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38

CHAPTER 6 – Commissioning

SMT-BD2/m

3.6

-

S

AVING OF THE AMPLIFIER PARAMETERS

Save all parameters in the amplifier EEPROM by means of the

Save parameter to EEPROM

procedure.

3.7

–

M

OTOR PHASING AT POWER UP

In the incremental encoder configuration without HES, the motor phasing procedure must be executed according
to the following diagram at each amplifier power up:

3.8

–

A

MPLIFIER ADDRESSING

The SMT-BD2/m amplifier has got 4 micro-switches (S1) that allow to define an address from 0 to 15 (

of these switches in chapter 5, section 1: Hardware adjustments

The allocation of an address

≠

0 to an amplifier allows to communicate, from one single host, with several SMT-

BD2/m amplifiers via the serial link (RS-232 or RS-422).

In the case of an axis with an unbalanced load (constant torque due to the gravity effect on a vertical
axis), the motor phasing procedure is not valid. The motor must be equipped with an incremental
e HES or an absolute single-turn Sin/Cos encoder.

!

AMP. READY

X4-18,19

POWER

READY

Enable

X4-20

Run

X4-4

PHASING OK

X4-5,6

Power up

Ready for phasing

Phasing

Start phasing

Ready for running

End power up

End phasing

Phasing procedure

execution

Brake ON delay

Brake control

X4-8,9

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Summary of Contents for SMT-BD2/m

Page 1: ...1 SMT BD2 m SMT BD2 m gb POSITIONER FOR SINUSOIDAL BRUSHLESS LINEAR AND ROTATING AC MOTORS ...

Page 2: ...h electrical parts even after power down may involve physical damage Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several hundreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR amplifiers are conceived to be best protected against electrostatic discharges However some components are particularly sensit...

Page 3: ...rn Sin Cos encoder configuration 19 3 4 X1 connector for other Sin Cos encoder configurations 20 4 X4 ANALOG INPUT COMMAND CONNECTOR SUB D 25 PINS MALE 21 4 1 Specification of the analog inputs outputs 22 4 2 Specification of the logic inputs outputs 22 5 X2 ENCODER OUTPUT COMMAND CONNECTOR SUB D 25 PINS FEMALE 24 6 X6 LOGIC OUTPUTS CONNECTOR SUB D 9 PINS FEMALE 25 7 X7 LOGIC INPUTS CONNECTOR SUB ...

Page 4: ...TION 43 3 4 MANUAL MODE PARAMETERS 44 4 EDITION OF A SEQUENCE 45 4 1 HOMING SEQUENCE 46 4 2 POSITIONING SEQUENCE 47 4 3 SPEED SEQUENCE 47 4 4 TORQUE SEQUENCE 48 4 5 SEQUENCES CHAINNING 49 4 6 PROGRAMMABLES OUTPUTS 50 4 7 PROGRAMMABLE INPUTS 51 5 PROGRAMME EXECUTION 51 6 SPEED AND TORQUE LIMITATION 51 CHAPTER 8 TROUBLESHOOTING 52 1 SYSTEM FAULT 52 2 STORED FAULTS 52 2 1 BUSY fault 52 2 2 EEPROM fau...

Page 5: ...TS 58 3 FOLLOWING ERROR PROTECTION 58 4 I T PROTECTION 59 4 1 Current limitation in Fusing mode 59 4 2 Current limitation in Limiting mode 60 5 SERVO CONTROLLER STRUCTURE 61 6 ASCII INSTRUCTIONS LIST 62 6 1 OVERVIEW 62 6 2 INSTRUCTIONS LIST 63 7 USING A DISPLAY TERMINAL 67 7 1 CONFIGURATION 67 7 2 USE 67 8 AMPLIFIER TYPES 69 ...

Page 6: ...6 SMT BD2 m ___________________________________BLANK PAGE_______________________________ ___________________________________BLANK PAGE_______________________________ ...

Page 7: ...he motor phasing procedure is no more necessary and the servo motor can immediately be enabled after the amplifier power up With an absolute single turn SinCos encoder feedback from the motor Heidenhain ERN 1085 or compatible the servo motor can also immediately be enabled after the amplifier power up The SMT BD2 m amplifiers are suited for axis positioning applications Up to 128 control sequences...

