Home

Parker-SSD-Parvex-Digivex-DSD-Manual-PVD3500GB

1. WN G Q Gg puo pg 196 68 18 04 402 0 404 4 1 80010 DUIUa YbI 209 s M Auauiyoou JO ul payasul aq 9 Zi 29 9 044 x20 g Ajayos dos uo 0Z09 p4opuojs jo 5 ay EI O NN AZ pub4js njnu xou pub pg 9 Gv CH 19 v Y pejoeuuoo sossaiddns ebuns o 71120405 001191 anny AJOSSaDauU 5 M 09 JO DDJUOD BY x U U MOSS3MddhS 3 28 54504 e e e e LAM EN YOLOVINOD 09 06 DIMS INIT asa E HOLIMS Jl NS e 1 2 e E 1 t f 2 C ZA 9 4 gt x en e e E 5 e 3 LM k 1 I E In 8 al J LAM 5 e b o 8 ES 7 1001 u s SN4 5 z poss y suo Li 24 mao 7 y mio oo 8 e lt 5 e e 4 4 dd lt 1 93610 a i i 236 za 0 lt
2. mm 60203v H 5 5 20000 5 DOP 219 Vd WVYOVIG 8 5 10 HCA 15 X IJd esr 26701772 8183 20903 19 3 N O Gg 0 Koubpunpai 72019 044402 0100 20 81J0 104 S40 2DjUOO 950 o ueujuio284 40 5 Uday 9 9 3 G Z xou og 8 914 99 9 UO INDIO eq 8467 i xoo q 5 dos Aouebiewe ub 0209 NJ 5 y 8358 11204025 32019 09141191 EEE euiqpo p soj 015 AO Z VOL SL PUO vS G V8 v 050 D jou S eouD 8397 Faw AO0v 91 9 vg r vr z asa puo 4e ueewjeq UOIS40 204 TEN 40J Suonosuuo pejoeuuoo gy sossaiddns AE Bu anoy A osse2eu p nous Wy 09 J0 90 UO9 4amod x 3258 ore O 454 pejojnueaun 322813 N q 53 NO VN 40 Suolsualuig pejop uj 2589 440 W 5955 WILT 5 Yd U U 4 96 AD0G vc 2 2533 2823 538441 V USE 8153 30553 4405 ApZ 8 31035 soe 73504 e ANE 95 53504 Es ggv YOLOVINOD YIMOd asa 551 HOLI
3. 26 150 5 20450 ae 8 12090309 2 5 TEE CIOOR 79 IB zv ep em S F60ZOTAV 85 c Es iiia 44 13M x zm n 1990 X ldd 91511 3SVHd 3343 asa 10711 1I 0Z203 WV v 2 IW 3 0 8 AQuDpuNpas 20 9 901491 40 pejdopp 220 100 5101201 02 5 u ul 3 puojs ninui GZ 0 18 1 2 y ui ponos eq e 20 dos AQuabiawa UD 13 pippuo s Jo sjuawasinbas y O 358 AY593262 HO 7001019 120 9 19 Js 2 0209 NJ piopup s jo s R DY fes TEN AOSZ 1 6 puo vg r 050 D ui peg jou s 2 Ajuo p nb Ja u 10154 jc E 20 009 91 9 vg r Vr z 050 US UOISJ9 401 ax eS DIIDA 5009250007 pejoeuuoo gy 40ssejddns ebuns p 1399 upsseoeu PINOYS IWY 02 0 20 02 Jamod yj y BESS S839 050 852513 1 cre vn 10 5 0 UI penop uj 8889 VERE U 88323 E XH 2233 55384405 3 ed 74 AbZ4 53505 24 e Y I ree qe 95 53504 3 14
4. DIGIVEX Single Drive Servoamplifier 59 PVD 3500GB 04 2004 9025 20450 5 2 5 Qa 1 1 34 J 081603 9 0 ARG Vd 9A buidwo x KIIF s JSVHd 319NIS 050 10711752 V WN GO 68 0 18 AQuDpUNpas unpa 80510 buiue ubn Xoojq jpuiuue T 2 Bethe ID 4 1091 12 r 1 u 15 i Ue Per T pup 40 1001 SJ0j2DjuOO 0 15 u ul 8 9 puD4 s 6 2 xou Gg s jo lu uudinb 2ujosja uo mou pajsesul eq ase X30003 1007079 90 4 Ajajos dojs Aouabsowa up 0709 5 jo
5. E 2409 05 BRAKE SUPPLY 7141 ov amp CHARGES A DES TENSIONS TENS DE DECHARGE 3 MNUTES WARNING CAPATTORSREMAIN CHARGED TO DANGEROUS VOCE 1 l N 400V 3Ph i eopds 19 ITNT WW FAL 10041580 ION DSD 32 64A 22085 gt 92048 N 00 unu M 7 Dr 08 DIMENSIONS Ls 226 over all without wiring s Stamping LR E AM E99058 A 23 01 98 D AM E99002 uogosuougjnb USIM INO podos JO 2 jl si Ino jo Aysadoid Y si BUIWDJD Sy 27 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 3 2 Labelling and Coding Physical identification by labels On DSD Digivex Single Drive One label plate fixed to the appliance as in the model below CONVERTISSEUR CA CA 05013007 E 3x230V 48 8 0 310 1 7 5 Fn 50 60 Classe 1 IN FRANCE Meaning of label indications AC AC converter Alternating current converter DSD Digivex Single Drive servo
6. y O PEDES 7 29 S3 gt sossaiddns abins AO0 Z 61 64 19 annoy KuDssaoau p nous 109 40j20juO2 au x 298 258 20 70 z x gage 3S 1 eggs 2 2 5839 011291010 00294 1 Stas 24039 2223 4055344405 39815 ApZ 51504 Y 95 83504 INIT e ee YOLOVINOD Y4MOd 5 INI E23 T T 09159102 LAM 1 gt lt 9 20484 H 6909915 8 L E ch en 89 5 E l L va 9 3 5 iV ice 3 0 A e 5 ls _ o veM sees n M K 43A 10S38 5 x pe fart 3 r Y meno 21 OO mm e a 6 e pap fx A006 vc 24 21845 LAM VU aay x dd lt lt 30 YAIHLO 15 5 8 2 9 t 5 2 DIGIVEX Single Drive Servoamplifier
7. jou jnq Mola uees6 5014 T __ Foros Av 5 F SF0863 5 900003 v 3 5 26790791 8 56 80 82 sA 9 1663 3 96 90 792 doa 0 805 pio4q Duipjerus WA FIS 537 72 LNdLNO LNANI ae X3AI9IG o Apadosd asnjoxe si GUMP sul 4215 S puo ino jo wojosuoqjno uajjJM Jno 4o paanposdas pajjuisuD4 eq jouuo2 I 50 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 3 2 4 Sub D connector X3 RS232 Maximum conductor cross section 0 5 mm2 Serial link configuration 9600 bauds 8 data bits 1 start bit 1 stop bit no parity no electrical isolation use an extension cable of 5 m maximum DIGIVEX 9 PIN SUB D 9 SUB D LINKS CONNECTOR DCD RD RXD TD TXD DTR OV DSR RTS CTS 5V SOMA For programming console fet 1 2 3 4 5 6 7 8 9 0 N May be connected without danger to DIGIVEX pin 9 This input is for linking with a computer PC for parameter loading and setting via the DIGIVEX PC software It is also used with the hand help terminal to change those parameters 51 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 4 Connection Details 4 4 1 Mains supply characteristics 230 V single phase or three phase mo
8. ZY WA tel doo 0 8 5 oi pioaq 45 Ww AO XU SH Uonbosuoyje usum 709 podos pasnpoidas eq jouuD2 i 40 48 5 pub Ino jo fq1edoud S Bulmosp SIUI AG Uy L OXZ zd Uy L OXZ ussib X3JAISIG AOLVINNA 109 PVD 3500GB 04 2004 Servoamplificateur DIGIVEX Single Drive DIGIVEX SERVO AMPLIFIER Reference Description DPS0612 12 kW power supply DPS0625 25 kW power supply DPS0615 15 kW power supply with return to mains SF_02040 Three phase choke for 15 kW mains supply DRA3165V23 6U rack 3 slots fan reduced 4 8 DRA3165V43 6U rack 3 slots DRA3165R23 60 rack 3 51015 with external recovery DRA3168V23 6U rack 19 6 slots fan reduced 4 8 DRA3168V63 6U rack 19 6 slots DRA3168R43 6U rack 6 slots with external recovery RE_91001 2000 W 27 ohm external resistor RE_91002 4500 W 12 ohm external resistor RE_91020 Pair or wall consoles for resistors TL_83085 6U 11E stopper DXD06001 Digivex 1 2 single module DXD06002 Digivex 4 4 single module DXD06004 DXD06008 Digivex 4 8 single module Digivex 8 16 single module DXD06016 Digivex 16 32 doubl
9. 92008 230V Ph 92095 008 08 4940 226 over all without wiring A_ 23 01 98 D AM E99058 09 INO jnOu p 20 49 ouuDo j 42115 s jo Auadoid ewsnjoxe y si BUWDJD 24 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier ele Cos 5 0 5 NOSE B e gas 30556865 T Liste doc 7809 05 WARNING CAPACITORS REMAIN CHARGED TO DANGEROUS VOLTAGE MNMW DISCHARGE IVE 3 MITES TEMPS DE D CHAIGE MNUAUM 3 MINUTES ATTENTION LES CONDENSATERS RESTEN CHARG S A DES TENSIONS DANGEREUSES e 1 eopds 191 ITNT NVd JHL 10741580 ION OG 23005 22045 WNUN 002 LUN LUI 08 050 60 100A 49 0 82 Stamping LR 235 over all without wiring E 99058 Est
10. 4 50 60Hz INPUTS OUTPUTS ATTENTION 25 CONCENSATEURS RESTENT CHARGES DES TENSIONS CANCEISUSES TEMPS MNMUM OGOMAAGE TIME MINUTES 42 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 400V Three phases 16 32A 55 55 PARVEX 25 Dmm a 3 4001 5 DIGIVEX 9 a DSD 16 32 400V Three phases 32 64A PARVEX INPUTS OUTPUTS PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 3 1 Terminal blocks 1 2 4 B5 B6 Description of module terminal blocks 230V single phase 2 4 4 8 7 5 15 230V three phase 15 30A 400V three phase 2 4 4 8 8 16A 400V three phase 16 32A ITEM Front Panel TERMINAL TERMINAL BRAKE 24V input for Unpluggable Min 0 2 mm SUPPLY brake supply screw type Max 2 5 mm flexible and rigid lead Motor connection screw type Min 0 2 mm Motor thermal 2 5 mm protection Unpluggable flexible and rigid lead Motor brake Mains connection MAIN For single phase mains Unpluggable Min 0 2 mm only B3 1 and B3 2 are screw type Max 2 5 mm SUPPLY to be connected and rigid ea AUX Low level Unpluggable Min 2 5 mm SUPPLY supply screw type flexible and rigid lead Logic input RESET Unpluqqable Min 0 2 mm OK contact screw type Max 2 5 mm2 regulation and flexible and rigid power
11. y 859 jeuiqpo pesojo D U jou s 2 _ ueewjeq DulpJeluS xx SS 5 5 oga i pojoeuuoo gy Joss sddns ebuns p 2 5 andy upss o u 40 9D UOO 3 32 2 1 3X9 ApZ 22 2 952 u 2 0 31714 U y esse 031713 SI AP 583 SEER YOSSIYddNS 8588 5 28 53503 8852 95 5350 See A vou 3g SOIOVINOO 3MOd asa Lo 1 Cla ETE HALI git e e u e e T a cM ZA dv 5 n e gt N gt 3 D _ o 6 5 10 9 e 4 2 c r sos d l j 3A 10S3M 1 1 43410539 iV Fr d 9 C l 6 amp 1 1 in e L i n 5 A FE e IE Ban EL V Un 1 iL IUD m x L st t kkk mo Zi j is Dd O 5 5 v wwo 25 24 1 8 00 SES F4 F4 m m w j e amp ba e e e a Y V E lt 7 T 10016 My Z WW 4 0 40181894 000 el Y pon S 8 2 9 2 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 2 1 Surge Suppressor KM1 Power Contactor AP Surge Suppressor The power contac
12. Red MEANING Microprocessor fonction correct Normal state Fault cl Operation continues with reduced performance ie Fault with power down io CPU fault with power down RUN and FAULT LEDs off No power supply 5 LED on CI LED flashing For RS232 serial link Either by the PME DIGI software which specifies in uncoded language the problem and advice for correcting it Or via the hand help terminal 7 2 2 1 Fault processing Two cases arise e Faults with the FAULT LED on These faults entail Main contactor opens and system powers down Initial fault code is stored in the drive 100 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier e Faults with FAULT LED flashing These faults entail Motor current is reduced Status is stored in drive No action DIGIVEX SINGLE DRIVE OK relay These cases arise For excessive Digivex dissipater temperature For excessive mean drive current or excessive rms motor current if the drive parameter setting allows operation to continue The choice of continuing operation with reduced current or stopping is made by the current protection strategy in the servo control window of the parameter setting software 7 2 2 2 Current monitoring Mean drive current Each drive is characterized by two currents For example for a 15 30 Digivex Single Drive permanent permissible current 15 A peak value of sine wave maximum
13. The resolver is a high precision sensor 10 angular minutes as standard which must be wired carefully routed separately from the power cables twisted pairs sine cosine excite with general shielding The general shielding must be connected to the metal plated Sub D connector cover Do not connect the shielding at the motor end Parvex S A can supply this cable in either of two forms Separate cable in this case wire as in the drawing below Cable fitted with Sub D plug at the drive end and connector at motor end This solution is highly recommended as the cable is ready for use Maximum distance between the resolver and the DIGIVEX SINGLE DRIVE 200 m Please ask about greater distances Maximum permissible cross section by the Sub D connector 0 5mm by the connector removable plug 0 14 1 mm solder or crimp fit contacts RESOLVER CONNECTOR REMOVABLE PLUG motor end connector 220065R4621 solder fit contacts standard 220065R1621 crimp fit contacts Viewed from F Dm7 H For XD motors Connect by Sub D connector under rear cover cable routed through special cable gland Please ask for details 65 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 5 5 Automatic control Input Output connection See functions and characteristics of these inputs outputs in Section 5 Terminal block B5 linked to the main contactor control OK contacts potential free Sub D X2 RS232 link with PC use a
14. 230 V three phase DSD 30 60A 230 V three phase DSD 60 100A 400 V three phase DSD 2 4A 4 8A 400 V three phase DSD 8 16A 400 V three phase DSD 16 32A 400 V three phase DSD 32 64A 39 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 230V Single phase 2 4A 230V Three phases 4 8A 230V Three phases 4 8A 7 5 15 7 5 15 15 30A UN oo OO PARVEX seva PARVEX sva O mg wai ATTENTION E5 CONDENSATEURS RESTENT CHARGES A 065 TENSIONS TDS CE MINIMUM 1 NUES WARNING CAMCORS REMAIN CHARGED 10 DANGEROUS VONAGE MINIMUM DSCHAROE TME 2 5 40 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 230V Three phases 30 60A ww PARVEX G om E a FOO PHASE Tet s d 9 S 84 O 9 85 15232 INPUTS OUTPUTS e Cp C DIGIVEX aw Firm DSD 30 60 5 9 co 230V Three phases 60 100A 90 OO Om 2 PARVEX Sm Om Timi 1 23101 1 Om 5 s ool 4 4 8 M M b 1 9 10 9 DIGIVEX DSD 60 100 41 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 400V Three phases 2 4A 4 8A 400V Three phases 8 16A a oo PARVEX se 40
15. 4 SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere AXL COMPACT SERIES SERVOREDUCERS 5 to 700 N m 5 POSITIONING SYSTEMS e Numerical Controls CYBER 4000 1 to 4 axes e CYBER 2000 NC 1 to 2 axes e VARIABLE SPEED DRIVE POSITIONER gt SINGLE AXIS DSM POWER SINGLE AXIS DPM gt MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX Motion Explorer wwwW sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier CONTENTS SAFETY INSTRUCTIONS 2 7 rri rax ra 5 PRODUCT RANGE 2 1 GENERAL 7 11 Digital Servodrive 7 1 2 General Characteristics 7 1 2 1 Modules with 230 V single phase power supply 7 1 2 2 Modules with 230 V three phase power supply 8 1 2 3 Modules with 400 V three phase power supply 8 1 3 Operating Principle 9 1 3 1 Block diagram 9 1 3 2 Power supply functions 11 1 3 3 Servomotor control functions 11 1 3 3 1 Presentation 11 1 3 3 2 Functions and block diagram 11 1 3 3 3 Forcing logic inputs 14 1 3 3 4 Stimuli oscilloscope functions 14 1 3 3 5 logic outputs 14 1 3 3 6 Brake action 15 1 3 3 7 Monitoring reasons for stoppage 15 1 3 3 8 General characteristics of the DIGIVEX SINGLE DRIVE 16 1 4 Compliance with Standards 17 2 ENERGY DISSIPATION 18 21 Braking Energy Dissipation 18 2 1 1 Calculating the power to be dissipated in the braking resistor 18 2 1 2 Braking energy dissipation 18 2 1 3 Brak
