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MANUAL

3-Phase-Transistor-Servo-Drive

for

AC-Synchro-Servomotors

with

Resolver

-R

Version
0899-1

Industriestraße 1

D-71397

Leutenbach 3 - Nellmersbach

Summary of Contents for TVD6.2-RS

Page 1: ...MANUAL 3 Phase Transistor Servo Drive for AC Synchro Servomotors with Resolver TVD6 2 RS Version 0899 1 G m b H Industriestraße 1 D 71397 Leutenbach 3 Nellmersbach ...

Page 2: ...ice 14 Mains Connection 15 16 Motor Connection 17 Control Connection 18 to 23 Signals 24 25 Connector Plan 26 27 28 4 Device Overview Resolver 29 Component Positions 30 Block Diagram 31 Frontpanel 32 Adjustment Functions 33 Signals 34 5 Adjustment Adjustment Advice 35 Nominal Value 36 Actual Value 37 Current 38 Speed Controller 39 to 41 6 Getting Started Default Setup 42 Getting Started 43 7 Fault...

Page 3: ...100 VDE 110 VDE 160 und VDE 0113 TÜV regulations Regulations of the professional guild The user has to assure that after a failure of the device an incorrect handling a failure of the control unit etc t he drive is brought to a secure operating condition Machines and installations are to be provided with supervisory and safety equipment that is independent of the device Adjustment only by qualifie...

Page 4: ... be measured precisely the servo control unit can be mounted easily It is possible to control the speed from the motor voltage but in order to achieve exact regulation it is prefe rable touse atways a tachometer regulation The tachometer actual value is generated from the sensor unit resolver In the speed controller P I controller of the servo drive is the differenz of nominal value and actual val...

Page 5: ...ng machines machine tools plastic working machines assembly machines knitting and sewing machines textile working machines grinding machines wood and stone working machines food processing machines robots and manipulators storage across machines Extruder Kalander and many other machines and installations Notice In bl drives which mainly require deceleration for example winding machines lifts great...

Page 6: ...standard components are used All ICs with external connections are mouted on high quality sockets LED displays 16 digit binary switches for PI setup of the speed regulator precision trimers for fine adjustment plug in jumpers for system setup Characteristics Direct power supply 400V Electronic starting current limitation 2 differential reference inputs Accelleration and decelleration ramp with sec...

Page 7: ...s protection standard IP 00 device layout VDE 0100 group C VDE 0160 humidity stress class F according to DIN 40040 operation altitude 1000m above NN operation range 0 45 C with external fan 0 35 C expanded operation range up to 60 C red 2 C bearing reach 30 C up to 80 C speed controller control precision excl tacho error 0 1 control range 1 1000 reference inputs 10V logic inputs 10 30V logic outpu...

Page 8: ...Transistor Servo Drive TVD6 2 RS 8 Compact 10 and 16A 25A Device Wanne Wanne or mounting angles Dimensions ...

Page 9: ...4 5 A 1xE 3 2xE 3 3xE 3 4xE 3 5xE 3 B 1xE 40 2xE 40 3xE 40 4xE 40 5xE 40 C 1xE 55 2xE 55 3xE 55 4xE 55 5xE 55 Unit grid dimension 10 and 16 A Device E 81 28 mm 25 A Device E 121 92 mm Mounting height 255 mm 2 Mechanical Installation Multi axes combinations Dimensions ...

Page 10: ... Jumper J2 IC I7 external ballast resistor Bridge D open cable 1 Rack Hight unit 6HE Wide unit 10 16A 16TE 25A 24TE Mixed 6HE 3HE TVD3 racks on request X31 TVD6 F1 2 X11 Entfernen bei externem Ballastwiederstand X8 nur bei Ausführung IN RS 80 0 D9 D15 I1 65 32 X7 X8 X11 X11 X11 X31 X1 X2 X3 X11 X11 355 0 2 32 2 1 X8 X7 16 17 32 D1 Structure of Device ...

Page 11: ... xx xx 16A 125 30 xx xx xx 25A 180 43 xx xx xx Fixing dimensions mm compact device current A B C D E screw 5 10 16 Wanne 95 335 M4 5 w Wanne 135 335 M4 25 sw mounting angles 180 158 190 555 M5 multi axes combinations mounting angles A C D E screw wall mounting n x E 60 n x E 40 190 5 55 M5 front mounting with19 systems E at 16A 81 28 mm n number of plug in units E at 25A 121 92 mm 2 Mechanical Ins...

