Quin Q-drive Installation & User Manual

Servo amplifier

Hide thumbs

Table Of Contents

Table of Contents

Quick Links

Quin Systems Limited

Q-drive Servo Amplifier

Installation & Users Manual

Issue 1.5

June 1996

(MAN430)

Table of Contents

Summary of Contents for Quin Q-drive

Page 1 Quin Systems Limited Q-drive Servo Amplifier Installation & Users Manual Issue 1.5 June 1996 (MAN430)
Page 2 QDRIVE.EXE version 2.0 or higher. Important Notice Quin Systems reserves the right to make changes without notice in the products described in this document in order to improve design or performance and for further product development. Examples given are for illustration only, and no responsibility is assumed for their suitability in particular applications.
Page 3: Table Of Contents
Earth connections Connecting the motor to the drive Connecting the drive to the controller Safety - Using Guards and Limits Choosing a motor Mounting the motor Connecting the motor to the load Copyright © 1996 Quin Systems Ltd. Page i...
Page 4 Trouble Shooting Testing the System General Serial port Resolver Interface Encoder Simulator Configurations 10.1 General 10.2 Resolver Ratio 10.3 Amplifier Configuration 10.4 Servo-amplifier fuses 10.5 Backplane configuration 10.6 Backplane Fuse Options List Page ii Copyright © 1996 Quin Systems Ltd.
Page 5: List Of Figures
Issue 1.5 Q-Drive Installation Manual List of Figures Figure 1: EMC filtering Figure 2: Fixing centres for the Q-Drive. Figure 3: Connections Figure 4: P2 Upper: resolver connector Figure 5: P2 Lower: encoder connector Figure 6: P10, P11, P12: discrete signals...
Page 6 P3 to P4 RS422 Daisy Chain Connections Table 8: P10, P11, P12 Connections Table 9: Motor Phase Determination Table 10: Q-Drive Trouble Shooting Table 11: Amplifier Configuration Table 12: Amplifier Fuses Table 13: Backplane configuration Jumpers Page iv Copyright © 1996 Quin Systems Ltd.
Page 7: Introduction
Q-Drive Installation Manual Introduction This document is the Installation Manual for the Q-Drive servo amplifier, a member of the Quin Systems Ltd. digital Programmable Transmission System (PTS) range. The Q-Drive series of servo-amplifiers are intended to control 3 phase AC servo- motors with electronic commutation and resolver feedback, up to a maximum rating of 18 Amps, 6.8kW continuous.
Page 8: Q-Drive Characteristics
Q-Drive Installation Manual Issue 1.5 Q-Drive Characteristics The main characteristics of the Q-Drive servo-amplifiers are as follows: • Digital servo-amplifier with analogue speed command +/- 10V, for Brushless motor with resolver. • Utilises a 16 bit DSP (Digital Signal Processor) •...
Page 9: Emc Compliance
Q-Drive Installation Manual EMC Compliance The Q-Drive amplifier has been tested to and complies with BSEN 50081-1 and BSEN 50081-2 for radiated emissions. The Q-Drive also complies with mains borne interference tests when used with a suitable three phase filter and when both the Q- Drive and the filter are securely mounted and earth bonded to a conductive panel.
Page 11: Unpacking And Inspection
When unpacking the Q-drive, keep all the packaging materials if possible. If it is necessary to ship the Q-drive to another site, or to return it for service, the original packing can be reused.
Page 13: Drive Specifications
If necessary, the unit can be supplied in a suitable sealed cabinet. Please contact your sales office or Quin Systems directly for further details.
Page 14: Electrical Specification
RS 232/RS422 serial link baud rate Standard: 9600 Bd Configured by solder bridge: 19200 Bd transmission Full duplex format 1 Start bit 8 Data bit no parity 1 Stop bit RTS/DTR controls RS232 transmission flow Page 8 Copyright © 1996 Quin Systems Ltd.
Page 15: Drive Performance Specification
= 1.73 x 5.9 x 210 = 2.1 kW rated 3.4.3 Analogue readings on the motherboard The Q-Drive motherboard contains several measurement points which permit an analogue reading of the three signals shown in Table 2- M e a s u r e m e n t Description...
Page 16: Mounting Details
