Digital AC Servo Systems

Transcription

1 Digital AC Servo Systems EDC/EDB Series (V ) MOTION CONTROL PRODUCTS LTD.

2 INTRODUCTION EMJ SERVO MOTORS EMG SERVO MOTORS EML SERVO MOTORS EDC/EDB SERVO DRIVES Applications: SMM (Surface Mounting Machine) PCB puncher machine Robot arm Handling machine Textile machine Machine tools Food processing machine And more EDB Series Servo System EDB series has designed to meet general purpose applications in mind. It covers power ranges from 750W to 5kW, with excellent servo software control technology and hardware design which leads to a high performance servo solution. Features include high overload capacity, auto tuning, control flexibility, single axis positioning and windowsbased software etc. EDC Series Servo System EDC series servo system, covering power ranges from 200W to 750W, is designed for lowcost applications with input control via step and direction. The units consist of control software using C language which ensures a high responsive servo loop. Programming can be done using a palm operator panel to set, change or monitor the parameters, with the drive eightnode builtin positioning points, or by using windowsbased software, which can be set using RS232 or CANopen. Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 1

3 High Overload Capacity EDB/EDBC servo drive utilises industrial standard intelligent power modules (IPM) which have larger capacity than other servo drives with the same power capacity in the market. They therefore have larger overload capacity, better disturbance rejection control and higher startup torque. This overload capacity will allow motors up to 1.5kW running at up to three times their rated torque at the rated speed, and 2.5 times on those above 2kW. Auto Disturbance Rejection Control The most up to date high speed DSP is used to meet the control requirements of high speed and high precision on the servos. With its auto disturbance rejection control and speed control algorithm, the drives have the unique features of feedforward control (which is to compensate for servo delays) and commandsmoothing techniques. Therefore these servo drives have much better dynamic features such as fast response, high precision and high speed, with higher stability than those with conventional PI control. In addition, automatic inertia identification enables the drives to adjust the performance and make the operations much easier to control. Communication Interface Standard CAN bus interfaces are available in EDC series servo which makes it easy to connect to the distributed control systems. Based on Modbus Protocols using RS485 or RS232 interfaces, the host can be connected up to 32 servos axis for network control with the transmission distance up to 1200 meters (if RS485 interface is used). The host can also communicate with PLC, DCS, intelligent measuring equipment, touch screens, etc for greater centralised monitoring. Allinone Control Modes Position, speed and torque control are combined all in one on EDB servo drive range. It can be switched dynamically among different control modes and the operation is extremely flexible in a host of applications. Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 2

4 ESView Software With special windowsbased ESView PC software, the following functions can be achieved: Parameter management Fast and convenient setup on all parameters is available, such as editing, data transfer, comparison and initialisation. Monitoring Real time monitoring on all I/O signals, alarm history and system status etc. Real time sampling The speed and torque curves can be sampled in real time for the purpose of the adjustment and analysis. Adjusting Fast adjustment of gains is available. General test will be done when there are no position or speed inputs. Singleaxis Positioning Function The 16node single axis positioning function is also built inside the servo drives. A touch screen can be connected directly via the RS232 interface on the servo drive, bringing the overall system costs goes down, since an intermediate PLC unit is eliminated. With the touch screen, the users can program every node s position, speed, acceleration, deceleration time, idle time, start point and stop point. This information can also be transmitted to the servo drive via RS232 interface. Users may select to program absolute values or incremental values or select to run in cycle. Users may also use referencepointsearch function and set up the speed of referencepoint search. In addition, it is possible to use external signals for step changes. EDB/EDC drives also give the users the option to develop their own application programmes to meet different demands on different applications. Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 3

5 Model Configuration EDB 10 A M A Servo drive Rated Power Voltage Control Mode Version Code EDB, EDC 02: 200W A: 200VAC P: Position control 04: 400W 08: 750W 10: 1KW 15: 1.5KW 20: 2KW 30: 3KW 50: 5KW M: Position, speed, torque control EMJ 10 A P A 1 1 Servo motor Rated Power Voltage Encoder Version Code Shaft End Options EMJ, EMG, 02: 200W A: 200VAC P: 2500P/R 1: Flat, without 1: None EML 04: 400W key 08: 750W 2: Flat, with key, 2: with oil seal 10: 1KW with screw 3: with brake 15: 1.5KW thread (24VDC) 20: 2KW 4: with oil seal, 30: 3KW 50: 5KW with brake (24VDC) System Selection Table Models Functions Control Mode RS232 RS485 CANopen Profibus Auto gain setting PG dividing frequency Encoder Frequency with workload EDC series Position control 2500P/R 250Hz EDB series Position control 2500P/R 250Hz EDB series M type ProNet series Position, torque & speed control Position, torque & speed control 2500P/R 250Hz 17 bits P/R 450Hz Notes: 1. Please inform us if the drive is used in frequent startstop movement applications e.g. packing or textile machines 2. ProNet & EDB series are also available with single phase power supply for motor power range from 750W to 1.5kW. Please use L1, L3 & L2C as one phase and L2, L1C as another phase. Using B1 & B2 is not required. For powers greater than 1.5KW, it is not recommended to use a single phase power supply. 3. Phase voltage: Three phase 200VAC input voltage refers to phase to phase voltage, not phase to neutral. Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 4

