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2. 671 Raus 7 O FHL 12041540 LON JINI D EET gt JO 12 22 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 3 2 Labelling RTS SERVO AMPLIFIER IDENTIFICATION Each RTS servo amplifier has an identification label affixed either on the metal plate at the rear for wall mounted versions or on the side of the heat sink for rack versions The information should be recorded and stored as with the information about the corresponding servo motor Remember to record the A and or B label indications too SPECIMEN LABEL or n ul CA CC RTS E ue Fre 50 60Hz 8 0 RTS code 2 Number of phases Input voltage Input current 5 Output voltage Output current dc The output voltage and current values correspond to those of the RTS model as in RTS servo amplifier performance chart A self adhesive label is placed on the RTS front panel Label A records servo amplifier serial number R type of motor associate
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6. 5 16 uondo G6 18 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 95 with covered option Gre 25045 12151590 LON OG 130 Or 211 l D49 0 12A RTS V2 Wall mounted WITHOUT CUSTOMISATION CARD 2 overall 2 VERSION WITH OR Stamping LR 0 3 Cover weight uonosuouinb peanpoides eq S puo ay si 5141 19 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 19025 YOZ SNOISNINIG 5 AJ 21 51 j
7. ZL AX H F YOLON PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 3 DIMENSIONS LABELLING 3 1 Dimensions RTS servo amplifiers are available in two formats for vertical mounting in single Europe 3U DIN rack in two widths 10 and 19 wall or panel mounted with rear angle bracket Racks are available with or without ventilation while RTS wall mounted versions have individual ventilation where required RTS 12 24 130T RTS 20 40 130T and RTS 16 32 190T Unventilated racks are for RTS 3 10 40M only 230 V single phase fan connection To terminal block located at the bottom of the rack front panel Power consumption 234 22 2 x 15W fans CODE RACE234 FELX 303532 p12 RACE234V22 fan cooled FELX 303532 p12 RACE238V32 3 x 15W fans 238 FELX 303531 RACE238V32 i necoolec 84E 19 FELX 303531 p11 Dimensions Parvex Ref Input supply Compulsor Fan supply Dimensional drawing ref y voltage ventilation Without With customisation customisation card card RTS 3 10 40M RTS 4104 301 Single phase No Rs RTS 6104 301 de es RTS 10 20 60T RTS 43060102R Three phase FELX 303440 FELX 303805 RTS 63060102R p13 p15 Y 230 V Single phase i RTS 12 24
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9. GErl ms was 7 wwe 69 19 92005 00390 Gg 16 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 19005 VOI 3 Ad Vd 411 1 usybusg 815 pe 99081705 X 2357 pe1unou OM CASSIA 96 F0 F 1 71531 96 v0 Z1 2 NOLLVSIWOLSQO LNOHLIM NOISYIA bxg o 212 PW PI9 uS 304002 5 unu 5141 92005 905 165 110 110 TS YAO 54 081 DJ9 0 OOOOOOOOO OOOOO
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12. Etablissement de Dijon 4 Boulevard Eiffel F 21600 Longvic www parker com RTS 2nd Generation SERVOAMPLIFIER User and Commissioning Manual PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER CONTENTS SAFETY INSTRUCTIONS 1 GENERAL 2 TECHNICAL SPECIFICATIONS 21 RTS Servo amplifier performance chart 2 2 Block diagram 3 DIMENSIONS LABELLING 3 1 Dimensions 3 2 Labelling 4 ELECTRICAL CONNECTIONS 4 1 General Wiring Requirements 4 1 1 Appliance handling 4 1 2 Electromagnetic compatibility 4 2 RTS Servo amplifier connection 4 3 Front Panel 4 4 Terminal blocks X1 X2 AND X3 4 5 Terminal block X2 connection 4 6 Terminal block X3 connection 4 7 Accessories 4 7 1 Plug in Customisation card 4 7 2 Extra choke 4 7 3 Transformer 4 7 4 Mains filter 5 LED DISPLAYS 6 SERVO AMPLIFIER ADAPTATION 7 COMMISSIONING 1 PVD 3487b GB 07 2015 N 24 24 24 24 25 30 35 38 38 39 39 39 40 40 49 50 51 RTS 2nd Generation SERVO AMPLIFIER 7 1 Speed loop rapid adjustment 7 2 Complete speed loop adjustment 7 3 Diagnostic helpl 7 4 Calibration 7 4 1 7 4 2 7 4 3 7 4 4 7 4 4 1 7 4 4 2 7 4 5 7 4 6 7 4 7 7 4 8 7 4 9 7 4 10 7 4 11 Tachometric generator voltage calibration R104 Rated speed selection R105 Pulse current adjustment R113 Current limitation by external resistance or externa
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15. 2204 2204 06 LL 06 JON G Bl x 8 5 gt 5 5 E L E x RSION WITH OR overall VEI 212 0 9Kg Weight OOOOOOOOO ouno paldos 100082 fouis pub ay si siu 21 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 025 1061 VIL 3 Ad Vd SNOISNIWIG ETS 45 6 3 ex 5 4899 VLVOS Sop 2 51 05 20 82 123 _ 66 NOILYSINOLSNO LNOHLIM YO NOISYJA nubi 43409 1 JOUUDD i CEC dium 110 212 19 45 pub Ino Aqiadoid si UOHDSHOQ no 01 40 paonposdas HN DE AG CMS 100100 02345
16. ajqissiwuad x 5n SII 9 Zl 54 9 1 1 2 IF 9 Ti ll W 2 bud 5 8 Ht 9 1 4 1 9 8 L 5 5 0 9796 0 114 ud 41114 SNIVN onisoq 48 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 5 LED DISPLAYS LED displays are possible only if the supply voltage is present The Ready relay in this case must not be incorporated in the auto hold of the power supply POWER ON front panel energised axis power on axis Check wiring fuses internal fuse FU 5x20 5 A rating 3 10 10 A gauge 10 20 12 24 16 32 20 40 FLASHING RESET to clear faults terminal 12 FAULT DISPLAY TAC CAUSE Tacho wire cut Tacho wire inverted Overspeed Motor wire cut Motor wire inverted Dissipater temperature too high LED remains on after cooling RESET to switch LED off Inadequate ac supply voltage Min U Power voltage too high Max U Energy return from load too high Excessive ac input voltage Short circuit of motor terminals Excessive mean motor current NOTE Recovery control is also displayed REC 49 PVD 3487b GB 07 2015 axis fault see corresponding fault on side strip Miniature LED SIDE STRIP on side of RR
