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BD2m_e_2.2

Product catalog summary

General Overview: The document is a comprehensive manual for the SMT-BD2/m series of servo amplifiers designed for driving AC brushless sinusoidal servo motors. It emphasizes the importance of reading the manual thoroughly before operation to ensure proper handling and compliance with standards.

Warnings and Safety: The manual includes critical warnings about handling the amplifiers, particularly regarding electrostatic discharge (ESD) and residual voltage risks. It advises waiting at least five minutes after power down before handling to avoid physical damage.

Specifications: Detailed technical specifications are provided for different amplifier versions, including current ratings for 220 VAC and 400 VAC versions. The document also outlines the main protections, such as displayed and fuse protections.

Connections: The manual describes the location and specifications of various connectors, including serial link, encoder feedback, analog input, and logic outputs. It provides connection diagrams and wiring standards to ensure proper installation.

Adjustable Functions: Information on hardware adjustments and adjustable parameters is included to facilitate customization and optimization of the amplifier's performance.

Commissioning: The document outlines the steps for checking amplifier configuration, putting the system into operation, and making necessary adjustments. It includes procedures for amplifier setup, motor phasing, and parameter saving.

Programming: The manual provides a detailed description of logic inputs/outputs, positioner parameters, and sequence editing. It covers homing, positioning, speed, and torque sequences, as well as program execution and limitations.

Troubleshooting: A section is dedicated to troubleshooting, listing common system faults and stored faults with their descriptions and potential solutions.

General Description: Series SMT-BD2/m digital servo modules are sinusoidal PWM power amplifiers designed for position, speed, and torque/force control of AC brushless motors. They operate on 220 VAC or 400 VAC and can be configured for single or multi-axis applications. The amplifiers use encoder feedback for smooth motor control and can be programmed for various control sequences.

Specifications:

Current Ratings: The document provides detailed current ratings for both 220 VAC and 400 VAC amplifier versions, including maximum authorized rated and continuous currents under different fan conditions.
Conformity: The amplifiers conform to EMC standards (EN 55011, CEI 801) and electrical standards for industrial machines (EN 60204.1).
Temperature Range: Storage from -20°C to +70°C, operation from 5°C to +40°C, with current reductions above 40°C.
Other Specifications: Include PWM switching frequency, current loop bandwidth, and encoder input options.

Service and Maintenance: Details on troubleshooting motor issues such as no torque, motor not moving, and loud noises are provided.

Appendix: Includes information on limit switches, protection features, servo controller structure, and amplifier types. It also covers the use of display terminals and ASCII instructions for configuration and operation.

Specifications: The document outlines the specifications for the SMT-BD2/m servo module. Key features include selectable Hall sensor inputs, encoder outputs with programmable division ratios, and dedicated logic inputs and outputs. The module supports various encoder configurations, including TTL incremental and Sin/Cos encoders, with specific jumper settings required for each.

Procedures: The document describes the Auto-tuning procedure for optimizing servo loop gain values and provides guidelines for calculating maximum motor speed based on encoder specifications. It also details the process for resetting stored faults using the Visual Drive Setup software or hardware inputs.

Protections: Several protection mechanisms are in place, including overload, encoder cable interruption, power stage failure, and overtemperature protections. Faults are indicated via LEDs and can be reset through software or hardware methods.

Inputs and Outputs: The document details the connectors and pin configurations for various inputs and outputs, including serial link connectors, encoder feedback connectors, and logic inputs/outputs. It emphasizes the importance of correct jumper configurations to prevent damage.

Recommendations: Ensure correct jumper settings for encoder configurations to avoid damage. Follow specified procedures for fault reset and parameter adjustments to maintain optimal performance.

Overview: This document provides technical specifications and connection guidelines for the SMT-BD2/m amplifier module, focusing on inputs, outputs, and configuration settings. It includes detailed pin functions, connection diagrams, and adjustable parameters for optimal performance.

