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SSD Drives 631 series, User Manual

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SSD Drives 631 series User Manual Download Page 51

Reference Tables  

10-3

631 Digital Servo Drive                                              07-01-08-02-E-V0500

Decimal/Hexadecimal Table

0

00

0

1

11

1

2

22

2

3

33

3

4

44

4

5

55

5

6

66

6

7

77

7

8

88

8

9

99

9

500

500

500

500

01F4

01F5

01F6

01F7

01F8

01F9

01FA

01FB

01FC

01FD

510

510

510

510

01FE

01FF

0200

0201

0202

0203

0204

0205

0206

0207

520

520

520

520

0208

0209

020A

020B

020C

020D

020E

020F

0210

0211

530

530

530

530

0212

0213

0214

0215

0216

0217

0218

0219

021A

021B

540

540

540

540

021C

021D

021E

021F

0220

0221

0222

0223

0224

0225

550

550

550

550

0226

0227

0228

0229

022A

022B

022C

022D

022E

022F

560

560

560

560

0230

0231

0232

0233

0234

0235

0236

0237

0238

0239

570

570

570

570

023A

023B

023C

023D

023E

023F

0240

0241

0242

0243

580

580

580

580

0244

0245

0246

0247

0248

0249

024A

024B

024C

024D

590

590

590

590

024E

024F

0250

0251

0252

0253

0254

0255

0256

0257

600

600

600

600

0258

0259

025A

025B

025C

025D

025E

025F

0260

0261

610

610

610

610

0262

0263

0264

0265

0266

0267

0268

0269

026A

026B

620

620

620

620

026C

026D

026E

026F

0270

0271

0272

0273

0274

0275

630

630

630

630

0276

0277

0278

0279

027A

027B

027C

027D

027E

027F

640

640

640

640

0280

0281

0282

0283

0284

0285

0286

0287

0288

0289

650

650

650

650

028A

028B

028C

028D

028E

028F

0290

0291

0292

0293

660

660

660

660

0294

0295

0296

0297

0298

0299

029A

029B

029C

029D

670

670

670

670

029E

029F

02A0

02A1

02A2

02A3

02A4

02A5

02A6

02A7

680

680

680

680

02A8

02A9

02AA

02AB

02AC

02AD

02AE

02AF

02B0

02B1

690

690

690

690

02B2

02B3

02B4

02B5

02B6

02B7

02B8

02B9

02BA

02BB

700

700

700

700

02BC

02BD

02BE

02BF

02C0

02C1

02C2

02C3

02C4

02C5

710

710

710

710

02C6

02C7

02C8

02C9

02CA

02CB

02CC

02CD

02CE

02CF

720

720

720

720

02D0

02D1

02D2

02D3

02D4

02D5

02D6

02D7

02D8

02D9

730

730

730

730

02DA

02DB

02DC

02DD

02DE

02DF

02E0

02E1

02E2

02E3

740

740

740

740

02E4

02E5

02E6

02E7

02E8

02E9

02EA

02EB

02EC

02ED

750

750

750

750

02EE

02EF

02F0

02F1

02F2

02F3

02F4

02F5

02F6

02F7

760

760

760

760

02F8

02F9

02FA

02FB

02FC

02FD

02FE

02FF

0300

0301

770

770

770

770

0302

0303

0304

0305

0306

0307

0308

0309

030A

030B

780

780

780

780

030C

030D

030E

030F

0310

0311

0312

0313

0314

0315

790

790

790

790

0316

0317

0318

0319

031A

031B

031C

031D

031E

031F

800

800

800

800

0320

0321

0322

0323

0324

0325

0326

0327

0328

0329

810

810

810

810

032A

032B

032C

032D

032E

032F

0330

0331

0332

0333

820

820

820

820

0334

0335

0336

0337

0338

0339

033A

033B

033C

033D

830

830

830

830

033E

033F

0340

0341

0342

0343

0344

0345

0346

0347

840

840

840

840

0348

0349

034A

034B

034C

034D

034E

034F

0350

0351

850

850

850

850

0352

0353

0354

0355

0356

0357

0358

0359

035A

035B

860

860

860

860

035C

035D

035E

035F

0360

0361

0362

0363

0364

0365

870

870

870

870

0366

0367

0368

0369

036A

036B

036C

036D

036E

036F

880

880

880

880

0370

0371

0372

0373

0374

0375

0376

0377

0378

0379

890

890

890

890

037A

037B

037C

037D

037E

037F

0380

0381

0382

0383

900

900

900

900

0384

0385

0386

0387

0388

0389

038A

038B

038C

038D

910

910

910

910

038E

038F

0390

0391

0392

0393

0394

0395

0396

0397

920

920

920

920

0398

0399

039A

039B

039C

039D

039E

039F

03A0

03A1

