Axor Axor: MASTERSPEED Service Manual MASTERSPEED Service Manual
Axor Axor: MASTERSPEED Service Manual MASTERSPEED Service Manual
Axor Axor: MASTERSPEED Service Manual MASTERSPEED Service Manual
CAUTION!
ELECTRICAL AND CONTROL EQUIPMENT CAN BE
DANGEROUS IF HANDLED IMPROPERLY. 1
This manual show mechanical and electrical characteristics about
Masterspeed 60-140- 200 series.
It is important,that the installation procedure should be perfomed
only by qualified personnel according with local safety rules. W ho
installs the equipment must follow the technical informations
contained in this manual.
2
For other informations please contact AXOR technical dept.
ATTENTION
ELECTRICAL DISCARGE DANGER
Options Index
Encoder feedback board
Pc board (3.015.1)
This allows motor speed regulation, using an incremental bidirectional encoder.
With this solution we save tacho price using the same signal of positioning control. General description Pag.
Performance quality at low speed is as better as bigger is encoder resolution 500
cycles/rev. encoder minimum is suggested.
It is possible to multiply by 2 or 4 increasing quality performance. Using as example
1000cycles/rev encoder and choosing x 4 solution we have a final resolution of 4000
Introduction.............................................................................................. 4
Tecnnical specifications.......................................................................... 5 1
Inputs and outputs.................................................................................... 6-7
cycles/rev. Trimmer adjustments .............................................................................. 8
Max input frequency=100 KHZ
Installations
Ventilation............................................................................................... 9
Overall dimensions.................................................................................. 10
Power supply dimensionality...................................................................
Wirings....................................................................................................
11-12
13 2
Starting and adjustments
External series choke Preliminary controls................................................................................. 18
Starting procedure................................................................................... 19
These amplifiers need inductor connected in series to the motor only if the motor has Personalizations...................................................................................... 20-22
a internal inductance lower then 0,7-0,8 mH. Calibrations............................................................................................. 23
So we improve form factor and the servomotor don't over heating.
Signalling and fault research
Led's diagnostic...................................................................................... 30
3
Fault protections...................................................................................... 31
NOTE: In the electric box, the inductance, must be connected with short wires
Fault research ......................................................................................... 32-33
between amplifier and inductance too.
Options.............................................................................................................. 34
Introduction
8) During the deceleration phase OK green led switch off.
The masterspeed "MTS 60","MTS 140","MTS 200" series are four quadrant Foreseen external dump resistor - Reduce max Vel
driver that brings on board power supply,braking circuit,heatsink and the ventilator more power ful - Increase ACC/DEC ramp
when request. - Mount a bigger resistance.
It needs only an unique one or three phasis alternate feeding ,while all further - Reduce duty dumping cycle.
voltage are obtained from internal flyback.
Dc bus + AT - AT connections are provided to which we can add an external
capacitor for monophase feeding. .
9) During the working phase S.T. red led lighted and servomotor stop.
1
Happened max temperature - Room temperature is greater then
The output power stage (mosfet or IGBT)is controlled using the PWM technique
thermoswitch 45°C.
(20 Khz).These amplifiers are designed for driving servomotors between - The amplifier is positioning not
0,2-8 Nm, where dinamyc performance and fast response are requested. correctly, and can't have air
The speed control is made by tachogenerator,armature or encoder feedback .
Faults are showed in front of the panel.
If an amplifier module is replaced,it is important to verify that the new amplifier 10) When the motor is stopped, with enable, the motor swing.
module is calibrated as the one removed.
This is easily accomplished by simply installing the header from the removed Reversed tacho signal with over - Proceed with start up using 2
amplifier module into the new one. taken error corrector signal reference signal from CNC on
We can adapt dinamyc constant,respect standard,by new personality header.For coming from CNC. manual mode (space loop
to use various options avalaible on amplifier,we must open or close the solder excluded). Reverse the tacho
signal and verify dinamically the
bridges in "adjustment zone".
good working functioning of
For take out this PC board please remove the driver plastic cover,push the PC machine. Only at the end of these
board bicking device and take out the PC board internal. tests ,correction signal coming
from CNC will be activated.
