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5. 5 YIMOd X3AIDIG EE 84898 dere 838 S 13685 ae vw V3 3 5825 amp B a x iz 3 3 F 5 9 A u Boh u ag 40 j 18 x mot Do a 35 ZM 4 40 A D 77 25 0 9 7 roj 1E 1 5 1 Y 2 1 A 2 L b L D J ER zl bee o 3 A y DS 24 gt 5 3 18 i 13 1 E NAST ry Md wwa 9 9 RO HIMOA ine i ene VA ui 5 5 49405 d XIADA Pad XINA ICAJ 7 5 9 9 5 p 53504 23 8 2 96 53614 1d Si a X3NIVd AS c SOUT ba 5 88 E 83 YOLOVINOD YMOd Ww C HOLIMS INIT 15 n M mA G 20016 34 oO 4 4 210538 MM 10016 z Q xe 15 40151583 y 2 S 20151592 xx l3 F o N Servoamplifier DIGIVEX Multi Drive 3 2 1 Surge Suppressor KM Power Contactor AP Surge Suppressor The power contactor coil KM should necessary have a surge suppressor AP connected in or
6. 4 7 qoOorsrooild 4444 SAIVS 37870 YOLVINWI YIGOONA 251864 86086050 2 8 66 80 62 155 900003 20 pejoeuuoco JON x AIOS NAWIOD jou 104 papuawwosay doo g 8ns o pejoeuuoo pio4q 9 45 ZY WW Le AO 4epooua 16 90 21 Y doo 0 8 15 01 ie pejoeuuoo Uonbsuoyjne usum jnogjim podos eq j poudad Johuepyuos joujS 5 pub IMO jo paz fj1edoud aaisnjoxa s SIUI 15 Jepooue P lt 0 2 gully OXZ AOLVINNA 102 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive DIGIVEX SERVO AMPLIFIER Reference Description DPS0612 12 kW power supply DPS0625 25 kW power supply DPS0615 SF_02040 15 kW power supply with return to mains Three phase choke for 15 kW mains supply DRA3165V23 6U rack 3 slots fan reduced 4 8 DRA3165V43 6U rack 3 slots DRA3165R23 6U rack 3 slots with external recovery DRA3168V23 60 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
7. 4 2 4 3 Parameter Access Condition Access levels Level 1 is permanently accessible and can be used to modify proportional gain within bounds 0 7 1 4 speed for 1 V reference 51095 and maximum speed unless already at max speed offset It can also be used for reading all parameters Level 2 is accessible by entering a password and is used for altering all the parameters as required for the application This level can be used on line or off line with the PC software or the terminal The access code is stored in EEPROM as a parameter Off Line Mode If working at level 2 and with the PC software off line mode can be used for preparing complete parameter files motor selection servocontrol parameters inputs and outputs etc This is data processing work on files File Open Save as On Line Mode with level 2 access In this mode the RS 232 link connects the PC with its software and the DIGIVEX DRIVE see DIGIVEX PC software instructions When going on line all the parameters in the drive are copied to the PC Any parameter altered by the PC will be copied back to the drive 80 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive On line mode has the following features e resolver parameters cannot be modified loop parameters can only be modified by the or keys as numerical values cannot be keyed in directly e ifa complete parameter file is to be sent via the serial link first t
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9. Add 5 W if an encoder emulation option card is used 16 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive DIGIVEX Drive GENERAL TECHNICAL CHARACTERISTICS Power loss with altitude Power loss of 1 per 100 m above 1000 m up to maximum 4000 m Normal use 0 to 40 C Operating temperature Power loss of 20 per 10 C above 40 C m up to maximum and relative humidity 60 C 85 without condensation 0 05 rpm or 1 30 000 of maximum speed Controlled by DIGIVEX 100 000 rpm Static speed accuracy for zero With digital reference 0 1 field bus load variation at rated current With analogue reference 1 regardless of speed and for rated voltage of DIGIVEX Galvanic insulation of power bridge Mean current protection in line with drive calibre Electrical protection Pulse current protection of drive and motor Rms current protection of motor Protection against short circuits at bridge output Fuse protection against internal short circuits Mechanical protection IP20 to IEC 529 when rack mounted Motor temperature Drive temperature Cooling air temperature Brake supply Resolver supply Other protective features 17 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 6 Compliance with Standards Servomotor HX HS and HD range servomotors meet Directive 73 23 EEC of 19th February 1973 as amended by Directive 93 68 EEC of 22nd July 1993 and comply with standards EN 60034 1 and IEC 34 1 1994 The
10. 12 kW Power Supply with internal rack resistor Internal resistor only whose temperature is monitored by thermal sensor 25 kW Power Supply with internal rack resistor In terminal block B3 there must be a strap between terminals INT B3 2 B3 3 CAUTION Strap ST2 must remain in position 2 3 without fail See S 4 1 1 for strap positions Power Supply with external resistor In terminal block B3 there is not strap between terminal INT B3 2 and B3 3 The external resistor is connected between terminal EXT B3 1 B3 2 12 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive SUMMARY CHART OF BRAKING ENERGY DISSIPATION ARRANGEMENTS FOR POWER SUPPLY MODULES 12 kW 25 kW POWER SUPPLY POWER SUPPLY INTERNAL INTERNAL EXTERNAL RESISTOR RESISTOR RESISTOR RE 91002 RE 91001 Resistor value 22 66 Max current 32 10 Pulse power 22 7 5 Permanent power 1 1 0 37 572 in position 2 3 Int Res Max non repeat time Max repeat cycle time Repetition 572 in position 1 2 Ext Res Max non repeat time Max repeat cycle time Repetition Values for reduced ventilation racks Max current Maximum controlled current the resistor is activated at 700 V the controlled current is equal at most to 700 resistor value Pulse power Maximum power dissipated by the resistor this power can only be demanded for short periods and in keeping with a specific cycle Permanent power Mean power that can be dissipate
11. length 5m 1 For motors H and lo gt 60A 220065R3610 Size 3 power plug 6537P0012 10 mm power cable by metre 220049R4605 Equipped power cable length 5m 1 104 PVD 3464 GB 04 2004
12. 0 08 to 13 N m RTS SERVOAMPLIFIERS RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 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 gt POWER SINGLE AXIS DPM gt MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER Servoamplifier DIGIVEX Multi Drive CONTENTS 1 GENERAL 1 4 Digital Servodrive 12 Servoamplifier General Characteristics 1 2 1 Power Supply Modules 1 2 2 Servoamplifier Modules 1 2 3 Possible Combinations 1 3 Rack general 14 DIGIVEX Power Supply 1 4 1 Presentation 1 4 2 Block Diagram 1 4 8 Braking Energy Dissipation 1 5 DIGIVEX Drive SERVOAMPLIFIER 1 5 1 Presentation 1 5 2 General Characteristics 1 5 2 4 Functions 1 5 2 2 Electrical Characteristics 1 6 Compliance with Standards 2 SPACE REQUIREMENTS ASSEMBLY LABELLING CODES 21 Dimensions and mounting 2 1 1 Rack and Power Supply 2 1 2 DIGIVEX Drive 2 2 Labels Codes 2 2 1 Racks 2 2 2 Power Supply 223 DIGIVEX Drive 3 ELECTRICAL CONNECTIONS 3 1 General Wiring Requirements 3 1 1 Electromagnetic Compatibility 3 1 2 DIGIVEX DRIVE SUB D Plug general 3 2 Typical Connection Diagram 3 2 1 Surge Suppressor 3 3 Power Supply connection 3 3 1 Front
13. 1 U rms ip P Irms mains Urms v3 32 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive MAINS INPUT LINE CURRENT for MAINS POWER 400 V mains Urms 400 V FILTER FR03016 FR03036 The cable cross section and contactor rating must be selected accordingly 3 3 4 Connection to mains 400 V rms three phase mains supply via terminal block B2 terminals U1 V1 W1 Single phase operations possible downgraded mode please ask for details 50 60 Hz mains supply voltage must be greater than 200 V rms and less than 470 V rms a transformer or an auto transformer is necessary for use with 460 V 10 or 480 V 10 mains supply Current 20 A rms for 12 POWER SUPPLY 40 A rms for 25 kW POWER SUPPLY Power loss with temperature e Power loss of 296 per above 40 e Max ambient temperature 60 A thermal sensor trips the OK relay when the dissipater reaches 85 Power loss with altitude Power loss of 1 per 100 m above 1 000 m MAIN SUPPLY terminal block B2 Marked U1 V1 W1 Mains monitoring No phase see strap 571 e Maximum mains voltage 470 V Power bus monitoring e Maximum bus voltage 750 V e Minimum bus voltage 200 V Power dissipated e 12 kW power supply 50 W e 25 kW power supply 100 W 33 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 3 5 Low Level and Auxiliary Supply Terminal block B1 Each DIGIVEX Drive derives its l
14. 270 over oll without wiring amp S v e 3 549 DIGIVEX RACK WEIGHT 7 6 kg E a 25kW POWER SUPPLY WEIGHT 2 3 kg v i 12kW POWER SUPPLY WEIGHT 1 8 kg 15kW POWER SUPPLY WEIGHT 2 kg B 5 5 F Est 04 03 02 IGIVFXY Liste doc Y al eR 5 Stomping YG OUTLINE DRAWING PA RVEX RACK DIGIVEX 84E English FELX 50667208 1 3 6 SINGLE DRIVE UNITS Scale 20 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 LOCATION SINGLE MODULE RACK 1 2 3 4 5 6 7 8 4 272 o 315 3 5i 297 5 10 5 Front opening 51E 259 08 250 8 18E HE A 9 Col Ip tla ed ez 8 1 7 fp E A 2 BN 5 Vd EH i 2 ei i Eh A A i 21 Eq 80 i i tmd i i on 5 of amp e 88 s e HE lados x gt EX 2 I 9 2 r 2 A o o 1 8 3 S 5 270 over all without wiring DIGIVEX RACK 25kW POWER 5 2 3 kg
15. Drive Fault Processing 93 5 2 2 3 Current Monitoring 94 5 2 2 4 Temperature Monitoring 95 5 2 2 5 Miscellaneous Monitoring 95 5 2 2 6 Fault and Diagnostic Summary Chart 96 5 2 2 7 Corrective actions 97 5 2 2 8 7 segment display SS 6611 mounted 97 6 OPTIONS 98 6 1 Possible associations 98 6 2 Encoder Emulation Card Option SC 6631 98 6 2 1 Resolution and Zero Signal Position Programming 98 6 2 2 Electrical Characteristics 99 6 2 SUB D Plug 101 6 2 4 Encoder Emulation Cable ENCODER terminal block 101 DIGIVEX SERVO AMPLIFIER 103 PLUGS AND CABLES FOR DIGIVEX AND HX HS HD 104 3 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 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 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers may contain non insulated live AC or DC components Users are advised to guard against access to live parts before installing the equipment Even after the electrical panel is de energized voltages may be present for more than a minute until the power capacitors have had time to discharge Specific features of the installation need to be studied to prevent any accidental contact with live componen
16. SI 3009 H19N31 md 318V9 31314803 985v00cc 51 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 4 4 Input Output SUB D Plug 3 4 4 1 Inputs Outputs description Maximum conductor cross section 0 5 mms CONTACT TYPE PURPOSE CHARACTERISTICS 1 10 V speed or current Analog conversion reference point 15 bits sign Differential input 10 V speed or current reference point 10 V analog input point Analog conversion 9 bits sign 10 V analog input point Input assigned to external current limitation 10 V 2 max current Analog output 10V point 1 OV of analog output Output assigned to speed measurement 10V maximum speed Analog output 10V point ANA2 OV of analog output Output assigned to current measurement 10V maximum current SPEED RANGE Speed range choice CW enables clockwise rotation if input is active level 1 Analog conversion 7 bits sign Max voltage 10 V Max current 3 mA Protected against short circuits Analog conversion 7 bits sign Max voltage 10 V Max current 3 mA Protected against short circuits 24 V optocoupled logic inputs type 2 under IEC standard 1131 2 5 see characteristics on following pages These inputs must be supplied with 24 V CCW enables counter clockwise rotation is input is active level 1 Al Analog Input LI Logic Input AO Analog Output LO Logic Out
17. With an open circuit on Jo for axis motors Label e Motor name e Speedreference value e Adjustment number 76 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 4 Servocontrol Parameter Setting 4 2 4 1 Overview of Settings SELECT MOTOR DRIVE COMBINATION SELECT TYPE OF REGULATION CURRENT SPEED lt Ifc CURRENT LIMITATION POSSIBLE SETTINGS SECOND ORDER FILTER 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 frequency GRAVITY AND DRY FRICTION PREDICTORS DYNAMIC FRICTION AND ACCELERATION PREDICTORS Dipl40gb D W 77 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 4 2 Parameters setting Tools Without PC software or terminal There is no access to setting changes It is possible only to display the two variables assigned to the two analogue outputs on a standard oscilloscope These are usually Output 1 speed measurement Output 2 current set point e With the terminal without PC software If the system allows complete access level 2 the terminal provides access to the servo control parameters regulation type gain etc Two types of display are available either by direct read out on the LCD display of input set point current set point bus voltage temperature speed measurement or by assigning two of the 5 internal variables in
