Electro-Craft MAX-430 Manuale utente

MAX-430

PWM Servo Drive

Instruction Manual

Rockwell Automation/Electro-Craft

6950 Washington Avenue South

Eden Prairie, MN 55344

THE RIGHT COMPANY. THE RIGHT SOLUTION.

Click to Go Back to OEM Menu

P/N 0013-1025-001 Rev F

Printed in the United States of America.

Information contained in this manual is subject to change without notice.

Electro-Craft is a trademark of Rockwell Automation.

UL and cUL are registered trademarks of Underwriters Laboratories.

Other trademarks cited are the property of their respective owner.

Intro

WARNING Only qualified electrical personnel familiar with the construction and operation

of this equipment and the hazards involved should install, adjust, operate or

service thisequipment. Readand understandthis manual and other applicable

manuals in their entirety before proceeding. Failure to observe this precaution

could result in severe bodily injury or loss of life.

Intro

WARNING The user must provide an external, hardwired emergency stop circuit outside

the controller circuitry. This circuit must disable the system in case of improper

operation. Uncontrolled machine operation may result if this procedure is not

followed. Failure to observe this precaution could result in severe bodily injury.

Instruction Manual

Contents

IntroContents

Contents Intro-3

List of Figures Intro-5

List of Tables Intro-7

Pictorial Index Intro-8

CHAPTER 1 Introduction

HowtoUseThisManual......................................1-1

Safety.................................................1-1

IntroductiontotheMAX-430....................................1-1

FunctionalDescription .......................................1-2

CHAPTER 2 Installation

Installation..............................................

2-1

InternalAdjustments ........................................2-1

Jumpers...............................................2-1

Mounting...............................................2-3

TransformerSizing..........................................2-3

ACandDCPowerConnections..................................2-4

AuxiliaryLogicSupplyPower...................................2-8

ConnectingTheMotor........................................2-8

LogicInputsandOutputs......................................2-8

ConnectingInputs......................................... 2-10

VelocityCommandSignal(VCS)............................... 2-10

AuxiliaryInput ......................................... 2-10

Inhibit(INH)........................................... 2-10

ForwardandReverseAmplifierClamps(FAC,RAC) ................... 2-10

InternalConnections(FAC,RACandINH)........................... 2-11

VelocityClamp(TorqueMode)................................ 2-12

External Current Limit (Optional). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

ConnectingOutputs........................................ 2-13

SystemStatusOutput(SSO).................................. 2-13

MotorCurrentOutput(MCO0-10V) .............................. 2-15

Motor Current Output (MCO ±10V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

MotorVelocityOutput(MVO)................................. 2-15

±15VDCPowerOutput.................................... 2-15

TypicalWiringExamples..................................... 2-16

Intro-4 Contents

P/N 0013-1025-001 Rev F

CHAPTER 3 Applying Power for the First Time

SetupChecklist........................................... 3-1

Start-up Procedure with Tach (Velocity Mode) . . . . . . . . . . . . . . . . . . . . . . . . 3-2

InternalCurrentLimit(ILIM)................................... 3-3

BalanceControl(BAL)....................................... 3-3

ServoCompensation(COMP)................................... 3-3

TachGain(TACH)......................................... 3-3

VCSGain(VCS)........................................... 3-4

VCSSignalandScaling(VCS)................................... 3-4

VCSSignalInput......................................... 3-4

VCSGainSetting......................................... 3-4

VCSSignalScaling........................................ 3-4

Start-upProcedurewithoutTach(TorqueMode) ....................... 3-6

TorqueModeOperation...................................... 3-7

CHAPTER 4 Diagnostics/Troubleshooting

MonitoringOutputs ........................................ 4-1

Motor Current Output (MCO 0-10V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Motor Current Output (MCO ±10V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

MotorVelocityOutput(MVO)................................. 4-1

ScheduledMaintenance...................................... 4-2

CheckingandReplacingtheFuses................................ 4-2

MalfunctionDiagnosis....................................... 4-3

LightEmittingDiodes....................................... 4-4

Power LED (Green) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

TestOutputs ............................................ 4-5

CHAPTER 5 Specifications

Inrush Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

CHAPTER 6 Component Ordering Information

CHAPTER 7 Reference Drawings

APPENDIX A Differences from the MAX-400

MAX-400toMAX-430Replacements............................... A-1

PowerConnector......................................... A-1

Foldback.............................................. A-1

Motor Current Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Multi-AxisPowerWiring.................................... A-1

Index of Topics Help-1

Documentation Improvement Form Help-3

Product Support Help-5

Instruction Manual

List of Figures

IntroList of Figures PictorialIndex...........................................Intro-8

CHAPTER 1 Introduction

SystemFunctionalDiagram...................................1-2

CHAPTER 2 Installation

Jumper Locations.........................................2-2

115 VACInput Power/MotorWiring.............................2-4

230 VACInput Power/MotorWiring.............................2-5

+(30-120)VDCInput Power/MotorWiring......................... 2-5

Multiple Axis Power Wiring (Individual Secondaries)

(Recommended Method)...................................2-6

Multiple Axis Power Wiring (One Secondary)

(AlternativeMethod).....................................2-7

ExternalInterfaceConnections.................................2-9

Sourcing Opto’s with Internal Power (P8A: pins 1-2 and P8:pins 1-2)..........2-11

Sourcing Opto’s with External Power (P8A: pins 2-3 and P8: pins 2-3)..........2-11

Sinking Opto’s with Internal Power (P8A: pins 2-3 andP8: pins 1-2)...........2-11

Sinking Opto’s with External Power (P8A: pins 2-3 and P8:pins 2-3)...........2-12

