Manual Servo - TFMxx2 - LEAG Antriebstechnik AG
Contents
1. 22K bh 0 1 TACHO gt 10K IC56 IC55 100K 100K 10K gt tK 170K 100K P4 P3 P6 P5 P8 P7 y SPEED CONTROLLER Seite 12 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG A Step by step carry out the step 4 1 B Connect the TFMxx2 After switch on the power the following requirements have to be fulfilled L2 intermediate circuit voltage green has on after 3 seconds II L3 no fault green activated after step I with a small delay III After step Il only L2 and L3 have on The other LED s have to be inactive C Have special attention during the first put into operation WARNING To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area e g machines or electric equipment the following instructions have to be carried out step by step Equipments to detect end touches and other security elements and cooling equipment have to be installed controlled and tested II To check the polarities is a requirement for correct operation of the TFMxx2 LEAG Antriebstechnik AG No signal at the Control Voltage Input OV between the two connectors Switch on the Enable Input high signal to set up the function of TFMxx2 After step Il b the motor speed has to be very slow offset or Zero If the motor acce2. Control Input or the Enable Input in security loops Seite 9 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert x STI 6c CONTROL INPUT ST1 6a 10K ST1 10a GND ST2 1 TACHO ST1 10a TACHO GND QO STZ 18 100K ST1 12a ST2 12 ST2 10 O ENABLE INPUT STI 12c STI Ha I STI 2 e STI 23 5 LEAG Antriebstechnik AG x 7 NO FAULT A Seite 10 von 17 grubenstrasse 92 OVERTEMPERATURE OVERCURRENT POWERSUPPLY PROTECTION ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail eag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 4 OPERATING OF TFMxx2 DANGER Possibility of an electric shock The nonobservance of the instructions and the precautions on safety written down in this manual shall produce immediately and imminent danger for life and limb or for the TFMxx2 or an object in its area The handling including mounting installation and operating has to be carried out by well trained and instructed personal Measu
3. manufacturers preadjustment NOTICE It is not allowed to increase the continuous current 2 1 9 Current Monitor 1C53 IC54 Pin14 To monitoring the current signal during adjustment connect an oscilloscope to 1053 1654 Pin14 NOTICE The output of the integrated circuit is laid out for small loads only 3 MOUNTING AND INSTALLATION WARNING To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area the instructions and the precautions on safety written down in this manual have to be red and fulfilled before mounting installation and operating the TFMxx2 3 1 Principles There are no influences EMC between two or more TFMxx2 which are mounted in the same case e g a rack or the like To protect the operator and to reduce the emission of electromagnetic radiation EMC the case e g a rack or the like has to fulfil the following requirements each part and each part to the other electrically conducting preferably FE alloy connected to earth protection against electric shock Before mounting installation and operating the case has to be in compliance with the international and the national standards DANGER To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area all units have to be protected against electric shock Seite 7 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0
4. 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 3 2 Mounting DANGER Possibility of an electric shock Mounting and disassembly have to be carried out without electric power To discharge the condensators the operator has to wait 2 minutes after switch off the power before disassembly e g a TFMxx2 unit Preferably use a rack system to integrate the TFMxx2 see also 3 1 For the optimal connection in applications different standard back planes are available The back planes are compatible with the DIN41612 BAUFORM D DANGER To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area all units have to be protected against electric shock Before mounting installation and operating the case has to be in compliance with the international and the national standards Seite 8 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 3 3 Installation DANGER Possibility of an electric shock Mounting and disassembly have to be carried out without electric power To discharge the condensators the operator has to wait 2 minutes after switch off the power before disassembly e g a TFMxx2 unit For the optimal connection in applications preferably use the standard back planes The back planes are co