18. adjustment parameters e On the right the motor resolver power unit Parameters can be set motor selection which dictates drive calibre general resolver characteristics The choice of the motor drive combination automatically determines certain parameters current limitation protection f t servo control parameters e Ahead of current control Second order filter for reducing resonance effects at high frequencies External reduction of current limitation e Resolver digital processing non parametrable and the optional encoder emulation function number of points adjustable from 1 to 16 384 66 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Speed loop unit where the following parameters can set maximum speed for the application limited by the motor max speed scaling 1 N rpm choice of corrector type proportional proportional and integral proportional and double integration or simply choice of current regulation operation e Predictive action related to speed control These actions outside the speed loop directly affect the torque level As they are outside they have little effect on loop stability Conversely they allow anticipated action without waiting for speed loop reaction These predictive actions or predictors are Gravity compensation of vertical masses Dry friction a friction value is set a priori the corresponding torque refere
19. chokes of the DIGIVEX Drive mean that as a general rule there is no need to use shielding on the three power conductors e 1 ground conductor green yellow e 2 shielded twisted pairs for connection of the motor thermal protection Cross section of about 1 mm e 2 shielded twisted pairs for connection of the holding brake if fitted Cross section of about 1 mm e 1 shielding continuity conductor green orange to be connected to the servoamplifier earth 40 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Power cable cross section Cable cross sections shown in the table below make allowance for rated drive current motor drive distance loss in useful voltage RI e ambient temperature cable loss of Joules RI standardised increase of cable cross sections PARVEX proposes cables for distance of up to 50 m and ambient temperatures of less than 40 C Distance 50m 100m 200m PARVEX SUPPLY DIGIVEX Cable cross section in mms 50m 0 lt 40 C Calibre 2 4 and 4 8 16 32 32 64 Cross sections incompatible with DIGIVEX DRIVE power terminal blocks See 3 4 2 Fit an intermediate terminal block close to the DIGIVEX DRIVE 41 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 4 3 2 Guidelines for use of inductors and resistors for long cables between the motor and drive The inductors and where necessary the resistors are to be fitted
20. correction in plain language or the display parameter terminal which displays in plain language a code for each problem encountered 5 2 2 2 Drive Fault Processing Four cases may arise Fault These faults entail e DIGIVEX Drive FAULT LED comes on e power supply DRIVE FAULT LED lights and consequently the main switch opens and the power is switched off e The fault origin code is stored in the drive Systematic reduction in performances with no choice of strategy This is the case with dissipater temperature monitoring In this case e Internal alteration of maximum permissible mean current the FAULT LED flashes Storage of the condition in the drive e No action on the DIGIVEX Power Supply module 93 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Choice of strategy For current monitoring when customising the drive there is a choice between Strategy 1 Fault Strategy 2 Performance reduction without storage in drive as a fault condition Central Processing Unit Fault This fault causes the green RUN LED to go out and the red FAULT LED to light 5 2 2 3 Current Monitoring Drive mean current To prevent excessive overheating of the drive the mean current I f t is compared after about two seconds filtering with the permanent permissible current rating There is then a choice between two strategies Strategy 1 Fault with opening of the power supply OK relay and the main swi
21. encoder connector 9 pin male contact SUB D for pulse encoder emulation INPUTS 38 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Terminal Blocks B1 B2 Power Thermal Protection and Brake Terminal block 1 for calibre 2 4 4 8 8 16 and 16 32 e Terminal block B1 and B2 for calibre 32 64 DIGIVEX Drive calibres 2 4 4 8 8 16 and 16 32 e One plug in terminal block B1 comprising e terminals 1 2 and 3 marked U2 V2 and W2 for power e terminals 4 and 5 for motor thermal protection TH input current less than 3 mA e terminals 6 and 7 24 V for brake supply BR og o e C PARVEX o Drive calibre 32 64 DIGIVEX B One fixed terminal block B1 screw DRIVE terminals terminals 1 2 and 3 02 V2 W2 power One plug in terminal block B2 comprising 8 terminals 1 and 2 for motor thermal xcu protection TH input current less than 3 i mA terminals 3 and 4 marked and 24 2 V for braking supply BR 9 supply BR fay T ef n 2 w2 m 3 ee o 0 8 82 5 mE n 39 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive 24 V brake output terminals Outputs assigned to motor brake control terminal 6 to positive terminal 7 to negative for cal
22. module locations e DRA3168V63 Standard ventilation and internal resistor e DRA3168V23 Standard reduced ventilation and internal resistor e DRA3168R43 Standard ventilation and external resistor 51E Racks 3 single module locations e DRA3165V43 Standard ventilation and internal resistor e DRA3165V23 Standard reduced ventilation and internal resistor e DRA3165R23 Standard ventilation and external resistor 22 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 2 2 2 Power Supply Two labels are fastened to the rear connectors of the DIGIVEX Power Supply module One shows the serial number and date of manufacture One is equivalent to the specimen stickers shown below DIGIVEX Power Supply 12kW DIGIVEX Power Supply 25 kW CE PASO A A oo SU CAS UX Meaning of label indications Convertisseur CA CC AC DC converter DPS DIGIVEX Power Supply code E 3x 400 V Input voltage and current fn 50 60 Hz Authorised frequency range S 550 V Output voltage and current Charge DXD Type of load DIGIVEX DRIVE module Class 1 Service class to standard EN 60146 1 permanent Codes DIGIVEX Power Supply DPS0612 12 kW DIGIVEX Power Supply DPS0625 25 kW DIGIVEX Power Supply EXTERNAL ENERGY DISSIPATION RESISTORS RE 91001 2000 W 27 resistor RE 91002 4500 W 12 resistor RE 90020 Pair of wall fastening resistor support 23 PVD 3464 GB 04
23. panel terminal blocks 3 89 2 Terminal block characteristics 3 3 3 Power component dimensions 3 3 4 Connection to mains 1 PVD 3464 GB 04 2004 O O o wi 2123 11 21 XX 03 N 19 19 19 22 22 22 23 24 25 25 25 26 27 30 31 31 32 32 33 Servoamplifier DIGIVEX Multi Drive 3 3 5 Low Level and Auxiliary Supply 3 3 0 External Energy Dissipation Resistor 3 3 7 Control signal connection terminal Blocks X2 and 3 8 8 Terminal Block X1 Brake Supply 3 4 DIGIVEX Drive connection 3 4 1 Front plate terminals 3 4 2 Terminal blocks and sockets characteristics 3 4 3 DIGIVEX Drive Servomotor connection 3 4 3 1 POWER Cable Definition 34 35 35 38 38 38 40 40 40 3 4 8 2 Guidelines for use of inductors and resistors for long cables between the motor and drive 42 3 4 8 3 Connection to motor power brake thermal protector and ventilation 3 4 8 4 Resolver Connection 3 4 4 Input Output SUB D Plug 3 4 4 1 Inputs Outputs description 3 4 4 2 Input Output Cable Terminal Block X2 Inputs Outputs 3 4 5 SUB D Plug 3 4 5 1 Definition 3 4 5 2 RS 232 cable 3 5 Accessories 3 5 1 Mains filter 3 5 2 External energy dissipation resistors 3 5 3 Tool 3 5 4 Cables 3 5 5 Inductors for long cable lengths with axis motor 4 PARAMETER FUNCTION AND ADJUSTMENT 41 DIGIVEX Power Supply 4 1 1 Straps positions 4 1 2 Initialization Sequence 4 2 DIGIVEX Drive 4 2
24. shaft at start of braking in rpm f Repetition frequency of braking cycles in s The formula is for the worst case scenario Where the mechanical parts produce substantial friction or reverse yield is low the power to be dissipated may be substantially less The total power to be dissipated from all drives must not exceed the permissible permanent power for the resistor Durations and repetitions must not exceed the values in the preceding table 14 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 5 DIGIVEX Drive SERVOAMPLIFIER 1 5 1 Presentation DIGIVEX servoamplifiers are IGBT four quadrant transistor control modules for auto drive brushless synchronous motors with resolvers The power supply and regulation supply are provided by two 550 V buses located in the double Europe rack which also contains the DIGIVEX Power Supplymodule Customized requirements for the motor drive unit servo control parameters are entered either using a PC with DIGIVEX PC software under Windows or using a display and parameter setting terminal These parameters are placed in two EEPROM stores one fixed store for DIGIVEX parameters one plug in store for application specific parameters Modules come in three sizes and five ratings 2 4 4 8 8 16 16 32 and 32 64 1 5 2 General Characteristics 1 5 2 1 Functions Motor phase law control to obtain the maximum torque speed working range Resolver power supply and digi
25. stop bit No parity No galvanic insulation Use maximum 5 m extension cable DIGIVEX PC 9 PIN INTERNAL DIGIVEX 9 PIN SUB D PC SUB D CONNECTIONS a RD RXD TD TXD DTR OV DSR RTS CTS 5V 50mA For programming terminal eB 1 2 3 4 5 6 7 8 9 May be connected without hazard to 9 of DIGIVEX 3 4 5 2 RS 232 cable For the RS232 cable SUB D X3 see commercial cables 9 pin SUB D extension 3 5 Accessories 3 5 1 Mains filter Mains filters These filters are essential for compliance with protection currently required against interference see especially the section on compliance with standards and wiring diagrams Dimensions are shown on drawing FELX 304967 see following pages 58 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 99496705 Xl SNOISNAMIG 3NILnO LUNO X3 3Vd m qud 412114 5 325 uajjum perdoo paanposdas aq 00002 si wiy 400 jo Ayedoid awsoxo au si SIUL JON suos jo simpioueuou aydas MA 86 0 11 GE086XWY 2 AP jo aimpjoueWou 5 86 11 60 S 1863WY 3 MA 46 11 07 29146308 81 4A 96 60 21 96086300 a 87 26 10 22 910 63 MV V 3 JN 46 15 96 90 98 eamas
26. 1 Functions 4 2 1 1 Block Diagram 4 2 1 2 Logic Input Forcing 4 2 1 3 Stimulus Oscilloscope Function 4 2 1 4 Logic outputs 4 2 1 5 Brake Action 4 2 1 6 Emergency Stop speed loop mode only 4 2 2 Servocontrol and Adjustment Parameters 4 2 2 1 List of Parameters 4 2 2 2 Regulation Selection Current Proportional PIS 4 2 2 3 Integration Stop 4 2 2 4 Speed Scaling 2 PVD 3464 GB 04 2004 42 49 52 52 56 58 58 58 58 58 60 60 60 61 64 64 64 66 66 66 66 69 69 69 69 70 70 70 71 73 73 Servoamplifier DIGIVEX Multi Drive 4 2 2 5 Filtering Frequency 74 4 2 2 6 Predictors 74 4 2 3 Entering Parameters personnalization board change 76 424 Servocontrol Parameter Setting 4241 Overview of Settings 4 2 4 2 Parameters setting Tools 78 4 2 4 3 Parameter Access Condition 80 4 244 Motor Selection and Parameter Entry via DIGIVEX PC Software 81 4 2 4 5 Loop Parameter Adjustment Speed Regulation Mode 81 4 2 4 6 Predictor Adjustment 85 4 2 4 7 Parameter Adjustment in Current Regulation Mode 89 4 2 4 8 Other Parameters 89 5 STARTING UP DETECTING CAUSES OF STOPPAGE 90 51 Start Up Sequence 90 5 1 1 Prior Checks 90 5 1 2 First Time Starting with DIGIVEX PC Software or the terminal 91 5 1 3 Start up or Modification with the Display Parameter Setting Terminal Parameters transfer 92 5 2 Detecting causes of stoppage 92 5 2 1 DIGIVEX Power Supply 92 5 2 2 DIGIVEX Drive 93 5 2 2 1 Display 93 5 2 2 2
27. 1994 Mains frequency magnetic fields EN 61000 4 2 of June 1995 Electrostatic discharge ENV 50141 of August 1993 Interference induced in cables EN 61000 4 4 of June 1995 Rapid transient currents Compliance with the reference standards above implies adherence to the instructions and wiring diagrams in the technical documents supplied with the appliances Incorporation in Machinery The design of the equipment means it can be used in machinery covered by Directive 89 392 EEC Machine Directive provided that it is integrated or incorporated and or assembled in accordance with the rules of the art by the machinery manufacturer and in keeping with the instructions in this booklet 18 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 2 SPACE REQUIREMENTS ASSEMBLY LABELLING CODES 2 1 Dimensions and mounting Two sizes of rack are available in three versions e Rack to accommodate six single format servoamplifier modules in addition to the POWER SUPPLY e Half rack to accommodate three single format servoamplifier modules in addition to the POWER SUPPLY For each size the following three versions are available e Standard ventilation and internal braking energy dissipation resistor e Standard ventilation and external braking energy dissipation resistor e Compact ventilation and internal braking energy dissipation resistor reserved for cases where all DIGIVEX DRIVES are less than or equal to 4 8 calibre T
