1Introduction CHAPTER ONE IN THIS CHAPTER. APEX Drive Description and Block Diagram. ➀ Introduction 1
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1 CHAPTER ONE Introduction IN THIS CHAPTER Introduction APE Drive Decription and Block Diagram ➀ Introduction
2 INTRODUCTION Thi uer guide decribe three product. APE0 Servo Drive 6A peak, 8A continuou; phae AC input APE20 Servo Drive 24A peak, 2A continuou; or 3phae AC input APE40 Servo Drive 40A peak, 20A continuou; or 3phae AC input NAMES IN THIS USER GUIDE The drive lited above have many identical feature. In thi manual, when we decribe feature that are the ame on each drive, we will ue the name APE Drive. When we decribe feature that are not the ame on all drive, we will identify each by it full name APE0 Drive, APE20 Drive, or APE40 Drive. Thi will help call attention to difference between the drive. APE DRIVE0 DESCRIPTION AND BLOCK DIAGRAM The APE Drive i a inuoidal ervo drive deigned to run three phae bruhle DC ervo motor equipped with reolver. The block diagram for a typical ytem i hown below. Controller Area within the dotted line repreent the APE Drive/Motor ytem Input equence in encoder tep Kωƒ K i K p K d α (α) K da Offet adjutment G m Drive K t Motor External Diturbance Plant torque J K v accel vel po Optional velocity feedback Tach Kω Output poition in encoder tep Encoder KΘ Sytem Block Diagram Encoder and tach ignal are furnihed by reolvertodigital converion in the APE Drive. They may alo be provided by dicrete device. Output from the controller to the drive i an analog voltage that can range from 0VDC to 0VDC. Thi i a torque command that repreent commanded current. The drive will produce output current to the motor that i proportional to the voltage level of the torque command. Inide the APE Drive (ee the block diagram below), the torque command goe through input filtering and caling circuitry, and on to a three phae power amplifier, where it i combined with commutation information from the motor. The power amplifier, an inulated gate bipolar tranitor (IGBT) module, end current of the correct phae and polarity to the motor. The amplifier contain pule width modulation (PWM) and current loop feedback circuitry. The IGBT module alo contain control and fault logic that drive the tatu LED and variou input and output. 2 APE Uer Guide
3 The drive ha an internal regeneration reitor, and control circuitry that will automatically diipate exce regenerated energy in the reitor. You can alo intall an external regeneration reitor to diipate even more regenerated energy. APE DRIVE BLOCK DIAGRAM L L2 L3 AC input, APE20 & APE40 AC input, APE0 (Fan for APE0 i powered from internal ±5VDC ) Fan L APE0 L2 AC Input 340VDC 3 Phae Power Amp Internal Regen Reitor Regen VBUS VBUS REGEN Reitor PHASE A PHASE B PHASE C MOTOR GROUND HIGH POWER FOR MOTOR SHIELD LOW POWER FOR INTERNAL LOGIC Low Voltage Power Supply Offet Balance Velocity Error Command Scaling CONTROL L CONTROL L2 Command Command Feedback Feedback Programmable 5V 5V 5V Vel Int Enable Low Voltage Power for Internal Logic Circuitry LPF khz Torque Command Peak Current Cont Current I 2 T Limit Current Monitor Block Fault Control and Fault Logic Enable Diable Bridge Fault Drive Fault Motor Fault Overvoltage I2T Limit Regen Fault Regen Active Enable In Reet Motor Temp Fault Out ±5V Fault Relay Tach Output Key Collective Tach Scaling Vel Integral Tach Output Calibration Pole Count Pole Count Reover Speed Align Mode Commutation Tet Hall Effect Limiter Dip Switch (Top of drive) Tet Point (front panel of drive) Logic and command connection (front panel of drive) Motor and power connection (top and bottom of drive) Diagnotic LED (front panel of drive) Potentiometer Adjutment (front panel of drive) Relay Commutation Logic ReolvertoDigital Convertor MU Reolver or Hall Error T Drive Temp Senor CHA CHA CHB (Hall 5V) CHB (Hall ) CHZ (Hall 2) CHZ (Hall 3) GND (Hall ) Rotor Rotor 2 Stator Stator 2 Stator 3 Stator 4 GND ➀ Introduction 3
4 ADDITIONAL FEATURES TWO AC POWER INPUTS The drive ha two AC input. One provide power for motor current, through the internal highpower three phae amplifier. The other input provide power for logic and control, through the internal lowvoltage DC power upply. With thee two eparate input, you can remove power from the motor, but continue to power internal control circuit. TORQUE MODE OR VELOCITY MODE Mot uer will operate the drive with a ervo controller, uch a Compumotor' 6250 Servo Controller. With thi type of controller, we recommend operating the drive in torque mode. Thi provide the bet performance, and eliminate the need for tuning at the drive. You can operate the drive in velocity mode if you ue a P type controller (a oppoed to PID type controller), or if you need to control the velocity of a pindle with an analog velocity command. RESOLVER OR HALL EFFECT The default etup for the Apex drive i to ue a reolver for communtation. Encoder ignal for feedback are alo derived from the reolver information; however, a motor with Hall effect and an encoder can be ued in place of a motor with a reolver. DIP SWITCHES The APE Drive ha a bank of DIP witche located on top of the drive. You can et thee witche to configure the drive for your particular application. INPUTS AND OUTPUTS All input and output ignal connection are made on the front panel of the drive, through removable crew terminal connector. The power and motor connection are eparated (top and bottom of the drive) and receed from the front panel for afety. 4 APE Uer Guide
5 COMPUMOTOR SERVO MOTORS Compumotor ell three model of ervo motor with the APE Drive. APE Serie Servo Motor SM Serie Servo Motor NeoMetric Serie Servo Motor Each model i available in many different ize. See Chapter 4 Hardware Reference for motor pecification and dimenion. COMPUMOTOR FAMILY OF PRODUCTS The APE Drive i completely compatible with Compumotor' broad range of ingleaxi and multiaxi motion control product. ➀ Introduction 5
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