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OPERATING AND SERVICE MANUAL NC400 SERIES SERVO

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3. jueapeno pue yore qpaa 9 5 0 013996 iergrrduy 5 5 ndug NC400 SERIES e SIMPLIFIED FUNCTIONAL BLOCK DIAGRAM FIGURE 6 1 Page 6 4 a b c d e f g FIGURE 6 2 WAVEFORMS FOR FIGURE 6 1 Page 6 5 6 1 Power Section Operation Continued Figure 6 2 is a set of idealized waveforms that appear at the various points in Figure 6 1 The wave forms are not to scale and certain waveforms have been exaggerated for clarity The waveforms are however in proper time sequence Also Figure 6 2 represents specific case of input excitation namely a DC level at point A Figure 6 2 a depicts the input command signal to the power section appearing at point in Figure 6 1 and the feedback signal B representing the current flow in the load circuit These two signals are combined with the triangle waveform C as shown in Figure 6 2 b For clarity Signals A and B are shown combined and their sum plotted against waveform C The resultant waveform A when applied to the two state circuit produces the waveform D shown in Figure 6 2 c This waveform contains the pulse width and frequency modulation information required to satisfy t
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13. Rg1 8162 1 sC R 6 87 9 10 77 275 586 27 G s Note that no potentiometer is employed with the third input to provide variable scaling instead the gain dc is fixed by the selection of R81 and R162 Page 6 15 6 2 4 Three Signal Input Version Cont Once R81 and R162 are selected the value of C44 is selected to provide a frequency break near 1000 2 The value of C44 be calculated approximately using the following expression Mar 62 6280 Roy C44 It should be noted that creating the third input the signal isolating properties of the differ ential amplifier stage IC6 are lost The IC6 stage now becomes a gain of one inverter for input 1 6 2 5 Miscellaneous Comments The components R72 and C9 which in the standard form of the preamplifier are not used can be employed to provide a response lead network for input no 2 This could prove to be beneficial when for example the tachometer signal is returned to input no 2 Determination of the values of R72 and C9 is best done empirically Note that the input no 2 scaling potentiometer R91 divides the voltage applied to R160 only and not that applied to R72 and C9 In addition a capacitor Cll placed in parallel with R77 can be selected to minimize noise carried on the input signals This is especially beneficial when employing motors such as the so called disc motors where a significant degr
14. LOM _ 100 Card Assembly 100VDC Power Supply Assembly om 100VDC Dual Axis Card Assembly 100VDC Com FIGURE 4 1 Technique for Cross Talk Reduction by Common Strapping Page 4 4 4 0 Installation Procedures Continued 4 4 Wiring 4 4 2 Signal Wiring and Shielding All signal and limit circuit wiring need not be larger than 20 guage 0 518 mm For signai circuits including the tachometer twisted shielded pair wire should be employed Proper termination of shielded cables is important in order to avoid creating ground loops or otherwise degrading the noise immunity of the servo controller In general cable shields should be terminated at one onlv The other end is left floating In most applications satisfactory noise immunity will be realized with the signal line shields terminated at the servo controller to the controller signal common terminals In some cases however terminating the individual shields at the respective signal sources will yield better noise immunity In systems particularly sensitive to electrical noise use of shielding for the armature wiring may be required It is important to maintain the continuity of cable shields through any intervening connectors and or terminal blocks Also attempt to minimize the length of unshielded cable at these interconnections 4 4 3 Earth Ground Connections A high quality earth connection should be ma
15. Q0023 00024 00036 00037 CPS 1158 Output Transistor CSR Output Transistor CSR Driver Transistor CSR Driver Transistor CSR 0 1 SW Resistor Dale Diode General Electric 4 Signal Electronics Card 1541 2 2 2 1 1 1 1 2 741 MPS5172 63X103 63X202 MC681P MC7815CP MC7915CP IN758A Op Amp Fairchild Small Signal Transistor Motorola 10 potentiometer Spectrol 2K2 potentiometer Spectrol Hex Inverter Motorola 15V Regulator Motorola 15V Regulator Motorola 10V Zener Diode Motorola 5 Single Phase Power Supply 1524 1525 1 R4050270 Rectifier Westinghouse Page 7 10 7 4 2 Level 2 Maintenance Spare Parts Cont 6 Three Phase Power Supply 1526 1527 3 R4040270 Rectifier Westinghouse 3 R4050270 Rectifier Westinghouse 7 5 Warranty CSR warrents the NC400 Series Equipment to be free from defects in material and workmanship under normal conditions of use and service for a period of 1 year after shipment to the original purchaser CSR s obligation under this warranty is expressly limited to making good at CSR s plant on equipment authorized by CSR to be returned freight prepaid for repair or replacement after examination to CSR s satisfaction that the equipment involved is defective and has not been subject to misuse negligence accident or failure to follow the appropriate
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17. When only contact closures are used to realize these functions V O M or similar instrument be used to check for proper closures at the appropriate terminals When active devices are employed to provide the Inhibit and Enable functions a different test using the V O M must be made Remove the DC bus fuse on the Dual Axis Card Assembly for the controller to be checked and proceed as follows For each of the inhibits and enable in turn measure the voltage present at the appropriate terminal when first system power is applied and second the function inhibit or enable is cycled from the active mode to the inactive mode During the inactive mode a logic zero lt 0 3V should appear at the desired function s terminal while a logic high 5 0V nominal for Enable 1 5V nominal for either Inhibit should appear during the active mode Replace the DC bus fuse after making these tests Page 5 4 5 2 4 Potentiometer Adjustments Each NC400 Series servo controller contains five adjustment potentiometers located at the top of the Signal Electronics Card Normally only these five potentiometers need to be adjusted during the set up procedure The adjustment procedure for each is explained in the following sections Before the adjustment procedure is carried out one must establish that the servo controller is properly attached to the motor load and is otherwise functioning normally although perhaps not optimall
18. 5 2 4 Bridge Resistance Checks Polarity Direction Determination Enable and Inhibit Circuit Tests Potentiometer Adjustments 3 13 3 14 4 6 4 6 4 8 5 1 5 1 5 3 5 4 5 5 CHAPTER CONTINUED CHAPTER VI 5 2 4 5 2 5 5 2 6 5 2 4 1 Offset Adjustment 5 2 4 2 Current Limit Adjustment 5 2 4 3 Scale Factor Adjustment 5 2 4 4 Servo Response Adjustment Compensation Component Changes Electronic Circuit Breaker Trip Adjustment 6 0 Theory of Operation 6 1 Power Section Operation 6 2 Preamplifier Section Operation 6 2 1 6 2 2 6 2 3 6 2 4 6 2 5 Frequency Response Analysis The Offset Circuit The Current Limit Circuit Three Signal Input Version Miscellaneous Comments Protection Circuit Operation 6 3 1 6 3 2 Thermal Sensor Electronic Circuit Breaker Circuit Overvoltage Sense Circuit Undervoltage Protection Circuits Primary Overcurrent Sense Circuit 5 5 5 6 5 10 5 11 5 12 5 16 6 1 6 8 6 9 6 11 6 14 6 15 6 16 6 18 6 18 6 19 6 19 6 20 6 21 Secondary Overcurrent Sense Circuit 6 22 Shunt Regulator Option 6 22 CHAPTER VII 7 0 Maintenance Repair and Warranty 7 1 Maintenance Procedures 7 2 Fault Determination Procedures 7 2 1 In System Check 7 2 2 Out of System Checks 7 2 2 1 Quadrant Resistance Tests 7 2 2 2 Signal Electronics Card Tests 7 2 2 3 Preamplifier Section Tests 7 3 Factory Repair 7 4 Spare Parts 7 4 1 Level 1 Maintenance Spare Pa
19. the controller is disabled but only until proper voltage levels are restored then the controller is enabled again These two circuits also function to properly sequence turn on of the controller when power is first applied The enable threshold for the 15VDC bias sense circuit is approximately 13V while that of the bus sense circuit is approximately 55VDC At these voltage levels and above normal operation can take place and so the controller is enabled upon reaching these voltages Page 6 20 6 3 5 Primary Overcurrent Sense Circuit The NC400 Series servo controllers contain two over current sense circuits primary and secondary The primary circuit employs the principal of inductive voltage division and the transformer effect to sense potentially catas trophic conditions such as a ground short to armature The circuit consists of a special transformer con taining two identical primary windings and a secondary winding that is connected to low level processing circuitry The primary windings are designed to have sufficient inductance so that the rate of rise of current should the entire 100V bus voltage be place across it will be low enough to allow sufficient time for the controller to disable itself Under normal conditions of operation the load inductance will be many times larger than either of the primary windings of the special transformer mentioned above One primary winding is placed between each ou
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21. Determination The polarity of the NC400 Series servo controllers is such that a positive input signal on the inverting signal input terminal results in a positive voltage at the ARM terminal with respect to the ARM terminal If the motor and tachometer polarities are known proper connection to the controller can be made A positive input signal should produce motor rotation that yields a positive tachometer feedback signal at input No 2 If the motor tachometer polarities are not known it is advisable to establish same before proceeding with the controller set up To establish motor tachometer polarity use the following procedure 1 Connect the motor through a switch directly to the l00VDC power supply CAUTION EXTREME CARE MUST BE EXERCISED WHEN 777 APPLYING THIS PROCEDURE MACHINE MOUNTED MOTORS TO AVOID INCURRING DAMAGE TO THE MACHINE DRIVE COMPONENTS AND OR MOTOR Page 5 3 5 2 1 Bridge Resistance Checks Continued 2 Apply power and momentarily close the switch Note the direction of motor rotation and the relative polarities of the motor voltage and the tachometer voltage 3 Connect the motor and tachometer leads to the controller keeping in mind the desired motor Girection and polarities 5 2 3 Enable and Inhibit Circuit Tests For an NC400 Series servo controller to be fully operational logic zeros must be present at each of the Positive and Negative Inhibit and Enable terminals