Issue 1.5 Mounting Details The Q-Drive has mounting holes on the rear plate for fixing to an electrical panel inside a cabinet. The unit is fixed with four M5 bolts using the fixing centres as shown in Figure 2. below.
Page 17: Relevant Directives
Directive 89/336/EEC when used with the recommended mains filter. This product as normally supplied has mains level voltages accessible to touch, and requires to be mounted within a suitable cabinet to meet any required IP rating to BSEN 60529. Copyright © 1996 Quin Systems Ltd. Page 11...
Page 19: Connections
Issue 1.5 Q-Drive Installation Manual Connections General High and low voltage cable connections have been segregated in the Q-drive. The positions of the various connectors are shown in Figure 3. P2 Upper R E SO LVE R P2 Lower E N C O D E R...
Page 20: Wiring And Connectors
4.1.1 Wiring and connectors The wiring of the Q-Drive series of servo-amplifiers must be carried out according to the schematics in these instructions. Local wiring regulations must be observed. Special attention should be paid with respect to wiring rules regarding ground, earth and neutral.
Page 21: Low Voltage Connections
Thermal Trip 1 White Thermal Trip 2 Brown Sin 2 Pink Sin 1 Grey Cos 2 Yellow Cos 1 Green Ref. 2 Blue Ref. 1 Table 4: P2 Upper, Resolver Input Connections Copyright © 1996 Quin Systems Ltd. Page 15...
Page 22: P2 Lower: Encoder
It is recommended that the maximum cable length for the encoder output should not exceed 25m, which should not be a problem as the Q-drive and control system can usually be mounted within the same cabinet. If the machine installation requires a cable longer than 25m, then it may be necessary to install an additional line driver unit to boost the encoder signals.
Page 23: Figure 5: P2 Lower: Encoder Connector
Colour. Pink. Grey. Yellow. Green. Blue. Red. Not Used. White. Screen. All screens. Table 5: P2 Lower, Encoder Output Connections Heidenhain cable type 200 775 02 Figure 5. P2 Lower: encoder connector Copyright © 1996 Quin Systems Ltd. Page 17...
Page 24: P4 Rs422 Out / Rs232
RS232 port in a single drive application. The RS232 option can only be used if the drive has been setup for this format by Quin systems. The default configuration is for RS422, the connections are shown below.
Page 25: P10, P11 & P12
Table 8: P10, P11, P12 Connections P11 & P12 already inserted into their respective mating half, whilst the pin 3 & 4 connectors are shown waiting to be inserted. Figure 6. P10, P11, P12: discrete signals Copyright © 1996 Quin Systems Ltd. Page 19...
Page 26: High Voltage Connections
P7 is a block of three high current screw terminals used to connect the three phase or single phase supply to the Q-Drive. If a single phase supply is used then connections ‘R’ and ‘S’ should be used. The individual phases are identified by markings on the circuit board just above the terminals.
Page 27: Wago Spring Terminals
These are used to connect the auxiliary supply and an external fan.The terminals marked R‘ and S‘ are used to connect the single phase auxiliary supply to the Q-Drive. This supply is required if the resolver position and encoder output signals are to be maintained when the three phase supply is removed, i.e.
Page 29: Electrical Installation
Please refer to the motor and control manufacturer’s instructions for further details on electrical installation Control System Encoder cable Resolver cable QUIN Q-Drive 1 ø 3 ø Isolating Isolating Transformer Transformer ø1 ø2 Motor ø3 Neutral Earth Figure 9. General installation arrangement Copyright © 1996 Quin Systems Ltd. Page 23...
Page 30: Mains Supply
Q-Drive Installation Manual Issue 1.5 Mains supply The Q-Drive can be powered from one of four sources:- • 220V three phase supply • Isolating transformer • Auto-transformer. • Single phase supply The drives are fitted with surge limiting devices which prevent the bridge rectifier from being damaged by high inrush currents.
Page 31: Auxiliary Supply
R‘ and S‘ are used to connect the auxiliary single phase supply to the Q-Drive. This supply is needed if the resolver position and encoder output signals are to be maintained during an emergency stop, i.e. when the three phase supply is removed, it will not supply power to the amplifier part of the drive.