Page 8: ...h is equipped with the mains filter F400 35 or 70 has been approved for its conformity with the Electromagnetic Compatibility standards EN 55011 Group 1 Class A regarding the conducted and radiated radioelectric disturbances CEI 801 2 3 4 regarding the immunity Standard to be applied to the electrical equipments of industrial machines EN 60204 1 The SMT BD2 m amplifiers have been CE marked since y...

Page 9: ... 220 60r 240 61 12 26 30 SMT BD2 m 220 70 240 70 25 30 35 SMT BD2 m 220 100 240 100 25 30 35 Authorized output currents for continuous current mode operation I 2 t protection in limiting mode AMPLIFIER TYPE U rated Imax A rms Max authorized continuous current Arms of the amplifier Vrms 1 s WITHOUT FAN FAN TYPE 1 FAN TYPE 2 SMT BD2 m 220 04 240 4 4 2 SMT BD2 m 220 08 240 8 8 4 SMT BD2 m 220 12 240 ...

Page 10: ... s WITHOUT FAN FAN TYPE 2 SMT BD2 m 400 15 400 15 5 5 7 5 SMT BD2 m 400 30 400 30 8 15 SMT BD2 m 400 45 400 48 10 19 SMT BD2 m 400 60 400 60 not used 28 SMT BD2 m 400 100 400 100 not used 35 Authorized output currents for continuous current mode operation I 2 t protection in limiting mode AMPLIFIER TYPE U rated Imax A rms Max authorized continuous current Arms of the amplifier Vrms 1 s WITHOUT FAN...

Page 11: ...00 kHz resolution 2048 ppr or 512 ppr Interpolation factor 1024 Note 1 The maximum servo loop bandwidth value not only depends on the amplifier specification but also on the encoder resolution and the mechanical motor load The lower the encoder resolution the lower the servo loop gains and the servo loop bandwidth to avoid any motor noise due to signal quantization effect However when the pulse in...

Page 12: ...x 60 V Imax 200 mA Pmax 10 W Power ready closed if power OK Amp ready closed if amplifier OK Phasing OK closed if motor phasing OK Brake closed to desactivate the motor brake Optoisolated Sequence execution SEQ Position reached POS Speed reached SPEED Motor enabled OK Programmable logic outputs Optoisolated OUT1 to OUT8 Monitor outputs 2 channels ANout1 ANout2 10 V full scale 12 bit resolution Pro...

Page 13: ...ion Ref Position Supply voltages Position Pulses counter Position controller Drive parameters Vector control Current Ref Current limitation Current loops PWM power stage Current Mes Motor phases Power supply Aux supply OUTPUTS INPUTS SPEED LIMIT TORQUE LIMIT Current Limit The PR8 and PR10 connectors are not accessible for direct wiring they are plugged on the BM20A single axis rack or on the multi...

Page 14: ...perature C Amp 5 z only 220 70 and 220 100 current rating amplifiers 5 z Power supply undervoltage Undervolt z 5 5 z Motor overtemperature C Motor 5 5 5 z Hall Effect Sensors or Sin Cos commutation channels error HES z z 5 z Analog to Digital Conversion error ADC 5 z z 5 Position following error Position z z z 5 Fault of the amplifier parameter or sequences storage EEPROM 5 z 5 5 Amplifier automat...

Page 15: ...tments in chapter 5 AMPLIFIER TYPE F1 F2 Power Logic SMTBD2 m 220 04 to 12 10 AT 1 A SMTBD2 m 220 17 and 30 15 AT 1 A SMTBD2 m 220 45 20 AT 1 A SMTBD2 m 220 60 20 AT 1 A SMTBD2 m 220 70 1 A SMTBD2 m 220 100 1 A 3 2 2 Fuse protection for the 400 VAC amplifier version F2 Control of the average DC current of the logic board supply see Hardware adjustments in chapter 5 AMPLIFIER TYPE F2 Logic SMT BD2 ...

Page 16: ... AMPLIFIER CONNECTORS X1 X5 X2 X4 X6 X7 LED B P Faults display Encoder sensor Serial link Command Encoder output Command Analog inputs Offset Inputs Outputs 2 X5 SERIAL LINK CONNECTOR Sub D 9 pins male PIN FUNCTION REMARKS 5 0 Volt GND shield connection if no 360 connection possible on the connector 3 TXD Transmit data RS 232 2 RXD Receive data RS 232 6 TXH Transmit data RS 422 7 TXL Transmit data...

