Mitsubishi MELDAS TRS150 Manual Download Page 17

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I t e m

Check Signal

Function

CH21 Base

Signal which controls U phase transis-

ampli-

fier

tors (upper transistors)

control

signal

Top/bottom transistor shorting

(phase

tion period

Transistor

ON period

Transistor

OFF

period

CH22 Base

Signal which controls V phase transis-

fier

tors.

control

signal

(phase

Base

Signal which controls W phase transis-

ampli-

fier

tors.

control

signal

(phase

Position CH2

Error

For checking speed command signal output

loop

signal

from NC system.

5 Power

CH31 Analog

Card AX04 analog ground

CH33 ground

Card AX04

power supply

-12

-12v

Card AX04 -12V power supply

Card AX04

power supply

Digital

Card AX04 digital ground

ground

Summary of Contents for MELDAS TRS150

Page 1: ...CHECKPOINTS BEFORE SWITCHING ON POWER 12 3 CHECKPOINTS 13 4 DESCRIPTION OF CHECK PINS 14 5 DESCRIPTION OF VRS 20 6 DESCRIPTION OF PLUGS 22 7 CONNECTOR AND CHECK PIN LAYOUT 25 8 VR LAYOUT 26 9 SETTING PLUG LAYOUT 27 6 INSPECTION AND ADJUSTMENT METHODS 28 1 HOW TO MEASURE THE VOLTAGES AND CURRENTS 28 2 TRANSISTOR AMPLIFIER INSPECTION 31 3 POWER UNIT INSPECTION 36 4 POSITION LOOP OFFSET AND DROOP ADJ...

Page 2: ...5Arms 66Arms 99Arms current Output torque when 170 200 458 709 1036 used in combination kg cm kg cm kg cm kg cm with amplifier Rated output voltage 155Vrms 155Vrms 155Vrms 155Vrms Alarm circuits Fin overheating protection FOH power unit alarm PUAL motor overloading MOH TG over speeding TGOV over current detection OVC instant over current protection OCP no signal de tection NSG instant power failur...

Page 3: ..._ 2 DRIVE SECTION BLOCK DIAGRAM 1 BLOCK DIAGRAM OF TRANSISTOR AMPLIFIER TYPE TRS Hain circuitrv a r e a I _ MTR U MTR V MTR W 1 AX14 card I From NC rG CH3 cH4 From other CON1 To NC 1 T i I t I ...

Page 4: ...ince transformers are not included in the power unit the control unit and machine must be grounded I W I NFll MC11 Mcl2 THMl 1 fl l THM Power unit tvoe APO F12313 _TEll r 0 Pl 4 P2 24V Fll lOh 1 I ZPI AC100 rHb1 YFB 1 I I c 1 I kLM US E 1 _ 1 Caoaci tor unit Woe CU ...

Page 5: ...ase I TPA 2 to axis 5 I lb I CABLES P _ 1 I I ADUOO i4 I I I I I I 1 J I I 12P N v 1u Notes I epp I 1 flake all the AC 100V cables B 20 or higher I D 10 Pi I 2 Hake the length of wiring between the and of the M5 i i capacitor unit and P and N of the rectifier unitnotmore I Icuoo 1 1 than 258 mm I Caoacitor I I unit I l J 3 The zPL2 pin signals are given below 1 I 2 I 3 ALARM 1 24V 1 RG ground 4 Ke...

Page 6: ...onnector model HR 20W5 HousinqURF 2OMOl Contact BIRP 31112 0Cannon connector CNA43 41 detector cables f o r ARST Pousins MRP 20MOl Contact MRP Ml12 0Canno n connector Connector MS3103B20 29 Clamb MS3057 12A detector d a a a a Y f ...

Page 7: ... ZJ l l Connector model oZJ1 Case bfR 2OW5 Housing MRP 20FOl Contact MRP FI12 CA 19 n CNA73 c cable for control signals between NC unit Ind amplifier oCAM1 Case MRSBL of MR SBw Housing bfRP 5OFO 1 Contact MRP F 112 60 ...

Page 8: ...n NC unit and amolifier CNAS CNAS CNA4 CNA6 ZJ2 2 ZJ2 4 Connector model ZPIZ ZJ 5 L3 u20 6 3 oZJ5 ALARM 24v 2 0 820 2 I O 2 Housing 5258 034 DUA 1 ffia nzo 0 08 COntaCt 5 16 7P BT Dower unit Wire mark ontrol cable oZPl2 Housing l 350355 9 L I Contact 350019 2 n 8 Pin no Pin no Connector model ZJ4 ZJL ALARU I El R I O 6 oZJ4 ZJ5 24V 2 n20 2 llc lo R20 9 0 Housing 5258 034 TRA 1 3 08 COntaCt 5 16 7P...

