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Technical description  

3-4  

 

SIMODRIVE base line A   Start-Up 

3.3. Control module 

 
 

General

 

The control module is intended for feed drives with closed-loop control 
function. It can provide the smoothing function for machine tools.   

 

The speed controller has the PI characteristics. The proportional gain K

P

, 

integral action time T

N

, drift compensation and tachometer calibration can 

be set using potentiometer. The dynamic response in low velocity is 
improved through speed-controller- adaption. The speed controller is to 
be optimized through varying integral time and proportional gain.     

 

Control process 

Refer to Fig. 3-4 for the control process. 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Содержание SIMODRIVE base line A

Страница 1: ...Valid for Servo Drive SIMODRIVE base line A 09 2004 Edition SIMODRIVE base line A Start Up Technical Manual Introduction 1 Installation 2 Technical description 3 Servomotor 4 ...

Страница 2: ...ng rights created by patent grant or registration of a utility model are reserved Exclusion of liability We have checked that the contents of this document correspond to the hardware and software described Nonetheless differences might exist and we cannot therefore guarantee that they are completely identical The information contained in this document is reviewed regularly and any necessary change...

Страница 3: ...out safety alert symbol indicates a potentially hazardous situation which if not avoided may result in property damage Notice Indicates important information relating to the product or highlights part of the documentation for special attention Qualified Person The unit may only be started up and operated by a qualified person or persons Qualified persons as referred to in the safety guidelines in ...

Страница 4: ......

Страница 5: ...s 2 12 2 6 1 3 Position feedback interface X391 X392 2 13 2 6 1 4 Encoder interface X311 X312 2 13 2 6 1 5 Drift compensation Drift potentiometer 2 14 2 6 1 6 Tachometer Potentiometer 2 14 2 6 1 7 Proportional gain KP potentiometer 2 15 2 6 1 8 Integral action time TN potentiometer 2 15 2 6 1 9 Speed setpoint controller enable interface X321 X322 2 16 2 6 2 Infeed module interface 2 17 2 6 2 1 Gro...

Страница 6: ......

Страница 7: ... following modules Control module Infeed module Power module Fig 1 1 SIMODRIVE base line A 1 axis 2 axes module V1 V2 SIMODRIVE base line A SIMODRIVE base line A can be ordered with the following two versions versions V1 1 axis version motor static torque of 6Nm 11Nm 8Nm 16Nm V2 2 axes version motor static torque of 3 3Nm 3 6Nm 3 8Nm 6Nm 8Nm 6 6Nm 8 8Nm SIMODRIVE base line A SIMODRIVE base line A ...

Страница 8: ...MODRIVE baseline is that SIMODRIVE base line A is used with an adjustable combination of 1FK7 servo motors with 4 pole pairs resolver encoder while the SIMODRIVE base line is used with a fixed combination of 1FK7 servo motors with 1 pole pair resolver encoder Fig 1 2 SIMODRIVE base line A and CNC system Notice The servo motors used in Simodrive base line are inapplicable for Simodrive base line A ...

Страница 9: ...483 x 271 11 V1 2 axes SIMODRIVE base line A 110 x 483 x 271 11 5 V2 Environment operating conditions Table 1 3 Operating environment Parameter Description Remarks Temperature range 0 C 40 C Max 55 C Power derating in range of 40 C 55 C Annual average U 75 td 17 C For 30 days 24h in one year U 95 td 24 C these days should be naturally distributed over the whole year Relative humidity On all other ...

Страница 10: ...verage U 75 td 17 C For 30 days 24h over the year U 95 td 24 C these days should be naturally distributed over the year Relative humidity For other days 24h U 85 td 24 C but it should accord with the annual average td dew point U relative humidity Applicable standards DIN IEC 68 2 1 DIN IEC 68 2 2 DIN IEC 68 2 3 DIN VDE0160 5 2 1 3 EN50178 Protection class IP20 according to DIN EN 60529 ...

Страница 11: ... m 4 Speed setpoint cable 6FX2002 3AD01 1 0 AB 1 m AD 3 m AF 5 m AH 7 m BA 10 m BF 15 m 5 Encoder cable 6FX5002 2CF02 1 0 AF 5 m BA 10 m BF 15 m 6 Motor power cable 6FX5002 5 A01 1 0 AF 5 m BA 10 m BF 15 m BJ 18 m CF 25 m A without brake and overall shield C without brake with overall shield B with brake without overall shield D with brake and overall shield 7 Transformer JBK3 See table 2 8 4AU369...