Page 17: ...er channel A 3 Channel B Differential input of the encoder channel B 11 Channel B Differential input of the encoder channel B 5 5V Encoder supply voltage 400 mA max current 4 GND Encoder supply GND 12 TC Motor thermal sensor input 10 mA max load current 13 GND Motor thermal sensor GND 6 7 8 reserved 14 15 reserved Encoder input specification Thermal sensor input specification COM COD B2 B1 B5 B4 B...

Page 18: ...el B 5 5V Encoder supply voltage 400 mA max current 4 GND Encoder supply GND 14 HALL U Hall sensor input signal phase U 6 HALL V Hall sensor input signal phase V 7 HALL W Hall sensor input signal phase W 15 15V Hall sensors supply voltage 50 mA max current 12 TC Motor thermal sensor input 10 mA max load current 13 GND Hall sensors Thermal sensor GND 8 reserved Encoder input specification Specifica...

Page 19: ...Differential input of the Sin Cos encoder channel C 14 Channel C Differential input of the Sin Cos encoder channel C 8 Channel D Differential input of the Sin Cos encoder channel D 7 Channel D Differential input of the Sin Cos encoder channel D 5 5V Sin Cos encoder supply voltage 400 mA max current 4 GND Sin Cos encoder supply GND 12 TC Motor thermal sensor input 10 mA max load current 13 GND Moto...

Page 20: ... The Incremental Sin Cos encoder HES configuration Heidenhain 1Vcc Sin Cos encoder or compatible is selected according to the following COM and COD jumpers setting see chapter 5 section 1 Hardware adjustments The corresponding X1 connector pin function is described below PIN FUNCTION REMARKS 1 Reference R Differential input of the Sin Cos encoder reference pulse R 9 Reference R Differential input ...

Page 21: ... 100 to 0 1 of the maximum speed for 0 V to 10 V or 10 V to 0 V the polarity is programmable 15 16 0 Volt analog inputs to be connected together 10 ANout1 monitor O 10 V resolution 12 bits load 10 mA 2 ANout2 monitor O 10 V resolution 12 bits load 10 mA 11 0 Volt analog outputs Programmable output signals on the digitizing oscilloscope Channel 1 and Channel 2 current ref IDC current mes ID IQ IMES...

Page 22: ...en the 0 V of the optoisolated inputs X4 pins 23 24 25 is not connected to the 0 V of the SMT BD2 m amplifier module X4 pin 12 SMT BD2 m X4 11 20K 10K X4 10 20K 10K X4 2 1K 1K X4 1 4 7 14 20 SMT BD2 m TLP 281 4 1K X4 23 24 25 100K 10nF 5V I O jumper open I O X4 17 SMT BD2 m 10K X4 16 20K 10nF 10K 10K 10K 10nF 22nF 20K X4 3 10K X4 15 20K 10K 22nF 10nF 22nF ...

Page 23: ...losed the 0 V of the optoisolated inputs X4 pins 23 24 25 is connected to the 0 V of the SMT BD2 m amplifier module X4 pin 12 X4 1 4 7 14 20 SMT BD2 m TLP 281 4 1K X4 23 24 25 100K 10nF 5V I O jumper closed I O X4 5 8 18 SMT BD2 m PRME15015 X4 6 9 19 15V BZW04P85B ...

Page 24: ...oupled logic input 8 JOG I Optocoupled logic input 18 JOG I Optocoupled logic input 9 SEQ O Optocoupled logic output 20 POS O Optocoupled logic output 21 SPEED O Optocoupled logic output 22 OK O Optocoupled logic output 12 24 V I 24 V input This input must only be used if one of the outputs SEQ SPEED POS and OK is used and if the OUT1 to OUT8 outputs are not wired 23 GND 24 V Mass of external 24 V...

Page 25: ... reversed by a software parameter The parallel connection of these outputs must be made by means of diodes The total output current is 350 mA for the 8 outputs OUT1 to OUT8 7 X7 LOGIC INPUTS CONNECTOR Sub D 9 pins male PIN FUNCTION REMARKS 1 IN1 Logic input n 1 2 IN2 Logic input n 2 3 IN3 Logic input n 3 4 IN4 Logic input n 4 5 IN5 Logic input n 5 6 IN6 Logic input n 6 7 IN7 Logic input n 7 8 IN8 ...

