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AZ

2

USER MANUAL

ST.TEC.003.EN Rev. 2.1

29 / 52

6.

OPERATION OF TWO SYNCHRONIZED MOTORS

!

Read carefully the safety precautions reported in 1.5 before operating the drive!

In this operation mode, the drive can control the movement of two motors trying to move them in
synchronous, basing on the encoders signals. The applied voltage follows the desired ramp set by the
user but at the same time the drive increases or decreases the voltages depending on the position
error.
The user can set two electronic limit positions thanks to the encoder’s signals but the drive can also
work with two mechanical limit switches.
The  movement  stops  when  the  relative  limit  signal  goes  high  (electronic  or  mechanic),  when  a
current limit is achieved, when the command is released or the STOP signal goes high.
All the parameters are set independently for both motors and for the opening and closing movement.
When the drive is not applying voltage to the motor, the terminals are short-circuited to ground.

6.1.

Connections and commands

!

Read carefully the safety precautions reported in 1.4 before wiring the drive!

Below is a connection scheme:

M

ENC

Power stage

&

Current sense

M

ENC

Power stage

&

Current sense

Switching

power

supply

12 V

DC

regulator

3.3 V

1

0

k

Ω

+V

+

3.3V

12V

12V

DSP

1

0

k

Ω

+

12V

12-48V DC

RED

RGB

Modbus

interface

Inputs

Diagnostics

Synchronization

Motor

Drive

M1+

M1-

M2+

M2-

1

2

3

4

5

6

7

8

11 12

9 10

15 16

0V

13

14

J1

J2

12V

OPEN

CLOSE

TRIM-1

TRIM-2

OP-SW

CL-SW

INT-SW

STOP

Fault

Figure 16: connection scheme example in synchronous mode

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Содержание AZ2

Страница 1: ...AZ2 DC MOTOR DRIVE USER MANUAL ...

Страница 2: ...notice because the product is in continuous evolution No part of this manual may be howsoever reproduced without previous consent by TeMec Drive REVISIONS INDEX Rev Par Description Date R V A 0 0 First release 04 03 2016 1 0 Update Independent with encoder functionalities added 01 03 2019 2 1 9 Corrected troubleshooting for yellow error 11 11 2020 RZ R Redaction V Verification A Approval ...

Страница 3: ...1 2 3 Ordering codes 11 3 INSTALLATION AND WIRINGS 12 3 1 Installation environment 12 3 2 Mechanical installation 12 3 3 Mechanical drawings 13 3 4 External power supply connections 14 4 OPERATION OF TWO INDEPENDENT MOTORS WITHOUT ENCODER 15 4 1 Connections and commands 15 4 2 Ramps 18 4 2 1 Advanced parameters 18 4 3 Current limits 19 4 3 1 Advanced parameters 20 5 OPERATION OF TWO INDEPENDENT MO...

Страница 4: ...S 35 7 1 Global errors 35 7 1 1 Advanced parameters 36 7 2 Motor specific errors 37 7 2 1 Advanced parameters 38 8 PARAMETER TABLES 39 8 1 Digital inputs and outputs 39 8 2 Ramps 40 8 3 Current limits 40 8 4 Synchronism motor 1 and motor 2 43 8 5 Synchronism global 45 8 6 Independent with encoder 45 8 7 Global errors 45 8 8 Motor specific errors 47 9 TROUBLESHOOTING 49 10 MAINTENANCE AND INSPECTIO...

Страница 5: ...endent operation Do not use for driving other electrical loads or motor types without first contacting your TeMec Drive distributor Use the drive only in industrial application do not use it where a possible fault can cause serious injury to human life like nuclear plants aviation safety device entertainment medical Use the drive only where a possible fault of the drive does not cause serious acci...

Страница 6: ... into contact with water or other fluids This can result in electric shock or fire Install the drive being sure that no metal part is in contact with the bottom side of the board The contact with the exposed tracks may cause electric shock or fire Operate under the environmental conditions prescribed in this instruction manual Operations under any other conditions may result in malfunction Install...

Страница 7: ...ide correctly If the polarity is incorrect the motor s will operate in reverse and that may result in injury Do the wiring after installation If wiring is done prior to installation that may result in injury or electric shock The following steps must be performed before wiring 1 turn off all input power 2 wait at least 5 minutes and check to make sure that the on state LED1 is no longer lit 3 use ...