6 Summary Table Servo Motors Capacity 200W Frame Size mm W W kW kW kW kW kW kW kW kW kW kW kW kW kW 220 Rated Torque Nm Model EMJ02APA EMJ04APA EMJ08APA EMJ10APA EMG10A EMG15A EMG20A EMG30A EMG50A EML10A EML20A EML30A EML40A EMB75D EMB1AD EMB1ED Singlephase 200VAC EDC02APE EDC04APE EDC08APE EDB08A A EDB10A A EDB10A A ProNet10A EDB15A A ProNet15A Servo Drives Threephase 200VAC EDB08A A EDB10A A EDB10A A ProNet10A EDB15A A ProNet15A EDB20A A ProNet20A EDB30A A ProNet30A EDB50A A ProNet50A EDB10A A Series EMJ 3000rpm EMG 2000rpm EML 1000rpm EMB 1500rpm ProNet10A EDB20A A ProNet20A EDB30A A ProNet30A EDB50A A ProNet50A Threephase 400VAC ProNet75D ProNet1AD ProNet1ED Power Cable Model CDMJB18 CDMJB18 BDMJB18 BDMJB18 BDMGA16 PDMGA16 BDMGA16 PDMGA16 BDMGA14 PDMGA14 BDMGD12 PDMGD12 BDMGD12 PDMGD12 BDMGA16 PDMGA16 BDMGD14 PDMGD14 BDMGD12 PDMGD12 BDMGD12 PDMGD12 Encoder Cable Model CMPJB26 CMPJB26 BMPJB24 BMPJB24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 BMPGA24 PSPGA24 PAPGA24 PSPGA24 PAPGA24 PSPGA24 PAPGA24 PSPGA24 PAPGA24 Communication Cable Model CSCCC24A BSCCC24A BSCCC24A BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 BSCCC24A PSCCC24 PSCCC24 Palm Operator OP01A N/A Small Capacity Medium Capacity Large Capacity Medium Inertia Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 5

7 EM SERIES BRUSHLESS SERVO MOTORS EMJ Technical Specifications Model Unit EMJ02A EMJ04A EMJ08A EMJ10A EDC08A Singlephase EDC02A EDC04A Matched Drives 190~245Vac EDB08A EDB10A Threephase EDB08A EDB10A Rated power kw Rated torque Nm Maximum torque Nm Rated speed rpm 3000 Max. speed rpm 4500 Rated current A Instantaneous Max. current A Rotor moment of Inertia (without brake) kg m Rotor moment of Inertia (with brake) kg m Electric time constantte ms Mechanical time constant TM ms electromotive force constant KE V/krpm Torque constant KT Nm/A Resistance between motor windings Ω Inductance between motor windings mh 24.7~ ~ ~ ~15.9 Insulation level F Insulation impedance Not less than 50MΩ under normal temperature Insulation voltage endurance AC 1500V, 50Hz, 1min Air pressure working conditions 86 ~ 106 kpa Temperature working conditions 25 C ~ +40 C Humidity levels Not more than 90%, under 25 C IP level IP65 SpeedTorque Curve Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 6

8 Dimensions (mm) Model L LL Flange Key S Tap Depth LR LE LF LC LA LB LZ QK QL W T U EMJ02A M5x10L EMJ04A M5x10L EMJ08A M6x15L EMJ10A M6x15L Cables Motor Connector Encoder Connector Brake Connector Plug: (AMP) Plug: (AMP) Plug: (AMP) Pin: (AMP) Pin: (AMP) Pin: (AMP) Pin No. Signal Colour Pin No. Signal Colour Pin No. Signal Colour 1 U phase Red 1 A+ Blue 1 B1 Blue 2 V phase Blue 2 B+ Green 2 B2 White 3 W phase White 3 C+ Yellow 4 FG Green / Yellow 4 A Blue / Black 5 B Green / Black 6 C Yellow / Black 7 PG5V Red 8 PG0V Black 9 FG Shield Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 7

