Basic PRO 5A-(1X 2X) Digital Servo Drive Installation Guide

Transcription

1 Basic PRO 5A-(1X 2X) Digital Servo Drive Installation Guide December 2011 (Ver. 2.4)

2 2 Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Motor power Company Srl. Such information is supplied solely for the purpose of assisting users of the Basic Pro (1X 2X) servo drive in its installation. The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice. Motor power Company and the Motor power Company logo are trademarks of Motor power Company Srl. Information in this document is subject to change without notice. Version Release Date Status Change/Remarks Ver. 1.0 February 2010 Draft Ver. 2.0 February 2011 BPRO-IG.PDF New Release Ver. 2.2 September 2011 BPRO-IG.PDF Official Release Ver. 2.3 December 2011 BPRO-IG.PDF Minor Updates Ver. 2.4 October 2012 BPRO-IG.PDF I/O Label Changes

3 3 Contents Chapter1:Safety Information Warnings Cautions Directives and Standards CE Mark Conformance Warranty Information...7 Chapter2:Introduction Drive Description Product Features Current Control Velocity Control Position Control Communication Options Feedback Options Fault Protection System Architecture How to Use this Guide...11 Chapter3:Installation Before You Begin Site Requirements Hardware Requirements AC Power Requirements Recommended Wire Cross-sections Unpacking the Drive Components Mounting the Basic Pro Connecting the Cables Wiring the Basic Pro Connecting the Main Power Cables Connecting the Motor Cable Connecting the auxiliary Supply 24V Encoder cable ENCnIN Encoder Output ENCnOUT Braking Resistor connector RS 232 Interface connector Set point (CAN/CMD) connector General I/O connector Extended Input Connector...24 Chapter4:Fault conditions...26 Appendix A:Technical Specifications...28 A.1Mechanical Dimensions...28 A.2Power Ratings...29 A.3Environmental Conditions...29 A.4Connections...29 A.5Feedback...30 A.6Analog Input...30 A.7Digital Inputs...30 A.8Digital Outputs...31 A.9Regeneration...31 Appendix B:Motor Configuration...32 B.1Motor Phasing - F B.2Hall signal sequence...33

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5 5 Chapter1: Safety Information In order to achieve the optimum, safe operation of the Basic Pro servo drive, it is imperative that you implement the safety procedures included in this installation guide. This information is provided to protect you and to keep your work area safe when operating the Basic Pro and accompanying equipment. Please read this chapter carefully before you begin the installation process. Before you start, ensure that all system components are connected to earth ground. Electrical safety is provided through a low-resistance earth connection. Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified person has the knowledge and authorization to perform tasks such as transporting, assembling, installing, commissioning and operating motors. The Basic Pro servo drive contains electrostatic-sensitive components that can be damaged if handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface and ground yourself in order to discharge any possible static electricity build-up. To avoid any potential hazards that may cause severe personal injury or damage to the product during operation, keep all covers and cabinet doors shut. The following safety symbols are used in this manual: Warning: This information is needed to avoid a safety hazard, which might cause bodily injury. Caution: This information is necessary for preventing damage to the product or to other equipment. Note: This is auxiliary information that ensures the correct operation of the equipment.

6 6 1.1 Warnings To avoid electric hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source is on. Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Basic Pro from all voltage sources before it is opened for servicing. The Basic Pro servo drive contains grounding conduits for electric current protection. Any disruption to these conduits may cause the device to become hot (live) and dangerous. After shutting off the power and removing the power source from your equipment, wait at least 3 minute before touching or disconnecting parts of the equipment that are normally loaded with electrical charges (such as capacitors or contacts). Measuring the electrical contact points with a meter before touching the equipment is recommended. 1.2 Cautions The Basic Pro servo drive contains hot surfaces and electrically-charged components during operation. The maximum AC power supply connected to the instrument must comply with the parameters outlined in this guide. The Basic Pro servo drive must be connected to an approved 24VDC auxiliary power supply through a line that is separated from hazardous line voltages using reinforced or double insulation in accordance with approved safety standards. The Basic Pro series is designed to gets its power from a VAC single phase power source. It can be connected directly to the line voltage. An isolation transformer is not needed. Before switching on the Basic Pro, verify that all safety precautions have been observed and that the installation procedures in this manual have been followed.

