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User's Guide for the Brushless Servo Drives

1. Figure 3 8 Typical disconnect without transformer o Af x m 1 s O f Wo 2 O f O L l1 o O fo mii O O C O Qq O m d dx 9 f O m 1 a Vo C sf X 2 G O O fo mL3 LXOO1A Section 3 Page 8 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 5 Motor Connections DX motors are available in two different styles for most models waterproof designated by a W in the motor model number and connectorized designated by a C in the motor model number The waterproof type has been designed to meet IP65 waterproofing standards Cable entries are made through American National Standard Tapered Pipe Threads NPT conduit holes The connectorized type of motors come equipped with one or two MS style multi pin connectors See Table 3 B for motor connector options Table 3 B Motor Connector Options DX MOTOR WITH MS STYLE WITH NPT MODEL CONNECTORS HOLES DX 208 YES ONE DX 316 YES TWO DX 340 YES TWO DX 455 YES TWO DX 490 YES TWO DX 4120 Note Motors equipped with MS style connectors meet IP65 waterproofing standards However the mating cables and connectors do not If waterproofing is required motors with NPT conduit holes should be ordered 3 5 1 Motor Thermal Protection In each of the motors there is at least one level of ther
2. 9 71 9 BRK A MOTORS RELAY CONTACT ECM ONLY H N C BRAKE ECL 55102 20 15 POWER ECM PTOGE 16 8S SR SUPPLY ECM DWG Figure 3 12 ECM ECL XXX Cable Wiring Diagram GNE DN x TEL H PN hate 20 lt a oie e ED AW R REF GND 21 2 AIR d LL E REF 16 G COS GND 17 S cos 18 F GND SIN 19 H SIN COMMON 13 N MOTOR THERM O AMP lt MOTOR THERM 14 a MOTOR THERM SHIELD 15 S o J SHIELD 2 23 611 S 25 D MOTOR GND T 24 o L MOTOR CND MOTOR GND 22 V MOTOR GND 22 Figure 3 13 LCS XXX Cable Wiring Diagram Section 3 Page 14 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 6 Brake Motors Brake motors are intended for applications where there is a load on the motor that must be immovable with the power off This is usually the case with vertical loads whether or not they are counterbalanced The motor brake will apply braking force with no power applied to the brake connections and will disengage when the correct voltage is applied to the motor brake terminals See Figures 3 14 3 15 3 16 for connections to brake motors of either waterproof or connectorized type MOTOR CONN RED n S T gt GND SHLD BRK SHIP USED e BRK D LD d BLU Na L ONLY ON BRK gt BRAKE U W S MOTORS BLU WHT BRK J MOTO
3. A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Ib in sec Ib in Ib in rpm Lb Amps In Ibs Ibs Lb kg kg m RMS NPT CONN DXM 490 0 0051 90 315 3000 8 6 36 6 12 8 11 1 50 100 27 5 0 00058 11 6 DXM 4120 0 0074 120 420 3000 10 5 40 0 15 3 13 6 50 100 38 17 2 0 00084 Holding Voltage Current Engage Disengage Added Added Added Torque Volts Amps Time Time Inertia Length Weight Ib in Ib in sec mm Ib kg 240 24 88 10 100 ms max 250 ms max 0 0009 50 5 8 2 6 off on Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com EMERSON EMC Subsid Emerson Electric Co 1365 Park Road Chanhassen Minnesota 55317 8995 Sales 612 474 1116 1 800 FX SERVO Service 612 474 8833 24 hr FAX 612 474 8711 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com
4. TORQUE HP kW SPEED WT Ib in Ib in gm RPM Lb Nm Nm kg LX 400 DXM E 208 10 32 60 00010 5000 4 0 1 13 3 62 45 0113 1 81 DXM E 316 18 42 76 00052 4000 8 3 2 00 4 7 57 059 3 8 LX 700 DXM E 340 40 115 1 50 0014 3000 14 6 4 5 13 0 1 10 158 6 6 DXM E 455 60 125 2 14 0026 3000 19 8 6 80 14 1 1 60 294 9 0 LX 1100 DXM E 490 80 160 3 00 0051 3000 37 0 9 0 18 1 2 20 577 16 8 DXM E 4120 100 200 2 90 0074 3000 38 0 11 3 22 6 2 10 837 17 3 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com C 1 SPEED RPM 2000 D RPM SPI 1000 Q Torque Speed Curves for LX Amplifiers I DX Motors A Pn Z YV DAQ NT 4UU D A 2 LO xi PEAK N 115 VAC 50 CONTINUOUS N E CONT 2 16 A N 110 C EN N MOTOR CASE k 3 2 4 6 8 101214 16 18 20 22 24 26 28 30 32 4000 TORQUE LB IN TORQ006 Figure 1 LX 400 DX 208 torque speed curve LX 400 DX 316 208 VAC dg 280 NA PEAK CONTINUOUS VANUS VAC 30 4 CONT 22 97 A 100 C MOTOR CASE I 10 15 20 25 30 35 40 45 TORQUE LB N TORQ003 Figure C 2 LX 400 DX 316 torque speed curve T Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scien
5. SIZE LX AMPLIFIERS ARE ALL IDENTICAL A select resistor soldered into a header on the personality board is installed at the factory which sets the gain windows for the range of motors normally used on that amplifier Section 5 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Table 5 A Personality Board R22 Selections AMPLIFIERS NITIRS RESISTOR VALUE LX 400 VEI lana LX 700 wk LX 1100 2 82KQ Standard R22 value in the LX 700 is 82 K The amplifier is shipped with a 47 K Q resistor and instructions for installation in the case of a DX 340 motor application 5 1 1 Zero Offset Adjust The zero offset is factory set The following instructions allow you to recalibrate the offset when the LX is connected to a controller Open loop mode The following instructions have to be executed with the position control in open loop or the controller could interfere with the setting If the controller cannot be set up in an open loop configuration follow the instructions as described in Closed loop mode Setup the controller to operate in open position loop mode This will allow the motor to rotate if there is an offset in the command signal Adjust the command output signal offset before connecting to the LX drive Connect the nulled command signal to terminals 7 and 8 Check that the limit switches are n
6. the thermal transfer of the enclosure to the ambient air and the amount of power being dissipated inside the enclosure Your enclosure supplier can assist you in properly selecting an enclosure for your application Section 2 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 2 4 Amplifier Mounting The LX drives must be mounted in a vertical orientation to insure the best air flow between the cooling fins of the heatsink Mounting above other drives or any heat producing equipment may result in overheating The mounting brackets are attached to the LX drive heatsink by self tapping screws and thus are well grounded to the amplifier chassis There are two ways to mount the drive depending on the placement of the mounting brackets The physical dimensions of all the LX amplifiers are identical See Figure 2 1 for mounting information 472 DUI Umm TU 8 740 12 222 8 70 221 45 11 za pann Enna ft moce 2 48 Figure 2 1 Buna i i T AA E Ho dr T 10 4 25 8 35 E 58 E 14 7 Act 5b i 11 60 HOLE DETAIL 295 12 56 514 E k t gm El KA T N
7. 1 2 Cables are available from Emerson for both the connectorized and non connectorized motors EMC designed cables are recommended because they have been specially designed for the LX amplifiers and will minimize installation problems Table 1 A shows the available cables and their application For more information see Chapter 2 Table 1 A Motor Cabling Motor Type Motor Model Motor Cable Resolver Cable Waterproof Motors DXM E 3xxW 4xxW HPS XXX shielded 250224 09 250036 00 non shielded Connectorized DXM E 3xxC 455C ECM XXX LCF XXX Motors DXM E 490C 4120 ECL XXX LCF XXX DXM E 208 LCS XXX All cabling is PVC rated for 105 C XXX is length in feet consult an Emerson EMC application engineer for cabling requirements over 100 ft CONTROLLER RESOLV Figure 1 2 YIN WAG 50 VAC 3 6 POWER mI ANALOG COMMAND ER THERMISTER CABLE ENCODER SIGNALS MOTOR CA Su puuunu n000 es Typical LX component configuration Section 1 Page 6 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 21 User Adjustments and Options The amplifiers each have a personality module that is used to set up the drive for the application as required The drive features
8. 3000 6000 rpm Emulated encoder outputs with zero markers are provided on the standard LX amplifier for use with position controllers 1 3 2 Control Loops The LX drive uses two high performance control loops current and velocity to control the speed and torque of the motor The current loop controls the current flowing into the motor by comparing the current flowing in the motor to the current command from the reference signal and correcting it to maintain the commanded current The current command can come from either an external controller or directly from the LX amplifiers speed loop The velocity loop controls the motor velocity by comparing the actual Section 1 Page 7 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com velocity of the motor to the velocity commanded by the drive and adjusting the current command as needed to maintain the commanded velocity Velocity Loop In the velocity loop circuit the error signal is processed by a P I D Proportional Integral and Derivative The output of the P I D filter is the current reference signal also available for test on terminal 2 of the front connector The voltage on this point is 10 VDC At 10V the drive generates the maximum current in the designated direction All the adjustments shown on the block diagram in Figure 1 3 Zero offset proportional gain response accel decel ramp gradient and full scale speed
