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Vickers DBM Series User Manual

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Summary of Contents for Vickers DBM Series

  • Page 1 (217) 352-9330 | Click HERE Find the Moog / Vickers DBM-04 / DBM-PS/04 at our website:...
  • Page 2 DBM 03 User's Manual GB-4019 Rev.8 - May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 DBM 03 - USER'S MANUAL Date Description Updated Pages June/95 Initial Release 22/June/9 Correct miscellaneous errors 52, 84, 111 6/July/95 Correct miscellaneous errors 7, 27, 28, 29, 33, 66, 68, 84, 86, 91 28/Sept/9 Correct miscellaneous errors 55, 73, 83, 94 24/Oct/95 Add facilities to change DBM01 with DBM03 6/May/96 Add reference to DBTALK program and 7, 28, 33, 48, 49, 50, 51, 52,...

  • Page 4: Table Of Contents

    Table of Contents Introduction page Section 1 general features Description standard features technical data interfaces protections CE marking system wiring configurations internal jumpers dimensions fans recovery circuit block diagrams Section 2 wiring Installation transformer/autotransformer connection soft start resolver wiring motor power wiring connection to PC installation keyboard or opto priority...
  • Page 5 Section 6 European Directive filtering wiring and grounding recovery resistor screening safety aspects Appendix A internal jumpers Multidrop personality card jumpers Appendix B dbtalk communication program Dbtalk 2 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 6 Introduction This manual provides the necessary information for a proper installation and an effective use of DBM Digital Drives in the possible different configurations. Its contents allow technicians to understand how the system works and to carry out installation procedures. The safety instructions provided in this Manual are included to prevent injury to personnel (WARNINGS) or damage to equipment (CAUTIONS).
  • Page 7 4 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 8: General Features

    SECTION 1 - DESCRIPTION 1.1 General Features The modular DBM series drives offer digital speed loop and digital analog interfaces. They are suitable for use with 4-quadrant, brushless motors having sinusoidal back e.m.f. . Construction allows the use of the power amplifiers only, if required for easy CNC interface.

  • Page 9: Technical Data

    1.3 Technical Data DBM Module : 300Vdc, ±10% Input voltage Three-phase output voltage : 180V DBM-PS Power Supply : 230Vac, ±10%, 50/60 Hz Three-phase input voltage : 110Vac (optional) or 230Vac, ±10%, 50/60 Hz Auxiliary power supply input voltage Auxiliary input power : 55W for 3-axis module, 60W for fans pair BUS BAR output voltage : 300Vdc...
  • Page 10 1.4 Interfaces Digital • Output for simulated encoder (optional) • Serial Link RS485(1200-19200 Baud) full-duplex to manage: - Acceleration limits - Autophasing - Control parameters - Monitoring of internal parameters - Range of analog interface - System status • Output for Drive OK axis 1, axis 2, axis 3 (TTL compatible) On-Off (Optoisolated) •...

