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ENGEL Elektroantriebe GmbH ·

Am Klingenweg 10 · D-65396 Walluf

Telefon

+49 6123 9942-0 ·

Telefax

+49 6123 9942-50 · [email protected] · www.engelantriebe.de

Operating Manual

Rev. 1.8

Digital Servo Controllers

DSV 130
DSV 132
DSV 133

suitable for

three-phase synchronous motors

and

DC motors

Содержание DSV 130

Страница 1: ... 10 D 65396 Walluf Telefon 49 6123 9942 0 Telefax 49 6123 9942 50 info engelantriebe de www engelantriebe de Operating Manual Rev 1 8 Digital Servo Controllers DSV 130 DSV 132 DSV 133 suitable for three phase synchronous motors and DC motors ...

Страница 2: ... Analogue Monitor 16 5 PIN ASSIGNMENT 17 5 1 X1 MOTOR CONNECTION 17 5 2 X2 VOLTAGE SUPPLY 17 5 3 X3 MOTORSIGNALS 17 5 4 X4 SET VALUES CONNECTOR 18 5 5 X5 SERIAL INTERFACE RS232 19 5 6 X6 CAN INTERFACE 19 5 7 X7 PARKING BRAKE 19 5 8 X8 INCREMENTAL INTERFACE 19 6 INSTALLATION 21 6 1 CABLE TYPE CABLE LENGTH AND SHIELDING 21 6 2 INSTALLATION DIAGRAM 22 6 2 1 Operating with a three phase synchronous mo...

Страница 3: ...SV130_BA_070705 05 07 2007 technical data revised DSV130_BA_070924 24 09 2007 selection motorsystem notice current control RN12 Firmware EL V3 27 DSV130_BA_071205_en 05 12 2007 english version DSV130_BA_080107_en 07 01 2008 revision DSV130_BA_090121_en 21 01 2009 correction tacho signals X3 and installation plan DSV130_BA_110307_en 07 03 2011 1 8 New page layout installation plan labels X1 X2 DSV1...

Страница 4: ...ation The DSV is an electronic device designed for operating motors and for installation in machines The security rules of the Maschinenrichtlinie 89 392 EWG or its international counterparts have to be regarded Make sure that the drive is secured against any dangers or uncontrolled movements before set up The following list of valid regulations is not exhaustive DIN VDE 0100 Regulations for the i...

Страница 5: ...00µs by using a high performance DSP 10Bit resolver interface for detecting the rotor position Incremental interface A B Z signal Galvanically isolated CAN interface CANopen implementation providing CiA DSP 402 V2 0 DeviceNet networks optional Parking brake output 24V Integrated brake chopper with limited power expandable with an external brake resistor Power stage is short circuit proof and earth...

Страница 6: ... analogue outputs AO1 AO2 0 10V 5V 5V 10bit Imax 2 5mA for monitoring functions center voltage 4 9 5 1V quantisation 10Bit cut off frequency 1kHz digital inputs DI1 DI10 0 0V Uoff 5 0V 15 0V Uon 30V galvanically isolated max 35V common mode voltage DO1 controller enable DO2 power stage enable inkremental interface A B Z signal RS422 5V TTL 10 30V feedback f DC motors 100 10 000Imp U SSI optional s...

Страница 7: ...75V the generated braking energy is converted into heat energy by the internal respectively external braking resistor The continuous power rating of the brake resistor is electrically limited If the braking energy can not be reduced e g due to the limited continuous power rating of the braking resistor the intermediate circuit voltage rises until it reaches the threshold of the over voltage protec...

Страница 8: ...as between the motorwindings and the voltage supply The over voltage protection raises an error as soon as the dc link voltage exceeds its maximum value The temperature of the power stage heat sink is measured when the value exceeds 85 C the power stage is switched off 3 2 2 Motor protection The plausibility of the resolver signal is evaluated Invalid signal combinations lead to switch off of the ...

Страница 9: ...DSerV menu OPTIMISATION MOTORSYSTEM Notice Please pay attention to the jumper setting see chapter 6 3 it must correspond to the selected velocity and angle feedback sensor The servo controller DSV13x is operated either by digital and analogue inputs and outputs or via a CANopen fieldbus The decision if the CAN interface is used and the choice of node ID and baudrate is made in the menu OPTIMISATIO...

Страница 10: ...es analogue input 1 differential input 10V clockwise and counterclockwise rotation analogue input 2 unipolar 0 10V clockwise rotation can be inverted with digital input RS232 setpoint via DSerV by clicking RS232_SETPOINT and moving the slider left or right Notice Prior to setting up or operating the speed controller make sure that the current limits and the parameters of the current controller are...

Страница 11: ... 088 When operated by digital and analogue in and outputs up to 16 target positions relative and or absolute and target speeds can be stored as parameters Selecting the desired position and starting the positioning process is done via the digital inputs The operating mode Positioning is selected in the menu OPTIMISATION OPERATING MODE The parameters needed for the positioning are available in OPTI...

