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Kollmorgen BDS5, Инструкция по установке и настройке, Страница: 122 / 150

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A

PPENDIX 

C - E

RROR 

C

ODES

BDS5

C-6

You attempted to execute an instruction from the terminal that is not allowed from the terminal.  This error generates
no action.

ERROR 53

"NOT FROM PROGRAM"

SEVERITY 1

You attempted to execute an instruction from the program that is not allowed from the program.  This error breaks
program execution.

ERROR 54

"NOT FROM MONITOR"

SEVERITY 1

You attempted to execute an instruction while in the Monitor mode that is not allowed from the Monitor mode.  This
error generates no action.

ERROR 55

"NOT FROM RECOVERY"

SEVERITY 2

You attempted to execute an instruction from the error recovery (the user's error handler or "ERROR$") that is not
allowed.  This includes attempting to enable the BDS5, GOSUB, and GOTO.  This error breaks execution.

ERROR 56

"NOT w/GEAR"

SEVERITY 2

You attempted to execute an instruction when the Gear mode was enabled that is not allowed with the Gear mode.
For example, MRD, MA, JT, and JF are not allowed with the Gear mode on.  This error breaks execution if the
instruction was issued from the program.

ERROR 57

"NOT w/PROFILE"

SEVERITY 2

You attempted to execute an instruction that is not allowed while the BDS5 is profiling.  Profiling occurs when move
instructions (MA, MI, MRD) or macro moves are executing.  Other examples of this are the traverse segment before
the accel/decel portion of position dependent jogs (JT, JF), and the accel/decel portions of all jogs (J, JT, JF).  This
error breaks execution.

ERROR 58

"NOT w/JOGGING"

SEVERITY 2

You attempted to execute an instruction that is not allowed when the BDS5 is jogging.  This error breaks execution if
the instruction was issued from the program.

ERROR 59

"NOT w/ROTARY"

SEVERITY 2

You attempted to execute an instruction that is not allowed when the BDS5 is in the Rotary mode.  Type:

ROTARY OFF

to turn the Rotary mode off.  This error breaks execution if the instruction was issued from the program.

ERROR 60

"OUTSIDE PROTARY"

SEVERITY 2

Содержание BDS5

Страница 1: ...as fast as BDS5 PL PLIM TRIP and PDF State is remembered through power down A2D Switch When using the on board analog input set A2D to 1 When using the encoder input for master slave application set...

Страница 2: ......

Страница 3: ...BDS5 INSTALLATION AND SETUP MANUAL Old Number M93101 ISSUE 4 New Number MB5000H...

Страница 4: ......

Страница 5: ...ii iv blank List of Figures 0 v vi blank List of Tables 0 vii viii blank List of Drawings 0 1 1 1 16 Text Pages 0 2 1 2 26 Text Pages 0 3 1 3 10 Text Pages 0 4 1 4 4 Text Pages 0 5 1 5 6 Text Pages 0...

Страница 6: ...ATION AND SETUP MANUAL M93101 RECORD OF REVISIONS ISSUE NO Revision DATE CHANGED PAGES BRIEF DESCRIPTION OF CHANGE CHANGE NO 3 4 15 Mar 95 10 Nov 95 Replaces issue dated 15 Feb 95 Add Appendix E and i...

Страница 7: ...IAL DRIVES Technical Manual Department 201 Rock Road Radford VA 24141 U S A FAX 703 731 0847 Name Title Company Street Address City State Zip Telephone Fax Product Manual Part Number Please check the...

Страница 8: ......

Страница 9: ...is subject to change without notice and does not represent a commitment on the part of Industrial Drives or the Kollmorgen Corporation Therefore information contained in this manual may be updated fro...

Страница 10: ......

Страница 11: ...cooled servos the integral brake the flux forcing concept and the brushless motor We developed the electronically commutated electric car motor Industrial Drives pioneered rare earth magnet developme...

Страница 12: ...tions and features to insure you have installed your BDS5 properly Proper installation can prevent potential difficulties before they cause harm to your system Be sure to follow all instructions caref...

Страница 13: ...l Electrical Code P N Part Number R D Resolver to Digital Regen Regeneration TL Test Limits UL Underwriters Laboratories NOTICE This manual is the first of a two part manual structure The User s Manua...

Страница 14: ...r Equivalent Input 2 9 2 6 4 3 Pulse Input OPT2 Card 2 9 2 6 4 4 Encoder Equivalent Output 2 9 2 6 4 5 Wiring C2 Customer I O 2 10 2 6 4 6 Wiring C3 Resolver 2 11 2 6 4 7 Wiring C4 Logic Power Supply...

