Related Manuals for Teknic SST-6000
Summary of Contents for Teknic SST-6000
- Page 1 NSTALLATION ANUAL -6000, SS -3100 ERVO RIVES AND OTORS –U –T OVERS XX AND ODELS 2.1.1 8/11/24 ERSION . ( 5 8 5 ) 7 8 4 - 7 4 5 4 E K N I C...
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Page 3: Table Of Contents
ABLE OF ONTENTS ..........3 ABLE OF ONTENTS ..............5 VERVIEW ........6 LECTRICAL NSTALLATION CE Use Instructions ..............6 Power Input/Distribution ..............7 AC Power Input ..............7 Regeneration Hook-Up ............. 8 WARNING! Optimum Power Distribution: DC Power Bussing ... 9 WARNING! Grounding & Shielding Requirements......... 11 Important Grounding Rules ............ - Page 4 #5 Prepare complete, pictoral drawings......38 Motor Cable for M3463, M3462, M3471 and M3476 motors..39 M4780 Motor Cable (Power Version) ........40 M4780 Motor Cable (Torque Version)........41 TG-DCC-6000: TG-540 to SSt-6000/3100 Interface Cable ..42 SSt-DL-TAP..................43 SSt-DL-HOST ................44 SSt-DL-EXT .................45 DC Bus Jumper Cable ..............46...
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Page 5: Overview
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N VERVIEW The SSt-6000/3100 servo drives have been designed to simplify installation in OEM production environments. The electrical, mechanical, and operational features are designed to support simple, repeatable production of complex machines. -
Page 6: Electrical Installation
NSTALLATION The figure below illustrates one possible set of interconnections that might be used when installing the SSt-6000/3100 into your machine project. This diagram is intended to provide a general overview of an example SSt-6000/3100 installation. While significant detail is provided in this diagram, it should not be used as a definitive reference. -
Page 7: Power Input/Distribution
OWER NPUT ISTRIBUTION Power can be supplied to the SSt-6000/3100 drives via the AC line connector (P8) or by the DC bus ports provided on the front panel (P3, P4). Supplying single phase AC power is the simplest. However, supplying DC power derived from a 3 phase AC source can boost the peak power output of the drives by up to 50% . -
Page 8: Regeneration Hook-Up
This filter has enhanced low frequency suppression and is a perfect match for the SSt-6000/3100. The filter should be mounted on the same bulkhead or frame as the SSt-6000/3100 drive with no more than 10” of twisted wires between the drive and the filter. The filter can... -
Page 9: Warning
ISTRIBUTION OWER USSING When you use more than one SSt-6000/3100 drive in your system, you can increase the ability of the system to accept regeneration energy from an axis and increase the peak power capacity of SSt-6000/3100 drives by bussing the DC power. DC power can be bussed between several SSt- 6000/3100 drives. -
Page 10: Warning
The figure on the following page illustrates an excellent, inexpensive way to distribute single-phase power to a group of SSt-6000/3100 drives. This circuit shares a circuit breaker, contactor, EMI filter and a regeneration resistor (if required) between all of the connected drives. -
Page 11: Grounding & Shielding Requirements
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N the drives with 3-phase power is increased peak output power. Contact your Teknic sales engineer for more information on this method. & S ROUNDING... -
Page 12: Controller Interface
6. The motor must have both a low impedance ground path to protective earth and an RF path to the SSt-6000/3100. This is usually provided by the motor mounting screws and the chassis metal of the machine. In cases where the motor is isolated (as during machine construction) appropriate steps must be taken to meet grounding requirements. -
Page 13: Ready)
Fig. 9 shows typical connections from a SSt-6000/3100-U to a digital controller using low capacitance, shielded, twisted pair cable. The electrical properties of this inexpensive, readily available cable help minimize crosstalk and noise that can adversely affect signal integrity, especially in longer cable runs. -
Page 14: High Level Feedback (Hlfb) Signal Operation
The digital interface shown above is ideal for situations when a “zero-cost” software based controller is used. For more information on how the SSt servo drives can be controlled this way, contact your Teknic sales engineer for a free application note. - Page 15 There is also an ASG-InRange mode that is not documented here for CNC or contouring applications, contact your Teknic sales engineer for details. (585)784-7460 V (585)784-7454...
