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Kollmorgen BDS4 Series, Installation And Setup Manual

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Kollmorgen BDS4 Series Installation And Setup Manual Download Page 178

BDS4

G

LOSSARY

G-1

G

LOSSARY

Acceleration

The change in velocity as a function of time.
Acceleration usually refers to increasing velocity and
deceleration describes decreasing velocity.

Ambient Temperature

The temperature of the cooling medium, usually air,
immediately surrounding the motor or another device.

Amplifier

Electronics which convert low level command signals
to high power voltages and currents to operate a servo
motor.

Brushless Servo Drive

A servo drive used to control a permanent magnet
synchronous AC motor.  May also be referred to as an
AC Servo Drive.

Drive

This is the electronics portion of the system that
controls power to the motor.

Drive, Analog

Usually referring to any type of motor drive in which
the input is an analog signal.

Drive, Servo

A motor drive which utilizes internal feedback loops
for accurate control of motor current and/or velocity.

Efficiency

The ratio of output power to input power.

Encoder, Absolute

A digital position transducer in which the output is
representative of the absolute position of the input
shaft within one (or more) revolutions.  Output is
usually a parallel digital word.

Encoder, Incremental

A position encoding device in which the output
represents incremental changes in position.

Encoder, Marker

A once-per-revolution signal provided by some
incremental encoders to specify a reference point
within that revolution.  Also known as Zero
Reference signal or index pulse.

Encoder Resolution

A measure of the smallest positional change which
can be detected by the encoder.

Feedback

A signal which is transferred from the output back to
the input for use in a closed loop system.

Following Error

The position error during motion resulting from use
of a position control loop with proportional gain only.

Friction

A resistance to motion caused by surfaces rubbing
together.  Friction can be constant with varying speed
(coulomb friction) or proportional to speed (viscous
friction) or present at rest (static friction).

Full Load Current

The armature current of a motor operated at its full
load torque and speed with rated voltage applied.

Full Load Speed

The speed of a motor operated with rated voltage and
full load torque.

Gain

The ratio of system output signal to system input
signal.  The control loop parameter that determines
system performance characteristics.

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Summary of Contents for BDS4 Series

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...BDS4 SERIES INSTALLATION AND SETUP MANUAL M93100 Issue 2 Old Number New Number MB4001H Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 4: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 5: ...e without notice and does not represent a commitment on the part of Danaher Motion Kollmorgen Therefore information contained in this manual may be updated without notice due to product improvements etc and may not conform in every respect to former issues This product is covered by U S Patents 4 447 771 4 479 078 4 490 661 Other foreign patents pending U L is a trademark of Underwriter s Laborato...

Page 6: ...rcing concept and the brushless motor We developed the electronically commutated electric car motor Industrial Drives pioneered rare earth magnet development for the servo motor industry Between 1974 and 1980 Industrial Drives continued to lead the industry in servo application innovations Our commitment to engineering excellence never waivered In fact that commitment grew stronger with the develo...

Page 7: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 8: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 9: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 10: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 11: ...r Motor Cables 30 40 55 Amp A 93421 GOLDLINE Amplifier Assembly Guide for Motor Cables 3 thru 20 Amp A 93538 GOLDLINE Amplifier Assembly Guide for Motor Cables 3 thru 20 Amp A 93539 GOLDLINE Amplifier Assembly Guide for Motor Cables 30 40 55 Amp A 93540 GOLDLINE Amplifier Assembly Guide for Resolver Cables A 93541 BDS4 Direction Limit Wiring Diagram A 93567 Outline Dimension BDS4 3 6 Amp A 93568 O...

Page 12: ...re a common power supply requiring no input isolation transformer The PSR4 5 Power Supply modules are available in sizes of 12 20 50 and 75 amps RMS phase continuous AC input line ratings Numerous Industrial Drives B Series motors with various diameters stack lengths and windings are also available 1 3 FEATURES Highlighted design features are Modular construction maximizing serviceability Two part...

Page 13: ...3 B Brushless Motor All of the compensation components necessary to match a BDS4 amplifier to a particular motor such as current loop compensation velocity loop compensation and torque angle compensation are located on the removable BDS4 COMP compensation board located inside the BDS4 amplifier The TL Test Limits and Modification Sheet contains the compensation component values and such informatio...