Страница 15: ...1 Introduction 5 1 5 2 Spare Parts 5 1 5 2 1 BDS5 Spare Parts List 5 1 5 2 2 PSR4 5 Spare Parts List 5 1 5 2 3 Ordering Information 5 2 5 3 LED Status Indicators 5 2 5 3 1 BDS5 LED s 5 2 5 3 2 PSR4 5...

Страница 16: ...n Model Number Scheme 1 5 1 3 PSR4 5 Model Number Scheme 1 6 1 4 External Regen Resistor Model Number Scheme 1 7 2 1 Safety Alert Symbols 2 1 2 2 Master BDS5 and Slave BDS5 2 8 2 3 Encoder Phasing For...

Страница 17: ...2 PSR4 5 Logic Power 2 7 2 3 Communications Requirements 2 12 2 4 Terminal Wiring 2 13 2 5 PC Wiring 2 14 2 6 PSR4 5 C2 Wiring 2 17 2 7 Target of PRD vs R D Resolution 2 21 2 8 Target of PRD vs R D R...

Страница 18: ......

Страница 19: ...A 63093 Outline B 40X X A1 A3 B1 B3 S B 16 A 63099 Outline B 602 4 X A1 A3 B1 B3 S B 17 A 63100 Outline B 606 X A1 A3 B1 B3 S B 18 A 63097 Outline B 802 4 X A1 A3 B1 B3 S B 19 A 63096 Outline B 806 X...

Страница 20: ......

Страница 21: ...S5 does not have to compromise on either positioner software or servo performance This single microprocessor closes all servo loops resulting in a truly integrated positioning system The BDS5 has the...

Страница 22: ...ebraic math is provided for commands such as X X X 1 2 2 3 The BDS5 has 100 program labels 50 user definable variables and 50 user definable switches It also has 15 mathematical logical operations and...

Страница 23: ...ne The BDS5 can autobaud from 300 baud to 19 2k baud eliminating the need to set dip switches to start communicating MOTION LINK Industrial Drives also offers MOTION LINK a powerful menu driven commun...

Страница 24: ...ut standard Analog Input Pulse Input No Input I O Options 8 I O standard 32 I O R D Accuracy Options 8 ARC min standard I Motor and Winding Motor and Winding Specifies Motor Model Type Winding R D Res...

Страница 25: ...rrent rating of your BDS5 It is important that the motor the BDS5 and the compensation module model numbers all agree For example if your BDS5 model number is BDS5 203 00000 204A 1 101 2021 then your...

Страница 26: ...ion standard E 00 01 02 03 Electrical Regen Options for 12 and 20 Amp Models Only Standard Internal 40 W Regen standard External Regen 230 VAC Only 8 8 Ohms 400 W Requires ER 01 Resistor Kit External...

Страница 27: ...hms 500 W 230V 50 75 Amp Models Only 4 4 Ohms 1000 W 230V 50 75 Amp Models Only 2 2 Ohms 1000 W 230V 75 Amp Models Only 2 2 Ohms 2000 W 230V 75 Amp Models Only B 00 Options None available at this prin...

Страница 28: ...12 VDC 1 00 AMPS Output Current RMS Convection Cooled 45 C AMB Continuous RMS Peak 2 0 sec RMS 3 0 AMPS 6 0 AMPS 6 0 AMPS 12 0 AMPS 10 0 AMPS 20 0 AMPS Fan Cooled 20 0 AMPS 40 0 AMPS Output KVA 160 VD...

Страница 29: ...1 00 AMPS Output Current RMS Convection Cooled 45 C AMB Continuous RMS Peak 2 0 sec RMS 3 0 AMPS 6 0 AMPS 6 0 AMPS 12 0 AMPS 10 0 AMPS 20 0 AMPS 20 0 AMPS 40 0 AMPS Output KVA 160 VDC Bus Continuous 4...

Страница 30: ...Line Input Voltage 90 132 VAC 90 132 VAC Phase 1 1 Frequency 47 63 Hz 47 63 Hz Main DC Bus Output Voltage Nominal 115 VAC Input Current 115 VAC 160 VDC 1 1 AMPS RMS 160 VDC 1 1 AMPS RMS Regeneration S...

Страница 31: ...Line Input Voltage 90 132 VAC 90 132 VAC Phase 1 1 Frequency 47 63 Hz 47 63 Hz Main DC Bus Output Voltage Nominal 115 VAC Input Current 115 VAC 325 VDC 1 1 AMPS RMS 325 VDC 1 1 AMPS RMS Regeneration...

Страница 32: ...R TO DIGITAL CONVERTER The BDS5 is based on a Resolver to Digital R D converter The R D generates a tachometer signal for your convenience However the BDS5 does not use the analog tach signal SERIAL P...

Страница 33: ...D S The BDS5 provides LED s for diagnostics These LED s are on the front panel of the BDS5 The LED s are listed below ACTIVE SYS OK CPU FAULT RELAY CURRENT LOOP COMPENSATION The BDS5 has analog curren...

