Elmo DBP SERIES инструкция обслуживания

0 DBP - Rev 6/93 Rev 6/93[...]

1 DBP - Rev 6/93 ELMO-WARRANTY PERFORMANCE The warranty performance covers only ELMO's products and only the elimination of problems that are due to manufacturing defects resulting in impaired function, deficient workmanship or defective material. Specifically excluded from warranty is the elimination of problems which are caused by abuse, dam[...]

2 DBP - Rev 6/93 How to use this manual - Flow Chart The DBP HARDWARE MANUAL will lead you toward a successful start-up of your digital amplifier. Please review carefully the following flow chart and write down the chapters that you have to follow in the right order. Only after performing all the steps you may proceed to the software manual. If you[...]

3 DBP - Rev 6/93 TABLE OF CONTENTS 1.Description ................................ .......................... 7 2. Type Designation ................................ ................... 8 3. Technical Specification ................................ ............ 9 3.1 Digital I/O specification ................................ ... 10 3.2 Analog input sp[...]

4 DBP - Rev 6/93 6. Installation procedures ................................ ............ 65 6.1 Mounting ................................ ..................... 65 6.2 Wiring ................................ ....................... 65 6.3 Load inductance ................................ .............. 66 6.4 AC power supply ........................[...]

5 DBP - Rev 6/93 Appendix B - Adding a velocity feedback ............................... 101 Appendix C - Differential amplifier connection ........................ 102 DIMENSIONAL DRAWINGS ................................ ................... 103 PANEL (H), DBP1 ................................ .................. 104 PANEL (H), DBP2 ...............[...]

6 DBP - Rev 6/93 1.Description The DBP series are digital, full wave, three phase servo amplifiers designed for high performance brushless servo motors in the range of up to 7KW. They utilize power MOSFETs and Surface Mounting Technology which contribute to its high efficiency and compact design. The DBP operates from a single AC supply (either sin[...]

7 DBP - Rev 6/93 * Standard commutation sensors: Hall effect sensors or a Resolver. * Galvanic isolation of the control stage - option. Digital Section Standard Features * Accepts motion commands via RS232 or RS485 * Buffering for pipe lining instructions prior to execution * Battery-backed RAM for storing user programs and parameters * Conditional[...]

8 DBP - Rev 6/93 3. Technical Specification Type AC Supply * min max Current limits Size Panel(H) Size Rack(R) Weight (Kg) DBP-12/135 28- 135 12/24 DBP2 3U/20T 1.4 DBP-20/135 28- 135 20/40 DBP3 6U/21T 3 DBP- 8/270 100- 270 8/16 DBP2 3U/20T 1.4 DBP-16/270 100- 270 16/32 DBP3 6U/21T 3 DBPF-12/135 28- 135 12/24 DBP1 3U/13T 0.7 DBPF-20/135 28- 135 20/4[...]

9 DBP - Rev 6/93 General * DC output voltage is 130% of AC input voltage. * 2KHz current loop response * Outputs voltages of +5V/0.2A, +15V/0.1A for external use. * Efficiency at rated current - 97%. * Operating temperature: 0 - 50 ° C. * Storage temperature: -10 - +70 ° C. 3.1 Digital I/O specification Digital Inputs: High/Low input definition: [...]

10 DBP - Rev 6/93 13b 14b 15b OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 16b 17b 1b D0 Q0 2 D1 Q1 5 D2 Q2 6 D3 Q3 9 D4 Q4 12 D5 Q5 15 D6 Q6 16 D7 Q7 19 OC VCC 20 U17 74HCT373A +5V 2b 3b OUT 7 OUT 8 OUT9 5a 3 2 U11A 74HCT4050 5 4 U11B 74HCT4050 7 6 U11C 74HCT4050 6a OUT10 MOTION COMPLETE 7a DIGITAL OUTPUTS[...]

11 DBP - Rev 6/93 1 3 U100A SN75C189AD 9a LIMIT SWITCH FORWARD REVERSE LIMIT SWITCH 10a 4 6 U100B SN75C189AD 10 8 U100C SN75C189AD 13 11 U100D SN75C189AD 12a HOME INPUT ABORT INPUT 13a 18b 1 3 U102A SN75C189AD 4 6 U102B SN75C189AD 19b I1 I2 I3 20b 10 8 U102C SN75C189AD 13 11 U102D SN75C189AD 1 3 U103A SN75C189AD 21b I4 I5 INDEX SLAVE 22b 4 6 U103B [...]

12 DBP - Rev 6/93 3.2 Analog input specification Maximum input voltage: - When R1 (470ohm) is inserted, the absolute value of the input voltage should be less than 5V. - When the absolute value is higher than 5V, R1(Kohm) = 2Vi-10 should be inserted. The µ P reads always +5V. Resolution of the digital conversion: 11 bit full scale. Typical offset:[...]

13 DBP - Rev 6/93 3.3 Sensors specification 3.3.1 Encoder The encoder must be incremental with two TTL channels in quadrature and 90 ° phase shift. High/Low input definition: Vil<1.5V, Vih>3V Input voltage range: 0-15V Input hysteresis 1.5V Input impedance: 1Kohm to 5V. Maximum frequency main encoder: 150KHz Maximum frequency auxiliary encod[...]

14 DBP - Rev 6/93 REMARK: R704 - 708 ARE NOT INSTALLED IN FACTORY STANDARD SETTING. +5v 2.49K +5v +5v 1000P 100K 1K 7 3 2 U107 +5v +5v 1000P 1K 100 100 R707 * 22a AY/PULSE AY/PULSE 21a DS5 301K BY/DIR BY/DIR 24a 100 100 23a +5v +5v +5v 1000P 1000P 1K 100K +5v 2.49K 7 3 2 U106 1K +5v 301K DS4 R706 * +5v +5v +5v +5v +5V 4 5 6 U121B 1K 1000P 301K 1K 1[...]

15 DBP - Rev 6/93 3.4 Communication 3.4.1 RS232 Configuration The RS232 is configured for 8-bit, no parity, full duplex and it will echo all the transmissions. Baud rates: 300,600,1200,2400,4800,9600,19200,38400,57600 No hardware handshaking is required. 3.4.2 RS485 Configuration The RS485 is configured for 8-bit, no parity, half duplex. Baud rates[...]