28. 2004 Servoamplifier DIGIVEX Multi Drive 2 2 3 DIGIVEX Drive Markings affixed to appliance e Two labels are affixed to the rear connectors one showing the serial number and date of manufacture one in accordance with the model below Convertisseur CC CA C DXDO6008 550V 6 94 Classe 1 5 0 540V 1 8 Digpl28 T Meaning of label markings Convertisseur CC CA DC AC converter DXD DIGIVEX Drive module code E 550 V A Input voltage and current Class Service class to standard NF EN 60146 1 permanent S 0 540V Output voltage and permanent output current peak Amp One label on the front panel on the handle indicating module serial number module code one line for miscellaneous information One label on the EEPROM subprint SZ 66088 module code corresponding motor maximum speed N max for a given reference usually 10 V One label on the EEPROM marked U47 indicating the software reference e g AP501V3 The drive customized parameters are stored in this plug in EEPROM memory The parameters can be read by DIGIVEX PC software Display parameter setting terminal see following sections Codes DXD06002 DIGIVEX Drive axis module 2 4 DXD06004 DIGIVEX Drive axis module 4 8 DXD06008 DIGIVEX Drive axis module 8 16 DXD06016 DIGIVEX Drive axis module 16 32 DXD06032 DIGIVEX Drive axis module 32 64
29. 24 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 ELECTRICAL CONNECTIONS 3 1 General Wiring Requirements 3 1 1 Electromagnetic Compatibility GROUNDING Adhere to all local safety regulations concerning grounding e Use a metal surface as a ground reference plane e g cabinet wall or assembly grid This conducting surface is termed the potential reference plane PRP All the equipment of an electrical drive system is connected to the PRP by a low impedance or short distance link First make sure that the connections conduct electricity properly by scraping off the surface paint if necessary and by using fan washers The drive will be grounded by a low impedance link between the PRP and the ground rod on the front panel of the DIGIVEX rack If this link is longer than 30 cm use a flat braid or standard wire instead CONNECTIONS Avoid routing low level cables resolver input output NC or PC links alongside power cables power supply or motor Also avoid routing the supply cable and motor cables together in order to conserve mains filter attenuation These various cables should be separated by at least 10 cm and never crossed or only at right angles if unavoidable All low level signals shall be shielded and except for the resolver connection the shielding shall be connected at both ends At the DIGIVEX end the shielding is continued by the mechanical design of the SUB D plug Motor cables must be
30. 24 V absent Axis at 90 reduced torque of rated motor current The brake engage or release order is in no event given by the drive but by the machinery automatism The automatism can monitor the drive outputs indicating zero speed to decide whether or not to apply the brake 4 2 1 6 Emergency Stop speed loop mode only This signal is applied to theDIGIVEX Power Supply terminal block X3 between terminals 8 and 9 During normal operation it should be at logic state 1 24 V on terminal X3 8 If the signal goes LOW this causes e All drives set to zero speed without ramps Holding under torque after stoppage 4 2 2 Servocontrol and Adjustment Parameters 4 2 2 1 List of Parameters Choice of type of regulation Speed Proportional P Proportional integral Proportional double integral PI Current regulation In all cases Minimum Value Maximum Value e Filtering frequency 20 Hz 800 Hz e Offset 1 V max 1 V max e Current limitation 0A Drive pulse In speed regulation P PI PI e Max Speed 100 rpm 100 000 rpm e Speed for 1 Volt 10 rpm 20 000 rpm e Proportional gain Drive Ipulse 156 Drive Ipulse x 210 e Integration frequency stop 0 1 Hz 150 Hz e Speed 1 and speed 2 48 rpm speed 1 speed 2 max speed Predictors gravity static or dynamic friction acceleration 70 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 2 2 Regulation Selection Current Proportional P
31. 3 12kW POWER SUPPLY W 1 8 kg 3 15kW POWER SUPPLY M 2 kg B 11E 3 kg 2 22 3 1 kg 5 93 kg 5 m 8 3 F ML 20302 RACK DIGIVEX 51E eB ea 5 5 iStamping YG OUTLINE DRAWING PA RVEX EN A3 English 68 1 D 5 3 SINGLE DRIVE UNITS 21 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive 2 1 2 DIGIVEX Drive Double Europe format cards available in three widths single double triple module DIGIVEX Drive MODULE 2 4 4 8 8 16 16 32 32 64 Weight 1 3 kg 1 3 kg 13kg 3 1 kg 5kg Width 55 9 mm 55 9 mm 55 9 111 8 mm 167 6 mm 2 2 Labels Codes 2 2 1 Racks Two stickers are affixed to the right hand side of the rack e One shows the serial number and date of manufacture e One is equivalent to the specimen stickers below DIGIVEX 84E Rack Label DIGIVEX 51E Rack Label 6 single module locations 3 single module locations RACK DIGIVEX RACK DIGIVEX DRAS168V63 DRAS165V43 DIGIVEX 84E Rack Label 13 single module locations Meaning of indications on labels C XR UM DU E RACK DIGIVEX Designation DRA3128V63 DRA Rack Code Codes 84Ex2 Racks 13 single module locations e DRA3128V63 Standard ventilation and internal resistor e DRA3128L63 Standard reduced ventilation and internal resistor resistor bus e DRA3128R43 Standard ventilation and external resistor 84E Racks 6 single
32. 4V filtered regulated supply is not part of our supply see 3 4 3 3 brake connection 8 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 4 DIGIVEX Power Supply 1 4 1 Presentation The power supply is located at the left side of the rack Receives 400 V three phase mains supply and provides dc power 550 V internal bus to the DIGIVEX servoamplifiers terminal block B2 Receives the 400V single phase auxiliary supply terminal block B1 as input and provides 550V direct voltage as output Each DIGIVEX Drive generates its own 15V 5V and 24V voltages from this low level bus May receive 24 V supply for servomotor brakes and distributes it to drives via the internal bus terminal block X1 Braking energy dissipation terminal block on 25 kW calibre e 24 V and 15V customer auxiliary supplies terminal block X3 Logic interface with main switch terminal block X2 e Interface with emergency stop and external reset terminal block X3 Two versions of the power supply are available e 12 kW DIGIVEX Power Supply rectified current 25 A e 25 kW DIGIVEX Power Supply rectified current 50 A The 12 or 25 kW can be considered as the sum of the mechanical power really used simultaneously by the axis at a given time A series of LEDs is used to check the status of the power supply and drives 9 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 4 2 Block Diagram S
33. D Plug Nine pin encoder Sub D Plug Maximum conductor cross section 0 5 Zero signal A V Zero signal 6 2 4 Encoder Emulation Cable ENCODER terminal block X3 Cable composed of three 0 14 mm2 twisted pairs one 0 5 mm2 twisted pair for 5 V supply and general shielding PARVEX SA recommended cable reference CB08307 Cable may be supplied ready fitted with SUB D plug see drawing FELX 304554 cable compatible with our CYBER 2000 AND CYBER 4000 101 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 9 095 89998908 z4 9e S4ojonpuoo wo joA uaoJb uo2euuoo 5 doo pepjeius 4 1 13 JOJIQUUOD G gNS 4 6 Bulpjeiys 0 2 5400 pajsim 1402 woz 14 uogoeuuoo 4 Duipjelus doo papjalys jM W3 40j2euuo2 0 9 uid 6 uonoeuuoo pio4q Dulpjelus doo 4 1113 0 805 ejowes 44 56 bulpjejus joJ u 10 0 2 508 pasim 91400 x en wog xoyy 0c SIHON31 15 0 1H9N31 3802 XLHONA Ix 3802 L1H9Ni1 3009 di8vO 1704 amp Uwe GPO x 7 JON3el1438
34. DIGIVEX AND HX HS HD DXDK1 Set of 3 Sub D connectors for DIGIVEX DXDK2 Set of 4 Sub D connectors for DIGIVEX encoder emulation CB 08304 1 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 Resolver cable by metre 220049R6105 Equipped resolver cable motor plugs amp Sub D length 5m 1 For motors HX3 220065R1610 Size 1 power plug 6537P0019 0 5 mm power cable by metre 220049R4905 Equipped power cable length 5m 1 For motors HX6 HS6 HD6 HD6 HS8 and lo 14 A 220065R1610 Size 1 power plug 6537P0009 1 mm power cable by metre 220049R4205 Equipped power cable length 5m 1 For motors HS820EQ lo gt 14 A 220065R1611 Size 1 power plug 6537P0010 2 5 mm power cable by metre 220049R4305 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 60A 220065R3610 Size 3 power plug 6537P0011 6 mm power cable by metre 220049R4505 Equipped power cable
35. Filter This phenomenon cannot be treated by adjusting P PI PI If the resonance cannot be dealt with mechanically the frequencies concerned must be eliminated This is the job of the 2nd order low pass filter Gain frequency Slope 2 4 40 dB d c Phase frequency Diggb17 D pl35 W Resonance frequencies are usually higher than 50 or 60 Hz whereas oscillations from incorrect PI or settings are generally lower than 50 Hz 4 2 2 6 Predictors Purpose of Predictors Four physical phenomena vertical mass e dry friction e friction proportional to speed e acceleration are direct and calculable cause of changes in motor torque 74 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive Predictors are intended by calculation to act directly on the current reference without going through the speed loop and without waiting for the speed error caused by these phenomena see block diagram The principle for adjusting and working on the predictors is to minimise the part of the current reference from the P PI branch and therefore to reduce the speed error As these predictors are outside the speed loop which must be set first they do not affect stability They considerably improve response time The acceleration predictor improves stability and can be used to increase the gain of any position loop superimposed on the speed loop However it should be noted that a number of speed
36. PPLY terminal block X2 OK and READY relays Restore the low level supply Use the software to force the drive to zero torque e Power up Normally the POWER ON LED of the DIGIVEX POWER SUPPLY lights If there is a drive fault the DRIVE FAULT light comes on Read the diagnostic and correct the fault If all is in order check the brake if fitted works properly e Remove the zero torque lock with the software or by the hardware contact set T 0 input to 24V open any brake e Adjust the system using the stimuli PC software or terminal Direct current stimuli square with peak to peak 0 Check Nmax Square stimuli or adjustment procedure to set the servo control parameters DIGIVEX PC software to set the predictors if necessary For all these manipulations make sure that the driven mechanism can run freely 91 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 5 1 3 Start up or Modification with the Display Parameter Setting Terminal Parameters transfer The general process is the same as above The display parameter setting terminal is for systems that have already been programmed either by PC software or by transfer of parameters from one drive to another using the PC software or the terminal or by physically transferring the EEPROM containing the customised application See 8 4 2 3 5 2 Detecting causes of stoppage 5 2 1 DIGIVEX Power Supply The following LEDs are locat
37. PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive External energy dissipation resistor FOR 25 KW DIGIVEX POWER SUPPLY only Position Text Identification number Weight DIGIVEX FELX 404537CB P1 EXTERNAL RESISTOR packing gland 4 fastening holes 26 5 A Q eR IL N 1 110 136 L L 110 25 L 170 Standard N Power W R Q L mm RE 91001 2000 27 620 RE 91002 4500 12 1195 Connection in IP55 sealed terminal box with packing gland C Weight kg 1 9 2L m 4 8 holes RE 90020 50 S 3 D pool MIS je 222 EE Pair of wall consoles Weight 0 9kG NI RECOMMENDATION E 853 These resistors must be used horizontally fixed to the ground 523 or to wall consoles with nothing liable to impede natural convection PE BEI 9e 26 07 95 sP stamping 1 0 0 ML EI 2 98026 20 02 98 VR Scale Replacing 883 3 Separate nomenclature of Nbe dif E 5 3 Separate nomenclature of same wj SIZE Family DIGIVEX A4 m 1 wo EXTERNAL RESISTOR FELX 40453 62 PVD 3464 GB 04 2004
38. RE_91002 4500 W 12 ohm external resistor RE_91020 Pair or wall consoles for resistors TL_83085 60 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 double module DXD06032 DIGIVEX 32 64 single module DSD13004 DIGIVEX Single Drive 230V 4 8 DSD13007 DIGIVEX Single Drive 230V 7 5 15 DSD13015 DIGIVEX Single Drive 230V 15 30 DSD16002 DIGIVEX Single Drive 400V 2 4 DSD16004 DIGIVEX Single Drive 400V 4 8 DSD16008 DIGIVEX Single Drive 400V 8 16 DPD16050 DPD16100 DIGIVEX Power Drive 100 120 DPD16150 DIGIVEX Power Drive 50 80 DIGIVEX Power Drive 150 SC 6631 Encoder emulation SC 6637 1 Simplified SSI encoder card SC 6637 2 SSI encoder card 1 Programming and parameter setting console FR_03016 16 A filter DIGIVEX 12 kW FR_03036 36 A filter DIGIVEX 25 kW and 50 80 FR_03064 64 A filter DIGIVEX 100 120 PVD3464x DIGIVEX Multiple Drive manual D E F GB DIGIVEX Single Drive manual PVD3484x DIGIVEX Power Drive manual D E F GB PVD3488x 551 D F board manual x D German E Spanish F French GB English 103 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive PLUGS AND CABLES FOR