1. Inputs and Outputs:

Analog Inputs/Outputs: The module features optoisolated inputs for various functions such as limit switches, run & phasing, and enable/disable commands. Analog outputs are available for monitoring purposes with a resolution of 12 bits.
Logic Inputs/Outputs: Logic inputs and outputs are optocoupled, supporting functions like start, stop, jog, and speed control. The polarity of these inputs and outputs can be reversed via software parameters.

2. Connection Specifications:

Encoder Output: The encoder output provides differential signals for channels A, B, and marker Z, with programmable division ratios for channels A and B.
Logic Outputs Connector: Features programmable outputs with a total current capacity of 350 mA for all outputs.
Logic Inputs Connector: Supports multiple logic inputs with voltage levels between 5 V and 24 V.

3. Connection Guidelines:

Wiring and Grounding: Emphasizes the importance of proper grounding and shielding to prevent interference, following CEI 801 and EN 55011 standards.
Motor and Sensor Cables: Cables must be shielded to avoid common mode effects, with specific recommendations for analog inputs and serial link cables.

4. Adjustable Functions:

Hardware Adjustments: Includes diagrams for setting jumpers related to current loops, motor thermal sensors, and communication protocols.
Adjustable Parameters: Parameters can be set using the Visual Drive Setup software, requiring a PC with specific system requirements.

5. Commissioning:

Standard Configuration: Details the default jumper settings for various components, including encoder and commutation signals.
Encoder and Sensor Configuration: Provides guidance on configuring the module for different types of encoders and Hall Effect Sensors.

1. Thermal Sensor Specifications:

PTC Thermal Sensor: The default adjustment for the PTC thermal sensor resistor at 120°C is 3 kΩ, with PSTH-A set to 10 kΩ.
NTC Thermal Sensor: For motors with an NTC thermal sensor, the amplifier configuration requires the OP jumper closed and MN jumper open. The default adjustment for the NTC thermal sensor resistor at 120°C is 3 kΩ, with PSTH-A set to 10 kΩ.

2. Current Loops Adjustments:

400 VAC Amplifier Version: Current loop adjustments depend on the motor and amplifier specifications. A selection table is provided for different amplifier current ratings (15 A to 100 A) and motor models.
220 VAC Amplifier Version: Similar adjustments are made for the 220 VAC version, with a detailed selection table for amplifier current ratings (4 A to 100 A) and motor models.

3. Commissioning Procedures:

Power Supply Testing: Ensure auxiliary and power supply voltages are within specified limits before operation.
Amplifier Setup: Connect necessary cables and start the Visual Drive Setup software. Ensure proper serial communication between the PC and amplifier.
Motor Hall Effect Sensors Adjustment: Verify correct wiring and jumper settings for Hall Effect Sensors. Execute a motor phasing procedure if necessary.
Absolute Single Turn Sin/Cos Encoder Adjustment: Check wiring and jumper settings for Sin/Cos encoders. Ensure correct supply voltage and encoder resolution.

4. Amplifier Parameter Setting:

Ensure correct motor selection, encoder resolution, speed limit, and current limits. Execute auto-tuning procedures, especially for motors with unbalanced loads.

5. Saving and Addressing:

Save all parameters to the amplifier EEPROM. Use micro-switches to define amplifier addresses for communication with multiple amplifiers.

6. Linear Motor Parameters Adjustment:

Calculate motor encoder resolution, maximum speed, and linear speed using provided formulas. Adjust current phase lead based on motor torque constant.

General Description: The SMT-BD2/m amplifiers support up to 128 pre-programmed sequences, which can be homing, absolute positioning, incremental positioning, speed profile, or torque control sequences. These sequences can be linked to solve complex axis control applications. The amplifiers feature 8 programmable logic outputs and inputs for sequence control.