9 EMG Technical Specifications Model Unit EMG10A EMG15A EMG20A EMG30A EMG50A Matched Drives 190~245Vac Singlephase EDB10A EDB15A Threephase EDB10A EDB15A EDB20A EDB30A EDB50A Rated power kw Rated torque Nm Maximum torque Nm Rated speed rpm 2000 Max. speed rpm 3000 Rated current A Instantaneous Max. current A Rotor moment of Inertia (without brake) kg m Rotor moment of Inertia (with brake) kg m Electric time constantte ms Mechanical time constant TM ms electromotive force constant KE V/krpm Torque constant KT Nm/A Resistance between motor windings Ω Inductance between motor windings mh 7.9~ ~ ~ ~ ~1.6 Insulation level F Insulation impedance Not less than 50MΩ under normal temperature Insulation voltage endurance AC 1500V, 50Hz, 1min Motor Running air pressure 86 ~ 106 kpa Motor Running temperature 25 C ~ +40 C Running humidity Not more than 90%, under 25 C IP level IP65 SpeedTorque Curve A: Continuous working area B: Repeatable working area Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 8

10 Dimensions (mm) Model L LL KB1 KB2 KL1 KL2 Flange LR LE LF LC LA LB LZ S Tap Depth Key QK QL W T U EMG10A M6x20L EMG15A M6x20L EMG20A M6x20L EMG30A M8x16L EMG50A M8x16L Cables Motor Connector Encoder Connector Brake Connector Plug: MS3108B204S(LC=130) MS3108B2222S(LC=180) Socket: MS3102A204P(LC=130) MS3102A2222P(LC=180) Cable Clamp: MS305712A Plug: MS3108B2029S Socket: MS3102A2029P Cable Clamp: MS305712A Plug: MS3106A10SL3S Socket: MS3102A10SL3P Cable Clamp: MS30574A Pin No. Signal Pin No. Signal Colour Pin No. Signal A U phase A A+ Blue A B1 B V phase B A Blue / Black B B2 C W phase C B+ Green / Black C D FG D B Green E C+ Yellow F C Yellow / Black G PG0V Black H PG5V Red J FG Shield Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 9

11 EML Technical Specifications Model Unit EML10A EML20A EML30A EML40A Matched Drives 190~245Vac Singlephase Threephase EDB10A EDB20A EDB30A EDB50A Rated power kw Rated torque Nm Maximum torque Nm Rated speed rpm 1000 Max. speed rpm 1500 Rated current A Instantaneous Max. current A Rotor moment of Inertia (without brake) kg m Rotor moment of Inertia (with brake) kg m Electric time constantte ms Mechanical time constanttm ms electromotive force constantke V/krpm Torque constantkt Nm/A Resistance between motor windings Ω Inductance beteen motor windings mh 15.4~ ~ ~ ~4.04 Insulation level F Insulation impedance Not less than 50MΩ under normal temperature Insulation voltage endurance AC 1500V, 50Hz, 1min Motor Running air pressure 86 ~ 106 kpa Motor Running temperature 25 C ~ +40 C Motor Running humidity Not more than 90%, under 25 C IP level IP65 SpeedTorque Curve A: Continuous working area B: Repeatable working area Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 10

12 Dimensions (mm) Flange Model L LL KB1 KB2 KL1 KL2 S Tap Depth LR LE LF LC LA LB LZ key QK QL W T U EML10A M6x20L EML20A M8x16L EML30A M8x16L EML40A M8x16L Cables Motor Connector Encoder Connector Brake Connector Plug: MS3108B204S(LC=130) MS3108B2222S(LC=180) Receptacle: MS3102A204P(LC=130) MS3102A2222P(LC=180) Cable Clamp: MS305712A Plug: MS3108B2029S Receptacle: MS3102A2029P Cable Clamp: MS305712A Plug: MS3106A10SL3S Receptacle: MS3102A10SL3P Cable Clamp: MS30574A Pin No. Signal Pin No. Signal Colour Pin No. Signal A U phase A A+ Blue A B1 B V phase B A Blue / Black B B2 C W phase C B+ Green / Black C D FG D B Green E C+ Yellow F C Yellow / Black G PG0V Black H PG5V Red J FG Shield Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 11