Page 14: ... regulator is held on for too long the shunt regulator power transistor fails or the shunt regulator load resistor becomes shorted the fuse will blow and cause the Fault Contact on the PSR4 5 to open and the BLOWN REGEN FUSE LED to become illuminated Figure 1 1 BDS4 and PSR4 5 Low Current Models shown Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 15: ...d with the motor system resolver A 7 0 kHz excitation signal is generated in the BDS4 and sent to the resolver Two resolver feedback signals sine and cosine are received by the BDS4 and processed by an R D resolver to digital converter The R D unit generates a digital position word used in electronically commutating the motor and an analog velocity internal tach signal to close the servo loop B Si...

Page 16: ...k for faults and then enable the BDS4 The AC line input voltages may be removed in any sequence 1 The BDS4A V sine wave controller allows a wider range speed because it has the ability to electronically change the angle between the rotor flux and the stator flux commonly referred to as torque angle Industrial Drives A Kollmorgen Division Patented Numbers 4 447 771 4 479 078 and 4 490 661 1 4 5 Wit...

Page 17: ...harges the Main DC bus capacitors in the PSR4 5 through a current limiting resistor b The shunt regulator regeneration circuitry is switched from dynamic bus discharge to regular mode c The undervoltage fault in the BDS4 is now cleared after approximately 3 4 sec delay and if jumper J21 is installed on the BDS4 COMP Board the Drive Ready LED will become illuminated and the Drive Up contact in the ...

Page 18: ...BDS4 C HAPTER 1 S YSTEM D ESCRIPTION 1 7 Figure 1 2 Typical System Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 19: ...is manual be alert to the potential for personal injury Follow the recommended precautions and safe operating practices included with the alert symbols Warning refers to personal safety They alert you to potential danger or harm Failure to follow warning notices could result in personal injury or death Caution directs attention to general precautions which if not followed could result in personal ...

Page 20: ...at the model numbers represent the equipment desired for your application Also verify the compatibily between components of the servo system 2 3 3 Abbreviations CCW Counter Clockwise CW Clockwise DIFF CMD Differential Command D L Direction Limit GC Goldline Cable GCS Goldline Cable Set LED Light Emitting Diode NEC National Electrical Code P N Part Number R D Resolver to Digital Regen Regeneration ...

Page 21: ...bove and below the units Depending on the continuous current ratings of the BDS4 and PSR4 5 modules a total of six 6 amplifiers may be mounted with a single power supply However the maximum number of BDS4 amplifiers mounted on either side of the PSR4 5 power supply module must not exceed four 4 Mounting combinations for the PSR4 5 and BDS4 modules are as follows PSR4 5 X12 a maximum of four 4 BDS4...

Page 22: ...nted next to the PSR4 5 power supply module in descending order according to their continuous current ratings Refer to Section 2 6 NOTE In order to adhere to suitable engineering practice the AC control voltage 115 VAC for the logic bus must be applied first to activate the control and fault logic circuits prior to applying the main AC voltage Follow these precautions 1 Observe all notes on the wi...

Page 23: ...per operation of the servo system the BDS4 PSR4 5 and the servo motor must be grounded according to NEC specifications Each BDS4 and PSR4 5 have at least two grounding screws on the front of the chassis NOTE Provisions of the National Electrical Code with respect to grounding should be followed These precautions generally deal with the ground loop currents arising from multiple ground paths Only o...

Page 24: ... PSR4 5 This contact opens on a fault condition within the PSR4 5 only The pinouts for C1 are listed in Figure 2 2 Refer to Note 2 of the BDS4 Wiring Diagram A 93231 for further information concerning the PSR4 5 Fault Output Contact 2 7 5 Connecting the Unregulated DC Voltage to the BDS4 Connector C3 The wiring between the BDS4 Connector C3 and the PSR4 5 Connector C2 unregulated voltage is in Tab...

Page 25: ...50 OR 75 AMP UNITS 1 5 1 5 14 5 V MIN 1 AMP ON PSR4 5 12 OR 20 AMP UNITS 2 AMP ON PSR4 5 50 OR 75 AMP UNITS 2 6 2 6 COMMON 3 7 3 7 6 5 V MIN 2 AMP ON PSR4 5 12 OR 20 AMP UNITS 4 AMP ON PSR4 5 50 OR 75 AMP UNITS 4 8 4 8 18 VDC 5 1 18 VDC 18 VDC 6 2 18 VDC COMMON 7 3 COMMON 10 VDC 8 4 10VDC Figure 2 3 BDS4 C3 PSR4 5 C2 Nominal No Load Voltages FAULT CONTACT 4 1 FAULT CONTACT 115 V OUTPUT 5 2 115 V I...

