Unitek TVD6-200bl Manual

Unitek TVD6-200bl Manual

3-phase transistor servo-drive for brushless dc motors with rotor position encoder

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MANUAL
3-phase Transistor Servo-Drive
TVD6-200bl, TVD6.2-400-bl
for brushless DC Motors
with Rotor Position Encoder
Version
0108-1

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Table of Contents
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Summary of Contents for Unitek TVD6-200bl

  • Page 1 MANUAL 3-phase Transistor Servo-Drive TVD6-200bl, TVD6.2-400-bl for brushless DC Motors with Rotor Position Encoder Version 0108-1...
  • Page 2: Table Of Contents

    Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Contents Page Basic Information Safety advice Standards and guidelines General information Applications Features Technical data Mechanical installation Dimensions 9,10 Build Mounting advice Electrical installation Connections 13,14 Earthing diagram EMC advice Power connections 16,17 Connection to the TT and IT mains...
  • Page 3: Basic Information

    - should only be carried out when all voltages have been removed. Test results are archived with the device serial number by the manufacturer. The device adheres to the following: Guideline EU 89/336/EWG. EMV standards EN61000-2 and EN61000-4. TVD6-200bl, TVD6.2-400bl...
  • Page 4: General Information

    Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl General Information The transistor 3-phase current servo amplifier SERVO-TVD6 and TVD6.2 in combination with the brushless dc motor (synchro servo motor, CE motor) provide a drive solution free of maintenance and with a wide dynamic control range. The drive displays the well-known good control characteristics of dc drives without the disadvantages of the carbon brushes’...
  • Page 5: Applications

    1 Basic Information Applications Machines and installations for all types with a drive power of 4 kW using TVD6-200bl 8 kW using TVD6.2-400bl, especially as 4Q-servo-drive for feed axes where the following is required: - high dynamic acceleration and braking cycles...
  • Page 6 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Build - switch cabinet mounting or 6HE plug-in device according to the VDE, DIN and EU regulations - standard analog control electronics - power electronics for 10A, 16A, and 25A - wide-band chopper power supply unit for the auxiliary voltages...
  • Page 7: Technical Data

    1 Basic Information Technical Data Power connection TVD6-200bl: directly to the mains 1 x 230V~ + using an auto-transformer 3 x 230V~ + 10% Specification Servo amplifier TVD6-200 Output voltage V~eff. Stationary current output - continuous - peak Max. el. power...
  • Page 8 ± 10V= Logic inputs +10 to +30V= Logic inputs >+14V, 6mA Note: Necessary information to be indicated when ordering TVD6-200bl: Check the switch-on time >>> external fan for 100% duty cycle Multiple 16A axes on one rack >>> use an external fan Precise torque control >>>...
  • Page 9 2 Mechanical Installation TVD6-200bl, TVD6.2-400bl...
  • Page 10 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Multiple - axes combination Dimensions 6HE [mm] Dimensions of the modules 1xE+3 2xE+3 3xE+3 4xE+3 5xE+3 1xE+40 2xE+40 3xE+40 4xE+40 5xE+40 1xE+55 2xE+55 3xE+55 4xE+55 5xE+55 Device frame for <= 16 A >>> 81.28 mm for 25A >>>...
  • Page 11 Rear panel of the mains module with the module insertion (without supporting frame) Mains module adjustments external ballast resistance bridge D1 open Supporting frame Height units: Splitting units: 10/16A = 16TE, 25A = 24TE Mixed 6HE, 3HE (TVD3.2): supporting frame on request TVD6-200bl, TVD6.2-400bl...
  • Page 12 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Mounting depth 255mm Compact device 10/16A Compact device 25A (sw) Compact device 25A (w) Multiplex axes combination Free space to the switch cabinet wall at least 100mm. Bore hole dimensions of the compact devices [mm] Current...
  • Page 13: Electrical Installation

    Power line filter Motor choke Motorchoke Device current Magnetic core TVD6-200 TVD6.2-400 FE1-10 FE3-10 MDD 1,3a EMI742 70107 FE1-16 FE3-16 MD78-10 MDD 1,6a EMI742 70107 FE1-16 FE3-16 MD84-20 MDD 2 b EMI742 70107 —- FE3-25 MD84-30 MDD 2,5b EMI742 70107 TVD6-200bl, TVD6.2-400bl...
  • Page 14 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl...
  • Page 15 Shield must be connected to the mounting plate on the device side as well as to the ground on the motor side. Connection of the control conductors: control conductors must be shielded, 1.5m. Shield must be connected to the ground. TVD6-200bl, TVD6.2-400bl...
  • Page 16 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Attention: The order of the connections to the connector numbers or screw terminals is ob- ligatory. All further advice is non-obligatory. The input and output conductors may be altered or supplemented in accordance with the electrical standards...
  • Page 17 = Sum of the motor currents (effective) GLF = simultaenity factor = speed ratio factor GLF = nF = with 1 motor effective speed 0.5 ... 0.7with 2 motors maximum speed 0.4 ... 0.6with > 2 motors ac voltage three-phase voltage TVD6-200bl, TVD6.2-400bl...
  • Page 18 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Note: For power supply systems without protective conductors the connection must only be effected via an isolating transformer!!! Connection to the TT mains TT mains: Symmetrical three or four con- ductor three-phase mains with direct earthing.
  • Page 19: Motor Power Connections

