Elmo SERVO AMPLIFIER DBP SERIES Manual de usuario

0DBP - Rev 6/93Rev 6/93

9DBP - Rev 6/93General* DC output voltage is 130% of AC input voltage.* 2KHz current loop response* Outputs voltages of +5V/0.2A, +15V/0.1A for exter

99DBP - Rev 6/93Reference input signalC1 too large / R4 too smallCritically dampedC1 too small / R4 too largeFig. A-1Typical current response wavefor

100DBP - Rev 6/93Appendix B - Adding a velocity feedbackTHIS PAGE IS BLANK

101DBP - Rev 6/93Appendix C - Differential amplifier connectionThe differential amplifier is provided for your optional use. It can be usedfor buffer

102DBP - Rev 6/93 DIMENSIONAL DRAWINGSIN THE FOLLOWING DRAWINGS ALL THE DIMENSIONS ARE IN MILLIMETERS.PANEL (H), DBP1...

103DBP - Rev 6/93PANEL (H), DBP1 187 169 9 12.511085 DBP1 - TOP VIEWBATTERY

104DBP - Rev 6/93 18.652.59.6 4.0187 DBP1 - SIDE VIEW 1 1 2ONOFF 66

105DBP - Rev 6/93 111.76 32 6632.3 9 8 1.6 4 5DBP1 - SIDE VIEW 2 6 7 8910113 4 5121213 141516ba1

106DBP - Rev 6/93PANEL (H), DBP2 200 182 5 10 16 9 1710970 DBP2 - TOP VIEWBATTERY

107DBP - Rev 6/93 ONOFF1 285.5 9.651.2 GROUNDINGSCREW M4200 DBP2 - SIDE VIEW 1 ONOFF1 2 102

108DBP - Rev 6/93 111.76 1 2 3 4 5 6 7 8 9 10 1132.3 1.69.64 42M440 2 DBP2 - SIDE VIEW 2 10212 13141516132ba

10DBP - Rev 6/9313b14b15bOUT 1OUT 2OUT 3OUT 4OUT 5OUT 616b17b1bD0Q0 2D1Q1 5D2Q2 6D3Q3 9D4Q412D5Q515D6Q616D7Q719OCVCC20U1774HCT373A+5V2b3bOUT 7OUT 8OUT

109DBP - Rev 6/93PANEL (H), DBP3 200182205245 25 DBP3 - TOP VIEWDETAIL A 1010DETAIL A.5SEEBATTERYJL

110DBP - Rev 6/93 9.64 1 214.64 14.64 56.64 GROUNDING200 SCREW M4 102 DBP3 - SIDE VIEW 1 ONOFF21

111DBP - Rev 6/93245.11 MA1MC3+ -HAHB HCFAN 111.76AC AC ACNC P.C NC SO NC +VS 32.31.6 40 214.6M4MB2 105DBP3 - SIDE VIEW 2ba132

112DBP - Rev 6/93PANEL (H), DBP4 187173.5 215 15 245 4DBP4 - TOP VIEWBATTERY

113DBP - Rev 6/9312 14.64 9.6423.64 4.0187 72.54 14.64 DBP4 - SIDE VIEW 1SIDE VIEW 1 2ONOFF

114DBP - Rev 6/93245.11 MA1MC3+ -HA HBHCFAN 111.76AC AC ACNC P.C NCSONC +VS 32.31.6 14.64MB272.54 9 DBP4 - SIDE VIEW 2ba132

115DBP - Rev 6/93PANEL (H), DBP6DBP6 - TOP VIEW SEE DETAIL A294205POWERCONN. 74182AIR FLOWFAN200 1010DETAIL A.5BATTERY

116DBP - Rev 6/93FRONT VIEW182 200 130DBP6 - SIDE VIEW 1

117DBP - Rev 6/93DBP6 - SIDE VIEW 2 294 13075ba132

118DBP - Rev 6/93RACK 3U/13TDBP RACK MOUNTING (3U/ 13T) ONOFF12 51.5417.64 2.4 9.64 162.54 KEYING PIN ONOFF1 2 65.84SIDE VIEW 1

11DBP - Rev 6/93 1 3U100ASN75C189AD9aLIMIT SWITCHFORWARDREVERSE LIMIT SWITCH10a 4 6U100BSN75C189AD 10 8U100CSN75C189AD 13 11U100DSN75C189AD12aHOM

