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Table of Contents
Related Manuals for Infranor SMT-BD1 Series
Summary of Contents for Infranor SMT-BD1 Series
- Page 1 DATASHEET INFRANOR SMT-BD1/1A 220-12-W-T-BS OTHER SYMBOLS: RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl www.rgbautomatyka.pl www.rgbelektronika.pl...
- Page 2 YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
- Page 3 OPERATING MANUAL SERIES SMTBD1 DIGITAL BRUSHLESS SERVO CONTROLLERS (Version 3.1) European version 3.1 ..This is a general manual describing a series of servo amplifiers having the capability for driving AC Brushless servo motors. It concerns only the basic amplifier version SMT-BD1. The options and other amplifier versions are described in the complementary manuals.
- Page 4 Infranor Inc. reserves the right to change any information contained in this manual without notice. Infranor Inc. does not assume any responsibilities for any errors that may appear nor for any physical or material damage due to improper handling.
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Page 5: Table Of Contents
4.2.0 Wiring recommendation (according to IEC 801 and EN 55011 standards) ........19 4.2.2 Motor and resolver cables........................19 5.0.0 ADJUSTABLE FUNCTIONS.......................20 5.1.0 PC Graphical window (Infranor Digital Drive)...................20 5.2.0 Parameter file menu (Files) ........................23 5.3.0 Software configuration menu (Setup) ....................23 5.4.0 Advanced functions menu........................23 5.5.0 Utilities menu ............................25... - Page 6 7.0.0 FAULT FINDING ..........................31 7.1.0 System default...........................31 7.2.0 Stored defaults ..........................31 7.3.0 Operating problems ...........................33 7.4.0 Service and maintenance........................34 8.0.0 APPENDIX ............................35 8.1.0 Hardware adjustments ........................35 8.2.0 Resolver connections.........................37 8.3.0 Motor connections ..........................37 8.4.0 Logic control adjustment ........................40 8.5.0 BPCW software installation.......................42 8.6.0 360 o shield on the connectors......................44...
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Page 7: General
1.0.0 GENERAL 1.1.0 Introduction Series SMT-BD digital servo modules are PWM servo amplifiers that provide speed control for AC sinusoidal motors (brushless) with transmitter resolver. The pluggable SMT-BD1 system is available as a single-axis block version or as a multi-axis version that can receive up to seven axes in a standard 19"... - Page 8 ® The basic software BPCW, which is IBM-PC compatible with the WINDOWS operating system, allows the display and modification of all amplifier parameters. The extended version of the BPCW software include the digital oscilloscope, the simulation function as well as the cogging torque compensation.
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Page 9: Specifications
2.0.0 SPECIFICATIONS 2.1.0 Technical specifications Operating voltage DC bus 310 VDC (270 V < DC bus < 340 VDC) Auxiliary supply voltage 310 VDC ( 200 V < Uaux < 340 VDC) Motor phase-phase output voltage 200 Vrms for DC bus 310 V Output currents for the Fusing mode of the I t protection (see chapter 8.3.3) Amplifier max. - Page 10 PWM Switching frequency 10 KHz Minimum inductance between phases 1 mH Current regulator (PI) adjusted to motor Current loop bandwidth Cut-off frequency for 45° phase shift: > 1 KHz Internal current limitation Imax: 20% to 100 % Irated: 20% to 100 % of Imax Imax duration = 1 second External current limitation...
- Page 11 * The total position accuracy must take into account the accuracy of the resolver used...
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Page 12: Standard Compatibility
Logic outputs Relay contact Umax = 50 V, Imax = 100 mA, Pmax = 10 W • "Amp ready": closed if amplifier OK, open if default • "Power ready": closed if power OK, open if default • IDYN signal: open if I t threshold is reached Error display LED on front panel and diagnostic by serial link... -
Page 13: Block Diagram
2.2.0 Block diagram... -
Page 14: Main Protections
2.3.0 Main protections 2.3.1 Stored protections PROTECTION ERROR DISPLAY LED* Amplifier rated current overload • flashing display = Idyn signal (I t threshold is reached) • continuous display = amplifier inhibited (I t default) Resolver cable interruption Resolver Power stage failure: Power stage •... -
Page 15: Inputs / Outputs
3.0.0 INPUTS / OUTPUTS 3.1.0 Connector locations 3.1.1 Front connectors SMTBM-20A single axis block For more detailed information regarding the power connection, please see the SMTBM-20A manual 3.1.2 RBF rack connectors For more detailed information regarding the power connection, please see BF Rack manual... -
Page 16: X1 Resolver Connector (Sub-D 9 Points Female)
3.2.0 X1 resolver connector (Sub-D 9 points female) FUNCTION REMARKS TC (pin H sensor connector) If thermal switch connected to X1 Shield connection If no "360°" connection on the connector TC (pin I sensor connector) If thermal switch connected to X1 S1 (pin C sensor connector) MAVILOR motor with resolver S3 (pin D sensor connector) -
Page 17: X4 Input - Output Command Connector (Sub-D 25 Points Male)
3.5.0 X4 input - output command connector (Sub-D 25 points male) Function I / O REMARKS Limit switch + Positive or negative logic (see chapter 8.4.1) Limit switch - Positive or negative logic (see chapter 8.4.1) 0 Volt of limit switch ENABLE Positive or negative logic (see chapter 8.4.1) 0 Volt ENABLE... -
Page 18: X5 Serial Link (Sub-D 9 Points Male)
3.5.1 Analog input specification 22 nF X4/17 X4/16 10 nF 10 nF 22 nF ILIM X4/3 10 nF X4/15 3.5.2 Logic inputs / outputs specification Log+ Log- 4,7K X4/7 same for FC+, FC-, CI, ENABLE 47 nF 4.7V X4/25 +15V X4/18 AOK/ X4/19... -
Page 19: Connections
4.0.0 CONNECTIONS 4.1.0 Connection diagrams 4.1.1 Power connection with the RBF rack or the SMTBM-20A single axis module 24 V Power Aux. relay Power relay ENABLE “ON” Amp. AUTO-TRANSFORMER Aux. ready “ON” Aux. Disable “OFF” Power 3 AT “OFF” curve C BF 35 70 90 Aux. - Page 20 4.1.2 Logic connection...