22. R86 and R87 obviates the need for high valued resistors in the DC feedback network The equivalent value of the tee network is given by the expression R R 87 Rg6 If the standard values employed in the NC400 are sub stituted into this expression a value of 100 MQ results The resistor Ree is mounted on solder terminals and can be changed if one desires to alter the DC gain of the preamplifier Increasing the value of Re lowers the gain while decreasing increases the gain Note that if no DC feedback is desired 6 9 6 2 1 Frequency Response Analysis Cont such as would be the case if the preamplifier is to be a pure integrator a short circuit should be substi tuted for Rg 6 The higher frequency AC gain of the preampli fier is a function of the components C10 R77 and the setting of R92 the RESPONSE potentiometer These components form a variable lag lead network As can be seen from Figure 6 3 setting R92 full CW removes the AC feedback network and no lag in the response occurs The gain is then flat with frequency being determined by the DC feedback components but it does begin to roll off in the vicinity of 1000 Hz due to the bined effects of the input filter network and the response characteristics of the operational amplifier 105 Maximum feedback is obtained with R92 set full CCW This results a lag frequency of imately 0 034 Hz The
23. and noise are less than 50 MV peak to peak These voltages can be used to power auxiliary function circuits or provide reference voltages See Section 5 3 for further details el5VDC BIAS VOLTAGE See above for details 3 0 Assembly and Terminal Descriptions Continued 3 1 Servo Controller Assemblies NC407 NC414 NC421 Cont Servo Dual Axis Controller Card Assy Assembly Terminal Description A2 1 36VAC INPUT A source of 36 VAC center tapped at 0 2 amperes maximum is required at these terminals to provide the low level bias voltages for the controller The center tap is connected to any of the signal common terminals but preferrably to terminal A2 6 COMMON Al 1 POWER COMMON Terminal for connection of the nega tive or common line for the 100VDC power bus from the power supply 100VDC Al 2 100VDC BUS Terminal for connection of the posi tive 100VDC line from the power supply Connection to this terminal and the one above common is made through 0 25 FASTON terminals on the Dual Axis Card and through a special power board edge connector 530521 to the controller assembly Page 3 9 Assembly and Terminal Descriptions Continued 3 1 Servo Controller Assemblies NC407 NC414 NC421 Cont Servo Dual Axis Controller Card Assy Assembly Terminal Description ARM Al 3 ARMATURE Terminal for connection of the positively defined armature load lead ARM Al 4 ARMA
24. clip one end of R86 the DC gain Setting resistor to obtain a lower DC gain This will however affect the frequency response break point measurements Page 7 7 7 3 Factory Repair it is necessary to return NC400 Series assembly for repair the following procedure should be followed l If the assembly has been disassembled reassemble it making certain that all hardware is in place 2 Tag the assembly with the following a Serial number and assembly number b Company and company representative returning the item Date the item was returned d pertinent helpful information regarding the malfunction 3 Carefully package the assembly and apply appropriate cautionary stickers e g FRAGILE NOTE CSR does not recommend returning items in original shipping containers unless the integrity of these containers was main tained during the original transit 4 Obtain a Return Authorization Number by contacting the Customer Service Department at the factory or at an authorized repair station This number should appear on all paperwork regarding the unit and on the outside of the package containing the assembly 5 Return the items by the best means consistent with your requirements for a timely return of the equipment Page 7 8 7 4 Spare Parts The NC400 series equipment iS for the most part complex electronic equipment and repair requires a thorough under standing of electronics p
25. is located at a distance from the Dual Axis Card assemblies so that power wire lengths are greater than four feet it is advised that an auxiliary bus smoothing capacitor be mounted and wired to the Dual Axis Assembly See Section 4 4 1 for further details Section 1 contains further information regarding rack mounting of the NC400 Series equipment Page 4 2 Installation Procedures Continued 4 4 Wiring 4 4 1 Power Wiring All power wiring for the armature and power supply connections should be 12 guage 3 309 mn Machine Tool Wire MTW or equivalently rated wire The wire used for the 120VAC supply for the cooling fan and bias circuits can be 16 guage 1 309 It is suggested that the armature circuit wires be twisted to minimize the loop area in the armature circuit This will help to reduce radiated electrical noise from the servo controllers When possible the power supply wires should also be twisted Wiring between the transformer secondary and the Single phase Power Supply Assemblies should be 10 guage 5 261 mm or larger MTW Secondary side wiring for the three phase power supplies should also be 10 guage To minimize cross talk between controllers powered by the same power supply it is advisable in some cases to strap the power commons at the controllers Dual Axis Card Assemblies and use a single common return line to the power supply Figure 4 1 illustrates this technique Page 4 3
26. the Signal Electronics Card part of the NC400 Series Servo controllers to allow checks to be made for proper operation of the various functional areas or this card Page 7 3 7 2 2 2 Signal Electronics Card Tests Cont Figures 7 1 7 2 and 7 3 depict waveforms at the various test points for the condition of no input signals present a precaution Auxiliary Function terminal 3 should be jumpered to signal common when checking these waveforms Also if the Power Electronics Card is sus pected of being damaged in any way it is best to separate it from the Signal Electronics Card before making the above measurements Before using an oscilloscope to observe the waveforms in Figures 7 2 7 2 and 7 3 measure first the 15 volt bias supplies at 15VDC 15VDC with respect to common TP2 The normal range is 14 25 to 15 75 volts If abnormal waveforms are observed at TP9 and TP5 in Figure 7 3 the fault latch or undervoltage protection circuit may be the cause This can be checked by measuring the voltage at TP8 with respect to common This voltage is normally 0 5 to 0 8 volts for a fault and 0 1 and 0 2 volts when the controller is enabled Each of Figure 7 1 7 2 and 7 3 indicates the particular active component s that could cause an improper waveform at the particualr test point being observed Page 7 4 TP4 Figure 7 1 50us div 5 Triangle Wave Generator Horizonta
27. the virtual signal A B were large enough to exceed the peak value of C the controller would cease to switch at the rate determined by the period of the triangle waveform and the process would no longer be pulse width modulation In the NC400 Series controllers this fact is used to advantage to provide better dynamic response and higher motor speeds than are obtainable with the PWM approach Greater than 100 modulation allows the load current during transient intervals to slew at a rate limited only by load circuit parameters Page 6 7 Deu as armi y gt YN Udo eg OWED DOGCLIOD ODera ilon Clone nue ee M PP P 4 in addition load current regulation is enhancec by maintaining a low ratio of triangle waveform amplitude to combined signal amplitude A B a situation not possible when employing PWM due to the constraint of maintaining less than 100 modulation at all times Finally higher motor speeds are realizeable with the NC400 Series controllers than with PWM controllers since again the constraint of less than 100 modulation for the PWM approach implies than an average load voltage less than full supply bus can be applied to the motor when full speed is commanded 6 2 Preamplifier Section Operation Each NC400 Series servo controller contains a pre amplifier se
28. to the controller and while monitoring the tachometer signal gradually adjust the RESP potentiometer R92 from the CCW toward the CW position Optimum response critically damped should be achieved at some position before reaching full CW R97 Figure 5 4 illustrates the types of waveforms observed for various settings of R92 5 2 5 Compensation Component Changes In some applications especially those where the load inertia is much smaller or larger than normally encountered the standard compensation components values of 0 047uF for 10 and 150K for R77 not allow of an Optimum setting of the RESPONSE potentiometer R92 In fact the velocity loop may be unstable for any setting of R92 In these cases different values for C10 and R77 must be chosen The following procedure can be used to select these values l 2 3 Short circuit C10 with a short jumper wire Replace R77 with a resistor substitution box Initially set the box resistance at 10 Set R92 the RESPONSE potentiometer to approximately midrange If the tachometer signal is excessively noisy the filter network depicted in Figure 5 5 can be used to obtain a cleaner signal waveform Page 5 12 5 2 5 Compensation Component Changes Continued 4 Input 0 5 2 2V bi directional square wave velocity command signal to the controller Apply power and while monitoring the tachometer signal gradually increase the value of
29. wires supplied See Section A l for further details 3 6 Rack Panel Assemblies A1516 and 1518 The Rack Panel Assembly consists simply of a flat aluminum plate punched to mount to a standard 19 rack The Rack Panel Assembly can accommodate two assemblies such as the Dual Axis Card Assembly which would provide controller card slots for a four axis system Alternately a Power Supply Card Assembly could be Substituted for one of the Dual Axis Assemblies providing a two axis system with power supply Of course other combinations are possible and in fact the 1518 assembly includes a blank plate used to cover the unused access hole should only a single assembly be used with the rack panel All required hardware items are supplied with either of the two Rack Panel Assemblies If desired CSR can provide assembled Rack Panel Dual Axis and Power Supply systems See Section 1 for further information Page 3 13 Assembly and Terminal Descriptions Continued 3 7 Power Transformers A group of seven standard power transformers are available to be used with the Power Supply Assemblies Four single phase transformers provide power output ratings from 1 0 to 4 0 Three three phase transformers provide 2 0 4 0 and 6 6 KW of continuous power output The single phase designs have a 144VAC center tapped secondary and a dual primary of 120VAC All the voltages are no load values The three phase designs all have de
