TeMec Drive AZ2 Manuale utente

AZ2

DC MOTOR DRIVE

USER MANUAL

AZ2USER MANUAL

ST.TEC.003.EN Rev. 2.1

2 / 52

Read carefully this manual before using the drive.

TeMec Drive reserves the right to change the information reported in this manual without prior notice

because the product is in continuous evolution.

No part of this manual may be howsoever reproduced without previous consent by TeMec Drive.

REVISIONS INDEX

Rev.

Par.

Description

Date

0.0

First release

04/03/2016

1.0

Update. Independent with encoder functionalities added.

01/03/2019

2.1

Corrected troubleshooting for yellow error

11/11/2020

R = Redaction

V = Verification

A = Approval

AZ2USER MANUAL

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Index

1. SAFETY PRECAUTIONS.....................................................................................................................5

1.1. Operating limits................................................................................................................................. 5

1.2. Handling............................................................................................................................................. 5

1.3. Transportation and installation......................................................................................................... 6

1.4. Wiring ................................................................................................................................................ 7

1.5. Operations......................................................................................................................................... 8

1.6. Modification of advanced parameters.............................................................................................. 8

1.7. Maintenance and inspection............................................................................................................. 9

1.8. Disposal.............................................................................................................................................. 9

1.9. CE conformity and applicable standards........................................................................................... 9

2. GENERAL INFORMATION............................................................................................................... 10

2.1. Technical characteristics.................................................................................................................. 10

2.2. Board overview................................................................................................................................ 11

2.3. Ordering codes ................................................................................................................................ 11

3. INSTALLATION AND WIRINGS........................................................................................................ 12

3.1. Installation environment................................................................................................................. 12

3.2. Mechanical installation.................................................................................................................... 12

3.3. Mechanical drawings....................................................................................................................... 13

3.4. External power supply connections ................................................................................................ 14

4. OPERATION OF TWO INDEPENDENT MOTORS WITHOUT ENCODER................................................ 15

4.1. Connections and commands ........................................................................................................... 15

4.2. Ramps.............................................................................................................................................. 18

4.2.1. Advanced parameters ............................................................................................................. 18

4.3. Current limits................................................................................................................................... 19

4.3.1. Advanced parameters ............................................................................................................. 20

5. OPERATION OF TWO INDEPENDENT MOTORS WITH ENCODER ...................................................... 22

5.1. Connections and commands ........................................................................................................... 22

5.2. Homing function.............................................................................................................................. 25

5.2.1. Advanced parameters ............................................................................................................. 26

5.3. Normal run ...................................................................................................................................... 26

5.3.1. Advanced parameters ............................................................................................................. 27

6. OPERATION OF TWO SYNCHRONIZED MOTORS ............................................................................. 29

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6.1. Connections and commands ........................................................................................................... 29

6.2. Trimming mode ............................................................................................................................... 30

6.3. Homing function.............................................................................................................................. 30

6.3.1. Advanced parameters ............................................................................................................. 31

6.4. Normal run ...................................................................................................................................... 32

6.4.1. Advanced parameters ............................................................................................................. 33

7. ERRORS AND DIAGNOSTICS........................................................................................................... 35

7.1. Global errors.................................................................................................................................... 35

7.1.1. Advanced parameters ............................................................................................................. 36

7.2. Motor specific errors....................................................................................................................... 37

7.2.1. Advanced parameters ............................................................................................................. 38

8. PARAMETER TABLES ..................................................................................................................... 39

8.1. Digital inputs and outputs ............................................................................................................... 39

8.2. Ramps.............................................................................................................................................. 40

8.3. Current limits................................................................................................................................... 40

8.4. Synchronism - motor 1 and motor 2 ............................................................................................... 43

8.5. Synchronism - global ....................................................................................................................... 45

8.6. Independent with encoder.............................................................................................................. 45

8.7. Global errors.................................................................................................................................... 45

8.8. Motor specific errors....................................................................................................................... 47

9. TROUBLESHOOTING...................................................................................................................... 49

10. MAINTENANCE AND INSPECTION.................................................................................................. 51

11.DISPOSAL ..................................................................................................................................... 51

AZ2USER MANUAL

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1. SAFETY PRECAUTIONS

Read carefully the following items so that you can safely use the drive avoiding causing injury to the

operators, damaging the mechanic components driven by the drive or other objects in the area.

Make sure you that all warnings are correctly observed.

Safety marking legend:

MARKING

Meaning of the marking

!WARNING

Indicates that errors that may lead to death or serious injury.

!CAUTION

Indicates that errors that may lead to injury to people or damage

objects.

MARKING

Meaning of the marking

Prohibition. Do not do it.

Obligation. Follow the instruction.

Warning.

1.1. Operating limits

This drive is designed for the open loop control of one or two linear actuators driven by direct

current motors for synchronous or independent operation. Do not use for driving other electrical

loads or motor types without first contacting your TeMec Drive distributor.

