Parker BD-E Series Manual de usuario

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Established in 1993

The leading independent repairer of servo motors and drives in North America.

IMPORTANT INFORMATION FOR USERS

Installation and Operation of Digiplan Equipment

It is important that Digiplan motion control equipment is installed and operated in such a way that all applicable

safety requirements are met. It is your responsibility as an installer to ensure that you identify the relevant safety

standards and comply with them; failure to do so may result in damage to equipment and personal injury. In

particular, you should study the contents of this user guide carefully before installing or operating the equipment.

Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or special

damages of any kind whatsoever, including but not limited to lost profits arising from or in any way connected with

the use of the equipment or this user guide.

SAFETY WARNING

High-performance motion control equipment is capable of producing rapid movement and very high forces.

Unexpected motion may occur especially during the development of controller programs.

KEEP WELL CLEAR

any machinery driven by stepper or servo motors. Never touch it while it is in operation.

This product is sold as a motion control component to be installed in a complete system using good engineering

practice. Care must be taken to ensure that the product is installed and used in a safe manner according to local

safety laws and regulations.

A permanent mains safety earth connection must be made to the earth terminal on the front of the drive

case before applying mains power.

If the equipment is used in any manner that does not conform to the instructions given in this manual , then the

protection provided by the equipment may be impaired.

EMC INFORMATION

EMC Information is presented in boxed paragraphs (such as this one). Digiplan cannot guarantee compliance

unless guidelines are strictly followed.

The information in this user guide, including any apparatus, methods, techniques, and concepts described herein,

are the proprietary property of Parker Digiplan or its licensors, and may not be copied, disclosed, or used for any

purpose not expressly authorised by the owner thereof.

Since Digiplan constantly strives to improve all of its products, we reserve the right to modify equipment and user

guides without prior notice. No part of this user guide may be reproduced in any form without the prior consent of

Digiplan.

The following Warning and Caution labels are fitted to the drive:

WARNING

High voltages remain

after power removed.

Do not remove cover.

No user-serviceable

parts inside.

CAUTION

Hot surface

Do not touch

motor earth

Symbols used on the BD-E series of drives have the following meanings:

Refer to the

accompanying documentation

Risk of electric shock

Hot surface

Protective conductor terminal

Alternating current

Frame or chassis terminal

Product Type: BD150E/230V, BD75E/230V

The above product is in compliance with the requirements of directives

•89/336/EEC Electromagnetic Compatibility Directive

as amended by Directive 92/31/EEC

The product is intended for use in the Commercial, Light Industrial and Industrial

Environments as defined in the relevant EMC standards.

This product is compliant with the Low Voltage Directive.

•73/23/EEC Low Voltage Directive

•93/68/EEC CE Marking Directive

CONTENTS i

CONTENTS

Section 1. INTRODUCTION.......................................................................................1

Section 2. GETTING STARTED .................................................................................5

Section 3. INSTALLATION........................................................................................9

Section 4. HARDWARE REFERENCE........................................................................27

Section 5. MAINTENANCE & TROUBLESHOOTING ....................................................31

Appendix A. ENCODER SETUP................................................................................35

Index.....................................................................................................................41

User Guide Change Summary

The following is a summary of the primary changes to this user guide since the last version was

released.

When a user guide is updated, the new or changed text is differentiated with a change bar in

the outside margin (this paragraph is an example). If an entire chapter is changed, the change

bar is located on the outside margin of the chapter title.

Major changes introduced at revision 03 are:

LVD Compliance

ii BD SERVO DRIVES USER GUIDE

SECTION 1. INTRODUCTION 1

Section 1. INTRODUCTION

Product Description

The BD-E Series of EMC and LVD compliant brushless velocity/torque drives are capable of

operating direct-on-line from a 220-240V AC input, with no isolating transformer. A choice of two

current ratings are available:

BD150E/230V 6A RMS continuous (12A RMS peak)

BD75E/230V 3A RMS continuous (6A RMS peak)

Both drive types have high resolution sinusoidal commutation and have been designed to be

used with three phase brushless servo motors. Control of either velocity or torque is provided via

a ±10V analogue input.

