sc750 series - Motorsystems Repair

sc750 series - Motorsystems Repair
AUTOMATION TECHNOLOGY GROUP
MOTION TECHNOLOGY DIVISION
110 Fordham Road
Wilmington, MA 01887
(978) 988-9800
Fax (978) 988-9940
Part# 903-075122-80
List Price $30 U.S.
August, 1997
Rev F
SC750 SERIE S
Programmable, Digital Brushless Servocontroller
Installation & Hardware Reference Manual
Table of Contents
...............................................
1 Overview of the SC750 Series
1-1
1.1 SC750 Series Definition . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Functional Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 How to Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.4 Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
2 Installing the SC750 Series
2-1
2.1 Unpacking and Inspecting the SC750 Series Servocontroller . . . . . . . 2-1
2.2 Installing and Using the SC750 Series Unit Safely . . . . . . . . . . . . 2-2
2.3 Selecting Other System Components . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Mounting the SC750 Series Servocontroller . . . . . . . . . . . . . . . . 2-5
2.5 SC750 Interfaces and Connections . . . . . . . . . . . . . . . . . . . . . 2-10
2.5.1 J1 to J3 Motor, Power & Resolver Connections . . . . . . . . . . 2-12
2.5.2 J52 to J58 User Interface Connections . . . . . . . . . . . . . .
3 Powering Up the SC750 Series
2-26
3-1
3.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Setting up Serial Addresses using Switch S1 . . . . . . . . . . . . 3-2
3.1.2 Jumper Block Set Up . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.3 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2 Establishing Serial Communications With Host PC . . . . . . . . . . . . 3-6
3.3 System Status Display and Outputs . . . . . . . . . . . . . . . . . . . . 3-7
4 Maintaining and Troubleshooting
4-1
4.1 Maintaining the SC750 Servocontroller . . . . . . . . . . . . . . . . . . 4-1
4.2 Troubleshooting the SC750 Servocontroller . . . . . . . . . . . . . . . . 4-2
SC750 Manual: Installation & Hardware Reference
Rev F
Appendix A
A-1
SC750 Specifications
Appendix B
B-1
Ordering Information
Appendix C
C-1
Servo Loop Block Diagram
Appendix D
D-1
SC750 Cabling Diagrams
Appendix E
E-1
Discrete Input Trip Voltages
Appendix F
F-1
Transformer Sizing
Appendix G
G-1
Multidrop Serial Communications
Index
Rev F
SC750 Manual: Installation & Hardware Reference
In this Chapter
Overview
1 Overview of the SC750 Series
This Chapter introduces the SC750 series servocontrollers. Topics
covered are:
•
•
•
•
•
SC750 series definition
Functional block diagram
Other system components
How to use this manual
Warranty information
1.1 SC750 Series Definition
The Pacific Scientific SC750 Series single axis servocontrollers
provide digital position, velocity and torque control for brushless
servomotors. There are five models in this series:
•
•
•
•
•
The SC752
The SC753
The SC754
The SC755
The SC756
with
with
with
with
with
peak power output capability of 2200 Watts
peak power output capability of 4500 Watts
peak power output capability of 9000 Watts
peak power output capability of 18000 Watts
peak power output capability of 36000 Watts
All models are functionally equivalent, differing only in output
capability and external size.
The servocontrollers, when used with Pacific Scientific brushless
servomotors, provide continuous torque ranging from 5.4 lb-in to
451 lb-in. Peak torque ranges from 10 lb-in. to 898 lb-in.
Features
ServoBASIC Plus programming language - combines the ease
of BASIC language programming in conjunction with
sophisticated motion control features.
Motion Dialogue interactive programming environment provides a powerful development environment which aids in rapid
program development and testing.
SC750 Manual: Installation & Hardware Reference - Rev F
1-1
Signature commutation - insures smooth low speed torque while
maintaining high performance at high speeds.
Resolver control - requires only a single resolver mounted on the
motor for complete feedback information for motor commutation
and for all digital velocity and position servo feedback signals.
Autotuning - provides initialization and set up based on drive
selection and motor type.
Encoder emulation output - emulates an incremental encoder,
converting resolver position information to incremental encoder
outputs. This emulation provides selectable resolution quadrature
output signals for an external use. Outputs are differential line
drivers with up to 16,384 PPR (pulse per revolution).
Stand-alone design - combines stand alone, fully-enclosed
construction with internal power supply and a shunt regulator.
230 volt power - powered directly from 230 volt line for high
performance 320 volt dc bus operation (120 V optional).
IGBT technology - uses IGBT (Insulated Gate Bipolar Transistor)
technology in the output stage.
Proprietary circuitry - uses proprietary integrated circuits for
motor commutation, drive protection and resolver interfaces.
High performance microcontroller technology - features a high
performance 16 bit microcontroller performing the arithmetic and
logical functions required to supervise and execute motion control
programs.
Multiple protection circuits - provide protection and ease of
diagnosis with:
•
•
•
•
•
•
•
•
1-2
7-segment drive status display
MOV-protected input
Output short-circuit protection
Overtemperature protection for servocontroller and motor
IT (current-time) protection
Low line protection
Front panel test points
Summary fault diagnostic output
SC750 Manual: Installation & Hardware Reference - Rev F
Overview
Options
• Standard motor power and feedback cables
• Higher accuracy R/D
Typical
applications
Typical applications for SC750 servocontrollers include:
•
•
•
•
•
•
•
•
X-Y tables & slides
Machine tools
Packaging machinery
Microcircuit wafer spinners
Robotics
Specialty machinery
Index feed of material
Labeling machines
1.2 Functional Block Diagram
The diagram on the following page illustrates the configuration of
the SC750 with other system components.
SC750 Manual: Installation & Hardware Reference - Rev F
1-3
Functional
diagram
HOST PC (Required for software development only)
Motion Dialogue: Integrated Development Environment
User Program Editing
Backup Program Storage & Printouts
Program Compilation, Download & Execution Control
Program Monitoring & Evaluation
FAST Input Response (Interrupt)Subroutine Definition
Servo Parameter Initialization
Serial Communications Setup & Control
SC750 Servocontroller
User
Equipment
Serial Communications
RS-232
RS-485 Differential, Multi-drop
Software Control
User Program Execution
Program Storage Control
Position Servo Loop Closure
Velocity Servo Loop Closure
FAST INPUT Subroutine Execution
User Interfaces
Dedicated Discrete Control Inputs
Optically-Isolated, User Program
Accessible Outputs
Programmable Analog Input/Output
Motor
LOAD
Hardware-Software Control
Motor & Power Stage Protection
Resolver Signal Processing
CMD (Signature Cmt) Control
FAST Input Processing
Power Switching & Control
DC Bus Rectification
Regeneration Control
Current Loop Closure
IGBT Current Switches
Resolver
1-4
SC750 Manual: Installation & Hardware Reference - Rev F
Overview
1.3 How to Use this Manual
The SC750 Series servocontroller documentation is presented in
three sections:
• I - Installation and Hardware Reference
• II - ServoBASIC Plus Programming Guide
• III - ServoBASIC Plus Reference
This manual, “SC750 Installation and Hardware Reference,” is
intended to describe initial set up, installation, and maintenance of
the SC750 servocontroller.