930

930

930

930

03A2

03A3

03A4

03A5

03A6

03A7

03A8

03A9

03AA

03AB

940

940

940

940

03AC

03AD

03AE

03AF

03B0

03B1

03B2

03B3

03B4

03B5

950

950

950

950

03B6

03B7

03B8

03B9

03BA

03BB

03BC

03BD

03BE

03BF

960

960

960

960

03C0

03C1

03C2

03C3

03C4

03C5

03C6

03C7

03C8

03C9

970

970

970

970

03CA

03CB

03CC

03CD

03CE

03CF

03D0

03D1

03D2

03D3

980

980

980

980

03D4

03D5

03D6

03D7

03D8

03D9

03DA

03DB

03DC

03DD

990

990

990

990

03DE

03DF

03E0

03E1

03E2

03E3

03E4

03E5

03E6

03E7

Summary of Contents for 631 series

Page 1: ...07 01 08 02 E V0500 Series...

Page 2: ...nt Inspection Check for signs of transit damage Check the product code on the rating label conforms to your requirement If the unit is not being installed immediately store the unit in a well ventilat...

Page 3: ...tal damage How the Manual is Organised The manual is divided into chapters and paragraphs Page numbering restarts with every chapter i e 5 3 is Chapter 5 page 3 Further descriptions that relate to thi...

Page 4: ...ive assembly 9 Power terminal X1 2 Product code label X15 RS232 Set up service connection EASYRIDER 3 Terminal cover X20 CAN Bus input connection 4 Diagnostic display X21 CAN Bus output connection 5 E...

Page 5: ...N Bus or Incremental Bus using a PLC It is configured using the EASYRIDER software General General General General Operating Modes Pulse direction Input 10V velocity control Torue control Position con...

Page 6: ...t loop speed loop position loop PLC RS232 X15 CAN Bus X20 X21 F Figure 2 2 Communications Options analog setpoint value Pos 1 Pos 2 M Synchronisation electronic gearbox 1 X CAN Bus Network 631 Unit X...

Page 7: ...Description 1 631 Generic product 2 XXX Three numbers specifying the rated output current 001 1A 002 2A 004 4A 006 6A 3 XXX Three numbers specifying the nominal input voltage rating 230 220 to 240V 1...

Page 8: ...les close to grounded metal parts when exiting the control cubicle Separate dirty clean and sensitive cables if possible by at least 30mm Cables should cross at 90 Avoid cable loops especially between...

Page 9: ...1 5 9 2 8 1 4 6 9 Weight 1 5kg 3 3lb approximately 631 006 230 All dimensions are in millimetres inches Note Additional space is required to the front of the unit for the signal mating plugs approxim...

Page 10: ...0 631 006 230 Ventilation The servo drive gives off heat in normal operation and must therefore be mounted to allow the free flow of air through the ventilation slots and heatsink Maintain minimum cle...

Page 11: ...the certification for dangerous areas apparatus group and or temperature class of explosion protected motors Inspection and certification for the complete installation of servo motors and electronic...

Page 12: ...nnections are for SELV only Eurotherm servo motors series ACM 2n ACR n and ACG are SELV other manufacturer s motors may not be If you use a non Eurotherm servo motor make sure that the thermistor is i...

Page 13: ...onnel protection Use another means to provide personal safety Refer to EN50178 1998 VDE0160 1994 EN60204 1 1994 Wiring the Servo Drive Earth Connections WARNING Due to the working principle of servo d...

Page 14: ...manently earthed using two independent earth conductors using X1 Protect the incoming mains supply using a suitable fuse or circuit breaker as shown in Chapter 11 Technical Specifications Power Detail...

Page 15: ...nctional Earth connected to Figure 3 5 631 Control Wiring Connections Pin Type Function 1 10V Ri 10k ANALOG IN differential to pin 2 referenced to GND 2 10V Ri 10k ANALOG IN differential to pin 1 refe...

Page 16: ...asy installation of the control cables Refer to Chapter 11 Technical Specifications for Control Terminal information Refer to Chapter 12 Certification for the Servo Drive for information on meeting ge...

