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AMK AMKASYN KU 3 Hardware Description

Compact servo drives
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AMKASYN
compact servo drives KU
KU 3, KU 6, KU 10, KU 14
Hardware description
Version:
2002/22
Part No.:
26498
Rights reserved to make technical changes.

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Summary of Contents for AMK AMKASYN KU 3

  • Page 1 AMKASYN compact servo drives KU KU 3, KU 6, KU 10, KU 14 Hardware description Version: 2002/22 Part No.: 26498 Rights reserved to make technical changes.

  • Page 2: Table Of Contents

    Table of contents SAFETY INSTRUCTIONS BRIEF SYSTEM DESCRIPTION TECHNICAL DATA KU Specifications Dimensions DC BUS choke for KU 14 External brake resistor DESCRIPTION Front view KU 3 ... KU 14 Block Diagram Functional description KU connection drawing Interfaces Pulse diagram Switching On/Off Pulse diagram Emergency Stop KU OPTION CARDS KU Option cards for slot 1...

  • Page 3: Safety Instructions

    Warning The AMKASYN KU series is used for controlling AMK AC servo and main spindle motors. The manufacturer/operator of the installation as a whole is responsible for any damage resulting from use of the drive system in any way other than in the intended manner.

  • Page 4: Brief System Description

    2 Brief system description The AMKASYN KU inverter is designed for feeding AMK AC motors. The digital inverter regulates the drive in 4 quadrant mode precisely and with high dynamic response. The feed is direct from a three- phase power supply . The latest power semiconductor technology in conjunction with high-grade integration guarantee high reliability.

  • Page 5: Technical Data

    3 Technical data 3.1 KU Specifications Type KU 3 KU 6 KU 10 KU 14 3x380V..3x480V 3 x 380V ... 3 x 480V Input voltage ± 10 %, 47 ... 63 Hz ± 10%, 47..63 Hz Efficiency approx. 95 % Power factor λ...

  • Page 6: Dimensions

    3.2 Dimensions 0.59" Hinged cover 12.17" Panel ( Option ) (KU3 only) 9.53" 0.47" 130 / 5.12" 100 / 3.94" KU6,KU10,KU14 70 / 2.76" 0.59" View Y View X 0.275" 0.275" PDK_026498_KU_Hardware-mit-R01_KU3_en.doc Page 6 from 36...

  • Page 7: Dc Bus Choke For Ku

    3.3 DC BUS choke for KU 14 O 5,8 / 0.23" 80 / 3.15" 79 / 3.11" 96 / 3.78" 96 / 3.78" Technical data: U = 500V = 0...40°C / 32...94°F Degree of protection: IP 00 N total Terminals assignment : X08 ( KU14 ) ALZ14 Terminals Connection...

  • Page 8: External Brake Resistor

    3.4 External brake resistor Excess brake energy has to be converted to heat with an external brake resistor. The brake transistor is integrated in the KU inverter. The external brake resistor has to be connected via terminal X04 (RBP/RBN) with shielded cable. The shield must be grounded to PE at both ends.

  • Page 9: Description

    4 Description 4.1 Front view KU 3 KU 6, KU 10, KU 14 L E D s : L E D s : E R : E r r o r E R : E r r o r E R / 5 P E R / 5 P 5 P : 5 V o .

  • Page 10: Ku 3

    4.2 KU 3 ... KU 14 Block Diagram PDK_026498_KU_Hardware-mit-R01_KU3_en.doc Page 10 from 36...

  • Page 11: Functional Description

    4.3 Functional description The KU inverter contains the following functional groups: • Rectifier for generating the DC-Bus voltage. • Charging device for the DC-Bus • Brake transistor Braking energy from the motor is first fed into the DC-Bus. If the DC-Bus voltage exceeds its limit value of 780V, the brake transistor is activated and the surplus braking energy is converted into heat through the brake resistor.
  • Page 12 • Microcontroller for Field orientation Motor encoder evaluation and monitoring Speed control Closed loop position control IGBT triggering Current control Monitor functions The microcontroller calculates cyclically the instantenous values of the nominal currents for the phases from the specified setpoint, the actual phase currents as well as the rotor position. The IGBT triggering is synchronized with the basic clock of 8 kHz, PWM based, in the form that the motor windings carry sinusoidal currents when stationary.