16. EXCITATION DIGIBLGB D W SINE COSINE RESOLVER PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier On the right of the diagram the motor resolver power section Parameters can be set for the choice of motor which dictates the drive rating the general characteristics of the resolver The choice of the motor drive combination determines a number of parameters current limitation I f t protection standard servo control parameters Ahead of current control Second order filter for reducing the effect of high frequency resonance External reduction of current limitation Resolver numerical processing non parametric and the optional encoder emulation function number of points adjustable from 1 to 16384 Choice of type of regulation torque or speed En speed loop Parameters can be set for maximum speed for the application limited by the maximum motor speed scaling 1 V N rpm choice of corrector type proportional proportional and integral proportional and double integration Predictive actions associated with speed control These actions acting outside the speed loop directly affect torque As they are external they have little effect on loop stability However they allow anticipated actions without waiting for the speed loop reaction The predictive actions or predictors are Gravity compensation for vertical masses Dry friction a friction force value is fixed
17. UD 0709 NJ p4opuojs Jo c 300 2315 pup zg 27015 204 PUD c Lj Ca Jossaiddns obuns UDJ1S 1 Jnuu DL Pues OF anny upss o u 40j120ju02 ay 34 puo pg 9 G v 28 18 989 120002 90 q 001 qom 509 2 yo vW U U 95 A00S YZ 24 L M3 Judge z RE lt 121 31435 8 31035 IWJ EE ao 5055349915 9 05 dV e 9 JnOINVO3W3131 88v EE 53504 Zd ae 53503 INT 13 euo 5 i ij asa 2975327 YOLOW LW XIND ET 15 rl I e s I tC 8 Lou 1 n zh g LW o n 2 eo 410 3 19 Q 14 if n L NNNM 2 5 43470534 1 1 v EX amp S 23 x n 7 b S E i E y lt e r mo 5 O 5 mmo ash 4 nc 8 Y 65 e 13 e V V 34 wwe zl 20016 JYXZ MY 8 c 40151858 040140 4 Gal 40181591 4 L lt x L S 40 515 4 0401 40 y xx MJ 8 2 9 gt 2 1 35 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 29025 n 2070
18. either in interactive mode by positioning on the points of the diagram the 2 probe tips available or from the list proposed in the TOOLS OSCILLOSCOPE table Access via the name of the variables This is valid for the variables the eleven above plus the following 86 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Temperature in degrees centigrade Bus voltage in Volts Active current in Amps I Reactive current in Amps Id current in Amps Iq current in Amps Ud voltage in Volts Uq voltage in Volts Auxiliary input in Volts Low frequency generation ff It should be noticed that these variables can be assigned to the two analog outputs which means a separate oscilloscope can be used 6 3 3 Parameter access conditions with Digivex PC software Access level Level 1 always accessible can be used to modify Proportional gain in the limited proportions 0 7 to 1 4 Speed for a set point of 10V 10 unless already at maximum speed Offset adjustment 5190 It can also be used for measuring all the parameters Level 2 accessible by entering a code this level can be used to modify all the parameters required for the application These levels are valid whether on line or off line with the PC software or with the hand help terminal Working off line If access can be gained to level 2 and the PC software is being used complete parameter files can be prepared off line
19. lojod s TTT 0 C amp upojday YA 66 70 9 190663 v 18 Suonpopipow YA 86 11 60 SL1863W V Uonpsuogjno usum ynoyjm pardoz o peonpoide 100102 3 1 Anous si ui ano jo Ayadoud awsnoxo s Siy 001790215 41 96 20 90 i ww NI SNOISNJWIG 8 0 2 9 avi NOLSY3 NOILO3NNOO BZD x m SEE I JO J k c 2 056231 u 209 05 x 20811 Sp SDS KON 20 IN 5 504 ZH09 0S 2 A0GZ OLL 01 vs v6 DA i a N H G pe to 5 5H m N 4 0 0 0 4 L l N 1 1 Teo 1252 g B GELL x z 9211 SNOISNIMIG INILLNO ld 89809 08 X134 Ydi YILU jequmu 011091 148 OL 69 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 9918460 133 SNOISNJWIQ 3NI LOO 88 1 3 TT ke s E z 88209 rom Qa HII
20. 220049R4905 0 5 mm power cable by metre Equipped power cable length 5m 1 For motors HX4 HX6 HS6 HD6 HD6 HS8 and lo 14 A 220065R1610 6537P0009 220049R4205 Size 1 power plug 1 mm power cable by metre Equipped power cable length 5m 1 For motors HS820EQ lo gt 14 A 220065R1611 6537P0010 220049R4305 Size 1 power plug 2 5 mm power cable by metre Equipped power cable length 5m 1 For motors HD8 HS9 220065R3611 Size 3 power plug 6537P0010 2 5 mm power cable by metre 220049R4805 Equipped power cable length 5m 1 For motors HD9 and lo lt 60 220065R3610 Size 3 power plug 6537P0011 6 mm power cable by metre 220049R4505 Equipped power cable length 5m 1 For motors H and lo gt 60 220065R3610 Size 3 power plug 6537P0012 10 mm power cable by metre 220049R4605 Equipped power cable length 5m 1 PVD 3500GB 04 2004
21. It is supplied at the motor terminal block B2 Regulated filtered 24 V 10 voltage Protection against overvoltage by 26 Joule varistor this protection is effective from 30 V CAUTION Do not use the 24 V available at X2 for this function 4 4 6 Earth connection front panel Faston tab Chassis earth For compliance with the standards in force the lead cross section must normally be identical to that of the mains connection and at least 16mm 4 5 Connecting Servomotors 4 5 1 Power cable definition The motor drive power connection cables will have as a minimum e 3 isolated conductors connected to phases U2 V2 W2 Cross sections as in the table on the next page The presence of chokes internal to the DIGIVEX means there is no need for shielding of the three power conductors e 1 earth conductor green and yellow e 2 twisted and shielded pairs for connection of the motor thermal protection Cross section in the order of 1mm e 2 twisted and shielded pairs for connection of the holding brake if present Cross section in the order of 1mm e 1 shielding continuity conductor green orange to be connected to the servoamplifier earth Power cable cross section The cable cross sections given in the table below take account of The rated drive current The motor drive distance service voltage loss RI The ambient temperature cable Joule losses RI the standardized increase in cable sections 5
22. The corresponding torque set point is applied its sign being that of the speed set point Viscous friction compensation for friction forces that are proportional to speed hydraulic or electrical system drive Acceleration changes in the speed set point drift are monitored and direct action is taken on the torque set point via a coefficient K the inertia image 13 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier The analog input speed reference 16 bits non parametric On the left of the block diagram the set of logic and analog inputs outputs The parameter setting software is used for allocating some of these Inputs Outputs for forcing them to a logic status The inputs are then disconnected from the outside 1 3 3 3 Forcing logic inputs The software or console can be used to force a logic input to a particular value Thus the software can be used with inputs NO NO C 0 to disconnect them from the physical input to force them by software to 0 or 1 1 3 3 4 Stimuli oscilloscope functions Certain functions integrated in the drive allow the speed set point to be excited dc voltage square response at one scale sine These stimuli can be activated by a PC or by the console Their result is stored in the drive and can be displayed on the PC screen with the oscilloscope function 2 variables at most can be displayed simultaneously using the PME Digivex software 1 3 3 5 logic outputs 1 Sp
23. lt a 11 1S Mj 8 2 9 D 2 4no jnoujm JO paonpoides pajjuisuo4 Aysadosd ewsn oxe y S Silu 8 S 400 Jo uonosuoujno 34 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier S EV 180663 0 oos AOS o 67 6 2 WvMOVIO 91 3 1 1 v 219 V 4 00863 8 X joo qN N 9157 001 09 as 86 LO 280864 V UN gt 8 puo 624 28 w la WN 90 xou AQuopunpes UN 6 gg puo pg 969 29 18 04 402 0 10 JOJ pejdopp 21D 30y S40j20juOO 0 u y peas 9040 Dujua Yybi 320 q 1001029 JO juawdinba Musis uo yno buisibjeue y U pejiesu eq 3867 dojs
24. 5 mm PLUG PINS FUNCTION 220065R1610 R1611 220065R3610 R3611 CABLE COLOR BRAKE Green Red BRAKE Green Bblue THERMAL PROTECTION Orange THERMAL PROTECTION Yellow EARTH Shielding to be connected to the earth at the servoamplifier end Green Yellow 63 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Holding brake connection Brushless motors can be equipped with a specially sized brake to maintain the axis immobilized If 24 V 10 dc voltage is applied across the brake terminals the brake disc is free and the motor can rotate The 24 V dc supply used for brake control must be regulated and filtered It is to be connected to terminal block B1 The brake is to be connected to terminals B2 6 and 2 7 Thermal protection connection The two terminals of the thermal sensor located in the motor terminal box are to be connected to B2 4 and 2 5 Motor fan connection Some motors can be supplied in the fan cooled version Motor fan characteristics Supply voltage 400 V or 230 V three phase 50 60 Hz Power consumption 45 W Connection by connector plug 220056P0200 supplied on request When connecting check the direction of fan rotation and that air actually flows The direction of circulation is shown in the dimension drawings Connector removable plug Viewed from F Digpl7 T dm8 H 64 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 5 4 Resolver connection
25. 51 52 52 52 54 54 55 55 55 55 57 62 65 66 66 66 66 66 66 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier 5 AUTOMATIC CONTROL INPUT OUTPUT FUNCTIONS AND CHARACTERISTICS 72 51 Input Output Characteristics 72 5 2 RESET and Contactor Control 74 5 3 Initilialization Sequence 75 5 4 Stop Sequence 75 5 4 1 Normal stoppage 75 5 4 2 5 subsequent to mains supply or braking fault 76 54 3 Stoppage subsequent to motor drive fault 76 6 SERVO CONTROL PARAMETER FUNCTION AND SETTING 77 6 1 Servocontrol Parameter Functions 77 6 1 1 List of parameters 77 6 1 2 Regulation selection current proportional PI PI 77 6 1 3 Integration stoppage 80 6 1 4 Speed scaling 80 6 1 5 Filtering frequency 81 6 1 6 Predictors 81 6 2 Inputting Parameters 83 6 3 Setting with Digivex PC Software 84 6 3 1 Outline 84 6 3 2 Parameter setting tools 85 6 3 3 Parameter access conditions with Digivex PC software 87 6 3 4 Entering parameters via Digivex PC software 88 6 3 5 Setting loop parameters for speed regulation 88 6 3 6 Setting predictors 92 6 3 7 Setting current regulation parameters 96 6 3 8 Other characterization parameters 96 7 COMMISSIONING SERVO CONTROL PARAMETER SETTING DETECTING REASONS FOR STOPPAGE 97 7 1 Start up Sequence 97 7 1 1 Preliminary checks 97 7 1 2 Commissioning with Digivex PC software or the hand help terminal 97 7 1 3 Commissioning with the hand help ter
26. 68 on electromagnetic compatibility This European Directive invokes the harmonized generic standards EN50081 2 of December 1993 Electromagnetic compatibility Emission generic standard Industrial environment and EN50082 2 of June 1995 Electromagnetic compatibility Immunity generic standard Industrial environment These two harmonized generic standards are based on the following reference standards EN 55011 of July 1991 Radiated and line conducted emissions ENV 50140 of August 1993 and ENV 50204 Immunity to radiated electromagnetic fields EN 61000 4 8 of February 1994 Power frequency magnetic fields EN 61000 4 2 of June 1995 Electrostatic discharge ENV 50141 of August 1993 Disturbances induced in cables EN 61000 4 4 of June 1995 Rapid transients Compliance with the reference standards above implies observance of the wiring instructions and diagrams provided in this documentation Incorporation in a machine The design of this equipment allows it to be used in a machine subject to Directive 89 392 EEC Machinery Directive provided that its integration or incorporation and or assembly is done in accordance with the rules of the art by the machine manufacturer and in accordance with the instructions of this booklet 17 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 2 ENERGY DISSIPATION The energy a module has to dissipate is broken down into Energy generated by braking Energy from rectifi
27. OK lead 44 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Description of module terminal blocks 230V three phase 30 60A 230V three phase 60 100A 400V three phase 32 64A ITEM TERMINAL Front Panel TERMINAL TERMINAL Marking FONCTION BLOCK TYPE CAPACITY 24V input for brake supply Unpluggable screw type Min 0 2 mm Max 2 5 mm flexible and rigid lead No Motor unpluggable connection screw type 30 60 and 32 64 Min 0 2 mm Max flexible lead 6 mm 60 100 Min 0 5 mm Max flexible lead 10 mm Motor thermal protection Unpluggable Motor brake screw type Mains No connection For single phase mains only B3 1 and 2 are to be connected Earth unpluggable screw type Min 0 2 mm Max 2 5 mm flexible and rigid lead 30 60 and 32 64 Min 0 2 mm Max flexible lead 6 mm 60 100 Min 0 5 mm Max flexible lead 10 mm B4 1 4 2 SUPPLY Low level supply Unpluggable screw type Min 0 2 mm 2 5 mm flexible and rigid lead B5 1 B5 2 RESET Logic input RESET Unpluggable OK contact screw type Min 0 2 mm Max 2 5 mm flexible and rigid lead Internal external No resistor unpluggable connection screw type RECOVERY 45 PVD 3500GB 04 2004 32 64 and 60 100 Min 0 2 mm Max flexible lead 4 mm DIGIVEX Single Drive Servoamplifier 4 3 2 Sub D connectors X1 X2 X3 X4 X5 4 3 2 1 Sub D connector table Conn
