Tài liệu Start-Up 09/2004 Edition pdf

Components of SIMODRIVE base line A What is SIMODRIVE SIMODRIVE base line A is a compact AC servo drive.. It can also Components SIMODRIVE base line A is designed in a compact structur

Start-Up 09/2004 Edition

Start-Up 09/2004 Edition

simodrive

SIMODRIVE base line A

SIMODRIVE base line A ® Documentation

Key to editions

The editions listed below have been published prior to the current edition

The column headed "Note" lists the amended sections, with reference to the previous edition

Marking of edition in the "Note" column:

A New documentation

B Unrevised reprint with new order number

C Revised edition of new issue

Copyright Siemens AG 2004 All right reserved

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority

Offenders will be liable for damages All rights, including rights

created by patent grant or registration of a utility model, are

reserved.

Exclusion of liability

We have checked that the contents of this document correspond to the hardware and software described Nonetheless, differences might exist and we cannot therefore guarantee that they are completely identical The information contained in this document is reviewed regularly and any necessary changes will be included in the next edition We welcome suggestions for improvement.

© Siemens AG, 2004 Subject to technical changes without notice.

Safety Guidelines

This Manual contains notices intended to ensure your personal safety, as well

as to protect products and connected equipment against damage Safety

notices are highlighted by a warning triangle and presented in the following

categories depending on the degree of risk involved:

!

Danger

Indicates an imminently hazardous situation which, if not avoided, will result

in death or serious injury or in substantial property damage

Used with the safety alert symbol indicates a potentially hazardous situation which,

if not avoided, may result in minor or moderate injury or in property damage

Caution

Used without safety alert symbol indicates a potentially hazardous situation

which, if not avoided, may result in property damage

Notice

Indicates important information relating to the product or highlights part of the documentation for special attention

Qualified Person

The unit may only be started up and operated by a qualified person or

persons Qualified persons as referred to in the safety guidelines in this

document are those who are authorized to start up, earth and label units,

systems and circuits in accordance with relevant safety standards

components and devices of other manufactures as far as this is

recommended or permitted by Siemens

This product must be transported, stored and installed, and maintained and

operated with care to ensure that it functions correctly and safely

2 INSTALLATION 2-1

2.1 Installation of SIMODRIVE base line A 2-12.2 Installation of accessories 2-42.3 Commissioning of SIMODRIVE base line A 2-52.4 Interfaces and cabling 2-72.5 Cable connection 2-102.6 Interface description 2-112.6.1 Control module interface 2-11

2.6.1.1 Pole pair numbers 2-12 2.6.1.2 Current controller settings 2-12 2.6.1.3 Position feedback interface - X391/X392 2-13 2.6.1.4 Encoder interface - X311/X312 2-13 2.6.1.5 Drift compensation － Drift potentiometer 2-14 2.6.1.6 Tachometer －Potentiometer 2-14 2.6.1.7 Proportional gain － K P potentiometer 2-15 2.6.1.8 Integral action time － T N potentiometer 2-15 2.6.1.9 Speed setpoint & controller enable interface - X321/X322 2-16

2.6.2 Infeed module interface 2-17

2.6.2.1 Grounding of electronics power supply - X131 2-17 2.6.2.2 Enable interface terminals - X141A 2-17

2.7 Power supply 2-182.8 Grounding 2-26

3 TECHNICAL DESCRIPTION 3-1

3.1 Closed-loop control with resolver 3-13.2 Infeed module 3-23.3 Control module 3-4

4 SERVOMOTOR 4-1

SIMODRIVE base line A Start-Up 1-1

1 Introduction

1.1 Components of SIMODRIVE base line A

What is SIMODRIVE SIMODRIVE base line A is a compact AC servo drive It applies to

base line A economical CNC lathe, milling machine and drilling machine It can also

Components SIMODRIVE base line A is designed in a compact structure The internal

parts include following modules:

● Control module

● Infeed module

● Power module

Fig.1-1 SIMODRIVE base line A (1-axis/2-axes module, V1/V2)

SIMODRIVE base line A SIMODRIVE base line A can be ordered with the following two

versions: versions:

● V1: 1-axis version, motor static torque of 6Nm, 11Nm, 8Nm, 16Nm;