  • Page 13: Ku Connection Drawing

    4.4 KU connection drawing PDK_026498_KU_Hardware-mit-R01_KU3_en.doc Page 13 from 36...

  • Page 14: Interfaces

    4.5 Interfaces Power input Phase L1 Phase L2 Phase L3 Power input voltage: 3 x 380V ... 480V ± 10%, 50/60 Hz (symmetrical 3-phase line) Motor connection Motor phase U Motor phase V Motor phase W Connection through shielded cable. The cable shield must be grounded at both ends (contact area as large as possible).
  • Page 15 Power output enable EF (WAGO 5 pole female connector) Terminal EF: Binary input „Power output enable“ Pin 2 Optically isolated input Nominal input voltage: +24V (acc. to VDI 2880) ext. Nominal input current: 8 mA In normal operation input „EF“ must be set to release the IGBT trigger pulses.
  • Page 16 Resolver connection (9 pole female D-SUB connector) N.C. Resolver N.C. N.C. +SIN N.C..1,8V -SIN +SIN +COS -SIN ... 1,8V +COS -COS -COS +UREF +UREF +/-8% -UREF max. 75 mA -UREF N.C. N.C. Connection through twisted-pair shielded cable. The shield of the resolver cable must be grounded at both ends ! Motor encoder connection for I / S / T / (A) type encoder (9 pole, female D-SUB connector) X31, Pin: I / (A) encoder S/T encoder...
  • Page 17 Analog inputs / Analog outputs (WAGO 8 pole female connector) Analog inputs A1, A2: Nominal input voltage: 0 ... ± 10V Two analog inputs are provided for setpoint values and torque limiting via analog voltage ± 10V. They are designed as differential inputs related internally to „GND“. The resolution is 12 bits for ±...
  • Page 18 Analog outputs AA1 ... AA3: 3 configurable analog outputs are available: Output voltage ± 10V, max. 10 mA AA1 / AA2 / AA3: 8 bit resolution By parametrizing the wanted function is assigned to the analog outputs. The scanning time for the analog outputs is 1 ms. Pin 8: Analog output AA1 (±...
  • Page 19 Pin 2: FL „Error reset“ (BE2) Prerequisite: „Inverter On RF“ inactive After a system malfunction the cause of trouble must be eliminated first. Then the system has to be booted through an „Error reset“ pulse (≥ 100 ms) at „FL“ input or „Error reset“ must be initiated via the KUB panel or via the connected field bus system „System Ready“...
  • Page 20 Square-wave pulse input (WAGO 8 pole female connector) Connection via twisted-pair shielded cable. The cable shield must be connected to PE at the inverter housing. An actual position acquisition is possible through differential inputs R1N, R1I, R2N, R2I by an external position measuring system with square-wave output. Also setpoint pulses e.g. for slepping motor control, synchronous control can be fed in through these inputs.
  • Page 21 Counting pulses channel 1, direction signal channel 2 >100ns Channel 1 Channel 1 Channel 2 >100ns Channel 2 Counting direction Forward reverse The maximum input frequency is 4 MHz. This type of setpoint pulses permits only single evaluation of pulses. Forward pulses on channel 1 / Reverse pulses on channel 2 >100ns Channel 1...
  • Page 22 Communication interface (RS 232 C): Interface for drive parametrization and diagnosis either through option KUB panel or through an external PC with AMK software AIPAR. Access to certain data groups is protected by password. Status and error messages can be called up and displayed in plain language.

  • Page 23: Pulse Diagram Switching On/Off

    4.6 Pulse diagram Switching On/Off Signal source Input power on approx. 1s Drive On (main contactor SPS / from customer, if required) Power output enable EF Power output disabled QES Power output enabled QEF System ready SPS / PLC SPS / PLC Inverters On Handshake "RF"...

  • Page 24: Pulse Diagram Emergency Stop

    4.7 Pulse diagram Emergency Stop With main contactor off (on customer-end) in case of E-stop the contents of the actual position counter in the system is lost. Mains supply ON After power restart the drive must be (customer referenced anew! main contactor,if required !) Emergency Stop Inverters ON...

  • Page 25: Ku Option Cards

    5 KU Option cards 5.1 KU Option cards for slot 1 As an option one of the following option cards can be installed in slot 1: KU-EA1 „Binary Inputs/Outputs“ (9 binary inputs, 24V DC, 5 binary outputs 10V...10V AC/DC, 100 mA) KU-AG1 „A Type encoder adaption“...