Страница 12: ...o 16 target positions can be configured under OPTIMISATION POSITIONING TARGET POSITIONS which are accessible by four BCD coded digital inputs Target position Set value for the target position shown for target address 15 with choices for absolute relative values and starting conditions Unit revolutions of the motor shaft Target position is absolute Target position is an absolute value relative new ...

Страница 13: ...he motor stop and its current rise are the criteria for detecting the home position Attention When homing against mechanical stop is used choose low speed setpoints to keep dynamic forces low appearing at stop mind the possibly high torques and forces Calculate or estimate developing forces by the given current limitation and check the effect to the entire system Homing must be done at least once ...

Страница 14: ...itches Activ an activated limit switch position control will cause a positioning error speed control reduces the speed setpoint depending on direction to zero and switches the speed controller from PI to P characteristic Type of limit switches Normally closed contacts an activated limit switch will set the digital output to 0V Normally Open Contacts an activated limit switch will set the digital o...

Страница 15: ...t switch left limit switch left DI 6 HALT HALT HALT DI 7 setpoint 0 setpoint 0 position prefix Bit 0 DI 8 inverted setpoint inverted setpoint position prefix Bit 1 DI 9 position prefix Bit 2 DI 10 position prefix Bit 3 Setpoint 0 Sets the demanded speed torque to zero regardless of the external set value In the operating mode Torque Control the motor produces almost zero torque Acceleration ramps ...

Страница 16: ... electromagnetic parking brake Connected to X2 the parking brake will be automatically switched depending of the drives enable state The parking brake is switched without any time delay Notice To prevent abrasion at an early stage mind the following Avoid switching enable with an abruptly rising torque Disable the drive preferably at standstill Attention Operating voltage of the parking brake inte...

Страница 17: ...lay internal values Notice When using the analogue output notice the tolerances of the center voltage the cut off frequency and the maximum output current In the menu OPTIMISATION ANALOGUE MONITOR the following values can be selected and displayed at the desired scale actual speed actual current in the q axis Iq torque producing current actual current in phase U actual current in phase V rotor pos...

Страница 18: ... PE Ground Ground 4 T connector for external brake resistor 1 Warning concerning DSV133 Do not connect the alternating voltage supply to protective earth Connections between ac voltage supply and protective earth can cause damage to components connected to the DSV133 if they have a separate connection to protective earth e g PC with GND PE connection 5 3 X3 Motorsignals device side connector 9 pol...

Страница 19: ...tal input 2 14 AO1 analogue output 1 device monitoring 5V 5V 10Bit 15 AO2 analogue output 2 device monitoring 5V 5V 10Bit 16 GND_H reference potential for auxiliary voltage pin 4 17 n c 18 GND_EA separate reference potential for the I O s 19 DI1 digital input 1 enable 20 DI9 digital input 9 position prefix bit 2 21 DI10 digital input 10 position prefix bit 3 22 DO1 digital output 1 configurable 23...

Страница 20: ...VDD_CAN is necessary to supply the CAN interface Only shielded bus cables should be used The maximum bit rate is 1MBit s 5 7 X7 Parking Brake device side connector 2 pole mini combicon MC1 5 2 GF 3 81 cable side connector 2 pole mini combicon plug Phoenix MC1 5 2 STF 3 81 Pin No Abbreviation Description 1 UZK Positive potential of the intermediate circuit 2 brake 0V switched brake output Attention...

Страница 21: ...cremetal encoder zero pulse clock signal SSI 4 GND ground 5 VCC voltage supply of the incremental encoder change JP6 for 5V or 16V 6 signal A Data_In incremental encoder Signal A inverted data signal SSI inverted 7 signal B Data_Out incremental encoder Signal B inverted data signal SSI inverted 8 signal Z CLK incremental encoder zero pulse inverted clock signal SSI inverted 9 GND The signal values...

Страница 22: ...for DSV13x 2 5mm Attend voltage drop on the cable The motor cable must have an overall shielding which has to be connected to protective earth on the DSV side Flexibility and temperature range have to be according to the specific application The Protective Earth PE is connected to X1 4 and the shielding to the shield connector of X2 Signal wires within the motor cable parking brake have to be shie...

Страница 23: ...2 3 resolver 1 X4 shown uncomplete S4 S2 R1 S3 7 1 6 4 9 3 2 3 4 6 7 MT MT R2 5 8 5 8 PTC X3 2 3 5 GND X5 Rx Tx 2 3 5 COM 9pol PC Laptop installation example using internal voltage U_H Attention No galvanic isolation of digital inputs and outputs S1 2 1 labels shown of connector ASTA 035 Intercontec M U V W PE U V W 2 connectio to U_EA only necessary when using digital outputs X4 1 AE1 AE1 GND_EA ...

Страница 24: ...elay K1 rated voltage if possible intermediate voltage value R To compensate possible differences of the voltage K1 D free wheeling diode fig Decoupling of the parking brake X1 U V W 1 2 3 4 PE PE 42VAC X2 Ub GND 0V PE 1 2 3 T Tacho 1 X4 shown uncomplete Tacho Tacho R1 S3 7 1 6 4 9 MT MT R2 5 8 X3 2 3 5 GND X5 Rx Tx 2 3 5 COM 9pol PC Laptop S1 2 2 connection to U_EA only necessary when using digit...