Страница 12: ......

Страница 13: ...nding cable should be connected properly Mounting location SIMODRIVE base line A is of a compact design so that the installation is very simple When fixing the servo drive in the cabinet four 4 M6 screws are required It is recommended to adopt the vertical mounting in the cabinet A clearance of at least 100mm should be maintained between two servo modules to ensure sufficient cooling space For the...

Страница 14: ...Installation 2 2 SIMODRIVE base line A Start Up Mounting The mounting dimensions are shown in the following figures dimensions Fig 2 1 Mounting dimensions 1 Clearance space for sufficient cooling ...

Страница 15: ...Installation SIMODRIVE base line A Start Up 2 3 Fig 2 2 Mounting dimensions continued 1 axis module 2 axes module ...

Страница 16: ...ne power networks Please read section 2 7 Power supply isolating transformer for the usage of isolating transformer Filter The filter is designed to provide noise suppression for SIMODRIVE base line A We recommend you to use line filter to prevent from the high frequency noise The rated voltage is 400 415VAC and the frequency is 50 60Hz For the detailed technical data please refer to section 2 7 P...

Страница 17: ...rm 56 14 Main switch close Set the setpoint to 0V at the battery box Briefly energize term 65 jog Does the motor acelerate Enter a low setpoint e g 0 1V Briefly energize term 65 Does the drive run continuously 1 no fault yes fault Open connectin between terminal 63 and terminal 9 Main switch Open Check the motor PWM inverter connection Power connection cable Encoder cable Settings of the pole pair...

Страница 18: ...ynamic performance as shown below can be achieved in this way Connect Speed Actual Value terminal 75 and Reference Ground terminal 15 on Speed Setpoint Controller Enable interface X321 X322 to an oscillograph view output curve then adjust proportional gain Kp and integral action time Tn through corresponding potentiometers to obtain an optimal result Rotating clockwise increases the controller dyn...

Страница 19: ... axes X391 1 axis Encoder interface X311 X312 2 axes X311 1 axis Adjustment potentiometer Drift tachometer Kp Tn Speed setpoint controller enable interface X321 X322 2 axes X321 1 axis Grounding terminal X131 Enable interface terminal X141A LED lights PE1 PE2 PE A1 U2 V2 W2 A2 U2 V2 W2 X1 U1 V1 W1 DIL switch S1 S2 2 axes S1 1 axis Fig 2 4 Front panel of SIMODRIVE base line A 2 axes module left 1 a...

Страница 20: ...tiometer TN It is used to optimize the speed dynamic performance Adjustment range 3 40ms X321 X322 speed setpoint controller enable interface Terminal 56 and 14 in X321 X322 are the differential input interface of speed setpoint Range 10V Terminal 9 and 65 1 in X332 is the controller enable interface for axis 1 Terminal 9 and 65 2 in X332 is the controller enable interface for axis 2 A1 U2 V2 W2 A...

Страница 21: ... LED on the front panel for fault diagnostics which is located at the bottom left of terminal X321 see fig 2 6 for reference It is used to indicate Ready message Ready LED Table 2 1 Ready LED display LED off LED on Effect Both axes of the 2 axes module are enabled At least one axis is disabled via the terminal or due to a fault message If the LED is on for the first time of Power On it means the d...

Страница 22: ... machine The components are wired up as shown in the connection diagram Fig 2 5 The required cable for the connection between NC drive and motors is also indicated in the figure 6FX5002 2CJ00 1 0 35 m 6FX2002 3AD01 1 0 35 m SIMODRIVE base line A 1FK7 Multi pole Pair Motor SINUMERIK 802C base line 6FX5002 5 A01 1 0 25 m 6FX5002 2CF02 1 0 35 m Fig 2 5 Cable connection example SINUMERIK 802C base lin...

Страница 23: ...aches nrated f nset 8V at T 56 14 Tachometer adjustment Proportional gain Kp and integral action time TN Axis 1 Axis 2 Speed setpoint nset differential input 10V Setpoints Speed actual value 10V corresponds to nrated Actual values Reference ground Current actual value 10V corresponds to Irmax Ready fault signal 56 1 14 1 75 1 15 15 16 1 9 65 1 56 2 14 2 75 2 15 15 16 2 9 65 2 Axis specific enable ...

