CINFRANOR SERVO DRIVES & MOTION CONTROL DIGITAL SERVO DRIVE FOR SINUSOIDAL BRUSHLESS AC MOTORS

! This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors. 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 speed (EN 60204-1 standard) and using proper test equipment. The conformity with the standards and the "CE" approval is only...

SERVO DRIVES & MOTION CONTROL

SERVO DRIVES & MOTION CONTROL

Chapter 1 - General description 1 - INTRODUCTION Series SMT-BD2 digital servo modules are sinusoidal PWM power amplifiers that provide speed and torque/force control for AC brushless motors equipped with encoder only or encoder with Hall Effect Sensors (HES) for the position feedback. The speed or torque/force input command is a +/-10 V analog signal voltage. The SMT-BD2 digital servo drive is 220 VAC or 400 VAC main operated. The SMT-BD2 plug-in system with 400 VAC power supply is available as a multiaxis version that can receive up to three axes in a standard 19" rack including the power supply....

OINFRANOR 3 - REFERENCE TO THE STANDARDS The 220 VAC version of the SMT-BD2 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, The 220 VAC version of the SMT-BD2 amplifiers operating in the single axis BM20 A - BMM05F - BMM05AF, which is equipped with appropriate mains filter (FN 612-20/06 or FN 356-16/06) has been approved for its conformity with the Electromagnetic Compatibility...

1.1 - Current ratings for the 220 VAC amplifier version Auxiliary supply voltage 310 VDC ( 200 VDC < Uaux < 340 VDC max.) Motor terminal to terminal output voltage 200 Vrms for 310 VDC bus Authorized output currents for current pulse mode operation (I2t protection in fusing mode) * Maximum ambient temperature = + 40° C, fan 1 = 56 l/s, fan 2 = 90 l/s. Note: The SMT-BD2-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. Minimum inductance between...

Conformity with the standards: CE approval with multiaxis power supply configuration BF rack and mains filter BF-35 or 70, or SMTB.M 20 A single-axis rack and BF 35 filter. "360°" shields; equipotentiality according to the wiring rules. Immunity: CEI standards 801- 2 - 3 - 4 Conducted and radiated disturbances: EN 55011, Group 1, class A - Electrical standards for industrial machines: - Leakage current > 3 mA (EMI filters) Temperature range * storage - 20°C to + 70°C * operation 5°C to +40°C From 40°C on, the rated currents must be reduced of 3 %/°C. 1.2-Current ratings for the 400 VAC amplifier...

1.3 - OTHER SPECIFICATIONS PWM switching frequency Current loop bandwidth Cut-off frequency for 45° phase shift > 1 KHz Internal current limitation Maximum current range : 20 % to 100 % of Imax Rated current range : 20 % to 50 % of Imax Imax = amplifier current rating Analog current limitation input 0 V to 10 V, resolution = 12 bits 100 % to 0 % of the Maximum current value Maximum current available if not connected Analog speed command input ±10 V, standard resolution = 12 bits Resolution = 16 bits optional Motor accel/decel ramp range From 0 to 30 s between zero speed and max. speed Sampling...

OINFRANOR Encoder input Encoder output Logic inputs Logic outputs Monitor outputs Error display Parameter setting Quadrature TTl A & B with Z marker pulse maximum pulses frequency: 1 MHz Resolution: 500 to 106 ppr (as from EPROM version 7.1C) Incremental Sin/Cos encoder Heidenhain 1 Vcc Sin/Cos type or compatible Maximum signal frequency: 500 KHz Resolution: 103 to 106 ppr Absolute single turn Sin/Cos encoder Heidenhain ERN 1085 or compatible resolution: 2048 ppr Quadrature TTL A & B with Z marker pulse RS 422 line driver Programmable encoder division ratio output resolution / input resolution...

2 - BLOCK DIAGRAM The SMT-BD2 servo module block diagram is presented below. Supply voltages Pulses counter Encoder input Vector control Current loops Speed controller Encoder divider Current limitation Current Mes Speed ramping Motor phases Power supply Serial link Drive parameters The PR8 and PR10 connectors are not accessible for direct wiring; they are plugged on the BM20A single-axis rack or on the multiaxes BF rack according to the SMT-BD2 amplifier housing (see chapter 3).

OINFRANOR 3 - MAIN PROTECTIONS 3.1-Displayed protections All these faults are memory stored in the amplifier except for the "Undervolt." fault. The reset of a stored fault can be made: - by means of the RESET function in the Visual Drive Setup software - via the fault RESET input (pin 13 of the X4 connector) - by switching off the amplifier power supply.

CINFRANOR 3.2 - Fuse protection F1 : Control of the average DC current of the power board supply (see Hardware adjustments in chapter 5, § 1). F2 : Control of the average DC current of the logic board supply (see Hardware adjustments in chapter 5, § 1).

SERVO DRIVES & MOTION CONTROL For the 400 VAC amplifier version, see BF-400 RACK manual. For the 220 VAC amplifier version, see SMTB.M 20 A SINGLE-AXIS RACK manual or BF RACK manual. Faults display Encoder sensor Serial link Encoder output 2 - X5 SERIAL LINK CONNECTOR (Sub D 9 points male)

OINFRANOR 3 - X1 ENCODER FEEDBACK CONNECTOR (Sub D 15 points female) 3.1 - X1 CONNECTOR FOR TTL INCREMENTAL ENCODER CONFIGURATION The "TTL incremental encoder" configuration is selected according to the following COM and COD jumpers setting (see chapter 5, section 1: Hardware adjustments). A A wrong jumper configuration may damage the encoder and amplifier electronics. ZM jumper configuration | Q| Marker pulse enabled ZM Marker pulse disabled The corresponding X1 connector pin function is described below. Encoder input specification Chapter 3 - Inputs - Outputs