1.4 Warranty
The Pacific Scientific SC750 series servomotor controllers have a
two year warranty against defects in material and assembly.
Products that have been modified by the customer, physically
mishandled, or otherwise abused through miswiring, incorrect
switch settings, and so on, are exempt from the warranty plan.
Warning
If the continuous current rating of the drive is greater than the
continuous current rating of the motor that it is being used with,
then it is possible to cause significant damage to the motor.
Pacific Scientific may not honor the warranty of the motor if it is
run under these conditions.
SC750 Manual: Installation & Hardware Reference - Rev F
1-5
2 Installing the SC750 Series
This Chapter explains how to install the SC750 series unit. Topics
covered are:
•
•
•
•
•
•
Unpacking and inspecting the SC750 series controller
Installing and using the SC750 series unit safely
Selecting other system components
Mounting the SC750 series controller in your installation
Connecting input/output cables
Selecting switch functions
Installation
In this Chapter
2.1 Unpacking and Inspecting
Unpacking
procedure
1. Remove the SC750 series controller from the shipping carton.
Make sure all packing materials are removed from the unit.
2. Check the items against the packing list. A label located on
the side of the unit identifies the unit by model number, serial
number, and date code.
Inspection
procedure
Inspect the unit for any physical damage that may have been
sustained during shipment.
If you find damage, either concealed or obvious, contact your
buyer to make a claim with the shipper. Do this within 10 days of
receipt of the unit.
Storing the unit
After inspection, store the controller in a clean, dry, place. The
storage temperature must be between -25 degrees C and 85
degrees C. To prevent damage during storage, replace the unit in
the original shipping carton.
SC750 Manual: Installation & Hardware Reference - Rev F
2-1
2.2 Installing and Using the SC750 Series Unit Safely
Your
responsibility
As the user or person applying this unit, you are responsible for
determining the suitability of this product for any application you
intend. In no event will Pacific Scientific Company be responsible
or liable for indirect or consequential damage resulting from the
misuse of this product.
Note: Read this manual completely to effectively and safely
operate the SC750 series unit.
Safety
background
Voltage levels within this controller can exceed 400 volts dc
and/or 230 volts ac.
Warning
The circuits in the SC750 series controller are a potential source
of severe electrical shock. Follow the safety guidelines to avoid
shock.
Safety
guidelines
To avoid possible personal injury whenever you are working with
the SC750 series controller:
• Do not power up the controller without the cover on and the
chassis tied to earth ground.
• Do not operate the controller without the motor case tied to
earth ground.
• Do not make any connections to internal circuitry.
• Do not connect or disconnect the motor with power applied to
the unit. Always remove power before making any
connections to the unit.
• Before removing the cover of the unit, shut off power and
allow the unit to sit for 5 minutes to discharge the internal
voltages.
• Be careful of the motor terminals on the drive when
disconnected from the motor. With the motor disconnected
and power applied to the controller, the motor terminals of the
drive have high voltage present.
• Do not use the enable input as a safety shutdown. Always
remove power to the controller for a safety shutdown.
2-2
SC750 Manual: Installation & Hardware Reference - Rev F
2.3 Selecting Other System Components
Serial
communications
interfaces
Match your SC750 series unit to your other components:
The SC750 requires a serial communication link in order to
develop ServoBASIC Plus™ software (using Motion Dialogue).
A serial interface may be used under software control to interface
the SC750 with other user-supplied equipment such as:
• Operator displays
• Host computers
• Programmable controllers (PLC)
The SC750 uses serial communication interfaces supported by the
EIA RS-232B and RS-485 hardware specifications.
Single- and
multi-unit control
For controlling a single SC750, use RS-232 communications and
install cabling as described in section 2.5.2.5, “J58 Serial I/O
Connections.”
For controlling multiple SC750s, RS-422 or RS-485
communications permit a single PC to host from 1 to 255 SC750s
(each requiring a unique switch selectable address). For detailed
information on set up, refer to section 2.5.2.5, “J58 Serial I/O
Connections.”
The SC750 utilizes 9600 baud communications with one start
bit/one stop bit and eight bit word length in either RS-232 or
RS-485 format.
Analog I/O
Interfaces
The SC750 provides an analog input channel, accessible to the
user through software control. The analog signal must be within a
+12.5 volt range. The signal is digitized with 14 bit accuracy, at a
1000 Hz sampling rate, or full 16 bit accuracy at a 200 Hz rate.
A 12 bit +5 volt range analog output channel is user accessible
under software control.
SC750 Manual: Installation & Hardware Reference - Rev F
2-3
Installation
Introduction
Digital I/O
Control inputs
Four dedicated control inputs provide controller enable, inhibit,
and fault reset functions. These inputs are interfaced with switch
closures or open collector transistor outputs.
General purpose
The SC750 provides 16 optically isolated general purpose inputs
to support logic type interfaces. The input circuitry is intended to
be operated with open collector type circuitry. Each input channel
must be capable of sinking 3.75 milliamperes nominally. These
inputs can be polled under software control.
inputs
Note: The user must supply an external 5 to 24 volt logic supply
to power the optically isolated general purpose inputs (30 volts
absolute maximum).
Registration
Inputs
Two of the 16 input channels are dedicated high speed input
channels which will support registration, latching resolver and
encoder position data with a 5 microsecond response time.
Outputs
Twelve open collector discrete output channels host logic outputs
under software control. Each channel permits a maximum of 100
milliamperes and is compatible with 5 to 24 volt logic interfaces.
2-4
SC750 Manual: Installation & Hardware Reference - Rev F
Input
The external encoder I/O port permits interfacing quadrature type
encoder signals for applications, such as electronic gearing. This
circuit can be configured as an input or as an output under
software control.
When configured as an input (default) the encoder input
characteristics must be defined by software parameters to
determine resolution.
Note: The encoder input characteristics can also be configured
as step and direction inputs.
Output
Selecting a
motor
Software commands also configure the encoder interface as an
output. The resolution capabilities of the encoder output channel
range from 500 lines per revolution to 16384 lines per revolution.
The SC750 series unit is designed for use with Pacific Scientific’s
line of brushless servo motors including the R (rare earth) and F
(ferrite) series motors. Refer to the Pacific Scientific Brushless
Servosystem catalog for system torque-speed curve information.
2.4 Mounting the SC750 Series Unit
Cabinet
selection
Select a standard NEMA (National Electrical Manufacturer’s
Association) cabinet appropriate for industrial applications.
The SC752 and SC753 require a 10 inch (25.4 cm) deep cabinet.