39. S 550V VISCOUS FRICTION COMPENSATION O KN INPUT ACCEL TORQUE CURRENT 0 COMPENSATION OK ONE LIMITATION 1 SPEED bnd ORDER VECTOR FILTER CONTROL t OR TORQUE ROTOR POSITION ENCODER OPTION RESOLVER DIGITAL XTERNAL PROCESSING 07 5V EXCITATION SINE COSINE Input set point in rom Speed reading in rpm P Pl Pls output in amps Sum in amps Current set point in amps Acceleration in ms Dynamic friction in amps Static friction in amps Position in degrees Phase U current in amps Phase W current in amps The two variables can be selected either in interactive mode by positioning the two probe tips on the diagram for the eleven variables above only or from the list in the TOOLS OSCILLOSCOPE table Access via the variable name This is valid for all twenty variables the eleven above plus the following 79 PVD 3464 04 2004 EMULATION RESOLVER Dibligb Ds4 W Servoamplifier DIGIVEX Multi Drive Low frequency generator stimuli Temperature in degrees C Bus voltage in volts Id set point in amps Iq set point in amps 14 measurement in amps Iq measurement in amps Voltage Ud in Volts Voltage Uq in Volts Auxiliary input in Volts Notice that these twenty variables can be assigned to the two analogue outputs that allows eventually to use an external oscilloscope eff
40. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex www SSDdrives com DRIVES PARVEX DIGIVEX Multi Drive DIGITAL SERVOAMPLIFIER User and commissioning manual PVD 3464 GB 04 2004 De sf jo of e 59 9 39 PRODUCT RANGE 1 BRUSHLESS SERVODRIVES TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery HX HXA 1to 320 gt NX LX 0 45 to 64 N m High rotor inertia for better inertia load matching HS LS 3 3 to 31 Varied geometrical choice short motors range HS LS 3 3 to 31 or small diameter motors HD LD 9to 100 N m Voltages to suit different mains supplies gt 230V three phase for s rie L NX 400V 460V three phase for s rie H NX e DIGIVEX Drive DIGITAL SERVOAMPLIFIERS gt SINGLE AXIS DSD COMPACT SINGLE AXIS DuD DLD POWER SINGLE AXIS DPD gt MULTIPLE AXIS DMD PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 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
41. Servomotor winding temperature Each HX HS and HD motor has a thermal sensor When customizing the drive this sensor must be taken into consideration In this case excessive motor temperature causes a fault condition Ambient temperature Measured between electronic boards It stops operation at more than 60 C 5 2 2 5 Miscellaneous Monitoring No resolver Resolver fault or wiring fault Overspeed Speed gt 1 15 times the maximum motor drive speed setting These two cases produce a fault with red FAULT LED lights Zero bus voltage This situation may be produced by simply switching off the power with no fault or by a power supply fault If the loss of power is not caused by a drive fault e the RUN LED remains on e the FAULT LED remains off 95 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 5 2 2 6 Fault and Diagnostic Summary Chart 13 LED on E LED off RF rapid flashing SF slow flashing RUN FAULT PC SOFTWARE PROGRAMMIN Green Red FAULT FINDING Nr UN oM 1 current reached Excessive mean average fault Too much current asked of drive current Excessive rms 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 temperature overtemp cabinet temperature Excessive
42. VEX DRIVE SUB D Plug general For immunity from interference it is essential for the rack to be correctly connected to the ground of the electrical cabinet and to use EMI RFI shielded type SUB D plug caps metal with shielding braid connected Make sure the SUB D connectors and their caps are properly fixed lock screws must be tight The shielding inside the SUB D caps must be as shown GROUND CONNECTION Fold the shielding braid back over the cable sheath Solder between the braid and the green yellow cable 26 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 2 Typical Connection Diagram See drawings FELX 304541GB and FELX 304557GB below 27 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive DS 220 03 0 13 3 AlddflS MACI X3A3 Vd NICE 6020177 25 7 191603 Wvalovid 9NILOJNNOO 97500701 60066317 glg joe aw joo w X3AISIQ 66770712 153 861863 117 40559 0005 IN u pinoys
43. als the brake disc is released and the motor can rotate The 24 V dc current for brake control must be regulated filtered It is to be connected to terminal block X1 of the DIGIVEX Power Supply and is then distributed internally to the DIGIVEX Drive modules The brake is to be connected to terminals B1 6 and B1 7 for 2 4 4 8 8 16 and 16 32 and to B2 1 and B2 2 of the DIGIVEX Drive for calibre 32 64 Thermal protection Connection The two terminals of the PTC probe located in the motor terminal box to be connectec to DIGIVEX Drive terminal blocks B1 4 and B1 5 for calibres 2 4 4 8 8 16 and 16 32 and to DIGIVEX Drive terminal blocks B2 1 and B2 2 for calibre 32 64 Motor Ventilation Connection Some motors can be delivered as fan cooled versions Fan characteristics Supply voltage 400 V three phase 50 60 Hz as standard Power consumption 45 W Connector type connection plug 220056P0200 supplied on request 48 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive When connecting check the direction of fan rotation and check that airflow is produced The direction of airflow is shown on the dimension drawings 35 54 1 Phase U 86 9 5 829 Dipl7gb T dm8 h 3 4 3 4 Resolver Connection The resolver is a high precision sensor 10 angular minutes as standard It must be carefully wired e Separately routed power cable e Twisted pa
44. ast 1 axis is located in the rack Protection Management block Logic block carrying out protection sequences locking drives controlling Ready and OK relays and ordering LEDs to be energized on the front panel 10 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 53 SIXV Ave SNV4 Ave SIXV qaads TINN SIXV SNISOLINOIN SIXV 5 SIXV 1099 sna i ONIMOLINOMW sna AlddNs 53 9 4 4015 AON39M3W3 ASV Bg ES Ae ux Asis X 11 24 25 Poa N ILAONAS 33HMOd X3AISIQ 11 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 4 3 Braking Energy Dissipation Braking energy is dissipated by a rack mounted resistor for the 12 kW power supply or rack mounted or external resistor for the 25 kW power supply Regeneration is controlled on the basis of two voltage limits measured across the power bus e Resistor cuts in at U 700 V Resistor cuts out at U 690 V Upon energising the system tests the value of the current through the braking resistor It should be 10 lt lt 70 This means either no resistance break or a short circuit can be detected If a fault occurs the OK relay is tripped There are two models of external resistor in insulated enclosures See 3 5 2 e 2 kW 27 Q RE91001 e 4 5 kW 12 RE91002
45. between terminal 1 and 2 of terminal block B3 Maximum current in cable e With RE 91001 2 000 W 30A e With RE 91002 4 500 W 60A Cable type unshielded cross section 2 5 mm for 2 000 W 4 mm for 4 500 W Maximum recommended distance 10 m Resistor end connection by terminal box through packing gland PG 16 for 10 mm 14 mm diameter cable 3 3 7 Control signal connection terminal Blocks X2 and X3 Plug in terminals TERMINAL BLOCK X2 READY contact OK contact Potential free contacts Max U 250V 1 1 Cut out power 250 VA ohmic load 2 1 2 Ready Contact The contact is closed if e the auxiliary bus low level is correct 290 V dc on powering up atleast one drive is in the rack e drives signalled no faults when low level supplies appeared This contact authorises the main switch to be closed e the red POWER OFF LED glows 35 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive X2 3 4 OK Contact The contact is closed if AUX supply is correct power supply is present gt 200 V dc the low level and power drives signal no faults The contact authorises the main switch to be self maintained the green POWER LED glows CAUTION Opening the OK contact must cause the main contactor to open with a max 100 ms delay TERMINAL BLOCK X3 24 V regulated OV of 24 V 15 V regulated OV of 15V 15 V regulated Reset Reset Emergency Sto
46. between the DIGIVEX Multi Drive as close as possible to the drive and the motor when used with long cable lengths Motor References of inductors Dimensions see 3 5 5 Cable Normal L lt 20m 20 lt L lt 30m 30 lt L lt 70m 70 lt L lt 100m length L Shielded L lt 15m 15 lt L lt 20m 20 lt L lt 50m 50 lt L lt 70m 2 4 4 8 05202 DSF02 ot recommended resistor _ e DSFO2 three inductances of 50 mH damped by resistors to rise on rail DIN e For lengthes superior to 100 m consult us e Damping resistor to be used with 5 2032 40008 470 25 The use of self dampers for shorter distances can be envisaged to reduce parasite reception caused by capacitive coupling with power cables gt 5 3 4 3 3 Connection to motor power brake thermal protector and ventilation Power Connection Two connection arrangements are provided except HX300 which has the connector version only terminal box resolver connector power connector resolver connector 42 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive ue eer eee ELX 3066006 7 points screw type terminal block as per EN 50 022 15mm as per EN 50 035 Symmetrical rail 35x15mm Symmetrical rail 35x7 5mm Asymmetrical rail G 32 H N gt lt gt ao a u z ul Q 43 PVD 3464 GB 04 2004 Servoamp
47. compromise is reached 81 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Maximum advised value for P There is a maximum recommended proportional gain depending on drive gain and corresponding to maximum current ripple NB this value may be exceeded under certain conditions Please ask for details Generate a speed set point step for instance 5 of maximum speed Display the oscilloscope function Channel 1 input reference e Channel 2 speed reading Trigger on the set point channel 1 rising flank 1 to 2 of maximum speed Increase gain P Excite the stimulus in on line mode The response at one speed reference scale is obtained Three cases may arise Non oscillating response Speed P too high P correct Dipl43gb D W 82 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive A response must be achieved without overshoot and oscillation For example increase gain until oscillations appear progressively then reduce it again by 20 30 If the maximum value shown in the table is reached with P gain without having reduced filter frequency then stop increasing reduce the filter frequency to the oscillation limit Filter frequency adjustment Oscillations may arise on the response achieved above even during the increase in speed Response with pseudo oscillation Speed measurement Dipl43gb D 44 W Resonance occurs here probably of mechanical origin of fre
48. ctions are brought to the front panel B1 Auxiliary power supply low level B2 Mains input B3 on 25 kW DIGIVEX Power Supply external resistor X1 24V power supply for brake X2 main contactor automatic control interface 24M 15V outputs Reset and zero speed setting 31 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 3 2 Terminal block characteristics Recap showing for terminal blocks B1 B2 B3 X1 X2 and X3 DIGIVEX Power Supply terminal type e maximum permissible cable cross section S for the terminal block recommended torque value T for the terminal block TERMINAL 12 kW POWER SUPPLY 25 kW POWER SUPPLY screw type S 4 mm flexible wire screw type S 4 mm flexible wire 5 6 mm rigid wire T 0 8 Nm S 6 mm rigid wire T 0 8 Nm screw type S 6 mm flexible wire screw type S 6 mm flexible wire S 10 mm rigid wire T 1 8 Nm S 10 mm rigid wire T 1 8 Nm screw type S 4 mm flexible wire S 6 mm rigid wire T 0 8 Nm X1 XS3 S 2 5 mms spring type S 2 5 mms 3 3 3 Power component dimensions Applicable to components ahead of the DIGIVEX POWER SUPPLY fuses cables contactor etc dimensions depend on e permanent currents sinusoidal peak at low speed of each motor as shown in characteristics lo e the drive simultaneity coefficient Supposing this coefficient is equal to 1 and cos 1 gives P mains 1