Page 12: ...s device mains filter motor chokes ferrite core rated current 1ph 3ph 5A FE1 10 FE3 10 MDD 1 3 a EMI742 70107 10A FE1 16 FE3 16 MDD 1 6 a EMI742 70107 16A FE1 16 FE3 16 MDD 2 b EMI742 70107 25A FE3 25 MDD 2 5 b EMI742 70107 Connection Overview ...

Page 13: ...eft diagram without internal connections Connection multi axes combination One or more axes with power supply unit plus one or more axes without own power supply unit power supply unit positions free choosable 3 Electrical Installation Connection Plans ...

Page 14: ...ng board with a 2 5mm wire Device PE screw connected to mounting board with a 50mm long 4mm line Single phase power supply mains filter Type up to 16A FE1 16 linelength device mains filter 100mm Three phase power supply mains filter Type up to 16A FE3 16 up to 25A FE3 25 linelength transformer mains filter 500mm linelength device mains filter 100mm Motor connection motor chokes Type 10A MDD1 6 10 ...

Page 15: ...ge 14 short line length between input filter and device or shielded line FI switch design to DIN VDE 0664 tripping current 200mA only combined with other protective measure Connection to 400 V mains Alternating voltage connection 1x400V 50 60Hz compact device up to 10A multi axis combination up to 20A Three phase current connection 3x400V 50 60Hz with 10A multi axes rack 20A necessary dimensioning...

Page 16: ...ated current quick fuses after the transformer fuse value for each power supply unit max 30AF Transformer capacity primary voltage 500V secondary voltage 400V Autotransformer transformer rated power VA 0 2 x 400 x IM x GLF x nF Isolation transformer transformer rated power VA 1 25 x 430 x IM x GLF x nF IM total power of the motors GLF coincidence factor nF speed ratio factor GLF nF 1 with one moto...

Page 17: ... failure Motor chokes against HF failure against high discharge current for high efficiency of the motor for the duration of the motors life External ballast resistor dimensioning average of the brake power per axis 1 x Jg x n Jg x a x n Pballast W x f 2 MM Jg motor and effective load torque kgm nmax maximum speed s MM maximum motor torque Nm a deceleration s f repeating frequency of the braking s...

Page 18: ...inal value lines paired twisted and shielded Logical connections Relay with golden pins or reed relay Maximum currency on contact 6mA Internal logical voltage15V Potential connection With relay control Jumper J1 and J3 plugged External logical voltage Galvanic isolation With SPS or CNC UEXT 15 up to 30V on clamp X2 27 GNDE on clamp X1 11 jumper J1 and J3 unplugged residual ripple of the logical vo...

Page 19: ...ble external logical voltage enable voltage 0V X1 2 Enable switching on nominal value and torque control are cleared immediately LED D1B bright Enable switching off jumper J2 plugged quick stop default setup nominal value immediately set to zero internally deceleration LED D1B dark after five seconds speed controller locked jumper J2 unplugged no braking speed controller immediately locked LED D1B...

Page 20: ...inal value drive moves from limit switch limit switch cleared contact closed Caution Without limit switch connection between X2 27 X2 32 and X1 16 Integral switching off Function relay contact contact speed controller open P I regulation locked P regulation Function external logical voltage voltage X2 31 speed controller 2V P I regulation 10V P regulation Caution Notice optimization advices Mains ...

Page 21: ...tly X4 1 value 1 X1 8 GND X4 10 nominal X2 17 signal SW2 1 2 directly X4 2 value 2 SW2 2 3 ramp X4 2 X2 28 GND X4 10 Jumper positions function jumper position default setup nominal value1 differential input S12 unplugged with internal voltage source S12 plugged nominal value 2 differential input S11 unplugged with internal voltage source S11 plugged with ramp integrator SW2 Pos 2 3 without ramp SW...

Page 22: ...puts maximum input voltage 10V input resistance 10 kW internal attenuatiuon with trimer Imax1 Imax2 relay contacts gold or reed contacts Connection current limit conection jumper measuring point positve X1 9 signal S19 unplugged X4 3 X1 7 GND X4 10 negative X1 10 signal S20 unplugged X4 3 X1 7 GND X4 10 internal supply CNC SPS nominal value current Caution with internal current limit adjustment ju...

Page 23: ...aution Notice motorspecific connection sheets Appendix A Function colour Pin No reference A R1 white X7 13 reference B R2 brown X7 4 sine A S1 yellow X7 2 sine B S2 green X7 15 cosine A S3 pink X7 14 cosine B S4 grey X7 3 temperature sensor X7 6 temperature sensor X7 12 with motors without temperature sensor bridge between pin 6 and 12 Function Colour Pin No channel A red 2 channel A black 9 chann...