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31. 414 4 8A V NC421 b Reference Voltages 15VDC 25MA c Fault Indication Open Collector Transistor Output and PCB LED Indicator RMS Over Current or Over Open Collector Transistor Temp Indication Output with 1 5K ohm Pull Up to Internal 15VDC 2 Auxiliary Inputs Positive Current Inhibit Negative Current Inhibit Enable short to enable 3 Protection Circuits Over Temperature Over Voltage Over Current RMS Short Circuit Across Armature Short Circuit to Ground either armature lead NOTE 1 At rateG continuous current and load inductance of 7A 2 9 mH NC407 14A 1 45 mH NC414 21A 1 0mH NC421 NOTE 2 Gain ranges shown are for the standard preamplifier configuration Page 2 2 2 0 Specifications Continued 2 2 Power Supply Specifications 2 2 1 Single Phase Power Supplies 1 Input Voltage 144VAC center tapped nominal no load 2 DC Output Voltage 100VDC nominal no load 3 Power Ratings 4 0 KW max continuous 4 Transformer Supply Regulation Transformer No Load Rated PWR Ripple Volts 100VDC 84VDC 100VDC 82VDC 100VDC 82VDC 100VDC 82VDC 5 Cooling Convection 2 2 2 Three Phase Power Supplies 1 AC Input Voltage 72VAC line to line nominal no load 120VAC 8 1A 2 DC Output Voltage 100VDC nominal no load 3 Power Rating 6 0 KW max continuous 4 Transformer Supply Regulation Transformer NoeLoad VDC Rated PWR Ripple Volts 100VDC 90VD
32. C 100VDC 90VDC 100VDC 88VDC 5 Cooling Forced Air Page 2 3 2 0 Specifications Continued 2 3 Shunt Regulator Specifications 1 Peak Power Dissipated A1528 1000W A1529 2000W 2 Continuous Power Dissipated A1528 100W A1529 200W 3 Thresholds Cut In 117 118 V Cut Out 112 113 V Page 2 4 CHAPTER Assembly and Terminal Descriptions 3 1 Servo Controller Assemblies NC407 NC414 NC421 Each of the three servo controller card assemblies A1519 NC407 A1520 NC414 and A1521 NC421 consists of two pcb cards a Signal Electronics Card and a Power Electronics Card mated together with a plastic handle extrusion to form a complete controller Only the Power Electronics Card is different in the three different models The controller is a true plug in unit When inserted into a Dual Axis Card Assembly the Signal Electronics Card mates with a 24 pin card edge connector carrying all signals while the Power Electronics Card mates with a special power card edge connector through which all power connections are made The following is a description of each of the 24 signal inputs and outputs available at A2 on the Signal Electronics Card and each of the 4 power inputs and outputs available on the Power Electronics Card refer to Figure 3 1 Servo Dual Axis Controller Card Assy Assembly Terminal Description 1 1 or A2 10 NON INVERTING SIGNAL INPUT NO 1 TB2 1 Non inverting
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34. OPERATING AND SERVICE MANUAL NC400 SERIES SERVO CONTROLLER 1229 REV B NC 400 CARD AMPLIFIER CHAPTER I Operating and Service Manual NC400 Series Servo Controllers Preliminary TABLE OF CONTENTS 1 0 The NC400 Series DC Servo Controllers 1 1 1 2 CHAPTER Introduction Receiving and Handling 2 0 Specifications 2 1 Servo Controller Specifications 2 2 2 3 CHAPTER III Power Supply Specifications 2 2 1 Single Phase Power Supplies 2 2 2 Three Phase Power Supplies Shunt Regulator Specifications 3 0 Assembly and Terminal Descriptions 344 3 2 Servo Controller Assemblies NC407 NC414 421 Dual Axis Card Assemblies 1522 1523 Single Phase Power Supply Assemblies 1524 and 1525 Three Phase Power Supply Assemblies 1526 and 1527 CHAPTER III CONTINUED 3 5 3 6 3 7 IV CHAPTER 4 0 Shunt Regulator Assemblies 1528 and 1529 Rack Panel Assemblies 1516 and 1518 Power Transformers Installation Procedures 4 1 4 2 4 3 4 4 CHAPTER V 5 0 General Precautions Panel Mounted Assemblies Rack Mounted Assemblies Wiring 4 4 1 Power Wiring 4 4 2 Signal Wiring and Shielding 4 4 3 Earth Ground Connections Ancillary Components 4 5 1 Bus Filter Capacitor 4 5 2 Armature Inductor 4 5 3 Load Contactor Set Up Procedure 5 1 Power Supply Tests 5 2 Servo Controller Set Up Procedures 5 2 1 5 2 2 5 2 3
35. Phenomenon in Pulse Width Modulated DC Servo Systems Schmidt Proceedings of the Sixth Symposium Incremental Motion Control Systems and Devices Page 6 24 6 3 7 Shunt Regulator Option Cont This 1S a maximum guaranteed value using worst case values for the various parameters Additional capacitance added to the power supply is not recommended due to the higher surge currents that must be handled by the recifiers and other components during power up Page 6 25 CHAPTER VII Maintenance Repair and Warranty 7 1 Maintenance Procedures The NC400 Series servo controllers and auxiliary assemblies have been designed to be virtually maintenance free It is only necessary periodically to check the condition of the fuses and cooling fans and to look for accumulations of dust and dirt on the heat sinks and printed circuit boards If heavy deposits of dust or particulants are formed the controller should be removed from its mounting thoroughly but carefully cleaned then remounted and returned to service No readjustment of the controller s potentiometers should be necessary if care is used in the cleaning procedure Some residue from vapors in the controller s environment may form semi conductive film on the printed circuit boards and other components which will impair the operation of the units If any film residue is noted on the boards during inspection the boards should be individually washed in a suitab
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37. TURE Terminal for connection of the negatively defined armature load lead As with the power common and 100 connections the armature and connections are made through FASTONS and the special four ter minal power board edge connector mentioned above 3 2 Dual Axis Card Assemblies 1522 1523 A single card available in two versions one for rack and one for panel mounting serves as the holder and connection means for the servo controller cards This Dual Axis Card accommodates one or two controller cards Each controller card plugs into a set of two card edge connectors one for signal and one for power voltages Signal wire connections are made to the Dual Axis Card Assembly through two 22 pin ter minal strips designated TBl and TB2 one strip for each axis controller Page3 10 Assembly and Terminal Descriptions Continued 3 2 Dual Axis Card Assemblies 1522 A1523 Cont Power wiring connections are made to 0 25 male FASTON terminals Two groups of four terminals each are provided one group for each axis controller The various terminal designations and descriptions are given the previous Section 3 1 The Dual Axis Card also contains a cooling fan bias voltage transformers and fusing for the DC bus inputs and the 120VAC input Consult the outline drawings in Section A 1 for further details of this assembly 3 3 Single Phase Power Supply Assemblies 1524 and 1525 A single
38. Trip Adjustment Cont IMPORTANT Resistor R161 should be in place for this test so that the Electronic Circuit Breaker Circuit disables the controller If 161 has been removed it should be replaced for this procedure standard value is 10KQ 5 If the interval measured in step 4 is less than that desired increase the value of R66 and repeat step 4 until the desired trip time at the desired peak current is attained 6 Replace the substitution box with the value selected in step 5 7 Recheck for proper trip time If the decay reset time of the Electronic Circuit Breaker circuit is loo long the value of R65 standard value 2 8 can be made smaller Likewise if the decay reset time is too short a larger value of R65 should be used Page 5 17 Peak Current 100 75 50 Rated Current 25 0 5s 10s 155 205 255 305 355 405 Figure 5 6 Electronic Circuit Breaker Trip Curve for Continuous Output Currents Page 5 18 CHAPTER VI THEORY OF OPERATION 6 1 Power Section Operation The NC400 Series controllers are switching mode servo controllers in which the power semiconductors are either in saturation or cut off This results in highly efficient controller operation since very little power is dissipated within the semiconductors in either of these two states Power transistor switches are employed as the output semiconductors in the NC400 Series This results in less complicated output
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43. alues are specified for the NC400 Series controller models Keeping the total load inductance motor inductance plus any added external inductance equal to or greater than the values specified will insure that the form factors do not exceed 1 01 and that the controller functions normally otherwise Page 4 6 4 5 2 Armature Inductor Continued Table 4 1 lists the recommended minimum load inductance for the three NC400 Series controller models and Table 4 2 lists several standard inductors available from CSR that can be used as auxiliary load circuit inductors To determine if a load inductor is required and what its value should be use the following equation ls d AUX MIN MOTOR where LAUX is the required auxiliary load circuit inductance and Lyin is minimum specified loau inductance for a particular controller Obviously if the calculated difference is zero or negative in value no auxiliary inductor is required Minimum Load Model No Inductance Lyn Table 4 1 NC400 Series Minimum Load Inductance Values Page 4 7 INDUCTOR RATED PEAK PART NO CURRENT CURRENT Table 4 2 Standard Inductors for use as LAUX 4 5 3 Load Contactor It is a requirement in many applications that a motor load or M contactor be used to completely disconnect the motor from the controller whenever an emergency stop or power down situation arises Additionally a dynamic braking resistor is often employed with su
44. ch a contactor to bring the motor to a quick halt following contactor denergization Most DC contactors such as the Ward Leonard No 7000 2140 11 that are rated to handle the peak controller current during contact breaking can be used A typical application employing such a load contactor is shown in Figure 4 2 The DBR dynamic braking resistor should be chosen so that the total circuit resistance DBR plus motor armature resistance limits the current to less than the demagnitization current for the motor Page 4 8 120VAC Control Voltage Stop 5 Other N C E Stop Contacts TT NC400 Series Motor Servo Load Controller eevee Optional Load Contactor Figure 4 2 Application of Optional Load Contactor Page 4 9 CHAPTER V 5 0 Set Up Procedures 5 1 Power Supply Tests With all installation and wiring finished perform the following power supply tests i Remove all servo controllers from their respective Dual Axis Card Assemblies Remove one lead of the Shunt Regulator Cards if used and tape it securely away from exposed circuitry and grounded chassis parts Momentarily apply AC power to the power transformers including the 120VAC power for the fans and bias transformers Measure the voltage between the 100VDC and Common terminals on the Dual Axis Assemblies The polarity should be correct and the voltage magnit