  • Page 11: Ce Marking

    Vickers drives meet the following standard related to Low Voltage Directive: CEI EN 60204-1 (1993) par.
  • Page 12 FIG. 1.1 - Inter module wiring 230 VAC 3 x 230 Vac 9 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 13 FIG. 1.2 - DBM-PS Power Supply 10 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 14 Tab. 1.1 - DBM-PS Power Supply (See Fig. 1.2) Pos. Name "L1" phase, three-phase input voltage 230Vac "L2" phase, three-phase input voltage 230Vac "L3" phase, three-phase input voltage 230Vac Ground Recovery resistor Recovery resistor Auxiliary power supply 230Vac (110Vac as option) Auxiliary power supply 230Vac (110Vac as option) Yellow LED BUS BAR voltage >...
  • Page 15 Tab. 1.2 - DBM-PS Power Supply - J1 Connector Auxiliary Power Supply Pos. Name N.C. (Not connected) N.C. - 15Vdc referred to -HV (300Vdc) +18Vdc referred to -HV (300Vdc) 150kHz square wave to high side drives N.C. +18Vdc referred to logic 0V - 18Vdc referred to logic 0V +8Vdc referred to logic 0V +8Vdc referred to logic 0V...
  • Page 16 In case of fault, the type of fault is as follows: J2/pos. 4 J2/pos. 9 DBR FAULT. Recovery fault OVER TEMP. Overtemperature PHASE FAULT. Tab. 1.4 - DBM-PS Power Supply - J10 Connector RS485 Port Pos. Name N.C. N.C. +5Vdc output referred to logic 0V for power supply Logic 0V N.C.
  • Page 17 FIG. 1.3 - DBM 3-Axis Module 14 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 18 FIG. 1.4 - DBM 2-Axis Module 15 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 19 FIG. 1.5 - DBM 2-Axis and Expansion (optional) Module 16 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 FIG. 1.6 - DBM-L (180 mm) 3-Axis Module 17 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21 FIG. 1.7 - DBM-L (180 mm) 2-Axis Module 18 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 22 FIG. 1.8 - EBM Expansion Module (optional) 19 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 Tab. 1.5 - DBM Axis Module (See Fig. 1.3 to 1.8) Pos. Name Motor phases (M1-M2-M3) connector J6 M3 Resolver M3 connector J5 M2 Resolver M2 connector J4 M1 Resolver M1 connector I/O signals connector connector for analog references and simulated encoder output Red LED generic fault: the fault can correspond, according to the type, to a DRFV...
  • Page 24 Green LED Axis 1 enable (see also ON command) DRIVE EN 1 Green LED Axis 2 enable (see also ON command) DRIVE EN 2 Green LED Axis 3 enable (see also ON command) DRIVE EN 3 Green LED Auxiliary power OK POWER Personality card: it contains drive setup in a non volatile memory Auxiliary power supply flat connector...
  • Page 25 Tab. 1.7 - DBM Module - J2 Connector - Power Supply Flat and RS485 Port Signals Pos. Name N.C. PWRS fault 1 - power supply binary coded faults +5Vdc output referred to logic 0V logic 0V PWRS fault 2 - power supply binary coded faults Note: In case of fault, the type of fault is as follows: J2/pos.
  • Page 26 Tab. 1.8 - DBM Module - J3 Connector Expansion Connection Pos Name 0V common Auxiliary voltages referred to logic 0V not OK input signal Phase U reference current output signal Torque enabled output signal Short circuit input signal Overtemperature input signal Expansion present input signal Overtemperature output signal N.C.
  • Page 27 FIG. 1.9 - Limit Switches Wiring DBM 04 CW Limit switch axis 1 CCW Limit switch axis 1 CW Limit switch axis 2 CCW Limit switch axis 2 CW Limit switch axis 3 CCW Limit switch axis 3 cable shield must be RF* connected to ground grounding of shield via connector shell...
  • Page 28 Tab. 1.9 - DBM Module J3 Connector (when EBM Expansion is not present) Limit Switches Connection (see Fig. 1.9) The J3 connector allows, when the Expansion is not present, the availability of CW/CCW limit switches for each axis. With the input enabled (to 0V), the rotation is disabled in one direction and enabled in the other direction.
  • Page 29 Tab. 1.10 - DBM Module - J4 - J5 - J6 Connectors Resolvers Pos. Name Differential cos signal non-inverted input Differential cos signal inverted input Shield Internally connected to 0V common Differential cos signal non-inverted input Differential cos signal inverted input Motor PTC input 0V common.
  • Page 30 FIG. 1.10 - Speed Reference Wiring DBM 04 cable shield must be RF grounding of shield connected to the housing via connector shell DIFFERENTIAL INPUT DBM 04 grounding of shield cable shield must be RF via connector shell connected to the housing UNIPOLAR INPUT 27 - 23/May/97 Artisan Technology Group - Quality Instrumentation ...
  • Page 31 Tab. 1.11 - DBM Module - J7 Connector Analog Inputs and Simulated Encoder Outputs Pos. Name Logic 0V (it can be used as common for analog output supplies ±15V) encoder output: inverted phase A - motor 1 encoder output: inverted phase B - motor 1 encoder output: inverted phase C - motor 1 encoder output: inverted phase A - motor 2 encoder output: inverted phase B - motor 2...
  • Page 32 Testing point 1 Shield. Internally connected to 0V DRIVE Drive OK output, axis 1. Imax=5mA. OK 1 0V=not OK +5V=OK DRIVE Drive OK output, axis 2. Imax=5mA. OK 2 0V=not OK +5V=OK DRIVE Drive OK output, axis 3. Imax=5mA. OK 3 0V=not OK +5V=OK REF3...
  • Page 33 FIG. 1.11- Input/Output Wiring +24V + 24V Power Supply +24V Optoisolated input common Drive Enable Drive Enable Ref. Enable Reference Enable Drive OK Optoisolated Output Drive OK Motor OK Optoisolated Output Motor OK grounding of shield cable shield must be RF via hose clamp connected to the housing * = pin number is axis dependent...
  • Page 34 Tab. 1.12 - DBM Module J8 Connector I/O Commands and Signals Pos. Name TACHO TEST 1 tachometer analog output, axis 1. Range: see ET command TACHO TEST 2 tachometer analog output, axis 2. Range: see ET command TACHO TEST 3 tachometer analog output, axis 3. Range: see ET command ANALOG OUT 1 analog output 1.
  • Page 35 Tab. 1.13 - EBM Expansion (optional) - J3 Connector (See Fig. 1.8) Pos Name 0V common Auxiliary voltages referred to logic 0V not OK output signal Phase U reference current input signal Torque enabled input signal Short circuit output signal Overtemperature output signal Expansion present input signal Overtemperature input signal...
  • Page 36 Tab. 1.14 - Input/Output Characteristics Optoisolated inputs z in =1.2 kΩ Drive enable 1,2,3 I nom = 10 mA Reference enable Imax = 20 mA Remote reset Vmin = 15Vdc Vmax = 25V Optoisolated outputs z out = 1.2 kΩ Drive OK I max = 20 mA Motor OK...
  • Page 37 FIG. 1.12 - Motor Phases Wiring (only one axis shown) DBM 04 Motor ground ground J9/J10/J11 grounding of shield grounding of shield via connector clamp via connector clamp (or RF connection to the ground screw in case of terminal board) FIG.
  • Page 38 FIG. 1.13B DBM03-L (180 mm) Module. J9 and J10 connectors. Motor Power (wiring side) The configuration of these connectors depend on the different combinations of sizes . Notes: M2 always corresponds to the more powerful axis. M3 must not be connected in 2 axis configuration. For U-V-W positions see Fig.
  • Page 39 1.9 Dimensions FIG. 1.14 - Dimensions (in mm). Note: for DBM-L modules (180 mm), dimensions are the same as two side by side standard modules 36 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 40: Recovery Circuit

