1394 Digital AC Multi-Axis Motion Control System

Transcription

1 Document Update Digital AC Multi-Axis Motion Control System (Catalog Numbers x-sjtxx-a, -C, -C-RL, -L, -L-RL, -T, -T-RL) The following information reflects changes that have been made to the Motion Control System. Use this document in conjunction with the Digital AC Multi-Axis Motion Control System User Manual (publication -.0-MAY00). Page - Replace the note on page - (near the bottom of step ) with the note below. The word should has been changed to must. Note: If both DCLM and DIM are mounted on the same system, the DIM must be the last module. Page - Replace the table on page - with the table below. The ground connection terminology is corrected. Wire Description Maximum wire size V Logic 0/0V AC Input Power Ground Ground External Shunt Resistor A user-supplied V AC rms or V DC power source. Refer to Appendix A for V input power specifications. 0/0V AC, three-phase power input. Refer to Appendix A for system specifications for rated AC input voltage, tolerance, and source impedance. mm ( AWG) mm ( AWG) Connects to terminal(s) J- (W) J- (W) J- (U) J- (V) J- (W) The s ground connection to the bonded system ground bar on the subpanel. mm ( AWG) J- (Ground) N The s ground connection to the bonded system ground bar on the subpanel. Optional 00W external shunt resistor used to dissipate excess regenerative energy from the system module. mm ( AWG) mm ( AWG) System module single point bond bar J- (COL) J- (DC+) Required (Y/N) Y Y Y N Publication -DU00A-EN-P April 00

2 Digital AC Multi-Axis Motion Control System Page - Add the Attention table below to the section Connecting Power Wiring for and kw System Modules (Series C) on page -. The keys used in the power connectors are designed to prevent an improper power connection. To avoid personal injury or damage to equipment, verify that keys are inserted into the beveled slots above terminals V and W of the input power connector plug and PE and COL on the system module input and shunt power connectors, respectively. If the keys are missing, refer to Installing Your C Power Connector Key Kit Installation Instructions (publication -IN0x-EN-P). Replace the table on page - with the table below. The columns for wire size range have been added. Terminal U V W PE PE PE Description Motor Power A Motor Power B Motor Power C Axis Ground Motor Ground Overall Shield x-am0/0/0 mm (AWG) Terminal Block Wire Size Range 0. - ( - ) 0. - ( - ) x-am0/ or -AM0/-IH mm (AWG) Page -0 Replace the Important paragraph on page -0 with the paragraph shown below. The paragraph now indicates that the noise filters are included on Series C axis modules. IMPORTANT Series C axis modules have noise filters on the motor thermal sensor and brake connectors ( and ). The filters add capacitance (.0 µf) from each leg of the thermal switch and motor brake leads to ground. This should be considered when selecting ground fault circuits. Publication -DU00A-EN-P April 00

3 Digital AC Multi-Axis Motion Control System Page - Replace the table on page - with the table below. The registration input current information that applies to Series A and B system modules was added. Wire Description Terminal connections for x-sjtxx-c, -C-RL and -T, -T-RL systems Terminal connections for C-SJTxx-L and -L-RL systems Mandatory or Optional REG V, V, COM High-speed, optically-isolated filtered registration input for each axis. Inputs can be either or V DC. Refer to Figure. for typical registration device inputs. Note: To further reduce electrical noise, a dedicated power supply may be required for the registration sensors. You can disable the registration input filters by removing jumpers P0-P on the input wiring board. The registration input current is. ma when the input is activated. This current should be sufficient for most V devices, however, it might not be enough for typical V devices. To enhance the performance of these devices on Series A and B systems, you can raise the On current by placing a 0 ohm, watt resistor across the common and input terminals of the V registration input. The resistor increases the current drawn from the sensor to over 0 ma. If your sensor can withstand more current, you can use a lower resistance. You do need to consider the power dissipation of the resistor. For V (axis 0) (axis ) 0 (axis ) 0 (axis ) For V - (axis 0) - (axis ) - (axis ) - (axis ) For COM (used with V and V) - (axis 0) - (axis ) - (axis ) - (axis ) For V (axis 0) (axis ) For V - (axis 0) - (axis ) For COM (used with V and V) - (axis 0) - (axis ) Optional Page - Add this note to the Configuration Examples section on page -. Note: If both DCLM and DIM are mounted on the same system, the DIM must be the last module. Page - Add the following MP-Series motors to the [Motor Type] parameter on page -. [Motor Type] Note: Motors numbered - are available with Firmware version.0 or later. Selections 0 MPL-BP MPL-B0P MPL-B0P MPL-B0P MPL-B0P MPL-B0P MPL-B0F MPL-B0K MPL-B0F Publication -DU00A-EN-P April 00