Страница 34: ...INPUT BUFFERS INPUT BUFFERS OPTICAL ISOLATOR OPTICAL ISOLATOR ISOLATOR OPTICAL CYCLE ONLY FOR REMOTE HOME AND ALTERNATE POWER SOURCE C2 PIN 8 C7 EVEN PINS MANUAL I2 I3 I1 C8 PIN 25 C8 PIN 29 C8 PIN 3...

Страница 35: ...C1 PIN 6 C1 PIN 8 C1 PIN 3 C1 PIN 7 C1 PIN 2 75174 75174 75174 OUT Z OUT Z OUT B OUT B OUT A MOTOR RESOLVER C1 PIN 1 C2 PIN 12 C2 PIN 2 4700pf 1 0K GND Mc COMMON OUT A MONITOR TACH C7 PIN 23 C7 STANDA...

Страница 36: ...CODER MASTER OR 4 ISSUE A 84847 Mb Ma BUS BUS SERIAL No MODEL No REV No ACTIVE SYS OK CPU FAULT RELAY 1 T J1 C5 MODEL No EXTERNAL REGEN RESISTOR C1 C2 C3 C4 BDS5 DRIVES INDUSTRIAL MODEL No SERIAL No D...

Страница 37: ...d damage to the equipment Safety notices in this manual provide important information Read and be familiar with these instructions before attempting installation operation or maintenance Failure to ob...

Страница 38: ...70 C Humidity 10 to 90 Non Condensing 2 4 2 Enclosures It is suggested that the BDS5 and PSR4 5 be mounted in a cabinet or other suitable enclosure to protect them from physical and environmental dama...

Страница 39: ...not mount the resistors underneath the BDS5 or PSR4 5 EXTERNAL REGEN RESISTORS ARE A SHOCK HAZARD Mount these resistors properly Enclose these resistors to protect personnel and equipment EXTERNAL REG...

Страница 40: ...nd BDS5 power connections To prevent equipment damage the AC Line and the DC bus must be connected as indicated by the System Wiring Diagram A 93103 The PSR4 5 and BDS5 are configured at the factory f...

Страница 41: ...xpectedly You must latch the thermostat switch either in hardware or software IT CAN TAKE SEVERAL MINUTES FOR THE MOTOR TO COOL ENOUGH TO ALLOW THE THERMOSTAT TO CLOSE UNEXPECTED OPERATION SEVERAL MIN...

Страница 42: ...is an option Refer to Notes 3 and 11 on System Wiring Diagram A 93103 2 6 3 Wiring the PSR4 5 Front Panel Connectors This section will discuss wiring of the PSR4 5 front panel connectors C1 and C2 The...

Страница 43: ...re 2 2 and or Drawing A 93103 for connection diagrams All encoder signals are differential as opposed to single ended to increase noise immunity This means that each signal is transmitted with its log...

Страница 44: ...ly connector C4 If you need to connect to common you must obtain it from Connector C2 or C4 BE SURE THAT THE COMMON OF THE BDS5 AND OF THE ENCODER POWER SUPPLY ARE ELECTRICALLY CONNECTED TO EACH OTHER...

Страница 45: ...uivalent inputs 2 6 4 3 Pulse Input OPT2 Card As an option you can also purchase your BDS5 with a Pulse Input option This option allows you to 1 Control the BDS5 from a stepper motor controller For th...

Страница 46: ...oscillate BE CAREFUL TO CONNECT THE ANALOG INPUT SO THAT ITS POLARITY IS CORRECT Phase the analog input correctly Incorrect polarity of the analog input can cause excursions oscillations or runaways...

Страница 47: ...egulated low current power supply is provided on I O DC to power those three inputs Do NOT use I O DC as a power supply for anything except these three isolated inputs If you want to use I O DC then c...

Страница 48: ...itters do not All this makes RS 485 less susceptible to noise and able to transmit over much longer distances On the other hand RS 232 is easier to use and much less susceptible to transmission line e...

Страница 49: ...these matters to review the cable design beforehand Again baud rates may need to be reduced as the length increases and low capacitance cables may be required You can obtain a copy of the specificati...

Страница 50: ...for use with the BDS5 is Motion Link an Industrial Drives software package that is specially designed for the BDS5 Other communications software packages include XTALK QMODEM PROCOM KERMIT and PC TALK...

Страница 51: ...oes not allow you to use MOTION then you must hardwire it on If you are not using Connector C7 you can hardwire MOTION by installing a jumper directly on C7 between Pins 15 and 16 The BDS5 is shipped...

Страница 52: ...his manual is written for use with Motion Link For more information on Motion Link refer to the User s Manual 2 6 5 1 Required Data Format The BDS5 and your terminal must use the same format for seria...