Logic Inputs and Outputs: Inputs include ENABLE, RUN, INDEX/CLR, FC+, FC-, START, STOP, WAIT, TEACH, JOG+, JOG-, and IN1 to IN8. Outputs include Amp OK, BRAKE, SEQ, POS, SPEED, OK, and OUT1 to OUT8. These inputs and outputs are used to control and monitor the sequences and motor operations.

Positioner Parameters: Configuration involves setting input/output polarity, sequence control, and output pulse duration. Position resolution is crucial for defining increments per motor revolution, with a range of 400 to 4,000,000 points. The positioner speed is limited by the maximum speed parameter. Other parameters include following error threshold, maximum braking distance, deadband, and reset counter/modulo functions.

Positioner Configuration: Speed profiles can be trapezoidal or S-curve. Analog input limitation and speed modulation allow for dynamic speed adjustments. Brake ON/OFF delays ensure safe motor operations. Minimum SEQ pulse and InPos window functions enhance sequence detection and positioning accuracy.

Manual Mode Parameters: Manual motion includes positioning via serial link and jog movements. Parameters include motion speed, acceleration, and deceleration times, which adjust proportionally to the maximum speed.

Editing a Sequence: Sequences are defined by type (ABSOLUTE, RELATIVE, HOME, SPEED, TORQUE), position, speed, torque, acceleration, deceleration, and delay time. These parameters dictate the motor's behavior during sequence execution, with specific conditions for each sequence type.

Technical Document Summary:

1. Sequence Definitions: Sequences are defined by parameters such as the number of executions, logic outputs, and triggering conditions. The start condition can be set by logic inputs, and sequences can be linked or jumped based on counter values.

2. Homing Sequence: A homing sequence involves motion speed, acceleration, deceleration, and position reset. It can be controlled by direction, switch detection, and marker pulse detection. The sequence ensures the motor returns to a home position.

3. Positioning Sequence: This sequence is defined by target position, motion speed, and acceleration/deceleration times. It includes a delay at the end of motion and allows for linkage of sequences without stopping.

4. Speed Sequence: Defined by speed set point, running time, and acceleration/deceleration times. It allows for speed profiles creation and can be stopped if the running time exceeds 16000 ms.

5. Torque Sequence: Involves speed set point, acceleration time, torque set point, and holding time. The motor runs until a current limit is reached, holding the current for a defined delay.

6. Sequence Chaining: Sequences can be linked using parameters like "Next sequence," "Counter," and "Jump." Conditional jumps are controlled by start conditions and logic inputs.

7. Programmable Outputs: Outputs can be configured to modify status, set, reset, or toggle. Triggering can occur at various points in a sequence, such as beginning, end, or when a position is reached.

8. Programmable Inputs: Inputs can trigger sequences based on activation or deactivation. They can be used as start or stop conditions, particularly for speed or torque sequences.

9. Program Execution: Sequences can be executed via a start logic input or serial link, requiring an active OK output.

10. Speed and Torque Limitation: Speed and torque values can be adjusted based on analog input voltage, allowing for modulation during sequence execution.

11. Troubleshooting: System faults are indicated by LEDs, and stored faults are prioritized for diagnosis. Specific faults like "BUSY" and "EEPROM" have detailed checks and corrective actions.

Troubleshooting Guide Overview: This document provides a comprehensive troubleshooting guide for the SMT-BD2/m amplifier, detailing various faults and their respective diagnostic procedures. The guide is structured into sections addressing specific faults, operating problems, and service and maintenance procedures.

Fault Diagnosis:

"°C MOTOR" Fault: Check thermal sensor configuration and connections.
"UNDERVOLT." Fault: Verify power supply status and connections.
"°C AMPLIFIER" Fault: Ensure fan and heatsink configurations are correct for rated current.
"POWER STAGE" Fault: Inspect DC bus voltage, braking system, and motor wiring for issues.
"HES" Fault: Confirm correct wiring and settings for incremental encoder and HES configurations.
"ENCODER" Fault: Check encoder connections and settings; disable marker pulse if necessary.
"COUNTING" Fault: Ensure encoder settings and connections are correct; disable counting protection if needed.
"I2T" Fault: Verify rated current values and adjust as necessary.
"POSITION" Fault: Adjust following error threshold for compatibility with operating cycle.
"ADC" Fault: Check analog input wiring and perform offset compensation.