Страница 25: ... the cover Conductible parts on the printed circuit board cause destruction when switching on the device fig Jumper setting The choice of the speed feedback sensor resolver tacho or BEMF and the configuration of the incremental encoder interface RS422 5V TTL 10 30V can be done via the jumpers on the PCB of the DSV13x Additional configurations in the DSerV menu OPTIMISATION MOTORSYSTEM are necessar...

Страница 26: ...roperly connected Error code 5 erroneous installation of resolver or rotor position sensor Other error codes see error table in chapter 8 1 Step 5 Connection to PC software DSerV Connect COM1 or COM2 of your PC Laptop to X5 of the DSV using a crossed null modem cable and start DSerV The status bar displays type and version of the DSV Remedies in case of faulty connection in chapter 11 2 Step 6 Che...

Страница 27: ... the switch off of the power stage and the motor drops out Drive errors are indicated by the drive red LED as a blinking code with the number of light pulses representing the error code The table of error codes allows to determine the error and to find a remedy In case of multiple errors only the one with the highest priority is reported The PC software DSerV shows the cause of the error in plain ...

Страница 28: ...rating braking operation adjust deceleration ramp if necessary 5 resolver error position sensor error Check the resolver wiring or rotor position sensor wiring 6 undervoltage Check input voltage 7 over current Check motor wiring Short circuit 8 check sum parameter memory Parameter memory has not been read correctly Error still present after switching off and on download known set of parameters che...

Страница 29: ... fixed set position is less than the specified positioning range 4 Set position Maximum positioning range Pre fixed set position is greater than the specified positioning range 5 Erroneous parameter s in the positioning range Inadmissible parameters of the positioning range e g min max 6 Supervision of the limit switches Inadmissible leaving of the positioning range specified by the limit switches...

Страница 30: ...and can be significantly lower than stated on the name plate Refer to the gear s or geared motor s datasheet According to an ENGEL standard all currents are given as peak values RMS values have to be converted IScheitel Ieff x 2 Step 3 The current controller s proportional gain can be calculated as follows Notice The approach described below provides approximate values for proportional gain and ti...

Страница 31: ... the speed controller does only make sense if the current controller is properly tuned If needed tune the current controller as described in chapter 9 1 9 3 1 Tuning a motor system with a speed sensor resolver incremental encoder tacho Step 1 Drive completely installed wired and fully operational according to the set up notes in chapter 7 Step 2 Make sure that the rated and maximum current are set...

Страница 32: ... notes in chapter 7 Step 2 Make sure that the rated and maximum current are set correctly and the current controller is properly tuned If needed adjust the current controller as described in chapter 9 1 Step 3 The voltage constant and the terminating resistance of the motor are assigned in DSerV under OPTIMISATION MOTOR The voltage constant is normally given in the datasheet It can be estimated ma...

Страница 33: ... starts to oscillate Then reduce the value until the motor is below the oscillating threshold Notice For BEMF control with IxR compensation the analogue monitor displays a calculated value which can vary from the real speed value significantly and is thus not always usable for optimisation Notice The high time constant of the speed capture is in BEMF Mode with IxR compensation possibly makes the e...

Страница 34: ...ns of DSV13x in mm Notice When mounting several DSV 13x in one cabinet keep a free space of at least 30mm between two neighbouring DSV devices in order to enable cooling by natural convection Allow a space of 80 100mm on the connection side of the DSV for connectors and wiring Ub 0V T U V W PE digital converter Status CAN Drive A B Ansicht A Ansicht B ...

Страница 35: ...reement prior to installing the software You accept all the regulations of the agreement a soon as you install the software The DSerV installation consists of copying the two program files to a folder on your hard disk Take the following steps 1 Start WINDOWS 2 Insert floppy disk or CD containing DSerV 3 Start Windows Explorer and create a working directory File New Folder Suggestion C Programme E...

Страница 36: ...ervo controller switched ON Does the dav file in your working directory match type and firmware of your servo controller Connect the RS232 after supplying the DSV 11 3 Using DSerV Main Menu Select functions here Monitor Window Display of actual and demanded values currents speeds I t integrator temperatures inputs outputs Status Bar Display of device type firmware version drive status errors in pl...

Страница 37: ...e saved in non volatile memory on clicking SAVE PARAMETERS They are still present after switching the controller off and on again The following sub menus are available Operation mode Switch between speed control and torque control select your source of set values Fieldbus Selects the fieldbus operation of the drive Adjustment for fieldbus addresses and baudrate Current controller Adjustment of rat...

Страница 38: ...means drive overloaded At 100 integrator value the output current is reduced to rated current Overloading is re enabled below 50 integrator value Motor temperature Only with linear temperature probe Power stage temperature Temperature of the power electronics heat sink Digital I O Shows the state of all digital in and outputs 11 3 4 Menu Set value RS232 On clicking the menu item Set value RS232 a ...

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