Old Number New Mumber MB4002H
Contents
1. ADJUSTMENTS 4 1 Zero Adjustments when Using ACS3 or BDS3 Amplifiers 4 2 Zero Adjustments when Using BDS4 Amplifiers 4 3 Zero Adjustments when using 5802 or SBD4 Amplifiers 4 4 Tracking Adjustments 4 4 1 Tracking Adjustment Manually Operated 4 4 2 Tracking Adjustments or C N C Machines 4 57 BEC Agjustmelit A A RE RON a 4 5 1 BLC Adjustment when using ACS3 or BDS3 Amplifiers 4 5 2 BLC Adjustment when using BDS4 Amplifiers 4 5 3 BLC Adjustment when using 5802 SBD4 Amplifiers SIMPLIFIED THEORY OF OPERATION TROUBLESHOOTING LI FIGURE 1 TABLE OF FIGURES RDP2 Antibacklash Module 111 TABLE OF DRAWINGS Outline and Dimension RDP2 Mounting Plate Assembly 82318 runas 18 Schematic for RDP2 Antibacklash Board 82305 1 19 RDP2 A Diagram for ACS3 BDSS C 82317 20 RDP2 Interconnect Diagram for ACSS BDS3 C 93464 21 Cable Assembly RDP BDS4 A 93460 22 Cable Assembly RDP BDS4 A 93461 23 Cable Assembly RDP BDS4 A 93462 24 Cable Assembly RDP BDS4 A 93463 25 R2. INSTALLATION AND SERVICE MANUAL RDP2 ANTIBACKLASH DRIVE SYSTEM Old Number ABS24 9108 ISSUE 2 New Mumber MB4002H THANK YOU Motion Technologies Group Thank you and congratulations for choosing Kollmorgen s servo products for your motion control requirements We seek to provide our customers with quality products excellent support and outstanding value In an effort to provide you with dependable and useful documentation we offer you an opportunity to critique this manual with your comments and suggestions Your feedback on this reader comments form is very important to us Please answer the questions below and return the form to Kollmorgen Motion Technologies Group Technical Manual Department 201 Rock Road Radford VA 24141 U S A FAX 540 731 0847 Name Title Company Street Address City State Zip Telephone Fax Product Manual Part Number Please check the rating that best represents your opinion on each topic Excellent Good Fair o 1 Overall clarity and readability a a a 2 Organization of the manual a a 3 Information completeness a a a a 4 Information accuracy a a 5 Installation procedures a a a a 6 Ability to quickly find information you need a a a a 7 Graphics a a a 8 Figures usefulness a a a 9 Tables usefulness a a a a 10 Overall rating of this manual a a a a Please list any errors What did you like least about this
3. do the following 1 Remove connectors 10 and 37 from the RDP2 module 2 Open the Remote Inhibit circuit of one of the amplifiers 3 Exercise the remaining enabled amplifier at low speeds to confirm proper operation 4 Disable the active amplifier by performing 2 above and check the other amplifier Reinstall Connectors 10 and 37 back on the RDP2 If after applying power and the machine is commanded to move but moves in the wrong direction remove power Change the direction jumpers located on the Compensation Board as follows If the amplifiers are model ACS3 go to step 1 If the amplifiers are model BDS3 go to step 2 STEP 1 Remove the ACS3 COMP2 Compensation Board from the ACS3 amplifiers Notice the INVERTING and NON INVERTING jumpers J66 and J67 on the compensation boards Only one of the two jumpers will be installed Remove the jumper installed Add the jumper originally missing This will allow the motor to move the machine in the desired direction with respect to the input signal polarity If necessary make this change to both amplifier 1 and 2 compensation boards STEP 2 Remove the ACS3 COMP1 Compensation Board from the BDS3 amplifiers Notice the INVERTING and NON INVERTING jumpers J10 and J11 on the compensation boards Only one of the two jumpers will be installed Remove the jumper installed Add the jumper originally missing This will allow the motor to move the machine in the desired direction with respect
4. repeat the adjustment procedure for increased backlash current 5 0 SIMPLIFIED THEORY OF OPERATION The RDP2 Antibacklash Module has the necessary circuitry to receive a single input command from N C C N C or manually controlled machines and provide output command signals of proper polarity to the inputs of two servo motor amplifiers The equalization of the two motor currents is accomplished through an equalizer circuit This circuit monitors the velocity error signals of both motor controllers and automatically corrects the motor speeds as well as their current allowing them to work together When the motors are accelerated to high speeds the equalizer circuit ensures that harmony prevails between the two motors as when running at constant velocity Both motors are capable of accelerating in either direction so as to not present high inertial loads to the opposite motor when accelerating the load If necessary under heavy peak current situations the following motor will cross the backlash in a controlled fashion and help the driving motor accelerate the load With the RDP2 system backlash can be eliminated from a machine while at the same time being able to accelerate and decelerate at high traverse rates with both motors actively contributing to machine efficiency and performance The RDP2 Board supplies an offset current to the inputs of the current loop circuits of each motor controller causing the motors to develop wind up torque
