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}1~·~i»)'!u)1~I1 LIMITED 21 BALENA CLOS E, eRE E KM 00 R, POOL E, DORSET BH 1 7 7 DX. Tel: flrQads~one ,:O:~21 6909 - 1. TE? e~- 41 72. 17
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1073_ 102.02 5/82
1073 Stepper Motor Drive
, NST R UCT I ON MAN UAL
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DIGIPLAN 1073 STEPPER MOTOR DRIVE I NSTR UCTION MAN UA L
PREFACE
The 1073 D igic:r iV8 is ~ h i~h ·Ouwe·, hi~h-perfo'm3nce :Jri'.c prod".Jced i n thre~ ~er5ions Tor d rivi..,g st~ppp.r motors u;) to 2000 ·I'varts ~haft ~ow~r. Th~ ~ariuus options avail able cater ~or 3 ..... ,i;::le r8ng8 of a;)pl iC<lti(r,~ and comro I 5yst~m~.
This manual 'Jives cescri';)tions of c~c va~io:J' systp.I'"1 CorTlpo nent~ toget"er with i nform8tior', on i nSla:lation. setti ng ..Jp ana faul~ IOC8ticll1. An -ntrod'~c~ion to stcpoe r ['wtprs is in~Il;t;~:d rU" tho~e who rlay net b~ hn~iliar with th€ir {; h a r actc:i s t i C~.
For further ~dvi[;~ 0("1 the ·~>e of :no ar, ..... ~, ~nd .;;ss:stanc~ witl) ory 5tepping motor application, ple8S~ Con,ilct Digiplan limited.
CONTENTS 1. Lis, of Figures and Tabl-!;!$ 2, I nt rod u t:tion to Ste pper Motors
2,1 Bilsic Pri nciples 2,2 Terminolonv 2,3 P9 rf u r m <lr-,ce Cna r ac te r i st i c s 2.4 Drive Sys,ems
3- DsS(ription of the 1073 Syst8m 3_1 Specifications 3.2 General DesG"iption 3,3 Translator aild Dri~(! Card 3.4 208 ML;ltist~p Translator Op,ion 3,6 Power Supply 3,6 Oscillator Optiuns
4. In~1allation 4.1 Physical Lnc8tion and 'v1ou "It;ng 4,2 AC Supply Transformer 4,3 Suppl y Connec,io·"ls 4.4 Motor CU[lrlectiuns 4_5 Control Signal Con:)ect ions 4.6 PHI imin~r"y Ch8Cks 4.7 Setcir.g Up
4.7_1 Setti ng up ;:he 5t<lndard 204 Transl ator 4,7.2 Setti ng up "!he 203 Mu Itistep TransLato~
5_ Fault Location 6, Motor Connection Data
Page
1 2 3 S
10 10 12 lEi 18 18
:21 23 24 24 25 26
23 31 31 36
1. Ust of Figur8S and T~bl-es Fig. NQ. Title
1 SiTiDle 4 5t~pirc'J. I'""!ot·:)-2 T Drq~ 8.:e isplae(·'mnt ci),;r8ct8r inic 3 Si ~,g:e st~o rc,p:lm9 4 St~·t/~top and s ~~'! c..Jrv·~~ 5 S:<lt·c torque:'jeflec;:ion cur'.'~ 6 Si Tip e s:eppi ~,~ motor erivc 7 Basic :Jioolar dr·v~ 8 B :polo r bricge g. B: p::Jla~, GtlOfJfJer-,c",bil isd b"iece
i 0 1 073 dri~8 sys t~rn -11 rI/ air' jri'.'~ C(J''''lP0')~n·_~ 12 Translator J f'ld v:' ..... ca:d schsm~~ic '~3 rmi,~[; "v~'.'~for"!ls
14 Cu rrel~: flo.'! d:Jri r'!':l r8~E;;n;,!r8 t ':Jrl
1:) Step-di~':d8 c·rc'~itry
16 \11 LJ It i s l~ P lro roS' ato r ' .... '" vef 0 r ms 17 Powf!r suppiv C rC~ i l 18 .... "othor I.:;o~rd ;C"lC'nJt:c 19 Heat e;>~ :pa:ic ... figure, to!" ~nciosur p.~ 20 Loco.ti~r· of moun: ng Doirt, 7 f I ')tP.r i.,C€- ci rGui:~ 22 :"'i I)k~ ond :·~si~lt;· s Ur] 204 lramldwr ~wd 23 Li nk> amJ rc·si ~t(;r s on 708 ~ r ansI8lur u"d
T.'3ble No, Titie
1 Puw8r reG'~i'err,ent aile ~ ~,c rrir'c~ 2 Connec l·om br :l3S;: d' ~'8 ~ ~I'j tl:'3nslo~:lr J R ~s-swr V81ub for re~lIl~,e::J eu r'ent 1204 :r~ ')S: ):orl 4 R%:Sl0r ,;~ IIJ~$ fc· r regu loted C'~ 'rent 1.208 :r.;;~,s 3;:01:1 5 PO·"<'P.r supr y ·vu tog~~
Page
1 3 4 4 5 6 7 7 ~
10 11 13 15 16 17 17 18 2D 22 23 27 29 32
24 28 30 31 31
2. AN I NT RODUCTI ON TO STEPP E R MOTO RS
2._' B.'3sil: Prin~i plH A st~pper TI:)Wr m8v be describod a, a rot.:;ting I"'lach ine in wf"! ich tt-,~ rotor mo~es throll]h d isc'~c~ ,;,ngular step, in r~soons~ to ~'0lt~gs pu ~8'S ~pp i~d to the .TlGtor 'N~ndi ... ~~, Th~ sile of o<=,eh a ngu lar st~fJ :.l~per"'ds primaril~' on t~,e cor.structio'"1 of t'"1e mawr, therofor~ it is poss;bl;:: lu u~~ the Cf!vice ir. J po~it;or. con:rol syst~'Tl withOln: Ol ~i;'Ceb8ek loc ~ sinc~ ttl~ m)~srr.ent obtJ inod from .:l gi'.'e.~. el ~ct" -c.d input is wall Cl02fined_ Such (;. control S'r'st~I'l i"'~s h ig~, Jccuracy ~nd fast [~S)0nss wittlout ths- cOIr:pl~x i;:y a ~d s:c.ui ,isatio"l prol11 ~n'~ .;;ssociatec. with feedback cOr'!trol 5ySL~!'rlS. ,,~d tllO increrlert~1 .,atllre o~ th8 rnOl:ion is idea Py su it~d to CU '*01 by ~ nig ita I logic ~\i>te.TI. N~~ertheI8$S tIN~~ a~ c~~tJ· n I imi.a,ions wtlic~, "'lJ~t J~ ta kli' f'I i nco aceo L.J nt if the r u II pot a nt i 0 Dvf or rr,,;. nce 0 f .:l ~t e r: p~r r (l tc r S yst~ m is to be rca P.sed.
S:epper l~lotorS may ~8 d·,viJ~d irlto thre9 Iya in ·~rDUp~ - V~ riab:e reIUG~anCa, perina nent magn~t ~nd hyV· d. The rYDrid moto~ h~s em~r~ec ~s th~ [l",ost ~l.itabli? type fur th~ m.,jo ~,ty of Jp:)1 ieatio ~,~ si-,c~ it CrJ 11l~ :np.s t ~'" d.?s; r~blE f8atl..; res o~ the Olher t'.\'O types, 50 furt~,e' d i~c'..'~si·)n ·.~;I b ... cc~t n~d tG tf. i, ty~e G r rr·utO" ,
Th8 lheQry of oP¥~tion is 'nos;: 8~ ,il y underw::vu bv ~o ·"s;deri~~ th~ s' rr~IE 4'p'''a~c, ~ step/rev _ motor 5~o .... m d i~gr~ ":lrn<1ti,~II'r' if"' F Ig- 1_
1::1
(I ........ , , ~ I .......... _/ -:' r--' j
I ~. ;
... (: T .::;: = I::'. ,
o ~ 3
I ~ •
T n ~ [nu:o r co ns i s:~ (] f J pe' m ~ n 8 n t I.... 11 ~ J rl ~ t i ~ ~ 1.1 r;~ t-:) r ~ .. ')e ~ ....... (] r:: ~ r~ 0 f 5:", to r poles, .?.;;e" pair C3T/ n] t·1Y"O ':.'i ntii!"'ls ·~r 'rh~sp.~·. I n :~~ .:;.os~~ce cf dflV ~to:ur c.Jrrc~,t :he rotDr tri~s W <lSS'~ '-l~ 8 pusi,io'" ot 'no ni 11l1n1 -nll~netic r;::llIcte[lC~, ' .. ~ ... i~h means it attemy~s tu 81 i~''', ::.~~I" wi':'~ on·J Dr other 8f :··e ~~irs :J: slator :l:~I.-,s.
T'"1is gi~es ri~~ :u ~ \:;{"11t t:lrq.J~" ~'.''"1icL, preellC~S : ... ~ 'riO leh\,· f~p.1 O~ a fJ~-~n~·(sed rnutO[,
'~·.'Il(:r: ,;. CLlrre-,t i5 rr,ot:~ tc ilow ir' ·)n~ ot I,,~ j.::t- )~o; ~~ sf., 8wn in F i~.l·:.;.:', liN (':)~Or
will 31 ign it~elf , .... itI1 :,)~ field Dr{)du:od by the 5:lItor, f-' ~flC~ if CLJr r.~nt tl8WS i '": phose 1 A t;)~ rulOr nligm i~s.?~ ':.'ith r::O,8S 1 end 3 8S irlC ,ca~E:<d, ,r", IOr(;'~C ·M1;C·~ w[)cJlJ ""·)w C~ req.Ji ree tc j.::U II :he rotDr DUt u' .;. iL"):~lP.r't is ~'r..' ... in.;:n qreatEr lh~rl : ~~ (;,..ten~ tor~luo and :, c~ lee th~ 'hul ~ii ',g lorc.~;·.
S'~ ppcse no'.· .. th~t ClWE:<'·,t :s '''''O(:~ t8 fIO' .. ~ i~ .. Y13Se 2A i nst~~id C r Ilh~S8 1 A, ,,5 hdicat~::J in Fig, 11}L Tn2 rotor ~.<,; II 311~n in81f ,.· .. it:) :.",~ rl~"'; ~U~·::Jr ti ~IC ane will th~rd U·8 r:)~~te thrD.J~h 90 eeg"ees tc i ~,~ lJp ,_· .. ith p(J12~ 2 one <- a, 5hown. S~n"i I~- ~', s~ b,·:cucnt energis~:iol"' .:J; 1.lh~S~$ 1 5 a;),~ 2'::l , .. , ... iI r- 'ocll'~e ·lI·th~r rou:io~, of th~ rQ:o' ·n ~O-J~Jr",~ ncr .. ·n~""ts (the f,eles prcclicec ".J't 13 ,,·"0 2B
are in oppo~iw di rEi"Ctions from thDse- gE!CIo;!rated by 1 A and 2A). H~""ce l:y sequentially er\ergi£ing the four phases the rotor may be made to tu r"l cOI){inUClJsi 'of b·;.H Oil wa y sin disc re-t e, Oef i ne d s ~ep5, By r-eve rs i ng th e Se q u ellce in wh i c h t h Eo> ph as es are energisea tne rotor may be made to t· ... rn in the opposite di rection.
I f two pha~e~ are en~rgis~d sirnIJltaneousl y. the r~su Itant magnetic :i~ld ..... i II lil;; the ~ectorial sum of the i ndivi dLl~1 fiel ds, Thu~ by "'ilergising phase5 1 A and 2A to{j€ther the rotor becomes <llign~d as stlOwn in Fig. 1 (c) _ I t is SEo>er'l that th is new position LS displaced 45 degree~ from the pr~vio·,.Js Oldja~~nt positions, in Qther words a half step has b~n produced, By a Iterilatel)i enernising th~ pt'lases sirog; y and it"' pairs it is th-e refo re- po s.s i bl ~ to pr od u ce e ;ght h a I t- stem p ~ r re~'. ins t-ead of f ou r fl.-II step s, and iP1 fact there ,;;re ad~antages in '..o.sing {"Ie small er st~p sile, as wi II be 8XP; ained later.
Of Course a moto~ w;th SuCh a large basic st~o angle wou Id be oi I imiteJ practical ~alue, but it is a simpi8 matter to redl..<l::e the step size bv mak~ng a multi-toothea stator which has many pole face~ equally distrib.J'.E:!J "ruund the- rotor. During a compliO't8 elleq:Jl$ing seq..Jenl::e tt":e fi-eld fror'r' such a Stator app-ears to rot~te only through the angle between one st~tor tooch and l;~.e n~XL hence :("lC rotor st~tlS are correspondin~ly r8duced in size, It is important to r8al ise that "lOW the energisation af one particui ar pha~8 nu longer deterTli ncs u'liquely the position of the rotor; it will be stable i n a~ 1l'."iI'r a ngu lar oO$itions as th~~o a C8 te~th un tr.e stato~_ Ii ~utficient 1000d torque is applied ,0 the rotor to deflect it by more than h81f a stator tootl1 pitch, it will jum~ to ,hf! next stable poine and a pf!rmane...,t positional error 'I.'i II ";<!v~ h~e"" introduced_ Thi~ is an i I"lportcn: <lSpcct of steor~r motor beh<l~io'...,r frOf'l whic..., it i~ cle~r that th~ molor mlJSl al' .... ilYS be abl(! to devBlop sutficient torque to overcome tl1e fric:ionai .s.nd inerti8i 10.,ds :[Tl~osed upon it_
2.2. hr mi nology A, th is point it is <!.ppruj)riate to defi...,c som~ of th~ :~rm~ u~ed ir conr,p.ctiOr] with sterre ~ motors and thoi· op~t<Hior!. Some of :"~ t~r'ns ·'<l've b~en ..Jsed al re;;.ey and othor~ will be introdUl::ed ir, the n~)(t s~Gtio"l, The list h8s D%!n confined to ::hm~ t~rm$ whic~ a.~E3- n€ces,.s."y fo~ J hasic U-)(:€~5tar,dlng of q81.1p~r moWr systems.
