Lenze S94P01G Position Servo Manual do Utilizador Página 1

PositionServo (MVCD)Users Manual

S94P01G8IntroductionFilter Part Number DesignationE94Z F 4 T 4 A1Electrical Option in the 94 SeriesF = EMC FilterFilter Current Rating in Amps:04 = 4.

S94P01G9Technical Data2 Technical Data2.1 Electrical CharacteristicsSingle-Phase ModelsType (1)Mains Voltage (2)1~ Mains Current (doubler)1~ Mains C

S94P01G10Technical Data2.2 Power RatingsType(1)Output kVA at Rated Output Current (8kHz)(2)Leakage CurrentPower Loss at Rated Output Current(8kHz)Pow

S94P01G11Technical Data2.4 Digital I/O RatingsScan TimesLinearity Temperature Drift Offset CurrentInput ImpedanceVoltage RangeUnits ms % % % mA Ohm V

S94P01G12Technical Data2.8 PositionServo DimensionsC 15 12 12 A 38 D B 34dia = 4.574.57S923Type (1)A (mm) B (mm) C (mm) D (mm) Weight (kg)E94_020S1N_

S94P01G13Technical Data2.9 Clearance for Cooling Air Circulation>25mm>3mm >25mmS924

S94P01G14Installation3 InstallationPerform the minimum system connection. Please refer to section 6.1 for minimum connection requirements.

S94P01G15Installation3.1 WiringDANGER!Hazard of electrical shock! Circuit potentials are up to 480 VAC above earth ground. Avoid direct contact

S94P01G16InstallationEMCCompliance with EN 61800-3:2004 In a domestic environment this product may cause radio interference. The user may be required

S94P01G17Installation3.3 Line FilteringIn addition to EMI/RFI safeguards inherent in the PositionServo design, external filtering may be required.

Copyright ©2005 by Lenze AC Tech Corporation.All rights reserved. No part of this manual may be reproduced or transmitted in any form wi

S94P01G18Interface4 InterfaceThe standard PositionServo drive contains seven connectors: four quick-connect terminal blocks, one SCSI connect

S94P01G19InterfaceP1 Pin Assignments (Input Power)Standard Models Doubler Models1234L3L2L1Pin Name Function Name Function1 PEProtective Earth (Ground)

S94P01G20Interface4.1.3 P3 - Controller InterfaceP3 is a 50-pin SCSI connector for interfacing to the front-end of the controllers. It is stron

S94P01G21Interface4.1.4 P4 - Motor Feedback / Second Loop Encoder InputFor encoder-based 940 drives, P4 is a 15-pin DB connector that contains connec

S94P01G22InterfaceP4B Pin Assignments (Resolver Feedback - E94R Drives)Pin Name FunctionRESOLVER15P4961 Ref +Resolver reference connection2 Ref -3 N/C

S94P01G23Interface4.1.7 Connector and Wiring NotesNote 1 - Buffered Encoder InputsEach of the encoder output pins on P3 is a buffered pass-through of

S94P01G24Interface4.1.8 P11 - Resolver Interface Module (option)PositionServo drives can operate motors equipped with resolvers from either the (P4)

S94P01G25InterfaceSetting the Dip SwitchesTo change the DIP SWITCH SETTING1. Loosen the three set screws on the module2. Detach the PCB board from t

S94P01G26Interface4.2 Digital I/O Details4.2.1 Step & Direction / Master Encoder Inputs (P3, pins 1-4)You can connect a master encoder wit

S94P01G27Interface4.2.2 Buffered Encoder Output (P3, pins 7-12)There are many applications where it is desired to close the feedback loop

S94P01G1Contents1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51.1 About These I

S94P01G28Interface4.2.4 Digital InputsIN_Ax, IN_Bx, IN_Cx (P3.26-30, P3.31-35, P3.36-40)The PositionServo Drive has 12 optically isolated inputs. Th

S94P01G29Interface4.3 Analog I/O Details4.3.1 Analog Reference InputAIN1+, AIN1- (P3.24 and P3.25)The analog reference input can accept up to a ±10V

