XtrapulsGem User Guide e

XtrapulsGem – User Guide This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors. Please see XtrapulsGem Installation Guide for the operation of the drive (commissioning, configuration, …). Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable...

XtrapulsGem – User Guide

XtrapulsGem – User Guide Chapter 1 - General Description 1.1 - INTRODUCTION XtrapulsGem all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless AC motors with position sensor (resolver, encoder). XtrapulsGem is a single-axis block including power supply unit and mains filters. It is available in both 230 VAC and 400/480 VAC mains operated voltages. It obtains high regulation performances with: Multi-standard encoder input Motor speed up to 25000 rpm. The XtrapulsGem drive is a configurable and programmable drive with built-in servo-functions. It includes...

XtrapulsGem - User Guide 1.2 - ARCHITECTURE XtrapulsGem is a free configurable and programmable drive. The configuration can be made by static parameters set during the commissioning by using, in the “Gem Drive Studio” software tool, a configuration file “USER_PAR.TXT” or commands from a master. The drive configuration includes servo-loop parameters, motor and sensor parameters, communication parameters and I/O configuration parameters. XtrapulsGem can be used as a “basic drive” using CANopen commands according to DS402 and additional proprietary features. XtrapulsGem can also be used as a traditional...

XtrapulsGem - User Guide OINFRANOR 1.3 - OTHER DOCUMENTS • XtrapulsGem Installation guide. • XtrapulsGem "Safe Torque Off " specification. • XtrapulsGem Application Templates. • XtrapulsGem Programming guide. • GemDriveStudio quick start guide. • EtherCAT® fieldbus interface. • XtrapulsGem Encoder output board Chapter 1 - General description

XtrapulsGem - User Guide This chapter describes the commissioning procedure of the drive by means of the "Gem Drive Studio" software. / • \ Do not perform the drive parametrization by means of both "Gem Drive Studio" software '' * ^ tool and CANopen bus at the same time. The Gem Drive Studio software is PC compliant under Windows and allows an easy parametrization of the Xtrapuls drive. Please see our website www.infranor.com for downloading the "Gem Drive Studio" software. The use of the Gem Drive Studio software requires the minimum PC configuration described below: - screen with true colours...

XtrapulsGem – User Guide Architecture of the software The software is made of several independent software modules. Each of them can communicate with the drive(s) via a communication server. Client module Client module Client module Communication server Serial port or CAN port The server is automatically started when a client module is trying to establish a communication with a drive . The server is commissioning the drivers of the hardware peripherals. The server stops when the last connected client is stopped . The format of the exchanged data is the same whichever the communication type (RS232,...

XtrapulsGem - User Guide CINFRANOR 2.2 - STARTING THE SOFTWARE When starting the software, various user levels can be selected. The drive parameter modification levels are protected by passwords. Administrator is the highest level with full access. The Administrator can change all passwords by using the Tools/User identification menu. The default password for the administrator level is "admin". The Gem Drive Studio software allows the parametrization of all Xtrapuls drives for a given application. All Xtrapuls drives of a given application, connected together via CANopen, are included in the...

XtrapulsGem – User Guide - Switch on the power supply: The red ERR LED must be unlit. The drive is ready to be enabled. Starting the communication The Gem Drive Studio software can communicate with the drives by using either the RS232 serial link or the CANopen fieldbus. All drives of the application are connected together via CANopen: - Set the node ID code value by using the microswitches on the front panel for all drives of the application (code values must be different from each other), - Connect the serial link RS232 or the CANopen fieldbus between the PC and one drive of the application,...

XtrapulsGem - User Guide Check that the thermal sensor calibration is complying with the motor application and modify the threshold values if necessary. Check that the current limit and the I²t protection adjustment are complying with the motor application, and modify them if necessary. Check that the motor speed limit is complying with the application and reduce its value if necessary. If external inductances are serially connected with the motor winding for filtering, renew the current loop gain calculation by using the total value of the phase-to-phase inductance. If the position sensor adjustment...

XtrapulsGem – User Guide 2 When the drive output RMS current (I t) reaches the rated current value, the I t limits the drive output current at this value. Diagram of the drive output current limitation in an extreme case (motor overload or shaft locked): Drive output current t1 = Warning Max. current t2 = Current limitation t3 = I2t error Rated current 1 second time t0 The maximum current duration before release of the warning is depending on the value of the parameters Rated current and Max. current. This value is calculated as follows: 2 T dyn (second) = t1-t0 = 3,3 x [ rated current (A) /...