9. 751 15 20 8 3 3 8 0 558 7 24 Holding Voltage Current Engage Disengage Added Added Added Torque Volts Amps Time Time Inertia Length Weight Ib in Ib in sec in Ib kg 60 24 52 10 100 ms max 250 ms max 0 00015 1 5 2 41 1 off on Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DXM 316 340 MOTOR SPECIFICATIONS RESOLVER CONN PTO2E 14 18P NOTE ALL DIMENSIONS ARE IN MILLIMETERS MATING CONN 6 14 185 99 5 UNLESS OTHERWISE NOTED N a N 9100 0 B C N 1 ng ex KO 01598 I 1 i BI leu aei T 3 4 NPT ADD APPROXIMATELY 38mm FOR BRAKE MOTOR Lx009 Figure 0 4 DXM 316 340 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Ib in sec Ib in Ib in rpm Lb Amps Mm Ibs Ibs Lb kg kg cm in amp RMS NPT CONN DXM 316 0 0052 20 72 4000 5 5 13 223 184 15 20 8 3 3 8 0 558 DXM 340 0 0014 50 180 3000 8 3 21 7 301 260 15 20 14 6 6 7 1 31 Holding Voltage Current Engage Disengage Added Added Added Torque Volts Amps Time Time Inertia Length Weight Ib in Ib in sec mm Ib kg 60 24 52 10 100 ms max 250 ms max 0 00015 38 2 41 1 off on Artisan Scientific
10. CONN 06 124 185 SR MOTOR W O ctf fie VRS 4 NPT 1 MOTOR W O CONNECTORS 3 NN N 70 3 E N 049 990 L _ 2 El i 1 N BS MOTOR W G CONNECTORS 00 1 So 413 0 1210 99 4 L 59 59 l an LX011 ADD APPROXIMATELY 52mm FOR BRAKE MOTOR Figure D 6 DXM 455 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Ib in sec Ib in Ib in rpm Lb Amps mm Ibs Ibs Lb kg kg cm in amp RMS NPT CONN 0 0026 70 245 3000 8 8 27 8 262 216 50 100 19 8 9 0 2 94 Holding Voltage Current Engage Disengage Added Added Added Torque Volts Amps Time Time Inertia Length Weight Ib in Ib in sec mm Ib kg 240 24 88 10 100 ms max 250 ms max 0 0009 52 5 8 2 6 off on Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DXE 490 9 375 16UNC 2B THRU 4 HOLES EQ SPACED ON A 65 875 B C 4120 MOTOR SPECIFICATIONS 44530 1 2 NPT 3 4 NPT os D N 7 b 74 _ 1895 1875 8 3 EL NIU 1 500 id FULL DEPTH kh JP 41820 F L733 L 1 87
11. LX 700 amplifier in the case of a DX 340 motor application Section 4 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 4 2 Standard Motor Configurations The LX amplifiers can be easily configured for DX motors supplied by Emerson EMC by using the settings in the following table Table 4 B Settings for DX Motors OFF 0 ON 1 Tabel 4 B Rev 01 13 95j SW 3 1 2 MOTOR SW 2 1 4 LXAMP motor P2 spores ae 3 1 3 2 2 1 22 213 24 DX 208 10K 4 1 0 2 16 0 0 0 0 400 DX 316 10K 6 0 1 2 97 0 1 1 0 DX 340 47K 6 0 1 6 14 1 0 1 0 700 0 DX 455 82K 6 0 1 7 32 1 1 1 1 DX 490 82K 6 0 1 10 99 1 1 1 1 1100 DX 4120 82K 6 0 1 10 99 1 1 1 1 5 gt ENCODER Sw4 1 SWA 2 SW3 1 SW3 2 LIMIT SWITCHES OFFSET CAL SPEED RESPONSE ACC DEC GAIN Figure 4 1 Personality Board Dip Switch Locations Section 4 Page 2 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 4 3 Function Selections This section covers the various optional functions and their selection 4 3 1 Limit Switch Enable OFF function DISABLED default 0 ON function ENABLED 1 SW 1 2 enables the limit switch stop function This function is normally used on limited travel linear slide axes for over travel li
12. Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com SPECIFICATIONS catt PTO2E 14 18 Z MATING CONN SR 6 14 185 SR ALL DIMENSIONS ARE IN INCHES 1 2 NPT UNLESS OTHERWISE NOTED MOTOR W O CONNECTORS N MOTOR W O x ai EL 1 XN MOTOR 17 9 connectors N J 11875 P j N Z 1 500 3 3 m FULL DEPTH AL doal 550 5 05 50 L 1 906 d n MAX 1 846 ADD APPROXIMATELY 2 FOR BRAKE OPTION Figure 0 5 DXE 455 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Ib in sec Ib in Ib in rpm Lb Amps In Ibs Ibs Lb kg kg cm in amp RMS NPT CONN 0 0026 70 245 3000 8 8 27 8 10 3 8 6 50 100 19 8 9 0 2 94 Holding Voltage Current Engage Disengage Added Added Added Torque Volts Amps Time Time Inertia Length Weight Ib in Ib in sec in Ib kg 240 24 88 10 100 ms max 250 ms max 0 0009 2 5 8 2 6 off on Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DXM 455 MOTOR SPECIFICATIONS NOTE ALL DIMENSIONS ARE IN MILLIMETERS MOTOR CONN 02 16 8 UNLESS OTHERWISE NOTED RESOLVER COUN MATING CONN PTOSE 16 8S SR MATING CON 1 2 NPT G
13. Verify correct speed If the controller allows viewing the actual motor speed then monitor it and adjust the Cal Speed pot until the correct speed is observed 5 If the controller doesn t allow viewing the motor speed then use a tacho meter on the motor shaft or use the drive s tach output signal See Table 3 E Apply 25 of the max command and verify the speed per the above Continue increasing the command signal level in 2596 increments and verifying adjusting Cal Speed until 10096 command signal is achieved Follow the above procedure in the opposite motor direction to verify there is no signal offset Check for velocity offset A difference of up to 5 between CW amp CCW is acceptable Any more than 5 difference may indicate a resolver phasing shift or a tachometer problem The system will run but not at optimum performance Cal Speed Adjustment with closed position loop controller a Adjust the position controller loop gain to a value below normal This will allow more accurate adjustment of the Cal Speed setting Apply 1096 of the max command to pins 7 and 8 Verify correct speed If the controller allows viewing the following error then monitor the following error and adjust the Cal Speed port until the correct amount of error is observed If the controller is designed with feed forward command this error should be near zero Section 5 Page 3 Artisan Scientific Quality Instrumentation Guaranteed 88
14. are located on the personality board and the potentiometers are accessible from the front panel Current Loop and Limiting The current error signal is generated comparing the output of the current limiting stage with the actual current in the motor The current error signal is computed to generate the PWM signals driving the IGBT final stage In the block diagram in Figure 1 3 the IGBT devices are shown as switches Current Limiting In the current loop circuit there is a current limiting circuit referred to as xt which continuously monitors the current commanded and delivered into the motor The Ixt limiting circuit is not operational in the current command mode See Chapter 6 for details on implementing current command mode This limiting circuit estimates the heating of the motor by continuously monitoring the amount of current in the motor and the length of time this current has been flowing The limiting value is determined by the setting of dip switches on the personality board If the current requested exceeds the value set by the dip switches the xt control circuit will determine how long the commanded peak current will be allowed before limiting the delivered current to the dip switch value This current limiting is not a fault condition but rather an xt current fold back limiting and is so indicated by the High Irms LED and High Irms output When the drive is in the Ixt limit status the RED led HIGH Irms lights and terminal 1
15. in the same raceway gt If mixing wires cannot be avoided then the low voltage control input and output wiring must be shielded The shield for these wires should be connected to ground only at the source end of the signals gt Do not connect both ends of a shielded cable to ground unless specified by the manufacturer to do so This may cause a ground loop condition which could cause erratic equipment behavior and may be very difficult to locate Allthe wires in the system must be kept as short as possible Section 3 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 2 Magnetic Coil Noise In the case of DC coils a diode is installed across the coil in a direction that will cause the voltage transient to be dissipated through the diode DC LINE CUI IN4001 5 Figure 3 1 DC Coil Suppression In the case of AC coils a capacitor and resistor are installed across the coil to suppress the unwanted transients INE Figure 3 2 AC Coil Suppression 3 3 Grounding The GND terminal of the drive is bonded to the frame and the mounting tabs There are two acceptable methods for connecting the grounds of the enclosure and other electrical equipment to the Earth ground Figure 3 3 shows the ideal grounding method providing a grounding point isolated from the enclosure and ground all the electrical equipment to this one point From
16. there a grounding wire with good conductivity will be run to the enclosure cabinet ground point The machine ground wire and earth ground supply wire are connected to this enclosure ground point This method provides maximum isolation of the control and servo grounds from the machine and other sources of ground imbalances and noise In most cases however a single point enclosure ground can be used as shown in Figure 3 5 Section 3 Page 2 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 0 POWER SUPPLY ENCLOSURE OUND GROU Figure 3 3 Ideal grounding example schematic ENCLOSURE GROUND POINT BONDED TO ENCLOSURE Figure 3 4 Ideal grounding example pictorial _ SIGNAL COMMON LX AMP GROUND LX AMPLIFIER MOTOR 5 mmn je ee eel 3 SHIELDED MOTOR CABLE HPS XXX N NG a m LA T si ot fA 2 TO EARTH GROUND i LX007 Section 3 Page 3 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific c