5. Remove the voltmeter Reconnect the DIFF HI and DIFF LO input wires to pin 19 and 20 APPLY POWER Enable both amplifiers and command zero speed If there is motor creep present manifested by the presence of standing error at the input of the RDP2 module adjust Pot 73 on the RDP2 module to bring the motor to zero speed and or the standing error to zero 4 2 Zero Adjustments when Using BDS4 Amplifiers REMOVE POWER Temporarily Remove the mating Connector 37 and 10 from the RDP2 module Connect a jumper between Pin 16 and 17 of the Mating Connector 37 Connect a jumper between Pin 8 and 9 of Mating Connector 10 Open the ENABLE circuit of Amplifier 2 AMPLIFIER 2 MUST REMAIN INHIBITED With D C voltmeter monitor TP84 1 with respect to TP84 3 on amplifier 1 For Amplifiers rated 3 amps to 20 amps continuous for Amplifiers rated 30 amps to 55 amps monitor TC1 1 with respect to TC1 3 APPLY POWER Adjust the Balance Pot located in the front of Amplifier 1 for zero volts on the meter REMOVE POWER Close the ENABLE circuit of Amplifier 2 Open the ENABLE circuit of Amplifier 1 AMPLIFIER 1 MUST REMAIN INHIBITED With a D C voltmeter monitor TP84 1 with respect to TP84 3 on Amplifier 2 For Amplifiers rated 3 amps to 20 amps continuous for Amplifiers rated 30 amps to 55 amps monitor TC1 1 with respect to TC1 3 APPLY POWER Adjust the Balance Pot located in the front of Amplifier 2 for zero volts on the
6. current needed will vary from application to application and is usually determined by trial and error Since the amount of backlash current used is deducted considered a loss from the continuous current rating of the motor only the amount of backlash current necessary should be utilized 4 5 3 BLC Adjustment when using SBD2 or SBD4 Amplifiers REMOVE POWER Place a jumper from Pin 12 TORQUE HOLD to pin 1 COMMON on the backside of Connector of both amplifiers With a D C voltmeter monitor pin 4 I MON with respect to pins 1 or 9 at the backside of Connector of Amplifier 1 Apply power Adjust Pot 74 on the RDP2 module for the amount of backlash current needed to remove the backlash and note the voltage recorded by the meter Refer to the SIGNAL INPUTS AND MODES OF OPERATION Section of the SBD2 and SBDA Installation and Service Manual for the current scale factor in AMPS VOLT at the MON output at pin 4 Once the MON current scale factor in AMPS VOLT is known the backlash current may be determined The amount of take up current needed will vary from application to application and is usually determined by trial and error Since the amount of backlash current used is deducted considered a loss from the continuous current rating of the motor only the amount of backlash current necessary should be utilized REMOVE POWER Remove the jumpers and meter If after the adjustment is made the backlash take up is inadequate
7. toward or away from each other to either compress or stretch a gear box or rack removing unwanted lost motion backlash The desired amount of wind up offset is inserted equally into the summing functions of both current loop circuits by a single adjustment This provides a stable high stiffness servo loop for N C C N C or manual machine tools or other machinery requiring antibacklash take up capability Vibration due to wind up torque is minimized by causing the wind up currents to remain the same polarity and magnitude in each motor 6 0 TROUBLESHOOTING It is recommended that the amplifiers be checked out independently when troubleshooting the RDP2 Antibacklash system This can be accomplished by doing the following 1 Remove Connectors 10 and 37 from the RDP2 module 2 Remove the motor leads and inhibit the amplifier not being checked 3 Refer to the troubleshooting section of the appropriate amplifier Installation and Service Manual 4 Refer to RDP2 Schematic C 82305 1 16 imm e 00000 003002 yn z O EN db 3 CONN 37 gt 1510 2001000 PONER L E D SCALE FACTOR PUT 72 ZERO POT 73 POT 74 BRA POT 75 CONN 85 com 86 RDP2 ANTIBACKLASH MODULE FIGURE 1 17 8 HIDDEN HOLES SHOWN FOR REFERENCE ANTI BACKLASH CARD CONN JO COWW 85 COWM Ba POWE