17. Tacho inputs 15 V to be 0 5V 0 3 sec 3 sec connected to X2 1 0 10V 0 6 sec 6 sec shielding OV to be connected to X2 2 Slopes A and B can be adjusted independently Speed 15 0 be Slope A must equal Slope D reference connected to Reference Slope B must equal slope C inputs X2 3 Slope A shielding Slope B Analogue inputs reduction of current 7 Slope Analogue Slope D 4 7 2 Extra choke Output speed or current value The extra choke is connected between the RTS and the servo motor as near as possible to the RTS It must be used when the servo motor choke is less than the values the table on page 7 It should also be used when the RTS and servo motor are more than 50 m apart or 25 m where shielded cable is used 39 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER Recommended combinations RTS 3 10 40M single phase RTS 10 20 60 single phase SF020231 12A 2x0 25 mH or three phase drawing FELX 303434 p 42 RTS 12 24 130T three phase RTS 20 40 130T three phase SF02023 25A 1 5 mH drawing FELX 302804 p 41 RTS 16 32 190T three phase SF02022 16A 2 5 mH drawing FELX 302804 p 41 4 7 3 Transformer General specifications Power supply 230 400 V 50 60 Hz single phase or three phase depending on model Neutral brought out for three phase models Secondary with 5 taps except two models of drawing FELX 303740 p 45 Voltage drop between load and off l
18. 3 cio H INTEGRAL ACTION SPEE DIRES p ic13 H MECHANICAL OSCILLATION REJECTION H PROPORTIONAL GAIN M RIP H DERIAVTIVE ACTION NUT FITTED AS STANDARD R103 H RATED CURRENT 5 2104 H TESCUEe 105 H RATED SPEED H R109 H MAXIMUM TIME OR PULSE CURRENT 4 4 H PULSE CURRENT H R131 H GRADIENT zi H R32 H ACTIVATION SPEED 6 RI33 H MOTOR EMF x HRI34 H MOTOR RESISTANCE 5135 H OVER SPEED LIMIT 8 H MOTOR ELECTRICAL TIME CONSTANT 4 RB H SUPPLY VOLTAGE 9 1 10 SETTINGS 12 13 14 RR6605B PARVEX 0 I CURRENT SPEED COMMAND TYPE SPEED CURRENT Se DUTPUT TYPE U RI _ S3 SERVOCONTROL TYPE B I SELECTOR STRAP CYC 54 3 FAULT DISPLAY X 413 2 7 P l a E 63 ra 2 GAIN M 0 SELECTION SPEED ADJ o 4 4 055 H H INTEGRAL ACTION B E H C103 H MECHANICAL LATION REJECTION H R101 H PROPORTIONAL GAIN 4 8102 H DERIAVTIVE ACTION NOT FITTED AS STANDARD 30 5 T H R103 H RATED CURRENT 2 HRH Y2 3 4 109 MAXIMUM TIME OR PU 4 H H PULSE CURRENT H GRADIENT 5 CTIVATH Hj 132 H ACTIVATION SPEED 6 H R133 H MOTOR 5 H R134 H MOTOR RESISTANCE H R135 H OVER SPEED LIMIT 8 H 6 M
19. 8136 25101 5101 5101 2 vt Ub drive bus direct voltage Volts L motor inductance and inductance mH When selecting R136 take the value immediately below in the following range and multiples thereof 10 12 15 18 22 27 33 39 47 56 68 75 82 100 64 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 4 11 dc voltage calibration RB Resistor RB is used to adapt limit values MAX U MIN U tripping of supply voltage recovery The standard values are as follows SERVO AMPLIFIER Input DC Max Min Dissipation resistance MODEL voltage voltage voltage voltage On limit Off limit VAC 1 V V RTS 3 10 40 RTS 10 20 60 RTS 12 24 130 20 40 130 RTS 12 24 48 RTS 12 24 24 RTS 16 22 1 Remark The RTS servo amplifier may be used with supply voltages different from the standard values e g RTS 10 20 40 with 32 V supply RTS 16 32 140 with 110 V supply Please ask for details 65 PVD 3487b GB 07 2015
20. B RTS 42 0102 Battery FELX 303814 e RTS 12 24 RTS 43130102R Three phase FELX 303805 130 15 RTS 63130102R With personalizing card RZ6602 9 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER Dimensional RTS PARVEX Ref Input supply Ventilation Supply drawing with or without customisation card RTS 7104 301 fan cooled 1 FELX 304743 RTS 10 20 60T RTS53060102R Three phase Not p16 RTS73060102R fan cooled FELX 304749 RTS 12 24 B Battery Not p21 RTS 72BA0102 fan cooled gt FELX 304780 RTS 51060102R Single phase t p17 RTS 71060102R fan cooled FELX 304790 RTS 12 24 130M RTS 51130102R Single phase fan cooled p18 RTS 71130102R 2 05 FELX 304745 RTS 12 24 130 RTS 53130102R Three phase fan cooled connection p19 RTS 73130102R Internal FELX 304747 RTS 20 40 130T RTS 53130204R Three phase fan cooled connection p20 RTS 753130204R Internal FELX 304746 RTS 16 32 190T RTS 53190103R Three phase fan cooled connection p22 753190103R Internal With customisation card RZ6602 10 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 10 2350 426 72 E NG 84 ONT OPEN FR CONFIGURATION 32 95 3245 NOILLV TLIN JA
21. MOTOR ELECTRICAL TIME CONSTANT H RB SUPPLY VOLTAGE 21 1 10 i SETTINGS 12 13 1 1 RR 66 SELECTION DAE CURRENT SPEED SPE 51 COMMAND TYPE SPEED CURRENT SPEED CURRENT S2 OUTPUT TYPE 0 8 TACHO U RI 53 SERVOCONTROL TYPE 9 7 57 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER Symbols used Nn rated speed of application for 10 V reference speed maximum pulse current of motor Imax maximum pulse current of servo amplifier In maximum rated current of motor Ket gradient tachometric generator in V per thousands of Ke back electromotive force of motor in volts per rom r resistance of motor and its supply circuitry in ohms L inductance of motor in mHenrys Ub bus voltage in volts 1 35 x Vin AC a 00k 2 2 nF 104 1 selection 22nF 200 7 4 1 generator voltage calibration R104 Resistor R104 is used to adapt the tachometric generator gradient to that of the servo amplifier 2V 1000 rpm e 2 5 4 6 qm 4e miM ko 200 100 68 51 24 20 15 Do not exceed 100 the tachometer input For a
