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OPERATING MANUAL

SERIES SMTBD1

DIGITAL BRUSHLESS SERVO CONTROLLERS

(Version 3.1)

European version 3.1

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This is a general manual describing a series of servo amplifiers having the capability for driving AC
Brushless servo motors. It concerns only the basic amplifier version SMT-BD1. The options and
other amplifier versions are described in the complementary manuals. This manual may be used in
conjunction with appropriate and referenced drawings pertaining to the various specific models.

Maintenance procedures should be attempted only by highly skilled technicians

(EN 60204.1

standard) using proper test equipment. Read your warranty provision carefully before attempting to
adjust or service the unit.

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Содержание SMT-BD1 Series

Страница 1: ...A JAWNA Jana Dlugosza 2 6 Street 51 162 Wrocław Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS SMT BD1 1A 220 12 W T BS INFRANOR ...

Страница 2: ...ed with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS CNC MACHINES MOTORS POWER SUPPLIERS OPERATOR PANELS CNC CONTROLS INDUSTRIAL COMPUTERS PLC SYSTEMS Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS Buy this product at RGB AUTOMATYKA BUY ...

Страница 3: ...asic amplifier version SMT BD1 The options and other amplifier versions are described in the complementary manuals This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models Maintenance procedures should be attempted only by highly skilled technicians EN 60204 1 standard using proper test equipment Read your warranty provision carefull...

Страница 4: ...ms Store the equipment in a clean dry area It is advisable to leave the equipment in its shipping container until ready for use Each amplifier is checked carefully before shipment However upon receipt the user should make sure that the amplifier received corresponds to or is properly rated in terms of rated voltage and current for the type of motor which is to be driven The descriptive label affix...

Страница 5: ...nector 14 3 5 0 X4 input output command connector Sub D 25 points male 15 3 6 0 X5 serial link Sub D 9 points male 16 4 0 0 CONNECTIONS 17 4 1 0 Connection diagrams 17 4 2 0 Wiring recommendation according to IEC 801 and EN 55011 standards 19 4 2 2 Motor and resolver cables 19 5 0 0 ADJUSTABLE FUNCTIONS 20 5 1 0 PC Graphical window Infranor Digital Drive 20 5 2 0 Parameter file menu Files 23 5 3 0...

Страница 6: ... 7 3 0 Operating problems 33 7 4 0 Service and maintenance 34 8 0 0 APPENDIX 35 8 1 0 Hardware adjustments 35 8 2 0 Resolver connections 37 8 3 0 Motor connections 37 8 4 0 Logic control adjustment 40 8 5 0 BPCW software installation 42 8 6 0 360o shield on the connectors 44 ...

Страница 7: ... product registration function using master slave operation SMT BD1 H version with option card SMT Ix allows all communication with the CAN interface instead of the 10V The parameter setting software BPCW which is IBM PC compatible with the WINDOWS operating system allows the display of all amplifier parameters as well as their easy modifications 1 2 0 General description SMT BD1 amplifiers have t...

Страница 8: ...patible with the WINDOWS operating system allows the display and modification of all amplifier parameters The extended version of the BPCW software include the digital oscilloscope the simulation function as well as the cogging torque compensation ...

Страница 9: ...BD1 220 60r 240 61 12 26 30 SMT BD1 220 70 240 70 25 30 35 SMT BD1 220 100 240 100 25 30 35 Output currents for the Limiting mode of the I2t protection see chapter 8 3 3 AMPLIFIER U rated Imax Arms Amplifier continuous current Arms Vrms 1 s WITHOUT FAN FAN TYPE 1 FAN TYPE 2 SMT BD1 220 04 240 4 4 2 SMT BD1 220 08 240 8 8 4 SMT BD1 220 12 240 13 8 6 SMT BD1 220 17 240 17 7 8 5 8 5 SMT BD1 220 30 24...

Страница 10: ...gains Speed loop bandwidth Cut off frequency for 45 phase shift Programmable 50 Hz 75 Hz or 100 Hz Max motor speed Adjustable from 100 rpm to 14000 rpm Speed range 2048 1 with 12 bits input command 32768 1 with 16 bits input command Encoder position output Quadrature output A and B channels with n marker pulse s per revolution Programmable resolution max 8192 ppr up to 900 rpm max 4096 ppr up to 3...

