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Mini Maestro User Guide

25

Issue Number: 5

www.controltechniques.com

Figure 4-5 Ideal waveform

Figure 4-6 Waveform resulting from excessive derivative gain

If the derivative gain is set at an excessive value, current noise can occur. This causes
unnecessary heating of the drive and motor, and can induce I

2

t current limit trips.

It may be necessary to adjust repetitively the PROPORTIONAL and DERIVATIVE
potentiometers.
If the drive has instability problems after adjustment and when it is connected to a
position controller, re-adjust the proportional and derivative gains.

NOTE

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Содержание Mini Maestro DCD60x10/20

Страница 1: ...User Guide Variable Speed Drive for Permanent magnet DC Servo motors Part Number 0470 0009 05 Issue 5 www controltechniques com Mini Maestro ...

Страница 2: ...ice in the UK or elsewhere The Drive may start automatically when power is applied All necessary precautions must be taken to avoid injury to personnel or damage to equipment as the result of unexpected application of power The enable input of the Drive should not be relied upon to ensure safety of personnel If a safety hazard could exist from unexpected starting of the Drive an interlock should b...

Страница 3: ...lectrical Installation 11 3 1 Connections 11 3 2 Grounding 13 3 3 External power supply 13 3 4 Motor connections 16 3 5 Signal connections 17 4 Setting up the drive 18 4 1 Adjusting the potentiometers 18 4 2 Mounted components 19 4 3 Making adjustments to the drive 20 4 4 Motor phasing 23 4 5 Dynamic calibration 23 5 Diagnostics 27 5 1 LED indicators 27 5 2 Fault finding 27 6 Accessories 28 ...

Страница 4: ...perature Operating temperature range 10 C 50 F to 45 C 113 F DCsupply Battery Nominal Rectified AC supply Minimum 24V Maximum 72V 60V Minimum 20V Maximum 80V Maximum ripple 2V peak to peak Reference voltages 10V 3mA maximum Monitor motor current 8V Monitor motor requested current TPRC 10V Power cables 2 5 mm2 AWG 14 for DCD60x10 20 and DCD60x14 28 models 1 5 mm2 AWG 16 for DCD60x3 6 and DCD60x7 14...

Страница 5: ...0x3 6 1 to 3 A 6A for 2 sec DCD60x7 14 2 to 7 A 14A for 2 sec DCD60x10 20 3 to 10 A 20A for 2 sec DCD60x14 28 5 to 14 A 28A for 2 sec The peak current can be adjusted from 50 to 100 using the RIP resistor mounted on SK1 NOTE The nominal current can be adjusted in the range shown using the RIN resistor mounted on SK1 NOTE ...

Страница 6: ...drive is IP00 When greater protection is required install the drive in a cabinet Choose a location that is free from excessive dust corrosive vapours gases and all liquids including condensation of atmospheric moisture Dimensions of the drive A 100mm 3 937in B 160mm 6 300in C 8mm 0 315in D 41mm 1 614in Electric shock risk The heatsink on the drive is LIVE Switch off the supply and wait at least 10...

Страница 7: ...ture exceeds 50 C 120 F the output power of the drive must be derated The drive has over temperature protection which trips the drive when the heatsink reaches 100 C 212 F Figure 2 2 Derating the maximum output current with temperature If the drive is to be installed directly beneath other equipment such as another Variable Speed drive ensure the drive does not cause the ambient temperature requir...

Страница 8: ... Mini Maestro User Guide www controltechniques com Issue Number 5 Figure 2 3 Dimensions of 3MB rack mount installation kit Dimension mm in a 40 1 575 b 26 1 024 c 7 0 276 d 8 0 315 e 130 5 118 f 20 0 787 ...