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23. 5 6 CT 7 8 1 2 3 4 5 6 7 8 9 30 PVD 34870 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER RTS V2 10 E Rack RTS V2 12 E Rack RTS PARVEX Power on SPEED OFFSET Xl PARVEX Poweron SPEED ADJ SPEED OFFSET XI 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 gt 31 PVD 34870 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER RTS V2 12 E wall mounted RTS V2 12 130V wall mounted 1PH and 3PH Power on Power ow a can SPEED SPEED OFFSET OFFSET x 1 101 2 3 LI 4 Il 5 Il 6 LI 7 8 LI 9 BBBHBHBRBB 32 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER RTS V2 16 A 190 V wall mounted PARVEX Power on sain SPEED OFFSET qui qu RED 0 V SPEED OR I OUT SPEED EN TORQUE EN RESET OVD 1 2 3 4 5 6 7 8 9 33 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER RTS V2 20 A 130 V wall mounted 1 Power on san san SPEED OFFSET xl qui que RED 0 V SPEED OR I OUT SPEED EN TORQUE EN RESET OVD 2 3 01 4 5 6 7 8 LD 9 34 PVD 34870 GB 07 2015 RTS 2nd Generation
24. UOHDSHOUjno 100 905 10 04 02 pub Aysadosd lt s 5141 13 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 1 2 Egs ELX 3O3814GB Liste doc RTS V2 10E Rack CARD MISATION 214 5 overall UT CUSTO WITH RSION Stamping LR OOOOOOOOO WEIGHT 0 85Kg 95064 00105020400 uom Peldoo Jo pasnposdas jouuDo 1 0 s Ayadoid eui si Buimoup 5 41 14 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 2025 26 20 61 sp 058 10038 IZL 2 51 SNOISN3NIG lt m 11182608206 XT4j Se Ne ss ing 60 1H9I3M 7994 CA SLY fig 4904 409 VOL 2 514 NOISYJA NE X994
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26. 6605 card CORRECTION Check tacho wiring Check axis works correctly without tacho selector S3 in position 0 Check motor wiring Check ventilation Ambient temperature too high fit ventilation system Check supply phases are present Check input voltages Check transformer star delta coupling Check input voltages Reduce axis working speed to reduce braking energy Increase servo amplifier gain Check motor wiring Inadequate motor choke Axem motor add series choke Reduce servo amplifier gain Reduce working cycle RTS 2nd Generation SERVO AMPLIFIER 6 SERVO AMPLIFIER ADAPTATION Selector switch positions Selector S1 Position Position Selector 52 1 Position Usual position Position WE Selector S3 Position Position 50 PVD 34876 GB 07 2015 Speed control Speed feedback is used Usual case Current control Speed control is unused X1 4 X1 5 input becomes a current reference X1 9 output indicates current information 10 V corresponds to pulse current X1 9 output indicates speed information 10 V corresponds to rated speed of application Tacho information is used in speed control Speed information is calculated from servo motor emf RTS 2nd Generation SERVO AMPLIFIER 7 COMMISSIONING Check the connection of the following items transformer
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28. SERVO AMPLIFIER 4 4 Terminal blocks X1 X2 AND X3 Torque value terminal block X1 0 4 Nm Terminal block X1 front panel connection terminal blocks X2 and X3 0 8 Nm Recommended cable cross section 0 5 1 5 mm multi strand Use shielded cables with the shielding connected as stated below TERMINAL 35 DESCRIPTION TERMINAL BLOCK 1 Tacho differential shielded cable with X shielding connected to terminal 3 Input voltage must not exceed 100 V inputs Use Tachometric cable shielding Do not connect shielding at tacho end Speed current differential reference depending on position of selector switch S1 t 10 V corresponds to rated motor speed at speed reference Use shielded cable with shielding connected to terminal 6 Shielding to be connected at numerical control end also PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 47 Ohms 47 Ohm X1 9 10 nF 1 e Courant c Vitesse TERMINAL 36 DESCRIPTION TERMINAL BLOCK X1 Analogue reduction of current Reduction may be controlled either by voltage or by resistor between 7 and 8 This input may be used for example when the servo motor is against a mechanical abutment Resistor value 10 30 50 70 90 100 332 10 221 392 562 infinity 0 reference to be connected internally in the casing Signal providing speed or current image depending on selector switch S2 position 10 V corres
29. flat braid should be used instead of a conventional lead CONNECTIONS Do not run low level cables resolver inputs outputs NC or PC links alongside what termed power cables power supply or motor Do not run the power supply cable and the motor cables alongside one another otherwise mains filter attenuation will be lost These cables should be spaced at least 10 cm apart and should never cross or only at right angles Except for the resolver signals all low level signals will be shielded with the shielding connected at both ends At the RTS end the shielding is made continuous by the Sub D connector mechanism The motor cables are limited to the minimum functional length The yellow and green motor cable lead must be connected to the box or front panel terminal block with the shortest possible link This usually means shielded motor cable is not required Chokes may also be inserted into the motor phase leads 24 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER MAINS FILTERING The mains filter must be mounted as close as possible to the potential reference plate between the mains and the power supply p 46 and 47 Use shielded cable or run the cable in metal trunking Avoid running cables together ahead of and after the filter Filters sometimes have high leakage currents In this case comply with the standard connection diagrams when fitting them OTHER MEASURES Self inducting components must be p