    Modify on the rear panel of the mains module: Remove soldered bridge D TVD6-200bl TVD6.2-400bl External ballast resistor smallest resistance value 22W smallest resistance value 40W 20W/ 50W, for 3%d.cyc. = 1.5 42W/ 50W, for 3%d.cyc. = 1.5 Installed ballast resistor TVD6-200bl, TVD6.2-400bl...
  • Page 20 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl The connection advice is a general information and it is non-obligatory. Adhere to - connection and operating instructions - local regulations - EU guideline 89/392/EWG - VDE and TÜV regulations and Trade body guidelines Connection no. of the terminal connectors...
  • Page 21 - LED D1BB dark Note: Jumper SW1 Pos. 2-3 >>> Drive enable active at >+10V (basic set-up) Pos. 1-2 >>> Drive enable active at zero Jumper J2 plugged-in >>> emergency stop (basic set-up) open >>> deceleration without braking TVD6-200bl, TVD6.2-400bl...
  • Page 22: Control Connections

    Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Control connections Output stage switch Switch inputs Drive enable for - positive command value direction LED 1D >>> contact between X2:27 and X1:16 - negative command value direction LED 1H >>> contact between X2:27 and X2:32...
  • Page 23 (in Pos. 1-2 without ramp open without command value 2 Resistors for a current command value of 0 to ±20mA Command value 1 R121 500W Command value 2 500W Internal supply CNC/PLC Current command value TVD6-200bl, TVD6.2-400bl...
  • Page 24 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl External current limiting Voltage source for external current limits +10V/10mA X1:3 Control range 0 ... + 5V >>> 0 to 100% rated current of the device 0 ... +10V >>> 0 to 200% rated current of the device internal over-current watchdog >>>...
  • Page 25 (The BL-tacho connections at pin no. 1 to 4 are removed Pin no. 6 is double-coated. For motors without thermal sensor >>> bridge between pin no. 6 and 12 Attention:It is absolutely necessary to observe the motor-specific connection data sheets (Appendix A). TVD6-200bl, TVD6.2-400bl...
  • Page 26 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Drive ready - BTB signal Relay RL2 Signal contact X2:21 - X2:22 Switch rating max. 48V, 0.5A The BTB contact signals to the PLC/CNC that the drive is functional. The BTB signals of several axes can be connected in series.
  • Page 27: Signal Outputs

    Over-temperature motor >150°C X2:26 heat sink >75°C X2:26 LED 2G heat sink >80°C X2:19 Pre-warning motor, heat sink too hot X2:23 Reference ground Memory deletion Drive enable off/on Jumper S6 plugged-in (basic set-up) Mains off/on Jumper S6 off TVD6-200bl, TVD6.2-400bl...
  • Page 28 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Control connections X1, X2 Function Terminal no. Connector no. (internal) + 15 Volt (for enable) X1: 1 X11: 32c Enable input(+10 to +30 Volt) X1: 2 X11: 30c + 10 Volt (for command value) X1: 3...
  • Page 29 X4: 2 I-command value X4: 3 + 10 V X4: 4 - 10 V X4: 5 I-actual value X4: 6 n-actual value (at the output of the divider) X4: 7 Enable X4: 8 Device ground GND X4: 9, 10 TVD6-200bl, TVD6.2-400bl...
  • Page 30 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl...
  • Page 31: Device Overview

    4 Device Overview TVD6-200bl, TVD6.2-400bl...
  • Page 32 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl LED displays 2x Actual value error Temperature error Short-circuit Rotor position 3 Rotor position 2 Rotor position 1 Voltage error Bus error Adjustment potentiometers Current limit I Current limit I Test point connector X4 command value at the output of...
  • Page 33: Components

    Current limit 2, internal Current limit 1, internal Amplification 1=1 ext. +UL = int. +15V ext. GND = int. GND Emergency stop (delay - blocked control loop) Actual value bl-tacho Enable - reset Enable - pos./neg. logic SW1 2-3/1-2 TVD6-200bl, TVD6.2-400bl...
  • Page 34: Led Signals

    Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl LED signals Function LED no. Control electronics LED D1x Output stage switch + LED H Output stage switch - LED G Disabled LED F Stationary LED E Speed loop output - LED D Speed loop output +...
  • Page 35: Adjustments

    Command value 2 at the output of the input amplifier ±10V X4:2 Current command value (control function speed controller) ±10V X4:3 Current actual value, unipolar ±5V X4:6 Speed actual value at the output of the divider ±5V X4:7 TVD6-200bl, TVD6.2-400bl...
  • Page 36: Command Value

    Transistor-Servo Drive TVD6-200bl, TVD6.2-400bl Command Value Function Command value1 Command value2 Input amplification fixed ±10V= ±10V= Input voltage max. S12 open S11 open Differential input jumper S12 plugged-in S11 plugged-in Input referred to GND jumper X1:4 X2:17 Input signal X1:8...
  • Page 37: Speed Actual Value

    Sense of rotation Jumper Position Command value clockwise Pos. 1-2 positive anti-clockwise Pos. 2-3 positive Option dc tacho for motors with dc tacho or rotor position encoder - fine adjustment see ‘bl-tacho’ Switch S9 Rough tach adjustment 9 bis Stellung TVD6-200bl, TVD6.2-400bl...
  • Page 38: Current Limiting

    Transistor-Servo Drive TVD6-200bl, TVD6.2-400bl Current limiting Peak current range 0 to 200% rated current Poti P5/P6 maximum reset time 5sec. Continuous current range 5 to 100% rated current Poti P7 Internally resetting current limits Current limit Function Limit Overload Time...
  • Page 39: Speed Control Loop Circuit

    Switch S5 Poition 0,02 0,03 0,04 0,08 0,09 0,11 0,01 C-Value µF Position 0,11 0,12 0,13 0,14 0,18 0,19 0,21 C-Value µF Note: The integral term can be switched off through the use of the input INTAB (X2:31) TVD6-200bl, TVD6.2-400bl...
  • Page 40 Transistor-Servo Drive TVD6-200bl, TVD6.2-400bl Proportional amplification Function binary switch S4 Function potentiometer X Proportional amplification = X Adjustment by means of an oscilloscope Adjustment Measured value - Command value jump ±0.5V Command value X4:1 - Input INTAB X2:31 activated Controller response...
  • Page 41 > during acceleration Large overshoots vibrates >during braking and in position Overshoots destination position Attention: Drives connected to CNC\PLC controllers: for the maximum speed output from the controller, adjust the speed command value to between 8 and 9V. TVD6-200bl, TVD6.2-400bl...
  • Page 42 (see appendix A) Power connections - Protective earth - Mains 1x or 3x 230V~ (for TVD6-200bl) 1x or 3x 400V~ (for TVD6.2-400bl) - Motor 3 x motor conductors + protect. conductor + shield - Encoder connection...
  • Page 43: Commissioning

    - to peak current by means of the potentiometers I and I max1 max2 - to continuous current by means of the poti I - Commissioning complete, power supply off - Optimise the axis, document the set-up in the protocol TVD6-200bl, TVD6.2-400bl...
  • Page 44 Transisto Servo Drive TVD6-200bl, TVD6.2-400bll LED displays Switch on the power - No power supply All LED dark - Mains module fuse defective LED D1A dark, Check the mains module LED D2A bright LED D1A dark, LED D2A dark internal or external power supply...
  • Page 45: Faults

    - or the power supply voltage is too LED D2A bright - Over-temperature - Phase short-circuit or short-circuit to Amplifier switches to failure earth - BTB fault - Output stage fault Speed cannot be adjusted with poti - Resistance network RN1, RN2 wrong TVD6-200bl, TVD6.2-400bl...
  • Page 46 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Functional diagram - test point connector Enable Command value 1 Command value 2 Test points command value 1 command value 2 Jumper Current command value Current actual value Speed actual value Enable Motor running Clockwise anti-clockwise...
  • Page 47 7 Faults Diagnosis TVD6-200bl, TVD6.2-400bl...
  • Page 48 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl...
  • Page 49 Continuous current Position Integrator Position Amplification Position Offset Offset Position Jumper (Plug-in bridges) soldered jumpers plugged-in no... open no... TVD6-200bl, TVD6.2-400bl...
  • Page 50 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl Adjustments - power section Current control loop amplification Resistances - current control loop (kW) Measured data Motor voltage max. [V~] 3x Motor current peak [A~] 3x Motor current continuous [A~] 3x DC tacho voltage max. [V=]...
  • Page 51: Drawings

    10 Drawings TVD6-200bl, TVD6.2-400bl...
  • Page 52 Transistor Servo-Drive TVD6-200bl, TVD6.2-400bl...

This manual is also suitable for:

Tvd6.2-400-bl

Table of Contents