Kollmorgen BDS5 Installation And Setup Manual Download Page 34 | Manualshive

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background image

C

HAPTER

1 - S

YSTEM

D

ESCRIPTION

BDS5

1-14

IN B

IN B

IN A

IN A

C1-PIN 9

C1-PIN 4

C1-PIN 10

C1-PIN 5

DIFF CMD LO

DIFF CMD HI

I16

I14

I15

I12

I13

C2-PIN 1

C2-PIN 11

C8 OPTIONAL I/O

C8-PIN 7

C8-PIN 5

C8-PIN 3

C8-PIN 1

I10

I11

I9

I8

I6

I7

I5

I4

C8-PIN 9

C8-PIN 15

C8-PIN 13

C8-PIN 11

C8-PIN 17

C8-PIN 23

C8-PIN 21

C8-PIN 19

OPTIONAL

ENCODER

SN75175

SN75175

CH B

CH A

DIGITAL

TO

BDS5 SYSTEM OVERVIEW

CONVERTER

TO PULSE

ANALOG

74LS540

RAM

BACK-UP

BATTERY

ROM

INPUT BUFFERS

INPUT BUFFERS

OPTICAL
ISOLATOR

OPTICAL
ISOLATOR

ISOLATOR

OPTICAL

CYCLE ONLY !

FOR REMOTE, HOME, AND

ALTERNATE POWER SOURCE

C2-PIN 8

C7 (EVEN PINS)

MANUAL

I2

I3

I1

C8-PIN 25

C8-PIN 29

C8-PIN 31

C8-PIN 27

C8-PIN 33

C8 (EVEN PINS)

C7 STANDARD I/O

GATE

MOTION

LIMIT

CYCLE

IN COMMON

HOME

CYCLE

C7-PIN 13

C7-PIN 17

C7-PIN 15

C7-PIN 11

C7-PIN 9

C2-PIN 18

I/O DC

COMMON

HOME

REMOTE

SUPPLIED

CUSTOMER

24 VOLT DC

-

+

C2-PIN 15

C2-PIN 19

C2-PIN 9

C2-PIN 5

7

RS-485

AND PULL-UP

AND PULL-UP

74HC14

MICROPROCESSOR

MICROCOMPUTER SYSTEM

C5-PIN 8

C5-PIN 9

RD-

RD+

J1

8

6

1K

RS-232

C5-PIN 2

C5-PIN 6

C5-PIN 7

TD-

TD+

RXD

120 OHM

120 OHM

C5-PIN 3

TXD

4

5

2

J1

3

1

1K

+5

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Summary of Contents for BDS5

Page 1: ...as fast as BDS5 PL PLIM TRIP and PDF State is remembered through power down A2D Switch When using the on board analog input set A2D to 1 When using the encoder input for master slave application set...

Page 2: ......

Page 3: ...BDS5 INSTALLATION AND SETUP MANUAL Old Number M93101 ISSUE 4 New Number MB5000H...

Page 4: ......

Page 5: ...ii iv blank List of Figures 0 v vi blank List of Tables 0 vii viii blank List of Drawings 0 1 1 1 16 Text Pages 0 2 1 2 26 Text Pages 0 3 1 3 10 Text Pages 0 4 1 4 4 Text Pages 0 5 1 5 6 Text Pages 0...

Page 6: ...ATION AND SETUP MANUAL M93101 RECORD OF REVISIONS ISSUE NO Revision DATE CHANGED PAGES BRIEF DESCRIPTION OF CHANGE CHANGE NO 3 4 15 Mar 95 10 Nov 95 Replaces issue dated 15 Feb 95 Add Appendix E and i...

Page 7: ...IAL DRIVES Technical Manual Department 201 Rock Road Radford VA 24141 U S A FAX 703 731 0847 Name Title Company Street Address City State Zip Telephone Fax Product Manual Part Number Please check the...

Page 8: ......

Page 9: ...is subject to change without notice and does not represent a commitment on the part of Industrial Drives or the Kollmorgen Corporation Therefore information contained in this manual may be updated fro...

Page 10: ......

Page 11: ...cooled servos the integral brake the flux forcing concept and the brushless motor We developed the electronically commutated electric car motor Industrial Drives pioneered rare earth magnet developme...

Page 12: ...tions and features to insure you have installed your BDS5 properly Proper installation can prevent potential difficulties before they cause harm to your system Be sure to follow all instructions caref...

Page 13: ...l Electrical Code P N Part Number R D Resolver to Digital Regen Regeneration TL Test Limits UL Underwriters Laboratories NOTICE This manual is the first of a two part manual structure The User s Manua...