3
6) When we enable the servomotor is stop and m.d. red light is lighted
Minimum tacho signal at max speed
0 / 5000
(Reference a 10V)
4
Motor isn't connect - Verify the presence of connections output voltage for external use +10V, -10V (5mA max)
Operating Temperature 0 / 40 C
7) When we enable servomotor turn at high speed and m.d. red led doesn't light Humidity 80% max
Potentiometer speed calibration
isn't correct.
- Verify the capacitor values Altitude 0 / 1000 m s.l.d.m. 5
Weight
2 Current reference: (torque input) Limit of the current Is activated when the IxT cycle of the amplifier
We apply +/- 10 V signal ,it correspond at peak current. is exceeded.
In this case speed loop is disabled automatically.
We can also disabled with solder bridge JP 7 located in the IRREVERSIBLE FAULT 4
"adjustment zone" . (see page 22).
Temperature (S.T.) The power switching bridge is provided with a
Use instruments with impedance greater than 100 k. termoswitch wich opens when the tempera-
ture exceeds a safe operating level.
(OUTPUT) Output voltage for external use -10Volt max curr.5mA. Is activated when there is a short circuit on the
Short Circuit
motor.
(OUTPUT) Output voltage for external use +10Volt max curr.5mA.
5 - 10 V
Broken tacho Is activated when tachogenerator is open, short
5
6 + 10V generator circuited, or reversal, for preventing motor
runaway.
Caution: Between a switch off and switch on need wait for minimum 10 sec. L3 (INPUT) Phase 3 from transformer.
5
RKV
4
CKV
ACC
The solder bridges allow insert the acc/dec function.(JP1-JP2-JP8 )
With anticlockwise turn(ccw)we increasing acc/dec function between 0.1/1 GAIN It defines the velocity loop static gain.
sec.(correspond 10 v reference)
We can insert new value by solder bridge JP5
We can increase or reduce max time of acc/dec opening JP1 solder bridge and
(open).( disabilitation of standard costant).
inserting a resistance in the personality header.(see pag. 27)
5
GAIN
N.B. Usually,the amplifier,is provided with the ACC/DEC function disabled.
5 10
1
Value/RIP(Kohm) * 220 150 100 82 68 56 47 39 33 27 18
04/08 8 7.3 7.1 6.7 6.4 6.2 5.9 5.6 5.3 5 4.6 4
08/16 16 14.5 14 13.2 12.7 12.2 11.6 11 10.5 9.8 9.2 8
10/20 20 18 17.4 16.3 15.5 15 14.4 13.7 13 12.1 11.4 10
14/28 28 26 25 23.5 22.6 21.8 20.8 19.8 18.7 17.5 16.5 14
20/40 40 37.8 36 34.1 33 31.7 30 28.9 27.1 25.8 23.8 20
25/50 50 46.9 44 41.7 40.3 38.5 36.9 34.9 33 31 28.9 25
2
* = Above are reported the value of resistances for obtain a correct current, you mustn't
mount resistance lower than 18Kn.
Value/ * 18 10 8.2 5.6 4.7 3.9 3.3 2.7 2.2 1.8 1.5 1.2 1 0.82
RIN(Kohm) POWER: We can supply it by a three phasis transformer. If the amplifiers are differents we
04/08 4 3.7 3.5 3.4 3.2 3.1 3 2.8 2.7 2.5 2.3 2.2 2 1.9 1.7 can use a transformer with differents secondaries wiring. The secondaries of transformer
must be connected triangle mode, while the primary may be connected triangle or star
08/16
10/20
8
10
7.5
9.3
7.2
9
6.8
8.5
6.5
8
6.2
7.7
6
7.4
5.7
7.1
5.4
6.7
5
6.2
4.6
5.8
4.4
5.4
4
5
3.7
4.6
3.3
4.2
mode. The power of the transformer can be calculated with the following formula. 4
14/28 14 13 12.3 12 11.2 11 10.5 10 9.2 8.8 8.1 7.5 7 6.5 6
20/40 20 18.8 18 17.4 16.2 15.8 15 14.5 13.5 12.7 11.9 11 10.2 9.4 8.6 Power transformer: P(VA)=( P1+P2+.....Pn ) x 1,25
25/50 25 22 21 20.5 19 18.5 17 16 15 14 13 12 11 10 9.5
Where ( P1+P2+.....Pn ) is the sum of the rated power (motors) supply the transformer. In multiaxis
application the power of the transformer could be declassed due to medium duty cycle.
* = Neither value mounted.