119DBP - Rev 6/93DBP RACK MOUNTING (3U/ 13T) 111.7632.365.84 9.64 1.6 82CA32KEYING PIN 5.5 3 ba132SIDE VIEW 2

120DBP - Rev 6/93POWERELM OFRONT PANEL FOR DBP 3U/13T9516

121DBP - Rev 6/93RACK 3U/20TDBP RACK MOUNTING (3U/20T) 1 9.642.4 83.54 49.64KEYING PIN 162.54 ONOFF1 2101.4SIDE VIEW 1

122DBP - Rev 6/93DBP RACK MOUNTING (3U/ 20T)111.76 32.332CA29.64 1.6 KEYING PIN 3 5.5ba132101.4SIDE VIEW 2

123DBP - Rev 6/93101.4128.7POWERELM OFRONT PANEL FOR DBP 3U/ 20T9516

124DBP - Rev 6/93RACK 6U/14T 189 ONOFF1 2 9.64 14.64 1.6 14.64 32.3 22.64 56.54 162.5 180 8.5DBP RACK MOUNTING (6U/14T) 70.92SIDE VIEW 1

125DBP - Rev 6/9332 2CA32CA232.31.614.671 111.76262 8 DBP RACK MOUNTING (6U/14T)ba132SIDE VIEW 2

126DBP - Rev 6/9370.92262 FRONT PANEL FOR DBP 6U/14TPOWERE L M O9516

127DBP - Rev 6/93RACK 6U/21TDBP RACK MOUNTING (6U/21T) 9.64 14.64ON12 14.64 1.688.5454.64 162.5 32.3 SIDE VIEW 1 180 2.4 8.5 OFF10

128DBP - Rev 6/93POWERELMOFRONT PANEL FOR DBP 6U/21T9516

12DBP - Rev 6/933.2 Analog input specificationMaximum input voltage:- When R1 (470ohm) is inserted, the absolute value of the input voltage should be

129DBP - Rev 6/93ENCD - 3U/...SIDE VIEWFRONT VIEWENCD - 3U/...11 11 10 5 95132.5265.5272.5 222 45.0 20 5 11 11 XPOWER 7.5NOTE:

130DBP - Rev 6/93ENCD - 6U/...SIDE VIEW11 11 FRONT VIEW 5POWER 7.5 11 20 X 11 20 7.5 NOTES:1. ALL DIMENSIONS ARE IN mm.2. X = n x 5.08+1,

131DBP - Rev 6/93EXTERNAL SHUNT RESISTORTOP VIEW11.915.9 SIDE VIEW.508 31.75FRONT VIEW 9.54.4 15.93854 22.2 293.7 EXTERNAL SHUNT RE

132DBP - Rev 6/93List of ELMO Service CentersISRAELElmo Motion Control LTD34 Segula ST.Petah-Tikva 49103Tel: (03)934-5059Fax: (03)934-5126U.S.AElmo Mo

134DBP - Rev 6/93FINLANDOY ScandriveElsankuja 2 KSF-02231 EspooTel: 358-0-8035044Fax: 358-0-8035055FRANCEA 2 V SA11-12 Rue Eugene HENAFF,78190 Trappe

13DBP - Rev 6/933.3 Sensors specification3.3.1 EncoderThe encoder must be incremental with two TTL channels in quadrature and 90 °phase shift.High/L

14DBP - Rev 6/93REMARK:R704 - 708 ARE NOT INSTALLED IN FACTORY STANDARD SETTING.+5v2.49K+5v+5v1000P100K1K 7 3 2U107+5v +5v1000P1K100100R707*22aAY/PU

15DBP - Rev 6/933.4 Communication3.4.1 RS232 ConfigurationThe RS232 is configured for 8-bit, no parity, full duplex and it will echo allthe transmis

16DBP - Rev 6/93COMMUNICATION-15VDZ13v3000.1MF0.1MF+15VDZ13v300+5vDS9RS232-OFF-V 1DY 7RA 5GND 4RTC 6RY 3DA 2+V 8U115SN75155+5v5234TRANSMITRECEIVEG

17DBP - Rev 6/934. System Operation4.1 RS485 and Checksum ProtocolThe RS485 in the DCB is configured as 8-bit, no parity, 1 stop bit, halfduplex. Th