  • Page 26: Parameters

    6 Parameters Overview For a detailed description of the actual drive parameters see separate documentation „AMKASYN Parameters KU“ (related to the latest KU software release). Number of places behind decimal point for parameter entry through operator keyboard or PC software AIPAR. Example: ID-Nr.
  • Page 27 ID-No. Designation Minimum Maximum Unit 00113 Max. motor speed 180.0000 100000.0000 00115 Posit.feedb.type 0000h 000Fh 00116 Resol.mot.encod. 1280000 Incr. 00117 Resol.ext.encod. 4294967295 Incr. 00121 Gear input rev. 30000 Rev. 00122 Gear output rev. 30000 Rev. 00123 Feed constant 0.0000 429496.7295 mm/rev 00124 Zero veloc.wind.
  • Page 28 65535 32798 User list 1 32799 Conf. peripherie 00000000h FFFFFFFFh 32800 AMK main op.mode 00000000h FFFFFFFFh 32801 AMK op. mode 1 00000000h FFFFFFFFh 32802 AMK op. mode 2 00000000h FFFFFFFFh 32803 AMK op. mode 3 00000000h FFFFFFFFh 32804 AMK op. mode 4...
  • Page 29 Puls multiplier 32892 Pulse divider 65536 2147483647 32893 Pulse multipl. -2147483648 2147483647 32922 Resid.dist.wind. 65535 Incr. 32925 AMK posit. par. 0000h FFFFh 32926 AMK homing par. 0000h FFFFh 32927 AMK syn. par. 0000h FFFFh 32928 Time filter 1 2000.0 32929 Time filter 2 2000.0...
  • Page 30 ID-No. Designation Minimum Maximum Unit 34001 Variable 1 -2147483648 2147483647 34002 Variable 2 -2147483648 2147483647 34003 Variable 3 -2147483648 2147483647 34004 Variable 4 -2147483648 2147483647 34005 Variable 5 -2147483648 2147483647 34006 Variable 6 -2147483648 2147483647 34007 Variable 7 -2147483648 2147483647 34008 Variable 8 -2147483648...

  • Page 31: Exchange Of Drive Modules

    7 Exchange of drive modules 7.1 Exchange of KU inverter Absolutely pay attention to: Exchange of the KU inverter is only permitted after consultation of the machine manufacturer and his release. All system specific parameters are stored in the EEPROM on the controller card KU-R01.
  • Page 32 Loosen KU fastening screws at the mounting panel. Slightly lift the KU inverter and take it out towards you. Insert new KU inverter, lower it and securely tighten the fastening screws. Swing open KU front cover. Securely tighten all PE connections at the PE bolts. Securely reconnect power input (X01).

  • Page 33: Exchange Of The Controller Card Ku-R01

    7.2 Exchange of the controller card KU-R01: Please pay attention: The option cards are connected to the controller card. Controller card KU- R01 and Option card(s) must be manipulated as one unit! Unplug WAGO connectors and motor encoder connector. Unscrew fixing screws of controller card KU-R01 and all option cards (2 captive screws each). Carefully pull out controller card and option cards.

  • Page 34: Motor Encoder Adjustment Via Kub Panel

    7.4 Motor encoder adjustment via KUB panel A f t e r P O W E R O N : * * * * * " 1 " , " 2 " , " 3 " , " 4 " , " 5 " , "...

  • Page 35: Imprint

    • The type of malfunction, suspected cause of the failure • The diagnostic messages (error codes) Publisher AMK Arnold Müller Antriebs- und Steuerungstechnik GmbH & Co. KG Gaußstraße 37 – 39, 73230 Kirchheim/Teck Tel.: 07021/5005-0, Fax: 07021/5005-176 E-mail: info@amk-antriebe.de Additional information www.amk-antriebe.de...
  • Page 36 AMK Arnold Müller GmbH & Co. KG Antriebs- und Steuerungstechnik Gaußstrasse 37 – 39 D-73230 Kirchheim/Teck Telefon: +49 (0) 70 21 / 50 05-0 Telefax: +49 (0) 70 21 / 50 05-199 info@amk-antriebe.de www.amk-antriebe.de...

This manual is also suitable for:

Amkasyn ku 6Amkasyn ku 10Amkasyn ku 14

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