Страница 8: ...he drive after malfunction If the drive is reset before turning off the operating signal the motor may restart suddenly resulting in injury If incorrect set the drive may has some damage or unexpected movement Be sure to set the setup menu correctly CAUTION Use a motor that conforms to the specifications of the drive and power supply If the motor being used does not conform to those specifications...

Страница 9: ...NING If you dispose of the drive have it done by a specialist in industry waste disposal If you dispose of the drive by yourself this can result in explosion of capacitor or produce noxious gases resulting in injury Persons who specialize in the processing of waste and known as industrial waste product collectors and transporters or industrial waste disposal persons Please observe any applicable l...

Страница 10: ...om applications or future purposes The AZ2 drive is designed for the open loop control of linear actuators driven by DC motors but its use can be extended to any application involving the control of DC motors For this reason in the following manual the terms motor and linear actuator forward backward and open close are used as synonyms 2 1 Technical characteristics TECHNICAL DATA Supply voltage 12...

Страница 11: ...terminals for pulse inputs X2 13 Fault output X2 14 Configurable output X2 15 Auxiliary voltage GND and inputs GND X2 16 Auxiliary voltage 12 V X3 Connector for communication with PC application or fieldbus interface J1 Jumper for inputs 1 8 pull up down configuration J2 Jumper for inputs 9 12 pull up down configuration LED1 DSP red LED LED2 Diagnostic red green blue RGB LED S1 Holes for mounting ...

Страница 12: ...rted in Table 1 do not install in any location that can be subject to large amounts of vibrations 3 2 Mechanical installation Install the drive being sure that no metal part is in contact with the bottom side of the board The contact with the exposed tracks may cause electric shock or fire With reference to Figure 1 and Table 2 use S1 mounting holes for the mechanical installation Install the driv...

Страница 13: ...s for the terminal blocks Terminal block Tightening torque Nm Minimum Maximum X1 POWER 0 5 0 6 X2 Signals 0 22 0 25 Table 3 recommended tightening torques 3 3 Mechanical drawings All quotes are expressed in millimetres Figure 4 AZ2048D01000000 dimensions in mm Figure 5 AZ2048D01500000 dimensions in mm ...

Страница 14: ...g of the motor The use of the diode is required in case of parallel connection of more than one AZ2 or connection of other loads in parallel with the drive as shown in Figure 6 AZ2 V 0V AZ2 V 0V Generic Load DC POWER SUPPLY Figure 6 parallel connection of multiple drives An example of diode that can be used is Infineon IDP30E60 adequately dissipated For the protection of the drive use a 25 A time ...

Страница 15: ... and for the opening and closing movement When the drive is not applying voltage to the motor the terminals are short circuited to ground 4 1 Connections and commands Read carefully the safety precautions reported in 1 4 before wiring the drive Below is a connection scheme showing all possible commands and devices that can be connected to the board M Power stage Current sense M Power stage Current...

Страница 16: ...are see 8 1 for the complete list Label Function Range Default value DI00 Reverse input 01 logic ON OFF ON DI01 Input 01 turn on delay 5 500 ms 10 DI02 Input 01 turn off delay 5 500 ms 10 Table 6 example of digital input parameters The commands are configured as hold to run but can also work in one press mode changing the following parameter Label Function Range Default value DI36 Sets inputs in o...

Страница 17: ...ercurrent motor 1 or 2 Open Overcurrent motor 1 or 2 Close Inrush Overcurrent motor 1 or 2 Close Overcurrent motor 1 or 2 Encoder disconnected motor 1 or 2 Open Limit Loss motor 1 or 2 Close Limit Loss general Fault power supply overvoltage power supply under voltage board over temperature synchronism error ...

Страница 18: ...ected the drive behaviour follows Figure 8 right the motor terminals are disconnected from the power stage no voltage applied for M106 500 ms and the stop is achieved by inertia The ramps applied to the motors are set using three parameters see 8 2 for the complete list Label Output Function Range Default value M100 Motor 1 Open voltage 10 48 V 24 M101 Motor 1 Open acceleration ramp 100 3000 ms 50...