28. drive s low level power supply Short circuit capability A single output may be short circuited at 0 V at any given time Signal form Signal levels U high gt 2 5V for high gt 20mA U low lt 0 5V for I low x 20mA CHANNEL A CHANNEL A CHANNEL B ZERO SIGNAL Dipl44gb D 51W Switching time Rise or fall time defined from 10 to 90 of the magnitude in question without cable and without load tr tf 45ns typical value 106 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Time delay between direct and complemented channels Time delay defined at 50 of magnitudes in question without cable and without load 6ns lt ta lt 6ns maximum Time delay between channels A B and the zero mark Time delay defined at 50 of magnitudes in question without cable and without load 6ns lt td lt 6ns maximum 5V S ENCODER INTERFACE i A B 0 5V bI Se ooo Encoder ipo Ee mM NUMERICAL CONTROL DIGIVEX DRIVE CONNECTION 107 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 8 2 3 Sub D connector X4 encoder emulation option Sub D 9 pin plug Encoder Maximum conductor cross section 0 5 mm CONTACT TYPE FUNCTION Loup e i 8 2 4 Encoder emulation cable Cable formed from three twisted pairs of 0 14 of twisted pair 0 5 for 5 V supply and general shielding Cable reference recommend b
29. i z YOLOVINOD YIMOd asa rE 2 HOLIMS 3 518 mg H 21 1 et x 1 LI apod pu 1 u a e jc dV gt H e ES CN 9 3 1 5 va Xx o 6 3 PIN ze Q Ll DE 34 Q O uw ana e a E o p a Ed uH __ L EE nn Buijolluouu 1100 x bo snj H 1 23 Y 2 8 8 g E oo OO e e x 98 AQ0G vc 23 V V 121 31035 8 3183 2 3 lt I l snomvoswa7a gav Su YFIHLO lt 1 4 24 v lt 4 11 15 EI 8 2 9 y 3 2 1 60 PVD 3500GB 04 2004 Connection cable between DSD and DSF02 DIGIVEX Single Drive Servoamplifier s a ee 8 Ox 9 uojso4 ester 2 buipjarys 20 5 eq 2 Ajoujs s puo 400 Apadoid awsnjoxa 5 5541 sad papjaiys pajsim uuuGZ Xp 21892 paj2auuo2 piojq Guipjaiys 2223 39vONI18 cua omo 39vONI18 NI334 orig user9 NI343 e E NI333 SIH9N31 GMHVONVIS 1 l 3802 1H9N31 3009 31882 1104 7 61200179 9 09 X 3 4 NII 201084 318v9 531115 50 050 k FO P 9 9 Q BiG 3ON383338 5379
30. phase 50 60 Hz 400 V three phase 50 60 Hz 400 V three phase 50 60 Hz 400 V 12000W three phase 50 60 Hz 8 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 1 3 Operating Principle 1 3 1 Block diagram The block diagram shows two parts A power supply section providing dc voltage to the power bridge and auxiliary power supplies regulation fans one part for axis control and monitoring control 9 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier PARV EX MOTOR a MOTOR W1 POWER SEE W2 V BUS VOLTAGE MAINS T MONITORING PROTECTIONS MANAGEMENT AUXILIARIES T CHOPPED POWER OK 44 SUPPLY RESOLVER h gt DRIVE REGULATION SUB D RESET THERMAL PROTECTION SUB D I O AND SET POINT 24 FANS OK 24V BRAKE MONITORING 24V SUPPLY BRAKE VOLTAGE BRAKE SYNODSDGB D 10 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 1 3 2 _Power supply functions Receives the 230 V or 400 V mains supply through terminal block B3 and converts it into a 310 V or 550 V dc voltage Receives the 230 V or 400 V mains supply via terminal block B4 to generate the auxiliary supplies 15 V 5 V 24 V required for regulation May receive a 24 V supply via terminal block B1 for powering the motor brake Provides the interface to the automatic control via terminal block B5 The power supply status is displayed by an array of 5 LEDs One LED indic
31. pulse power can be required provided that this power is only present for a certain percentage of the total time repetition Module losses losses specific to the module the value shown in the table is that obtained when the module is used at maximum power Low level consumption consumption of the low level power supplies in Watts 20 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Specific case of 60 100 230 V three phase and 32 64 400 V three phase modules These two modules can use an external resistor to dissipate braking energy If this possibility is used the characteristics obtained are those shown in the table below with RE91001 resistor for the 32 64 module and RE91002 resistor for the 60 100 module MODULE RATING 60 100 Two resistors Resistor value Maximum current Pulse power Permanent power Maximum non repetitive duration Maximum repeat cycle duration Repetition 3 DIMENSIONS ASSEMBLY MASS LABELLING CODING 3 1 Dimensions Assembly and Mass See the following pages drawing numbers FELX 305463 FELX 305464 FELX 305541 FELX 305568 FELX 305540 FELX 305567 21 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 5 of of Ys of Jes of Jes O PARVEX O wan 5 jor O y e o Bis B B 4 MD
32. the DRIVE OK output of the X2 socket goes to 0 The motor is no longer controlled To 20ms The OK contact of terminal block B5 opens The external automatic control must open the main contactor at the latest 100 ms after OK opens After the main contactor opens POWER OFF lights up To 20ms delay POWER ON LED goes off N B A mains failure entails the bus dc voltage discharge command two seconds after 76 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 6 SERVO CONTROL PARAMETER FUNCTION AND SETTING 6 1 Servocontrol Parameter Functions 6 1 1 List of parameters Choice of regulation type Speed Proportional P Proportional integral PI Proportional double integral Current regulation In all cases Minimum value Maximum value Filtering frequency 20 Hz 800 Hz Offset 1 V max 1 V max Current limitation pulse drive For speed regulation PI Maximum speed 100 rpm min 100 000 rpm min Speed for 1 V 10 rpm min 20 000 rpm min Proportional gain pulse drive 156 pulse drive x 210 Integration stop 0 1Hz 1 50 Hz Speed 1 and Speed 2 48 rpm min lt Speed 1 lt Speed 2 lt Max speed Predictors gravity dry or dynamic friction acceleration 6 1 2 Regulation selection current proportional PI Current regulation Choosing current means current can be controlled directly therefore the motor torque through the torque coefficient Kt This t
33. under certain circumstances Please ask for details Generate a speed set point scale 0 5 to 1 V Use the oscilloscope function to display Channel 1 the input set point Channel 2 the speed measurement Trigger on channel 1 at 1 or 2 percent of N max leading edge Increase gain P The stimulus is excited on line The response is collected at one scale of speed set point 89 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier There are three possibilities Non oscillating response Speed P correct P too high Dipl43gb D W A response must be obtained without overshooting and oscillation For example increase gain until oscillations gradually appear then reduce it by 20 to 30 If the maximum value shown in the table is reached with P gain without reducing the filtering frequency then Stop increasing P Reduce the filtering frequency until the limit of oscillation Filtering frequency setting Oscillations may appear on the response obtained above even when speed is increasing Response with pseudo oscillation Speed measurement Dipl43gb D 44 W This gives frequency resonance probably mechanical origin fr 2 1 T greater than 100 Hz 90 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Then reduce the filtering frequency until the oscillation disappears almost completely If that cannot be done the maximum gain is reached If possible gain can be increased again until a re
34. 1 33 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 401 A 50101080 o 85221 E ed ER U 4 029 90 4009 vc 23 as 5055359 ApZ4 3535 53514 e LEES vy 0 99 5350 gav i m 3 ET 1 if E apo UT 8 n 21 dy ZA e en Lf lt VA 3 a amp 7 XEM 8 nM A f 3 E 8 m 539 L 1 5 1 2 2 fo rE a LAM cr m a mo VM Is o PER 2 bd pass e e 5 Jd X3AISIG lt gam N 50 P i 4 T E 8 2 9 5 n 2 DIGIVEX Single Drive 34095 bud is ZZOFOdWY 5 2 18 T 2 569002 X Tj 8 9e o 0t asa X3AMVd NUN d a rS a 122 eis 709 02 050 8671071 7154 00007 NY 3 Z 0863Wv N 8 g puo 624 28
35. 1001 2000 27 620 91002 4500 12 1195 Connection in IP55 sealed terminal with packing gland Weight kg 1 9 2L m 4 28 holes RE 90020 50 5 S 19 91 M LY 30 L 222 F Pair of wall consoles Weight 0 9kG RECOMMENDATION Service Drawing 26 0 7 95 JP stamping These resistors must be used horizontally fixed to the ground or to wall consoles with nothing liable to impede natural convection Order execution ML ETO A ameseoz6 20 02 98 VR Scole Replacing Separate nomenclature of Nbe dif This drawing is the exclusiv property of our firm and is strictly confidential It cannot be transmitted reproduced or copied without our writing authorization Modifications Separate nomenclature of same Nbr SIZE Family DIGIVEX A4 PARVEX EXTERNAL RESISTOR LEAF N 1 FELX 40455 GB Nb 67 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 99 9670 X11 qN LUN ava Awos SNOISNAAIO 3NI INO ud 42114 5 29 aus 40 sumjpjouauiou qojod S MA 86 60 11 S 0863 WV 2 86 11 60 S 1863 WV 3 MA 46 11 07 Z91 63 WV 9 suo oa y PON 40 paanposdas sq 104402 Ausdosd ansnjoxe ou si bumoup s
36. 230V THREE PHASE 15 30 30 60 60 100 Te ms 150 150 300 450 600 DSD 400 THREE PHASE Te ms 150 150 300 450 600 The OK relay closes when the minimum bus voltage transits Maximum time 100 ms 5 4 Stop Sequence 5 4 1 Normal stoppage Normal stoppage is achieved by deliberately opening the main contactor To lt contactor opened To 10ms POWER OFF LED comes on To 20ms OK contact on terminal block B5 opens 20 delay DRIVE OK output of connector X2 goes to 0 after bus discharge The discharge time depends on the activity of the drive during this phase The motor continues to be controlled until the output trips POWER ON LED goes off 75 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 5 4 2 Stoppage subsequent to mains supply or braking fault To lt Fault detected To 20ms OK contact of terminal block B5 opens and fault type at power supply end displayed The external plc must then open the main contactor at the latest 100 ms after the OK relay opens Let Tr be the contactor opening delay To 20ms Tr delay DRIVE OK output of X2 socket goes to 0 after bus discharge The discharge time depends on the activity of the drive during this phase The motor continues to be controlled until the output trips POWER ON LED goes off 5 4 3 Stoppage subsequent to motor drive fault To lt Fault detected To 10ms The FAULT LED comes on and
37. 3 H e10667v a X3AMVd a 51603 v exp 5 b 8 14405 502557 vce 91 05 I uoo esn oj 0 8 ueuj S y 9595 10 uo ul pejiesu eq 20 9 8 8356 fjejos 4015 Aouabsawe uo 0709 NJ p4opuojs Jo sjueueunbej y gd 14 pee 344 19550 T MN G Z Xa A uiqpo jou si 2 Kuo 8532 UD xx 6 gv Josseiddns abins 10889280 pinoys 102 40 20 02 SY et jj9ujs s PUD ino jo ewsnjoxe ay uOHOSUOUjnO 09 34 INO p T 3 MEE l 25 A00S vZ 24 3 3055 2 121 3lu3S 8 303 5 Q 13 InOINVO3W3T31 day 9 I 91 mj gt s asa CE a m T dV L gt 5 m LAM WN x3 3 2 A _ 5 Lim poss 1 ny M 8 5 43 70538 1 4 JA 8 TES UE J N ee 5 dere 8 NS 3 8 at I N 1 f zi o o oo E 7 i 5
38. 5 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier The cable section to be used is given in the table below Distance 0m Om 100m DIGIVEX Rating Cable cross section in mm 2 4 and 4 8 0 5 7 5 15 and 8 16 1 16 32 and 15 30 2 5 32 64 and 30 60 60 100 10 10 cross section incompatible with power terminal blocks see 4 3 1 Provide an intermediate terminal block nearby Connection by connector The power connection by connector is available as an option The removable part of the connector plug can be supplied on request List of power cables power connectors and equipped cables for H or L series motors Cable cross section Power mm Cable Plug 1 Cable 6537P0019 220065R1610 220049R49 HX200 HX300 HX400 LX200 LX300 LX400 6537P0009 220065R1610 220049R42 HS HD HX600 HS800 LS LD LX600 LS800 6537P0010 220065R1611 220049R43 Power Equipped HD HX HV800 6537P0010 220065R3611 220049R48 LD LX LV800 cone 6537P0011 220065R3610 220049R45 HD HV900 6537P0012 220065R3610 220049R46 LD LV900 HXA HVA 6537P0013 220065R3610 220049R47 All HW et LV HD HV1000 6537P0014 LD LV1000 Length 5 m 10m 15 m 25 m 50 m Add the length in metres to the cable product number 1 Straight power plug with crimp fit contact 56 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 5 2 Guidelines for the use of long cables The induc
39. 58 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 5 3 Motor end connection Power connection There are two possibilities for connection Terminal block resolver connector Power connector resolver connector Terminal block connection For the terminal block the clamping nuts and washer come in a bag Take care when fitting the lugs not to loosen the connecting leads between the motor and the terminal block OD Ep LI The power connection lugs are to be inserted between the striated washer and the flat washer Digpl3 D Motor direction of rotation by wiring as recommended a positive set point applied to the drive entails clockwise rotation viewed from the power shaft end U Phase U ALIMENTATION SUPPLY SPEISUNG V Phase V W Phase W 1 Optional brake 24 V cable gt 1mm2 2 Optional brake OV FREIN BRAKE Thermal BREMSE sensor 3 Thermal sensor cable gt 1mm 4 Thermal sensor 62 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier PLUG 220065R1610 1611 PLUG 220065R3610 3611 PLUG 220065R1610 PLUG 220065R1611 PLUG 220065R3611 CABLE CROSS SECTION FOR PLUGS power amp earth 0 14 1 5 mm Brake amp thermal 0 14 1 mm power amp earth 0 75 2 5 mm Brake amp thermal 0 14 1 mm power amp earth 1 5 4 mm Brake amp thermal 1 2 5 mm PLUG 220065R3610 power amp earth 6 16 mm Brake amp thermal 1 2