16 DBP - Rev 6/93 CO MMUNI CATION -15V DZ13v 300 0.1MF 0.1MF +15V DZ13v 300 +5v DS9 RS232-OFF -V 1 DY 7 RA 5 GND 4 RTC 6 RY 3 DA 2 +V 8 U115 SN75155 +5v 5 2 3 4 TRANSMIT RECEIVE GND +5V RS232 7 6 T/R- RS485 +5v 0.1MF VCC 8 B 7 A 6 GND 5 D 4 DE 3 RE 2 R 1 U114 SN75LS176 1K RS485-ON R119 * 9 8 T/R+ 1 TRANSMIT/ RECEIVE CONTROL 1K RS485/RS232 R119 - LI[...]

17 DBP - Rev 6/93 4. System Operation 4.1 RS485 and Checksum Protocol The RS485 in the DCB is configured as 8-bit, no parity, 1 stop bit, half duplex. The following baud rates are available: 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600. No hardware handshaking is required. In the RS-485, which is a Half Duplex system, all the Transmitters [...]

18 DBP - Rev 6/93 4.2.1 Current feedback, Current feedback multiplier (CFM) and Current loop Three current feedbacks are obtained by measuring the voltage drop across current sensing resistors or by current transformers (when using the isolation option). These three signals are synthesized and multiplexed which result in a single voltage signal pro[...]

19 DBP - Rev 6/93 This function should be activated whenever the rated current AND the peak current of the motor are less than 20% of the amplifier rated continuous and peak limits respectively. Sometimes, oscillations may occur in the current loop due to the fact that the feedback gain was multiplied. This can be resolved by substituting R4 with a[...]

20 DBP - Rev 6/93 Ip - Iop Tp = 2.2ln ---------- Ip - Ic Iop - Actual operating current before the peak demand. The result of this filter is that the maximum peak can last for a maximum of 2 seconds. A lower peak can last longer. Example: A motor is driven by an DBPF-10/135 amplifier at constant speed and constant current of 5A. What is the maximum[...]

21 DBP - Rev 6/93 Control Modes The DCB can be commanded to control the position of a motor, its torque or its velocity using three basic control modes: - Position Mode - Velocity Mode - Position Follower Mode Position Mode In the position mode the motor will advance a specified distance and then stop. This distance can be represented as an absolut[...]

22 DBP - Rev 6/93 Start Modes There are three start modes to begin a move: Direct command A move can be initiated directly by a command from the host or a terminal. Program A move can be initiated by a command included in the user program. Input condition Another alternative is to have the move started by a conditional statement specified by the us[...]

23 DBP - Rev 6/93 Auto restart The power stage inhibit will automatically be released upon clearing the cause of the inhibit. Status Reporting Status is available to the user in several ways. Communication In response to the Tell Status command (TS) the DCB sends a coded message describing the status of the amplifier. In addition, the host may requ[...]

24 DBP - Rev 6/93 4.5 Operation of the shunt regulator A shunt regulator is included in the power supply section of the DBP. The shunt regulator is a switching type, wherein dissipative elements (resistors) are switched across the DC bus, whenever the voltage reaches a predetermined level (Vr). The function of the shunt regulator is to regulate the[...]

25 DBP - Rev 6/93 4.6 Commutation signals format 300 60 120 180 240 300 360 60 0 (0) (360) 300 60 120 180 240 300 360 60 0 (0) (360) 300 60 120 180 240 300 360 60 0 (0) (360) A B C A B C 0 0 0 + - + - Vac Vba Vcb 60 FORMAT (120) 30 FORMAT MOTOR BEMF + -[...]

26 DBP - Rev 6/93 4.7 Protective functions All the protective functions except "Low Back-up Battery Voltage" activate an interrupt to the main processor which inhibits the power bridge and disable current flow to or from the motor. The user can interrogate the processor in order to verify the cause of the inhibit. An indication of the fau[...]

27 DBP - Rev 6/93 MOTOR OUTPUTS +VS AC AC SHUNT D1 D2 D3 D6 D5 CURRENT SENSING D4 CONTROL RECTIFING, CURRENT INRUSH LIMIT AC POWER COMMON D5 D6 COMMUTATION CURRENT PROCESSING D1 D2 D3 D4 SUPPLIES SMPS SUPPLIES CONTROL PROTECTIONS CURRENT FEED BACK PWM SIGNALS "HALLS" SIGNALS ISOLATION PWM SIGNAL CURRENT FEED BACK PROTECTIONS HA HB HC &quo[...]

28 DBP - Rev 6/93 RS232 Display RS485 Outputs Buffers Master Processor TEMP SIGNAL SHORT SIGNAL UNDER / OVER - SIGNAL Current Feedback Inputs Buffer Aux Buffer Encoder Encoder Analog in Position Processor Buffer option MOTOR COMMAND Current limits TACH INPUT (OPTION) R7 10K 100K A PWM A option R6 C2 100K 100K R5 619K VELOCITY/ CURRENT MODE +V -V OF[...]

29 DBP - Rev 6/93 DCB COMPONENTS LAYOUT L1 T1 T2 JC U120 U114 N80C196KB-12 U115 U123 Y1 R713 R712 R119 R802 U130 U25 U22 R566 U108 U109 JP U27 U112 U113 U28 C313 C312 JE DS OFF ON U5 U17 U10 U101 U7 U18 1 2 3 4 5 6 7 8 9 R R C1C2 U21 U26 R R R R U20 JPR U9 U21 U29 U11 C139 U31 R800 R500 R501 R502 R503 R508 R509 R510 R511 U100 U103 R705 JR 506 507 R[...]