5. A R53 R54 eo c58 a a 5 0 C57 N e fe I Q R51 R52 O n I R55 R56 i I S Ir O O m O O GR O8 D en O Ll a 25 ST2 1 name element axle1 axle2 1 Speed potentiometer P2 Pi 2 Speed Controller Gain potentiometer P4 P3 3 Current Limit potentiometer P6 P5 4 Offset potentiometer P8 P7 5 Integration Rate Speed Controller condensator C58 C57 6 Control Voltage resistor R52 R51 7 Fix Speed resistor R54 R53 8 Continuous Current resistor R56 R55 9 Current Monitor Pin14 IC54 1C53 Seite 5 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 2 1 1 Speed P1 P2 To adjust the relation between the actual value actual speed and the related value control voltage Turning the potentiometer clock wise results in a lower damping of the signal e g low speed To increase the range see 2 1 6 R51 R52 2 1 2 Speed Controller Gain P3 P4 To adjust the gain of the Speed Controller Turning the potentiometer clock wise decreases the high frequency gain NOTICE To ward off destruction of the motor warm up doe carefully adjust the gain 2 1 3 Current Limit P5 P6 To adjust the peak current Turning the potentiometer clock wise to the end touch results in the maximum peak current Turning the potentiometer counter clock wise decreases the peak curr
6. Antriebstechnik AG USER S MANUAL DC SERVO DRIVER TFMxx2 0 PRECAUTIONS ON SAFETY DEFINITIONS 1 INTRODUCTION 1 1 Performances of TFMxx2 1 2 Circuitry 1 3 Mechanical Construction 2 POSSIBILITIES OF ADJUSTMENT 2 1 Devices for Adjustment 2 1 1 Speed P1 P2 2 1 2 Speed Controller Gain P3 P4 2 1 3 Current Limit P5 P6 2 1 4 Offset P7 P8 2 1 5 Integration Rate Speed Controller C57 C58 2 1 6 Control Voltage R51 R52 2 1 7 Fix Speed R53 R54 2 1 8 Continuous Current R55 R56 2 1 9 Current Monitor 1C53 1C54 Pin14 3 MOUNTING AND INSTALLATION 3 1 Principles 3 2 Mounting 3 3 Installation 4 OPERATING OF TFMxx2 4 1 Before Power On 4 2 Put into Operation and Adjustment 4 3 To take into Account 5 TROUBLESHOOTING 6 DECLARATION Seite 1 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 0 PRECAUTIONS ON SAFETY DEFINITIONS DANGER immediately and imminent DANGER for life and limb possibly including the PRECAUTIONS ON SAFETY WARNING and NOTICE WARNING possibility of a dangerous situation for life and limb possibly including the PRECAUTION ON SAFETY NOTICE NOTICE possibility of a dangerous situation for the TFMxx2 or an object in its area DANGER Possibility of an electric shock The nonobservance of the instructions and the precautions on safety written down
7. ated transistor servo amplifier to operate in machines and controls TYPE TFMxx2 SERIAL NO No 110000 and higher DESCRIPTION E In this manual MANUFACTURER LEAG Antriebstechnik AG CH 8200 SCHAFFHAUSEN SWITZERLAND The construction of the TFMxx2 and its mounting installation adjustment and operating written down in this manual fulfil not only the requirements for a world wide operation but also the legal compliances in the EC EWG Richtlinien Niederspannungsrichtlinie 73 23 EWG vom 19 02 1973 ABI EG Nr L 11 29 vom 26 03 1973 geandert durch 93 68 EWG vom 22 07 1993 ABI EG Nr L 220 1 vom 30 08 1993 Elektromagnetische Vertraglichkeit 89 336 EWG vom 03 05 1989 ABI EG L Nr 139 19 vom 23 05 1989 geandert durch 91 263 EWG vom 29 04 1991 ABI EG Nr L 128 1 vom 23 05 1991 92 31 EWG vom 28 04 1992 ABI EG Nr L 126 11 vom 12 05 1992 93 68 EWG vom 22 07 1993 ABI EG Nr L 220 1 vom 30 08 1993 Use the integrated transistor servo amplifier TFMxx2 only to operate in machines and controls It is absolutely not allowed to put the TFMxx2into operation before it is noticed that the machine or the control are in compliance with the international and the national standards requirements and law The enduser has to be informed of the instructions written down in this manual this declaration and the specific product documents given by customer specific changes The manual DC SERVO DRIVER TFMxx2 is part of this declarat
8. e Removing Symptom OVERTEMPERATURE activated yes insufficient cooling L1 yellow short current by having a high heatsink temperature inductivity between the check TFMxx2 and the motor is not detected as overcurrent reset by power off and power on inactive no POWER ON inactive yes intermediate circuit voltage to L2 green small or missing intermediate circuit voltage and built in power supply incorrect connected TFMxx2 fuse on TFMxx2 is blown to high during load destroyed power unit activated no NO FAULT inactive yes intermediate circuit voltage to L3 green high or other faults see also no fault L1 L2 L51 L52 activated no OVERCURRENT activated yes destroyed power transistor L51 L52 red short circuit output or output monitoring of overcurrent power unit to earth or motor windings reset by set off and set on the Enable Input inactive no All LED s inactive yes see L2 green POWER ON Motor ss esse yes potentiometer P1 P2 is the rotor rotates with turned counter clock highest speed wise to the touch tacho signal is missing tacho signal changed Each failure monitored by one of the LED s activates the failure output relay Seite 16 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 6 DECLARATION DESIGN Integr