8. 4 and 15 on the Connector of both amplifiers Remove the REMOTE INHIBIT wire from Connector 210 8 of Amplifier 2 With a D C voltmeter monitor TP348 with respect to TP350 common on the Motor Control Board of Amplifier 1 Apply power Both amplifiers should remain inhibited Adjust Pot 49 on the Base Drive Board of Amplifier 1 for zero volts 10 mv Move the voltmeter to TP386 on the Motor Control Board of Amplifier 1 Adjust Pot 54 on the Base Drive Board for Amplifier 1 for zero volts 10 mv Recheck TP348 and TP386 REMOVE POWER With a D C voltmeter monitor TP348 with respect to TP 350 on the Motor Control Board of Amplifier 2 Apply power Both amplifiers should remain inhibited Adjust Pot 49 on the Base Drive Board of Amplifier 2 for zero volts 10 mv Move the voltmeter to TP386 on the Motor Control Board of Amplifier 2 Adjust Pot 54 on the Base Drive Board of Amplifier 2 for zero volts 10 mv Recheck TP348 and TP386 REMOVE POWER Reconnect Connectors 37 and 10 to the RDP2 module Temporarily remove the DIFF HI and DIFF LO input wires from Pins 19 and 20 of Connector 37 Place a jumper from Pin 19 to 20 With the D C voltmeter monitor TP57 with respect to TP55 on the RDP2 module APPLY POWER Adjust Pot 73 on the RDP2 module for zero volts Move the voltmeter to TP59 on the RDP2 module Adjust Pot 75 for zero volts REMOVE POWER Remove jumper between pins 19 and 20 of Connector 37 on the RDP2 module
9. 508 respectively the RDP2 module may be mounted on the wall of the panel enclosure along side of the SBD2 or SBD4 amplifiers or may be mounted within a frame assembly with the amplifiers Refer to drawings C 82318 and C 81132 When the installation is completed double check all wiring to ensure that it is properly done and securely connected etc and is connected per the appropriate manual System Wiring Diagram and RDP2 Interconnect Diagram C 81 132 2 4 RDP2 Board Configuration In order for the antibacklash system to perform properly the direction of the motor shaft rotation must be considered The RDP2 Board must be configured for one of the following types of applications 1 The motors are mounted side by side so that their shafts turn in the same direction when propelling the load eel OB C C W 2 The motors are mounted end to end so that their shafts turn in opposite directions when propelling the load In order to configure the RDP2 Board with respect to the way the motors are mounted refer to the following chart BACKLASH EQUALIZER DIFF INPUT Direction of Motor JUMPERS JUMPERS JUMPERS Shaft Rotation Motor Shafts Turn in Same Direction Motor Shafts Turn in Opposite Direction The RDP2 Board has been configured prior to shipment according to the TEST LIMITS SHEET for the system Refer to the model number scheme in Section 1 1 The interface connections VLO GND VLI and I
10. 8 Once the MON current scale factor in AMPS VOLT is known the backlash current may be determined The amount of take up current needed will vary from application to application and is usually determined by trial and error Since the amount of backlash current used is deducted considered a loss from the continuous current rating of the motor only the amount of backlash current necessary should be utilized REMOVE POWER Remove the jumpers and meter If after the adjustment is made the backlash take up is inadequate repeat the adjustment procedure for increased backlash current 4 5 2 Adjustment when using BDS4 Amplifiers Refer to System Wiring Diagram C 93464 REMOVE POWER Remove the wire from Connector 37 12 of the RDP2 Board and temporarily connect it to Connector 37 14 with the wire already there Remove the wire from Connector 10 4 of the RDP2 Board and temporarily connect it to Connector 10 6 with the wire already there For BDS4 amplifiers rated 3 amps to 20 amps continuous monitor TP84 2 with respect to TP84 3 of Amplifier 1 For BDS4 Amplifiers rated 30 amps to 55 amps continuous monitor TC1 2 with respect to TC1 3 of Amplifier 1 APPLY POWER Adjust Pot 74 on the RDP2 Board for the amount of backlash current needed to remove the backlash and note the voltage recorded by the meter The current scale factor at TP84 2 or TPTC1 2 is 8V Peak RMS current rating of the BDS4 The amount of take up
11. Adjust Pot 72 on the RDP2 module for the proper amount of Following Error for the speed the machine is running at Adjust the SPEED COMMAND SCALE or SCALE FACTOR pot on Amplifier 2 for zero volts on the meter 0 5 VDC Run the machine at maximum speed If necessary adjust Pot 72 on the RDP2 module to achieve the proper amount of Following Error as displayed on the monitor Also if necessary readjust the SPEED COMMAND SCALE or SCALE FACTOR pot on Amplifier 2 for zero volts on the meter 0 5 VDO BLC Adjustment The BACKLASH CURRENT BLC Adjustment allows a means by which a predetermined amount of offset can be injected into the current loop summing junctions of the two servo amplifiers to cause the motors to develop windup torques toward or away from each other for the purpose of backlash take up in gear boxes or rack and pinion drives 4 5 1 BLC Adjustment when using ACS3 or BDS3 Amplifiers REMOVE POWER Place a jumper from pin 5 SUM2 to pin 6 VERROR of Connector 210 of both amplifiers With a D C voltmeter monitor pin 18 I MON with respect to pin 10 A COM of Amplifier 1 APPLY POWER Adjust Pot 74 on the RDP2 Board for the amount of backlash current needed to remove the backlash and note the voltage recorded by the meter Refer to the SIGNAL INPUTS AND MODES OF OPERATION Section of the ACS3 or BDS3 Installation and Service Manual for the current scale factor in AMPS VOLT at the MON output at pin 1