49. d permanently by the resistor Max non repeat time Maximum time in seconds for which pulse power can be demanded from cold the resistor must be allowed to cool before braking again With internal resistors temperature is monitored by a thermal sensor Max repeat cycle time Maximum time in seconds during which pulse power can be demanded provided that the power is established for only a certain percentage of the total time repetition N B The characteristics given for external resistors correspond to natural ventilation conditions of these resistors and at an ambient temperature not exceeding 30 C 13 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Regeneration monitoring e Upon starting detection of resistor presence This prohibits starting OK relay remains open if the resistor is broken or short circuited strap on terminal block B3 in wrong position In addition monitoring is carried out at each regeneration period e During operation the internal resistor temperature is monitored Calculation of power dissipation by braking resistor The permanent and pulse power values shown in the previous table are limited by the braking resistor characteristics Where the application includes intensive cycles or long periods of deceleration the mean power to be dissipated by each drive must be calculated 2 Power Watts f J Moment of inertia of servomotor and load in kgm N Angular speed of motor
50. der 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 30 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 3 Power Supply connection 3 3 1 Front panel terminal blocks OFF ON OFF QN POWER PARVEX E RECOVERY PARVEX RECOVERY DRIVE FAULT DRIVE FAULT D C OVERVOLT D C OVERVOLT DIGIVEX O AC OVERVOLT DIGIVEX ACOVERVOLT PHASE PHASE POWER SUPPLY OVERTEMP POWER SUPPLY OVERTEMP 12 kw 25 kw RESET RESET RECOVERY Fes 21 T ic c B3 400 rms MAIN 40 SUPPLY 400 rms 20 gt lt gt lt pn 82 AUX SUPPLY b gESEGEELAXLS 4004 0 34 gt lt ul 400 V rms 03 vi All the conne
51. e resolver is above all a position sensor It is used to measure the position of the rotor relative to the stator An optional card placed in the upper part of the DIGIVEX Drive regulation card can be used to convert the signal from the resolver into a string of pulses identical to those from an incremental encoder A B 0 and their complements 6 2 1 Resolution and Zero Signal Position Programming This can be programmed using the DIGIVEX PC software or via the terminal The parameter is called up either in graphic mode click twice in the encoder emulation or via the menus Parameters options or by the terminal keyboard Resolution Adjustable from 1 to 16 384 either by the keys or by entering a number directly OFF LINE only Precision This is provided by the resolver and the conversion electronics There is no direct link between precision and resolution the programmed resolution may be higher than sensor precision Zero Signal Adjustment not possible with present software Adjustment by teach mode with the PC running on line When the operator judges the position is suitable he confirms it by acknowledging the zero signal 98 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 6 2 2 Electrical Characteristics The electrical output interface meets standard RS 422 for differential serial links The circuit used is a Line Drive type MC 26 LS 31 D The electrical characteristics are therefore close
52. e supplied on request LIST OF CONNECTOR PLUGS FOR MOTORS STANDARD CRIMP CONTACT STRAIGHT PLUG MOTOR PLUG HX300 lo lt 7A 220065R1610 400 HX600 HS600 HD600 HS800 lt 14A 220065R1611 HS800 14 lt o lt 32 Cable for power 2 5 mm 220065R3611 HX800 HD800 HS900 I lt 32A Gable for power 2 Sith 1 220065R3610 HX800 HD800 HD900 32 lt lt 60 Cable for power 6 mm HD900 60 lt lae 80A 10 16 mm PLUG 220065R1610 1611 PLUG 220065R361 0 3611 PERMISSIBLE CABLE CROSS SECTION FOR PLUGS PLUG 220065R1610 Power amp Ground 0 14 1 5 mm Brake amp thermal protection 0 14 1 mm PLUG 220065R1611 Power amp Ground 0 75 2 5 mm Brake amp thermal protection 0 14 1 mm PLUG 220065R361 1 Power amp Ground 1 5 4 mm Brake amp thermal protection 1 2 5 mm PLUG 220065R3610 Power amp Ground 6 16 mm Brake amp thermal protection 1 2 5 mm 47 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive PIN OUT FUNCTION 220065R1610 R1611 220065R3610 CABLE COLOUR BRAKE Green Red BRAKE Green Blue THERMAL PROT Orange THERMAL PROT Yellow GROUND Green Yellow 1 Shielding to be connected to the earth at the servoamplifier end Green Orange Holding Brake Connection Brushless motors may be fitted with a brake of suitable dimensions to hold the drive immobilised If 24 V dc 10 is applied across the brake termin
53. ed on the front panel COLOUR PURPOSE POWER ON 2 auxiliary power present no supply or drive POWER OFF No power or supply fault Either lights temporarily for normal use of regeneration RECOVERY resistor Or if permanently on regeneration fault No resistor or short circuit Internal resistor thermal sensor tripped Excess bus voltage gt 750 V DC OVERVOLT OVERVOLT PHASE OVER TEMP Mains overvoltage Urms 470 V Mains phase absent Dissipater temperature gt 85 DRIVE FAULT Red Fault with drive 92 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 5 2 2 DIGIVEX Drive 5 2 2 1 Display Problems that arise may be displayed in three ways On the front panel of the DIGIVEX POWER SUPPLY module a DRIVE FAULT LED indicates problems with any of the drives On the front panel of each DIGIVEX DRIVE module two RUN and FAULT LEDs indicate the overall status of the drive RUN is green everything is in order RUN off and FAULT on no CPU activity incorrect FAULT flashes decreased drive performance without cutting the rack out FAULT is permanently on major fault opening the power supply OK relay and therefore the main switch RUN and FAULT off low level supply to drive failure e To identify the exact nature of the problem or the drive status requires either the DIGIVEX PC software which specifies the problem and hints for
54. ee following pages The left hand side shows inputs that can be accessed by plug in terminal blocks on the front panel The right hand side shows card end connection to the rack mother card For the power section Hexaphase diode rectification Current limitation resistor in diodes at start up short circuited when bus voltage is adequate e Control of energy regeneration via resistor top right internal only for 12 kW supply resistor at rear of mother card internal or external for 25 kW supply e Control of insufficient or excessive mains voltage and control of bus voltage The low level supply unit auxiliary comprises e Single phase rectification the auxiliary bus from which each drive derives the voltage required to power its regulation card chopping and isolation transformer for drive cards e Auxiliary supplies 24 V common to customer terminal block and rack fans 15 V common to customer terminal block and internal supply regulation e 24 V brake which simply passes through the power supply at bottom of block diagram e Terminal block logic inputs outputs including on left hand side of block diagram Reset Emergency Stop Ready OK Logic links with drives Supply Sends initialization signal to drives Init Sends reset signal Sends emergency stop signal Receives logic signal Drive OK from each drive possibly tripping OK relay Receives a signal Axis present if at le
55. entire range bears the CE marking Compliance with these standards requires installation in accordance with our recommendations see servomotor commissioning and use instructions In addition the installation must be on a mechanical support providing good thermal conduction and not exceeding 40 C in the vicinity of the servomotor flange Main standards that the servomotors comply with IP protection NF60034 5 DIN 40050 IEC 34 5 Flange C 51 104 DIN 42948 IEC 72 Shaft end C 51 105 DIN 42946 IEC 72 Flange tolerance DIN 42955 IEC 72 Noise C 51 119 IEC 34 9 Balancing C 51 111 add 1 DIN 45665 ISO 2373 Electrical values C 51 111 VDE 0530 1 IEC 34 1 DIGIVEX The CE mark is affixed to the front panel of the rack on the ventilation block DIGIVEX DRIVE and DIGIVEX POWER SUPPLY bear the CE mark under European Directive 89 336 EEC as amended by Directive 93 68 EEC on electromagnetic compatibility This European Directive refers to the harmonised generic standards EN50081 2 of December 1993 Electrical Compatibility Generic Standard for Emissions Industrial Environments and EN50082 2 of June 1995 Electromagnetic Compatibility Generic Standard for Immunity Industrial Environments These two harmonised generic standards are based on the following standards e EN 55011 of July 1991 Radiated and conducted emissions e EN 50140 of August 1993 and ENV 50204 Immunity to radiated electromagnetic fields EN 61000 4 8 of February
56. he fans are powered by the low level source from the POWER SUPPLY 2 1 1 Rack and Power Supply 13 LOCATION SINGLE MODULE RACK 19 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 6 LOCATION SINGLE MODULE RACK A 7 5 08 11E SINGLE DRIVE WEIGHT 1 3 kg sy 22E DOUBLE DRIVE WEIGHT 3 1 kg TRIPLE DRIVE WEIGHT 5 kg z S 483 19 122 ELT XQ EESE 65 i E zuo Front opening 84E 426 72 4 m 5 5 gt 250 18 TIE 2 _ He 8 5 8 8 ig e Leo 3 A D ol 4 T DIGIVEX 3 DOMEX DIGIVEX DONX 1 i p p 5 mw i i a i i Y Y 7 i 2 i mj 2 5 5 i E f i v v v i 9 8 i 8 rd gt n F i 5 Eh 5 i i 81 f 1 i _ i Ej 33 i i s Er od i 211 93 on 4 jode ey 7 1 8 8 8 1 tee EH gg Q 188 A 81 f 1 81 Al 7 4 re 5 3 7 1 H nl gt 8
57. ibres 2 4 to 16 32 terminal 3 to positive terminal 4 to negative for calibre 32 64 Normal braking voltage 24 V dc 10 The 24 V source enters the rack via the DIGIVEX POWER SUPPLY terminal X1 It is supplied externally and passes through the DIGIVEX unit to be redistributed to the drives Protection is provided by a resettable 1 8 A fuse for calibres up to and including 8 16 and a 2 7 A fuse for calibres 16 32 and 32 64 Voltage is monitored by the DIGIVEX DRIVE software and if a brake is engaged the drive acknowledges the disappearance of the 24 V 3 4 2 Terminal blocks and sockets characteristics Summary chart showing for terminal blocks or sockets B1 B2 X1 X4 DIGIVEX Drive e terminal block type or socket e maximum cross section S of cable for the terminal block or socket e recommended torque value T for the terminal block TERMINAL DIGIVEX Drive 4 8 16 32 DIGIVEX Drive 32 64 spring type S 2 5 mms screw type S 6 mms flexible wire S 10 mms rigid wire T 1 8 Nm _________ spring type 5 2 5 mms RS 232 SUB D S 0 5 mms RS 232 SUB D S 0 5 mms Encoder S 0 5 mms Encoder S 0 5 2 5 mms 0 5 mms D S 0 5 mms 5 mms 3 4 3 DIGIVEX Drive Servomotor connection 3 4 3 1 POWER Cable Definition The power drive connector cables must have as a minimum requirement e 3 insulated conductors connected to U V W phases Cross sections as in the table below The internal
58. ime loading copying from one drive to another e the torque set to T 0 by software during the transfer After transfet the torque must be reset to 1 by forcing the input T 0 see DIGIVEX PC software instructions PVD 3483 F e the drive checks compatibility with the drive calibre It may reject the file if incompatible 4 2 4 4 Motor Selection and Parameter Entry via DIGIVEX PC Software See DIGIVEX PC software instructions PVD 3483 F e Calibre selection Motor selection standard or special Resolver selection Entering servocontrol parameters global transfer Assigning inputs outputs and variables Using the oscilloscope function Two parameters set Extended parameter set option 4 2 4 5 Loop Parameter Adjustment Speed Regulation Mode Speed for 1 V and maximum speed Maximum possible speed is fixed by the choice of motor drive combination It can be reduced only To check the result e select a continuous set point of say 1 V e Use Drive Status COMMANDS menu to check the value obtained for the speed measurement in rpm variable Proportional Gain Setting Initial status e Change to proportional gain P only e Filtering frequency fc to maximum 800 Hz and low gain e System able to run no predictor The P gain and filter frequency adjustments are simultaneous If when increasing P gain the system starts to resonate this can be suppressed by reducing the filter frequency and then increasing P etc until a
59. inal box resolver connector e Power connector resolver connector 1 2 Servoamplifier General Characteristics 1 2 1 Power Supply Modules MEAN BUS RATED BUS REGENERATION CURRENT VOLTAGE DIGIVEX 400 V 10 INTERNAL ee 50 60 Hz RESISTOR 12 kW DIGIVEX 400 V 10 INTERNAL OR uer 50 60 Hz EXTERNAL 25kW RESISTOR 7 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 2 2 Servoamplifier Modules PEAK PEAK TYPE PERMANENT PULSE CURRENT CURRENT DIGIVEX Drive DIGIVEX Drive DIGIVEX Drive 16 32 DIGIVEX Drive 32 64 DIGIVEX Drive 16A 32 32 64 A DOUBLE TRIPLE Peak pulse current up to 2 s non repetitive 1 2 3 Possible Combinations Different versions of several rack models are available e 6 location single module racks 19 inch double Europe rack e 3 location single module racks e Single module 13 slot racks 19 inch 15U rack Rack composition is further restricted by the POWER SUPPLY format 1 3 Rack general The rack provides the following functions e Mechanical support of power supply and drive cards e Support for regeneration resistors and power bus capacitors Power transfer from supply to drive 550 V power bus e Low level supply transfer from DIGIVEX Power Supply to DIGIVEX Drive low level bus Logic signal transfer between drive and power supply Drive OK Reset e Emergency stop control e 24V brake supply transfer The 2