Page 17: ...erm approved servo motor This connection must be made for the 631 to control the operation of the motor The cable contains wiring for the resolver and the motor thermistor 8 9 1 7 12 10 2 6 11 3 5 4 1...

Page 18: ...al IN SLAVE 2 mount units side by side if possible GND GND GND X40 X41 631 Incremental Out MASTER keep cables as short as possible X40 41 signals are referred to PE Figure 3 8 Application Example To s...

Page 19: ...r Jack screened 1 8 GND Z Z B B A A 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefore wiring is very easy 1 8 GND Z Z B B A A 5VI internal connection to GND Case Scre...

Page 20: ...pole Modular Jack screened 1 8 GND Z Z B B A A 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefore wiring is very easy 1 8 GND Z Z B B A A 5VI internal connection to GN...

Page 21: ...odular Jack screened EASYRIDER X40 mode 2 8 pole Modular Jack screened 1 8 GND IN R IN R Out Ready Out Ready IN P IN P 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefo...

Page 22: ...DER X40 mode 3 8 pole Modular Jack screened 1 8 GND IN P IN P Out Ready Out Ready IN P IN P 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefore wiring is very easy 1 8...

Page 23: ...GND CAN_L CAN_H GND CAN_GND X20 and X21 are identically and internal switched in parallel with all pins X20 X21 therefore bus wiring is very easy 8 pole Modular Jack screened 1 8 CAN_GND CAN_L CAN_H G...

Page 24: ...it is selected using the EASYRIDER software menu Commissioning General The 631 unit does not use Modes 0 and 3 If you attempt to select these the unit will default to the set up for Mode 1 speed contr...

Page 25: ...No Description Description Description Description OPTO outputs 5 0 4 DRIVE READY 1 drive can be executed ACTIVE OK 1 power stage activated 6 OPTO inputs 7 Fixed input ACTIVE activates motor power whe...

Page 26: ...DY 1 drive can be executed INITIALISED 1 move reference executed TRAIL CONTROL 1 position within trail window ACTIVE OK 1 power stage activated 6 0 1 3 4 POSITION REACHED 1 position within position wi...

Page 27: ...y BIAS program TRAIL CONTROL 1 position within trail window ACTIVE OK 1 power stage activated 6 0 1 2 3 4 5 POSITION REACHED 1 position within position window INITIALISED 1 move reference executed BIA...

Page 28: ...put Ready F0 X10 5 Warning display fault signal display motor protection max current rated current of motor Warning time approx 3 sec I 2t Nsoll Function Passive Delay recommended for motor brake use...

Page 29: ...ated in the motor windings Enter the relevant data type tripping value in to the EASYRIDER menu COMMISSIONING MOTOR TEMPERATURE SENSOR Internal Overlaod Protection Using thermal simulation of the moto...

Page 30: ...le Modular Jack RXD TXD GND 1 4 Female viewed on solder side 1 2 3 4 5 6 7 8 9 RXD 1 1 1 1 Receive serial sata 3 RXD TXD 2 2 2 2 Transmit serial data 2 TXD 3 3 3 3 do not connect GND 4 4 4 4 GND 5 GND...

Page 31: ...mage to equipment Check for loose ends clippings drilling swarf etc lodged in the Servo Drive and system If possible check that the motor can be turned freely and that any cooling fans are intact and...

Page 32: ...erts NO NO NO NO From the menu FILE LOAD PARAMETERS select and load the file called DEFAULT 631 Continue with Step 3 Motor Selection 3 From the menu COMMISSIONING MOTOR adjust the maximum current to b...

Page 33: ...oduces a motion from Position 1 to Position 2 and vice versa with the next activation Select START Motor Observe the behaviour of the application and graph and optimise the tuning parameters P I and V...

Page 34: ...ulting with Eurotherm engineers U2 U2 U2 U2 Stable parameters are calculated based on the system data and can be called up using the F5 key Manual tuning may be necessary Rated values can be sourced e...

Page 35: ...e To simulate communication with the 631 product you may need to set this under the following menu Options General Options Simulated Drive Type This selection is saved when you exit the software You m...

Page 36: ...not saved Only the command STORE ALL DATA menu COMMAND STORE ALL DATA writes the data into the servo drive s non volatile memory Data stored here is saved during power down File Figure 6 1 EASYRIDER...

Page 37: ...ect axis number change password special function serial single command update firmware Menu system BIAS screen file edit program command diagnosis options new BIAS program undo change edit mode deacti...

Page 38: ...6 4 Programming Your Application 07 01 08 02 E V0500 631 Digital Servo Drive BIAS Commands...

