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User Manual BL3410E2-D04

1. SC INPUT COMMON 5 20k e HALLAB C PDI 8 9 10 Drive 3 CAP 2 3 Logic 8 5 T 5 MOT ENC PDI 8 9 10 AUX ENC AB 5 10 OUTPUT PULL UP T MOT ENC w 5k 9 PDO 1 2 3 4 Be ENC OUT OUTPUT COMMON ENC OUT 20k 1 4 2 2k POWER MODULE 20k eue mee n MOTORA PAI 2 33k Power Stage e MOTORB 2 3 PAI 3 500k MOTORC SGNGND i 2 11 12 L3 SELECT A TX TX e RX RX RS232 485 DC TX Interface RX Logic Power ISO GND ELLA LL e sms Approvals and Compliances US and Canadian safety compliance with UL 508c the industrial standard for power conversion electronics UL registered under file number E140173 Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products Compliant with European CE for both the Class A EMC Directive 89 336 EEC on Electromagnetic Compatibility specifically EN 61000 6 4 2001 EN 61000 6 2 2001 EN 61000 3 2 2000 and EN 61000 3 3 1995 A1 2001 and LVD requirements of directive 73 23 EEC specifically EN 60204 1 a low voltage directive to protect users from electrical shock RoHS Reduction of Hazardous Substances is intended to prevent hazardous substances such as lead from being manufactured in electrical
2. 1 Verify that the drive is disabled 2 From the Main Block Diagram open the Position Loop window Block Dags arm P RII z Limits amp Options Inputs Outputs Event Manager Drive Status Commutation Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com PENX 3b Configuration Position Mode ntegrate QuickStart into your System 3 Select the check box for Position Loop Enabled 4 the Position Loop window click the Limits button to open the Position Limits tab in the Limits amp Options window Position Loop Position Loop Homing Parameters Position Feedback I Postion Loop Enabled Patina Gn fume CR Integral Gain 00003554146 a Deion Gan 5 sj Velocity Feedioread Gain ng ajj D AccemaionFeedowadGan 0 af D 5 Enter values for In Position Window and Position Following Error Window To prevent the drive from unintentionally disabling the Position Following Error Window has been preconfigured to a large value equivalent to two motor revolutions The value can be reduced to meet your system requirements but if it is set too small you may have difficulty enabling the drive if the motor is out of position Optsnps Control Braking tee Orive Cunen Limits Lim
3. For the appropriate Analog Input as previously selected set the required scaling e g RPM Volt If desired an offset or deadband can also be applied from this screen Command polarity can be inverted by changing the sign on the Analog Input scaling Click Apply or OK to set any modified values On the Menu Bar select Drive gt Store to drive or click the Store Settings icon then to store parameters to the servo drive 2 The Analog Input is now configured and can be used to apply a velocity command to the drive 1 0 Configuration o Further assistance is available through any of the following e DriveWare Help files WWW a m c com Technical Assistance via phone 805 389 1935 Technical Assistance via e mail techsupport a m c com Sold amp Serviced By sales servo2go com www servo2go com Fa SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 ck W 3b Configuration Position Mode ntegrate QuickStart into your System Position Mode Before the servo drive can be configured in Position Mode the Velocity Loop must be tuned to match the system Follow the instructions for Velocity Mode configuration first Position Loop tuning is dependent on the system mechanics and inertia therefore for best performance the Position Loop must be tuned with the motor installed in the system and coupled to the load
4. Terminals P N 748333 4 15 Pin AMP D SUB te Black Whi Common Wiring Scheme Function Wire Color Ire Ir Ire Ire le W le W Single W ted Pair ing Sing S Twisted Pair Twisted Pa Twis 6 Pin Molex Connector P N 43020 0601 Terminals P N 43031 0002 8 Pin Molex Connector P N 70107 0007 ted Pair Twis Ir Twisted Pa Terminals P N 16 02 0077 eee ty with the connector shell see diagram inui Indicates contacts that share cont DIAGRAM Connector C Twisted Pairs Grounding Shell Single Wires Twisted Pairs 1012 10 92 0 com Sold 8 Serviced 877 378 0240 877 378 0249 Toll Free Phone Toll Free Fax sales servo2go com www servo2go com Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Quick Start Cable 8 Port Phoenix Ire le W ing Single Wire Single Wire 5 4 Terminals P N 1 480703 0 Connector CBL P05 10 POWER CABLE CABLE CBL P05 10 Wiring Scheme Function Color WIRING SPECIFICATIONS Connector P N 1767067 P N 350873 1 2 O lt Single Wire Single Wire B AC Cable Earth Ground Single Wire DIAGRAM Connector C Single Wires Single Wires 255222
5. The command signal and servo drive mode you choose are dictated by the capabilities of your controller and the desired operation of your system Analog command signals are suited for torque and velocity modes while digital command signals such as Step amp Direction and Encoder Following are associated with Position mode 10V Command Signal Single Ended Controller Available Drive Modes 3 4 Teens Mode 2 16 Signal Ground SGND Velocity Mode To avoid ground loops there should only be one connection between the drive signal ground and the controller signal ground Don t add a connection if there is already continuity between the two grounds 10V Command Signal Differential Controller Available Drive Modes C3 4 Ref C3 5 Ref Torque Mode C3 2 or C3 16 Velocity Mode SGND To avoid ground loops there should only be one connection between the drive signal ground and the controller signal ground Don t add a connection if there is already continuity between the two grounds Signal Ground SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By Wiring oO xy Integrate QuickStart into your System 24V Step amp Direction Controller Available Drive Mode C3 17 PDI5 C3 18 PDI6 Position Mode Input Common C3 15 Encoder Following The Encoder Following command
6. 10 57 Ib in 1 19 Nm 6000 rpm 120VAC 10000 counts rev BL3410E2 D04 AC120 Speed Torque Curve emma Eu m E 1000 3000 4000 5000 6000 Speed rpm Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com MADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 Peak Current 15 A 10 6 Anus The DigiFlex amp Performance DP Series digital servo drives are designed to drive brushed and brushless Continuous Current 7 5 5 3 Arms servomotors These fully digital drives operate in torque velocity or position mode and employ Space Supply Voltage 90 264 VAC Vector Modulation SVM which results in higher bus voltage utilization and reduced heat dissipation compared to traditional PWM The command source can be generated internally or can be supplied externally In addition to motor control these drives feature dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices Meni ENGED This DP Series drive features a single RS 232 RS 485 Gees interface used for drive configuration and setup Drive alll commissioning is accom