17. 0 0 8 0 1 6 1 0 4 1 1 2 4 4 3 Continuous Current Adjustment When continuous current of the motor is less than the continuous current of the drive it is possible to reduce the drive continuous current using the four SW2 switches with the following logic Identify the required current level in Table 16 related to the LX drive model you are using Set the relevant SW2 1 2 3 4 ON or OFF configuration Table 4 E Nominal Current Adjustment OFF 0 ON 21 Table 4 E Rev 01 13 95j LX 400 LX 700 LX 1100 La s SUMAS SW2 amps RMS AMPS RMS AMPS RMS 0 0 0 0 2 16 3 78 5 67 0 0 0 1 2 30 4 02 6 02 0 0 1 0 243 4 25 6 38 0 0 1 1 2 57 4 49 6 73 0 1 0 0 2 70 473 7 09 0 1 0 1 2 84 4 96 744 0 1 1 0 2 97 5 20 7 80 0 1 1 1 3 11 5 43 8 15 1 0 0 0 3 24 5 67 8 51 1 0 0 1 3 38 5 91 8 86 1 0 1 0 3 51 6 14 9 21 1 0 1 1 3 65 6 38 9 57 1 1 0 0 3 78 6 62 9 92 1 1 0 1 3 92 6 85 10 28 1 1 1 0 4 05 7 09 10 63 1 1 1 1 4 19 732 10 99 Section 4 Page 5 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 5 START UP CALIBRATION This chapter will cover the steps necessary to correctly adjust an LX drive In some cases the most accurate adjustment requires some test equipment such as an oscilloscope tachometer or a voltmeter The type of test equipment required is depende
18. 18 AWG 300V 105 C DX 455 18 AWG 300V 105 C DX 490 16 AWG 300V 105 C DX 4120 16 AWG 300V 105 C Section 3 Page 10 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com x lt P ENCLOSURE GROUND POINT SHIELD THE SHLD TERMINAL TB1 SHOULD NOT USED UNLESS DETERMINED NECESSARY BY EMERSON EMC SERVICE PERSONNEL NT MOTOR PHASE LEADS MOTOR GROUND SHOU RUN IN METALLIC RAC IF THE CABLE IS NOT SHIELDED IT IS RECO THAT THE 3 MOTOR P WIRES BE TWISTED TO GROUND Figure 3 9 DXM 3XXW motor wiring Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com AND LD BE EWAY MMENDED HASE GETHER LX008C Section 3 Page 11 RESOLVER x oA M D GND FR T E S R GND MOTOR PHASE LEADS AND MOTOR GROUND SHOULD BE RUN IN METALLIC RACEWAY IF THE CABLE IS NOT SHIELDED IT IS RECOMMENDED THAT THE 3 MOTOR PHASE GND WIRES BE TWISTED TOGETHER 3 4 NPTN CT 1 2 NP GROUND ENCLOSURE oul GROUND POINT g3 mee NOTE THE SHLD TERMINAL OF 1 SHOULD NOT BE USED UNLESS DETERMINED NECESSARY BY EMERSON EMC SERVICE PERSONNEL Figure 3 10 DXM AXX X W motor wiring S
19. 2 becomes open circuit Once current fold back is engaged the drive will continue in the limited current condition until the current commanded is reduced below the dip switch level for length of time sufficient to reset the xt limiting circuitry The amount of time allowed above the continuous level before xt limiting varies is dependent on the percent of RMS current the drive has been running Peak current availability is also dependent on the level of current demand below and the amount of time below the dip switch level In addition to the current foldback limiting the LX amplifiers also have short circuit protection This prevents destruction of the amplifiers due to short circuits either from a short that is applied while in operation or from a short circuit in effect at power ON Section 1 Page 8 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 4 Diagnostics and Fault Handling A number of diagnostic and fault detection circuits are incorporated in the LX amplifier to protect the drive Some faults like over voltage under voltage and amplifier or motor over temperature reset when the fault is cleared Other faults such as short circuit at the motor output terminals and or resolver fault need to be reset by cycling power Ixt trip is not a fault condition it simply folds back the current command to the DIP switch setting until the demand is reduced The lxt trip is not opera
20. 28 INT SHUNT V V DC BUS WE wr 29 EXT SHUNT gt Ue nye eae INT SHUNT WA e30 AC LINE 1 URN gt EXT SHUNT M Pm P WIT REMOVE JUMPER ma py AG NE D WHEN USING NG EXTERNAL SHUNT N LXSHNTI LXSHNTE Figure 6 1 Internal shunt connection Figure 6 2 External shunt connection default To use an external shunt resistor 1 Remove jumper between terminals 27 and 28 2 Connect the external shunt resistor between terminals 27 and 29 WARNING To avoid damaging the shunt driving circuit when using an external shunt resistor Remove the Internal Shunt jumper from the connection strip gt Donotuse a resistor value less than 33 Q Section 6 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 6 2 Current Command Mode LX drives can be operated in torque mode or current command mode using terminal pin 2 CUR CMD as an input for the current command signal The command signal range is 10V Terminal pin 2 is a bi directional terminal with an input impedance of 20 Output impedance of the device driving the CUR CMD input must be 50W or less standard operating amp output It serves as both an input for the current command when operating in current command mode and an output for the current demand signal generated by the speed loop when operating in velocity command mode When operating in current command the xt limit circuit is not opera
21. 6 4 727 i 4 500 038 ADD 2 INCHES FOR BRAKE MOTOR 4 499 Paa ALL DIMENSIONS ARE IN INCHES UNLESS OTHERWISE NOTED in Figure 0 7 DXE 490 4120 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Ib in sec Ib in Ib in rpm Lb Amps In Ibs Ibs Lb kg kg m RMS NPT CONN DXE 490 0 0051 90 315 3000 8 6 36 6 12 8 11 1 50 100 27 5 0 00058 11 6 DXE 4120 0 0074 120 420 3000 10 5 40 0 15 3 13 6 50 100 38 17 2 0 00084 Holding Voltage Current Engage Disengage Added Added Added Torque Volts Amps Time Time Inertia Length Weight Ib in Ib in sec in Ib kg 240 24 88 10 100 ms max 250 ms max 0 0009 2 5 8 2 6 off on Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DXM 490 4120 MOTOR SPECIFICATIONS 010 0 THRU 4 HOLES EQ SPD ON 6145 0 B C r 13 0 1 2 MR 3 4 suka Y bM Ng N 11 3 ae s y i 1 J N 2 AS O 400 43 FULL DEPTH a 35 0 r 50 0 A Tog ADD 50 00mm FOR BRAKE MOTOR 109 98 121 00 SQ ALL DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE NOTED 1x016 Figure 0 8 DXM 490 4120 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT
22. 8 88 SOURCE www artisan scientific com d Apply 25 of the max command and verify the speed per the above e Continue increasing the command signal level in 25 increments and verifying adjusting Cal Speed until 100 speed command is achieved f Follow the above procedure in the opposite motor direction to check for velocity offset 5 1 3 Dynamic Calibration with Oscilloscope The LX drives leave the factory with a default calibration To most accurately adjust this setting for your load you will need a low frequency function generator with an output level between 3 5V and 3 5V and a dual trace storage oscilloscope Remove the controller signal cable from terminals 7 and 8 Connect the function generator output to terminals 7 and 8 and set it per the following Square wave Amplitude 2V approximately 600 to 1200 rpm Frequency 0 2 Hz 2 5 seconds each direction The oscilloscope power cord must be grounded to the exact same point that the amplifiers are grounded or a very inaccurate signal may be displayed Connect oscilloscope Channel A to terminal 1 simulated tach signal Connect oscilloscope Channel B to terminal 2 current demand Oscilloscope probes have to be grounded on terminal 11 of LX Connect the oscilloscope external trigger input to the function generator output Set oscilloscope for 1mV div and for 20 mS div scan time VV v v v Vv Vv WARNING avoid over travel interference on an axis with limi
23. ARTH GND Chassis ground power supply side This is not connected to the logic side common It is connected to the amplifier frame Section 3 Page 19 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 4 CONFIGURATION 4 1 Configuration Options Drive configurations choices are made via the DIP switches mounted on a removable personality board Note that the OFF positions are all towards the connector on the front of the personality board The DIP switches control the following functions gt 5 1 1 Full scale speed selection 3000 RPM 6000 RPM gt SW2 Nominal current limiting gt SW3 Motor poles selection gt SW1 2 Limit switch enable gt SW4 Simulated encoder resolution selection gt SW5 Limit switch polarity NOTE The personality boards for different size LX Amplifiers are not identical A select resistor soldered into a header on the personality board is installed at the factory which sets the gain windows for the range of motors normally used on that amplifier Table 4 A Standard Personality Board R22 Values AMPLIFIERS MOTORS R22 RESISTOR VALUE DX 208 DX 316 LX 400 DX 340 DX 455 DX 490 DX 4120 LX 700 LX 1100 These functions can be deleted on special ordered reduced cost drives Standard R22 value in the LX 700 is 82KQ A 47KQ resistor and instructions for installation are included with each
24. B 1 Amplifier Overview UNITS LX 400 LX 700 LX 1100 Input power KVA 1 5 2 5 3 75 Input current Amps 4 5 7 5 11 2 Continuous output current Amps 4 0 7 0 10 9 Maximum output current Amps 8 0 14 0 22 0 Input voltage Single of 30 96 to 264 VAC 47 63 Hz Supply voltage 96V to 264VAC nominal RMS voltage direct on the main line or through a line transformer Output current specification tolerance t 1096 of max Max voltage output of the amplifier between phases R S T Supply voltage 10 VAC rms Internal braking resistor capacity 33 Q 150 Q External shunt resistor drive capacity 33 Q 3300 watts Analog command input 10V 10 kQ input impedance Error amplifier temperature drift 1 3 uV C Working temperature 10 C to 50 C Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com B 2 User Adjustments All adjustments are on the personality board Offset null Full scale speed Response Acc Dec Gain VV v v B 3 Diagnostic Annunciation N O relay contact output for drive O K monitoring Green LED for drive O K monitoring Red LED for resolver fault monitoring Red LED for heatsink over temperature Red LED for motor over temperature Red LED illuminates when xt current limiting is active Yellow LED illuminates when shunt circuit activates vy V V V V V V B 4 Functions Enabled via Dip Switc
