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Harmonic Drive SC-610 Series Operation Manual

Ac-servo controller
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Operations Manual
AC-Servo Controller
SC-610
No. 900105 11/2005
24.11.2005-FA

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Summary of Contents for Harmonic Drive SC-610 Series

  • Page 1 Operations Manual AC-Servo Controller SC-610 No. 900105 11/2005 24.11.2005-FA...
  • Page 2 HARMONIC DRIVE AG has tried to ensure that the information given in this manual is correct at time of going to print. However Harmonic Drive AG may not be held responsible for any typographical mistakes or errors in contents of this manual. The information is subject to change without prior notice.

  • Page 4: Table Of Contents

    Resolver ........Appendix K 4.2.4 Encoder Output ......Wiring description for cables for 4.2.5 Master Encoder Input ....CHA-series actuators with Hiperface A17 4.2.6 Command Input ......4.2.7 Interface Cables ......Minimum Wiring Diagram ..... Harmonic Drive AG 900105 11/2005...

  • Page 5: General Information And Safety Guidelines

    UL and cUL are registered trademarks of Underwriters Laboratories. CE Compliance A custom unit may be required, contact Harmonic Drive. Compliance to Directive 89/336/EEC is the responsibility of the system integrator. Servo controller, motor and all system components must have proper shielding, grounding and filtering.
  • Page 6 Horsepower RMS Symmetrical Amperes 1-50 5,000 Caution: To prevent equipment damage, be certain that the input power has correctly sized protective devices installed as well as a power disconnect. Harmonic Drive AG 900105 11/2005...
  • Page 7 Do not connect AC power to the control terminals U, V and W. Connecting AC power to these terminals may result in damage to the control. Caution: Harmonic Drive recommends not using „Grounded Leg Delta“ transformer power leads that may create ground loops and degrade system performance. Instead, we recommend using a four wire Wye.

  • Page 8: Specification

    1.0 Specification 1.1 Usage Definitions The drives of the SC-610 series are electrical equipment for industrial power installations. They are designed for machine applications, which need variable speed controlled three-phase A.C. motors. This product is only for use in industrial applications as described in norms EN60204 and VDE0160. This means use drive in stationary ground based applications only.

  • Page 9: Features

    Design and use of printed boards DIN VDE 0110 Part 1-2 / 01.89 Dimensioning of clearance and creepage distances DIN VDE 0110 Part 20 / 08.90 EN 60529 / 10.91 Degrees of protection provided by enclosures Harmonic Drive AG 900105 11/2005...

  • Page 10: Emc Conformity And Ce Marking

    European Community. The installation instructions refer to elimination of radio interference as well as to immunity from noise for Harmonic Drive Systems. Thereby the user is informed about the EMC critical parts. The examples don’t show the complete possibilities of cabinet components or constructions.

  • Page 11: Velocity Controller

    1.6.4.4 TTL-Encoder (X8) TTL-Encoder Input Unit SC-610-X Signal Rectangular (A, A/, B, B/, C, C/, U, U/, V, V/, W, W/ Operating Mode 2000 pules per motor revolution / quadrature counting Power Supply 5V / 250mA max. Harmonic Drive AG 900105 11/2005...

  • Page 12: Encoder Output (X7)

    FPA-Resolver/ EnDat Clockwise Clockwise FHA-Cmini/ TTL-Encoder Clockwise Counter clockwise 1.6.6 Pulse / Direction-Input (X3) Pulse / Direction Input Unit SC-610-X Signal V DC 12-29 / opto-isolated Operating Mode Pulse and Direction Max. Input Frequency Cycle time Harmonic Drive AG 900105 11/2005...

  • Page 13: Serial Interface

    10 ... 90 non-condensing; IEC 68-2-38 Class of Protection (Enclosure) IP20 Max. Installation Altitude / M.S.L. 1000 Derating: 1,1% / 100m Shock 10G; according to DIN IEC 68-2-6/29 Vibration 1G; 10 ... 150 Hz; according to DIN IEC 68-2-6/29 Harmonic Drive AG 900105 11/2005...