Страница 11: ...9 The total position accuracy must take into account the accuracy of the resolver used ...

Страница 12: ...ts must be reduced of 3 C Max temperature 50 C altitude 1000 m 3300 feet moisture 50 at 40 C and 90 at 20 C EN 60204 1 standard Cooling Natural convection or forced air according to the rated current see current table 2 1 1 Standard compatibility SMT BD1 amplifiers operating either in the RBF rack equipped with the mains filter BF 35 70 or the SMTBM 20A single axis and BF 35 have been approved for...

Страница 13: ...11 2 2 0 Block diagram ...

Страница 14: ... storage EEPROM Amplifier automatic procedure Busy flashing display procedure operating continuous display operating error The operation mode of the I2t protection is described in chapter 8 3 3 LED is unlit LED is lit Reset of a stored default can be made by means of the RESET function in the BPCW software via the default RESET input pin 13 of the X4 connector by switching off the amplifier power ...

Страница 15: ...1 1 Front connectors SMTBM 20A single axis block For more detailed information regarding the power connection please see the SMTBM 20A manual 3 1 2 RBF rack connectors For more detailed information regarding the power connection please see BF Rack manual ...

Страница 16: ...CTION I O REMARKS 1 Marker Z O Differential output of the encoder marker pulse 5 V 20 mA max 2 Marker Z O Differential output of the encoder marker pulse 3 Channel A O Differential output of the encoder channel A 5 V 20 mA max 4 Channel A O Differential output of the encoder channel A 5 Channel B O Differential output of the encoder channel B 5 V 20 mA max 6 Channel B O Differential output of the ...

Страница 17: ...and for max speed 16 Input command CV I or current 10 V input command for Imax with CI input active 15 0 Volt speed input command CV I 3 Current limitation I limit I External current limitation 0 to 10 V for 100 to 0 of Imax 10 Speed monitor output O 8 V for 14000 rpm linearity 10 max load 10 mA 2 Current monitor output O 10 V resolution 8 bits load 10 mA DAC out 2 11 0 Volt analog output O 10 V f...

Страница 18: ...V0 X4 25 0V 4 7V Log Log 15V X4 18 AOK X4 19 AOK same for FC FC CI ENABLE same for I DYN Power OK 3 6 0 X5 serial link Sub D 9 points male PIN FUNCTION REMARKS 5 0 Volt GND connection of the shield if no 360 connection on the connector 2 TXD Transmit data RS 232 3 RXD Receive data RS 232 6 TXH Transmit data RS422 485 7 TXL Transmit data RS422 485 8 RXL Receive data RS422 485 9 RXH Receive data RS4...

Страница 19: ... 35 70 90 F 20 40 60 AUTO TRANSFORMER 3 AT curve C L1 L2 L3 Filter BF 35 70 Aux GND POWER OK Only available on X5 of the rack back plane If not using the POWER OK signal make the jumper JK on the amplifier in order to have the AMP READY signal taking into account the power statement Aux ON Aux OFF K 1 ENABLE Power ON Power OFF Aux relay Power relay Disable POWER OK ENABLE relay 24 V 0 V Amp ready ...

Страница 20: ...18 4 1 2 Logic connection ...

Страница 21: ...effects Mavilor p n 410 0051 410 0052 Belden p n 9367 The recommended resolver cable is a three pair twisted with an individual shield on each pair Mavilor p n 410 0053 Belden p n 9728 Oflex p n 34252 4 2 3 Input command and serial link cables Analog input command signal CV requires a twisted and shielded pair cable The shield must have a 360 connection via metallic collars at both ends If the shi...

Страница 22: ...ses 5 1 1 Control panel This panel allows the direct control of the motor by means of the PC during the commissioning phase The RUN and SPEED functions must be confirmed by means of the Software control function in the Setup menu of the BPCW software version 2 x see chapter 5 2 0 RUN This function starts and stops the amplifier and the motor during the commissioning and adjustment phases STOP The ...

Страница 23: ...een 90 and 12600 rpm for a 9 V input command If this parameter is modified after the encoder programming output check that the new max speed value is compatible with the Encoder resolution parameter The Accel time parameter defines the motor acceleration or deceleration time between 0 and the max speed value defined above The adjustment range is between 0 and 30 s The Reverse movement function all...