Page 26: ...C Green LED indicated _____ Pin 3 Reset Allows any latched fault circuit except OVERVOLTS or OVERCURRENT faults to be reset by toggling Pin 3 to common It has a 20 K Ohm pull up resistor to 12 VDC __________ Pin 7 Output Fault Open collector signal logic low to indicate that either an overcurrent or overvoltage fault has occurred in the Power Stage of the amplifier 25 ma sink capabilities 30 VDC M...

Page 27: ...tachometer generators Pin 13 I Limit The Current Limit input allows access to the Current Limit circuitry providing a means by which inputs may be applied for adaptive control applications This single ended input may also be used to adjust the peak current limit of the amplifier from 7 5 to 100 of its rating A positive voltage from 0 VDC to 7 5 VDC corresponds to 7 5 to 100 respectively Also a res...

Page 28: ...ins A B and C of the motor connector to Ma Mb and Mc respectively on the power terminal block located on the front of the BDS4 amplifier Terminate Pin D at the BDS4 chassis ground screw Refer to Wiring Diagram A 93231 and the appropriate motor HD hook up drawing The optional integrally mounted tachometer is brought out to Pins R and S on the resolver connector for both the B and BR series motors P...

Page 29: ...no other options for connecting the motor stator and resolver leads 2 8 2 Checking the AC Line Voltages Open the circuit breaker or remove the fuses in the Main AC lines that are connected to the PSR4 5 at La Lb and Lc Remove Connector C1 from the PSR4 5 and remove if present Connector C4 from the BDS4 Apply only the AC main power Use an AC voltmeter to check and record the 1 or 3 phase line to li...

Page 30: ...procedure Close the circuit breaker or re install the fuses for the Main AC input power Re install Connectors C1 and C4 if present 2 8 3 Checking the DC Bus Voltages WARNING Allow sufficient time after removing power from the system for the voltage to bleed down before connecting or disconnecting wires at the bus Remove power Remove the Bus and Bus leads from the PSR4 5 power terminal block Remove...

Page 31: ... of the PSR4 5 and refer to Section 2 1 to confirm DC voltage levels If the voltage levels are within the specifications listed in Appendix D proceed WAIT FOR THE BUS TO BLEED DOWN and reconnect the B and B leads to the power terminal block of the PSR4 5 Be careful to reconnect the leads with the proper polarity Re install Connector C2 on the PSR4 5 CAUTION Failure to observe correct polarity will...

Page 32: ... safety devices should be in place CAUTION Unloaded motors compensated for a large inertia mismatch may become unstable when the system is activated Refer to the test limits TL sheet for stable load inertia range If the system becomes unstable remove the power immediately 3 3 SEQUENCE OF OPERATIONS This section contains a basic start up sequence that should be followed the first time the servo sys...

Page 33: ...INTERCHANGING MOTOR LEADS AND OR RESOLVER LEADS NOTE If the motor is commanded to move and does not respond turn the command scale adjustment several turns CW If the servo system performed properly then read Chapter 4 Maintenance for adjustments and other information that may be helpful in adapting your system to your own applications Artisan Technology Group Quality Instrumentation Guaranteed 888...

Page 34: ...and disconnected from all sources of power 4 2 1 Transient Voltages NOTE All transient producing devices must be properly suppressed Solid state controls of the BDS4 may be affected by transient voltages These voltages are in excess of the specified voltage for any given circuit When these peak voltages occur even for less than a second permanent damage to the BDS4 can occur In order to help avoid...

Page 35: ...shed by using separate conduits or wiring trays for control wiring and power wiring Use twisted pair wiring for control circuits of the BDS4 Follow good grounding practices when wiring the PSR4 5 and BDS4 Be careful not to create a grounding loop with multiple ground paths Follow the NEC s provisions on grounding 4 2 4 Radio Frequency Energy NOTE This equipment generates radio frequency energy Thi...

Page 36: ...o speed Optional Monitor DIFF CMD HI with respect to DIFF CMD LO with a DC voltmeter Command zero speed from the Numerical Controller Adjust Balance Pot for zero volts on the meter 4 4 1 2 Balance Adjustment Automatic or Manually Operated Machines Monitor DIFF CMD HI with respect to DIFF CMD LO with a DC voltmeter With the input signal at zero volts or with the input shorted to common adjust Balan...