30. gradient of 1 1000 rpm short circuit the solder tags Y1 and Y2 with R104 Standard tachometric generator values are 3 V at 1 000 rpm e g TBN 103 6 Vat 1 000 rpm e g TBN 206 20 V at 1 000 rpm e g TBN 420 These values are plated of tachometric generator e g Ke 6 mVrpm or 6 V at 1000 rpm 58 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 4 2 Rated speed selection R105 C102 r R105 e 1R102 Fine speed adjustment TACHO selection or Offset U RI Resistor R105 calibrates the useful speed of the application For a speed reference of 10 V the speed corresponding in rom to the servo motor will be determined by R105 according to the table below Calibration accuracy supposes that R104 calibration value of the tacho is correctly set The SPEED ADJUST potentiometer on the front panel allows easy fine adjustment of speed Turning it clockwise increases speed for a given reference Speed Nn rpm R 105 kQ The equipment may be adapted for speeds lower than those shown above but this hinders servo amplifier performance with regard to drift and gain The maximum value not to be exceeded for R105 is 4 75 MQ 59 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 4 3 Pulse current adjustment R113 R113 modifies the maximum current authorised by the s
31. inversion for a 10 V reference adjust servo amplifier gain see paragraph gain adjustment If the fault persists wire the power transformer secondary to the 5 terminals MAU fault on LED strip 51 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 1 Speed loop rapid adjustment Offset adjustment Once ambient temperature is stabilised adjust zero speed to the mid position with the SPEED OFFSET potentiometer PARVEX on the front panel POWER ON Speed adjustment The SPEED ADJUST potentiometer produces fine calibration of speed for a given reference SPEED 10 X2 Gain adjustment By increasing gain the servo motor becomes more rigid Turn the GAIN potentiometer clockwise until the motor is unstable and vibrates Then turn the potentiometer back one or two turns If there is a large load on the potentiometer the potentiometer adjustment range may be inadequate and resistance R101 will have to be increased 10 V REFERENCE CONNECTION Application Potentiometer reference s 5 ugh fa ee 15 00 i 4 i R1 1 Terminal block X2 E 5 LS ou 3 NON R2 15 VDF 3 Inputs not connected PLC CN RTS 1 PLC CN a RTS 1 Termina
32. 1 90 47 PVD 34876 GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 99496709 X13 SNOISN3AIG X3 3Vd i 9 LUN av lt om 40 SNIVA E eus adas MA 86 50 11 SE0863WY 2 5 SIN jo sumoousuiou sypuodeg 2 MA 86 11 60 911863 76 11 00 291463 1 g E SE MA 86 60 21 950863 Nv Y1 26 10 22 210706300 13 E 96 90 92 eomas 5284 041 79020 ed 004 92020 44 01 91020 4 7 95040 AN ADIBEUDIS 2 09 0 lt 14944 2 suorsueuulg 244462 Lec 80 Vr9 9020 Mj 1 N3 102 156 vos 92020 c 2 09 PL Ur 102 VOL 91070 44 2 09 04 290A Orr 401595 g 4N lt SOd SUOISUBLUIG
33. 1 10463 6 60 90 80863 ji Wi 96 20 62 620963mv 4 47 06 00 61 BO0f63WY WI pe 9 231 15 3 55710 NOILVINSNI 2 0 INVIBWY ZH 09 06 QVO1 330 ANVONO23S S6 lt 0 01 39VI10A 0 0235 A000 Sd A8 20 O d 0 0235 00 062 AMY g g z sod 504 01 uw p 061 061 lt 61 09 081 009 62 bxz G 28 921 011 011 091 y 61 gw 06 061 061 691 6y9 0 qu 01 G I 06 051 061 11691 S i HN Byez 64 96 06 10 111 5 004295 8 OW 0 ES d 89 66 0 X133 319 6 Jequinu uono2gnuepi 43 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER
34. 15 RTS 2nd Generation SERVO AMPLIFIER 8095 j 451693 940 514 Vd 5 _ 21 189692709 XT ue 10186399 eq jouuno 104 sasup j samod seonpoud 95 94 pony x z 61 1 00 295 55012 94 NO IDAGS uL S SUDJj JOUUDD j 94 4010 pai 4299 00 906 0 22014 Youd 8 uoisseJddns oouo49j49 u 9NIN31HOLL 42018 IWNINYAL 96 joquapyuos s jo Aysadoid GZ 2 17605700710 17 pasnposdas Gig ZX 1 IX 2010 04111191 GAO 1365440 43385 43534 03345 300801 NIv9 7 05345 NO jouondo 033485 AOVIM VAO 434 4 x TIN yl 1 2 ENEN ASL AO 4 1600 ASLT
35. 2 wa 585 314 518 5001 iii jo sides IS 90 11 or 35 53 518883 8 86 20 81 5009610 2 18 3823 ORE budwos 4 68 11 21 MERI LM NI SNOISN3WIG 94 031 15 4 3SSVIO 1 5 INVIGAY ZH 09 06 45 v 5 YVIS AGEL AMVONOO3S VITJO UVIS AO0v AOCZ AMVMIMd S j 10 22 cS 23 IS 13 AOOT YVLS AO0 c VLTIG 4 ES 035 25 15 NOLVINJAI IV ZGTZGT Zot AGE LASE HAGE ZS 2S ZS ci 25 53 es AYN Idd SNOISNANIG 89028208 133 585 314 514 Jequinu uonpognuepi yel uonisog 9 09 061 SSL 011 06 9 0 4 8129 OL 0 1 0 2 1098 052 092 YANO 00101119 OL GLLXObZ JOSE 012 002 9 61111 LL G 582 OL O 1XO0Z SEZ 091 092 VAM
36. ISN3HIG d HOF6SCOC XTid wel uonisog 44 PVD 3487b GB 07 2015 alas 3 828 g90v 0 114 SNOISN3WIG 1 C 1 a el dae 21 ae WI 98 20 62 606 2 EPA SUOISUBLIG 5 55868 jo 66 01 50 660664 9 dr 6 60 90 G0 6XMY 5553 LE MEE Buduei 66 00 10 wee ous SSE 2 NOLISOd 304 35 ABP NO FIGVIVAY 38 ISAW YIMOd 77101 v SN 61 9 08x081 09 0111 542 L S LM LA IN N oram Sz ew xe 089 051 05110111581 vAOZ9 355710 nouwinsw CUM 91 ew 229 SZ 401 59 5002 98881012 002 1 20 INVI 01 22 52 lt 0 11 002 022 061 002 09111 1L z 09 06 AONINOWY 01 OZ 9 021 081 061 091 522 62111 LL QVO 440 296 lt QVO 412050 FOWLIOA 0 0235 uonoes ubia 1 H pubrew x 0 quy
37. Input voltage range 18 36Vac Rated input voltage 32Vac 10 Mexmumouputvotage v 40 10 20 60 single three 12 24 B battery 200 12 24 130 three phase 20 40 130T three phase 16 32 190T three phase 40 08 phase 18 56Vac 48Vac 10 58 116Vac 00Vac 10 130 lt Minimum motor choke BRAKING ENERGY DISSIPATION CAPACITY Mean power 24 EN 15 without 180 180 Max pulse power 400 option 4 of cycle without 4500 4500 Maximum non repetitive Losses dissipated by RTS DIMENSIONS H x L x D mm Rack version single phase Rack version three phase Wall mounted single phase Wall mounted three phase Rack wall mounted weight 130 51 216 150 61 212 0 8 1 PVD 3487b GB 130 51 216 180 61 212 150 61 212 0 8 1 2 7 130 51 216 battery 150 61 212 battery 0 8 1 07 2015 130 61 216 150 92 212 0 85 1 8 150 115 221 1 9 150 115 221 1 9 RTS 2nd Generation SERVO AMPLIFIER 2 2 21690672606 X1 a1 3091 X3A3Vd NVAOVIG OIWIA 5 660864 ejqpu3 2 G zX