Page 39: ...shift F4 shift F4 shift F4 shift F4 F5 F5 F5 F5 shift F5 shift F5 shift F5 shift F5 F6 F6 F6 F6 PC login shift F6 shift F6 shift F6 shift F6 PC logout F7 F7 F7 F7 save all data shift F7 shift F7 shift...

Page 40: ...ange to the previous parameter Ctrl I Ctrl I Ctrl I Ctrl I Changing the insert mode the active mode is displayed at the bottom of the screen Ctrl L Ctrl L Ctrl L Ctrl L Inserting a label Ctrl K Ctrl K...

Page 41: ...iagnostics Display Display Display Display Explanation Explanation Explanation Explanation Ready Ready Ready Ready output X10 5 Warning Warning Warning Warning output X10 6 Comment Comment Comment Com...

Page 42: ...chanics stiff Requirements too high Is warning 8 evaluated overload of the motor I t Does the control loop oscillate P amplification too high Mechanics stiff Requirements too high Is warning 8 evaluat...

Page 43: ...t on Ballast resistance usage is 90 switch off ballast on Ballast resistance overloaded trailing window exceeded Only in operation mode position control optimise parameters check mechanics trailing er...

Page 44: ...cables Motor takes up preferred positions after activation Position encoder or motor cables with reversed poles Resolver or encoder incorrectly adjusted Number of motor poles set incorrectly config me...

Page 45: ...tatus Memory When the unit is powered down a set of important indicators is stored in to dedicated memory This allows the last eight status conditions to displayed by the EASYRIDER diagnostic menu Thu...

Page 46: ...owing information available The model and serial number see the unit s rating label Details of the fault Contact your nearest Eurotherm Drives Service Centre to arrange return of the item You will be...

Page 47: ...CM469027U020 Germany RK 6300 0020 2m Sub miniature D 9 way RS232 Service Connector Cable RS232 Service Connector Cable RS232 Service Connector Cable RS232 Service Connector Cable X15 631 to PC UK LA3...

Page 48: ...8 pairs 4TP shielded Adaptor Cable Adaptor Cable Adaptor Cable Adaptor Cable 631 X40 41 to 635 637 X40 Multi function 4 twisted pairs shielded cable UK CM469034U003 Germany KK 6310 0600 RJ45 Plug 8 wa...

Page 49: ...0 x0 NUL DLE SP 0 P p 0 0 0 1 1 SOH DC1 1 A Q a q 0 0 1 0 2 STX DC2 2 B R b r 0 0 1 1 3 ETX DC3 3 C S c s 0 1 0 0 4 EOT DC4 4 D T d t 0 1 0 1 5 ENQ NAK 5 E U e u 0 1 1 0 6 ACK SYN 6 F V f v 0 1 1 1 7...

Page 50: ...F 00E0 00E1 00E2 00E3 00E4 00E5 230 230 230 230 00E6 00E7 00E8 00E9 00EA 00EB 00EC 00ED 00EE 00EF 240 240 240 240 00F0 00F1 00F2 00F3 00F4 00F5 00F6 00F7 00F8 00F9 250 250 250 250 00FA 00FB 00FC 00FD...

Page 51: ...720 02D0 02D1 02D2 02D3 02D4 02D5 02D6 02D7 02D8 02D9 730 730 730 730 02DA 02DB 02DC 02DD 02DE 02DF 02E0 02E1 02E2 02E3 740 740 740 740 02E4 02E5 02E6 02E7 02E8 02E9 02EA 02EB 02EC 02ED 750 750 750 75...

Page 52: ...me per axis 10 frequency sweep cycle frequency sweep speed 1 minute Altitude Altitude Altitude Altitude If 1000 metres above sea level derate Motor Power rating by 1 per 100 metres Humidity Humidity H...

Page 53: ...ampacities of thermoplastic insulated 60 C copper conductors assuming not more than three current carrying conductors in raceway or cable based on ambient temperature of 30 C The wire sizes allow for...

Page 54: ...nt ripple Frequency of current ripple Frequency of current ripple 9 5kHz Power losses Power losses Power losses Power losses Fan internal electronic Fan internal electronic Fan internal electronic Fan...

Page 55: ...requency Maximum input or output frequency 200kHz Maximum cable length connected to Maximum cable length connected to Maximum cable length connected to Maximum cable length connected to galvanical ins...