The drives are equipped with multiple protection circuits which guard against output short circuits

and excessive current output over long time periods or at low speed operation. Further circuits

protect against overspeed operation, commutation loss, motor feedback loss, overvoltage,

undervoltage, supply failure and overtemperature faults.

Figure 1-1. BD-E Drive

2 BD SERVO DRIVES USER GUIDE

Product Features

Protection Circuits

Overcurrent Overspeed

Commutation loss Supply failure

Overvoltage Undervoltage

Overtemperature of motor and drive

Function Indicators Adjustments

It Clamp Tachometer gain

Current Limit Balance

Drive Fault Time constant

Overtemperature Damping

HV Present

Outputs and Inputs Other Features

Reset/Disable Power dump

Differential velocity/torque demand input

Fault output

Incremental encoder outputs

Monitor Circuits

Tachometer output

Current level output

Note: Three internally mounted indicators (visible through slots in top of case) are also provided

to allow motor setup. The LEDs are: Overcurrent

Index

Commutation

Controls and Indicators

LEDs

HV Present LED (Green)

This LED indicates that the DC bus voltage is present, but it does not necessarily mean that the

logic supplies are correct.

Warning - Risk of Electric Shock

When power is removed, the drive terminals should not be touched while the

green LED remains alight.

SECTION 1. INTRODUCTION 3

Current Limit LED (Yellow)

Illumination of this LED indicates that the current demand is exceeding the drives maximum

programmed current, and is therefore clamped. For adjustment of the current limit level, see the

current limit bit-switch setting sub-section.

IT Clamp LED (yellow)

The illumination of this LED indicates that the drive has been set to demand too much peak

current for too long a time, causing the current limit to be reduced to 6.8A RMS for the

BD150E/230V (3.4A RMS for the BD75E/230V) to protect the drive.

Overtemperature LED (Red)

Illumination of this LED indicates that either the drive or motor is operating outside its specified

continuous temperature rating, requiring extra cooling to be used or reduction of the operating

duty cycle.

Note: the over temperature LED will also be illuminated by faulty motor feedback connections.

For more information refer to the Maintenance and Troubleshooting Section.

Drive Fault LED (Red)

This LED indicates one of the following fault conditions:

• Overvoltage

• Undervoltage

• Supply failure

• Overcurrent

• Overspeed

For more information refer to the Maintenance and Troubleshooting Section.

HV Present

This LED indicates that a voltage is present on the High Voltage capacitors.

Internal Commutation LEDs

Three diagnostic/set-up LEDs are present within the drive, but can be observed through the

ventilation slots on top of the drive towards the front panel face. From the front panel face the

LEDs are:

Red Overcurrent

Yellow Index

Yellow Commutation

4 BD SERVO DRIVES USER GUIDE

The index LED is illuminated when the index pulse is high and the commutation LED lights when

the A channel of the commutation encoder (Com A+) is high. For more information refer to the

Commutation sub-section. The red overcurrent LED provides greater diagnostic information

under drive fault conditions.

Potentiometers

Balance

This 20 turn potentiometer is used to adjust the balance of the amplifier to give zero motor

current when there is no velocity input demand.

Tach Gain

The level of the velocity feedback is adjusted by this 20 turn potentiometer. For settings see the

Installation section.

Time Constant

The Time Constant single turn potentiometer and associated components determine the

bandwidth of the amplifier. For settings see the Installation section.

Damping

This single turn potentiometer adjusts the response characteristic of the amplifier so that the axis

achieves the demanded velocity without overshoot. For settings see the Installation section.

Bit Switch

All drive options are selected by the front panel bit switch, there are no internal links or

adjustments within the drive.

The bit switch selects the following functions:

Bit Switch Number Function

1, 2 Motor pole number

3 Commutation encoder pull-up selection

4 Encoder resolution

5 Velocity/Torque selection

6 Reset pull-up/pull-down

7, 8 Current limit

Table 1-1. Bit Switch Setting

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