60. ir sine cosine excitation with general shielding The general shielding must be connected to the metal cap of the SUB D plug Do not connect the shielding at the motor end PARVEX SA can supply the cable in either of two versions e Separate cable in this case wire as shown in the diagram below Reference see 3 5 4 e Cable fitted with SUB D plug at drive end and connector at motor end This solution is strongly recommended as the cable is ready for use Reference see S 3 5 4 Maximum distance between resolver and DIGIVEX DRIVE 200 m Please ask about longer cables Maximum permissible cross sections e For SUB D plug 0 5 mms e Forremovable connector plug 0 14 to 1 mm solder or crimp fit contacts 49 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive RESOLVER REMOVABLE CONNECTOR PLUG connection at motor end 220065R4621 solder contacts standard 220065R1621 crimp fit contact Resolver SUB D Plug connection at DIGIVEX Drive end Maximum conductor cross section 0 5 mm CONTACT PURPOSE Cosine 51 Sine 52 Cosine 53 Sine 54 Excitation R1 0 V R2 3 Excitation 50 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive g gnS 01 pibuq 145 YOLOW 1910 31873 10544 es 931uM 19018 pou 01194 911uM pou emg 18 9 3 pepje us YE X 919190 H19N31 GYVONVIS lt
61. ive 5 STARTING UP DETECTING CAUSES OF STOPPAGE 5 1 Start Up Sequence 5 1 1 Prior Checks Wiring Check Power and auxiliary connections to DIGIVEX POWER SUPPLY See wiring diagram see 3 2 3 3 Connection of any external energy recovery resistor and presence or absence of strap on terminal block B3 see 4 1 Wiring of Reset and Emergency Stop to DIGIVEX POWER SUPPLY see 3 3 External arrival of 24 V source for motor brake on DIGIVEX POWER SUPPLY terminal block X1 Check resolver connections see 3 3 3 4 at motor end at DIGIVEX DRIVE end Check the power brake and thermal sensor connections see 3 4 3 3 at motor end at DIGIVEX DRIVE end Power Supply Type Check Power 50 60 Hz three phase 400 V 10 Auxiliaries single phase 50 60 Hz 400 V 10 Brake supply 24 V dc 10 ripple included Check the position of the DIGIVEX POWER SUPPLY straps 511 572 ST3 see 4 1 1 Warning Before any work make sure that the power bus is at 0 V Wait at least three minutes after the motors have come to a complete stop before carrying out any work The power and auxiliary buses must be at zero Volts when removing the drives from the rack all the LEDs are switched off 90 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 5 1 2 First Time Starting with DIGIVEX PC Software or the terminal This is done drive by drive First remove or disconnect drives that have no
62. kept as short as possible The green yellow motor lead must be connected to the ground rod on the front of the DIGIVEX rack with as short a connection as possible e This usually saves the need for using a shielded motor cable Chokes may be inserted on the motor phases see 3 4 3 2 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 25 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Avoid running cables together ahead of and after the filter For appliances requiring voltage adaptations it is preferable to use a transformer The transformer neutral is to be connected to earth by as short a wire as possible to the potential reference plate For single phase transformers one of the two alternate outputs will be connected to the potential reference plate Filters sometimes have high leakage currents In this case the standard wiring diagrams must be respected when fitting OTHER REQUIREMENTS The self inducting components must be protected against interference brakes contactor or relay coils fans electro magnets etc The front panels of the rack mounted appliances must be screwed down HANDLING MODULES AND CONNECTORS Do not remove or fit the modules while the power is on While the power is on do not connect or disconnect the power connectors e the resolver and encoder emulation connections 3 1 2 DIGI
63. l PIS Current regulation Selecting current means current can be controlled directly therefore motor torque through the torque coefficient Kt This the gives 10 V peak pulse current of the drive selected In this mode PI PI adjustment and predictors are neutralised The only operative features are e Current limitation often adjusted below permanent drive current so as not to trip in mean and rms values The second order low pass filter filtering frequency for reducing possible resonance effects Selection of P The drive is used in speed loop mode with purely proportional gain This gain is the ratio between the output current and the speed error It is expressed in mA rpm CORRECTORS SPEED REFERENCE SPEED MEASUREMENT N RESOLVER RESOLVER TREATMENT Dipl17gb D pl32 W At speed N equal if the gain increases the error e decreases the system speed increases and its bandwidth Increased gain may lead to instability because of other components in the loop resonance second order filter The use of proportional action P alone has the drawback of providing zero stiffness because there is no integration ahead of the current part 71 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive TORQUE DISTURBANCE SPEED REFERENCE PHASE PowER LAW RESOLVER SPEED MEASUREMENT N RESOLVER TREATMENT Dipl17gb D pl33 W Thus if a torque jog is introduced
64. lifier DIGIVEX Multi Drive en 00 O N eo MN CX 1 pre lt E 44 NN A M 9 5 H Vp Ht o tc 9 n of of JO off on of jo of Je S 3 5 A N NSEES IS F 5 9 9 999 0 Sls 25 5 C SES a AIAN N gt a gt GIS Xe DN 5 A gt co N O Xx SIA YO 2 0 5 D N OK 9 0 S x gt c5 C z o z Im a gt 2 P LBH F 5 jme E 2 COR B i c C5 T 5 uim In Ld 25 amp 5 5 dg e Ws Lua o N HOW Es uogosuoujno ano paidoo JIPON 40 ouuoo s puo ug INO jo Aysadoid aaisnjoxa ay si 5 41 lt m o m 44 PVD 3464 GB 04 2004 Se
65. lti Drive 63 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 PARAMETER FUNCTION AND ADJUSTMENT 4 1 DIGIVEX Power Supply 4 1 1 Straps positions 571 No phase detection fitted no phase detection removed no detect Single phase operation at 20 of maximum capacity ST2 Regeneration cycle See 1 4 3 Strap 5 2 is not fitted on 12 KW Power Supplies ST3 Power bus discharge between 1 amp 2 bus discharged via regeneration resistor if bus voltage falls below 200V With this option the bus discharging time can be higher than 5 seconds between 2 amp 3 bus discharged upon supply cut out no mains supply detection Approximately 100 ms after motors stop Standard configuration ST1 and ST2 fitted ST3 between 2 and 3 Location See next page 64 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive H amp amp amp Bea BEER Pe 1 65 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 1 2 Initialization Sequence Upon energizing 10 lt Mains present e 0 100 OK relay closed e TO 700 ms Main switch closed capacitors precharged e TO 800 ms Regeneration test OK e TO 940 ms INIT signal The INIT initialization signal enables the drives to be released 4 2 DIGIVEX Drive 4 2 1 Functions 4 2 1 1 Block Diagram See next pages It groups the main drive functions and
66. ly related to the use of this component Voltage Supply The encoder emulation cards are galvanically isolated between the output stage via three opto couplers and need to be powered from a 5 V 10 100 mA external source as do the incremental encoders In no event can this supply used only for galvanic insulation be used to save position information from the resolver in the event of a break in the drive low levels Short Circuit Whitstanding A single output can be short circuited to 0 V at a given time Signal Pattern Signal levels e U high gt 2 5V for high gt 20mA e U low x 0 5V for I low lt 20mA CHANNEL A CHANNEL A CHANNEL B ZERO SIGNAL Dipl44gb D 51W 99 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Switching Time Rise or fall time defined from 10 to 90 of the magnitude in question without cable and without load tr tf 45 ns typical value Time Lag between Direct and Complemented Channels Time lag defined as 50 of magnitudes considered without cable and without load 6 ns xta lt 6 ns maximum Time Lag between Channels A B and Zero Signal Time lag defined as 50 of magnitudes considered without cable and without load 6ns lt td lt 6 ns maximum 5V SMO 7 ENCODER 5 INTERAC DODO SOD DIGIVEX DRIVE NUMERICAL CONNECTION CONTROL Dipl44gb D 52W 100 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 6 2 3 SUB
67. nce is applied its sign being that of the speed reference Viscous friction compensation of friction proportional to speed hydraulic or electrical system drive Acceleration changes in the speed reference drift are monitored and action is taken directly on the torque reference via a coefficient K image of inertia values e Analogue input speed reference 16 bits non assignable e On the left of the block diagram the logic and analogue inputs outputs The parameter setting software is used for assigning certain of these inputs outputs forcing them to a logic state The inputs are then disconnected from the outside 67 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive DIGIVEX DRIVE BLOCK DIAGRAM GRAVITY OMPENSATION Gc DRY FRICTION SIGN N OMPENSATION ANALOGUE INPUT BUS 550V 1 O KN INPUT ACCEL TORQUE CURRENT C 0 LIMITATION dN dt COMPENSATION INPUT dN dt SPEED HA Pnd ORDER VECTOR HOS CONTROL OR TORQUE ROTOR POSITION REFERENCE ENCODER EH EMULATION OPTION ww RESOLVER DIGITAL TOP 0 SPEED PROCESSING STERNAL 0 5V EXCITATION SINE COSINE DIGIBLOC D W RESOLVER 68 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 1 2 Logic Input Forcing The software or through handed terminal can be used to force a logic input to a par
68. op parameters integral frequency and filtering max speed current limitation are set without predictors The system is able to run Adjusting Gravity and Static Friction Predictors Notice that the gravity factor for a horizontal axis is zero e Take a square stimulus offset 0 peak to peak value 3 5 max speed in rpm frequency 0 2 1 Hz e Display with the oscilloscope function input reference current reference Input reference Current reference Diggb43 D 47W Nota and 1 must be taken with their sign generally 1 is negative 85 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive In principle Gravity in amps horizontal movement gravity 0 1 1 e Static friction in amps Enter these values in the parameters e Enter the threshold value e g threshold max speed 1000 e After entering the values the same stimulus can be used for checking the result obtained e Display the input reference on one channel and the P PI PI output on the other channel The result should be similar to that shown below Dipl43gb D 49W 86 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Dynamic Friction and Acceleration Predictor Adjustment Assuming the dry friction and gravity parameters are set Use a sine stimulus offset 0 peak to peak value 10 20 of max speed frequency 0 2 1 Hz e With the oscilloscope function dis
69. ow level supply from a low level supply bus and restores the 15 V 5 V it requires through a chopper supply and transformer The low level supply bus whose voltage is between 200 V and 750 V may be obtained in either of two ways either via terminal block B1 from a single phase source which may e 400 V single phase from 48 to 62 Hz between two phases ahead of the main switch e a separate 400 V source In this case a 200 VA isolating transformer must be provided e g primary 230 V 10 secondary 400 V 10 The advantage with these solutions is that the power part can be cut out separately while the LED fault display and the encoder emulation counting capability are maintained Or from the power bus In this case only terminal block B2 need be connected Drawback If power fails regulation supply and above all any encoder emulation card information is lost Internal fuse e Marked F1 protects the chopped supply type 500V 1 6A Auxiliary supply monitoring supply present e Auxiliary supply also provides 24 V dc for the rack fans and the rack is therefore fan cooled as long as the low level supply is maintained Low level consumption 30 W 34 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 3 6 External Energy Dissipation Resistor For 25 kW DIGIVEX POWER SUPPLY with external resistor option No link between terminals 2 and 3 of terminal block e The resistor is connected