Page 32: Earth Connections
All screened cables should have their screens connected directly to earth, not via the system 0V power supply. This is very important, as otherwise noise and transients picked up in the screen will pass through the system, instead of being dissipated directly to earth Page 26 Copyright © 1996 Quin Systems Ltd.
Page 33: Connecting The Motor To The Drive
• Recommended cable for motor drive power: RS part number 379-198 Recommended cable for Resolver or Encoder: Heidenhain cable part number 200-775-02 (Formerly part number 2449-5501) Copyright © 1996 Quin Systems Ltd. Page 27...
Page 34: Connecting The Drive To The Controller
P10.1 - refer to table 8. A suitable screened cable is RS part number 367-325. The encoder simulation output of the drive is connected to a Quin controller as per table 5 and figure 5, using the appropriate axis socket. The chosen axis parameters are to be set for Quadrature x 4 encoder, which is usually the default setting.
Page 35: Safety - Using Guards And Limits
Anyone operating or working on the machine must be able to instantly stop the machine at any time by hitting an emergency stop switch. There are no limit switches available on the Q-Drive but if the machine requires the use of limit switches then they may be implemented using the digital i/o functions available on the control system.
Page 36: Choosing A Motor
= diameter of motor pulley = diameter of load pulley = inertia of load = inertia of motor d θ = acceleration at motor shaft = friction torque of load = friction of motor. Page 30 Copyright © 1996 Quin Systems Ltd.
Page 38: Mounting The Motor
The effect of backlash is not just a loss of position accuracy, but may in extreme cases result in a highly unstable system. All possible precautions must be taken to minimise or eliminate backlash in the system. Page 32 Copyright © 1996 Quin Systems Ltd.
Page 39: Drive Parameters
(PC) and used to set the drive parameters and monitor the servo-amplifier status. There are 80 parameters available on the Q-Drive that are divided up as detailed below. On the following pages are descriptions of various parameter and their range of values;...
Page 40: Figure 12: Q-Drive.exe: Password Entry Page
The program will allow changes to be made only if the password is correct, but will still run if the password is incorrect to allow parameter monitoring only. Figure 12. Q-Drive.exe: password entry page program presents the servo parameters using nine pages or screens.
Page 41: Figure 13: Q-Drive.exe: Scanning For Active Drives
Issue 1.5 Q-Drive Installation Manual Figure 13. Q-Drive.exe: scanning for active drives Once a drive has been connected to it, it is possible to change the various parameters available on each page. Moving around and selecting the parameters is done using the...
Page 42: Parameters
New Release: For more information on new releases please look at the file README.TXT. Page 0 Parameters Figure 14. Q-Drive.exe: page 0 parameters. Proportional Gain: (0..127) Integral Gain: (0..127) These two parameters determine the proportional and integral gain of the servo velocity control loop.
Page 43: Parameters
This parameter is programmable from -180 to +180 (electrical degrees). Page 1 Parameters Figure 15. Q-Drive.exe: page 1 parameters Motor thermostat normally, open: (0,1) The servo-amplifier is set to suit the motor thermal switch type by selecting:...
Page 44 For use with an RS422 interface the drive can be set to read the address from the Q-Drive backplane or be set to address 1. For use with an RS232 interface it can be set to read the address from the Q-Drive backplane or set to an address in the range 1 to 15:...
Page 45: Parameters
Issue 1.5 Q-Drive Installation Manual Page 2 Parameters Figure 16. Q-Drive.exe: page 2 parameters 16 Speed/Resolution: (1,2) <F2> This parameter selects one of two maximum motor speeds in order to enable the servo-amplifier for the appropriate encoder resolution range. The limits are: Max.