The SC754, SC755, and SC756 require a 12 inch (30.5 cm) deep
cabinet.
Caution
If the cabinet is ventilated, use filtered or conditioned air to
prevent the accumulation of dust and dirt on the electronic
components. The air should also be free of corrosive or
electrically conductive contaminants.
SC750 Manual: Installation & Hardware Reference - Rev F
2-5
Installation
Encoder I/O
Mounting
dimensions
Set up the cabinet for the SC750 series unit using the dimensions
shown.
SC752/753
mounting
dimensions (in
inches)
SC752/753
mounting
dimensions (in
millimeters)
2-6
SC750 Manual: Installation & Hardware Reference - Rev F
SC754/755
mounting
dimensions (in
Installation
inches)
SC754/755
mounting
dimensions (in
millimeters)
SC750 Manual: Installation & Hardware Reference - Rev F
2-7
SC756 mounting
dimensions (in
inches)
SC756 mounting
dimensions (in
millimeters)
2-8
SC750 Manual: Installation & Hardware Reference - Rev F
Mounting
guidelines
The SC750 series controller is designed for installation in a
cabinet. Your installation should meet the following guidelines:
Unit
Weight
SC752
13 lbs (5.9 kg)
SC753
16 lbs (7.26 kg)
SC754
40 lbs (18.16 kg)
SC755
40 lbs (18.16 kg)
SC756
90 lbs (40.86 kg)
Installation
• Vertical orientation for the controller
• Flat, solid surface capable of supporting the approximate
weight of the units as follows:
• Free of excessive vibration or shock.
• On the SC752 and SC753 controllers, a minumum
unobstructed space of 2 inches (5 cm) above and below the
controller is required. Also, one inch (3 cm) clearance on each
side of the controller should be provided. The controller is
cooled by natural convection only.
Note: On the SC754, SC755 and SC756 the AC Switch (see
Section 2.5.1.3) should be placed in the appropriate position
before mounting the controller.
• Minimum unobstructed space of 4 inches (10 cm) above and
below the SC754, SC755, and SC756 controllers. These
controllers are cooled by natural convection and built-in fans.
• Operating temperature of:
- 0 to 50 degrees C at full rated output current.
- 0 to 60 degrees C at 70% full rated output current. Derate
linearly from 100% to 70% of full rating at 60 degrees C.
Mounting
procedure
Bolt the unit to the cabinet using the mounting slots (refer to
dimensions figure) with 1/4-20 (M6 metric equivalent) or # 10
bolts.
SC750 Manual: Installation & Hardware Reference - Rev F
2-9
Power
dissipation
The SC750 series controller dissipates power that results in cabinet
heating.
To estimate the power dissipation for use in calculating cabinet
cooling requirements, use the values shown in the table. These
numbers are approximate and do not include shunt regulator
power (that is, regenerated power).
Output current %
of rated
continuous current SC752
SC753
SC754
SC755
SC756
0
10
10
15
15
15
25
15
20
39
69
130
50
23
35
68
135
270
75
32
54
109
218
435
100
45
77
150
300
600
Power dissipation (watts)
2.5 SC750 Interfaces and Connections
Introduction
The eleven input/output connectors are:
•
•
•
•
•
•
•
•
•
•
•
J1 - Motor windings
J2 - External Shunt Regulator/Bus (Not on SC752 or SC753)
J3 - 230 Volt AC Power
J51 - Resolver and Overtemperature Sensor
J52 - Encoder Input/Outputs
J53 - Discrete Input/Output #3
J54 - Discrete Input/Output #4
J55 - Discrete Input/Output #1
J56 - Discrete Input/Output #2
J57 - Analog Input/Output
J58 - Serial Interface Port
These inputs and outputs are shown on the following page.
2-10
SC750 Manual: Installation & Hardware Reference - Rev F
Installation
Inputs/Outputs
SC750 Manual: Installation & Hardware Reference - Rev F
2-11
2.5.1 J1 - J3 Motor, Power and Resolver Connections
Introduction
The J1 motor cable connects the controller to the motor windings.
The J2 shunt regulator connector is for use in providing additional
continuous shunt regulator power capability.
The J3 230 V ac power cable connects voltage to the logic supply
and the motor power supplies.
Note: The J2 connector is located on the SC754, SC755, and
SC756 units only.
2.5.1.1 J1 Motor Connections
Introduction
J1 - motor output
table
2-12
The J1 motor cable connects the controller to the motor windings.
Output
Pin
Explanation
Motor ground
J1-1
Ground for the motor case.
Motor phase T
J1-2
T output phase from controller.
Motor phase S
J1-3
S output phase from controller
Motor phase R
J1-4
R output phase from controller.
SC750 Manual: Installation & Hardware Reference - Rev F
The recommended wire size shown in the table below is sufficient
to handle the rated current of the drive. Wire sizes are in AWG.
Recommended wire size
Controller
Wire size
range
Motor
Line
SC752
#18 to #14
#18
#18
SC753
#18 to #14
#18
#18
SC754
#18 to #8
#16
#16
SC755
#18 to #8
#10
#12
SC756
#16 to #6
#8 *
#10
Installation
Cable
requirements
* Use wire size #6 above 50A Continuous.
For motor cable, obtain cable with the four conductors twisted at
about 3 to 4 turns per inch (1 to 1.5 turns per centimeter). As an
option, the cable may be shielded to reduce radiated noise.
Wiring diagram
- SC752/SC753
Note: Insulate shield drain wire at motor end.
SC750 Manual: Installation & Hardware Reference - Rev F
2-13
Wiring
diagram SC754/SC755
Note:
1. Insulate shield drain wire at motor end.
2. Drive end strip wire 15mm (.591 in)
3. Ferrules on wires at drive end.
RST wires black #10 ferrules.
Motor ground and shield tied before ferrules (#10 ferrule).
2-14
SC750 Manual: Installation & Hardware Reference - Rev F
Wiring diagram SC756
Installation
Light duty cable
Note:
1. Insulate drain wire at motor end.
2. Drive end strip wire 15mm (.591 in).
3. Ferrules on wires at drive end.
R.S.T. wires black #10 ferrules.
Motor ground and shield white # 8 ferrule.
Note:
1. Insulate drain wire at motor end.
2. Drive end strip wire 15mm (.591 in).
3. Ferrules on wires at drive end.
R.S.T. wires black #10 ferrules.
Motor ground and shield white # 8 ferrule.
Wiring diagram SC756
Heavy duty cable
SC750 Manual: Installation & Hardware Reference - Rev F
2-15
Cabling diagram
- J1 motor
(SC752/753)
Note: Mating connectors are used only on SC752 and SC753
model controllers. J1 and J2 are screw terminal for the SC754,
SC755 and SC756 model controllers.