Страница 19: ...s 2 times the first value Either the drive can go in block state or not when the current limit is exceeded depending on the user choice If the block is disabled C107 OFF the drive will read the overcurrent as a limit switch permitting only the movement in the opposite direction The parameters below configure the current limit functions for the opening movement of motor 1 see 8 3 for the complete l...

Страница 20: ...ameters shown below are related to the monitoring of motor 1 nominal current during opening Figure 10 example of analog quantity monitoring The green trace is an example of controlled quantity i e the current in red there are the two threshold and in blue the result of the check high current over the limit The check is positive if the controlled quantity exceeds the high threshold for more than C1...

Страница 21: ...C103 Motor 1 Low threshold of inrush current control during opening 1 19 A 19 C104 Motor 1 Delay of inrush current control during opening 1 500 ms 20 C106 Motor 1 Delay added to open acceleration time before the normal threshold is applied 100 1500 ms 1000 C107 Motor 1 Enables the block in case of overcurrent during opening ON OFF ON C108 Motor 1 High threshold of nominal current control during op...

Страница 22: ...are valid it is moreover possible to connect an encoder to one of the two motors or to both motors the presence of an encoder changes the number of digital inputs available 5 1 Connections and commands Read carefully the safety precautions reported in 1 4 before wiring the drive Below there are the connection schemes showing all possible commands and devices that can be connected to the board Moto...

Страница 23: ...AZ2 USER MANUAL ST TEC 003 EN Rev 2 1 23 52 Motor 2 with encoder motor 1 without encoder Figure 12 connection scheme example in independent mode with motor 2 connected to an encoder ...

Страница 24: ...wo motors with encoder 2 Motor 1 with encoder motor 2 without encoder 3 Motor 2 with encoder motor 1 without encoder Table 13 independent mode configurations For each of the two motors Label Function OPEN Open forward command CLOSE Close backward command OP SW Open limit switch CL SW Close limit switch INT SW Intermediate switch STOP Stop command errors reset Table 14 legend of external devices in...

Страница 25: ...ers when the current overcomes the threshold the motor is stopped disconnecting its terminals from the power stage no voltage applied for S115 500 ms for motor 1 and S215 500 ms for motor 2 every pressure of the limit switches is ignored Stop command homing the home position is achieved when the stop command is pressed and motor is stopped reducing the voltage until 0 V in S106 ms for motor 1 and ...

Страница 26: ...lated motor following the behaviour and the parameters described in 4 2 The drive starts to impose the deceleration ramp when the position counter approaches to the value defined by parameters S100 or S102 for motor 1 and S200 or S202 for motor 2 Then the drive stops the motors short circuiting their terminals when they achieve the limit position Excluding errors other circumstances that can stop ...

Страница 27: ...carefully the safety precautions reported in 1 6 before modifying any of the advanced parameters The figure below represents the real voltage waveform imposed on the motors during the normal run Figure 14 real ramp waveform for motor 1 Figure 15 real ramp waveform for motor 2 ...

Страница 28: ... S118 S218 for motor 2 pulses before the limit the drive short circuit the motor terminals point B at least for S120 S220 for motor 2 ms For example the advanced parameters for motor 1 are see 8 4 for the complete list Label Output Function Range Default value SG05 Both Increment of deceleration start pulses 0 8 1 S100 Motor 1 Close limit pulses number 2147483647 2147483647 0 S102 Motor 1 Open lim...

Страница 29: ... goes high electronic or mechanic when a current limit is achieved when the command is released or the STOP signal goes high All the parameters are set independently for both motors and for the opening and closing movement When the drive is not applying voltage to the motor the terminals are short circuited to ground 6 1 Connections and commands Read carefully the safety precautions reported in 1 ...

Страница 30: ...p only for overcurrent command release or STOP command as described in paragraph 4 2 The user must run the homing procedure described below to restore the normal functioning of the drive after every movement in trimming mode 6 3 Homing function At the first start after the mechanical assembly and first alignment the user must execute a homing procedure so that the drive can detect the encoder conn...

Страница 31: ... if enabled the drive executes a homing procedure at every start without needing any command SG02 if this bit is set the homing will stop when the current exceeds the homing current limit otherwise the drive stops the motor when the limit switch is pressed S108 S208 the drive uses two threshold one for start and one for the normal run in the same way as described in 4 3 It is always recommended to...