Detent TON[Uf! - the Tlax imu fYl tor:..jU~ wh ich may be 8prli€'J w the s-;aft of Jr".
une)(cit~d p~rm~n~nt-magnet or hyb· id rnotur ...... ithout c~u~ ng COr](inuGLIs rotat;on. There i, no de{e')t ~Qrqlle with ~ ~'ariab' ~-r el',IC~8n[;e r"lotor. Holding Torque - the m~xi Tlum ,:orc::u~ '.·~')iCh 1T.i!'!, be applied >:0 tlw s:)~;t of ali ~n~rgi~ed moto r .... ,ithout caJsing conti n.JUus rot81ion, This :8rQ.JO i~ V8ry f"llicr great~r th8n the dotent "':or(:j;.1e, Step Angle - the angl~ th rnu8h whic~· th~ rotor mo ... ~s if"' respo"s~ to a ~ingl~ !)1E!1::trical step f~om :h~ dri~e_ I t depends par:ly on th~ rro:or construction and par:ly on ti1~ driv~ system b€!in~ us~d. It ·5 possibl~ :a ~LJbdi'/ d~ the ba~ic motOr step in ord8r to r)"oJ~lce sr:l&ilcr st€!P anJI~s, Resolution - 8nothe· way of expr~ssin8 tt'e S!e~ ~nQ 0, but gi ... ~n or] :e"ms of h~ n LJ mbe r 0 f s~e ps to r 0 i)~ C [J rnp I et e 'e ~ oi u t i(w, 0 f t h ~ rn oto, s·" aft_ Angular Velocity - the 'n~<;n rate of sh.8tt rotation when the m:~tOr is be'ng stepped conti nuously. It is eq:..J~1 to tho prod:.JC u f step angle Jr'd ~tp'ppi ng ·oie and 'n8y b~ e:.;pressed i,., r8~'oILJTior,~ per rr.inut~. Stepping Rat~ . the nUll'b~r of neps per second po~tor·ne~1 by tre motor. Loss of Synchmnism - the con:::lirion i ,) whici"' the niJrY' her of s:~ps p~rformed 8y the ·Tl ot or d i f fe r ~ f r um the :-) ~ rr. b 0 r of e I ~ t r i (a I s:e ~s c~! i ~ 8' 8 d by t ,) e d r i~' e, T~, i s may b~ Ca\.,seG 011 man", WOI'iS ~ut it IS ~sually tre re5ult nt the i ')slarlt~n~ous s{epp i n 9 r 8 t ~ ~ 8 i n g to 0 hi gr Q. ~ n ~ xces s i'~ e I O~ c:; 0 n : .)~ rno to r. T h ~ err C r p r ·JthJC ~ d
~s always a multiple- of 4 ,teps on a 200 step/rev. motor, Start-Stop Range - the ra'1ge of 5t.eppi ng rat~~ with'n which the motor may be ~tarted or stopped insta ntar.eously wi:hout loss of svn(hronism with .3 given loa.d_ Slew Range - the rarlg~ of stepping rates ~bove the start/stop rang~ wh ich thl} motor wi II fO~IO"'" ..... ithout lOSS 01 sYl1chronism :)rovideC: that ramping is ..lsed, The motor cannot b{) started or stDpped instQ"Itaneou~1 y w;t'1in the 51ew rilnge, Ramping - the teo::: h n~q..l e 0 f p rog reS s i vel y i nC r~8 S i r.g Or d ecr e as i rig th e steoo i "0 rilte so that the motor acceterates or dece-ler8tes ~ ... ithout los; ng st-eps. Phase - 0"110" of the motor windings <lcros~ wh ich the dr;ve voltage is applied, The 1073 Drive was designed for 4-ph<lse motor5 wtl ich ha~~ fO.Jr wil1di 11gS arrall{led a~ two pairs, Vyhen used with <! b ipul ar (: r:.'B th~ two WLndi .,gs in each pai r ar!O! cOf1nected toget!)<:lr and triO'ated as ~ si"gle w: ndi ng. The 'l1oto~ tr-en h.s.~ effel::ti~ely only two windi 11gS ... ,h ich are r£:1Nred :0 as Phil~e 1 anc: Ph.s.~e 2,
2.3 Pe rformance Chara ~fi st i cs
1. Single-step response In oreer to understanc the be'1~vi(}u' ch~r .. cte"istic~ of ~ nepPf!r motor I:: ,~ n~c£!s
sa ry to a p p rec i ate th e n o;tu re 0; t h ~ w r q U ~ d e~ e I oned by the co t or. 1"1 ~ r~ i ~ e I ~a r I y no torque produc~tl \ .... h~[l h~ ·otor i~ ~n its nahle po~·tio . ." i.e, JI iGned with :r,-e stOltor field, I f the roto' is t07ci l1ly c isplaced to tho n-ext ,tab,e poi n: there wi II again be no torquE'! ;)roduced in :-,is now pos,:icf1_ Ha!f-way between these t .... 'o st8ble poi ,)ts ~her~ is anotr,cr zero-torque po~~tion, ~I.H :r is is an u nstcule point sin~e a ~I ight d~fl~tiof'l Will cause the rotor to jump fGrward or bock to the nBarest st~bl~ poi ~L In betloveet", the stabl e .s.r,d u nst~bl e points the ~orm;~ rises and falls in an anproximately sinusoidal fashion "'s shown in Fig, 2, I n the case of the simple 4 s-:;:-e~/re~, motor of Fig, T the "Tl<l:>;:rru rTl lortlLJ~ wi I' be p·o(~uced when tt"le rotor is ais·pl.s.ced 9D" from the st~b'.~ pos-:ion, Le, (liN tui I stlO"p.
Comide~ now what happe~s wr.·3n the phase cu rrents ~r~ 5witch~d So <lS to ad~~11c~ the- rotor one step, a~ i('l goin~ from 1 ia) to 1 ~ b), Vh~n th~ CUr rent <S f!stal11 ished in the new ..... indinc. the rotor now fir.ds i~sel f 8t 01 positio·) of malo: irnum torque, i.t:. '.t is :::l isplal::ed gQ'; ~"om what 'Nil I be c··e new st~p posilion. It tI1er~fo,e ;)egim :0 acce'.erate toward~ 1ne new p05i tiot", Juri('·8 whict' ti l'1e tlw t(Jrqu8 ~~ lis unti I it b~omes I.ero .s.t th~ st~I)I~ point. By th~ ti--nB the rO~0r rCaC"l8S th~ ~table po int,
-"-...: ~ :.:
" S " z
w ...
~I "-.:
~ ~
:> 0 ~
'"'
FI~.~. to RQue: OI$PLA~E ~£ ~ T C H..r..R..r..~ TEftlSTIC
3
--
:SINGLE - S!~ P F;ESPO~·SE: F. 3- . .a.
hm'.'r· '.:.: ... i: 11~~ 8(llu ir ~d ·-~0-"'e -turn ~Ii virL ~ 0~ E i·',:· tiz. 8~'C .: th~·~hr~ D'~e 'shoet;, :au,i"S' ~ t ~·';~rS8 lurqu~ to ~)~ 8r,:>ju:crJ ·'N~ iel1 t~nrls t~ rdurr' .: to ~-.8 ,':~~8Ie position. T ~:~ is GI~8r IV 8;' us:;i .1<:~'Y'r' <.;onjit" on and in ~~CT t·-,~ .'2, llJr~ u" 1·l8 si -gl~ st~p re~pc'!"1SC is typ G~I ... ,,~ shc~·"r] ir; ;:- .g_ 3. F ri~ti0nal loa .. :li .'.'::1 n·', tl1~ ~h8 r l nc~~, ~s ~ d8rn;JI ng r:)r·:~, :~nc "n ncr~ase· i~· t!18 tri,~l· :)rl~1 I :)~:J Ce'_,ses :rc o~:i 1I~~:~·Jns to C:le <]',','Jy 'n~·· ~ c ... ic:~ lv,
2. ,'VrIl,'tIJ).I'f."!-Step Re~pUn5f1 Thl? h8h8'.'iu·,.' era 'Tl:)tOI" · ...... ·he~ r::c 'for'"'1 ng l'llJ lir·~ q~P i~ ..l5~31 "i ,j~scf,berJ bv f'"'e~~5 ot .;; roo ~lLJ~ ~;);,!E:d C,Jr':e, This cur'.'~ i ~,,:ie8t8~ i)(I',,.. tt·~ ;;'Ve ila~le tcrqu~ Va"18S '''~Itll tl1e '~.?:lri;~!:, r ~ l~; lh~ L·:H'.:;~·~ o~ :o·~: C·~CI"e8S~S ~s s:~Dpi ng '~te is i ~. cre3s~d. ~.; - tly G "e ~0 .:;. 'ceJuct (,n i·" irlPlJ l (,. "·~rt C~~ ,cc bV tl1r. ,,'.'ind ;n-J ir:~IJC· ,:a"'c,~ JIK pa tlV ~~ ~ r ~~'.' It d :1n i -C'e~s,~ in ~cJ(;"· .. CLJr r~'l:~ ~rlC h.."nercsi, c::s~c·s "vh :-::h red'~ce the· cf"ic ,~nG'''' ~t :., ~ ·rl:.ltCI". Th~re are two t,,,sic Ct. r'"~s w~· idl descrlbp. t·,,; p~ -fur'-'<I'~.~~ of tro r",j:0r ~ st~r tis:up ~UP:8 ':;'I"'C a , ~w ';::Ut·';~, i II ,_s~_r~tec I" Fig. '-+. TI1r. st8r~:~ :l)11 G,Jr':~ ~t'G''''iS :,-~ maximum to· qL;~ kl~d <1'J<lins: , ...... h c:~, ,11", [TotO" can ~:art .n ~YI~(I1·~/$·-! .; t ~ r~<;/ti':u lar ,tcpping ·8t8, ..,.: It' ~_ s:)ecifiec
-tOLD INC
TO~G.U£
t 10 ;;;OU £"
START i 510" 0::.)1=:'.(
S TA RSTOP FiANG£
.,.·<;LE'IY R.6.NGE
SL EW CUP. .... E
'S T £ PS PER 5 ECCND ...
4
i '"1e'ti<;, 10"C·; : ~.,~ ~r~~ .~ nder this CU"'.'~ is co. I~d tl18 start/s:op "anJ~. Th~ sl~w· Cll'"Ve dw'.'.'s U-,8 ·na/ r'lU 11 torc ~ ~ eva ilOlbl~ whE:;'-' th0 ""1ctor is ~ "8du.:;.lv run ,Jrl m sp~~~J, 8n(: tlK ar'J", tet':.'8en : -~ lw~ c_r..,.<s is c811Cd :~,~ ~18'''oJ r311',ge 0- sl~w rcg an. ThO .-nntor MU~, al':"ay~ b~ q~rt~(:I ·,'"itll in th~ 5t~rt:\tq~ r~[lUe .,nd t:18n b~ gr~dually .;;ccelor.:;.ted i n'_o th~ sl.,.w r ~n~~, ~s it :<lnnct D~ ~l8r·_~(: ; nst';;r'tan~oudy "":;:'"1ir. th~ sle\l': r3n]e, Si r1 ;16.·I"{ .;; rrlO:L)r oo~raf n~ in th~ $ ~·1Y" r"ng.;! 11U5t be ::Jec~l~r8t~d into t~,8 st~rt.\t:)p r aI1~p. ocfmo it is b'uUrcf'T_ l~l r~st, 0tr ~r~'"ise it wi.1 e,v<:rsh00t Jr"'
; t'j ~::l i '"19, T h;- s ~,,-. t .:s t op ~ '1d 5, e.v eLI· '.' ~ ~ ~ r ~ SO r';'.c i ITI~S 'e f 8 r ree: t c il5 U1 e :l LJ! 1- i r" anc Pel: I-UlJ: tcr<.ju8 c~ c'.es rc~p~Gtiv~ .'oj,
I·. Shl~uk; Q'J ~,u:ed tj-!ilt 1""~ perto· m~nc·~ of G motor is l~rJalv dep~nd~[l t Of) :he Jri'"'' ~','~tr.rT u~ed end on 8r·v 8xt8rn~1 IDed, ;:'"1erebr~ 8 L~r(:' .• .<·~p~~d cu Pie is r.e~[1-i~'g p'ss un! ~~~ tr. is :n:ur-l~ Lion is ,ncl'~c ~j.
3. Resoflim,~e R~ferri,~(" L8~k to 1= ,q. 3, it .5 S~~ - tl1~l ~~.a '0tc:·r o;ci·l~tes <;bcu l L:"~ f" n~1 5:~:l PQ~::io·· Ld cr~ G0r" .ng to re~t. Al ·~~rl8 n ~t':·;Jj.:: il~~ freq~en<.;i~~ :'~~~'" osci I" 3:iol1S Ciir s~ ·i(l .... sIV Jttc·ct the D~h.;'." :hH ;~t r~.;. r"j1(:,tor ·-:)"I! or8d J> ng r"'~C-·',8 ~c~· eff8cts or ~~'erl ·~~~;in~ t'"18 11~tcr ._.~, ~ l~1 . TI-,~ on1p! iLljE. fre'~ ,.~rK'! 6 ·)d C~c2.V r3t·3 of the cscill~ tion; dOP8nc '.~·V 'lUC f' on I ~J)j ~nd d!";vt C0rdi t ·:)ns. An ,nor,ial IDiic;, :~r r i~s ·,~,itll :: the risl<.. of . n(:r,:·~~~,~ re,OI13n:~ :ruu ~)Ie . ., f· :c:t iC::r'o I,)~c. acts o~ a (;~mpi no;) -orct ~nc. (w·us ~0 . r.cucc· tre p'oL ~r.', A $:~:HJ ·,;is.on drive ~VS,8"1,
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together with active current regu latio'l a5 used Ln the 1 073 Dri~e both resu It in a ~ignif;cant redLlction in motor resonanCe pf).enor1ena.
