Electro-Craft BRU-200 Manual de usuario

BRU-200

and

BRU-500

Brushless

Drives

Instruction

Manual

Electro-Craft®

Servo

Products

Electro-Craft

BRU-200

and

BRU-500

Brushless

Drives

Instruction

Manual

P/N

0013-1028-001

Revision

Reliance

Motion

Control,

Inc.

6950

Washington

Avenue

South

Eden

Prairie,

55344

612-942-3600

Technical

Support:

800-328-3983

ONLY

QUALIFIFED

ELECTRICAL

PERSONNEL

FAMILIAR

WITH

THE

CONSTRUCTION

AND

OPERATION

THIS

EQUIPMENT

AND

THE

HAZARDS

INVOLVED

SHOULD

INSTALL,

ADJUST,

OPERATE

SERVICE

THIS

EQUIPMENT.

READ

AND

UNDERSTAND

THIS

MANUAL

AND

OTHER

APPLICABLE

MANUALS

THEIR

ENTIRETY

BEFORE

PROCEEDING.

FAILURE

OBSERVE

THIS

PRECAUTION

COULD

RESULT

SEVERE

BODILY

INJURY

LOSS

LIFE.

WARNING

THE

USER

MUST

PROVIDE

EXTERNAL,

HARDWIRED

EMERGENCY

STOP

CIRCUIT

OUTSIDE

THE

CONTROLLER

CIRCUITRY.

THIS

CIRCUIT

MUST

DISABLE

THE

SYSTEM

CASE

IMPROPER

OPERATION.

UNCONTROLLED

MACHINE

OPERATION

MAY

RESULT

THIS

PROCEDURE

NOT

FOLLOWED.

FAILURE

OBSERVE

THIS

PRECAUTION

COULD

RESULT

SEVERE

BODILY

INJURY.

Reliance

Motion

Control,

Inc.

1995.

All

mghts

reserved.

The

information

contained

this

manual

subject

change

without

notice.

Electro-Craft

registered

trademark

Reliance

Electric

Company

its

subsidianes.

Tandy

registered

trademark

Tandy

Corporation.

IBM

registered

trademark

Intemational

Business

Machines

Corporation.

INTEL

trademark

Intel

Corporation,

AMP

trademark

AMP

Incorporated.

Molex

registered

trademark

Molex

Incorporated.

Table

Contents

TABLE

CONTENTS

SECTION

INTRODUCTION

PUPPOSC

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eceeeee

nee

nnetee

pee

ceeeseceuevee

HnMAcHensHenRO

Hea

Enea

LdCAnSOnNAcucaNSA

Ene

LOE

CCEA

CnEOH

SHEE

CnEEH

ALU

DRREEAAAESReud

SEDREREE

EEO

EA RE

1.2

Product

Description...

sea

eee

tease

teeeeceecavceneancoeennepeseenneee

vet

set

sagee

peta

nseates

ene

1.2.1

Power

Supply

Modules

(BRU-

500

Only)...

dacneeeseveceescaecenecsessesnesetnsanenersnatengesaneseesutssntenteesnnees

1.2.2

Drive

Modules...

ccc

ccccercseceescueesareeseceseecescaeeseeseeesseserensesecoegse

seadsguaggessansaasasapeamasensaeasebenenenens

1.2.3

Motors

amid

Encoders.i....cccccccsscecesetcesecececeaseseseceecasascecnsseseecsecsenssnnaensenecauaneeassrepenenésedeeseestaseoeese

1.2.4

Transformers

...

pence

ceneaeacceneneag

cae

cncetsaeseenetinereesenseereaerbeddeaeseseabieeasaaneees

1.2.5

Auxiliary

Power

‘Supply

(BRU-

500

Only)...

enue

sus

cesuassesesceneasseseeccsscecaesatansesaesssaessetuaseaeeseceasvansstesenacates

SECTION

SPECIFICATIONS

2.1

Drive

Module

Specifications

«oes

cececcneeeceeeeeeseoceseecaesoeneseneneeeetersecrereceesecess

ttsaviseeameaqsseneeaseneansees

2.2

Power

Supply

Module

Specifications

(BRU-500

Only)...

cece

cee

ccee

cee

nesee

rece

enesvanseerenasinaeesenererersnenas

2.3

S-Series

Motor

Specifications

TTENV)

.......c:ccecssescesssssseeesessesseesesessseeseessceseseecsevasseeeeecavavisasersasrensertacesissese

2.4

F-Series

Motor

Specifications

(TENV)........cccsscsceccscsssnecnensestsscecnesecescensavsveceesseseecscoesnsnetecesstsatpensetsncesnnee

I-Series

Motor

Specifications

(BRU-5SO0

Only)...

ccsccesssssssssesecesssseesessesescessseseeesecueenteenesceereerseecenesceneneaees

2.6

Encoder

Specifications

............cccscceccccecssseescscsnesnesseestesesscenensessecsceascnesscenseseeessenecaessenenenssueqeeteteratencesiyeateneees

2.7

Transformer

Spechications.......0.1..ccccsccecccsessscscssesescsesenesssenensusasevenesseeenscoatvaceusausaaceusersteteseenseseeterecgeeenes

2.8

Maximum

Power

LOSS@S.