S94P01G30Interface4.3.2 Analog OutputAO (P3.23)The analog output is a single-ended signal (with reference to Analog Common (ACOM) which can represent

S94P01G31Interface4.4.3 RS485 Communication SetupWhen establishing communication between MotionView and a PositionServo drive, a communication method

S94P01G32Interface4.5.2 Motor Over-temperature ProtectionIf using a motor equipped with an encoder and PTC thermal sensor, the encoder f

S94P01G33Interface4.6 Using a Custom MotorYou can load a custom motor from a file or you can create a new custom motor.• To create a custom motor cli

S94P01G34Interface4.6.2 AutophasingThe Autophasing feature determines important motor parameters when using a motor that is not in MotionView’s datab

S94P01G35Interface4.6.3.1 Electrical constantsMotor Torque Constant (Kt)Enter the value and select proper units from the drop-down list.NOTERound t

S94P01G36InterfaceNominal Bus Voltage (Vbus)The Nominal Bus Voltage can be calculated by multiplying the Nominal AC mains voltage supplied

S94P01G37InterfaceThe Halls Order is obtained as follows:1. Look at the “Vrs” Output Voltage and determine the Hall Voltage that is lined up with (or

S94P01G2Contents4.6 Using a Custom Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .334.6.1 Creating C

S94P01G38Interface4.6.3.3 For Resolver Equipped Motors OnlyIf parameter “Resolver” is checked, following parameters appear on the form:Offset in degr

S94P01G39Parameters5 ParametersThe PositionServo drive is configured through an RS485 or Ethernet interface. The drive has many programm

S94P01G40Parameters5.2 Motor GroupThe motor group shows the data for the currently selected motor. Refer to section 4.5 for details on how to select

S94P01G41Parameters5.3.2 Drive PWM frequencyThis parameter sets the PWM carrier frequency. Frequency can be changed only when the drive is disabled.

S94P01G42Parameters5.3.7 ACCEL/DECEL Limits (velocity mode only)The ACCEL setting determines the time the motor takes to ramp to a higher speed

S94P01G43Parameters5.3.14 Regeneration Duty CycleThis parameter sets the maximum duty cycle for the brake (regeneration) resistor. This parameter can

S94P01G44Parameters5.3.15 Encoder Repeat SourceThis parameter sets the feedback source signal for the buffered encoder outputs (P3.7 -P3.12). The s

S94P01G45ParametersThe number entered into this field, 0-15, directly correlates to a different encoder resolution. Please reference the ta

S94P01G46Parameters5.4.1.1 Manually Obtain the PositionServo Drive’s IP AddressThe PositionServo drive can be connected to a local PC or a private ne

S94P01G47ParametersSelect the connection you wish to set: “Local Area Connection”, the PC Default Port or “Local Area Connection x” your additional

S94P01G3Contents5.9 Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .515.9.1 Veloci

S94P01G48ParametersSelect “Use the following IP address” and enter [192.168.124.1] for the IP address. Now enter the subnet mask [255.255.255.0], and

S94P01G49Parameters5.5.2 Analog Output Current Scale (Volt / amps)Applies scaling to all functions representing CURRENT values.5.5.3 Analog Output C

S94P01G50Parameters5.6.2 Hard Limit Switch ActionDigital inputs IN_A1 and IN_A2 can be used as limit switches if their function is set

S94P01G51Parameters5.9 Compensation5.9.1 Velocity P-gain (proportional)Proportional gain adjusts the system’s overall response to a velocity error.

S94P01G52Parameters5.9.7 Gain Scaling WindowSets the total velocity loop gain multiplier (2n) where n is the velocity regulation window. If, during m

S94P01G53Operation6 OperationThis section offers guidance on configuring the PositionServo drive for operations in torque, velocity or position m

S94P01G54OperationTo configure drive:1. Ensure that the control is properly installed and mounted. Refer to section 4 for installation instructions.2.

