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RTS 2nd Generation SERVO AMPLIFIER

PVD 3487 GB 03/2004

CONTENTS

SAFETY INSTRUCTIONS ……………………………………………………………………………3

GENERAL 5

TECHNICAL SPECIFICATIONS

2.1

RTS Servo amplifier performance chart

2.2

Block diagram

DIMENSIONS, LABELLING,

3.1

Dimensions

3.2

Labelling

- ELECTRICAL CONNECTIONS

4.1

General Wiring Requirements

4.1.1

Appliance handling

4.1.2

Electromagnetic compatibility

4.2

RTS Servo amplifier connection

4.3

Front Panel

4.4

Terminal blocks X1, X2 AND X3

4.5

Terminal block X2 connection

4.6

Terminal block X3 connection

4.7

Accessories

4.7.1

Plug-in Customisation card

4.7.2

Extra choke

4.7.3

Transformer 40

4.7.4

Mains filter

LED DISPLAYS

SERVO AMPLIFIER ADAPTATION

COMMISSIONING 51

Summary of Contents for RTS

Page 1: ...ONNECTIONS 24 4 1 General Wiring Requirements 24 4 1 1 Appliance handling 24 4 1 2 Electromagnetic compatibility 24 4 2 RTS Servo amplifier connection 25 4 3 Front Panel 30 4 4 Terminal blocks X1 X2 AND X3 35 4 5 Terminal block X2 connection 38 4 6 Terminal block X3 connection 38 4 7 Accessories 39 4 7 1 Plug in Customisation card 39 4 7 2 Extra choke 39 4 7 3 Transformer 40 4 7 4 Mains filter 40 ...

Page 2: ...al resistance 60 7 4 4 2 By external voltage 60 7 4 5 Time constant adjustment I f t R109 61 7 4 6 Adjustment of function I f t R103 61 7 4 7 Adjustment of current limitation curve versus speed I F n R131 132 62 7 4 8 Calibration of function U RI R133 R134 63 7 4 9 Tripping limit calibration R135 64 7 4 10 Current loop gain adaptation to motor inductance R136 64 7 4 11 dc voltage calibration RB 65...

Page 3: ...studied to prevent any accidental contact with live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations Check the bonding circuit Lock the electrical cabinets Use standardised equipment Mechanical hazard Servomotors can accelerate in milliseconds Moving parts must be screened off to pre...

Page 4: ...ual Connectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correctly and safely it must be transported stored installed and assembled in accordance with this manual and must receive thorough care and attention Failure to ...

Page 5: ...es can thus be included in one 19 rack TECHNOLOGY CMS components surface mounted Genuine galvanic insulation to prevent sensitivity to interference Hall effect current sensor Chopping frequency 17 kHz Speed bandwidth up to 150 Hz Integrated short circuit protection Speed range With tachometer 1 10 000 U RI 1 10 10 V differential reference for speed or current Differential tachometer input FUNCTION...

Page 6: ...chinery covered by Directive 89 392 EEC Machine Directive provided that it is integrated or incorporated and or assembled in accordance with the rules of the art by the machinery manufacturer and in keeping with the instructions in this booklet 2 TECHNICAL SPECIFICATIONS Power reduction with altitude Above 1000 m 10 fall in useful power per 1000 m up to maximum 4000 m Operating temperature Normal ...

Page 7: ...t output current A 3 10 12 12 20 16 Pulse current 2 sec A 10 20 24 24 40 32 Minimum motor choke mH 1 0 4 0 4 0 8 0 4 0 8 BRAKING ENERGY DISSIPATION CAPACITY Mean power Max pulse power 4 of cycle Maximum non repetitive W W sec 15W option 400 option 2 30 800 1 without without 100 2500 1 180 4500 2 180 4500 2 Losses dissipated by RTS W 15 40 30 80 120 130 DIMENSIONS H x L x D mm Rack version single p...

Page 8: ...RTS 2nd Generation SERVO AMPLIFIER 8 PVD 3487 GB 03 2004 2 2 Block diagram ...

