Quin Q-drive Installation & User Manual Download

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Installation & Users Manual

Quin Systems Limited

Q-drive Servo Amplifier

Issue 1.5

June 1996

(MAN430)

Summary of Contents for Q-drive

Page 1: ...Installation Users Manual Quin Systems Limited Q drive Servo Amplifier Issue 1 5 June 1996 MAN430...

Page 2: ...errors Suggestions for improvements in either the products or the documentation are welcome Relevant Directives This product is designed to be incorporated into a system for the control of machinery...

Page 3: ...nt Directives 11 4 Connections 13 4 1 General 13 4 1 1 Wiring and connectors 14 4 1 2 Cable lengths and cross sections 14 4 2 Low Voltage Connections 15 4 2 1 P2 Upper Resolver 15 4 2 2 P2 Lower Encod...

Page 4: ...play on the front panel 48 8 3 1 Checking the electrical rotation sense of the resolver 49 8 4 Determining the motor phases 50 8 5 Switch the Servo Amplifier on with a Motor and Optimization 51 8 5 1...

Page 5: ...g 26 Figure 12 Q Drive exe password entry page 34 Figure 13 Q Drive exe scanning for active drives 35 Figure 14 Q Drive exe page 0 parameters 36 Figure 15 Q Drive exe page 1 parameters 37 Figure 16 Q...

Page 6: ...ver Input Connections 15 Table 5 P2 Lower Encoder Output Connections 17 Table 6 P4 RS422 Out RS232 Connections 18 Table 7 P3 to P4 RS422 Daisy Chain Connections 18 Table 8 P10 P11 P12 Connections 19 T...

Page 7: ...p rings Stator constructed with 3 windings connected in star or delta Electronic commutation is effected by means of a resolver motors with Hall effect sensors or tachogenerators are not suitable Note...

Page 8: ...timum performance at low speed Power and command circuits are optically isolated from each other Protections and ruggedness for use in severe conditions Easy to use external connections including two...

Page 9: ...and the filter are securely mounted and earth bonded to a conductive panel If the auxiliary supply is used then this too must be filtered Both filters must provide at least 55dB attenuation at 1MHz Th...

Page 11: ...er site or to return it for service the original packing can be reused Inspect the Q drive carefully when it is unpacked Check for any loose parts any circuit boards loose in their card guides cables...

Page 13: ...ion Temperature operating 0 C to 60 C full power 0 C to 45 C storage 20 C to 70 C Relative humidity 20 to 80 non condensing The drive may be operated at higher ambient temperatures but will require ad...

Page 14: ...300 Hz current loop 2 kHz Rated power dissipation during braking with standard resistance 125W Max output to motor 3 x 210 V 0 to 500 Hz Incremental encoder output 5V low speed settings available 128...

Page 15: ...eral measurement points which permit an analogue reading of the three signals shown in Table 2 The location of the measurement points is shown in Figure 24 on page 61 Servo amplifier type PQD506 PQD51...

Page 16: ...ive has mounting holes on the rear plate for fixing to an electrical panel inside a cabinet The unit is fixed with four M5 bolts using the fixing centres as shown in Figure 2 below Figure 2 Fixing cen...

Page 17: ...ervice until the machinery into which it is incorporated has been declared in conformity with the Machinery Directive 89 392 EEC and or its relevant amendments The installation instructions in this ma...

Page 19: ...gh and low voltage cable connections have been segregated in the Q drive The positions of the various connectors are shown in Figure 3 Figure 3 Connections S R S R P7 P7 SUPPLY T S R Fan Fan P8 P9 P9...

Page 20: ...spect to wiring rules regarding ground earth and neutral The earth wire to the amplifier motor and housing must be as short as possible and connected to a common earth point The complete wiring plan i...

Page 21: ...be connected to the motor earth terminal at the motor end of the cable It is recommended that the three internal screens should be connected only at the servo amplifier end of the cable They should be...

Page 22: ...et to 1024 PPR and 6000 RPM then an incorrect encoder pulse train will be produced The cables used for the encoder signals should be high quality screened cables using individually screened twisted pa...

Page 23: ...ive Pin Number Function PTS D type Pin no Suggested Wire Colour 1 A 1 Pink 2 A 6 Grey 3 B 2 Yellow 4 B 7 Green 5 Z 3 Blue 6 Z 8 Red 7 Not Used 8 0V 9 White 9 Screen 5 All screens Table 5 P2 Lower Enco...

Page 24: ...connector in a multi drop drive chain If the unit has been configured for RS232 then this connector has no function As a temporary measure an RS232 device may connect to an RS422 drive default linking...