4, Static Accuracy Wi th an un loaded motor th8 anguLar accuracy of ~ny particu lar s"!ep depends ~ai nly on the qua lity of r.or>$tr'.lction and is typic~lly ~ 3 mi nl,;tes of arc fDr a 200 step/rev, moto r. It is imp 0 rt a 11{ to r e ~ lise th at t h i ~ ~ r ro r is n::J n -CU m u I a t i ve, in other words the e~rOr after ro"!ation thrO'.lgl) any n~rr. oer of ~tI?PS will still be t 3 rni nW,eS, i n practic~ it is di fficult to achi~v8 this a,c,Jracy in 5ys;:ems which have any frictional I Dad, a!ld th is is particularl y ,rue i"J a sub·step mode_ '.'I,'hi:n a torque load ~~ applied to the motor th~ ~haft wiJi deflect ~rom its no· load position LJ I)t il sufficient torque is generated 1:0 equa~ thl? lo~d. Fig, 5 show~ a "!ypicar to~que/ d~flaction Wrve for a 200 step/r~v. motor, Tile holding tortlue depend~ on tl18 motor CI.,J rrem a: standstill, and Digiplan high perfor11ance D rives are desiQn~d to 0.; I ow a dj ~stm e nt 0 f t ~,e sta n dby cu r re 11t ace ord i ng to th e a p p I ;cilt ion. 1 n 'Tl a ~ t CaSes a stancby Cl,J rr~r'lt of 30-40~'; of tui I rnotor eu rrent is suttic~ent and ch is e."'Sures that the motor a ,)d t:: r;ve remain cool duri ng standby ;JerioGs_
2.4 0 rive S yS"te ms I n the simples;: tyne of 5teppi ng motor dri~'~, four trilnsistor switches are used to en~rgi5e the motor P;VlS~S ~S shown i [) F i~_ 5, I n a fu; I-step arrangement H'.e pha5e~ M8 o.lsually e ner'9is~d in rai rS in the sec:ucnc~ A 1 +B 1, B 1 +A2, A2~B2. B2~'A 1. I r'I i:l
hal f-steD drive th~ phases 8r~ energi5ed altcrna,el I; singly "'Old in pai rs as ~xplai ned in Section 2.1_ In this c~se it is nece5~ary to redu'9 th~ CU~ren: when two ph.,s~s are <:nergised si mu I~ancously so th~t the torqu~ prO(lJC8J ()r, a ;ternate ,eCpS is tl)8 S8me, 0"!;.>--,erwi5e the ,teps will b~ 81 !ernately strong JnrJ weak.
.~ +
Sl~ p~ E ST e: PI' I t-JG -M 0 TOR IJ Fil ~ E I" I G i.
It is to!'" nd th8t c".e low-~pp.e-d rllOtor <:"f,cief'cy in t~rms of to"Gue per watt is us'~ al! y some 20% -,igher ' .. , .. ..,~n two rh~ses are enc rgi~l?rl in5t~~d o~ one, and 8 ~·_rther im:)row·n~r,t r."lay be ach iO'.'8CJ i.ly ~rl~rgi~i ng all fou r v<,i ",di ')gs S im\.; Itaneou~ly_ However, ~vicl1 er--~ simple drive ~yn8rr., AnergiSing coils Aland A2 logether wi..1 produce magnctic fields · .... ·h ich tend to cancp.1 88Gh other out. Henc8 it is n~cess<lry to A rTI ploy ~ d if fe re rit 0' ~ 1,/ i '"' 9 a "ra n g e rr.~ nt wh:c!) COl n "eed cu r rent t f., ro~. 9 I) '.h e w;nd:ngs in eithe c di rection, ~ .',J tf'-<:n th~ pai's o~ coils can be interconn~ct8d so thilt thci r magr]~ti~ ~iel ds a,~ add;tiv~. SLJd~ a system is caH~d ~ bipo lar c rive a;"',rj
, shown in its basic ~or'Tl in Fig, 7, Current is 1"1Jde to flow in ~i ther di r~ction throud' th~ whdincs by 5~·.'it~bi no on ~i:~er T R 1 or T R2, 8rl(i it is tounc. in o~~ctice th8t a tu rther impr(}~l;!'ment Of 25-30~"~ if' torqu~ J~r wan i$ ai:h~evable u~in9 this t~hnic:..le, This i I'nrrOvemfint ir. effi~,enc'i will not normaliy aoply OJ, hig~ speeds wn<:n t".e bu Ik of the losses ar~ dU8 to ",dey CLi ~rents and hyster~SIS.
EI.6.SIC BIPOLAR DRivE :O~E PH ,6,5E ONLYI 1"1 G.?
The dri' ... ~ sy~~em used in t'"1e 1073 is ar' ext8n~io" of the ~csic oipol8r .,r rOlng8mcI1t Jnd is k!lown as ~ bi pol'lf bridge, ,:iOWr"' : n 5irrpi" r i~d i0r'n i 11 Fig. 8. T~is system U5es ,v·, ~xtra pair of sw,tcnes but hc~ ~_W(J imp(lnant a::J'.'3ntages - oilly one power ~uppl... , recu ir~d, 8 nd t~·,~ p~~k to·pr.8k '''Q,t3g~ ~ppli~d ~CrOSS the wind ings .i~ twice th~ s~, p;)ly vOltage. This i~ : r.Dort~nt ~t ')i8h S18Ppi 119 rati:S a~ will shortly bec[)rn~ cl~ar_
Ell PDl.I .. R Bftl DG~ IJ~I .... E FI G s.
T"I"3 C" ve sys:ells so f8r CQn~i(;~r 8d 8perate '~ery w~11 ~: '·)w st8ppi ng rat85, [JI.;: as ~p~~d is inCrp.as.,.d th8 inc.uctal"'ce of the rroWr ... .-indi 11~~ st<l~ts to becorr,e 8 nr0~lem. a y its ~~ry ,.,a:ure an i ndu(t~rlC~ OPpO$E?S a r<;pid bu ild-up of ClH rS I), ~nd ~t high
l
sp8eds th~ CUrrent m.;.y only hJve {iln~ to rise to a fraction of ih steady state value, with a co rrespol1dir.g reuuction i n torqu~_
TI1e r~t-e <It which i::urrent bu ilas up i ,) an irHjUCtdnt~ depends on the voltJg8 applied to it, So i n ora~r to obtai ~ a rapid rise of current in t')~ coils ~ targe valtag~ Inl.!st be applied. Once thi:! current has risen 10 th~ requi riO'd vaL.J~ t!1t! high voltage mu~t ~omoho~ ... be r~duced, ot.,er...,i~e the eu rmnt 'IJi II continue to rise until it becomes li~ited ol11V by th~ winding resistanco. A common rY'-Nhod 0: achievipg this is to feE!d the coils ~'i., a series resistor wh ich wi II limit ,:-'!l current to the re{lui~ed "illue, but this arra "&ement i~ ~ery was-:efu I and at low ~p~cds the {Jri~e m .. y be dis5ipiltinQ consideraoly more pow-er than is <lctu~fly bei ng dol ivemd 'Q tl1e mot()r.
The method adoptee in the 1 073 D~ive is to U$~ trp. upper t:lair uf bridge trilmi5tor~ as 'choppers', The coil current i~ allowed to r:se Jbout 10% abo'Je the required va I u e, J t wh ic 11 poi nt t h ~ u fJ fJ~ r t r <l ns i Stor w hie.., wa s pro .. i ou s. y CO ')d~;ct i fl g is turn;:!d oft_ An ",ltarnaTive eu rrent ~1~ti) is pro~ided by a free-whJ}~1 ing diode $0 hal
Current can continu~ to ~Io' .... in tl1e indLlctiv<: wind inl], but due to resisti'.'~ IO$ses it will ste~dilv fail. When it has dropped to 10)..;; below the required ~illl.e the tran>i~tor :s turnlld back on, In :his w"i3y the mear current ;, mai "Ita:necl at th~ required ~alue ..... ith 'Tl(nimal d i~s;p~tioJ) .... ilhi n ttle dri~e_
F iy_ 9 Sho ..... S a sirr_pl'fied ~ersion of {he choppe-··stabilised bridge to';]ether with t'lc associated cu J"~ent wav~forrns. The cu~rent p;;.th during c~ch phase of the regu I<ltion cyG~~ i~ i."ldic.ated oy ~ 11eOl~Y I in~. It will b~ seen that t"le motor curn"!nt ~Iwcys flows ct'i rou gh a sm a II ~s 11se res ist 0 r R top rov id e a feed bae k voaage p r opor ti 0 na I to (;urrent - th is toodback vol ~i!9~ is I.Iseu tu controt the motor current by nlod·<-llating the condumitl~ to~ swi1ches.
Duri :)9, ph",se ~a), switcr.e5 S 1 and S4 am turned on and th~ (urrent ,ises ~n .m .,pprox i m.;; Hi I; linear f8Sh i:m <I~ sr,owr.. Wh~n trc up9~r thresI1oi(: is reachec:, S 1 is tu r-,ed ott a~d the CIJrrenl recir{;ulates through S4, D 1 8r"'G the senSe r~sistor R a~ showr'l ~t (bl_ This corlti n.JeS until the c·..lrrerH ~a lis to the lower threshuld when S1 is turnod 011 8{1~i n as O!t iaJ ~nd tre CYl::le repea-::~_
W·~e"" Cwrent is req..: ired to flow in lh~ ';J:)posit~ Ji~~c,ion in t'"1e coil, 52 amJ S3 .'!'e turn~d on as srown :n (d- Aga in the c· ... rrenl is allu, .... ~d to rise 10 tr.e upper t!)resho··d ~)~for~ S2 i~ tLlrned o~f anc th~ eu IHnt '·f!c~reu lat~s v~~ S3, D 2 and R as show:) i J) (d),
It will be see'-, that cu~r~n: al~·,a','s flows ir' th~ same di "e<:tion throu~h ~'"18 ~8mi f'lg reS istor r~g~rdless ~f wh ii::h sw;tches an,. Or~ Or wt'ich way it flows throug'" the coi I. Therefor~ the feedb~ck VOit8gC i~ Jlways i 11 t··,e S8me sense and the same threshold le~els a·:)ply,
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9
3. DESCRIPTION OF THE 1073 DRIVE 3.1 Specification Drive circuit: Max. Power output:
Motor supply voltage: Max. motor current:
Max. stepping rate:
Auxiliary power output:
Supply voltage:
Supply voltage tolerance: Dimensions:
Weight:
Operating temperature range:
3.2 General Description
bipolar, chopper regulated. 3000 watts (CA) 1500 watts (CB)
800 watts (CC) 240V DC (CA, CB) 120V DC (CC) CA: 14A1phase (two phases on); 20A (one phase on). CB, CC: 7 Alphase (two phases on); 1 OA (one phase on). 20,000 steps/second @ 400 steps/rev. 50,000 steps/second @ 1000 steps/rev.
+ 24vDC ± 20%, 400mA max. (CA) 500 rnA max. (CB,CC)
172v RMS (CA, CB) 86v RMS (CC). Single or three·phase. Supply must be via isolating transformer.
+ 10% -15%
8" (203mm) wide, 8'/.," (209mm) high, 15 7/8" (403mm) long (CA), 13%" (343mm) long (CB,CC) including handle. 171bs (7.8kg.)
DoC to 40°C local ambient (CA version incorporates forced air cooling).
The 1073 is available in three versions as follows: 1073 CA - maximum output power 3000 watts 1073 CB - maximum output power 1500 watts 1073 CC - maximum output power 800 watts
The DC supply voltage is 240 volts for the CA and CB versions, and 120 volts for the CC version. The maximum output current from the drive is 20 amps for the CA and 10 amps for the CB and CC. The three types are physically identical apart from the extended length of the CA which incorporates a cooling fan.
Fig. 10 shows the main components of the 1073 system - the translator, drive
POWER ISOLATED TRANSLATOR & AUXILIARY SUPPLIES AC INPU T
S U PPL Y
MOTOR
SUPPL I ES
CLOCK PULSE MOTOR
206
~ 204 OR 208
INPUT CONTROL SIGNALS DRIVE
01 REC TlON TRANSLATOR
CARD INPU T
CURRENT FEEDBACK SIGNAL
1073 DRIVE SYSTEM fiG. 10.
10
INTERNAL
C2 (1073 CA ONLY)
C1
POWER & MOTOR
CONNECTOR
STRIP CABLE
(BRI FITTED UNDERNEATH
ON 3 PHASE DRIVES)
206 DRIVE CARD
POWER
INOICATOR
CONTROL
CD NN ECTORS
CARD RETAINING CLAMP
204 OR 208 TRANSLATOR
OSCILLATOR
FAUL T INDICATOR
o
FAUl T
INDICATOR
INSPECTION
HOLE
168 NDTHER
BOARD
FIG.11 M:AIN DRIVE COMPONENTS
11
{;ard and power sup~ly. An optional uscill<ltur (;ard 'Tlav ~e i'lclLJdec ~nC! th is will b~ consid~red later.
F i-;J- 11 S·"I0WS th~ physical layo;)t of thl;; dri'~~ <Hl{i ,t'.;:! 'o(atioll of the -nai n co'nponems. Th~ 206 dri~e card ha~ an integral he"" sink ~nd ~or'ns the rigbt-h~nd side of th8 d~iv~ ~sse·nb:y. The transl",tor 11 '"1d optional mci II ,,-t or cares :)Iug ;m;:o th~ 168 mother :Joarc ~'J",ich is cat ri~(: 0""1 8 rel'!lovable sU~-lIssembl y _ The 168 board i ncar, porates a 24 volt power sup~ly, J nd th~ Ill~ in ;lower supnly makes lip the remaif'lccr of the p8ckll]e, AI; termi na:::ons are b'ou~ht cO the ir011( of tn~ dri~'e ~or ellse of instal',a{ion.