    1.10 Fans The ventilation is provided by fans mounted under the modules.The size and the number of fans are according to the system configuration. Fan input voltage is 230 Vac (or 110 Vac optional). The input power is 60 W for each pair of fans.
  • Page 41 If the recovery resistance works for intervals shorter than the time necessary to reach thermal equilibrium, the resistor can temporarily handle power levels up to 10 times the nominal power rating of the resistor (short time overload). If not specifically requested, systems are provided with standard 3.9 Ω, 370W recovery resistor.

  • Page 42: Block Diagrams

    1.13 Block Diagrams FIG. 1.15 - Power Supply, block diagram 39 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 43 FIG. 1.16 - Digital Section, block diagram 40 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 44 FIG. 1.17 - Analog Section, block diagram 41 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 45 Fig. 2.1 - Transformer Connections 230 VAC 42 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 46 Section 2 - Installation 2.1 Wiring This section provides the necessary information to properly wiring the digital brushless system. 1. Mains connections via transformer or autotransformer. 2. Resolver and motor power wiring. 3. Signals wiring. 4. Other wiring. 2.1.1 Main Connections via Transformer or Autotransformer Figure 2.1 shows the electric diagram for transformer or autotransformer connection (from three-phase mains voltage to 230V).
  • Page 47 Fig. 2.2 - Soft Start 44 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 48: Soft Start

    2.1.2 Soft Start Figure 2.2 shows a current limit circuit for a standard configuration (1 Power Supply and 3 modules): it is not strictly necessary for the system operation, though it is recommended to limit the current through R-S-T phases on power up, as filter capacitors at power supply input are uncharged and can require very high instantaneous current.
  • Page 49 FIG. 2.3 - Resolver Wiring grounding of shield via connector shell grounding of shield via connector clamp 46 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Resolver Wiring

    2.1.3 Resolver Wiring Each DBM module can be connected up to 3 resolvers via the following connectors: J4 M1 : axis 1 resolver J5 M2 : axis 2 resolver J6 M3 : axis 3 resolver A cable with 4 pair, each pair twisted and individually shielded with an independent overall shield is recommended.
  • Page 51 Vickers keyboard or the DBTALK communication program. 2.1.7.1 Vickers Keyboard The Vickers keyboard is an optional accessory product (CG5001 code) which can be used for drive setup and monitoring. The syntax and the list of commands are included in the User's Manual.

  • Page 52: Keyboard Or Opto Priority

    Note: a module programmed as "address 4" will automatically assign for the other axes the following addresses, i.e. 5 - 6 (if triple-axis) or 5 (if double-axis); and so on for the next basic addresses. • Check if NP (pole number), MV (max velocity) and MR (max reference) parameters are OK for the application.
  • Page 53 4 PW91 <CR> Enter the password for 2nd module (primary axis = 4) PASSWORD ON The correct answer is displayed <CR> Only for Vickers keyboard. 4 AP <CR> Allow axis 4 autophasing. AUTOPHASING IN PROGRESS AXIS PHASED 5 AP <CR>...
  • Page 54 2.2.5 CNC Priority With CNC, the following procedures must be followed. This way the CNC is the master and the keyboard is the slave, as follows: • Parameters managed by CNC: Drive Enable, Reference Enable, Speed References • Parameters managed by keyboard (or PC): all dynamic parameters (acceleration, KI, KP, etc.), Status and Fault.

  • Page 55: Personality Card Jumpers

    2.2.6 Velocity Offset If it is necessary you can adjust the analog velocity offset by providing 0 analog speed reference and setting VO command for an automatic adjustment. A fine adjustment can be done with successive steps via OV command. REMARK: the adjustment of the digital velocity offset must not be used to adjust the analog velocity offset and it is reserved to setup technicians.

