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Service Manual

DC 4Q A Series

Series

Precision Servodrive for DC Motors

Service manual

Precision Servodrive for DC motors

Via Monari Sardè, 3 - Bentivoglio (BO) - Italia

+390516640464 - Fax +390516640784 - www.selema-srl.it

DC 4Q A series

Summary of Contents for 100

Page 1: ...ice Manual DC 4Q A Series Series Precision Servodrive for DC Motors Service manual Precision Servodrive for DC motors Via Monari Sardè 3 Bentivoglio BO Italia 390516640464 Fax 390516640784 www selema srl it DC 4Q A series ...

Page 2: ...ed in compliance with the enclosure moun ting spacing and segregation requirements of the ultimate application These devices are intended as open type equipment The need to repeat a temperature test shal be considered in final end use application These devices are suitable for field wiring The EC mark that is applied to the drives references to the Low Voltage Directive 2006 95 EC and EC Directive...

Page 3: ... 7 Tachogenerator input 16 2 8 Ausiliary power supply V 16 2 9 Encoder inputs 16 2 10 Limit switch inputs 17 18 Chapter 3 3 0 Power supply construction 19 20 3 1 Connections to earth and ground 21 3 2 Note about Connections 22 Chapter 4 4 0 Internal adjustements 23 4 1 Brush motor Connections with Encoder feedback 24 25 4 2 Brush motor Connections with Tachogenerator feedback 26 27 4 3 Brush motor...

Page 4: ...ng the safety requirements may damage the equipment or injury the user This motion control equipment shoul be handled installed setted up and maintenanced only by competent personnel expert and trained in the installation of motion control electronic equipment Such technicians should be aware of potential electrical and mechanical hazards Shall never beliable or have any responsability if the prod...

Page 5: ...gh dynamic performance and precise speed is required 1 2 Operation mode and feedback DESCRIPTION SPEED CONTROL INPUT It is speed piloting using an analogue reference differential or common mode STANDARD TORQUE CONTROL INPUT It is torque piloting using an analogue reference This function allows you to control the current from the drive STANDARD DESCRIPTION START INPUT Start input enable the drive w...

Page 6: ...9 Vdc Input PWM frequency 20Khz Operating temperature 0 45 C Storage temperature 10 70 C Drift analog input 0 5uV C Analog inputs VEL 10Vdc max impedance 20Kohm Velocity monitor output Test 8Vdc max velocity Power supply output V 5Vdc max 130 mA Power supply output 9 8V 9 8Vdc max 4mA Encoder max frequency 300Khz with level 2 8 24Vdc min max Fault drive output NPN 50mA max Start input 9V 30Vdc min...

Page 7: ...ustement zone 6 Four calibration Potentiometers 7 Four Leds 8 TEST point Encoder Tacho or Armature velocity 9 M2 Signal terminal 5 pins MC1 5 5 ST 3 81 pitch 3 81 10 M1 Signal terminal 10 pins GMST 2 5 10 G 5 08 pitch 5 08 11 POWER Terminal 4 pins GMST 2 5 5 G 5 08 pitch 5 08 1 4 View product 3 2 1 4 5 6 7 8 9 10 11 ...

Page 8: ...st 20 mm 0 78 inch on each side of the device The converter must be mounted vertically on the electrical box In case you want to mount it horizontally remove the cover The electrical box must have suitably filtered air vents Leave the necessary space both above and below the converters Keep the drive from excessive mechanical vibration Conductive mounting panel zinc coated Dimensions are expressed...

Page 9: ...imensions in mm and Inch Supplementary ventilation V Standard radiator fan cooling below the converter operating temperature 0 to 45 C NO Mounting position YES If you need the converter mounted horizontally remove the cover 1 7 Mechanical dimensions ...

Page 10: ...ou can see the signal of velocity speed The output from 0 to 8V is from zero to maximum speed At this point you can analyze the signal when you enable one of the following velocity feedback Encoder Armature Tachogenerator Power connector 2 0 Signals input and output NOTE See also the connection diagrams in Chapters 4 1 4 2 4 3 POWER HV IN Positive Power supply input GND IN Negative Power Supply in...

Page 11: ...supply 9 8Vdc max 4mA 5 9 8V OUT Power supply 9 8Vdc max 4mA 6 START IN Positive drive enable with range 9Vdc min to 30Vdc max 7 VEL IN Reference Positive differential input Velocity command 8 VEL IN Reference Negative differential input Velocity command 9 TACH IN Positive DT tachogenerator input This signals corrisponds to power supply s negative GND input 10 TACH IN Negative DT tachogenerator in...