Page 9: ... of the rack front panel Power consumption RACE234V22 2 x 15W fans RACE238V32 3 x 15W fans CODE WIDTH DIMENSIONS RACE234 42E 10 FELX 303532 p12 RACE234V22 fan cooled 42E 10 FELX 303532 p12 RACE238 84E 19 FELX 303531 p11 RACE238V32 fan cooled 84E 19 FELX 303531 p11 Dimensions RTS Parvex Ref Input supply Compulsor y ventilation Fan supply voltage Dimensional drawing ref Without customisation card Wi...

Page 10: ...tery Not p21 U RTS 72BA0102 fan cooled N FELX 304780 T RTS 10 20 60M RTS 51060102R Single phase Not p17 E RTS 71060102R fan cooled D FELX 304790 RTS 12 24 130M RTS 51130102R RTS 71130102R Single phase fan cooled p18 FELX 304745 RTS 12 24 130T RTS 53130102R RTS 73130102R Three phase fan cooled connection Internal p19 V e FELX 304747 r s RTS 20 40 130T RTS 53130204R RTS 753130204R Three phase fan co...

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Page 23: ...ltage ac f Input current ac g Output voltage dc h Output current dc The output voltage and current values correspond to those of the RTS model as in RTS servo amplifier performance chart A self adhesive label is placed on the RTS front panel Label A records N servo amplifier serial number R type of motor associated with RTS DT V emf of tachometric dynamo for 1000 rpm 10V TR reference value corresp...

Page 24: ...n be earthed via a low impedance link between the potential reference plate and the earth screw at the back of the RTS If this link exceeds 30 cm a flat braid should be used instead of a conventional lead CONNECTIONS Do not run low level cables resolver inputs outputs NC or PC links alongside what are termed power cables power supply or motor Do not run the power supply cable and the motor cables ...

Page 25: ... magnets etc 4 2 RTS Servo amplifier connection As a supplement to the block diagram see the appended diagrams RTS single phase FELX 303346 p 26 RTS three phase FELX 303261 p 27 RTS battery FELX 303738 p 28 Connecting serveral RTEs or RTSs with transformer FELX 305823 p29 The terminal block description and terminal functions are shown in the following pages The RTS servo amplifiers are factory set...

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Page 30: ...RTS 2nd Generation SERVO AMPLIFIER 30 PVD 3487 GB 03 2004 4 3 Front Panel RTS V2 Battery Rack RTS V2 Battery wall mounted ...

Page 31: ...RTS 2nd Generation SERVO AMPLIFIER 31 PVD 3487 GB 03 2004 RTS V2 10 E Rack RTS V2 12 E Rack ...

Page 32: ...RTS 2nd Generation SERVO AMPLIFIER 32 PVD 3487 GB 03 2004 RTS V2 12 E wall mounted RTS V2 12 A 130V wall mounted 1PH and 3PH ...

Page 33: ...RTS 2nd Generation SERVO AMPLIFIER 33 PVD 3487 GB 03 2004 RTS V2 16 A 190 V wall mounted ...

Page 34: ...RTS 2nd Generation SERVO AMPLIFIER 34 PVD 3487 GB 03 2004 RTS V2 20 A 130 V wall mounted ...

Page 35: ...w DESCRIPTION N NAME TERMINAL BLOCK X1 1 2 3 4 5 6 TACH TACH REF REF I I I I Tacho differential inputs Use shielded cable with shielding connected to terminal 3 Input voltage must not exceed 100 V Tachometric cable shielding Do not connect shielding at tacho end Speed or current differential reference depending on position of selector switch S1 10 V corresponds to rated motor speed at speed refere...

Page 36: ...t Resistor value 10 30 50 70 90 100 3 32 10 22 1 39 2 56 2 infinity 0 V reference to be connected internally in the casing Signal providing speed or current image depending on selector switch S2 position 10 V corresponds to max speed or current value Pulse current value shown in RTS characteristics chart See also identification section Typical uses motion synchronisation master slave mode cutting ...

Page 37: ...tor free wheels When the motor is fitted with a holding brake synchronise control of this input with brake control Reset By connecting RESET to terminal 13 faults are cleared and the axis is ready again if fault has been corrected Switching the RTS off and then back on has the same effect as RESET Logic 0 V to be connected to terminals 10 11 and 12 via control contacts Logic connection cable shiel...

