Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Summary of Contents for mattke MTR 5K
-
Page 1: Technical Description
TECHNICAL DESCRIPTION Edition 1.00 4-QUADRANT-SERVO-AMPLIFIER TYPE MTR 5K MTR 20K MATTKE AG Telefon: +49 (0)761- 15 23 4-0 Leinenweberstraße 12 Telefax: +49 (0)761- 15 23 4-56 D-79108 Freiburg E-Mail: info@mattke.de Germany http://www.mattke.de... - Page 2 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Dear customer, We always try to guarantee for an optimum of security measures and to inform our- selves about the latest developments in technical research. However, it is necessary that we pass on the following further information to you as the user of our compo-...
-
Page 3: Table Of Contents
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Table of Contents TECHNICAL DESCRIPTION........................1 Edition 1.00 ............................1 Technical Description ........................5 General Information ........................5 Special Features ........................5 Summary of Types ........................6 Technical Data ...........................7 Functional Principles and Basic Circuit Diagrams ..............10 1.5.1 Free Nominal Voltage Choice ...................10... - Page 4 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Table of Figures Figure 1: Block Diagram, Transistor Servo Amplifier, Series 20K ............9 Figure 2: Basic circuit diagram of the output stage ................11 Figure 3: Simplified basic circuit diagram ..................... 12 Figure 4: Voltage waveforms in the output stage .................
-
Page 5: Technical Description
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Technical Description General Information The Series 5K and 20K transistor servo amplifiers are pulse width modulated amplifiers which have been conceived primarily for driving DC servo motors with permanent excitation. These devices oper- ate in four-quadrant mode, i.e. -
Page 6: Summary Of Types
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 The units incorporate protection circuits for current overload, overvoltage, undervoltage and overheat- ing, as well as an optional plug-in commutation current limiter (I = f(U )) and standard feature I Amax current limitation. Furthermore, inputs are provided for direction-dependent limit switches, output stag- es enable and cut-out of the integral control function. -
Page 7: Technical Data
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Technical Data Voltage range of control inputs ±10V Internal impedance of the control inputs 20kOhms Setting range of the input attenuator 0.18 … 1.1 Maximum tachovoltage for U = ±10V ±100V Internal impedance of the tacho-input (min.) - Page 8 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Transistor Servo Amplifier, Series 20K, Block Diagramm Input 1 Output stage enable Input 2 Optocoupler Tacho-input Optocoupler Difference amplifier Protection circuits for current over- Difference amplifier load, overvoltage, undervoltage, Tach-matching overtemperature, blocking (control...
-
Page 9: Figure 1: Block Diagram, Transistor Servo Amplifier, Series 20K
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 1: Block Diagram, Transistor Servo Amplifier, Series 20K Page 9... -
Page 10: Functional Principles And Basic Circuit Diagrams
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Functional Principles and Basic Circuit Dia- grams The following explanations are chiefly confined to the special features and technical innovations of these units. In this section it is assumed that the reader is familiar with the general principles and pos- sible applications of servo amplifiers. -
Page 11: Auxiliary Voltage
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 1.5.2 Auxiliary Voltage Both series of units (5K / 20K) contain an auxiliary power supply for the control electronics and driver circuit. This power supply circuit is connected in parallel to the DC intermediate circuit and automati- cally matches itself to the voltage specified in Section 1.5.1. -
Page 12: Figure 3: Simplified Basic Circuit Diagram
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 3: Simplified basic circuit diagram This way of looking at the circuit is correct, because in actual operation, one transistor and one diode at a time (e.g. T1 with D2 and T4 with D3) function like such a changeover switch. Depending on the power and current direction, the rest of the output stage thereby is “blind”, so that the actual switch-... -
Page 13: Figure 4: Voltage Waveforms In The Output Stage
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 4: Voltage waveforms in the output stage Page 13... -
Page 14: Electrical Isolation
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Further important features here, compared with conventional modulation procedures (with simple di- agonal commutation) are the facts that no AC loading at all is present when the motor is at rest, and even in the worst case (when U = ½... -
Page 15: Limit Switch Input With Automatic Braking
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 1.5.5 Limit Switch Input with Automatic Braking When a limit switch is reached, i.e. when the corresponding limit switch circuit is broken, a braking process is initiated immediately, whereby the motor is braked down to rest with the maximum possible current defined by the current limiters. - Page 16 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Nominal Value Input 2 (Kl. 3-4): These terminals have the same function as for the terminal value input 1. The two inputs act on the servo amplifier in superimposed manner without mutual back-interaction. When the potentiometers P1, P2 are turned up to maximum, the sum of both nominal values must not exceed 10V.