Page 46 This parameters determines how the amplifier treats the Over current (I and Under voltage alarms, i.e. whether or not they are latched. Neither alarm latched Over current alarm latched Under voltage alarm latched Both alarms latched 23 Optional Speed Module Page 40 Copyright © 1996 Quin Systems Ltd.
Page 47: Parameters
Issue 1.5 Q-Drive Installation Manual Page 3 parameters Figure 17. Q-Drive.exe: page 3 parameters 24 to 53: Not used Page 6 parameters Figure 18. Q-Drive.exe: page 6 parameters Copyright © 1996 Quin Systems Ltd. Page 41...
Page 48: Parameters
This value can be used with the resolver position to effectively produce an absolute encoder. Page 8 parameters Figure 19. Q-Drive.exe: page 8 parameters The parameters on Page 8 are Read only and as such cannot be changed. Page 42...
Page 49: Parameters
Issue 1.5 Q-Drive Installation Manual Page 9 parameters Figure 20. Q-Drive.exe: page 9 parameters 74 Max Peak Current (0..127): This parameter defines the maximum peak current that the drive will deliver to the motor 75 Max Nominal Current (0..127): This parameter defines the maximum nominal current that the amplifier will...
Page 50: Status & Alarm Page
“Axe 6 ONLINE no connect” Earth Defect:- If the optional Earth Fault module is fitted and the Q-Drive is supplied from an Auto-transformer then this alarm indicates a problem with the amplifier earthing EEPROM Fault...
Page 51 Q-Drive enclosure if the fault occurs on a regular basis. xiii End Switch 2 This alarm can not occur in the Q-Drive as it does not support end switches xiv Power Fault The power amp section of the Q-Drive has developed a fault and can no longer reliably drive the motor.
Page 53: Switching On
4), should be open circuit. This will disable the power stages of the amplifier. The resolver should be connected to the servo-amplifier and some method of reading the encoder output, i.e. a Quin PTS system, should also be connected. The three-motor phases must not be connected to the servo-amplifier.
Page 54: Segment Display On The Front Panel
Power amplifier section faulty. Decimal point displayed with any other display to show clockwise motor rotation. Motor connection failure Ground fault detected. only if option fitted Figure 22. Seven segment display codes Page 48 Copyright © 1996 Quin Systems Ltd.
Page 55: Checking The Electrical Rotation Sense Of The Resolver
Figure 23. Electrical rotation sense of the resolver If the decimal point lights up during anti-clockwise rotation, connections to the upper half of connector P2 pin 7 (COS1) and pin 6 (COS2) must be reversed. Copyright © 1996 Quin Systems Ltd. Page 49...
Page 56: Determining The Motor Phases
Mark with a pencil the new shaft axis position. With the help of the table below, determine the 2 unknown motor phases. sense of axis rotation 2nd phase 3rd phase clockwise anti-clockwise Table 9: Motor Phase Determination Page 50 Copyright © 1996 Quin Systems Ltd.
Page 57: Switch The Servo Amplifier On With A Motor And Optimization
Reverse the polarity of the speed command and check that the motor turns in the reverse direction. f) Set the max. current parameter to the initial state. Save the max. current using the key <F2>. Copyright © 1996 Quin Systems Ltd. Page 51...
Page 58: Compensating The Speed Controller
The setting of the offset can be done with or without the position controller. If a position controller, such a Quin PTS unit, is used then all of the controller gain parameters must be set to zero. Having set the controller gain parameters to zero enable the controller output and adjust the servo-amplifier offset compensation value until the motor stops moving.
Page 59 Press the < F2 > key to save this value. b) Speed compensation The Speed factor parameter allows adjustment of the motor speed from - 6000 rpm to + 6000 rpm. Press the <F2> key to save this value. Copyright © 1996 Quin Systems Ltd. Page 53...
Page 60: Trouble Shooting