Page 14: ...r Equivalent Input 2 9 2 6 4 3 Pulse Input OPT2 Card 2 9 2 6 4 4 Encoder Equivalent Output 2 9 2 6 4 5 Wiring C2 Customer I O 2 10 2 6 4 6 Wiring C3 Resolver 2 11 2 6 4 7 Wiring C4 Logic Power Supply...

Page 15: ...1 Introduction 5 1 5 2 Spare Parts 5 1 5 2 1 BDS5 Spare Parts List 5 1 5 2 2 PSR4 5 Spare Parts List 5 1 5 2 3 Ordering Information 5 2 5 3 LED Status Indicators 5 2 5 3 1 BDS5 LED s 5 2 5 3 2 PSR4 5...

Page 16: ...n Model Number Scheme 1 5 1 3 PSR4 5 Model Number Scheme 1 6 1 4 External Regen Resistor Model Number Scheme 1 7 2 1 Safety Alert Symbols 2 1 2 2 Master BDS5 and Slave BDS5 2 8 2 3 Encoder Phasing For...

Page 17: ...2 PSR4 5 Logic Power 2 7 2 3 Communications Requirements 2 12 2 4 Terminal Wiring 2 13 2 5 PC Wiring 2 14 2 6 PSR4 5 C2 Wiring 2 17 2 7 Target of PRD vs R D Resolution 2 21 2 8 Target of PRD vs R D R...

Page 18: ......

Page 19: ...A 63093 Outline B 40X X A1 A3 B1 B3 S B 16 A 63099 Outline B 602 4 X A1 A3 B1 B3 S B 17 A 63100 Outline B 606 X A1 A3 B1 B3 S B 18 A 63097 Outline B 802 4 X A1 A3 B1 B3 S B 19 A 63096 Outline B 806 X...

Page 20: ......

Page 21: ...S5 does not have to compromise on either positioner software or servo performance This single microprocessor closes all servo loops resulting in a truly integrated positioning system The BDS5 has the...

Page 22: ...ebraic math is provided for commands such as X X X 1 2 2 3 The BDS5 has 100 program labels 50 user definable variables and 50 user definable switches It also has 15 mathematical logical operations and...

Page 23: ...ne The BDS5 can autobaud from 300 baud to 19 2k baud eliminating the need to set dip switches to start communicating MOTION LINK Industrial Drives also offers MOTION LINK a powerful menu driven commun...

Page 24: ...ut standard Analog Input Pulse Input No Input I O Options 8 I O standard 32 I O R D Accuracy Options 8 ARC min standard I Motor and Winding Motor and Winding Specifies Motor Model Type Winding R D Res...

Page 25: ...rrent rating of your BDS5 It is important that the motor the BDS5 and the compensation module model numbers all agree For example if your BDS5 model number is BDS5 203 00000 204A 1 101 2021 then your...

Page 26: ...ion standard E 00 01 02 03 Electrical Regen Options for 12 and 20 Amp Models Only Standard Internal 40 W Regen standard External Regen 230 VAC Only 8 8 Ohms 400 W Requires ER 01 Resistor Kit External...

Page 27: ...hms 500 W 230V 50 75 Amp Models Only 4 4 Ohms 1000 W 230V 50 75 Amp Models Only 2 2 Ohms 1000 W 230V 75 Amp Models Only 2 2 Ohms 2000 W 230V 75 Amp Models Only B 00 Options None available at this prin...

Page 28: ...12 VDC 1 00 AMPS Output Current RMS Convection Cooled 45 C AMB Continuous RMS Peak 2 0 sec RMS 3 0 AMPS 6 0 AMPS 6 0 AMPS 12 0 AMPS 10 0 AMPS 20 0 AMPS Fan Cooled 20 0 AMPS 40 0 AMPS Output KVA 160 VD...

Page 29: ...1 00 AMPS Output Current RMS Convection Cooled 45 C AMB Continuous RMS Peak 2 0 sec RMS 3 0 AMPS 6 0 AMPS 6 0 AMPS 12 0 AMPS 10 0 AMPS 20 0 AMPS 20 0 AMPS 40 0 AMPS Output KVA 160 VDC Bus Continuous 4...

Page 30: ...Line Input Voltage 90 132 VAC 90 132 VAC Phase 1 1 Frequency 47 63 Hz 47 63 Hz Main DC Bus Output Voltage Nominal 115 VAC Input Current 115 VAC 160 VDC 1 1 AMPS RMS 160 VDC 1 1 AMPS RMS Regeneration S...

Page 31: ...Line Input Voltage 90 132 VAC 90 132 VAC Phase 1 1 Frequency 47 63 Hz 47 63 Hz Main DC Bus Output Voltage Nominal 115 VAC Input Current 115 VAC 325 VDC 1 1 AMPS RMS 325 VDC 1 1 AMPS RMS Regeneration...