7 7 1.3 Directives and Standards The Basic Pro servo drive conforms to the following industry safety standards: Safety Standard Designed in Compliance with UL508c and UL840 Designed in compliance with UL60950 (formerly UL1950) In compliance with EN Item Conformance to the following safety standards: Power Conversion Equipment Insulation Coordination, Including Clearance and Creepage distances of electrical equipment Safety of Information Technology Equipment, Including Electrical Business Equipment Low Voltage Directive, 73/23/EEC 1.4 CE Mark Conformance The Basic Pro servo drive is intended for incorporation in a machine or end product. The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent versions of standards EN and EN292-2 at the least. According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive 73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the Basic Pro meets the provisions outlined in Council Directive 73/23/EEC. The party responsible for ensuring that the equipment meet the limits required by EMC regulations is the manufacturer of the end product. 1.5 Warranty Information The products covered in this manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description. All Motor Power Company products are warranted for a period of 12 months from the time of shipment. No other warranties, expressed or implied and including a warranty of

8 8 merchantability and fitness for a particular purpose extend beyond this warranty.

9 9 Chapter2: Introduction This installation guide describes the Basic Pro servo drive and the steps for its wiring, installation and powering up. Following these guidelines ensures maximum functionality of the drive and the system to which it is connected. 2.1 Drive Description The Basic Pro is a powerful servo drive that operates in digital current, velocity, position, in conjunction with a permanent-magnet synchronous brushless motor. The Basic Pro features flexible sinusoidal, with vector control. The Basic Pro can operate as a stand-alone device or as part of a multi-axis network in a distributed configuration. The Basic Pro drive is set up and tuned using Motor Power Company Basic PRO GU software. This Windows-based application enables users to quickly and simply configure the servo drive for optimal use with the selected Motor Power Company Motor. The Basic Pro connects directly to 110/230 VAC single-phase or three-phase power source. A separate 24 VDC power supply serves as both the auxiliary supply and the backup supply. This allows a safe and economical "power backup" feature that is essential for positioning systems. The Basic Pro operate with RS-232 and/or CANopen communications. 2.2 Product Features Current Control Fully digital Sinusoidal commutation with vector control with encoder and/or digital Hall sensors 12-bit current loop resolution

10 Velocity Control Fully digital Programmable PI and FF (feed forward) control filters Sample rate two times current loop sample time Automatic, manual and advanced manual tuning and determination of optimal gain and phase margins Position Control Programmable PI control filter Programmable filters Position follower mode for monitoring the motion of the slave axis relative to a master axis, via an auxiliary encoder input or the between the 2 axis of the dual Position-based and time-based ECAM mode that supports a non-linear follower mode, in which the motor tracks the master motion using an ECAM table stored in flash memory (in progress) Communication Options RS-232 serial communication CANopen for fast communication in a multi-axis distributed environment Feedback Options Digital Halls up to 2 KHz Incremental Encoder with Digital Halls for commutation 2 MHz. Encoder outputs, buffered, differential Basic Pro provide 5V supply voltage for all the feedback options Fault Protection The Basic Pro includes built-in protection against possible fault conditions, including: Status reporting for a large number of possible fault conditions Protection against conditions such as excessive temperature, under/over voltage, loss of commutation signal, short circuits between the motor power outputs and between each output and power input/return Recovery from loss of commutation signals and from communication errors

11 System Architecture RS-232 CanOpen DIGITAL I/O ANALOG INPUT Controller Auxiliary power Supply Feedback Axis 1 Feedback out Axis 1 Feedback Axis 2 Feedback out Axis 2 Power Stage Axis 1 Power Stage Axis 2 Image 1: Control block diagram

12 How to Use this Guide In order to install and operate your Basic Pro servo drive, you will use this manual in conjunction with a set of others documentation. Installation is your first step; after carefully reading the safety instructions in the first chapter, the following chapters provide you with installation instructions as follows: Chapter 3, Installation, provides step-by-step instructions for unpacking, mounting, connecting and powering up the Basic Pro. The Appendix A, Technical Specifications, lists all the drive ratings and specifications. Upon completing the instructions in this guide, your Basic Pro servo drive should be successfully mounted and installed. From this stage, you need to consult higher-level documentation in order to set up and fine-tune the system for optimal operation. The following table describes the accompanying documentation that you will require. Programming Installation Basic Pro CanOpen Implementation Basic Pro Software Manual Basic Pro Installation Guide Check Motor Power Company web site to download all the manual that you still miss.