40. A 23 01 98 99002 Peldoo peonpojdai eq jouuco j qonuepyuoo 4 24 8 SI puo uu ino jo Ayedoid ewsnjoxo y s Bumoup SIY 25 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier IND leat 1 N leaf 1 Bl B B sas maia FELX 305540CB 03 08 SAD Liste Gre doc oods 181 dV NVI JHL 19011580 LON OG 92005 wun wiu 002 0 820 7 without wiring f k 17 12 97 222 over all Stamping LR Est B AM E98032 0 0 23 01 98 D AM E99058 A 10 05104 0 usynM INO jnoujM pordo JIPON 40 eq 0 j s PUD 400 jo SI Bujmoup 511 26 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 305567 8 FELX English janaj BI A3
41. B 2409 05 2409 05 NOOY mm IFELX 30546469 1 Eng un js A3 B 50 gi BRAKE SUPPLY 34 ov e 5 5 ee iste 1 opds 191 IFINI v Nv4 LONYLSGO LON OG goods aonds uirium 00 VENTILATED DSD 8 16A 400V 3Ph AND 15 30A 230V 3Ph JD 826 PARVEX DIMENSIONS without wiring 222 over all Stamping LR 07511177 INO FT OUI PSITS5 paonpo4dei eq 4218 s pub jO Auado d AISn 9X ay si 811 23 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier FELX 305541GB amp 24 of Co off 19100203 ud gis amp 3309 05 SUD Liste doc ATTENTION LES CONDENSATEURS RESTEN CHARG S A DES TENSONS DANGEREUSES TWS DE D QUAIGE MNMUM 3 MNUTES WARNING CAPACITORS HEVAN pds WWQZ 19 121 NV4 FHL 12041580 LON OG
42. E Bis L 2409 05 2 Single phase takes up the same space e m O O O s HEBE E 8 mn g 1809 08 s fe 2403 05 9 WWNW O1 BONO NMIGESIOIDVAD SNININM 22085 opds ug 327 gzg Or 1 222 over without wiring Shield M4 DSD 4 8A 7 5 15A 230V 3ph DSD 2 44 4 8A 7 5 15 DSD 2 4A 4 8A 400V 3ph Dimensions valid for 3 3 Kg n 22 o o s T 15 o o 0000 Weight Jno 170 97705 pasnpoidas LIS S Ino Jo Ayiadoid ewsnioxe Y S 514 PVD 3500GB 04 2004 Three phase N leaf Nb leaf 7 FELX 3054630 Liste doc UNVENTILATED 050 Stamping LR 1Ph 3Ph AND E 99058 Est DIGIVEX Single Drive Servoamplifier jen of jos et Jon e BIME H H
43. HASE A rms FR03036 MAINS INPUT LINE CURRENT for mains MAINS POWER 400 V Urms 400 V FILTER A eff L9 mew FRO3036 5063 The cable cross section and contactor rating must be selected accordingly 53 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 4 3 Auxiliary power supply The power supplies required for regulation 15 V 5 V 24 V are drawn from an intermediate dc voltage which may be obtained either from a single phase supply from the mains drawn between two phases ahead of the main contactor terminal block B4 input or from a separate single phase 230 V or 400 V supply connected to terminal block B4 In this case the supply must be isolated from the mains by a transformer secondary 230 V or 400 V 10 100VA or from an intermediate power voltage through diodes B4 not connected With this arrangement not recommended power failure leads to the loss of low level supplies and in particular the pulses generated by the encoder emulation option Clarification 1 2 Connection of the auxiliary power source is not compulsory because it is fed internally by the direct bus Connection proves necessary if we want to save the position and the state through the encoder output emulation when for safety reasons the mains power is turned off If the power source is used it is essential for it to be connected to the same phases 2 out of 3 for three phase as the m
44. IMO perdoo 20 peonpoida pajyuusuD4 0UVDO j 1 poujs s puo Jo 40484044 anisnjoxe au e DuwbAp Siy NOILOINNOD 2018 TVNIW331 49718040 9 3 Wa 16 20 60 EULU UE BIB SUOISUSUN DY SUL 646 1 Z 01 9 sexre 0201 se 4 2 22050 JS 461 11 82 62 6 00 68 OrZ G91 OCI G C HhOEL VOLL 08020 45 6 02 02 9 vi11X991 0914 09 66 028 2 vie 62020 JS 9 14 211 168 4 Z 7 66 091 82020 45 6 02 02 8 OlZ G 1 911 06Z H O6L1 VELL 12020 45 69 91 91 S 9 89xc 081 591 56 S6 541 09 6 vs9 92020 JS ONG 9 08 211 feel 0 1 56 09 7098 92020 ds W USD a fH H 3 8 Vv uou u01 99uuoo 4 SUOISUOWIO p049 19 2 8 ie V g w 1 0 an 1 mm m 1 ZZ ZA IZ Z ZZ Z x S 72 ZZ Z W oig 5 Deo uolmno uuoo 1 SNOISN3WIG 82886208 XI jMOHO ASVHd 333H1 EXIIT Jequunu UoRDOHRuepl L uonisod 71 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 5 AUTOMATIC CONTROL IN
45. IVE dissipater temperature If the temperature is less than 70 C at the dissipater nothing happens From 70 to 94 C there is a fall in pulse current that the drive can deliver the FAULT LED flashes slowly At 95 the fault is tripped Servo motor winding temperature Each motor has a thermal sensor When customizing the drive this sensor can be taken into account or ignored If it is taken into account usual case excessive motor temperature causes a fault Ambient temperature This is measured between the electronic boards and operations are stopped when it exceeds 60 C 7 2 2 4 Other monitoring No resolver Resolver fault or wiring fault Overspeed Speed 1 15 times the maximum motor drive setting These two cases entail a fault with Red FAULT LED comes on 102 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 7 2 2 5 Summary table of faults and fault findin t LED on E LED off RF rapid flashing SF slow flashin RUN FAULT PC SOFTWARE PROGRAMMIN FAULT FINDING current reached dl dT fault Output or earth short circuit Excessive mean average fault Too much current asked of drive current Excessive rms I RMS fault Too much current asked of drive Cycle current too demanding Excessive motor Motor overtemp Cycle too demanding or no motor fan temperature cooling Excessive dissipater Fin overtemp temperature Excessive ambient Ambient Fan cooling stopped or excessive
46. MS 3l yan t e El k mi Ju x I g LI r gt CM ini av 6 gt a 98 E S E 5 VA X3 3 E Q M 1 8 2 5 P S 272285 7 ll 2211 GN z H 17 3 3 gt 8 p gt ev 4 X LWA IS tE 8 2 Pay ND 1 24 ame O ESE ua OO OO mm e e e 4 lt Jd i zu c7 amp d3H10 P 4 27 30 E 17 75 5 8 9 D 32 PVD 3500GB 04 2004 19025 e 120903 9 6 2 5 090 sia sop ag 39119 3 19 5 050 Vd oM 60203AV j g GIILZGGOS X114 91511 86 10 61 00003 3 86 10 62 Y UN GO Gg 80510 00105101 2013 00141491 E 87 puos IW 262 68 O 18 ojuooS o np 10 5101001 02 papualuWwodes fjbuo4js u y es DADI 420 9 DUILUJ8 s y bieue y U aq s 32014 JO Sjuawasinbes eu 3g pejoeuuoo sosseiddns 5 Alpssageu pjnous 109 40120ju09 x 5002 ANS s puo way ino jo udi AO Z 1 6 19 v8 r vr z asa Aysadosd ewsn oxae ay S 64
47. PUT OUTPUT FUNCTIONS AND CHARACTERISTICS 5 1 Input Output Characteristics Logic inputs 24 V dc optocoupled inputs isolation voltage 100 V type 2 inputs under IEC 1131 2 these inputs may be connected directly to PNP type outputs no external load resistor required LOGIC INPUTS 4 7V Level 0 input voltage Level 1 input voltage 1v Level 0 input current Level 1 input current 7mA 138 i Ton response time 0 to 1 Toff response time 1 to 0 Logic outputs The outputs are supplied by a 24 V internal supply isolated 24 V and 0 V and common at terminal 25 and 13 24 V An external 24 V supply must not be connected to the outputs The three OV of the outputs and terminal 25 are connected Max output current level 1 50 mA Residual current level 0 Negligible Response time 1 5 Voltage drop for 50 mA 2V 72 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Opto isolated output opto mos PNP type the load being for connection to the 0V logic i e between the two contacts allocated to this output 24 V internal LOGIC OUTPUTS 22 Ohms SPEED SET POINT INPUT 15 BITS SIGN 2 2 nF DIGPL17 D W ANALOG OUTPUTS 47 5 Ohms 47 5 Ohms DIGPL17 D 31W CURRENT LIMITATION INPUT 9 BITS SIGN 4 7 nF DIGPL17 D 18W 73 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 5 2 RESET and Contactor Control B5 1 Reset B5 2 R
48. SNIV I is NI SNOISN3IIG aw ues jo z338 e 791 91010 34 1 jp 9qN jo A C 23 2 109 05 66 70 9 190663 WV Y 8 3461M juano eboyoe xop 2 4 4 15 504 yy 40 18 6 86 60 68 bumosa sams 3287 8 0x 9 AVL NOISVJ NOLLO3NNOO 05623 WON 1 0 0 1 ZH09 0S 0 utn 601 991 ue 5786 I dd i CaN 01 I EE 9 i cb i E rn H 9 9 gt I Ld NU i N ei 611 d 976 D v 67121 SN0ISN3WIQ INTUNO ld 8918 80 X134 331114 SNIVA uonpougnuep yer uonisoq 70 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier GOESOGOS X I3 SNOISNINIG WN N SD Au 325 JMOHO 3SVHd Lan eus jo siouodas MA 86 60 11 S 0863 WV UP qN jo ajbubdes Z YNOF v 3SIW 16 20 02 Bunda 9052 26020 JS 1nOrV 26 21 71 suonpaIupow
49. ains power supply see recommended diagram see chapter 4 2 to avoid damage to the appliance If this is not possible this auxiliary power source can possibly originate from another circuit but it must imperatively be isolated from the system using a transformer whose secondary will not be earthed The voltage of the transformer secondary must be identical to the mains voltage 230V for mono appliances or three phase 230V or 400V for three phase 400V appliances 4 4 4 External braking resistor connection This feature applies to 60 100 230 V three phase and 32 64 400 V three phase supplies only Use with internal resistor short circuit B6 2 and B6 3 with a 4 mm isolated cable B6 1 is not connected Use the external resistor connect the external resistor between B6 1 and B6 2 The B6 3 terminal is not connected Maximum current in cable With RE 91001 2000 W 26 A for the 32 64 A 400 V three phase module With RE 91002 4500 W 31 or 62 A see page 21 for the 60 100 A 230 V three phase module Cable type unshielded cross section 2 5 for 2000 W 4 for 4500 W Maximum recommended distance 10 m Resistor end Connection via terminal block via packing gland PG 16 for cable diameters between 10 mm and 14 mm 54 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 4 5 Terminal block B1 brake supply This terminal block may receive 24 V supply voltage for the brake mounted on the motor
50. amplifier code 3 A Input voltage and current fn Hz Frequency S 0 V T Output voltage and permanent output current Amps Peak Classe Service class under standard NF EN60146 1 permanent Serial number and date of manufacture The customised parameters of the variable speed drive are memorised in the unpluggable EEPROM store The parameters can be read by Digivex PC software Hand help terminal see following sections 28 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Codification CODE FUNCTION h DSD16002 DIGIVEX Single Drive 400V three phase 2 4 A poU 29 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 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 co
51. and 50 80 PVD3464x Digivex Multiple Drive manual D E F GB PVD3500x Digivex Single Drive manual PVD3484x PVD3488x 551 F board manual x D German E Spanish F French GB English Digivex Power Drive manual D E F GB Software Parvex Motion Explorer PMED Pack1 Software PME cl Digivex PMEDC Pack2 Software PME cl Digivex et Cyber PMEREL Mise a jour logiciel PME sans PVD3494x PME manual base D E F GB PVD3483x Digivex manual D E F GB PVD3495x Cyber manual D E F GB 111 PVD 3500GB 04 2004 Servoamplificateur DIGIVEX Single Drive PLUGS AND CABLES FOR DIGIVEX AND HX HS HD 7 Set of 3 Sub D connectors for Set of 4 Sub D connectors for Digivex encoder emulation CB_08304 I O cable by metre for Digivex drive FELX304544R205 Equipped I O cable 1 Sub D for Digivex drive length 5 m 1 FELX304544R105 Equipped I O cable 2 Sub D for Digivex drive length 5 m 1 6537P0016 Encoder emulation cable for Digivex drive FELX304546R105 Equipped encoder emulation cable 2 Sub D for Digivex length 5 m 1 220065R4621 Motor end resolver cable 6537P0001 220049R6105 Resolver cable by metre Equipped resolver cable motor plugs amp Sub D length 5m 1 For motors HX3 220065R1610 Size 1 power plug 6537P0019
52. ates whether the auxiliary supply is present or not 1 3 3 Servomotor control functions 1 3 3 1 Presentation The DIGIVEX SINGLE DRIVE servo amplifier is a 4 quadrant transistor control module for controlling brushless synchronous motors with resolvers HX HD HS LX LS LD spindle drive motors See separate documentation The customized features of the motor drive assembly and the servo control parameters are entered either by using a PC with the DIGIVEX software PME software DIGIVEX module under Windows or by using the display and parameter setting hand held terminal These parameters are stored in two EEPROM memories one permanent store for DIGIVEX parameters one unpluggable store for application specific parameters 1 3 3 2 Functions and block diagram See next page The diagram shows the main drive functions and the setting parameters 11 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier GRAVITY COMPENSATION Tp DRY FRICTION COMPENSATION To 15 005 FRICTIO K COMPENSATION To K N ACCEL TORQUE INPUT dN dt COMPENSATION SPEED 0 SPEED p 2 SCALING 1 x P PI Pll OR TORQUE SPEED OR TORQUE REFERENCE RESOLVER DIGITAL SPEED PROCESSING 12 ANALOG INPUT BUS 550V INPUT C 0 INVERTER CURRENT LIMITATION V 2 2nd ORDER SOS Peer ROTOR POSITION ENCODER EMULATION OPTION EXTERNAL TOP 0 0 5
53. dules PARAMETER VALUE Frequency 48 62 Hz Minimum voltage 100 V rms Maximum voltage 253V rms Rated voltage 230V 10 Dc voltage achieved 140 340V 400 V single phase or three phase modules PARAMETER VALUE Frequency 48 62 Hz Minimum voltage 280V rms Maximum voltage 480V rms Rated voltage 400V 10 Dc voltage achieved 380 670V An auto transformer is required for 480 V rms 10 An external mains filter is necessary for compliance with the requirements on electromagnetic compatibility Braking energy is dissipated across the resistor Mains monitoring No phase Except single phase Overvoltage 4 4 2 Power component dimensions one single drive Applicable to components ahead of the DIGIVEX SINGLE SUPPLY fuses cables contactors etc these dimensions are dependent on Permanent current L sine wave peak at slow motor speed as given in the characteristics Electrical power of mains supply 1 1 U rms Irms mains Urms 3 52 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Parameters for determining power components INPUT POWER FOR MODULE LINE CURRENT MAINS 230V SINGLE PHASE STANDARD for mains FILTER Urms 230 V SINGLE PHASE FR01010 INPUT POWER FOR MODULE LINE CURRENT 230V THREE PHASE STANDARD for mains Urms 230 V THREE PHASE A rms INPUT POWER FOR MODULE LINE CURRENT 400V THREE PHASE STANDARD f for mains Urms 400 V THREE P