18DBP - Rev 6/934.2.1 Current feedback, Current feedback multiplier (CFM) andCurrent loopThree current feedbacks are obtained by measuring the voltag

1DBP - Rev 6/93ELMO-WARRANTY PERFORMANCEThe warranty performance covers only ELMO's products and only theelimination of problems that are due to

19DBP - Rev 6/93This function should be activated whenever the rated current AND the peakcurrent of the motor are less than 20% of the amplifier rated

20DBP - Rev 6/93 Ip - IopTp = 2.2ln ---------- Ip - IcIop - Actual operating current before the peak demand.The result of this f

21DBP - Rev 6/93Control ModesThe DCB can be commanded to control the position of a motor, its torque orits velocity using three basic control modes:-

22DBP - Rev 6/93Start ModesThere are three start modes to begin a move:Direct commandA move can be initiated directly by a command from the host or a

23DBP - Rev 6/93Auto restartThe power stage inhibit will automatically be released upon clearing thecause of the inhibit.Status ReportingStatus is ava

24DBP - Rev 6/934.5 Operation of the shunt regulatorA shunt regulator is included in the power supply section of the DBP. Theshunt regulator is a swi

25DBP - Rev 6/934.6 Commutation signals format30060 120 180 240 300 360 600(0)(360)30060 120 180 240 300 360 600(0)(360)30060 120 180 240 300 360 600

26DBP - Rev 6/934.7 Protective functionsAll the protective functions except "Low Back-up Battery Voltage" activatean interrupt to the main

27DBP - Rev 6/93MOTOR OUTPUTS+VSACACSHUNTD1 D2 D3D6D5CURRENT SENSINGD4CONTROLRECTIFING,CURRENTINRUSH LIMITACPOWERCOMMOND5 D6COMMUTATIONCURRENT PROCESS

28DBP - Rev 6/93RS232DisplayRS485OutputsBuffersMasterProcessorTEMP SIGNALSHORT SIGNALUNDER / OVER - SIGNALCurrentFeedbackInputsBufferAuxBufferEncoderE

2DBP - Rev 6/93How to use this manual - Flow ChartThe DBP HARDWARE MANUAL will lead you toward a successful start-up of yourdigital amplifier. Please

29DBP - Rev 6/93DCB COMPONENTS LAYOUTL1T1T2JCU120U114N80C196KB-12U115U123Y1R713R712R119R802U130U25U22R566U108U109JPU27U112U113U28C313C312JEDSOFFONU5U1

30DBP - Rev 6/93DCB RESOLVER OPTION BLOCK DIAGRAMDS14DS13DS12HALLS + ENCODERPROCESSORPOSITIONBITSRESOLVER TODIGITAL CONVERTERR201R200C68C67R197Velocit

31DBP - Rev 6/93RESOLVER BOARDCOMPONENTS LAYOUTU25U24DS2ONOFF11121314U226068676261R192R200R197R195R196R201U30R233R228R193R194U23U28U29c c c ccJR110JPR

32DBP - Rev 6/935. Terminal Description5.1 Terminals for Horizontal and Rack mounting versionsPOWER BOARD - 3U sizeH R Function1 (32a,c)Motor phase

33DBP - Rev 6/93Power Board - 6U size - Supplies terminalsH R FUNCTION+VS 4ac,2acExternal shunt resistor connection / +VS.NCNOT CONNECTEDSO 8acExterna

34DBP - Rev 6/93Control boardH & R Function Remarks1a Output 6*1b Current monitorThis analog output represents the actual currentin the motor. The

35DBP - Rev 6/93Control board - cont.H & R Function Remarks9a Forward limit switchThis committed input activates the #[ subroutine.*9b positive in

36DBP - Rev 6/93Control board - cont.H & R Function Remarks18a Analog inputThis input is monitored by the main µP. When |Vi|< 5V, R1=470ohm sh

37DBP - Rev 6/93Control board - cont.H & R Function Remarks24a Auxiliary encodercomplementary input (-By) or ComplementaryDirection input forPulse

38DBP - Rev 6/93TERMINALS OF DBP RACK VERSION - 3U SIZECONTROL BOARD132ba24ca32POWER BOARD

3DBP - Rev 6/93TABLE OF CONTENTS1.Description ... ... 72. Type Designation ...