Th~ b~sic input signal requir~d by thiO' sysW"f'. ~s a s~ries of r~m:Jed or uniform clock pulses, the number of pL.Jl~o, corre~pol1di ')9 to the nurr.b~r of 5tep., the motor i, reqv ire d to :) e rfo rm. From t his 0 u I se $8 QU S 11CS !'flU st be ge n<: r atec .:l set o~
'omroll~d d riv-!;! wa~fdor11s wh ich, whN1 apDI ied to the s~~p;:li ng motor, will C.3Ll,e it (() execute ttle requ ired numo-er of ,teps_
The first par"! of the proc~~s i, carried out by ~h~ transla lur, I ~ 9~nerates a series of ·ow-Ievel ~ignal~ wh ich w~1l Df! ted to t"Je w:ve carJ to contru l bot~, the timi ng and di rec.ior of the c'_rre'its tlowi 1)9 in t11~ motor windi ngs, In generati ng th~se s i ~ n a I ~ the t ra n d a tor mlJ ~t t a k e acc(J u n t I) f th e r ~ qui red direct ion of rota tLo n, as soeci~ied by the 'Motor D irect;on' input. Twu 81 tern~ti\'~ tra~Sliltors may b-e suppl;~d ..... ith th.e 1073, th-e stanaard 2M tra,')slacor giving 200 ur 400 steps/rev, and {he 208 rnu Itist~p t"-~nsl<ltar gi~i ng 600,300 or 1000 steps/r8v,
The drive card !, (}s,entiJlly an amrl ifi~r which (lelivers the nece,sar\i power to th~ motor ; n respo n~e to tho co nt ro lsi gn a Is tr a m t~ e tr <HlS I Q tor, It in co rp 0 rates th e bi polar, chofJP~r-reglllat~d ~witchi ng c:rcu itrv men~iO')ed in Sectiun 2.4,
A second fu nct:on of th8 tr~11slator is to cOl"'trul the milgnituci) of th~ motor currents, l)oth during the st~p~i 119 Se(;u~nc~ ~rl~ , .... hi 1st the motor is s1<l1ionary_ I~ achie~~s this by '1"l~o~uri '1g the motor ClJ rr8nt using a ~en~i 11\J r~sistor ~nd tr.en u~i ng this information :Q COI)t~(.:1 th~ signals fed to :he drive card.
T11f! syHem comnon~nts will now be cOr'l~idored in['.i~idl.Jally in ~rBa'.er oet8i I,
3,3 The Transl."3tor and Dri .... e Card The transl~tor 81"1J drive c<lrc J re cioSIO"IY i ~t~r·r8IatetJ and ere the~efore be~t consic~r8d as ~ si ngle u :)i:. F i~. 12 i~ a block diagram o~ th~ compl<:te system, ~nd for the ,aKe of clarity the cOrY",~an~nts which are d'_pl iCJtod for ~h~se 2 h~ve ~eer) omitted_ T'1e sy,:eTl with a ~tandar(1 204 transl<ltor wi II be considered firs: ~nd he 208 m ... 1 Cst I;;fJ t rll n S I ato r w: II oe d i~c'.Jsse c: I .. t er,
T'1e incomi ng Clock and D~rectiorl si~n<;ls on fed to a.n 8-~tat~ COl.. n~ing circu it , .... hich will p"oduce 400 5teps/rev. with :11~ usual 200 step/rev. motor. Tre tra')s;ator 8en~r"'es ~h~ ti ming waveforrr,s sho~'m in Fig, 1::3 arld it will b~ s~en that the O"laS8S arlO" ~nergised -ill t~rflat~ly 5i'lgly and ill pa.irs, this neinll a hal f-s~ep s8quence gi~i 119 400 S1e~B/(ev. A I:nk r'l",y be ;nserted on the board to COrw~rt the syst~m to 200 ~tep~irev, Th!~ is acl1ieved uy g,merating ,;;n a.uxi.iarv clock p,-,Ise 4D,uS 8her ea.cf' 'ncorr.ing clock plJ Ise wh ich causes the t~ensl.;.tor to pa~s quickly through {he interl"T'ediilte 51<lte, It shoul d be ~ot~d ,h~t 4DO steps/rev, is the p referred mode o~ opera{ion a5 motor resonanco dfect~ ~r~ much red'.J.ced and the behaviour i, ~mQoth~r, parCcl..l~rly at low speeds. The Ira).; im~m ~ ')gl.; I~r ~'eIQ(;ity ~or RPM) ana;nable from th~ motu r is :.maffeGted by the £toppi ng mode, eq.Ji~·~ I~n: La
12
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20,000 steps/second in the 400 steps/rev. mode or 10,000 steps/second in the 200 steps/rev. mode.
A 'zero phase' signal is available from the translator which indicates that it is in the first of its eight states; this signal will occur 50 times per rev. In addition, the translator is always preset to the zero phase state when the drive is switched on. This signal is therefore useful in establishing a mechanical reference datum.
The X and Y timing waveforms from the translator determine the timing and direction of the current in each motor winding. Associated with each winding are four power switches S1 to S4, interconnected in pairs as shown. The upper switches S1 and S2 have an additional control input to which is applied the chopping signal for current regulation.
When X 1 goes high, switches S2 and S3 are tu rned on. Current starts to flow through the motor winding from 1 A to 1 B and it is monitored by the regulator comparator using the voltage feedback signal VFB I. When the upper threshold is reached the comparator switches over and turns off S2 so that the current then recirculates via D2. The cu'rrent slowly falls and reaches the lower threshold, causing the comparator to switch back and turn S2 on again. The frequency at which this "chopping" occurs depends primarily on motor inductance and it is typically around 2kHz.
Similarly when Y1 goes high, switches S1 and S4 are turned on and the same cycle of events continues but with current flowing in the opposte direction through the winding. To de·energise the motor all X and Y signals are forced low, preventing any current flow through the windings. It will be seen from the timing diagram that a larger current flows when only one phase is energised in order to help main· tain the torque on intermediate steps. The reference generator therefore has an input from the translator which causes the reference level to be raised when only one phase is energised (points B, D, F and H on the diagram).
The regulator reference level may also be modified by means of the boost input, which enables the current levels to be increased at strategic times when extra torque is required. Conversely the facility may be used to reduce the current when the torque demand is lower.
A circuit is included which will automatically reduce the current at standstill. In most applications the torque required at standstill is less than when the motor is running, and by reducing the current at this time the dissipation in both the motor and drive may be minimised. A delay circuit, triggered by the incoming clock pulses, reduces the regulator reference level if no clock pulses have been received for 80mS. The reference level is restored immediately another clock pulse arrives.
All the operating currents (i.e. regulated, boost and standby) are programmable by means of resistors on the translator board. Tables 3 and 4 give values of the programming resistors for a range of operating currents.
The translator board also incorporates circuitry to protect the switching com· ponents from damage caused by excessive motor current during deceleration. When the motor is running at high speed there is energy stored in the rotor and load which must be dissipated during deceleration. During this period the motor there· fore behaves as a generator and pumps power back into the drive, and this can cause excessive current to flow in the power switches. A comparator monitors motor current against a fixed reference, and if this limit is exceeded it causes all power switches to be turned off for a period of 1 DOllS. The regenerated current now flows into the power supply capacitor which presents a significant load to the
14
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motor and aid~ dec€!I'r~tioI1 ~ se~ Fig, 14i. F ~Jr:r.~r I)ra:ecti On is g i~'~n ':Jy the now;:!' dump circ~it wt"l ich senses ~ r ,~~ i"J thll- "ligr ~'oltagp. ra il ~nd connects a I()~() resistur across the s, ... pply to dissipate t'"1<) su ~p;us ~ower_ The r~si~tor is switched (Jut o~ circu it 115 soor. as the ra;1 v8lta.ge retu rns ;:0 norm .. 1.
Snou Ie an e~'~11 la'-{l~r c·~ rrs-"t flow i 11 :;,~ motor cue to .fl fau It condi t:un, th is is detected by a further comparator whii:h ,:o:a lIy de-€!INr~ise$ tl1e c:r;·~~,
An L.E, D, on -:h;:! trilnslator board gives a ~i5ual indic.s.tion of th is cond itiol1 ~nd is "'Lsible th ~ough a hole in the front paroel. T'1r:re is al~o <I 'FalJ It' sign~ I available ~or uS~ by t"le control syste"Tl, The pro"!ection circ'.Jit can only be re~ct by disconne'tin] th<:! mains sUPP'y, <I nd power shou Id not be re-appl iec unt[l t~e cau~~ of ,he fau!: "las beer, estilbl ished. The ci rcu it ill~o monito~s t.~le -24 V. supply, si nCf! 8
fai lure i I) this supply coul d re5U It i-, dol"Tlage to the switchi ng trami~tors. I n ~he eVl;!l'"lt ot a pow~r supply f8 ilu r~ th~ protection circu it Qpera1eo if' the ,ame WJ'y a~ tor an ollercurrent f~u It.
-.-
3,4 203 Multistep Translator Option
I I , I
pew ER
CJ~p
'I +
C I ,
"'~""E R S ~ PPlY CAPACI18R
I n certain <lopl icatio"l~ it may be de~irable LO use a srn .. 1I8r ,tep size to improve tho low-speed smuothne~s of the SyS'Br':l a,nc to rrli nimise th~ effects of reSo.'"1a'"oce. The 208 Mul,iscep :randa:or is aV8i iable to meet this f8qU ir€!m~nt and may be specified with ~ resolu(ion up to 1000 steps/re'.'_
In t~e stanc.ard translator op~rating at 400 ,!Cps/rev., th~ inter1"wc:i~tf! Qr hOlltsteps arB prodl..>ced :))0. en~r9isi""g On;:: ':.lh<lse only usi ng ~xtr~ currer,!. This causes th~ ro~or to al ig"l itself h81t w~y betw~~n the full s{~P positions, Fl..Jrther su bdivi~ion of t'1e basic stc~ i~ PQ~sibl~ by ~~ryi ng the WQPortion of ct ... €! cu rrents flm'vi ng in the two pha,5es. clIusi ng ~I-e roto·- to assume an interrrediate position related to the "atio Jetween th~ C·,;rr6-~ts, Thi5 is th~ t8c·lnic;'..o e I,;.sed in "t'"1e 20B t r a ns I a tor.
Fig. 15 sr.ows in SC')<:lr"'""latic form th~ s:~:) Ji .... isio..., cir;;cJit~y in th~ 208 C<lrc, ~ fiCO Tl: ng clock P u I s~, pa s s tr rou gr. 8 d; ... ide rci·c.J i t wit 11 a var i a 0 I e mo d U' .J ~, and
76
c .cc~ IfoIPU T
5TEP t.Io.
11 vl .~} ... , vS __ ~ I ~ ED IIE"FER'E~CE
v~~ T .... G~ S
OI~I:l"R C:RCLJI r 1----1 PH .6.sE I
REFE~€~2E j"'" 0 FO ~ , :lGQ s;tl
AHA.OOI)E
+
P~A SE 2 RE.FE';:~ NC E
PI-IAS~ I } CO~T~OL
I'---_PH~ SE 1 OIJ T p~·T 5
FIG.1S STEP 0 l'f'C:~ C· ~ :_IT-;;:""
1 1 ~ ~ 5 S 7 e ~ '0 'I 1t I ~ '~ 15 'ij I~ 18 I ~ 2 C 21 22 21 2 ( ~~ • I J L 1 I I I I I I , L I It' I , 1 , I 1 I I
L-___ -------..IJ L
= ~A" E 2 C.l R R.~ T: Z E RC
17 --
in the case Of a 1000 step/rev, tr~nslator th:s modutus ~',ill be ~et ,,-t 1 0- T'I~ outputs from tl1e d i~'ider are (:;€'Cod~d and Mranged to control a series of an"-10gue swit~hes which are ted from ~arious r;::fer~nc~ ~ultages; these voltages corre,ponc: to th~ diifer8 n t cu ~re nt ~ e.'e I s renu ire d du r i r>g t h 8 ste p pi n~ ~e q u e:"ice. a ~ sr.owr in Fig. 16. I n this way a composi;:c r~t~rence ~'oltaDe is generated :0 r 8.;lc11 philse ar~d this is fed to a current rcgLJlator <l~ in. tiN $t~ndard translatur,
Every fifth clock pulse is routed to a basic 200 ~tep/rev_ translator whic'! generates the control ..... ay~forms shown in Fig, 16. T."lese signal~ are Ted to the power switche~ and thereby cotJtrol the c ir~c;:ion of Curren;: flow in the motor winClin~~.
It should be emphasisec. thJt th~ rolationship betws-en rotor pOsition 8rld r~lative phase cu rrents is nDt I :n88r ar.d varies from on8 type ()~ motor to <lnoth~r, Therefore ~t 1S necessary for this tramlator >:0 b~ ,et up duri n9 manufa'ture 8cconfng to the type of mot~r to be driven.