Страница 53: ...ic voltages from Table 2 6 above If one or more of the voltages are missing a fuse in the PSR4 5 opened because the logic supply was miswired You may have miswired either Connector C2 on the PSR4 5 Co...

Страница 54: ...disconnect the cable from Connector C5 Connect ground on the scope probe to Pin 5 of the DE 9 connector on the cable Use the oscilloscope to monitor Pin 2 with the time base between 1 and 20 millisec...

Страница 55: ...are closed LED should be on 7 Use your terminal to enter P LIMIT 8 The BDS5 should respond with 1 indicating that the contacts are closed Repeat this process for each discrete input that you are using...

Страница 56: ...Connector C1 The encoder should not be moving Type P PEXT Now rotate the encoder Type P PEXT PEXT should have changed when you rotated the encoder shaft If the results are not what you expected use an...

Страница 57: ...Resolution 12 Bit 14 Bit 16 Bit Target Minimum Target Maximum 800 1300 3500 5500 12500 22500 If PRD does not fall into the range as listed above then either the resolver is improperly wired or the fe...

Страница 58: ...lders Turn off the AC Line Note the model number of the PSR4 5 and refer to the Model Number Tables in Chapter 1 to confirm correct AC Line voltage 2 7 12 Checking the DC Bus Voltage Remove the AC Lin...

Страница 59: ...ct Pin A of the motor connector to Ma of the BDS5 power connector Pin B of the motor connector to Mb and Pin C of the motor connector to Mc Follow this procedure to check motor wiring 1 Turn off the A...

Страница 60: ...is not functioning properly In most cases the wiring is the problem Check your motor and resolver wiring carefully Follow the procedure in Checking the Resolver Cable in section 2 7 10 If you have wi...

Страница 61: ...3 2 1 5 4 3 2 1 10 9 8 7 6 5 4 3 2 1 BDS5 KOLLMORGEN Industrial Drives RELAY FAULT CPU SYS OK ACTIVE C4 C3 C2 C1 C5 J1 T 1 MODEL No REV No MODEL No SERIAL No GND Mc Mb Ma BUS BUS C1 BLOWN FUSE OVERLOA...

Страница 62: ...CHAPTER 2 INSTALLATION BDS5 2 26...

Страница 63: ...one axis section at a time Confirm all other BDS5 amplifiers are inhibited meaning the enable circuits are open high Appropriate precautions should be taken to stop the machine if necessary Limit swit...

Страница 64: ...modifying your program to wait for OK2EN to be ON TIL OK2EN EQ ON EN If the error occurs occasionally it could be overvoltage or undervoltage Overvoltage is usually caused by regenerative energy from...

Страница 65: ...n will be very unsteady You need an integrating velocity loop for good low speed performance Disable the BDS5 and enable the software position limits Type DIS PLIM ON 3 2 5 Low Speed Adjustment SKIP T...

Страница 66: ...constant noise and cannot be felt on the motor shaft Response is a measure of the system s quickness Response can also be characterized by bandwidth and by rise time in response to a step command Nor...

Страница 67: ...system that rings Figure 3 4 Ringing 3 4 TUNING The TUNE command shakes the motor vigorously Secure the motor before tuning The BDS5 is usually shipped with a tuning that will work reasonably well wi...

Страница 68: ...too low The effect can be that the torque the BDS5 produces is swamped out by friction If you are not sure how much ILIM is necessary reduce ILIM to a low value say 5 or 10 and gradually raise it If...

Страница 69: ...uctions shown on Drawing A 84888 The motor should start and stop every second Press the escape key to enter the monitor mode where you can change tuning constants The tach should be on the oscilloscop...

Страница 70: ...les in real time for later playback You can simultaneously record up to four variables You can record any variable except PE REMOTE TMR1 TMR2 TMR3 TMR4 VAVG VXAVG or any user switches You can specify...

Страница 71: ...r system is saturated Overloading the motor can be corrected by the following actions Reducing ACC and DEC Reducing the load on the motor Increasing ILIM if it is less than IMAX Using a BDS5 with a hi...

Страница 72: ...you raise the bandwidth 20 or 30 but this can be a difficult trial and error process you slowly lower the low pass filter frequency LPFHZ and attempt to raise the target bandwidth for tuning When you...

Страница 73: ...BDS5 CHAPTER 4 MAINTENANCE...

Страница 74: ...CHAPTER 4 MAINTENANCE BDS5...

Страница 75: ...hen handling component boards Preventative maintenance should be performed with the BDS5 system out of operation and disconnected from all sources of power 4 2 1 Transient Voltages All transient produ...

Страница 76: ...sources and the BDS5 control wiring This can be accomplished by using separate conduits or wiring trays for control wiring and power wiring Use twisted pair wiring for control circuits of the BDS5 Fo...