Page 37: ... point refer to Figures 1 and 3 Accelerate and decelerate the motor Adjust the CURRENT LIMIT Pot for desired peak current limit The current scale factor at the I MONITOR test point is 8V Peak RMS rating of the BDS4 refer to Section 2 2 for Peak Rating and Section 4 1 for more information on this signal 4 4 3 Design Tolerance Adjustments Factory Set and Sealed NOTE These adjustments should not be m...

Page 38: ...e LED does not become fully illuminated as indicated in Step 4 above proceed with the alignment procedure Inhibit the BDS4 Remove power Remove the end plate cover from the rear end of the motor The shaft mounted frameless resolver will be in sight The frameless resolver rotor is slid forward onto the motor shaft and secured by a large lock nut This part of the resolver should not be disturbed 6 Lo...

Page 39: ...heir entirety to Industrial Drives for repair The only user serviceable items on the PSR4 5 are the output line fuses in the control DC voltage supply and in the 12 and 20 amp units the shunt regulator regeneration load resistor fuse CAUTION To preserve the level of protection for the product as designed replacement fuses must be the exact same style and ampere rating as those originally installed...

Page 40: ...other than zero volts must be present at the input of the BDS4 5 Command Scale Adjustment should not be fully CCW 6 Fault circuits must not be activated Fault modes are identified by red LED s located on the front of the BDS4 and PSR4 5 modules 5 3 2 The Motor is Erratic or Exhibits an Improper Mode of Operation Prerequisites for proper motor operation 1 Proper grounding scheme must be provided Th...

Page 41: ...or The BDS4 will become latched in the Inhibit mode If the red OVERVOLTS LED becomes illuminated the BDS4 will become latched in the Inhibit mode indicating the presence of excessive main DC bus voltage When the red UNDERVOLTS LED becomes illuminated the BDS4 will be put into the Inhibit mode but not latched indicating the main DC Bus is insufficient or absent If the red OVERSPEED LED becomes illu...

Page 42: ...s have not completely discharged The yellow REGEN LED is for monitoring purposes only When this LED becomes illuminated the shunt regulator regeneration circuit is active No fault is indicated The red FAULT LED when illuminated indicates an excessive heatsink temperature within the unit due to an overload condition and may also indicate excessive ambient temperature Faults occurring within the PSR...

Page 43: ...er leads incorrectly connected b BDS4 backwards in position loop motor shaft turns in wrong direction c Incorrect alignment of system resolver refer to Section 4 4 3 3 d Defective BDS4 COMP Board Motor Erratic a Motor and or resolver leads incorrectly connected b Incorrect alignment of system resolver refer to Section 4 4 3 3 c Improper grounding scheme noise corrupting the input signal tach signa...

Page 44: ...ambient temperature b Defective BDS4 6 Overcurrent LED RED Illuminated a When this LED becomes illuminated an overcurrent condition usually due to a shorted load motor stator winding shorted stator wiring or a shorted BDS4 power stage component is indicated If this LED becomes illuminated remove the power and disconnect the motor Reapply power If the BDS4 comes up without this LED becoming illumin...

Page 45: ...efective PSR4 5 4 Blown Regen Fuse LED Red Illuminated a Shunt regulator regeneration resistor sized too small b Defective PSR4 5 Table 5 4 PSR4 5 50 75 Amp Status LED Troubleshooting SYMPTOM PROBABLE CAUSE 1 DC Bus LED Green Not Illuminated a Main DC Bus insufficient or not present AC input power not applied check input line fuses 2 Regen LED Yellow Illuminated or Flashing a Not a fault condition...

Page 46: ...TS It is recommended by Industrial Drives that you have available for use in your BDS4 and PSR4 5 the parts listed in Tables 6 1 and 6 2 It is also very important to note that there are no user serviceable parts on either component other than those fuses and connector kits listed Table 6 1 BDS4 Spare Parts List DESCRIPTION PART NUMBER QUANTITY PER UNIT Connector Kit BDS4C 100 3 6 and 10 amp models...

Page 47: ...2 AND 20 AMP A 80552 007 5 AMP FUSE 121 1 SOFT START FUSE ALL 230 VAC 12 and 20 AMP A 80552 001 10 AMP FUSE 121 1 SOFT START FUSE ALL 50 AND 75 AMP A 78896 017 10 AMP IN LINE 1 REGEN FUSE 112 120 A 80552 013 7 AMP FUSE 132 1 REGEN FUSE 112 02 120 02 A 80552 001 10 AMP FUSE 132 1 REGEN FUSE 212 220 A 80552 009 8 AMP FUSE 132 1 REGEN FUSE 212 01 220 01 A 80552 002 12 AMP FUSE 132 1 REGEN FUSE 220 03...

