SMT-BD1/d (GB) Master/slave electronic gearing

This manual describes the option "d" of the SMT-BD1 amplifier: Master/slave electronic gearing. 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 of the...

MASTER / SLAVE ELECTRONIC GEARING WITH THE SMT-BD1/d AMPLIFIER

CHAPTER 1 - GENERAL DESCRIPTION The master / slave electronic gearing applications require the SMT-I1-BD1 or SMT-I2-BD1 daughter boards on the SMT-BD1 amplifier. In this configuration, the SMT-BD1/d amplifier controls the motor shaft position according to the position input command emitted by the master axis. The master axis position input command is received as two differential encoder signals: A, /A and B, /B in quadrature. These signals enter the amplifier position connector X2. This kind of input allows a direct interfacing with an encoder mounted on the master motor or on a second amplifier...

CHAPTER 2 - SPECIFICATIONS 1 - TECHNICAL DATAS Position input command of the slave motor Two encoder pulse trains A and B Max. frequency = 250 KHz Reduction ratio between master and slave motors Master encoder resolution / Slave encoder resolution Max. 8 192 ppr up to 900 rpm Max. 4 096 ppr up to 3 600 rpm Max. 1 024 ppr up to 14 000 rpm Programmable encoder resolution of the slave motor Drive position repetability 1 encoder edge (a quarter of an encoder pulse) Drive position accuracy (*) 8 Arc mins + 1 encoder edge as standard (2 arc mins + 1 encoder edge on special request) (*) The total accuracy...

2 - AMPLIFIER BLOCK DIAGRAM Resolver MOTOR Resolver conversion Current monitor Vmes Position input Position loop Vector control Speed loop Current loops Analog input Analog input Power fault P err Vmes Vref IQ ID Imes Idc Serial interface Selectable outputs Logic supplies

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 "d" • Chapter 2: Specifications

FUNCTION CZ/ CZ CA/ CA CB/ CB 0V IA/ IA IB/ IB Reserved Reserved POS Reserved JOG+ JOG- REMARK Motor encoder output of the zero pulse / (5 V, 20 mA max) Motor encoder output of the zero pulse Motor encoder output channel A/ (5 V, 20 mA max) Motor encoder output channel A Motor encoder output channel B/ (5 V, 20 mA max) Motor encoder output channel B GND Master encoder input channel A/ (5 V, consumption: 2 mA) Master encoder input channel A Master encoder input channel B/ (5 V, consumption: 2 mA) Master encoder input channel B Reserved Reserved Logic output POS: Position following OK Reserved...

1.2 - Logic inputs/outputs specifications The JOG+ and JOG- inputs are "optocoupled" and operate in positive logic, as shown below. The input voltage corresponding to level 1 is between 5 and 24 V. The POS output is an "open collector" and "optocoupled". The transistor is inhibited if a fault occurs. The traditional application scheme is shown below. The maximum output current is 5 mA. Option "d" • Chapter 3: Inputs - Outputs See "BPCW Options" manual, part "Digital oscilloscope". Linearity: 10 % on logic boards 01612A, 01612B and 01612C.

Default RESET 1.2 - Connection of the master encoder Option "d" • Chapter 4: Connections

2 - MANDATORY WIRING For the incremental position input command signals A and B of the master-slave 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 master and slave (pin GND on the X2 connector). The crossing of the A and B or A and A/ or B and B/ signals on the incremental position input command changes the rotation direction of the slave motor with regard to the master motor.

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

The Alignment speed (rpm) parameter defines the maximum motor speed during the automatic alignment phase of the slave motor according to the master motor reference position. The motion occurs according to a trapezoidal path as shown below. The acceleration and deceleration times are automatically calculated in order to avoid any current saturation in the amplifier. 3 - POSITION REGULATOR PARAMETERS The regulator structure used for the Indexer / Electronic Gearbox control is described below: The Controller parameters function in the Advanced functions menu of the BPCW software allows the access...

4 - POSITION REFERENCE ACQUISITION The OFFSET push button of the slave motor amplifier permits the position reference acquisition of the master motor for an automatic axes alignment after a voltage cutoff. This kind of applications requires TWO SMT-BD1 amplifiers for the control of both master and slave motors as well as a serial link between the X5 connectors of both amplifiers. After the position reference acquisition of the master motor (OFFSET), the reference value is automatically stored in the amplifier EEPROM and the automatic alignment mode is activated. If the procedure has failed because...