39DBP - Rev 6/93DBP - PANEL (H) MOUNTING TYPETERMINALS LAYOUTEUROCARD SIZE TYPESCONTROL BOARDba1321 2 3 4+VSAAC input5 6 7 8B CMOTOR OUT91011 12 13COM

40DBP - Rev 6/93DBP - PANEL (H) MOUNTING TYPEDOUBLE EUROCARD SIZE TYPEba132M4+FAN-FANHAHBHCACACACPOWCOM.N.CN.CS.ON.C+VSMCMBMA1234561516171819789101112

41DBP - Rev 6/93DBP-6U RACK TYPE 322CA32CA2AJ1J3POWERPOWERCONTROLCONNECTORSba132

42DBP - Rev 6/935.2 Mother Boards terminals (MBA-DBP/3U and MBA-DBP/6U)Use: For all DBP amplifiers (3U/6U size) with Resolver or optical encoderfeedb

43DBP - Rev 6/93POWER TERMINALS FOR MBA-DBP/6UTerminal FunctionM1 Motor phase A output.M2 Motor phase B output.M3 Motor phase C output.GND Ground. Thi

44DBP - Rev 6/93Signals connector - J1 (MBA-DBP/3U and MBA-DBP/6U)Pin FunctionRemarks1 Channel A input2 Channel -A input3 Channel B input4 Channel -B

45DBP - Rev 6/93Signals connector - J3 (MBA-DBP/3U and MBA-DBP/6U)Pin FunctionRemarks1 positive input of adifferential amplifier.See Appendix C.2 Nega

46DBP - Rev 6/93Signals connector - J3 - cont.Pin FunctionRemarks18 Inhibit outputRelay contact (potential free).The relay contact is closed whenever

47DBP - Rev 6/93Signals connector - J4 - cont.Pin FunctionRemarks6 Input 5 or Index Input.If a homing sequence is required, the Index Inputmust be con

48DBP - Rev 6/93Signals connector - J4 - cont.Pin FunctionRemarks24 Output 10*25 Motion CompleteThis output will go to high when motion iscomplete. *2

4DBP - Rev 6/936. Installation procedures ... ...656.1 Mounting...

49DBP - Rev 6/93Signals connector - J6 - cont.Pin FunctionRemarks5 Auxiliary encoder indexinput6 +5V outputThere are several +5V pins. The accumulativ

50DBP - Rev 6/93Signals connector - J8 (MBA-DBP/3U and MBA-DBP/6U)1 Channel A outputMain encoder buffered output (20mA, 0-5V)2 Channel -A outputMain e

51DBP - Rev 6/93MBA - DBP/3U25J295161226J3J753421J195162581526J4815519J821J6196789101615

52DBP - Rev 6/93J1AJ325 2611102125 26J4819155J821J29516J195168915J61MBA-DBP/6UPOW. COM.M1M2M3ACACAC+VSSO

53DBP - Rev 6/935.3 Terminals for DBP mounted in ENCD.POWER TERMINALS FOR MBA-DBP/3UE (3U size)Terminal Function1Motor phase A output.2Motor phase B

54DBP - Rev 6/93Signals connector - J1 (MBA-DBP/3UE and MBA-DBP/6UE)Pin FunctionRemarks1 Channel A input2 Channel -A input3 Channel B input4 Channel -

55DBP - Rev 6/93Signals connector - J3 (MBA-DBP/3UE and MBA-DBP/6UE)Pin FunctionRemarks1 positive input of adifferential amplifier.See Appendix C.2 Ne

56DBP - Rev 6/93Signals connector - J3 - cont.Pin FunctionRemarks18 Inhibit outputRelay contact (potential free).The relay contact is closed whenever

57DBP - Rev 6/93Signals connector - J4 - cont.Pin FunctionRemarks6 Input 5 or Index Input.If a homing sequence is required, the Index Inputmust be con

58DBP - Rev 6/93Signals connector - J4 - cont.Pin FunctionRemarks24 Output 10*25 Motion CompleteThis output will go to high when motion iscomplete. *S

5DBP - Rev 6/93Appendix B - Adding a velocity feedback ... 101Appendix C - Differential amplifier connection ...