70. p Emergency X3 1 24 V regulated 3 2 0 V of 24V e Max 24 V 50 mA power supply Do not use for brake supply e Protection against overloads and short circuits by resettable fuse This supply is for logic inputs but is also used internally for the fan power supply There is no common point with the metal case 36 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive X3 3 15 V regulated X3 4 0 115 5 15 V regulated e max 15 V 10 mA power supply Protected by 47 resistor This supply is common with the internal supply of the POWER SUPPLY module There is no common point with the metal casing X3 6 to X3 9 Logic inputs Common characteristics e 24 V dc optocoupled inputs insulation voltage 1 kV type two inputs to IEC 1131 2 These inputs may be connected directly to PNP type outputs external load resistor not required TYPICAL MAX Level 0 input voltage Level 1 input voltage Level 0 input current Level 1 input current Response time Ton 0 to 1 Response time Toff 1 to 0 X3 6 and X3 7 Reset A 24 V rising edge applied across X3 6 compared with X3 7 resets the system after a power supply or drive fault clear Note that the front panel reset button can also be used or turning off the power completely power and auxiliaries This control has no effect during normal operation X3 8 and X3 9 Emergency Stop in speed loop mode only A 24 V source mus
71. play the input reference on one channel the P PI PI output on the other channel Acceleration predictor adjustment Increase the predictor to minimise P PI PI output Too high a value increase PI PIs with a phase shift Input reference i Maximum positive Predictor too weak acceleration or zero P Pl Pls Output 5114 t A Predictor too high Time N Predictor correctly adjusted Dipl43gb D 49W Very marked difference between optimum setting and no predictor Correct setting gives minimum amplitude to P PI PI output The predictor should reduce P PI PI output by a ratio of at least 5 to 10 87 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Remember that the value in ms of tpr prediction time is close to td start up time with td Load inertia motor inertia o max max torque td is acceleration time from 0 to max speed with maximum torque td in seconds inertia in kgm wmax in rd s torque in Nm Dynamic friction predictor adjustment After setting all the other predictors increase the dynamic predictor to minimise the P PI PI output signal When correctly set the minimum output should be obtained and in phase with the input reference Input reference Minimum value Dipl43gb D 50W 88 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 4 7 Parameter Adjustment in Current Regulation Mode If the curren
72. put 52 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Input Output SUB D Plug CONTACT PURPOSE CHARACTERISTICS 114 Torque torque enable if input is Type 2 logic input under IEC HIGH 1131 2 5 4 LO1 Drive OK 24 V optocoupled PNP output max 50 mA OV Logic LO2 Speed detection OUT1 24 V optocoupled PNP output max 50 mA OV Logic Speed detection OUT2 24 V optocoupled PNP output max 50 mA OV Logic Supply available for logic max 50 mA via R 220 inputs outputs Analogue Input LI Logic Input AO Analogue Output LO Logic Output SPEED REFERENCE INPUT 2 2 nF 4 7 nF 15 BITS SIGN 1 4 Dipl17gb D W 53 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive CURRENT LIMITATION INPUT 9 BITS SIGN 22K 4 7 nF 22K DIGPL17 D 18W Dipl17gb D pl18 W 3 3 nF ANALOGUE OUTPUTS 47 5 Ohms 47 5 Ohms l 22 nk Dipl17gb D pl31 W Logic Input Characteristics optocoupled 24 V dc inputs insulation voltage 100 V type 2 inputs to standard IEC 1131 2 e these inputs may be connected directly to PNP type outputs external load resistor not necessary LOGIC INPUTS Dipl17gb D pl19 W 54 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Level 0 input voltage Level 0 input voltage 5V 30V 2mA 22521 30V 2mA Logic Output Characteristics Outputs are supplied by a 24 V internal source 24 V and 0 V ins
73. put set point in rpm speed reading in rpm current set point in A bus voltage in V 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 e With the DIGIVEX PC Software Three tools can be accessed Generation of speed set point fixed scale sine of which the amplitude frequency and mean value are adjustable Oscilloscope function for displaying and recording the response curves of any two of the internal variables available Adjustment procedure using the above two functions parameters window open and using a wave to make the adjustment except for predictors from the single scale response 78 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive Accessible internal variables using DIGIVEX PC software or the terminal The choice of internal variables is as follows SIGN K dN dt INPUT N 0 p SCALING SPEED OR TORQUE REFERENCE Figure reference SPEED DIGIVEX DRIVE BLOCK DIAGRAM GRAVITY COMPENSATION Gc DRY FRICTION Co constant BU
74. quency fr 1 T more than 100 Hz Reduce the filtering frequency until the oscillation almost vanishes If impossible maximum gain is attained If possible gain may be increased again until a response with no oscillation is obtained Oscillation may appear again if so reduce the filtering frequency slightly Notice that it is essentially P and the filtering frequency that fix the bandwidth If the resonance frequency is too low adjust the filter frequency to a high value PI PI Integral Stop Frequency Setting Initial status e P gain alone P setting and filtering frequency completed e Integration stop frequency 0 83 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Still no integration e System able to run Select PI or PIs Use the same stimulus as before set point step On line increase the integration stop frequency until overshoot of about 25 3096 in PI 15 20 in PIs With no ripple If the frequency is too high ripples appear at fairly low frequency lt 50 Hz Frequency must then be reduced never readjust gain P Speed measurement fi too high correct pseudo period Time Dipl43gb D 45W Speed measurement correct pseudo period Time Dipl43gb D 46W Do not change PI to PI without resetting integral frequency to zero 84 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 4 6 Predictor Adjustment Initial Conditions All lo
75. ral action entails a 180 phase shift at low frequencies Poor integral stop frequency setting may make the system unstable It should be limited to 0 1 0 2 times the bandwidth fo 4 2 2 3 Integration Stop See the previous paragraph for the role of this parameter The definition from Bode curves only is given below gain frequency and phase frequency Gain PI Slope 1 20 dB d c Gain PI Slope 2 40 dB d c Gain P Dipl17gb D pl34 W 4 2 2 4 Speed Scaling The choice of motor drive unit fixes 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 changing it does not alter the gain The speed for 1 Volt parameter fixes the speed gradient e g the maximum speed can be obtained for 10V 9V or 7V depending on the positioning control 73 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 4 2 2 5 Filtering Frequency Resonance Many system have one or more resonance frequencies related usually to mechanical phenomena inertia or masses related to the stiffness of the mechanical components belts screws gears frames etc In reduced frequency areas around the resonance frequency there are large variations in loop gain large variations in phase in closed loop mode This leads to instability or squealing more or less violent oscillations Second Order
76. roportional to inertia fixed and acceleration to the current control This illustrates a limitation of the system there is no point in having a speed reference that changes more than maximum possible motor acceleration given by peak torque XJ Acceleration prediction is only worthwhile if the reference speed features a ramp The parameter used is tpr prediction time in milliseconds tpr ranges from 0 ms no prediction t td starting time from 0 to maximum speed with full drive current There is then 100 correction 4 2 3 Entering Parameters personnalization board change 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 see DIGIVEX PC SOFTWARE instructions PVD 3483 F 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 Access to parameters may be restricted by an access code also stored in the EEPROM store see DIGIVEX PC SOFTWARE instructions PVD 3483 F Customization unit reference SZ6608B e With a short circuit on Jo for spindle motors e
77. rvoamplifier DIGIVEX Multi Drive Connection cable between DMD and DSF02 n yellow lead L gree L iste doc 0706 4 nected LE cont Green Yellow d bra R 2x0 75mm Green Red Green Yellow UOOS JOYIND INO pnoyyim paldos eq JOUUDD Aj214 S puo 400 JO Aysadoid ewsnjoxe eui s Siyi 45 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Terminal Box Connection The clamp nuts and washers for the terminal box come in a sachet Take care when fitting the terminals not to loosen the connecting wires between the motor and the terminal box Insert the power connection lugs between the striated washer and the flat washer Dipl3gb ds4 Direction of Motor Rotation When wired as specified a positive speed reference applied to the drive causes clockwise rotation as viewed from power shaft U Phase U ALIMENTATION SUPPLY SPEISUNG V Phase V W Phase W 1 Optional brake 24 V 2 Optional brake OV FREIN BRAKE SONDE PTC 3 PTC sensor BREMSE cable gt 1mm 4 PTC sensor cable gt 1mm Dipl2gb D W 46 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Connector Connection Power can be connected using a connector as an option The removable part of the connector plug can b
78. servo controls do not require the use of these predictors General characteristics of each predictor e Mass or gravity compensation vertical axis The current value in Amps required by the motor to move the mass at constant speed mean between rise and fall is introduced directly in the parameter Dry or static friction The friction force is fixed whatever the speed The direction is opposed to movement the sign depends therefore on the speed reference sign In this case too the value of the current in amps required for the motor to overcome friction is entered directly The limit expressed in revolutions per minute defines the speed range in which compensation is Zero current reference speed reference 1 limit Dipl17gb D pl36 W The limit is in the order of 1 1000th of maximum speed This zone is used to reduce torque oscillation during rapid and repeated changes of the speed sign This is particularly the case at rest when there is a position loop 75 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Dynamic Friction Compensation This is friction proportional to speed encountered on certain mechanical items using fluids Value to enter coefficient in amps rpm e Acceleration Prediction Depending on the total inertia load and motor rotor and of the desired acceleration the necessary torque is equal to C XJ do dt The change in the reference speed is monitored to send a reference p
79. speed Overspeed Speed reference 10 V or speed parameter setting error 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 Resolver fault Resolver fault Problem with resolver or wiring Motor not connected MOTOR Motor wrongly connected Disconnect E Liaison impossible No power supply RUN FAULT PC SOFTWARE PROGRAMMIN LED Ron FAULT FINDING G CONSOLE COMMENTS Green FAULT FINDING Excessive mean Current reduction urrent OR mean gt drive rating Excessive rms Current reduction Current Drive RMS current lo motor E z EX DE Excessive dissipater Max current reduced depending on temperature temperature 96 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 5 2 2 7 Corrective actions During a start up the main possible incidents due to a wrong wiring or to wrong manipulations are as follows e Resolver fault Check the resolver connection Overcurrent Wrong motor connection incorrect pases U V W The motor introduced by software is not in accordance with the motor really connected e Overspeed Wrong maximum speed adjustment Software validation of torque loop instead of speed loop e Mo
80. t option is selected the following items only are to be adjusted current limitation Take care with this type of application not to trigger upon monitoring of mean current and rms current Often current limitation permanent current Second order filter frequency This can only be done with the upper regulation loop providing the current reference 4 2 4 8 Other Parameters Logic and Analogue Inputs Outputs Access either via the menus COMMANDS INPUT ASSIGNMENT or COMMAND OUTPUTS ASSIGNMENT or in interactive mode by clicking on the I O at the left of the block diagram This makes it possible to e Assign one of the twenty internal variables to each of the two analogue outputs one of the internal variables Force the logic inputs to or 1 HIGH or LOW The logic inputs outputs are assigned on a permanent basis Encoder Emulation Option Choice of number of marks from 1 to 16 384 per revolution off line Validation of zero signal in teach mode on line Miscellaneous Choices Choice of processing strategy for monitoring in mean and rms currents current reduction or power cut out see 3 and DIGIVEX PC software instructions Choice of brake use strategy current reduction not when brake is applied see DIGIVEX PC software instructions Choice of motor thermal protection strategy with or without thermal protection 89 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Dr