13 13 Chapter3: Installation 3.1 Before You Begin Site Requirements You can guarantee the safe operation of the Basic Pro by ensuring that it is installed in an appropriate environment. Feature Ambient operating temperature Maximum operating altitude with no derating. Maximum relative humidity Operating area atmosphere Value 0 C 40 C (32 F 104 F) 1,000 m (3,000 ft) 90% non-condensing No flammable gases or vapors permitted in area The servo drive dissipates its heat by natural convection. The maximum operating ambient temperature of 0 C 40 C (32 F 104 F) must not be exceeded. Models for extended environmental conditions are available. Ask to a Motor Power Company Representative for more information Hardware Requirements The components that you will need to install properly your Basic Pro are: Component Connector Section Diagram Main Power Cable 220VAC Motor Power Cable MOTORn Auxiliary Power Cable and D I/O I/O Feedback Cable ENCnIN Extended D I/O Cable # I/O EXT # If needed

14 14 Auxiliary Feedback # Brake Resistance # RS 232 Cable Canopen and Analog Command ENC n OUT REGEN COM1 CMD/CAN You need also a PC for Setup and Tuning, and all the necessary data from the Motor Power Company Motor Datasheet AC Power Requirements Below are the Basic Pro AC power requirements: Component Three-phase supply Voltage Single-phase supply Voltage Circuit breaker current rating 150% - 200% of drive current 200% - 300% of drive current Circuit breaker voltage rating 230 VAC 230 VAC Contactor Up to 150% of drive current Up to 200% of drive current Recommended Wire Cross-sections Feature Connection Detail AC Input AC1,AC2,AC3 2.0 mm2 14 AWG Motor Un,Vn,Wn 2.0 mm2 14 AWG Protective Earth PE, 2.0 mm2 14 AWG Auxiliary Power 24V, 0V mm AWG These are only recommended values, it's responsibility of the machine manufacturer choose the best configuration according to the application and to the safety regulations.

15 Unpacking the Drive Components Before you begin working with the Basic Pro system, verify that you have all of its components, as follows: The Basic Pro servo drive The Basic Pro User Interface software and all manual The Motor Power Company Motor and appropriated cables To unpack the Basic Pro: 1. Carefully remove the servo drive from the box. 2. Check the drive to ensure that there is no visible damage to the instrument. If any damage has occurred, report it immediately to the carrier that delivered your drive. 3. To ensure that the Basic Pro you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Basic Pro. 4. Verify that the Basic Pro type is the one that you ordered. 3.3 Mounting the Basic Pro The Basic Pro has been designed for Wall Mount mounting option. The drives inside the cabinet must have enough space for air circulation, the minimum distance between 2 units is 5cm. If necessary on the bottom side of the device is possible to mount an external fan for additional heat sink, when the drive is used with high rms current or in high temp environment.

16 16 Image 2: Mounting Instruction 3.4 Connecting the Cables Wiring the Basic Pro Once the Basic Pro is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the servo drive.

17 17 Follow carefully the following instructions to ensure safe and proper wiring. Use twisted-pair shielded wires for control, feedback and communication ports. For best results, use an aluminum foil shield covered by copper braid with a drain wire. The drain wire is a non-insulated wire that is in contact with parts of the cable, usually the shield. It is used to terminate the shield and as a grounding connection. The impedance of the wire must be as low as possible. The size of the wire must be thicker than actually required by the carrying current. 24 or 26 AWG wire for control and feedback cables is satisfactory. Use shielded wires for motor connections as well. If the wires are long, ensure that the capacitance between the wires is not too high: C < 30 nf is satisfactory for most applications. Keep all wires and cables as short as possible. Keep the motor wires as far away as possible from the feedback, control and communication cables. Ensure that in normal operating conditions, the shielded wires and drain carry no current. The only time these conductors carry current is under abnormal conditions, when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground, in order to prevent them from affecting the drive. Failing to meet this requirement can result in drive/controller/host failure. After completing the wiring, carefully inspect all wires to ensure that the crimp terminals are firmly attached to the wire ends and that the wires are firmly connected to their connectors. The following connectors are used for wiring the Basic Pro: Type Function Port 9 pin D-sub Analog Input and Can CMD/CAN 15 high density D-sub Encoder Input ENC n IN 9 pin D-sub Encoder Output ENC n OUT