25. ING ADJUSTMENT PROCESS WILL CAUSE HIGH FREQUENCY MOTOR INSTABILITY AND OSCILLATION FOR A SHORT PERIOD OF TIME VERIFY THAT THE LOAD WON T BE DAMAGED BY THIS MOTION Set the Acc Dec pot to fully CCW This completely eliminates the ramping Set the Response and Gain Pots to fully CCW Apply power to the amplifier Monitor the motor shaft rotation Adjust the Offset pot until the motor shaft stops rotating CAREFULL Y Adjust the gain potentiometer CW until the motor just starts to buzz then quickly turn it CCW until it stops buzzing then turn it CCW 1 more turn CAREFULL Y Adjust the response potentiometer CW until the motor just starts to buzz then quickly turn it CCW until it stops buzzing then turn it CCW 2 more turns Section 5 Page 6 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 6 SPECIAL APPLICATIONS 6 1 External Shunt Resistor LX drives leave the factory with the internal shunt resistor enabled through an externally wired jumper between terminal pins 27 and 28 If the power rating of the internal shunt resistor is insufficient for heavy cycles an external shunt resistor with greater power capacity should be added The internal shunt resistor capacity on all LX drives is 150 watts LX AMPLI FI ER LX AMPLIFIER INTERNAL SHUNT 26 DC BUS ye 27 DC BUS CONNECTION FOR AAA EXTERNAL SHUNT 26 DC BUS e
26. M design to provide efficient power conversion Sine wave commutation of the motor results in smooth rotation across the full range of speed All LX Amplifiers are designed with their own power supply heat sink shunt resistor and fan when needed This allows for simple installation and expansion Section 1 Page 3 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com LX Amplifiers can be easily adjusted to operate with a variety of motors and controllers A personality module attached to the amplifier retains all adjustments If an amplifier needs to be replaced the personality module can be removed and attached to a new amplifier thus alleviating the re adjustment process Troubleshooting is aided through the use of status LEDs located on the front panel of the amplifiers The LEDs continually keep the operator informed of the status of the amplifier at all times In addition to the LED indications fault conditions such as resolver fault and motor over temperature are announced as a contact signal output which can be monitored by a host controller Input power voltage can range from 96 to 264 VAC 50 60 Hz without jumper or switch selection A 230 VAC 50 60 Hz 30 supply will deliver the maximum output power Optimum performance from a servo system is accomplished by carefully matching the motor and amplifier Emerson EMC s DX Series of servo motors has been engineered to complim
27. OTES 1 DIMENSIONS SHOWN IN 1 24 ARE METRIC 31 5 163 7 LX003 Amplifier Mounting Information Section 2 Page 2 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 2 5 Motor Installation 2 5 1 Motor Mounting To provide good mechanical alignment the mounting surface of the motor face plate is held perpendicular to the motor shaft to within 0 005 inches Projecting above the plane of the mounting surface is a close tolerance circular pilot boss Matching the pilot boss with a pilot hole in the mounting structure facilitates interchanging the motor and minimizes the need for mechanical adjustments The mounting surface is fitted with four holes equally spaced on a bolt circle pattern The mounting panel must be stiff enough so it does not deflect significantly when radial loads are applied to the motor shaft The mounting panel should also have good thermal conductivity especially if peak performance is demanded of the motor WARNING Mechanical shock to the motor case or shaft e g from striking or dropping must be avoided to prevent damage to the motor Possible results from striking or dropping include Misalignment of the resolver damage to armature bearings cracking of the motor case unbonding or demagnetization of the permanent magnets Any of these would render the motor unserviceable 2 5 2 Conduit Installation The following procedure must be followed to as
28. PVC rated for 105 C XXX is length in feet consult an Emerson EMC application engineer for cabling requirements over 100 ft Cable Notes 1 Applications that require LCS or LCF cables longer than 100 ft should be discussed with Emerson EMC s Applications department 2 As a general rule the minimum cable bend radius is ten times the cable outer diameter 3 Motors with MS style connectors should be mounted with the connectors pointing downward This provides added protection against dust and water damage Section 3 Page 13 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com n EACIT BET 29 STvISTED PAR R REF GND EXCIT 21 pg UU ble BLU _ 16 G COS GND T A YE al TED EAS E TH A S cos BLK H AMPLIFIER d SIN RET 18 f em ITST AT SED F SIN GND SIN 19 LL TWISTED PAIR RED L HISIN COMMON 13 O PET e THERM Le STWIST AIR BLU M ES TENE MOTOR THERM 14 WISTED PAIR iili U MOTOR THERM q die te le SHLD DRAIN WIRE g ate P F DWG Figure 3 11 LCF XXX Cable Wiring Diagram MOTOR CONN LX AMP RED P BLK B S X BLU cr mE D GND BRK ET t BRK SHLD USEC BLU WHT 3
29. RS RELAY CONTACT ECM ONLY N Pa C 24VDC BRAKE 1 5 A MIN POWER SUPPLY ECM DWG Figure 3 14 Connectorized Motor Brake Connection Section 3 Page 15 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com USER SUPPLIED DC VOLTAGE SOURCE 24VDC 1 54 MIN CURRENT PER BRAKE N1 BRAKE CONTROL RELAY O 3 4 N SIN GND THERM THERM SHLD LX008B Figure 3 15 DXM 3XXW Motor Brake Connection USER SUPPLIED DC VOLTAGE SOURCE 24VDC 1 5A MIN CURRENT PER BRAKE 1 2 NPT 3 4 NPT cos COS GND SIN GND ITHERM LX008a Figure 3 16 DXM 4XX X W Motor Brake Connection Section 3 Page 16 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Table 3 E Amplifier Connections Signal Connector Conn Signal Signal Description 1 TACH Simulated tachometer output signal derived from resolver with a range from 10V to 10V with a full scale of 3000 or 6000 RPM selected through SW1 1 CUR CMD The command signal is a DC signal the range 10V to 10V proportional to the requested current value When 10V is applied the drive generates peak current A positive signal with respect to common pin 3 will produce a counterclockwise shaft rotation A negative signal w
30. S mS J MITES 1 dOdd SNOLLVHBITVO 44 LINT M22 OINYNAG shin Mo XV3NB N3ATOS3N 24 a INILYJANI sna oa sir lt 1 ng INANI 9OTYNY Seq s a Hi S NON TWLNGN344I0 St tz T 1 11 Ed Ivi I X E2 901515380 i INNHS WWNY3LX4 E 315158 YOSNIS TVAMH3HI 031 N3349 4 INNHS TVNH3INI 1084 5321430 39915 WNI4 l aay agp 83 10538 4 Lunoulo si DIISONDYIO 3BnlvH3dA3183A0 AlddnS 391104 12 gm qx ION 1NNHS E Kg noo 3un vea INANI YOLIDYdvI l 031 INNHS an 2 AlddS W3WOd Te sng ROTA sS bba 3SVHd 33NHl SANS KE T Dl o J 3 1053 Figure 1 3 Block Diagram Section 1 Page 11 tific com scien Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan 2 INSTALLATION MECHANICAL 2 4 Installation The following installation requirements methods and procedures are provided to assure reliable and trouble free installation of your Emerson MC LX Drive The methods and procedures are outlined on the following pages and include site requirements safety considerations power and fusing requirements wire and transformer sizing noise suppression and l O wiring 2 2 Safety Considerations The installer user is responsible for incor
31. User s Guide for the LX Brushless Servo Drives Amplifier Models LX 400 LX 700 LX 1100 Motor Models DX 208 DX 316 DX 340 DX 455 DX 490 DX 4120 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com n Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com User s Guide for the LX Series Brushless Analog Servo Drives LX400 LX 700 LX 1100 Information furnished by EMERSON EMC is believed to be accurate and reliable However no responsibility is assumed by EMERSON EMC for its use EMERSON EMC reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice EMERSON EMC also assumes no responsibility for any errors that may appear in this document Information in document is subject to change without notice Part Number 400272 00 Rev A 2 Date 01 13 95j Section 1 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 INTRODUCTION 1 2 INSTALLATION MECHANICAL 2 3 INSTALLATION ELECTRICAL 4 CONFIGURATION 4 5 START UP CALIBRATIONS 5 6 SPECIAL APPLICATIONS 6 7 DIAGNOSTICS 7 8 APPENDICES 8 Section 1 Page 2 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 Introduction 1 1 Features of the LX Dri
32. _ 8 000 1 7 991 1 140 He FULL DEPTH site 3 0 30 0 170 0 p 66 0 SQ kaaa A ALL DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE NOTED LXO10A Figure D 2 DXM 208 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Lb in sec Ib in Ib in rpm Lb Amps mm Ibs Ibs Lb kg kg cm in amp RMS 0 0001 10 32 5000 4 1 8 0 170 15 20 4 1 9 0 113 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DXE 02 877 2873 0 223 T THRU 4 EQUALLY SPACED ON A 93 875 B C 1265 3 820 50 516 4997 94995 t 900 FULL DEPTH SPECIFICATIONS NOTE RESOLVER CONN PTO2E 14 18P MATING CONN 6 14 185 SR MOTOR CONN 2 16 MATING CONN 6 16 85 SR ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE NOTED 2 428 2 MAX oN t aN 3 4 NPT MOTOR WITHOUT CONNECTORS ADD APPROXIMATELY 1 5 FOR BRAKE MOTOR LX009A Figure 0 3 DXE 316 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Ib in sec Ib in Ib in rpm Lb Amps in Ibs Ibs Lb kg kg cm in amp RMS 0 0052 20 72 4000 5 5 13 8