Страница 24: ...in Kp I Axis 1 S1 Contacts1 1FK M0 Nm 100K I0 A 100K Nrated RPM Contact 1 2 Imax 3 7 4 8 5 9 6 10 Kp I 7060 5AF 6 0 4 5 3000 x 70 x o o x 9 5 7063 5AF 11 0 8 0 3000 o 100 o x x o 7 5 7080 5AF 8 0 4 8 3000 x 70 x o o x 9 5 7083 5AF 16 0 10 4 3000 o 100 x o x o 6 0 Table 2 3 Adaptation table for Simodrive base line A 2 axes module Servomotor Curr act value norm Axis 1 S1 Axis 2 S2 Current controller...

Страница 25: ..._INV RS422A 4 9 B RS422A 6 10 B_INV RS422A 7 3 R RS422A 12 4 R_INV RS422A 13 12 READY HCMOS 1 NC ER_IKL HCMOS 9 NC ER_TNL HCMOS 10 NC EN_WSG HCMOS 11 NC 2 6 1 4 Encoder interface X311 X312 Connector on the Connector designation X311 X312 servodrive side Connector type 25 pin Sub D plug connector Connector on the Connector designation Encoder connector servomotor side Connector type 12 pin aero con...

Страница 26: ...rated The following setting ranges are obtained for a 10V speed setpoint according to the rated speeds nmotorN 1 nmotorN 2 2250 2250 6000 RPM 6000 RPM 1500 RPM 4500 RPM nrated 2 1 rated motor speed 2 rated speeds which can be set using the closed loop resolver control Fig 2 7 Setting range for a 10V speed setpoint When the speed setpoint is reduced the setting range is also appropriately reduced W...

Страница 27: ...ntly influenced by the setting of the TN Fig 2 8 Setting proportional gain KP using Kp potentiometer 2 6 1 8 Integral action time TN potentiometer General The speed controller integral action time is set using TN potentiometer Fig 2 9 Setting integral action time using TN potentiometer 20 0 40 60 80 100 120 140 160 170 0 1 2 3 4 5 6 7 8 9 10 Setting KP potentionmeter KP 10 0 20 30 40 45 0 1 2 3 4 ...

Страница 28: ...2 6 for the terminal definition in connector X321 322 Table 2 6 Terminal definition Term No Designa tion1 Function Type2 Typ limit voltage V Max cross section mm2 56 X321 322 Speed setpoint I 0 10 1 5 14 X321 322 Speed setpoint I 0 10 1 5 75 X321 322 Speed actual value O 0 10 1 5 15 X321 322 Reference potential O 0 1 5 15 X321 322 Reference potential O 0 1 5 16 X321 322 Active current actual value...

Страница 29: ... the secondary side must be used The figure 2 9 shows how to connect the drive converter to line supply M 3 L1 L2 L3 PE U1 V1 W1 U2 V2 W2 Incoming terminals Main switch Fuse Isolating transformer option Filter SIMODRIVE base line A TN Line supply PE PE rail Requirements PE rail should be connected through a large surface area to the cabinet mounting panel Cabinet mounting panel Fig 2 10 Connecting...

Страница 30: ...abling the pulses for all of the modules and acts instantaneously Terminal 64 acts instantaneously on all modules When the signal is withdrawn nset is set to 0 for all drives and all of the controllers and pulses are inhibited after a selected time has expired setting when supplied 240 ms The drive is braked along the current limit Terminal definition Table 2 7 Terminal definition Term No Designa ...

Страница 31: ...tor three phase network with grounded loadable star point The protective and neutral conductors are connected to the star point IT system it is symmetrical 3 conductor or 4 conductor three phase network with no directly grounded point the loads are e g connected to groundings TT system it is symmetrical 3 conductor or 4 conductor three phase network with a directly grounded point the loads are e g...

Страница 32: ...g 2 11 Three types of line supply systems U1 V1 W1 PE PE N L1 L2 L3 Commutating reactor Isolating transformer IT system U1V1 W1 PE L1 L2 L3 Commutating reactor TN C system U1 V1 W1 PE PE N L1 L2 L3 Commutating reactor Isolating transformer TT system PEN ...

