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DIGIVEX Little Drive Servoamplifier

PVD 3530 GB 01/2005

6.3.2 internal variables

Accessible internal variables (via DIGIVEX PC software)

The following internal variables may be selected:

Reference

♦

Input set point in rpm

♦

Speed measurement in rpm

♦

P, PI, PI

output in Amps

♦

Sum in Amps

♦

Current set point in Amps

♦

Acceleration in ms

♦

Viscous friction in Amps

♦

Dry friction in Amps

♦

Pesenteur in Amps

♦

Position in degrees

♦

Phase current U in Amps

♦

Phase current W in Amps

The 4 selected variables are chosen from the list of variables.

This manual was downloaded on www.sdsdrives.com

+44 (0)117 938 1800 - [email protected]

Содержание DIGIVEX Little Drive Servoamplifier

Страница 1: ...ac B P 249 F 21007 Dijon Cedex www SSDdrives com DIGIVEX Little Drive DIGITAL SERVOAMPLIFIER User and commissioning manual PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117...

Страница 2: ...PLE AXIS DMD PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES SPINDLE SYNCHRONOUS MOTORS HV COMPACT SERIES From 5 to 110 kW HW ELECTROSPINDLE frameless water cooled motor up to 60 000 rpm DI...

Страница 3: ...ogic inputs 12 1 3 3 4 Stimuli oscilloscope functions 12 1 3 3 5 Speed ramp function 12 1 3 3 6 logic outputs 14 1 3 3 7 Brake action 14 1 3 3 8 Monitoring reasons for stoppage 15 1 3 3 9 General char...

Страница 4: ...Resolver 31 4 3 2 3 Sub D connector X2 Inputs Outputs 33 4 3 2 4 Sub D connector X3 encoder emulation 36 4 3 2 5 Encoder emulation cable 36 4 3 2 6 Sub D connector X4 RS232 38 4 4 Connection Details 3...

Страница 5: ...ons 58 6 1 1 List of parameters 58 6 1 2 Regulation selection current proportional PI PI 58 6 1 3 Integration stoppage 61 6 1 4 Speed scaling 61 6 1 5 Filtering frequency 61 6 1 6 Predictors 62 6 2 In...

Страница 6: ...nitoring 78 7 2 1 4 Monitoring the DC Bus voltage 78 7 2 1 5 Other monitoring 78 7 2 1 6 7 segment display 79 7 2 1 7 Corrective actions 80 7 3 Defaults description 81 8 APPENDIX 83 Characteristics an...

Страница 7: ...ith live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations Check the bonding circuit...

Страница 8: ...rvoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correct...

Страница 9: ...dule also controls energy discharge via internal Two connection options are available for these servomotors Terminal box resolver connector Power connector resolver connector 1 2 General Characteristi...

Страница 10: ...lock diagram The block diagram shows two parts A power supply section providing dc voltage to the power bridge and auxiliary power supplies regulation fans one part for axis control and monitoring con...

Страница 11: ...POWER OK BUS VOLTAGE RESET 15V 5V AXE OK INIT C 0 DRIVE REGULATION FANS RESOLVER THERMAL PROTECTION MOTOR 24V BRAKE SUPPLY 24V BRAKE L1 L L2 N L3 U V W SUB D SUB D I O AND SET POINT POWER MONITORING B...

Страница 12: ...The DIGIVEX Little Drive DLD servo amplifier is a 4 quadrant transistor control module for controlling brushless synchronous motors with resolvers NX LX LS LD spindle drive motors See separate docume...

Страница 13: ...ve actions associated with speed control These actions acting outside the speed loop directly affect torque As they are external they have little effect on loop stability However they allow anticipate...

Страница 14: ...g the oscilloscope function a maximum of 4 variables can be displayed simultaneously via the PME DIGIVEX software 1 3 3 5 Speed ramp function A ramp function is integrated into the drive unit for vers...

Страница 15: ...the zero torque information is unlocked and an operating direction CW or CCW selected When CW or CCW is deactivated the motor decelerates in accordance with the pre set ramp which means that CW or CCW...

Страница 16: ...2 NB 48 rpm threshold OUT2 5252 rpm 1 3 3 7 Brake action The drive can be declared in the parameters with a brake function The 24 V brake supply terminal block B1 is monitored by the drive 24 V presen...