Страница 9: ...When a motor has an inductance less than 1mH a choke must be connected between the motor and drive and as close as possible to the drive Refer to Figure 2 5 for dimensions of the choke Dimension mm in a 66 2 598 b 15 0 591 c 8 0 315 d 132 5 197 e 5 0 197 Model Choke Choke rating DCD60x3 6 DCD60x7 14 L11 0 7mH 8A DCD60x10 20 DCD60x14 28 L12 1mH 14A ...

Страница 10: ...mensions of the L11 and L12 chokes Dimension L11 L12 mm in mm in a 56 2 205 75 2 953 b 12 0 472 87 3 425 c 64 2 520 7 0 276 d 56 2 205 75 2 953 e 64 2 520 100 3 937 f 6 0 236 8 0 315 g 52 2 047 44 1 732 h 40 1 575 44 1 732 j 11 0 433 k 46 1 811 60 2 362 Hole diameter 4 0 157 4 0 157 ...

Страница 11: ...e Number 5 www controltechniques com 3 Electrical Installation 3 1 Connections Installation kits Figure 3 1 Signal and power connections on the 3MB installation kit Figure 3 2 Signal and power connections on the 2MH installation kit ...

Страница 12: ...18 Pin number Function 1 Signal common 2 Protection enable 3 TPRC 4 10V 3mA supply 5 10V 3mA supply 6 Speed reference input non inverting 7 Drive enable 8 Signal common 9 Tachogenerator input 10 Speed reference input inverting 11 Imot Analog signal proportional to the effective current in the motor 14 15 16 17 DC supply input 19 20 21 22 DC supply input 24 25 26 27 Motor output M1 29 30 31 32 Moto...

Страница 13: ... cable of 10mm2 to 20mm2 The shortest possible wiring should be used The connection to the chassis terminal of the enclosure must be adequately sized If in doubt consult the supplier of the drive Figure 3 4 Ground connections 3 3 External power supply A single external power supply may be used to supply a number of drives Peak motor current less than 15A Use a single phase or three phase AC supply...

Страница 14: ...uation Pt Paz x 1 7 80 x 1 73 n 2 Where Paz Vm1 x Cm1 Vm2 x Cm2 Vm Motor speed in radians per second RPM 9 5 Cm Nominal torque in Nm 1 73 n 2 Empirical conversion factor for drives connected in parallel Secondary voltage Select the required secondary voltage as follows With no load V2 V1 x 1 4 With full load V2 V1 x 1 2 DC supply to the drive Secondary voltage VRMS 63 45 21 15 80 56 ...

Страница 15: ... power rating P V2 2 R AC supply fuses Delayed action fuses should be connected in the primary and secondary circuits of the transformer Use the following equations to calculate the ratings of the fuses DC supply fuses A 12 5A fast action fuse is fitted in the fuse holder on the panel of the installation kit This protects the DC supply to the drive If necessary replace this fuse with a 16A fast ac...

Страница 16: ...g emergencies the user short circuits the motor connections High frequency switching noise is troublesome The motor overheats irrespective of motor inductance Figure 3 6 Motor and choke connections The two cables between the drive and the choke are a source of noise The cables should be kept as short as possible 300mm is recommended Terminal 3 of the choke should be connected to the terminal of th...

Страница 17: ...urrent When used as an input and the same voltage range is applied the drive becomes a current amplifier using the applied voltage as current reference 4 0V Signal common 5 10V reference O 3mA max 6 10V reference O 3mA max 7 Enable I When a 10V DC to 30V DC signal is applied to this terminal the drive is enabled When the signal is discontinued the drive is disabled 0V Input impedance 47kW 8 Speed ...

Страница 18: ...from 0 second to 2 seconds for the motor to reach maximum speed with a 10V speed reference signal To disable ramps set the potentiometer at the fully anti clockwise position DERIVATIVE potentiometer Turn the potentiometer clockwise to reduce the amount of overshoot in the system response by increasing the derivative gain of the PID amplifier PROPORTIONAL potentiometer Turn the potentiometer clockw...