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Page 16: Step & Direction Signaling
& D IRECTION IGNALING SSt-6000/3100 drives can connect directly to any stepper motor indexer or pulse source using industry-standard Step and Direction signals. The Step and Direction signals from the indexer can be open-collector, TTL- level driven signals or differential line driven signals (RS-422 levels). - Page 17 N S T A L L A T I O N Step Polarity & Timing In TTL input mode SSt-6000/3100 servo drives will be commanded to rotate one step when the Step line transitions from a low level to a high level (known as "positive edge triggered").
- Page 18 2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N With the Direction line at a logic high level, the motor will rotate clockwise for each pulse of the Step+ signal, which the internal position register (displayed in the SSt-QuickSet™...
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Page 19: Using Differential Step & Direction Signals
21 on Control Connector J1 to one of the digital ground pins (5, 6, or 22). Important: Do not ground pin 21 to analog ground (pin 23) on connector J1. See appendix F for connector pinouts. TYPICAL SSt-6000/3100 CONTROLLER CIRCUITS CONTROL CONNECTOR (J1) ORN/RED 470 Ohm... -
Page 20: Analog Command Interface
If you don’t plan to wire limit switches to the SSt-6000/3100 drive, the limit pins (1 and 10) on connector P1 must be jumpered to GND pins (5 and 6). -
Page 21: Limit Switch Modes
In fact, shock absorbers are robust under all conditions including power removal. Call your Teknic sales engineer for assistance in selecting a bumper or shock. Although HardStop Homing has several built in anti-falsing features, in a few situations it can false trigger. -
Page 22: Motor Cable Construction
ENCODER PHASES INPUTS Motor Connector (P2) Motor cables for SSt-6000/3100 drives should be constructed according to the following: Motor phase leads should be kept as short as possible after they exit the cable shield, preferably under 1”. 2. The motor phase cable shield termination should be kept short at both ends, preferably under 1.5”. -
Page 23: Machine Safety Wiring
AFETY IRING ARNING SSt-6000 and SSt-3100 servo drives are used to control electrical and mechanical components in your machine that can be dangerous to human operators. Although the SSt servo drives provide a number of features to make safeguards easy to implement and safety requirements easy to comply with, safety testing and compliance is ultimately the responsibility of the machine builder. - Page 24 SAFETY CIRCUITS Safety circuits using the Safety Connector (P6) The circuits shown in Fig. 19 do not depend on the SSt-6000 safety circuit operation for the interlocks or EMO switch to operate the brake. They do, however, add automatic brake operation under all contingencies of drive power removal (fuse or breaker overload), drive safety shutdown events and errant software disabling from the control code.
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Page 25: Motor Phase Interrupt/Dynamic Brake
ARM- TERMINALS: MOLEX/39-00-0039 (39-00-0047 LOOSE) PLUG HOUSING: MOLEX/39-01-2080 +5V-OUT HOOK-UP WIRE, 24 AWG BLACK: BELDEN/9923-010 “Cheater plug” to ARM an SSt servo drive without an external supply (Teknic PN: SSt-6SJ) OTOR HASE NTERRUPT YNAMIC RAKE One alternative to a power-off axis brake is a motor phase interrupt / dynamic brake (see circuit diagram and construction details below). -
Page 26: Backup Power
ACKUP OWER In situations where drive power is removed from the SSt-6000/3100 for safety requirements, you may want to maintain encoder feedback to your controller and/or serial communication with the drive. Two provisions have been designed into the SSt-6000 and SSt-3100 to accommodate backup power for these situations. -
Page 27: Logic Power Backup
IAGNOSTIC ONNECTOR UNCTIONS Each SSt-6000/3100 drive is equipped with a diagnostic connector (P5) that provides two important functions supported by SSt-Quickset: Drive configuration via the RS-232 Configuration Port, and performance testing and diagnostics via the Real-Time Monitor Port. -
Page 28: Rs-232 Configuration Port
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N displayed with ease. The Monitor output is configured using SSt- QuickSet™ as described in the SSt-QuickSet™ On-Line Help. The monitor output is a 0.5-4.5 volt signal centered around a 2.5 volt "zero"... - Page 29 SSt servo drives) SSt-Quickset 5.0 and later versions will talk to a group of up to 30 SSt servo drives (any mix of SSt-6000, SSt-3100, SSt-1500-Uxx or SSt-1000 models) for configuration and diagnostic purposes. Note: SSt-1500-Axx servo drives will not function in a SSt Data Loop.
- Page 30 2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N The standard SSt Data Loop cables shown below have several features: Extension cables can be strung together to provide nearly any physical length link between drives. 2.