Страница 17: ...eed drive stops when the ambient temperature exceeds 60 C 85 without condensation Storage temperature 30 C to 85 C Chopping frequency 8 kHz Current bandwidth 600Hz to 3dB Speed bandwidth Up to 200Hz M...

Страница 18: ...ed electromagnetic fields EN 61000 4 8 of February 1994 Power frequency magnetic fields EN 61000 4 2 of June 1995 Electrostatic discharge ENV 50141 of August 1993 Disturbances induced in cables EN 610...

Страница 19: ...P in Watts J 2 N 9 55 2 f J Moment of inertia of the servomotor and the related load in kgm N Angular speed of motor shaft at start of braking in rpm f repeat frequency of braking cycles in s 1 This...

Страница 20: ...awn has a maximum resistance value equal to 360 Pulse power maximum power dissipated by the resistor this power can only be drawn for a short time and in compliance with a certain cycle Permanent powe...

Страница 21: ...ctions Connector Contact Function B4 1 DC B4 2 DC Connections are carried out from DC to DC DC to DC Maximum number of parallel axes 6 Connecting cover cables section 1mm minimum cable reference UL 10...

Страница 22: ...20 PVD 3530 GB 01 2005 3 DIMENSIONS ASSEMBLY MASS LABELLING CODING 3 1 Dimensions Assembly and Mass See the following pages drawing numbers FELX 306455 This manual was downloaded on www sdsdrives com...

Страница 23: ...DIGIVEX Little Drive Servoamplifier 21 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 24: ...e Ue 230V 2 4A three phase DLD13004R DIGIVEX Little Drive monoaxe Ue 230V 4 8A three phase DLD13007R DIGIVEX Little Drive monoaxe Ue 230V 7 5 15A three phase Meaning of label indications AC SERVO Alte...

Страница 25: ...w at the back of the DIGIVEX Little Drive If this link exceeds 30 cm a flat braid should be used instead of a conventional lead CONNECTIONS Do not run low level cables resolver inputs outputs NC or PC...

Страница 26: ...onnectors to be EMI RFI shielded metal with shielding braid connection Make sure the Sub D connectors and their covers are properly connected lock screws fully tight 4 2 Standard Connection Diagram Se...

Страница 27: ...DIGIVEX Little Drive Servoamplifier 25 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 28: ...DIGIVEX Little Drive Servoamplifier 26 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 29: ...DIGIVEX Little Drive Servoamplifier 27 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 30: ...DIGIVEX Little Drive Servoamplifier 28 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 31: ...ed for operation are arranged on the front panel in the form of B1 brake power supply terminal B2 motor terminal B3 power supply and auxiliary power terminal B4 DC Bus X1 RESOLVER connector X2 INPUTS...

Страница 32: ...ains only B3 3 and B3 4 are to be connected B3 6 B3 EARTH Unpluggable screw type Min 0 2 mm Max 2 5 mm flexible and rigid lead B4 1 DC B4 DC BUS B4 2 DC B4 DC BUS unpluggable screw type Min 0 2 mm Max...

Страница 33: ...nnections Sub D 9 pin connector item ref X1 Maximum conductor cross section 0 5 mm CONTACT TYPE FUNCTION 1 2 3 4 5 6 7 8 9 Input Input Input Input Output Output Cosine S1 Sine S2 Cosine S3 Sine S4 Exc...

Страница 34: ...DIGIVEX Little Drive Servoamplifier 32 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 35: ...eed Analog conversion Max voltage 10V Max current 10 mA Protected against short circuits 4 17 SA2 0V Analog output 10V point ANA2 0V of analog output Output assigned to current measurement 10V maximum...

Страница 36: ...r EL1 EL2 EL3 EL4 and RESET The logic inputs are common via the 0V logic 6 18 SL1 0V Logic DRV OK Max 50 mA optocoupled PNP 24V output 7 19 SL2 0V Logic OUT1 speed detection Max 50 mA optocoupled PNP...

Страница 37: ...DIGIVEX Little Drive Servoamplifier 35 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 38: ...t B 5 6 Output Top 0 7 Output A 8 Output B 9 Input 0V 4 3 2 5 Encoder emulation cable Cable formed from three twisted pairs of 0 14 mm 2 of one twisted pair of 0 5 mm 2 for 5 V supply and general shie...

Страница 39: ...DIGIVEX Little Drive Servoamplifier 37 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 40: ...C 7 7 NC 8 8 NC 9 9 NC Not Connected This input is for linking with a computer PC for parameter loading and setting via the DIGIVEX PC software 4 4 Connection Details 4 4 1 Main supply characteristics...