  • Page 14: Power Supply Section

    By observing this information whilst installing the drive future operating problems may be avoided. This sign means ATTENTION. Information in an ATTENTION box must always be observed otherwise dangerous situations for equipment and personnel may result. Harmonic Drive AG 900105 11/2005...

  • Page 15: Installation Recommendations

    As a result the thermal sensor is not used in this case! Connect the PE of all systems to a central point. The diameter of the cable-lead must be (10mm²) min. Harmonic Drive AG 900105 11/2005...

  • Page 16: Mechanical Installation

    Sudden blocking of the rotating motor shaft can cause serious damage to motor and drive. It is strongly recommended to install elastic stoppers in the driven machine. For safe drive operation a clearance distances around and between the drives must be observed. Harmonic Drive AG 900105 11/2005...

  • Page 17: Interconnection Diagrams

    Content of delivery: mating connectors to X1, X3 and X8. Overview of mating connectors: X1: (10 pole, female) X6: (9 pole, female, UNC) X3: (20 pole, female) X7: (9 pole, male, UNC) X8: (15 pole, male, UNC) X9: (9 pole, male, UNC) Harmonic Drive AG 900105 11/2005...

  • Page 18: Interconnection Diagram Resolver

    Content of delivery: mating connectors to X1, X3 and X8. Overview of mating connectors: X1: (10 pole, female) X6: (9 pole, female, UNC) X3: (20 pole, female) X7: (9 pole, male, UNC) X8: (9 pole, female, UNC) X9: (9 pole, male, UNC) Harmonic Drive AG 900105 11/2005...

  • Page 19: Interconnect. Diagram Ttl-Encoder

    Content of delivery: mating connectors to X1, X3 and X8. Overview of mating connectors: X1: (10 pole, female) X6: (9 pole, female, UNC) X3: (20 pole, female) X7: (9 pole, male, UNC) X8: (15 pole, male, UNC) X9: (9 pole, male, UNC) Harmonic Drive AG 900105 11/2005...

  • Page 20: Connector Configuration I/O-Expansion

    Operations Manual SC-610 Page 17 3.4 Connector Configuration I/O-Expansion for 256 Positions Caution Harmonic Drive AG 900105 11/2005...

  • Page 21: Wiring

    It is recommended to use a back-up fuse of 16A or 20A (max.); e.g. Neozed type gL slow blow type). For a fuse size of 16A a lead diameter of up to 1.5mm² can be used and for a 20A fuse the max. lead diameter has to be 2.5mm². Harmonic Drive AG 900105 11/2005...

  • Page 22: Mains Filter

    FN - 2070 - 06 - 06 0.45 270460 FN - 2070 - 10 - 06 0.73 270461 0.73 270462 FN - 2070 - 12 - 06 Main filter dimensions are shown in appendix B. Harmonic Drive AG 900105 11/2005...

  • Page 23: Motor Wiring

    DC-Bus voltage. Therefore the controller behaviour will change or different DC-Bus voltages. The current control will be not affected. Attention: Please take care of correct connection of 24 VDC and GND! Miswiring will lead to malfunction. Harmonic Drive AG 900105 11/2005...

  • Page 24: Regeneration Resistor Wiring

    Keep a safe distance between regeneration resistor and flammable materials. The mounting surface can reach a temperature of 80°C. Wiring: The resistor must be wired with a 2 lead (2,5 mm ) screened cable. The resistor housing must be grounded. Harmonic Drive AG 900105 11/2005...