Page 56: ...eter Menu Speed Control Speed Control Speed Control Speed Control Settings Settings Settings Settings Set by the Parameter Menu Differential Setpoint Input Analog Differential Setpoint Input Analog Di...

Page 57: ...Sinewave voltage at Un Sinewave voltage at Un Sinewave voltage at Un Sinewave voltage at Un 210 230 Derating of Unr when loaded Derating of Unr when loaded Derating of Unr when loaded Derating of Unr...

Page 58: ...to insert contactors etc re connect the screen using the shortest possible route Keep the length of screen stripped back as short as possible when making screen connections Ideally use 360 screen ter...

Page 59: ...screened Increasing Motor Cable Length Because cable capacitance and hence conducted emissions increase with motor cable length conformance to EMC limits is only guaranteed with the internal ac supply...

Page 60: ...en 30 and 100MHz typically the attenuation provided by a metal cabinet with no aperture of dimension greater than 0 15m using the internal ac supply EMC filter and having met all cabling requirements...

Page 61: ...bar insulated from the mounting panel Used as a reference point for all signal and control cabling This may be further subdivided into an analog and a digital reference busbar each separately connecte...

Page 62: ...iable Speed Drive VSD EMC output filters Input or output chokes transformers The cable between VSD and motor even when screened armoured Connections to external braking chopper and resistor even when...

Page 63: ...n of the National Electrical Code NEC NFPA 70 Recommended Branch Circuit Protection It is recommended that UL Listed JDDZ non renewable cartridge fuses Class K5 or H or UL Listed JDRX renewable cartri...

Page 64: ...emission and immunity performance of this unit can only be achieved when the unit is installed to the EMC Installation Instructions given in this manual According to S I No 2373 which implements the...

Page 65: ...2 Third party testing to a relevant standard 3 Writing a technical construction file stating the technical rationale as to why your final machine system is compliant An EMC competent body must then a...

Page 66: ...neric Standards Generic Standards Generic Standards Generic Standards enclosure enclosure enclosure enclosure Immunity only EN50082 1 1992 see below for referenced standards Residential supplied direc...

Page 67: ...cal transients burst e g from opening contacts in inductive circuits IEC1000 4 3 Electromagnetic fields e g from portable telephones IEC1000 4 5 Voltage surges e g on local lightning strikes ENV50140...

Page 68: ...echnical competence in EMC requirements of drives Conducted RF Emission Class A performance premises Immunity See below for referenced standards SECOND SECOND SECOND SECOND ENVIRONMENT ENVIRONMENT ENV...

Page 69: ...ND EN50082 1 1998 AND EN50082 2 1995 EN61800 3 1996 EMC CHARACTERISTICS STATED IN MANUAL EMC INSTALLATION GUIDELINES STATED IN MANUAL CEMEP VALIDITY FIELDS 2 3 AND 4 NO EMC CE MARK APPLIED TO E D MODU...

Page 70: ...n the unit is used as a component We Eurotherm Drives Limited address as below declare under our sole responsibility that the above Electronic Products when installed and operated with reference to th...

Page 71: ...s is possible by using a feed back system which senses the rotor position e g by Resolver Using Line Chokes Line chokes are not required to limit input current to Eurotherm Drives Servo drives Line ch...

Page 72: ...Total Inertia Data RL 0 3 Ohm Speed at Brake Start Braking Time Cycle Time Cable Resistance Braking Current Ib 3 2A Motor Resistance Rph 3 6 Ohm STEP 1 Calculating actual brake power an approximation...

Page 73: ...is case required in this case required in this case required in this case Refer to the Chapter 9 Accessories In case of insufficient capability of the internal brake resistor an external resistor must...

Page 74: ...on of required motor terminal voltage for a specified motor speed up to 3000rpm Ukl 1 2 EMC n 1000 I Rph RL Volts where Ukl Required motor voltage V rms EMF Back EMF of motor V rms 1000 rpm Rph Resist...

Page 75: ...rent Demand Nist Speed Feedback Position POS Speed PWM 6 6 IV IGBT IGBT UCC 0VP DC DC Filter DC AC Soft start RS232 PTC NTC DBR1 DBR2 X10 X10 Analog Input A D Converter Setpoint Processing Configurabl...

Page 76: ...y V1 initial 02 10 98 PL V02 47PL98 berarbeitet 12 16 11 98 SA V03 16PL99 berarbeitet alle all 22 04 99 PL GV ST V04 21PL99 neues Thema f r 3 25 05 99 PL ST Kapitel 3 neues Kapitel 3 4 Text nderung 5...

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