Page 32: ...R TO DIGITAL CONVERTER The BDS5 is based on a Resolver to Digital R D converter The R D generates a tachometer signal for your convenience However the BDS5 does not use the analog tach signal SERIAL P...

Page 33: ...D S The BDS5 provides LED s for diagnostics These LED s are on the front panel of the BDS5 The LED s are listed below ACTIVE SYS OK CPU FAULT RELAY CURRENT LOOP COMPENSATION The BDS5 has analog curren...

Page 34: ...INPUT BUFFERS INPUT BUFFERS OPTICAL ISOLATOR OPTICAL ISOLATOR ISOLATOR OPTICAL CYCLE ONLY FOR REMOTE HOME AND ALTERNATE POWER SOURCE C2 PIN 8 C7 EVEN PINS MANUAL I2 I3 I1 C8 PIN 25 C8 PIN 29 C8 PIN 3...

Page 35: ...C1 PIN 6 C1 PIN 8 C1 PIN 3 C1 PIN 7 C1 PIN 2 75174 75174 75174 OUT Z OUT Z OUT B OUT B OUT A MOTOR RESOLVER C1 PIN 1 C2 PIN 12 C2 PIN 2 4700pf 1 0K GND Mc COMMON OUT A MONITOR TACH C7 PIN 23 C7 STANDA...

Page 36: ...CODER MASTER OR 4 ISSUE A 84847 Mb Ma BUS BUS SERIAL No MODEL No REV No ACTIVE SYS OK CPU FAULT RELAY 1 T J1 C5 MODEL No EXTERNAL REGEN RESISTOR C1 C2 C3 C4 BDS5 DRIVES INDUSTRIAL MODEL No SERIAL No D...

Page 37: ...d damage to the equipment Safety notices in this manual provide important information Read and be familiar with these instructions before attempting installation operation or maintenance Failure to ob...

Page 38: ...70 C Humidity 10 to 90 Non Condensing 2 4 2 Enclosures It is suggested that the BDS5 and PSR4 5 be mounted in a cabinet or other suitable enclosure to protect them from physical and environmental dama...

Page 39: ...not mount the resistors underneath the BDS5 or PSR4 5 EXTERNAL REGEN RESISTORS ARE A SHOCK HAZARD Mount these resistors properly Enclose these resistors to protect personnel and equipment EXTERNAL REG...

Page 40: ...nd BDS5 power connections To prevent equipment damage the AC Line and the DC bus must be connected as indicated by the System Wiring Diagram A 93103 The PSR4 5 and BDS5 are configured at the factory f...

Page 41: ...xpectedly You must latch the thermostat switch either in hardware or software IT CAN TAKE SEVERAL MINUTES FOR THE MOTOR TO COOL ENOUGH TO ALLOW THE THERMOSTAT TO CLOSE UNEXPECTED OPERATION SEVERAL MIN...

Page 42: ...is an option Refer to Notes 3 and 11 on System Wiring Diagram A 93103 2 6 3 Wiring the PSR4 5 Front Panel Connectors This section will discuss wiring of the PSR4 5 front panel connectors C1 and C2 The...

Page 43: ...re 2 2 and or Drawing A 93103 for connection diagrams All encoder signals are differential as opposed to single ended to increase noise immunity This means that each signal is transmitted with its log...

Page 44: ...ly connector C4 If you need to connect to common you must obtain it from Connector C2 or C4 BE SURE THAT THE COMMON OF THE BDS5 AND OF THE ENCODER POWER SUPPLY ARE ELECTRICALLY CONNECTED TO EACH OTHER...

Page 45: ...uivalent inputs 2 6 4 3 Pulse Input OPT2 Card As an option you can also purchase your BDS5 with a Pulse Input option This option allows you to 1 Control the BDS5 from a stepper motor controller For th...

Page 46: ...oscillate BE CAREFUL TO CONNECT THE ANALOG INPUT SO THAT ITS POLARITY IS CORRECT Phase the analog input correctly Incorrect polarity of the analog input can cause excursions oscillations or runaways...

Page 47: ...egulated low current power supply is provided on I O DC to power those three inputs Do NOT use I O DC as a power supply for anything except these three isolated inputs If you want to use I O DC then c...

Page 48: ...itters do not All this makes RS 485 less susceptible to noise and able to transmit over much longer distances On the other hand RS 232 is easier to use and much less susceptible to transmission line e...

Page 49: ...these matters to review the cable design beforehand Again baud rates may need to be reduced as the length increases and low capacitance cables may be required You can obtain a copy of the specificati...

Page 50: ...for use with the BDS5 is Motion Link an Industrial Drives software package that is specially designed for the BDS5 Other communications software packages include XTALK QMODEM PROCOM KERMIT and PC TALK...