  • Page 25: Control- And Signal Wiring

    Digital input 2 = logical 0 Please note that servo axes incorporating Harmonic Drive gears (i. e. FHA-, FFA- and RS-series) will be effected by a change of the turning direction. The MOTORDIRECTION keyword can be used to change motor direction.
  • Page 26 With this input a programmed point-to-point move will be started. If the input (Position Control) will be activated, the position move addressed with the MaI´s will be executed. It is an (rising) edge controlled input. Harmonic Drive AG 900105 11/2005...
  • Page 27 CREF (X3.7). X3.x: "x" for connector pin, e.g. x=9 → X3.9 = Enable-Input Voltage range of V ext : +12 ... 29V DC The control inputs only operate, if they are supplied with an external voltage. Harmonic Drive AG 900105 11/2005...

  • Page 28: Control Outputs

    This output has the same functionality than the fault relay output. The output (+24V) is activated in case the drive is ready for work. "DOUT x": These outputs can be used together with the drive internal PLC program. There are 2 digital outputs available. Harmonic Drive AG 900105 11/2005...

  • Page 29: Resolver

    4 (ex. 1024ppr x 4) Wiring of the encoder output: A wiring proposal is shown in chapter 4.3. It is strongly recommended to make the wire connection with a twisted and screened cable. Harmonic Drive AG 900105 11/2005...

  • Page 30: Master Encoder Input

    The connector X9 must be wired according to the interconnection diagram (see chapter 3.1). 4.2.6 Command Input The drive has an analog command input (±10V). The input can be wired in "single-ended" or in "differential mode". Wiring of the command input: Harmonic Drive AG 900105 11/2005...

  • Page 31: Interface Cables

    D. DGND DGND Drive 9 pol. SUB-D Master FEMALE 1) Wiring principle at the master may be different than shown above. Please refer to the interface description of your master system. Harmonic Drive AG 900105 11/2005...

  • Page 32: Minimum Wiring Diagram

    2) Fuses (see also chapter 4.1.1) 3) Main Filter (see also chapter 4.1.2 and appendix A) 4) Power cable not available from Harmonic Drive. Lead diameter must fit to the transformer and drive. 5) Flying leads FHA- RS-series 6) Connector BSM50/63/80 7) Not valid 8) Motor cable (see also chapter 4.1.3)
  • Page 33 EMC regulations CW Limit and CCW Limit: Please note that servo axes incorporating Harmonic Drive gears (i. e. FHA-, CHA-, FFA- and RS-C-series) will be effected by a change of the turning direction. In this case CW- and CCW-limit have to be cross wired.
  • Page 34 EMC regulations CW Limit and CCW Limit: Please note that servo axes incorporating Harmonic Drive gears (i. e. FHA-, CHA-, FFA-and RS-series) will be effected by a change of the turning direction. In this case CW- and CCW- limit have to be cross wired.
  • Page 35 EMC regulations CW Limit and CCW Limit: Please note that servo axes incorporating Harmonic Drive gears (i. e. FHA-, CHA-, FFA-and RS-C-series) will be effected by a change of the turning direction. In this case CW- and CCW-limit have to be cross wired.
  • Page 36 EMC regulations CW Limit and CCW Limit: Please note that servo axes incorporating Harmonic Drive gears (i. e. FHA-, CHA-, FFA- and RS-C-series) will be effected by a change of the turning direction. In this case CW- and CCW-limit have to be cross wired.
  • Page 37 12) Functional description of the control inputs see chapter 4.2.1. The control inputs must be supplied with an external voltage source. 13) The Control cable is not available from Harmonic Drive. Drawing shows the wiring principle only. Can be one or more cables.

  • Page 38: System Set Up Procedure

    Activate resistor Deactivate resistor for RS485 automatic automatic offset-tuning is automatic offset-tuning is offset tuning active not active amplifier enabled amplifier disabled ENABLE (active) (not active) reserved Communication RS485 RS232 port selection *) ex factory Harmonic Drive AG 900105 11/2005...