3.5 The Power Supply The circu it 0-; the pow8r ~upply is ~hown i 11 Fi9, 17, A sepa r8te isolating tramforme~ must be provided a"Jd tr. is may be e;cher si ngle Or t~)re~ r)'",ase. Th~ rcqu ir<:!d surplv "'l)lta~e is 172 vol:s for CA and CB vers~ons, end 86 volts for the CC ve~siDIi. The i ncomi n~ AC i~ rectified and ~mootl1ed to provide th~ high-vo Itilge rail for t'le d~;ve card, and the low-voltage suppl i~s aro derived trorn .. sf!parat<:l int~rnal tr~nsfori"'wr ru nni I)g frorr the B6V Or 172V input. A 19.5-volt wind ing on ttl i s tra r sf or mer Teeds tlw 168 Mot 11 e ( Bn a r d wh i, 11 i 11CO rpo r8 t~s a r~C t i f i ~ rand smoothing cGP<II:<tor for the +24v SUpplV ~~~e F;g. 1 Bi. Till} translator al1d op,ior"lal oscillator c~rtls plug into 168 ar,d e~ch cMd '1<lS it5 own 12V zener ~tabi liser whiCh is f{!d from rrE'! -;.-24V ~'~pply. The 12V r8~1 (Ieri~eo on each c<vJ powers both the C-\'10S log~c ilnd tr,~ af'.alogue circuitry. Spar~ ca~acity i~ included i., the ·'24V supply wh ieh permits up to 500mA to De drawn ~rom "!he aux' I iary oawcr outlet i4DD r"lA CA version),
The i nterna! trans~orm8r al,o ,uppl ie, 3 .'ol;:~ for a n~g~:iv~ ra,il ·,",s~d in the dri.'e G<lrd, and o;.rl e)( ten~ion to tj-le Vi r,l&ry wind ing i~ u~Dd for th0 cool ing bn whp.n fittec,
3,6 OsciUlItor Options Digip [In currently manubc-::u re two types of Q~i::i lIa:or c8rd ':Jl1icr may .~f! p iu-ggecJ di rectly inw r_he 1073 d ·-v~, Trey 5i rlp lify the ~roblem o~ ~en~r~ting clack p'~ I~p. seqcJences wh ic·) will run the motor up ~_o its "Tlax ;rr·l; rn sp~ed ..... ithout I o~s of sync h ron i sm, The 156 Ram[)~d C: ock is 11 wide-ra.nge voltage comrollcd asci I·~tor wl1fC, mav be controll<:!d by DC if'p~lts or switc'1~s, Acceleration circu it, arl} included , .... l1ich allow :he moWr to be aCcelerated ~nd decelerated ~etween speeds as w~11 8S frofl'. r~S:, Th i~ type 0 f oSC -I: il to r :$ ~ ou 0.11 y su it ab I e fo r d: g i ta I co r,tr 0 I or fo r p 0 ~i r: 0 n i nq $yst~rns wh=cl1 are cOnt ·o'l~d bv dr] upera tur.
The 165 BuFered Clo[;k is i nterded ~a inl".. for use with computef-based and simjl.~r control 5Y5:el'ls , .... hich oer.erate o'..l~~~: commands in the form of a pu Iso t ra ina t ne . ~ t1 U i r~d rate, t t) ~ n u m b e r of ~ -ll s eS co rr eS pan din ~ tot n ~ requ ire d numner 0" motOr stE;pS. Th6 buffered ciock \ .... ill c~uS~ the motor to ru n at the req~i r8d speed, stL)'"i 119 :lLlls~$ to rermit 8ccel~·ation .'lr~d J~cel~rOltiCl'1 a~ neteSsary,
Whon ei~h8r of thes~ os~;I;ator cards is sp~cified, :h~ apprcp-ia:e i,...,~tructior, m<1nu~1 will be suppl\e:d.
1B
:-c
'" '" U II.. u '!, <> 9
'" -,.. " '" '" m
'-' "-01 0
'" :!:!
"'" '" u1
<I u II..
;t c a
'" -[oJ -
~ ... ,. <> ;i ~ :::l
~
'" > ;;I: <J Cl
'" '" It:
"- ~
:J. ~ .., 0
'" ... L>
'--
19
~ m .... - ~
c It: 0( u
~
:D ~
.. ~
,.. ... .;.,
'" ...J
\,;.
;; 4{
<.> ~ -I!<: :;; """ t-00(
:I:: =: ,~
~ Il::
a:-UJQ
U
:r.'" ~<I >-OD :l:~
Q.
0...' ~ Z" ~1
c ~ \01 '" .::r: II:: ... 'JJ W, V
'" ;>- ~I
]! <J a ;;r; '-' Il. ~ C. vl '-' ~ "- 0 r--
W
~ """ ~ I:t: II.
0( ~ LL
::IE ~
.ii: <I IZ
fL :: :;
~-.
P'
lJ I
- E q MIHAL
n ~~~ ~
- ",5 ~.I IEi~ ED:jE: I, ~O ... ~;-.~ l:lR
..... L CI(}CE' N~HI
.- '.5'1 ~C·G;:
I CO t.lN E2T~~ ,
W \ .. 2vPCf-'
.. --- Ii:. ~A'-'
L T E ~f.1INAl 8l0::- -:. !
20
.l R· ~ CA BL E ~~ ~~ E~ T'}R
4. I NST A L LAT ION NOTE: B8tore comm~flcir~[) . nsta:llIti on rerlove the Govor a ~d chO!Ck th~t all components are ,ec'~~e and u nd~m8&ed,
4.1 PhYSica~ Location and Mounting W~e~1 d~cidi ng on c~ .. loc8tion ;;nd Tloll nting of the drive, there are a number o· fdctors to be ~orre i r'I mi nd. -3) AC:eC:llate Vov,siDn m..Js:: b8 "naG,.. for cool inu. The power dissipated in the jri~e d~p~nds almost er-ti rei y on the appl ica:ion and car"> vary' betwe-en wide limits; it is rela~e(;' to SJch factors as 'Tlotor curre..,t, ~t8pping rate, (fut''r' eye!~, uU~8tion of ~OOST periods ~tc. a ·'·d it is :rerefore almo,t i ;npossi bls- to gi~'e any meOir)ingful diss;pa"!io0. f'g'~ r~s_ In sitJa,io'1s W'"18re the avai lable 5pa,C~ or ~olu IH~ of cooli ng ai r is r~stri~ted. it is r~cornmend~d :hat vel imir~ry t~st~ ~rc c~~rir,(j O.Jt ~ncltr no'-mal opera"!ing condit:UrlS wid' th~ c ri~'~ :n f~ee ~ ir. By measur~m~nt of tre meal) heatsin..; tQ'l1p~'·~Lr.;l it is V'en noss:ble ~U esti~at8 the dissi ~at;on from tr.e tor'nu· a
I.t",' ~ 2T.,.. 20 w~'er~ '.~.' is the c issipated po ....... w i.~ w8t~S 8nd T is :" 8 diff8rence jotwcen :-,e h~"t~i nk ,F-e arr,bier-t te:npera:l. r(·s in d~qr~c·s Cp.rlti~rilde.
When performin~ thi~ lest ;)n a 1 Q73CA, first disGcf1~ect cr.c cool i ng tan by remo .... -i ng the four ~cr·3ws secu~i ng ths- t~l) cO''''~·, withdrawing the cov~r anC r~moving the PUSh-[)fl f"n cO'"1~,ector, .. T~~ ~qu ipm~IF is designed for <l ["'lc.xim..lm operati r,g hl;!8t· si 11k ternp~ratu ~~ of BO· , b,..l: it ,ho..Jld ~c borr>e in -ni nd thlt for maximum reliabi I ity The pO'.·.'~r S~rn iccnductors s"o·~ Id be kopt as cnol a, po~si !)Ie- I f an ~ncloseci cubicle :, to b~ uS8d it i s ~~$~fllia i :~lilt ~u~taole 'Jentil.:r:;:ion i~ provided, and Fig. 1 9 gi'o'es iniormJtion r~gad'ng mol.. nting ~m;Losu res, It is preferable for the (Irive tu be mounLe::J Dn Q~en rJ ;Is to ",lin,,,, the "rIax ;rnll fl'l lInoostructed air ftow_ When rn(;r~ ~_~an on~ drive i~ i r,st~lloc ~nd cool ir<g is by rl8t..lral ~om8ction, illlo'o'J for '" mi nirTlurn r.ur- lamal >:8~cing of 3" ~ 75m"rll hf!{v.'8en units,
The jri~'c i~ fitted w:t;) mOll "'li flJ fl~flges front a nd roar olS ,ho ..... n in F;g, 20, and these are prm'idcd ':Jith Of.len-9rltl~c sluts to 5i f1'lp1ity installation and r8mo~'al, TI18 dri'Je Tl~y be mou nt~d ,n any POSit!Ofl :)ut it is advisable to ,<oep tho? hE!atsink i~ a vertical plar,e. i.c. it should ·..,o~ to ,m {h.,. l[JP [Jr l;ottom su:-filce of the c:d\',,~ when 'llounted,
In thl;! ca,e of ~r.e 1 Q73CA, t'li~ ~'~rsi on is fit:ed .... ,ith a CDoli "Ig tan as Sl~r)ca·d ~nd :'"1e air er:t')' oort must not I)~ obstructed in ~.~'y way. This drive m,;,v be s'"npli8u witt)out a bn for use i n syst~rns ..... hici-' <llreacy incor~orate a m~am of t()rced-ai r cool in~, and WhlO"··8 pos~ibl ~ th~ $up~lv uf cool in] Gir s~ol,...ld be ai "11~c! [Erectly O!t the heatsi'lk side of tlw dri~p..
b) INhli!ra ther~ is considerable di~tance bctwocn th~ control syst~rr 8nd the Tlotor, th~ dri~e shOLlI(i ger)er~i Iy lJ~ lOCated as clDse to th~ ~ontrol sY$tem as possible, Very long moto. 18ads "re U ~,. i ~<:Iy tQ pre~e,-t ~ probl Dr:l a, long <;.s t..,ey have a low resistance, but low-le'.'~1 contro; sign~ls may ~ecorne pron~ 10 pickup 0·· ~rosstal < prot/err& o~er IDn~ di~t""ncos. I ') 8~y ~\'en! the total 8mount of wiri'1g ~·.'ill q{)neraliy b~ min,m is~d wittl ,~,e drive close to th€: control system,
ci For setti ng up anc: s~rvici ng p·~lpm~s it is d~sirabl ~ to h<l~'8 ~asy access to th~ fr8nt o~ th8 dri'.'e, '~.'116r~ tfl is :s '10: pos~i ble wi-::h :h" drivs ;n its r'orm81 pos-tion, e')SUre :~ ~t the wi r:ng and fix ing rr(·thod allow the ,. nit to be wi:~,draw"'. for setting u~ and ser''' . .:::i~,g_
21
·1
l!: <;)
--0: ... :z:
'I: 0(
\I,J "-> ,. I
III
~ c:. .=l UJ 0
..: 110: :
I L-
in. mind that an u'lusec axis will nill be drawing :he star,dby C'..lrre.,t. l..-, all (:as<:s, ensure that t;"'e regulation of the slloply from ze rQ to fu II lOad m~ets ,h<: supply voltage tQlerilnC8 of -I- 10% to - 15%. I deal:,y :'"1e transformer re~u lation shou Id be s'.Jch that under full I oad t~!l DC supply does not fajl b..,.. mOre tl1an 10"io as this l::an represent a propo~tionate loss of torque and else- r~duC6 ~he p8rmissih~e -n~i ns vo It age flu ctu 8 t ion,
4_3 Supply conneGtions, For single-phase operation, connect th~ ~ramformer se~o~oa~y windLng to t8rmi n.ds Llana L2. For thr;:!e-phase operation, Us.!:: L 1, L2 and L3, Use 50/0.25 for· the ,·.Jpply connections to a CA driv8, and 32/0,2 for CB o~ CC drive. Ensurl:! t··klt there is a sou nd earttl c::Jnr;ection and tha. any Tl81alwork :0 ..... hich the clri'Je is a ttaC '"1ed ;s s~ pa ra t el y s-a rt 118 [1.
Table 1, Power requi rements and fuse rating5
TYPE O~ DRIV~
CA C8 CC RMS AC SUPDL Y \/OL T A':JE 172 '72 86 MAXI V U fl.,', CURREN-:-, A 20 10 10 ~uSE :::ATI NGS·. FS 1 15M. SA 8A
FS2 15A SA 8A ~S3 15A 8A 3A ~S4 2A 2.4 2A FS5 . 6A 8A 8A FS5 2A 2A ·,A
S u Itobl ~ ~ nt -su rg ~ ~u s-a s BIJ 5 5 [T,8rl[l - ·0& \,1DA.
4.4 Motor Connections
FUSE -vpE
At\ ,I-SU RGE ANTI·SURGE ANTI·Sl...RGE 0,.1'':::< 5LO'N QU;CK BLC\,.V AN y I-SU::1·;:] =-,:' NTEI=1NAL FUSE:,
Four cDnnec:iotis are" e(.u i.'·~d be;: ... vee: the rr 8,ur 8nc th.,. p;'~ ~ in cOr"'r.~ctc' 811 tr,e crive, Se~:ion 6 ;110W~ :r,o connec:io - dot~ fv ~'ariOLlS I':'():O~S. It w;1 ~~ ~een th~: th~ wi ncli 11g~ may b{: connec':ec: ~it··er i:) Hrip.s or i ~ paral ;~I, -,nle~s the mo:or has only six '·~~d' in wh ich case th~ chuice .s [-;.,.to,w",r u~i ng one o~ both halves of each wi ·)Jinc_ Th~ pr8~erred GOr-ectiUrl n'od~ d2p~nd, on t~,e c.ppl icatio~. 5· rlC~ thl:! ~ertOfma~1Ce charact;:!r:s(cs 8r~ (: ifter~:'It i') OaC:1 caS8.
Series conn~cti(Jn i"c··8ase~ th(· i "ld'~.::::anCe r::er ;)has~ to fQ.Jr ti rows :ne induct~nGe of one coil unly, Tl1er~ :.~ a si9~.ificant irV~8se in Ow sp~ed torque, bl...': the to~que begi ns to c.rOp off rapidly 3t h iqher speeds,
Paral181 connec:io-, rescllts in less torque at low s~eeJ5, uut t~' ~ ·.urqu~ w· j I' ~p. -nai ntained Lip to hig~, stepp ,n·J ra:es and i n f~c: ttl~ r,l~::': im'~ m rows-r obtair"abl~ ~rom the r:l1ota~ i~ ~'eat8r in th " mode,
V"i~~ '.J~ed tor the interconnections :)€!twfl~n :notor and drive shoula ge:-)eri.ly be not smal18r than 5o.:0,2~ fur th~ CA and 32/D_2 for the CB or ce. T,-,e I;::ngtf" of t~,e calli ~ wi II "lot norm&lIv ()r~sent a ~ro~lem, but if"' sit-la:ions ·",,·he"e radio·t~enu~ncy interfe'enc~ "'I1U~l bfl --ni nimisec: it m~y be prefer.'lL)I~ to '.J~e cabl 0 , .. ~ith a collective scr8~n. Tho ~cr~en ~hOllld b~ eanJwd ~t ,'"]ne end only, c.nd the body of th~ TlotOr snQLlld also b€ ~.,rthed.