38. R109 must be 1210 kQ 7 4 6 Adjustment of function f t R103 Function f t is designed to protect the servo amplifier and servo motor if the mean current required exceeds the rated current Resistor R103 is used to adjust the tripping limit authorised by the servo amplifier RTS 3 10 40 rated RTS 10 20 60 12 24 130 12 24 24 48 16 32 190 20 40 130 of rated xn p m 61 PVD 34876 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 4 7 Adjustment of current limitation curve versus speed F n R131 132 15V Current reduction Resistor R131 is used to select the zero current point on the speed current diagram Resistor R132 determines the speed beyond which pulse current selected by R113 begins to decrease linearly with speed When function F n is not required R131 10 R132 100 Nr speed in thousands of rpm above which current decreases Ns speed in thousands of rpm at which current is zero Nr Ns N R131 values Ns rpm 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000 12 1 R 131 kQ 16 2 82 5 56 2 39 2 33 3 27 4 22 1 20 18 2 16 2 15 13 7 12 1 62 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER R132 values of maximum current 7 4 8 Calibration of function R133 R134 This adaptation is ne
39. bonding circuit Lock the electrical cabinets e Use standardised equipment Mechanical hazard Servomotors can accelerate in milliseconds Moving parts must be screened off to prevent operators coming into contact with them The working procedure must allow the operator to keep well clear of the danger area All assembly and commissioning work must be done by qualified personnel who are familiar with the safety regulations e g VDE 0105 or accreditation C18510 3 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length for bugs before shipment Unpack the servoamplifier carefully and check it is in good condition Also check that data on the manufacturers plate comries with data on the order acknowledgement If equipment has been damaged during transport the addressee must file a complaint with the carrier by recorded delivery mail within 24 hours Caution The packaging may contain essential documents or accessories in particular User Manual Connectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correctly and safely it must be transported stored installed and assembled in accordance with this manual an
40. cessary even when operating with a tachogenerator to ensure tacho safety speed signals from U RI and from the tacho are compared constantly and must be of the same order of magnitude EMF 1000 rpm The electromotive force constant KE indicates the voltage measured on the armature for an off load speed of 1000 rpm at 25 C Under load for agiven voltage motor speed will be current between terminals in Amps armature resistance in Ohms N U RI x 1000 KE voltage across terminals in Volts KE EMF constant in Volts per 1000 rom 63 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER To calculate motor speed coefficients R and KE must be calibrated by the resistor values RTS 3 10 40 180 KE RTS 10 20 60 260 KE RTS 12 24 130 540 KE below RTS 12 24 96 KE RTS 12 24 192 KE RTS 16 32 760 KE RTS 20 40 540 KE e g RX 120 L servo motor with RTS 3 10 40 KE 11 5 1000 133 15 250 134 100 1 with RR6606C R133 kQ 192 R134 kQ 77R 7 4 9 Tripping limit calibration R135 Resistor R135 determines the tripping limit of maximum speed for tachometric servo control and U RI operation Nn 1000 1500 2000 3500 4000 4500 5000 5500 6000 rpm R 135 15 274 892 8 25 121 15 224 274 392 7 4 10 Current loop gain adaptation to motor inductance R136 EX cu 3 10 10 20 12 24 16 32 20 40
41. d must receive thorough care and attention Failure to comply with these safety instructions may lead to serious injury or damage The cards contain components that are sensitive to electrostatic discharges Before touching a card you must get rid of the static electricity on your body The simplest way to do this 15 to touch conductive object that is connected to earth e g bare metal parts of equipment cabinets or earth pins of plugs 4 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 1 GENERAL The RTS servo amplifier is designed for four quadrant control of DC servo motors up to mechanical powers of 2500 W It incorporates power and chopping supplies including the energy dissipation resistor for some versions This integration makes for easier wiring and allows front panel access for a more user friendly appliance Two formats are available Wall mounted type with rear angle bracket Europe single 3 u DIN rack type Several axes can thus be included in one 19 rack TECHNOLOGY CMS components surface mounted Genuine galvanic insulation to prevent sensitivity to interference Hall effect current sensor Chopping frequency 17 kHz Speed bandwidth up to 150 Hz Integrated short circuit protection Speed range With tachometer 1 10 000 U RI 1 10 e 10 differential reference for speed or current e Differential tachometer input FUNCTIONS Switchable tachometer control in U RI Curre
42. d with RTS DT V emf of tachometric dynamo for 1000 rpm 10V TR reference value corresponding to maximum motor speed in rpm factory set Where the RTS is fitted with an RZ 6602 customisation card some of these indications are recorded on the self adhesive label on the customisation card label B This label also states the model of RTS LABEL A LABEL B DT V DT V 10V TR 10V TR 23 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 4 ELECTRICAL CONNECTIONS 4 1 General Wiring Requirements 4 1 1 Appliance handling See the safety instructions given at the beginning of this manual In particular wait for all the front panel LEDs to go off completely before doing any work on the servo amplifier or servomotor 4 1 2 Electromagnetic compatibility EARTHING Comply with all local safety regulations concerning earthing Utilize a metal surface as an earth reference plane e g cabinet wall or assembly grid This conducting surface is termed the potential reference plate All the equipment of an electrical drive system is connected up to this potential reference plate by a low impedance or short distance link Ensure the connections provide good electrical conduction by scraping off any surface paint and using fan washers The drive will then be earthed via a low impedance link between the potential reference plate and the earth screw at the back of the RTS If this link exceeds 30 cm a