Cabling diagram J1 motor
(SC754/755/756)
2-16
SC750 Manual: Installation & Hardware Reference - Rev F
Mating
connectors
J1 motor - this output is for a Phoenix 4-pin screw mating
connector. The connector is type GMSTB 1.5/4 ST 7.5 mm. The
Phoenix order number is 1766903.
Procedure
1. Attach the wires to the desired connector as indicated in the
diagram.
Note: Make sure the screws on the Phoenix connector are
tightened down firmly on the wiring.
Caution
Do not solder the tips of the cables before insertion into the
connector. Solder can contract and cause a loose connection
over time.
2. If connecting the motor cable, remove power from the SC750
series unit.
Warning
For motor terminal connection, disconnect the power cable
before making or removing connections to the unit. The motor
terminals have high voltage present when the SC750 series unit
in On.
3. Plug the mating connector firmly into the SC750 series unit.
Warning
The motor case must be connected to earth ground. Failure to
do this leaves the potential for severe shock hazard. Make sure
the motor case is connected via J1-1 or that it connects to the
ground stud on the lower mounting tab of the SC750 series unit.
Ensure that J3-4 is also connected to earth ground.
SC750 Manual: Installation & Hardware Reference - Rev F
2-17
Installation
Note: Mating connectors are used only on SC752 and SC753
model controllers. J1 and J2 are screw terminal for the SC754,
SC755 and SC756 model controllers.
2.5.1.2 J2 Shunt Regulator
Introduction
The J2 shunt regulator is enabled when the maximum bus voltage
levels are exceeded.
Note: The J2 connector is located on the SC754, SC755, and
SC756 units only.
J2 - Shunt
regulator table
Input
Pin
Explanation
- Bus
J2-1
Negative 300 V dc bus
Int R/Ext R
J2-2
Shunt regulator transistor collector
Int R
J2-3
Internal shunt regulator resistor
+ Bus/Ext R
J2-4
Positive 300 V dc bus
Cable diagram J2 shunt regulator
2-18
SC750 Manual: Installation & Hardware Reference - Rev F
External Regen Resistors
Configuration
To increase the continuous power dissipation of the shunt circuit,
the internal drive shunt resistor is disabled and replaced with
external resistors. The equivalent resistance of the external
resistors must be as specified below:
Model
Equivalent Resistance
SC754, SC755
8 ohms + 10%
SC756
4 ohms + 10%
Installation
Introduction
A simple way to configure an external resistor array with correct
resistance is shown in the table below:
Drive
Wire Size (AWG)
Resistance
PacSci Number
SC754/755
#12
8 ohm, 375W, rib,
Milwaukee 18-168-8R
352-080000-00
SC756
#10
4 ohm, 550W, rib,
Milwaukee 26-188-4R
352-040000-00
The resistors used within the drives, procured from Pacific
Scientific, are wired in series/parallel in groups of 4, 9, or 16.
(Refer to the diagram on the following page for circuitry.)
Note: A fan can be used to further increase dissipation capability.
Warning
The resistors are connected to the drive bus voltage and must be
shielded for safety.
SC750 Manual: Installation & Hardware Reference - Rev F
2-19
External regen
wiring circuitry
Procedure
SC754/755/756
The following procedures outline the connection of the external
regen resistors.
1. Remove jumper (supplied with drive) from between J2-2 and
J2-3.
2. Wire external resistor array (using #12 or #10 wire) between
the J2 pins marked “EXT R” (J2-2 and J2-4).
2-20
SC750 Manual: Installation & Hardware Reference - Rev F
2.5.1.3 J3 AC Power Cabling
J3 - 230 V ac
power input table
The J3 230 V ac power cable connects voltage to the logic supply
and the motor power supplies.
Input
Pin
Explanation
115/230 V ac - line 1
J3-1
115/230 V ac - line 2
J3-2
230 V ac - line 3
J3-3
Chassis ground
J3-4
Safety ground for controller.
Control voltage 115/230 V ac
J3-5
Control voltage 115/230 V ac
J3-6
Power for control circuits
and fault logic (see AC
switch).
Fan
AC power for motor
supply.
Note: The control voltage for the SC750 controllers is input to a
switching power supply. This input will accept voltages ranging
from 115 to 230 Vac. These inputs are required on the SC752
and SC753 controllers. The SC754, SC755, and SC756 controller
voltage can be switched from the motor supply input power using
the AC switch. Having separate control and motor supply inputs
permit controller electronics operation independent of high
voltage motor power.
AC switch
The AC switch applies to the SC754, SC755, and SC756 drivers
only.
Note: The switch is mounted on the right side of the drive.
SC750 Manual: Installation & Hardware Reference - Rev F
2-21
Installation
Introduction
Switch
Position
Explanation
Ext
Control power from J3-5, J3-6
Int
Control power from J3-1, J3-2 (J3-5, J3-6
open)
Cable diagram J3 V ac power
(SC752/753)
Mating
connectors
2-22
J3 230 V ac power - this input is for a Phoenix 6-pin screw
terminal mating connector. The connector is type GMSTB
1.5/6ST 7.5 mm. The Phoenix order number is 1766929.
SC750 Manual: Installation & Hardware Reference - Rev F
2.5.1.4 J51 Resolver and Motor Temperature Connections
Input/output
table
Resolver sine and cosine signals are processed to produce
commutation, velocity, and position information. The PTC
(positive temperature coefficient) thermistor input is also located
here to provide thermal overload protection for the motor.
Input/Output
Pin
Number
Explanation
Resolver S1+ sine (input)
Resolver S3- sine (input)
J51-1,
J51-2
Sine inputs (plus and
minus) from resolver.
These are differential
inputs.
Resolver S2+ cosine (input)
Resolver S4- cosine (input)
J51-3,
J51-4
Cosine inputs (plus and
minus) from resolver.
These are differential
inputs.
Shield ground
J51-5
Ground for resolver
cable shield.
Resolver excitation and
excitation return (output and
ground)
J51-6,
J51-7
Output drive for
resolver excitation
winding.
Motor PTC and PTC return
(input and ground)
J51-8,
J51-9
PTC temperature
overload sensor.
SC750 Manual: Installation & Hardware Reference - Rev F
2-23
Installation
Introduction
Wiring diagram
Notes: 1. Individually insulate shield drain wires at motor end.
2. Individually insulate unused wires at motor end.
3. Individually insulate unused wires at drive end.
Mating
connector
The J51 resolver cables are for a Phoenix 9-pin screw mating
connector. The connector is type MSTB 1.5/9-ST 5 mm. The
Phoenix order number is 1754588.
This connector is supplied with the drive.
2-24
SC750 Manual: Installation & Hardware Reference - Rev F
Installation
Cabling
Diagram J51 Resolver
Procedure notes
When building the resolver/PTC cable, make sure to follow these
additional guidelines:
Caution
Ensure that the resolver signals are correctly oriented as shown.
Incorrect orientation will lead to incorrect rotor position and/or
incorrect commutation.