Page 12: ...ue mode Applying a signal of 10V at REQ the Drive to supply positive or negative peak current The formula to determine the value of Voltage to apply in REQ in order to obtain requested current is the following Example Drive size 10 20A request current 8A NOTE In current reference the loop of internal velocity automatically excludes itself 2 2 Current request REQ V REQ 10 Request current PKcurrent ...

Page 13: ... VEL Connect between terminal and GND terminal REQ a resistor 1 4W or 1 8W The figure is used a potentiometer connected to the rheostat With external resistance tends to zero ohms the output current tends to zero Increasing the ohmic value of resistance the value of current supplied increases With 47K of the current is limited to 50 on the Maximum size The loop motor speed remains active 2 3 Signa...

Page 14: ...apacity of the output is max 4mA Output 9 8V can also be used to enable the converter 2 4 Ausiliary power supply 9 8V Is possible enable the drive connected the START input with 9 8V output terminal 4 The standard drive is furnished in this configuration Start enable input has logic range 9V to 30Vdc min max Unconnected Enable input Drive Not Enabled Enable Input 9V to 30Vdc Drive Enabled 2 5 Star...

Page 15: ...ws an application using speed reference connections from C N C in the Common Mode This analog in common mode has a 20Kohm of impedance input Common mode reference The following figure shows an application with speed reference connections using an internal 9 8V power supply The speed potentiometer must have an included value between 5 and 10Kohm Speed reference from external potentiometer 2 6 Analo...

Page 16: ...V on request order This output can be used to power the encoder on the motor The capacity of the output current is 130mA max 2 7 Tachogenerator input Tachogenerator input M1 signal terminal pin 9 and 10 DRIVE D T The following diagram shows the connection from tachogenerator and the drive DC ONE This function is enabled through the following settings on the solder point and the insertion of RDT re...

Page 17: ... Then connect on said input a positive voltage between 5Vdc and 24Vdc coming from for example two N C contacts see figure 2 or 3 Function At opening one of the following contacts you enable the motor rotation in the corresponding direction 2 10 Limit switch inputs Note This Drive is factory set with the SG and SH solder bridge close DON T connect any voltage in the L SW and L SW inputs if the sold...

Page 18: ...18 Service Manual www selema it DC 4Q A Series Limit switch inputs continue Example with internal positive voltage 9 8V Fig 3 ...

Page 19: ...from an isolating rectified transformer secondary or a DC isolated power supply Voltage The primary voltage depends on what is available locally for a single phase The secondary voltage is calculated from the motor s voltage at the required operating speed The secondary voltage VDC is The transformer s nominal power is calculated based upon the sum of power from the single motors driven Where Pn M...

Page 20: ...it E Ke n 1000 Vdc Im I motor A Ri Winding resistance Ohm Ke Voltage constant V kRPM n MAX speed RPM In regards to the capacitor filter we suggest a working voltage of 100VDC for Model 65 160 200VDC for Model 100 and Model 130 Tipical value is from 4700uF to 10 000uF Fuses are required on both the primary and secondary of the transformer to protect against harm to the system and the transformer it...

Page 21: ...follow these indications 1 Connect to the ground bar the GND pin 3 of the Dc One the internal 0V zero voltage of the CNC the earth terminals of the PLC CNC frames the 0V of the auxiliary supply 2 Connect the ground bar to the zinced panel of the drive by using a screw then connect that screw to earth 3 Connect earth to the motor s It suggests a conductive connection as much as possible to the chas...

Page 22: ... power supply The conformity is assured only if it is installed following the precise assembly criteria expressed below The fundamental assembly characteristics are summarized below 1 The correct ground connection of predisposed parts 2 Using the division of cables technique Separate power cables from signal cables 3 Use of shielded cables both for power connection to the transformer and the motor...

Page 23: ...h you can enable or disable features or parts of the converter The converter in standard configuration encoder feedback is provided with the following point closed ON 4 0 Internal adjustements The following pages highlight the various settings to be implemented over the area of adjustments to set the converter depending on the desired velocity feedback In the left hand page for each chosen velocit...

Page 24: ...r The inputs signal encoder of the drive ENC A and ENC B are refer with the zero control signals of CNC To obtain good dynamic performance of the motor we recommend the use of encoders with at least 2000 2048PPR Acceptable performance is obtained anyway even with the use of encoders 500 512PPR Is possible to use the 5V output V terminal for the supplies the encoder Note the maximum load on termina...

Page 25: ...ENC 681 1000 33 333 20 4 kohm RENC resistor calculations The resistor RENC determine what is the max speed of the motor at 10V of reference The result of RENC resistance is 20 or 22 Kohm Prefer resistance with 1 tolerance Once the resistor RENC is inserted proceed with final speed adjustment Operate using trimmer SPEED on the front of the drive With Clockwise Rotation the speed increases With Coun...