12. DP2 Interconnect Diagram for SBD S C 81132 oe a S x 26 Cable Assembly A B3245 27 Cable Assembly A 83246 28 Cable Assembly A 83247 29 Cable Assembly A 83248 30 1 0 INTRODUCTION This manual is a supplement to motor controller manuals ACS3 Series M 8703 BDS3 Series M 8507 BDS4 Series M 89032 SBD2 Series M 8404 and SBD4 Series M 8508 This manual covers the installation and adjustment procedures for the RDP2 antibacklash module The INDUSTRIAL DRIVES RDP2 antibacklash system consists mainly of two servo motor controllers interfaced with the RDP2 antibacklash module The servo motor controllers may be any two motor controllers bearing the same model number refer to Figure 1 The RDP2 antibacklash module may be interfaced with the following INDUSTRIAL DRIVES motor controllers ACSS Brushless AC sinewave induction synchronous servo motor controllers rated from 6 amps to 55 amps continuous Manual M 8703 BDS3 Brushless AC sinewave permanent magnet synchronous servo motor controllers rated from 6 amps to 150 amps Manuals M 8507 or M 89111 150 amp units BDS4 Brushless AC sinewave permanent magnet synchronous servo motor controllers rated from 3 amps to 55 amps continuous Manual M 89032 SBD2 Brush type permanent mag
13. EQUALIZER SIGNAL 1 BACKLASH COMMAND 1 ure case assy vi 85246 rt COUN 37 DIFF INPUT Hr 2 WE DIFF INPUT 10 18 7 CABLE A55Y o 4 83247 bg SHIELD SHIELD COMMAND OUTPUT 2 HI COMMAND OUTPUT 2 LO V ERROR 2 HI ERROR amp EQUALIZER 2 LO EQUALIZER SIGNAL 2 BACKLASH COMMAUD 2 SHIELD CABLE CONN 65 A 85248 12 12 CUSTOMER FURNISHED ON sin 4 82813 58D RDP1 001 EF NOTE 3 la 1D DONT 44 NUMBER DATE _ INDUSTRIAL DRIVES en NN SBD 2 dB ve THESE CABLE AS5 Y MAY BE OBTAINED FROM INUNSTRIAL DRIVES WTERCOUUECT DAGEAM FOR 5803 mf Tess 5 83245 TEKMINATE SIIELD UNDER HEATSURINK TUBING 51 5 MARK EACH WIRE AS SHOWN G 15261 C e 1 00 EACH 14 I Soe TT 31 16 15 41 17 16 80425 003 QTY 24 BLACK 38 SHIELD E 5 46 8 584 0 6 QTY A81585 2 E ABLE WITH DRAWING CURRENT TSE NUMBER INDUSTRIAL DRIVES Radford Virginia A KOUMORGEN DIVISION UNLESS OTHERWISE SPECIFIED DEC XXX DEC PLACES 008 ANG DIM 153 NO APPO DW N BY 2 83890 2 21 EWR 9 Cm PLACES 018 DO SCALE DW
14. G USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED 83246 1 TERMINATE EXTRA CONDI CIOK 5 UNDER HEATSHRINK TUBING MARK TERMINATE SHIELD EXTRA WIRE CONDUCTORS UNDER HEATSHRINK TUBING 2 100 EACH Q H 15565 QTY 24 8c A79224 008 1 79225 4 NOTES MARK CABLE WITH DRAWING CURRENT ISSUE NUMEER UNLESS OTHERWISE SPECIFIED ANG DIM 1 DO NOT SCALE DWG USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED XXX OME PLAGES CABLE RDP 83247 2 MARK EACH WIRE TERMINATE SHIELD UNDER HEATSHRINK TUBING AS SIIOWN TN RED 2 O 1 00 EACH 4 80425 Q03 QTY 24 6c A 81584 016 QTY A 81585 QTY 2 NOTES la MARK CABLE WITH DRAWING CURRENT NUMBER I 2 INDUSTRIAL DRIVES Radford Virginia A KOLLMOHGEN DIVISION UNLESS OTHERWISE SPECIFIED 158 ECN NO poate OW NuvY DATE XX DEC PLACES 018 2133890 PE ES CABLE RDP ANG DIM 1 NONE A 53247 DO MOT SCALE DWG USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFILO TERMINATE EXTRA CONDICIORS UNDER HEATSIKINK TUBING MARK EACH pe NS SON BLK TERMINATE SHIELD EX CONDUCTORS UNDER TUBING a Uu ee 2 1 00 EACH Tac ye 10 5
15. LI on the SBD2 amplifiers are made via the RDP connector 34 located on the small SBD2 COMP2 compensation card These same interface connections on the SBD4 amplifiers are made via the RDP connector 6 located on the main board just behind the I O terminal block When the installation is completed double check all wiring to ensure that it is properly done and securely connected etc and is connected per the appropriate manual System Wiring Diagram and RDP2 Interconnect Diagram C 81 132 3 0 PRELIMINARY CHECKS Once the RDP2 system is installed on the machine according to the appropriate Interconnect Diagram correct motor phasing should be confirmed 3 1 ACS3 or BDS3 Motor Resolver and Tach if used Phasing Refer to Interconnect Diagram C 82317 If the motor stator resolver and tach if used are connected according to the System Wiring Diagram in manual M 8703 or M 8507 or M 89111 150 amp unit for the ACS3 or BDS3 amplifiers respectively the phasing sequence will automatically be correct There are no other wiring options Also refer to Interconnect Diagram C 82317 The input Connector 210 on the ACS3 and BDS3 amplifiers are interfaced with the RDP2 module according to Interconnect Diagram C 82317 Begin the initial start up by enabling only one amplifier at a time Check the operation of the servo loops by exercising the system at low speeds to confirm its stability etc To check one of the amplifiers for proper operation