43. ent means it can be used in machinery covered by Directive 89 392 EEC Machine Directive provided that it is integrated or incorporated and or assembled in accordance with the rules of the art by the machinery manufacturer and in keeping with the instructions in this booklet 2 TECHNICAL SPECIFICATIONS Power reduction with altitude Above 1000 m 10 fall in useful power per 1000 m up to maximum 4000 m Operating temperature Normal use 0 to 40 C Above 40 C 35 fall in useful power per 10 C up to maximum 60 C 30 C to 85 Tachogenerator 100 V at input maximum voltage Speed range 1 10 000 with tachogenerator 1 10 with armature reaction Static precision of speed for From Nmax to Nmax 100 0 5 load variation of 0 at In From Nmax 100 to Nmax 1000 1 5 for servo amplifier rated From 1000 to Nmax 10 000 10 voltage U RI control from Nmax to Nmax 10 20 2 rated current at 25 Linearity 1 of rated current at 25 C Galvanic insulation of power bridge Magnetic current sensor Power outputs protected against phase to phase and phase to ground short circuits Plug in terminal blocks on front panel 20 IP20 for shrouded versions 6 PVD 3487b GB 07 2015 Electrical protection RTS 2nd Generation SERVO AMPLIFIER 2 1 RTS Servo amplifier performance chart RTS CHARACTERISTICS 3 10 40M at 40 C ambient temperature single phase
44. equency generator with series capacitor to produce zero mean speed out and return about a position Decade box for capacitor and resistor adjustment Reference battery box with oscillator for automatic control is available as an option Method FIG 1 Adjust the gain potentiometer to the centre so gain may be varied up or down after adjustment Fit a large integration capacitor C101 10pF or strap Adjust proportional gain starting by R101 2 10 Increase R101 until 10 overshoot on speed reference increment Always use small speed reference increments e g 100 rpm or less so the system remains linear For large increments current limitation 2 torque limitation masks the real situation and reduces overshoot The adjustment obtained with high speed increments would be incorrect In many cases it is not possible to increase gain to produce overshoot especially for high inertia systems 53 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER FIG 2 In some cases gain limitation is due to resonance the motor starts to whistle or vibrate at high frequencies gt 100 Hz A 1 filter must be included at a frequency 3 to 4 times lower than the oscillation so the gain can be increased by the same ratio This can be done by connecting a C103 capacitor in parallel with the R101 proportional gain resistor increasing the capacitor MINES until the whistling stops usually several tens of nF and
45. ervo amplifier The standard pulse current is twice the value of the permanent current It may be set either internally by using R113 or by using current reduction input X1 7 Ired The table below shows the value of resistor R113 versus the percentage of maximum current of maximum 7 4 4 Current limitation by external resistance or external voltage terminal block X1 7 4 4 1 By external resistance 15 The table below shows the external resistor value in versus the percentage of maximum current 47 Voltage control between terminals 7 and 8 is also possible In this case the current is linear with 10 V of maximum 7 4 4 2 By external voltage Voltage control between terminals 7 and 8 is also possible In this case the current is linear with 10 V 60 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 4 5 Time constant adjustment f t R109 AUTION For safety reasons the values of resistors R109 and R103 must not be altered without authorisation from PARVEX Warranty may be affected The system time constant is factory set so the servo amplifier accepts maximum current for one second starting from 0 After one second the servo amplifier switches automatically to safety mode Standard resistor R109 is 562 kQ for a maximum current lasting 1 second For a maximum current lasting 2 seconds resistor
46. k the motor and servo amplifier are grounded mandatory Check the speed reference is stable with oscilloscope and 15 V voltages if necessary Check the customisation components correspond to the motor Motor drift Adjust zero speed with the SPEED OFFSET EIOS potentiometer Adjust speed with SPEED OFFSET potentiometer Incorrect speed Check Motor fails to rotate terminals 1 10 and X1 11 must be connected to No effect selector S1 must be in correct position reference voltage is present 55 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 4 Calibration CAUTION Servo amplifiers are factory set and the information in sections 7 4 1 7 4 11 are for reference only The components below are stud mounted and used to calibrate the servo amplifier for the corresponding motor Calibration is done at the manufacturer s facility before delivery and these components should not be modified 56 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER P1 t FAULT DISPLAY L OOOOH 2 4 557 55 REC SELECTOR STRAP 51 SPEED ADJ lt q 5