30 DBP - Rev 6/93 DCB RESOLVER OPTION BLOCK DIAGRAM DS14 DS13 DS12 HALLS + ENCODER PROCESSOR POSITION BITS RESOLVER TO DIGITAL CONVERTER R201 R200 C68 C67 R197 Velocity feedback DS11 HA HB HC ENCODER A ENCODER B ENCODER I R242 R243 R244 R193 R194 2K 2K Ref. oscillator output R192 +V R228 R233 C60 C61 R196 R196 C62 SIN. INPUT COS. INPUT JR/1 JR/2 JR[...]

31 DBP - Rev 6/93 RESOLVER BOARD COMPONEN TS LAYOUT U25 U24 DS2 ON OFF 11 12 13 14 U22 60 68 67 62 61 R 192 R 200 R 197 R 195 R 196 R 201 U30 R 233 R 228 R 193 R 194 U23 U28 U29 c c c c c JR 1 10 JPR 1 10[...]

32 DBP - Rev 6/93 5. Terminal Description 5.1 Terminals for Horizontal and Rack mounting versions POWER BOARD - 3U size H R Function 1 (32a,c) Motor phase A output. With the DIN connector both pins must be connected. 2 (30a,c Motor phase B output. With the DIN connector both pins must be connected. 3 (28a,c) Motor phase C output. With the DIN conne[...]

33 DBP - Rev 6/93 Power Board - 6U size - Supplies terminals H R FUNCTION +VS 4ac,2ac External shunt resistor connection / +VS. NC NOT CONNECTED SO 8ac External shunt resistor connection. NC NOT CONNECTED POW COM 14ac,12ac POWER COMMON NC NOT CONNECTED AC 20ac,18ac AC supply-phase A. With the DIN connector all pins must be connected. AC 26ac,24ac A[...]

34 DBP - Rev 6/93 Control board H & R Function Remarks 1a Output 6 * 1b Current monitor This analog output represents the actual current in the motor. The scale (in A/V) is: Ip / 7.5 Ip - Rated peak current of amplifier. 2a Output 7 * 2b Velocity / current mode selection When input is left open (low level) the analog part of the amplifier is wo[...]

35 DBP - Rev 6/93 Control board - cont. H & R Function Remarks 9a Forward limit switch This committed input activates the #[ subroutine. * 9b positive input of a differential amplifier. See Appendix C. 10a Reverse limit switch This committed input activates the #[ subroutine.* 10b Negative input of a differential amplifier. See Appendix C. 11a [...]

36 DBP - Rev 6/93 Control board - cont. H & R Function Remarks 18a Analog input This input is monitored by the main µ P. When |Vi| < 5V, R1=470ohm should be inserted. When |Vi|> 5V, R1(Kohm)=2Vi-10 should be inserted. The µ P always reads a range of +5V. 18b Input 1 * 19a +5V output There are several +5V terminals. The accumulative exte[...]

37 DBP - Rev 6/93 Control board - cont. H & R Function Remarks 24a Auxiliary encoder complementary input (- By) or Complementary Direction input for Pulse and Direction mode 24b Resolver reference common. The reference voltage to the resolver must be taken from terminals 23b and 24b only. 25a +5V output There are several +5V terminals. The accu[...]

38 DBP - Rev 6/93 TERMINALS OF DBP RACK VERSION - 3U SI ZE CONTROL BOARD 1 32 b a 2 4 c a 32 PO WER BOARD[...]

39 DBP - Rev 6/93 DBP - PANEL (H) MOUNTING TYPE TERMINALS LAYOUT EUROCARD SIZE TYPES CONTROL BOARD b a 1 32 1 2 3 4 +VS A AC input 5 6 7 8 B C MOTOR OUT 9 10 11 12 13 COM. A B C POWER HALL 14 15 16 24 - + SUPPLY FAN ~ ~ ~ C +15[...]

40 DBP - Rev 6/93 DBP - PANEL (H) MOUN T ING TYPE DOUBLE EUROCARD SIZE TYPE b a 1 32 M4 +FAN -FAN HA HB HC AC AC AC POW COM. N.C N.C S.O N.C +VS MC MB MA 1 2 3 4 5 6 15 16 17 18 19 7 8 9 10 11 12 13 14[...]

41 DBP - Rev 6/93 DBP-6U RACK TYPE 32 2 C A 32 C A 2 A J1 J3 POWER POWER CONTROL CONNEC TORS b a 1 32[...]

42 DBP - Rev 6/93 5.2 Mother Boards terminals (MBA-DBP/3U and MBA-DBP/6U) Use: For all DBP amplifiers (3U/6U size) with Resolver or optical encoder feedback. The encoder outputs are driven by line drivers to improve noise immunity. Termination: Screw type terminals for the power and D-type connectors for the signals. POWER TERMINALS FOR MBA-DBP/3U [...]

43 DBP - Rev 6/93 POWER TERMINALS FOR MBA-DBP/6U Terminal Function M1 Motor phase A output. M2 Motor phase B output. M3 Motor phase C output. GND Ground. This terminal is connected to the ENC chassis. AC AC supply-phase A. AC AC supply-phase B. AC AC supply-phase C. COM DC power common VS DC power positive SO Auxiliary shunt output, for external sh[...]

44 DBP - Rev 6/93 Signals connector - J1 (MBA-DBP/3U and MBA-DBP/6U) Pin Function Remarks 1 Channel A input 2 Channel -A input 3 Channel B input 4 Channel -B input 5 -Index input 6 Index input 7 +5V output There are several +5V pins. The accumulative external load should not exceed 200mA. 8 +15V output There are several +15V pins. The accumulative [...]

45 DBP - Rev 6/93 Signals connector - J3 (MBA-DBP/3U and MBA-DBP/6U) Pin Function Remarks 1 positive input of a differential amplifier. See Appendix C. 2 Negative input of a differential amplifier. See Appendix C. 3 Output of a differential amplifier. See Appendix C. 4 Circuit common 5 Analog input This input is monitored by the main µ P. When |Vi[...]

46 DBP - Rev 6/93 Signals connector - J3 - cont. Pin Function Remarks 18 Inhibit output Relay contact (potential free). The relay contact is closed whenever the amplifier is enabled. Contact rating: 0.5A, 200V, 10W. 19 Motion command ( +5V) This analog output represents the current command from the position loop to the power amplifier. It is useful[...]