4 + X Digital AC Multi-Axis Motion Control System Page - Replace Figure. on page - with the figure below. The ATUNE FRICTN parameter has been corrected. Analog Servo Software (part ) VEL COMMAND 0 A/D +/- v (V = ) FEED FWD GAIN MODE SEL MODE SELECT TABLE 0 = ANALOG VEL = ANALOG TORQ = DIGITAL VEL = DIGITAL TORQ CURRENT LIMIT TORQ SOURCE 0 POS CUR LIM NEG CUR LIM CUR RATE LIM TORQUE SOURCE TABLE DIG TORQ REF INT TORQ REF CUR PRELOAD +/- v A/D (v = ) ### CONFIGURATION 0 = VEL OUT = VEL + Dtrq + PLd = DIG Torq = VEL + ATrq + PLd = ATrq + PLd = ATrq + PLd CURRENT LIMITER CUR LIM CAUSE Iq CUR REF I(t) CUR LIM ANLG VEL SCAL ANLG VEL OFST S VEL SOURCE VELOCITY SOURCE TABLE 0 = ANALOG VEL = DIGITAL VEL = ANALOG + DIGITAL = ZERO INPUT JOG VEL VEL RATE LIM VEL LIM 0 CCW VEL LIM CW VEL LIM VEL REF WHOLE 0 S 0 VEL REF FRACT VELOCITY LIMITER INT VEL REF PROP GAIN Kp 0 MOTOR TYPE MTR RATED CUR ### INPUT SOURCE ### READ ONLY, TEST PT TYPICAL LINK 0 BRIDGE LIM MTR PEAK CUR X + + S + + X S + S - - ATUNE FRICTN 00 INTG GAIN Ki DROOP 0 X + + S + - S X + D/A Gain D/A VALUE + X + +/- v (V = ) Velocity Feedback Velocity Feedback (filtered) Publication -DU00A-EN-P April 00

5 Digital AC Multi-Axis Motion Control System Page A- Replace the User-Supplied V Logic Input Power table on page A- with the table below. The heading for current has changed. V Logic Input Voltage Frequency If you have: Current The minimum current required is: Recommended Fuse -V AC RMS, single phase or.-.v DC 0/0 Hz axis.a axis.a axis.a axis.0a Bussmann MDA- or equivalent The power supply must be rated for A or greater inrush current upon power up. Page A- Replace the table near the top of page A- with the table below. The circuit breaker part number for the x-sjt-x system module has been corrected. Use System Module: x-sjt0-x x-sjt-x x-sjt-x With Secondary Circuit Protection Device: -CB-H00 A device is not recommended for this option. -CB-H00 And Axis Module Combination: Any combination of AM0 and AM0 up to axis modules. Any combination of AM0, AM0, and AM0 where no more than two AM0s are being used. Use of other combinations of axis modules with this system module may result in nuisance tripping on power up due to a higher inrush current. Other combinations of AM0, AM0, and AMs. Some local electrical codes require that the circuit breaker rating not exceed 00% of the full load device current. The inrush current draw of the in some combinations exceeds the 0A breaker and will result in nuisance tripping. All All Publication -DU00A-EN-P April 00

6 Digital AC Multi-Axis Motion Control System Page B- Add the following information to the section Thermal Interconnect Diagrams beginning on page B-. The changes and additions to this section provide clarification for wiring the thermal switch to Series C axis modules and provide examples when using either V AC/DC or 0V AC power in the start/stop string. Thermal Interconnect Diagrams The examples shown on the following pages are for AB/AS servo motors with resolver feedback (using -CCU-xxx feedback cables). The motor thermal switch leads are in the motor power cable and attach to of the axis module (refer to figures B., B. and B. for motor/axis module interconnect diagrams). The thermal circuit includes filtering on the / connector board that is rated for V only. For / wiring alternatives, refer to the table below. If: 0V ac is used on the start/stop string V is used on the start/stop string Then: Option : Install a V pilot relay on the thermal switch circuit. Option : Bypass the / terminations. Follow the wiring shown in the figure above. When bypassing the / terminations, ensure that unshielded motor power conductors are kept as short as possible at the drive, as they will radiate high levels of electrical noise. Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN0 and EN estimation and safety performance categories. For more information refer to Understanding the Machinery Directive (publication SHB-00). Publication -DU00A-EN-P April 00

