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Kollmorgen

System Description

SILVER

LINE

Product Family

2-6

2.3.2 Current Control Wiring Diagram

Velocity

Command

ain

Off

+5 to +24

VDC

Current Loop

JB 1

1 2 3 4 5

Red

White

Black

Controller
(Customer supplied)

Terminal Strip Wiring

1 & 4: AC Line (120 VAC

or 240 VAC)

2 & 3:  115/230VAC Select:
            For 110VAC: Connect 1-2 & 3-4
            For 230VAC: Connect 2-3

5 & 6: BUS + (4 Connections)

7 & 8: BUS - (4 Connections)

Rectifier Bridge

J3-4 (-)

J3-1(+)

Optional

Regen

Unit

SPS(R)

AMP OK

ENABLE

J 6

2 1

6 5

10-Pin Ribbon Cable

Encoder

Input

SILVERLINE

Encoder

Blue

Green

Brown

Orange

Yellow

J 7

2 1

SILVERLINE

Motor

Figure 2-3 SO System Wiring Diagram

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Содержание SILVERLINE S/O Series

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...LVERLINE S O Manual Kollmorgen SILVERLINE Product Series S O Installation Manual Old Number M SL 000 H New Number MSO000H Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Страница 3: ...product improvements etc and may not conform in every respect to former issues Copyright Information Copyright 1998 Kollmorgen All rights reserved Printed in the United States of America NOTICE Not fo...

Страница 4: ...N 4 1 4 2 SAFETY INFORMATION 4 1 4 3 UNPACKING AND INSPECTION 4 2 4 4 INSTALLATION REQUIREMENTS 4 2 4 5 MOUNTING 4 2 4 6 WIRING OVERVIEW 4 3 4 7 WIRING GROUND AND BUS 4 3 4 8 WIRING THE ENCODER 4 5 4...

Страница 5: ...NSTALLATION REQUIREMENTS 4 2 4 4 1 Environmental Considerations 4 2 4 4 2 Ventilation 4 2 4 5 MOUNTING 4 2 4 5 1 Mounting the SPS R 4 2 4 5 2 Mounting S O Units on an SPS R 4 3 4 5 3 Mounting S O Unit...

Страница 6: ...4 Command Scaling Adjustment 5 2 5 1 2 5 Improving Current Loop Performance 5 2 5 1 2 6 LEDs 5 3 5 1 2 7 Faults 5 3 5 1 3 Start up the Velocity Controller 5 3 5 1 3 1 Check out the Encoder 5 3 5 1 3 2...

Страница 7: ...Ordering Information 6 1 6 3 PREVENTATIVE MAINTENANCE 6 1 6 3 1 Transient Voltages 6 2 6 3 2 Electrical Noise 6 2 6 3 3 Radio Frequency Energy 6 2 6 4 PERIODIC MAINTENANCE 6 3 6 4 1 Grounding Integrit...

Страница 8: ...on depending on the degree of enclosure protection the product can have bare components which are live or have hot surfaces Control and power cables can carry a high voltage even when the motor is not...

Страница 9: ...result in personal injury and or equipment damage Note highlights information critical to the users understanding or use of these products Directives and Standards The product has not be tested for a...

Страница 10: ...ook insertion The floppy disks contain the MotionLink software program and other SERVOSTAR technical information and theory in PDF format 1 2 WARRANTY INFORMATION All products covered in this manual a...

Страница 11: ...ounter Clockwise CMR Common Mode Rejection CW Clockwise CR LF ASCII Carriage Return Line Feed D A or DAC Digital to Analog Converter EMF Electro Motive Force EMC Electromagnetic Compatibility EMI Elec...

Страница 12: ...Figure 4 3 S O Connector Layout Main PCB 4 18 Figure 4 4 S O Connector Layout Velocity Loop Option PCB 4 19 Figure 4 5 Connectors J1 and J7 SILVERLINE Motors 4 20 Figure 4 6 Connectors J1 and J7 VMG...

Страница 13: ...Kollmorgen General Information SERVOSTAR Product Family 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 14: ...ower Jumper selectable 60 or 120 commutation Overcurrent protection Overvoltage protection Continuous current limit ESD protection on all inputs Optical isolation for ENABLE input and AMP OK output Re...