Страница 24: ...ier RMS current limitation I2 t It can vary from 20 to 50 of the amplifier current rating This threshold is defined according to the amplifier and motor specifications see chapter 2 1 0 MOTOR LIST allows the automatic initialization of all motor parameters except for Maximum current and Rated current by choosing a motor in the appropriate table ENCODER RESOLUTION concerns the amplifier encoder out...

Страница 25: ...lock The port number can be stored in the PC via the Save configuration function The transmission speed Baud rate is selected in the right part of the Communication setup block When an amplifier is connected the BPCW software automatically acquires the communication speed saved in the amplifier This value can be modified by the operator and saved into the PC via the Save configuration function Sav...

Страница 26: ...defines the first integral gain KI1 of the regulator speed error The adjustment range is between 0 004 and 255 Integral 2 gain parameter defines the second integral gain KI2 of the regulator speed error The adjustment range is between 0 000015 and 1 All these gain parameters are automatically calculated during the execution of the AUTOTUNING function 5 4 3 Analog input filter The parameter ANALOG ...

Страница 27: ...f the window are not taken into account 5 5 2 Digitizing oscilloscope This function is accessible without the hardware key form the BPCW version 2 6 It allows the access to the graphic window of the digitizing oscilloscope for the display of the amplifier control signals The digitizing oscilloscope functions description is accessible in the Help menu of the BPCW software select the Help menu then ...

Страница 28: ...y line fluctuations Check the DC bus voltage on back of the rack VDC 310V VDC max 370 V VDC min 200 V The braking resistor must remain cool CAUTION This resistor is under high voltage Turn power off and wait until voltage drops below 10 V before plugging in the first amplifier ENABLE input open and analog input command CV open or shorted Plug in the amplifier and apply power 1st CASE Use without a...

Страница 29: ...d current parameters of the CURRENT module are compatible with the motor and the amplifier Otherwise modify them according to the appropriate motor and amplifier specifications Check that the value of the Max speed and Accel Time parameters of the ANALOG INPUT module are compatible with the motor and the application Otherwise modify them according to the appropriate motor and application specifica...

Страница 30: ...E menu Save all parameters in a file File Name PAR by means of the function Save parameter file of the FILE menu This file can then be loaded into the BPCW software by the function Load parameter file of the FILE menu Leave the BPCW software via the Exit function of the FILE menu 6 3 4 Amplifier adjustment to a new motor If the motor used is not in the MOTOR LIST module proceed as follows Select a...

Страница 31: ...UTO TUNING procedure by selecting a lower bandwidth Bandwidth Medium or Low If the problem remains redue the AUTO TUNING procedure by activating the antiresonance filter Filter Antiresonance The antiresonance filter is accessible from the BPCW version 2 6 and amplifier EPROM version 5 7 Couple the motor to the load and move the shaft in MANUAL control and a low digital speed input command in the R...

Страница 32: ...f the CONTROLLER module with the motor at standstill If the shaft is moving then the Autotuning function has not been accepted by the amplifier In case of loud noise in the motor at standstill and when running check the rigidity of the transmission between motor and load backlashes and elasticities in gears and couplings If necessary redue the AUTO TUNING procedure by selecting a lower bandwidth B...

Страница 33: ...Check that the ENABLE input is open Then check that the motor is uncoupled and the shaft movement is free during the procedure If the BUSY default is continuously displayed after the execution of the AUTOTUNING function the procedure has failed because of an external cause or the calculated parameters are wrong Check that the ENABLE input is open Then check that the motor is uncoupled and the shaf...

Страница 34: ...le corresponds to the current table see chapter 2 1 0 Check for short circuit in the motor wiring and at the motor terminals 7 2 7 Resolver default Check the resolver connection on the amplifier connector X1 Check the presence of the P RES components Check that the resolver type is correct with regard to the P RES components Check the connections between the resolver and the amplifier 7 2 8 R D C ...

Страница 35: ...PULSE INPUT MODE is disabled in the Advanced functions menu see chapter 5 4 4 Check that the proper motor is chosen in the MOTOR LIST module Check the resolver wiring on the X1 connector and the mechanical mounting of the resolver on the motor Check the value of the MOTOR PARAMETERS in the ADVANCED FUNCTIONS menu and execute the AUTOPHASING command again with uncoupled motor if necessary see chapt...