47 DBP - Rev 6/93 Signals connector - J4 - cont. Pin Function Remarks 6 Input 5 or Index Input. If a homing sequence is required, the Index Input must be connected to Input 5. 7 Circuit common 8 Fast input 6 This fast response input can capture events with a duration of less than 10 µ s. An event is defined as an input voltage transition from low [...]

48 DBP - Rev 6/93 Signals connector - J4 - cont. Pin Function Remarks 24 Output 10 * 25 Motion Complete This output will go to high when motion is complete. * 26 Output 8 * Signals connector - J6 (MBA-DBP/3U and MBA-DBP/6U) Pin Function Remarks 1 Auxiliary encoder complementary input (- By) or Complementary Direction input for Pulse and Direction m[...]

49 DBP - Rev 6/93 Signals connector - J6 - cont. Pin Function Remarks 5 Auxiliary encoder index input 6 +5V output There are several +5V pins. The accumulative external load should not exceed 200mA. 7 +15V output There are several +15V pins. The accumulative external load should not exceed 100mA. 8 Circuit common 9 Home switch * 10 +5V output There[...]

50 DBP - Rev 6/93 Signals connector - J8 (MBA-DBP/3U and MBA-DBP/6U) 1 Channel A output Main encoder buffered output (20mA, 0-5V) 2 Channel -A output Main encoder buffered output (20mA, 0-5V) 3 Channel B output Main encoder buffered output (20mA, 0-5V) 4 Channel -B output Main encoder buffered output (20mA, 0-5V) 5 Encoder index output For resolver[...]

51 DBP - Rev 6/93 MBA - DBP/3U 25 J2 9 5 1 6 1 2 26 J3 J7 5 3 4 2 1 J1 9 5 1 6 25 8 15 26 J4 8 15 5 1 9 J8 2 1 J6 1 9 6 7 8 9 10 16 15[...]

52 DBP - Rev 6/93 J1A J3 25 26 11 10 2 1 25 26 J4 8 1 9 15 5 J8 2 1 J2 9 5 1 6 J1 9 5 1 6 8 9 15 J6 1 MBA-DBP/6U POW. COM. M1 M2 M3 AC AC AC +VS SO[...]

53 DBP - Rev 6/93 5.3 Terminals for DBP mounted in ENCD. POWER TERMINALS FOR MBA-DBP/3UE (3U size) Terminal Function 1 Motor phase A output. 2 Motor phase B output. 3 Motor phase C output. 4 AC supply-phase A. 5 AC supply-phase B. 6 AC supply-phase C. 7 DC power positive (+Vs) 8,9 DC power common 10 Ground 11 Ground POWER TERMINALS FOR MBA-DBP/6UE [...]

54 DBP - Rev 6/93 Signals connector - J1 (MBA-DBP/3UE and MBA-DBP/6UE) Pin Function Remarks 1 Channel A input 2 Channel -A input 3 Channel B input 4 Channel -B input 5 -Index input 6 Index input 7 +5V output There are several +5V pins. The accumulative external load should not exceed 200mA. 8 +15V output There are several +15V pins. The accumulativ[...]

55 DBP - Rev 6/93 Signals connector - J3 (MBA-DBP/3UE and MBA-DBP/6UE) Pin Function Remarks 1 positive input of a differential amplifier. See Appendix C. 2 Negative input of a differential amplifier. See Appendix C. 3 Output of a differential amplifier. See Appendix C. 4 Circuit common 5 Analog input This input is monitored by the main µ P. When |[...]

56 DBP - Rev 6/93 Signals connector - J3 - cont. Pin Function Remarks 18 Inhibit output Relay contact (potential free). The relay contact is closed whenever the amplifier is enabled. Contact rating: 0.5A, 200V, 10W. 19 Motion command ( +5V) This analog output represents the current command from the position loop to the power amplifier. It is useful[...]

57 DBP - Rev 6/93 Signals connector - J4 - cont. Pin Function Remarks 6 Input 5 or Index Input. If a homing sequence is required, the Index Input must be connected to Input 5. 7 Circuit common 8 Fast input 6 This fast response input can capture events with a duration of less than 10 µ s. An event is defined as an input voltage transition from low [...]

58 DBP - Rev 6/93 Signals connector - J4 - cont. Pin Function Remarks 24 Output 10 * 25 Motion Complete This output will go to high when motion is complete. * Signals connector - J6 (MBA-DBP/3UE and MBA-DBP/6UE) Pin Function Remarks 1 Auxiliary encoder complementary input (- By) or Complementary Direction input for Pulse and Direction mode 2 Auxili[...]

59 DBP - Rev 6/93 Signals connector - J6 - cont. Pin Function Remarks 5 Auxiliary encoder index input 6 +5V output There are several +5V pins. The accumulative external load should not exceed 200mA. 7 +15V output There are several +15V pins. The accumulative external load should not exceed 100mA. 8 Circuit common 9 Home switch * 10 +5V output There[...]

60 DBP - Rev 6/93 Signals connector - J8 (MBA-DBP/3UE and MBA-DBP/6UE) 1 Channel A output Main encoder buffered output (20mA, 0-5V) 2 Channel -A output Main encoder buffered output (20mA, 0-5V) 3 Channel B output Main encoder buffered output (20mA, 0-5V) 4 Channel -B output Main encoder buffered output (20mA, 0-5V) 5 Encoder index output For resolv[...]

61 DBP - Rev 6/93 8 CIRCUIT COM. +15V 13 CIRCUIT COMMON 9 HALL A 10 HALL B 11 HALL C 12 CIRCUIT COM. 15 4 CH B +5V 14 1 CH A OUT 2 CH A 3 CH B 5 INDEX 6 INDEX 7 CIRCUIT COM. OUT OUT OUT OUT OUT CIRCUIT COMMON 9 +15V 8 INDEX INPUT 6 +5V 7 J1 MOTION COMPLETE 25 13 OUT 7 CURRENT/VELOCITY MODE 25 4 CH. B INPUT 3 CH. B INPUT 2 CH. A INPUT 1 CH. A INPUT [...]