Page 51: ...oes not allow you to use MOTION then you must hardwire it on If you are not using Connector C7 you can hardwire MOTION by installing a jumper directly on C7 between Pins 15 and 16 The BDS5 is shipped...

Page 52: ...his manual is written for use with Motion Link For more information on Motion Link refer to the User s Manual 2 6 5 1 Required Data Format The BDS5 and your terminal must use the same format for seria...

Page 53: ...ic voltages from Table 2 6 above If one or more of the voltages are missing a fuse in the PSR4 5 opened because the logic supply was miswired You may have miswired either Connector C2 on the PSR4 5 Co...

Page 54: ...disconnect the cable from Connector C5 Connect ground on the scope probe to Pin 5 of the DE 9 connector on the cable Use the oscilloscope to monitor Pin 2 with the time base between 1 and 20 millisec...

Page 55: ...are closed LED should be on 7 Use your terminal to enter P LIMIT 8 The BDS5 should respond with 1 indicating that the contacts are closed Repeat this process for each discrete input that you are using...

Page 56: ...Connector C1 The encoder should not be moving Type P PEXT Now rotate the encoder Type P PEXT PEXT should have changed when you rotated the encoder shaft If the results are not what you expected use an...

Page 57: ...Resolution 12 Bit 14 Bit 16 Bit Target Minimum Target Maximum 800 1300 3500 5500 12500 22500 If PRD does not fall into the range as listed above then either the resolver is improperly wired or the fe...

Page 58: ...lders Turn off the AC Line Note the model number of the PSR4 5 and refer to the Model Number Tables in Chapter 1 to confirm correct AC Line voltage 2 7 12 Checking the DC Bus Voltage Remove the AC Lin...

Page 59: ...ct Pin A of the motor connector to Ma of the BDS5 power connector Pin B of the motor connector to Mb and Pin C of the motor connector to Mc Follow this procedure to check motor wiring 1 Turn off the A...

Page 60: ...is not functioning properly In most cases the wiring is the problem Check your motor and resolver wiring carefully Follow the procedure in Checking the Resolver Cable in section 2 7 10 If you have wi...

Page 61: ...3 2 1 5 4 3 2 1 10 9 8 7 6 5 4 3 2 1 BDS5 KOLLMORGEN Industrial Drives RELAY FAULT CPU SYS OK ACTIVE C4 C3 C2 C1 C5 J1 T 1 MODEL No REV No MODEL No SERIAL No GND Mc Mb Ma BUS BUS C1 BLOWN FUSE OVERLOA...

Page 62: ...CHAPTER 2 INSTALLATION BDS5 2 26...

Page 63: ...one axis section at a time Confirm all other BDS5 amplifiers are inhibited meaning the enable circuits are open high Appropriate precautions should be taken to stop the machine if necessary Limit swit...

Page 64: ...modifying your program to wait for OK2EN to be ON TIL OK2EN EQ ON EN If the error occurs occasionally it could be overvoltage or undervoltage Overvoltage is usually caused by regenerative energy from...

Page 65: ...n will be very unsteady You need an integrating velocity loop for good low speed performance Disable the BDS5 and enable the software position limits Type DIS PLIM ON 3 2 5 Low Speed Adjustment SKIP T...

Page 66: ...constant noise and cannot be felt on the motor shaft Response is a measure of the system s quickness Response can also be characterized by bandwidth and by rise time in response to a step command Nor...

Page 67: ...system that rings Figure 3 4 Ringing 3 4 TUNING The TUNE command shakes the motor vigorously Secure the motor before tuning The BDS5 is usually shipped with a tuning that will work reasonably well wi...

Page 68: ...too low The effect can be that the torque the BDS5 produces is swamped out by friction If you are not sure how much ILIM is necessary reduce ILIM to a low value say 5 or 10 and gradually raise it If...

Page 69: ...uctions shown on Drawing A 84888 The motor should start and stop every second Press the escape key to enter the monitor mode where you can change tuning constants The tach should be on the oscilloscop...

Page 70: ...les in real time for later playback You can simultaneously record up to four variables You can record any variable except PE REMOTE TMR1 TMR2 TMR3 TMR4 VAVG VXAVG or any user switches You can specify...

Page 71: ...r system is saturated Overloading the motor can be corrected by the following actions Reducing ACC and DEC Reducing the load on the motor Increasing ILIM if it is less than IMAX Using a BDS5 with a hi...

Page 72: ...you raise the bandwidth 20 or 30 but this can be a difficult trial and error process you slowly lower the low pass filter frequency LPFHZ and attempt to raise the target bandwidth for tuning When you...

Page 73: ...BDS5 CHAPTER 4 MAINTENANCE...

Page 74: ...CHAPTER 4 MAINTENANCE BDS5...

Page 75: ...hen handling component boards Preventative maintenance should be performed with the BDS5 system out of operation and disconnected from all sources of power 4 2 1 Transient Voltages All transient produ...