9. ebstechnik AG 1 2 Circuitry Basically the servomodul consists of A Built in Power Supply one for both axles B Controller C Power Unit UBPOS Dac jhe oc oc NO FAULT SUPPLY 4 r 32ac CONVERTER PROTECTION s gt gt OK GREEN p v n v z GREEN TEMPERATUR TRIANGLE GENERATOR GND bse Sci t T ZNZNZ TEs LOV YELLOW Qa a EEE aed UBPOS Bac DRIVER I COMPARATOR 143 12a 32ac POWERUNIT BR q sy ee AXEI AXE2 INPUT as 14c 12c 26ac MOTOR AXE 1 AXE 1 AXE 2 DRIVER II CURRENT R TACHO INPUT NA DELAY II CONTROLLER SPEEDADJUST TACHO GND 10a MOTOR AXE 2 24ac INPUT CURRENT Di DVERCURRENT SPEED 10c 6c DETECTOR CONTROLLER T R ER AXE 1 AXE 2 ou y He INPUT BC 3 16ac RED 18ac GND 20ac DIAGRAMM TFM xx2 A The TFMxx2 has a Built in Power Supply which converts the intermediate circuit voltage to an internal power supply voltage Therefore the controller never needs an external power
10. electronic coupler to switch on the motor C The Power Unit is constructed as an transistorised 4 Quadrant switching amplifier and supplies the motor The output is short current protected also to the earth Special circuits protect the power amplifier in the case of faulty operation 1 3 Mechanical Construction The TFMxx2 is assembled on a printed wiring board 100x160mm The wide of each unit is 12TE For the connection in applications different standard back planes are available The back planes are compatible with the DIN41612 BAUFORM D The internal potentiometers are adjustable at the front plane WARNING Possibility of an electric shock To protect the operator the potentiometers has to be adjusted with a isolated screw driver blade and shank Seite 4 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 2 POSSIBILITIES OF ADJUSTMENT WARNING To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area the instructions and the precautions on safety written down in this manual have to be red and fulfilled before mounting installation and operating the TFMxx2 2 1 Devices for Adjustment A A w o N N E
11. ent 2 1 4 Offset P7 P8 To adjust the motor speed to zero common short circuit of both Control Inputs required May be that temperature floating makes necessary a correction of first adjustment 2 1 5 Integration Rate Speed Controller C57 C58 To adjust the integration rate of Speed Controller Increased capacity values results in a slower reaction of the Speed Controller If the value of C57 C58 is zero short circuit the TFMxx2 runs as current controller NOTICE To ward off destruction of the motor warm up doe carefully change the capacity value 2 1 6 Control Voltage R51 R52 To adjust the sensitivity of Control Voltage Input rated value To increase the sensitivity of the Control Voltage Input see P1 P2 2 1 1 decrease the value of R51 R52 e g in low speed applications 2 1 7 Fix Speed R53 R54 To have a fix adjustment of the tacho signal actual value Turning the potentiometer P3 P4 clock wise to the end touch required Increasing of R53 R54 results in decreasing of sensitivity Seite 6 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 2 1 8 Continuous Current R55 R56 To adjust the continuous current Increasing the value of R55 R56 decreases the value of maximum continuous current The absolute maximum continuous current of 6A is given by
12. in this manual shall produce immediately and imminent danger for life and limb or for the TFMxx2 or an object in its area The handling including mounting installation and operating has to be carried out by well trained and instructed personal 1 INTRODUCTION WARNING To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area the instructions and the precautions on safety written down in this manual have to be red and fulfilled before mounting installation and operating the TFMxx2 1 1 Performances of TFMxx2 The DC Servo Driver TFMxx2 is constructed as transistorised 4 Quadrant switching amplifier The outstanding characteristics are the high power range in relation to the size the high efficiency and the simple maintainability The general specifications are power range 50 to 1000 W power supply 24 to 120 Volt mechanical construction single board 100x160mm axles 2 connection DIN41612 BAUFORM D plug in output short current protected also to the earth EMC there are no influences between two or more TFMxx2 which are mounted in the same case e g a rack or the like The whole construction is well done for a wide range of applications and also for layouts with small sizes Seite 2 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antri