Page 26: ...COD X4 AOK FC FC 12 15 1 14 20 18 8 19 9 9 25 12 13 RACK U V W V W L1 L2 L3 13 12 14 6 7 15 13 10 2 11 3 9 1 5 4 X1 COM B5 B4 B3 B5 B4 B3 B5 B4 B3 SMT BD2 m 5 V U V W 15 V U X2 9 23 X6 1 9 24 V I O X7 24 V I O ENABLE 24 V I O GND GND GND or or ENCODER GND THERMAL POWER SUPPLY MOTOR Reset GND SENSOR HALL EFFECT SENSORS I O I O jumper open RUN Brake 0 V I O START STOP SEQ POS 0 V I O 24 V I O OUT1 2...

Page 27: ... 4 X1 SMT BD2 m C U X2 9 23 X6 1 9 24 V I O X7 24 V I O B2 B1 COD COM B5 B4 B3 8 C D D 5 V GND ENABLE 24 V I O GND GND GND ENCODER THERMAL POWER SUPPLY MOTOR Reset SENSOR I O I O jumper open RUN Brake 0 V I O START STOP SEQ POS 0 V I O 24 V I O OUT1 24 V I O 0 V I O IN1 The I O jumper must be open for getting the X4 connector I Os optoisolation the I O 0 V X4 pins 23 24 25 is disconnected from the...

Page 28: ...ording to the CEI 801 standard the connectors must be metallic or metal plated and must have a 360 shield connection 2 2 MOTOR AND SENSORS CABLES Cable ends should have a metallic collar allowing a 360 shield connection Motor cables must be shielded to avoid common mode effects Encoder and HES cable must also be shielded 2 3 ANALOG INPUTS AND SERIAL LINK CABLES The analog input signals requires a ...

Page 29: ...Rack Ground The cable can be soldered on the shield because the connector box is metallic This solution does not exactly meet the EMC requirements but it is acceptable Motor connector box Metallic or metal plated plastic SUB D pin package 360 shield ensured by the tightening clamp The fastening screws must be tightened in order to ensure the shield continuity on the amplifier housing INFRANOR ampl...

Page 30: ...or the 220 VAC range Logic fuse power board I O Inputs 0 V reference Motor thermal sensor type Encoder signal Commutation signal Serial link selection B RS 232 standard C RS 422 option Undervolt fault inhibition Encoder marker pulse disable enable Drive address selection Motor thermal sensor adjustment 5 V supply RS 422 option For amplifier types 220 04 to 220 100 and 400 15 to 400 100 VAC range O...

Page 31: ...dification of all the amplifier parameters For the SMT BD2 m parameter setting the software version 1 10 or higher is required Please see Web site www infranor fr for downloading the Visual Drive Setup software Minimum requirements for the PC Processor Pentium Operating system WINDOWS 95 98 WINDOWS NT Graphics adapter Windows compatible colour SVGA with resolution 800x600 or 1024x768 Drives 3 5 di...

Page 32: ...guration Encoder marker pulse jumper in ZM position encoder marker pulse enabled Commutation signal jumpers COM in B3 position incremental encoder configuration without HES 1 2 ENCODER CONFIGURATION If the motor is equipped with a TTL incremental encoder select the following COD and COM jumpers setting If the motor is equipped with a Sin Cos incremental encoder select the following COD and COM jum...

Page 33: ...nsor resistor at 120 C the default adjustment is RPTC 120 C 3 kΩ with PSTH A 10 kΩ 1 4 2 NTC thermal sensor On motors equipped with a NTC thermal sensor triggering on low impedance the amplifier configuration is the following OP jumper closed and MN jumper open The triggering threshold adjustment for the NTC thermal sensor is made by means of the PSTH components as described below PSTH D 14 3 kΩ P...

Page 34: ...or B3 position according to motor and amplifier specifications For the BL and MA MAVILOR motor series the current loops adjustments are made according to following selection table AMPLIFIER 4 A 8 A 12 A 17 A 30 A 45 A 60 A 70 A 100 A MOTOR MA 3 B1 MA 6 B1 B1 MA 10 B2 B1 B1 B1 MA 20 B2 B1 B1 B1 B1 B1 MA 30 B2 B2 B2 B1 B1 MA 45 B2 B2 B1 B1 B1 MA 55 B2 B2 B2 B1 BL 55 3 B1 BL 55 5 B1 BL 71 B2 BL 72 B2...