Page 76: ...sources and the BDS5 control wiring This can be accomplished by using separate conduits or wiring trays for control wiring and power wiring Use twisted pair wiring for control circuits of the BDS5 Fo...

Page 77: ...rounding Integrity The method employed for grounding or insulating the equipment from ground should be checked to assure its integrity on a regular basis This check should be performed with the power...

Page 78: ...CHAPTER 4 MAINTENANCE BDS5 4 4...

Page 79: ...that are user serviceable on the PSR4 5 Remember the PSR4 5 can be damaged by ESD Electro static discharge Observe proper ESD protection practices The PSR4 5 can be damaged by ESD electro static disc...

Page 80: ...S5 out of service and contact the factory CPU This LED indicates the state of the software watchdog protection circuit It is on during normal operation and blinks for the most serious errors This LED...

Page 81: ...ped in a single broad category errors An error indicates that there is a problem somewhere More serious errors are grouped as faults 5 4 1 Error Levels The BDS5 s response to an error depends on the e...

Page 82: ...e Error History To display the entire Error History type ERR HIST This causes the Error History to be sent to the terminal with the most recent error sent first When the BDS5 is powered up a DRIVE POW...

Page 83: ...e The circuits that generate these faults are typical of motor controllers and are listed on the drawing These faults are errors that are serious enough to disable the BDS5 as described in Appendix C...

Page 84: ...ts the state of the hardware watchdog The hardware watchdog makes a system more reliable because the watchdog is independent of the microprocessor If the processor is not working the watchdog will usu...

Page 85: ...quality described in the sales agreement and 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 t...

Page 86: ...APPENDIX A WARRANTY INFORMATION BDS5 A 2...

Page 87: ...B3 S Outline B 602 4 X A1 A3 B1 B3 S Outline B 606 X A1 A3 B1 B3 S Outline B 802 4 X A1 A3 B1 B3 S Outline B 806 X A1 A3 B1 B3 S Outline Dimension BDS5 3 6 Amp Outline Dimension BDS5 10 Amp Outline Di...

Page 88: ...APPENDIX B DRAWINGS BDS5 B 2 THIS PAGE INTENTIONALLY LEFT BLANK...

Page 89: ...MWARE FAULTS 5 VOLT SUPPLY SOFTWARE WDOG UP FAIL ROM CHECKSUM POWER UP SOFTWARE FAULTS INTERNAL ERRORS GEARBOX OVERFLOW OVERTRAVEL FOLLOWING ERROR COMPENSATION BOARD HARDWARE WATCHDOG FEEDBACK LOSS SO...

Page 90: ...RNAL TO AMPLIFIER AND MUST BE PROVIDED EXTERNAL REFER TO NATIONAL ELECTRICAL CODE FOR PROPER SIZING OF OVERLOAD PROTECTION IT IS RECOMMENDED THAT MOTOR WIRING BE A SHIELDED CABLE USE PROPER SIZE WIRE...

Page 91: ...UT Z LAST SHEET SEE NOTE 13 OUT A OUT B OUT Z IN B OPTIONAL OPTIONAL IN A 9 10 5 4 8 7 6 3 2 1 CONNECTOR C7 PIN 9 STYLE DC INPUT MODULE TO WIRE THROUGH AN OPTO 22 C1 ENCODER EQUIVALENT SHEET 2 OF 7 BD...

Page 92: ...LE SHIELD 6 9 5 1 BDS5 DE 9S FEMALE IBM PC DB 25S FEMALE C5 SERIAL RS 232 INTERCONNECT CUSTOMER TERMINAL 1 5 6 9 SHIELD RXD TXD COM TXD RXD COM 1 25 91 DATE VA DWN BY CHK BY COPY CODE DWG NO SHEET 3 O...

Page 93: ...10 20 19 9 DIFF LO OPTIONAL DIFF HI OPTIONAL RELAY RELAY SEE NOTE 13 LAST SHEET OPTIONAL ANALOG INPUT 10k 10k DIFF HI 10V DIFF LO 01UF SHIELD 18 17 16 15 8 7 6 5 14 13 12 11 4 3 2 1 16 2k 01UF 10k 10k...

Page 94: ...G NO SHEET 5 OF 7 ISSUE ISSUE SCALE A A APP D BY 1 1 93103 14 14 93103 DATE DATE ISS ECN NO DATE APP D ISS ECN NO DATE APP D 7 8 9 10 11 12 13 14 15 16 TOP VIEW OF BDS5 20 AMP UNIT SHOWN BDS5 WIRING D...

Page 95: ...3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 TOP VIEW OF BDS5 20 AMP UNIT SHOWN PIN 1 SIGNAL 49 MET OUT 47 45 43 4...