Page 25: ...te signals Pin Number Signal Name Function P10 1 Earth Command shield connection P10 2 Gnd Drive internal Ground not isolated P10 3 S Command signal ve P10 4 S Command signal ve P11 1 EXTILIM External...

Page 26: ...ection to the motor One of these terminals can also be used to connect an earth bonding strap to the Q Drive although there is an M4 stud just below these terminals designed expressly for this purpose...

Page 27: ...tained when the three phase supply is removed i e during an emergency stop it does not supply power to the amplifier part of the drive There are two terminals each for R and S It is vitally important...

Page 29: ...ollowing sections Note that this is only a very simplified sketch not a full installation wiring diagram Details such as isolators contactors and other switching arrangements are not shown but in most...

Page 30: ...rectifier from being damaged by high inrush currents If the drive is to operated directly from a 220V three phase or single phase supply then a 4mH three phase choke should be installed between the su...

Page 31: ...n and encoder output signals are to be maintained during an emergency stop i e when the three phase supply is removed it will not supply power to the amplifier part of the drive There are two terminal...

Page 32: ...tever source of supply is used should be made using a suitable gauge of wire The IEE 16th edition wiring regulations or appropriate local regulations should be consulted to determine an appropriate ga...

Page 33: ...h Do not tie the motor cable and resolver cable together or run them together in the same conduit or cable duct The motor cable can carry high currents in normal operation and the resolver cable carri...

Page 34: ...turn to P10 4 and the screen of the cable to P10 1 refer to table 8 A suitable screened cable is RS part number 367 325 The encoder simulation output of the drive is connected to a Quin controller as...

Page 35: ...on the control system If the control system is used to provide a limit switch function then this should be backed up with an mechanical switch which should cut the power to the Q Drive Guards emergenc...

Page 36: ...rder to calculate the torque required from the motor it is necessary to find out the following information about the mechanical system The reflected total inertia of the system or load at the motor sh...

Page 37: ...th a continuous and a peak torque rating and they should be chosen such that the torque requirement of the machine is well within the capacity of the motor Care must also be taken to ensure that the m...

Page 38: ...ed belt and pulleys or by a gearbox In all cases the coupling between the motor and the load must be as stiff as possible and must have minimum backlash At the same time care must be taken to avoid ad...

Page 39: ...ther an RS422 adapter plus cable or an RS232 serial cable The choice depends upon how the drive has been configured 7 2 Getting Around the Configuration Program The program QDRIVE EXE should be instal...

Page 40: ...be modified through the computer program In order to change the parameters it is necessary to Connect to a particular drive This is achieved in the following way 1 Press the F8 function key to put th...

Page 41: ...er on each page The selected parameter appears in reverse video Figure 13 shows Proportional Gain as the selected parameter Change Values The plus key and the minus key change the value of the selecte...

Page 42: ...gain of the servo velocity control loop They are programmable from 0 to 127 Higher values represent higher gains The integral gain is cancelled for a value lower or equal to 3 2 Speed factor 127 127 T...

Page 43: ...x speed speed factor parameter 127 this parameter can vary the phase advance angle from 0 to 360 electrical degrees This parameter is programmable from 0 to 360 typical value 20 7 Resolver Shift Angle...

Page 44: ...n of the on board relay 0 Relay is on when there are no alarms 1 Relay is on when the drive is enabled 14 Inverted display 0 1 The 7 segment display can be inverted if the drive is to be mounted upsid...

Page 45: ...and the maximum speed is set 6000rpm 17 Encoder Resolution 1 1024 F2 This parameter selects the number of pulses generated by the encoder simulator and can be set anywhere in the range 1 to 1024 18 R...

Page 46: ...e third setting Soft allows the amplifier to be enabled and disabled using the F5 key the hardware enable needs to be set all of the time for this function to work 0 Hard 1 Trig 2 Soft 21 Software Wat...

Page 47: ...Q Drive Installation Manual Copyright 1996 Quin Systems Ltd Page 41 7 6 Page 3 parameters Figure 17 Q Drive exe page 3 parameters 24 to 53 Not used 7 7 Page 6 parameters Figure 18 Q Drive exe page 6 p...

Page 48: ...is a 12 bit value of the current resolver position within one rotation 55 Revolution counter The revolution counter is a 24 bit count of complete resolver revolutions This value can be used with the r...

Page 49: ...ver to the motor 75 Max Nominal Current 0 127 This parameter defines the maximum nominal current that the amplifier will deliver 76 Manufacturing week The week number in which the drive amplifier was...

Page 50: ...a non existent drive is selected i e drive 6 in a 5 drive system then the display will continue to show the previous drive s values except for the top line which will show Axe 6 ONLINE no connect i Ea...