For all model are avalaible, upon request, transformers for supply the Masterspeed amplifiers. Example: motor with Ke=50 n=4000 RPM Vref=10
Single phase power supply E = 4000 x 50 = 200 MS 200 RA(kohm) = 158 x 10 = 10.5 Kohm
1000 200 - 5 x10
6 9
RCA (k ohm) = 0,45 x n Ke
Vref Ipk Ri 3
WHERE
n= max speed expressed rpm
Ri=total motor resistance (cold)
Ipk =peak current size of amplifier
Ke=CEMF motor at 1000 Rpm
Vref=Max voltage reference
Insert three fuses (one for each phase), slow type. The values are reported below:
Example: Amplifier 10/20 A , Ri=2.5 ohm
4
RCA (kohm) = 0,45 x 4000x50 =180 Kohm
MTS....... 4 / 8 ..................... 10 A 10x20x2.5
MTS....... 8 / 16 ..................... 10 A
MTS....... 10 / 20 ..................... 10 A Use 180 Kohm resistance or a hit bigger.
MTS....... 14 / 28 ..................... 16 A
MTS....... 20 / 40 ..................... 20 A If after this operation motor being instable, a bigger commercial resistor value must
MTS....... 25 / 50 ..................... 20 A be choosen, changing the previous one.
If, there are many amplifiers connect on the same transformer, we must put three fuses for
5
each amplifier.
2 13
Formulas for calculate RA resistance for each model
(Masterspeed series). 3
MTS 60 RA(k ohm) = 166 x Vref
E - 1,4 Vref
The amplifiers are provided with RDT resistance mounted on board. (Speed Adjust for
3000rpm with KDT=10V/1000g 10V reference).
If you wish change this resistor use the formula explain below.
3
Kdt =10V
n=3000 rpm
Vref=10
Drawing shown on upper side is an example for speed reference input connection RDT = 10 x 3000 x 9,7 _ 8 = 21,1 Kohm
from a PLC system. 1000 x 10
Speed potentiometer must have a value between 5k and 47lohm.
Speed reference input and tacho screen must be connected to driver O S.
4
With only a wire O S must be connected to ground bar of electrical box (see also ground We will use RDT= 22 Kohm.
connection page 16). If the result from formula is zero make a bridge.
If the result from formula is negative you must change the tachogenerator with another
with an higher kdt.
Adjustment vel potentiometer in clockwise sense, the speed increase.
Adjustment vel potentiometer in anticlockwise sense, the speed decrease.
Adjustment range +/-20%.
1
Standard bridges JP1 close
JP2 open
JP3 close
JP4 close
JP5 close
JP6 open
JP7 close
JP8
JP9
open
open
2
JP10 close
Below is explained the function, inserting by opening or closing the solder bridges.
In the next paragraph "Adjustment " are explained the combination of solder
JP1 ,JP2, JP8 They allow obtain different ACC/DEC times.
JP3 Normally closed.If it is open loop standard costants CKI-RKI are The M+and M- output can be connected directly on motor's terminal.
3
disabled.
These amplifiers need inductor connected in series to the servomotor only if it has an
JP4 Normally closed. If it is open current loop standard costants internal inductance lower than 0,7-0,8mH.
CKV-RKV are disabled Axor reccomend to use external choke when using old motor.
So we improve form factor and the servomotor don't over heating.
JP5 Normally closed. If it is open velocity loop static gain is disabled.
NOTE: In the electric box, the inductance, must be connected with short wires
between amplifier and inductance too.
JP6 Normally open. If it is close the armature feedback is enabled.
4
JP7 Normally closed. We open it when we wish to drive the amplifier
with external current reference. (velocity loop disabled)
1
:Don't make any bridge between the ground of the
amplifiers, for avoid closed loop ground interferences
2
ADJUSTEMENT
zone
3
RDT CKI
RA RKI 1 2 3 4 5 6 7 8 9 10 Solder side
RAMP CDER JP
IN
IP
RCA RKV
Libero CKV
ADJUSTEMENT
4
Drawing shown on upper side in an example for driving the amplifier in torque mode. 4
Speed potentiometer must have a value between 5k and 47kohm.
Speed reference input and tacho screen must be connected to drive O S.
With only a wire O S must be connected to ground bar of electrical box (see also ground
Figure B connection page 16).
Figure A