7. RS232 RS485 CANopen or RS232 A through Z letters may be skipped Max DC Bus Voltage Vpc Analog 10V No Step amp Direction Analog 10V Low Voltage Step amp Direction 5V Power and Logic Supply Analog 10 High Voltage Step amp Direction 24V 24 User Logic Supply Required AC Input Only No Logic Supply Required Internal Supply No Analog Low Voltage Step amp Direction 5V No Analog No Step amp Direction pun DC Input C tion Interface Onl EM Both Logic Supply Options Internal or User DC Input Logic Supply Required DC Input Only Internal Logic Supply Digital UO Isolated 24V TTL 5V Non Isolated Motor Feedback Incremental Encoder and or Halls RI Resolver Absolute Sin Cos Hiperface amp Endat S Sin Cos with Halls DigiFlex Performance series of products are available in many configurations All models listed in the selection tables of the website are readily available standard product offerings Other combinations or possibilities can be made available for OEMs with sufficient volume requests Feel free to contact Applications Engineering for further information and details Sold amp Serviced By gem SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 les servo2go Allspecitications in this document a
8. 0 12 INI iO I I 64 Lo IOINIOI II alo IIO no jm yellow ICI A in AMP D SUB Plug N 748365 Housing N 748677 Terminals N 748333 4 26 Pin AMP D SUB Plug P N 748365 1 Housing P N 748677 2 Terminals P N 748333 4 1 4 4 4 4 1 green green white purple urple white red red white gray gray black Twisted Pair frown brown white Twisted Pair pinkred pink black Twisted Pair light green Shield NOTE For cables with only twisted pairs single wires can be paired with other single or unused wires Twisted Pair P Twisted Pair Twisted Pair lal alal Twisted Pair O N e DIAGRAM Connector A Connector B Single Wires 52 52205 52205 Twisted Pairs Grounding Shell iuc d Sold amp Servicdd By serv Free Phone 877 378 0240 oll Free Fax 877 378 0249 www servo2go com Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Quick Start Cable CBL F02 10 FEEDBACK CABLE WIRING SPECIFICATIONS o n M O CABLE Plug P N 748364 1 Housing P N 748677 1
9. 1 20 OUT 21 ENC A OUT 22 OUT 23 ENC B OUT 24 ENC I OUT 25 ENC I OUT 26 SGN GND P1 Power Connector Connector Information 8 port 7 62 mm spaced enclosed friction lock header Phoenix Contact P N 1767067 Mating Connector Included with Drive x d 1 2 MOTORB 3 MOTORC Ee Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com ADVANCED MOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 4 MOUNTING DIMENSIONS 0000000 C DPRAHIS 015 DPRAHII DPRNLIR O DPRANI DPRAHI P SES MOUN DPRANIE C T 0 DPRALTR Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com MADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 PART NUMBERI NG I NFORMATI ON Example D PR AN I1 E 01 5 A400 Customer Special Code used to identify customer specials Drive Series DP DigiFlex Performance Communication
10. 5 ISOGND r RS232 RX RS485 RX r 2 RS232 TX R8485 TX r 1 SELECT O 2 O 6 RS485 TX 8 RS485 RX Connector Information 15 pin high density female D sub AMP Plug P N 748364 1 Housing P N 748677 1 Terminals P N 748333 4 loose or 748333 2 Mating Connector strip MOTENCB 6 5 MOT ENC A MOTENCB 7 4 4 MOT ENG A MOTENC 8 3 HALL C N N N 95 N NN 2 HALLB HALL 10 N N NX 1 HALL At NOS NOS K EN X 1 15 HALL C Sold amp Serviced By gem SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com MADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 Signal Connector Connector Information 26 pin high density female D sub AMP Plug P N 748365 1 Housing P N 748677 2 Terminals P N 748333 4 loose or 748333 2 Mating Connector strip Included with Drive No 0 PDO 3 10 9 PDI 5 PDI 1 11 X 8 OUTPUT PULL UP PDI 2 42 7 SGN GND H X 13 6 PDO 4 14 NN 5 PAI 1 REF INPUT COMMON 15 E 4 SON 16 xb wa 3 PDO 2 PDI 4 STEP 17 NN NK ASV A 2 OUTPUT COMMON PDI 6 DIR 18 RC Ne V Mu TN NN UN SN N 19 PDI 7 CAP
11. MOTION CONTROLS SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com 2 im 5 Minute QuickStart Inhibit Line Test optional Follow this step only if you installed the inhibit switch described in the wiring section on page 6 This is to verify that the optional inhibit switch is functioning and the drive is initially powered up in a disabled state 1 Unplug the motor by disconnecting the white connector on CBL P05 10 Unplugging this connection allows you to power up the system without the possibility of spinning the motor 2 Apply power to the drive and your 24V supply Toggle the inhibit switch and verify that you can cause the LED color to switch between Red and Green Set the switch so the LED is Red 3 Remove power and reconnect the white connector on CBL P05 10 e Power Up Apply power to the drive If an inhibit switch has been installed enable the drive by toggling the inhibit switch so the LED turns Green 2 The motor should turn at a slow speed 3 If the motor turns then the system has been hooked up correctly Remove power and continue to the next section If not then go to Troubleshooting 4 To remove the offset from the motor follow the instructions in Section 3b Configuration to connect to the drive and set the offset to O Troubleshootinc LED not lit Verify that power has been applied to the drive Motor doesn t have holding torque Verify that
12. and electronic equipment Sold amp Serviced By Ocom Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com AADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 SPECI FI CATI ONS Power Specifications Description AC Supply Voltage Range Nominal AC Supply Voltage Rated Supply Voltage AC Input Phases AC Supply Frequency DC Supply Voltage Range DC Bus Over Voltage Limit DC Bus Under Voltage Limit Maximum Peak Output Current Maximum Continuous Output Current Max Continuous AC Current Draw Rated Voltage Max Continuous Output Power Rated Voltage Max Continuous Power Dissipation Rated Voltage Internal Bus Capacitance Minimum Load Inductance Line To Line Switching Frequency Low Voltage Supply Outputs Description Command Sources Feedback Supported Commutation Methods Modes of Operation Motors Supported Hardware Protection Programmable Digital Inputs Outputs PDIs PDOs Programmable Analog Inputs Outputs PAls PAOs Current Loop Sample Time Velocity Loop Sample Time Position Loop Sample Time Maximum Encoder Frequency Description Value Agency Approvals CE Pending RoHS UL cUL Pending Size H x W x L 177 5 x 139 7 x 55 9 7 x 5 5 x 2 2 Weight 1264 44 6 Heatsink Base Temperature Range 0 65 32 149 Storage Temperature Range 40 85 40 185 C
13. connector on the motor power cable CBL P05 10 to the corresponding connector on the motor Connect the other end of the cable to the Power connector on the drive Red Motor Power A White AC Black AC The drive is set up to use 120VAC single phase as the power source Do not apply power at this time An AC power strip or other switch can be used to make cycling power more convenient during testing Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis Use the screw marked PE on the case Motor Ground Ground the motor through direct contact with the machine housing or a short heavy wire from the motor to earth ground The green wire coming from motor power cable should only be used if you can t bring the motor case directly to ground Don t ground sod amp seweas the motor at both the green wire and the motor case since this creates a ground loop that the feedback signals Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com cKSta 2 5 Minute QuickStart I nhibit Switch optional for this section Digital Input 1 has been assigned as the Inhibit function and this can be used to inhibit enable the drive To do this you will need a switch and a 24V supply 1 Bring the 24V ground to pin 15 input common 2 Tie one terminal of the switch to 2