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Page 21: Wiring Recommendation (According To Iec 801 And En 55011 Standards)
4.1.4 Serial link connection 4.2.0 Wiring recommendation (according to IEC 801 and EN 55011 standards) 4.2.1 GND wiring and grounding The reference potential is the earth (ground). Motors and resolvers are grounded via their housing. If a reference of potential exist, like a main chassis or a cabinet, with a low impedance between the different elements, it should be used to connect ALL reference to it and also connect this reference to the earth (ground). -
Page 22: Adjustable Functions
5.1.0 PC Graphical window (Infranor Digital Drive) The INFRANOR Digital Drive graphic window has an adjustment panel, a control panel and functions accessible via menus. This presentation allows a quick adjustment of the system's main parameters during the commissioning and the adjustment phases. - Page 23 SPEED: This function allows the control of the motor speed by means of the PC during the commissioning and adjustment phases. • The digital speed input command value (in rpm) is entered into the Reference block. • The three buttons in the Speed block give a positive (>>), negative (<<) or zero (0) speed input command. ERROR MESSAGE: This function displays the error information.
- Page 24 • The Autotuning control identifies the motor and load specifications and calculates the gain parameters of the regulator. During the procedure, the Bandwidth box allows to select the speed loop (Low = 50 Hz, Medium = 75 Hz and High = 100 Hz) and the filter box allows to select the low pass filter on the speed error (Standard = 1 order, Antiresonance = 3 order).
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Page 25: Parameter File Menu (Files)
5.2.0 Parameter file menu (Files) Save parameter file function saves all amplifier parameters in a file [Name].PAR. Load parameters file function loads all amplifier parameters from a file [Name].PAR stored in the PC. Save parameters to eeprom function saves all parameters in the amplifier EEPROM. These parameters are kept in the amplifier even after power off. - Page 26 Current phase lead parameter defines the current phase lead for the maximum speed of the motor. This phase lead is proportional to the motor speed and compensates the phase shift of the current loops in order to keep a maximum torque / current ratio in the motor. CURRENT PHASE LEAD CALCULATION function calculates the Current phase lead parameter according to the following motor specifications: Motor torque constant (Nm/A), Motor terminal inductance (mH) and Motor maximum speed (rpm).
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Page 27: Utilities Menu
5.5.0 Utilities menu 5.5.1 Read Drive status This function allows the access to the display window of the logic inputs Enable, FC+, FC-, CI and CV0 and to ALL amplifier faults (only the 1 priority fault is displayed on the amplifier panel Remark: The information on his window correspond to the amplifier status when opening the window. -
Page 28: Commissioning
6.0.0 COMMISSIONING 6.1.0 Checking the amplifier configuration The standard amplifier configuration for MAVILOR motors with resolvers are the following: • Personalization board PRES resolver: 4 x 12,7 KΩ 1 %. • Adjustment of the current loops according to the table of chapter 8.1.0. •... -
Page 29: Amplifier Commissioning And Adjustment
6.3.0 Amplifier commissioning and adjustment 6.3.1 Communication via serial link Connect the serial link RS 232 between the PC and the amplifier. ENABLE input must be open and the analog input command CV open or shorted. ® Turn amplifier on and start the BPCW software in the WINDOWS environment of the PC by clicking twice on BPCW (see chapter 8.5.0 for loading BPCW software). - Page 30 • After the Autotuning procedure, check that the motor correctly runs in both directions in MANUAL control mode with the SPEED function and a digital speed input command in the Reference block. • Check the response at a low speed without IDC saturation in MANUAL control (with the SPEED function) or in AUTOMATIC control with an analog input speed command on CV of X4.