...........ccccccccccsce

ses

ceeeececeesceee

veseeceesessaeescaseserseeecseseseeessescencevesereerseeseeciesessnasevsanes

SECTION

Ill

INSTALLATION

3.1

Mounting

the

Power

Supply

and

Drive

Modules

«...........-.-c-cceseesecseeecceeesusceneaaeeseeenseeeceesenaeeesaecavaeceenseaeers

3.2

Power

Wiring...

venue

ceeenneeeseneneeeasinesecursapeeeesessgneeudegeegseqcennsessseesenseseeenetassctsaemesesnesanernte

3.2.1

BRU

500

‘Power

Wiring...

cece

seecaneeesoueeeusesenceneseecassneccenepeesaaeesssscesenstessieseneveertestsamenteraseaneenees

TQ)

3.2.2

BRU-200

Power

Wiring....

besos

caeeeeasesessacesnecae

sua

tasccnerensageeseeeceseeensenstsntennencsstereteriesacre

3.3

Motor

Mounting

amd

Wiritig

nce.

csccsceesesssecesecececeecsesesesessesceseaesesesaeceneseseececesceeceeceseaceererscaeavasenetes

3.4

External

Shunt

Mounting

and

Wiring

(BRU-200

DM-30

Option

Only)

0.0...

ccccececeseetetetecsteeeseessenetane

BRU-200/8RU-500

Brushless

Drives

instruction

Manual

iii

Table

Contents

SECTION

INTERFACE

CIRCUITRY

4.1

Drive

Module

interface

Commectors........ccc

ccc

ccceeecececoessasesseussucueceeessunnsesgueseeserecssgenneenrasesansnerecevens

4.2

Drive

Module

Interface

Signal

SpecifiCations

...........ccccccecccccsceeceeeceeecesuceseneecsuceenrceesaseeneees

4.3

Power

Supply

Module

interlace

Connector

(BRU-S00

Only)...

eeeccsee

teens

sssseencesseeeennarieerereaeeeee

rane

4.4

Power

Supply

Module

Interface

Signal

Specifications

(BRU-500

Only)

oo...

cieceecrcsesereanseenssseeeensees

SECTION

START-UP

AND

ADJUSTMENTS

5.1

Initial

Start-Up

Procedure

...

§.1.1

Initial

Start-Up

Procedure

(BRU-

500)

...

5.1.2

Initial

Start-Up

Procedure

(BRU-200)

...

5.2

AGIUSTMONNS.

eee

eetetec

eee

cneensareneeneseeenercnsonessseatanessusanaseenseessnecaneeetanenersseseasencesseesensenseeeeeeneeeesmaesareaaeaetaee

5.2.1

Power

Supply

Module

Adjustments

(BRU-500

Only)

oo...

ceceeeeeeseseeseseneesereseceersarteceanetaeararies

5.2.2

Drive

Module

Adjust

ments........---:cscsssrscsserssetavensenesessesseneseeesocecesaeedee

seeaeceeseceeaeees

see

caeeaneesenenates

5.2.3

Serial

Interface

Operation...

seaepeteesnevenaseanseaae

seeseeesescerasnaeceestveasaetseaesereaaeesseeeseeesereee

5.2.3.1

User

Terminal

Requirements

...

qevansuasaecesensesee

cssecenetacsusersucssatersscseeecesstecsevenes

ees

5.2.3.2

Operating

the

User

Terrminal................sccccccceccssesccecseeeceeeseeeaenansecenenanesensenaasececoeescneesrensess

§.2.3.2.1

Help

Page

oo...

csi

eceeceeccctee

cue

ceacereee

esta

ceeeesacteunaecenaeneesgesanaaesestentanseraepenees

5.2.3,2.2

Status

PAGO...

ceeccccccccececcsseecetecessctassactecsennectacaecneaneconaesecegeaetacaaeveseeneeuseeeneras

5.2.3.2.3

S@tup

Page

wes

cceeessnsessceneseenssseneeseseescesssssscesscesseeescerssseeeecessanesssseseeseassae