  • Page 39: System Set Up Step By Step

    Connect your system only to the main power as shown in drawings chapter 4. When using a transformer, check the secondary voltage of the transformer. Please refer to the transformer specification. Harmonic Drive AG 900105 11/2005...
  • Page 40 Now connect the motor cable. Turn ON main power again and activate the enable input (X3.9); close the switch (see chapter 4). After that the monitor will show the following operating state: Status = " - " Harmonic Drive AG 900105 11/2005...
  • Page 41 If the decimal point on the monitor does not appear, check the wiring of X3-9 (ENABLE) and DIP-Switch AS1.8. 5. Now you are ready to perform the system tuning. Please tune the drive only in case the performance concerning accuracy and response is not satisfactory! Harmonic Drive AG 900105 11/2005...

  • Page 42: Status Indicators

    General error. See AXISERROR and DRIVEERROR. The motion toolbar displays the status of AXISERROR, which is a bit pattern of all latched errors. See also the Error Log topics in the help file. Error input. The ERRORINPUT has been activated and generated an error. Harmonic Drive AG 900105 11/2005...
  • Page 43 The screen shows „No Controller found“. The SELECT Button turn into UPDATE FIRMWARE. Download the firmware again via this button. For drives with 24V-option the status monitor works only if the 24V is switched on. Harmonic Drive AG 900105 11/2005...

  • Page 44: Led Regeneration Load

    Functions in ( ) are only valid for Position Control mode. ATTENTION: Drives with I/O-Expansion (Connector X12 assembled) require the position selection and trigger input to be used on X12! Please refer to chapter 7.6 Harmonic Drive AG 900105 11/2005...
  • Page 45 Mechanical switches, relay contacts or other sources liable to signal ‘bounce’ should not connected directly to these fast inputs. This could cause unwanted multiple triggering. Analog Input Connector X3 Function Signal Hardware U cmd = ±10V DC Velocity- or CMD+ Current- CMD- Command AGND Harmonic Drive AG 900105 11/2005...

  • Page 46: Output Signals

    General X3.6 Purpose =1.2V REST DOUT 1 General Purpose Signal X3.x (x = 18,19,20) DOUT 2, DrOK CGND Drive OK X3.8 Customer Active High Interface Voltage I = 50 mA max. CGND Ground Return CGND Harmonic Drive AG 900105 11/2005...

  • Page 47: Resolver X8

    17.0V pp ±5% + 0 .. 0.4 V DC ; I peak = 0.2A; short circuit proof Resolver Signals Connector X8 Function Signal Hardware COSINE Cos+ Input Cos- SINE Sin+ Input Sin- Signal waveform sinusoidal; U IN = 0 .. 10V pp + 0 .. 0,4V DC ; 7.2 .. 8.0kHz Harmonic Drive AG 900105 11/2005...

  • Page 48: Encoder Output X7

    X8-7 CosRef- 10kR Clock - Clock - X8-12 SinRef- Clock + Clock + X8-8 Ref- 130R Reference X8-14 Cos 10kR Reference X8-13 Sin X8-15 Ref+ _____________ ________ ______ Ground return DGND Ground return DGND Shield Shield Harmonic Drive AG 900105 11/2005...

  • Page 49: Encoder (X8) Ttl-Encoder

    Hall Input V and V/ SYNC_V SYNC_V / Hall Input W and W/ SYNC_W SYNC_W / _______________________________________________ ______________ ______ I/O-Standard RS422 Power Supply ________ TTL-Signal; (f < 125kHz) @ 350 mA Reference + 5V DGND Harmonic Drive AG 900105 11/2005...

  • Page 50: I/O-Expansion For 256 Pos. (X12)

    R = 3.3 kΩ; Input DIN 17 opto coupled; U = 12..29 VDC; µ µ Delay time T = 7.7 s (on); T = 45 s (off) max. current at 24V: I = 7.5 mA Harmonic Drive AG 900105 11/2005...

  • Page 51: Output Signals X12

    DOUT 5 Signal Output DOUT 6 X12.X VN330SP (X = 10,11,12,23,24) output driver Output DOUT 7 USR GND X12.13 Active High Customer Interface USR + I = 250 mA max. USR GND Voltage Ground Return Harmonic Drive AG 900105 11/2005...