  • Page 56: Resolver To Encoder (Optional)

    2.2.8 Resolver to Encoder (optional) For position sensing a resolver to encoder option (simulated encoder) is available. Encoder signals are 7V, 100 Ω impedance, as follows: • 2 channels of square wave output with a resolution from 128 to 1024 pulses per electrical revolution.
  • Page 57 2.2.8.1 Setup for the Number of Steps/Revolution From DBM 03 version the number of steps/electrical revolution of simulated encoder can be set via software (see SE commands). REMARK: the maximum number of pulses per electrical revolution depends on the R/D resolution.
  • Page 58 2.2.8.2 R/D Resolution From DBM 03 version the resolution of Resolver to Digital converter will automatically be switched according to actual speed for optimum system performance between minimum (see RN command) and maximum resolution (see RX command). The speed range of R/D resolution is included in the following table. Tab.
  • Page 59 FIG. 2.6 - Starting Sequence, Timing Chart Note: T1 = 8 to 10 s, T2 ≥ 1 s, T3 ≥ 20 ms, T4 ≈ 3 s, T5 ≥ 0.5 s. 230 Vac 230 Vac 56 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 60 2.3 Operation After system wiring and installation, it is possible to start the system according to the sequence shown in figure 2.6. Action Effect • Connect 230Vac single phase • Digital and diagnostics circuits power supply (or 110Vac are fed optional) - Green LED on DBM PS, AUX PWR = ON - Opto output MOTOR OK is enabled...