45. circuitry and a more retined predictable control of load power than is obtainable with silicon con trolled rectifiers The particular switching technique employed in the NC400 Series is a patented concept commonly known as TWO STATE MODULATION This technique pioneered by CSR for DC motor control has advantages over other switching techniques such as pulse width modulation PWM Some of these advantages will be described in the following discussion of the basic operation of the NC400 Series servo controllers Figure 6 1 presents a basic functional block diagram representative of the NC400 Series circuitry This block diagram is employed to explain the functioning of the various circuits Initially incoming signals are processed in the pre amplifier section where servo compensation normally takes place A detailed description of the preamplifier section presented in Section 6 2 US Patent No 3 294 981 Page 6 1 6 1 Power Section Operation Continued The resultant signal A is then combined algebraically with a feedback signal B which is representative of the current flowing in the load and a relatively high fixed frequency triangle waveform signal C The resulting error signal A B C is applied to the Two State circuit the output of which is a square wave signal having the appropriate pulse width and frequency modulation characteristics for the particular load and command conditions at that ins
46. ction shown schematically in Figure 6 3 that can be employed to sum velocity command and tachometer feedback signals and provide the necessary servo compens tion and gain adjustments resulting in stable optimum Servo operation The preamplifier employs two integrated circuit operational amplifiers as the active components These amplifiers have high DC gain along with good temperature and frequency stability charcteristics One amplifier IC6 is configured as a differential stage with unity gain The purpose of this stage is to isolate the command signal source from the signal common of the controller This minimizes cross talk between controllers operated from the same DC power supply Page 6 8 6 2 Preamplifier Section Operation Continued The second amplifier IC5 sums the inputs from the differential stage the input No 2 signal and the offset voltage from potentiometer R90 IC5 also provides the required servo compensation and current limiting functions The following sections explain in detail the function of the various component groups in the preamplifier section 6 2 1 Frequency Response Analysis The preamplifier section of the NC400 Series servo controller is configured with two feedback paths One in the form of a resistive tee network controls the DC gain of the preamplifier The other network consisting of C10 R77 and potentiometer R92 controls the AC gain Using the tee network consisting of R76
47. de to the common of the power supply An unused FASTON terminal on the Power Supply Assembly can be used for this purpose Alternately connection can be made to the center tap terminal on single phase transformers although this is not recommended if the transformer is located at a distance of more than a few feet from the Power Supply Assembly Page 4 5 Installation Procedures Continued 4 5 Ancillary Components 4 5 1 Bus Filter Capacitor Each NC400 Series servo controller contains a small valued bus filter capacitor Because of its value this capacitor is limited in its ability to provide the required bus smoothing for proper operation of the controller when the wire lengths between the power supply and servo controller exceed approximately four feet In most cases this requirement can be met but when it cannot it is recommended that an auxiliary bus smoothing capacitor be added The capacitor should be located in close proximity to the Dual Axis Card Assembly near the end of the unit containing the power FASTON terminals For rack mounted units a Capacitor Mounting Assembly 1603 be supplied by CSR if desired When the auxiliary bus smoothing capacitor is supplied by CSR a unit having 3500uF of capacitance and a voltage rating of 150W VDC is provided 4 5 2 Armature Inductor The value of the load inductance determines the peak to peak ripple current in the load For this reason minimum load inductance v
48. ee of electromagnetic coupling is present between the tachometer and motor armatures This results in a noise signal based on the switching waveform of the controller being amplified by the preamplifier and if strong enough overcoming the Page 6 16 6 2 5 Miscellaneous Comments Cont normal triangle modulation signal This can result in an unstable condition in the controller A value of 0 0022yF is used for Cll in the standard configuration If Cll is changed especially to a larger value the effect on the dynamic performance of the controller should be scrutinized carefully Page 6 17 6 3 Protection Circuit Operation The NC400 Series has several protection features which act to protect the controller from conditions that if left unchecked could cause catastrophic damage Most of these protection features are designed into the Servo Controller assemblies One circuit the optional Shunt Regulator can be considered a protection device since it regulates the DC bus during periods of regeneration The servo controllers do have a secondary high bus voltage sensing circuit though so that even if the Shunt Regulator is not present the controller will act to protect itself In the following sections the functioning of each of the protection circuits is explained in detail 6 3 1 Thermal Sensor Attached to one of the heat sinks on each NC400 Series servo controller is a bi metallic thermal sensor This sensor
49. est signal is applied and the controller operational monitor the Current Analogue Output at the Dual Axis Card Assembly terminal 1 18 or TB2 18 with an oscilloscope Peak current is represented at this terminal by a voltage magnitude of 9 3V 103 Set the CURRENT LIMIT potentiometer to the desired current level by slowly adjusting it toward the CCW position until the desired level is achieved For example if it is desired to limit the peak current of an NC421 to 35A the CURRENT LIMIT potentiometer would be adjusted CCW until a peak voltage magnitude of 35 45 x 9 3 7 2V is noted on the Current Analogue Monitor during motor reversals Page 5 7 Dual Axis Card Assembly 1522 or 1523 x ene NE SK lt lt 10K X CW if current limit value increases with CW rotation CCW if current limit value decreases with CW rotation Figue 5 2 Method of Implementing External Current Limit Control Page 5 8 TP4 Jl TP10 ITPL 2 5 nv 7 Z co R80 11 R161 C2 R7 13 8150 Chh TP8 2 610 SIGNAL 2 125 Figure 5 3 Component Locations NC400 Series Signal Electronics Card Page 5 9 5 2 4 3 Scale Factor Adjustment In the standard version of the NC400 Series controller two scale factor adjustment potentiometer
50. f the controller using Auxiliary Function No 2 and No 3 terminals jumper J3 must be removed See Section 5 2 for further details Page 3 4 3 0 Assembly and Terminal Descriptions Continued NC407 NC414 NC421 Cont 3 1 Servo Controller Assemblies Dual Axis Card Assy 1 8 or TB2 8 TBl 10 or TB2 10 TBl 12 or TB2 12 Servo Controller Assembly A2 E A2 H A2eL Terminal Description AUXILIARY FUNCTION 3 Used with Auxiliary Function No 2 above to implement special signal processing functions See above and Section 5 2 for details INHIBIT POSITIVE A contact closure or suitable active device capable of sinking a peak current of 20MA and having an off set or saturation characteristic of less than 0 6V must be present and closed between the Inhibit Positive terminal and signal common to allow normal controller operation in the positive direction Positive direc tion means current flow from the Armature to Armature ter A delay of approximately 30 msec occurs between inhibit activation and cessation of current flow INHIBIT NEGATIVE Same function as Inhibit Positive above except that when activated current is inhibited from flowing in the negative direction that is from Armature to Armature Page 3 5 3 0 Assembly and Terminal Descriptions Continued NC407 NC414 NC421 3 1 Servo Controller Assemblies Dual Ax
51. ge 6 13 for full CW setting of Ro for full CCW setting of Rg 2 Bode Plots of Preamplifier Frequency Response NC400 Series Servo Controllers tu DoD c m e 2 84 m m m e Uu 3 fx m 4 9 m ae m 92 lt HIVD 1 000 FIGURE 6 4 107 i0 107 10 0 1 RAD SEC pU 6 2 2 The Offset Circuit Cont into the preamplifier one can null up to 45 mv of offset an Input No l or 170 mVat Input No 2 If this offset nulling range is insufficient Ro can be lowered in value R73 is mounted on solder terminals to facilitate this change 6 2 3 The Current Limit Circuit The potentiometer R93 in conjunction with zener diodes Zl and Z2 and resistor R79 form the current limit circuit in the NC400 Series servo controller The diodes limit the output voltage from IC5 to approximately 10 7 volts This peak value is then divided by R93 the CURRENT LIMIT potentiometer and R79 In the standard form where J4 and J3 are in place and no auxiliary functions are used the wiper voltage at R93 is applied to the power sect
52. he input and load conditions at any instant of time Waveform D when applied to the remaining delay and quadrant driver sections produces the necessary drive signals at points E F G and H for the controiler s output quadrants represented by Ql through Q4 in Figure 6 1 Figure 6 2 d and e depict the two lower quadrant drive signals F and H The two upper quadrant signals E and G are not shown since they are similar when shown with respect to V to F and H respectively Page 6 6 6 1 Power Section Operation Continued Note the effect of the delay times on waveforms F or H in Figure 6 2 After either F or H goes to zero a delay time t ensues before H or F respectively goes d on This delay ensures that common mode conduction in the output section does not occur Figure 6 2 f shows the load voltage The effect of the delay times is not apparent because an r inductive load such a motor will cause MA to free wheel through diodes Dl D4 and D2 Therefore when Q2 and Q3 are turned OFF the load voltage abruptly changes polarity despite the fact that 01 and Q4 have not yet been turned ON In Figure 6 2 g waveforms J and K represent the two constituent parts of the load current transistor and diode sampled by identical resistors Re in Figure 6 1 These signals are added differentially and scaled to form waveform B the current feedback signal As can be seen from Figure 6 2 if