Page 51: ...reached it s power limit if the control system is trying to push the amplifier harder x Torque Enable Input This will show ON when the drive is enabled and OFF when the drive is disabled xi Motor The...

Page 53: ...nected The three motor phases must not be connected to the servo amplifier 8 2 Checking LEDS and 7 segment display LED OVER I red LED normally off This LED lights up during a short circuit between two...

Page 54: ...ct closed Servo amplifier powered on enable contact closed and motor at zero position Servo amplifier powered on and enable contact open Servo amplifier powered on enable contact open and motor at zer...

Page 55: ...ense of the resolver The decimal point of the 7 segment display lights up when the motor shaft is turned clockwise Figure 23 Electrical rotation sense of the resolver If the decimal point lights up du...

Page 56: ...bitrarily the Phase U as one of the 3 motor phases 2 Connect U to and a 2nd phase motor to of the DC supply 3 Switch supply on The shaft will move to a stable position 4 Mark the new shaft position wi...

Page 57: ...Q DRIVE software Save this value using the key F2 d Set the proportional and integral gains to 25 and 10 respectively Also set the resolver shift angle to 90 degrees Save these values using the F2 ke...

Page 58: ...tem is under damped in this case increase the Proportional Gain value ii The motor is noisy this means that the motor is over damped in which case decrease the Proportional Gain value iii The signal s...

Page 59: ...the motor remaining stationary find the limits of the range and set the value to the mid point Press the F2 key to save this value b Speed compensation The Speed factor parameter allows adjustment of...

Page 60: ...incorrect 6 Display 6 resolver failure resolver wiring failure 7 Display 7 appears with OVER I LED brake fuse failure or missing appears in case of over voltage or supply missing 8 Display C motor co...

Page 61: ...oftware in order to test the serial port Ensure that the program is requesting data from the axis number which the drive is set to i e if the drive is set to address 7 then the program should request...

Page 62: ...e direction turning the shaft in the opposite direction should take the data back to zero and then climbing in the opposite direction If the encoder position counts up and down by only one count then...

Page 63: ...mplitude to the primary of the resolver are determined by resistors RSIN RCOS and RREF Standard fitting RSIN RCOS 0 bridge for a resolver ratio of 2 1 RREF 12 k ohm to obtain 4V eff to the resolver pr...

Page 64: ...bridge 1 2 analogue command voltage default 2 3 numeric command voltage through RS 232 serial link or through synchronous link option VITCRT Solder bridge 1 2 speed regulation standard 2 3 current re...

Page 65: ...1 10 and 18 Littlefuse 314 type fuses are used Dimensions 6 3 x 32 mm Supply fuse FHT All QDV 1 drives use a 20mm fuse Warning Blown fuses should only be replaced with the same type and rating fuse a...

Page 66: ...4 6 8 10 Gnd connection Valid by pass RS422 terminators J2 1 2 By pass Valid opto isolator Default 3 4 0V connection when Valid is by passed Default 5 6 RS422 transmit terminator Default 7 8 RS422 re...

Page 67: ...tallation Manual Copyright 1996 Quin Systems Ltd Page 61 Figure 24 Backplane configuration 2 D E P4 1 3 4 5 6 7 8 9 A B C 1 1 1 RS422 232 J6 J5 P11 P12 SW1 0 1 F J4 J3 J2 P10 J1 ENCODER RESOLVER P3 RS...

Page 68: ...hen this option is fitted It is accessed by removing the front panel and extracting the drive amplifier card the fuse can then be seen in the lower left hand corner as shown in Figure 25 below IMPORTA...

Page 69: ...can be wired into the drive using the connections marked R and S This auxiliary supply is used to maintain the power to the low voltage part of the drive so that positional information will not be los...

Page 70: ...ion Manual Issue 1 5 Page 64 Copyright 1996 Quin Systems Ltd Layout of Drive Amplifier Figure 26 Drive amplifier jumper fuse locations FHT F1 FFR S A D RCOS RREF RSIN INCABS MO01 VITCRT TRI S A D IMAX...

Page 71: ...ormer E 2 3 1 PTS Control System Screened Motor Cable Use P3 or P4 to Connect to PC COM port Screened Encoder cable Connect to PC COM port or dumb terminal Diagnostic Interface RS422 232 ENCODER P4 S...

Page 73: ...30 configuration program 33 connections earth 26 mains supply 24 motor and drive 27 28 connectors aux supply 21 earth 20 encoder 16 motor 20 resolver 15 RS232 RS422 18 signals 19 three phase 20 coolin...

Page 74: ...atus and alarm page 44 phase advance 37 power down 29 proportional gain KP 36 Q QDRIVE EXE online 34 password 34 R r m s torque 31 read file 35 reference marker width 39 reference shift 39 relay funct...

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