Page 9: ... 4 OUTLINE DRAWINGS 1 TRANSISTOR AMPLIFIER Note 1 Fin cooling fans are not provided on the TRS50 or TRS75 L l l 8 ...

Page 10: ...l I W I 5 Control number plate 2 POWER UNIT T q I 4 1 0 Transformer Unit Domestic specifications Tl APU 30 70 Export specifications T2 APU 15 M 30 M 70 M 72 M max845 I_ ii0 as 185 Outline drawinq of power unit ...

Page 11: ...ector 2 detector 3 detector Axis 1 amblifier Axis 2 amcilifiet Axis 3 amolifier Terminal block TEl is connected with the drive motor The unit proper can be mounted onto a rack with the two setscrews a Insert all triangular wave setting plugs S26 b The dither is not normally used However when it is used plugs Sll and S13 should be inserted c Connect the DUA 1 cable to ZP5 on the final axis d Connec...

Page 12: ...ors VRs are located on the control card and they should be adjusted when the unit is replaced When check pins CHA CHB lB 6B and lE 6E are observed using a synchroscope do not connect the other check pins and ground simultaneously Ensurethatproper connection is made to P and N of the transistor amplifier and be sure to connect only after confirming that there is no faulty or improper wiring When th...

Page 13: ...0VA selection transformer 3 Motor Check that the motor has been connected connections properly Transistor U Motor armature U amplifier pin V V W W GlG2 GlG2 No polarity for Gl G2 4 Loop polarity When the motor is rotating clockwise as check viewed from the load side check that a 1 voltage is supplied to CHl 5 Setting plug Check that the proper setting plug and VR VR settings settings have been mad...

Page 14: ...hould the power unit be touched since the capacitor will be charged even if no power is actually flowing the unitwhenthelampis on 4 The main circuitry area in the AC servo system is configured without transformers and so the machine system and control unit must be grounded 5 Grounding Since the OCP circuit is isolated from the other circuits do not connect the OCP ground CHB and the ground AG LG o...

Page 15: ...2V 10 1000 rpm ARST ATT CH3 Speed Indicates error between speed command loop error signal and TG CH4 8 Compensation circuit output CH5 Speed Check pin for when speed command is command issued with VRl by toggle switch STl 3 Current CH6 Current Current loop command signals serving loop CH32 command as torque commands CH17 Current Current command sine wave of current command loop phase U Waveform is...

Page 16: ...c phase W Function Indicates same as above for phase W Indicates phase U current feedback signal Note Detection resistance differs ac cording to power unit Output voltage with 1A current differs according to amplifier unit signal Phase is Same Note applies as for CH19 shifted 240 deg from U Phase U Phase W l 15 ...

Page 17: ...hich controls V phase transis ampli I fier tors control signal phase V CH23 Base Signal which controls W phase transis ampli fier tors control signal phase W 1 4 Position CH2 Error For checking speed command signal output loop signal from NC system 5 Power CH31 Analog Card AX04 analog ground CH33 ground supply 12 12v Card AX04 12V power supply 12 12v Card AX04 12V power supply 5 5v Card AX04 5V po...

Page 18: ...Resolver excita tion Clock signal ovc circuit For checking dither signal For adjusting amplitude of resolver feedback Adjusted with VR10 o 12fl VP_ Signal produced by converting resolver feedback signal into digital signal For checking resolver excitation 4 5kHz For checking clock signal 18MHz Input signal of OVC circuit Circuit is activated when input voltage falls below set value of OVC circuit ...

Page 19: ...t can be used to check the response of the current loop at CH30 Note CH30 current must be used with ap propriate damping Insufficient Appropriate Excessive damping damping damping CH34 Load meter Used when measuring current at load output meter output check pin signal Refer to voltage and current measurement methods in 61 l for output voltage 18 ...

Page 20: ... so output per 1A also varies Detection TRSSO RIA 5 0 TRS75 R II A 7 5 TRSlOO R 51 I 1 0 0 TRS 150 R M A 1 5 0 L t OCP circuit ground T t I 3 1 mQ 0 031 V 2 0 mQ 0 020 V 125mQ 0 0125b 3 mQ 0 008 V Care is required since this ground is electrically insulated from AG LG Therefore connect the synchroscope ground to AG LG and CHB simultaneously 8 190 ...

Page 21: ...r VR for servo rigidity which is in servo creased when rotated clockwise rigidity Servo system adjustments are usual ly done by VR3 and VR9 2 Cur VR4 CH6 Current VR for adjusting current limit of rent clamp current loop Limit is increased loop setting when rotated clockwise VR5 Current VR for adjusting current loop gain VR6 loop gain Set VR5 and VR6 to same gradation setting These VRs should not b...