53. ins a CURRENT LIMIT adjustment potentiometer R93 that is used to set the peak magnitude of current supplied by the controller The adjustment range is from 100 to approximately 20 of peak rated current As mentioned earlier in Section 3 1 external current limit function can be added by using the Auxiliary Function No 1 and No 2 terminals Figure 5 2 depicts a means of implementing an external current limit using only a potentio meter When using such a scheme the jumper J4 on the Signal Electronics Card must be removed This jumper can be removed by simply cutting its ends flush with the pcb two solder terminals supporting J4 can be used if it is ever desired to reinstall this jumper If peak current from the controller is desired simply adjust the CURRENT LIMIT potentiometer full CCW If a lower value of peak current is required use the following procedure Page 5 6 5 2 4 2 Current Limit Adjustment Continued 1 Set R93 to full CW Apply power 3 Apply a low frequency 0 582 5 to 15V bi directional square wave signal to the velocity command input usually Signal Input No 1 NOTE Before applying this test signal check that R94 the Signal No 1 gain potentiometer is at approximately midrange R92 the Servo Response potentiometer is at or near the CCW position and R91 the Signal No 2 potentiometer is at the full CW position if the tachometer signal is returned to this input While the t
54. ion of the controller and is in fact the current command since the power section is configured as a transconductance amplifier yielding peak current output with approx imately 10 volts input The wiper voltage of R93 is also returned to the input of IC5 through the feedback network Because of this the dividing effect of R93 does not effect signal voltages between the current limit extremes Also the output impedance of the preamplifier is not appreciably affected by the presence of R93 Page 6 14 6 2 3 The Current Limit Circuit Cont Component positions are available for two re sistors R78 and R88 to be used in applications where a fixed current limit is required For these cases R93 is removed and two appropriate values for R78 and R88 are substituted Also where an external remote current limit is to be employed J4 should be removed from the con troller and the auxiliary Function 1 and 2 input ter minals used to carry the external signals Section 5 2 4 2 provides further details on this current limit method 6 2 4 Three Signal Input Version When three signals must be summed into the preamplifier section the non inverting input of the differential amplifier is converted into a direct third input To accomplish this jumper J2 is removed and components are selected for R162 and C44 and if desired for R81 resulting third input has the following gain expression Re 5610877
55. is Card Assy TBl 13 or TB2 13 TB1 15 or TB2 15 Servo Controller Assembly A2 J 2 Terminal Description SYNC SIGNAL INPUT This input provides a means of synchronizing the switching frequencies of the controller and other controllers or devices by injection of a triangle wave modulation signal from an exter nal source The injected signal should have an amplitude of from 18 to 20 volts peak to peak and a frequency in the range 3 to 6 KHZ Jumper Jl must be removed when uSing an external sychronizing signal Electronic Circuit Breaker Overtemperature Indication A signal low 0 3V is present at this terminal with respect to signal common during normal controller operation Up to 10MA of current can be sinked by this circuit If either the Electronic Circuit Breaker protection circuit or the heat sink over temperature sensor should activate this indicator ter minal is pulled to 15K VDC thrcugh a 1 5 0 resistor Page 3 6 3 0 Assembly and Terminal Descriptions Continued 3 1 Servo Controller Assemblies NC407 NC414 NC421 Dual Axis Card Assy TBl 17 or 2 17 1 18 2 18 Controller Assembly 2 2 Terminal Description FAULT LATCH OUTPUT During normal controller operation a signal low 5 0 3V is present at this terminal Up to 20MA can be sinked If a fault condition is detected such as a shorted armature in the mo
56. is intended primarily to sense the loss of fan cooling or excessively high ambient temperatures The sensors contacts are connected in series with the transistor switch employed as the output device of the RMS Overcurrent Circuit If either the thermal switch or transistor switch opens a logic high will appear at terminal N on the servo controller s signal connector TB1 15 or TB2 15 on the Dual Axis Card Assembly terminal strips This point is pulled to 15VDC through a 1 5K2 resistor If R161 10KQ is in place the controller s fault latch will also be SET under the above conditions and the controller will automatically be disabled Page 6 18 6 3 2 Electronic Circuit Breaker Circuit The current feedback signal representing armature current is fed to the Electronic Circuit Breaker Circuit which senses that a current above the rated current of the controller is being outputted to the load After a given time interval at the excessive level the circuit turns OFF the output transistor switch mentioned in Section 6 3 1 and a logic HIGH appears at terminal N on the servo controller s signal terminal strip The Electronic Circuit Breaker Circuit consists of an absolute value section that converts the dual polarity current feedback signal to a unipolar signal This section is followed by a three section squaring circuit and then an integrator section The output of the integrator 15 applied toa fixed reference com
57. l Vertical ICo Devices eee TI TPO Comparator Figure 7 2 50us Horizontal Vertical Devices page 7 5 IVT 0 5V div 1010 7 Delay Sections Horizontal T Vertical 5V DIV 5V DIV Devices TCO 19222 024 Q3 td 18 2msec Page 7 6 7 2 2 3 Preamplifier Section Tests With the load disconnected from the controller connect a very low level sinusoidal test signal differentially to the inverting non inverting terminals of the preamplifier The frequency of the test signal can be varied over as wide a range as desired in order to check response With the RESPONSE potentiometer R92 set full CW the response should exhibit a break between 500 and 1000 2 Check the operation of the 516 1 scaling potentiometer R94 Varying this potentiometer sufficiently CW should cause saturation of IC5 with attendant clipping of the waveform at the positive and negative extremes Also check the operation of the CURRENT LIMIT potentiometer R93 Set full CW the clipping voltage at J4 and J3 if in place should be approximately 2 volts Setting R93 full CCW should produce approximately 10 7 volts clipping level Finally move the test signal to the single ended input number 2 and check for proper operation of SIG 2 scaling potentiometer 91 If during the preceding tests the DC gain has been found too high to allow meaningful tests to be made one can
58. le chemical cleaning agent such as a flurocarbon degreaser Care should be taken to prevent cleaning agents from washing the thermal grease from behind the power transistors mounted to the heat sinks and the plastic backing bar behind the poten tiometers should be removed before cleaning with a solvent type Cleaning agent 7 2 Fault Determination Procedures If abnormal operation occurs a number of checks and tests can be made to determine the area of the system in which the fault lies Page 7 1 Tezel In System Check Check the following items before removing any con trollers wires or other items from the system Overload Devices Check all fuses contactors and breakers for a blown or tripped condition If one or more of these devices in the bus circuits are blown or tripped perform the controller quadrant resistance tests before attempting to reapply power Wiring Are all wires to be connected to the controller s terminal connections actually in place in the correct positions and tightly secured Limit Circuits Check all limit and other disable switches and wiring for proper operation Check the external function circuits such as external current limit if present for correct operation and connection Input Signals Are input signals actually reaching the controller Are they correct in polarity and magnitude Are the polarities of the motor and tachometer correct This latter check is especial
59. lead frequency remains constant for all settings of and is approximately 23 Hz These values are calculated from the following sion for the frequency response of the preamplifier using the standard values for the components 1 R Ga RR R Reg R75 1 sC oR 1 76887 836877 This is the gain expression for Input No l The effect of the scaling potentiometer R94 SIG 1 is not in cluded it is of course a factor between 0 and 1 0 multiplying the above expression and is linearly related to the setting of R94 At CCW the factor is 0 and at the CW position the factor is 1 0 Page 6 10 gt 7 t T X om t i 1 ry zov 6 2 Ex ANALYSIS LUNG gt hs eee rr r a a are M inversion into the above equation so that signais applied to the inverting terminal of the amplifier actually experience no net phase inversion in passing through the preamplifier The gain expression for Input No 2 is as follows 0 87 Re SC R47 G s ERE E Per ran fe ge os je ee 166 1 SC 0857 1 76 8709 8306 97 The presence of the factor 0 87 is due to the effects of the input filter and attenuator network at Input No 2 scaling potentiometer R91 SIG 2 acts to scale the above expression from a low at the CCW position of 0 08 to the high value of 0 87 at
60. lta connected secondaries of 72VAC line to line a separate 120VAC 250VA single phase secondary for fan and bias ciruits and dual three phase pri maries that can be connected for either 240VAC or 480VAC Table l lists the appropriate power transformer and power supply assembly combinations while Section 1 contains outline drawings of the various transformers All transformers listed are 60HZ designs For 50HZ units or other primary voltages contact the factory or one of the agents listed at the end of this manual Page 3 14 POWER SUPPLY ASSEMBLY tis TRANSFORMER REQUIRED Panel Mtg Table 3 1 Power Supply Combinations Page 3 15 CHAPTER IV 4 0 Installation Procedures 4 1 General Precautions The general installation procedures ere 1 Equipment ambient temperatures should not exceed 50 c 122 F 2 Equipment operational altitude should not exceed 6000 feet above sea level 3 equipment atmoshpere should be free of highly flammable or combustible vapors corrosive chemical fumes 011 vapor steam excessive moisture and particulants 4 2 Panel Mounted Assemblies The panel mounting versions of the NC400 Series assemblies can be mounted on either horizontal or vertical surfaces The plastic mounting rails on each of the assemblies provide a convenient and consistent mounting means for each of the panel mounted units Recommended mounting hardware is 10 32 or 1 4 20 or M 6 with ap