Page 96: ...LT CONDITION ON 50 75 AMP PSR4 5 THIS CONTACT CLOSES ON APPLICATION OF CONTROL THIS CONTACT OPENS IN FAULT CONDITIONS WITHIN 250 MSEC AFTER APPLICATION OF CONTROL AND MAIN POWER ON 12 20 AMP PSR4 5 TH...

Page 97: ...CODE B 20 20 23 23 THIRD ANGLE PROJECTION METRIC 340 MAX 328 MIN 356 6 AMP 3 AMP BDS5 3 AMP 6 AMP BDS4 BDS5 10 AMP BDS4 10 AMP 33 20 61 20 88 33 ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED XX DEC PLAC...

Page 98: ...CTION METRIC METRIC X DEC PLACES 4 XX DEC PLACES 13 INCHES XX DEC PLACES 015 IN XXX DEC PLACES 005 IN UNLESS OTHERWISE SPECIFIED ANG DIM 1 DEGREE APP D DATE ECN NO ISS DATE DATE 93703 2 2 93703 1 4 AP...

Page 99: ...RGEN DIVISION RADFORD VIRGINIA APP D BY A A SCALE ISSUE ISSUE DWG NO DWG NO COPY CODE CHK BY DWN BY S P DATE 12 90 ISS ECN NO DATE APP D 1 0 04 0 0 00 1 5 06 4 ELECTRICAL HOOK UP PER HD 100 EXCEPT FOR...

Page 100: ...5 91 MKB 5 91 J S IN BRACKETS UNLESS OTHERWISE SPECIFIED ALL DIMENSIONS ARE MILLIMETERS WITH INCHES DO NOT SCALE DWG USE DIMENSIONS ONLY XX DEC PLACES 13 X DEC PLACES 4 METRIC XXX DEC PLACES 005 IN X...

Page 101: ...LESS OTHERWISE SPECIFIED ON 100 00 3 937 DIA B C 4 HOLES EQ SPACED 7 00 276 DIA THRU RECEPTACLE RESOLVER THERMOSTAT MOTOR RECEPTACLE 1 0 04 64 6 2 54 THIRD ANGLE PROJECTION METRIC 0 00 0 36 1 18 0 007...

Page 102: ...0 ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED MOTOR RECEPTACLE 130 00 5 118 DIA B C 4 HOLES EQ SPACED ON 9 36 9 00 369 354 DIA THRU RECEPTACLE RESOLVER THERMOSTAT MATING PLUGS WITH OPTIONAL 6 30 160 0...

Page 103: ...E SPECIFIED 165 00 6 496 DIA B C 4 HOLES EQ SPACED ON RESOLVER THERMOSTAT MOTOR RECEPTACLE MATING PLUGS WITH OPTIONAL 172 0 MAX 6 77 3 RECEPTACLE THIRD ANGLE PROJECTION METRIC 11 00 433 DIA THRU 5 118...

Page 104: ...SCALE A A APP D BY 1 5 63100 3 3 63100 DATE DATE ISS ECN NO DATE APP D ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED XXX DEC PLACES 005 IN XX DEC PLACES 015 IN INCHES XX DEC PLACES 13 X DEC PLACES 4 ME...

Page 105: ...A THRU RECEPTACLE RESOLVER THERMOSTAT ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED MATING PLUGS WITH OPTIONAL 7 72 196 0 MAX 4 2 METRIC THIRD ANGLE PROJECTION 58 00 2 283 7 087 4 74 120 5 7 48 0 0 00 2...

Page 106: ...N NO ISS DATE DATE 63096 4 4 63096 1 6 APP D BY A A SCALE ISSUE ISSUE DWG NO DWG NO CAD DWG COPY CODE CHK BY DWN BY LLS DATE 04 10 92 ISS ECN NO DATE APP D SQUARE 004 A 0 10 TIR 011 014 7 087 2 0 08 1...

Page 107: ...MENSION DATE 8 03 92 INDUSTRIAL DRIVES RADFORD VIRGINIA A KOLLMORGEN DIVISION CHK BY DATE APP D BY CJF DWG NO 1 4 PLOT SCALE 93569 A 79 20 20 79 2 PLACES WIDE SLOT 7 28 BUS Mc GND Mb Ma BUS BDS5 C4 IN...

Page 108: ...HES BDS5 10AMP OUTLINE DIMENSION 8 03 92 DATE A KOLLMORGEN DIVISION RADFORD VIRGINIA INDUSTRIAL DRIVES CHK BY DATE APP D BY CJF DWG NO PLOT SCALE 1 4 93571 A 79 20 20 79 2 PLACES WIDE SLOT 7 28 BUS Mc...