16. R SCALE FACTOR 3 16R 2 PLACES 5 16 R 2 PLACES INDUSTRIAL DRIVES Record Virginia i MOUNTING PLATE ASS Y OUTLINE DIMENSION 37 20 YEL ERRORI Ga VEN 37 3 20k t 2 592 Gy e 20K 9 sha AUTE amp COMPONENTS INSIDE PHANTOM LINES ARE DELETEDON CARD 3BDA ROF2 002 E 08 gt SA 2 9 DRIVE HI2 70 B DRIVE 162 37 17 DRIVE Wl 1 37 b ORIVE LO 10 4 EIN EQUALIZER 2 D 5 2 O IITE 2 85 3 OPEN PEN 37 12 QUALIZER I 37 17 BACKLASH LURRENT I 10 3 BACKLASH CURRENT 2 37 8 37 15 SHIELDS 6 7 1 10 4 72 BS 25 2 45 4 PROPRIETARY INFORMATION INDUSTRIAL DRIVES DIVISION KOLLMORQEN CORPORATION INDUSTRIAL DRIVES Virginia SCHEMATIC rar 0 2 ANTI BACKLASH ROARD SHIELD COMMAND INITPUT 32 COMMAND OOTPUT 110 V ERROR 1 HI VERROP EQUALIZER 1 LO EQUALIZER SIGNAL BACKLASH COMMAND 1 COMM 37 DIFF INPUT HI t1 20 DIFF LO i C8 SHIELD SHIELD COMMAND OUTPUT 2 HI COMMAND OUTPUT 210 V ERROR 2 ERROR E EQUALIZER 2 LO EQUALIZER SIGNAL 2 BACKLASH COMMAUD 2 SHIELD YAC 025 3 ACTS COMM 37 S35 210 INPUT REF HI REF LC Y ERROR SUA 7 7 OFFSET COMI 10 orc fees ele
17. SED 10 4 10 3 10 2 175 Hass 0 4 19224 008 1 A 13225 4 NOTES MARK CABLE WITH DRAWING 4 CURRENT ISSUE NUMBER INDUSTRIAL D DRIVES E B25 XX PLACES 018 25 26 XXX DEC PLACES 008 3 CABLE ASSY ANG DIM DO NOT SCALE DWG USE DIMENSIONS ONLY SCALE DWG NO ALL DIMENSIONS AMZ INCHES APPD m UNLESS OTHERWISE SPECIFIED if 56 7 7 FI A 83248 UNLESS OTHERWISE SPECIFIED KOLLMORGEN Motion Technologies Group
18. SIGNAL 2 ERROR amp EQUALIZER 2 LO V ERROR 2 BACKLASH COMMAUD 2 SHIELD CONN 4 Jo ug vac Ls ON BD54 MC1 CONNECTOR TUS 15 COMPONENT 8 ON BDS4 MC2 CONNECTOR TOS 15 COMPONENT 1 BD54 M04 CONLECTOR 15 COMPONENT 230 pes mu 93464 CABLE ALSY A 2 EXT TACH SIGNAL A 93440 gt OPTIONAL 3 15 17 1 PIN 1 OF 83908 094 DIFF HI CONNECTOR USING S DIFF LO A 83909 OC 2 PIM i2 CUSTOMER INSTALLED AUX IN TE E NEN a i VELOCITY LOOP OUT 2 CABLE 9 3 9 T OFFSET FROM COMP CARD CONNECTOR TC3 FECABLE ASSY SEE NOTE 1 A 93461 pl A l EXT TACH SIGNAL COMI 10 11 OPTIONAL Fg 4 CABLE A55Y A 93402 CONAECTOR Cl DIFF HI DIFF LO AUX IN VELOCITY LOOP OUT OFFSET PIN 1 OF A 83908 004 CONNECTOR USING A 83909 002 PIN CUSTOMER INSTALLED A CABLE 557 4 93019 FROM COMP CARD CONNECTOR 5 SEE NOTE 1 BDS4 ire Reownec Dat FOR 8054 W EXT TACH 73460 TERMINATE EXTRA CONDUCTORS UNA HEATSHRINK TUBING EACH TERMINATE SHIELD EXTKA CONDUCTORS UNDER TUBING WIRE AS SHOW G 15267 BK p i2 2 100 EACH NE LEE oue ees PE MDL 57 15 A 83908 020 1 A Lose 9 3909 002 3 95 x H 15565 QTY 24
19. TZ SS _ MARK CABLE WITH DRAWING Y CURRENT ISSUE NUMBER INDUSTRIAL Radford Virg da AMOLLMORGEN INVISION UNLESS OTHERWISE SPECIFIED PEC PLACES 015 XXX PLACES 008 ANG DIM 1 DO NOT SCALE DWG USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED OwG NQ A 9546 TERMINATE EXTRA CONDUCIORS UNDER HEATSHRINK TUBING x MARK EACH TERMINATE SHIELD EXTRA WIRE AS SHown e UNDER HEATSIKIAK TUBING N G 5267 on 1 00 en amp QTY 24 c 79224 003 1 A T9225 3 NOTES MARK CABLE WITH DRAWING CURRENT ISSUE NUMBER ID INDUSTRIAL 4 55 Radford Virgi A KOLLMORGEN DIVISION UNLESS OTHERWISE SPECIFIED ee ER SS ECHO owner para XX DEC PLACES 1 018 pm EWR 3 4 Q 4 XXX DEC PLACES 008 RDP ANG DIM 1 CHK DO HOT SCALE USE DIMENSIONS ONLY SCAL ALL DIMENSIONS INCHES THERWISE SPECIFIED Y mo 1 9306 2 TERMINATE EXTRA CONDIICTERS UNAR HERTSHKINK TUBING SHIELD CONDICTORS UNDER TUBING 6 15267 DE EACH 15565 677 24 A B3908 020 1 A 83909 002 3 NOTES MARK CABLE WITH DRAWING CURRENT IDE NUMBER INDUSTRIAL 0 17 Rauto
20. a C CONNECTOR 2 0 INPUT REF WI INPUT REF LO ERROR CORA SUAA 7 OFFSET Ba 2253 4C5 3 2 ONG NUMBER EXE APP om INLAND MOTOR V KOLLMOAGEN CORPORATION 809 Rock Redford Virgraa INDUSTRIAL DRIVE DIVISION 5 RDPE INTERCOUMELT DIAGRAM FOR 4658 8053 RDPE 101 SHIELD COMMAND OUTPUT 1 HI COMMAND OUTPUT 221 LO EQUALIZER SIGNAL 1 HI V ERROR 4 EQUALIZER 1 LO v ERROR 1 BACKLASH COMMAND 1 37 20 Lin DEE INPUT HI DIFF INPUT LO SHIELD SHIELD COMMAND OUTPUT 2 HI COMMAND OUTPUT 210 EQUALIZER SIGNAL 2 HI v ERROR EQUALIZER st 2 LO ERROR 2 BACKLASH COMMAUD 2 SHIELD CONV BE VAC E i OM BD54 MC1 CONNECTOR TCS 15 COMPONENT B BDS4 MC2 CONNECTOR TCS 15 COMPONENT 119 ON 8054 04 COMUECTOR 15 COMPONENT 250 A25 4 COMM 37 2 CONALECTOR Cl n DIFF HI DIFF LO AUX IN E E A COMA VELOCITY LOOP OUT I OFFSET CONNECTOR TC 3 SEE NOTE 1 CONNECTOR Cl DIFF DIFF LO AUX IN A COM VELOCITY LOOP OUT OFFSET CONNECTOR TC3 SEE NOTE 1 tore 346 2 SHIELD COMMAND OUTPUT 1 COMMAND OJTPUT 341 LO EQUALIZER SIGNAL 1 HI M ERROR EQUALIZER 1 LO v ERROR 1 BACKLASH COMMAND DFE INPUT HI DIFF INPUT Lo SHIELD SHIELD COMMAND QUTPUT 2 HI COMMAND OUTPUT 210 EQUALIZER