Страница 41: ...erminal block input please remember that the internal wiring is as follows THREE PHASE SINGLE PHASE The auxiliary power source input must be taken between two phases L1 L2 L2 L3 or L1 L3 in the case o...

Страница 42: ...al to the mains voltage 230V for mono appliances or three phase 230V 4 4 4 Terminal block B1 brake supply This terminal block is also able to receive a 24V power source voltage for the brake fitted to...

Страница 43: ...re for copper conductors The cable cross sections given in the table below take account of The rated drive current The motor drive distance service voltage loss RI The ambient temperature cable Joule...

Страница 44: ...ab There are three possibilities Default values 8kHz PWM mode 1 4kHz PWM mode 1 4kHz PWM mode 2 The parameters to be applied are as follows Cable length shielded and non shielded L 50m 50m L 80m 80m L...

Страница 45: ...DIGIVEX Little Drive Servoamplifier 43 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 46: ...DIGIVEX Little Drive Servoamplifier 44 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 47: ...DIGIVEX Little Drive Servoamplifier 45 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 48: ...DIGIVEX Little Drive Servoamplifier 46 PVD 3530 GB 01 2005 This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 49: ...n the motor and the terminal block The power connection lugs are to be inserted between the striated washer and the flat washer Digpl3 D Motor direction of rotation by wiring as recommended a positive...

Страница 50: ...en U2 V2 W2 1 4 3 U V W Black White Red Holding brake connection Brushless motors can be equipped with a specially sized brake to maintain the axis immobilized If 24 V 10 dc voltage is applied across...

Страница 51: ...h Sub D plug at the drive end and connector at motor end This solution is highly recommended as the cable is ready for use Maximum distance between the resolver and the DIGIVEX Little Drive 50 m Pleas...

Страница 52: ...Resolver cable 6537P0001 Input Output cable CB 08304 Emulation cable CB 08307 Complete cables equipped with connectors and or Sub D connectors Resolver cable 220049R61 length in meters 5m 10m 15m 25m...

Страница 53: ...I Level 0 input voltage 0V 5V Level 1 input voltage 15V 24V 30V Level 0 input current 0mA 0 5mA Level 1 input current 1 7mA 2 8mA 3 6mA Ton response time 0 to 1 1 ms Toff response time 1 to 0 1 ms 5 1...

Страница 54: ...005 Opto isolated output opto mos PNP type the load being for connection to the 0V logic i e between the two contacts allocated to this output 5 1 3 Speed set point input This manual was downloaded on...

Страница 55: ...DIGIVEX Little Drive Servoamplifier 53 PVD 3530 GB 01 2005 5 1 4 Current limitation input 5 1 5 Analog outputs This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

Страница 56: ...iven time Signal form Signal levels U high 2 5V for I high 20mA U low 0 5V for I low 20mA Switching time Rise or fall time defined from 10 to 90 of the magnitude in question without cable and without...

Страница 57: ...0 and their complement Programming resolution and zero mark position This is done with the DIGIVEX PC software Resolution Adjustable between 1 and 16384 either by keys or be entering the number direc...

Страница 58: ...ower contactor This output must through an interface authorise the self support of the main contactor This logic output shifts from level 1 to level 0 in the folowing cases On normal stoppage obtained...

Страница 59: ...e X2 plug shifts to 0 for minimum Bus voltage This off load time depends on the activity of the amplifier during this phase The motor continues to be driven until the output switchover then 0 is displ...

Страница 60: ...se drive 156 I pulse drive x 210 Integration stop 0 1 Hz 100 Hz Predictors gravity dry or dynamic friction acceleration 6 1 2 Regulation selection current proportional PI PI Current regulation Choosin...

Страница 61: ...I if the gain increases the error is reduced the rapidity of the system increases as does its bandwidth An increase in gain may lead to instability because of the other components in the loop resonan...

Страница 62: ...which creates instability This phase shift is not troublesome at low frequencies but may make the system unstable at higher frequencies It is therefore best to adjust the integral stop frequency corr...

Страница 63: ...arameter determines the speed gradient e g maximum speed can be obtained for 10 V 9 V or 7 V depending on the positioning control 6 1 5 Filtering frequency Resonance phenomenon Many systems have one o...