59DBP - Rev 6/93Signals connector - J6 - cont.Pin FunctionRemarks5 Auxiliary encoder indexinput6 +5V outputThere are several +5V pins. The accumulativ

60DBP - Rev 6/93Signals connector - J8 (MBA-DBP/3UE and MBA-DBP/6UE)1 Channel A outputMain encoder buffered output (20mA, 0-5V)2 Channel -A outputMain

61DBP - Rev 6/938 CIRCUIT COM.+15V 13CIRCUIT COMMON 9HALL A 10HALL B 11HALL C 12CIRCUIT COM. 154 CH B+5V 141 CH A OUT2 CH A3 CH B5 INDEX6 INDEX7 CIRC

62DBP - Rev 6/938 CIRCUIT COM.+15V 13CIRCUIT COMMON 9HALL A 10HALL B 11HALL C 12CIRCUIT COM. 154 CH B+5V 141 CH A OUT2 CH A3 CH B5 INDEX6 INDEX7 CIRC

63DBP - Rev 6/935.4 Communication Port ConnectorThe serial communication is available via a 9 pins D connector (Jc) with thefollowing pin assignment:

64DBP - Rev 6/936. Installation procedures6.1 MountingThe DBP series dissipates its heat by natural convection except DBPF typeswhich are fan cooled

65DBP - Rev 6/936.3 Load inductanceThe total load inductance must be sufficient to keep the current ripplewithin the limits - 50% of the adjusted con

66DBP - Rev 6/936.5 Wiring diagrams6.5.1 Motor's windingsDBPMotorABCHeatsink / GNDMAMBMCChassisMinimum acceptance==============================

67DBP - Rev 6/936.5.2 AC power wiringACACAC+VsDC power commonControl commonHeatsinkFuseFuseFuseA. Direct connection to thethree phase mainsB. Externa

68DBP - Rev 6/93Guide lines for connecting non-isolated AC suppliesGround:Control commonMotor chassisAmplifier's heatsinkDo not ground:Power comm

6DBP - Rev 6/931.DescriptionThe DBP series are digital, full wave, three phase servo amplifiers designedfor high performance brushless servo motors in

69DBP - Rev 6/93ACACAC+VsDC power commonControl commonHeatsinkFuseFuseFuseIsolating transformerA. Extenal fuses are needed for 3U size onlyDBP + I op

70DBP - Rev 6/93ACACAC+VsDC power common is internallyconnected to control commonHeatsinkFuseFuseFuseIsolating transformerNON-ISOLATED DBPA. External

71DBP - Rev 6/93ACACAC+VsDC power commonControl commonHeatsinkFuseFuseFuseACACAC+VsDC power commonControl commonHeatsinkTo additionalDBPsCONNECTING MO

72DBP - Rev 6/93ACACAC+VsDC power commonControl commonHeatsinkFuseFuseFuseACACAC+VsDC power commonControl commonHeatsinkTo additionalDBPsCONNECTING MO

73DBP - Rev 6/93ACACAC+VsHeatsinkFuseFuseFuseACACAC+VsHeatsinkTo additionalDBPsCONNECTING MORE THAN ONE DBPISOLATINGTRANSFORMERISOLATED DBPISOLATED DB

74DBP - Rev 6/93ACACAC+VsDC power commonControl commonHeatsinkFuseFuseDBPExternalcapacitanceSINGLE PHASE CONNECTIONSee chapter 6.4 for detailsAll rule

75DBP - Rev 6/93ACACAC+VsSOControl commonHeatsinkDBPCONNECTING THE EXTERNAL SHUNT RESISTORDOUBLE EUROCARD SIZE ONLYFor 135V types the standard value o

76DBP - Rev 6/936.5.3 Hall sensors wiringHALL AHALL SENSORESHALL SENSORES CONNECTIONJ8HALL BHALL C+15VGND456781112131415123910REMARK:TWISTED PAIRSHIE

77DBP - Rev 6/936.5.4 RS232 Communication wiringRS232 COMMUNICATION5JC69871234RTCOMPUTERTXDRXDRST CTSNOTE:SHIELDING MUST BE CONNECTED AT COMPUTER END

78DBP - Rev 6/936.5.5 RS485 Communication wiringRS 485 COMMUNICATION95JC6871234AMP. No 1T/R+T/R-COMPUTERNOTES:1. SHIELDING MUST BE CONNECTED AT COMPU