14. ground the drive chassis Use the silver screw marked PE on the case Motor Ground The green wire coming from motor power cable is the motor chassis ground If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other Grounding the motor case directly rather than through the green grounding wire results in better noise reduction Load Coupling A non rigid coupling must be used between the motor shaft and the load to minimize mechanical stress due to radial loads axial loads or misalignment If you feel that the radial load on the motor is excessive you may want to consider connecting the motor to an idler shaft that is supported by pillow block bearings or similar Then the load can be coupled to the idler shaft without risking damage to the motor bearings Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com 7 Configuration Integrate QuickStart into your System Configuration Software Advanced Motion Controls DP Series DigiFlex Servo Drives are configured using the DriveWare configuration software DriveWare can be found on the CD ROM that came with your QuickStart package or it can be downloa
15. is demanded of the motor SI B Mounting Mounting Dimensions can be found in the SIB datasheet in the Appendix The SIB can be mounted using the mounting holes or a DIN tray such as from Phoenix Contact If using the mounting holes standoffs must be used to keep the bottom of the SIB from shorting with the mounting surface Cable Routing Cable Datasheets can be found in the Appendix QuickStart cables come with excellent shielding and make proper grounding easy This makes proper cable routing less critical however proper routing practices should still be followed Route cables to minimize length and minimize exposure to noise sources The motor power wires are a major source of noise and the motor feedback wires are susceptible to receiving noise This is why it is never a good practice to route the motor power wires close to the sold amp sevice Motor feedback wires even if they are shielded Although both of these cables originate at lifier and terminate at the motor try to find separate paths that maintain distance SER a een two rule of thumb for the minimum distance between these wires is 1cm for Toll Free Phone 877 378 0240 Toll Free eyerysiym of cable length sales servo2go com www servo2go com yickSta 3 a Wiring H N Integrate QuickStart into your System Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to
16. not affect RS 232 settings Bit 1 of drive RS 485 baud rate setting Does not affect RS 232 settings Additional Details The drive can be configured to use the address and or bit rate stored in non volatile memory by setting the address and or bit rate value to O Use the table below to map actual bit rates to a bit rate setting Bit 4 of binary RS 485 drive address Does not affect RS 232 settings Baud Rate kbps Value For Bit Rate Setting Load from non volatile memory Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com AADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 MECHANI CAL I NFORMATI ON AUX ENCODER Auxiliary Feedback Connector Connector Information 15 pin high density male D sub AMP Plug P N 748364 1 Housing P N 748677 1 Terminals P N 748610 4 loose or 748610 2 Mating Connector strip Included with Drive SGN GND 10 UN PDI 10 9 PDI 10 8 NN PDI 9 AUX 7 4 PDI 8 AUX ENC 2 PDI 9 AUX 3 6 5 PDI 8 AUX ENC A oN 12 SGN GND 11 SGN GND COMM RS232 RS485 Communication Connector Connector Information 9 pin female D sub AMP Plug P N 205204 4 Housing P N 748677 1 Terminals P N 5 66507 7 loose or 3 66507 Mating Connector 0 strip Included with Drive r
17. ps al i al Ka Feedback Filter Cut Off Freq 9798552 ANI Low Speed Smoothing al i A x 4 The limits have been preset to the maximum capabilities of the motor servo drive system If you wish lower values can be set to match your machine requirements Set values for At Velocity Window Velocity Following Error Positive Velocity Limit and Negative Velocity Limit Limits E Options Cortial Baking Stop Drive Limit Voltage Limit Velooiy Lims Postin Liris Over Speed 5201 evimin Zero Vielooty Window 2000 Al Velocity Window 5 000 RPM VelcipFalewngEma 1000 PPH Portree Velocity Limit e000 APY 5 Mor Over Speed Negative Line 5000 amp Motor Duer Speed Note Velocity limit values cannot exceed the Maximum Speed rating of the motor from the Motor Data window 5 Click OK to accept values and close Limits amp Options 6 Open the Waveform Generator by clicking the Waveform Generator button Sold amp Serviced By SE 0 com Drive fare KH TE ee EEN File Drive Tools Settings View Window Help Toll Free Fax 877 378 0249 u e m gt m sales servo2go com www servo2go com Configuration Velocity Mode Integrate QuickStart into your System c Waveform Generabor W eelcem Ire Tha C DC C
18. the LED is Green Verify all cables are connected LED doesn t turn Green If an Inhibit Switch has been installed toggle the nhibit switch This can happen if there is noise on the feedback signal Poor system grounding is the primary cause for excessive noise Motor is noisy and vibrates Verify that the system is properly grounded then cycle power Contact Factory f you can t get the motor turning within a few minutes please call and ask for technical support 805 389 1935 We want to get you up and running quickly Sold amp Serviced By Ey SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By AER Wiring oO xy Integrate QuickStart into your System The following instructions are a continuation of the 5 Minute QuickStart This section explains controller wiring drive configuration drive mounting motor mounting SIB mounting and load coupling Signal Ground Many of the Inputs and Outputs on this drive are isolated from each other To control read a given input output the signal and return path must be wired correctly This manual will explain how to wire the following signals e Analog Reference Input 24V Step amp Direction Command e Encoder Following e Digital Inputs 1 and 2 To wire the other inputs outputs use the block diagram on the drive datasheet to visualize the correct wiring Command Signal
19. the Motor Velocity Measured waveform on the oscilloscope and match the Motor Velocity Target as closely as possible The Feedback Filter Cut Off Frequency can be used to smooth the response 13 When tuning is complete disable the drive with the Enable Disable Drive icon B and select Not Connected on the Waveform Generator 14 the Menu Bar select Drive gt Store to Drive or click the Store Settings icon m then OK to store parameters to the drive nonvolatile memory Note the Velocity Loop is now sufficiently tuned For Position Mode applications proceed to Position Mode configuration page 30 For Velocity Mode applications continue onto the next page to configure the command source SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Configuration Velocity Mode Integrate QuickStart into your System Velocity Loop Command Profiling Optional The command profiler can be used to limit the acceleration and deceleration from step input commands The command profiler provides independent control of acceleration and deceleration in both the positive and negative velocity directions 1 From the Main Block Diagram open the Command block Command Settings d Command Source Command Profiler al T Negative Velocity Acceleration 1 9661 01 Jens al Di Mau D