  • Page 61: General Features

    SECTION 3 - COMMANDS AND PROTECTIONS 3.1 General Features For serial communication, according to standard RS485, DBM drives are connected in parallel (multidrop) and in "slave" configuration, whereas the CNC, the PC or the keyboard are in "master" configuration. This is because the protocol is configurated so that the drives are able to communicate only if inquired by the master, to avoid contentions on the line.
  • Page 62 COMMAND Remark: press <CR> after each command string if Vickers keyboard is used. • • Address: there are three kinds of address: Axis: it is a number from 1 to 9 ( max. number of axes in a system); it identifies the axis selected for data monitoring / input.
  • Page 63 3.2 Commands All commands available for system management can be used to monitor and execute every datum. To monitor, it is sufficient to enter the address and the command; to execute, the address, the command and the datum must be typed. Tab.
  • Page 64 3.2.1 Command: AC - Acceleration Function: it allows to set an acceleration ramp. Whatever the input reference (analog or digital), the system will follow it, but accelerations will never be faster than those set by this command. It can be useful when the drive is connected to rather simple position controllers ( eg.
  • Page 65 3.2.2 Command: AD - Axis Disabled Function: AD command makes the logic section ignore an axis and the relatives faults. It is useful with DBM 2-axis: if the third axis were not disabled, the logic would reveal resolver fault and motor overtemperature, preventing the drive from running.
  • Page 66 3.2.4 Command: AL - Analog Limit Function: it informs the controller that I limit reference to be considered is analog (see J7 connector). Syntax: command input: address AL <CR> Address type: axis Unit of measure: Range: Default: digital I Limit Password: (∗) addressing: Opposite to:...
  • Page 67 3.2.6 Command: AR - Analog Reference Function: AR command allows enabling analog (speed or torque) reference. The drive will follow as reference the voltage of connector J7 pins, ignoring VE command given from keyboard. Syntax: command input: address AR <CR> Address type: axis Unit of measure:...
  • Page 68 Opposite to: See also: Note: To modify the Baud Rate also at Vickers keyboard side, it is necessary to type <Control> and after <CR>. Type <Y> to change Baud Rate and after <CR>. 3.2.9 Command: CP - Current Position Function: it allows to know the position relative to electric revolution of the resolver at start-up.
  • Page 69 3.2.10 Command: CU - Current U offset (only for setup technicians) Function: it allows to set the offset of U phase current Syntax: data monitoring: address CU <CR> data input: address CU n <CR> Address type: axis Unit of measure: Range: 0 to 255 Default:...
  • Page 70 3.2.12 Command: DE - Deceleration Function: it allows to set a deceleration ramp. Whatever the input reference (analog or digital), the system will follow it, but decelerations will never be faster than those set by this command. It can be useful when the drive is connected to a rather simple position controller (e.g.
  • Page 71 3.2.13 Command: DF - Digital Filter Function: it allows to set a low-pass digital filter. The filter reduces high frequency noise and resonances When the Velocity Structure command is VS=0 or VS=1, the velocity reference is filtered. When the Velocity Structure command is VS=2 or VS=3, the velocity error is filtered.
  • Page 72 3.2.14 Command: DI - Direction Function: it allows to invert the direction of the motor rotation, in case of analog or digital reference. The drive is supplied set to CW rotation, (viewed from shaft end) corresponding positive references. This command allows changing configuration during the installation.
  • Page 73 3.2.16 Command: DR - Digital Reference Function: it allows to enable digital (speed or torque) reference. The drive will consider as reference the number set via VE command and ignore connector J7 voltage. Syntax: command input: address DR <CR> Address type: axis Unit of measure: Range:...
  • Page 74 3.2.17 Command: ES - Extra parameter for Spare output Function: it allows to scale the Analog Outputs (max current, speed reference or error reference) on J8 connector. Syntax: data monitoring: address ES <CR> data input: address ES n <CR> Address type: 1=Analog Output 1 (see J8 connector, pos.4) 2=Analog Output 2 (see J8 connector, pos.5) Unit of measure:...
  • Page 75 3.2.18 Command: ET - Extra parameter for Tacho output Function: it allows to scale the Tacho Tests outputs on J8 connector Syntax: data monitoring: address ET <CR> data input: address ET n <CR> Address type: axis Unit of measure: 50 to 100. Tacho outputs = ±(ET/10) ∗ (MR/100) [V] for ±MV Range: Default: Password:...
  • Page 76 3.2.20 Command: FA - Fault Function: as only main faults have front panel LED indications, when the generic LED DRVF lights up, it is necessary to interrogate the drive via FA command. The answer is a codified ASCII string (see below). Another function of the command is to reset the faults occurred at logic level (also resettable via push button).
  • Page 77 3.2.21 Command: IL - I Limit (Current Limit) Function: it allows to program the peak current. It is useful when undersized motors are used or during special tests. Syntax: data monitoring: address IL <CR> data input: address IL n <CR> Address type: axis Unit of measure:...
  • Page 78 Tab. 3.5 - IT Protection The following table shows IT and PC values set in factory. AA AA MOTOR DRIVE Operating time MOTOR DRIVE Operating time at drive peak at drive peak AA AA current current AAAA AAAA AAAA AAAA AAAA AAAA DBM03...
  • Page 79 3.2.23 Command: KI - Integral Gain Function: it allows to set the speed loop integral gain. KI value is directly proportional to the intensity of the integral action. Syntax: data monitoring: address KI <CR> data input: address KI n <CR> Address type: axis Unit of measure:...
  • Page 80 3.2.25 Command: MR - Max Reference Function: it allows to set speed/torque max reference. The drive will automatically make it corresponding to the maximum velocity (see MV command). It is advisable to set MR as near as possible to 10V, to reduce resolution losses due to analog/digital conversion.
  • Page 81 3.2.26 Command: MV - Max Velocity Function: it allows to set max velocity, referred to MR command. Anyway, such a max. speed can never be overcome, either by analog reference or by keyboard command. Syntax: data monitoring: address MV <CR> data input: address MV n <CR>...
  • Page 82 3.2.28 Command: OC - Digital Offset Compensation (only for setup technicians) Function: it allows to set the digital velocity offset Syntax: data monitoring: address OC <CR> data input: address OC n <CR> Address type: axis (n-128) ∗ x / 128 rpm Unit of measure: where x=24 for 8 and 2 pole resolver x=32 for 6 pole resolver...
  • Page 83 3.2.30 Command: ON - On Function: it allows to enable the digital Drive Enable for the adressed axis (see Par. 2.2.2.) Syntax: command input: address ON <CR> Address type: axis Unit of measure: Range: Default: Digital Drive Enable off Password: (∗) addressing: Opposite to: See also:...
  • Page 84 3.2.32 Command: PC - Peak Current Function: it informs the drive control section about the ratio between motor current and drive peak rms current. This way, when IT protection is on, drive current will be reduced to nominal motor current. Syntax: data monitoring: address PC <CR>...
  • Page 85 3.2.34 Command: PW - Password Function: it allows the operator to change critical parameters. After executing PW command, it is possible to enter the status in which such modification are permitted. If you want to exit from this mode, set PW again.
  • Page 86 3.2.36 Command: RN - Minimum of R/D resolution Function: it allows to set the minimum of Resolver to Digital converter resolution. The R/D resolution will automatically be switched according to actual speed for optimum system performance between RN (minimum) and RX (maximum). RN must be the maximum R/D resolution according to max speed (see Tab.
  • Page 87 3.2.37 Command: RS - Resolver Shaft Function: it informs about the phase shift between motor and resolver. Syntax: data monitoring: address RS <CR> data input: address RS n <CR> Address type: axis Unit of measure: Range: 0 to 65535 Default: Password: (∗) addressing: Opposite to:...