• Connect the resolver cable shield to J51-5. Do not connect
the resolver cable shields at the motor end.
For the resolver cable, obtain individually twisted-shielded
cable for output pairs (refer to diagram, page 2-21) twisted at
about 3 to 4 turns per inch (1 to 1.5 turns per centimeter).
The cable must be shielded as shown in the diagram for
proper operation and to reduce noise pickup.
SC750 Manual: Installation & Hardware Reference - Rev F
2-25
Procedure notes
•
Connect the PTC and PTC return.
Note: Tie the PTC and PTC return pins together if not using a
PTC. The controller will not operate if these pins do not have
inputs.
2.5.2 J52 to J58 - User Interface Connections
Introduction
The seven input/output cables are:
•
•
•
•
•
•
•
J52 - Encoder Input/Outputs
J53 - Discrete Input/Output #3
J54 - Discrete Input/Output #4
J55 - Discrete Input/Output #1
J56 - Discrete Input/Output #2
J57 - Analog Input/Output
J58 - Serial Interface Port
The cables and connectors are described in the following sections.
Build the cables per the following procedure.
General cabling
procedure
1. Refer to the following sections for connection information for
the appropriate mating connector.
2. Use 22- to 14-gauge wire for the cabling.
3. Strip the wires to 0.27 inch (7 mm).
4. Attach the wires to the connector as indicated in the connector
diagram.
Note: Make sure the screws on the Phoenix connector are
tightened down firmly on the wiring.
Caution
Do not solder the tips of the cables before insertion into the
connector. Solder can contract and cause a loose connection
over time.
2-26
SC750 Manual: Installation & Hardware Reference - Rev F
Warning
5. Plug the connector firmly into the SC750 controller.
2.5.2.1 J52 Encoder I/O Connections
Introduction
Encoder input and output signals are connected with the J52
connector. The encoder interface is configured either as an input
or as an output (emulator) under software control.
Functional
circuit
diagram
SC750 Manual: Installation & Hardware Reference - Rev F
2-27
Installation
The chassis ground must be tied to earth ground. Failure to do
this leaves the potential for severe hazard. Make sure the
ground is connected via the ground stud on the front of the
SC750 controller.
Input/Output table The following table lists the inputs/outputs on connector J52:
Input/Output
Pin
Number
Explanation
+ 5 volts dc
J52-1
5 volt dc 250 milliampere power
source for encoder electronics.
CH A (STEP+),
CH A (STEP-)
J52-2,
J52-3
CH B (DIR+),
CH B (DIR-)
J52-4,
J52-5
Differential, quadrature, TTL
encoder input (receiver) or
emulation (transmitter) signals.
Input or emulation operation is
defined under software control.
Defaults to input. When configured
as an output, signals are indefinitely
short circuit to ground proof. These
signals can also be configured under
software control for step and
direction inputs to interface to a
stepper controller’s indexer.
Shield (I/O RTN)
J52-6
Common — Input (receiver) mode:
The shield must be tied to signal
common of encoder signal
transmitter end only.
Output (Transmitter) mode - Cable
shield should be connected to signal
ground at encoder signal transmitter
only.
2-28
SC750 Manual: Installation & Hardware Reference - Rev F
Input/Output
Pin
Number
Explanation
Channel Z and Z
J52-7,
J52-8
Differential TTL marker pulse input
(receiver) or output (transmitter)
signals. Input or output operation
defined under software control.
Defaults to input. When configured
as an output, a single pulse is
generated per each revolution of the
motor shaft. When configured as an
output, signals are indefinitely short
circuit to ground proof.
I/O RTN
J52-9
Common — must be connected to
the common of the encoder input
source or receiver electronics.
Cabling diagram J52 Encoder
SC750 Manual: Installation & Hardware Reference - Rev F
2-29
Installation
Input/Output
table
Interfacing
external encoders
To interface an external encoder input to the SC750 encoder port,
refer to the following diagrams.
Using TTL differential line drivers
To interface for encoder outputs using TTL differential line
drivers, wire as follows:
2-30
SC750 Manual: Installation & Hardware Reference - Rev F
SC750 Manual: Installation & Hardware Reference - Rev F
2-31
Installation
2-32
SC750 Manual: Installation & Hardware Reference - Rev F
SC750 Manual: Installation & Hardware Reference - Rev F
2-33
Installation
2-34
SC750 Manual: Installation & Hardware Reference - Rev F
SC750 Manual: Installation & Hardware Reference - Rev F
2-35
Installation
2-36
SC750 Manual: Installation & Hardware Reference - Rev F
SC750 Manual: Installation & Hardware Reference - Rev F
2-37
Installation
Mating
connector
The J52 encoder cables are for a Phoenix 9-pin screw mating
connector. The connector is type MSTB 1.5/9-ST 5 mm. The
Phoenix order number is 1754588.
This connector is supplied with the drive.
2.5.2.2 J53 and J54 Discrete Output Connections
Introduction
The SC750 series controllers provide discrete output signals
controlled by the user through software, in addition to a dedicated
summary fault output. Each output channel utilizes an open
collector type transistor capable of 100 milliamperes current sink,
in the ON state.
Output 12 provides a dual function output/PWM signal. This
function is accessible by the user under software control. This
channel provides twice the current sink capability (200
milliamperes) of a standard output. When used as a PWM signal,
the output is configured as a variable duty cycle with a fixed
frequency of 11.8 kilohertz.
Output circuit
connections
Refer to the diagram below for a general circuit diagram. The
discrete output diagrams (on page 2-32) illustrate specific discrete
output circuit examples.
General output
circuit
2-38
SC750 Manual: Installation & Hardware Reference - Rev F
J54 discrete
output signals
Output
Pin
Number
Explanation
Fault
J53-5
Summary fault output (output
low if fault detected).
Output 1
J53-6
General purpose output.
Output 2
J53-7
General purpose output.
Output 3
J53-8
General purpose output.
Output 4
J53-9
General purpose output.
I/O Return
J53-10
Output circuit common.
Output
Pin
Number
Explanation
I/O Return
J54-1
Output circuit common.
Output 5
J54-2
General purpose output.
Output 6
J54-3
General purpose output.
Output 7
J54-4
General purpose output.
Output 8
J54-5
General purpose output.
Output 9
J54-6
General purpose output.
Output 10
J54-7
General purpose output.
Output 11
J54-8
General purpose output.
Output 12/PWM
J54-9
General purpose output/PWM
signal output.
I/O Return
J54-10
Output circuit common.
SC750 Manual: Installation & Hardware Reference - Rev F
Installation
J53 discrete
output signals
2-39
Discrete output
diagrams
2-40
SC750 Manual: Installation & Hardware Reference - Rev F
Installation
Cabling
diagram - J53
discrete I/O
Mating
connector
The J53 command cables are for a Phoenix 10-pin screw mating
connector. The connector is type MSTB 1.5/10-ST 5mm. The
Phoenix order number is 1754601.