62 DBP - Rev 6/93 8 CIRCUIT COM. +15V 13 CIRCUIT COMMON 9 HALL A 10 HALL B 11 HALL C 12 CIRCUIT COM. 15 4 CH B +5V 14 1 CH A OUT 2 CH A 3 CH B 5 INDEX 6 INDEX 7 CIRCUIT COM. OUT OUT OUT OUT OUT CIRCUIT COMMON 9 +15V 8 INDEX INPUT 6 +5V 7 J1 MOTION COMPLETE 25 13 OUT 7 CURRENT/VELOCITY MODE 25 4 CH. B INPUT 3 CH. B INPUT 2 CH. A INPUT 1 CH. A INPUT [...]

63 DBP - Rev 6/93 5.4 Communication Port Connector The serial communication is available via a 9 pins D connector (Jc) with the following pin assignment: RS232 Pin Function 2 Receive 3 Transmit 5 Common When using an IBM XT as an host, pins 4 and 5 should be connected together on the 25 pins D connector (computer side). When using an IBM AT as an h[...]

64 DBP - Rev 6/93 6. Installation procedures 6.1 Mounting The DBP series dissipates its heat by natural convection except DBPF types which are fan cooled. For optimum dissipation the amplifiers have to be mounted with the fins in vertical position. 6.2 Wiring Proper wiring, grounding and shielding techniques are important in obtaining proper servo [...]

65 DBP - Rev 6/93 6.3 Load inductance The total load inductance must be sufficient to keep the current ripple within the limits - 50% of the adjusted continuous current limit. The current ripple (Ir) can be calculated by using the following equation: 0.5 x Vs Ir = ---------- (A) f x L L - load inductance in mH. Vs - Voltage of the DC supply in Volt[...]

66 DBP - Rev 6/93 6.5 Wiring diagrams 6.5.1 Motor's windings DBP Motor A B C Heatsink / GND MA MB MC Chassis Minimum acceptance ====================================================================== DBP Motor A B C Heatsink / GND MA MB MC Chassis Power wires twisted together Acceptable for most applications ====================================[...]

67 DBP - Rev 6/93 6.5.2 AC power wiring AC AC AC +Vs DC power common Control common Heatsink Fuse Fuse Fuse A. Direct connection to the three phase mains B. External fuses are needed for 3U size only DBP + O option ====================================================================== AC AC AC +Vs DC power common Control common Heatsink Fuse Fuse F[...]

68 DBP - Rev 6/93 Guide lines for connecting non-isolated AC supplies Ground : Control common Motor chassis Amplifier's heatsink Do not ground: Power common (The power common is a hot point and any grounding will cause an input rectifier failure). Caution: - If source of motor command is grounded, use amplifier's differential input. Other[...]

69 DBP - Rev 6/93 AC AC AC +Vs DC power common Control common Heatsink Fuse Fuse Fuse Isolating transfor mer A. Extenal fuses are needed for 3U size only DBP + I option Guide lines for connecting an Isolated amplifier with an isolating power transformer Ground: DC power common Control common Motor chassis Amplifier's heat sink. Caution: - If s[...]

70 DBP - Rev 6/93 AC AC AC +Vs DC power common is internally connected to control common Heatsink Fuse Fuse Fuse Isolating transformer NON-ISOLATED DBP A. External fuses are needed for 3U size only Guide lines for connecting a non isolated amplifier with an isolating power transformer Ground: DC power common Motor chassis Amplifier's heat sink[...]

71 DBP - Rev 6/93 AC AC AC +Vs DC power common Control common Heatsink Fuse Fuse Fuse AC AC AC +Vs DC power common Control common Heatsink To additional DBPs CONNECTING MORE THAN ONE DBP DIRECT CONNECTION TO THE THREE PHASE MAINS NOTE: DC POWER TERMINALS ARE CONNECTED IF SINGLE PHASE IS USED OR IF SHUNT CURRENT HAS TO BE INCREASED DBP DBP O option [...]

72 DBP - Rev 6/93 AC AC AC +Vs DC power common Control common Heatsink Fuse Fuse Fuse AC AC AC +Vs DC power common Control common Heatsink To additional DBPs CONNECTING MORE THAN ONE DBP ISOLATING TRANSFORMER NOTE: DC POWER TERMINALS ARE CONNECTED IF SINGLE PHASE IS USED OR IF SHUNT CURRENT HAS TO BE INCREASED DBP DBP A. External fuses are needed f[...]

73 DBP - Rev 6/93 AC AC AC +Vs Heatsink Fuse Fuse Fuse AC AC AC +Vs Heatsink To additional DBPs CONNECTING MORE THAN ONE DBP ISOLATING TRANSFORMER ISOLATED DBP ISOLATED DBP NON NON NOTE: DC POWER TERMINALS ARE CONNECTED IF SINGLE PHASE IS USED OR IF SHUNT CURRENT HAS TO BE INCREASED DC POWER COMMON IS INTERNALLY CONNECTED TO CONTROL COMMON DC POWER[...]

74 DBP - Rev 6/93 AC AC AC +Vs DC power common Control common Heatsink Fuse Fuse DBP External capacitance SINGLE PHASE CONNECTION See chapter 6.4 for details All rules about supply connections described in the previous pages are also valid for multi-IBP and/or single phase connection.[...]

75 DBP - Rev 6/93 AC AC AC +Vs SO Control common Heatsink DBP CONNECTING THE EXTERNAL SHUNT RESISTOR DOUBLE EUROCARD SIZE ONLY For 135V types the standard value of For 270V types the standard value of Rex Rex is 9.1ohm/225Watt Rex is 33ohm/225Watt[...]

76 DBP - Rev 6/93 6.5.3 Hall sensors wiring HALL A HALL SENSORES HALL SENSORES CONNECTION J8 HALL B HALL C +15V GND 4 5 6 7 8 11 12 13 14 15 1 2 3 9 10 REMARK: TWISTED PAIR SHIELDING[...]