Page 35: ...rs front panel screws are correctly fastened on the rack 3 AMPLIFIER COMMISSIONING AND ADJUSTMENT 3 1 AMPLIFIER SETUP Connect the encoder feedback cable between the motor and the amplifier X1 connector Connect the X4 command connector the Enable and Run inputs must be open the FC and FC limit switches inputs must be connected and closed Connect the serial link RS 232 between the PC and the amplifi...

Page 36: ...e motor without the HES devices In this case a motor phasing procedure must be executed at each amplifier power up 3 3 ABSOLUTE SINGLE TURN SIN COS ENCODER ADJUSTMENT If the motor is using an absolute single turn Sin Cos encoder Heidenhain ERN 1085 or compatible check that the COD and COM jumpers setting is correct Check that the Enable and Run inputs are disabled and the amplifier turned on and m...

Page 37: ...in order to initialize the gain values before coupling the motor to the load again Select the current limitation in Limiting mode Check that the limit switches and the motor brake are correctly operating before starting the Auto tuning procedure Activate both Enable and Run inputs Move the shaft in Jog mode until a maintaining position far enough from the axis limit switches where a free movement ...

Page 38: ...f these switches in chapter 5 section 1 Hardware adjustments The allocation of an address 0 to an amplifier allows to communicate from one single host with several SMT BD2 m amplifiers via the serial link RS 232 or RS 422 In the case of an axis with an unbalanced load constant torque due to the gravity effect on a vertical axis the motor phasing procedure is not valid The motor must be equipped wi...

Page 39: ...tor speed m s The linear speed value in m s is calculated according to following formula Linear speed m s x The motor Current phase lead parameter value is calculated by using an equivalent motor torque constant value according to the following formula Torque constant Nm A Force constant N A x Pole pitch N S N S N S Motor magnets Motor pole pitch mm Encoder signal pitch µm 1000 Motor pole pitch mm...

Page 40: ... The logic input 1 to 8 are entering the X7 connector The logic output 1 to 8 are located on the X6 connector The programmation consists in initializing the sequence parameters with the desired values A control sequence can then be selected by using the programmable logic inputs activation and its execution is started by using the START logic input 2 DESCRIPTION OF THE LOGIC I Os 2 1 LOGIC INPUTS ...

Page 41: ...tion parameters IN1 to IN8 These inputs allow to define in natural binary code the number of the sequence to be executed They also allow to define a sequence starting condition 2 2 LOGIC OUTPUTS Amp OK This signal indicates that the amplifier is ready without error BRAKE This output controls the motor brake activation desactivation SEQ This signal indicates that a sequence is presently executed PO...

Page 42: ...ting cycles and reduce progressively the following error threshold value until the fault is triggered Then set the following error threshold at this value plus a margin of 30 to 50 Maximum braking distance defines the limit value for the motor braking distance when the position following error is released This parameter value must be set according to the maximum motor speed and the available ampli...

Page 43: ...ed limitation activation allows to get the speed limitation proportional to the analog input value When reversed limitation is not selected the speed limitation is inversely proportional to the analog input value for 0 V the motor runs at the programmed speed and for 5 V the motor runs at half of the programmed speed Speed modulation enables the continuous modulation of the motor speed according t...

Page 44: ... the negative direction The motion profile parameters are motion speed acceleration time deceleration time The parameters acceleration time and deceleration time define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced Remark The JOG deceleration time paramete...

Page 45: ...end of the positioning For a SPEED sequence this parameter defines the motor running time in ms at the speed set point value If this parameter value exceeds 16000 ms then a sequence stop condition can be used to leave the speed control sequence For a TORQUE sequence this parameter defines the torque holding time in ms when the torque set point value has been reached If this parameter value exceeds...

Page 46: ...rigin This parameter allows to come back to the home position motion reversal otherwise the motor will be stopped after the braking Reset Load the position reset value in the position counter at the home position Homing procedure diagram If Switch 1 and Zero 1 or Origin 1 the speed can be reversed by the switch detection or by a limit switch Homing procedure diagram with switch only When the seque...