21. at switch wired to the stator connector at the motor CAUTION Incorrect motor resolver or tach phasing can cause erratic operation runaway or damage to the system and machinery 2 1 Installing the RDP2 Module with ACS3 or BDS3 Amplifiers After mounting and wiring the two ACS3 or BDS3 servo amplifiers by referring to Installation and Service Manuals M 8703 and M 8507 or M 89111 respectively mount the RDP2 module in the panel enclosure along side of the ACS3 or BDS3 amplifiers Refer to drawings C 82318 and C 82317 When the installation is completed double check all wiring to ensure that it is properly done and securely connected etc and is connected per the appropriate manual System Wiring Diagram and RDP2 Interconnect Diagram C 82317 2 2 Installing the RDP2 Module with BDS4 Amplifiers After mounting and wiring the BDS4 Amplifiers by referring to the Installation and Service Manual M 89032 mount the RDP2 module in the panel enclosure along side of the BDS4 Amplifiers Refer to drawings C 32318 and C 93464 When the installation is completed double check all wiring to insure that it is properly done and securely connected etc and is connected per the appropriate manual System Wiring Diagram and RDP2 Interconnect Diagram C 93464 2 3 Installing the RDP2 Module with 5802 or 5804 Amplifiers After mounting and wiring the two SBD2 or SBD4 servo amplifiers by referring to Installation and Service Manuals M 8404 or M 8
22. chine moves in the wrong direction remove power Reverse both sets of tach and motor leads to obtain the correct direction of motor shaft rotation for the desired movement of the machine Begin the initial start up by enabling only one amplifier at a time Check the operation of the servo loops by exercising the system at low speeds to confirm its stability etc To check the amplifiers for proper operation do the following 1 Remove connectors 10 and 37 of the amplifier being disabled from the RDP2 module 2 Open the Remote Inhibit circuit of one of the amplifiers 3 Exercise the remaining enabled amplifier at low speeds to confirm proper operation 4 Disable the active amplifier by performing 2 above and check the other amplifier Reinstall Connectors 10 and 37 back on the RDP2 4 0 ADJUSTMENTS Refer to Figure 1 The RDP2 system may be utilized in either of two major applications 1 2 As an antibacklash system where the motors are mounted on the same propelling member of a machine to take up backlash rack and pinion As a split servo system where backlash take up is not utilized but rather where the motors are mounted on separate propelling members of a machine to achieve tracking of the two members twin ball or acme screws When the RDP2 system is used in split servo applications utilizing twin ball or acme screws the BLC Back Lash Current adjustment described in Section 4 5 must be set for zero backla
23. djustments In order for the two motors to accelerate together reach their constant velocities together and decelerate together they must be able to track each other 4 4 1 Tracking Adjustment Manually Operated Machines REMOVE POWER Turn the SPEED COMMAND SCALE or SCALE FACTOR pots on Amplifier 1 and 2 75 clockwise C W Turn Pot 72 on the RDP2 Board 100 fully counterclockwise C C W With a D C voltmeter monitor Pin 20 with respect to Pin 19 on Connector 37 of the RDP2 module APPLY POWER and enable the amplifiers The input signal for maximum speed should not exceed 8 VDC However for the present apply only 2 VDC input signal as monitored by the meter There should be no movement from the machine Move the meter and monitor TP59 with respect to TP55 on the RDP2 Board Turn Pot 72 on the RDP2 module C W until the machine is running at 2596 of maximum speed Adjust the SPEED COMMAND SCALE or SCALE FACTOR pot on Amplifier 42 for zero volts on the meter 0 5 VDC 12 4 5 4 4 2 Tracking Adjustments or C N C Machines REMOVE POWER Turn the SPEED COMMAND SCALE or SCALE FACTOR pots on Amplifier 1 and 2 75 fully clockwise C W Turn Pot 72 on the RDP2 module 50 clockwise C W With a D C voltmeter monitor TP59 with respect to TP55 on the RDP2 module Apply power Command a slow feed rate speed and notice the Following Error displayed on the position loop controller monitor
24. gram C 81132 With the primary power off place the red lead of a D C voltmeter on TACH HI of Amplifier 1 Place the black lead of the meter on TACH LO or TP GND Have an assistant rotate the shaft of Motor 1 C W as viewed by looking into the large end of the motor shaft The meter should deflect in the POSITIVE direction if not reverse the tach leads and repeat the test Place the red lead of the D C voltmeter on MOTOR HI of Amplifier 1 Place the black lead on MOTOR LO Have an assistant rotate the shaft of Motor 1 C W The meter should deflect in the NEGATIVE direction if not reverse the motor leads at the motor and repeat the test Place the red lead of the meter on TACH HI of Amplifier 2 and the black lead on TACH Lo or TP GND Have an assistant rotate the shaft of Motor 2 C W The meter should deflect in the NEGATIVE direction or opposite to that of Tach 1 if not reverse the tach leads and repeat the test Place the red lead of the voltmeter on MOTOR HI of Amplifier 22 Place the black lead on MOTOR LO Have an assistant rotate the shaft of Motor 2 C W The meter should deflect in the POSITIVE direction if not reverse the motor leads at the motor and repeat the test Notice that the polarities of the tachs are opposite with respect to the polarities of the motors and the polarities of the two motors and tachs are opposite with respect to each other After applying power and the machine is commanded to move if the ma