Страница 64: ...the current set point without recourse to the speed loop and without waiting for the speed error produced by these phenomena see block diagram The principle of predictor setting and work is to minimi...

Страница 65: ...at rest when there is a position loop Dynamic friction compensation Friction proportional to speed encountered on some mechanical components using fluids Value to enter coefficient in amps rpm Acceler...

Страница 66: ...n the EEPROM are saved 6 3 Setting with DIGIVEX PC Software 6 3 1 Outline SELECT MOTOR DRIVE COMBINATION SELECT TYPE OF REGULATION CURRENT SPEED P PI PI CURRENT LIMITATION SECOND ORDER FILTER fc POSSI...

Страница 67: ...t set point in rpm 2 Speed measurement in rpm 3 P PI PI 2 output in Amps 4 Sum in Amps 5 Current set point in Amps 6 Acceleration in ms 7 Viscous friction in Amps 8 Dry friction in Amps 9 Pesenteur in...

Страница 68: ...rs via DIGIVEX PC software See DIGIVEX PC software instructions Choice of rating Choice of motor standard or special Choice of resolver Entering servo control parameters global transfer Assigning inpu...

Страница 69: ...aximum recommended for P There is a maximum advisable proportional gain depending on the drive rating and corresponding to maximum current oscillation RATING P In mA rpm 2 4 35 4 8 75 7 5 15 150 N B T...

Страница 70: ...ue shown in the table is reached with P gain without reducing the filtering frequency then Stop increasing P Reduce the filtering frequency until the limit of oscillation Filtering frequency setting O...

Страница 71: ...filter frequency to a high value PI PI2 integral stop frequency setting Initial status P gain alone P and filtering frequency setting completed Integration stop frequency 0 Still no integration System...

Страница 72: ...without predictors The system is ready to run Setting the Gravity and Static Friction predictors Notice that the gravity factor is zero for a horizontal axis Take a square stimulus offset 0 peak to p...

Страница 73: ...ese values into the parameters Enter the threshold value e g threshold max speed 1000 After introducing the values the result obtained can be checked with the same stimulus Check the input set point o...

Страница 74: ...on predictor setting Increase the predictor until P PI PI2 output is minimized Too high a value increases P PI PI2 with a phase change Input reference Time Time P PI PI Output DIGPL43 D 49 W Predictor...

Страница 75: ...td in seconds inertia in kgm2 max in rd s torque in Nm Setting the dynamic friction predictor Once all the other predictors have been adjusted increase the dynamic predictor to minimize the P PI PI ou...

Страница 76: ...is possible to assign one of the internal variables to each of the two 10 V analog outputs assign a constant value up to 12V and 12V to the analog outputs force the logic inputs to 0 or 1 The logic i...

Страница 77: ...aution Before doing any work on the system make sure the power bus is at 0 V Wait at least three minutes after the motors have come to a complete stop before starting work Wait for the 7 segment displ...

Страница 78: ...wer up 1 is displayed Remove zero torque locking using the software or via hardware contact set TORQUE input at 24V Carry out system adjustment using stimuli dc stimuli square with peak to peak 0 Chec...

Страница 79: ...ction strategy in the servo control window of the parameter setting software These malfunctions lead to A reduction in the motor current The data being displayed on the front panel 7 segment display f...

Страница 80: ...110 C stoppage of the amplifier Servo motor winding temperature Each motor has a thermal sensor When customizing the drive this sensor can be taken into account or ignored If it is taken into account...

Страница 81: ...or earth short circuit Excessive mean current Too much current asked of drive Excessive rms current Too much current asked of drive Cycle too demanding Excessive motor temperature Cycle too demanding...

Страница 82: ...ted motor Overspeed Nmax incorrectly set Accidental transition to torque regulation Motor fails to run and remains without torque System is set to zero torque hardware or software input TORQUE 0 The t...

Страница 83: ...rent authorized by the motion controller 110 C T operations stop Can be linked to large braking cycles Check Electrical control cabinet ventilation Good circulation around the motion controller 4 Exce...

Страница 84: ...spot 8 Bus overvoltage Braking recovery impossible Causes Oversized operating cycle Motion controller braking capacity much too low with regard to the application 9 Excessive motor temperature Causes...

Страница 85: ...DIGIVEX Little Drive Servoamplifier 83 PVD 3530 GB 01 2005 8 APPENDIX UL CERTIFICATE This manual was downloaded on www sdsdrives com 44 0 117 938 1800 info sdsdrives com...

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