M o t o r t u r n s i n w r o n g Command signal is wired incorrectly, Reverse direction connections to PP10.3 and P10.4 and change the setting of jumper J3. Table 10: Q-Drive Trouble Shooting Page 54 Copyright © 1996 Quin Systems Ltd.
Page 61: Testing The System
Testing the System General This section describes some simple test procedures for some parts of the Q-Drive systems. These do not comprise a full system test, but may be useful to verify the basic operation of the system, the motor and the encoder.
Page 62: Encoder Simulator
The operation of the encoder simulator can be checked using a control system such as a Quin Systems PTS unit. Connect the encoder output of the drive to the encoder input on a PTS system and switch on both the drive and PTS system. Using a terminal connected to the PTS type the command “DM”...
Page 63: Configurations
General This section gives details of the configuration options on all the drive boards used in the Q-Drive range of servo amplifiers, although the settings are not normally changed. The amplifiers are set up as described below when shipped. 10.2...
Page 64: Amplifier Configuration
1-2: absolute position available through the serial link (option) Table 11: Amplifier Configuration 10.4 Servo-amplifier fuses The following fuses are factory fitted on all Q-Drive units, the location of the fuses can be found in Figure 26. on page 64 Servo-amplifier type QDV-1-6 QDV-1-10...
Page 65 All QDV-1 drives use a 20mm fuse Warning: Blown fuses should only be replaced with the same type and rating fuse and only after the fault has been corrected. This work should be undertaken by qualified personnel. Copyright © 1996 Quin Systems Ltd. Page 59...
Page 66: Backplane Configuration
Q-Drive Installation Manual Issue 1.5 10.5 Backplane configuration The various jumpers available on the Q-drive backplane are detailed in Table 13: below. Figure 24. on page 61 shows the jumpers in their default positions Name Jumper Function Test points 1: Not used...
Page 67: Figure 24: Backplane Configuration
Issue 1.5 Q-Drive Installation Manual RESOLVER P2 Upper P2 Lower ENCODER J4 J3 S W 1 RS422/232 RS422 Figure 24. Backplane configuration Copyright © 1996 Quin Systems Ltd. Page 61...
Page 68: Backplane Fuse
IMPORTANT: Ensure that the auxiliary power is removed from the drive before attempting to replace this fuse. FUSE F1 Connector for optional fans SUPPLY EARTH M O T O R Figure 25. Backplane fuse Page 62 Copyright © 1996 Quin Systems Ltd.
Page 69: Options List
Options List Absolute position The resolver and associated circuits can be permanently powered by an external +/- 12V battery supply. This option is wired onto the Q-Drive backplane using connectors P11 and P12 Ground Defect With this option it is possible to detect a ground defect in the supply but will only work with an auto-transformer.
Page 70: Figure 26: Drive Amplifier Jumper & Fuse Locations
Q-Drive Installation Manual Issue 1.5 Layout of Drive Amplifier IMAX INCABS R C O S RSIN R R E F Figure 26. Drive amplifier jumper & fuse locations Page 64 Copyright © 1996 Quin Systems Ltd.
Page 71: Figure 27: Complete Wiring Plan
Issue 1.5 Q-Drive Installation Manual Screened Resolver cable Screened Encoder cable Figure 27. Complete wiring plan Copyright © 1996 Quin Systems Ltd. Page 65...
Page 73 27, 28 height connectors humidity aux supply earth encoder motor inertia resolver installation RS232/RS422 earth connections signals mains supply three phase integral gain (KI) cooling introduction couplings Copyright © 1996 Quin Systems Ltd. Page 67...
Page 74 8 testing page 9 encoder status and alarm page general phase advance serial port power down testing the encoder proportional gain (KP) torque torque calculation trouble shooting QDRIVE.EXE online password velocity profile Page 68 Copyright © 1996 Quin Systems Ltd.

Quin Q-drive Installation & User Manual

1 Introduction

2 Unpacking and Inspection

3 Drive Specifications

4 Connections

5 Electrical Installation

6 Safety - Using Guards and Limits

7 Drive Parameters

8 Switching on

9 Testing the System

10 Configurations

11 Options List

Quick Links

Summary of Contents for Quin Q-drive

Table of Contents