OINFRANOR SERVO DRIVES & MOTION CONTROL

! 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...

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OINFRANOR 5E*VO DRIVES & MOTION CON1VOI Chapter 1 - General description |1 - INTRODUCTION INFRANOR® Profibus positioners are digital PWM servo amplifiers that provide motion servo control for AC sinusoidal motors (brushless) with transmitter resolver. - the plug-in SMT-BD1/p series is available as a single-axis block version or as a multi-axis version that can receive up to six axes in a standard 19" rack. Both versions are including a power supply unit. - the CD1-p series is a small-sized and low current single-axis version. Both SMT-BD1/p and CD1-p are operating with a PROFIBUS-DP interface;...

Profibus-DP interface Sequence switch Trajectory generator Position loop Speed loop Current loop Current monitor Position monitor Speed monitor Resolver Electric motor Electric device that transforms electrical energy into a mechanical movement. This transformation is often made by means of current commutation. Generally, the movement is a rotation but there are also linear motors. Electric motor which current commutation is made by mechanical brushes. Brushless or synchronous motor Electric brushless motor. The current commutation is electronically made and requires a position sensor (resolver,...

Chapter 2 - Commissioning | A WARNING During the machine adjustments, some drive connection or parameter setting errors may involve dangerous axis movements. It is the user's responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operator's presence in the concerned area. The various stages of a first positioner commissioning are described below: Definition of the resolution. Limit switches. Following error. Current regulator adjustment. Definition of the current limitations and of the I2t protection. Adjustment of the motor control...

1 - CHECKING THE POSITIONER HARDWARE CONFIGURATION The positioner standard configuration for MAVILOR motors equipped with a TAMAGAWA resolver is the following: SMT-BD1/p positioner: • Resolver adjustment card P RES: 4 x 12,7 KΩ 1%. • Current loops adjustment. • Motor thermal probe PTC: Jumper MN. • Positive control logic: Jumpers E. F. G closed. • No auxiliary supply: Jumper JK closed and jumper KL open. • SW1 "OFF" on all switches. CD1-p positioner: • Resolver P RES adjustment board: 4 x 12,7 KΩ 1%. For the positioner adjustment to other resolver types, or to another control logic, see Installation...

3.3 - Adjustment to a new motor Uncouple the motor from the mechanical load and check that the motor shaft is free and for free rotation (1 revolution) that is not dangerous for the operator. Execute the auto-phasing procedure (the positioner must be disabled and the ENABLE signal must be activated) in order to define the parameters Number of pole pairs, Motor phase and Resolver adjustment. Please note that during the auto-phasing procedure the motor is automatically enabled and then disabled when the procedure is over. If the motor is equipped with a brake, unlock the brake manually before starting...

NOTE 2 The amplifier I²t signal can be displayed on the digitizing oscilloscope by selecting the "I²t" signal in the “ Channel ” menu. The I²t signal threshold values according to the I²t protection mode described above are calculated in the following way: Idyn signal activation threshold (%) = [Rated current (%)] 2 / 70 2 Current limitation threshold (%) = [Rated current (%)] / 50 The corresponding amplifier RMS current value can be calculated according to following formula : Amplifier RMS current (%) = [I²t signal value (%) x 50]1/2 In Fusing mode, the amplifier Rated current value must be...

3.5 - I2t protection (CD1p) Current limitation in Fusing mode If the RMS current as not dropped below 85 % of the Rated current after 1 second, the I2t fault is released and the amplifier disabled. When the amplifier RMS current (I2t) reaches the Rated current value, the I2t protection limits the amplifier current at this value. The amplifier current limitation diagram in an extreme case (motor overloaded or shaft locked) is shown below: Amplifier current Maximum current t2 = current limitation t3 = I2t fault Rated current The maximum current duration before limitation at the rated current is...

3.6 - Rotation/counting direction This possibility defines the position counting direction with regard to the motor rotation direction. For the encoder position output, the counting direction remains unchanged with regard to the motor rotation direction. On Mavilor motors, in normal rotation, the position is incrementing in the motor CW rotation direction. In reverse rotation, the position is incrementing in the motor CCW rotation direction. 3.7 - Maximum application speed The parameter Max. speed defines the maximum speed with which the positioner can control the motor. This parameter must be:...

In the case of an axis with unbalanced load (constant torque due to a vertical load), proceed as follows: Select the current "Limiting" mode. Initialize the speed loop gains corresponding to the unloaded motor (run the auto-tuning procedure with the motor uncoupled from its mechanical load). Couple the motor with the load. If possible, make a speed control; otherwise, close the position loop with a stable gain. A Move the shaft by means of the speed input command until a maintaining position where one motor revolution is not dangerous for operator and machine (far enough from the mechanical limit...