5.2.3.3

Multi-Drop

Host

Mode

Serial

Protocol

«oo...

ceecnecececesceensa

eteveceatenceavecsaeeacssnen

5.3

Tuning

Procedure...

seccccscccceeeeens

ceseeaeedecestanetce

eeeseenesasteeaeseseeneeeueeseetesestaneenenyeeeiusnnnedsidaageas

cid

geneaseccnsenee

5.3.1

Usitig

Auto-Tune

Mode

.......eecsncesescscencenneeeseenereneeteegeecneensaeeseesenenseeaequen

nesteanaatsaaeneneaseesereass

5.3.2

USing

Tune

MOde

cseetsserecscesererssascesessscnenseeneneeseecsegteegeenemseseeestiess

pened

nadenasasatsunvonet

treeseneaan

5.4

Personality

Module

Installation...

cece

ccccseneteeeseesesrsneeenecevaneeeensrseseseeeaeeesassaeaeanassntaesansnsanseerneensesasens

SECTION

TROUBLESHOOTING

AND

MAINTENANCE

B21

OCUCHION

20...

ccecse

tee

eeseeesecesseensssansecescoeaeeesansececeaevecescnsgecesnaaesavensesstesescaseaseenesaceatatanaecacaneaeccnssaascaeeeenes

6.2

LED

Diagnostic

IMPOrMationi........e

eseeceeceeeseeecteesesseeetneneneeessoscesseccestesssuapestiesuaace

steam

tdededeecsdesuneeeeesssetereeas

6.2.1

Power

Supply

Module

LEDs

(BAU-500

Only)

eaventeseeusenneune

sarsesssessetantusseanersetenteauactrovenecsee

6.2.2

Drive

Module

LEDs...

ses

secacceaecaaenaeeceaseace

ceases

sens

concesatessaseaceeeeneensanqecsatse

6.3

Serial

Link

Diagnostic

INfOrmMmation.

......--

eeecccesccceceesecececoscsesecasenttesseneeses

coceneeuesastucessassnsesesesenaseceses

cate

wre

vel

wel

REE

BRU-200/BRU-500

Brushless

Drives

instruction

Manual

7.1

7.2

7.3

7.4

8.1

9.1

9.2

9.3

9.4

9.5

9.6

9.7

Transformers

.....

2...

cececseececcececeesecnencesesceeeseesseecoesserssavaneaussesesensaauauessaaanansessseseevascensessasenessaseneneesecenstrerees

9.9

Motor

Mating

Conmectors...........

eect

ceecceccescsseeeeeeseneesaeessneaseessansanesatanaestensesoaeerasssscenensdevacaceetuqusaatcocetsense

9.10

Motor

Shaft

Seal

Kits...

esesessssseseeccnsneenversareenssuseusensensusavaneraseuseesssonnssessevarsueeanssstusauteateecengateateae

10.1

List

Drawings...

access

ceene

cece

coevscaaeesauseessessseneesseeeeteeceneeseesasedseesiseteenasearsnsetsaneeeetenetones

SECTION

VIl

OPTIONAL

ACCESSORIES

PRO-Series

Controller

Kit

Installation

INStructions

......0..-:00::ccccaccessessesssesseesseeecsetensresenee

Spindfe

Orient

and

Auxiliary

Function

Card

Installation

Instructions

BRU-Series

Cortrol

Station

oo...

cceccecceescncseeecsrssvesceecneesceauecasseqensangesssteepeneusceseussessencareseuaeeevenssereneenees

RS232C0

/RS422

COMVOrter

cceecccccessessscecesececeesestesseseeneessasecaeesececcecaeeeedeqacneiesessenseceatseceaeeneertnestenees

SECTION

Vtll

APPLICATION

GUIDELINES

Torque

Sharing

Operation

BRU-Series

Drives...

eeceece

ese

eees

cee

reses

eeeenenneeeesnseneressnreneessseseneeeee

8.1.1

General

Description

...

8.1.2

Theory

Operation...

8.1.2.1

Multiple

Slave

Drives...

8.1.2.2

Unequal

Torque

Staring...

8.1.3

Set-Up

Procedure...

eoseseecetereteeeteenensoeecoesansaerenenaneecaenes?

8.1.3.1

Wirng

Instructions...

8.1.3.2

Tuning...

