances in the net Installation Motor ground cable has to be external not inserted in a multipolar cable with minimun section 1 5 mmq 0 059 square inch Power and signal cables have to be shielded The shields of the cables have to be connected to the motor body Maximum length 18m the cable shield must cover the entire length of the wire and be as close as possible to the connection terminals the shielded ground connection cable should be accomplished as shown Always use shielded cable or at least twisted cable to connect motor and drive Avoid passing signal and power cables through the same channels 228 44 MICRO B Service Manual Chapter 3 ia Installation CE EMC Wiring Requirements Continued Attenuation characteristics of the ferrite magnets indicated Type FER RITE Model Ferrishield CS28B 1984 or Ferrishield SS28B 2032 TYPICAL PERFORMANCE 1000 gt Ss 28B2032 2036 ww 2662031 w S 2882035 z 28B2030 2033 2037 Ei 28B2034 a ul a 1 1M 10M 100M 1G FREQUENCY Hz TYPICAL PERFORMANCE 1000 28B2000 28B1123 a 28B1500 g W 28B0937 1937 5 28B0642 1642 i 28B0805 1805 8 28B0984 1984 ul a 10 1 1M 10M 100M 1G FREQUENCY Hz Service Manual MICRO B 45 Chapter 4 Notes 4 1 Logic Hall Signals 120 and 60 The Micro B can handle either 120 or 60 commutation phasing The drive is supplied with 120 phasing selected since this is t
24. ing Requirements 4 1 Hall Effect Commutation Phasing 4 2 Unknown Motor Procedure U B oono AWD T w Do 14 15 16 17 18 20 21 22 23 26 al 28 29 30 39 40 41 42 45 46 47 48 50 Service Manual m Description 5 Adjustments Page 5 1 Speed Adjustment with Encoder Feedback 51 52 5 2 Armature Speed Feedback Adjustment 53 5 3 Hall Effect Sensor Speed Adjustment 55 5 4 Adjusting Speed Balance 56 5 5 Nominal Current Adjustment 57 5 6 Peak Current Agjustment 57 5 7 Ramp Time Adjustment 58 5 8 Dynamic Constant Adjustment 59 60 6 Troubleshooting 6 1 Troubleshooting 61 CE Conformity Declaration 62 Service Manual MICRO B 3 Description 1 1 Introduction The Micro B Brushless Servo Amplifier is a compact full four quadrant drive The MOSFET output power stage is controlled by a 22 Khz PWM Pulse Width Modulation signal that allows it to drive small to medium sized brushless servo motors where high dynamic performance and precise speed is required The Micro B only requires a single power supply to operate and develops all needed voltages on board to make power supply design easy and convenient The imput voltage is from 20 to 80 Vdc max Chapter 3 describes how to design a proper supply Closing the velocity feedback loop to motor may be done in several different ways to accommodate most applications Three types of velocity feedback are available with these drives Refer to Chapt
25. l drive current resistor Chapter 5 5 Peak drive current resistor Chapter 5 6 Changes static gain in the velocity oop Open Solder bridge 6 and insert R GAIN if a change is required Consult factory for the correct value Continued MICRO 9 Chapter 2 Adjustments Personalizations and Settings continued CDER RKV CKV RKI CKI 20 Derivative constant capacitor increases the velocity loop derivative constant Consult factory for the correct value Resistor and capacitor values that respectively form the proportional integral network of the velocity loop gain These are disabled by opening solder bridge S5 Resistor and capacitor values that respectively form the proportional integral network of the current loop gain These are disabled by opening solder bridge S7 For more information see chapter 2 5 3 5 MICRO B Service Manual Chapter Adjustments 2 5 Solder Bridges 13 Solder Bridges located on the left hand side of the drive are used to change internal and external functions on the MicroB Below are the descriptions of the solder bridge functions The drive is factory set with the following Solder Bridges and their function v w v w v v T Ex nonoo TA N y S1 and S3 Normally open See section 5 7 Ramp Time Adjustment S2 Normally closed See section 5 7 Ramp Time Adjustment S4 Normally closed If Open disables the Encoder and Hall Effect velocity feedback
26. led Osec Standard bridges Ramp enabled 0 1 1 sec Adjusted by ACC ww Ramp enabled RAMP Adjusted by ACC 2 s Resistor 680K 820K 1Mohm TIME 0 2 2 6sec 0 3 3 2sec 0 4 3 9sec 58 Service Manual Chapter Commissioning 5 8 Dynamic constant adjustment Usually these settings are made by the factory and do not need to be changed Only re tuning by KV and DER potentiometer is required However if high inertia loads are driven ratio 3 1 between load and motor it is necessary to set the proportional gain KV potentiometer and the derivative gain DER potentiometer The adjustment procedure must take place with the load connected to the motor Connect a square wave 0 5Hz 1V function generator to the input speed reference terminals Connect the channel A probe of a storage oscilloscope to the test point TP1 The ground of the probe must be connected to the GND of the drive Adjust DER and KV potentiometers Be sure that the load s motion doesn t create a safety risk Apply power to the drive and start it The load will begin to move out and back if possible increase the generator amplitude to 2V Check the signals in the oscilloscope the waveforms should be as shown on the next page 59 Service Manual Commissioning A Signal velocity Insufficient proportional gain Test Increase the gain by turning clockwise cw using KV Signal velocity potentiometer