Operating Problems:

Motor Supplied but No Torque: Check current parameters and input commands.
Motor Does Not Move: Verify power supply, fuses, and signal wiring.
Shaft Locked or Erratic Movements: Inspect encoder wiring and perform auto-phasing.
Discontinuous Motor Rotation: Check phase cable connections.
Loud Noise in Motor: Ensure proper ground connections and mechanical transmission rigidity.

Service and Maintenance: When replacing an amplifier, ensure the new unit matches the old one's configuration and transfer the EEPROM.

Appendix:

Limit Switches and "CVO" Inputs: Describes the function of limit switches in stopping motor displacement.
"AMP. READY" and "POWER READY" Outputs: Details the behavior of outputs during fault conditions.
Following Error Protection: Explains the detection and response to position following errors.
I²t Protection: Outlines current limitation procedures in fusing mode.

Current Limitation and Protection: The document outlines the behavior of an amplifier under extreme conditions such as motor overload or a locked shaft. It describes the timing of current limitation and protection signals, including the Idyn signal activation and I²t fault. The formulas for calculating the maximum current duration before these signals are released are provided, with specific conditions for their validity. The document also explains how to display the I²t signal on an oscilloscope and the thresholds for Idyn signal activation and current limitation.

Servo Controller Structure: The servo controller's structure includes various gains and filters that are calculated during an auto-tuning procedure. These include speed error low-pass filter, proportional speed gain, integral speed gain, damping gain, and feedforward gains. The document explains how these parameters can be adjusted by the user and the impact of different choices on the system's performance, such as speed measurement resolution and anti-resonance filtering.

ASCII Instructions List: The document provides an overview of the SMT-BD2/m amplifier's serial link specifications and the format for sending instructions via an ASCII terminal. It includes a list of instructions for modifying and reading various parameters such as position, speed, acceleration, and deceleration of sequences. The document also details conditions under which these instructions can be executed and provides examples of dialog between the user and the amplifier.

Parameter Setting Instructions:

Positioner Configuration: The positioner configuration involves setting/resetting indicators for operation modes using the 'CF' instruction. The configuration is controlled by a 16-bit variable where each bit represents a specific function such as Soft FC+, Soft FC-, Clear input enable, Reset counter forward only, Analog input limitation, Speed modulation, Analog input reversal, Minimum seq pulse, Inpos window, and Digital CAM.

Following Error Threshold: Instruction 'ET' is used to set the following error threshold with possible values ranging from 1 to 2147483647. The value must be displayed in the position unit according to the position resolution and decimal number.

Maximum Braking Distance: Instruction 'EF' sets the maximum braking distance with values between 0 and 2147483647, displayed in the position unit.

Zero Mark Pitch: Instruction 'ZN' defines the Zero Mark pitch with values from 0 to 15. The amplifier must be disabled for setting this parameter, which indicates the number of motor revolutions or motor pole pairs between consecutive Zero Mark pulses.

Pulses Interpolation: Instruction 'IC' determines pulses interpolation with a binary setting (0 or ≠ 0). The amplifier must be disabled for this setting.

Display Terminal Configuration: The terminal configuration includes a display with 4 lines of 20 characters, a keyboard with numerical and control keys, and a serial link RS232 with specific settings (19200 baud, 1 stop bit, no parity, VT-100 protocol).

Positioner Configuration Modes: The switch SW2.4 selects the amplifier serial link communication mode: OFF for PC mode and ON for Terminal mode. A push button on the front panel can also switch modes.

Main Menu Operations: The main menu allows users to display motor position, modify sequences, run sequences, and move to a position using numerical keys and arrow keys.