The importanc8 of correct motor corlne'tio"ls ~Jnnot be over-efllp,asiseJ, Far instance, if a pai r of w! ndi ngs b6'(ame COI1')ect~c i n ~eries-opposiFon tt\~ s-ffectiv~
24
int:ut:tance ~8CQ[1'leS z:ero anc the impedan:e see" tv t'"1~ C riw~ i~ ~ir L. al y 0 shortcirc:.Ji l. It: s ~ ho imp ort <:l nt t h8 t il nyu r, lJ ~8 C me- to t ,~a d s ~"~ ! rd i v i dUe I·.... I,' sui aTE'!G, an tJ un c.,." nor. ire u m, ~~.~ C(·s S h c u' d ;::, ~y 88 i 0 i n 8 [J to'j8 r_h ~ r I) r d ~Ss t"l i 5 iss r;cc i t ·~d i rl the notc' conn~c:iQ,) d~ta. Clo '"1ot attor1pt tQ l.S8 ) 5· E!ad '~lrJtur wit-, ths ,j'·V;;. 4.5 Co ntfOi Sig mil Co n nectio ns The r'l a i n par: of th:s ~ ec: i G n ,i st s t " .. ~ 10'::-' ~"Ye, ~ i ~'11, 5 ern ro,:) ria t e :0 the b~ sic d'i'''8 'Nit~, tr~mld8r; tho~~ ·yvh ch rei ~I~ W t'l~ u~ti(lnol c·0~k cOirds ar~ sr.o\',m i" the rele~'ont m~nucl, Fig. 21 S,-QVY~ the i ~,ler;<;.c~ 'j "eu;:5 JseJ 0.-· th~ c ri .... ~ ore these ~~,o ~ I tJ pro~' id~ sur f i (e n t : n fo r ~ a t i () n f 0" t··;:: s i g "·'01 j - ~ G U i r~ '!l ~ ,....l ~ to ~) ~ e~ t a bl i ~ h e d_ S i '"1C~ t h ~ "y(j Il",g~ 8;· J G LJ -r ~ n r_ I ~ ' .. ~ Is ~ rE:' ".J ','" t h ~ r~ ~ ~. r lLJ a I'r' r: U -~ ~: r ;.:: i 0'- o~, t "l8 Si7~ [)f ., .... ; r~ us~tI klr lhes~ ·:C<rlrl~C li v n5, p8r :i·:IJI<l" "{ "V',~"~ t·, ~ c r :' .... a-·.(j Cun':'0 ~y~ lem 2.r~ i n th~ so .. n8 IWLlSi ng, St r~r~d~d ~'iirO! SLJr.h .. S 16/0_2 '.·.'i I ~~rl~r.,1 '/ :)~ s,J: tabl9. Whp.rl;- tlw dri' ... ~ on(! co ·',tr:)1 sv,t~l>l~ m~ hOLlS~(i ~"'i1nr8t&I~', :: wi I no"rTl~1 y be n9cO!ss~r'r to use ~01"1Po k n[J ~t m...:I'I:ore CJh·Po ~c::. ~~f! . r,~~rco'):)"c::t,:)n ~ .).j rE;-' 8
a cab· ~ with a ,i.~.~·o -:::011~c:i'.'~ ~cr"x" i~ r~':OI';"' "ne;"'dcc. -: ~~ sc'r.,~n shnu j I.::f< eart'"1ed at the con:rol sy~ter. enc oniy tc ~~~'8iG t'1e Cl"8a:io- of ea r t'"1 Icops. Logic Ccnvenrion. Th~ '.'o! ~"g.: 8,;~1~ ~(,rr~;~)(: ·'C i-'g tl~ lo~ i~ • ': h;8r:, ~nd luSir. -8 (10'.'.':' ar~ s~,O\ .. ·r' c;"' th~ i :1te'f.:;ce cir':~ it ji.:;~ '3rr~ ': F:g. 21). \b~: u~ the :~'lni na. f \.. n~ ~ i u r' S "" r ~ C urn ;)1 ~ -~l ~ (. l ~ r·i.. ~t· 0W'· tJ.... ~ b d r 6:):) ~.~ l t I ~ r ,. n(; t i (> 'l r·.; 'Tl ~, ~ r I J the 109 i c I ~~"e· is.1 ').<~' . ...:::.\~·r,~ r, t r" s· Si,-,<:,1 Q. c c·n (; ,7 in·'. ; p. r. ;c· n~. f o· ~ x ~ m p I E'o, ,j 1-, in rLJ t 5iJch .::IS \~otor Clock'", ':.,i;1 ~espCI"::;' to ow-gci '"19 transition, i.e. a change frum IQ{JiC 1 tG 10gir. 0, '.".,hie' i·· lh:s ~~S~ w il; (~uSe (fie rnu lA W aJvc :H.:;e ()n~ St~D.
I n ~11~ caS8 ot ~ tru,? TlJ nCT,[j~ (n(, 8~·· aDo'.e tnr. tU(lct,(Jn n~I~~~ i thp. 10.8·c IPo~p.1 i~
i" igh ':.,hen t'"e 5ignal :, pre,en-::. LiS! c f Tern; in:;,' F 'inaions. r h ~ r' U 'n bw p r ~~ ~U i .'.~ ~ad: f U "let i 0 r. c e no:es th e :e"rnina; Str,p number and th., inbrm<;.tion is s.Jr-lm8ris8C ~n T8b'~ 2, R~;er tu f'"!!:l. 21 fur ~_:.~ ! ~lterface ~i rcu it detai I~_ 1. Lo.qfc 0.1, T·\iS is lh~ C~rnTlCln ,)oir,t for :)OL~' the !o~ic siqnals and th~ -24V auxi I; )ry ~upplv, <lnd i~ sh)l) Id lie curln~cted :0 the COrlmo n poi,.t of the control 5~'stcm. This j):Ji M i, 81~v CO')neCle(; tu n8 iriS eOir lh, I n sy~ter.5 ..lsi ~q severa, c r;ves it is oreterablc tm :"E'!'n te· h.,. hUlJs~C i rl r')~ same ~rlCIU5Ur~ and ~·.'ir8d back ;:0
the ~am": rr.:;.:ns ~ar:r ~oi M. It cr is is no: poss:ble 8 "lC !"le dri~'e~ ~r<: ...... idely ~e par a:ed, it may b ~ ad,' i ~ 8 bl ~ to u s~ 0 P t i r. 81 hr' (:) ,J P I eJ is u I., to ~s '.Q : fl ~ ~ r f.] ce w it"the cQn':rol sy~terr-. 2, Boust. T~k; ng th·5 nput low Ii .e. shc,t-c.rcu itl nq it to O~) i ncr,:·.8~p'S rh~ rE;!gl..l~t~d .,.)J st~rI(:by CU -r~fltS. Tre .;mou ",t by ~·.'hic~ th~s~ c.;rr€:~,t~ arc incr~o,«rl is p,·o 9' 8mrt.<:l:~le hy ·Tl~ans v' resi~wr R 11 on thE 204 tr~ml~tcr b8arc; rc·fer to ;"lp' T anlPo 3 for ido; m.;;,i on 0 n H'~ rrugr8mrr i ~,~ r~si~tor Vc.IU8S. The perce nta~~ boo~t is "lwei, ') th& case ot tlw 208 \'1 ... lti::;tep trans at::Jr. Boosr shDuld not he (.,'seci lar mOFf. t./JOf1 25~'; ot tI~e time Or fOr/unger than 5 seconds at a time. Th~ hoost f;)C1fit f' canno. he used if rile maWr fr"'iductdrWf> is .less thar. 1.2mH rCA CC} or 2mH iCSj,
3_ Energise. Du'- ng nor-na: opera~· Dn :"lis ir'.put ,hould be 3t ·oqic D amJ th~ n)o~o:· will be ener~·,ed, Taking tl->e input:8 Io-;Jic 1 Urns off ali tre po' .. ~~r ~':.'it-:::h~> Jile Ge-<:n~r~,i~es th~ mo~_or. Th:s f<lt;il ity enilbles the rlotor to be "!..lrned ~\i h3nd or o~~rriJe'-' by Ult:w rr'~C:)<HliC8: r:leoS.rs, BUT IT SHOU LD (\JOT BED =i: I VEt\: AT H IG"" SPEED BY EXT:;;RNAL \1EANS 'NITH THE E~ERGISE I \JPUT HIGH 8S this pI..; 'YlpS pO·~.8r tl8ck i nm t~)~ SUQ01V ~r'd may t::'J~rlu.,c :he r:JifY"e" Jump circ.JiL Simd 3'1'. 7,~ C ri~e ~hou Id NOT ~~ dp.-~nf!rgisc~J ~'.,hi in thl? 1'10<(.-:· is rlJ 11ni .'.g, A L; nk is norrla! Iy nserteG or the traml~tor boG.'C: t8 hold t",i~ irol...: p~rrr.c~,c·nt· y low 01 n d it :'"1 L.J $1 b ~ r ~ mo ~'~ d i f ~ I) ~ Je· ~ rl ~ rg i ~~ f 0 ~ T:y i ~ - ~ G U : r~J. F 0" i - for mOlt i or on t-f!Se I inks, r~~,~- W F i~, 22 ~or th~ stamJ8rd 2:14 transl~tcr ·:)r F i~_ 23 br th~ 2Q8
'Tl U It i n eo trans 18 to r, 4, Zero Phaso. This :, a'". outpu: sig~,~ i w,", idl i~ I()','~ dAir'g the first of tr 9 tramI~tor ,tate,; :t ocCurS 50 times ~)E!r ra'.'. with a 200 step/rev. motor. At sw:tch-orthe traf"1~1 il:0- is 81':,,~V~ Yes~t tc t~l~ ze"o ptlose stat~, This ~ign~1 '118'. be used whe.., esta:)I:s··'.inG ;:. tr.€:cra..,ical r8~ere~cE 5irc~ t·'e J8LI"-"l 00sifQn m8y be m~dc to corrcsponc v,,'it-, a s~eci~ic rr.u:ur ~·-~i), 5, f-24 V. -;-h is clJ">( il i~r'r ;)·J'Ne'· au:put rnav ~e u~ed :0 drive ~ ~irr,ole control s~'stem or ot he, I U'."J' pew ~ r Po)( t S rn ~ I mo d u 10,. T"" e ~ u r re nt d r <p,','... r r0 rr th is (; L.Jl:Pl.H s h L)U ; (I not ~x,:-::ej :)~,O~ .• \ :400 "'A for , C73CAI. To p·~s~r .. e t~e ful ~upoly '-L)llag~
~a I~ m n'~'J. t" i s ~ ~ :r:: ut 5 - G uk; ~w G ~u~ lJ P I~(: :N ~ 22: 0 Ou F 40\.' ca pa: itvr i ~ rr (J re ~ ha I)
1 50r':;" is G "l'."in
6, M'otOl'" Direction. Cr.20;"'sdn~ t~ 0 IO~'C :e','81 at th is input VIi; I I ~8\'8rSe tlw direction ()f IY'GOr n:ation. If th~ motor rur.s i '"1 th~ "Y" .. HIn~ ui'8Clion i 11 rp.l<ltion ta th~ logic : evel .. r~v~'s~ t~,~ conn8c:io",5 to one :)t18se (e8. interc::"ange th~ connec~io!l~ to terrr ('ai, 1 A c.nd 1 B :', The rr,o:Qr c ir~cti(;n ,nput sholl Id on;y b~ chanqed w,", ilst thi? mot::lr i~ stationary 0r ru-.,ing ~','ith-n its nJP:htop SpE!~C ran~e_ Note that if one of I"e optiono;l os(;ill<ltur c~rds is titted, this connoction be~omes lIn Gutput i ndiG~ti-·O the rrlotc:r di r~c::t;on_ Th is is not necess.;;r·ly the same iI~ th~ req-.J-8,tec di r~( li()n at J tim~ wh~r"' {"''I8 motor is bei nq revers~c:, I Motur ·CIO(:,~ In. A 1( .. <v<'·90ir'9 :r~~s;:iQ~. on :'"1i~ input ca'..lses ,he motur to aU~<lnc~ O·le S:~:), '.'I,'itI1 ,hf! sl~n[Jarj 2M ;:ranslao:o~, the input shou Id rem3 in at logic 0 for '"lot '~ss th8n 5.(JS Jrd ~'Q-:: 11O'e t'1an 30;..:S <I··,d .:;rlothe r low'\jo: 11g oul~e shou Id ,)ot OCC:U' wi~hin 50,l1S l~qLl·v~ient to a r.'l<lXiil"lli'!'l freq1l8nty of 20kHz), Should tho? ;::I'.)ck input bo .... old at log ic 0 the dri~'e , .... i II rlU l r~~~rt to the standby cond itior. and thE! rl~to~ wi I· rUn hot wh il~t ~t~tio'1ary, Wi:h the 208 [""lU Iti5tep tr ansl",ror, the i nput ~hou ,d r~mili"', low "7ar at le<is, 6.uSan d at th8 r.lax irr.~, 1'1 ~Ur1n ing fr~q~ency it ,'"",o .... ld ~t<lY f-o iBh for at I~ast 1 OilS between ClOCK pulses, The r:l<l;>;im~,n'. frel.l~Je'-'cv tor tr'l8 200 trand ator is 60k H l at 1000 s:eps/r8v _ and pro rd t~ ~t low~r res(JlL;tion~ (8c::,U i~'al{:nt to 3000 rpm), Note thilt t"~~ c·,ock fretlU8r1cy l":'IuH b;3 r~mpe[J it ~pe8ci~ wi': .... ,iro tn~ motor slew rllf"1ge are r~qui red, r:3- F au It_ 0 per a t i or. of th 9 Ov Po r I O~ C CIJ t- 0 u t C i rc u i t o~ a p O\,.,.~ r sup pi y. fa i IlJ riO" is ina i cat ~d ·oy tr is 0 u-:: ;)· .. n: go i n g h ig~, 8 net 11e co ntro I ~VS t e rY'. m u ~ t be a \ e r: to tl-., i s condition si nc~ no further comn'l.mds wih be oboV~d unti I the ii:l'..Jlt is cI-ear~d, Trc d~i\'e must be s ..... itcl1ed otf to reset the overlu8d ci rcuit, Srou lei th~ t8uil: cor,di:ion "~8rrE;;ar i Mm~d iate·IY 0'"1 switch-on 8nd therB ar~ no 8xternal wiri ng r~ultS, i'. i. prob~bif: that the min -'-'ilS lJ~en d!lI'1ag8d_
4,6 Preliminary Checks prior to swit~hing on the Driye NOTE; It is i ""pO~t8n1 t'"13t the followi 1'19 ch~kl i~t i~ bllowed be~ore power is a:)pl i8d to tr.e dr:ve, Fa'...lty [;onr)~c,ion~, and ,hon circ'... its in ?crticul ar, will i Iw",r i~blV re5'~ It in p~r:-nlln~·lt (l.,n~ag~_ : 1 Chock that the AC supp:.y V·:)lt8g0 is correct. Wher~ the iSoiatinl; :rar-.sformer ha, t~ppi n~, or mul t;fJle '."'i''.dir-gs ~or operation frum C ifferer~t ~uoply volt~g~s, check th e co n [1 ~c: i 0 ')$ (0 t h8se P <Or t i cu I a r I Y Ga r 8fld I y, 2) C~,;::ck that th8re .o;rC' no short cirClli ts :)8,:we~n any of the rr,otor co~r·ect:ons, '~'{~h IOW-:I'r.;)ed';:':1c~ m~tor ':.'i ndirgs t·)iS ·n~y b8 d iffiGult, and if there is ar',y tlou~: The Y'iiri~~ b(·t~·.';)en motor <Inc Jrh'~ Should ~8 chocked by t~rlporar~ly discon· n~cti ... g tho mot8r. 31 Check that d'e muter ph8SC, <;.re isolated ~"um ~~(h ot:'I~r, With somi? types of dri·1e i: is ilS.J~1 tor "!..,~ ccntre-t-'lp connectiuns af 6·1P.~d motors to be joined tOQeth~r, but ~·.'i:h t~le 107 3 :~Iey 'TlU~t be !(e~)t separatc_ Note tr.at 5-leac: motors ar~ not su·tOi[)le fo~ .JS'" ':Jith "!~,is dri\'e_
26 '------------_._--------------_ ... _ ...
