SERVO DRIVES & MOTION CONTROL Digital drive with CANopen interface Installation Guide

! This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors. This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models. Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable...

OINFRANOR SERVO DRIVES & MOTION CONTROL

Chapter 1 – General description 1 - INTRODUCTION Series SMT-BD1 digital servo modules are PWM servo amplifiers that provide speed control for AC sinusoidal motors (brushless) with transmitter resolver. The pluggable SMT-BD1 system is available as a single-axis block version or as a multi-axis version that can receive up to seven axes in a standard 19" rack including the power supply. The SMT-BD1/k amplifier is a version of the standard SMT-BD1 amplifier, with a CANopen interface allowing the receipt of the motion commands by the CAN bus instead of the analog +/- 10 V input. The operation of this...

2.2 - REFERENCE TO THE STANDARDS The 220 VAC version of the SMT-BD1 amplifiers operating in the BF rack, which is equipped with the mains filter BF-35 or 70, has been approved for its conformity with the Electromagnetic Compatibility standards: - EN 55011, Group 1, Class A regarding the conducted and radiated radioelectric disturbances, - CEI 801 - 2 - 3 - 4 regarding the immunity. The 400 VAC version of the SMT-BD1 amplifiers operating in the BF-400 rack, which is equipped with the mains filter F400-35 or 70, has been approved for its conformity with the Electromagnetic Compatibility standards:...

OINFRANOR SERVO DRIVES & MOTION CONTROL 1 - MAIN TECHNICAL DATA Auxiliary supply voltage 310 VDC ( 200 V < Uaux < 340 VDC max.) Motor terminal to terminal output voltage 200 Vrms for DC bus 310 VDC Output currents for the Fusing mode of the I2t protection (see Chapter 8, part 3.3) * Maximum room temperature = + 40° C, fan 1 = 56 l/s, fan 2 = 90 l/s Note: The SMT-BD1-k-X/Xr amplifier types are equipped with an additional heatsink in order to improve the heat dissipation and increase their rated current. The width of these amplifier types is then 18 TE instead of 12 TE. PWM switching frequency...

Speed loop bandwidth Adjustable digital gains Cut-off frequency for 45° phase shift: Selectable : 50 Hz, 75 Hz or 100 Hz Encoder position output Two A and B channels in quadrature with n marker pulse(s) per revolution. RS422 line driver. Programmable resolution: max. 8192 ppr up to 900 rpm max. 4096 ppr up to 3600 rpm max. 1024 ppr up to 14000 rpm Accuracy: 8 arc minutes + 1/4 point (2 arc minutes + 1/4 point on request) Note: The total position accuracy must take into account the accuracy of the resolver used. Analog outputs (test connector) Speed input command (CV): ±10 V pour ±vitesse max...

CINFRANOR Cooling Natural convection or forced air, according to the rated current (see current table, chap. 2, section 1)

Front panel connectors: For resolver connections other than those of MAVILOR motors in standard version, please see resolver wiring table in Chapter 8 (Appendix), part 2.

OINFRANOR 3 - X2: ENCODER CONNECTOR Sub D 25 pins female * 10 V for amplifier current rating

5 - X4: COMMAND CONNECTOR Sub D 25 pins male.

SMT-BD1/k 8 - SPECIFICATIONS OF THE INPUTS-OUTPUTS 8.1 - DEDICATED LOGIC INPUTS Dedicated logic inputs: FC+, FC-, INDEX, ENABLE. Response time: FC+, FC-, INDEX, ENABLE : 500 µs. 8.2 - LOGIC INPUTS Logic inputs: LIN0 to LIN5 Logic input The input voltage corresponding to level 1 is between 5 V and 24 V. PC829 8.3 - LOGIC OUTPUTS Logic outputs LOUT0 to LOUT3 The logic outputs are open collector outputs The output current is 5 mA.

8.4 - INCREMENTAL ENCODER OUTPUT Recommended line receiver: 26LS32. 8.5 - INCREMENTAL ENCODER INPUT Recommended line driver: 26LS31.

Chapter 4 - Connections 1 - CONNECTION DIAGRAMS 1.1 - CONNECTION OF THE RACK POWER SUPPLIES AND THE MOTORS See manuals SMT-BM 20 A - BMM 05 F - BMM 05 AF for single-axis racks and BF Rack for multiaxis racks. 1.2 - CONNECTION BETWEEN CONTROLLER AND DRIVE Resolver signal POWER SUPPLY

1.3 - CONNECTION OF THE CAN INTERFACE For each amplifier connected to the network: CAN HIGH GND The specific cable impedance is about 120 Ω. The total bus length must not exceed 40 m at 1 Mbit. Both bus ends must be connected to a 120 Ω load resistor. Cable required for the connection between two nodes: 360° shield connection 1.4 - CONNECTION OF THE SERIAL LINK RS 232 360° shield connection

2 – WIRING (according to CEI 801 and EN 55011 standards - See enclosed drawings (see Chapter 8: "Shield connection on the connectors"). 2.1 - GND WIRING AND GROUNDING The reference potential is the earth (ground). Motors and resolvers are grounded via their housing. If a reference of potential is existing, like a main chassis or a cabinet, with a low impedance between the different elements, it should be used with short connections and this reference potential should also be grounded. Reference potential connections (especially to the ground) are recommended ONLY if these connections have a very...

The SMT-BD1/k drive is only operated with the CANopen interface. All parameters can be modified by SDO (see CANopen Communication Protocol). The parameters can also be modified via the serial link. The VDSetup software version 1.11 and higher allows to adjust the amplifier parameters from a PC. The use of the VDSetup software is described in the pertaining User manual. The CAN bus communication speed is set by means of the SW2.3 and SW2.4 micro-switches (see Chapter 8, "Hardware adjustments" for the location of these micro-switches): The micro-switch position modification becomes effective at...