Page 26: ...plication utilizing a Dc One with Brush motor The speed loop velocity is by tachogenerator feedback Signals from the encoder are connected only to the CNC for the control of space loop This function is enabled through the following settings on the solder point and the insertion of RDT resistance on the adjstustement zone CNC ...

Page 27: ... Kdt 10V KRPM max speed 2500RPM at 10V of speed reference The result is below RDT Kohm 10 2500 9 7 1000 10 7 9 16 4 Kohm Insert the commercial value resistance 18Kohm Prefer resistance with 1 tolerance Note RDT is the value of resistor expressed in Kohm with a power rating of 1 8 or 1 4w Kdt is the tachogenerator costant V KRPM N is the max speed express in RPM Vref is the max voltage VEL referenc...

Page 28: ... a Dc One with Brush motor The speed loop velocity is by internal armature feedback In the armature voltage PWM converter is used as the internal feedback of speed when the motor has not an encoder This function is enabled through the following settings on the solder point and the insertion of RA and RCA resistance on the adjstustement zone CNC ...

Page 29: ...7 3 3 Model 65 59 53 47 42 37 31 5 28 24 5 21 5 19 16 13 5 Model100 92 82 74 65 58 50 44 38 34 29 26 21 5 RA resistor calculations EXAMPLE Brush DC motor with Ke 26V Krpm Vdc Nominal speed N 2000rpm Risult Vdc 26 2000 1000 52V Drive model 65 Insert on base RA to adapt the system to use the motor voltage For the Example risult Vdc 52V The table shows a resistor with a value of 27Kohm Once the resis...

Page 30: ... If after insertion of the resistor the motor is unstable increase the Resistance value of RCA Where Vmot Nominal voltage of the motor Ri Max cold motor resistance Ipk Peak drive current Vref max applied reference voltage in VEL Insert an RCA resistor on the header ajustement zone to compensate for voltage loss due to the motor resistance reducing the loss of RPM The formula is as follows Setting ...

Page 31: ...of RIP in Kohm Note No resistor mounted Rin value 56 22 12 6 8 4 7 3 9 2 7 1 8 1 5 1 2 4 2 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 1 1 0 9 4 8 4 3 9 3 7 3 5 3 2 3 2 8 2 6 2 2 2 1 1 8 7 14 7 6 8 6 5 6 5 7 5 3 5 4 6 4 3 7 3 1 10 20 10 9 7 9 2 8 7 8 1 7 6 7 1 6 5 5 7 5 3 4 4 Rip value 470 390 220 150 120 100 82 68 56 47 2 4 4 3 7 3 5 3 2 3 2 8 2 6 2 5 2 4 2 1 2 4 8 8 7 4 7 6 48 6 5 6 5 3 5 4 8 4 2 4 7 14 14 13...

Page 32: ...enabled Ramp disabled standard setting Table Ramp enabled Resistance ohm TIME sec 27 Ohm 15 68 Ohm 5 100 Ohm 3 16 470 Ohm 0 8 1K Ohm 0 32 1 5K Ohm 0 26 3 3K Ohm 0 16 10K Ohm 0 086 The product is standard setting with this feature is not enabled solder bridge S3 open To enable the ramp acceleration close the solder bridge S3 and insert the RACC resistance NOTE The product comes standard with mounte...

Page 33: ...rease decrease the speed of the motor with range 25 OFFSET Offset adjustment Allows the balance to zero motor speed Adjust this potentiometer to cancel any motor speed offset when the Velocity input is zero Max Velocity compensation 250mV GAIN Gain potentiometer This adjustment improves the dynamic behavior of the motor With a clockwise CW we increase the readiness and response of the motor With a...

Page 34: ...TE The dynamic calibrations are performed using a reference speed in VEL of about 1 or 2V You can use the voltage output from the CNC control paying attention to rule out the correction of space Or use an external oscillator or a small battery 1 5 V 4 7 Dynamic adjustement The multi turn GAIN and DERIV trimmer allow to dynamically tune of the motor and its mechanics linked to it These trimmers hav...

Page 35: ...ay be needed to remedy the problem O C RED Normally OFF Indicates that between the motor terminals and or ground has been a short circuit The operation causes the blocking of the drive and the storage of the alarm Remove power supply and examine the motor connecting leads for shorts before re powering the converter to reset the alarm When power supply is on the green OK LED doesn t come on Check t...

Page 36: ...36 Service Manual www selema it DC 4Q A Series White page ...

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