Page 24: ...1A dark contact open BTB turns off with individual error BTB LED D1A single signal LED actual value error dark LED D2H bright overtemperature dark LED D2G bright short line to earth fault dark LED D2F bright voltage error dark LED D2B bright buffer circuit error dark LED D2A bright Caution In any case use BTB contact with CNC SPS Control Analogue measuring outputs function motor currency speed con...

Page 25: ...dication stored intermediate power supply circuit unit error X1 14 LED 2A yes overload blocked X2 18 LED 1F no standstill speed 1 X2 25 LED 1E no overtemperature motor 150 C X2 26 no heat sink 75 C X2 26 no heat sink 80 C X2 26 LED 2G yes warning motor heat sink too hot X2 19 no reference earth GND X2 23 memory reset enable off on jumper S6 plugged default setup main s off o n jum per S6 un plug g...

Page 26: ...2 X11 10c device ground GND X1 13 X11 8c intermediate circuit error X1 14 X11 6c amplification 1 1 X1 15 X11 4c limit switch X1 16 X11 2c nominal value 2 input signal X2 17 X11 32a overload signal X2 18 X11 30a overload tacho error or temperature error X2 19 X11 28a current I actual X2 20 X11 26a ready operational BTB X2 21 X11 24a ready operational BTB X2 22 X11 22a device ground GND mass X2 23 X...

Page 27: ...ctual value X4 6 n actual value normalised X4 7 enable X4 8 device ground GND X4 9 10 Power connection X3 Function Terminal No Intern Connector No intermediate circuit ex load resistor X3 1 X31 18 2 0 abc intermediate circuit X3 2 X31 14 16 abc power L1 400V X3 3 X31 10 12 abc power L2 400V X3 4 X31 6 8 abc power L3 400V X3 5 X31 2 4 abc earth PE X3 6 motor 1 X3 7 X31 22 24 abe motor 2 X3 8 X31 26...

Page 28: ...grey X7 3 temperature sensor X7 6 temperature sensor X7 12 Kabel 3x 2x 0 25 twisted and shielded 2x 0 25 Temp Schield on connector case Encoder Connector to CNC SPS X8 Function colour D Connector No channel A red X8 2 channel A black X8 9 channel B brown X8 3 channel B green X8 8 zero pulse N grey X8 7 zero pulse N pink X8 4 5V 50mA external violet 0 5 X8 1 GND internal external blue 0 5 X8 5 Noti...

Page 29: ...TVD6 2 400 x RS 29 Resolver 4 Device Overview ...

Page 30: ...Transistor Servo Drive TVD6 2 RS 30 Componet Position ...

Page 31: ...TVD6 2 400 x RS 31 Block Diagram 4 Device Overview ...

Page 32: ...X4 1 1 nominal value after the diff amplifier 2 2 nominal value after the integrator 3 nominal current value 4 10V 5 10V 6 current actual value 7 speed actual value 8 enable 9 n c 10 device ground GND Indicator LEDs 1x end limit switch end limit switch overload blocked standstill current direction current direction enable enable ready operational BTB Adjustment Potentiometer ID continous current l...

Page 33: ...binary switch S4 poti P3 Xp amplification I component binary switch S5 Nullabgleich Poti P8 Offset Jumpers Function Jumper 1st nominal value input zero referenced S 12 2nd nominal value input zero referenced S 11 ramps 2nd nominal value on off SW2 2 3 1 2 actual value differentiation S 14 actual value smoothing S 3 internal current limit 2 S 19 internal current limit 1 S 20 amplification 1 1 S 2 e...

Page 34: ... controller output LED D speed controller output LED C enable nominal value LED B ready operational BTB LED A Power section LED D2x actual value error stored LED H temperature optional LED G short detection stored LED F rotor position R3 LED E rotor position R2 LED D rotor position R1 LED C voltage error stored LED B intermediate circuit error not stored LED A Signals ...

Page 35: ...justment torque controller P I switch Xp adjustment slope limitation INT adjustment only nominal value 2 zero point offset adjustment position controller in CNC SPS Caution control systems have to be optimized from inside to outside sequence current controller torque controller position controller CNC SPS Measuring values control connector X4 measuring value max value measuring point 1st nominal v...

Page 36: ...ernal voltage jumper S11 S12 plugged jumper S11 S12 open notice GND connection signal and GND connection exchangeable default setup Both nomimal values connected 1st and 2nd nominal value are added internally notice signs sum of nominal values not over 10V Only with 2nd nominal value acceleration and deceleration ramp linear integrator 2nd nominal value jumper Poti range without integrator SW2 pos...