Страница 19: ...educes the nominal current to the required value RKW CRA resistor Adjusts the drive for armature voltage speed feedback DER capacitor Adjusts derivative gain INT capacitor Adjusts integral gain JUMP CRA jumper Adjusts the response of the system when the drive is in armature feedback mode RT resistor Normalizes the tachogenerator input signal and adapts the drive to the voltage constant of the tach...

Страница 20: ...n to calculate the value of the RT resistor RT 400 Vm x Ketacho 5Ω Where Vm Maximum speed of motor in RPM 1000 Ketacho Tachogenerator voltage constant voltage output at 1000 RPM and in general Ketacho V 1000 RPM Resistor ratings Power 0 25W Tolerance 20 Example Max required speed 3000 RPM Vm 3 Tachogenerator output 7V at 1000 RPM Ketacho 7 Calculate RT 400 3 x 7 5Ω 6 4kΩ The nearest suitable value...

Страница 21: ...drop due to motor resistance can be compensated by adjusting the value of the RAI resistor 1 Connect jumper JUMP CRA to enable operation with armature feedback 2 Use the following equation to calculate the correct value of RKW resistor RKW 0 260 x Vm x Kemotor Where Vm Maximum speed in RPM Kemotor Motor voltage constant voltage at 1000 RPM Calculating the value of the RAI resistor can be difficult...

Страница 22: ...value required for IPEAK The following table may be used for finding an approximate value for IPEAK RAI 80 Vm Kemotor Ip Ratot Too low a value for the RAI resistor may modify the velocity loop response For guidance contact Control Techniques NOTE The new value for IPEAK must be ignored when the value of RIN is calculated NOTE RIP 10 ILIM IPEAK ILIM kΩ When the peak current is reduced the ratio bet...

Страница 23: ...n generator at the following Squarewave output Amplitude 2V Frequency 0 2Hz 4 Connect oscilloscope channel A to pin 11 5 Connect oscilloscope channel B to pin 8 6 Connect oscilloscope ground to pin 9 7 Connect the oscilloscope external trigger input to the function generator output 8 Set the oscilloscope as follows Sensitivity 1mV per division Timebase 20ms per division 9 Apply power to the drive ...

Страница 24: ...n Turn the PROPORTIONAL potentiometer clockwise to obtain a waveform without oscillation 12 When a waveform without oscillation has been obtained in most cases the response will have an overshoot as shown in Figure 4 4 In this case the system has insufficient derivative action Turn the DERIVATIVE potentiometer clockwise to eliminate the overshoot as shown in Figure 4 5 Figure 4 4 Waveform resultin...

Страница 25: ...at an excessive value current noise can occur This causes unnecessary heating of the drive and motor and can induce I2t current limit trips It may be necessary to adjust repetitively the PROPORTIONAL and DERIVATIVE potentiometers If the drive has instability problems after adjustment and when it is connected to a position controller re adjust the proportional and derivative gains NOTE ...

Страница 26: ...26 Mini Maestro User Guide www controltechniques com Issue Number 5 The maximum acceptable amplitude for the current noise is 15 of the amplitude of the waveform Figure 4 7 Block diagram of the drive ...

Страница 27: ... functions is active 5 2 Fault finding Use the following procedures when the system is not working correctly after calibration Green LED off Power supply voltage out of range Check the DC supply voltage is within the acceptable range Drive protection is activated Check for a short circuit between the power connector terminals Check the motor inductance is not too low Motor not in full control Tach...

Страница 28: ...bridge rectifier 10 000µF 75V electrolytic capacitor 1664 1000 Code Description Part number 2MH Panel mount installation kit including fuses and connecting cable 7500 0008 3MB Installation kit for 19 inch rack mounting including screws and fuses 7500 0009 L11 0 7mH 8A inductor 4371 1108 Bridge rectifier 25A 400V three phase rectifier 10 000µF 75V electrolytic capacitor 1664 1000 Code Description P...

Страница 29: ......

Страница 30: ...0470 0009 05 ...

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