Page 38: ...e current 0 5 A Permissible voltage 220 V ac 4 6 Terminal block X3 connection Recommended cable cross section RTS 3 10 1 5 mm RTS 10 20 12 24 16 32 20 40 2 5 mm DESCRIPTION N NAME TERMINAL BLOCK X3 1 2 3 4 5 6 M M U V W O I I I Motor connection cable cross section to be used see motor dimensions section Minimum motor inductance must be 0 4 to 1 mH depending on RTS rating Phase U of three phase sup...

Page 39: ...m wide Adjustment The ramp can be adjusted by potentiometers between 0 06 sec Volt and 0 6 sec Volt Reference Minimum time Maximum time 0 5V 0 3 sec 3 sec 0 10V 0 6 sec 6 sec 4 7 2 Extra choke The extra choke is connected between the RTS and the servo motor as near as possible to the RTS It must be used when the servo motor choke is less than the values in the table on page 7 It should also be use...

Page 40: ... TRANSFORMER POWER VA CODE DRAWING P RTS 3 10 40M single phase RTS 3 10 40M single phase RTS 10 20 60M single phase RTS 10 20 60T three phase RTS 10 20 60T three phase RTS 12 24 130T three phase RTS 12 24 130T three phase RTS 20 40 130T three phase RTS 16 32 190T three phase RTS 16 32 190T three phase RTS 16 32 190T three phase 1 2 to 4 1 1 2 to 3 1 2 1 1 2 3 120 630 630 500 1600 1600 4000 2500 40...

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Page 49: ...otor wire inverted Dissipater temperature too high LED remains on after cooling RESET to switch LED off Inadequate ac supply voltage Min U Power voltage too high Max U Energy return from load too high Excessive ac input voltage Short circuit of motor terminals Excessive mean motor current CORRECTION Check tacho wiring Check axis works correctly without tacho selector S3 in position 0 Check motor w...

Page 50: ...s unused X1 4 X1 5 input becomes a current reference Selector S2 Position X1 9 output indicates current information 10 V corresponds to pulse current Position X1 9 output indicates speed information 10 V corresponds to rated speed of application Selector S3 Position Tacho information is used in speed control Position Speed information is calculated from servo motor emf O I O I O I O I O I O I Usua...

Page 51: ...t voltage as required with the 5 transformer terminals With zero speed reference X1 4 X1 5 0V Release the servo amplifier X1 10 and X1 11 at 0V the motor must be under torque If the motor races cut the power and check the signals from the tachometer cut out or inversion before switching on again TAC fault If the motor growls or vibrates with possibly an IFT fault reduce servo amplifier gain by tur...

Page 52: ...eter back one or two turns If there is a large load on the potentiometer the potentiometer adjustment range may be inadequate and resistance R101 will have to be increased 6 5 4 NON 5 4 OUI 6 RTS 1 5 4 6 NO PLC CN RTS 2 5 4 6 RTS 1 5 4 6 YES PLC CN RTS 2 5 4 6 Application Potentiometer reference 15 VDC 0V 15 VDC 1 2 3 5 4 6 8 Blindage R1 R2 P 1 Bornier X2 Bornier X1 1 Terminal 4 may be connected t...

Page 53: ...ntrol is available as an option Method FIG 1 Adjust the gain potentiometer to the centre so gain may be varied up or down after adjustment Fit a large integration capacitor C101 10µF or strap Adjust proportional gain starting by R101 10 kΩ Increase R101 until 10 overshoot on speed reference increment Always use small speed reference increments e g 100 rpm or less so the system remains linear For l...

Page 54: ...tor and increasing the capacitor until the whistling stops usually several tens of nF and then continuing to increase gain while monitoring overshoot and torque ripple The C103 10 nF capacitor is ready fitted as standard in parallel with the R101 gain resistor FIG 3 When the gain is set the C101 integration capacitor must be reduced to produce 15 20 overshoot still for small speed increments 100 à...

Page 55: ...l selector S1 must be changed Check motor wiring and fuses If the dI dT LED is on check the motor is not short circuited and there is no ground fault Motor fails to rotate Check the ventilation system is working correctly Ambient temperature of the electrical cabinet must be less than 40 C CT temperature LED is on The motor is unstable and vibrates Reduce gain using the front panel potentiometer t...