20. to O To set the Measured Position to zero briefly pull Digital I nput 2 to signal ground A switch or push button can be wired here for convenience 9 Open the Waveform Generator Drivevrare Drive Tools Settings View Window Help EE amp 10 With the drive still disabled use the Waveform Generator to establish Square wave into the Position Loop with amplitude of 1000 to 1500 counts The frequency should be slow enough to allow the motor to settle into position e g 1 2Hz Decimal values for the frequency can be set for very heavy machines If the waveform generator shows a large offset use Digital Input 2 to set the measured position to O briefly pull pin 12 to pin 2 on the SIB Then click the Set To Measured Position button The offset should now read 0 Continued Sold amp Serviced By SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com ol Configuration Position Mode V Integrate QuickStart into your System 11 Open the oscilloscope ER and set it up as follows a Set Channel 1 to Motor Position Target and Channel 2 to Motor Position Measured Set the scaling on these channels to 500 counts div b In the Trigger area of the scope use the Change button to set Motor Position Target as the Trigger Source at a level of zero Counts Up Slope 12 Set the Trigger Mode to Normal Change the Time
21. 25000 ingle Wires Single Wires S 1012 0 com Sold 8 Serviced 877 378 0240 877 378 0249 sales servo2go com Toll Free Phone Toll Free Fax www servo2go com Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com System Interface Board SI B D ml m 12 3 4 5 6 7 8 9 101112 13 4 14 15 16 17 18 19 20 21 22 23 24 25 26 C3 Pin Functions ET PDO 1 C4 15 Pin Dsub 2 OUTPUT C1 Shell N HD Female 0 2 N C2 Shell NI 5 6 7 9 10 11 12 13 14 15 e APAI 14 1 7 SGN GND sr 8 4 4 9 PDI 5 ES IRR 10 PDO 3 a al wa 11 mmm ITI eme a ze a Je oe C3 12 PDI 2 A Ge 2 U 13 PDI 3 2 2a poo 14 14 e 15 NPUT COMMON pue ost 16 SGN GND 16 711 717 mm 55 18 5 19 01 7 2 2 22 22 20 ENCODER 23 mum 23 24 24 21 ENCODER js 22 ENCODER B 26 s Sold amp Serviced By SERVO
22. 4 and the other to pin 11 With this configuration opening the switch Enables the drive closing the switch Disables the drive 24V User nterface and RS232 Cable The user interface and RS232 Cable should not be hooked up for the 5 Minute QuickStart procedure Cautions Unexpected motion To prevent the motor from jumping unexpectedly and causing damage the motor should be secured either with clamps or bolted down using its mounting holes Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com cKSta 2 lm 5 Minute QuickStart BL3410E2 D04 AC120 Cables and Connections User Power 120VAC 015 400 USER SUPPLIED CONTROLLER PLC Stand Alone Controller RS232 USER INTERFACE Do not ground both this wire and the motor case Grounding both will cause a ground loop Choose one or the other CBL D03 CBL P05 10 CBL F02 10 System Interface Board SIB innl Ground Bring all ground Caution de connections to a central point The motor will move on initial or common plane that has solid power up See the manual to contact with Earth ground remove offset Note Actual cables are longer than they appear in these images _s MBL3410E2 Sold amp Serviced By E AD VANCED
23. Div to 20msec z Digital Scope i Motor T angel cni Z Molo Position Mesures DIREKT cri lt lt Source Loo Pore Target on Horizontal Locale 55 EY Time ON cmm 13 Enable the drive by clicking the Enable Disable Drive icon 14 Use the Proportional Gain and Integral Gain sliders to adjust the Position Measured waveform on the oscilloscope to achieve the desired response Use the arrow buttons for fine tuning Take care not to over tune the system This can result in excessive vibration and audible noise Postion Loop Pinter Lode Here Eeselen Panton Feedback Pean Loop E nabied Fropcrton hais D _ Indeed DH Gar 0 Vakit Gn _ Acceleration Feedionwand Gan 0 I p dm dm dm Sold amp Serviced By SERVO 567 tuning is complete disable the drive and select Not Connected the aveform Generator Close the Waveform Generator Oscilloscope and Position Loop Toll Free Phone 877 378 0240 Toll Free Fax 87 sales Menu Bar select Drive gt Store to drive or click the Store Settings icon then OK to store parameters to the drive nonvolatile memory Configuration Position Mode Integrate QuickStart into your System Command Source Selection 1 I
24. EISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com
25. MANO SD BL3410E2 DO4 AC120 Plug n Play Servo System with digital drive brushless motor and cables 10 5 6000 rpm SERVOEISO om Toll Free Phone 877 378 0240 lode AD VA t MOTION CONTROLS Sold amp Serviced Thank you for purchasing this QuickStart package QuickStart makes it easy to set up Advanced Motion Controls drives to get your system running quickly The drive and motor have been matched with each other the cables are custom made for this system and an interface board simplifies integration with your controller Remember if you need us we are here for you Our goal is to get you up and running as quickly as possible If at any point you have a question a team of applications engineers and our customer service staff are just a phone call away We are available weekdays from 8am to 5pm Pacific Time at 805 389 1935 We can also be contacted via email through our website www a m c com go to Contact Us 4 steps to success 1 2 3 4 Getting Started 5 Minute ntegrate Going into What s included with QuickStart QuickStart into Production QuickStart and what Lets spin the motor your System Transitioning from to expect Get your machine prototype to working production This manual has been laid out in four sections to guide you through the process of setting up and integrating your QuickStart system By following each step in succession you will fir
26. Motion Controls The motors in these packages are meant to represent what is commonly available from many different manufacturers Your local Advanced Motion Controls representative can handle requests for motor model information for additional purchases How is QuickStart pricing important to me Careful selection of systems incorporate popular Advanced Motion Control s servo drives in order to maximize exposure and minimize costs What other considerations should you know about QuicksStart Although it will be hard to find easy to configure systems like these at lower prices anywhere QuickStart isn t intended for multiple pre packaged system selling Initial exposure to Advanced Motion Controls drives is the key Each project will be followed up by our Sales department to determine overall progress and assist in determining the next step Ey SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com 1 m Getting Started Package Contents Checklist DPRAHIE 015N400 MBL3410E2 System Interface Board SIB CBL F02 10 CBL P05 10 Drive Cable 1 5 foot CBL DO3 RS232 Communication Cable CBL RS232 Quick Connect Sheet Documentation User Manual Brochure with CD ROM Additional Requirements Item 4 Notes y Requirements 120VAC 60 Hz Single Phase or 208VAC 60 Hz Three Phase Acceptable Operating Range 40 250 VAC Power Source Single Phase or Three Ph