47. l block 1 7 D uf ET al bloc X V4 4 4 6 8 8 1 L T s Blindage 5 g RIS 1 6 RTS 2 8 lt 4 Ee o 8 S NO YES 1 Shielding not connected at numerical control end The connecting cable by shielded twisted pair for the tacho and reference is available as an option 1 Terminal 4 be connected to terminal 8 Example 10 V 10 linear potentiometer R1 and R2 2 2 kQ 1 2 W resistor 52 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 2 Complete speed loop adjustment Caution C103 C101 R108 r1 5 Bmp Gain 5 ervoamplificateur 15 I 9v battery Ref x Speed recorded between N measurement and 0 V analogue overshoot 10 FIG 1 a b c graphs obtained with increasing R101 values Systematically applicable when J charge 2 10 J motors As servo amplifiers are factory set based parametersprovided by the customer this setting does not usuallyrequire adjustment Before adjusting the speed loop all the adjustable parameters must be fixed current limits speed scale setting speed limits Adjusting the speed scale setting alters loop gain and means readjustments are required Equipment required Storage oscilloscope digital if possible easy to trip Manual speed reference generator battery box or low fr
48. l voltage terminal block X1 By external resistance By external voltage Time constant adjustment f t R109 Adjustment of function f t R103 Adjustment of current limitation curve versus speed F n R131 132 Calibration of function U RI R133 R134 Tripping limit calibration R135 Current loop gain adaptation to motor inductance R136 dc voltage calibration RB Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT PARKER Etablissement de Dijon 4 Boulevard Eiffel 21600 Longvic T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www parker com 2 PVD 3487b GB 07 2015 52 53 55 56 58 59 60 60 60 60 61 61 62 63 64 64 65 RTS 2nd Generation SERVO AMPLIFIER SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers may contain non insulated live AC or DC components Users are advised to guard against access to live parts before installing the equipment Even after the electrical panel is de energized voltages may be present for more than a minute until the power capacitors have had time to discharge Specific features of the installation need to be studied to prevent any accidental contact with live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations Check the
49. nt 0 5 A 2 5 Permissible voltage 220 4 6 Terminal block connection Recommended cable cross section RTS 3 10 1 5 mm RTS 10 20 12 24 16 32 20 40 2 5 mm2 TERMINAL DESCRIPTION N NAME TERMINAL BLOCK X3 Motor connection cable cross section to be used see motor dimensions section Minimum motor inductance must be 0 4 to 1 mH depending on RTS rating Phase U of three phase supply For single phase supply this input is not connected Phase V Phase W Ground to be wired to cabinet ground by minimum 2 5 mm lead 38 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 4 7 Accessories 4 7 1 Plug in Customisation card The RTS includes a number of components for customising the axis These components are mounted as standard on the control card and may be mounted on a plug in customisation card as an option This means a wider rack version of RTS 3 10 40M RTS 10 20 60 three phase and RTS 12 24 Battery front panel width increased from 51 mm to 61 mm RAMP Card RG 6601 The ramp comes as a separate card that plugs into the RTS front panel The card is also an extension to terminals X1 1 to X1 9 of terminal block X1 The 15 V available on RTS terminal X2 is used to power the card The card protrudes from the RTS by 62 mm It is 36 mm high and 13 mm wide Adjustment The ramp can be adjusted by potentiometers between 0 06 sec Volt and 0 6 sec Volt
50. nt or speed control Current reduction with speed Current reduction with temperature External current reduction Zero speed adjustment Zero torque adjustment Fault clearance RESET Analogue speed or torque information Servo amplifier status relay 15 V available 5 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER COMPLIANCE WITH STANDARDS RTS bears the CE mark under European Directive 89 336 EEC as amended by Directive 93 68 EEC on electromagnetic compatibility This European Directive refers to the harmonised generic standards EN50081 2 of December 1993 Electrical Compatibility Generic Standard for Emissions Industrial Environments and EN50082 2 of June 1995 Electromagnetic Compatibility Generic Standard for Immunity Industrial Environments These two harmonised generic standards are based on the following standards EN 55011 of July 1991 Radiated and conducted emissions EN 50140 of August 1993 and ENV 50204 Immunity to radiated electromagnetic fields EN 61000 4 8 of February 1994 Mains frequency magnetic fields EN 61000 4 2 of June 1995 Electrostatic discharge ENV 50141 of August 1993 Interference induced in cables EN 61000 4 4 of June 1995 Rapid transient currents Compliance with the reference standards above implies adherence to the instructions and wiring diagrams in the technical documents supplied with the appliances Incorporation in Machinery The design of the equipm