  • Page 52: Appendix

    Operations Manual SC-610 Page A1 APPENDIX Harmonic Drive AG 900105 11/2005...

  • Page 53: Emc Installation Instruction

    10mm² has to be provided additionly to reduce the screen current. 1) Grounding in general describes all metal parts which can be connected to a protective conductor, e.g. housing of cabinet, motor housing, fundament grounder. Harmonic Drive AG 900105 11/2005...

  • Page 54: Emc Wiring Principle

    CONTROLLER L1 L2 L3 N 16 15 14 13 12 11 10 ATTENTION The drawing shows only the principle of an EMC wiring. The shown installation can be different to any national standard (e.g. VDE). Harmonic Drive AG 900105 11/2005...
  • Page 55 Y-capacitor is connected as shown. The capacitor should only be connected between the resistor housing and terminal pin R1. Recommendation: 0,1µF / 250VAC Type: PME265 Supplier: RIFA Harmonic Drive AG 900105 11/2005...

  • Page 56: Dimensions

    Operations Manual SC-610 Page A5 APPENDIX B DIMENSIONS A) Drive, Standard-Series without I/O Expansion Harmonic Drive AG 900105 11/2005...
  • Page 57 FN – 2070 - 10 – 06 FN – 2070 - 12 – 06 113.5 57.5 46.6 130.5 12.4 32.4 15.5 C) Regeneration Resistor not scaled (dimensions in mm) L = 123 for HA-R56 L = 228 for HA-R39 Harmonic Drive AG 900105 11/2005...

  • Page 58: Troubleshooting

    DIP-switch AS1.5, or by the setup software . Jog - Mode When the status monitor displays a "J." the control is in "Jog" system mode. The "Jog-Mode" can be stopped or started by the setup software. Harmonic Drive AG 900105 11/2005...
  • Page 59 LED segments will turn off), then re-apply the 24V supply. On models with an internally generated 24V supply, remove the AC power supply, wait for the SC-Drive to power down completely (all Status LED segments will turn off), then re-apply AC power. Harmonic Drive AG 900105 11/2005...
  • Page 60 Status display indicators and basic error codes. Remember that many error codes are the sum of a bit pattern so may not be listed individually. For help on understanding bit pattern values, see the Bit pattern values topic in the Keywords book Harmonic Drive AG 900105 11/2005...

  • Page 61: Multi-Drop-Applications

    RS485 T X + T X + T X + R X + R X + R X + R X- R X- R X- DGND DGND DGND RS485 Interface cable refer to chapter 4.2.7. Harmonic Drive AG 900105 11/2005...
  • Page 62 4.) According to demands from the installation process, insert Installation Disk with required number. After installation process is finished, a Program Manager Group for WorkBench with WorkBench ProgMan Icon is created. Double clicking this icon will start the WorkBench set-up program. Harmonic Drive AG 900105 11/2005...
  • Page 63 This Mod.-No. „overwrites“ the HD-No. The individual motor parameters are given within the motor database of the setup software Work Bench v5 and will be updated on regular basis. Harmonic Drive AG 900105 11/2005...
  • Page 64 Operations Manual SC-610 Page A13 APPENDIX G Harmonic Drive AG 900105 11/2005...
  • Page 65 Page A14 Operations Manual SC-610 APPENDIX H Harmonic Drive AG 900105 11/2005...
  • Page 66 Operations Manual SC-610 Page A15 APPENDIX I Harmonic Drive AG 900105 11/2005...
  • Page 67 Page A16 Operations Manual SC-610 APPENDIX J Harmonic Drive AG 900105 11/2005...
  • Page 68 Operations Manual SC-610 Page A17 APPENDIX K Harmonic Drive AG 900105 11/2005...

This manual is also suitable for:

Sc-610-2Sc-610-5Sc-610-7

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