SSO-OpenCollectorSourcing.................................2-13

SSO-OpenCollectorSinking..................................2-13

SSO-NormallyClosedRelaywithInternalPower.....................2-14

SSO - Normally Closed Relay using External Power

withFAULTCondition=LogicLevel“1”.........................2-14

SSO - Normally Closed Relay using External Power

withDriveREADY=LogicLevel“1”............................2-14

IsolatedLogicInterfaceConnections.............................2-16

LimitSwitchWiring.......................................2-16

CWRemoteVCSControl....................................2-17

CW/CCWRemoteVCSControl................................2-17

CCWRemoteVCSControl...................................2-17

TorqueControl..........................................2-18

Master SlaveWiring.......................................2-18

CHAPTER 3 ApplyingPower for theFirst Time

SystemResponsetoaStepVCSInput.............................3-5

VCSTorqueMode ScalingExamples.............................3-7

CHAPTER 4 Diagnostics/Troubleshooting

LocationofFuses.........................................4-2

Excessive Current Timeout Diagram.............................4-4

TestOutputs...........................................4-5

CHAPTER 5 Specifications

Inrush Current Measurements.................................5-2

Intro-6 List of Figures

P/N 0013-1025-001 Rev F

CHAPTER 6 Component Ordering Information

0.625 kVA Transformer, Part Number 9077-0640 . . . . . . . . . . . . . . . . . . . . . . . 6-2

1.8kVATransformer,PartNumber9077-0639........................ 6-3

3.6kVATransformer,PartNumber9077-0638........................ 6-4

3.6kVATransformer,PartNumber9077-0637........................ 6-5

CHAPTER 7 Reference Drawings

Outline,MountingandAdjustmentsDiagram........................ 7-1

SimplifiedCircuitDiagram................................... 7-2

APPENDIX A Differences from the MAX-400

Instruction Manual

List of Tables

IntroList of Tables

CHAPTER 1 Introduction

CHAPTER 2 Installation

Inputs and Outputs with Jumpers P6 through P9A .........................2-1

CHAPTER 3 Applying Power for the First Time

CHAPTER 4 Diagnostics/Troubleshooting

MAX-430 System Problem Symptoms and Possible Causes ....................4-3

LED Fault Conditions ...........................................4-4

CHAPTER 5 Specifications

Performance Specifications ........................................5-1

Electrical Specifications ..........................................5-1

Input Power Requirements ........................................5-1

Physical Specifications...........................................5-1

CHAPTER 6 Component Ordering Information

Ordering PWM Servo Drive .......................................6-1

Ordering Transformers ..........................................6-1

CHAPTER 7 Reference Drawings

Listing of Drawings ............................................7-1

APPENDIX A Differences from the MAX-400

Intro-8 Pictorial Index

P/N 0013-1025-001 Rev F

IntroPictorial Index

Intro

Pictorial Index

page 4-4

page 4-5

page 2-4,

page 2-8

page 2-4,

page 2-8

page 2-4,

page 2-8

page 2-4,

page 2-8

page 3-3

page 4-5

page 2-10

page 2-13

page 2-12

page 2-10

page 2-12

page 2-15

page 2-12

Instruction Manual

CHAPTER 1: Introduction

How to Use This Manual

This manual describes the function, theory and application of the Electro-Craft MAX-430 servo

drivesandprovidesinformation related totheirperformance,operation andmaintenance. This

manual is addressed to the customerengineer or technician involved inthe installation ormain-

tenance of the MAX-430 drive. It is assumed that the reader is trained in the use of mechanical

and electrical test equipment and is familiar with basic servo system maintenance procedures.

Safety It is necessary to wait at least 60 seconds before working on the drive when main power has

been turned off and auxiliary power is not being supplied to the drive. When there is 24 volts

being supplied to the auxiliary power input, main power will dissipate immediately on power

down. However, if there is no power being supplied to the auxiliary power input, main power

must dissipate through a resistor, and it will take at least 60 seconds before the voltage is at a

safe level.

Introduction to the MAX-430

The“SystemFunctionalDiagram”oftheElectro-CraftMAX-430driveisshownonthefollowing

page. MAX-430 series drives are designed to drive permanent magnet, brushtype, DC servo

motors. The drives and motors are intended for use in a broad range of industrial servo appli-

cations, including machine tool and robotic applications, and are used in torque, velocity and

positiontypeservosystems.Eachdriveisaself-containedunit,readyformechanicalinstallation

and electrical interconnections to the AC power transformer, motor-tachometer, and controller.

TIP If replacinga MAX-400 with a MAX-430, refer to Appendix A, “Differences from

the MAX-400” for a list of changes to be aware of.

1-2 Introduction

P/N 0013-1025-001 Rev F

Functional Description

The Electro-Craft MAX-430 is a controllable power source for brushtype, DC servo motors.

Usually configured as a controlled velocity system, the drive interfaces with a controller which

provides an analog voltage signal proportional to the desired motor velocity. The MAX-430

drive can also operate in torque mode (or current mode), such that a controller provides an

analog voltage signal proportional to the desiredmotor torque.Refer to the “System Functional

Diagram” shown below. The MAX-430 drivecontains circuitry for protection of both motor and

drive from effects of various overload and short circuit conditions. The command signal to the

power drive can be monitored at the ICMD output. The MAX-430 is a 16 kHz pulse-width

modulation (PWM), switching type drive that reduces system power losses. Motor speed is

precisely controlled down to a maximum torque, low velocity condition.

Intro

FIGURE 1.1 System Functional Diagram

Indice

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