Страница 33: ...ing SIMODRIVE base line A can be connected directly to TN C line supply transformer system The isolating transformer is used as an option in this line supply type The connecting diagram is shown in the Fig 2 10 But the isolating transformer must be used in following cases 1 IT line supply system or TT line supply system 2 The touchable part in the equipment has potential because of the unequilibri...

Страница 34: ...ted power V1 V2 8Nm 8Nm 8 00 standard kVA Input voltage 3AC 380 V Output voltage 3AC 380 V Type JBK3 Circuit voltage UK 8 Terminal protection class IP20 Phoenix terminals are recommended and with UL approval Voltage endurance test DC 2250V 1 minute type test V Input current without load 10 Vector degree Y Y0 Max coil temp boost 80 K Remarks It is valid for the tailored transformers which is to be ...

Страница 35: ...tection IP00 IP20 and IP23 to DIN EN 60529 Humidity classification 3K5 condensation and icing excluded Permissible ambient temperature Operation 25 40 max 55 with derating Storage transport 25 80 C Power loss Max 520 W Weight with IP00 55 IP20 23 65 kg Dimensions WxHxD 360x268x320 mm Conductor cross section primary side Max 6 mm2 Conductor cross section secondary side Max 6 mm2 Order No 4AU3695 0S...

Страница 36: ...on altitude 1000 2000 with derating m Order No 6SN1111 0AA01 1BA0 Commutating The commutating reactor is used to limit system disturbance or reactor instability and store energy for step up converter operation in conjunction with infeed and regenerative feedback modules The commutating reactor is already integrated in the infeed module in SIMODRIVE base line A It is not required for customer to in...

Страница 37: ...late Section Drawing of Cable Grounding A A Note When cable grounding the tongue of hoop must be separated from the cable and located at each side of shield plate so as to prevent damaging the cable Fig 2 13 Mounting shielded plate Fig 2 14 Connection of brake terminal ...

Страница 38: ...ented correctly in the cabinet The grounding terminal X131 is to be connected separately with the protective conductor in NC PE2 X312 W2 V2 U2 M 3 G PE1 X311 W2 V2 U2 M 3 G X392 X391 X131 PE W1 V1 U1 L1L2 L3 PE SIMODRIVE base line A NC A1 A2 X3 X4 X1 Fig 2 15 Grounding diagram for SIMODRIVE base line A 2 axes ...

Страница 39: ...The resolver encoder system integrated in the motor supplies the signals required by the control system such as motor rotor position and actual speed as well as an incremental shaft encoder interface with TTL signals for external processing Control process Actual current Actual speed Rotor position Speed controller Current controller Gating unit Coordinator Power section AC servomotor Resolver Cur...

Страница 40: ... built in the motor switches over the current to appropriate phase The infeed module is designed with a permissible dynamic overloading 200 for a short time The design of heatsink overtemperature and I2 t monitoring protect the power part from over heating Control process Electronics power supply Monitoring Pre charge contactor DC link monitoring P600 M600 Monitoring P600 M600 Pulse resistor contr...

Страница 41: ... inhibit Internal enable inhibit Output pulse inhibit Note 1 Terminal 63 is inhibited The enable and inhibit act after approx 1ms simultaneously on all of the modules When the signal is withdrawn the drives coast down unbraked 2 Terminal 64 is inhibited Speed setpoint is set to 0 for all drives and the drives are braked After the set timers have expired as supplied 240ms all of the controllers and...

Страница 42: ...ne tools The speed controller has the PI characteristics The proportional gain KP integral action time TN drift compensation and tachometer calibration can be set using potentiometer The dynamic response in low velocity is improved through speed controller adaption The speed controller is to be optimized through varying integral time and proportional gain Control process Refer to Fig 3 4 for the c...

Страница 43: ...lization Motor temperature monitoring X311 X312 Pulse inhibit Controller inhibit Monitoring Infeed module I 2 T max M 3 R U2 V2 W2 Fault Shield P24EXT FR 9 65 1 65 2 14 56 Controller enable Temperature alarm Device internal enable Central unit ready fault signal Speed controller P600 M600 PE Pulse distribution Current controller Fig 3 4 Block diagram of control module ...