Use the drive only in industrial application; do not use it where a possible fault can cause serious

injury to human life, like nuclear plants, aviation, safety device, entertainment, medical.

Use the drive only where a possible fault of the drive does not cause serious accidents or

damages or use it only where safety equipment is applicable or a backup circuit device is provided

outside the system.

1.2. Handling

!WARNING

Do not disassemble, modify or repair. This can cause electrical shock, fire and

injury.

Do not touch the electronic drive components when power is on. This can result

in electric shock or other injury.

Do not allow water or any other fluid to come in contact with the drive. This can

result in electric shock or fire.

Turn on the power only when the drive is closed in a proper insulating cabinet to

avoid electric shock or other injury.

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If the drive begins to emit smoke, an unusual odour, or unusual sounds,

immediately disconnect the power. Continuous use of the drive in such a state

may cause fire. Call your TeMec Drive distributor for assistance and/or repair.

Always turn the power off if the drive is not used for long time. Leaks, dust and

other material may cause malfunctions and if power is left on with the drive in

that state, it may result in fire.

!CAUTION

Do not touch heatsink fins or discharge / braking resistors. These parts may be

hot and can cause burning if you touch them.

1.3. Transportation and installation

!WARNING

Do not install or operate the drive if it is damaged. This can result in electrical

shock or fire.

Do not place any inflammable objects near the drive. If an accident occurs in

which flame is emitted, this could lead to fire.

Do not install in any location where the drive could come into contact with water

or other fluids. This can result in electric shock or fire.

Install the drive being sure that no metal part is in contact with the bottom side

of the board. The contact with the exposed tracks may cause electric shock or

fire.

Operate under the environmental conditions prescribed in this instruction

manual. Operations under any other conditions may result in malfunction.

Install an emergency stop device that fits with system specifications. The drive

alone cannot stop operation immediately, thus resulting in an accident or injury.

!CAUTION

When installing make sure that the fixing holes are spaced correctly within the

tolerances indicated in this manual. Otherwise the drive may bend and be

damaged.

Pressing too hard on the screwdriver may irreparably damage the drive.

Always turn the power off when removing the drive from its support. After

wiring is complete, be sure to replace the unit into its case.

If braking is necessary (to hold motor shaft), install a mechanical brake. The

function brake on the drive will not function as a mechanical hold, and if used

for that purpose, injury may result.

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1.4. Wiring

!WARNING

Do not connect in parallel the two power outputs to increase the total current

that can be imposed on a single motor. This can result in electrical shock or fire.

Do not change encoders’ connections after the successful execution of the first

homing. Any change in one of the two encoders’ connections may lead to

instability in the operation that may cause accidents or injury.

First shut off input power and wait at least 5 minutes before touching terminals

and wires on equipment (MCCB) that is connected to drive power side. Touching

the terminals and wires before that time could result in electric shock.

Use a protection diode on the positive terminal of the drive power supply to

avoid damages on the supply circuitry in case of regenerative braking of the

motor. The use of the diode is required in case of parallel connection of more

than one drive or connection of other loads in parallel with the drive.

A qualified expert must do electrical construction work. Connection of input

power by someone who does not have that expert knowledge may result in fire

or electric shock.

Connect output terminals (motor side) correctly. If the polarity is incorrect, the

motor(s) will operate in reverse and that may result in injury.

Do the wiring after installation. If wiring is done prior to installation, that may

result in injury or electric shock.

The following steps must be performed before wiring:

1. turn off all input power;

2. wait at least 5 minutes and check to make sure that the on state LED1 is no

longer lit;

3. use a tester that can measure DC voltage (60V DC or more), and check to

make sure that the voltage to the DC main circuits (across +V and 0V) is 45V

or less. If these steps are not properly performed, the wiring will cause

electric shock.

Tighten the screws on the terminal block to specified torque. If the screws are

not tightened to the specified torque, it may lead to fire.

Check to make sure that the input power voltage is within the limits of the rated

power voltage written on the nameplate, with the tolerance indicated in the

manual. If the input power voltage do not respect these conditions, this may

result in fire.

!CAUTION

Do not attach devices with built-in capacitors (such as noise filters or surge

absorbers) to the outputs (motor side) terminals. This could cause a fire.

Use a protection diode or set longer decelerating ramps in case of regenerative

braking. Such phenomenons may cause overvoltages and damages to the

external components that constitute the supply circuitry.

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1.5. Operations

!WARNING

Do not overload the drive over its capabilities. The use of the drive over its

maximum service factor may cause serious accidents through overheating and

fire.

Do not touch drive terminals when electrical power is going to the drive even if

the motor is stopped. Touching the drive terminals while power is connected to

it may result in electric shock.