Page 48: ...em through your local distributor For a complete list of Industrial Drives representatives contact us directly at Danaher Motion Customer Support 201 Rock Road Radford VA 24141 U S A Telephone 1 800 777 3786 815 226 3100 FAX 540 731 5641 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 49: ... or catalog and that the equipment will be free of defects in design workmanship and material The terms and conditions of this Warranty are provided with the product at the time of shipping or in advance upon request The items described in this manual are offered for sale at prices to be established by Industrial Drives and its authorized dealers Artisan Technology Group Quality Instrumentation Gu...

Page 50: ...cial 12 and 20 amp PSR4 5 units only with cover without connector kit 2 axes maximum F Electrical Options 00 Standard No Options 12 and 20 Amp models contain 40 Watt Internal Regeneration Resistor 50 and 75 Amp Models require Regeneration Resistor Kit EX 2X must be ordered separately 01 8 8 Ohms 400 Watt External Regen 230 Volt 12 and 20 Amp Models Only Requires ER 01 External Resistor Kit 02 5 5 ...

Page 51: ...30V models only 02 5 5 ohms 200W 12 or 20 amp 115V models only 03 5 8 ohms 700W 12 or 20 amp 230V models only 20 4 5 ohms 500W 50 or 75 amp 230V models only 21 4 4 ohms 1000W 50 or 75 amp 230V models only 22 2 2 ohms 1000W 75 amp 230V models only 23 2 2 ohms 2000W 75 amp 230V models only C Options None Available at this Printing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO...

Page 52: ... Unit No Options 01 Side Cover Option 02 Custom 03 Custom 70 Custom 71 Custom 73 Custom 80 Custom 91 Side Cover Option w Cover No Conn Kit G Electrical Options 00 Standard Unit No Options 01 Electronic Encoder Output Requires Type J R D Converter 02 Electronic Encoder with Parallel Output Requires Type J R D Converter 03 Electronic Encoder with Parallel Output and Drive Signals Requires Type J R D...

Page 53: ...there are no options Table B 4 Compensation Card Model Designator EXAMPLE CMP BDS4 203H 204A2 LEGEND A B C LEGEND DEFINITION A Compensation Card B Amplifier Base Model Number C Motor Winding and Compensation Designator B 1 CABLE BUS WIRE AND MATING CONNECTOR KIT INFORMATION Extra or spare bus wire and complete cable assemblies are available from Industrial Drives Mating connector kits are availabl...

Page 54: ... set is as follows Table B 5 Cable Model Number Scheme for Individual Cable Set Bayonet Type Thread EXAMPLE GCS M6A R 4 5 03 LEGEND A B C D E LEGEND DEFINITION A Goldline Cable Set Consists of one motor stator and one feedback cable with Bayonet type thread B Motor Power Cable with mating plug for particular frame size M6A B 60X X AX BX Motors up to 40 amps continuous M6B B 60X X AX BX Motors up t...

Page 55: ...inuous M6A B 60X X AX BX Motors up to 40 amps continuous M6B B 60X X AX BX Motors up to 65 amps continuous M8A B 80X X AX BX Motors up to 65 amps continuous M8B B 80X X AX BX Motors up to 115 amps continuous C Motor Feedback Option Cable with Mating Plug R System Resolver Only RBT System Resolver Brake Tachometer D Amplifier Termination 4 5 BDS4 or BDS5 3 20 Amp Models 4 5H BDS4 or BDS5 30 55 Amp ...

Page 56: ...Cable with Mating Plug or Feedback Option Cable M1 B 10X Motors M2 B 20X Motors M4 B 40X Motors M6A B 60X X AX BX Motors up to 40 amps continuous M6B B 60X X AX BX Motors up to 65 amps continuous M8A B 80X X AX BX Motors up to 65 amps continuous M8B B 80X X AX BX Motors up to 115 amps continuous R System Resolver Only RBT System Resolver Brake Tachometer AR Application Resolver C Amplifier Termina...

Page 57: ...inuous M6A B 60X Motors up to 40 amps continuous M6B B 60X Motors up to 65 amps continuous M8A B 80X Motors up to 65 amps continuous M8B B 80X Motors up to 115 amps continuous R System Resolver Only RBT System Resolver Brake Tachometer AR Application Resolver C Amplifier Termination 4 5 BDS4 or BDS5 3 to 20 A Models 4 5H BDS4 or BDS5 High Current Models N Not Terminated D Cable Length to Motor 3 t...