Страница 36: ...h respect to the sigh of the input command If direction need to be reversed use the function Reverse movement in the BPCW software to get correct operation 7 3 9 Loss of serial port communication during operation Check that serial port cable is properly connected to the amplifier and the PC see chapter 3 6 0 and 4 1 4 Verify that the serial port on the PC side is operational Some custom VGA video ...

Страница 37: ...2 BL 114 B3 B3 B2 B2 BL 115 B3 B3 B2 B2 PC4 BL 141 B2 B2 B2 B1 PC2 BL 142 B3 B3 B2 B2 PC3 BL 143 B3 B2 B2 B1 PC2 PC1 BL 144 B2 B2 B2 B1 PC1 PC1 PC1 RA 270 kΩ CA 470 pF C14 82 pF PC2 RA 220 kΩ CA 560 pF C14 100 pF PC3 RA 160 kΩ CA 680 pF C14 150 pF PC4 RA 120 kΩ CA 820 pF C14 150 pF The standard analog digital converter ADC of the analog speed input command has a 12 bits resolution ADS 7804 Optiona...

Страница 38: ...36 For amplifiers 4A to 60A PSTH Threshold adjustment for NTC thermal probe on logic board 01640 only For amplifiers 70A to 100A ...

Страница 39: ...omponents according to the table below P RES TRANSFORMATION RATIO 0 3 0 45 0 5 1 A B C D 1 21 K 14 3 K 12 7 K 6 34 K It may be necessary for some resolvers to adjust the phase shift between the Cos and Sin reference signals by means of a specific capacitor This adjustment is factory set by INFRANOR 8 3 0 Motor connections INFRANOR MOOG MOOG MAVILOR MAVILOR BALDOR GETTY ID SMTB CABLE 303 304 306 MA...

Страница 40: ...robe resistor at 120 C Example BLS74 motor RNTC 120 C 3 kΩ PSTH A 10 kΩ PSTH B 28 kΩ PSTH D 14 3 kΩ 8 3 2 Current loops The adjustment of the current loop P I regulators according to the amplifier current and to the inductance between the motor terminals is made as follows 4A 8A 12A AND 17A AMPLIFIERS Calculation of G 1 4 x Amplifier current A x Inductance between phases mH If G 60 current loop ju...

Страница 41: ...nt 2 The maximum current duration before the limitation to the rated current also depends on the value of the Rated current and Maximum current parameters This value is calculated as follows T max second t2 t0 240 x Rated current Maximum current 2 NOTE When the Maximum current Rated current ratio is close to 1 the values of Tdyn and Tmax calculated above are below the real values This formula rema...

Страница 42: ...e or open at level 5 V 30 V Input impedance 10 KΩ Response time 500 µs Remark The five inputs FC FC ENABLE CI CV0 of the X4 connector must all be in positive logic or all in negative logic 8 4 2 Limit switch inputs During the amplifier operation in speed mode CI logic input disabled the enabling of the FC limit switch stops any CW motor rotation and the enabling of the FC limit switch stops any CC...

Страница 43: ... Undervolt default is displayed and can hide a default of lower priority The AMP READY and POWER READY outputs are both inactive contact is open until the power supply in on JK jumper open and KL jumper closed The Undervolt default is inhibited when turning on the auxiliary supply before switching on the main power supply The AMP READY output is then active and POWER READY remains inactive contact...

Страница 44: ... or higher resolution monitor Mouse or other pointing device Microsoft Windows Version 3 1 or higher 8 5 2 Installing BPCW on your computer Start Windows The Windows Program Manager appears Insert Disk in the appropriate drive From Program Manager s FILE menu choose Run The run dialog box appears see below In the Command Line text box type A install and click OK Or substitute Drive A with a differ...

Страница 45: ...iles Destination indicates the directory where the files will be loaded Group is the name of the software group under Program Manager Under Program Manager click on BPCW Configuration in the Smtbd group for starting the software configuration Configure the Communication port port number and transmission speed Select the appropriate language Click on Save configuration Leave the configuration progr...

Страница 46: ...box is metalic This solution does not correspond exactly to the IEC requirements but it is acceptable Connector box on the MAVILOR motor As short as possible Ground V U W Metallic or metal plated plastic SMTBM 20A Sub D pin package 360 degrees shield ensured by the tightening clamp The fastening screw must be tightened in order to ensure the shield continuity on the amplifier housing Sub D connect...

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