4) Check that the motor has beel"' wir-ad exacdy in accordance with th8 publ i~hed data and thiit <lny unused leads are individua IIV insulated and anchored mechani~~lly , 5} Check that there are 110 short-circu its to ~art~ from any of thE! motor I e~ds, 6f Confirm that th~ d rive is being used with the same (ype of motor tor which ~t was suppl ied_ I f this is not the caSe the drive settings may ne-ed to .De 1IIt~red, see section 4.7. 7) Flnally ~heck th<lt all extemal conn-ectiof'ls are ~oUr1d and tight, ilnd that the fus~s are ~e{;ur€ly fitted, S ..... it~h on the AC suppty. With the drive energised it
"':':~'"
+ 12 V
1 J p _----....,...-----01~_ .......... .._-G iF
(C TIl..l
t-...... t--.... Q i~
1 ~P£OAto.C£ TC ~l2'o' IS GR £ AT £ R
THAt< 4-KIA;' DI'lII(;e.;'
LOGIC t"oIGH= +1110"'-13 lJ<3IC L8';,i , Q.~ rQ +, 'i
. c·e I S ~ I~.oi = ~.' C I JG ~ MA ~ :
LOGIC ~o~ . ,.~ "1~~ AT ]~""A
l8(01 C ~I tH, +11 TC·+·,~~'
LOGI ( LO ..... ~ H MA ~ AT 15" A
L:QI( HIGH = SIC :'<~. MA~:·
LC'~ C _OW •. ,~. t"~~ ~~ 10"~
LC~I~ f-"I(H = O'C i]O·~ M,/o.X I
~JG- C L·JI'I = ".' t-It~ ~T 15" ~
"le>_ ~l INtERfACE elflCUITS USEO .~HeRNAllY ON DIGIf'LAN DRivEs
27
should be possible to detect the chopper switching noise coming from the motor. The unit is now ready to be set up as required.
Table 2. Connections for basic drive with translator
FUNCTION TERMINAL STRIP INTERFACE NUMBER CIRCUIT
(See Fig. 21)
Ov 1
Boost 2 1A
Energise 3 1A
Zero Phase 4 2
+24V 5
Motor Dirn 6 1A
Motor Clock In 7 1A
Fault 13 5
4.7 Setting up 1073 drives are normally supplied for use with a specified motor and in most cases no further adjustment will be necessary apart from setting up the oscillator. Where an oscillator is included with the drive, setting·up instructions will be found in the relevant supplement to this manual. However, should there be resonance problems or the motor runs excessively hot, the situation may well be improved by alteration of the drive settings. In this connection it should be noted that stepping motors are designed to permit operation at relatively high temperatures and a loaded motor running continuously may well become too hot to touch. In most cases a motor body temperature of up to 80°C need not cause concern, but above this temperature consideration should be given to minimising the dissipation by reducing the motor currents. If the motor will not provide the necessary torque without running excessively hot it is likely that the motor is unsuitable for the application.
4.7.1 Setting up the standard 204 translator 1. Motor resolution This translator normally operates in a half·step sequence giVing 400 steps/rev. with a 200 step/rev. motor, and this is the preferred mode of operation. Should the 200 step/rev. mode be required, insert Link 4 on the 204 translator board (see Fig. 22). Note that the maximum obtainable RPM is unaffected by the step· ping mode, so at 200 steps/rev. the maximum stepping rate is halved. 2. Regulated Motor Current. This is determined by resistor R30 on the 204 translator card (see Fig. 22) and Table 3 gives approximate resistor values for a range of motor currents. The manufacturer's current rating may be used as a guide to the maximum regulated current, but it is usually based on resistive power loss in the motor and only applies at low stepping rates. At high speeds other losses predominate and motor current may have to be limited by motor temperature considerations (see section 4.7).
Unless otherwise stated the rated current per phase normally refers to unipolar operation with two phases energised. With a bipolar drive the maximum current ratings may have to be modified according to the operating configuration. For 6 or 8-lead motors with the windings connected in series, the permissible current is 70%
28
w en C; or w
w Z
en w W 0
0 ~ 0
~ w > 0
" w or
29
~
z ~ w ~ or => DO or => u 0 u or
0 u «
w z ~
:; w if)
"- z
::: 0 « DO
0 ~
w or " 0
N
W en Z
0
Vl
DO 0
~ ~
> if)
w -Vl or w -cr--o
~ ------f___
'" "-w w :;; Vl
0 en w
0 a DO or 0-<[
or " 0 a z "- 0 z
«
w if)
=> '" en ~ en
:;: N 0 N or "-
'" ll. w 0
Z or 0 <[
Q 0
~
z >: CD
c u ::
w or or
" ~
::: u -> :;;
~ 0: if> C ~
0 0
~I ~I
0 z ~ z <[ <[ ~ :;; en
" or ~ w 0 <[ en z
Q; th~ Ll" .pol.;;r r""Iin~. For 8-,ead rro,or5 wi'.·', lh~ wi~dinL:s in par~llel th~ r2.t~c curront D~r p~,ase rr&y oe :ncreas~c I~v 40':{,. B-18~rj r."otors ~annot be ooerated ir paral: el, but wren one wirJirl~ is 'LJs~d OE'!r ph<i~e the m3ximum cu rr8nt ,~ .... i II be !...,~ Sllr·le oS lh~ "8 t~d ~'8Iu~. l.'~'~.~neV~i" th~ full rr.o:or tDrqu~ i~ flot re: . .jlli '8(: :: \"1;11 gen~rOlI 'i b~ 8CVdr't~.g~;)US ,0 '~duce :'"1e motor Cu rren:, Th is wi II rp.duc~ thp. r:lissira.t!on i ,) 00,". rlotor JIlC d r"ole c ~,d '.".':11 .;;1$0 11810 to r~duc8 r~sonanc~ effect" No te t 11 a t th e ·00 05t ~ 3C iii t V r"l a v tJ ~ .)£E:?d ; t ~,_I. tor 1 u e is 0 n I y reG,;.l i ~e C DCC a s i 0 ~'';'' I y, 3. SOOIT current. By u~i ng the ·:)(Jus r_ facil ity the r~gu IJt~d cu rr8n: may be increased wh en ex t" ~ to rq-.: ~ i s ~ ~ t] u; red, f (] r i 11~t a n C~ d u ~i nq aCCi? I e rat ion. The ~ r] creased currer.t cw·ng boost is lirnit~d to th~ p8Jk c>utput of the dri\'e, :h~r·~forB rJ·~ milximurr, pwc~n:age . ncr~.;:;s8 in c;Jrr~nt d8p~nds on the regulatet< curren:, R8sistor R 11 un th~ 204 tr;;nsl8UJr [)C::8rd d~~orr.1: n8, th8 boosted C..lrrent, and T8b' e 3 sh()'.'.'s th~ mi ')imlJ I';"' ~'~llJ~ of R 1 1 ~i)r ~i ... en requ lilted ClI"r~n:t,
If t~e boo~t faci litV ;, tu b~ used fr eflu8r:tlv, comicc·ratio(', ~hou Id be gi~en to the r~ulfng i ncre<lse in "nuto" d ,s( p~ti(}:); thi~ m~y al reJcy oe Dffset by stcndby period5 (see Part 4), 8! :~rrl8 tiWI y it "l18y 08 Pos~! ble to reduce the regu Iilt~d C~I r"8rlt, 4, Stim(/I) y CII!',"f:m. In n10 st a pp I i cat, 0 ns th e to rq u e r 8 q u- red ~ t st ~ (1 d s till is I'"llJ cr
low~r t-·,,,,·, whefl h~ ·'now'· i~ I"'~ nni ng, an:::! :he transl~tor t<lk~s ccv.,.·',ta~e of th is by culQrnalic81·v r~{]uchg t..,c moter Glnent at ~tc -'dst; II, Th~ standby eu r'ent is d~t~r 1'1 :np.d oy R23 on th~ t~3nsl.;,to" card \5~~ Fig, 22) 8nd t~)~ 0' ... ~ .,; normal y $upp'i~d '~~itl1 R23 ~eL to 3K3 wh-ch lli'.'~s 8 St .. nJ:)V CUr"Pont ::If 8b()'...:T 25~ of the r~~LJI<lT~c. current. The ~'al\" e o~ R 23 rur '" [.i~~r] st~n(!~y cu rr~n~ c.~pcnds on the re-g u I ~:ec cu r re nt, and it· ~ ~;::S t J ~ t ~ r-Tl i rl ~ j ~)( OH i i".;"~ ~ f'It 8' I y U ~I nq J cu r re n: mete r In S~rI'-·s ' ... .!It~, O~,,: of the "'"1otor I~ads. Dc n:Jt use a standbv (;ur"~nt gre8ter thi!"I 50% of tl1~ r~tl'.; atr.·(1 ~ ~ rren:. I n certain app IC3':iors i: rn1lV be desiral)le to de-envgise COmr;I(HClv ~t s:;:;ndst I. [)n::vic;:;c :t'1lt Cl ~()ssd)le loss of POSition s 8Cr:~tlt<1b·e. This may hi:! ;;chieVeC oy if1Sertin9 Lir·1.;, 1 tn tbe 2.04 lr;:;nslato~ board (s,'!o Flg_ 2.2:1.
Table 3_ Resistor ~alu-es for fegu~at~d and boast ¢urrent~ - 204 translator.
VALLE REG U LAT E D CU R RENT MI r.1\1UM MAX, '* OF R30 WNE ?HASE O\l~ VALUE OF ;:\11 BOOST
CA CB,CC
10K S.3A 4.1A 82K 14D7;1 15K lOA 5A lOOK 1 OO~·-::, 22K 11,4A 5JA l5QK 7 or.;
47K 13,6A 6.8A 220k: 500.-( 1 BOK , 5, 1A 7.6A 390K 33% Open 16,GA Ci,c.Jit
8,3A 56DK 2Q%
Note t,~a~ ~ne r'No-ph£lS8-0f) c~'rrent (eQi..Jivair,'r"lr 10 the iJn,'po,lar rating Qf t~e motor) is 70% of [,'ie va,'ue shown abaVOl.