Страница 77: ...rounding Integrity The method employed for grounding or insulating the equipment from ground should be checked to assure its integrity on a regular basis This check should be performed with the power...

Страница 78: ...CHAPTER 4 MAINTENANCE BDS5 4 4...

Страница 79: ...that are user serviceable on the PSR4 5 Remember the PSR4 5 can be damaged by ESD Electro static discharge Observe proper ESD protection practices The PSR4 5 can be damaged by ESD electro static disc...

Страница 80: ...S5 out of service and contact the factory CPU This LED indicates the state of the software watchdog protection circuit It is on during normal operation and blinks for the most serious errors This LED...

Страница 81: ...ped in a single broad category errors An error indicates that there is a problem somewhere More serious errors are grouped as faults 5 4 1 Error Levels The BDS5 s response to an error depends on the e...

Страница 82: ...e Error History To display the entire Error History type ERR HIST This causes the Error History to be sent to the terminal with the most recent error sent first When the BDS5 is powered up a DRIVE POW...

Страница 83: ...e The circuits that generate these faults are typical of motor controllers and are listed on the drawing These faults are errors that are serious enough to disable the BDS5 as described in Appendix C...

Страница 84: ...ts the state of the hardware watchdog The hardware watchdog makes a system more reliable because the watchdog is independent of the microprocessor If the processor is not working the watchdog will usu...

Страница 85: ...quality described in the sales agreement and or catalog and that the equipment will be free of defects in design workmanship and material The terms and conditions of this Warranty are provided with t...

Страница 86: ...APPENDIX A WARRANTY INFORMATION BDS5 A 2...

Страница 87: ...B3 S Outline B 602 4 X A1 A3 B1 B3 S Outline B 606 X A1 A3 B1 B3 S Outline B 802 4 X A1 A3 B1 B3 S Outline B 806 X A1 A3 B1 B3 S Outline Dimension BDS5 3 6 Amp Outline Dimension BDS5 10 Amp Outline Di...

Страница 88: ...APPENDIX B DRAWINGS BDS5 B 2 THIS PAGE INTENTIONALLY LEFT BLANK...

Страница 89: ...MWARE FAULTS 5 VOLT SUPPLY SOFTWARE WDOG UP FAIL ROM CHECKSUM POWER UP SOFTWARE FAULTS INTERNAL ERRORS GEARBOX OVERFLOW OVERTRAVEL FOLLOWING ERROR COMPENSATION BOARD HARDWARE WATCHDOG FEEDBACK LOSS SO...

Страница 90: ...RNAL TO AMPLIFIER AND MUST BE PROVIDED EXTERNAL REFER TO NATIONAL ELECTRICAL CODE FOR PROPER SIZING OF OVERLOAD PROTECTION IT IS RECOMMENDED THAT MOTOR WIRING BE A SHIELDED CABLE USE PROPER SIZE WIRE...

Страница 91: ...UT Z LAST SHEET SEE NOTE 13 OUT A OUT B OUT Z IN B OPTIONAL OPTIONAL IN A 9 10 5 4 8 7 6 3 2 1 CONNECTOR C7 PIN 9 STYLE DC INPUT MODULE TO WIRE THROUGH AN OPTO 22 C1 ENCODER EQUIVALENT SHEET 2 OF 7 BD...

Страница 92: ...LE SHIELD 6 9 5 1 BDS5 DE 9S FEMALE IBM PC DB 25S FEMALE C5 SERIAL RS 232 INTERCONNECT CUSTOMER TERMINAL 1 5 6 9 SHIELD RXD TXD COM TXD RXD COM 1 25 91 DATE VA DWN BY CHK BY COPY CODE DWG NO SHEET 3 O...

Страница 93: ...10 20 19 9 DIFF LO OPTIONAL DIFF HI OPTIONAL RELAY RELAY SEE NOTE 13 LAST SHEET OPTIONAL ANALOG INPUT 10k 10k DIFF HI 10V DIFF LO 01UF SHIELD 18 17 16 15 8 7 6 5 14 13 12 11 4 3 2 1 16 2k 01UF 10k 10k...

Страница 94: ...G NO SHEET 5 OF 7 ISSUE ISSUE SCALE A A APP D BY 1 1 93103 14 14 93103 DATE DATE ISS ECN NO DATE APP D ISS ECN NO DATE APP D 7 8 9 10 11 12 13 14 15 16 TOP VIEW OF BDS5 20 AMP UNIT SHOWN BDS5 WIRING D...

Страница 95: ...3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 TOP VIEW OF BDS5 20 AMP UNIT SHOWN PIN 1 SIGNAL 49 MET OUT 47 45 43 4...