S94P01G55Operation6.3 Position Mode Operation (gearing)In position mode the drive will follow the master reference signals at the 1-4 inputs of P3. T

S94P01G56Operation6.5 Enabling the PositionServoRegardless of the selected operating mode, the PositionServo must be enabled before it can operate. A

S94P01G57OperationWARNING!During both the Velocity and Position tuning procedures the PositionServo drive will perform rotation (motion) of the motor

S94P01G4Safety InformationAll safety information given in these Operating Instructions has a similar layout:Signal Word! (Characteristics the severity

S94P01G58Operation4) Compile and Download Indexer Program to DriveIn the [Indexer program] folder in MotionView, select [Compile and Load with Source

S94P01G59OperationGain Scaling set OKMotor Velocity resembles Commanded Velocity. Motor Velocity is reasonably close with a slight overshoot.Gain Scal

S94P01G60OperationStep 2: Fine Tuning the Velocity P-GainSlowly alter the Velocity P-Gain (increase and decrease) and observe the motor velocity wavef

S94P01G61OperationI-Gain set OKNo error between Commanded steady state velocity and Actual steady state velocity with excellent stability.I-Gain set t

S94P01G62OperationGood Current TraceUniform current pulses during accel/deceleration and stable current during steady state velocity.Instability in Dr

S94P01G63Operation2) Importing the Position Tuning ProgramBefore importing the Position Tuning Program, the example programs must be installed from t

S94P01G64Operation5) Oscilloscope SettingsOpen the [Tools] folder]in MotionView and select the [Oscilloscope] tool. Click the [Set on Top] box to pla

S94P01G65OperationIncreased Position P-GainShows improvement to the maximum error and the final positioning accuracyAt some point while increasing the

S94P01G66OperationStep 3: Setting the Position I-Gain and Position I-Gain LimitThe objective here is to minimize the position error during steady stat

S94P01G67Operation8) Setting the Position Error LimitsLook at the position error waveform on the oscilloscope. Note the maximum time that position er

S94P01G5Introduction1 IntroductionThe PositionServo line of advanced general purpose servo drives utilizes the latest technology in powe

S94P01G68Reference7 Quick Start ReferenceThis section provides instructions for External Control, Minimum Connections and Parameter Setting

S94P01G69ReferenceOptional Parameter Settings:These parameters may require setting depending on the control system implemented.Folder / Sub-Folder Par

S94P01G70ReferenceMandatory Parameter Settings:These parameters are required to be set prior to running the drive.Folder/Sub-Folder Parameter Name Des

S94P01G71Reference7.3 Quick Start - External Positioning ModeMandatory Signals:These signals are required in order to achieve motion from the motor.C

S94P01G72ReferenceMandatory Parameter Settings:These parameters are required to be set prior to running the drive.Folder / Sub-Folder Parameter Name D

S94P01G73Diagnostics8 Diagnostics8.1 DisplayThe PositionServo drives are equipped with a diagnostic LED display and 3 push buttons to se

S94P01G74Diagnostics8.2 LEDsThe PositionServo has five diagnostic LEDs located around the periphery of the front panel display as shown in the drawing

S94P01G75DiagnosticsFault Code (Display) Fault DescriptionF_15Hardware overload protectionOccurs when the phase current becomes higher than 400% of to

S94P01G76Diagnostics8.3.2 Fault EventWhen drive encounters any fault, the following events occur:• Drive is disabled• Internal status is set to “Fa

S94P01G77DiagnosticsProblemReady LED is on but motor does not run.Suggested SolutionIf in Torque or Velocity mode:Reference voltage input signal is no

S94P01G6Introduction1.1 About These InstructionsThese Operating Instructions are provided to assist the user in connecting and commissioni

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Lenze AC Tech Corporation630 Douglas Street • Uxbridge, MA 01569 • USASales: (800) 217-9100 • Service (508) 278 9100www.lenze-actech.comDocumentS94P01

S94P01G7IntroductionLiability• The information, data, and notes in these instructions met the state of the art at the time of publication. Claims on m