54. e module DXD06032 Digivex 32 64 single module DSD13M02 DSD13M04 Digivex Single Drive 230V 2 4 1 phase Digivex Single Drive 230V 4 8 1 phase DSD13M07 Digivex Single Drive 230V 7 5 15 Three phase DSD13004 Digivex Single Drive 230V 4 8 DSD13007 Digivex Single Drive 230V 7 5 15 DSD13015 Digivex Single Drive 230V 15 30 DSD13030 Digivex Single Drive 230V 30 60 50513060 Digivex Single Drive 230 60 100 DSD16002 DSD16004 Digivex Single Drive 400V 2 4 Digivex Single Drive 400V 4 8 DSD16008 Digivex Single Drive 400V 8 16 DSD16002 Digivex Single Drive 400V 2 4 DSD16004 DSD16008 Digivex Single Drive 400V 8 16 DSD16016 Digivex Single Drive 400V 4 8 Digivex Single Drive 400V 16 32 DSD16032 Digivex Single Drive 400V 32 64 DSD16016 Digivex Single Drive 400V 16 32 DSD16032 DPD16050 Digivex Single Drive 400V 32 64 Digivex Power Drive 50 80 DPD16100 Digivex Power Drive 100 120 DPD16150 Digivex Power Drive 150 110 PVD 3500GB 04 2004 Servoamplificateur DIGIVEX Single Drive Reference Description SC 6631 Encoder emulation SC 6637 1 Simplified SSI encoder card SC 6637 2 SSI encoder card DTP001 Programming and parameter setting console FR_03016 16 A filter Digivex 12 kW FR_03036 FR_03064 64 A filter Digivex 100 120 36 A filter Digivex 25 kW
55. ectors with metal plated or metallic covers CONNECTOR TYPE MAX CONDUCTOR MEMBER cable end NENN CROSS SECTION X1 9 pin plug for Resolver link max 0 5 mm on RESOLVER soldering soldering barrel X2 25 pin plug for Logic and max 0 5 mm on INPUTS soldering analog soldering barrel OUTPUTS inputs output X3 9 pin plug for PC or programming max 0 5 mm on RS232 soldering terminal link soldering barrel 9 pin socket for Encoder emulation max 0 5 mm on soldering output option soldering barrel 9 pin socket for CAN bus option or max 0 5 mm on soldering SSI encoder soldering barrel See 8 options for X4 and X5 connectors 4 3 2 2 Sub D connector X1 Resolver Digivex end connections Sub D 9 pin connector item ref X1 RESOLVER Maximum conductor cross section 0 5 mm CONTACT TYPE FUNCTION Cosine 51 Sine 52 Cosine 53 Sine 54 Excitation R1 1 2 3 4 5 6 7 8 9 Output 0V Excite R2 3 46 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier g gnS p ouq Buip1 lus E YOLOW 1910 318V9 10544 u Ss mg 49019 9 104eue6 pepje us 0 X 9 191900 in 05 05 H19N31 GYVONVIS lt SI 01 50 50 1H9N31 3003 H19N31 CU 318 9 31314803 985v00cc 3 MPIA E I E 1H9N31 47 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 3 2 3 Sub D con
56. eed detection The two outputs assigned OUT1 and OUT2 can detect four speed zones depending on their logic status OUT1 OUT2 SPEED 1 Speed 48 rpm _ 1 1 L 0 SNT 1 0 __ lt 2 SUUM O Speed gt N2 N1 and N2 are speeds that are programmed in the parameters N2 gt N1 and N1 gt 48 rpm 2 Speed reached and anchored Selection and assignment with PME DIGIVEX PC software pvd 3483 or terminal DTPOO1 pvd 3491 14 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 1 3 3 6 Brake action The drive can be declared in the parameters with a brake function The 24 V brake supply terminal block B1 is monitored by the drive 24 V present Axis under torque Removal of limitation of 90 of rated motor current 24 V absent Axis at reduced torque with 90 of rated motor current The brake engage or release order is in no event given by the drive but by the external control The control can monitor the drive outputs indicating zero speed to decide whether or not to apply the brake 1 3 3 7 Monitoring reasons for stoppage This monitoring may through strategic choice entail either stoppage or reduced performance for certain faults related to current Variables monitored Mean drive current Output current short circuit Dissipater temperature motor temperature Ambient temperature Overspeed No resolver Maximum and minimum dc bus voltages Mains phase fa
57. er and power bridge losses 2 1 Braking Energy Dissipation 2 1 1 Calculating the power to be dissipated in the braking resistor The permanent and pulse powers given in the preceding table are limited by the characteristics of the braking resistors When the application includes intensive cycles or long duration decelerations the mean power to be dissipated by each axis must be calculated 2 P in Watts 3 15 1 29 55 4 Moment of inertia of the servomotor and the related load in kgm N Angular speed of motor shaft at start of braking in rpm f repeat frequency of braking cycles in s This formula is for the least favourable case For a mechanism with substantial friction or with low reverse output the power to be dissipated may be greatly reduced The total power to be dissipated of all the drives must not exceed the permanent power admissible through the resistor Durations and repetition must not exceed the values in table 82 1 3 2 1 2 Braking energy dissipation Braking energy is dissipated through a resistor mounted in the module The resistor may be mounted externally for DSD 60 100 230 V three phase and DSD 32 64 400 V three phase models 18 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier This recuperation is controlled from two thresholds measured on the bus voltage Threshold Values Braking resistor Braking resistor switched in switched out 230 V single or three phase 380 V 370 V module
58. er the Bode graphs only gain frequency and phase frequency Gain Gradient 1 Pa 20 dB d c Gain PI Gradient 2 VY 40 dB d c Gain P if Phase Phase f f n 180 Dipl17 D 34 W 6 1 4 Speed scaling The choice of motor drive assembly determines a maximum possible speed The Maximum speed parameter can be used to reduce this maximum speed for the application This parameter is external to the speed loop and modifying it does not modify gain The Speed for 1 Volt parameter determines the speed gradient e g maximum speed can be obtained for 10 V 9 V or 7 V depending on the positioning control 80 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 6 1 5 Filtering frequency Resonance phenomenon Many systems have one or more resonance frequencies related most of the time to mechanical phenomena inertia or mass associated with the rigidity of the mechanical components belts screws reducing gear frames etc In a zone of reduced frequency around the resonance frequency there occur Marked variations in loop gain Marked variations in the closed loop phase This leads to instabilities or squeaking with more or less violent oscillation Second order filter This phenomenon cannot be dealth with by P PI PI2 adjustment If the resonance cannot be dealt with mechanically the frequencies concerned must be eliminated This is the function of the second o
59. eset A 24 V leading edge applied to B5 1 compared with B5 2 reinitializes the system after power supply or drive failure Notice that the system can also be reset by the reset button on the front panel or by switching the power supply off completely power and auxiliaries This control has no effect during normal operation The system must be reset after any active fault B5 3 5 4 Contact OK Cut out power max voltage 250 Vac max 1A This contact is closed if the power supply is present the drive low level and power indicate no faults the power bus voltage is present This contact authorizes the main contactor to self hold the green POWER ON LED is on ATTENTION Opening the OK contact must cause the main contactor to open with a maximum delay of 100 ms Main contactor control Opening the OK relay causes the main contactor to open The OK relay opens under the following circumstances No phase Recovery fault Maximum power bus voltage Minimum power bus voltage Drive fault Auxiliary supply fault Maximum mains voltage 74 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 5 3 Initilialization Sequence After auxiliary power has built up approx 300 ms To lt Mains supply present To Tc capacity precharging internal relay closes and relay OK To Tc 500 ms INIT signal The INIT initialization signal releases the drive DSD 230V SINGLE PHASE DSD Te ms DSD
60. f input is Type 2 logic input under at 1 IEC 1131 2 5 24 Drive OK Max 50 mA optocoupled PNP 24V output OUT1 speed detection Max 50 mA optocoupled PNP 24V output OUT2 speed detection Max 50 mA optocoupled PNP 24V output Power supply available for logic Max 50 mA through R 22 inputs outputs EA analog input EL logic input SA analog output SL logic output 49 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier JAE 0979602 S581 ES X3AISIG pioaq do papjaiys 43 1W3 Bue ww ogi s40j28uuo2 40128uu02 s40 28uuo2 pajojnsu Q 8ns eju uid gz buipjaius josauab 9 403 GZ OXGZ wog 5 0 52 2 3009 uono uuoo piosg Buipjaiys P OJQ 5 p pl us i43 1W3 doo p pl us 4M IW3 0128uuO 0 28UuuO2 G 8ns 4 805 alow uid gz buipjsius 29 03 GZ 0xSZ woz ujbuse 1 3000 02 02 S 1 01 5 19 37 15 5 H19N31 3002 30029 H19N31 H19N3 Te 3000 318 1104 pu P Q X h 3 EEE In 89409110 07 11 15 8 4 9 s X3A3 Vd S318v29 1nd1n0 1ndNI 5070070 ay q JApZ 010 404 AUO 010 440
61. ference The parameter used is tpr prediction time in milliseconds tpr can vary between 0 ms no prediction t td start up time from 0 to maximum speed with full drive current There is then 100 correction 6 2 Inputting Parameters Customisation parameters for the motor drive unit are introduced at start up using a PC under Windows via the Digivex PC software see brochure PVD 3483 DIGIVEX P C SOFTWARE They may be read and in part altered via the display parameter setting terminal The characterization is safeguarded in an EEPROM store mounted on a plug in sub print This store can therefore be transferred from one drive to another of the same calibre Transfer of data from this EEPROM to a servoamplifier of different rating generates a fault The parameters stored in the EEPROM are retained Customization unit reference SZ6608 With a short circuit on Jo for spindle motors With an open circuit on Jo for axis motors Label Motor name Speed reference value Adjustment number 83 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 6 3 Setting with Digivex PC Software 6 3 1 Outline SELECT MOTOR DRIVE COMBINATION SELECT TYPE OF REGULATION CURRENT SPEED lt CURRENT LIMITATION POSSIBLE SETTINGS SECOND ORDER FILTER fc Max Speed Current limitation Speed for 1 Volt FILTER fc amp PROPORTIONAL GAIN P NO PREDICTOR ADJUSTMENT Suppress resonance ENTER PI OR Pls Set integral stop frequenc
62. he 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 e Check the bonding circuit e 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 5 PVD 3500GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length before shipment e Unpack the servoamplifier carefully and check it is in good condition e Also check that data on the manufacturer s 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 h
63. hen gives 10 V pulse peak current of the drive selected beforehand In this mode settings and predictors neutralized The only functions operative Current limitation often reduced below the permanent drive current so as not to trip in mean or rms values The second order low pass filter filtering frequency for reducing the effect of any resonance 77 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Choosing P The drive is used in a speed loop with purely proportional gain This gain is the ratio between the output current and the speed error It is expressed in mA rpm SPEED CORRECTORS REFERENCE SPEED MEASUREMENT N RESOLVER RESOLVER TREATMENT For the same current if the gain increases the error e is reduced the rapidity of the system increases as does its bandwidth An increase in gain may lead to instability because of the other components in the loop resonances second order filter The use of proportional action P alone has the drawback of giving zero rigidity because there is no integration ahead of the current section 78 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier TORQUE DISTURBANCE SPEED REFERENCE PHASE POWER LAW SPEED MEASUREMENT N N RESOLVER RESOLVER TREATMENT Choosing PI proportional and integral action Compared with P action alone PI provides the following two modifications The gai
64. ice of rating Choice of motor standard or special Choice of resolver Entering servo control parameters global transfer Assigning inputs outputs and variables Use of the oscilloscope function Two parameters set extended parameter set option 6 3 5 Setting loop parameters for speed regulation This can be done by using the Setting Assistant menu or directly with the stimuli and oscilloscope Speed for 1 V and maximum speed The maximum possible speed is set when the motor drive choice is made 88 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier It can be reduced only here Choose a dc stimulus of say 1 volt By drive status in the COMMANDS menu or by the oscilloscope function check the value obtained for the speed measurement in rpm variable Proportional gain adjustment Initial status Switch to proportional gain P alone Filtering frequency fc to maximum 800 Hz and low gain System ready to run no predictor Proportional gain and filter frequency are adjusted simultaneously If by increasing proportional gain the system starts to resonate the resonance must be eliminated by reducing the filter frequency then increasing P etc until a compromise is found Maximum recommended for P There is a maximum advisable proportional gain depending on the drive rating and corresponding to maximum current oscillation RATING P In mA rpm 150 30 600u 3204 600 N B This gain may be exceeded