Page 22: ...tua tion of resolver feedback tion ad Adjustment is made with motor justment driven VR16 CH27 Phase For adjusting phase of resolver CH28 adjust feedback with respect to resolver ment excitation 5 ovc VR15 VR for setting operating point of adjust ment OVC circuit 6 Dither VR8 CH6 Dither Dither is used to eliminate effects adjust CH3l amplitude of sticking or slipping dither ment adjust 250Hz sine w...

Page 23: ...solver feedback polarity is reverse of that of magnetic pole s2 For changeover of load meter output level usually used when plug is inserted s3 For changeover of load meter output level and the output increases when the plug is inserted during set S2 is short circuited 2 Speed loop S6 Plug for short circuiting capacitor in com operation pensation circuit S12 Used when selecting non linear gain Gai...

Page 24: ...lver for magnetic pole position feedback amplitude S18 For canceling resolver feedback no signal detection 5 Closed loop S19 Used when exciting resolver from amplifier S20 with closed loop operation 6 Dither Sll Used when dither signal is inserted into con circuit trol circuit for dither circuit connection S13 Used when oscillating dither circuit 7 ovc S29 Used for OVC timer selection timer time i...

Page 25: ...ication applies when plug is inserted 10 HA40 op Ss Used for HA40 torque command falls by in eration serting plug S27 Used for selecting OCP operating level plug is inserted when HA40 is used S28 Used for selecting OVC comparison level plug is inserted when HA40 is used 24 l l ...

Page 26: ...Rare amolif ier II ohase Rase amolifier V 0hase IBase l molifier W Dhase lAnalog ground control signal control sianal control sional Level meter outout Resolver excitation Resolver feedback dither siqnall Resolver feedback Power unit control sisnal 7Trianqular wave output D i t h e r s i g n a l Power unit control siqnal r ianqular wave outout Dither signal Servo ON signal Current command sisnal S...

Page 27: ...oop offset NJ phase Current loop offset W phase Current loop gain w phase Current 1000 gain UJ phase L LOVC setting Current loop offset W vR12 VRlO VR16 vR2 VFU VFt3 VR3 VRS vR4 L Lservo rigidity Dither amplitude adjustment 11 L L Current loop compensation Position loop offset position gain Phase adjustment Resolver amplitude adjustment I Resolver amplitude fluctuation LSpeed command input _ _I l ...

Page 28: ...r I Po8ition gain adjus S13 For dither oscillation s12 Non linear gain adjustment c S16 s15 S18 s12 Sll i For dither I iiv SupPlietl to pornr unit I I I LSl7 Resolver amnolitude adjustment 818 Plug to cancel resolver no signal detection SlS S29 Used to obtain OUtDUt Of resolver excitation from amplifier Used when insertins non linear circuit into comoensation circuJ 522 Plua for shorting comoensat...

Page 29: ...otor is PWM controlled it appears in the form of pulsive waveforms The value of the voltage indicated may differ greatly depending on the type of measuring instrument used To measure first attach the filter shown below and then use a rectifier type voltmeter Transistor amolifier i Motor Waveform before filter attached Walvefonn after filter has been at tached 0 l _ 0 28 ...

Page 30: ...es the method outlined in i the motor current can be measured by the voltage of CH34 AG on card AX04 The output DC output is a result of 3 phase half wave rectifying the actual current The table below shows the relationship between the actual current and voltage The output voltage differs according to the amplifier and the setting plug 0 When S2 is open Transistor amplifier CH34 voltage V Arms TRS...

Page 31: ...0 When S2 is shorted Transistor amplifiel Setting CH34 voltage V Arms plug s3 TRS50 0 0 060U 0 024U TRS75 0 015U TRSl00 0 01lU TRSl50 0 0072V o denotes shorted 0 l l l l l ...

Page 32: ... READY status SVON RA2 For checking whether servo is ON or OFF DBL RAB For checking dynamic brake operation 24V LEDS Lights when start signal is is issued from NC system b Alarm displays ALARM 0 LED 1 LED2 LED3 LED4 LED Lights with READY ON Lights with servo ON Lights when brake is OFF Lights when power is ON LED lights l l 31 ...

Page 33: ...n an overcurrent momentarily flows to the transistors in the circuitry Overcurrent detection OVC This protection circuit functions when an overcurrent has flowed to main circuitry for more than a fixed period of time Overspeed TGOV The motor is protected when the motor speed exceeds its rating due to a malfunction No signal detection NSG This alarm functions when the signals are no longer fed back...