● V2: 2-axes version, motor static torque of 3+3Nm, 3+6Nm, 3+8Nm,

6Nm+8Nm, 6+6Nm, 8+8Nm

SIMODRIVE base line A SIMODRIVE base line A is mainly used together with SINUMERIK

application 802C and SINUMERIK 802C base line at present With the application

of SIMODRIVE base line A, this solution shows an outstanding performance price ratio

Introduction

SIEMENS 1FK7 AC (4-pole pairs) servomotor is supplied to configure with SIMODRIVE base line A The major difference between

SIMODRIVE base line A and SIMODRIVE baseline is that SIMODRIVE base line A is used with an adjustable combination of 1FK7 servo motors with 4-pole pairs resolver encoder, while the SIMODRIVE base line is used with a fixed combination of 1FK7 servo motors with 1-pole pair resolver encoder

Fig 1-2 SIMODRIVE base line A and CNC system

Notice:

The servo motors used in Simodrive base line are inapplicable for Simodrive base line A

Introduction

1.2 Technical data

derating in case of under 360V

Current consumption

of 2-axes power module

Environment

operating conditions Table 1-3 Operating environment

Temperature

range of 40°C～+55°C Annual average:

U=75%；td =17°C For 30 days (24h) in one year:

U=95%; td =24°C; these days should be naturally distributed over the whole year

Relative humidity

On all other days (<24h) but still maintaining the annual average: U=85%；td =24°C

td : dew point;

U: relative humidity

Height above sea level 1000m，Max 2000m； Power derating in range 1000m ～2000m Atmospheric

pressure Min 860 mbar (86kPa)； Max 1080 mbar (108kPa) Applicable

standards

DIN IEC 68-2-1 DIN IEC 68-2-2 DIN IEC 68-2-3 DIN VDE0160 5.2.1.3 EN50178

Introduction

Transport and

storage conditions Table 1-4 Transport and storage conditions

Temperature

Annual average:

U=75%；td =17°C For 30 days (24h) over the year: U=95%; td =24°C; these days should be naturally distributed over the year

Relative humidity

For other days (<24h):

DIN IEC 68-2-3 DIN VDE0160 5.2.1.3 EN50178

Protection class IP20 according to DIN EN 60529

Introduction

1.3 Order number

adapted to the machine tools with 1-axis and 2-axes control respectively

Other versions of configurations are also available on customer’s request

Moreover, the accessories and cables should be ordered separately by the customers The order numbers are as follows:

Table 1-5 Order number

3 Position feedback cable 6FX5002-2CJ00-1□□0 □□ :

4AU3695-0SB10-0CN2 Protection class IP00 4AU3695-0SB12-0CN2 Protection class IP23

transformer (8.2kW)

4AU3695-0SB18-0CN2 Protection class IP20

1FK7042-5AF71-1S□0 1FK7060-5AF71-1S□0 1FK7063-5AF71-1S□0 1FK7080-5AF71-1S□0

10 1FK7 motor

1FK7083-5AF71-1S□0

□:

A – with key/without brake;

B – with key/with brake;

G – plain shaft/without brake;

H – plain shaft /with brake;

2 Installation

2.1 Installation of SIMODRIVE base line A

Appearance check Please check the packaging prior to the installation of SIMODRIVE base

line A and make sure that the complete goods are delivered according to the packing list They should be complete and properly

!

Warning

Observe the following sequence when mounting and dismounting the equipment:

1 Make use of the original packaging during transportation;

2 Keep distance from the motion equipment while power is switching on;

3 Disassembling should not be done only after the power has been switched off for 30 minutes;

4 Cut off the line power supply of servo drive in case of the long-term standstill of servomotor;

5 The protective grounding cable should be connected properly

Mounting location SIMODRIVE base line A is of a compact design, so that the installation is

very simple When fixing the servo drive in the cabinet, four (4) M6 screws are required

It is recommended to adopt the vertical mounting in the cabinet

A clearance of at least 100mm should be maintained between two servo modules to ensure sufficient cooling space For the top and bottom of modules, clearances should be 100mm and 200mm respectively (see Fig.2-1)

!