Страница 32: ...tarts to impose the deceleration ramp when the position counter approaches to the value defined by parameters S100 or S102 Then the drive stops the motors short circuiting their terminals when they achieve the limit position Excluding errors other circumstances that can stop the motors are the command is released the STOP command is pressed the mechanical limit switch is engaged In all the above c...

Страница 33: ...the drive calculates the motor speed when it applies the max voltage from the speed and the deceleration time the drive calculates how many pulses before the limit it must start the ramp point A using the following expression o close ramps deceleration start pulses motor 1 S100 speed M102 2 speed M102 2 2SG05 o open ramps deceleration start pulses motor 1 S102 speed M105 2 speed M105 2 2SG05 when ...

Страница 34: ...116 Motor 1 Open approaching voltage 1 48 V 5 S117 Motor 1 Close approaching voltage 1 48 V 5 S118 Motor 1 Pulses for braking advance 1 32000 1 S119 Motor 1 Tolerance used for the limit detection 0 500 2 S120 Motor 1 Duration of the braking after limit is reached 100 1000 ms 500 Table 22 example of synchronism advanced parameters Another parameter accessible by the user regards the speed calculati...

Страница 35: ...reen 4 Motor 1 Overcurrent during closing Green 5 Motor 1 Encoder disconnected Green 6 Motor 1 Open limit switch loss Green 7 Motor 1 Close limit switch loss Green 8 Motor 1 Detection of encoder connections failed Yellow 1 Motor 1 I2t error Yellow 6 Motor 1 Leg short circuit Red 1 Motor 2 Overcurrent during opening acceleration Red 2 Motor 2 Overcurrent during opening Red 3 Motor 2 Overcurrent dur...

Страница 36: ...ture error parameters The parameters associated to the loss of synchronism error are Label Function Range Default value AS00 If enabled the drive blocks in case of error ON OFF ON AS01 Maximum number of pulses difference 1 1000 10 AS03 Delay of the error detection 1 2000 ms 500 Table 28 loss of synchronism error parameters 7 1 1 ADVANCED PARAMETERS Read carefully the safety precautions reported in...

Страница 37: ...chanical open limit switch or the encoder count close limit loss the drive detected a possible movement with no active commands due to a change in the state of the mechanical close limit switch or the encoder count overcurrent during homing detection of encoder connections failed For the encoder disconnected error the configuration parameters are Label Output Function Range Default value AE10 Moto...

Страница 38: ...tion is configurable using parameters listed in 6 3 The failure of the encoder connections detection during the homing procedure is not configurable 7 2 1 ADVANCED PARAMETERS Read carefully the safety precautions reported in 1 6 before modifying any of the advanced parameters As described in 4 3 1 the monitoring functions are completely configured by more parameters For example the parameters for ...

Страница 39: ...logic ON OFF ON DI16 Input 06 turn on delay 5 500 ms 10 DI17 Input 06 turn off delay 5 500 ms 10 DI18 Reverse input 07 logic ON OFF ON DI19 Input 07 turn on delay 5 500 ms 10 DI20 Input 07 turn off delay 5 500 ms 10 DI21 Reverse input 08 logic ON OFF ON DI22 Input 08 turn on delay 5 500 ms 10 DI23 Input 08 turn off delay 5 500 ms 10 DI24 Reverse input 09 logic ON OFF ON DI25 Input 09 turn on delay...

Страница 40: ...3000 ms 500 M205 Motor 2 Close deceleration ramp 100 3000 ms 500 M206 Motor 2 Inertial braking time 500 3000 ms 500 Table 36 ramps parameters 8 3 Current limits Read carefully the safety precautions reported in 1 6 before modifying any of the advanced parameters The highlighted parameters are accessible only in advanced mode Label Output Function Range Default value C100 Motor 1 Enables the soft s...

Страница 41: ...current control during closing 1 500 ms 20 C200 Motor 2 Enables the soft start function during opening ON OFF ON C201 Motor 2 Enables the block in case of inrush overcurrent during opening ON OFF ON C202 Motor 2 High threshold of inrush current control during opening 1 20 A 20 C203 Motor 2 Low threshold of inrush current control during opening 1 19 A 19 C204 Motor 2 Delay of inrush current control...

