SERVO DRIVES & MOTION CONTROL

IMPORTANT NOTE This manual is describing a series of positioning servo amplifiers having output capability for driving AC brushless servo motors. This manual must be used in conjunction with the SMT-BD1 manual and cannot be dissociated from it. The conditions and recommendations of use as well as the responsibility and warranty restrictions mentioned in the SMT-BD1 manual are also valid for the present amplifier version SMT-BD1/g. © INFRANOR, September 2003. All rights reserved. Issue: 3.0

Chapter 1 – General description 1 - INTRODUCTION Product registration applications require the SMT-I4-BD1 daughter board and the X.X5 EEPROM version on the SMT-BD1 amplifier. In this configuration, the SMT-BD1/g amplifier controls the motor shaft position with regard to the master axis position and the position of the products to be registered. The master axis position is received as two differential encoder signals A, /A and B, /B in quadrature. These signals are entered on the amplifier position connector X2. This input type allows a direct interfacing with an encoder mounted on the master...

2 - APPLICATIONS 2.1 - MATERIAL AND DRUM REGISTRATION The SMT-BD1/g amplifier can be used for the control of a continuous material running with regularly spaced synchronization marks. This kind of applications can be met in the printing industry or in rotating cutting, as shown below. In this case, the registration control allows to compensate the material slippages and the interval variations between the registration marks, in order to keep the drum position always aligned on the synchronization marks. 2.2 - ROTATING CAM The SMT-BD1/g amplifier can be used for a rotating CAM application with...

In this case, the registration control allows a regular spacing of the products with their placing in the output conveyor boxes, in spite of their irregular spacing on the input conveyor. 3 - OPERATION 3.1 - OPERATION MODES Two operation modes are available for the product registration in order to fit various kinds of applications. a) Bidirectional registration In this case, when the product to be registered has a lead over the synchronization mark, the motor can run back in order to cancel this lead. This operation mode is suited to the registration of a material equipped with regularly spaced...

b) Origin acquisition with stopping on the first product After the activation of the amplifier ENABLE input, the motor follows the master axis position and stops at the detection of the first product by the RM photocell. This first product will then be registered at the next reference sensor activation (master encoder marker pulse or DM logic input). It is possible to define this way an absolute origin of the product series at the reference sensor activation. Chapter 1 – General description

Chapter 2 – Specifications 1 - TECHNICAL DATA Position measurement input of the master axis Two encoder pulse trains A and B with marker pulse. Max. frequency = 250 kHz RS422 line receiver Programmable product reference pitch Reduction ratio between master and slave axes Master encoder resolution / Slave encoder resolution Programmable slave motor encoder resolution Amplifier position repeatability Amplifier position accuracy 8 arc minutes + 1 encoder edge in standard (2 arc minutes + 1 encoder edge optional) Note: The final position accuracy must take into account the resolver accuracy. PIV...

Analog output Analog inputs Position input Encoder output Position loop Speed loop Resolver sensor conversion Resolver oscillator Serial interface Current loops Current measurement Vectorial control Fault protections Power fault Logic supplies 2 - AMPLIFIER BLOCK DIAGRAM Enable ERROR

CINFRANOR 3 - STORED PROTECTION The stored fault can be reset by: - the RESET function of the BPCW software, - via the fault RESET input of the X4 connector, pin 13,

OINFRANOR SERVO DRIVES & MOTION CONTROL 1.2 - SPECIFICATION OF THE LOGIC INPUTS/OUTPUTS The RM and DM inputs are "optocoupled" inputs and operate in positive logic on the signal rising edge as shown below. The input voltage corresponds to level 1 and is between 5 V and 24 V.

The POS and REG outputs are "open collector" and "optocoupled" outputs. The transistor is open if a fault occurs. The traditional application scheme is shown below. The maximum output current is 5 mA. SMT-BD1/g X2 pin 8 POS Imax < 5 mA PC829 Vmax < 24 V X2 pin 23 0 V POS IDC signal ±10 V, resolution: 8 bits, linearity: 2 % (10 V for amplifier current rating)* 3 CV speed input command ±10 V for ± max. speed 4 GT speed monitor ±8 V for ±14 000 rpm 5 DAC 2 output AS signal ±10 V, resolution: 8 bits, linearity: 2 %* (10 V for max. motor speed) * Linearity = 10 % for logic boards 01612A, 01612B and...

Chapter 4 – Connections 1 - CONTROL CONNECTION DIAGRAM 1.1 - CONNECTION WITH THE MASTER ENCODER SMT-BD1/g MASTER ENCODER A A/ B B/ Z Z/ +5V GND 23 0V +24V (positive logic) or 0V (negative logic) MOTOR RACK POWER SUPPLY

SMT-BD1/g 1.2 - CONNECTION WITH A MASTER AMPLIFIER SMT-BD1/g SLAVE An SMT-BD1 master amplifier can supply up to 10 SMT-BD1/g slave amplifiers. 2 - WIRING REQUIREMENTS For the incremental position input command signals A, B and Z of the master-slave connection, use a cable with a 360° shield connection by means of the metallic connectors at both cable ends (see Chapter 8, section 6 of the SMT-BD1 standard manual). Connect also together the 0 V of both amplifiers (pin GND of the X2 connector). The crossing of the A and B, A and A/ or B and B/ signals on the incremental position input command reverses...

OINFRANOR SERVO DRIVES & MOTION CONTROL The specific Registration parameters are accessible via the Registration control setup and Registration control parameters submenus of the Advanced functions menu, in the BPCW software version 2.6 and higher. ENABLE REGISTRATION CONTROL “ DATUM MODE - <§> DATUM ON THE FLY o FIRST PRODUCT STOP - REFERENCE SENSOR- (§> ENCODER ZERO PULSE O DM INPUT -REFERENCE SHIFT - <§> DIGITAL SHIFT O DS ANALOG INPUT REFERENCE SHIFT VALUE (% Pitch) CANCEL HELP REGISTRATION CONTROL PARAMETERS REFERENCE PITCH (Encoder edges) PITCH CORRECTION LIMIT (Encoder edges) REGISTRATION...