25. it of Amplifier 1 only Amplifier 22 must remain inhibited Adjust ZERO Pot 6 on the SBD2 main board or ZERO Pot 46 on the Compensation Board of the SBDA for zero volts on the meter or for zero motor movement Open the inhibit circuit of Amplifier 1 REMOVE POWER With a D C voltmeter monitor pin 3 with respect to pin 2 on the Connector of Amplifier 2 Apply power Close the ENABLE circuit of Amplifier 2 only Amplifier 1 must remain inhibited Adjust Pot 6 on the SBD2 main board or ZERO Pot 46 on the Compensation Board of the 5804 for zero volts on the meter or for zero motor movement Remove power Remove the jumpers from pins 14 to 15 on the Connector of Amplifiers 1 and 2 11 With a D C voltmeter monitor TP57 with respect to TP55 on the RDP2 module Apply power Open the ENABLE circuits of Amplifier 1 and 2 to inhibit both amplifiers Adjust Pot 73 on the RDP2 module for zero volts Move the voltmeter to TP59 on the RDP2 module Adjust Pot 75 for zero volts REMOVE POWER Remove jumper between pins 19 and 20 of Connector 37 on the RDP2 module Remove the voltmeter Reconnect the DIFF HI and DIFF LO input wires to pin 19 and 20 Apply power Enable both amplifiers and command zero speed If there is motor creep present manifested by the presence of standing error at the input of the RDP2 module adjust Pot 73 on the RDP2 module to bring the motor to zero speed and or the standing error to zero 4 4 Tracking A
26. manual What did you like most about this manual How would you improve this manual Signature Date ELECTRONIC COMPONENTS IN THIS AMPLIFIER ARE STATIC SENSITIVE USE PROPER PROCEDURES WHEN HANDLING COMPONENT BOARDS COMPONENTS INSTALLATION AND SERVICE MANUAL RDP ANTIBACKLASH DRIVE SYSTEM ABS24 9108 Issue 2 WARNING Dangerous voltages currents temperatures and energy levels exist in this product and in the associated servo motor s Extreme caution should be exercised in the application of this equipment Only qualifiea individuals should attempt to install set up and operate this equipment WARNING Incorrect motor and or resolver wiring can cause erratic or runaway motor operation Use of factory supplied cable is highly recommended INDUSTRIAL DRIVES 201 Rock Road Radford VA 24141 KOLLMORGEN Industrial Drives NN oo 1 0 2 0 3 0 4 0 5 0 6 0 TABLE OF CONTENTS INSTALLATION ota AA 2 1 Installing the RDP2 Module with ACS3 or BDS3 Amplifiers 2 2 Installing the RDP2 Module with BDS4 Amplifiers 2 3 Installing the RDP2 Module with 5802 or SBD4 Amplifiers 2 4 RDP2 Board Configuration PRELIMINARY CHECKS 3 1 ACS3 or BDS3 Motor Resolver and Tach if used Phasing 3 2 BDS4 Motor Resolver and Tach if used Phasing 3 3 5802 SBD4 Motor and
27. meter REMOVE POWER Remove jumpers from mating Connector 37 and 10 Install mating Connectors 37 and 10 back onto the RDP2 module Temporarily remove the DIFF HI and DIFF LO input wires from Pins 19 and 20 of Connector 37 Place a jumper from Pin 19 to 20 With a D C voltmeter monitor TP57 with respect to TP55 on the RDP2 module Open the ENABLE circuits of both amplifiers BOTH AMPLIFIERS MUST REMAIN INHIBITED APPLY POWER Adjust Pot 73 on the RDPO2 module for Zero volts Move the voltmeter to TP59 on the RDPO2 module Adjust Pot 75 for Zero volts REMOVE POWER Remove jumper between pins 19 and 20 of Connector 37 on the RDP2 module Reconnect the DIFF Hi and DIFF Lo input wires to pins 19 and 20 Remove the voltmeter APPLY POWER Close the ENABLE circuits of both amplifiers If there is motor creep present manifested by the presence of standing error at the input of the RDP2 module adjust Pot 73 on the RDP2 module to bring the standing error to zero and or the motors to zero speed 4 3 Zero Adjustments when using SBD2 or SBD4 Amplifiers REMOVE POWER Temporarily remove the DIFF HI and DIFF LO input wires from pins 19 and 20 of Connector 37 on the RDP2 module Place a jumper from pins 19 to 20 Place a jumper on the I O Connector back side from pins 14 to 15 of Amplifier 1 and 2 With a D C voltmeter monitor pin 3 with respect to pin 2 on the Connector of Amplifier 1 APPLY POWER Close the ENABLE circu