13 EDC/EDB BRUSHLESS SERVO DRIVES Technical Specifications Servo Drive Model EDB Series EDC Series Power Supply Three Phase 220VAC +1015%, 50/60HZ single Phase 220VAC +1015%, 50/60HZ Control Mode SVPWM SVPWM Basic Data Feedback Working Condition Operating / Storage Temperature Operating/Storage Humidity Shock/Vibration Resistance 8Core (Wire saving) Incremental encoder (2500P/R) 8Core (Wire saving) Incremental encoder (2500P/R) 0 to +55 C /20 to +85 C 0 to +55 C /20 to +85 C 90% RH or less (no condensation) 90% RH or less (no condensation) 4.9m/s 2 / 4.9m/s 2 / 19.6m/s m/s 2 Structure Basemounted Basemounted Speed Control Range 1:5000 1:5000 Speed Control Mode Position Control Mode Speed Regulation Load Regulation 0 to 100% load: ±0.01% max 0 to 100% load: ±0.01% max Voltage Regulation Temperature Regulation Rated voltage ±10%: 0% (at rated speed) Rated voltage ±10%: 0% (at rated speed) 25±25 C: 0.1% max. (at rated speed) 0 to 40 C: 0.1% max. (at rated speed) Frequency Characteristics 250HZ (J L <=J M ) 250HZ (J L <=J M ) Software Startup Time setting Speed Ref. Input Torque Ref. Input Node Speed Reference Reference Pulse 010s (Set Acceleration and Deceleration Individually) Reference Voltage ±10V DC Input Resistance 40kΩ Loop Time Constant 47μs Reference Voltage ±10VDC Input Resistance 40kΩ Loop Time Constant 47μs Reverse Rotation Direction Selection Speed Selection Type Pulse Buffer Pulse Frequency Use PCON Signal Use FWD/REV current limit signal (select speed 13), when both not OFF, select Stop or other control mode SIGN+PULSE Train, Sin. Pulse Phase A and Phase B, CCW+CW Pulse Train Line Driving (+5V Level). Open Collector Maxi.500Kpps (Difference) /200Kpps (Collector) SIGN+PULSE Train, Sin. Pulse Phase A and Phase B, CCW+CW Pulse Train Line Driving (+5V Level). Open Collector Maxi.500Kpps (Difference) /200Kpps (Collector) Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 12

14 Control Signal clear Clear I/O Signals Builtin Function Position Control Mode Position Output Offset Setting 0300r/min (Set Resolution as 1r/min) Feed Forward Compensation In position Error Setting Output Signal Sequence Control Input Sequence Control Output COM Function LED Display Braking Protection Regeneration Treatment Function Other 0100% (Set Resolution as 1%) 0500 Reference Unit (Set resolution as 1 reference unit) Phase A, Phase B and Phase C ;Line Driving Output Phase A, Phase B and Phase C; Line Driving Output Dividing Ratio (12500)/2500 (12500)/2500 Servo ON, Proportional Control or ControlMode Switch, Forward Run Prohibited, Reverse Run Prohibited, Alarm Reset, FWD Torque External Limit, REV Torque External Limit, Zero Clamp Signal Servo Alarm, Servo Ready, Positioning Complete (Speed Coincidence), Brake Release, Limiting Torque, Motor Run Detection With RS485 interface for communication. With host controller's special software, parameter setting, run operation and status display can be done in Windows mode. Compatible with Modbus com protocol and CANopen protocol. Charge, Power, Five 7segment LEDs and 4 Pushbuttons (Digital Operation Panel) Dynamic Brake, Overtravel Protection Dynamic Brake Overcurrent, Overload, Overspeed, Under Voltage, Overvoltage, Encoder Error, Parameter Error etc. Servo On, Alarm Reset, Error Counter, Clear Signal, Zero Clamp Signal Servo Alarm, Positioning Complete (Speed Coincidence), Brake Release, Limiting Torque With RS485 interface for communication. With host controller's special software, parameter setting, run operation and status display can be done in Windows mode. Compatible with Modbus com protocol and CANopen protocol. Charge, Power & ALM Indicator, Five 7 Segment Tube (On Handheld Operator) IPM Power Module Error, Overload, Overspeed, Voltage Error, Position Error, Counter Overflow, Encoder Disconnected, Parameter Damaged etc. Built in Regenerative Resistance Zero Clamp (With 16 internal Position Nodes) Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 13

15 Dimensions (mm) EDC Drive EDB Drive Model L W H S e f d EDB08, EDB10, EDB EDB20, EDB30, EDB EDB + 08, EDB + 10, EDB EDB + 20, EDB + 30, EDB Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) enquiries@motioncontrolproducts.com P a g e 14

16 Typical Connection Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) P a g e 15

17 For more technical information of the drives, please refer to EDB & EDC user manual. Copyright 2010 Motion Control Products Ltd. All rights reserved. All data subject to change without notice in advance Motion Control Products Ltd., 1115 Francis Ave. Bournemouth, Dorset, UK BH11 8NX Tel.: +44 (0) P a g e 16