7 Digital AC Multi-Axis Motion Control System Page B- Add the following Attention statement and replace Figure B. with the figure below. The / connector wiring has been modified for ease of use and the 0V AC power supply option for the start/stop circuit example has been removed. To avoid damage to the axis module / circuitry, follow the example in the figure below only when your application includes V AC/DC for the start/stop circuit. The thermal circuit is rated for V AC/DC only. Non-Isolated E-Stop for Series C Axis Modules Axis 0 Axis Axis Axis switch wiring for AB/AS motor resolver feedback 0 GMC Input Wiring Board x-sjtxx-c x-sjtxx-c-rl AND x-sjtxx-t x-sjtxx-t-rl Drive OK Relay 0 Start/Stop Circuit Example START STOP M Refer to Attention statement on page V AC/DC Publication -DU00A-EN-P April 00

8 Digital AC Multi-Axis Motion Control System Add the following Attention statement and figure following page B-. This example allows thermal switch monitoring with 0V AC power for the start/stop circuit. To avoid damage to the axis module / circuitry, follow the example in the figure below when your application includes 0V AC for the start/stop circuit. The thermal circuit is rated for V AC/DC only and requires relay CR. Isolated E-Stop for Series C Axis Modules Axis 0 Axis Axis Axis switch wiring for AB/AS motor resolver feedback V DC Power Supply +V DC V DC com CR 0 GMC Input Wiring Board x-sjtxx-c x-sjtxx-c-rl AND x-sjtxx-t x-sjtxx-t-rl Drive OK Relay 0 Start/Stop Circuit Example START STOP CR M 0V AC, 0/0 HZ Refer to Attention statement on page Publication -DU00A-EN-P April 00

9 Digital AC Multi-Axis Motion Control System Page B- Add the following Attention statement and replace Figure B. with the figure below. The / connector wiring has been modified for ease of use and the 0V AC power supply option has been removed. To avoid damage to the axis module and wiring board / circuitry, follow the example in the figure below. The thermal circuit is rated for V DC only. Isolated E-Stop for Series C Axis Modules with Thermal Fault Monitoring Axis 0 Axis Axis Axis switch wiring for AB/AS motor resolver feedback V DC Power Supply V DC com +V DC V DC com THERM FLT 0 THERM FLT 0 GMC Input Wiring Board x-sjtxx-c x-sjtxx-c-rl AND x-sjtxx-t x-sjtxx-t-rl 0 THERM FLT THERM FLT Publication -DU00A-EN-P April 00

10 Digital AC Multi-Axis Motion Control System Page B- Add the following Attention statement and replace Figure B. with the figure below. The / connector wiring has been modified for ease of use and the 0V AC power supply option for the start/ stop circuit example has been removed. To avoid damage to the axis module / circuitry, follow the example in the figure below only when your application includes V AC/DC for the start/stop circuit. The thermal circuit is rated for V AC/DC only. Non-Isolated E-Stop for Series C Axis Modules 0 GMC Input Wiring Board C-SJTxx-L C-SJTxx-L-RL Shaded areas on and designate signals not used on the C-SJTxx-L and C-SJTxx-L-RL system modules. Drive OK Relay 0 Start/Stop Circuit Example START STOP Axis 0 M V AC/DC Refer to Attention statement on page Publication -DU00A-EN-P April 00

11 Digital AC Multi-Axis Motion Control System Add the following Attention statement and figure following figure B.. This example allows thermal switch monitoring with 0V AC power for the start/stop circuit example. To avoid damage to the axis module / circuitry, follow the example in the figure below when your application includes 0V AC for the start/stop circuit. The thermal circuit is rated for V AC/DC only and requires relay CR. Isolated E-Stop for Series C Axis Modules Motor Thermal Switch Axis 0 V DC Power Supply +V DC CR V DC com 0 GMC Input Wiring Board C-SJTxx-L C-SJTxx-L-RL Shaded areas on and designate signals not used on the C-SJTxx-L and C-SJTxx-L-RL system modules. Drive OK Relay 0 Start/Stop Circuit Example START STOP CR M Refer to Attention statement on page 0V AC, 0/0 HZ Publication -DU00A-EN-P April 00