Page 109: ...BDS5 20AMP OUTLINE DIMENSION 8 03 92 DATE A KOLLMORGEN DIVISION RADFORD VIRGINIA INDUSTRIAL DRIVES CHK BY DATE APP D BY CJF DWG NO PLOT SCALE 1 4 93570 A 79 20 79 20 7 28 BUS Mc GND Ma Mb BUS DRIVES...

Page 110: ...DIMENSION METRIC IN BRACKETS UNLESS OTHERWISE SPECIFIED ALL DIMENSIONS ARE MILLIMETERS WITH INCHES DO NOT SCALE DWG USE DIMENSIONS ONLY XX DEC PLACES 13 X DEC PLACES 4 METRIC XXX DEC PLACES 005 IN XX...

Page 111: ...S UNLESS OTHERWISE SPECIFIED ALL DIMENSIONS ARE MILLIMETERS WITH INCHES DO NOT SCALE DWG USE DIMENSIONS ONLY XX DEC PLACES 13 X DEC PLACES 4 METRIC XXX DEC PLACES 005 IN XX DEC PLACES 015 IN INCHES AN...

Page 112: ...D XX DEC PLACES 13 X DEC PLACES 4 METRIC 340 13 39 MAX C1 2 PLACES WIDE SLOT PSR 4 5A 12 20 AMP OUTLINE DIMENSION XX XX XX DATE RADFORD VIRGINIA XX XX XX DATE XXX CHK BY XXX APP D BY 1 4 SCALE 93581 A...

Page 113: ...1 DATE V A DWN BY CHK BY COPY CODE CAD DWG DWG NO DWG NO ISSUE ISSUE SCALE A A APP D BY 1 4 93031 4 4 93031 DATE DATE ISS ECN NO DATE APP D ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED XXX DEC PLACES 0...

Page 114: ...UNREGULATED 2 AMP 18 VDC 20 UNREGULATED 1 AMP C2 8 C2 4 C2 6 C2 2 UNREGULATED 1 AMP 18 VDC 20 C2 7 C2 3 C2 5 COMMON C2 1 REGENERATION CAPABILITY NOTE 3 NOTE 2 SEE SEE 40W 400W 400W 40W 40W 40W MODEL B...

Page 115: ...E SYSTEM 10 20 LPF ON 10 20 DECREASE KV YES NO YES DECREASE KVI YES TOO FAST A 84888 ISSUE 5 J 0 MONITOR TACHOMETER TYPE YES press ESC UNDERDAMPED RUN 80 TUNE 25 2 EN GND SIGNAL C2 PIN14 C2 PIN2 WITH...

Page 116: ......

Page 117: ...ty The following is a complete list of errors generated by the BDS5 C 2 HARDWARE FAULTS C 2 1 Firmware Faults ERROR 2 HARDWARE U P FAIL SEVERITY 4 The microprocessor cannot pass self test This fault c...

Page 118: ...be required This error breaks program execution and disables the BDS5 ERROR 12 OVER CURRENT SEVERITY 3 The BDS5 detected an overcurrent This can be caused by a shorted motor winding a shorted power tr...

Page 119: ...ibed in Chapter 9 ERROR 22 12 VOLTS SEVERITY 3 The 12 volts is out of tolerance Contact the factory This error breaks program execution C 2 3 Positioner Faults ERROR 23 SOFTWARE OVERTRAVEL SEVERITY 2...

Page 120: ...o be empty This occurs when two MRD instructions are active at once You should use a synchronizer to delay the execution of the instruction that caused the error This error breaks program execution ER...

Page 121: ...ou attempted to insert an MCA segment after an MCI segment This error breaks program execution ERROR 46 MCI ACTIVE SEVERITY 2 You attempted to insert an MCI segment after an MCA segment in a macro mov...

Page 122: ...hat is not allowed with the Gear mode For example MRD MA JT and JF are not allowed with the Gear mode on This error breaks execution if the instruction was issued from the program ERROR 57 NOT w PROFI...

Page 123: ...lowed from within an alarm This error breaks program execution ERROR 64 BACKWARD REGULATION SEVERITY 3 The external input counted backwards more than 30 000 counts when REG was on This error breaks pr...

Page 124: ...ters Look up the instruction in Appendix B to determine the correct number of entries This error breaks program execution if the instruction is issued from the user program ERROR 83 BAD OR OUT OF RANG...

Page 125: ...allowable switch for an alarm or a hold or record command For example A REMOTE ON ERROR REMOTE NOT ALLOWED FOR ALARMS This line causes Error 89 since REMOTE is not allowed to fire an alarm ERROR 90 T...

Page 126: ...inted to the terminal You will only see it in the error history buffer This error has no action ERROR 104 ABAUD MULTIDROP SEVERITY 1 This error is caused by attempting to autobaud while in multidrop c...