SECTION

REPLACEMENT

PARTS

Power

Supply

Modules

(BRU-500

Only)

oo...

ccsccscsssssssnsecsssssvanesaescseaseesscseeseessestaseceseaueaeessesdesnaceseesecseese

Drive

Modules...

ccc

cscs

cee

ceseseseecceeeeeceasnavenesssenssaaesens

veaesesesentesspesscneseasaseesccscarereessseseseeasaneeneseeeneneeetessetsaes

Personality

MOdUIGS.....

cetcccenecesceeeecseesenessaneusesassaneuasensaeseeansessestersereseneeeteassteeseccsasaesanessanscaneetinesentees

MOLOrS.......

see

ecececaseeeceeseceeneeereesssepeeesesnsseenanenssesenesesiesscstnecsisesee

susseenbeseesnesersessvesteceatsseceeesseaeeatstanseeesseenannes

PRO-Series

Kits...

2...

.cccceccssecersesseeceeecceceseeteeescseeeacausesseeeseescseeueeestiesededieendseueeeeennscenscssrarcsesarenstecesegeeteeateenaes

Spindle

Orient

and

Auxiliary

Function

Card

(BRU-500

Only)...

eee

cee

eceeneneneeneeesteeeasareeeerneeesetasiegs

CADDIES

ccc

ecceccecceneteceseeneeeten

casas

crea

scntenten

sessed

etssenescasasessosceceusatudecesetendascenesansvevsseycecesusevaaucasessaneasanesaasas

SECTION

CUSTOMER

REFERENCE

DRAWINGS

Table

Contents

cave

nenaeveneeeteaenscaes

see

sed

vee

wee

BRU-200/8RU-500

Brushless

Drives

instruction

Manual

Table

Contents

INDEX

ooo

secccesesneenscesusscesnnuescsassnaseaessuessesesateeeereasanerssennuasunenreusnatesueaeeeseeaneesregdaesesececedsogeeeeaseneseceeeapeses

sesaenessteseecees

Figure

1-1

Figure

1-2

Figure

3-1

Figure

3-2

Figure

3-3

Figure

5-1

Figure

5-2

Figure

5-3

Figure

5-6

Figure

5-7

Figure

5-8

Figure

5-9

LIST

FIGURES

BRU-500

Series

Servo

and

Spindle

Drives...

cece

ccceceesscceeneseacnesseasaeeaeteereanenessceneesssrasaatearaee

BRU-200

Series

Servo

Drives...

ccccecccccscepeccsveceeesesacceensscaceees

suasceetaccuasenacesseseuaneqessseuessesaneesensaeees

S-Series

Motor

COnmmections..........

ccc

ceceeecerceeeseeneeccneeaneeecetaredeneersecheaesceeentetaunesessasecdcaeeeedssenanens

F-Series

Motor

Connections...

scsessseessensensssessenerssenenecssseseuscauonsessusevarseneneansevensesangeaesasener

I-Series

Motor

Connections

«02...

ececescscecsesercereneeececesseneenesensenseeaeaneseresanensssnceresneseeesnesssennneneceecenees

PSM

Jumper

Locations...

cece

cee

eeeneneseteeaceseneee

nts

ceeenqessceaesecencatang

seeeeseensenaneeeeiresenee:eraneseneet

Jumper

and

Personality

Module

Locations

«0...

eececeeeeceseseeeeseene

nessa

see

sineeaeeeeen

ents

Serial

Terminal

HELP

PAGE...

eee

eeenscecrs

teens

tesccegsesees

teegsnenaecesenenetenensneaes

saaeeesensneasaeas

Software

and

Personality

Module

Identification...

eee

escsesceneceeceesaneaeeeseeeeeeeteseeeeteretacnenees

Serial

Terminal

STATUS

PAGE

..........cceceseceetssescserersessceeeereete

cesses

cencea

erseceraneaeessterstsaseeeeeesenseaess

Serial

Terminal

STATUS

PAGE

After

FaUtt

.......ccscssssscecsssscseseceevsnsnstenseccesveteseseeesnsnnnustescurensereets

Serial

Terminal

SETUP

PAGE

(Velocity

Mode)

woeeceeed

see

netecovesestnseceonseeseeeteceareteseasssstsnensennisseaneetsat

Serial

Terminal

SETUP

PAGE

(Torque

Mode)

.......ccccccssescecsstesecsesseesssuacenesacsnceatersececaencavenaacassaeaes

Serial

Terminal

SETUP

PAGE

(Tune

Mode)

0.0...

eececesesecsseconecenserscesencaecareoternsnsseneneasanesensneness

Figure

5-10

Serial

Terminal

SETUP

PAGE

(Auto-Tune

Mode)

..........-..ecsscceccoeecoteseecoeceenereceneeserersuaeececenenenetes

Figure

5-14

Control

Block

Diagrams

Operating

MOde@S

.............-cescccceececceceeeceneea

ces

ceecesesenentenseceaneeseaeeseseoes

Figure

5-12

Typical

Small-Signa!