- Page 17 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Output Stage Switch-Clear (Kl. 16-17): The servo amplifier operates only when the terminals Kl.16-17 are shorted together. When this con- nection is broken or when +15V potential is connected to terminal Kl.16 with respect to terminal Kl.17, the current is switched off in the output stage after not longer than 1mseconds.
- Page 18 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Auxiliary Power Supply 230V AC (Kl. 31-32, only for series 20K): Nothing is connected here apart from the blower fan, so that the unit may be operated in an emergen- cy for a short time without this auxiliary power supply, by virtue of its thermal inertia. However, proper temperature supervision of the unit is not possible in such operating mode, so that operation without blower fan must never be prolonged until the thermal cut-out operates.
-
Page 19: Projecting And Dimensioning
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Projecting and Dimensioning Load Category Two categories of applications may be distinguished: feed drive and main drive. A typical feed drive, such as may be attached to the spindle of an xy-coordinates table, is characterized primarily by rela- tively short acceleration times (some tens to hundreds of milliseconds) and by the predominance of a dynamic load component over the static load component. -
Page 20: Optimizing The Drive For Given Amplifier Power
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Optimizing the Drive for Given Amplifier Pow- If it is possible at the time of planning the drive, to provide matching by gears or other form of speed transformation (cog chain, spindle, etc.), then this speed reduction should always be chosen such that load moment of inertia as reflected into the motor shaft is equal to the input moment of inertia of the motor. -
Page 21: Figure 5: Maximum Pulse Current Duration As A Function Of The Recovery Time An The Current Boost
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 5: maximum pulse current duration as a function of the recovery time an the current boost factor Figure 6: maximum pulse current duration as a function of bias and current boost factor... -
Page 22: Nominal Voltage
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 7: Example of a working diagram Nominal Voltage When the accelerating current and the final motor speed have been defined, the required operating voltage can be calculated too: π where: = Nominal operating voltage of unit in Volts... -
Page 23: Mains Transformer Calculation
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 The following effects are not taken into consideration: The voltage drop at the brushes Mechanical friction in the motor bearing Scatter of the K values by up to ±10% Change of the K... -
Page 24: Ballast Resistor
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Ballast Resistor The loading of the ballast resistor can vary within wide limits, depending on the particular application. In the case of very short braking pulses (up to about 100msec) and waiving of full nominal voltage for the unit, the intermediate circuit capacitance suffices in most cases to take-up the braking energy. -
Page 25: Commutation Current Limiting
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Commutation Current Limiting At medium to high speeds, many DC servo motors may be operated with only a fraction of the mag- netically permissible pulse current. If this condition is not fulfilled, severe wear results at the sliprings and carbon brushes, in extreme cases all-round arcing and possible early failure of the motor. -
Page 26: Dynamic Brake (Option)
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Dynamic Brake (Option) Many applications require activation of largely independent emergency brake in the case of power failure or emergency switch-off. This emergency brake too can be operated by the controller. The braking device consists of two anti-parallel connected thyristors with series protection resistors according to Figure 9. -
Page 27: Ramp Generator (Option, External)
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Ramp Generator (Option, external) In many applications it is required that, on applying a set point step change, the motor shall not re- spond with maximum limit current, but that it shall be brought to the new set point with load- independent acceleration. -
Page 28: Multiple Shaft Operation
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 2.11 Multiple Shaft Operation The following cases must be distinguished here: a) Same nominal voltage with mutually independent shafts b) Non-equal nominal voltages with mutually independent shafts c) Mechanical coupled tracking of several shafts Special conditions, which must be observed strictly under all conditions, apply for each one of these cases. -
Page 29: Figure 11: Power Supply For Unequal Nominal Voltages
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 b) In the case of unequal nominal voltage, different circuits are recommended for the two types of units. For the series 5K, in which there exists a direct connection between the negative pole and the baseplate and this connection is essential for interference suppression, it is imperatively nec- essary to use a double-wound mains transformer, i.e. -
Page 30: Electrical Installation, Grounding, Erection
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 12: Fuse protection for mechanically coupled shafts For mechanical coupled shafts, e.g. dual motors or opposition motors, the participating units must be connected directly and fully in parallel. Separate fuse protection is of no avail and... - Page 31 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Also make sure that the input circuits and the preamplifier of the servo amplifier (for series 5K units, the entire amplifier), lie at the same potential. For this purpose, for the series 20K units, a separate connection must be made from terminal KL.17 to zero potential of the input control circuitry.