Страница 96: ...LT CONDITION ON 50 75 AMP PSR4 5 THIS CONTACT CLOSES ON APPLICATION OF CONTROL THIS CONTACT OPENS IN FAULT CONDITIONS WITHIN 250 MSEC AFTER APPLICATION OF CONTROL AND MAIN POWER ON 12 20 AMP PSR4 5 TH...

Страница 97: ...CODE B 20 20 23 23 THIRD ANGLE PROJECTION METRIC 340 MAX 328 MIN 356 6 AMP 3 AMP BDS5 3 AMP 6 AMP BDS4 BDS5 10 AMP BDS4 10 AMP 33 20 61 20 88 33 ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED XX DEC PLAC...

Страница 98: ...CTION METRIC METRIC X DEC PLACES 4 XX DEC PLACES 13 INCHES XX DEC PLACES 015 IN XXX DEC PLACES 005 IN UNLESS OTHERWISE SPECIFIED ANG DIM 1 DEGREE APP D DATE ECN NO ISS DATE DATE 93703 2 2 93703 1 4 AP...

Страница 99: ...RGEN DIVISION RADFORD VIRGINIA APP D BY A A SCALE ISSUE ISSUE DWG NO DWG NO COPY CODE CHK BY DWN BY S P DATE 12 90 ISS ECN NO DATE APP D 1 0 04 0 0 00 1 5 06 4 ELECTRICAL HOOK UP PER HD 100 EXCEPT FOR...

Страница 100: ...5 91 MKB 5 91 J S IN BRACKETS UNLESS OTHERWISE SPECIFIED ALL DIMENSIONS ARE MILLIMETERS WITH INCHES DO NOT SCALE DWG USE DIMENSIONS ONLY XX DEC PLACES 13 X DEC PLACES 4 METRIC XXX DEC PLACES 005 IN X...

Страница 101: ...LESS OTHERWISE SPECIFIED ON 100 00 3 937 DIA B C 4 HOLES EQ SPACED 7 00 276 DIA THRU RECEPTACLE RESOLVER THERMOSTAT MOTOR RECEPTACLE 1 0 04 64 6 2 54 THIRD ANGLE PROJECTION METRIC 0 00 0 36 1 18 0 007...

Страница 102: ...0 ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED MOTOR RECEPTACLE 130 00 5 118 DIA B C 4 HOLES EQ SPACED ON 9 36 9 00 369 354 DIA THRU RECEPTACLE RESOLVER THERMOSTAT MATING PLUGS WITH OPTIONAL 6 30 160 0...

Страница 103: ...E SPECIFIED 165 00 6 496 DIA B C 4 HOLES EQ SPACED ON RESOLVER THERMOSTAT MOTOR RECEPTACLE MATING PLUGS WITH OPTIONAL 172 0 MAX 6 77 3 RECEPTACLE THIRD ANGLE PROJECTION METRIC 11 00 433 DIA THRU 5 118...

Страница 104: ...SCALE A A APP D BY 1 5 63100 3 3 63100 DATE DATE ISS ECN NO DATE APP D ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED XXX DEC PLACES 005 IN XX DEC PLACES 015 IN INCHES XX DEC PLACES 13 X DEC PLACES 4 ME...

Страница 105: ...A THRU RECEPTACLE RESOLVER THERMOSTAT ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED MATING PLUGS WITH OPTIONAL 7 72 196 0 MAX 4 2 METRIC THIRD ANGLE PROJECTION 58 00 2 283 7 087 4 74 120 5 7 48 0 0 00 2...

Страница 106: ...N NO ISS DATE DATE 63096 4 4 63096 1 6 APP D BY A A SCALE ISSUE ISSUE DWG NO DWG NO CAD DWG COPY CODE CHK BY DWN BY LLS DATE 04 10 92 ISS ECN NO DATE APP D SQUARE 004 A 0 10 TIR 011 014 7 087 2 0 08 1...

Страница 107: ...MENSION DATE 8 03 92 INDUSTRIAL DRIVES RADFORD VIRGINIA A KOLLMORGEN DIVISION CHK BY DATE APP D BY CJF DWG NO 1 4 PLOT SCALE 93569 A 79 20 20 79 2 PLACES WIDE SLOT 7 28 BUS Mc GND Mb Ma BUS BDS5 C4 IN...

Страница 108: ...HES BDS5 10AMP OUTLINE DIMENSION 8 03 92 DATE A KOLLMORGEN DIVISION RADFORD VIRGINIA INDUSTRIAL DRIVES CHK BY DATE APP D BY CJF DWG NO PLOT SCALE 1 4 93571 A 79 20 20 79 2 PLACES WIDE SLOT 7 28 BUS Mc...

Страница 109: ...BDS5 20AMP OUTLINE DIMENSION 8 03 92 DATE A KOLLMORGEN DIVISION RADFORD VIRGINIA INDUSTRIAL DRIVES CHK BY DATE APP D BY CJF DWG NO PLOT SCALE 1 4 93570 A 79 20 79 20 7 28 BUS Mc GND Ma Mb BUS DRIVES...