Page 34: ...is overloaded and it overheats c REMEDIES FOR ALARMS 1 LVAL 1 Measure the AC 100V voltage of the amplifier terminal block using a multimeter or synchroscope Rating 8 110V 2 When there is nothing unusual with the voltage the trouble may be an instantaneous power failure Check the AC 100V and AC 200V wiring connections 2 OCP 1 Check using a multimeter whether the power transistors have been damaged ...

Page 35: ...rd settings have been made properly 2 Check that the TG voltage is 0V while the motor has stopped 5 NSG 1 Use a synchroscope to measure whether the resolver feedback voltage is 12V l 0 l l 2 When the voltage is BV check the cables and connectors 3 When the voltage is lower useVRl0 to adjusttheCH16 voltage to 12Vp p 6 PUAL 1 Check out the power unit 2 Refer to page 36 for the alarm displays 7 FOH 1...

Page 36: ...ing heat armature current If the current is high proper motor has been selected 2 If the motor is not hot disconnect Gland fier s terminal power is still the resistance block and use a multimeter to check whether and measure the check whether the G2 on the ampli flowing or not When everything is in order is zero 0 35 ...

Page 37: ...nnector from transistor amplifier Al THM LED2 Lights when temperature of rectifier diode arm red exceeds prescribed temperature sta Alarm for all axes tus NFB LED3 Lights when no fuse breaker of rectifier red unit is tripped or when it goes O F F Alarm for all axes ALM LED4 When multi tap transformer or RU unit is installed the RU unit will be an alarm or red when transformer thermal is operated t...

Page 38: ... supplied from NC system to amplifier At this time LED1 green lights CP2 RG CPl CP4 ground CP3 AL Low level signal normally open when alarm occurs inside power unit At this time one of the lamps from LED2 to LED5 will light CP4 CR Signal which observes time constant of soft start circuit Activates contactor sequence l 0 0 37 ...

Page 39: ...3 Power unit card _ __ _ _ _ __ __ _ 0 1 ZPll 2 loI CPI 2 a 4 0 N 0 c 0 0000 0 w2 w 3 w4 LED5 Wl THM NFB AL 4 FUSE AN ON Control card TR 115 l l 38 ...

Page 40: ...play screen 5 with ALARM DIAGNOSIS adjust control at NC side ment 2 Check that detector being used and name of detector on screen tally 3 Check that TAU and LINEAR ZONE are correct 4 Calculate position droop from formula below Feedrate mm min x 1 x 2 60 gain Feedrate is Fl000 approx 100 rpm motor speed 5 Feed axis 1 so that position droop is Remember that made and use VR2 on AC transistor this dif...

Page 41: ...Item I Adjustment Pemarks 6 Feed other axes so that position droo is made and adjust to within 1 of droop adjusted in 51 s a l ...

Page 42: ...en 5 with ALARM DIAGNOSIS adjust control at NC side _ nent 2 Check that detector being used and l name of detector on screen tally 3 Check that TAU and LINEAR ZONE are correct l 4 Calculate position droop from formula below Feedrate mm min x 1 x 2 60 gain Feedrate is Fl000 approx 100 rpm motor speed 0 5 Feed axis 1 so that position droop is Remember that made I and use VR2 on AC transistor this di...

Page 43: ... Item Adjustment Remarks 6 Feed other axes so that position droop is made and adjust to within 1 of droop adjusted in S 0 l 0 l ...

Page 44: ... than 13Vp p Ampli 1 Obtain highest and lowest points of tude waveform at check pin TPl set volt fluctua age range to 0 2V DIV and set time tion base to 0 1 0 2 sec DIV c I adjust 2 Drive machine at 3 4 m min and ad e ment just VRl and VR2 so that amplitude fluctuation is made less than 40 mVp p GX96 card llrllrrlllrllrlrllllllllllJ J 3 To set voltage range to Q ZV DIV use synchroscope ADD and shi...

Page 45: ...surface Fig 1 Motor detector mounting surface 4 n5 x Q R 7 S rleoth Mark off 1 ine I Rev 2 Detector With bellows Fig 2 Detector with bellows Positionins marks Rlonqated hole c Key groove O ring S75 installation fkF __ 3 Installation when sensor is installed in direction A Y Sensor HA motor Note When the sensor is Installed in directions B C or D the sensor connector moves accordingly to positions ...

Page 46: ... the sensor bellows 4 Align the sensor positioning mark with the motor mark off line 5 Install the sensor to the motor using M5xO 8 screws 6 Tighten the screw on the key groove to secure the key so that it cannot move 7 Insert the sensor rubber plug Note The bellows should not be detached from the detector since the positions ofthesetwoparts standin a precise relationship 0 43 ...

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