-
Page 32: Figure 13: Connections Diagram For Series 20K Units
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 13: Connections diagram for series 20K units Page 32... -
Page 33: Figure 14: Connections Diagram For Series 5K Units
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 14: Connections diagram for series 5K units Page 33... -
Page 34: Commissioning And Operation
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Commissioning and Operation Potentiometers, Fixed Components and Test Points (Overview) Potentiometer P1: Input attenuator after the difference amplifier at terminals Kl. 1-2. Setting range 0.18 … 1.1. Potentiometer P2: As for P1, ,but associated with terminals Kl. 3-4. - Page 35 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 kOhms − Here: R144 = required resistance value in Ohms = desired pulse current = pulse current specified in data sheet Resistor R145: rms current limit value. Analogous to the function of R144, this resistor deter- mines the maximum value of the rms current when potentiometer P7 is set to the right hand stop.
- Page 36 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Connection of a grounded oscilloscope to ground point M1 when operating with a single-wound mains transformer leads to immediate destruction of the unit. Test point 4: Nominal armature current value after transmission by the analog isolating am- plifier.
-
Page 37: Presetting
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Presetting The potentiometers must be preset in a certain manner before switching on for the first time, in order to minimize the danger of consequential damage in the case of wiring errors: Input attenuators P1, P2 both to left hand stop. -
Page 38: Current Adjustment
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Current Adjustment With the unit switched off, connect an ampere-meter with suitable measuring range in place of the motor. Switch on again, apply a constant nominal value signal (e.g. +3Volts) and then adjust potenti- ometer P6 to set the desired maximum pulse current. -
Page 39: Offset Adjustment And Check For Absence Of Feedback Effects
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Offset Adjustment and Check for Absence of Feedback Effects With the unit switched off, once again connect ampere-meter in place of the motor. Switched on an specify nominal value 0V via the control system, turn potentiometer P5 to its right hand stop position and adjust P4 to make the current reading as close zero as possible. - Page 40 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 a) Torsional resonance If howling sounds with constant frequency (several hundred Hz) are emitted by the motor immediately after switching on, especially when the unit is set for high current limit values, even when potentiome- ter P5 is set to its left hand stop position, then the servo system is oscillating by torsional resonance of the tacho-generator.
-
Page 41: Service Information
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Service Information General Fault Tracing The following table lists in concise presentation the most commonly encountered types of faults and their possible causes. Fault Symptoms Possible Causes Shaft does not move, motor has no holding... -
Page 42: Short Circuit In The Output Stage
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Fault Symptoms Possible Causes Non-uniform rotation, armature current undulation Tachogenerator defective, short circuit in arma- too great ture, ground potential loops. Unsteady running Gain too large, undulation on the tacho-voltage too large, stray signal injection or positive feed- back due to improper input circuit wiring. -
Page 43: Replacing The Control Electronics
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 For series 20K units, the relevant side panel and one plastic component mounting screw each in the perforated panel and in the blower fan panel must be released. The control electronics and the driver electronics must be taken out too (both are plug-in subassemblies). -
Page 44: Replacing The Driver Electronics (With Ballast Circuit)
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 e) rms current limit value The resistor R145 determines the ratio of pulses current to rms current, i.e. the current boost factor. Under no circumstances is it permissible to increase its value above the limit values specified in the table. -
Page 45: Replacement Parts
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Nominal Voltage Threshold voltage of the ±1% ballast circuit (on/off) 150V 453kOhms 195/185V 200V 590kOhms 250/240V Replacement Parts In order to be able to make immediate repairs in the case of system breakdowns, it is advisable to hold the following replacement parts ready in stock. - Page 46 TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Driver transistor 2N5416 Small signal transistors BC 327-25 Small signal transistors BC 337-25 Small signal transistors BF 421 Small signal transistors BF 420 Power transistor IRF 712 Power transistor IRF 720 Electrolytic capacitor ECE-E 22µF/35V...
-
Page 47: Figure 15: Components Layout Diagram For Control Electronics
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 15: Components layout diagram for control electronics Page 47... -
Page 48: Figure 16: Circuit Diagram Of The Preamplifier
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 16: Circuit diagram of the preamplifier Page 48... -
Page 49: Figure 17: Components Layout Diagram For Driver Electronics
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 17: Components layout diagram for driver electronics Page 49... -
Page 50: Figure 18: Circuit Diagram Of Ramp Generator
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 18: Circuit diagram of ramp generator Figure 19: Components layout diagram of ramp generator Page 50... -
Page 51: Figure 20: Components Layout Diagram For Electronics And Ballast Circuit
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 20: Components layout diagram for electronics and ballast circuit Page 51... -
Page 52: Figure 21: Components Layout For Driver Module
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 21: Components layout for driver module Page 52... -
Page 53: Figure 22: Dimensions Of Series 20K Unit
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 22: Dimensions of Series 20K unit Page 53... -
Page 54: Figure 23: Dimensions Of Series 5K
TECHNICAL DESCRIPTION „MTR 5K, MTR 20K“ Edition 1.00 Figure 23: Dimensions of Series 5K Page 54...
Need help?
Do you have a question about the MTR 5K and is the answer not in the manual?
Questions and answers