12 Digital AC Multi-Axis Motion Control System Add the following Attention statement and replace Figure B. with the figure below. The / connector wiring has been modified for ease of use and the 0V AC power supply option has been removed. To avoid damage to the axis module and wiring board / circuitry, follow the example in the figure below. The thermal circuit is rated for V DC only. Non-Isolated E-Stop for Series C Axis Modules with Thermal Filter Monitoring Motor Thermal Switch V DC I/O Power Supply Axis 0 V DC com +V DC THERM FLT 0 0 GMC Input Wiring Board C-SJTxx-L C-SJTxx-L-RL Shaded areas on and designate signals not used on the C-SJTxx-L and C-SJTxx-L-RL system modules. 0 Publication -DU00A-EN-P April 00

13 Digital AC Multi-Axis Motion Control System Page B- Add the following Attention statement and replace Figure B. with the figure below. The / connector wiring has been modified for ease of use and the 0V AC power supply option for the start/ stop circuit example has been removed. To avoid damage to the axis module / circuitry, follow the example in the figure below only when your application includes V AC/DC for the start/stop circuit. The thermal circuit is rated for V AC/DC only. Non-Isolated E-Stop for Series C Axis Modules Axis 0 Axis Axis Axis switch wiring for AB/AS motor resolver feedback 0 Analog Servo Input Wiring Board x-sjtxx-a Contactor Enable Relay 0 Start/Stop Circuit Example START STOP M V AC/DC Refer to Attention statement on page Publication -DU00A-EN-P April 00

14 Digital AC Multi-Axis Motion Control System Add the following Attention statement and figure following page B-. This example allows thermal switch monitoring with 0V AC power for the start/stop circuit example. To avoid damage to the axis module / circuitry, follow the example in the figure below when your application includes 0V AC for the start/stop circuit. The thermal circuit is rated for V AC/DC only and requires relay CR. Isolated E-Stop for Series C Axis Modules Axis 0 Axis Axis Axis switch wiring for AB/AS motor resolver feedback V DC Power Supply +V DC V DC com CR 0 Analog Servo Input Wiring Board x-sjtxx-a Contactor Enable Relay 0 Start/Stop Circuit Example START STOP CR M 0V AC, 0/0 HZ Refer to Attention statement on page Publication -DU00A-EN-P April 00

15 Digital AC Multi-Axis Motion Control System Page B- Add the following cable drawing to the Cable Pin-outs section on page B-. The drawing describes how the -CCAExx cable connects between the x-sjtxx-a system module and the -M0AE motion module. x-sjtxx-a to -M0AE Cable Connection Servo Module RTB +OUT 0 -OUT 0 +ENABLE 0 -ENABLE 0 DRVFLT 0 CHASSIS IN_COM HOME 0 REGV 0 REGV 0 +OK CHASSIS +CHA 0 -CHA 0 +CHB 0 -CHB 0 +CHZ 0 -CHZ 0 +OUT -OUT +ENABLE -ENABLE DRVFLT CHASSIS IN_COM HOME REGV REGV +OK CHASSIS +CHA -CHA +CHB -CHB +CHZ -CHZ RED WHT RED WHT RED GRN -M0AE -CCAExx A OK RED OK+ OK- To Fault String V DC Field Power Supply +V DC + COM RED ENC. PWR - Servo Drive V DC Field Power Supply V DC V COM V ENABLE COM ENA/DR OK WHT RED +ENABLE -ENABLE DRVFLT IN_COM A ENABLE DROK DROK A -CCAExx Axis AQB Publication -DU00A-EN-P April 00

16 Page C- Replace step on page C- with the step below. The added note describes an error condition you may encounter when using the copy cat function and the appropriate corrective action.. Press ENTER. A message similar to the following appears: Drive -> HIM ## Note: The numbers of the parameters scroll as they are copied and more solid boxes appear on the bottom to show the status of the copy. Note: When copying parameters from older version firmware to newer (for example,.0 to.0) and the number of parameters is different, a SCANport error can occur during the copy function. To correct the error, record the parameter number that caused the error and press ENTER to continue copying parameters. When the copy function is complete, go back and update those parameters where the process stopped unless the default values are appropriate. Page D- Add the following items to the Miscellaneous Accessories table on page D-. Accessory A-B Catalog Number Manufacturer s Number -DIM connector kit SP---0 N/A C power connector key kit C-CONN-KEY N/A Series C connector kit (includes power connectors, ground wires, feedback cable clamps, and ground bar screws) SP- N/A For more information refer to our web site: For Rockwell Automation Technical Support information refer to: or Tel: () 0.. A-B is a registered trademark of Rockwell Automation. SCANport is a trademark of Rockwell Automation. Bussmann is a registered trademark of Cooper Industries, Inc. Publication -DU00A-EN-P April 00 -P0 Copyright 00 Rockwell Automation. All rights reserved. Printed in USA.