Page 58: ...ck Cables GC RF 4 5 XX Resolver feedback flying lead cable not terminated at the motor XX length in 3 meter increments 03 09 etc GC IOF 4 XX I O flying lead cable not terminated at customer s interface XX length in 3 meter increments 03 09 etc B 5 SPECIAL CABLES FOR LOGIC POWER SUPPLY Special logic power supply cables are available to accommodate the various physical sizes of BDS4 and PSR4 5 modul...

Page 59: ...onnector Kit BDS4C 100 INDUSTRIAL DRIVES CONNECTOR KIT PART NUMBER BDS4C 100 BDS4 3 6 and 10 AMP MODELS CONNECTOR DESCRIPTION MOLEX PART NO I D PART NO C1 Connector Housing 20 Position Female 39 01 2205 A 83908 020 C2 Connector Housing 12 Position Female 39 01 2125 A 83908 012 C3 Connector Housing 8 Position Female 39 01 2085 A 83908 008 C1 C2 C3 PIN Female 18 24 AWG 39 00 0039 A 83909 002 Artisan...

Page 60: ...45 A 83908 004 C1 C2 C3 C4 PIN Female 18 24 AWG 39 00 0039 A 83909 002 Table C 3 Connector Kit BDS4C 200 INDUSTRIAL DRIVES CONNECTOR KIT PART NUMBER BDS4C 200 BDS4 30 40 and 55 AMP MODELS CONNECTOR DESCRIPTION MOLEX PART NO I D PART NO C1 Connector Housing 20 Position Female 39 01 2205 A 83908 020 C2 Connector Housing 12 Position Female 39 01 2125 A 83908 012 C3 Connector Housing 8 Position Female...

Page 61: ...e 39 01 2065 A 83908 006 C2 Connector Housing 8 Position Female 39 01 2085 A 83908 008 C1 C2 PIN Female 18 24 AWG 39 00 0039 A 83909 002 Table C 5 Connector Tools CONNECTOR TOOLS PINS MINI FIT JR FROM MOLEX Description Engineering Number Order Number Hand Crimping Tool HTR 60622 11 01 0197 Extractor Tool HT 60630A 11 03 0038 MOLEX TELEPHONE NUMBER 708 969 4550 Artisan Technology Group Quality Inst...

Page 62: ...ormation is also included for environments with high ambient temperatures As a general rule the failure rate of solid state components doubles for every ten degrees Celsius rise in temperature This exponential failure rate is strong incentive for lower ambient temperatures Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 63: ...ts 140 VDC 140 VDC Unregulated Logic Bus Output No Load 26 VDC MAX 14 VDC MAX Full Load 14 5 VDC MIN 1 AMPS 6 5 VDC MIN 2 AMPS Internal Shunt Regulator Peak Current 30 A 30 A Internal Shunt Regulator Resistance 7 5 OHM 7 5 OHM Internal Shunt Regulator Resistor Power 40 WATTS 40 WATTS External Shunt Regulator Peak Current 50 A 50 A External Shunt Regulator Min Resistance 5 5 OHM 5 5 OHM External Sh...

Page 64: ...4 VDC MAX Full Load 14 5 VDC MIN 1 AMPS 6 5 VDC MIN 2 AMP Internal Shunt Regulator Peak Current 32 A 32 A Internal Shunt Regulator Resistance 12 5 OHM 12 5 OHM Internal Shunt Regulator Resistor Power 40 WATTS 40 WATTS External Shunt Regulator Peak Current 50 A 50 A External Shunt Regulator Min Resistance 8 8 OHMS 8 8 OHMS External Shunt Regulator Resistor Power Model Dependant Model Dependant Inte...

Page 65: ...hase Frequency 47 63 HZ 47 63 HZ Current RMS 3 0 AMPS 3 0 AMPS Output Power 15 K WATTS 22 5 K WATTS Volts 310 VDC 310 VDC Unregulated Logic Bus Output No Load 26 VDC MAX 14 VDC MAX Full Load 14 5 VDC MIN 2 AMPS 6 5 VDC MIN 4 AMPS Shunt Regulator Peak Current 100 A 200 A Shunt Regulator Min Resistance 4 3 OHM 2 15 OHM Internal Power Dissipation Continuous Less Shunt Regulator 175 W 250 W Internal P...