Страница 15: ...lifier See Chapter 2 for more information Failure to install the proper compensation components in RL CL can cause damage to the S O the motor or both 2 2 1 S O Model Number SO 40 04 00 0 0 S O Analog...

Страница 16: ...e electrical ratings It only provides space to mount more S O units 2 3 SYSTEM TOPICS 2 3 1 Specifications and Ratings Control Inputs ANALOG Command Analog ENABLE Digital Control Method Jumper selecta...

Страница 17: ...Range 5 26V Maximum Load for 12 mA 26V 2 5 mA 5V Table 2 1 Specifications SO 40XX DESCRIPTION SO 4004 SO 4008 Main DC Bus Minimum Maximum 20 VDC 40 VDC 20 VDC 40 VDC Output Current 40 C Ambient Conti...

Страница 18: ...nal Heat Dissipation 25 WATTS Regen Trip voltage 41 43 VDC Table 2 4 Environmental Specifications Operating Temperature 0o C to 40o C Storage Temperature 20o C to 70o C Humidity Non Condensing 10 to 9...

Страница 19: ...3 115 230VAC Select For 110VAC Connect 1 2 3 4 For 230VAC Connect 2 3 5 6 BUS 4 Connections 7 8 BUS 4 Connections Rectifier Bridge AC AC 1 2 3 4 5 6 7 8 F1 F2 J3 4 J3 1 Optional Regen Unit SPS R AMP...

Страница 20: ...VERLINE Motor J1 1 2 3 4 5 Red White Black Blue Green Brown Orange Yellow 10 Pin Ribbon Cable Velocity Command Controller Customer supplied Terminal Strip Wiring 1 4 AC Line 120 VAC or 240 VAC 2 3 115...

Страница 21: ...Kollmorgen System Description SILVERLINE Product Family 2 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 22: ...DRAWINGS The following system outline drawings include the following Kollmorgen SILVERLINE SPS R 4008 Kollmorgen SILVERLINE SO 400x Kollmorgen SILVERLINE H 23x Motor Kollmorgen SILVERLINE H 34x Motor...

Страница 23: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 2 Figure 3 1 SPS R 4008 Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 24: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 3 Figure 3 2 SO 400x Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 25: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 4 Figure 3 3 Size 23 Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 26: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 5 Figure 3 4 Size 34 Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 27: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 28: ...installation operation or maintenance Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty The safety alert symbols are illustr...

Страница 29: ...ollmorgen equipment 4 4 1 Environmental Considerations The environment in which this equipment is placed can dramatically affect its operation Kollmorgen recommends that the S O and SPS R be operated...

Страница 30: ...nimize electromagnetic emissions noise Avoid running signal leads in close proximity to power leads motor stator leads or other sources of electromagnetic noise Run signal leads in separate conduit fr...

Страница 31: ...point Gently pull the wire to ensure that it is fully inserted 4 7 2 3 Wiring SPS R A C Line Configure the SPS R for the appropriate voltage 115 or 230 volts AC according to Figure 3 1 Use small jumpe...

Страница 32: ...ERLINE motors strain relief for the encoder cable is provided with a wire tie which secures the ribbon cable connector and line driver to the encoder body Use a 0 1 wide 4 5 long wire tie such as Rich...

Страница 33: ...able operation Ribbon cables must be properly strain relieved Absent or inadequate strain relief of insulation displacement connector IDC systems causes unreliable interconnects Strain relieve all cab...

Страница 34: ...e shows the color code for Kollmorgen VMG Brushless DC motors Remove Jumper J2 discussed later 4 9 2 4 Wiring Motor Leads for Other BLDC Motors The graphs below show the commutation sequence for 120 c...

Страница 35: ...Brush Motors from Kollmorgen connect motor lead A to J1 2 and motor lead B to J1 1 Note that phasing of non SERVOLINE brush motors is often a matter of trial and error 4 9 5 Installing J2 120 Commutat...

Страница 36: ...uch as Panasonic ECU series Do not use polarized capacitors such as electrolytic or tantalum capacitors Use multilayer ceramic capacitors for CL Do not use polarized capacitors Failure to use the corr...