  • Page 88 3.2.39 Command: SA - Set Address Function: it is used to assign the module a basic address different from default. A module programmed as "address 1" will automatically assign, for the other axes, the following address, i.e. 2 - 3 (if triple- axis) or 2 (if double-axis).
  • Page 89 3.2.41 Command: SO - SPARE OUTPUT Function: it allows to set the Analog Outputs on J8 connector. Parameters 1SO (1st module), 4SO (2nd module) and 7SO (3rd module) determine which signal is to be seen at the Analog Out 1 (J8 conn., pos.4). Parameters 2SO (1st module), 5SO (2nd module) and 8SO (3rd module) determine which signal is to be seen at the Analog Out 2 (J8 conn., pos.5).
  • Page 90 3.2.42 Command: SR - Show Release Function: it is used to display the software releases of the system. Syntax: data monitoring: address SR <CR> Address type: module Unit of measure: Range: 0.00 to 9.99 Default: Password: (∗) addressing: Opposite to: See also: Examples: 1 SR <CR>:...
  • Page 91 3.2.44 Command: SV - Save Function: it allows to save all parameters in the personality card. If the WP jumper on the Personality Card is closed, the SV command is disabled (see Par.2.2.7). Syntax: command input: address SV <CR> Address type: module Unit of measure: Range:...
  • Page 92 3.2.46 Command: VC - Velocity Control Function: it allows to pass from torque to velocity control. Syntax: command input: address VC <CR> Address type: axis Unit of measure: Range: Default: velocity control Password: (∗) addressing: Opposite to: See also: Note: the status can be interrogated via ST command (bit K) 3.2.47 Command: VE - Velocity Function: it allows to set velocity, in case the digital reference is enabled...
  • Page 93 3.2.48 Command: VO - Analog Velocity Offset Automatic Setting Function: it allows to automatically adjust the analog velocity offset Syntax: command input: address VO <CR> Address type: axis Unit of measure: Range: 0 to 255 Default: Password: (∗) addressing: Opposite to: See also: REMARKS: The VO command must be executed with digital Drive Enable off (stopped motor).
  • Page 94 3.2.49 Command: VS - VELOCITY STRUCTURE Function: it allows to set 4 different structures of the velocity control. All the structures have a digital low pass filter processing the speed reference or the speed error signal. The cutoff frequency of this filter can be adjusted by DF parameter (see DF).
  • Page 95 3.3 Protections 3.3.1 Power Supply Recovery not ok. Indicated by: LEDs DRVF (drive fault) on all drives, LED DBR FAULT, optoisolated output DRIVE OK, bit H of the FA string (see FA command). Set condition: when recovery power transistor or recovery resistor is broken, in short circuit; when the recovery is active for too much time.
  • Page 96 3.3.2 Drive Module Resolver not ok. Indicated by: LED DRVF, LED RF (Resolver Fault), optoisolated output DRIVE OK, bit B of the FA string (see FA command). Set condition: when the resolver is not connected or in short circuit at the power up, when the resolver fails or is disconnected during running.
  • Page 97 Motor sequence not coherent. Indicated by: LED DRVF, optoisolated output DRIVE OK, bit E of the FA string (see FA command). Set condition: when at level of current measurement, the three motor phases are not a triplet or when a phase is greater than a fixed limit. Effect: inhibit torque of all axes of the module.
  • Page 98 Bus not normal. Indicated by: LED DRVF, LED POWER OK, optoisolated output DRIVE OK, bit M of the FA string (see FA command). Set condition: See figure 3.2. Effect: inhibit torque of all axes of the module . Reset condition: if the condition is not present anymore at analog level (with hysteresis), reset button on drive or send pulse to REM RESET.
  • Page 99 Auxiliary HV referred voltages not norm. Indicated by: LED DRVF, optoisolated output DRIVE OK, bit N of the FA string (see FA command). Set condition: when the level of auxiliary voltages referred to power stage (-HV) becomes out of tolerance. Effect: inhibit torque of all axes of the module.
  • Page 100 Watchdog. Indicated by: LED DRVF,LED WTD, optoisolated output DRIVE OK. Set condition: when the micro controller or DSF fails. Effect: inhibit torque or all axes of the module. Reset condition: if the condition is not present anymore reset button on drive or send pulse to REM RESET.
  • Page 101 SECTION 4-TROUBLESHOOTING FIG. 4.1 - DBM-PS Power Supply - AUX PWR green LED off Auxiliary Power Fault Green LED AUX POWER = OFF Connect single phase Auxiliary power supply 230 Vac (or 110 Vac, present? optional) +/-10% Oversize the auxiliary Current supplied power supply sufficient? (180 mA DC...
  • Page 102 FIG. 4.2 - DBM-PS Power Supply - OVER TEMP red LED on Overtemperature Red LED OVERTEMP = ON Ambient temperature Verify the correct > 45 °C ? cooling of cabinet Power the fans with Fans powered? 230 Vac (or 110 Vac) Output current >...
  • Page 103 FIG. 4.3 - DBM-PS Power Supply - DBR FAULT red LED on Recovery Fault Red LED DBR FAULT = ON Recovery Connect the resistance recovery resistance connected? Recovery Replace the recovery resistance open or resistance short-circuited? 3-phase input voltage 3-phase input >...
  • Page 104 FIG. 4.4 - DBM-PS Power Supply - PWR BUS yellow LED off Yellow LED PWR BUS = OFF Is 3-phase 230 Vac Connect 3-phase +/-10% connected to 230 Vac DBM-PS? Is 300 Vdc present Fault of 3-phase input on the Bus Bars? rectifier circuit Fault of detecting fault circuit...
  • Page 105 FIG. 4.5 - DBM Module - POWER OK green LED off Green LED POWER OK = OFF Green LED AUX PWR on See Fig. 4.1 DBM-PS lit ? Bus Bars Correctly tighten at tightening 3 Nm (26 Lb in) the Bus Bars Flat cable between Change flat cable...
  • Page 106 FIG. 4.6 - DBM Module - DRIVE EN green LED off Drive Enable Green LED DRIVE EN = OFF Verify that 8.5 to 25Vdc Internal +15V used? voltage with 8 mA min (J8/pin 7) current is applied to J8 and 0V to J8/pin 8. J8/pin 6 (common) Make connection connected to J8/pin 8...
  • Page 107 FIG. 4.7 - DBM Module - REF EN green LED off Reference Enable Green LED REF EN = OFF Verify that 8.5 to 25Vdc voltage with 8 mA min Internal +15V used? current is applied to (J8/pin 7) J8/pin 16 and 0V to J8/pin 8.
  • Page 108 FIG. 4.8 - DBM Module - DRV OVT red LED on DBM Overtemperature Red LED DRV OVT = ON Power the fan with Fan powered? 230 Vac (or 110 Vac, see nameplate) Verify the correct Ambient temperature cooling of cabinet >...
  • Page 109 FIG. 4.9 - DBM Module - SHRT CCT red LED on Short Circuit Red LED SHRT CCT = ON Motor phases short circuited or Change motor grounded? Auxiliary Change DBM-PS voltages on power supply J1 connector Flat cable on J1 OK? Change flat cable Fault on power stage 106 - 23/May/97...
  • Page 110 FIG. 4.10 - DBM Module - OVT red LED on Motor Overtemperature Red LED OVT = ON Motor PTC connected to J4, Connect PTC J5, J6? PTC value at 20°C Fault on motor PTC correct? (100 to 400 ohm) Undersize the duty cycle 107 - 23/May/97 Artisan Technology Group - Quality Instrumentation ...
  • Page 111 Sin and cos signals present on J4, J5, J6 connection not OK at (6.5 Vpp max, 10 kHz motor side for Vickers resolver)? Internal fault 108 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 112 FIG. 4.12 - DBM Module - WTD red LED on Watch Dog Red LED WTD = ON Reset via: - Pushbutton on front panel - Remote Reset Red LED WTD = Fault caused by noise OFF ? 8031 or DSP fault 109 - 23/May/97 Artisan Technology Group - Quality Instrumentation ...
  • Page 113 FIG. 4.13 - DBM Module - DRVF red LED on Drive Fault Red LED DRVF = ON Other red LEDs lit ? Check via FA command the fault not reported by LEDs. It can be: - Not coherent phase sequence - Velocity error (see EV command) - Personality card not...
  • Page 114 FIG. 4.14 - Motor vibrates Axis enabled. Motor with overspeed or running at a speed not related to the reference or vibrates 6 resolver/motor poles or 8 resolver/motor poles ? 2 pole resolver with 6 pole motor? Check via RS command.
  • Page 115 FIG. 4.15 - Keyboard fault Vickers keyboard does not work Serial cable and/or J10 cable OK? Make correct connection Baud rate > 9600 ? Close G3 on Personality Card (Baud rate set to 9600) Keyboard Baud rate correct? Adjust the keyboard Baud rate: <CTRL>...
  • Page 116 FIG. 4.16 - Motor at zero speed Axis enabled. Motor at zero speed with speed reference not zero REF EN = ON ? Make REF EN = ON on J8/pin 16 AR = ON with digital reference or DR = ON with analog reference? Check via ST command.