Caution

The environment requirements in the cabinet are as follows:

1 The permissible surroundings temperature of servo drive is 0~55°C, but the power is to be de-rated if it is beyond 40°C;

2 The annual average of relative humidity is lower than 75%;

3 Vibration of cabinet is within 0.5G (4.9m/s2);

4 Condensation and icing should be avoided;

5 To guarantee the long-term stable work of servo drive, please keep the surrounding temperature below 40°C

Installation

dimensions

Fig 2-1 Mounting dimensions

1) Clearance space for sufficient cooling

Installation

Fig.2-2 Mounting dimensions (continued)

1-axis module 2-axes module

Installation

2.2 Installation of accessories

power supply system and the environment conditions

value of 16A, 410/415VAC is recommended to be adopted Please refer

to section 2.7 “Power supply – fuse / circuit breaker” for relevant technical data

Circuit breaker If there is no fuse, linear breaker can be used to protect the system The

rated value is 16A, 415VAC, and the maximum temperature is 60°C The circuit breaker recommended by SIEMENS can be found in section 2.7

“Power supply – fuse / circuit breaker”

Isolating The transformer with isolating wiring is recommended to be adopted, so

transformer as to eliminate the interference from the low-frequency signals or the

influence by three-phase unequilibrium of power network

The isolating transformer must be applied in case of the IT or TT line power networks Please read section 2.7 “Power supply – isolating transformer” for the usage of isolating transformer

line A We recommend you to use line filter to prevent from the high frequency noise The rated voltage is 400/415VAC, and the frequency is 50/60Hz For the detailed technical data, please refer to section 2.7

“Power supply – Filter”

Commutating Since the commutating reactor is installed in the Infeed module in

preassembled cable offered as accessories are recommended for the application

Shielded plate To fulfil the EMC requirements, the screens of shielded power cable are

to be connected to the drive converter housing The shielded plate has clamp connections and mounting points for brake terminals For the installation of shielded plate into SIMODRIVE base line A, please refer to section 2.7 “Power supply – shielded plate”

Installation

2.3 Commissioning of SIMODRIVE base line A

commissioning is to be carried out as follows:

Main switch: Open

Start-up with the battery box

- Connect term 63,64 to 9;

- Switch (open) between term.65

and 9;

- Term 56/14

Main switch: close

Set the setpoint to 0V at the battery

box

Briefly energize term.65 (jog)

Does the motor acelerate?

- Enter a low setpoint(e.g.0.1V)

- Briefly energize term.65

Does the drive run continuously?

Check the motor/PWM inverter connection:

- Power connection cable

- Encoder cable

- Settings of the pole pair numbers for motor and resolver

Adapt DIL switch S1/S2 to the motor

by setting the switch to the standard

position

yes no

Installation

Energize terminal 651

Optimize the speed controller or set known values 1)

Inhibit terminal 65

Start-up completed

Inhibit terminal 63!

Main switch: OFF

- Open the connnection between term.64,65 and term.9

- Disconnect the battery box from the terminals 56/14

: Optimized controller dynamic performance as shown below can be achieved in this way:

Connect Speed Actual Value terminal 75 and Reference Ground terminal

15 on Speed Setpoint & Controller Enable interface (X321/X322) to an oscillograph, view output curve, then adjust proportional gain Kp and integral action time Tn through corresponding potentiometers to obtain an optimal result

Rotating clockwise increases the controller dynamic performance Optimization:

Installation

General Position of the interfaces and elements on the front panel are shown in the

following figure

Position feedback interface X391+X392(2-axes)/X391(1-axis)

Encoder interface X311+X312(2-axes)/X311(1-axis)

Adjustment potentiometer Drift, tachometer, Kp, Tn

Speed setpoint &

controller enable interface X321+X322(2-axes)/X321(1-axis)

Grounding terminal X131

Enable interface terminal X141A

LED lights

PE1/PE2/PE A1(U2,V2,W2)/A2(U2,V2,W2) X1(U1,V1,W1)

DIL switch S1+S2(2-axes)/S1(1-axis)

Fig.2-4 Front panel of SIMODRIVE base line A (2-axes module left, 1-axis module right)

Installation

● X391/X392 – position feedback interface 15-pin sub-D socket connector, position feedback to NC system

● X311/X312 － encoder interface 25-pin sub-D socket connector, connecting with resolver in servomotor

● Drift － drift compensation Implement the drift compensation when the rated speed is zero (short circuit between terminal 56 and 14)

Adjustment range: -45mV~ +45mV。

● Tachometer The actual drive speed for +/-10V speed setpoint can be varied in

range 0.6 nrated ~1.8 nrated It is not necessary for customers to adjust the tachometer, as it is already calibrated before delivery

● KP － proportional gain The proportional gain KP of the speed controller can be set using potentiometer KP It is used to optimize the speed dynamic performance Adjustment range: 2.5 ~95