33. allel with n number of drives The overall transformer power in VA is Pt Ps1 Ps2 Psn where Ps1 power of secondary winding 1 Ps2 power of secondary winding 2 Psn power of secondary winding n Section 3 Page 6 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 4 3 Transformer Fusing The secondary of the transformer must have fuses installed in each of the legs The current for each fuse is Ampere 0 8 transformer VA rating RMS secondary voltage If more than one drive is connected to the same secondary winding each drive must have it s own set of fuses as shown in Figure 3 6 See Table 3 A for the recommended fuse size and type 3 4 4 External Disconnect The following two circuits are given as Emerson EMC recommended disconnect transformer fusing examples ISOLATION TRANSFORME LX AMPLIFIER I A AJ OL L qe 4 LE SIM PA TO AC POWER a o e Of Om L2 230VAC Lx 4 gt _ 4 O Aa 7 1 mi I J ve TO EARTH GROUND 1 E e O mL2 eo L3 e WI Om f o2 0 13 e LX001 Figure 3 7 Typical disconnect with transformer Section 3 Page 7 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com TO AC POWER INPUT
34. cation CW rotation is disabled with an OV amplifier common signal on terminal 45 CW LIM SW CW rotation is enabled with terminal 45 open OFF N C limit switch application CW rotation is disabled with terminal 45 open CW LIM SW CW rotation is enabled with a 1 to 30 volt signal applied Section 4 Page 3 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 4 3 3 Simulated Encoder Resolution SWA sets the simulated encoder resolution according to the following table The default position is 512 lines per revolution Table 4 C Encoder Step Revolution OFF 0 ON 1 SW4 1 SW4 2 ENCODER STEP REVOLUTION 0 0 1024 0 1 512 1 0 256 1 1 128 4 4 Configuration Tables This section covers the adjustments that are necessary when using a motor not covered under the DX motor setup chart in Section 4 2 4 4 1 Full Scale Speed SW1 1 sets the full scale speed to match the control loop to the motor rated maximum speed ON 3000 RPM default OFF 6000 RPM Section 4 Page 4 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 4 4 2 Motor Poles Selection Switch SW3 sets the number of motor poles The default setting is for a 6 pole motor Table 4 D Motor Poles Selection OFF 0 ON 1 Table 4 Rev 01 13 95j sw3 1 SW3 2 MOTOR POLES
35. e DRIVE OK contacts are closed 11 COMMON Signal common This terminal is not internally connected to the Earth ground on the power connector 12 HIGH Irms This pin is normally at zero volts being pulled down to logic common through an open collector transistor in the amplifier When the red High IRMS led lights during current limiting this terminal becomes an open circuit The maximum voltage rating is 47V The current drive capability at logic O grounded is 100 mA 13 COMMON Signal common This terminal is not internally connected to the Earth ground on the power connector 14 MOTOR THERM The terminal pin is normally connected to the motor thermal sensor Link with terminal 13 if not used default Section 3 Page 17 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Table 3 F Resolver Connector Conn Signal Signal Description 15 SHIELD Resolver cable shield Do not connect anything else to this terminal It is electrically connected to logic common but has a dedicated trace on the circuit board to minimize noise interference and maximize shielding 16 COS RET Cosine low signal coming from the resolver 17 COS Cosine high signal coming from the resolver 18 SINE RET Sine low signal coming from the resolver 19 SINE Sine high signal coming from the resolver 20 EXCIT RET Resolver e
36. ected to the back up supply when the main supply falls below 96 VAC the Drive OK green LED goes off for about 2 seconds then lights again The drive status relays follows the green LED operation In back up status the drive disabled the green LED is ON and the drive status id rani a Aa BACKU OWER SUPPLY CONNECTIONS HEATSINK TOP VIEW FRONT 8V 300 Ma 24V 250 Ma 24V 400Ma LX017 L OY UV Figure 6 3 LX back up logic supply connection Section 6 Page 3 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 7 DIAGNOSTICS 7 1 Diagnostics and Fault Handling A number of diagnostic and fault detection circuits are incorporated in the LX amplifier to protect the drive Some faults like over voltage under voltage and amplifier or motor over temperature reset when the fault is cleared Other faults such as short circuit at the motor output terminals and or resolver fault need to be reset by cycling power Ixt trip is not a fault condition it simply folds back the current command to the DIP switch setting until the demand is reduced The lxt trip is not operational the current command mode See Section 6 Special applications for details Table 7 A CONDITION DISPLAY DRIVE OK RESET ACTION REQUIRED Motor O
37. ection 3 Page 12 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 5 4 Connectorized Motor Wiring Connectorized motors are equipped with two military style connectors for easy connection and disconnect This is especially useful for equipment that is disassembled an reassembled many times All the motor models except for the DX 208 motor have two connectors One makes the motor power and ground connections and the other makes the resolver and thermal switch connections The connectors are different to eliminate the possibility of incorrect connections The LCF XXX feedback cable makes the resolver thermal switch connection The ECM XXX and ECS XXX cables make the motor power ground and brake connections if required The DX 208 motor is very small and so is supplied with one integrated connector The LCS XXX cable includes all the wiring for the DX 208 motor The DX 208 motor is not available with a brake so no brake wiring is included in the cable The following figures show the wiring diagrams for the ECM XXX ECL XXX LCS XXX and LCF XXX cables Table 3 D Motor Cabling Motor Type Motor Model Motor Cable Resolver Cable Waterproof Motors DXM E 3xxW 4xxW HPS XXX shielded 250224 09 250036 00 non shielded Connectorized DXM E 3xxC 455C ECM XXX LCF XXX Motors DXM E 490C 4120 ECL XXX LCF XXX DXM E 208 LCS XXX All cabling is
38. ent the LX servo amplifier providing unparalleled reliability and performance The DX Motors are available in a number of configurations including connectorized or waterproof IP65 versions Most motors are also available with a mechanical holding brake NEMA motor face dimensions are available in addition to the metric dimensions on four motor models to greatly simplify mounting to many standard reducers DXE 208 NEMA 23 compatible DXE 316 NEMA 34 compatible DXE 455 NEMA 56C DXE 490 NEMA 143TC DXE 4120 NEMA 143TC The signal and power connections are conveniently located on the drive front panel to simplify wiring in multi axis applications Section 1 Page 4 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com BACKUP SUPPLY CONNECTOR PLUGGABLE TERMINAL CONNECTORS nae aoe aos 00000000 GAD PERSONALITY N MMM 111111111177 LX AMP GAG gggggdgag II XS AA FAIA UOTIN CONTROIS LX015 Figure 1 1 LX Drive overall layout Section 1 Page 5 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 2 System Components A complete LX package is made up of an LX amplifier a DX motor and the appropriate motor and resolver cables connected as shown in Figure
39. ergy generated by the motor during high gradient deceleration rates and continuous regeneration against a load the braking circuit shunts the excess current generated by the motor through the internal shunt braking resistor The yellow LED lights when the shunt circuit is active If the power capacity of the internal braking resistor is insufficient for heavy cycles an external braking resistor with greater power should be added and the internal resistor disconnected See the Special Applications in Chapter 6 for more information Section 1 Page 10 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com E 0123 02 YIMOd YOLOANNOD TYNDIS CANIYYNI TWNINON ZMS did 1 0 QNV NI jur ANILAO ONYWNOD INININO 318vN3_ SWal HOIH _ 9 9 8 8 v Y NONNO E NN oO gt Y 2 A _ LINDSIO EEUU 2 1 A ZZ YOLON 57 NOLLVINNIS rH ALMYNOSYad 83002 3 TVIN3N3NONI 1 mend q Paana 17 JALOV INIYYNO C 9 w s g l H313NOHOVI YIATOS3Y 1 lam 109100 N313 OHOVI O31VTnMIS N39 L f 14 WMd I 1 LA p bee belt Z f I NOILvMBI v2 NG 138440 S