65. il uoposuoqno uyun jou s pub ino 0 utd MA 86 60 21 960868 YT 16 10 22 910 63 WV V 5 997556 budos 96 90 92 5uimojg sawas 041 79020 24 002 97020 Mj O 01 9100 44 01 11035 j BED 5049 9911 N 20 5 vua 2HO9 0G 1ueu uno xo U SuoOISu UUJI byr 29344882 126 802 vr9 9020 Ad 6 OOZELL NJ z OL LOZ 156 vor 97020 45 2 PL UU 102 176 791 9LO O 24 L ZH09 0S 20A Ory 1460M uono 2s 3ue n 4N 5 SOd SuoISu uuI 5 ajqissiuuad v 51 9n ZL 69 1 s HEL s o A 1 e gt 21 y m TI s 1 J 5 99 g gt SNOISNINIG 3NI 1100 4 89496 702 135 ud 43114 SNIVH 3458M Jequinu 1591 LGL 68 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 990960 X11 LEN awn 3255 gr uri sna awos jo
66. ilure Mains supply overvoltage 15 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 1 3 3 8 General characteristics of the DIGIVEX SINGLE DRIVE Power reduction with altitude Operating temperature relative humidity Above 1000 m service power falls by 1 for every 100 m up to a maximum altitude of 4000 m Normal use 0 40 C Above 40 C service power fall by 20 for every 10 C up to a maximum temperature of 60 C 85 without condensation Minimum speed 0 05 rpm or 1 30 000th of maximum speed Driven by DIGIVEX 100 000 rpm Speed static precision for load variation from 0 to In and for rated voltage of DIGIVEX SINGLE DRIVE Electrical protection Mechanical protection Other monitoring With digital set point field bus 0 1 With analog set point 1 whatever the speed Electrical isolation of power bridge Mean current protection depending on drive rating Pulse current protection of drive and motor rms current protection of motor Protection against short circuits at bridge output 20 under IEC 529 Motor temperature Drive temperature Resolver power supply Brake supply 16 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 1 4 Compliance with Standards DIGIVEX Single Drive The CE marking of the product is featured on the front panel silk screen printing DIGIVEX Single Drive products have the CE marking under European Directive 89 336 EEC as amended by Directive 93
67. ing capacity and module losses 19 1 PVD 3500GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier 3 DIMENSIONS ASSEMBLY MASS LABELLING CODING 3 4 Dimensions Assembly and Mass 3 2 Labelling and Coding 4 ELECTRICAL CONNECTIONS 4 1 General Wiring Requirements 4 1 1 Appliance handling 4 1 2 Electromagnetic compatibility 4 1 3 DIGIVEX SINGLE DRIVE Sub D connectors 4 2 Standard Connection Diagram 4 2 1 Surge Suppressor 4 3 Front Panel Description of Terminal Blocks and Sub D Connector 4 3 1 Terminal blocks B1 B2 B3 B4 B5 B6 4 3 2 Sub D connectors X1 X2 X3 X4 X5 4 3 2 1 Sub D connector table 4 3 2 2 Sub D connector X1 Resolver 4 3 2 3 Sub D connector X2 Inputs Outputs 4 3 24 Sub D connector RS232 4 4 Connection Details 4 4 1 Mains supply characteristics 4 4 2 Power component dimensions 4 4 3 Auxiliary power supply 444 External braking resistor connection 4 4 5 Terminal block B1 brake supply 4 4 6 Earth connection front panel Faston tab 4 5 Connecting Servomotors 4 5 1 Power cable definition 4 5 2 Guidelines for the use of long cables 4 5 3 Motor end connection 4 5 4 Resolver connection 4 5 5 Automatic control Input Output connection 4 6 Accessories and Tools 4 6 1 Input mains filter 4 6 2 Inductors for long cables 4 6 3 External braking resistor 4 64 Cables 2 PVD 3500GB 04 2004 21 21 28 30 30 30 30 31 31 38 39 44 46 46 46 48
68. ke Check the resolver connections Motor end DIGIVEX Single Drive end Check the power brake and thermal connections Motor end DIGIVEX Single Drive end Supply type check Power 50 60 Hz 230 V single or three phase 400 V three phase depending on model Auxiliaries single phase 50 60 Hz 230 V or 400 V depending on model Brake supply 24 V dc 10 including oscillation Caution Before doing any work on the system make sure the power bus is at 0 V Wait at least three minutes after the motors have come to a complete stop before starting work Wait until all the LEDs have gone out 7 1 2 Commissioning with Digivex PC software or the hand help terminal Remove terminal block B5 from the DIGIVEX SINGLE DRIVE so as not to supply power This inhibits the self hold of the main contactor Connect the PC via the RS232 serial link Energize the auxiliary parts low levels alone this is possible only if the single phase auxiliary supply is taken ahead of the main contactor The POWER OFF LED of the Digivex Single Drive supply comes on Use the PC Connect menu to come on line If this connection is not made Check the serial link set up is compatible Check the serial link cable 97 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Once on line all the parameters in the Digivex Single Drive can be read Check with the PC or console that there are no faults menu CONTROLS INCIDENT If there is no access f
69. l axis Take a square stimulus offset 0 peak to peak value 3 to 5 of maximum speed in rpm frequency 0 2 to 1 Hz Display on the oscilloscope function The input set point The current set point 92 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Input reference Current reference Diggb43 D 47W N B I and l are to be taken with their sign In general l is negative In principle I Gravity in Amps horizontal motion gravity 0 1 1 Static friction T in Amps Enter these values into the parameters Enter the threshold value e g threshold max speed 1000 After introducing the values the result obtained can be checked with the same stimulus Check the input set point on one channel and the P PI PI output on the other channel This should give a result close to P PI Pis Output Dipl43gb D 49W Setting the dynamic friction and acceleration parameters It is assumed that the dry friction and gravity predictors have been set 93 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Use a sine stimulus offset 0 peak to peak value 10 to 20 of maximum speed frequency 0 2 to 1 Hz Use the oscilloscope function to display The input set point on one channel P Pl PP output on the other channel Acceleration predictor setting Increase the predictor until P PI PI output is minimized Too high a value increases P PI PI with a phase cha
70. laying and recording the response curves of any two of the accessible internal variables Adjustment procedure which allows using the two functions above parameter window open to make adjustments except predictors from the response at one scale 85 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Accessible internal variables via Digivex PC software or hand help terminal The following internal variables may be selected DIGIVEX DRIVE SOFTWARE BLOCK GRAVITY COMPENSATION GC 48 DRY FRICTION COMPENSATION DF ANALOG INPUT BUS 550V VISCOUS FRICTION d COMPENSATION C KN ACCELERATION TORQUE COMPENSATION C CURRENT LIMIT SPEED SECOND P PII OR ORDER TORQUE 1 FILTER VECTOR CONTROL SPEED OR TORQUE SET POINT ENCODER EMULATION OPTION u gt RESOLVER ZERO MARK DIGITIAL 0 5V ZERO MARK SPEED PROCESSING EXTERNAL EXCITE COSINE SINE RESOLVER Digbl1 Ds4 W Reference Input set point in rpm Speed measurement in rpm P PI output in Amps Sum in Amps Current set point in Amps Acceleration in ms Viscous friction in Amps Dry friction in Amps Position in degrees Phase current U in Amps Phase current W in Amps OO The selected variables may chosen
71. m lt 21 EE 41 9 v 2 1 36 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier a ZZOTO3WV F10663 WV 0 9J02 ud 4 5 d Vd Wivaovig 86020491 9 6r 1867 2 8 5 VIG TIN 11 lgarv ecn 731 20 Ur bul 80000319 4 0SO863 AV 8 5 pna enn 922 650 X 22 eis 779 29 asa 86 10 71 48066341 3 ZF0863 WV v puo g z g 1 29 IW 34 0 98 Koubppunpe4 PUD 044 02 0 10 20 Sg C8 18 pajdopo 210 104 asn o pepuauuo284 fjbuojjs u u 5 9 5 8 xoojq 00141191 JO jue buisibueus y ui aq 2019 Sge 12919 10 1 25 5 dos Aouabsiawe UD 0209 NJ p4opuojs jo
72. minal 98 7 2 Detecting Reasons for Stoppage 99 7 2 1 LED display power supply function 99 3 PVD 3500GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier 7 2 2 Fault display drive function 100 7 2 2 1 Fault processing 100 7 2 2 2 Current monitoring 101 7 2 2 3 Temperature monitoring 102 7 2 2 4 Other monitoring 102 7 2 2 5 Summary table of faults and fault finding 103 7 2 2 6 Corrective actions 104 7 2 2 7 T segment display SS 6611 mounted 104 8 OPTIONS 105 8 1 Possible associations 105 8 2 Encoder Emulation SC6631 board 105 8 2 1 Programming resolution and zero mark position 105 8 2 2 Electrical characteristics 105 82 3 Sub D connector X4 encoder emulation option 108 8 2 4 Encoder emulation cable 108 DIGIVEX SERVO AMPLIFIER 110 PLUGS AND CABLES FOR DIGIVEX AND HS HD112 Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www SSDdrives com 4 PVD 3500GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier 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 t
73. motor choice servo control parameters work on inputs and outputs etc This is data processing work on files File Menu Open Save as etc Working on line access to level 2 In this mode there is an RS232 serial link connection between the PC and its software and the Digivex Single Drive drive To go on line 87 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Check File serial link Set up that the PC set up is compatible with the drive 9600 bauds 8 data bits no parity 1 stop bit Call up Connect To go back off line Call up Disconnect When going on line all the parameters in the drive are copied to the PC Any parameter modified by the PC will be copied in the drive The on line mode has the following particularities Parameters concerning the resolver cannot be modified Servo control parameters can only be modified by the or keys the numerical values cannot be keyed in directly To send a complete parameter file via the serial link first time loading copying from one drive to another Torque is set to zero T 50 via the software at the time of transfer and stays there It must then be set to software 1 or on the connector see Digivex PC software instructions PVD 3483F The drive checks compatibility with the drive rating It may then refuse the file 6 3 4 Entering parameters via Digivex PC software See Digivex PC software instructions PVD 3483 F Cho
74. n open loop at zero frequency is infinite If there is a torque surge there will be an angular discrepancy of the motor shaft compared with the state at rest This angle will be proportional to the torque applied and there will not be any permanent speed drift The system can be said to be rigid This rigidity is strictly proportional to the integration stop frequency The proportional gain P sets the bandwidth fo system rapidity The integral action entails 90 phase shift which creates instability This phase shift is not troublesome at low frequencies but may make the system unstable at higher frequencies It is therefore best to adjust the integral stop frequency correctly 0 2 0 3 times the bandwidth fo 79 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Choosing action proportional and double integration Compared with P action alone provides the following two modifications Rigidity when stopped is infinite When motor torque surges and after a transient period the motor shaft returns to the position it was in at rest there is no longer any permanent position discrepancy The double integral action entails a 180 phase shift at low frequencies Poor adjustment of the integral stop frequency may entail instability in the system Restrict to 0 1 to 0 2 times the bandwidth fo 6 1 3 Integration stoppage See the previous paragraph for the function of this parameter Below is its definition aft
75. nector X2 Inputs Outputs Maximum conductor cross section 0 5 mm2 CONTACT TYPE FUNCTION CHARACTERISTICS Speed or current set point 10V Analog conversion point 15 bits sign Differential input Speed or current set point 10V point Analog input 10V point Analog conversion 9 bits sign Differential input Analog input 10V point Input assigned to external current limitation 10V max current Analog output 10V point ANA1 Analog conversion 7 bits sign OV of analog output Max voltage 10V Output assigned to speed Max current 3 mA measurement Protected against short circuits 10V maximum speed Analog output 10V point ANA2 Analog conversion 7 bits sign OV of analog output Max voltage 10V Output assigned to current Max current 3 mA measurement Protected against short circuits 10V maximum current SPEED RANGE Type 2 optocoupled 24V logic inputs to IEC 1131 2 Speed range choice CW enables clockwise rotation if input is active level 1 see characteristics on following pages CCW enables counter clockwise These inputs must have a 24V rotation if input is active level 1 supply to have level 1 EA analog input EL logic input SA analog output SL logic output 48 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Inputs Outputs Sub D connector continued CONTACT TYPE FUNCTION CHARACTERISTICS 12 EL4 Torque enables torque i