Page 127: ...a RET when it was not expecting one This occurs when there are more returns than GOSUBs This error breaks program execution C 4 8 Power Up Marker Not An Error ERROR 199 DRIVE POWERED UP N A This is n...

Page 128: ...he entire line that is printed with the error and contact the factory This error breaks program execution and disables the BDS5 ERROR 209 STACK OVERFLOW SEVERITY 3 This is an internal error Carefully...

Page 129: ...mber provides order status and delivery information product information and literature and application and field technical assistance Kollmorgen Customer Support Network 203 Rock Road Suite A Radford...

Page 130: ...date revisions as engineering changes are incorporated That is an update disk can be issued which provides the latest revision of drawings while the BDS5 REFERENCE GUIDE on line Technical Manual remai...

Page 131: ...APPENDIX E ON LINE REFERENCE GUIDE BDS5 E 2...

Page 132: ...otor accuracy is usually specified as an angle representing the maximum deviation from expected position Actuator A device which creates mechanical motion by converting various forms of energy to mech...

Page 133: ...combination representing a unique piece of information CAM Profile A technique used to perform nonlinear motion electronically similar to that achieved with mechanical cams Characteristic Equation 1 G...

Page 134: ...reasing static error Compensation Lead A control action which causes the phase to lead at high frequencies and tends to decrease the delay between the input and output of a system Compensation Lead La...

Page 135: ...g G gain in decibels dB Demag Current The current level at which the motor magnets will be demagnetized This is an irreversible effect which will alter the motor characteristics and degrade performanc...

Page 136: ...r braking with an exponential decrease in speed Efficiency The ratio of power output to power input Electrical Time Constant The ratio of armature inductance to armature resistance Electronic Gearing...

Page 137: ...the frequency or time response of a control system Flutter Flutter is an error of the basic cycle of an encoder per one revolution Following Error The positional error during motion resulting from use...

Page 138: ...or has a permanent magnet rotor and wound stator These motors are brushless and phase currents are commutated as a function of time to produce motion Hysteresis The difference in response of a system...

Page 139: ...ear Coordinated Move A coordinated move where the path between endpoints is a line Linearity For a speed control system it is the maximum deviation between actual and set speed expressed as a percenta...

Page 140: ...C Synchronous Another term for brushless DC motor Motor Constant The ratio of the motor torque to motor input power Motor DC A device that converts electrical direct current into mechanical energy It...

Page 141: ...in which the output of an optical tachometer is compared to a reference square wave signal to generate a system error signal proportional to both shaft velocity and position errors Phase Margin The d...

Page 142: ...cs of interfaces to positioning devices such as encoders or resolvers Specifically that property of position Ramping The acceleration and deceleration of a motor May also refer to the change in freque...

Page 143: ...nals as a time series of 1 s and 0 s on a single line Servo Amplifier Servo Drive An electronic device which produces the winding current for a servo motor The amplifier converts a low level control s...

Page 144: ...romagnetic feedback transducer which produces an analog velocity feedback signal and commutation signals for a brushless servo motor The tachsyn is functionally equivalent to hall sensors and a tachom...

Page 145: ...e motor Vector Control A method of obtaining servo type performance from an AC motor by controlling two components of motor current Velocity The change in position as a function of time Velocity has b...

Page 146: ...pensation Model Number Scheme F1 5 Compliance 3 9 Critical Damping 3 4 Critical Damping F3 4 Cycle Ready 2 20 D DEP 5 4 Displaying Error Messages 5 4 E Electrical Noise 4 2 Enable and Fault Logic 5 5...

Page 147: ...Checking the Resolver Cable 2 21 Cycle Ready 2 20 Installation Requirements 2 2 Enclosures 2 2 Environmental Considerations 2 2 J J1 Configuration Jumper 2 16 Jogging the Motor 3 3 K L LED Status Ind...

Page 148: ...ns T1 8 Specifications and Ratings 1 8 Start Up and Checkout 3 1 If You Get ERROR 14 POWER BUS 3 2 If You Get ERROR 17 FEEDBACK LOSS 3 2 If Your BDS5 System is Unstable 3 2 Jogging the Motor 3 3 Low S...

Page 149: ...iring C3 Resolver 2 11 Wiring C4 Logic Power Supply 2 11 Wiring C5 Serial Communications 2 12 Wiring C6 Fan Power 20 Amp Units Only 2 14 Wiring C7 Standard I O 2 14 Wiring C8 Optional I O 2 15 Wiring...

Page 150: ...M3 DOC Copyright Page AFM4 DOC Foreword AFM5 DOC How to Use This Manual AFM6 DOC Table of Contents AFM7 DOC List of Figures AFM8 DOC List of Tables AFM9A DOC List of Drawings AFM9B DOC Chapter 1 CH1 D...

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