Display Position: Users can move the motor using arrow keys when ENABLE and RUN signals are active. The motor can be stopped by pressing a specific key.

Modification of a Sequence: Operators can modify the position or speed of a defined sequence by entering the sequence number and new values.

Execute a Sequence: Sequences can be executed when the positioner is not running any sequence and ENABLE and RUN signals are active.

Movement: Operators can enter a position to move to under the same conditions as executing a sequence.

Amplifier Types: Amplifiers are categorized by current rating (4 A to 100 A for 220 VAC or 15 A to 100 A for 400 VAC) and voltage rating (220 VAC or 400 VAC). Additional features include synchronous motor compatibility, braking resistor, and additional heatsink options.

Catalog excerpts

SBUOUWEi. MOTION CONTCOt CINFRANOR SERVO DRIVES & MOTION CONTROL POSITIONER FOR SINUSOIDAL BRUSHLESS LINEAR AND ROTATING AC MOTORS

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! 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...

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smo DOVES l MOTION CONJUOL

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SERVO DRIVES & MOTION CONTROL

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smo DOVES l MOTION CONJUOL

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___________________________________BLANK PAGE_______________________________ ___________________________________BLANK PAGE_______________________________

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CHAPTER 1 - GENERAL DESCRIPTION 1 - INTRODUCTION Series SMT-BD2/m digital servo modules are sinusoidal PWM power amplifiers that provide position, speed and torque/force control for AC brushless motors (rotating or linear) equipped with encoder only or encoder with Hall Effect Sensors (HES) for the position feedback. The SMT-BD2/m digital servo drive is 220 VAC or 400 VAC main operated. The SMT-BD2/m 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. The SMT-BD2/m plug-in system with...

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OINFRANOR3 - REFERENCE TO THE STANDARDS The 220 VAC version of the SMT-BD2/m 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 400 VAC version of the SMT-BD2/m 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: • EN 55011, Group 1, Class A regarding...

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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/m-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...

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OINFRANOR 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; equipotential according to the wiring rules. Temperature range 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) From 40°C on, the rated currents must be reduced of 3 %/°C. 1.2 - Current ratings for the 400 VAC amplifier version Auxiliary supply voltage 310 VDC...

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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 torque limitation input 0 V to 10 V, resolution = 12 bits 100 % to 0 % of the torque set point value No limitation for 0 Volt Analog speed limitation input ±10 V, standard resolution = 12 bits 100 % to 0.1 % of the maximum speed value Speed and position regulator Sampling period = 0,5 ms Anti-wind-up system of the integrator...

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OINFRANOR Hall sensors input Encoder output Dedicated logic inputs Programmable logic inputs Dedicated logic outputs Programmable logic outputs Monitor outputs digitizing Error display Parameter setting Automatic functions Selectable by jumpers : 120° or 60° HES type 5 V or 15 V supply voltage HES sequence error detection Quadrature and TTL A & B signals with Z marker pulse Programmable encoder division ratio output resolution / input resolution : 1, 1/2, 1/4, 1/8 Optoisolated, positive logic, response time = 0.5 ms : •Enable/Disable: ENABLE •Servo On/Off: RUN •Homing switch: INDEX •Limit switch...

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2 - BLOCK DIAGRAM The SMT-BD2/m servo module block diagram is presented below. Supply voltages Encoder input Pulses counter Vector control Current loops Encoder divider Position controller Current limitation Current Mes Sequences controller Current Limit Power supply SPEED LIMIT X4 TORQUE LIMIT 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 multiaxis BF rack according to the SMT-BD2/m amplifier housing (see chapter 3).

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OINFRANOR 3 - MAIN PROTECTIONS 3.1 - Displayed protections PROTECTION 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.

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

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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 Command Encoder output Command Analog inputs 2 - X5 SERIAL LINK CONNECTOR (Sub D 9 pins male) CHAPTER 3 - Inputs - Outputs

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BD2m_e_2.2

BD2m_e_2.2

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