76. nge Input reference Maximum positive Predictor too weak or acceleration i zo P PI Plz Output Predictor too high Time Predictor correctly i adjusted DIGPL43 DN9 W Very marked difference between optimum setting and no predictor The correct setting corresponds to minimum amplitude P PI output The predictor must allow the P PI PI output to be reduced in a ratio of at least 5 to 10 94 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Remember that the value of tpr prediction time in ms is close to td start up time with ide Load inertia motor inertia max Max torque td is the acceleration time from 0 to maximum speed with maximum torque td in seconds inertia in kgm max o in rd s torque in Nm Setting the dynamic friction predictor Once all the other predictors have been adjusted increase the dynamic predictor to minimize the P PI PI output signal When the setting is correct this output should be minimum and in phase with the input set point Minimum value DIGPL43 D 50 W 95 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 6 3 7 Setting current regulation parameters If the current option has been chosen the only adjustments needed are Current limitation take care in this type of application that it does not trip with mean or rms current monitoring Current limitation is often equal to permanent curren
77. nnections 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 DIGIVEX SINGLE DRIVE If this link exceeds 30 cm 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 are 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 DIGIVEX SINGLE DRIVE 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 30 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier MAINS FILTERING The equipment complies with standard EN55011 with a filter on the power input with minimum 60 dB attenuation in the 150 kHz 30 MHz range The main
78. or modification level 1 read the parameters in the drive and check they conform with the problem motor type maximum speed etc Check the CW CCN T input status If there is access to the change level 2 set up the drive This can be done off line in a file and then transferred or modified on line Choice of motor Choice of servo control parameters without the power part their validity cannot be checked Ancillary checks validate brakes analog outputs safety strategy etc Refit terminal block B5 OK relay Use the software to force the drive to zero torque Turn on the power Normally the POWER on LED lights Remove the zero torque lock by software or by hardware contact set T 0 input to 24 V the drive releases the brake if the motor is fitted with one and if a brake has been declared by software Using the stimuli PC software or console or the setting assistant PC carry out the system setting dc stimuli square with peak to peak 0 Check max N Square stimuli or setting procedure for adjusting servo control parameters Digivex PC software for setting the predictors if necessary Check the driven mechanism can operate freely 7 1 3 Commissioning with the hand help terminal The general procedure is the same as before The hand help terminal is reserved for systems that have already been programmed either by the PC software or by transferring the parameters from one drive to ano
79. orque System is set to zero torque hardware or software input T 0 The torque has been forced to zero during a global transfer Reset system torque see software or console instructions The motor is not connected Motor fails to run but torque present CW and CCW inputs set to zero hardware or software Check with software hand help terminal 7 2 2 7 7 segment display SS 6611 mounted Function to provide information on DIGIVEX status discriminating between faults Format placed in the upper part of the DIGIVEX Description ______6 _______ Maximum drive current reached or 8 ______ 9 _______ motor temperature ___ O 104 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 8 OPTIONS 8 1 Possible associations Integrated 7 segment Indexing Speed SSI SERCOS Maximum of two options possible encoder display function output card SC6631 SS6611 SH6601 SV6601 SC6637 SP6605 Integrated encoder SC6631 7 segment display 556611 Indexing function SH6601 Speed output card SV6601 SSI SC6637 SERCOS SP6605 Association examples Integrated encoder 7 segment display OR Integrated encoder Indexing function 8 2 Encoder Emulation SC6631 board The resolver is above all a position sensor It is used to measure the position of the rotor relative to the stator An optional board placed inside the Digivex Single Drive is used
80. ours Caution The packaging may contain essential documents or accessories in particular e User Manual e 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 and 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 is to touch a conductive object that is connected to earth e g bare metal parts of equipment cabinets or earth pins of plugs 6 PVD 3500GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier 1 GENERAL 1 1 Digital Servodrive All of the drives comprise Brushless servomotors with permanent magnets sine wave e m f and resolver based position measurement HX HS HD and LX LS LD range servomotors A box type electronic control system including A power supply function for depending on the model 230 single phase mains supply 230 V three phase mains supply 400 V three phase mains supply A con
81. pulse current 30 A permissible for a limited time 0 3 to 1 seconds In order to prevent the drive from overheating the mean current I f t after 2 second filtering with the permanent permissible current There is then a choice between two strategies Strategy 1 Fault with the power supply OK relay and main contactor opening eventually Strategy 2 Permanent current reduction of drive to 9096 of permanent permissible current The FAULT LED flashes Motor rms current To prevent the motor thermal tripping by the thermal sensor the drive monitors the rms current I f t The rms current is compared with the permanent permissible current at slow rotation by the motor lo after first order filtering of 20 second time constant This data which is characteristic of the motor is known to the drive when the choice of motor drive is made 101 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier As before there is a choice between two strategies Strategy 1 Fault Strategy 2 Drive pulse current reduced to 0 9 10 of motor current FAULT LED flashes Drive output current There are two forms of monitoring Short circuit protection monitoring of current drift Excessive output current maximum current Check whether the current as measured exceeds the drive pulse current by 30 In both cases a fault is tripped and the OK relay opens 7 2 2 3 Temperature monitoring DIGIVEX SINGLE DR
82. rder low pass filter Gain frequency Slope 2 40 dB d c frequency Diggb17 D pl35 W 6 1 6 Predictors Purpose of predictors Four physical phenomena Vertical mass Dry friction Friction proportional to speed Acceleration Are direct and calculable causes of modification of motor torque 81 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier The purpose of the predictors is by calculation to act directly on the current set point without recourse to the speed loop and without waiting for the speed error produced by these phenomena see block diagram The principle of predictor setting and work is to minimize the current set point part from the PI PI branch and therefore to reduce the speed error As these predictors are outside the speed loop which must be adjusted first they do not affect stability They provide an appreciable improvement on response time The acceleration predictor improves stability and allows gain to be increased in any position loop superimposed on the speed loop However it should be noticed that many speed servocontrols do not require the use of these predictors General characteristics of each predictor Mass or gravity compensation vertical axis The current value in amps required by the motor to move the mass at constant speed average between up and down is introduced directly into the parameter Dry or static friction The friction force is fi
83. s 400 V three phase modules 710 V 690 V 2 1 3 Braking capacity and module losses 230 V single phase or three phase modules MODULE RATING 7 5 15 15 30 30 60 60 100 Resistor value 56 56 56 22 11 7 Maximum current Pulse power Permanent power Maximum non repetitive duration Maximum repeat cycle duration Repetition Losses from modules at maximum power Low level consumption 19 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 400 V three phase modules MODULE RATING 8 16 16 32 32 64 Resistor value 220 220 82 41 27 Maximum current Pulse power Permanent power Maximum non repetitive duration Maximum repeat cycle duration Repetition Losses from modules at maximum power Low level consumption Definitions Maximum current maximum current controlled the resistor switches in at 710 V or 375 V for certain modules the controlled current is equal at most to 710 or 375 resistor value Pulse power maximum power dissipated by the resistor this power can only be drawn for a short time and in compliance with a certain cycle Permanent power mean power that can be dissipated on a permanent basis by the resistor Non repetitive maximum duration maximum duration in seconds for which the pulse power can be required starting from cold the resistor must be allowed to cool down before braking again Repeat cycle maximum duration maximum duration in seconds for which the
84. s filter must be mounted as close as possible to the potential reference plate between the mains and the DIGIVEX SINGLE DRIVE power supply 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 protected against interference brakes contactor or relay coils fans electro magnets etc 4 1 3 DIGIVEX SINGLE DRIVE Sub D connectors In order to ensure the system is free from disturbances it is essential for the rack to be properly connected to the earth plane of the electrical cabinet and for the covers of the Sub D connectors to be EMI RFI shielded metal with shielding braid connection Make sure the Sub D connectors and their covers are properly connected lock screws fully tight GROUND CONNECTION Fold the shielding braid over the cable sheath Solder between the braid and the green and yellow lead 4 2 Standard Connection Diagram See the drawings on the following pages FELX 305462 FELX 305571 FELX 305569 FELX 305573 FELX 305570 FELX 305572 31 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier
85. sponse is obtained without oscillation Oscillation may reappear Reduce the filtering frequency a little more Notice that it is essentially P and filtering frequency that determine the bandwidth If the resonance frequency is too low adjust the filter frequency to a high value PI PI2 integral stop frequency setting Initial status P gain alone P and filtering frequency setting completed Integration stop frequency 0 Still no integration System ready to run Select PI or PI Use the same stimulus as before index analysis On line increase the integration stop frequency until overshoot is obtained in the order of 25 30 in PI 15 20 in PI Without oscillation If the frequency is too high fairly low frequency oscillations occur lt 50 Hz Frequency must then be reduced never readjust P gain Speed measurement fi too high correct pseudo period Time Dipl43gb D 45W 91 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Speed measurement correct pseudo period Time Dipl43gb D 46W Do not change PI to PI without setting the integral frequency to 0 6 3 6 Setting predictors Initial conditions All loop parameters P integral and filtering frequency max speed current limitation are set without predictors The system is ready to run Setting the Gravity and Static Friction predictors Notice that the gravity factor is zero for a horizonta
86. standard 9 pin RS232 cable extension Sub D X2 and 4 use the cable as in drawing FELX 304553 see 8 4 3 2 3 4 6 Accessories and Tools 4 6 1 Input mains filter Dimensions as in drawings FELX 304967 and FELX 305603 see following pages 4 6 2 Inductors for long cables Between motor and drive See S 4 5 2 for choice See FELX 302983 for dimensions following pages 4 6 3 External braking resistor See drawing FELX 4045237 next page 4 6 4 Cables Plain cables Resolver cable 6537P0001 Input Output cable CB 08304 Emulation cable CB 08307 Complete cables equipped with connectors and or Sub D connectors Resolver cable 220049R61 length in metres 5m 10m 15m 25m 50m Input Output cable FELX 304544R code 1 or 2 and length in metres 3m 5m 10m 15m 20m Encoder emulation cable FELX 304546 1 length in metres 3m 5m 10m 15m 20m For the RS232 cable Sub D X3 see commercially available cables with 9 pin Sub D extension Power cable supplied unequipped or equipped with connector plug See 8 4 5 3 connection by connector 66 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 Position Text Identification number Weight DIGIVEX FELX 404537GB P1 EXTERNAL RESISTOR packing gland 4 fastening holes 6 5 205 25 L 110 L Standard N Power w R 0 L mm RE 9