40. hes Nominal current limiting Motor poles selection Speed scale selection Limit switch enabling and polarity 1 Simulated encoder resolution VV v v B 5 Protection and Diagnostics gt Resolver fault Current limiting to protect motor Drive O K indication LED and contact gt Output short circuit Phase to phase or Grnd gt Over temperature 95 C on the heatsink gt Under voltage 2 135 Vdc on the DC bus gt Over voltage 416 Vdc on the DC bus The shunt circuit is automatically disabled when the input line power is lost while the DC bus voltage not zero B 6 Personality Board Options The standard LX amplifier contains the personality board with all options which include the encoder and pulse direction outputs along with the limit switch inputs A reduced cost version of the LX is available in quantity purchases which does not include these connections or features These are available as delete options at a reduced cost When under voltage is tripped the optional external logic supply is automatically invoked See Chapter 6 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com n Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com C Combined Motor Amplifier Characteristics AMP MOTOR CONT PEAK POWER INERTIA MAX MOTOR MODEL MODEL TORQUE
41. ieu of the Low peak type fuse when avallability dictates but the level of drive protection afforded by the LPN fuse is better In the case of a short circuit in the drive there will be fewer failed drive components if a low peak fuse is used because it will blow before the currents reach a high level 3 4 2 Transformer Power Supply One 30 transformer may be used to supply more than one drive The secondary winding should be set up to supply the sum of the nominal current of the motors connected The transformer secondary must be a delta configuration or a WYE configuration with a full current grounded neutral connection due to the harmonics induced when supplying power to a rectified power supply The type of primary winding is immaterial TERM 30 4 A a ES lt PRIMARY SECO t TERM 31 N D N v TERM 32 Figure 3 6 Power supply example Section 3 Page 5 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com The following formula can be used for transformer sizing For each secondary winding the power in VA is Ps Paz 1 5 1 73 V n 2 where Paz Vm1 Cm1 Vm2 Cm2 Vmn Cmn Vm motor max speed in rad sec RPM 9 55 Cm nominal motor torque in Nm Ib in 8 85 1 73 n 2 corrective factor when using more than one drive supplied in par
42. ion to waterproof conduit fittings The motor power wiring can be either a cable assembly or discrete wires Shielded motor power cables are highly recommended for best system performance and for minimum EMI radiation from the high frequency switching of the amplifier Emerson EMC has shielded power cable available in bulk under part number HPS XXX XXX is the length in feet If a shielded motor power cable is used the shield should be connected to ground at both ends of the cable If discrete motor power wires are used the power wires should be twisted or braided together but not twisted with the ground wire All wiring must be done with industrial grade insulated stranded wire capable of withstanding the environmental conditions of the application See Table 3 C for recommended motor power and ground wire gauge sizes 3 5 3 Resolver Wiring The resolver cable must be comprised of twisted and shielded pair with an overall braided shield The resolver cable conductors should be 18 to 24 gauge The use of larger gauge wire will prematurely fatigue the terminals and make installation difficult Emerson EMC has resolver cabling available in bulk for ease of installation PN 250224 09 The resolver shield should be connected only at the controller excitation end of the cable Table 3 C Power wire recommendations Motor Minimum Wire Size Recommended Wire Type DX 208 20 AWG 300V 105 C DX 316 20 AWG 300V 105 C DX 340
43. ith respect to common will produce a clockwise shaft rotation Shaft rotation direction is viewed from the front of the motor COMMON Signal common This terminal is not internally connected to the Earth ground on the power connector ENABLE Drive enable input 1 10 to 30VDC drive enable O or open circuit drive disable 10 K W input impedance The drive should be disabled for a few seconds after applying power and should be disabled before removing power This way the drive will power up in a stable fashion 10V Voltage reference output 10V max load 10mA 10V Voltage reference output 10V max load 10mA SPEED CMD Non inverting input for speed command signal Positive signal will produce CW motion as seen when facing the motor shaft SPEED CMD Inverting input for soeed command signal Positive signal will produce CCW motion as seen when facing the motor shaft DRIVE OK See pin 10 description DRIVE OK Terminal pins 9 and 10 are internally connected through a contact when the green LED lights and the drive is running If a fault is active the contact is open The contact drive capability is 5A 30V DC If an LX drive is connected to the back up supply when the main supply falls the Drive OK green LED goes off for about 2 seconds then lights again The DRIVE OK contacts follow the green LED operation In back up status the drive is disabled the green LED is ON and th
44. l pair to net 220W to 330W total resistance These resistors must be installed at the point furthest from the signal source The termination resistance would be installed between the signal and common ov Section 3 Page 18 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Table 3 H Power Connector Conn Signal Signal Description 22 MOTOR GND Chassis ground motor side Connected internally to the Earth ground terminal 23 MOTOR Motor power phase R PHASE R 24 MOTOR Motor power phase T PHASE 25 MOTOR Motor power phase S PHASE S 26 DC BUS High power negative DC voltage 27 DC BUS High power positive DC voltage 28 INT SHUNT This terminal pin is linked with terminal pin 27 to enable the internal brake resistor default If an external shunt is required disconnect this internal shunt resistor by removing the link between terminals 27 and 28 See the Special Applications section 29 EXT SHUNT This terminal is used to drive an external brake resistor instead of the internal one The external brake resistor will be connected between this terminal pin and pin 27 If an external shunt is required disconnect this internal shunt resistor by removing the link between terminals 27 and 28 See Chapter 6 30 AC LINE 1 Phase 1 of the AC line 31 AC LINE 2 Phase 2 of the AC line 32 AC LINE 3 Phase 3 of the AC line 33 E
45. mal protection Every motor model has three 150 C thermal switches mounted directly within the motor windings The contacts are connected in series and are available via the motor connections for controller sensing of motor temperature The Waterproof motors also include a second thermal switch which is electrically in series with the three winding sensors and is mounted in the area of the user wiring terminal strips This second thermal switch is set to a lower temperature 80 C to protect the lower temperature type PVC insulated wiring that may be used for the motor connections This lower temperature thermal switch may be shunted out of the circuit by a jumper on the connection board when the higher temperature connection wiring is used All motor wiring supplied by Emerson EMC is rated for at least 105 C so the low temperature switch can be jumpered out The contacts remain closed as long as the temperature stays within operating range When the temperature exceeds the specification the contacts will open These contacts are generally connected to the servo amplifier which shuts the amplifier off to protect the motor from damage The thermal switch contact ratings are 30VDC 500 milliamps Section 3 Page 9 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 5 2 Waterproof Motor Connections The waterproof motors are provided with NPT National Pipe Tapered Threads for easy connect
46. mit protection When the CW limit is activated the velocity command in that direction is clamped immediately to zero speed and will not allow any more motion in that direction The motor will be commanded to decelerate at full amplifier capacity without any deceleration ramps even if a ramp has been set into the accel decel potentiometer Motion in the opposite direction of the activated switch will not be impeded i e CCW motion is not impeded with the CW limit activated and vice versa The position is not locked and the motor may drift or depending on the Offset adjustment The motor is not disabled but has full torque capability and is holding zero speed If the holding limit switch is released while a speed command is applied the motor will accelerate to the commanded speed at full torque with no ramping even if a ramp has been set into the Acc Dec potentiometer 4 3 2 Limit Switch Polarity With the limit switch function enabled the activating logic is determined by DIP switches SW5 1 and 2 allowing a choice between normally open or normally closed limit switches SW5 1 ON N O limit switch application CCW rotation is disabled with a OV amplifier common signal on terminal 43 CCW LIM SW CCW rotation is enabled with terminal 43 open OFF N C limit switch application CCW rotation is disabled with terminal 43 open CCW LIM SW CCW rotation is enabled with a 1 to 30 volt signal applied SW5 2 ON N O limit switch appli
