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Summary of Contents for Renishaw SPA1
- Page 1 Installation guide H-1000-5068-05-A SPA1 servo power amplifi er...
- Page 2 Trademarks RENISHAW® and the probe emblem used in the RENISHAW logo are registered trademarks of Renishaw plc in the UK and other countries. apply innovation is a trademark of Renishaw plc. All brand names and product names used in this document are trade names, service marks, trademarks, or registered trademarks of their respective owners.
- Page 3 SPA1 Installation guide...
- Page 4 Information to user (FCC section 15.21) The user is cautioned that any changes or modifications not expressly approved by Renishaw plc or authorised representative could void the user’s authority to operate the equipment.
- Page 5 EC declaration of conformity The SPA1 has been manufactured in conformity with the following standards: BS EN 61326:1998 Electrical equipment for measurement, control and laboratory use – EMC requirements. Immunity to Annex A - industrial locations. Emissions to class A (non-domestic) limits.
- Page 6 Renishaw equipment previously sold. Warranty Renishaw plc warrants its equipment for a limited period (as set out in our Standard Terms and Conditions of Sale) provided that it is installed exactly as defined in associated Renishaw documentation.
- Page 7 References and associated documents It is recommended that the following documentation is referred to when installing the SPA1. Renishaw documents Documentation supplied on Renishaw UCC software CD. Document number Title H-1000-5056 UCC1 installation guide H-1000-5057 UCC programmer’s guide H-1000-5058 RENICIS user’s guide H-1000-5067 MCU1 installation and user’s guide...
- Page 8 Safety Safety Electrical requirements The SPA1 is powered from the a.c. mains supply via an IEC 320 connector. The operating voltages of the unit are as follows: 90 – 264 V ac 47 – 63 Hz 600 W maximum This equipment must be connected to a protective earth conductor via a three core mains (line) cable. The mains plug shall be inserted only into a socket outlet provided with a protective earth contact.
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Page 9: Table Of Contents
Contents 1 System description ..........................9 SPA1 kit components ........................9 1.1.1 SPA1 kit for UCC1 control (A-1333-0008) ................9 1.1.2 SPA1 kit for UCC2 and UCClite control (A-5121-0008)............9 SPA1 accessories ........................10 1.2.1 Service kits.........................10 1.2.2 Replacement SPA drives ....................10 SPA1 system layout ........................ - Page 10 System description 4.4.2 Derivative .......................... 25 4.4.3 Proportional........................25 4.4.4 Zero offset ......................... 25 4.4.5 Max speed......................... 25 Adjusting the SPA drives ......................26 4.5.1 Max speed adjustment ...................... 26 Adjustment of the inductance of the motor drive system............. 28 5 System interconnection diagrams......................
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Page 11: System Description
The unit contains three proprietary servo power amplifiers, contactor circuitry and a power supply. 1.1 SPA1 kit components Two SPA1 kits are available, the contents of these kits being dependent on whether a UCC1 or UCC2 controller is incorporated into the system. These kits contain the following components:... -
Page 12: Spa1 Accessories
A-5121-0029 1.2.1.1 SPA1 service kit for UCC1 control (A-1333-0017) This SPA1 service kit contains the following components that will assist in the connection of the SPA1 to a UCC1 controlled system: • 3 off motor connectors including backshells • 6 off power pins for motor connectors (7W2) •... -
Page 13: Spa1 System Layout
System description 1.3 SPA1 system layout MCU1 UCC1 SPA1 Figure 1 – Simplified SPA1 and UCC1 system layout... -
Page 14: Simplified Spa1 And Ucc2 Layout
System description 1.4 Simplified SPA1 and UCC2 layout MCU1 UCC2 SPA1 Figure 2 – Simplified SPA1 and UCC2 system layout... -
Page 15: Simplified Spa1 And Ucclite Layout
System description 1.5 Simplified SPA1 and UCClite layout Figure 3 – Simplified SPA1 and UCC2 system layout... -
Page 16: Front Panel Description
There are a number of possible causes for this LED being lit, please refer to the Control Techniques™, ‘Mini Maestro™’ user guide supplied with the product. 2.2 Emergency stop LED This LED is lit when the SPA1 is aware of an emergency stop being applied to the system. During normal operation this LED is not illuminated. -
Page 17: Motor Enabled
This LED is lit when the SPA1 servo amps are engaged. 2.4 Power This LED is lit when there is a mains supply attached to the SPA1 unit. 2.5 Emergency stop button A normal category ‘B’ emergency stop function is provided within this unit. It is the machine installer's... -
Page 18: Rear Panel Description
6. X motor connector (refer to section 3.4) 7. Mains power ON/OFF switch 8. Main power input via an IEC320 connector 9. Earth stud 10. Version number label 11. Serial number label Figure 4 - Rear panel of the SPA1. -
Page 19: Emergency Stop Connector
Rear panel description 3.1 Emergency stop connector 3.1.1 Connector 2.0H X Figure 5 - ESTOP connector (view on face of socket or rear of plug) 3.1.2 Pin-outs Pin number Description Not connected Not connected Not connected Not connected Not connected ESTOP A ESTOP B Not connected... -
Page 20: Servo Power Amplifier Connector
Rear panel description 3.3 Servo power amplifier connector 3.3.1 Connector 2.0H X 8.6W Figure 7 – Servo power amplifier connector (View on face of socket / rear of plug) 3.3.2 Pin-outs Pin number Function Description +24 Vdc Provided for use on CMM status switches. Contactor Input signal to control motor contactor Not connected... -