Page 47: ...nt when the programmed motion speed value cannot be reached the trajectory acceleration and deceleration are reduced and the profile is calculated according to the programmed acceleration and deceleration time values 4 3 SPEED SEQUENCE A speed sequence is defined by the speed set point the running time the acceleration time the deceleration time When the running time exceeds 16000 ms the stop cond...

Page 48: ...ned in percentage of the Maximum current parameter value The motor running direction depends on the sign of the speed set point When the current limitation is reached the amplifier is holding this current during the time interval defined by the Delay time parameter If the Delay time exceeds 16000 ms the torque holding time is infinite In this case the sequence can be left by a stop condition The H...

Page 49: ...eters Next sequence Counter and Jump Application example Sequence 1 Next sequence 2 Counter 0 Jump 1 Sequence 2 Next sequence 3 Counter 0 Jump 4 Start condition Logic input 8 activated Sequence 3 Next sequence 1 Counter 0 Jump 1 Sequence 4 Next sequence 1 Counter 0 Jump 1 Remark Next 1 or Jump 1 correspond to an empty field on the PC software Sequence 1 Start of sequence 1 then connection to seque...

Page 50: ...e configurated as pulse outputs with a preset duration This function only concerns the outputs set at 1 or toggle Triggering position Defines the position where the logic output must be triggered when it is programmed in POS triggering Sequence 1 Start of sequence 1 then connection to sequence 2 parameter Next sequence Execution of sequence 2 then connection to sequence 3 start condition valid and...

Page 51: ...output to be active 6 SPEED AND TORQUE LIMITATION The sequence speed values can be reduced according to the analog input voltage value on pin 17 of the X4 connector This functionality can be enabled or disabled by the selection of the Analog input limitation parameter For the TORQUE SPEED and positioning sequences ABSOLUTE or RELATIVE the programmed speed can be continuously modified according to ...

Page 52: ...the Auto phasing procedure the procedure has failed because of an external cause and the calculated parameters are wrong Check that the Motor encoder resolution parameter value is correct Check that the ENABLE input is activated Check that the limit switches inputs are not activated Check that the motor is unloaded and the shaft movement is free during the procedure execution If the BUSY fault is ...

Page 53: ...eration Check the braking system operation during the deceleration phases is correct Check the sizing of the braking resistor with regard to the deceleration phases Check for no short circuit in the motor wiring and at the motor terminals For amplifiers with 220 04 to 220 60 current ratings and 400 VAC range check that the fan and the heatsink configuration is correct with regard to the required r...

Page 54: ...lowings condition are answered for taking into account the maximum value of the encoder pulse frequency at the maximum motor speed value Max motor speed rpm 60 x 106 Number of encoder pulses per revolution Max motor speed rpm 60 x Encoder pulse frequency limit Hz Number of encoder pulses per revolution Check that the Motor encoder resolution parameter value is correct Check that the number of enco...

Page 55: ...der resolution value When the encoder counting protection has been disabled the amplifier is only checking that the encoder pulses frequency is lower than 1 5 times the maximum encoder frequency The maximum encoder frequency is calculated into the amplifier according to the Motor encoder resolution parameter value and the Maximum speed parameter value In this case encoder pulse noise at a frequenc...

Page 56: ...CV0 input activated 3 2 MOTOR DOES NOT MOVE Check that the amplifier is on Check that the power supply is on Check the amplifier fuses F1 and F2 and the motor connection Check the wiring of the signals FC FC Enable Run and Wait 3 3 SHAFT LOCKED ERATIC OSCILLATIONS OR ROTATION AT MAXIMUM SPEED Check the encoder wiring on the X1 connector and the mechanical mounting of the encoder on the motor Check...

Page 57: ...nging an amplifier on a machine proceed as follows Check that the new amplifier has got the same hardware configuration as the old one Plug in the parameter sequences EEPROM or a copy of it of the old amplifier on the new one The new amplifier is configurated like the old one ...

Page 58: ...then active and POWER READY remains inactive contact open until the main power supply is on 3 FOLLOWING ERROR PROTECTION The positioner following error detection is operating as described below The measured position error is continuously compared with the theoretical position error given by the position loop model When the difference exceeds the following error threshold value the position followi...