27. Not Connected ei Square Current Loop See Trang Bel Lorene Lace Velocity Loop 7 With the Waveform Generator establish a Square wave into the Velocity Loop with an amplitude of approximately 1096 of the expected motor speed during system operation Set the Frequency low enough so the motor has enough time to reach the commanded velocity but high enough to prevent the system from reaching any mechanical limits on the machine e g 1 3Hz Note The accuracy of velocity loop tuning is dependent on the quality and resolution of the velocity feedback Sources with relatively low resolution or higher noise will require tuning at a higher velocity in order to overcome the effects of these limitations It is best to experimentally determine the optimum tuning setup 8 To open the digital oscilloscope select Tools gt Oscilloscope or click the Oscilloscope icon m Use the help files in the DriveWare software for detailed instructions on how to use the oscilloscope In the menu bar go to Help gt AMC DriveWare Help gt Help gt Help Index Use the digital scope Set up the oscilloscope as follows a Set Motor Velocity Target to channel 1 and the Motor Velocity Measured to channel 2 b Set the Trigger Source to Motor Velocity Target at a level of zero RPM Up Slope Sold amp Serviced By Fa SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2g
28. Ware Help files 5 Oo ow a m c com Faw 87 370 0heChnical Assistance via phone 805 389 1935 Technical Assistance via e mail techsupport a m c com WWW Servo2d0 com Sold amp Serviced By Sold amp Serviced By Configuration Velocity Mode Integrate QuickStart into your System Velocity Mode Your QuickStart drive is already in Velocity Mode however the velocity loop has been tuned for the unloaded motor Velocity Loop tuning is dependent on the system mechanics and inertia therefore for best performance the Velocity Loop must be tuned with the motor installed in the system and coupled to the load Velocity Loop Tuning 1 Verify that the drive is disabled B 2 From the Main Block Diagram select the Velocity Loop block Block Diagram 2 ADVANCED A MOTION CONTROLS ot Af mm tem E HT NE Inputs Outputs Fvent Manager 2 1 2 Drive Status Command Position Current Commutation Motor Fdbk 3 In the Velocity Loop window click the Limits button to open the Velocity Limits tab in Limits amp Options SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Configuration Velocity Mode ntegrate QuickStart into your System Velocity Loop Velociy Loop Velocity Feedback H Velocity Loop Enabled Propoltonal Gan
29. above tables The proper gains and command settings must also be configured using the DriveWare Software Software configuration is explained later in this section SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By Wiring 2 Integrate QuickStart into your System Drive I nhibit recommended The inhibit line is used to turn off power to the motor while the drive is still powered on Sometimes this is necessary if power to the motor needs to be removed quickly or if the user needs to manually move the load in a freewheeling condition your controller has an inhibit function then we highly recommend that you use it I nhibit Connection Controller SIB C3 11 PDI1 Input Common Note The inhibit input is configured to disable the drive when pulled low active low The control logic can be inverted by setting it to active high in the DriveWare software Feedback The feedback on the motor is an incremental encoder with two Channels A and B and an Index I The signals are differential but are compatible with single ended circuitry simply leave the complimentary signals open A B The resolution is 10000 counts per revolution quadrature Power Requirements Encoder power is supplied by the drive 5VDC 9 125 The screw terminals on the System Interface Board SIB provide
30. ase Supported Command I nputs 10V command signal Step and Direction 24V Encoder Following electronic gearing Windows PC Computer with serial port to run the DriveWare software for drive configuration Controller Sold amp Serviced By Ca SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com 2 im 5 Minute QuickStart Let s spin the motor This quick setup procedure will get the motor moving in a short amount of time without the need for a controller The drive has been pre configured for velocity mode with a slight offset This will turn the motor at a slow steady speed on power up to demonstrate operation Once the system is shown to be operational the next section I ntegrating QuickStart into your System will guide you through the process of integrating the system into your application Wiring On page 7 you will find the cables and connections sheet Use this as a reference when following the steps in this section Drive Connect either end of cable CBL D03 to the 1 0 connector on the drive Connect the other end to the C2 connector on the system interface board SIB Feedback CBL F02 10 is the feedback cable Connect the black connectors and shield drain wire on this cable to the corresponding connectors on the motor Connect the 15pin D sub end of this cable to the Feedback connector on the Drive Motor and System Power Connect the white
31. ded from the Advanced Motion Controls website at http www a m c com content support categories dprs232 html The basic setup of DigiFlex servo drives is designed to be user friendly These instructions will walk you through the steps necessary to configure your drive to your system gt Connect to the drive Configure the drive mode Torque e Velocity Set Velocity Limits e Position Set Position Limits Save your project often to the Projects directory For topics not covered in this guide assistance is available through any of the following e DriveWare Help files WWW a m c com Technical Assistance via phone 805 389 1935 Technical Assistance via e mail techsupport a m c com Note Complete software documentation can be found on the Advanced Motion Controls website under Support DigiFlex Performance Series RS232 RSA85 Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com vickStan 3b Configuration x Integrate QuickStart into your System Connect to the Drive 1 Install the AMC DriveWare software onto your PC Follow instructions to assure complete installation Connect an available RS 232 communications port on your PC to the serial interface on the drive Use the cable provided with your QuickStart system If desired connect the Inhibit Enable circuit as described in the Quic
32. e drive is in position mode No Command sets Position Target equal to the Position Measured Enable Disable The drive can be enabled and disabled by clicking the Enable Disable icon in the toolbar If you are using an external inhibit switch the icon cannot override it In this case to enable both the switch AND the Enable Disable icon need to be set to Enable H You are now ready to configure the drive for your system Torque Mode Velocity Mode Position Mode Page 18 Page 22 The Velocity loop must be tuned first Page 22 SERVOEILO om Then the drive can be set in Position Mode Page Toll Free Fax 877 378 0249 3 O sales servo2go com www servo2go com Configuration Torque Mode Integrate QuickStart into your System Torque Mode Your QuickStart drive has been configured in Velocity mode To change to torque mode simply disable the Velocity loop 1 In the block diagram click on the Velocity Loop block ADVANCED MOTION CONTROLS em D e gt Inputs Outputs Event Manager Drive Status Command Position Commutation Motor Fdbk 5014 amp gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com QR 3b Configuration Torque Mode ntegrate QuickStart into your System 2 This opens the Velocity Loop screen To disable the velocity loop uncheck the box that sa