47. nch from the motor face 2 5 4 Gear Reducer Oil It is strongly suggested that a synthetic oil is used in the gear reducer or rotary tables This will reduce the amount of friction in the mechanism and in turn reduce the amount of current it takes to drive the motor Section 2 Page 4 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 3 INSTALLATION ELECTRICAL 3 1 Wiring Wiring of any industrial equipment should be done with some consideration for future troubleshooting and repair It is a good idea that wiring be either color coded and or tagged with industrial wire tabs 3 1 1 Interlocking The user is responsible for emergency interlock switches Any master interlock should be wired to shut down AC power to all parts of the system Your system should be designed such that power is disconnected from the output loads any time the equipment is not running or when the emergency stop is activated 3 1 2 EMI RFI Interference If there is sensitive electronic equipment digital computer test equipment etc operating on the same AC power line as the Drive additional EMI RFI filtering may be required to reduce the effects of conducted AC line noise 3 1 3 Shielding Suggestions Effects of electrical noise on the electronic equipment are greatly reduced when the techniques outlined below are closely followed Donotrun low power control signals and high power wiring
48. nt on the type of controller that is employed and the level of calibration accuracy required for the application 5 1 Drive Calibrations ZERO OFFSET Allows adjusting for input voltage offsets in the speed command signal at zero speed 130 mV to eliminate drift gt CAL SPEED Adjusts the full scale speed command sensitivity At fully CCW the max speed will be achieved at 13 VDC command At fully CW the max speed will be achieved at 7 VDC command The speed range is set by dip switch SW1 1 3000 6000 RPM gt RESPONSE Adjusts the derivative action Turn CW to reduce the overshoot and increase the PID filter derivative action Too high an adjustment will result in a high frequency oscillation on the motor shaft and the possibility of overheating the motor Too high a setting will increase settling time to speed changes Too low a setting will result in slow response to load changes and overshoot during quick speed changes gt ACC DEC Sets the motor acceleration deceleration gradient The range of adjustment allows ramping to max speed in 0 1 sec with a 10 volt signal applied Normal servo application requires full CCW adjustment zero ramping time gt GAIN Proportional velocity gain control Turn CW to increase the PID filter proportional action Too high an adjustment will cause a medium frequency vibration on the motor shaft and possibility of overheating a motor NOTE THE PERSONALITY BOARDS FOR THE DIFFERENT
49. om LX AMPLIFIER MOTOR POSITIONING LOGIC _ CONTROLLER CONTROLLER O unuqa ponnn 0 Jg 1 0 POWER SUPPLY SHIELDED MOTOR CABLE HPS XXX SIGNAL COMMON 18AWG MIN H c E LX AMPLIFIER GROUND 5 3 16AWG MIN a N ENCLOSURE GROUND POINT EARTH GROUND TO MACHINE GROUND LX007A Figure 3 5 Acceptable grounding example 3 4 AC Input The drives are designed to operate on a 50 60 Hz three phase AC power line The AC voltage of this power line must be within the specified range of 96 264 VAC If at any time the input line voltage falls below 96 VAC the drive will drop out the Drive OK output contact and will disable the output bridge 3 4 1 Single Phase Power The LX drives will deliver maximum performance when operating on three phase however 96 to 264 volt 10 can be used with a derating factor Note Consult Emerson EMC customer service if 10 power supply is used Section 3 Page 4 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Table 3 A Power Wiring and Fusing Model MINIMUM WIRE SIZE AWG FUSE RATING AMPS LX 400 20 5 LX 700 18 8 LX 1100 16 12 1 Recommended fuse type is a LOW PEAK delayed action type fuse such as Bus brand type LPN fuse A standard rated delayed action or dual element fuse such as Bus brand FRN may be used in l
50. ot engaged Enable the drive and adjust the ZERO OFFSET potentiometer to stop the motor Restore the original operation mode of the controller VV VV ON Closed loop mode The easiest method of setting the Offset with a closed position loop is to monitor the position controller analog command output with a voltmeter and adjust the Offset until the voltage reads Zero 5 millivolts If the position loop following error is visible on the controller screen With no command adjust the Offset until the following error is minimized Section 5 Page 2 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 5 1 2 Cal Speed Adjustment This adjusts the command voltage input levels so they match the controllers output levels In other words if the controller puts out 8 5 volts for a 3000 rpm command the drive must be adjusted to deliver 3000 rpm with an 8 5 volt command The adjustment range is from 75 to 140 of the DIP switch SW 1 1 setting 3000 6000 rpm The adjustment procedure for the Cal Speed is as follows Perform the Offset adjustment If the position controller can be set up in an open position loop mode do so now and follow step 1 through 5 to complete the calibration If the position controller cannot be set up in an open loop mode follow steps a through f Cal Speed adjustment in open loop mode 2 Apply 10 of the max command to pins 7 and 8
51. porating appropriate safety features into the equipment to prevent injury to personnel or damage to equipment The installer user has the responsibility to comply with the safety requirements of the system This includes installing the system with an appropriate master interlock switch for emergency shut down and using the proper wire and transformer sizes if necessary to fit the system This section will provide you with the information to complete a trouble free installation WARNING The user is responsible for providing emergency interlock switches that will remove AC power from the system any time the equipment is not running or when the emergency stop is activated This is to eliminate the possibility of electrocution or unwanted movement of the motor The safety ground connections should only be disconnected for servicing and only after all AC power has been removed 2 3 Selecting an Enclosure The LX drive is designed for the industrial environment However no sophisticated electronic system can tolerate certain atmospheric contaminants such as moisture oils conductive dust chemical contaminates and metallic particles Therefore if the drive is going to be subjected to this type of environment it must be mounted vertically in a NEMA type 12 enclosure Proper ventilation and filtering must also be provided If the equipment environment is above 50 C cooling is mandatory The amount of cooling depends on the size of the enclosure
52. que speed curve Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DX Motor Specifications and Diagrams DXE 208 MOTOR SPECIFICATIONS 215 195 DIA 4 EQ SPD ON 2 625 DIA B C 2 14 18 52 PTO6E 14 18S SR aN 0 1270 35 ay 1 893 nd _ 0 3750 03009 regi Ls J i i N J _ 0 563 U D D DEPTH 1 502 mies DO BS 1 498 1488 6 757 CR ALL DIMENSIONS ARE IN INCHES UNLESS OTHERWISE NOTED x010 Figure D 1 DXE 208 Motor ROTOR CONT PEAK MAX Kt PEAK LENGTH AXIAL RADIAL WEIGHT INERTIA STALL TORQUE CONT CURRENT A SHAFT SHAFT TORQUE OPER LOADING LOADING SPEED Lb in sec Ib in Ib in rpm Lb Amps in Ibs Ibs Lb kg kg cm RMS 0 0001 10 32 5000 4 1 8 0 6 757 15 20 411 9 0 113 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com DXM 208 MOTOR SPECIFICATIONS 70 5 0 THRU 4 HOLES EQ SPD ON 9 80 0 PT02E 14 18P MTR amp RES MATING CONNECTOR bs PTOGE 14 18S SR AC L 2 00 z 1 1 97 a KL 4 48 1 MAX N
53. sure a waterproof motor installation will be water tight Remove the rear cover from the motor and install the supplied O ring into the groove of the cover gt Wrap the threads of the NPT conduit fitting with at least 2 layers of Teflon tape Install the fitting into the motor threads and tighten at least 1 turn after hand tightening Do not over torque Make the motor wire connections as necessary DO NOT TIN THE WIRES Tinning will compromise the long term integrity of the connection gt Apply a high temperature 100 C 212 F rated grease Lubriko ACZ or equivalent to the O ring gt Install the rear motor cover by tapping it into place taking care not to damage the O ring gt Secure the cover with the four screws provided 2 5 3 Load Coupling A flexible coupling MUST be used between the motor shaft and the load to minimize mechanical stress due to radial loads axial loads and or misalignment Radial and axial loading cannot exceed specified values See Table 2 1 Teflon is a registered trademark of the Dupont Corporation Section 2 Page 3 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Table 2 1 Load Coupling Motor Maximum Radial Maximum Axial Load Ibf Load DXM E 208 20 15 DXM E 3XX 20 15 DXM E 4XXX 100 50 M XXX Metric E XXX English Maximum Radial Load is rated at 1 i
54. ted travel the stroke can be limited by either increasing the frequency of the function generator or decreasing the amplitude The minimum signal amplitude that will allow a good calibration is 100mV pk to pk Refer to the following trace drawings to make the correct adjustments Section 5 Page 4 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com Start with the Gain adjustment and the Response pot fully CCW The trace will probably look like Figure 5 1 Turn the Gain CW until most of the instability is gone and the Tach trace looks like Figure 5 2 Now turn the Response CW until the trace looks like Figure 5 3 If the Response is turned too far CW the trace will look similar to Figure 5 4 This completes the oscilloscope calibration procedure TACHOMETER FUNCTION GENERATOR OUTPUT t PROPORTIONAL DYNAMIC GAIN LOW OVERSHOOT Figure 5 1 Gain set too low Figure 5 2 Gain set correctly Response not set SLOW RESPONSE DERIVATIVE GAIN TOO HICH IDEAL RESPONSE Figure 5 3 Ideal gain setting Figure 5 4 Response adjusted too high Section 5 Page 5 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 5 1 4 Dynamic Calibration without Oscilloscope An acceptable calibration can normally be obtained by setting the calibration potentiometers in the following fashion CAUTION THE FOLLOW