28. net DC servo motor controllers rated from 6 amps to 20 amps continuous Manual M 8404 SBD4 Brush type permanent magnet DC servo motor controllers rated from 30 amps to 60 amps continuous Manual M 8508 These motor controllers are four quadrant bidirectional velocity loop amplifiers designed to accommodate the regenerated power from a decelerating D C servo motor The RDP2 antibacklash module acts as an interface module between the N C or C N C controller and the two motor controllers 1 1 Model Number Scheme EXAMPLE RDP2 A B A Anti Backlash System AAA In Mechanical Configuration Mounting Plate Assembly B Test Limits Sheet 2 0 INSTALLATION Refer to Figure 1 and Outline amp Dimension D rawing C 82318 Refer to the Mounting Section and appropriate outline and dimension drawings in the Installation and Service Manual for the servo amplifier being used Also attention should be given to the notes on the outline and dimension drawings for information concerning mounting details Refer to the Wiring Section and appropriate system wiring diagrams in the Installation and Service Manual for the servo amplifier being used Also attention should be given to the notes on the system wiring diagram for information concerning wiring details NOTE B Series Brushless motors have a thermostat switch wired to the resolver connector at the motor BR Series Brushless motors have a thermost
29. rd Vky UNLESS OTHERWISE SPECIFIED XX PEC PLACES 3 018 XXX PLACES 1 908 AMG DIM 41 DO MOT SCALE DWG USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES OTHERWISE BPECIFIND PSP VE 93463 1 TERMINATE EXTRA CONDUCTORS UNAR HEATSHRINK TUBING MARK EACH AS EA TEKMINATE SHIELD EXTRA CONDUCTORS UNDER HEATSIKINK TUBING BK O ES WHT uit 1007 EACH MEAE RED oo en a 2 15565 QTY 24 i Sc A79224 003 1 79225 3 NOTES MARK CABLE WITH DRAWING CURRENT ISSUE NUMBER SY INDUSTRIAL 1 7 d i CABLE ASSY RDP BDS4 UNLESS OTHERWISE SPECIFIKD PLACES 018 XXX DEC PLACES 008 ANO DIM 1 DO SCALE USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES serene UNLESS OTHERWISE SPECIFIED Sem 3 432 RDPe SBD dE 1 CONNECTOR KIT ABC RDP 5 0 CABLE A55Y FOR HOOK UP OF THIS SYSTEM 83245 50ME EXTRA ITEMS ARE INCLUDED WITH THE KIT WHICH HAS CONNECTORS FOR 5BD2 5 4BD4 THESE EXTRA CONVEETOR t PINS MAY BE DISEARDED O 2 NO COMECTION ON 58D RDP1 101 O IDNO CONNEETION ON RDP2 191 SHIELD DIFF AI COMMAND QUTFATY A I HI 110 VAL CUSTOMER FURNISHED COMMAND OUTPUT 1 LO DIFF LO Yow RDP2 101 V ERROR 1 HI SEE NOTE 2 v EQUALIZER 1 LO SuD
30. sh current The adjustments should be checked prior to putting the system into operation If any adjustment has to be made other than those contained in this RDP2 manual refer to the ADJUSTMENT section of the appropriate servo amplifier manual 4 1 Zero Adjustments when Using ACS3 or BDS3 Amplifiers REMOVE POWER Temporarily remove Connectors 37 and 10 from the RDP2 module Remove the INPUT REFF HI and INPUT REFF LO input wires from 14 and 15 on Connector 210 of Amplifiers 1 and 2 Place a jumper from pins 14 to 15 on Connector 210 of both amplifiers Remove the REMOTE INHIBIT wire from Connector 210 8 of Amplifier 2 Amplifier 2 must remain inhibited With a D C voltmeter monitor pin 19 with respect to pin 10 on Connector 210 of Amplifier 1 APPLY POWER Adjust the ZERO pot located on the Compensation Board of Amplifier 1 for zero volts on the meter or for zero motor movement REMOVE POWER Reconnect the REMOTE INHIBIT wire to Connector 210 8 of Amplifier 2 Remove the REMOTE INHIBIT wire from Connector 210 8 of Amplifier 1 Amplifier 1 must remain inhibited With a D C voltmeter monitor pin 19 with respect to pin 10 on Connector 210 of Amplifier 32 Apply power Adjust the ZERO pot located on the Compensation Board of Amplifier 2 for zero volts on the meter or for zero motor movement Remove power Remove the jumpers from pins 14 to 15 on the I O Connector of Amplifiers 1 and 2 Reconnect the input wires to pins 1
31. to the input signal polarity If necessary make this change to both amplifier 1 and 2 compensation boards 3 2 8054 Motor Resolver and Tach if used Phasing Refer to Interconnect Diagram C 93464 If the motor stator resolver and tach if used are connected according to the System Wiring Diagram in Manual M 89032 the phasing sequence will automatically be correct There are no other wiring options Also refer to Interconnect Diagram C 93464 The input I O Connector and the logic supply Connector on the BDS4 are interfaced with the RDP2 module according to Interconnect Diagram C 93464 Begin the initial start up by enabling only one amplifier at a time Check the operation of the servo loops by exercising the system at low speeds to confirm its stability etc To check the amplifiers do the following 1 Remove Connectors 10 and 37 from the RDP2 module 2 Open the Enable circuit of one of the BDS4 amplifiers 3 Exercise the remaining enabled BDS4 at low speeds to confirm proper operation 4 Disable the active BDS4 by performing 2 above and check the other BDS4 Reinstall Connector 10 and 37 back on the RDP2 If after applying power and the machine is commanded to move but moves in the wrong direction remove power Change the direction of movement by interchanging the input Hi and Lo signals at Connector 37 19 and 20 of the RDP2 module 3 3 5802 or SBDA Motor and Tach Phasing Refer to Interconnect Dia
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