33. e drive select Drive Store to drive or click the Store Settings icon then OK to store parameters to the drive nonvolatile memory Note Some PC s may not communicate reliably at higher baud rates If increasing the communications baud rate results in communications errors use a lower rate UriveWare rj Black Diagram ly ADVANCED MOTION CONTROLS Command Position The Block Diagram window gives access to the servo drives setup parameters Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By Toll Free Phone 877 378 0240 Orie 3b Configuration I ntegrate QuickStart into your System Drive Mode Configuration The drive has been configured with an offset to make the motor turn without a command Before you configure the drive remove the offset so the motor doesn t keep turning In the Block Diagram select the Command block l Select No Command Command Settings D Command Source Command Prafiler Select command source WnalogInput 7 Step And Direction m C Interface Input 1 C Encoder Following EJ C Command C Comm Channel Cancel Apply Help 2 Click OK on the Command Source window Note No Command 15 a non operation input source that prevents sudden motion If the drive is in velocity or current mode No Command will always provide a command of zero If th
34. easy access to the encoder signals Encoder connection to your controller Channel A4 C3 20 Channel A C3 21 To properly detect the encoder signals the Signal Grounds on the servo drive and controller need to be connected SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com yickSta 3 a Wiring c N Integrate QuickStart into your System Drive Mounting Mounting Dimensions can be found in the drive datasheet in the Appendix The drive can be mounted flat against the base plate or along the spine Mounting the drive flat on the base plate against a large thermally conductive surface for cooling will provide the most natural heat dissipation for the drive A metal back plane in a cabinet on the machine often makes a good surface Drives mounted on the spine can be mounted next to each other Maintain a minimum separation of 1 inch between drives to provide adequate convection cooling Note Additional cooling may be necessary to dissipate the heat generated by the drive depending on the ambient temperature duty cycle and natural ventilation Motor Mounting Mounting Dimensions can be found in the motor datasheet in the Appendix The mounting surface must be stiff enough so it does not deflect when radial loads are applied to the motor shaft The mounting surface should also have good thermal conductivity especially if peak performance
35. eceleration UT 2 Activate check box for Command Profiler Enabled 3 Using the slider bars or numerical entry enter the desired acceleration values Independent values can be entered for both acceleration and deceleration in both the positive and negative directions Click OK when done positive I Positive velocity acceleration Positive velocity deceleration III Negative velocity acceleration Sold amp Serviced By negative Iv Negative velocity deceleration ee 5 Toll Free Phone 877 378 0240 Toll Free Fax 877 37B 0249 sales servo2go com www servo2go com Configuration Velocity Mode I ntegrate QuickStart into your System Command Source Selection 1 In the Block Diagram window select the Command block MEET 2 Select Analog Input 1 Click OK to accept the selection and close the window Note No Command is designed to be a non operation input source If the drive is in velocity or current mode No Command will always provide a command of zero Sold amp Serviced By Jl SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Configuration Velocity Mode VA Integrate QuickStart into your System Analog Input Scaling 1 Set the analog command scaling as follows a b d e In the Block Diagram window select the Inputs Outputs block
36. iced By sales servqd2go com WWW Servo2deemee Quick Start Motor ENCODER 2500 lines revolution 8000 RPM 0 250 0 0000 0 0005 0 007 TIR 0 030 Carbon Fiber Composite case ground via cable 15 conductor cable 28 AWG 18 long 1 812 Bolt Circle 1 5 x 10 oz in s 1 x 10 Radians s 1 0 Arc Minutes RADIAL SHAFT MOVEMENT AXIAL SHAFT MOVEMENT HOUSING TERMINATION MOUNTING MOMENT OF INERTIAL ACCELERATION ACCURACY Mechanical OutlIne 30 ROTATION CW ROTATION FOR 87 1 OUTPUT WAVEFORMS E ME ELECTRICAL 160 ELECTRICAL 102 OUTPUT H xc OUTPUT A orure LU LE LE LI Sold amp Serviced By i JSU U UUU 90 ELECTRICAL OUTPUT I Y LO 877 378 0240 Toll Free Fax 877 378 0249 OUTPUT AWG WITH LONG CLOCKWISE SHAFT ROTATION Sales serv02g0 COMWcoper CABLE 28 WWW Servo2go com40 FOIL SHIELD 18 Quick Start Cable CBL D03 DRIVE CABLE WIRING SPECIFICATIONS CABLE CBL D03 Side 1 Drive Side 2 SIB ontact Wiring Scheme Wire Color ontact Single Wire red black ingle Wire pink ingle Wire blue in le ire blue white ingle Wire black in le ire black white ingle Wire orange ingle Wire orange white ingle Wire orange black ingle Wire white ingle Wire ingle Wire ellow black 1 0 102
37. items that are readily available Drives can be ordered directly from us and we can put you in touch with the appropriate motor supplier If your servo system requires a drive that better fits your application such as e Additional features e Different power range e Smaller size e Different form factor such as plug in style drives e Network connectivity Then an ADVANCED Motion Controls applications engineer can help optimize your system by selecting the best drive for your needs Our local representatives can also help you with the selection of motors and other system components such as cables gear boxes slides bearings and more Feedback Your feedback is important to us Your comments can make QuickStart better and help us improve our processes technical support customer support and product offering Please go to www a m c com and select Contact Us Fa SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com 5 Appendix A System Specifications B Drive C Motor D Cables E System I nterface Board Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com System Specifications 21 1 Ib in 2 38 Nm
38. kStart User Manual Apply power to the drive Launch DriveWare to start the setup software At the opening screen select Connect to a drive and click OK Za l Open an existing project NJ pr 7 Use the default settings COMI 9600 Note If this doesn t work select Auto Detect then Start Scan Once the drive is found select Apply Settings then Connect Interface Settings Drive Address 53 Serial Baud Hate 9600 Exclusive Control Auto Detect Communication Interface Cancel Help Sold amp Serviced By SERWO oM OU are now connected to the drive The status indicator on the bottom right corner Toll Free Phone 877 378 fothe screen should indicate CONNECTED Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By SERVOEISO om 4 Configuration I ntegrate QuickStart into your System 8 For the best performance when running network intensive applications such as the real time oscilloscope you should increase to the highest baud rate available for your system To change the RS 232 communications baud rate you must first be connected to the drive then follow these steps a On the Menu bar select Communication Connect or click the Connection Settings icon b Select the new baud rate c Click OK to set the new baud rate d To save the settings in th