81. t be applied between terminals X3 8 and X3 9 to enable drive operation the 24 V may be taken from X3 terminals 1 and 2 The collapse of 24 V across terminals X3 8 and X3 9 acts on all the drives causing dynamic braking This is an aid for category 1 or 2 stops to standard EN 60204 37 PVD 3464 04 2004 Servoamplifier DIGIVEX Multi Drive 3 3 8 Terminal Block X1 Brake Supply Plug in terminal block This terminal block can accommodate a 24 V power supply for brakes fitted to motors It is redistributed by the drives to the motor power terminal blocks Regulated filtered 24 V 10 voltage Overload protection by 26 Joule varistance This protection is operational from 30 V 3 4 DIGIVEX Drive connection 3 4 1 Front plate terminals All the inputs outputs required for operation are grouped on the front panel as one or two terminal blocks grouping the servomotor PARVEX brake and thermal protection connections DIGIVEX one X1 resolver connector 9 pin female contact SUB D for resolver one X2 input output connector 25 pin female contact SUB D for all logic and analog inputs outputs one RS232 X3 connector 9 pin female contact SUB D for the RS232 link with the PC DRIVE The motor ground is to be connected to the ground bar located under the rack The SUB D plugs used must be metallised or metallic and provide continuous shielding to the rack metal ground 15737 As option 1
82. t yet been set So as not to supply power remove terminal block X2 from the DIGIVEX POWER SUPPLY module This prevents the main switch from closing Connect the PC via the RS 232 serial link Supply the low level auxiliary part only This can only be done by drawing the 400 V single phase auxiliary supply from ahead of the main switch The Power Off led of the DIGIVEX POWER SUPPLY lights up Check that the rack fans work airflow Use the PC Connection menu to come on line If the system does not come on line Check the serial link configuration is compatible Check the cable When the system is on line all the parameters in the DIGIVEX DRIVE can be read The DRIVE FAULT LED is on no power Use the PC the terminal to check if there is no fault COMMANDS FAULTS menu See possible diagnostics e f access to modification is prohibited level 1 read the parameters in the drive and check they comply with the problem motor type maximum speed etc e f access to modification is allowed level 2 the configure the drive This may be done off line in a file which is then transferred or modified ON LINE Motor selection Speed or torque loop parameters selection note that without power it is not possible to check if these parameters are correct Auxiliary selections validate brakes analogue outputs safety strategies etc e Cut off the auxiliary supply Replace the DIGIVEX POWER SU
83. tal demodulation providing rotor position and speed measurement Digital processing of current and PWM loops and of power related monitoring features mean and rms current limitations zero torque setting etc Digital processing of speed loop comprising e loop optimisation P Pl or PI correctors e scaling 10 V max e introduction of anticipatory actions gravity compensation fixed torque compensation for dry friction fixed value depending on direction of rotation viscous friction proportional to speed compensation of acceleration torque second order filter for reducing resonance at high frequencies analogue digital conversion of speed or current reference memorisation of the 30 previous faults integration of stimuli for exciting the system and oscilloscope function for displaying internal variables 15 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 5 2 2 Electrical Characteristics Module Power Supply From the DIGIVEX Power Supply via the rack power bus Maximum voltage 750 V Rated voltage 540 V Minimum voltage 200 V Low level auxiliary power supply The DIGIVEX Drive internal voltages 5 V 15 V are taken after chopping and galvanic insulation from the low level bus Same voltage values as the power bus DIGIVEX Drive Module Permanent current sinusoidal peak Pulse current sinusoidal peak Power dissipated 20 W 35 W 70 W Low level consumption 20 W 20 W 20 W
84. tch Strategy 2 Reduction of the permanent drive current to 90 of the permanent permissible current The FAULT LED flashes Motor rms current To prevent the motor being tripped by the thermal sensor the drive monitors the rms current 12 10 The rms current is compared with the permanent permissible current under slow rotation by the motor after first order filtering with 20 sec time constant This data is characteristic of the motor and is known to the drive when the motor drive selection is made As before there is a choice of two strategies Strategy 1 fault e Strategy 2 reduction of drive pulse current to 0 9 fo motor The FAULT LED flashes Drive output current Two features are monitored Protection against short circuits Current derivative monitoring e Excessive output current max 1 checks whether the measured current exceeds the drive pulse current by 30 In both cases the fault is tripped Drive input current Fuse protection in the event of an internal short circuit Blowing the fuse bus voltage present zero voltage in drive produces a fault 94 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 5 2 2 4 Temperature Monitoring DIGIVEX Drive dissipator temperature e Ifthe dissipater temperature is less than 60 C nothing happens From 60 to 85 C the pulse current that the drive can deliver is reduced the FAULT LED flashes slowly e At 95 C fault tripped
85. ticular value Using the software the CW zero speed clockwise CCW counter clockwise and T zero torque inputs may be disconnected from the physical input forced by software to 0 1 HIGH or LOW 4 2 1 3 Stimulus Oscilloscope Function Functions integrated in the drive can be used to excite the speed or torque reference dc voltage square response to scale sine noise These stimuli may be activated by a PC or by the terminal The result stored in the drive may be displayed on the PC screen by using the oscilloscope function or sent to the 2 analog outputs 4 2 1 4 Logic outputs 1 Speed detection The two outputs assigned OUT1 and OUT2 are used to detect four speed ranges depending on the logic state peed lt 1 8 1 oo Speed lt N2 __ o __ 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 DTP001 PVD 3491 4 2 1 5 Brake Action The drive can be declared in the parameters with a brake function The 24 V brake supply to the DIGIVEX Power Supply terminal block X1 is monitored by the drive CAUTION cutting this supply releases brakes on all axes 69 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive e 24 V present Axis under torque Removal of limitation to 90 of rated motor current e
86. tor is not running and remains without torque The system is at zero torque Hard or Soft input T 0 The torque has been assigned at 0 during a global transfer Activate the torque see DIGIVEX PC SOFTWARE instructions or terminal instructions The motor is not connected e Motor is not running but torque is available The system is at zero speed the DIGIVEX Power Supply emergency stop EMERGENCY has no 24V supply The CW and CCW inputs are at zero Hard or Soft Check with software or terminal 5 2 2 8 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 Maxmumdrivecurentreachedordi dtfaut 8 ______ 1 0 0 0 00 00 O 1 9 motor temperature 97 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 6 OPTIONS 6 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 6 2 Encoder Emulation Card Option SC 6631 Th
87. tructions 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 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 1 GENERAL 1 1 Digital Servodrive These drives comprise Sinusoidal emf permanent magnet brushless servomotors with resolvers for position measurement NX HX HS and HD range servomotors HV and HW range spindel motors may also be used these two ranges of motor are covered by separate documents e A multi axis electronic control system composed of Arack A power supply module directly receiving the 400 V 50 60 Hz mains supply and providing 550 V bus voltage This module also controls energy dissipation via internal or external resistors e Control modules connected to the servomotor power and resolver Two connection arrangements for servomotors are proposed except HX300 which comes in the connector version only e Term
88. ts Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations e Check the bonding circuit Lock the electrical cabinets 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 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length before shipment 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 hours Caution The packaging may contain essential documents or accessories in particular User Manual Connectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special ins
89. ulated and common to terminals 25 and 13 No external 24 V source is to be connected to the outputs The OV terminal of the three outputs and contact 25 are connected together e Max output current level 1 50 mA e Residual current level 0 negligible Response time 1 ms e Voltage drop for 50 mA 2V PNP opto insulated opto mos output load to be connected to 0 V logic between the two contacts assigned to this output LOGIC OUTPUTS 24 V internal 22 Ohms DIGPL17 D 20W 55 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive 3 4 4 2 Input Output Cable Terminal Block X2 Inputs Outputs Ensure continuous shielding at any intermediate terminal block separating the different functions Maximum advised distance between drive and terminal block 10 m PARVEX SA recommended cable reference CB08304 25 x 0 25 mm conductors including five twisted pairs with general shielding Cable may be supplied ready fitted with SUB D plug see drawing FELX 304553 56 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive TL LT 35 5 653 0 C IOF0zW 9 SE0863 2 531882 1NALNO LNAN 0 4 26790791 8 S6 80 82 18 vti663mv 3 98 90 92 ree 5 v XIANVd 4 4 59805 ee uonoeuuoo Burprejus y Aq pepioud 72 440 sas doo papjaiys 4M IW3 40 AUO a 8ns 0
90. umber Parvex PD 01077 tool lever PD 01077 3 5 4 Cables Bare cables e Resolver cable 6537P0001 e Input output cable CB 08304 Emulation cable CB 08307 Complete cables fitted with connectors and or SUB D plugs e Resolver cable 220049R61 lenght in meter 5m 10m 15m 25m 50m e Input output cable FELX 304544R Remember to indicate code 1 or 2 see drawing followed by the length length in metres 3m 5m 10m 15m 20m e Encoder cable FELX 304546R lenght in meter 3m 5m 10m 15m 20m For RS 232 cable SUB D X3 see commercially available cables with 9 pin SUB D extension 60 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive Cable for power delivered alone or with fitted connector CABLE REFERENCE CABLE ALONE FITTED CABLE HX300 6537P0019 0 5 mm 220049R49 400 HX600 HS600 HD600 HS800 ip lt 14A 6537P0009 1 mm 220049R42 HS800 14 lt lt 32A 6537P0010 2 5 mm 220049 43 HX800 HD800 ip lt 32A 6537P0010 2 5 mm 220049R48 HS900 ip lt 32A 6537P0010 2 5 mm 220049R48 HX800 HD800 HD900 32 lt 1 lt 60A 6537P0011 6 mm 220049R45 HD900 60 lt lt 80A 6537P0012 10 mm 220049R46 Lenght 5m 10m 25m 50m Add to hereabove reference the cable lenght in meter 3 5 5 Inductors for long cable lengths with axis motor Selection see 3 4 3 2 Dimensions see drawing FELX 302983 see following pages 61
91. when stopped there will be a permanent speed error related in particular to gain P and the system will run as long as the torque is present Notice that in modes P and PI all of the predictors are validated PI Selection proportional and integral action By comparison with P alone provides the following two changes e Gain open loop at zero frequency is infinite if there is a torque jog there will be an angular discrepancy of the motor shaft relative to the rest state This angle will be proportional to the torque applied and there will be no permanent speed drift It is then possible to speak of rigidity of the system This rigidity is strictly proportional to the integration stop frequency e Proportional gain P fixes the bandwidth fo system speed Integral action entails a 90 phase shift which generates instability This phase shift is not troublesome at low frequencies but may make the system unstable at higher frequencies The integral stop frequency should therefore be correctly adjusted 0 2 0 3 times the bandwidth fo 72 PVD 3464 GB 04 2004 Servoamplifier DIGIVEX Multi Drive PI Selection proportional and double integration action By comparison with P alone PI brings about the following two changes e Rigidity at rest is infinite Upon a motor torque jog and after a transient period the motor shaft returns to its rest position there is no permanent position discrepancy e The double integ

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