27. nsors using the auxilary power supply generated by the MicroB Terminal 12 tV If an external power supply is used open solder bridge S11 Such an external power supply if used to supply the hall effect sensors must be applied to the motor at the same time the MICROB is switched on 1 8 Power Supply Inputs and Outputs AT Input Positive continuous power supply range between 20V Min to 80V Max AT Input Negative continuous power supply Common Zero Signal GND U Output Motor Connection U Phase V Output Motor Connection V Phase W Output Motor Connection W Phase 13 Service Manual Chapter 2 Adjustments 2 1 Potentiometer Adjustments VEL Motor speed adjustement Use this potentiometer to adjust the maximum motor speed Turn clockwise cw to increase the motor speed and counter clockwise ccw to reduce the motor speed The range of the adjustment is 20 Note Potentiometer is disabled in torque amp mode BIL Offset adjustment Adjust this potentiometer to cancel any motor speed when the Ref input is 0 Vdc Max ref compensation ia 200mV Gain potentiometer Use this potentiometer to increase or decrease the dynamic behavior of the motor With a clockwise turn cw we increase the gain of the PI speed stage therefore improving the response Note Potentiometer is disabled in torque amp mode DER Derivative potentiometer Turning this potentiomet
28. sing the for mula This is a two part formula the first part gives a facto based on rate the second part determines the resisto value Keep in mind when selecting the encoders line count that the Maximum encoder input frequency to the MicroB is 250Khz Fenc PPR x RPM max 60 Find the rate factor Where Fenc the rate factor PPR encoder pulses per revolution line count RENC 680000 Calculate RENC Fenc The resistor RENC determines what the max speed of the motor at 10V of reference The result of RENC is in Kohm Continued 51 Service Manual Chapter 5 Commissioning Speed Adjustment with Encoder Feedback Continued Example 1000 PPR Encoder 3000 RPM Motor Velocity Max Fenc 1000 x 3000 50000 60 You will adapt to the nearest commercial value 15 or 12Kohm value in 1 8 or1 4W In non torque amp mode systems once the resistor RENC is inserted proceed with final speed adjustment Operate using trimmer VEL on the front of the drive Clockwise Rotation Speed increases Counter Clockwise Rotation Speed decreases The Range of regulation is 20 52 Service Manual Chapter Commissioning 5 2 Armature Speed feedback Adjustment For this speed adjustment only Hall signals from the motor are required as shown in connections on page 38 n he voltage from the motor armature can be used as feedback when the motor doesn t have an Encoder This sy
29. stem gives less precise operation 1 20 field of regulation with a noticeable reduction in torque This function is enabled by opening solder bridge 84 and inserting resistors RA and RCA on the personalization base R resistor calculations insert on base pin 2 23 to adapt the system to use the motor voltage RA 3K3_ 4K7 5K6 6K8 8K2 10K VDC 13 6 17 19 7 28 26 5 31 8 RA ISK 18K 22K VDC 445 52a 62 9 The table above shows values of RA which correspond to the maximum motor BEMF which occurs at maximum motor speed this depends on the application Do not use an RA value greater than is required as this reduces the motor speed regulation Continued 53 Service Manual Chapter Commissioning Armature Speed feedback adjustment continued Example E 36VRMS Nominal Speed 4000rpm Consequently VDC will be 3eVRMS x 1 41 50 76V The table on page 55 shows a resistor with a value of 18Kohm Inserting this resistor gives a motor scaling adjustment of 4000Rpm at 10V of speed reference RCA resistor calculation insert an RCA resistor on the personalization base to compensate for voltage loss due to the motor resistance reducing the loss of RPM The formula is as follows RCA K Ohm _0 5xnx Ke Vref x Ipk x RI WHERE n max SPEED inrpm Ri Max cold motor resistance with brushes Ipk Peak drive current Ke BEMF from motor at 1000 rpm Vref max applied reference voltage If af
30. ter insertion of the resistor the motor is unstable increase the resistance value of RCA T 54 AL Service Manual 5 3 Hall Effect Sensor Speed Adjustment Commissioning Forthis speed adjustment only Hall signals from the motor are required as shown in connections on page 42 Signals from the Hall Effect Sensors can be used as feedback when the motor doesn t have an Encoder This mode gives less precise operation but is sufficient for many applications Minimum speed of 300Rpm in this configuration For such a configuration open solder bridge S9 close 84 remove any RENC resistor that may already be fitted and insert a RENC resistor in accordance with the following formula RENC 478000 FHall WHERE K 1 For 2 phase motors FHall _ Kx RPM K 2 For 4 phase motors 60 K 3 For 6 phase motors K 4 For 8 phase motors Example Motor with 4 phase motor n 4000 RPM FHall 2 x 4000 133 3 60 RENC 478000 3585 Kohm 55 Service Manual Chapter 5 Commissioning Hall Effect Sensor Speed Adjustment Continued WARNING On non torque amp mode systems rotate the KV and DER trimmers counter clockwise ccw when using Hall Effect Signal Feedback Note The MicroB frequency voltage constants are pre Set according to series for the Encoder Feedback It is possible in some cases that such constants require modifications For additional information contact AXOR 5 4 Adjusting Speed Balance T