- Page 31 • Select the function AUTOPHASING PROCEDURE in the menu ADVANCED FUNCTIONS for defining the Pole pairs, Phase order and Resolver offset parameters. • Select the CURRENT PHASE LEAD CALCULATION function of the ADVANCED FUNCTIONS menu for the calculation of the Current phase lead parameter according to the specific motor parameters (this function is especially useful for motors with a low inductance and running at high speeds).
- Page 32 • Start the Modify function of the module ENCODER RESOLUTION and select the encoder signal specifications on the channels A, B and Z of the connector X2 according to the position resolution of the NC. • The Programmation function will save the encoder output of the amplifier. •...
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Page 33: Fault Finding
7.0.0 FAULT FINDING 7.1.0 System default If the red SYS led is lit, the logic board is defective. • Check that the EPROM firmware memory is correctly plugged into the amplifier. • Check for the possible presence of any conducting dust that may result in short-circuits on the logic board. 7.2.0 Stored defaults In order to simplify the diagnostic and the maintenance, the defaults are displayed and processed with the priority described below. - Page 34 If the default appears during the operation: • Check the motor temperature and look for the reason of this overheating (mechanical shaft overload, duty cycle too high, ...) 7.2.4 Undervoltage default If the default appears when starting the amplifier: Check that the power supply is on. 7.2.5 “...
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Page 35: Operating Problems
7.2.9 “I 2 t” default • Check the continuous current value required with regard to the table of currents authorized in pulse mode cycle (see chapter 2.1.0). • Check the continuous current of the amplifier defined in the Rated current parameter with regard of the current required for the operation cycle. -
Page 36: Service And Maintenance
• Check that the input speed command wiring between controller and amplifier correspond to the recommendations of chapter 4.0.0 and check the shield connection of the resolver cables. 7.3.7 Loud noise in the motor at standstill and when running • Check the rigidity of the mechanical coupling between motor and load (backlash and elasticity in the gearbox and coupling). -
Page 37: Appendix
8.0.0 APPENDIX 8.1.0 Hardware adjustments All hardware adjustments of the SMT- BD1 amplifier module are located on the hardware location diagram (see next page). For the BL and MA MAVILOR motor series, the current loop adjustments are made by means of jumpers B1, B2, B3 or by the Personalization boards PC1, PC2, PC3, PC4 according to the table below: AMPLIFIER MOTOR... - Page 38 For amplifiers 4A to 60A: PSTH: Threshold adjustment for NTC thermal probe on logic board 01640 only For amplifiers 70A to 100A:...
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Page 39: Resolver Connections
12.7 K 6.34 K It may be necessary, for some resolvers, to adjust the phase shift between the Cos and Sin reference signals, by means of a specific capacitor. This adjustment is factory set by INFRANOR. 8.3.0 Motor connections INFRANOR... - Page 40 8.3.1 Motor thermal sensor For motors where the thermal sensor output is on the resolver connector, the thermal switch is connected to the X1 connector (terminals 1 and 2). On motors where the thermal switch output is on the power connector, the thermal switch can be connected via the back of the rack ..
- Page 41 8.3.3 I 2 t protection Current limitation in Fusing mode When the amplifier RMS current (I t) reaches 85% of the Rated current, the Idyn signal output is activated and the I t error display flashes on the amplifier front panel. If the RMS current (I t) has not dropped below 85 % of the Rated current within 1 second, the I t default is released and the amplifier is disabled...
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Page 42: Logic Control Adjustment
The maximum current duration before the release of the Idyn signal output (t1 - t0) and before the rated current limitation (t2 - t0) is calculated the same way as for the Fusing mode. 8.4.0 Logic control adjustment 8.4.1 Positive or negative logic inputs The logic inputs FC +, FC -, ENABLE, CI and CVO of the logic connector X4 can be configured in positive logic (control by +24 V) or in negative logic (control by 0 V) as described below: POSITIVE LOGIC: E-F-G jumpers closed. - Page 43 8.4.3 “Amp ready” and “Power ready” outputs If the position references have to be kept when a stored fault is released on the amplifier or when the power supply is shut down or interrupted, it is possible: • to reset the defaults via pin 13 of X4 without interrupting the logic supply, •...
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Page 44: Bpcw Software Installation
8.5.0 BPCW software installation 8.5.1 System requirements (minimum) To run the INFRANOR Digital Drive software, you need: • A computer with a 80386DX or greater processor • 4 Mbytes of RAM • Hard disk with at least 5 Mbytes of free space •... - Page 45 • Configure the Communication port (port number and transmission speed) • Select the appropriate language. • Click on Save configuration. • Leave the configuration program by clicking on Exit • Click on Bpcw for starting the INFRANOR Digital Drive software.
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Page 46: 360 O Shield On The Connectors
8.6.0 360 o shield on the connectors There must never be a shield interruption on the whole cable length. Self-sticking copper ribbon if necessary for increasing the shield diameter to get properly tightened under the clamp Connector on MAVILOR RBF RACK motor for resolver and motor The cable can be soldered on the shield because the connector box is metalic...
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