Page 66: ...0 0 KHZ 10 0 KHZ 10 0 KHZ 10 0 KHZ Motor Current Ripple Frequency 10 20 0 KHZ 20 0 KHZ 20 0 KHZ 20 0 KHZ Resolver Excitation Frequency 7 0 KHZ 7 0 KHZ 7 0 KHZ 7 0 KHZ Form Factor RMS AVG 1 01 1 01 1 01 1 01 Speed Regulation Long Term 0 075 C 0 075 C 0 075 C 0 075 C Minimum Controllable Speed Standard 12 Bit R D With 8000 RPM Max Tracking Rate 12 Bit R D With 14000 RPM Max Tracking Rate 14 Bit R D ...

Page 67: ... 2 KVA 4 4 KVA 3 6 KVA 7 3 KVA 7 3 KVA 14 5 KVA Internal Heat Dissipation 40 WATTS 65 WATTS 95 WATTS 175 WATTS PWM Switching Frequency 10 0 KHZ 10 0 KHZ 10 0 KHZ 10 0 KHZ Motor Current Ripple Frequency 10 20 0 KHZ 20 0 KHZ 20 0 KHZ 20 0 KHZ Resolver Excitation Frequency 7 0 KHZ 7 0 KHZ 7 0 KHZ 7 0 KHZ Form Factor RMS AVG 1 01 1 01 1 01 1 01 Speed Regulation Long Term 0 075 C 0 075 C 0 075 C 0 075 ...

Page 68: ...ent Ripple Frequency 10 20 0 KHZ 20 0 KHZ 20 0 KHZ Resolver Excitation Frequency 7 0 KHZ 7 0 KHZ 7 0 KHZ Form Factor RMS AVG 1 01 1 01 1 01 Speed Regulation Long Term 0 075 C 0 075 C 0 075 C Minimum Controllable Speed Standard 12 Bit R D With 8000 RPM Max Tracking Rate 12 Bit R D With 14000 RPM Max Tracking Rate 14 Bit R D With 2000 RPM Max Tracking Rate 14 Bit R D With 3500 RPM Max Tracking Rate ...

Page 69: ...c Bus Supply 60HZ Derating 55 C 50HZ Operation In 45 Max Ambient 50HZ Total Derating 55o C 12A 10 No Derating 10 20A 10 No Derating 10 50A 10 No Derating 10 75A 10 No Derating 10 PSR4 5 Main Bus Supply 60HZ Derating 55 C 50HZ Operation In 45 Max Ambient 50HZ Total Derating 55o C 12A No Derating 20 20 20A No Derating 20 20 50A 10 10 20 75A 10 10 20 Based on Derating of 2 C from 45 C to 55 C Consult...

Page 70: ... 60 2 3 340 13 5 280 11 3 40 7 1 2 BDS4 X10X 88 3 5 340 13 5 280 11 6 01 13 1 4 BDS4 X20X 106 4 2 340 13 5 280 11 6 35 14 BDS4 230X 140 5 5 340 13 5 284 11 2 9 75 21 1 2 BDS4 240X 140 5 5 340 13 5 284 11 2 9 98 22 BDS4 255X 160 6 3 340 13 5 284 11 2 10 43 23 PSR4 5 X12 80 3 1 340 13 5 280 11 4 76 10 1 2 PSR4 5 X20 80 3 1 340 13 5 280 11 5 44 12 PSR4 5 X50 140 5 5 340 13 5 284 11 2 12 02 26 1 2 PSR...

Page 71: ...it R D converter which allows a maximum tracking rate of 8000 RPM and a maximum operating speed of 7500 RPM The BDS4 amplifiers are available with standard options which are discussed in the following sections These options are either integrated into the main circuit board of the BDS4 amplifier or appear as Option Boards that are mounted inside of the BDS4 chassis E 2 1 Integrated Options R D Conv...

Page 72: ... twisted pair transmission lines with characteristic impedances of 50 to 500 ohms The quadrature signal is generated by the following sequence Refer to Drawing D 93179 1 Up to sixteen parallel resolver data bits are brought to the BDS4 OPT2 3A Option Board via connectors 7 and 33 These bits first pass through LS244 data buffers Next the data bits are routed to a double row jumper header component ...