Страница 37: ...in position 1 2 C for current loop mode Jumper J5 must always be installed in one position or the other 4 9 8 Wiring J6 Amplifier Status and Control J6 is a 6 pin pluggable screw terminal with connect...

Страница 38: ...from the output shaft end of the motor This input is full differential input To reverse the direction of rotation reverse the connections to pins 3 and 4 For velocity loop option pins 3 and 4 are wir...

Страница 39: ...no need to jumper any sensor lines 4 9 10 Wiring JB1 Bus Power Out JB1 is a 2 pin pluggable screw terminal Pin 1 is ground Pin 2 is bus Table 4 5 Connector JB1 Bus Out low Power Pin Signal Name 1 BUS...

Страница 40: ...e factory J201 3 to J6 3 and J201 4 to J6 4 4 9 14 Wiring J203 and 204 Feedback Encoder Velocity Loop Only J203 and J204 are 10 pin ribbon cable connectors Note that J203 and J204 are electrically ide...

Страница 41: ...and 8 Channel B Note however that Kollmorgen highly recommends differential signals because of superior noise rejection 4 9 15 Wiring J205 15V Input Velocity Loop Only J205 is a 4 pin crimp style con...

Страница 42: ...ct 2 3 5 6 Bus 4 Connections 7 8 Bus 4 Connections F1 F2 Note F1 and F2 are 250V 1 5 A 3AG Fuses Optional Regen Unit J3 1 J3 4 1 3 4 5 6 7 8 Each terminal has 4 Insertion Points which are all electric...

Страница 43: ...PCB 5 pin Screw Terminal Connect to Hall sensor cable from motor JB1 Bus Out Main PCB 2 pin Screw Terminal Bus power for velocity loop option JL1 15 VDC Output 5mA Main PCB 4 pin crimp Connector 15 V...

Страница 44: ...7 Pin 6 Pin 5 Pin 8 Pin 7 Pin 10 Pin 9 Pin 3 Pin 2 Channel A Channel A Channel B Channel B Index Index Common 5 Supply Silverline Encoder Figure 4 2 SILVERLINE Encoder Artisan Technology Group Quality...

Страница 45: ...rrent Mode Select shown in C position J4 Cap CL J3 Res RL J2 120 Degree Commutation TP6 IFB J7 Hall Sensor Input JB1 Main PCB Power for Velocity Loop Option Card 3 1 C O 6 5 4 3 2 1 5 4 3 2 1 1 2 3 4...

Страница 46: ...wired to JB1 at Factory Velocity Loop Option PCB Main PCB J205 15VDC wired to JL1 at Factory JB1 Main PCB Power for Velocity Loop Option Card J6 Main PCB Control Status 1 2 3 4 5 1 2 6 5 4 3 2 1 5 4...

Страница 47: ...Power J7 4 J7 3 S1 S2 S3 J1 3 J1 2 J1 1 A B C Sensor Inputs Motor Leads J2 Installed DC BUS Power 20 40VDC Hall Sensors SILVERLINE RBE Motor Red White Black Blue Green Brown Orange Yellow Hall Sensor...

Страница 48: ...Motor Power J7 4 J7 3 S1 S2 S3 J1 3 J1 2 J1 1 A B C Sensor Inputs Motor Leads J2 Removed DC BUS Power 20 40VDC Hall Sensors VMG Motor White Orange Red Black Brown Red Brown Blue Green White Hall Sens...

Страница 49: ...4 Torque Input 10 Volts Full Torque J6 1 J6 2 5VDC Enable Amplifier Status Positioner S O Amplifier Amplifier Status Input 2K Figure 4 7 Connector J6 Amplifier Enable Command and Status Artisan Techn...

Страница 50: ...tus Input Controller Tach Output J201 6 J201 5 Amplifier Status Enable Factory connections in this configuration include J200 1 to JB1 1 J205 1 to JL1 1 J200 2 to JB1 2 J205 3 to JL1 3 J201 3 to J6 3...

Страница 51: ...plies single ended signals connect to pins 6 and 8 on the Velocity Loop PCB leave pins 5 and 7 open RS 485 J203 2 J203 3 J203 5 J203 6 J203 7 J203 8 J203 9 J203 10 J204 1 Pin 1 J203 1 SILVERLINE Encod...