87. t Second order filter frequency This can only be done with the superior regulation loop giving the current set point 6 3 8 Other characterization parameters Logic and analog inputs outputs Access either via the menus CONTROLS FORCED INPUTS or CONTROLS OUTPUT ASSIGNMENT in interactive mode by clicking on I O on the left of the block diagram This makes it possible To assign one of the internal variables to each of the two 10 V analog outputs To force the logic inputs to 0 or 1 The logic inputs outputs are assigned permanently Encoder emulation option Choice of number of marks between 1 and 16384 per turn off line Validating by teaching of zero mark position on line Miscellaneous choices Choice of processing strategy for monitoring of mean or rms currents current reduction or power opening see 6 2 2 1 and Digivex PC software instructions PVD 3483F Choice of brake use strategy current reduction or not in the event of brake closure see Digivex PC software instructions PVD 3483F Choice of user strategy for thermal protection of motor with or without thermal protection 96 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 7 COMMISSIONING SERVO CONTROL PARAMETER SETTING DETECTING REASONS FOR STOPPAGE 7 1 Start up Sequence 7 1 1 Preliminary checks Wiring check Power and auxiliary connections to Digivex Single Drive Reset wiring External 24 V supply for bra
88. temperature overtemp cabinet temperature Resolver fault Resolver fault Problem with resolver or wiring Excessive speed j Overspeed Speed reference gt 10 V or speed parameter setting error CPU fault CPU fault Bus overvoltage Bus overvoltage Regenerative braking impossible Disconnected from mains supply Customization card EEPROM fault Customization card incompatible with drive fault rating or drive type Drive spindle definition SPINDLE Control type drive spindle incompatible BIT DEF with customization cardSZ6608B Motor not connected MOTOR Motor wrongly connected Disconnect E Liaison impossible s No power supply RUN FAULT PC SOFTWARE PROGRAMMIN LED LED FAULT FINDING G CONSOLE COMMENTS greeni see FAULT FINDING Excessive mean Current reduction current OR I mean gt drive rating Excessive rms Current reduction Current Drive RMS current gt lo motor Ea 1 p Ea EE E Excessive dissipater Max current reduced depending on temperature temperature 103 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 7 2 2 6 Corrective actions The incidents that may arise from wiring errors or mishandling are as follows Resolver fault Check the resolver connection Overcurrent poor motor connection motor phase missing programmed motor does not correspond to connected motor Overspeed Nmax incorrectly set Accidental transition to torque regulation Motor fails to run and remains without t
89. ther using the PC software or hand help terminal or by physically transferring the EEPROM store containing the customized parameters of the application 98 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 7 2 Detecting Reasons for Stoppage 7 2 1 LED display power supply function POWER ON Green Power on with no fault in the supply or in the drive control POWER OFF Auxiliary supply on No power supply either because of a fault or by switching off OVER VOLT Flashing mains supply overvoltage 480V or 255V Fixed bus overvoltage 750 VDC or 400VDC RECOVERY Either if temporarily on normal switch in of recovery resistor Or if permanently on recovery fault resistor short circuited valid only for external resistors PHASE No mains power phase AUX SUPPLY Indicates auxiliary supply is on In normal operation the LED status is as follows POWER ON Green POWER OFF Off RECOVERY Off OVER VOLT Off PHASE Off AUX SUPPLY Green N B The Power ON and Power OFF LEDs may come on simultaneously when the power supply is cut out mains disconnected and intermediate supply greater than minimum voltage 200V for 400Vac models and 100V for 230Vac models 99 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 7 2 2 Fault display drive function Incidents with drive operation can be displayed in two ways e the drive front panel through the RUN and FAULT LEDs RUN FAULT Green
90. to convert the signal from the resolver into a series of pulses that are identical to those from an incremental encoder A B 0 and their complements 8 2 1 Programming resolution and zero mark position This is done with the DIGIVEX PC software or the hand help terminal The parameter setting is called up Either in graphic mode double click on the encoder emulation Or via the menus parameters options Or via the hand help terminal keyboard Resolution Adjustable between 1 and 16384 either by keys or be entering the number directly OFF LINE only Zero Mark Setting Setting by teaching with the PC working on line When the operator judges the position is suitable he confirms by acknowledging the zero mark 8 2 2 Electrical characteristics The electrical output interface meets standard RS422 for differential serial links The circuit used is a LINE DRIVER of the MC 26 LS 31 D type The electrical characteristics are therefore closely related to the use of this component 105 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier Voltage supply The encoder emulation boards are electrically isolated between the output stage through three optocouplers needing to be powered by an external 5V 10 100 mA source as for all incremental encoders In no case can this power supply which is intended only for electrical isolation be used to keep position information from the resolver in the event of failure of the
91. tor coil KM1 should necessary have a surge suppressor AP connected in order not to destroy prematurely the internal relay contact of the drive This module should be use whether the power contactor supply is AC or DC The relay manufacturers Telemecanique LC1 series ABB B series provide surge suppressors fitted relays wether the power contactor supply is AC or DC for various voltages RC module Diode Zener Diode Varistor 38 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 4 3 Front Panel Description of Terminal Blocks and Sub D Connector All the input outputs required for operation are arranged on the front panel in the form of B1 supply terminal block B2 motor terminal blocks in 1 or 2 parts depending on rating B3 power supply terminal block B4 auxiliary power supply terminal block B5 terminal block for automatic control connection B6 terminal block for external resistor connection on DSD 32 64 and DSD 60 100 ratings X1 RESOLVER connector X2 INPUTS OUTPUTS connector X3 RS232 connector X4 ENCODER connector option The motor earth is to be connected to the Faston lug located below the rack The Sub D connectors used must be metal plated or metallic and ensure the shielding is continuous right to the metal earth of the rack See the following pages for diagrams 230 V single phase DSD 2 4 4 8A 7 5 15 230 V three phase DSD 4 8A 7 5 15 230 V three phase DSD 15 30A
92. tors and where necessary the resistors are to be fitted between the DIGIVEX Single Drive as close as possible to the drive and the motor when used with long cable lengths Servoamplifier V2 Motor References of inductors gt Q Cable Normal L lt 20m 20 lt L lt 30m 30 lt L lt 70m 70 lt L lt 100 length L shielded L lt 15m 15 lt L lt 20m 20 lt L lt 50m 50 lt L lt 70m 7 5 15 8 16 NEN 22 15 30 to 32 64 SF02025 60 100 is SF02026 DSF02 three inductances of 50 mH damped by resistors to rise on rail DIN For lengthes superior to 100 m consult us Damping resistor to be used with SF02032 RE 40008 470 25 W The use of self dampers for shorter distances can be envisaged to reduce parasite reception caused by capacitive coupling with power cables 57 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier eg ELX 306600GB Gre doc A3 7 points screw type terminal block os per EN 50 022 15mm as per EN 50 035 Symmetrical rail 35x15mm Symmetrical 35x7 5mm Asymmetrical rail G 32 H u 2 Q gt lt gt ao a t z gt DRIVE IU 0 105 3 04 00 usj uw 400 ps do2 Jo 5 0 jouuo2 IS 5 400 j 4 40 4 awsnjoxa si 1 xa 58 PVD 3500GB 04 2004
93. trol function corresponding to the servomotor power and resolver for spindle drive motor control This module also controls energy discharge via internal or external resistors for some models Two connection options are available for these servomotors Terminal box resolver connector Power connector resolver connector 1 2 General Characteristics 1 2 1 Modules with 230 V single phase power suppl Input voltage 230 V 10 MAINS CONTROLLABLE SINE PEAK PEAK PARVEX TYPE SUPPLY PERMANENT MAXIMUM PRODUCT CURRENT CURRENT DSD 2 4 230 V single phase 50 60 Hz DSD 4 8 230 V single phase 50 60 Hz DSD 7 5 15 30V single phase 50 60 Hz 7 PVD 3500GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk DIGIVEX Single Drive Servoamplifier 1 2 2 Modules with 230 V three phase power suppl Input voltage 230 V 10 see 8 4 4 1 MAINS CONTROLLABLE SINE PEAK PEAK PARVEX TYPE SUPPLY PERMANENT MAXIMUM PRODUCT CURRENT CURRENT NUMBER DSD 4 8 230 V three phase 50 60 Hz DSD 7 5 15 230 V three phase 50 60 Hz DSD 15 30 230 three phase 50 60 Hz DSD 30 60 230 three phase 50 60 Hz DSD 60 100 230 V 12000W three phase 50 60 Hz 1 2 3 Modules with 400 V three phase power suppl Input voltage 400 V 10 see 8 4 4 1 MAINS CONTROLLABLE SINE PEAK PEAK PARVEX SUPPLY PERMANENT MAXIMUM PRODUCT CURRENT CURRENT NUMBER 400 V three phase 50 60 Hz 400 V three
94. www sds ltd uk 0117 9381800 0 585 SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX Single Drive DIGITAL SERVOAMPLIFIER User and commissioning manual PVD 3500 GB 04 2004 www sds ltd uk 0117 9381800 info sds ltd uk PRODUCT TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery HX 1 to 320 gt 1 0 45 to 64 High rotor inertia for better inertia load matching gt HS LS 3 3 to 31 Varied geometrical choice short motors range HS LS 3 3to31 or small diameter motors HD LD 9to100 Nm Voltages to suit different mains supplies gt 230V three phase for s rie L NX gt 400V 460V three phase for s rie H NX e DIGIVEX Drive DIGITAL SERVOAMPLIFIERS SINGLE AXIS DSD COMPACT SINGLE AXIS DLD POWER SINGLE AXIS DPD MULTIPLE AXIS DMD PARVEX Motion Explorer ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS HV COMPACT SERIES HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kw up to 60 000 rpm e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 DC SERVODRIVES e RS SERIES SERVOMOTORS 0 08 to 13 N m RTS SERVOAMPLIFIERS RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement
95. xed whatever the speed Its direction is opposed to motion the sign therefore depends on the speed set point sign In this case too the values are entered directly in amps for the required motor current to overcome friction The threshold expressed in rpm defines a speed band within which this compensation is zero current reference speed reference 1 limit Dipl17gb D pl36 W 82 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier The threshold is of the order of 1 1000th of maximum speed This zone allows torque oscillation to be reduced during rapid and repeated changes of the speed sign This is the case in particular at rest when there is a position loop Dynamic friction compensation Friction proportional to speed encountered on some mechanical components using fluids Value to enter coefficient in amps rpm Acceleration prediction Depending on the total inertia load and motor rotor and on the desired acceleration the torque necessary is equal to C gt J do dt The set point is monitored therefore in order to send a set point that is proportional to inertia fixed and to acceleration to the current control This is one of the limits of the system there is no point in having a variation in the speed set point that is greater than the maximum possible acceleration of the motor given by dw dt peak torque gt J Acceleration prediction is only useful if there is a ramp on the speed re
96. y GRAVITY AND DRY FRICTION PREDICTORS DYNAMIC FRICTION AND ACCELERATION PREDICTORS 84 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 6 3 2 Parameter setting tools Without PC software or hand help terminal There is no access to any setting modifications The two variables usually assigned to the two analog outputs can be displayed only on a standard oscilloscope Number 1 output speed measurement Number 2 output current set point With the hand help terminal without PC software If the system allows complete access level 2 the hand help terminal provides access to the servo control parameters regulation type gain etc They can be displayed in two ways Either by direct read off from the LCD screen of Input set point Current set point MBus voltage Temperature Speed measurement Or by assigning two of five internal variables Input set point in rpm Speed measurement in rpm Current set point in Amps Bus voltage in Volts Position in degrees to the two analog outputs and using an external oscilloscope If at level 1 it is possible only to modify the gain already in place ratio 0 7 to 1 4 speed for a set point of 10V 10 unless already at maximum speed and offset 4196 With the Digivex PC software Three tools are accessible Speed set point generation fixed scale sine wave with adjustable amplitude frequency and mean value Oscilloscope function for disp
97. y PARVEX 6537P0016 Cables equipped with Sub D connectors can be supplied see drawing FELX 304554 108 PVD 3500GB 04 2004 DIGIVEX Single Drive Servoamplifier 19 025 11 89 6 xX Bee 1 5 9s Joa QN 308 uuuuO0 s4ojonpuoo mojj 4 u 15 uonoeuuoo pipiq Dulpjeius pib4q Duipjeius 3 doo 0 855 e pu 4 6 Bulpjeiys ad 5108 pasim 91425 woz iuDue xow uogoeuuoo pio4q Duipjerus uum doo pepjerys 40j2euuo2 0 8 15 uid 6 uonoeuuoo pib4q DuipJelus doo 5 4 1013 G gNS uid 6 Bulpjaiys 104 517 Lp OXZ 508 91909 dm woz iubue XOW 0 IHON3T XLHONA lx WO SIHON31 Ge vGNVIS 38302 ny gt 3802 1H9NdI 3009 418 1704 O ld 4 7 ao 7 fF 0 0 0 JONJeldide S4 IVS cO 2112 37870 YOLVINWI YIGOONA lt 251864 s S 0863 WV 96 80 62 155 900003 16 90 21 20 pejoeuuoco JON x jou 104 doo g 8ns o pajoeuuoo pipiq 9 5 pajoeuuoo

Parker-SSD-Parvex-Digivex-DSD-Manual-PVD3500GB

Contents

Download Pdf Manuals

Related Search

Related Contents