39. me Description Notes Differential Encoder A Channel Input For Single Ended Signals Use Only The Positive npuy 6 MOTENCB Differential Encoder B Channel Input For Single Ended Signals Use Only The Positive ip Differential Encoder Index Input For Single Ended Signals Use Only The Positive Input 10 11 12 SGND 13 14 15 Sold amp Serviced By SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com AADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 I O Signal Connector Pin Description Notes 1 Isolated Programmable Digital Output OUTPUT COMMON Digital Output Common PDO 2 Isolated Programmable Digital Output a REFS Differential Programmable Analog Input or Reference Signal Input 16 bit Resolution U Programmable Analog Input 12 bit Resolution 7 SGN GND Signal Ground SGND OUTPUT PULL UP Digital Output Pull Up For User Outputs v Isolated Programmable Digital Input PDO 3 Isolated Programmable Digital Output PDI 1 Isolated Programmable Digital Input PDO 4 Isolated Programmable Digital Output 15 INPUT COMMON Digital Input Common Can Be Used To Pull Up Digital Inputs IGND 1 PDI 2 Isolated Programmable Digital Input 6 SGN GND Signal Ground SGND PDI 3 Isolated Programmable Digital Input PDI 4 STEP Isolated Programmable Digital Input or Step PDI 6 DIR Is
40. n the Block Diagram window select the Command block Command Settings un Tog Xx Command Source Command Profiler Select command source 2 Select the command source appropriate for your system Step and Direction and Encoder Following are the easiest to set up for position mode 3 Accesses additional parameters by clicking the ellipsis button set the step and direction or encoder following scaling 4 Click OK on the Command Source window Note No Command is designed to be a non operation input source If the drive is in velocity or current mode No Command will always provide a command of zero If the drive is in position mode when the command is set to No Command the drive sets Position Target equal to the Position Measured to prevent sudden motion Further assistance is available through any of the following DriveWare Help files e WWW a m c com Technical Assistance via phone 805 389 1935 Technical Assistance via e mail techsupport a m c com Sold amp Serviced By SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold amp Serviced By 4 4 m Going into Production Prototype to Production Once you have completed your proof of concept you will be ready to design for production If you decide that the QuickStart drive and motor are perfect for you then you re in luck Both are popular off the shelf
41. o com Configuration Velocity Mode 7 ntegrate QuickStart into your System 9 To keep the signal from jumping around set the Trigger Mode to Normal 10 Enable the drive by clicking the Enable Disable Drive icon Digital Scope Sold amp Serviced By Ca SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com UU rev min 0 0000 severa Motor Velocity T ao 100 resmim Motor Velocity Messuwed 100 rev min Tngger Source Motor Velocity Target Slope Mode Homa eu i __ ac soul Y E 4 2 j Level 0000 rewimn HorizortalLocaion 208 J LI Sold amp Serviced By Configuration Velocity Mode ntegrate QuickStart into your System 11 The desktop should be arranged so the oscilloscope is visible while adjusting the tuning values and waveform generator Results vary depending on screen mu rns pang Wem Dep SN Sat Dad ci bici Vinnie Tenge SORE V deen ess bna ge deen J Source H Target Ties Te IT Fiber Freq 575 S82 Leen S paid moie Td Sch D Seng COM AID 12 Use the Proportional Gain and Integral Gain sliders or arrow buttons to adjust
42. olated Programmable Digital Input or Direction PDI 7 CAP 1 Isolated Programmable Digital Input or High Speed Capture 20 ENC A OUT Buffered Encoder Channel A Output 21 ENC A OUT ENC B OUT Buffered Encoder Channel B Output ENC B OUT 1 OUT Buffered Encoder Index Output ENC l OUT SGN GND Signal Ground gt e 2 2 2 2 2 2 2 3 4 5 6 1 Power Connector Description Notes MOTORA Motor Phase A MOTOR B Motor Phase B MOTOR C Motor Phase C Internal DC Bus Voltage Can Be Used To Connect External Shunt Regulator AC Supply Input Single or Three Phase LE e U BR Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com AADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 HARDWARE SETTI NGS Switch Functions Switch Description Borg On Bit 0 of binary RS 485 drive address Does not affect RS 232 settings Bit 1 of binary RS 485 drive address Does not affect RS 232 settings Bit 2 of binary RS 485 drive address Does not affect RS 232 settings Bit 3 of binary RS 485 drive address Does not affect RS 232 settings 1 2 3 4 5 Bit 5 of binary RS 485 drive address Does not affect RS 232 settings 7 of drive RS 485 baud rate setting Does
43. ooling System Natural Convection Form Factor Stand Alone IP Rating IP10 AUX ENCODER Connector 15 pin high density male D sub COMM Connector 9 pin female D sub FEEDBACK Connector 15 pin high density female D sub Connector 26 pin high density female D sub P1 Connector 8 port 7 62 mm spaced enclosed friction lock header Notes l operate on single phase 120 240 if peak cont current ratings are reduced by at least 30 2 Lower inductance is acceptable for bus voltages well below maximum Use external inductance to meet requirements 3 Additional cooling and or heatsink may be required to achieve rated performance Sold amp Serviced By SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com AADVANCED MOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 PIN FUNCTI ONS AUX ENCODER Auxiliary Feedback Connector Name Description Notes RESERVED R R 7 SGND SGND Signal Ground SGND 5V Encoder Supply Output Short Circuit Protected Differential Programmable Analog Input 12 bit Resolution COMM RS232 RS485 Communication Connector Description Notes SELECT RS232 485 selection Pull to ground CN1 5 for RS485 RS232 TX RS485 TX Transmit Line RS 232 or RS 485 lt IGND Transmit Line RS 485 Receive Line RS 485 FEEDBACK Feedback Connector Pin Na
44. plished using DriveWare available at www a m c com All drive and motor parameters are stored in non volatile memory Four quadrant regenerative operation 4 PIDF velocity loop 4 Space vector modulation SVM technology 4 PID FF position loop 4 Fully digital state of the art design 4 Compact size high power density Programmable gain settings 16 bit analog to digital hardware Fully configurable current voltage velocity and position limits MODES OF OPERATI ON I NPUTS OUTPUTS Current 3 High Speed Captures Position Programmable Analog Inputs 16 bit 12 bit Velocity Resolution COMMAND SOURCE Programmable Digital Inputs Differential Encoder Following Programmable Digital Inputs Single Ended 10 V Analog Programmable Digital Outputs Single Ended 24 V Step 6 Direction COMPLI ANCES amp AGENCY APPROVALS FEEDBACK SUPPORTED RoHS Halls UL cUL Pending Incremental Encoder Pending 10 V Analog Auxiliary Incremental Encoder Sold amp Serviced By SERVOEISO om Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com MADVANCED ZAMOTION CONTROLS DigiFlex Performance Servo Drive DPRAHI E 015N400 BLOCK DI AGRAM CONTROL MODULE PDI 1 2 3 4 5 6 7 Ss 10k STEP DIR CAP 1