Страница 44: ...d immediately The drives coast down unbraked Fig 3 5 Enable signal in control module Monitoring function Heatsink overtemperature I2 t monitoring Heatsink overtemperature monitoring when the heatsink shutdown temperature is reached the fault signal is output And the axes are stopped I2 t monitoring when the limiting becomes active the fault signal is output And the axes are stopped Motor overtempe...

Страница 45: ...ation Parameter Remarks Rated speed 3000 rpm Pole pairs 4 Encoder Resolver 4 pole pairs Motor type AC servomotor permanent magnetic synchronous motor Material of magnetic field Rare earth magnetic material Protection degree IP64 option IP65 in addition IP67 for the drive end flange EN60034 5 IEC60034 5 Insulation of stator windings as per EN60034 1 IEC60034 1 Temperature class F Winding temperatur...

Страница 46: ...rrent A Order No M0 60 M0 100 Rated torque Nm Mrated 100 Weight 1 Kg I0 60 I0 100 Rated speed 2 1 min Pole 1FK7042 5AF71 1S 0 2 5 3 2 6 4 9 1 8 2 2 3000 8 1FK7060 5AF71 1S 0 5 0 6 4 7 7 3 7 4 5 3000 8 1FK7063 5AF71 1S 0 9 1 11 7 3 11 5 6 6 8 0 3000 8 1FK7080 5AF71 1S 0 6 6 8 6 8 10 4 0 4 8 3000 8 1FK7083 5AF71 1S 0 13 3 16 10 5 14 8 6 10 4 3 3000 8 Note 1 without brake 2 It s recommended that the ...

Страница 47: ...of intermittent periodic duty 60 means the ratio of working time with constant load to the whole cycle S3 40 load cycle in case of intermittent periodic duty 40 means the ratio of working time with constant load to the whole cycle S3 25 load cycle in case of intermittent periodic duty 25 means the ratio of working time with constant load to the whole cycle Max torque curve it is the characteristic...

Страница 48: ...00 2500 3000 3500 Speed min 1 Torque Nm S1 100K S1 60K S3 25 S3 40 S3 60 Fig 4 3 Motor speed torque diagram 1FK7063 5AF71 1S 0 1FK7080 5AF71 0 5 10 15 20 25 0 500 1000 1500 2000 2500 3000 3500 Speed min 1 Torque Nm S1 100K S1 60K S3 25 S3 40 S3 60 Fig 4 4 Motor speed torque diagram 1FK7080 5AF71 1S 0 ...

Страница 49: ... refer to Fig 4 1 and Table 4 3 for the mounting dimensions of the servomotor Fig 4 6 Motor size Table 4 3 Motor dimensions Order No a1 b1 c1 e1 f f1 g2 h i2 s2 1FK7042 5AF71 1S 0 120 80 10 100 96 3 90 48 40 7 1FK7060 5AF71 1S 0 155 110 10 130 126 3 5 105 63 50 9 1FK7063 5AF71 1S 0 155 110 10 130 126 3 5 105 63 50 9 1FK7080 5AF71 1S 0 186 130 13 165 155 3 5 119 5 77 5 58 11 1FK7083 5AF71 1S 0 186 ...

Страница 50: ... k o1 o2 k o1 o2 d d6 I t u 1FK7042 5AF71 1S 0 162 101 134 191 101 163 19 M6 40 21 5 6 1FK7060 5AF71 1S 0 157 93 125 200 93 168 24 M8 50 27 8 1FK7063 5AF71 1S 0 202 138 170 245 138 213 24 M8 50 27 8 1FK7080 5AF71 1S 0 156 91 124 184 91 152 32 M12 58 35 10 1FK7083 5AF71 1S 0 194 129 162 245 152 213 32 M12 58 35 10 ...

Страница 51: ...25 52101888 Fax 025 52101666 For publication Manual SIMODRIVE base line A Start Up Manufacturer Documentation From Name Technical manual Order No 6SN1197 0AB21 0BP1 Edition 09 2004 Company dept street Telephone Telefax Should you come across any printing errors when reading this publication please notify us on this sheet Suggestions for improvement are also welcome Suggestions and or correction ...

Страница 52: ...SIMODRIVE base line A Document structure SINUMERIK 802S SINUMERIK 802S General Documentation Catalog Leaflet Start up Technical Manual Start Up ...

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