Page 59: ...ted current also depends on the value of the Rated current and Maximum current parameters This value is calculated as follows T max second t2 t0 4 x Rated current Maximum current 2 NOTE 1 The above formulas are valid as long as the Maximum current Rated current ratio is higher than 3 2 When the Maximum current Rated current ratio is close to 1 the calculated values of Tdyn and Tmax are quite below...

Page 60: ...e The amplifier current limitation diagram in an extreme case motor overload or locked shaft is shown below t0 t1 t2 Rated current Maximum current Amplifier current t1 Idyn signal t2 current limitation Time The maximum current duration before the release of the Idyn signal output t1 t0 and before limitation at the rated current t2 t0 is calculated the same way as for the Fusing mode The I t signal...

Page 61: ...ocedure if minimum following error is required It can then be modified by the user if required Feedforward speed 2 gain KF2 defines the feedforward speed amplitude corresponding to the viscous frictions This term allows to reduce the viscous frictions effect during the motor acceleration and deceleration phases The gain value is equal to the damping gain value the viscous friction compensation ter...

Page 62: ...the carriage return will be sent back by the amplifier echo The amplifier answer starts with a separation character ASCII code 58 possibly followed by a value The amplifier will then send a carriage return a line feed ASCII code 10 and ASCII code 62 These instructions allow to modify or to read the value of a variable If there is a parameter the variable corresponding to the instruction will take ...

Page 63: ...e sent only if no sequence is executed The sequence must exist The minimum speed is 2 rpm Unit rpm Modify acceleration of a sequence Instruction UA Parameters 1st parameter sequence number 2nd parameter acceleration time If there is no 2nd parameter the amplifier will return the actual acceleration time of the sequence 1st parameter Conditions This instruction can be sent only if no sequence is ex...

Page 64: ...r Unit see modify position of a sequence Inputs Outputs status Instruction IO Parameters None Conditions Read only Remarks This instruction reads the logic inputs and outputs status bit meaning 0 START 1 STOP 2 WAIT 3 TEACH 4 JOG 5 JOG 8 SEQ 9 POS 10 SPEED 11 OK 16 IN1 17 IN2 18 IN3 19 IN4 20 IN5 21 IN6 22 IN7 23 IN8 24 OUT1 25 OUT2 26 OUT3 27 OUT4 28 OUT5 29 OUT6 30 OUT7 31 OUT8 Bit SEQ indicates...

Page 65: ... maximum speed the trajectory acceleration and deceleration times are proportionally reduced This parameter is saved in the positioner memory Unit Millisecond Deceleration absolute movement Instruction DD defines the deceleration for absolute movement MP Parameters Deceleration time Conditions Remark The parameters acceleration time and deceleration time define the time with regard to the maximum ...

Page 66: ...n Must be diplayed in the position unit according to the position resolution and the decimal number Maximum braking distance ___________ _____Variable Instruction EF Parameter Possible values between 0 and 7FFF FFFF 0 to 2147483647 Conversion Must be diplayed in the position unit according to the position resolution and the decimal number Zero Mark pitch ______________ _____Variable Instruction ZN...

Page 67: ...h button Offset on the front panel Remark When the Terminal mode is selected the amplifier communicate with the VT 100 terminal in decimal mode regardless of the SW2 1 switch selection 7 2 USE 7 2 1 Main menu In the main menu it is possible with keys 1 2 3 or 4 1 to display the motor position and the user can move the motor Jog or Jog by means of the arrow keys 2 to modify a defined sequence modif...

Page 68: ...fication of a sequence This menu gives the operator the possibility to modify position or speed of a defined sequence The operator enters first the sequence number this sequence must exist The former position is displayed and the operator can then enter a new position or cancel by pressing only the ENTER key The operator can modify the same way the speed of a defined sequence SMT BD2 m 103 øøø mm ...

Page 69: ... signals ENABLE and RUN are active the operator can enter the position to move to 8 AMPLIFIER TYPES SMT BD2 _ m _ _ _ _ T _ Amplifier current rating 4 A to 100 A 220 VAC or 15 A to 100 A 400 VAC BS Synchronous motor w Braking resistor for 220 VAC amplifiers single axis rack r Additional heatsink for 220 VAC amplifiers 30 A to 60 A total width 18 TE Serial link 1 RS 232 2 RS 422 Amplifier voltage r...

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