77 DBP - Rev 6/93 6.5.4 RS232 Communication wiring RS232 CO MMUNI CATION 5 JC 6 9 8 7 1 2 3 4 R T COMPUTER TXD RXD RST CTS NOTE: SHIELDING MUST BE CONNECTED AT COMPUTER END ONLY SYMBOLS: TWISTED PAIR SHIELDING[...]

78 DBP - Rev 6/93 6.5.5 RS485 Communication wiring RS 485 CO MMUNI CATION 9 5 JC 6 8 7 1 2 3 4 AMP. No 1 T/R+ T/R- COMPUTER NOTES: 1. SHIELDING MUST BE CONNECTED AT COMPUTER END ONLY 2. PIN No.1 TRANSMIT/RECEIVE CONTROL 3. PIN No.4 +5V SYMBOLS: TWISTED PAIR SHIELDING[...]

79 DBP - Rev 6/93 RS485 CO MMUNI CATION 9 8 3 4 5 JC COMPUTER T/R+ T/R- 6 7 1 2 AMP. No 1 9 8 3 4 5 JC 6 7 1 2 AMP. No 2 AMP. No 32 9 8 4 5 JC NOTES: 2. PIN No.1 TRANSMIT/RECEIVE CONTROL 3. PIN No.4 +5V 1. SHIELDING MUST BE CONNECTED AT COMPUTER END ONLY. 6 7 1 2 3 SYMBOLS: TWISTED PAIR SHIELDING[...]

80 DBP - Rev 6/93 6.5.6 Main encoder wiring ENCODER CONNECTION J1 6 9 8 7 1 2 3 4 5 +V ENCODER B A I DIFFERENTIAL ENCODER CONNECTION J1 9 8 4 5 I I ENCODER A B B +V A 1 2 3 6 7 NOTES: 1.THIS CONNECTION IS FOR AN ENCODER WITH +5V SUPPLY. SYMBOLS: COMMON. THE SHIELDING SHOULD BE CONNECTED EITHER 2.THE METAL FRAME OF J1 IS INTERNALLY CONNECTED TO THE [...]

81 DBP - Rev 6/93 6.5.7 Resolver wiring RESOLVER CONNECTION RESOLVER S3 S1 5 9 J2 6 8 7 1 2 3 4 S4 S2 R2 R1 NOTES: 1. PIN No 7 = +15V 2. PIN No 8 = -15V 3. PIN 9 AND THE METAL FRAME OF J2 ARE INTENALLY CONNECTED TO THE DCB COMMON. THE SHIELDINGS OF ALL THE PAIRS SYMBOLS: FRAME OF J2. SHOULD BE CONNECTED EITHER TO J2 PIN 9 OR TO THE TWISTED PAIR SHI[...]

82 DBP - Rev 6/93 6.5.8 Auxiliary encoder wiring AUXILIARY ENCODER CONNECTION J6 10 11 12 13 14 15 2 3 4 5 6 7 8 +V A I ENCODER B 1 DIFFERENTIAL AUXILIARY 9 14 J6 6 7 8 ENCODER CONNECTION +V I I A A B B ENCODER 1 2 3 4 5 9 10 11 12 13 NOTES: 1.THIS CONNECTION IS FOR AN ENCODER WITH +5V SUPPLY. SYMBOLS: FOR AN ENCODER OF +15V SUPPLY, USE J6 PIN 7 IN[...]

83 DBP - Rev 6/93 6.5.9 Pulse/Direction signals wiring PULSE & DIRECTION INPUT CONNECTION J6 10 11 12 13 14 15 2 3 4 5 6 7 8 CONTROLLER DIRECTION 1 DIFFERENTIAL PULSE & DIRECTION 9 14 J6 6 7 8 INPUT CONNECTION - PULSE PULSE DIRECTION - DIRECTION CONTROLLER 1 2 3 4 5 9 10 11 12 13 NOTES: SYMBOLS: TO J6 PIN 8 OR TO THE METAL FRAME OF J6. 1.TH[...]

84 DBP - Rev 6/93 7. Start - Up Procedures 7.1 Common procedures for all amplifiers types 7.1.1 Commutation signals format Select the position of DIP switch 1 on the upper board of the power stage according to the commutation signal format the motor has. DS1 positions: ON (down): 30 ° OFF (up): 60 ° For all Resolver versions it should be 60 ° . [...]

85 DBP - Rev 6/93 7.1.4 Setting the auxiliary position input format This step is valid only for those applications that need to use the auxiliary position input. You may skip this step if you do not use it. When using an Optical encoder Set DS 7 to OFF When a the encoder has differential outputs: Set DS 4 and 5 to OFF Otherwise they should be ON. W[...]

86 DBP - Rev 6/93 7.2 Setting the main optical encoder format When a differential encoder is used: Set DS 2,3,6 to OFF Otherwise they should be ON. 7.3 Setting the R/D circuit Set DS 2,3,6 to ON The Resolver interface circuit consists of three basic blocks: R/D converter The R/D conversion is done by a variable resolution, monolithic converter type[...]

87 DBP - Rev 6/93 Oscillator Creates sinusoidal waveform signal to excite the primary of the Resolver. Oscillator Frequency/Amplitude Selection (R228,R233) The frequency (fr) and amplitude (Vr) needed to excite the Resolver are taken from the Resolver data sheet. Selecting the frequency: R228 = 110/fr (Kohm) 0.1KHz < fr (KHz) < 20KHz Selectin[...]

88 DBP - Rev 6/93 Signal input level (R193,R194) The R/D inputs (Vin rms ) are adjusted to the sin/cos. Resolver outputs by: Resolver output = Vin rms = Vr rms x Transformation ratio R193 = R194 = Vin rms - 2 - R stator (Kohm) (R stator in Kohm). When Vin rms <2V, install R193=R194=100 ohm. The standard R/D converter will not operate for Vin rms[...]

89 DBP - Rev 6/93 10 bit = 1040 rps 12 bit = 260 rps 14 bit = 65 rps 16 bit = 16.5rps Resolution DS13 DS14 10 ON ON 12 ON OFF 14 OFF ON 16 OFF OFF Note: - Each resolution change must be followed by new components selection procedure. - When changing resolution under dynamic conditions, a period of uncertainty will exist before position and velocity[...]