  • Page 117: Torque Generation

    5.1 Introduction In this chapter, principles of operation of the drive system comprising the DBM multiaxes module and Vickers FAS T and FAS K synchronous motors with permanent magnet excitation will be described. Theoretical background along with the necessary information...
  • Page 118 Having a constant amplitude of phase currents, the current vector will rotate at ω r , having a constant amplitude along the period. Hence, conditions of obtaining ripple-free electromagnetic torque are fulfilled. The torque generation and the current control loops are conditioned by the shaft sensor, which is giving the rotor speed and the rotor position information.
  • Page 119 From the above equation, one can derive the power of the electromechanical conversion; that is, the power flowing through the machine air gap as the consequence of mutual interaction of the stator and rotor fluxes: ω Ψ π − θ cos( / The electromagnetic torque obtained by dividing the air-gap power with the field frequency: Ψ...

  • Page 120: Current Control Loop

    5.3 Current Control Loops Control of the magnetomotive force of the stator is implemented through the PI control of the stator phase currents. That is, the amplitude and the spatial orientation of the vector I s is performed by controlling its components. Equation (3) gives the references of the motor phase currents;...
  • Page 121 For the purpose of allowing the matching of DBM with a non standard Vickers motor, these components are mounted on a removable plug-in modules, namely, the PWM90 hybrids.