This connector is supplied with the drive.
SC750 Manual: Installation & Hardware Reference - Rev F
2-41
Cabling
diagram - J54
discrete I/O
Mating
connector
The J54 command cables are for a Phoenix 10-pin screw mating
connector. The connector is type MSTB 1.5/10-ST 5mm. The
Phoenix order number is 1754601.
This connector is supplied with the drive.
2-42
SC750 Manual: Installation & Hardware Reference - Rev F
2.5.2.3 J53, J55 and J56 Discrete Input Connections
Introduction
The SC750 has two basic types of discrete input circuitry:
Dedicated control
inputs
Simplified
functional
The J53 connection has four dedicated input circuits that provide
control functions to the SC750. These input circuits are shown in
the dedicated input functional diagram below.
+12V
diagram dedicated
inputs
3.32K
CD40106B
+12
1N914
100K
0.01 uF
TO MICRO
V -t = 3.1V MIN
V +t = 8.6V MAX
General purpose
inputs
The J55 and J56 connectors have sixteen general purpose optically
isolated input channels.
• J55 contains one bank of eight input channels (Input 1 through
Input 8).
• J56 contains a separate electrically isolated bank of eight input
channels (Input 9 through Input 16). Each bank requires a user
supplied power source of 5 to 24 VDC rated at 50 mA.
The figures on the following page illustrate simplified circuit
diagrams for each optically isolated input. The input circuit is
intended for use with a current sinking driver. The input circuit
consists of constant current source, current detector and noise
reduction filter, comparator with hysteresis and opto-isolator.
Operation of the input circuit requires the external driver to
provide a current sink capability exceeding 4 milliamperes.
Note: Additional information regarding the input circuit details
can be found in Appendix E.
SC750 Manual: Installation & Hardware Reference - Rev F
2-43
Installation
• Dedicated control circuits - enable, fault, inhibits
• General purpose programmable circuits - input1 -input16
J53 - Common
input circuit
dedicated control
configuration
2-44
SC750 Manual: Installation & Hardware Reference - Rev F
Simplified
functional
diagram General
purpose
Logic static
Input voltage
(Vi) trip points
Fast inputs
Counters
Installation
inputs
VDC
24 Volt
12 Volt
5.0 Volt
VT-
15.1V/63%
6.5V/54%
1.65V/33%
VT+
16.6V/69%
7.9V/66%
2.95V/59%
Input 7 and Input 8 provide alternate functions as fast inputs and
general purpose inputs. Fast inputs provide minimal response time
and are directly input to the microcontroller to trigger (as defined
by user software) interrupt service routines. Fast inputs also
support registration functions, permitting hardware latching of the
resolver and encoder positions.
Input 15 and Input 16 perform alternate functions as user
accessible event counters (resident on the microcontroller) and
general purpose inputs. In the counter mode, Input 15 is used to
issue a hardware reset to the counter. Input 16 is the counter’s
clock input, incrementing the counter once for each cycle of the
input clock frequency.
The maximum clock counter input frequency is 10 KHz.
The figures on the following pages demonstrate common input
circuits used with the SC750. If a current sourcing input is used, a
pull-down resistor will be required.
SC750 Manual: Installation & Hardware Reference - Rev F
2-45
J55, J56
-common
general
purpose
programmable
input circuit
configurations
2-46
SC750 Manual: Installation & Hardware Reference - Rev F
Pin
Number
Inhibit +
J53-1
Selects directional dynamic braking
mode. If moving in the positive
direction, will decelerate motor to
zero velocity then disable positive
torque. Will still permit operation in
the negative direction. Useful for
overtravel limit switch applications.
Inhibit -
J53-2
Selects directional dynamic braking
mode. If moving in the negative
direction, will decelerate motor to
zero velocity then disable negative
torque. Will still permit operation in
the positive direction. Useful for
overtravel limit switch applications.
Fault reset
J53-3
Resets the controller after a fault has
occurred. Controller disabled when
reset is applied.
Enable
J53-4
Controller enable. Must be applied
to permit motor operation.
I/O Return
J53-10
Control input circuit common.
Explanation
SC750 Manual: Installation & Hardware Reference - Rev F
2-47
Installation
J53 dedicated
control input
signals
Input
J55 General
purpose inputs
- Bank A
J56 General
purpose inputs
- Bank B
2-48
Input
Pin
Number
Explanation
Input 1
J55-1
General purpose input.
Input 2
J55-2
General purpose input.
Input 3
J55-3
General purpose input.
Input 4
J55-4
General purpose input.
Input 5
J55-5
General purpose input.
Input 6
J55-6
General purpose input.
Input 7/Reg 1
J55-7
General purpose input & fast input.
Input 8/Reg 2
J55-8
General purpose input & fast input.
+ DC A
J55-9
5 to 24 V dc @ 50 mA user source
power for inputs 1 thorugh 8.
- DC A
J55-10
Return for inputs 1 through 8.
Power Supply Common.
Input
Pin
Number
Explanation
Input 9
J56-1
General purpose input.
Input 10
J56-2
General purpose input.
Input 11
J56-3
General purpose input.
Input 12
J56-4
General purpose input.
Input 13
J56-5
General purpose input.
Input 14
J56-6
General purpose input.
Input 15/Cntr
RST
J56-7
General purpose input/counter reset.
SC750 Manual: Installation & Hardware Reference - Rev F
Pin
Number
Explanation
Input 16/Cntr
CLK
J56-8
General purpose input/counter clock.
+ DC B
J56-9
5 to 24 V dc @ 50 mA user source
power for inputs 9 through 16.
- DC B
J56-10
Return for inputs 9 through 16,
Power Supply Common.
Input
Installation
J56 General
purpose inputs
- Bank B
Cabling diagram J55 discrete I/O
SC750 Manual: Installation & Hardware Reference - Rev F
2-49
Mating
connector
The J55 command cables are for a Phoenix 10-pin screw mating
connector. The connector is type MSTB 1.5/10-ST 5mm. The
Phoenix order number is 1754601.
This connector is supplied with the drive.
Cabling diagram J56 discrete I/O
Mating
connector
The J56 command cables are for a Phoenix 10-pin screw mating
connector. The connector is type MSTB 1.5/10-ST 5mm. The
Phoenix order number is 1754601.
This connector is supplied with the drive.
2-50
SC750 Manual: Installation & Hardware Reference - Rev F
2.5.2.4 J57 Analog I/O Connections
The SC750 features an analog input channel and an analog output
channel. The analog input channel is digitized and is available to
the user under software control. The analog output is controlled
by a digital-to-analog converter, also set by the user’s program.
The analog input channel signal accepts signals with a +12 volt
range with a differential input amplifier having 100 kilohms input
impedance. The analog output channel provides a signal range of
+5 volts, with 50 ohms source impedance.