Страница 52: ...in current loop mode the voltage applied to J6 3 and 4 is a current command After completing this section continue in Start up the Velocity Controller below The amplifier will be enabled and the motor...

Страница 53: ...nimized An unloaded motor should not turn Optionally you can monitor current on TP IFB Figure 4 3 on page 4 18 shows the location using a digital volt meter Adjust for minimal voltage on TP IFB When u...

Страница 54: ...PS This effectively converts the SPS to an SPSR If you are using the stand alone regen unit that unit can be converted to run on a 24 VDC system by removing jumper W1 This changes the regen trip level...

Страница 55: ...r goes faster than planned even for a short time the velocity monitor may saturate causing the motor to run away Scaling the velocity incorrectly may cause the motor to run away Use Table 3 1 to set S...

Страница 56: ...may be because the system is phased backwards If so reversing J201 3 and 4 will correct this problem If the encoder or amplifier are wired improperly the motor may run away Be prepared for the motor...

Страница 57: ...5 1 4 4 Setting Velocity Offset Short the velocity command short J201 1 and 2 Verify S2 4 is off Enable the S O amplifier The motor should not be moving but should have holding torque If the motor is...

Страница 58: ...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 Normally designers want high...

Страница 59: ...locity Converter J204 J203 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10 Tach Monitor J205 6 1K Test S2 4 S1 scales velocity signal 5 C8 10K 100K 3 3K Notes At least one of S2 1 2 or 3 must be closed when...

Страница 60: ...still too slow In these cases you may be willing to accept less than critical damping For applications that can work properly with a slightly underdamped system you may reduce the stability to improv...

Страница 61: ...e bandwidth The graph in Figure 5 5 shows a system that rings 0 00 0 20 0 40 0 60 0 80 1 00 1 20 1 40 1 60 0 000 0 025 0 050 0 075 0 100 Time seconds Figure 5 5 Ringing 5 3 CURRENT LOOP TUNING 5 3 1 T...

Страница 62: ...scope you can directly compare the two signals at higher frequencies Notice also in Figure 5 6 that the feedback current is lagging the command Here the lag is about 1 8 of a revolution or 45 This lag...

Страница 63: ...ft If you move the load by hand you can feel springiness Compliant systems often are very stable when you tune with lower target bandwidths However they oscillate vigorously at low frequencies when yo...

Страница 64: ...er and systems with excessive backlash where there is no load when gear teeth are not touching When the inertia changes the system has the following characteristics System performance is excellent whe...

Страница 65: ...or frame temperature exceeds 50 C the command should probably be reduced If the motor is below 50 C you should be able to comfortably rest your hand on it If your S O has a velocity loop option tempor...

Страница 66: ...2 2 SPS R Spare Parts List 1 5 Amp Slow Blow Glass Fuse Qty 2 1 2 Amp Slow Blow Glass Fuse Qty 1 6 2 3 Ordering Information If you need to order parts for the S O and or SPS R you can order them thro...

Страница 67: ...l circuits may cause them to be vulnerable to electrical noise Sources of electrical noise include equipment having large fast changing voltages and currents when they switch on and off These devices...

Страница 68: ...maintenance procedures Periodic maintenance includes the following Check that no screw terminals have vibrated loose Check integrity of wiring Check PCBs for accumulation of contaminants such as flui...

Страница 69: ...Kollmorgen Maintenance SILVERLINE Product Family 6 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 70: ...2 Encoder 4 17 Connection 4 5 Phasing 4 7 Encoder output Single ended 4 14 Environmental Considerations 4 2 Fault Over Current 5 3 Overvoltage 5 3 Fuses 4 3 6 1 Grounding 4 3 Grounding Integrity 6 3 H...

Страница 71: ...h Monitor 5 4 Temperature Operating 2 5 4 2 TP IFB 5 2 5 11 Transient Voltages 6 2 Tuning 5 6 Criterion 5 6 velocity loop Problems 5 12 Tuning Components User Installed 5 5 Tuning Theory 5 10 Underdam...

Страница 72: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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