Page 21: Motor Connector
3.4 Motor connector 3.4.1 Connector On the rear of the SPA1 unit there are three motor connection channels (X,Y and Z), the function of which are given below: Figure 8 – Motor connection (view on face of socket or rear of plug) 3.4.2... -
Page 22: Installing The Spa1
(earthing) is the responsibility of the manufacturer or equipment installer. Isolation: the SPA1 is isolated by removing the mains connector. It is the responsibility of the equipment installer or user to fit additional means of isolation if indicated by risk assessment. -
Page 23: 20 Kω Potentiometer On Dil Header
To construct the 20 KΩ potentiometer on 150 mm wire the following procedure is recommended. 1. Take the wire supplied in the SPA1 service pack and cut it in half. 2. Solder one of the wires to two of the potentiometers legs (centre and one side). -
Page 24: Emergency Stop
4.1.5 Machine I/O connector Depending on the type of SPA1 service kit that is purchased, the connector for the machine I/O is altered within the service kit. • For the SPA1 service kit of UCC1 the connector is a 37-way D plug •... -
Page 25: Setting Of The Motor Voltage
Installing the SPA1 4.2 Setting of the motor voltage The SPA1 has the ability to drive either 24 V or 48 V motors, the factory setting for the unit is the 48 V configuration. WARNINGS: Before the SPA1 is opened up, mains power to the SPA1 must be switched off. -
Page 26: Accessing Spa Drives
The recommended procedure for accessing the SPA drives located within the SPA1 unit is as detailed below. 1. Remove the front panel of the SPA1 by releasing the 6 fixing screws that restrain the front panel as shown in figure 13. -
Page 27: Functions Of The Spa Drive Potentiometers
Installing the SPA1 4.4 Functions of the SPA drive potentiometers The SPA drives have 5 potentiometers located at the front of the SPA1 when fitted. Their functions are detailed below – please refer to figure 14. Figure 14 - Locations of potentiometers on the drive NOTE: For further explanation concerning each potentiometer function listed in this section, please refer to the ‘Mini Maestro™’... -
Page 28: Adjusting The Spa Drives
4. Fit the 20 KΩ multiturn potentiometer on 150 mm wire connected to a DIL header into SK1. 5. Refit the SPA drive into the SPA1. Be sure to feed the wire with the 20 KΩ multiturn potentiometer so that the potentiometer is at the front of the SPA drive when fitted. - Page 29 8. Disengage the servos in RENICIS and switch off the mains power to SPA1. 9. Remove the SPA drive from the SPA1 by sliding out the drive from the front of the enclosure. 10. Remove the DIL header fitted to SK1.
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Page 30: Adjustment Of The Inductance Of The Motor Drive System
This is completed by the removal of a screw from each side of the SPA1 unit towards the front of the enclosure, and removal of the 5 screws across the top of the rear panel of the SPA1. Then the top of the SPA1 can be removed by pulling upward on the lid of the unit. - Page 31 = Inductor out of circuit Figure 17 – Identification of the inductor configuration terminal 5. The inductor configuration terminal is located towards the rear panel on the SPA1 in the respective axis area as shown in figure 17. NOTES: Do not overtighten the connector when changing the wire connection within the SPA1 unit.
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Page 32: System Interconnection Diagrams
System interconnection System interconnection diagrams Many problems can be solved by examining the system’s configuration and current conditions. In addition, the RENICIS program provides several functions to assist in SPA1 problem solving and commissioning. 5.1 Cable connections 5.1.1 Emergency stop cable This cable is designed to connect the E.STOP circuit between the joystick daughter card emergency stop... -
Page 33: Spa Cable
System interconnection 5.1.2 SPA cable This cable is designed to connect all the necessary signals from the SPA1 to the UCC1 units. The cable configuration for this cable is as specified below: SPA1 pin number Function UCC1 pin number UCC2 pin number... -
Page 34: Machine I/O Cable
Machine I/O cable This cable is designed to connect some functions from the machine I/O connector from the UCC1 to the machine I/O connector on the SPA1, also giving the ability to attach external connections to the system through the additional connector. -
Page 35: Maintenance
After operation of the emergency stop system the SPA1 should be checked to ensure servo power can again be engaged. Remove dust from the external surfaces with a clean, dry cloth as the unit is not sealed against... -
Page 36: Testing And Verification
Testing and verification Testing and verification The manufacturer of the finished machine or the installer of the equipment is responsible for ensuring that the following testing and verification, to the appropriate standards, is performed as a minimum on the completed installation: •... -
Page 37: Revision History
• New interconnect diagrams in section 1.4. • UCC2 cabling variations in section 5.1. Issue 04-B • Error corrected in table in section 5.1.3. SPA1 machine I/O connector pin number 3 to ‘emergency stop’ not ‘crash’. Issue 05-A • Addition of UCClite product. - Page 38 Renishaw plc +44 (0)1453 524524 +44 (0)1453 524901 New Mills, Wotton-under-Edge, uk@renishaw.com Gloucestershire, GL12 8JR United Kingdom www.renishaw.com Renishaw worldwide Australia India Spain +61 3 9521 0922 +91 80 25320 144 +34 93 663 3420 australia@renishaw.com india@renishaw.com spain@renishaw.com Austria Israel...
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