Analog
input/output
table - J57
Input/Output
Pin
Number
Explanation
Analog in (+)
J57-1
+12 volt analog input.
Analog in (-)
J57-2
+12 volt analog input.
Analog out
J57-3
+5 volt analog output.
Current monitor
J57-4
Output voltage proportional to peak
measured motor current (shaft
torque).
Monitor Scale Factor
SC752 0.56 V/A
SC753 0.28 V/A
SC754 0.14 V/A
SC755 0.070 V/A
SC756 0.036 V/A
Hall Signal 3
J57-5
TTL level digital motor commutation
signal. At constant shaft speed, this
signal is a square wave at the motor
electrical frequency (60 Hz at 1800
RPM 4-pole R series motor, 120 Hz
at 1800 RPM 8-pole F series motor).
SC750 Manual: Installation & Hardware Reference - Rev F
2-51
Installation
Introduction
Analog
input/output
table - J57
Input/Output
Pin
Number
Explanation
I/O Return
J57-6
Common.
LAN +
J57-7
PacLAN Blue
LAN -
J57-8
PacLAN White
LAN shield
J57-9
PacLAN Shield
Cabling diagram J57 analog
I/O
Mating
connector
2-52
The J57 analog input/output cables are for a Phoenix 9-pin screw
mating connector. The connector is type MSTB 1.5/9-ST 5mm.
The Phoenix order number is 1754588.
SC750 Manual: Installation & Hardware Reference - Rev F
The electrical connections of the PacLAN interface between
SC750 servocontrollers is illustrated in the diagram below.
Cabling for the PacLAN interface must
conform to the cabling specifications
met by twinaxial transmission cable
manufactured by Belden. The Belden
part number is 9271. This cable is also
available from Pacific Scientific. The
Pacific Scientific part number is
CL-CO-xxx, where xxx is the desired
cable length.
The most distant trunks of the cable
should each be terminated in 120 ohm,
1/2 watt termination resistors. These
resistors can be inserted into the screw
terminal connectors after the cable has
been soldered on.
Note: PacLAN operation will be
supported only if the proper
communications cabling is used.
PacLAN permits direct connection of
up to 32 SC750 servocontrollers. The
total cable length must be limited as
indicated in the table. To acheive
longer cable lengths, or to connect
more than 32 controllers, ARCNET
compatible active hubs must be used.
These devices are capable of
transmission lengths of up to 2000 feet.
Active hubs are available from SMC,
Contempory Control Systems, Inc., and
Black Box Corporation.
SC750 Manual: Installation & Hardware Reference - Rev F
2-53
Installation
PacLAN Cabling
& hardware
connections
LAN Cabling
Maximum PacLAN Cabling Lengths
Number of PacLAN Nodes
Maximum Cable Length (Feet)
2
475
3
462
4
450
5
437
6
427
7
412
8
400
9
387
10
375
12
350
15
312
20
250
25
187
32
100
Note: To configure communications with m ore than 32 axes,
ARCNET active hubs must be used.
PacLAN axis
address setup
Each SC750 must have a unique PacLAN axis address. The
PacLAN address selection is performed by configuring the S1 DIP
switch. Note: The switch setting is read only when power is first
applied to the controller.
Each SC750 Servocontroller axis must have a unique port address.
Please refer to Section 3.1.1 for additional information on setting
the address. For additional information on PacLAN, please refer
to the SC750 ServoBASIC Plus Programming Manual, Section 5.
Note: PacLAN Address 0 is reserved. DO NOT USE.
2-54
SC750 Manual: Installation & Hardware Reference - Rev F
2.5.2.5 J58 Serial I/O Connections
Single- and
multi-unit control
The serial port transmits and receives RS-232 or RS-485
multidrop serial communication for the user interface of your unit.
You can configure installation to control single or multiple
SC750s.
For controlling a single SC750, use RS-232 communications.
For controlling multiple SC750s, RS-422 or RS-485
communications permits a single PC to host from 1 to 32 SC750s
(each requiring a unique switch selectable address ranging from 1
to 254).
The SC750 utilizes 9600 baud communications with one start
bit/one stop bit and eight bit word length in either RS-232 or
multidrop format.
Serial
input/output
table - J58
Pin
Number
Explanation
+5V Return/
Shield
J58-1
Common/shield - serial port interface.
Txd 232
J58-2
RS-232 transmitter output (from
SC750).
Rxd 232
J58-3
RS-232 receiver input (to SC750).
+5 V dc
J58-4
5 volt dc, 250 milliampere power
source for RS-232 communication
devices.
+5 V Common
J58-5
Common - serial port interface.
Txd (+) 485
J58-6
Txd (-) 485
J58-7
RS-485 transmitter output (from
SC750).
Rxd (+) 485
J58-8
Rxd (-) 485
J58-9
Input/Output
RS-485 transmitter input (to SC750)
SC750 Manual: Installation & Hardware Reference - Rev F
2-55
Installation
Introduction
Connector
pinout - J58
serial interface
Mating
connector
The J58 serial interface connector cables are for a standard 9-pin
D connector.
The mating connector is supplied with the drive.
Note: The J58 serial connector provides a +5 Vdc source for
powering external devices up to 250 milliamperes. Be careful not
to connect this to external equipment if not used.
2-56
SC750 Manual: Installation & Hardware Reference - Rev F
Installation
J58 I/O
schematic
J58 Serial Port - RS-232 Connection
Introduction
Procedure
Connect the SC750 to your computer or terminal (non-T10) as
follows.
1. Solder the cable leads to the 9-pin connector as shown.
2. Assemble the connector housing.
SC750 Manual: Installation & Hardware Reference - Rev F
2-57
Procedure (cont’d)
3. Build the cable to connect to your computer or terminal by
referring to the documentation for the device.
Note: Pinouts vary among computer manufacturers. Check
your computer’s hardware reference manual before wiring.
4. Plug the connector into the input and affix the connector to
the unit with screws.
J58 Serial Port - Multidrop (RS-422 or RS-485) Connection
Background
SC750 controllers can be connected in parallel to a multidrop
master. The SC750 controllers must each have a unique
subsystem address. A maximum of 32 SC750s can be controlled
from a single multidrop master.
Multidrop
interconnection
diagram
2-58
SC750 Manual: Installation & Hardware Reference - Rev F
Operation of multiple SC750s can be implemented by installing an
RS-422 or RS-485 converter between the PC (multidrop master)
and the SC750 multidrop subsystem. If your computer does not
have RS-422/RS-485 port, refer to the converter instruction
manual to connect the converter to the user interface.
Installation
RS232/RS485
converter
installation
Note: Flat ribbon connections are not recommended for
RS-422/RS-485 connections.
Procedure
1. Solder the leads to the connector as shown.
2. Insure RS-232 connections (pins J58-2 and J58-3) are left
open.