Page 56: ...tud mounted and used to calibrate the servo amplifier for the corresponding motor Calibration is done at the manufacturer s facility before delivery and these components should not be modified CAUTION Servo amplifiers are factory set and the information in sections 7 4 1 7 4 11 are for reference only ...

Page 57: ...RTS 2nd Generation SERVO AMPLIFIER 57 PVD 3487 GB 03 2004 TACHOMETER SYSTEM EMF RATED SPEED ...

Page 58: ... X1 2 100 K 100 K 2 2 nF R 104 100 K 100 K 2 2 nF 200 K 1nF 200 K 1nF U RI O I S3 Sélection TACHY ou U RI 7 4 1 Tachometric generator voltage calibration R104 Resistor R104 is used to adapt the tachometric generator gradient to that of the servo amplifier 2V 1000 rpm Ket 2 3 4 5 6 8 10 12 15 20 R 104 kΩ 200 100 68 51 33 24 20 15 11 Do not exceed 100V on the tachometer input For a gradient of 1 V 1...

Page 59: ...iometer on the front panel allows easy fine adjustment of speed Turning it clockwise increases speed for a given reference Speed Nn rpm R 105 kΩ 700 770 869 950 1055 1200 1280 1400 1590 1650 1750 1800 1920 2100 2330 2600 2820 3100 3420 3700 4040 4400 4900 5200 274 221 182 150 121 110 100 82 5 68 1 56 2 47 5 39 2 The equipment may be adapted for speeds lower than those shown above but this hinders ...

Page 60: ...60 70 80 90 R113 kΩ 0 392 0 825 1 5 2 21 3 32 4 75 7 5 12 1 33 2 7 4 4 Current limitation by external resistance or external voltage terminal block X1 7 4 4 1 By external resistance The table below shows the external resistor value in kΩ versus the percentage of maximum current Voltage control between terminals 7 and 8 is also possible In this case the current is linear with 10 V I max of maximum ...

Page 61: ...tment of function I f t R103 Function I f t is designed to protect the servo amplifier and servo motor if the mean current required exceeds the rated current Resistor R103 is used to adjust the tripping limit authorised by the servo amplifier RTS 3 10 40 of rated current 50 60 70 80 90 100 R103 kΩ 1 82 2 74 3 92 4 75 6 81 8 25 RTS 10 20 60 12 24 130 12 24 24 48 16 32 190 20 40 130 of rated current...

Page 62: ...urrent selected by R113 begins to decrease linearly with speed When function I F n is not required R131 10 KΩ R132 100 KΩ Nr speed in thousands of rpm above which current decreases Ns speed in thousands of rpm at which current is zero R131 values Ns rpm 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000 R 131 kΩ 16 2 82 5 56 2 39 2 33 3 27 4 22 1 20 18 2 16 2 15 13 7 12 1 12 1 15...

Page 63: ...22 1 kΩ 18 2 kΩ 16 2 kΩ 15 kΩ 7 4 8 Calibration of function U RI R133 R134 This adaptation is necessary even when operating with a tachogenerator to ensure tacho safety speed signals from U RI and from the tacho are compared constantly and must be of the same order of magnitude EMF per 1000 rpm The electromotive force constant KE indicates the voltage measured on the armature for an off load speed...

Page 64: ... KE R134 kΩ 77R 7 4 9 Tripping limit calibration R135 Resistor R135 determines the tripping limit of maximum speed for tachometric servo control and U RI operation Nn rpm 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 R 135 kΩ 1 5 2 74 3 92 4 75 6 81 8 25 12 1 15 22 1 27 4 39 2 7 4 10 Current loop gain adaptation to motor inductance R136 RTS 3 10 10 20 12 24 16 32 20 40 R136 kΩ Ub L 3 10 5...

Page 65: ... Max voltage Min voltage Dissipation resistance On limit Off limit V V RB kΩ RTS 3 10 40 RTS 10 20 60 RTS 12 24 130 20 40 130 RTS 12 24 48 RTS 12 24 24 RTS 16 32 190 32 48 100 48 24 135 43 65 135 48 24 190 57 86 179 64 34 240 27 40 83 30 16 112 53 79 164 221 50 75 156 210 200 100 1 Remark The RTS servo amplifier may be used with supply voltages different from the standard values e g RTS 10 20 40 w...

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