Do not touch the drive when the hands are wet. Such action may result in electric

shock.

Execute a homing procedure after the power reset, enable parameter SG01 or

use limit switches to avoid overtravel that may cause an accident or injury.

Make sure that operation signals are off before resetting the drive after

malfunction. If the drive is reset before turning off the operating signal, the

motor may restart suddenly, resulting in injury.

If incorrect set, the drive may has some damage or unexpected movement. Be

sure to set the setup menu correctly.

!CAUTION

Use a motor that conforms to the specifications of the drive and power supply.

If the motor being used does not conform to those specifications, not only will

the motor not rotate correctly but also it may cause serious accidents through

overheating and fire.

1.6. Modification of advanced parameters

!WARNING

Do not modify advanced parameters before reading carefully this manual or

contacting your TeMec Drive distributor. An incorrect set of the parameters can

cause injury or accidents.

Do not disable the soft start function if not strictly necessary; always contact

your TeMec Drive distributor. A possible fault with the drive in such a state may

cause fire.

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1.7. Maintenance and inspection

!WARNING

Do not replace parts. This could be a cause of electric shock, fire and bodily

injury. To replace parts, call your TeMec Drive distributor.

The equipment must be inspected periodically. If the equipment is not inspected

and maintained, errors and malfunctions may not be discovered and that could

result in accidents.

Before inspection, perform the following steps:

1. turn off all input power to the drive;

2. wait at least 5 minutes and check to make sure that the on state LED1 is no longer

lit;

3. use a tester that can measure DC voltages (60V DC or more), and check that the

voltage to the DC main circuits (across +V and 0V) is 45V or less.

Performing an inspection without carrying out these steps first could lead to

electric shock.

1.8. Disposal

!WARNING

If you dispose of the drive, have it done by a specialist in industry waste disposal

(*). If you dispose of the drive by yourself, this can result in explosionof capacitor

or produce noxious gases, resulting in injury.

(*) Persons who specialize in the processing of waste and known as "industrial waste

product collectors and transporters" or "industrial waste disposal persons”. Please

observe any applicable law, regulation, rule or ordinance for industrial waste

disposal.

1.9. CE conformity and applicable standards

The AZ2 drive complies with the following standards:

EMC CE-Emission of interference according to EN 61000-6-4: 2007

EMC CE-Immunity to interference according to EN 61000-6-2: 2005

The drive is a component to be used in a second environment (industrial environment) and category

C3, together with specific EMC filters. When used in the first environment (residential / commercial

environment), drives may produce radio-frequency interference dangerous for other equipment: the

user must implement additional filtering measures.

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2. GENERAL INFORMATION

AZ2is a full electronic motor drive designed for the control of two DC motors in low voltage

applications. The power stage is based on MOS transistor technology, controlled by a pulse width

modulation (PWM). A digital signal processor (DSP) elaborates the control data, generates the output

waveforms and manages the communication interfaces.

The user can exchange data and commands with the drive using the digital I/O and a Modbus

interface. The last one is mainly used for communication with the PC application through which the

user can change parameters, monitor the status of the drive and read diagnostic information. The

use of the Modbus interface in a fieldbus system needs an optional transceiver board, to adapt the

voltages levels from the board to the fieldbus physic level.

The board is also capable to acquire both the output currents, the supply voltage and the board

temperature. More than ten auxiliary I/O are available on the board and can be used for custom

applications or future purposes.

The AZ2drive is designed for the open loop control of linear actuators driven by DC motors but its

use can be extended to any application involving the control of DC motors. For this reason in the

following manual the terms motor and linear actuator, forward/backward and open/close are used

as synonyms.

2.1. Technical characteristics

TECHNICAL DATA

Supply voltage

12 V to 48 V DC, maximum ripple 20%

Output current

Code AZ2048D01000000:

Maximum 10 A / motor, S3 –30% –5 minutes service factor

Code AZ2048D01500000:

Maximum 15 A / motor, S3 –30% –5 minutes service factor

PWM frequency

10 kHz

Quiescent current

50 mA @ 24 V DC supply

Inputs (not isolated)

1.7 –12 V DC ON, 0 –0.7 V DC OFF

8 inputs for commands and limit switches

4 inputs for pulse signals (max 1 kHz)

Pull-up/down (10 kΩ) settable for each input type

Outputs (not isolated)

2 NPN open collector (max 50 mA –24 V DC)

One for general fault and one with programmable function

Output auxiliary voltage

12 V DC, maximum 50 mA

Diagnostic

Blinking codes using a multicolour LED

Operating temperature

-20°C …+60°C

IP grade

IP00

Dimensions and weight

Code AZ2048D01000000:

86 x 72 x 36 mm (LxWxH); 67 g

Code AZ2048D01500000:

86 x 72 x 43 mm (LxWxH); 130 g

Table 1: AZ2technical data

Indice

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