● TN － integral action time The speed controller integral action time is set by use of potentiometer TN It is used to optimize the speed dynamic performance Adjustment range: 3～40ms

● X321/X322 － speed setpoint & controller enable interface Terminal 56 and 14 in X321/X322 are the differential input interface

of speed setpoint Range: +/-10V

Terminal 9 and 65.1 in X332 is the controller enable interface for axis 1; Terminal 9 and 65.2 in X332 is the controller enable interface for axis 2;

● A1(U2,V2,W2)/A2(U2,V2,W2) － power cable interface A1(U2,V2,W2) is the power cable interface for axis 1 servomotor; A2(U2,V2,W2) is the power cable interface for axis 2 servomotor

Installation

● X1(U1,V1,W1) － line power feeder Three-phase 400/415VAC line power feeder

LED lights There are six LEDs on the front panel to indicate the current status of

each circuit in SIMODRIVE base line A Their meanings are as follows:

● Spp (red) － +/- 15V electronical level fault

● Ext (green) － External enable signal, terminal 63 or 64 missing

● (red) － Line supply fault (single or multi-phase line supply failure at terminals U1,V1,W1);

－ no commutating reactor, incorrectly installed or incorrectly selected;

－ power network fault or transformer too low;

● 5V (red) － 5V level fault;

● Unit (yellow)－ module ready, DC link charged;

● Uzk (red) － DC link overvoltage

There is a LED on the front panel for fault diagnostics, which is located at the bottom left of terminal X321 (see fig.2-6 for reference) It is used to indicate Ready message

● Ready LED:

Table 2-1 Ready LED display

Effect Both axes of the 2-axes

module are enabled At least one axis is disabled via the terminal or

due to a fault message

If the LED is on for the first time of Power-On, it means the drive is not enabled In such case, you should check the connection of the terminals

as follows:

● Check the connection of the resolver feedback signal cables, and find out whether the cables of motor A and B is exchanged;

● Check the connection of terminal 64 and 9;

● Check the connection of terminal 65 and 9 (PLC related, - V380x0002.1);

● Check the connection of terminal 63 and 9

If the sound of resonance is heard, you should reduce the Kp by adjusting the potentiometer Kp on panel

Installation

2.5 Cable connection

C base line is applied together with SIEMENS servomotors (1FK7) in CNC Turning/Milling machine The components are wired up as shown in the connection diagram Fig 2-5 The required cable for the connection between NC, drive and motors is also indicated in the figure

SINUMERIK 802C base line

Installation

2.6 Interface description

2.6.1 Control module interface

General The interfaces of servo are mainly located on the control module, which

are connected to CNC and motor Moreover, when implementing the optimization of speed, each potentiometer on control module should be adopted to do adjustment

Drift Tach.

KP

TN

Encoder interf., axis 2 (X312)

Position feedback interf., axis 2 (X392)

Position feedback

interf., axis 1 (X391)

Encoder interf., axis 1 (X311)

Short-circuit term.56 with 14:

it is not permissible that the motor

Reference ground

Current actual value:

10V corresponds to Irmax

Ready/fault signal

56.1 14.1 75.1 15 15 16.1 9 65.1

56.2 14.2 75.2 15 15 16.2 9 65.2

Axis-specific enable signals:

Reference ground

＋24V Controller enable, axis 1

Axis-specific enable signals:

＋24V Controller enable, axis 2

Rotating clockwise increases the controller

dynamic performance Optimization:

DIL switch settings:

Fig 2-6 Interface overview of control module (2-axes)

Installation

2.6.1.1 Pole pair numbers

The pole pair numbers of both the motor and resolver supplied to configured with Simodrive base line A shall be 4 No change is allowed

2.6.1.2 Current controller settings

DIL switch: S1 - used for selection of servomotors controlled by 1-axis module;

S2 – used for selection of servomotors controlled by 2-axes module;

Table 2-2 Adaptation table for Simodrive base line A (1-axis module)

Axis 1: S1

Current controller gain K p （I）

Axis 1: S1

Contacts1)1FK

Current controller gain K p （I）

Axis 1: S1 Axis 2: S2

Contacts1)1FK

M0 [Nm]

Installation

2.6.1.3 Position feedback interface - X391/X392

Table 2-4 Pin assignment of the connector X391/X392

Connector on the Connector designation: Encoder connector