Page 73: ... SWITCH B OFF SWITCH C OFF SWITCH D OFF SWITCH E OFF SWITCH F ON SWITCH G ON SWITCH H ON SWITCH I ON SWITCH J ON SWITCH K ON SWITCH L ON Double Row Header 28 JUMPER 1 2 JUMPER 3 4 JUMPER 5 6 JUMPER 7 8 JUMPER 9 10 JUMPER 11 12 See Schematic Drawing D 93179 E 2 2 2 BDS4 OPT2 3A 02 BOARD Electronic Encoder with Parallel Output Without Drive Signals The parallel resolver data option provides 12 16 bi...

Page 74: ...he machine to the CW and CCW inputs of the D L option board The 5 to 28 VDC supply must be capable of sourcing 20 ma of current Board Configuration The D L option board is shipped from the factory configured so that the absence of input 5 to 28 VDC from either of its CW or CCW inputs activate the direction limit mode If it is desired that direction limit be activated by the presence of voltage rem...

Page 75: ...G I H J 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 1 1 1 1 4096 1024 I J K L 0 0 0 0 0 1 1 1 1 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 2048 512 K M L N 0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 1024 256 M N O P 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 512 128 O Q P R 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 256 64 Q R S T 0 0 0 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1 128 32 S U T V 0 0 0 ...

Page 76: ... Bit R D 18 DCOM Digital Common 19 POSO2 One Input Bit of Resolver 20 POSO3 One Input Bit of Resolver 21 POSO4 One Input Bit of Resolver 22 POSO5 One Input Bit of Resolver 23 POSO6 One Input Bit of Resolver 24 POSO7 One Input Bit of Resolver 25 POSO8 One Input Bit of Resolver 26 POSO9 One Input Bit of Resolver 27 POS10 Next to Most Significant Bit of the Resolver 28 POS11 Most Significant Bit of t...

Page 77: ...ARC MIN 28 55 ARC MIN 0 22 DEGREES 0 48 DEGREES 1 3 BITS 2 5 BITS REPEATABILITY 5 27 ARC MIN 5 27 ARC MIN 0 088 DEGREES 0 088 DEGREES 1 0 BIT 1 0 BIT RESOLUTION 212 BITS 4096 212 BITS 4096 Worst Case Analysis assumes all errors add together For 12 bit systems only For 14 bit systems the uncertainty drops to 1 32 arc min and for 16 bit systems the uncertainty drops to 0 33 arc min Therefore the wor...

Page 78: ...ION TRACKING RATE OPERATING SPEED 12 Bit 233 33 RPS 8000 RPM 7500 12 Bit 133 33 RPS 8000 RPM 7500 14 Bit 58 33 RPS 3500 RPM 3150 14 Bit 33 33 RPS 2000 RPM 1800 16 Bit 15 0 RPS 900 RPM 800 16 Bit 13 33 RPS 500 RPM 450 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 79: ...BDS4 APPENDIX E OPTIONS E 9 Figure E 2 Encoder Output Timing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 80: ...GOLDLINE Amplifier Assembly Guide for Motor Cables 30 40 55 Amp A 93421 GOLDLINE Amplifier Assembly Guide for Motor Cables 3 thru 20 Amp A 93538 GOLDLINE Amplifier Assembly Guide for Motor Cables 3 thru 20 Amp A 93539 GOLDLINE Amplifier Assembly Guide for Motor Cables 30 40 55 Amp A 93540 GOLDLINE Amplifier Assembly Guide for Resolver Cables A 93541 BDS4 Direction Limit Wiring Diagram A 93567 Outl...

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Page 178: ...lly a parallel digital word Encoder Incremental A position encoding device in which the output represents incremental changes in position Encoder Marker A once per revolution signal provided by some incremental encoders to specify a reference point within that revolution Also known as Zero Reference signal or index pulse Encoder Resolution A measure of the smallest positional change which can be d...

Page 179: ...ed and that motion should stop Logic Ground An electrical potential to which all control signals in a particular system are referenced Loop Feedback Control A control method that compares the input from a measurement device such as an encoder or tachometer to a desired parameter such as a position or velocity and causes action to correct any detected error Several types of loops can be used in com...

Page 180: ...atic feedback control system for mechanical motion in which the controlled or output quantity is position velocity or acceleration Servo systems are closed loop systems Shunt Resistor A device located in a servo amplifier for controlling regenerative energy generated when braking a motor This device dissipates of dumps the kinetic energy as heat Single Point Ground The common connection point for ...

Page 181: ...derlined Text 2 2 Unpacking 2 2 Unregulated DC Voltages 2 6 Ventilation 4 2 Warning 2 1 Warranty Information see Appendix A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

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Page 183: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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