Страница 110: ...DIMENSION METRIC IN BRACKETS UNLESS OTHERWISE SPECIFIED ALL DIMENSIONS ARE MILLIMETERS WITH INCHES DO NOT SCALE DWG USE DIMENSIONS ONLY XX DEC PLACES 13 X DEC PLACES 4 METRIC XXX DEC PLACES 005 IN XX...

Страница 111: ...S UNLESS OTHERWISE SPECIFIED ALL DIMENSIONS ARE MILLIMETERS WITH INCHES DO NOT SCALE DWG USE DIMENSIONS ONLY XX DEC PLACES 13 X DEC PLACES 4 METRIC XXX DEC PLACES 005 IN XX DEC PLACES 015 IN INCHES AN...

Страница 112: ...D XX DEC PLACES 13 X DEC PLACES 4 METRIC 340 13 39 MAX C1 2 PLACES WIDE SLOT PSR 4 5A 12 20 AMP OUTLINE DIMENSION XX XX XX DATE RADFORD VIRGINIA XX XX XX DATE XXX CHK BY XXX APP D BY 1 4 SCALE 93581 A...

Страница 113: ...1 DATE V A DWN BY CHK BY COPY CODE CAD DWG DWG NO DWG NO ISSUE ISSUE SCALE A A APP D BY 1 4 93031 4 4 93031 DATE DATE ISS ECN NO DATE APP D ANG DIM 1 DEGREE UNLESS OTHERWISE SPECIFIED XXX DEC PLACES 0...

Страница 114: ...UNREGULATED 2 AMP 18 VDC 20 UNREGULATED 1 AMP C2 8 C2 4 C2 6 C2 2 UNREGULATED 1 AMP 18 VDC 20 C2 7 C2 3 C2 5 COMMON C2 1 REGENERATION CAPABILITY NOTE 3 NOTE 2 SEE SEE 40W 400W 400W 40W 40W 40W MODEL B...

Страница 115: ...E SYSTEM 10 20 LPF ON 10 20 DECREASE KV YES NO YES DECREASE KVI YES TOO FAST A 84888 ISSUE 5 J 0 MONITOR TACHOMETER TYPE YES press ESC UNDERDAMPED RUN 80 TUNE 25 2 EN GND SIGNAL C2 PIN14 C2 PIN2 WITH...

Страница 116: ......

Страница 117: ...ty The following is a complete list of errors generated by the BDS5 C 2 HARDWARE FAULTS C 2 1 Firmware Faults ERROR 2 HARDWARE U P FAIL SEVERITY 4 The microprocessor cannot pass self test This fault c...

Страница 118: ...be required This error breaks program execution and disables the BDS5 ERROR 12 OVER CURRENT SEVERITY 3 The BDS5 detected an overcurrent This can be caused by a shorted motor winding a shorted power tr...

Страница 119: ...ibed in Chapter 9 ERROR 22 12 VOLTS SEVERITY 3 The 12 volts is out of tolerance Contact the factory This error breaks program execution C 2 3 Positioner Faults ERROR 23 SOFTWARE OVERTRAVEL SEVERITY 2...

Страница 120: ...o be empty This occurs when two MRD instructions are active at once You should use a synchronizer to delay the execution of the instruction that caused the error This error breaks program execution ER...

Страница 121: ...ou attempted to insert an MCA segment after an MCI segment This error breaks program execution ERROR 46 MCI ACTIVE SEVERITY 2 You attempted to insert an MCI segment after an MCA segment in a macro mov...

Страница 122: ...hat is not allowed with the Gear mode For example MRD MA JT and JF are not allowed with the Gear mode on This error breaks execution if the instruction was issued from the program ERROR 57 NOT w PROFI...

Страница 123: ...lowed from within an alarm This error breaks program execution ERROR 64 BACKWARD REGULATION SEVERITY 3 The external input counted backwards more than 30 000 counts when REG was on This error breaks pr...

Страница 124: ...ters Look up the instruction in Appendix B to determine the correct number of entries This error breaks program execution if the instruction is issued from the user program ERROR 83 BAD OR OUT OF RANG...

Страница 125: ...allowable switch for an alarm or a hold or record command For example A REMOTE ON ERROR REMOTE NOT ALLOWED FOR ALARMS This line causes Error 89 since REMOTE is not allowed to fire an alarm ERROR 90 T...

Страница 126: ...inted to the terminal You will only see it in the error history buffer This error has no action ERROR 104 ABAUD MULTIDROP SEVERITY 1 This error is caused by attempting to autobaud while in multidrop c...