Response

for

Well-Tuned

Systerm...........cccccscscceesescesseeseteerseseeneevensersesesess

Figure

5-13

Personality

Module

Installation

oo...

ccc

cesses

sseeeecsteceeseeseessesuceuessecaeersseresegecbaressnardetacateceseasates

Figure

7-1

Figure

7-2

Spindle

Orient

and

Auxiliary

Function

Application

(BRU-500

Only)...

cesses

eeecnessseseeeacees

BRU-Series

Control

Station...

cece

cesses

ceceeeseececo

eevee

nsseaus

sees

saeevecsarsnseenessebayeneusssesererenense

-13

Figure

7-3

BRU-Senes

Control

Station

Connection

Diagram

........

cecscccescaececeeseueccrscetecetaceceeeecarentaneeeats

BRU-200/BRU-500

Brushiess

Drives

Insiruction

Manual

Table

Contents

LIST

FIGURES

(Cont.)

Figure

8-1

Examples

Torque

Sharing

Operation...

ceeesesessecseneeserseeeseeresseeeeesseserscenssensasaneenes

peesseaneates

Figure

8-2

Recommended

Wiring

for

Torque

Sharing

when

Motors

Rotate

Same

Direction...

ccscsssseecsses

creer

cecececee

sesceeseeseseeessaneasasearscsssaseeasasneneseee

Figure

8-3

Recommended

Wiring

for

Torque

Sharing

when

Slave

Motors

Rotate

Opposite

Master

MOtor

...........cccccccceescsescecsesceueececeaeeseecuescecseeeseeeanssenererteeeatsenanaesena

ees

Figure

9-1

Personality

Module

Model

Number

Description

...0.....cccccc

eects

eeeeee

tence

tee

reese

ebeenecenereentnacaeaense

Figure

9-2

Motor

Model

Number

Description

.......

eect

cerreee

eee

teens

testeeneessernnrereseneaceaesserenetitecasser

eases:

LIST

APPENDICES

APPENDIX

Getting

Started

With

the

Tandy

102

Termiitial

...........c:c-ce:cccseceeceeececeeccenececeneesraneseascateatcovenenenes

APPENDIX

User

Terminal

Communication

Codes

...0....:.ccccccccssesscseescssssseceseneeseeseneneneet’

venavensesasesanansaceesees

APPENDIX

Getting

Started

With

IBC

Terminal...

ccccccccccceccsccsessessecscecesanneaescaesaseraeeeetnseeeseseeeees

APPENDIX

Communication

Problems

and

Possible

Cures

.00....0....cccccccecscesesseesceseeneststeneeceesssseesseetareeees

BRU-200/8RU-500

Brushless

Drives

instruction

Manual

vii

3393

9992992992393

introduction

SECTION

INTRODUCTION

1.1

Purpose

This

manual

describes

the

Electro-Craft

BRU-Senies

brushless

servo

drives

and

spindle

drives

along

with

standard

Electro-Craft

motors

recommended

for

use

with

the

BRU-Series

drives.

The

manual

intended

for

use

qualified

engineers

technicians

directly

involved

the

installation,

operation,

and

field

ievel

maintenance

the

drives

and

motors.

1.2

Product

Description

The

BRU-500

a high

performance

sinusoidal

brushless

industrial

drive

employing

modular

package

suited

single

multtaxis

applications.

The

drive

modules

can

power

S-Series

and

F-Series

permanent

magnet

synchronous

motors

servo

drives

!-Series

squirrel

cage

induction

motors

spindle

drives.

All

drives

share a

common

power

supply

achieve

the

most

economical

system

package.

Figure

1-1

shows

the

standard

BRU-500

components.

The

BRU-200

high

performance

sinusoidal

brushless

industrial

drive

employing

modular

package

suited

single

multi-axis

applications.

The

drive

modules

power

S-Series

and

F-Series

permanent

magnet

synchronous

motors.

Figure

1-2

shows

the

standard

BRU-200

components.

For

single

axis

positioning

applications,

the

Electro-Craft

PRO-Senes

controller

cards

are

available

PRO-

Senes

Controller

Kits

integrated

into

the

BRU-Series

drive

module.

This

eliminates

the

need

for

separate

controller

package.

Figure

1-1

BRU-500

Series

Servo

and

Spindle

Drives

BRU-200/BRU-500

Brushless

Drives

instruction

Manual

Este manual sirve para los siguientes modelos

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