90 DBP - Rev 6/93 HF Filter (R195, R196, C61, C62) The function of the HF filter is to reduce the amount of noise present on the signal inputs to the 2S82, reaching the Phase Sensitive Detector and affecting the outputs. Values should be chosen so that 15Kohm < R195=R196 < 30Kohm 160x10 3 C61 = C62 = ------------ (pF) R195 x fr fr = Reference[...]

91 DBP - Rev 6/93 R201 = 5.92 x 10 7 / T x p (Kohm) where p = bit per rev = 1,024 for 10 bits resolution = 4,096 for 12 bits = 16,384 for 14 bits = 65,536 for 16 bits Closed Loop Bandwidth Selection (C67, C68, R200) a. Choose the Closed Loop 3dB Bandwidth (f bw ) required ensuring that f ref > 10 x f bw Recommended bandwidth values: 250Hz for 3K[...]

92 DBP - Rev 6/93 d. R200 is given by 127 x 10 7 R200 = ------------- (Kohm) f bw x C68 f bw in Hz, C68 in pF R200 value should be at least three times R197. Gain Scaling Resistor (R197) R197 should be installed according the following table: 536Kohm for 10 bits resolution 130Kohm for 12 bits 33Kohm for 14 bits 8.2Kohm for 16 bits[...]

93 DBP - Rev 6/93 8. Applying power - Adjustments Important remarks: A. If all the previous steps were accomplished you may now disconnect the motor leads, turn the power on and continue with the following adjustments. Step 1 - Applying Power Apply power and check for LED Vs of the DCB that should be "ON", indicating that the system suppl[...]

94 DBP - Rev 6/93 Step 2 - Establishing the communication Press CR (carriage return) in the host several times until the DCB sends the message "Communication OK". If you want to "lock" the baud rate in the DCB: - Turn off the power and remove the amplifier from the rack if it is a rack version. - Set DS1-OFF. Now the baud rate y[...]

95 DBP - Rev 6/93 Current limit adjustments - Define the continuous current limit by the instruction: CLn.m (n.m - current in A) - Define the peak current limit by the instruction: PLn.m (n.m - current in A) - Define the maximum peak current duration by the instruction: PDn.m (n.m - seconds) Step 5 - Latch mode of the protective functions All the p[...]

96 DBP - Rev 6/93 9. Tables and Summaries 9.1 Display diagnostics Each amplifier's fault is stored immediately in the DCB RAM. In addition to that, a Failure Message is displayed. Following are all the valid Display Messages: Event Display Display after Recurring DIP switch 1 - ON BAUD OK Load is under cont. current limit CLIM C-OK Battery Low[...]

97 DBP - Rev 6/93 9.2 Summary of DIP switches Power stage board (2 poles DIP switch) DIP switch OFF (UP) ON (DOWN) DS1 60 ° commutation signals format 30 ° commutation signals format DS2 No CFM Activate CFM Control stage board (9 poles DIP switch) DIP switch ON OFF DS1 Auto-selection of Baud rate Latch last value DS2 Non-differential channel A Di[...]

98 DBP - Rev 6/93 Appendix A - Current loop response In most applications it is not necessary to adjust the current loop to achieve the optimum response. When there are extreme electrical parameters in the armature circuit (inductance and resistance) the standard components values of 0.01 µ F for C1 and 100Kohm for R4 may not yield with the optimu[...]

99 DBP - Rev 6/93 Reference input signal C1 too large / R4 too small Critically da mped C1 too small / R4 too large Fig. A-1 Typical current response waveforms[...]

100 DBP - Rev 6/93 Appendix B - Adding a velocity feedback THIS PAGE IS BLANK[...]

101 DBP - Rev 6/93 Appendix C - Differential amplifier connection The differential amplifier is provided for your optional use. It can be used for buffering, inverting or elimination of common mode signals. The differential amplifier inputs are available at terminals H/R-9b,E-J3/1, H/R-10b,E-J3/2. Terminal H/R-10b,E-J3/2 is the inverting input, ter[...]

102 DBP - Rev 6/93 DIMENSIONAL DRA W INGS IN THE FOLLOWING DRAWINGS ALL THE DIMENSIONS ARE IN MILLIMETERS. PANEL (H), DBP1 ................................ ................... 104 PANEL (H), DBP2 ................................ ................... 107 PANEL (H), DBP3 ................................ ................... 110 PANEL (H), DBP4 ........[...]

103 DBP - Rev 6/93 PANEL (H), DBP1 187 169 9 12.5 110 85 DBP1 - TOP VIE W BATTERY[...]

104 DBP - Rev 6/93 18.6 52.5 9.6 4.0 187 DBP1 - SIDE VIEW 1 1 2 ON OFF 66[...]

105 DBP - Rev 6/93 111.76 32 66 32.3 9 8 1.6 4 5 DBP1 - SIDE VIEW 2 6 7 8 9 10 11 3 4 5 1 2 12 13 14 15 16 b a 1[...]

106 DBP - Rev 6/93 PANEL (H), DBP2 200 182 5 10 16 9 17 109 70 DBP2 - TOP VIE W BATTERY[...]

107 DBP - Rev 6/93 ON OFF 1 2 85.5 9.6 51.2 GROUNDING SCREW M4 200 DBP2 - SIDE VIEW 1 ON OFF 1 2 102[...]

108 DBP - Rev 6/93 111.76 1 2 3 4 5 6 7 8 9 10 11 32.3 1.6 9.64 42 M4 40 2 DBP2 - SIDE VIEW 2 102 12 13 14 15 16 1 32 b a[...]

109 DBP - Rev 6/93 PANEL (H), DBP3 200 182 205 245 25 DBP3 - TOP VIEW DETAIL A 10 10 DETAIL A. 5 SEE BATTERY JL[...]

110 DBP - Rev 6/93 9.64 1 2 14.64 14.64 56.64 GROUNDING 200 SCREW M4 102 DBP3 - SIDE VIEW 1 ON OFF 2 1[...]

111 DBP - Rev 6/93 245.11 MA 1 MC 3 + - HA HB HC FAN 111.76 AC AC AC NC P.C NC SO NC +VS 32.3 1.6 40 2 14.6 M4 MB 2 105 DBP3 - SIDE VIEW 2 b a 1 32[...]