Страница 127: ...a RET when it was not expecting one This occurs when there are more returns than GOSUBs This error breaks program execution C 4 8 Power Up Marker Not An Error ERROR 199 DRIVE POWERED UP N A This is n...

Страница 128: ...he entire line that is printed with the error and contact the factory This error breaks program execution and disables the BDS5 ERROR 209 STACK OVERFLOW SEVERITY 3 This is an internal error Carefully...

Страница 129: ...mber provides order status and delivery information product information and literature and application and field technical assistance Kollmorgen Customer Support Network 203 Rock Road Suite A Radford...

Страница 130: ...date revisions as engineering changes are incorporated That is an update disk can be issued which provides the latest revision of drawings while the BDS5 REFERENCE GUIDE on line Technical Manual remai...

Страница 131: ...APPENDIX E ON LINE REFERENCE GUIDE BDS5 E 2...

Страница 132: ...otor accuracy is usually specified as an angle representing the maximum deviation from expected position Actuator A device which creates mechanical motion by converting various forms of energy to mech...

Страница 133: ...combination representing a unique piece of information CAM Profile A technique used to perform nonlinear motion electronically similar to that achieved with mechanical cams Characteristic Equation 1 G...

Страница 134: ...reasing static error Compensation Lead A control action which causes the phase to lead at high frequencies and tends to decrease the delay between the input and output of a system Compensation Lead La...

Страница 135: ...g G gain in decibels dB Demag Current The current level at which the motor magnets will be demagnetized This is an irreversible effect which will alter the motor characteristics and degrade performanc...

Страница 136: ...r braking with an exponential decrease in speed Efficiency The ratio of power output to power input Electrical Time Constant The ratio of armature inductance to armature resistance Electronic Gearing...

Страница 137: ...the frequency or time response of a control system Flutter Flutter is an error of the basic cycle of an encoder per one revolution Following Error The positional error during motion resulting from use...

Страница 138: ...or has a permanent magnet rotor and wound stator These motors are brushless and phase currents are commutated as a function of time to produce motion Hysteresis The difference in response of a system...

Страница 139: ...ear Coordinated Move A coordinated move where the path between endpoints is a line Linearity For a speed control system it is the maximum deviation between actual and set speed expressed as a percenta...

Страница 140: ...C Synchronous Another term for brushless DC motor Motor Constant The ratio of the motor torque to motor input power Motor DC A device that converts electrical direct current into mechanical energy It...

Страница 141: ...in which the output of an optical tachometer is compared to a reference square wave signal to generate a system error signal proportional to both shaft velocity and position errors Phase Margin The d...

Страница 142: ...cs of interfaces to positioning devices such as encoders or resolvers Specifically that property of position Ramping The acceleration and deceleration of a motor May also refer to the change in freque...

Страница 143: ...nals as a time series of 1 s and 0 s on a single line Servo Amplifier Servo Drive An electronic device which produces the winding current for a servo motor The amplifier converts a low level control s...

Страница 144: ...romagnetic feedback transducer which produces an analog velocity feedback signal and commutation signals for a brushless servo motor The tachsyn is functionally equivalent to hall sensors and a tachom...

Страница 145: ...e motor Vector Control A method of obtaining servo type performance from an AC motor by controlling two components of motor current Velocity The change in position as a function of time Velocity has b...

Страница 146: ...pensation Model Number Scheme F1 5 Compliance 3 9 Critical Damping 3 4 Critical Damping F3 4 Cycle Ready 2 20 D DEP 5 4 Displaying Error Messages 5 4 E Electrical Noise 4 2 Enable and Fault Logic 5 5...

Страница 147: ...Checking the Resolver Cable 2 21 Cycle Ready 2 20 Installation Requirements 2 2 Enclosures 2 2 Environmental Considerations 2 2 J J1 Configuration Jumper 2 16 Jogging the Motor 3 3 K L LED Status Ind...

Страница 148: ...ns T1 8 Specifications and Ratings 1 8 Start Up and Checkout 3 1 If You Get ERROR 14 POWER BUS 3 2 If You Get ERROR 17 FEEDBACK LOSS 3 2 If Your BDS5 System is Unstable 3 2 Jogging the Motor 3 3 Low S...

Страница 149: ...iring C3 Resolver 2 11 Wiring C4 Logic Power Supply 2 11 Wiring C5 Serial Communications 2 12 Wiring C6 Fan Power 20 Amp Units Only 2 14 Wiring C7 Standard I O 2 14 Wiring C8 Optional I O 2 15 Wiring...

Страница 150: ...M3 DOC Copyright Page AFM4 DOC Foreword AFM5 DOC How to Use This Manual AFM6 DOC Table of Contents AFM7 DOC List of Figures AFM8 DOC List of Tables AFM9A DOC List of Drawings AFM9B DOC Chapter 1 CH1 D...

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