18 18 4 pin Phoenix Motor MOTOR n 2 Pin Phoenix Braking Resistor REGEN 4 pin Phoenix Input Power 220VAC I/P PS/2 Rs-232 COM1 12 pin Phoenix Auxiliary power and Digital I/O GENERAL I/O 4 pin Phoenix Digital Input expansion EXTENDED INPUT Upper Side Front Side 0V 24V I1 I2 I3 I4 I5 I6 O1 O2 O3 O4 I7 I8 I9 I10 COM1

19 Connecting the Main Power Cables The main power connector located at the bottom of the front plate of Basic PRO. Connect the main power supply cable to the AC1, AC2 and AC3 terminals of the main power connector. Connect the Protective Earth wire to the nearest PE terminal on the terminal block. Pin Signal Function 1 PE Protective Earth 2 AC3 Main Power Phase3 3 AC2 Main Power Phase2 4 AC1 Main Power Phase1 For single-phase operation please connect PE, AC1, AC2. Remember that operating the drive in Single-phase mode the system will be affected by a voltage drop-down proportional to the current usage. Note for AC power connection: For best noise immunity, a shielded (not twisted) cable is recommended (not mandatory) for the AC power supply cable. A 4-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor. Connect the four wires to the AC power leads of the source. For safety requirements, the fourth wire must be used for the protective earth connection (connected to the PE terminal). BASIC PRO AC1 AC2 AC3 PE Image 3: Power Connector

20 Connecting the Motor Cable The main power connector located in the low-middle front plate of Basic PRO. Connect the motor power cable to the Un, Vn, Wn and PE terminals of the main power connector. The phase connection order is not arbitrary and must follow exactly the description. Pin Signal Function 1 PE Protective Earth 2 Un Motor phase U 3 Vn Motor phase V 4 Wn Motor phase W Some notes for a safe connection: For best noise immunity, it is highly recommended to use a shielded (not twisted) cable for the motor connection. A 4-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor. The fourth wire should be used for the ground connection between the motor and the PE terminal of the BASIC Pro. Connect the shield of the cable to the closest ground connection at the motor end. Connect the shield of the cable to the PE terminal on the Basic PRO. Be sure that the motor chassis is properly grounded. BASIC PRO U V W PE Image 4: Motor Connection Note: In case of double Axis don't exchange cables between the 2 axis.

21 Connecting the auxiliary Supply 24V Connect the auxiliary supply to the 24VDC terminal block on the GENERAL I/O connector on the upper side of the bottom of the Basic PRO. For more info on the connector pin out check the GENERAL I/O paragraph. Remember, you are working with DC power; so be sure to exercise caution. Notes for24 VDC supply connection: Use a 24 AWG twisted pair shielded cable. For best results the shield should have aluminum foil covered by copper braid. The 24 VDC auxiliary power supply must meet all safety standards and must be separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards. For safety reasons, connect the return of the 24 VDC source to the closest ground. Connect the cable shield to the closest ground near the 24 VDC source. Before applying power, first verify the polarity of the connection. BASIC PRO Insulated 24V Power Supply 24 V Image 5: Auxiliary Voltage 24V Connection Encoder cable ENCnIN The feedback cable is used to transfer feedback data from the motor to the drive. The Basic PRO accepts the following as a main feedback mechanism:

22 22 Incremental encoder only Incremental encoder with digital Hall sensors (Standard Mode) Digital Hall sensors only ENCnIN connector is located on the front of the Basic PRO and has a 15-pin D-sub socket. Connect the Feedback cable from the motor to ENCnIN using a 15-pin, D-Sub plug with a metal housing. When assembling the Feedback cable, follow the instructions listed below. Pin Signal Function 1 A Encoder A Channel 2 B Encoder B Channel 3 Z Encoder Z Channel 4 HALL /V Hall Signal /V 5 /A Encoder /A Channel 6 /B Encoder /B Channel 7 +5V Encoder Power Supply 8 HALL W Hall Signal W 9 HALL U Hall Signal U 10 HALL /U Hall Signal /U 11 0 V Encoder Power Supply Return 12 SHIELD 13 /Z Encoder /Z Channel 14 HALL V Hall Signal V 15 HALL /W Hall Signal /W Feedback Cable Instruction: The Basic PR features easy-to-use D-sub type connections for all Feedback cables. Below are instructions and diagrams describing how to assemble those cables. Use 24, 26 or 28 AWG twisted-pair shielded cables (24 AWG cable is recommended) with max length of 20 meter (for longer distance contact the manufacturer). For best results, the shield should have aluminum foil covered by copper braid. Use only a D-sub connector with a metal housing. Attach the braid shield tightly to the metal housing of the D-type connector. On the motor side connections, ground the shield to the motor chassis. On controller side connections, follow the controller manufacturer s recommendations concerning the shield.

23 Encoder Output ENCnOUT ENCnOUT connector is located on the front of the Basic PRO and has a 9-pin D-sub socket. When assembling the Feedback cable, follow the instructions listed used for the Feedback cable for ENCnIN. The connector pin-out is: Pin Signal Function 1 A Encoder A Channel 2 B Encoder B Channel 3 /Z Encoder /Z Channel 4 0V Encoder Power Supply Return 5 /A Encoder /A Channel 6 /B Encoder /B Channel 7 +5V Encoder Power Supply 8 Z Encoder Z Channel 9 0V Encoder Power Supply Return Braking Resistor connector The REGEN connector is located on the front plate of the Basic PRO. Refer to the appendix for a proper resistance installation. Using a wrong resistance value may destroy the drive. Pin Signal Function 1 RG2 Terminal 2 of Resistor 2 RG1 Terminal 1 of Resistor

24 RS 232 Interface connector The COM1 connector is located on the upper part of Basic PRO. The communication cables use PS/2 connector for RS-232 communication. Notes for a good RS-232 cable: Use a 26 or 28 AWG twisted pair shielded cable. The shield should have aluminum foil covered by copper braid with a drain wire. Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection. Ensure that the shield of the cable is connected to the shield of the PS/2 connector. The drain wire can be used to facilitate the connection. Pin Signal Function 1 NC Reserved 2 TX Transmit Line 3 RX Receive Line 4 GND Ground Set point (CAN/CMD) connector The CMD/CAN connector is located in the front part of the Basic PRO. For creating this cable follow the same instruction used for Feedback ENCnIN cable. Pin Signal Function 1 DAC1 + Analog Input Axis1 2 DAC2 + Analog Input Axis1 (Only on Dual) 3 CAN Low OUT Can Low Signal 4 CAN Gnd IN Can Gnd Signal 5 CAN High IN Can High Signal 6 DAC1,2 GND Analog Input Return 7 CAN Gnd OUT Can Gnd Signal 8 CAN High OUT Can High Signal 9 CAN Low IN Can Low Signal

25 General I/O connector The general I/O connector is located on the upper side of the Basic PRO. Pin Signal Function 1 0V Auxiliary Power Supply return 2 24V Auxiliary Power Supply 3 I1 General Input 1 4 I2 General Input 2 5 I3 General Input 3 6 I4 General Input 4 7 I5 General Input 5 8 I6 General Input 6 9 O1 General Output 1 10 O2 General Output 2 11 O3 General Output 3 12 O4 General Output Extended Input Connector Pin Signal Function 1 I7 General Input 7 2 I8 General Input 8 3 I9 General Input 9 4 I10 General Input 10