  • Page 122: Speed And Position Sensing

    5.4 Speed and Position Sensing The DBM multiaxes drive is equipped with an interface for resolver-type shaft sensors. These sensors are preferred for the reason of inherent absolute position sensing, much wider operating temperature range than the optical devices, and a robustness intrinsic to the resolver mechanical mounting (that is, the one of an electric machine).
  • Page 123 The process of extracting the shaft position from the detected signals is done by means of a monolithic R/D converter (see Fig. 3). The key element is the ratiometric resistive net. The digital counter in Fig. 3 contains the shaft position information in the form of a digital word. Specific bits of this digital word are fed to the resistive net, in order to commutate internal resistances within the net.

  • Page 124: Speed Loop

    5.5 Speed Loop The speed control loop is implemented by the Digital Signal Processor fitted into the DBM module control board. The speed reference normally comes from a CNC in the form of +10V/-10V analog signal. Alternatively, the speed reference might be set by a dumb terminal or a PC computer, through the RS485 serial link.
  • Page 125 The quantity J in Fig. 5 stands for the total motor+load inertia in [kgm 2 ]. The values of the feedback parameters p and i are influenced by the numerical values KP and KI, imposed by the user via serial link. Moreover, particular control routines performing the correlation and the AWU (Anti Wind Up) are influencing the values of the gains internal to the Digital Signal Processor.
  • Page 126 The conformity to the above mentioned standards is accomplished through the conductive coating and the following filtering, screening and wiring procedures. 6.2 Filtering 6.2.1 Filter Types To meet the EMC Directive, Vickers drives must have the following filters on the power line. Vickers Trade-mark Rated Current...
  • Page 127 For this application it is not necessary to use the 100A filter of the table. The reference current is Iin = 6 ∗ 5 ∗ 0.8 = 24 A A 30A filter (FN 258-30/7) can safely be used. 6.2.3. FILTER DIMENSIONS Vickers Trade-mark Dimensions Weight...
  • Page 128 6.2.4 FILTER INSTALLATION - The filter must be mounted on the same panel as the drive. CAUTION: leave a clear space of at least 60mm around the filter for air circulation. - The filter must be connected as close as possible to the drive input. If the separation between filter and drive exceeds around 30 cm (1 ft.) then a flat cable should be used for the RF connection between filter and drive REMARK: when mounting the drive and the filter to the panel, it is essential that any paint or...
  • Page 129 6.3 WIRING AND GROUNDING FIG. 6.3 - GROUNDING OF SHIELD TO CONNECTORS AT MOTOR SIDE All the following cables must be shielded, with 85% minimum shielding coverage: - power motor cable (see Fig.6.2 and 6.3) NOTES: if a power terminal board is used at motor side, the shield must be RF connected to the ground screw via the proper clip.
  • Page 130 FIG. 6.5 - CABLE GROUNDING AT DRIVE SIDE 1 = Reference, Enable, OK cable 2 = Recovery resistor cable 3 = Motor power cable Sub-D and unshielded cables not shown 127 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 131 It is not necessary to shield the input power wires, the bus bars, the flat cables between the modules. REMARKs: FIG. 6.7 - PARTITION PENETRATION - the shields of cables inside the cabinet must be 360 ° clamped to the cabinet wall Strap Enclosure Cable Shield...
  • Page 132 6.5 SCREENING To effectively screening the system all the single screens (CNC, electronic cabinet, machine, motor housing, cables) must be connected together to effectively form one screen. FIG. 6.8 EMC GENERAL WIRING/SCREENING 129 - 23/May/97 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 133 Appropriate safety measures should be taken to ensure that this potentially dangerous current flows to earth. CAUTION: the input Y-type capacitors from line to earth of all Vickers drives are rated 2700 Vdc for Voltage Test between terminals. To carry out the "AC Voltage Test"...
  • Page 134 APPENDIX A - SERIAL LINK MULTIDROP D.1 DBM-PS Internal Jumpers (see par. 1.8A) In case of multidrop, the following configuration must be used. JP1,JP2,JP3 JP1,JP2,JP3 JP1,JP2,JP3 JP1,JP2,JP3 To user open open open closed Power Power Power Power Supply Supply Supply Supply D.2 Personality Card Jumpers (see par.2.2.7) By default G1, G4 and G5 jumpers on the personality card are open (no link terminations on...
  • Page 135 APPENDIX B - DBTALK • MANUAL to To help you communicate with DBM/DBS ⇒ See/Reset Faults drives quickly and easily, DBTALK provides several features: If the fault condition is not present anymore, the fault • SETUP to choose will be reset automatically. To reset the fault on the screen, go to the next screen with the arrow keys ⇒...
  • Page 136 - MS-DOS 6.2 or later simultaneously. - ANSI.SYS in CONFIG.SYS Vickers supports RS485 full-duplex with four wires (RS422 compatible). Up to 99 DBM and • DBTALK PROGRAM up to 15 DBS drives can be connected in The DBTALK program is available on floppy multidrop configuration.
  • Page 137 Phone: +39 (10) 9671 Fax: +39 (10) 9671280 GB-4019 Rev.8 - May/97 Vickers reserves the right to alter any dimensions or data without prior notice Printed in Italy Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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