61. ly important if there has been a motor replacement A runaway condition 15 cause for close scruting of polarities Fault Characteristics It is especially important to note the characteristics of a unit that demon strates erratic or faulty operation For example does the system respond to commands in only one direction is there insufficient torque but Otherwise normal operation does the system function Page 7 2 In Systems Check Cont normally for certain periods of time These characteristics can prove quite valuable in diagnosing probable causes of failure especially if it becomes necessary to contact service or factory personnel Out of System Checks 7 2 2 1 Quadrant Resistance Tests Output section failures usually are caused by damage to one or more output bridge transistors This damage is usually indicated by abnormal resistance readings when checking the four output section quadrants with a V O M or similar instrument For this test repeat the procedure given in Section 5 2 1 Abnormal readinas allow one to pinpoint the particular quadrant s in which damaged devices are present It is normally advisable that you return at least the Power Electronics Card for factory repair However if you desire to replace damaged power section components the spare parts list carries parts numbers for the power devices used 7 2 2 2 Signal Electronics Card Tests A number of test points are available on
62. ner until ready for use Procedures for returning equipment to the factory for any reason are detailed in later sections of this manual Page 1 2 2 0 CHAPTER II Specifications 2 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Servo Controller Specifications DC Bus Voltage nominal Maximum Output Voltage Output Current NC407 Peak 5 sec max 15 RMS 7A Continuous 7A Horsepower Rating nominal NC407 Peak 1 5 Continuous 0 7 Power Input Voltages Power Section Bandwidth Deadband Efficiency Current Limit Range Form Factor Note 1 Gain Note 2 NC407 Input 1 0 to 5000A V Input 2 130 to 1300A V Gain Linearity Drift Referred to Input Offset 100VDC 95 NC414 NC421 30A 45A 14A 21A 14A 21A NC414 NC421 3 0 4 5 1 4 2 1 100VDC 36VAC center tapped 0 2 Small Signal 0 to 1000Hz Large Signal 0 to 100Hz zero 85 NC407 3A to 15A NC414 6 to 30A NC421 9A to 45A 1 01 NC414 NC421 0 to 0 to 10 000A V 15 000A V 260 to 400 to 2600A V 4000A V 5 10uv 9 c Adjustable to zero Page 2 1 2 0 Specifications Continued 2 1 Servo Controller Specifications Continued 15 Input Resistance min Input 1 10K Ohms Differential Input 2 10K Ohms 16 Temperature Range Operating to 50 C Storage 309 c to 65 C ADDITIONAL FEATURES 1 Auxiliary Outputs a Load Current Analogue 1 6A V NC407 3 3A V NC
63. nnections are made to thc three screw terminals 1 AC2 and DC power output is available from the 12 FASTON terminals described above in Section 3 3 3 5 Shunt Regulator Assemblies A1528 and A1529 As an option a Shunt Regulator Card can be added to either the single or three phase Power Supply Assemblies This card regulates the DC bus voltage during periods of regeneration motor deceleration when energy returned to the power supply filter capacitor exceeds that supplied The resultant voltage build up on the capacitors activates the Shunt Regulator Card once a nominal voltage level of 115VDC is exceeded Two versions of the regulator are available The A1528 dissipates 1000 watts peak and 100 watts continuous while the A1529 dissipates 2000 watts peak and 200 watts continuous Both the A1528 and A1529 are the same size mount in the same manner as the power supply rectifier assembly and are connected using just two jumper wires supplied with each regulator card Page 3 12 Assembly and Terminal Descriptions Continued 3 5 Shunt Regulator Assemblies 1528 and 1529 Continued The upper threshold or trip point on each regulator card is factory set and should not require adjustment Connection is made to two 0 25 male FASTON terminals on the power supply assembly card These terminals are designated REG and REG and mate with similarly designated terminals on the regulator card using the jumper
64. nverting input of Signal Input No 1 is used as the third input point Also jumper J2 see Figure 5 3 for location is removed and C44 and R162 are chosen and soldered in place The value of R162 is selected first this case the scale factor potentiometers R94 and R91 are adjusted in much the same manner as described above but R162 is selected using a resistor substitution box or similar instrument The total input resistance for the third input becomes R162 R81 R81 is normally 10 1 but can be changed if desired Then the noise filter capacitor C44 is selected for a desired 3dB cutoff frequency fo using the following equation 1 C447 3T T where Ro is the parallel combination of R162 and R81 Section 6 2 provides further details regarding the three input version of the Preamplifier Section 5 2 4 4 Servo Response Adjustment The NC400 Series servo controllers contain a unique adjustable servo response or servo stability adjustment potentiometer R92 This potentiometer is located at the top of the Signal Electronics Card and is labeled RESP Page 5 11 5 2 4 4 Servo Response Adjustment Continued In most applications it is necessary to adjust only this potentiometer to achieve optimum response The adjustment procedure is as follows 1 Provide the controller with low frequency bi directional square wave velocity command a 0 5Hz 5 0V waveform is often employed Apply power
65. operating manual THERE ARE NO IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE THAT APPLY TO THIS SALE CSR makes no warranty whatsoever in respect to equipment and components or systems not manufactured by it When permitted by its suppliers CSR will transfer to Purchaser any warranties as may be offered by such suppliers to purchasers from CSR This warranty is expressly made in lieu of all other warranties express or implied and CSR shall under no circum stances be liable for any direct indirect special or con sequential damages expenses or losses resulting from operation of or defects in the equipment covered hereby Page 7 11 7 6 Authorized Repair Agents 1 USA 2 European 3 United Kingdom Control Systems Research Inc 632 Fort Duquesne Boulevard Pittsburgh PA 15222 ATTN CUSTOMER SERVICE DEPARTMENT CONTRAVES ANTRIEBSTECHNIK AG CSR Product Line CH 8105 Regensdorf Pumpwerkstrasse 23 Switzerland CONTRAVES INDUSTRIAL PRODUCTS LTD Times House Station Approach Ruislip Middlesex HA4 8LH England Page 7 12 Appendix VINVA1ASNN34 HDYNSS 14 ONT H2YY3 38 631549 3051405 53 935 WvHOvIO NOLLOJNNOC W31SAS NOl1d4142 30 5 016134 a MON 3A 0X3 UNO JO 1 5031645 TOWLNOD 0 NOISSIN 78346 MALLIVM SIMD LIONS ANY NOISSINMS4
66. or but also of removing power from the motor regenerative action during periods of deceleration Load current in the bridge output section is through Ql Load 04 or through Q3 Load Q2 That is current conduction is always diagonal in the bridge the destruc tive condition of having Ol and Q2 or Q3 and Q4 ON simultaneously is disallowed by the logic of the low level circuitry The load current is sampled by resistors R_ in each leg of the bridge When the resultant signals J and K are combined differentially by the current feedback amplifier a signal B results which is representative of the actual armature current This current feedback loop provides the NC400 Series servo controllers with several advantages First precise adjustable current limiting is achieved simply by limiting the peak voltage magnitude at point A in Figure 6 1 Second the current feedback configuration makes the amplifier appear to the load as a controlled current source hence the effect of the motor L R time constant is sub stantially reduced This is especially desirable in high response servo drive applications Finally the effects of low armature resistances or variations of armature resistance due to heating will not impair the performance of the NC400 Series controllers Page 6 3 90 Gd A 2 20 r IJAPA pue 5 2 9 1 pue
67. parator which drives the output transistor switch The integrator section contains a dual time constant network The time constant for the rising current is longer than that for the falling current condition since this better approximates heating in a motor load Section 5 2 6 contains further information on this circuit 6 3 3 Overvoltage Sense Circuit As mentioned in the opening paragraphs of this section an Overvoltage Sense Circuit is present in the NC400 Series servo controllers to sense an excessively high DC bus condition 122V or greater and act to disabie the controller Page 6 19 6 3 3 Overvoltage Sense Circuit Continued When a high bus condition is sensed the Overvoltage Sense Circuit sets the fault latch Of course the FAULT light emitting diode will glow indicating shut down If this condition should occur repeatedly during the beginning of motor deceleration excessive regenerated energy is indicated and a Shunt Regulator Assembly 1528 or 1529 optional should be installed If a Shunt Regulator is being employed check the fuse in this circuit if the above conditions are noted since most likely the Regulator has ceased to function 6 3 4 Undervoltage Protection Circuits Two Similar circuits in the NC400 Series servo controllers monitor both the DC bus voltage and the 15VDC bias voltage If either of these two circuits senses a voltage too low to maintain proper controller operation
68. ploying differential input stage Input impedance is 10 nominal Gain is adjusted by R94 SIG 1 potentiometer at the top of the Signal Electronics Card CW rotation increases the signal level SIGNAL COMMON A number of signal common connec tion points are provided The sig nal commons are tied internally on the NC400 Series to the power common SIGNAL INPUT NO 2 Non differential signal input terminal Gain set using R91 SIG 2 poten tiometer at the top of the Signal Electronics Card CW adjustment increases the signallevel Page 3 3 3 0 Assembly and Terminal Descriptions Continued 3 1 Servo Controller Assemblies NC407 NC414 NC421 Cont Servo Dual Axis Controller Card Assy Assembly 6 or 2 9 TB2 6 TBl 7 A2 f TB2 7 Terminal Description AUXILIARY FUNCTION 1 Auxiliary Function 1 2 and 3 terminals allow the interposition of additional external circuits in the signal path of the Servo Controller For example an external current limit circuit can be placed between Auxiliary Function terminals 1 2 jumper J4 must be removed Section 5 2 provides further details 4AUXILIARY FUNCTION 2 Used with Aux Function 1 above or Aux Function 3 below to imple ment special signal processing functions provided by external cir cuitry For example one can inter pose a current limit versus motor speed circuit between the preamplifier and power sections o