26 26 Chapter4: Fault conditions The Basic PRO drive has one multicolor led for each Axis to signal the status of the device. This can be very useful on the field, so it's possible to immediately recognize the fault and if possible repair the condition. Here are listed all the possible combination: LED Color Flashing FAULT Remedy Green Steady Drive OK - Red Steady Orange Steady Peak current Fault Rated Current Fault Green FL Under Voltage Red FL Over Temperature Orange FL Over Voltage Green FM Drive Disabled Red FM Short Circuit Check commutation Check Current Gains DC Bus Voltage not present Check AC Input Check if the Heat-Sink is well fixed to the cabinet Check the temperature inside the cabinet [Provide forced air cooling] Check AC Input Decrease deceleration [Provide Braking Resistor] Check the enable signal (Hardware or software) Check the motor wiring Check the motor parameters Orange FM Motion Error Check the Motion limits Green FF Commutation Error Check the Feedback cable Red FF Halt Command Check the Halt status Orange FF Limit switch active different flashing times: Check the configuration Check the input state Pin Description Time (ms) FL Flashing Slow 500 FM Flashing Medium 100 FF Flashing Fast 50

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28 28 Appendix A: Technical Specifications A.1 Mechanical Dimensions Feature Units 05-1X 05-2X Size mm 129x262x52 127x262x52 Weight Kg 1,5 1,5 Image 6: Mechanical Dimensions

29 29 A.2 Power Ratings Feature Units 05-1X 05-2X Minimum Supply Voltage VAC Nominal Supply Voltage VAC 1x230, 3x230 1x230, 3x230 Maximum Supply Voltage VAC 1x255, 3x255 1x255, 3x255 Efficiency at rated Power kw 1 2x1 Efficiency at rated Power % >93 >93 Auxiliary supply Voltage VDC 24±10% 24±10% Auxiliary supply Power Max W Continuous RMS Current Arms 5 2 x 5 Peak Current Arms 15 2 x 15 A.3 Environmental Conditions Feature detail Ambient operation temperature 0 C 40 C Storage Temperature -20 ~ +70 C Maximum Supply Voltage 1x255, 3x255 Maximum humidity 90% non-condensing Protection level IP20 A.4 Connections Pins Type Port Location 12 Phoenix Mini Combicon GENERAL I/O UPPER SIDE 4 Phoenix Mini Combicon EXTENDED INPUT UPPER SIDE 4 PS/2 COM 1 UPPER SIDE

30 30 9 D-sub Female CMD/CAN FRONT SIDE 15 D-sub High Density Female ENCnIN FRONT SIDE 9 D-sub Male ENCnOUT FRONT SIDE 4 Phoenix PC-4 MOTORn FRONT SIDE 2 Phoenix PC-4 REGEN FRONT SIDE 4 Phoenix PC-4 220VAC I/P FRONT SIDE A.5 Feedback Feature Units detail Encoder Input A B Z Differential Maximum Input Frequency MHz 2 Hall Inputs Differential 5V Output Power Supply 5V, 200mA max Protection level IP20 A.6 Analog Input Feature Units detail Type Single Ended Common mode voltage range V ±10 ADC Resolution bit 12 A.7 Digital Inputs Feature Units detail Type Opto isolated DC input Input Voltage (Active High) V 24 Input Current ma 10

31 31 A.8 Digital Outputs Feature Units detail Type Opto isolated DC output Output Voltage V 24 Output Current ma 100 A.9 Regeneration Feature Units detail Switching Threshold V On:372 Off:360 Maximum Current Arms 6 Recommended Resistance(#) 130 Ohm, 400 W (#) Using a smaller resistance can damage the device. The resistance may become very hot during hard braking cycles.

32 Hall sensor Signal level Basic Pro Installation Guide 32 Appendix B: Motor Configuration B.1 Motor Phasing - F11 For a correct operation the motor must have a correct electrical configuration. Specification Speed Direction Reference Voltage Tolerance Value 1000 rpm Clockwise (front flange) Concatenate + / - 5 Electrical degrees The electrical configuration must follow this schema: Phasing Schema F ,5 5 BKMF Amplitude Phase U-V Hall Signal U -0, Electrical Angle -10 Image 7: Phasing Schema

33 33 Every hall signal must be referred to the proper reference voltage: U + V ref - W V Image 8: Reference Voltage Reference Voltage U-V V-W W-U Hall Signal Value Hall Signal U Hall Signal V Hall Signal W B.2 Hall signal sequence Hall sensor follow a grey code sequence. Rotating the motor Clockwise (front flange) we must find this configuration. Value Hall U Hall V Hall W