13. ion and the TFMxx2 CH 8200 Schaffhausen CH 8200 Schaffhausen the 27th of January 1998 the 27th of January 1998 the Manager of the Staff the General Manager Monika Egloff Lucas Egloff Seite 17 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert
14. is helpful to use a voltmeter to measure the Tacho Input Voltage c Undo the actions done in step l a To check correct function repeat step 4 2 C II To adjust the maximum rotor speed a signal at the Control Input is needed The voltage range depends on the source The maximum value is 10VDC a After switch on the power and the Enable Input high signal slowly increase the Control Input Voltage watching the rotor speed Tacho Input Voltage b Adjust the speed potentiometer P1 P2 step by step To achieve the correct rotor speed in relation to the rated value repeat the steps ll a and Il b as long as necessary Adjust the rotor speed higher approximately 10 to achieve a increased precision in positioning systems III Adjust the peak current Current Limit P5 P6 watching the current signal Current Monitor during acceleration IV To optimise the dynamic characteristics of the system carry out the following actions a Connect a signal 2Hz to the Control Input b Set the amplitude of the signal IV a like the value needed for a medium rotor speed c Adjust the Speed Controller Gain P3 P4 step by step to achieve the fastest respond NOTICE It is possible that an excessive current ripple to high gain increases the motor temperature d Vary the amplitude of the signal IV b to have different rotor speeds and watch the respond If necessary readjust the Speed Controller Gain P3 P4 Seite 14 von 17 LEAG A
15. lerates to a high speed immediately switch off the Enable Input OV between the two connectors Change the polarity of the connectors of the Tacho Input After this operation go back to the step 4 2 C To control the direction of the rotor in relation to the Control Input Voltage slowly increase the Control Input Voltage rated value If the direction is wrong two possibilities to change it are given 1 Change the polarity of the connectors of the Control Input 2 Change the polarity of the connectors of the motor and the Tacho Input After this operation go back to the step 4 2 C Seite 13 von 17 grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail eag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG D To ensure a correct operation of TFMxx2 the adjustment has to be carried out with high attention To monitor the Tacho Input Voltage and the current signal at the Current Monitor an oscilloscope has to be used NOTICE It is possible that an incorrect adjustment results in destruction of the motor or objects in its area The Offset has to be adjusted as follows a Short circuit the two connectors of the Control Input and connect it to the signal GND e g tacho GND NOTICE It is possible that this short circuit destroys the rated value equipment b After switch on the power and the Enable Input high signal adjust the offset P7 P8 It
16. mpatible with the DIN41612 BAUFORM D To ensure that the TFMxx2 operates correct and to reduce the emission of electromagnetic radiation EMC the following installation requirements have to be fulfilled connector requirement Motor motor windings without connection to earth Always use an electrical shielded cable The electrical shield has to be connected at one end to the earth An inductivity EMI filter has to be connected between the TFMxx2 and the motor windings inside the case e g rack or the like Tacho Input tacho sensor without connection to earth Connect the actual value sensor GND to the Tacho Input GND Always use an electrical shielded cable The electrical shield has to be connected at one end to the earth intermediate connect the transformator without connection to earth circuit voltage Always use an electrical shielded cable The electrical shield has to be connected at one end to the earth Inside of the case e g rack or the like an inductivity EMI filter and if required X and Y condensators have to be connected to the primary side of the transformator Control Input If required use electrical shielded cables WARNING The Enable Input and connectors are not protected against electric shock If protection Failure Output against electric shock is required a special module is available DANGER To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area never use only the
17. ntriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG 4 3 To take into Account A If the TFMxx2 is well adjusted before mounting and installation there is no more adjustment necessary after mounting and installation It may be necessary to repeat the step 4 2 C B Change the value of C57 C58 if it is not possible to adjust the respond 4 2 D IV by the Speed Controller Gain P3 P4 C The possibility of arising resonances is given in several applications e g servos Try to remove the problem by changing the high frequency gain of the Speed Controller as follows Connect a condensator 500pF to several nF between the pins 1 2 axle 2 or 7 8 axle 1 of the WA71 The value of the condensator depends on the adjustment of the potentiometer P3 P4 D If the manufacturer changes performances mounting installation or operating given by customers request the differences are written down in the product documents plans part lists and so on E Contact the manufacturer in the case of unclearness or having troubles Seite 15 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zeriifizert 5 TROUBLESHOOTING Antriebstechnik AG Monitoring Status Failure Caus
18. puts has to be connected together OV between the two connectors C No signal at the Control Voltage Input OV between the two connectors Seite 11 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG D Power and intermediate circuit voltage has to be checked E Cooling in the case e g ventilator runs correct F Switch the power off DANGER Possibility of an electric shock Measuring instruments has to be connected without electric power To discharge the condensators the operator has to wait 2 minutes after switch off the power before any manipulation is carried out To protect the operator the potentiometers has to be adjusted with an isolated screw driver blade and shank 4 2 Put into Operation and Adjustment DANGER Possibility of an electric shock Measuring instruments has to be connected without electric power To discharge the condensators the operator has to wait 2 minutes after switch off the power before any manipulation is carried out The following instructions are related to each axle To protect the operator the potentiometers has to be adjusted with an isolated screw driver blade and shank R52 R51 058 037 INPUT D gt 22k
19. ring instruments has to be connected without electric power To discharge the condensators the operator has to wait 2 minutes after switch off the power before any manipulation is carried out To protect the operator the potentiometers has to be adjusted with a isolated screw driver blade and shank WARNING To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area the instructions and the precautions on safety written down in this manual have to be red and fulfilled before mounting installation and operating the TFMxx2 e g chapter 2 POSSIBILITIES OF ADJUSTMENT The TFMxx2 are delivered in defined adjustment It is not allowed to change specific adjustments given by customer requirements Variations e g to fulfil customer requirements of TFMxx2 have different identification numbers 4 1 Before Power On WARNING To ward off accidents given by electric shock or destruction of TFMxx2 or an object in its area the instructions and the precautions on safety written down in this manual have to be red and fulfilled before mounting installation and operating the TFMxx2 Before power on the following requirements have to be fulfilled A Preadjustments name element axle 2 1 preadjustment Speed potentiometer P1 P2 clock wise to the end touch Speed Controller Gain potentiometer P3 P4 clock wise to the end touch Current Limit potentiometer P5 P6 medium Offset potentiometer P7 P8 medium B The Enable In
20. supply The function of the internal power supply includes also checking and monitoring LED the whole functions of each TFMxx2 Faults are monitored by a Failure Output relay and several LED s on the front panel B The Controller consists as well of the input circuits and the circuits for the pulse with modulation PWM as of the Speed Controller the Current Controller The Speed Controller relates the actual value tacho to the rated value The current controller relates the output of the Speed Controller to the current signal The output of the Current Controller controls the circuits for the Pulse With Modulation PWM This control of the motor torque ensures that an exact regulation of the motor speed without influences caused by the load is given Seite 3 von 17 LEAG Antriebstechnik AG grubenstrasse 92 ch 8200 schaffhausen tel 41 0 52 620 24 00 fax 41 0 52 620 24 11 e mail leag leag com http www leag com ISO 9001 zertifizert Antriebstechnik AG The adjustment for different applications is given by several marked and well available potentiometers and parts for compensation The characteristics of different inputs are Control Input related value difference input to never have earth loops Tacho Input actual value tachometer NOTICE The tachometer GND connector has to be connected to the scheduled TFMxx2 connector Tacho GND to never have earth loops Enable electrically uncoupled input opto
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