31. trol when enabled Encoder signals incorrectly connected CHA and CHB signals swapped or encoder power supply missing 7 At Startup or Enabling the AH Led comes on Solder Bridge 10 wasn t set correctly one or more missing Hall Switches Missing power supply to Hall Cells 61 Service Manual Chapte CE CONFORMITY DECLARATION The manufacturer AXOR Industries Address Viale Stazione 15 36054 Montebello Vicentino VI ITALY DECLARE under their own responsability that the following line of products series MICRO B with the relative options and accessories installed in accordance with the operating instructions furnished by the manufacturer conform to the provisions of the following directives including the latest modifications and all relative national issued legislation Machine Directive 89 392 91 368 93 44 93 68 Electromagnetic Compatibility Directive 89 336 92 31 93 68 And that the following technical standards were applied CEI EN 60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements CEI EN 60439 1 Low voltage switchgear and controlgear assemblies Part 1 Type tested and partially type tested assemblies CEI EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods Recall CEI EN 61000 4 2 CEI EN 60146 1 1 CEI 28 6 Insulation co ordination for equipment within
32. ued WARNING Hall sensors are generally supplied using the internal V of the Microb connector 12 If an external supply is used open solder bridge S11 Encoder technical input data Encoder input logic Push Pull Line driver NPN nput acceptance level From 0 5Vdc to 0 24Vdc max Encoder max frequency 250 Khz Encoder power supply V 5V 9130 mA Max Service Manual 37 Chapter 3_ Installation Hall Signal Connections ONLY The following design shows connections to the drive using Hall Effect Signals only Such signals are used for processing current and for motor speed regulation Motor speed regulation is inferior to Encoder Hall Effect feedback but sufficient for many applications There are 2 possible velocity feedback options in this configuration 1 Armature velocity feedback or PWM 2 Hall Effect velocity feedback 38 MICRO B Service Manual EOE Installation Hall Sensor Connections ONLY cont d Armature feedback gives good speed control and acceptable torque at low velocity 75 RPM This method considers that such a solution is sensitive to Rx I dropping inside the motor This can be compensated however by inserting a compensation resistor RCA For Speed Adjustment in this configuration see pages 53 and 54 If using Hall Effect feedback speed control is good from 300 RPM up to max velo
33. until achieving EH Test a situation as shown on the left To reduce the overshoot adjust Signal velocity clockwise cw using Der Tes potentiometer until achieving a situation as shown on the left Signal current Mot respect GND KV Caution Do not set KV too high it can cause unnecessary motor heating caused from oscillating currents in the motor DER It s possible to increase the velocity loop derivative constant by inserting a capacitor CDER on the personalization adjustment See Chapter 2 4 a 60 MICRO B Service Manual Chapter 6 Troubleshooting 6 1 Troubleshooting 1 When power is on the green OK LED is off check the voltage between AT and AT with a multimeter 20K voltage lt 60V 2 When the green OK LED is on the motor doesnt run when the drive is enabled Check input signal Ond reference 3 When the drive is enabled the green OK LED goes off and the red O C LED comes on Short circuit between motor terminals or motor winding is connected to ground Switch off and measure with tester 4 During motor deceleration phase the green OK LED blinks You ve exceeded max drive voltage Verify filter capacity value See Power Supply chapter 5 During operation the motor stops and the S T LED comes on Drive operating temp is to high more than 40 C Ventilation missing where required 6 Motor goes out of con
34. when the motors turn properly U V W D A B C 2 A C B 3 B A c 4 B C A 8 C A B 6 C B A 8 Connect the speed potentiometer wiper to REF one end of the potentiometer to 10V and the other end to 10V Add a jumper from GND to REF Set the potentiometer to the mid point 9 Power the MicroB and turn the potentiometer a little if the motor s speed follows the potentiometer and the motor shaft has torque then the motor lead phasing is correct If not power down and swap the leads per the chart above Five combinations will cause the motor to act strangely hi a ere are the symptoms The motor turns at max speed with no control from the speed potentiometer b Erratic motor movement c No movement and bumps in the torque as felt by holding the shaft Upon finding the correct U V W combination make a note of it and use this to connect the motor to the drive FN 50 gt Service Manual Chapter Commissioning 5 1 Speed Adjustment with Encoder Feedback For this adjustment both Hall effect and Encoder signals are required from the motor as shown in Connections on pages 34 and 35 The MicroB needs to be set up for the motor and Encode used to ensure proper operation and speed control Use the following formula to determine the correct resisto value to place in RENC to suit the application Determine what the max speed of the motor will be and find out wha the line count PPR of the encoder is before u

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