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Page 31: Mechanical Installation
NSTALLATION RIVE OUNTING The SSt-6000/3100 servo drives should be mounted on a metal panel or frame, with the AC power connector facing up as shown below. In this configuration, natural convection cooling will be maximized and the drive will deliver its rated current. The SSt-6000/3100 servo drives will... -
Page 32: Current Ratings For Various Mounting Configurations
Rated current for various SSt-6000 mounting configurations As the above illustration indicates, it is best to mount the SSt-6000/3100 drive in a vertical orientation, on a metal panel in an open area. If the drive must be mounted in a horizontal position or in a constricted area, space should be budgeted for the optional fan. -
Page 33: Fan Preparation And Mounting
SCREW BUSSES WITH #6 SELF BEFORE MOUNTING FAN THREADING SCREWS An 80mm Fan mounted directly to an SSt-6000/3100 case If the drive is mounted so that the fan is user accessible, it may be wise to install a fan guard. Qualtek makes a suitable fan guard (P/N 08172) that can be quickly installed on top of the fan using four #6-32 x 3/8”... -
Page 34: Motor Outlines
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N OTOR UTLINES M4780 Encoder/Hall/Thrmst. Connector Mates With AMP 206044-1 Motor Phase Connector Mates With AMP 206037-1 (4) 3/8"-16 UNC-2B 5.875 Bolt Circle 0.100 "... -
Page 35: M3462, M3463
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N M3462, M3463 Encoder/Hall Sensor Motor Phase Connector Mates With: Connector Mates With: AMP P/N: 206037-1 AMP P/N: 206060-1 Sealing Boots RTV Sealed... - Page 36 Fan Guard Qualtek 08172 www.qualtekusa.com Photomicrosensor Omron EE-SX671 www.omron.com A compilation of part specific data sheets for all 3 party components described in this manual (in PDF format) is available online at http://www.teknic.com/, or by contacting your Teknic sales engineer.
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Page 37: Appendix B: Standard Cable Drawings
RAWINGS In this Appendix you’ll find the drawings for all of the accessory cables for the SSt-6000/3100 servo drives. Although all of these cables can be purchased from Teknic, many OEMs, once in production, prefer to fabricate their own to accommodate custom lengths. -
Page 38: Specify 100% Electrical Testing
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N of cables. Under no circumstances should you accept a shop using hand tools. #3 S 100% E PECIFY LECTRICAL ESTING Specify that cables and harnesses be 100% electrically tested, preferably with resistance tests. -
Page 39: Motor Cable For M3463, M3462, M3471 And M3476 Motors
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N M3463, M3462, M3471 M3476 OTOR ABLE FOR MOTORS (585)784-7460 V (585)784-7454 EKNIC OICE... -
Page 40: M4780 Motor Cable (Power Version)
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N M4780 M OTOR ABLE OWER ERSION... -
Page 41: M4780 Motor Cable (Torque Version)
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N M4780 M OTOR ABLE ORQUE ERSION (585)784-7460 V (585)784-7454 EKNIC OICE... -
Page 42: Tg-Dcc-6000: Tg-540 To Sst-6000/3100 Interface Cable
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N TG-DCC-6000: TG-540 -6000/3100 I NTERFACE ABLE... -
Page 43: Sst-Dl-Tap
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N -DL-TAP (585)784-7460 V (585)784-7454 EKNIC OICE... -
Page 44: Sst-Dl-Host
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N -DL-HOST... -
Page 45: Sst-Dl-Ext
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N -DL-EXT (585)784-7460 V (585)784-7454 EKNIC OICE... -
Page 46: Dc Bus Jumper Cable
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N DC B UMPER ABLE... -
Page 47: Ppendix C: Reversing Aotor Atural Irection
“natural” rotational direction of a motor attached to a SSt-6000/3100 drive without the need for the modified motor cable described below. Reversing motor direction in this way does not, however, reverse the “direction” in which the software’s quadrature counter visually reports shaft rotation. -
Page 48: Appendix D: Auditing The Control Signals
D: A PPENDIX UDITING THE CONTROL SIGNALS The SSt-6000/3100 servo drives have many features to help make them immune to electrical noise and marginal signals, including: Analog and digital filtering of the high-speed step and direction signals and encoder signals, 2. -
Page 49: Step & Direction Signals
& D IRECTION IGNALS The SSt-6000/3100 can receive either TTL (single-ended) mode or differential mode (RS-422 levels) signals. The default input mode is TTL. To set the drive to accept differential Step and Direction signals, simply connect a jumper between S & D DIFF~ (pin 21) and GND (pin 22) on the control connector (J1). -
Page 50: Auditing Ttl Step And Direction Signals
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N > t signal Ch. 1 Step > t transition-transition Ch. 2 Direction Step and Direction signal minimum pulse width limits The Step and Direction signals must be of a minimum pulse width in order for them to be recognized by the drive as valid Step or Direction signals. - Page 51 This can be accomplished by sending alternating positive moves (+motion) and negative moves (- motion). If you are using Teknic’s ControlPoint RPE software, a simple repetitive point-to-point move can be done by using the button. Although it is possible to simply send steps to the drive while the drive is disabled (i.e.