Tl1c tabli? shows t\-,e min: rr,u rn p;::rrrlitt~d V81v9 UT 9: 11, and the correspor.dirg pe rce nt",ge boost, fo rag i v e n reg ~l I a:8 ("j CU r~ ~ n t. For sm a II e r pe rce ntag~ boosts, lJSe ttl!;!' villu~ of R 11 sho~'m opposit~ tne fequi red boo~t val ue,
30
Table 4. Re~i~tor values for regulated ~urrenl - 208 translator_
VALUE OF R82 8nd R83
2K2 3K3 4K7 6KS 10K 15K
REG U LATED CUR R E:\lT (ONE PHASE ONI
CA CB, CC
8,BA 10,6A 12.2A 13,6A 15,2A 16,3A
4.4A 5,3A 6,1 A 6.8A 7,6A 8,1 A
(S1J8 nare under I<"iD.'& J;
4.7 _ 2 Add i t i onOiI i nformatjQ non setti 1"19 up th e 208 Mu I tistf!p Tt a ns I ator. (T 0 :)f! read in coniiJn(;:io~ wit'"! 4_7 _1.)
f_ Motor resoiution. T..,<'! 2D8 Tr8mlato:"" may D8 Sr8f-ifi8d with resolut ons u~ ~:ther 400, 600, BOO or 1 000 ners/r!;!'~, The <ldjustm~m 0' the s::eo-d ivis;on circu itry is not a t8$k wh il:h can oe ~~ad ily L.J nJertllken oy m~ ~usturner. and sroulrj a ehaf1ge i n r~~ol LHio·' be requ ired it is '·8comr'le'1ded that the boa, d be re;:u rnec to ,..,~ manllfacturer. 2, Regulated Motor Current_ Th is is d~termi '""leG by A82 anc· RB3 on th~ 206 boa~G i,ee F Ig_ 23). Tal)le 4 gives improxi 'n~t~ r8sistor v~ lues for .;; ra·11~8 uf motor curr~n~s. Note thllt both rO!~;stors must be of th~ samf! va ·lle, 3. Boost current, When DU(l5t is apP'iec, the ~()to~current ircre.%e~ ·0 lOA iCAI ur 10.LL. feB, cq. . "
4, Standb y current, R 5 and 86 0 n '=~,c 208 boar d de ce rm i n~ th €! s to! no t}~i C:J r rerlt (see Fig. 23), T h~se r~~,stors are normally SE!t to 2. K2 wh ich typiC811y re{iutes the motor '~urrent by about 50% at Standstill. Ho ..... ever, as in t'1~ case of th~ 204 tr a n s 18 tor, the res i s t a nc ~ va I U e for a 'J i ve n red ..Jct in n d 8 p~ rlu 5 a Iso 0 n t~ ~ r~9 ,l lated c~rr~nt. DC"< not LJse e s:mdby cu~ren: gre8ter th8r'1 50\', of thp. regulated c:urn:::nc. I :1sert L:'"1k 10 to cO""lplmely der€-flerqise the motor at st1lndsti d_
S. FAULT LOCATION .1 n th~ .e~~nt of <I fault occurrir"!g, firSt sw;tch otf the dri\l~ ~nc:' carry out 8 ",iSU81 ! nspe~tlon to el1SlJ re that ~I~ external ~Of"ln~ctions Q~e sO·..Jn(1 anc tig~~, I~ a II is In.o'·de r, study the foil owing I ist of fault ~ymptorn5 8nc then f::lliow {he cpproprlato. Ch8Ckl?~g sequence, Th~ ~os~ibl ~ causes rnark€!c • relate to Sy5t~~~ witl1 a b u Ii t -I n osc III a to r.
Table 5. Power Supply voltag-es
TEST POINT
L 1 - L2 Terminals ~
, HV Te~mi-,al
Cont~ol sign~1 conn8Ctor, termir:al 5
DC volt<lges are with resp8ct to O'J,
~or/ INAL VO LT AGE CA,CB CC
172 AC
24G DC
+24 DC
86 AC
120 DC
+24 DC
·On cri~es .... ,itl1 3·phase input, th~s '.'o'tag8 w~l· .,.1 So be rr·easur~rj acruSS l2 - L3 a'1d L 1 - L3,
31
W I\..l
N S ~ r~ T f i ' :' N N f ',- T I~" T E: :;; r~ .\ I
'::o:'::III:"'T~1 Th/"NC,Lt,TDH
:, t. T H [ IJ '. T (
rJ il II, I"r I
o
IP·if- E: NT
~~I I
I
o
F H:~M
lC,~IIE: f ONW/,Fi!'S
I L'e, o
<;' I L V I '~
/6
rlG)3 LINKS AND PRESET RESISTORS ---------- ----- ------
ON 208 TR/,NSLATOR -----------
SYMPTOM
Motor fa i Is to rotate but can be turned by hand. Green I ight not on.
Motor fails to rotate but can be turned by hand. Green I ight on.
POSSIBLE CAUSE
AC supply fai lure.
Power supply fault.
Energise input high or open-circuit.
Motor windings or leads open circuit.
Overload tripped (shown by LED on translator).
o
rtS O;::::::J-O-o
o
LK 1[1 _
0--0
-' I r:::::oJ c=::.v ~ -
fi 0
o=-ci
') f T C,T/\. N IJB 'i
C IJ·; 1-, r NT
IN:' F- f.l r 1 ()
rJE-ENf f-lC,IC,E AT
S 1 A N 'J S T II I
L!NK J IS WIRf II~jK ffl;-?OLJGH rHE: blJhR[)
11['v1()VE WfjEN DE·F-NERGI,::;,F Ft,llLI TV
::{EOL iRE [",
ACTION
Check incoming AC supply, mains fuses FS1, FS2 and FS3 (Where used).
Check voltages at test points in Table 5. If incorrect, check fuses, bridge rectifiers and capacitors.
Check (terminal 3).
Check for continuity at the drive end (terminals 1 A, 1 B, 2A and 2B).
Switch off, disconnect motor, switch on. If LED stays off, check motor and wiring for shorts. If LED comes on again, drive is damaged.
Replace (see Note 1)
tl Motor fails to rotate
Drive card or translator fault.
Motor or load seized. Switch off drive and check that motor shaft is free to rotate. and cannot be tu rned by hand.
Motor buzzes but does not rotate.
No clock pulses.
Clock pulses inadequate.
* 'Limit' in operation, wrong di rection request.
* Oscillator fault.
Drive card or translator fault.
One phase open-circuit.
Phase connections crossed.
Check for presence of clock pulses at terminal 7.
Check that the clock pulse waveform is not more positive than +1 V during the pulse and is at least +11 volts between pulses; check timing with information given on Page 26.
Check that the Direction Request Signal is correct to bring the system off limit.
If there are no clock pulses at terminal 7, check that the input signals to the oscillator are correct. If so, oscillator is fau Ity.
Replace (see Note 1)
Check for continuity between terminals lA and lB, and between 2A and 2B.
Check as above.
i:MPTOM POSSl flU CAUSE
E ;.:;c~~s iv~ I o~ d
Clocl<. too t1St_
ACTION
i I
w .j>o.
w (f?
Mo tor bU7.Ze~ but does 110t rotate fconHi.}
Motor rurlS wrOl19 Wollj.
Motor will only run at row spl;!'~d S. sl ~ II ~ it spced i r I~ r 1-!,1s~d_
Mo1m rLJn~ up to high ~pe!:!d hut th~n 5t<llls,
SYMPTOM
Motor o\le-r~hoot~ whell commq to r~~I.
Mnlur ~~iHlr.ol he Je-~nergi~~d,
Motot fU"~ very hot.
Acceleralion r ate too high,
Po ..... er supply tau'!,
Control signal tau It.
ResonllrK:1;!' pruhl~m_
B{lD~t input fault,
D i r~c::tio n co ntro I i n[;orr~d .
P h<l se (;011 neC l ion ~ i [)Correct,
Powr.-r ~upply r~u~t.
Boost ~nput flllll L.
F)(C8%ivc load_
Ar:c~leratjon rate too hi~h.
Drive card Of translmm fllUlt.
Final ~.;I(Jc1< r8tc too hi!]h,
A~cclcration ratA (00 high_
F- x ces&i IIC load at hi Uh ~ p~llfL
Poor tfansf r,r mer regu I ati 0 [1,
POSSI B LE CAUS.E
Decder<ltiun r<lt~ tuo high_
Switch off Jriv~ 8nd c::h(!ck motor sh<lft rr~~ lu rotate_
Ch(!ck tllat tbe irljti<t~ ~~Inck rat~ is within the ~l<'lrthtop r<JrIU~ (tNrninol n-Redu(;~ <'Icc(?l(!ration r~to (from crmlrol W~h~m or built-in ()~i Itator) and re-check,
Check \l'ult<'lg(!s Jt test points in T<lul~ 5- rf incoHcct, check fLJ~e~, hridqc rectifiers ~[\d c~p¥.i!or~_
Check r Or .1l1 nor ma lin put siq nlll s S, J~ 11 ,1S 0 ~ i II ati ng dir!:!ct ion input.
I f pos~ i tJl e. $1 ill h tl y r"al~e Of lower doc k rr I;!'qLJE;! ncy ,1nd recheck.
I f the bomt f<lcility i~ b~ing used, ChL'Ck that dll;!' Boo~t Input goes low lIt thl;!' ri!Jht timr.- ~tcrminal 2),
Ch~l:k 8t terminal 6 {or terrnill .. 1 20 wi;h bu i~t-in o~cill~tur~
I rlt erch .. rlge c onrlP.ctio ns to 0 ne p h<ls~. 111- 1 A and 1 B ,
Chcc k pow~ r Sll pp I i~~ 8 ~ 8 bO\le.
Chel: k 8 $ al10\le.
I f system W<l~ pU'!lIiou~ly operOlting currectly luuk tor ~igns of in(;r~cs~d lua(iinH. 09- bearinqs bet:omirlU !iyht.
KCf] uce ctt~l~! ~ tio n rate <l n (I rc-check.
R~pl.'lr:~ (SIO!r.- NotC' 1 )
Reduce mllXim~lrrl (~(lck rat~.
RE'!duce accc!~rat~on T<lte <lrl[J rE;!·ch~k_
C het! k a~ abO'o'c for tiq h t bear i n g~ et c.
Check supply \tnlt.1~(! on 11II1le termirl<ll t)luck wl1~n aU 8xE!'~ loaded simult<lneOlJsly,
ACTION
R~ti U(:.I;!' dece I er <I t i on r <lte 11 nd re -chcc k.
1:r1r.-fQisC' i nput ~hQrtcd to ground_ Chcck.1t If!rminal 3; ~h~k thllt <lppropriate I ink has not Leen i nse rted 0 Il tra ml atoL
Curr~rll r~1,/~h too hi~h for ConsLJlt IrIL}[(U m8nuf.:lctur~r·~ d<lta for motor CUfn~nt motoL r 01 t i Ilg~ <l n d check that program m i n~ r~$is tor~ <I re co rroc t
(S~~ ~e(;lioll 4,7)
UnsUit8bl~ tvp~ ot nlDtor s pee if i ro_ Boost pc-rmancntly in operation.
StandlJy ci rcuit f<lult, or ~ta ndby cu rre rlt too h i ~h-
Refer to specifications ~ S(!(! s;.r.ctiorl 3,1.),
Ch(!ck tholt the Boust irlput (ll;!'rmill<d 2) is Ilot held low or shortcd to ilroum"i.
jf l"flotOI ~tiJi but .. ftl;!'r lun~ lJeriod at standstill, connect cu r rr.-rit mM N in :;e r iB"_~ wit h (}fit! ph as.e <I(ld c heck st.:mdby currcnt_ Ch~ck \lalu~ ot ~t.111dby CUr r~nt r~sistur~, (~ee 4.7.1_ or 4_7.2)
Note: 1 The drive card ,md trarl~IJtor arc ~ntcrdcpcnd~nt ~md it is nP.CE!~~.1t y to ch~ck buth in the ev~nt of 11 failure. If no Switch ~ncl Tr<lnsllltor Test Set t~ avaijabl-e, return tho ~u~pe-ct units to IJi!liplan Ltrl_ or rj1~ir local A!J~nt.
l I
w 0)
6. MOTOR CONNECTION DATA
MAKE
lA
Evershed & Red
Vignoles
G.E.C. 1
Sigma Blk 6-Lead 8-Lead Blk
T-Box 1
Sio-Syn Astrosyn Red Rapidsyn 1
Step-Syn Blk 6A
6B Gn/Wh 1
8A Blk 1
Zebotronics 1
Stebon 1
M.A.E. 6-Lead Gn/Wh
8-Lead Blk
T-Box 6
Vactric Moore-Reed
N.C. -- Not Connected.
SERIES NOTES PA"ALLEL NOTES
1 B 2A 2B ISCJlate unused leads lA lB 2A 2B Isolate unused leads
Grn Blue Yel Brn & Blk N.C. Red Brn Blue Blk Grn & Ye!. N.C.
2 3 4 5 & 6 Link 1 & 6 5 & 2 3&8 4&7 7&8Link
Org Red Yel Wht/Blk/Org Blk Wh/Blk Red Wh/Rd Org & Yel. N.C. Wht/Rd/Yel N.C. & Org & Yel
Org Red Yel Wh/Blk & Wh/Org Link Blk & Org & Red & Yel & Wh/Red & Wh/Yel Link Wh/Org Wh/Blk Wh/Yel Wh/Rd
3 2 4 5 & 6 Link 1 & 5 3&6 4&8 2&7 7&8Link
Red/Wh Red/Wh Grn Grn/Wh Wh & Blk N.C. Red Blk Grn Wh Grn/Wh N.C.
3 4 5 2&6 N.C. 1 6 4 2 3&5 N.C.
Grn Red Blue 12 x Whl N.C. Blk Wh Red Wh Grn & Blue N.C. Use correct Wh common with relevant Blk or Red
Grn Red Red/Wh Who 2 & Blk 5 N.C. Grn/Wh Wht Red Blk Grn & Red/Wh N.C. 3 4 6 1 2 4 5 3 6 N.C.
Org Red Yel Blk/Wh 6 & Blk & BlklWh 6 Red 2 Rd/Wh 8 3 2 4 Org/Wh 5 Link Org/Wh 5 & Org 3 & Yei/Wh & Yel4
Red/Wh 8 & Yel Link Link 7 Link Link Wht 7 Link
4 5 8 2 & 3 Link, 6 & 7 Link 1 & 2 3&4 5&6 7&8
2 3 4 5&6Link 1&6 2&5 3&8 4&7 7 & 8 Link
Grn Red Red/Wh Wh & Blk N.C. Grn/Wh Wh Red Blk Grn & Red/Wh N.C.
Org Red Yel Wh/Blk & Wh/Org link Blk & Org & Red & Yel & Wh/Red & Wh/Yell,nk Wh/Org Wh/Blk Wh/Yel Wh/Red
5 8 7 1 & 3 link, 2 & 4 link 3&6 1 & 5 4&8 2 & 7 -
Consult Manufacturers I I
Note: If the wire colours on a particular motur do not agree with those shown above, consult the motor manufacturer's Information.
I