45. re subject to change without written notice Actual product may differ from pictures provided in this document Quick Start Motor MBL3410E2 BRUSHLESS SERVO MOTOR FEATURES 3 25 Inch NEMA 34 w Heavy Duty Shaft Continuous Torques up to 11 56 Ib in opeeds up to 6000 rpm Voltage Rating up to 170 Vdc Integrated Hall Effect Commutation 30 Lb Radial Load Capacity 1 2 from Front Face High Precision Optical Encoders 10000 count SPECIFICATIONS SPECIFICATIONS CONTINUOUS TORQUE PEAK TORQUE SPEED RATED VOLTAGE RATED VOLTAGE CONTINUOUS CURRENT 4 PEAK CURRENT TORQUE CONSTANT 0 159 1 41 VOLTAGE CONSTANT RESISTANCE NDUCTNACE NERTIA WEIGHT MOTOR CONNECTIONS MOTOR CONNECTOR PIN COLOR FUNCTION AMP PIN 1 480702 0 PHASE CONTACTS AMP PIN PHASE S 350550 1 OR EQUIV ES 3 PHASE T SENSOR CONNECTOR IN 430 02 i 061 CONTACTS MOLEX P N 43030 0002 OR EQUIV AMP CONNECTOR P N 103650 7 OR EQUIVALENT ENCODER LEADS 28 AWG 18 LONG SHIELDED CABLE 4 BARE SHIELD TO CASE 18 MOTOR SHIELDED MIN CABLE 16 5218 THRU 4 EQ SPD AS SHOWN ON A 3 875 B C PIN COLOR FUNCTION L1 RED 2 BLACK GROUND BARE SHIELD ENCODER CONNECTIONS wnmrE oureur amp ourrurg DEE oureurm teas d PN soda Sold amp Serv
46. s Velocity Limi Position Limits InHome Position window bo Count Wrong 100 Court Fol E noc Windia Count Home Position Value Count Value Cant Max Measured Position Limit Count w Disable Ponson Limits Min Measured Poison Limit 214 7483547 Cort Target Postion Lime 2147483647 Coui Sold amp Serviced By eae c ip Taga Positice Limit 2147483647 Count SERVOP4GO com Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales www servo2go com PENX 3b Configuration Position Mode ntegrate QuickStart into your System 6 If appropriate for your machine enter values for the Max and Min Target Position Limit or leave the limits disabled 7 Set the Measured Position Value to zero 0 counts 8 Click OK to accept values and close Limits amp Options Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Configuration Position Mode Integrate QuickStart into your System Note The drive has been configured to disable due to a following error if the Measured Position doesn t match the Target Position A large following error is likely if you have been running the motor in Velocity mode and then switched to Position mode For your convenience Digital Input 2 12 on the SIB has been configured to set the Measured Position equal
47. signals are not accessed through the SIB System Interface Board Rather they are accessed directly from the Auxiliary Feedback Connector labeled Aux Encoder on the drive Aux Feedback Available Controller Connector on Drive Mode Drive Channel A Pin 4 PDI8 Channel A Pin 5 PDI8 Position Mode Channel B Pin 6 PDI9 Channel B Pin 7 PDI9 10 11 12 Signal Ground SGND For a single ended command signal leave Channel A and Channel B disconnected More I nformation on Mode Selection Drive modes can be separated into three basic categories Torque Velocity and Position The name of the mode describes what servo loops are being closed in the drive They don t describe the end result of the operation For example a drive in Torque mode can still be in a positioning application if the external controller closes the position loop In fact most high performance positioning systems use a drive in torque mode with the controller closing the velocity and position loops The correct mode is determined by the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Once the command signal and mode have been selected connect the controller to the signals as indicated in the
48. st be introduced to QuickStart then hook up the system for a simple bench test and then integrate QuickStart into your machine and finally transition into the production stage Ca SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Sold 8 Serviced By 1 Getting Started BL3410E2 D04 AC120 What to Expect What is QuickStart QuickStart is a system offering including a drive a motor all necessary cables and an interface board with screw terminal connections all in one box ready for fast delivery What purpose does QuickStart serve QuickStart is intended to introduce OEMs to Advanced Motion Controls servo drives and provide a positive first experience Why is Advanced Motion Controls offering a QuickStart package We realize that many OEMs today are faced with trying to get their machinery to market using the fastest possible methods Our solution is to provide a means by which motion control can be quickly proven How does QuickStart benefit new users QuickStart is designed to make system prototyping easier to include Advanced Motion Controls servo drives The attraction to OEM s is a savings of time money and the personnel needed to move from conception to production Preconfigured wiring means you can have the motor turning within 5 minutes of opening the box Are the motors available for individual resale Quite simply not from Advanced
49. tion If the e nec gie is Ml velocity or current mode No Command will always provide a command of zero DH drive is in position mode No Command sets Position Target equal to the Position www Measured Sold amp Serviced By Qeon 3b Configuration Torque Mode d Integrate QuickStart into your System Analog Input Scaling 1 Setthe analog command scaling as follows a In the Block Diagram window select Inputs Outputs ADVANCED MOTION CONTROLS Inputs 7 Outputs et Li 1 BLS Event Manager Position b Set the desired scaling e g Amps Volt for Analog Input 1 LAO Configuration Analog Inguls Analog Outputs Digital inputs Digital Outputs Analog Input 1 Current Loop Um iV Orset 000 Vale 000 0 m Not Assigned Im Dat DOO y Vale 005 2 Amaye 1 00 D ser 000 wy Vale 009 Jeadband ZE mv o tee e The Polarity of the signal can be changed by setting the scaling value to a negative number The offset voltage and deadband can also be set from this screen c Click Apply or OK to set any modified values 2 On the Menu Bar select Drive Store to drive or click the Store Settings icon then OK to store parameters to the drive nonvolatile memory 3 The Analog Input may now be used to apply a current command to the drive Further assistance is available through any of the following Drive
50. ys Velocity Loop Enabled Click OK Velocity Loop Velocity Loop Velocity Feedback Proportional Gain EN ESI E E Integral Gain Derivative Gain Gain Feedback Filter Cut Off Freq 373 8562 Low Speed Smoothing i 3 6814 Sold amp Serviced By gem SERVOEISO com Toll Free Phone 877 378 0240 Toll Free Fax 877 378 0249 sales servo2go com www servo2go com Qeon 3b Configuration Torque Mode d Integrate QuickStart into your System SE Block Diagram i ADVANCED MOTION CONTROLS iH BI E E NECS Inputs Outputs Event Manager Drive Status Command Position Motor Fdbk Notice that the symbols in the Velocity Block have changed The feedback arrows no longer extend into the block and the 1 indicates that the velocity loop is disabled and is set to unity gain Command Source Selection for Torque Mode In the Block Diagram window select the Command Source block Command Settings m T Command Saurce Command Profiler Select command source f Analog Input gt l Step And Direction Interface Input 1 EM C Encoder Following E C D i kal C Command C Comm Channel Cancel Apply Help 1 Select Analog Input 1 SER Command is a non operation input source that prevents sudden mo

User Manual BL3410E2-D04

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