112 DBP - Rev 6/93 PANEL (H), DBP4 187 173.5 215 15 245 4 DBP4 - TOP VIEW BATTERY[...]

113 DBP - Rev 6/93 1 2 14.64 9.64 23.64 4.0 187 72.54 14.64 DBP4 - SIDE VIEW 1 SIDE VIEW 1 2 ON OFF[...]

114 DBP - Rev 6/93 245.11 MA 1 MC 3 + - HA HB HC FAN 111.76 AC AC AC NC P.C NC SO NC +VS 32.3 1.6 14.64 MB 2 72.54 9 DBP4 - SIDE VIEW 2 b a 1 32[...]

115 DBP - Rev 6/93 PANEL (H), DBP6 DBP6 - TOP VIEW SEE DETAIL A 294 205 POWER CONN. 74 182 AIR FLOW FAN 200 10 10 DETAIL A. 5 BATTERY[...]

116 DBP - Rev 6/93 FRONT VIE W 182 200 130 DBP6 - SIDE VIEW 1[...]

117 DBP - Rev 6/93 DBP6 - SIDE VIEW 2 294 130 75 b a 1 32[...]

118 DBP - Rev 6/93 RACK 3U/13T DBP RACK MOUNTING (3U/ 13T) ON OFF 1 2 51.54 17.64 2.4 9.64 162.54 KEYING PIN ON OFF 1 2 65.84 SIDE VIEW 1[...]

119 DBP - Rev 6/93 DBP RACK MOUNTING (3U/ 13T) 111.76 32.3 65.84 9.64 1.6 8 2 C A 32 KEYING PIN 5.5 3 b a 1 32 SIDE VIEW 2[...]

120 DBP - Rev 6/93 POWER E L M O FRON T PANEL FOR DBP 3U/13 T 9 5 1 6[...]

121 DBP - Rev 6/93 RACK 3U/20T DBP RACK MOUNTING (3U/20T) 1 9.64 2.4 83.54 49.64 KEYING PIN 162.54 ON OFF 1 2 101.4 SIDE VIEW 1[...]

122 DBP - Rev 6/93 DBP RACK MOUNTING (3U/ 20T) 111.76 32.3 32 C A 2 9.64 1.6 KEYING PIN 3 5.5 b a 1 32 101.4 SIDE VIEW 2[...]

123 DBP - Rev 6/93 101.4 128.7 POWER E L M O FRONT PANEL FOR DBP 3U/ 20T 9 5 1 6[...]

124 DBP - Rev 6/93 RACK 6U/14T 189 ON OFF 1 2 9.64 14.64 1.6 14.64 32.3 22.64 56.54 162.5 180 8.5 DBP RACK MOUNTING (6U/14T) 70.92 SIDE VIEW 1[...]

125 DBP - Rev 6/93 32 2 C A 32 C A 2 32.3 1.6 14.6 71 111.76 262 8 DBP RACK MOUN T ING (6U/14 T) b a 1 32 SIDE VIEW 2[...]

126 DBP - Rev 6/93 70.92 262 FRONT PANEL FOR DBP 6U/14T POWER E L M O 9 5 1 6[...]

127 DBP - Rev 6/93 RACK 6U/21T DBP RACK MOUNTING (6U/21T) 9.64 14.64 ON 1 2 14.64 1.6 88.54 54.64 162.5 32.3 SIDE VIEW 1 180 2.4 8.5 OFF 106.5[...]

128 DBP - Rev 6/93 POWER E L M O FRONT PANEL FOR DBP 6U/21T 9 5 1 6[...]

129 DBP - Rev 6/93 ENCD - 3U/... SIDE VIEW FRONT VIEW ENCD - 3U/... 11 11 10 5 95 132.5 265.5 272.5 222 45.0 20 5 11 11 X POWER 7.5 NOTE: ALL DIMENSIONS ARE IN mm. X 102.7 12T 20T 16T 62.0 82.3 24T 36T 123.0 184.0 Standard Sizes For non-standard sizes: X = 5.08 x n + 1mm POWER E L M O 9 5 1 6[...]

130 DBP - Rev 6/93 ENCD - 6U/... SIDE VIEW 11 11 FRONT VIEW 5 POWER 7.5 11 20 X 11 20 7.5 NOTES: 1. ALL DIMENSIONS ARE IN mm. 2. X = n x 5.08+1, n = number of T ENCD - 6U/... 222 400 234 406.5 POWER E L M O 9 5 1 6[...]

131 DBP - Rev 6/93 EXTERNAL SHUNT RESISTOR TOP VIEW 11.9 15.9 SIDE VIEW .508 31.75 FRONT VIEW 9.5 4.4 15.9 38 54 22.2 293.7 EXTERNAL SHUNT RESISTOR (ESR) 14.3 7.14 67 316[...]

132 DBP - Rev 6/93 List of ELMO Service Centers ISRAEL Elmo Motion Control LTD 34 Segula ST. Petah-Tikva 49103 Tel: (03)934-5059 Fax: (03)934-5126 U.S.A Elmo Motion Control INC. 1200 Woodruff Road, Suite C-22, Greenville, SC 29607 Tel: (803) 288-9316 Fax: (803) 288-9318 EUROPE Elmo Motion Control Stanserstr. 7 CH-6362 Stansstad, Switzerland Tel: (0[...]

134 DBP - Rev 6/93 FINLAND OY Scandrive Elsankuja 2 K SF-02231 Espoo Tel: 358-0-8035044 Fax: 358-0-8035055 FRANCE A 2 V SA 11-12 Rue Eugene HENAFF, 78190 Trappes, Tel: (1) 30620101 Fax: (1) 30626204 GERMANY IME GmbH Brugger str. 8 D-78628 Rottweil Tel: 0741/22091 Fax: 0741/22060 ITALY Servotecnica SRL Viale Lombardia 20 20095 Cusano Milanino (MI) T[...]