Страница 42: ...al threshold is applied 100 1500 ms 1000 C219 Motor 2 Enables the block in case of overcurrent during closing ON OFF ON C220 Motor 2 High threshold of nominal current control during closing 1 11 A 10 C221 Motor 2 Low threshold of nominal current control during closing 1 10 A 9 C222 Motor 2 Delay of nominal current control during closing 1 500 ms 20 Table 37 current limits parameters ...

Страница 43: ...s 10 S111 Motor 1 Delay added to open acceleration time before the normal threshold is applied 100 1500 ms 1000 S112 Motor 1 High threshold of nominal current control during homing 1 11 A 5 S113 Motor 1 Low threshold of nominal current control during homing 1 10 A 4 S114 Motor 1 Delay of nominal current control during homing 1 500 ms 10 S115 Motor 1 Inertial braking time after overcurrent 500 3000...

Страница 44: ...hold of nominal current control during homing 1 11 A 5 S213 Motor 2 Low threshold of nominal current control during homing 1 10 A 4 S214 Motor 2 Delay of nominal current control during homing 1 500 ms 10 S215 Motor 2 Inertial braking time after overcurrent 500 3000 ms 500 S216 Motor 2 Open approaching voltage 1 48 V 5 S217 Motor 2 Close approaching voltage 1 48 V 5 S218 Motor 2 Pulses for braking ...

Страница 45: ...ep with encoder mode 0 3 0 IEH1 Enables automatic homing at start up for motor 1 ON OFF OFF IEH2 Enables current detect homing for motor 1 ON OFF ON IEH3 Enables automatic homing at start up for motor 1 ON OFF OFF IEH4 Enables current detect homing for motor 1 ON OFF ON Table 40 independent with encoder parameters 8 7 Global errors Read carefully the safety precautions reported in 1 6 before modif...

Страница 46: ...rs associated to the loss of synchronism error are Label Function Range Default value AS00 If enabled the drive blocks in case of error ON OFF ON AS01 Value of the maximum number of pulses difference high threshold 1 1000 10 AS02 Value of the maximum number of pulses difference low threshold 0 1000 9 AS03 Delay of the error detection 1 2000 ms 500 Table 44 loss of synchronism error parameters For ...

Страница 47: ...e sensitivity low threshold 0 1000 1 AE23 Motor 2 Delay of the error detection 1 2000 ms 1000 Table 46 parameters for encoder disconnected error For the error of open limit loss the configuration parameters are Label Output Function Range Default value AP10 Motor 1 If enabled the drive blocks in case of error ON OFF OFF AP11 Motor 1 On state 0 1 1 AP12 Motor 1 Off state 0 0 0 AP13 Motor 1 Delay of...

Страница 48: ...ER MANUAL ST TEC 003 EN Rev 2 1 48 52 AC21 Motor 2 High threshold 1 1 1 AC22 Motor 2 Low threshold 0 0 0 AC23 Motor 2 Delay of the error detection 1 5000 ms 1000 Table 48 parameters for close limit loss error ...

Страница 49: ... save data only when motors are stopped and power is stable Yellow 5 Global Statistic memory corrupted 1 High shutdown current 2 Severe supply power failures 1 Use a protection diode refer to 3 4 3 Avoid supply power failures Green Red 1 Motor 1 2 Overcurrent during opening acceleration 1 Mechanical obstacle or too high friction 2 Mechanical overload of the actuator 3 Current limit is too low and ...

Страница 50: ...cle or too high friction 2 Mechanical overload of the actuator 3 Current limit is too low and or acceleration ramp is too fast 1 Check the movement of the actuator 2 Check that the load is within the mechanical specifications of the actuator 3 Increase the current limit and or decrease the acceleration ramp duration Green Red 9 Motor 1 2 Detection of encoder connections failed 1 Homing procedure e...

Страница 51: ...nt or reconsider the positioning of the drive Check using a thermometer that the environment temperature is within the operation temperature limits If it is not improve the environment or reconsider the positioning of the drive Check that the load current and the board temperature is not much different from the values measured during a normal operating cycle If it is not check that the mechanical ...

Страница 52: ...TeMec Drive Srl Via Beretta 1 42024 Castelnovo di Sotto RE Phone 39 0522 68 30 42 Fax 39 0522 68 81 31 P I 02614410351 ...

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