- Page 52 2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N trigger point allowed t (see text) measured t Ch. 1 STEP Note: No transitions on Ch.2 Ch. 2 DIRECTION Measurement of Step and Direction minimum allowable transition-transition time (t 10.
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Page 53: Auditing Differential Step And Direction Signals
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N duration). This technique may be helpful when noise pulses are very narrow (i.e. narrower than any expected valid Step or Direction signal). If it is suspected that Step and Direction signals are being compromised via noise induced from other equipment, a signal from the possible noise source can be used to trigger the scope. -
Page 54: Encoder Signals
Input setting as set in SSt-QuickSet . See the table and diagrams below. Although the SSt-6000/3100 will remove noise pulses as shown below, for best engineering margin, your goal should be to eliminate any nosie from reaching into the gray zones shown below. -
Page 55: Auditing The Encoder Signals (Basic)
P2. Apply AC power to the drive, as well as power to the controller/indexer (if neither are already powered). If you are using Teknic’s ControlPoint system, run the ControlPoint RPE software on the host PC. 6. After enabling the drive, command the controller/indexer to move the motor. - Page 56 2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N times before both encoder signals (with transitions) are displayed together. 8. Examine the encoder signals together, look for the absence or presence of any noise spikes or pulses. The signals should be relatively noise-free.
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Page 57: Auditing The Encoder Signals (Differential)
- 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N 16. Allow the scope to run again by pressing the RUN/STOP button. 17. Change the TRIGGER POLARITY to negative-going ( 18. - Page 58 P2. Apply AC power to the drive, as well as power to the controller/indexer (if neither are already powered). If you are using Teknic’s ControlPoint system, run the ControlPoint RPE software on the host PC. 8. After enabling the drive, command the controller/indexer to move the motor.
- Page 59 - 6 0 0 0 / 3 1 0 0 I N S T A L L A T I O N DIFFERENTIAL ENCODER SIGNAL PROBING Ch. 1 A Ch. 2 A~ Ch. Math (A-B) +1.0V -1.0V -1V<Vin<+1V Differential encoder signal auditing (585)784-7460 V (585)784-7454 EKNIC...
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Page 60: Other Digital Inputs
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N THER DIGITAL INPUTS The other digital inputs (+Limit, -Limit, Mode, and Enable~) require the low level input to be less than .8V, and the high level input be greater than 3.8V. -
Page 61: Appendix E: Installation Golden Rules
NSTALLATION OLDEN ULES Teknic has developed the following set of 18 simple “Golden Rules” for SSt-6000/3100 servo system installation. Following these rules will prevent potential electrical problems. The installation will be largely immune to electrical noise, generate a minimum of electrical interference, meet safety requirements and perform as expected. -
Page 62: Controller/Indexer Interfacing
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N 11. Don’t run the motor’s commutation (Hall) signals through the motor phase cable at any point. 12. Don’t run the thermostat signals, if any, through the motor phase cable at any point. -
Page 63: Appendix F: Quick Reference
SSt-3100: 1.0 Amp per volt, ±10 volt range. * Peak value of the sine output current on any given phase when the motor is rotating. The DC Supply must be in-rush limited. Contact Teknic for details (585)784-7460 V (585)784-7454 EKNIC... -
Page 64: Connector Pinouts
2 . 1 . 1 8 / 1 1 / 2 4 E R S I O N ONNECTOR INOUTS Viewed looking into drive ONNECTOR INOUT ATING OMPONENTS DIR+ STEP+ DIR- ENABLE~ READY~ STEP- HLFB~ ANALOG+ Mating plug: ANALOG- MODE AMP/748365-1 A GND +5-ENC...
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