69. ply Assemblies Two versions of the Shunt Regulator are available one can dissipate 1000 watts peak and 100 watts continuously 1528 while the other can handle 2000 watts and 200 watts respectively A1529 The Shunt Regulator Assemblies are switching types wherein dissipative elements resistors are Switched across the DC bus whenever the voltage reaches a predetermined level The switching elements employed are transistors identical to those used in the output sections of the servo controllers The function of the Shunt Regulator is to regulate the voltage of the DC bus during periods of motor deceler Page 6 22 6 3 7 Shunt Regulator Option Cont ation when there is a net energy outflow from the motor to the controller The controller handles this reverse energy just as efficiently as it provides energy to the motor hence most of the energy is passed through the controller to the power supply where the returning energy charges the filter capacitors above their normal voltage level as deter mined by the AC incoming voltage When the capacitor charge up reaches a level between 118 and 120V the Shunt Regulator begins its regulating action The bus is regulated to this range until regen eration ceases Deciding if a regulator is required in a particular application is best done empirically using the actual system as a test bed The Shunt Regulator Option can be added at any time to the Power Supply A
70. printed circuit card the same size as the Dual Axis card is employed for both the single and three phase power supply assemblies for the NC400 Series As with the Dual Axis Card both panel and rack mounting versions are available The single phase versions 1524 panel and 1525 rack when used with the appropriate transformer can provide up to 4 0KW of average continuous power output See Table 1 The nominal no load output bus voltage is l00VDC AC input connections are made to three screw terminals designated 1 AC2 and AC2 is the center tap connection point A total of 12 power output terminals 0 25 male FASTON six for the power commons and six for the 100VDC connections are provided Each single phase power supply assembly has a total of 14 000 nominal of filtering In addition where required optional Shunt Regulator Assembly See Section 3 5 can be added to the supply by making only two connections Page 3 11 Assembly and Terminal Descriptions Continued 3 4 Power Supply Assemblies 1526 and 1527 Up to 6 0 KW of average continuous power output be obtained from each of the two versions 1526 panel and 1527 rack of the three phase power supply assemblies for the NC400 Series See Table 1 Unlike the single phase versions the three phase assemblies contain a cooling fan to cool the three phase recitifier assembly Three phase line co
71. propriate flat and lock washers During panel layout allow sufficient clearance between assemblies and adjacent components for wire ways and access to connectors terminals and fuses located on the assemblies Also locate the Power Supply Assemblies centrally with respect to the Dual Axis Card Assemblies This will aid in keeping power wiring lead lengths to a minimum which in turn will obviate the need for additional bus smoothing filter capacitors See Section 4 4 1 Page 4 l 4 0 Installation Procedures Continued carr rhe i ec pS 4 2 Panel Mounted Assemblies Continued Consult the outline and application drawings contained in Section 1 for further information 4 3 Rack Mounted Assemblies Three assemblies the 1523 Dual Axis Card Assembly the 1525 Single Phase and 1527 Three Phase Power Supply assemblies 1516 and 1518 available in the NC400 Series are specially designed to mate with the Dual Axis and Power Supply Assemblies to form complete rack panel units desired CSR can supply completely assembled rack units ready for mounting The various rack assemblies are designed to accept wiring from the rear Servo controller assemblies however are inserted from the front in the same manner as with the panel mounted versions of the NC400 Series A total of 8 screws four on each side are required to mount the 1516 and 1518 panels to a suitable rack If the power supply assembly
72. rinciples and a full complement of electronic test equipment For most users the best solution is to return any equipment to CSR for repair In this case only Level A maintenance components are required If component level repair is attempted Level 2 maintenance components will most likely be required and should be stocked All spare parts should be ordered directly from the Customer Service Department 7 4 1 Level 1 Maintenance Spare Parts NC407 10 fuse 1 per unit NC414 MDA20 fuse 1 per unit NC421 20 fuse 1 per unit Misc Cooling fan Howard No 3450 Or equivalent 1 per four fan 59 cooled assemblies 54 Misc MDX 1 fuse 1 per two fan cooled assemblies 7 4 2 Level 2 Maintenance Spare Parts 1 407 Power Electronics Card 1536 2 00023 Output Transistor CSR 2 90024 Output Transistor CSR 2 Q0036 Driver Transistor CSR 2 00037 Driver Transistor CSR 4 CP5 0 1 0 12 5W Resistor 1 A115B Diode General Electric 7 7 4 2 Level 2 Maintenance Spare Parts Cont 2 NC414 Power Electronics Card 1537 4 4 2 2 6 2 00023 00024 00036 00037 5 0 1 115 Output Transistor CSR Output Transistor CSR Driver Transistor CSR Driver Transistor CSR 0 1 0 5W Resistor Dale Diode General Electric 3 421 Power Electronics A1538 6 6 2 2 8 3
73. rts 7 4 2 Level 2 Maintenance Spare Parts 7 5 Warranty 7 6 Authorized Repair Agents APPENDIX 1 Assembly Outline Drawings 7 9 7 11 7 12 CHAPTER I The NC400 Series DC Servo Controllers 1 1 Introduction Three servo controller models NC407 NC414 and NC421 and associated equipment assemblies comprise the NC400 Series These controllers operate from a l100VDC bus and range in peak output currents from 15 to 45 amperes These controllers are true plug in card assemblies and do not require that any wires be detached in order to remove them from their mounting making replacements or exchanges extremely easy and absolutely foolproof The NC400 Series are switch mode controllers employing rugged power switching transistors resulting in reliable efficient and smooth power transfer from the DC supply to the motor load In fact average load current form factors are normally lower than 1 01 hence nearly pure DC current flows in the motor a result substantially more power is obtained from SCR rated motors allowing in many cases a reduction of frame size with consequent cost savings In addition an order of magnitude increase in closed loop velocity and position servo performance is afforded by the high System bandwidths achievable using the NC400 Series Besides the three identically sized servo controller card assemblies the NC400 Series also offers additional complemen tary assemblies Dual Axis Card Assembl
74. s are provided in the preamplifier section of the controller R94 adjusts the scale factor for Input No 1 while R91 is used to adjust the scaling of Input No 2 Both of these potentiomenters are located at the top of the Signal Electronics Card Both potentiomenters are adjusted CW to increase scaling The normal velocity loop scaling procedure is as follows l Adjust R91 SIG 2 full CW NOTE This procedure assumes the tachometer signal is input Signal No 2 Adjust R94 SIG 1 full CCW Input a DC level or low frequency square wave signal to Input No 1 having a magnitude equal to the maximum velocity command signal magnitude Apply power to the controller and monitor the tachometer signal magnitude using a V O M or oscilloscope The oscilloscope is preferred if a square wave signal is being used Gradually adjust R94 SIG 1 CW until the desired maximum motor speed is attained The tachometer scale factor in volts rad second or volts 1000 rpm must be known in order to make this adjustment Most tachometers supplied by CSR are scaled at 7 0V K rpm If desired maximum speed is not attained with the Signal 1 scale factor potentiometer full CW then gradually adjust R91 SIG 2 CCW until desired motor speed is reached Page 5 10 5 2 4 3 Scale Factor Adjustment Continued some cases three input signals including the tachometer signal must be summed into the controller In this case the non i
75. signal input point for signal input No 1 when employing differential input Stage Also can be used as signal No 3 input point when not employing differential input stage see Section 5 2 Input impedance is 10Ka nominal Page 3 1 261 20 22519 JW NOR 41 gt BWOZODDACAS 1 jndul 219893 3queiJin 42387 31183 el asuas d334194A0 31 31g 2172 35913 uouo ndur 815 2045 21 3TQTUUI iav du H 3ndu IFAFYUTI Seno LE uounio pee RS 2 TCYON 10 uop3ounj ap 3 4 1 91275 ICH um nE 2 OIR mE Sufg31eAu UON 2 BB JVAOCI Page 3 2 Servo Controller Input and Output Designations Figure 3 1 3 0 Assembly and Terminal Descriptions Continued Dual Axis Card Assy TBl 2 or 1 3 5 9 11 14 16 22 or TB2 3 5 9 11 14 16 22 TBl 4 or TB2 4 Servo Controller Assembly A2 11 A2 D NC414 NC421 Cont 3 1 Servo Controller Assemblies NC407 Terminal Description INVERTING SIGNAL INPUT 1 Inverting signal input No l when em
76. ssembly merely by making two FASTON type connections Hence these units can be added in the field whenever required On multiple axis systems if it is always the case that the other axes are taking power from the supply when a particular axis is regenerating then the Shunt Regulator is probably not required As a design aid the following information is provided so that one may estimate if a regulator will be required in a particular case Page 6 23 6 3 7 Shunt Regulator Option Cont It can be shown that neglecting friction and other secondary power loss mechanisms the total energy returned to the power supply durinc a deceleration period 15 given by the equation NK Tw ae I_R 2 2NK Where J total load inertia pel ece motor torque constant in lb amr motor back emf constant V Krpm N motor speed at the beginning of the deceleration period Krpm I5 magnitude of the deceleration current A Ry total armature circuit resistance 9 Once this energy value has been calculated the required capacitance needed to store the energy can be found from the expression AE gt farads 2309 When the single or three phase Power Supply Assemblies in the NC400 Series are used the value of C is fixed and the maximum allowable energy can be found The following inequality results lt 16 joules The Regeneration Energy
77. tant The output D of the two state circuit is applied to identi cal sections containing delay and driver circuitry as well as interfacing circuitry for the limit and protection circuits As inversion takes place previous to one of the Delay Driver sections however This inversion is necessary in order to have proper signal phasing in the output section The output section is a bridge shown in simplified form in Figure 6 1 consisting of paralleled output transistors for simplicity only one transistor per quadrant is shown in Figure 6 1 and fast recovery free wheeling diodes in each quadrant Emitter resistors are employed with each out put transistor to enhance current sharing Unlike linear amplifiers where a small idling or common mode current is necessary to eliminate cross over distortion common mode conduction or switch through must be avoided in switching amplifiers This condition arises because of the unequal turn on and turn off times of transis tors the turn off time being longer than the turn on time In the NC400 Series precise turn on delay times are effected in the Delay Driver sections so that for example Ql has sufficient time to turn off before Q2 is allowed to turn on Page 6 2 6 1 Power Section Operation Continued The use of the bridge output section in the NC400 Series provides for full four quadrant dynamic motor operation Hence the controller is capable not only of delivering power to the mot
