SMT-BD1/c (GB) Stepping motor emulation

This manual describes the option "c" of the SMT-BD1 amplifier: Positioning in stepping motor emulation. The general information about the digital amplifier commissioning are described in the standard SMT-BD1 manual. This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models. Maintenance procedures should be attempted only by highly skilled technicians (EN 60 204.1 standard) using proper test equipment. The conformity with the standards and the "CE" approval are only valid if the items are installed according to the recommendations...

POSITIONING IN STEPPING MOTOR EMULATION WITH SMT-BD1/c AMPLIFIER

CHAPTER 1 - GENERAL DESCRIPTION Applications with positioning in stepping motor emulation require the SMT-I2-BD1 daughter board on the SMT-BD1 amplifier as well as the firmware memory version X.XC. In this configuration, the SMT-BD1/c amplifier controls the motor shaft position by means of the resolver sensor with a programmable resolution of 4 to 32 768 ppr. The position input command is received as two TTL level signals (0 to 5 V): one pulse train (PULSE) indicating the shaft motion and one direction signal (DIR) indicating the motion direction. These signals enter the amplifier X2 position...

1 - TECHNICAL DATAS Motor position input command One pulse train (f) + one direction signal Maximum frequency: f = 1 MHz Number of steps per motor revolution Motor encoder resolution . 4 Programmable motor encoder resolution Drive position repetability Drive position accuracy (*) 8 Arc mins + 1 step in standard (2 Arc mins + 1 step on special request) Position regulator PIV + Feedforward Sample period: 0,5 ms Integrator antisaturation system Antiresonance filter Adjustable digital gains Position loop bandwidth Cut-off frequency for 45° phase shift Selectable: 50 Hz, 75 Hz or 100 Hz Logic outputs...

2 - AMPLIFIER BLOCK DIAGRAM Resolver MOTOR Position input Current monitor Position loop Vref Ramp Analog input Power fault Analog input P err Vmes Vref IQ ID Imes Idc Current loops Vector control Speed loop Serial interface Selectable outputs Logic supplies Resolver conversion Resolver oscillator 7 Option "c" · Chapter 2: Specification

The stored fault can be cancelled: - by the RESET function of the BPCW software, - by the fault RESET input (pin 13 of X4), - by turning off the amplifier supply. Option "c" • Chapter 2: Specifications

1.2 - Logic outputs specification The POS output is an "open collector" and "optocoupled". The transistor is disabled if a fault occurs. The traditional application scheme is shown below. The maximum output current is 5 mA. Option "c" • Chapter 3: Inputs - Outputs

1.3 - Indexer input specification The TTL PULSE and DIR inputs are connected to the amplifier as shown below: For indexers with open collector output and operating at high frequencies (> 100 kHz), a pull-up resistor corresponding to the transistor output current must be wired in the X2 connector, as shown below (the pull-up resistor is parallel mounted to the 1 kW resistor in the amplifier). The differential PULSE and DIR inputs are connected to the amplifier as shown below: This type of input is suitable for long indexer-amplifier connections (a 26LS31 driver is recommended). Option "c" • Chapter...

* : See "BPCW Options" manual, part "Digital oscilloscope". Linearity = 10 % on logic board types 01612A, 01612B and 01612C. Option "c" • Chapter 3: Inputs - Outputs

PULSE output CHAPTER 4 - CONNECTIONS1 - CONNECTION DIAGRAMS 1.1 - TTL INDEXER SIGNALS Default RESET 1.2 - Differential indexer signals PULSE output For the incremental position input command signals Pulse and Direction of the indexer-amplifier connection, use a cable with a 360° shield connection via the metal plated connectors at both cable ends (see standard manual of the SMT-BD1 digital amplifier, chapter 8, part 6) and connect the 0 Volt of both indexer and amplifier (pin GND on the X2 connector). Be careful about the polarity between indexer and amplifier for the TTL signals Pulse and Direction....

The parameters used for positioning in stepping motor emulation are accessible via the Indexer / Electronic Gearbox submenu of the Advanced functions menu, in the BPCW software. The operation in stepping motor emulation is selected by the Pulse input mode function in the Indexer / Electronic Gearbox menu of the Advanced functions menu. This mode corresponds to the motor position control with a PIV + feedforward regulator. The position input command emitted by the indexer board is received as an incremental input command on the X2 connector. The Encoder resolution parameter is accessible in the...

The following parameters are accessible via the Indexer / Electronic Gearbox submenu of the Advanced functions menu. The Following error parameter defines the maximum permissible value of the position error. When the position error reaches half of this value, the POS output (following error indication) is activated and the following error fault (Position error) is blinking on the amplifier front panel. When the position error reaches the value defined by the Following error parameter, the following error fault (Position error) is released and the amplifier is disabled. This parameter is expressed...

CHAPTER 6 - COMMISSIONING 1 - CHECKING THE CONFIGURATION Check the amplifier standard configuration as described in Chapter 6 of the standard SMT-BD1 manual. Check for the presence of the SMT-I2-BD1 daughter board between both logic and power boards (see chapter 8 (Appendix): Location diagram of the hardware options). 2 - POWERING Turn on the amplifier as described in Chapter 6 of the standard SMT-BD1 manual. 3 - START AND ADJUSTMENT Start the amplifier commissioning and adjustment procedure as described in Chapter 6 of the standard SMT-BD1 manual, by means of the BPCW software. Select the PI2...