51. oad x 5 96 Recommended combinations SERVO AMPLIFIER MODEL NUMBER TRANSFORMER POWER CODE DRAWING wA 11133 FELX 303593 11134 FELX 303593 RTS 3 10 40M single phase RTS 3 10 40M single phase RTS 10 20 60M single phase TT 11135 FELX 303593 RTS 10 20 60T three phase TT 11136 FELX 303594 RTS 10 20 60T three phase TT 11137 FELX 303594 RTS 12 24 130T three phase TT 11139 FELX 303740 RTS 12 24 130T three phase TT 11141 FELX 303740 RTS 20 40 130T three phase TT 11140 FELX 303740 RTS 16 32 190 three phase TT 11118 FELX 302570 RTS 16 32 190 three phase TT 11119 FELX 302570 RTS 16 32 190 three phase TT 11120 FELX 302570 4 7 4 Mains filter Choice of filters FILTER SERVOAMPLIFIER FR13020 RTS 3 10 40 as per drawing PARVEXFELX3051 44 RTS 10 20 60 p 47 RTS 12 24 130 RTS 20 40 130 FR03016 as per drawing PARVEX FELX304967 p 48 RTS 16 32 190 40 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 8 0 X Idd SNOISNINIQ dva X3 3Vd 31425180 40d S 51 PUD sno jo ER 3715 zS aN suos summpumuow dr 96 11 60 11663 2 5 pides 66 20 12 890663Y 8 2325 081 1 26 20 62 620963 a ar 6 80 72 68096301 8 382 oi 7 585 1A 5
52. ponds to max speed or current value Pulse current value shown in RTS characteristics chart See also identification section Typical uses motion synchronisation master slave mode cutting tool wear monitoring To be connected via an external contact to terminal 13 to enable speed reference Typical uses limit switch emergency stop PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER TERMINAL 37 DESCRIPTION TERMINAL BLOCK 1 To be connected via an external contact to terminal 13 to enable current if terminal is not connected the motor free wheels When the motor is fitted with a holding brake synchronise control of this input with brake control Reset By connecting RESET to terminal 13 faults are cleared and the axis is ready again if fault has been corrected Switching the RTS off and then back on has the same effect as RESET Logic O V to be connected to terminals 10 11 and 12 via control contacts Logic connection cable shielding terminals 10 11 and 12 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 4 5 Terminal block X2 connection Recommended cable cross section 0 5 1 5 mm TERMINAL DESCRIPTION TERMINAL BLOCK X2 10 Ohms 78L15 15 V 25 mA available for external X2 1 applications 2 2 2 3 10 78115 Output contact of sum of faults Contact opens if fault or mains failure X2 4 9 1 occurs Permissible curre
53. relay system especially the emergency stop motor and any smoothing choke tachometer system ground circuit Speed and current inhibited X1 10 and X1 11 not connected Connect the power to the servo amplifier The POWER ON LED should light up if not check the transformer wiring and relay system If the POWER ON LED flashes measure the transformer secondary voltage RTS 10 20 60 Us 48 vac 43 vac lt Usec lt 53 vac RTS 3 10 40M Us 32 vac 29 vac lt Usec lt 35 vac RTS 12 24 130T Us 100vac 90vac lt Usec lt 110 vac RTS 13 32 190 Us 135vac 122 vac lt Usec lt 148 vac RTS 20 40 130T Us 100vac 90 vac lt Usec lt 110 vac Adjust the output voltage as required with the 5 transformer terminals With zero speed reference X1 4 X1 5 OV Release the servo amplifier X1 10 and X1 11 at OV the motor must be under torque If the motor races cut the power and check the signals from the tachometer cut out or inversion before switching on again TAC fault If the motor growls or vibrates with possibly an IFT fault reduce servo amplifier gain by turning the front panel potentiometer anti clockwise If the servo amplifier had switched to fault mode POWER ON flashing use RESET X1 12 to OV to clear the fault Gradually increase servo amplifier reference and monitor motor acceleration Check the motor rotates in the opposite direction when the reference is reversed If a fault arises on
54. rotected against interference brakes contactor or relay coils fans electro magnets etc 4 2 RTS Servo amplifier connection As a supplement to the block diagram see the appended diagrams RTS single phase FELX 303346 p 26 RTS three phase FELX 303261 p 27 RTS battery FELX 303738 p 28 Connecting serveral RTEs or RTSs with transformer FELX 305823 p29 The terminal block description and terminal functions are shown in the following pages The RTS servo amplifiers are factory set to match the characteristics of the servo motor to be used or the application where known When the servo motor is fitted with a brake adhere to the following activating sequence Limit current to a value less than the RTS setting Engage brake Cut RTS servo amplifier To restart proceed as follows limit current as above energise RTS release brake remove current limitation 25 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 2025 Ld 552 59 89995808 14 2461 6 60 0 6216561 inq JOJON AUS lt 2 21 02 01 01 SIM 59540 j dosp eui 20 27 5 88049 98 s Adjas AY 20 00 AOCZ 29 j ET a
55. then continuing to increase gain while monitoring FIG 2 a b c graphs obtained with overshoot and torque ripple The C103 10 nF capacitor is increasing C103 values ready fitted as standard in parallel with the R101 gain resistor 100 300 Hz FIG 3 Speed When the gain is set the C101 integration capacitor must be reduced to produce 15 20 overshoot still for small speed increments FIG 3 b graphs obtained with decreasing C101 values 54 PVD 3487b GB 07 2015 RTS 2nd Generation SERVO AMPLIFIER 7 3 Diagnostic helpl ENERGISING POWER ON on ig flashes ON off Measure voltage at terminals U V W Check which LED on side of card No voltaae Voltage present Check fuse Check fuses main F1 gauge 5 x switch and Motor races and TAC LED lights up 20 transformer connections Check tachometric dynamo wiring invert tacho wires if fault arises during first time use Motor under current control selector 51 must be changed Motor fails to rotate Check motor wiring and fuses If the dl dT LED is on check the motor is not short circuited and there is no ground fault Check the ventilation system is working correctly Ambient temperature of the electrical cabinet must be less than 40 temperature LED is on The motor is unstable and vibrates Reduce gain using the front panel potentiometer turn anti clockwise Chec

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