7DBP - Rev 6/93* Standard commutation sensors: Hall effect sensors or a Resolver.* Galvanic isolation of the control stage - option.Digital Section St

79DBP - Rev 6/93RS485 COMMUNICATION98345JCCOMPUTERT/R+T/R-6712AMP. No 198345JC6712AMP. No 2AMP. No 329845JCNOTES:2. PIN No.1 TRANSMIT/RECEIVE CONTROL3

80DBP - Rev 6/936.5.6 Main encoder wiringENCODER CONNECTIONJ1698712345+VENCODERBAIDIFFERENTIAL ENCODER CONNECTIONJ19845IIENCODERABB+VA12367NOTES:1.TH

81DBP - Rev 6/936.5.7 Resolver wiringRESOLVER CONNECTIONRESOLVERS3S159J26871234S4S2R2R1NOTES:1. PIN No 7 = +15V2. PIN No 8 = -15V3. PIN 9 AND THE MET

82DBP - Rev 6/936.5.8 Auxiliary encoder wiringAUXILIARY ENCODER CONNECTIONJ61011121314152345678+VAIENCODERB1DIFFERENTIAL AUXILIARY914J6678ENCODER CON

83DBP - Rev 6/936.5.9 Pulse/Direction signals wiringPULSE & DIRECTION INPUT CONNECTIONJ61011121314152345678CONTROLLERDIRECTION1DIFFERENTIAL PULSE

84DBP - Rev 6/937. Start - Up Procedures7.1 Common procedures for all amplifiers types7.1.1 Commutation signals formatSelect the position of DIP sw

85DBP - Rev 6/937.1.4 Setting the auxiliary position input formatThis step is valid only for those applications that need to use the auxiliarypositio

86DBP - Rev 6/937.2 Setting the main optical encoder formatWhen a differential encoder is used:Set DS 2,3,6 to OFFOtherwise they should be ON.7.3 Se

87DBP - Rev 6/93OscillatorCreates sinusoidal waveform signal to excite the primary of the Resolver.Oscillator Frequency/Amplitude Selection (R228,R233

88DBP - Rev 6/93Signal input level (R193,R194)The R/D inputs (Vinrms) are adjusted to the sin/cos. Resolver outputs by:Resolver output = Vinrms = Vrrm

8DBP - Rev 6/933. Technical SpecificationType AC Supply*min maxCurrentlimitsSizePanel(H)SizeRack(R)Weight(Kg)DBP-12/135 28- 135 12/24 DBP2 3U/20T 1

89DBP - Rev 6/9310 bit = 1040 rps12 bit = 260 rps14 bit = 65 rps16 bit = 16.5rpsResolution DS13 DS1410 ON ON12 ON OFF14 OFF ON16 OFF OFFNote:-

90DBP - Rev 6/93HF Filter (R195, R196, C61, C62)The function of the HF filter is to reduce the amount of noise present onthe signal inputs to the 2S82

91DBP - Rev 6/93R201 = 5.92 x 107 / T x p (Kohm)where p = bit per rev = 1,024 for 10 bits resolution = 4,096 for 12 bits

92DBP - Rev 6/93d. R200 is given by 127 x 107R200 = ------------- (Kohm) fbw x C68fbw in Hz, C68 in pFR200 value should be at lea

93DBP - Rev 6/938. Applying power - AdjustmentsImportant remarks:A. If all the previous steps were accomplished you may now disconnect the motorleads

94DBP - Rev 6/93Step 2 - Establishing the communicationPress CR (carriage return) in the host several times until the DCB sends themessage "Commu

95DBP - Rev 6/93Current limit adjustments- Define the continuous current limit by the instruction:CLn.m (n.m - current in A)- Define the peak cu

96DBP - Rev 6/939. Tables and Summaries9.1 Display diagnosticsEach amplifier's fault is stored immediately in the DCB RAM. In addition tothat,

97DBP - Rev 6/939.2 Summary of DIP switchesPower stage board(2 poles DIP switch)DIP switch OFF (UP) ON (DOWN)DS1 60° commutation signals format 30° c

98DBP - Rev 6/93Appendix A - Current loop responseIn most applications it is not necessary to adjust the current loop toachieve the optimum response.