55. tific com RPM f SPEI 2 NAN RPM SPEED I nv 4 f DA 340 ru 230 VAC 30 GU N2098 VAC 30 3000 PEAK N CONTINUOUS A CONT 6 144 2 Y 2000 1000 100 C N MOTOR CASE 0 10 20 30 40 50 60 70 80 90 100 110 TORQUE LB IN TORQ005 Figure LX 700 torque speed curve X NG DX 45 5 208 VAC 30 _ O X Be eae aan 230 VAC 30 N EAK Ex 115 VAC 3b CONTINUOUS N Y nec CONT 7 32 1 MOTOR CASE ORQUE LB IN TORQ004 Figure C 4 LX 700 DX 455 torque speed curve Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com RPM J SPEE JO 500 A a C Co A CA O J On UU a d O aaa v 115 VAC 36 N N Bet 3 CONTINUOUS PEAK CONT 10 99 0 0 20 40 60 80 100 120 140 160 TORQUE LB N TORQ002 Figure C 5 1100 DX 27 torque speed curve 4120 7 230 30 O 208 VAC 30 N A p E N e N a N S115 VAC 36 N ONTINUOUS PEAK 2 CONT 10 99 A 0 0 20 40 60 80 100 120 140 160 180 200 N LB IN TORQ001 Figure C 6 LX 1100 2 tor
56. tional the current command mode See Section 6 Special Applications for details Table 1 B xis Reset Action Condition Display Drive OK Required Motor over LED on Auto reset on temp temperature drop Amp overtemp gt 95 LED on Auto reset on temp C Drive OK ae drop rive V contact Auto reset on return Over vonage apen to normal voltage Drive OK LED off Auto reset on Um Under voltage to normal voltage Output short ckt Cycle power Resolver fault LED on Cycle power Not a fault High Irms LED on Priva on son Indicates current contact closed ape limiting action Drive OK contact Backup Logic opens for about 2 Re application of Supply seconds then AC Line dower active mode closes LED follows P contact action Section 1 Page 9 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 1 5 Power Section On the main board the high current and the signal sections are optically isolated Looking at the block diagram Figure 1 3 the main functions of the drive can be identified The power stage DC bus is supplied by the AC line input to the drive and the internal diode bridge rectifier followed by a set of filtering capacitors The internal SMPS Switching Mode Power Supply operates off the power DC bus to generate all the voltages necessary to supply the low power and control electronics To dissipate the en
57. tional but the motor current is still monitored The High Irms output will go open circuit when the xt limit has been reached and the High Irms LED will illuminate The system controller must monitor the High Irms output and reduce the current command when the voltage at that point is high not grounded to logic common Note When operating an LX drive in torque mode terminal pins 7 and 8 must remain unconnected WARNING NO AUTOMATIC CURRENT LIMITATION IS PERFORMED IN CURRENT COMMAND MODE It is the responsibility of the system designer to implement current limitation by monitoring the high Irms output 6 2 1 Torque Helper Application Torque helper applications can be easily implemented by interconnecting the drives to share the same torque command from a master drive To implement this connect the terminal pin 2 of the Lead drive running in velocity mode to the terminal pin 2 of the Helper drive s no connections to pins 7 amp 8 This way the same current command is being used by all the drives Terminal pin 2 is a bi directional terminal with an input impedance of 20 kQ Section 6 Page 2 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com 6 3 Back Up Logic Supply The connector on the top side of the drive provides a connection for an external multi voltage power supply to maintain the encoder logic signals while the main power is removed Note If an LX drive is conn
58. ver temperature LED on Auto reset on Temp drop Amp Overtemp gt 95 C LED on Auto reset on Temp drop Over balaak Drive OK contact open Auto reset on return to normal g voltage Auto reset on return to normal Under voltage Drive OK LED off voltage Output short Ckt Cycle power Resolver Fault LED on Cycle power High Irms LED on Drive OK on contact Not a fault Indicates current closed limiting action Drive OK contact opens Re application of AC Line Backup Logic Supply for about 2 seconds then power active mode closes LED follows contact action Section 7 Page 1 Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com A 472 8 740 121 222 8 70 4125 2 L 221 3 45 11 _ 5 s o nm T E 410 g 10 4 25 H 6 35 j 58 JAN E aS 14 7 Ct 11 60 3 HOLE DETAIL E 295 3 B 3 12 36 E 314 10 79 E 514 274 L lan c He lt SLE E 5 A a I NOTES DIMENSIONS SHOWN IN 11 24 ARE METRIC 31 5 NE 7 LX003 1 LX Amplifier Mechanical Diagram Artisan Scientific Quality Instrumentation Guaranteed 888 88 SOURCE www artisan scientific com B Amplifier Electrical Specifications
59. ves Uses 96 264 VAC 50 60 Hz single or Velocity or torque mode of control 30 direct on line power source gt 1 KW to 3 KW output power range Limit switch inputs gt 10 lb in to 100 1 13 NM to 11 3 Diagnostic LEDs NM matching motor series Resolver feedback tolerates shock and gt Integral power supply minimizes high temperature external wiring gt Encoder simulation output for external gt Backup logic supply input position controller interface gt Personality module to maintain axis Integral brake available on motors adjustments gt Sinusoidal commutation for smooth gt Waterproof and connectorized motion motors available gt Bus power sharing capability Description The LX Series of brushless servo drives is the latest in analog amplifier design from Emerson EMC The wide input voltage range and compact dimensions make it one of the most versatile amplifiers available There are three amplifiers in the LX Series the LX 400 4 0 amps of continuous output current the LX 700 7 0 amps of continuous output current and the LX 1100 10 9 amps of continuous output current All three amplifiers have the same physical dimensions Each LX Amplifier is matched with the proven reliable DX Brushless Servo motors When correctly matched the LX Amplifier and DX Motor combinations offer continuous torque output ratings of from 10 to 100 Ib in The amplifiers incorporate pulse width modulated PW
60. which are customized by the user on the personality board include Continuous Current limit value Maximum Speed Range 3000 6000 rpm Motor pole selection Calibration adjustments Limit Switch enable and polarity Encoder output resolution The Limit switch inputs and Emulates encoder outputs are standard on the LX however these features can be deleted when purchasing quantities of drives to further reduce costs See your Emerson Sales Representative for further details 1 3 Basic Function and Operation The amplifier is designed to operate in either a velocity command or current torque mode with an analog 10 volt command The velocity command input is a true differential input while the current command input is a single ended input that doubles as the current demand output This signal can be used as a master output in torque helper applications as well as a test point for detecting the actual motor current required in an application For details about the current command mode see the Special Applications section 6 1 3 1 Feedback Signals Speed and position feedback signals are accurately derived from the position information coming from the resolver mounted on the motor shaft The derived tachometer signal is used by the amplifiers speed control circuitry and is available as an analog signal output on the connection strip This tachometer output provides analog voltage proportional to the shaft speed with a range of 10V equal to
61. xcitation low signal 21 EXCIT Resolver excitation high signal Table 3 G Personality Board Connector Conn Signal Signal Description 34 COMMON Logic common This terminal is not internally connected to the Earth ground on the power connector 35 DR OUT CW CCW direction signal 15v CW CCW 36 PULSE OUT 2048 PPR Ov to 15V 37 A Encoder Simulation Channels 128 5 volt 20 milliamps 38 A 256 512 1024 lines rev 1 RS422 output drivers 39 B 40 B 41 Z Zero marker channel 1 rev 1 42 Z Zero marker channel 1 rev 1 43 CCW L S CCW limit switch input 10 to 30 volt See DIP Switches for N O or N C polarity 44 COMMON Common for N O CW limit switch This terminal is not internally connected to the Earth ground on the power connector 45 CW L S CW limit switch input 10 to 30 volt See DIP Switches for N O or N O polarity 46 COMMON Common for N O CCW limit switch This terminal is not internally connected to the Earth ground on the power connector 1 The phase shift between channel A and B is 90 and the Z pulse is phased with the A pulse Max driving capability is 20 mA and each output can drive up to 10 line receiver devices with a maximum total cable length of up to 5000 feet 1200 meters If the encoder signal receiver is not terminated for RS422 signals a termination resistor must be installed across each complementary signa

User's Guide for the Brushless Servo Drives

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