78. the CW position Figure 6 4 is a graph Bode plot of the gain expression G1 s This graph is actually a family of asymptotic curves indicating the manner in which the preamplifiers frequency response is altered by R92 the RESPONSE potentiometer 6 2 2 The Offset Circuit The offset potentiometer R90 is connected between the plus and minus 15V bias supplies and hence any voltage between these extremes can be applied to 5 the offset summing resistor Hence with up to 1 5 injected through Ro 4 Page 6 11 AUXILIARY FUNCTION 3 AUXILIARY FUNCTION 2 Gp er NOILOAS OL PN OE GAOT 268 AUXILIARY FUNCTION 1 1 ant 4 9 521 V8SZNI 112 AQT AO 12 22 53051 41 70 0 8 012 SNOOT LSU 57001 Fe 918 5001 988 NON INVERTING SIGNAL INPUT INVERTING SIGNAL INPUT SIGNAL INPUT 2 t AST 1 7 1 ILA TITY 184 54001 09T ESY gt TOU uedo 2 ZT GAOT 281 Preamplifier Section Schematic FIGURE 6 3 Page 6 12 46 6213 MADE IN U S A SEM1 LOGARITHMIC 5 CYCLES X 70 DIVISIONS KEUFFEL amp ESGER H L 3 Li a a 4 4 E em
79. the box resistance until optimum response as depicted in Figure 5 4 is achieved Substitute the closest standard value discrete resistor for R77 and remove the resistor substitution box Remove the shorting jumper across 10 and again check the response using the squarewave test signal If near optimum results are obtained trim the response using the RESPONSE potentiometer R92 for the optimum If step 7 does not yield satisfactory results substitute a larger value than 0 047 uF if unacceptable overshooting has been noted or substitute a smaller value than 0 047 F if the response is overdamped Reiteration of this procedure should yield an optimum choice for C10 Finally select a new value of Cll normally 0 0022uF so that the time constant of R77 Cll remains approx imately as it was with the standard value of R77 Consult Section 6 2 for further details regarding the compensation components Page 5 13 Command Signal Overdamped R92 too far cw t Critically damped R92 optimum t Underdamped R92 too far ccw Figure 5 4 Typical Velocity Response Waveforms Page 5 14 NC400 Series Servo Controller 0 002uF 1 2W Oscilloscope Figure 5 5 RC Filter Network for Reducing Tachometer Electrical Noise Page 5 15 5 2 6 Electronic Circuit Breaker Trip Adjustment The Electronic Circuit Breaker section of each NC400 Series Servo Controller performs a function similar to an armat
80. tor load the internal fault latch is set the controller is dis abled and the Fault Latch Output goes to an open state Pull up must be provided by external means as this circuit is an open collector in the tripped state CURRENT ANALOGUE OUTPUT An analogue of load current is available at this terminal The scale factor is such that 9 3 10 represents rated peak controller current The source impedance at this terminal is the equivalent of 2 7K and 0 1 MF in parallel Page 3 7 3 0 Assembly and Terminal Descriptions Continued 3 1 Servo Controller Assemblies NC407 NC414 Dual Axis Card ASSy TBl 19 or TB2 19 1 20 or TB2 20 1 21 or TB2 21 Servo Controller Assembly A2 M A2 B 2 NC421 Cont Terminal Description ENABLE This terminal provides a means of disabling the controller totally so that the output bridge circuit semiconductors are all in the OFF state and current is not driven in either direction the controlle is disabled whenever this terminal is not connected to signal common A delay of approximately 30 msec is incurred when the controller is disabled Virtually no delay occurs when the controller is enabled 15VDC BIAS VOLTAGE A source of both positive and negative 15vpC bias voltage is provided by the NC400 Series servo controllers and made available at this terminal and the one below Current draw should not exceed 25 MA Ripple
81. tput of the controller and the load Most of the voltage appears across the load inductance and hence very little voltage is induced in the transformer s secondary winding When a short circuit occurs most of the voltage appears across one or both of the primary windings which induces a proportionately larger voltage in the trans former s secondary This higher secondary voltage is sufficient to exceed the threshold of the low level processing circuit and the fault latch is set which disables the controller Page 6 21 6 3 6 Secondary Overcurrent Sense Circuit The secondary overcurrent sense circuit monitors the voltage drop across the emitter resistors of transistors in the upper quadrants of the NC400 Series servo controllers If the primary overcurrent sense circuit should fail to recognize a potentially catastrophic overcurrent con dition or if an internal short circuit should develop within the controller the secondary overcurrent circuit will sense the condition and set the fault latch which disables the controller The secondary overcurrent sense circuit is not as fast acting as the primary circuit and in fact a higher than peak current must appear in the emitter resistor being monitored by this circuit before any action is taken to disable the controller 6 3 7 Shunt Regulator Option As an option a Shunt Regulator Assembly can be added to either the single phase or three phase Power Sup
82. ude between 90 and 110 0 Again apply power Check that all cooling fans are operating and that between 105 and 125VAC is measured between the 120VAC FASTON terminals on the Dual Axis Card Assemblies With power removed and sufficient time 15 seconds or longer elapsed for discharge of the supply capacitors reconnect the leads of the Shunt Regulator Cards removed in 2 above Servo Controller Set Up Procedures 5 2 1 Bridge Resistance Checks Before insertion of a new or repaired servo controller into the Dual Axis card Assembly make the following power section resistance check Page 5 1 5 2 1 Bridge Resistance Checks Continued Using a V O M Volt ohm meter make the resistance measurements shown below Test Points Measurement Value Al 2 gt Al 2 gt 1 3 gt 1 4 gt 1 2 gt 1 1 lt Table 5 1 Power Section Resistance Test Values OFF 123 Al Power Electronics Card of Servo Controller Page 5 2 5 2 1 Bridge Resistance Checks Continued Consult the fault determination precedures in Chapter VII if discrepancies are found in these measurements IMPORTANT Each servo axis should be completely tested for proper operation before the next axis controller is inserted into the Dual Axis Card and placed in service Insert the first servo controller to be set up into the appropriate slot in the Dual Axis Card Assembly 5 2 2 Polarity Direction
83. ure circuit fuse or electro mechanical circuit breaker This circuit senses output current flow with time and after a given time disables the controller when output current exceeds the rated current for the controller Unlike a fuse or actual circuit breaker the connection between the motor and controller is not physically broken instead the controller is disabled using the fault latch circuit If a physical break between controller and motor is required a load contactor should be used as described in Section 4 5 3 The trip point versus current level for the Electronic Circuit Breaker is given in Figure 5 6 The nominal trip time at peak current is 5 seconds This is normally acceptable for most applications and most motors If however a short thermal time constant motor is employed in the application the time constant of the Electronic Circuit Breaker circuit should be changed This is best accomplished through experimentation using a resistor substitution box for resistor R66 By making R66 a lower value a faster trip versus current curve will result A procedure for adjusting the trip point follows 1 Mechanically lock the rotor of the motor Set the value of R66 low say 10 8 3 Apply a small velocity command to the controller 4 Apply power to the controller and time the interval between application of power and the trip of the Electronic Circuit Breaker circuit Page 5 16 5 2 6 Electronic Circuit Breaker
84. y Assuming the procedures in the preceding sections were carried out successfully momentarily apply power to the controller without any signal command applied All fuses should be in place and all signal and load connections made at this time If upon application of power the motor rapidly accelerates a runaway condition exists due most likely to a reversal of either the motor or tachometer polarities Repeat the procedure in Section 5 2 2 1f this is the case If the motor and tachometer are properly connected and the controller is functioning normally otherwise the motor shaft should remain stationary or at most drift slightly in either direction when power is applied 5 2 4 1 Offset Adjustment With conditions as above adjust the OFFSET potentiometer R90 until any rotation of the motor shaft ceases Then with power to the controller OFF obtain a zero speed command on the signal command line and connect the signal lead to the controller Page 5 5 5 2 4 1 Offset Adjustment Continued Reapply power and again adjust the OFFSET potentiometer for a static motor shaft condition If the OFFSET potentiometer has insufficient range a lower value of resistance can be substituted for R73 to obtain a wider offset adjustment range See Figure 5 3 for the location of R73 and other adjustment components on the Signal Electronics Card 5 2 4 2 Current Limit Adjustment Each NC400 Series servo controller conta
85. y in which to mount the controllers for either panel or rack mounting In addition both single and three phase Power Supply assemblies are available to provide up to 6KW of power to the controllers Detailed descrip tions of these components as well as others are provided in later sections of this manual Page 1 1 The NC400 Series DC Servo Controllers Continued 1 1 Introduction Continued The following sections of this manual detail installation operating and maintenance procedures for the NC400 Series and have as well sections covering aspects of the theory of operation of the controllers and basic applications information 1 2 Receiving and Handling Upon delivery of the equipment thoroughly inspect the ship ping containers and contents for indications of damage incurred in transit If any of the items called for in the bill of lading or express receipt are damaged or the quantity is short do not accept them until the freight or express agent makes an appro priate notation on your freight bill or express receipt If any concealed loss or damage is discovered later notify your freight or express agent within 15 days of receipt and request that he or she make an inspection Claims for loss or damage in shipment must not be deducted from your invoice nor should payment be withheld pending adjust ment of any such claims Store the equipment in a clean dry area It is advisable to leave the equipment in its shipping contai

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