Page 37: ...adjustment with potentiometer nmax P4 with nom value from potentiometer with 1V Sollwert adjust to 10 maximum speed with 10V Sollwert fine adjust to 100 with nom value from CNC SPS with 0 8V Sollwert adjust to 10 maximum speed Direction of rotation looking at motor backside DIN change nominal value polarity at the differtial input Actual Value 5 Adjustment ...

Page 38: ...i Imax1 X1 9 0 10VS19 unplugged Imax1 P5 Imax2 X1 10 0 10VS20 unplugged Imax2 P6 The external current limit can be internally reduced with the Imax potentiometer Steady current motor protection adjustment for both torque directions to motor rated current potentiometer ID P6 Measure adjusted values motor not connected predetermine nominal value and enable turn on off measuring value at connector X4...

Page 39: ... optimal for most drives Caution with the input INTAB X2 31 the I component can be switched off Adjustment P component with the binary switch S4 switch S4 position 0 1 2 3 4 5 6 7 R value 1000 450 280 209 180 148 123107 kW position 8 9 A B C D E F R value 90 82 73 67 64 59 55 52 kW adjustment I component with the binary switch S5 switch S5 position 0 1 2 3 4 5 6 7 C value 0 01 0 02 0 03 0 04 0 08 ...

Page 40: ...tion Xp x Fxp Adjustment with osciloscope Adjust Measuring value nominal value jump 0 5V nominal value X4 1 input INTAB X2 31 activated reply of the controller nominal value current X4 3 Effect D component nominal value differentiation jumper S14 plugged Caution In case of position control CNC SPS do not use D component Speed controller ...

Page 41: ...ing fades out turn potentiometer Xp another two positions anti clockwise Setup switch S5 so that the drive runs smoothly after about two oscillations when there was a nominal value jump off 50 Responce of the drive amplification too low amplification too high long wave oscillation 1 0 1Hz short wave oszillation 30 200Hz long ballistic factors vibrates in case of acceleration overshoots target posi...

Page 42: ...tor screen encoder pay attention to the motor specific connection sheets Basic connections control lines enable contact betweem X1 1 and X1 2 nominal value signal X1 4 GND X1 8 limit switch limit switch at X1 16 and X2 32 or bridge X2 27 to X1 16 X2 32 Default adjustment for first putting into operation switch S4 P amplification position 4 switch S5 I component position 4 potentiometer Imax1 peak ...

Page 43: ...r lines motor run smooth not jerky amplification too high Xp turn anticlockwise turn off mains check motor and encoder lines adjust speed with poti nmax to 10 adjust nom dcvalue value to 0V drive stands still adjust speed with poti Offset to standstill increase nom value to 50 turn poti X clockwise until the drive oszillates then turn anti clockwise until the drive runs smooth adjust current limit...

Page 44: ... outputstage error heatsink temperature 80 C connect limit switches LED D1G dark LED D1H dark check limit switches or bridge limit switches connect enable check enable voltage and jumpers LED D1B dark preset nom v alue LED D1C dark LED D1D dark motor mech blocked motor or encoder line wrong LED D1F bright check nom value and jumper let device be checked by the manufactorer Switch on mais Fault Fin...

Page 45: ...meter connection wires exchanged or interrupted amplification too high nominal value failure power supply unit goes braking energy too high while braking to failure LED D2 A glows power supply unit goes power supply phase is missed or while switching on to failure the mains voltage is too low LED D2 A glows amplifier switches overtemperature phase or to failure line to earth fault BTB fault power ...

Page 46: ...Transistor Servo Drive TVD6 2 RS 46 Connector X4 ...

Page 47: ...TVD6 2 400 x RS 47 Encoder Signals Motor voltage Resolver Signals Motor current 7 Fault Finding ...

Page 48: ...on observance of the manual which is included in the all consignments non observance of the electrical standards and regulations improper maintenance acts of nature All further claims on transformation diminution and replacement of any kind of damage especially damage which does not affect the UNITEK de vice cannot be considered Follow on damage within the machine or sys tem which may arise due to...

Page 49: ... Imax2 external voltage V Adjustments speed controller Act value coarse adjustment DC Tacho S9 position Switch positions P component S4 position I component S5 position Potistellungen Speed nmax P4 position Peek current Imax1 P5 position Peek current Imax2 P6 position Steady current ID P7 position Integrator INT P2 position Amplification Xp P3 position Offset Offset P8 position Jumper plug in brid...

Page 50: ...nt power section Amplification current controller Resistors current controller kW Measuring values Motor voltage max V 3x Motor current peek A 3x Motor current steady A 3x DC Tacho voltage max V Acceleration V ms Deceleration V ms Motor data Identification plate specifications Producer Type Series No Motor voltage V Motor current A Brake V Fan V ...

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