3. Solder the leads for the other units to the corresponding leads
on the preceding SC750.
4. Repeat step 3 for the other units to be controlled.
SC750 Manual: Installation & Hardware Reference - Rev F
2-59
Procedure (cont’d)
5. Connect the Common (J58-5) to the signal ground of the
converter.
6. If necessary, connect pin J58-4 supplying +5 Vdc power to the
converter. The maximum allowable load on this pin must be
an amount that totals less than 250 mA.
7. Assemble the connector housings.
8. Plug the connectors into the ports and affix the connectors to
the unit with screws.
9. Connect the units to the converter.
10. Set specific addresses for the unit as described in section
3.1.1, “Setting Up Serial Addresses Using Switch S1”.
J58 Serial Port T10 Connections (RS-232)
Introduction
Connect the SC750 to your T10 terminal as follows:
The T10 terminal requires a DC-9P 9-pin plug-in male D
connector.
Note: The T10 terminal is a Burr-Brown TM2500.
2-60
SC750 Manual: Installation & Hardware Reference - Rev F
Procedure
1. Solder the cable leads to the SC750 mating connector and the
T10 connector as shown.
2. Assemble the connector housings.
Parameter
setup
Set up the T10 terminal as follows:
1. Enter the setup mode by pressing the “.” key while power is
applied to the T10 (wait until the two letter prompt appears).
Refer to the terminal manual for more information.
2. Enter the following values:
VW = 4
Default
LE = 0
Local Echo OFF
TM = 0
Character Mode
EN = 1
Line Terminator (CR)
TD = 0
Turnaround Delay
KC = 2
Key Click
BR = 2
Baud Rate (9600)
KR = 1
Key Repeat
DF = 4
8 Bits, No Parity
CU = 2
Cursor
HS = 0
Default (DTR asserted)
Note: The SC750 is always configured for 9600 baud, 8 bit, no
parity data formats.
SC750 Manual: Installation & Hardware Reference - Rev F
2-61
Installation
3. Plug the connectors into the SC750 and T10 and affix the
connectors to the units.
3 Powering Up the SC750 Series
In this Chapter
This Chapter explains how to power up the SC750 Series
Servocontroller after installation. Topics covered are:
• Adjustments
• Establishing serial communications with host PC
• System status display and outputs
This section is intended to familiarize the SC750 user with the
hardware adjustments and settings required to power up and
operate the SC750 series servocontroller.
Powering Up
The vast majority of SC750 servo adjustments are performed in
conjunction with Motion Dialogue, the integrated development
environment, and the ServoBASIC Plus programming language.
These are discussed in detail in the SC750 programming guide.
3.1 Adjustments
Backgroun d
This section explains how to adjust the SC750 series controller to
your operating parameters.
3.1.1 Setting Up Serial Addresses Using Switch S1
Definition
The S1 switch:
• determines if you are using RS-232 or multidrop
communications
• sets the address required for each SC750 on the multidrop bus
SC750 Manual: Installation & Hardware Reference - Rev F
3-1
Procedure
The following diagram shows the location of switch S1. The view
shows the location of the S1 switch looking down at the top of the
SC750.
Note: Each SC750 subsystem connected to the multidrop master
must have a unique serial address.
Top of SC750
Switch location
S1 Switch
The diagram below shows the S1 switch settings.
Switch S1
1
2
3
4
5
6
7
8
The switches are:
• On in the down position (toward number)
• Off in the up position (away from number)
Note: RS-232 requires that all switches are in the UP position.
1. Remove power from the SC750 servocontroller.
2. Refer to the table on the next page to set the SC750 to the
appropriate address.
3-2
SC750 Manual: Installation & Hardware Reference - Rev F
Address
1
2
3
4
5
6
7
8
0
On
On
On
On
On
On
On
On
1
Off
On
On
On
On
On
On
On
2
On
Off
On
On
On
On
On
On
3
Off
Off
On
On
On
On
On
On
4
On
On
Off
On
On
On
On
On
5
Off
On
Off
On
On
On
On
On
6
On
Off
Off
On
On
On
On
On
7
Off
Off
Off
On
On
On
On
On
8
On
On
On
Off
On
On
On
On
9
Off
On
On
Off
On
On
On
On
10
On
Off
On
Off
On
On
On
On
11
Off
Off
On
Off
On
On
On
On
12
On
On
Off
Off
On
On
On
On
13
Off
On
Off
Off
On
On
On
On
14
On
Off
Off
Off
On
On
On
On
15
Off
Off
Off
Off
On
On
On
On
16
On
On
On
On
Off
On
On
On
17
Off
On
On
On
Off
On
On
On
18
On
Off
On
On
Off
On
On
On
19
Off
Off
On
On
Off
On
On
On
20
On
On
Off
On
Off
On
On
On
SC750 Manual: Installation & Hardware Reference - Rev F
Powering Up
S1 address table
3-3
S1 address table
(cont’d)
Address
1
2
3
4
5
6
7
8
21
Off
On
Off
On
Off
On
On
On
22
On
Off
Off
On
Off
On
On
On
23
Off
Off
Off
On
Off
On
On
On
24
On
On
On
Off
Off
On
On
On
25
Off
On
On
Off
Off
On
On
On
26
On
Off
On
Off
Off
On
On
On
27
Off
Off
On
Off
Off
On
On
On
28
On
On
Off
Off
Off
On
On
On
29
Off
On
Off
Off
Off
On
On
On
30
On
Off
Off
Off
Off
On
On
On
31
Off
Off
Off
Off
Off
On
On
On
32
On
On
On
On
On
Off
On
On
33
Off
On
On
On
On
Off
On
On
34
On
Off
On
On
On
Off
On
On
35
Off
Off
On
On
On
Off
On
On
36
On
On
Off
On
On
Off
On
On
37
Off
On
Off
On
On
Off
On
On
38
On
Off
Off
On
On
Off
On
On
39
Off
Off
Off
On
On
Off
On
On
40
On
On
On
Off
On
Off
On
On
.
.
.
.
3-4
SC750 Manual: Installation & Hardware Reference - Rev F
Address
1
2
3
4
5
6
7
8
240
On
On
On
On
Off
Off
Off
Off
241
Off
On
On
On
Off
Off
Off
Off
242
On
Off
On
On
Off
Off
Off
Off
243
Off
Off
On
On
Off
Off
Off
Off
244
On
On
Off
On
Off
Off
Off
Off
245
Off
On
Off
On
Off
Off
Off
Off
246
On
Off
Off
On
Off
Off
Off
Off
247
Off
Off
Off
On
Off
Off
Off
Off
248
On
On
On
Off
Off
Off
Off
Off
249
Off
On
On
Off
Off
Off
Off
Off
250
On
Off
On
Off
Off
Off
Off
Off
251
Off
Off
On
Off
Off
Off
Off
Off
252
On
On
Off
Off
Off
Off
Off
Off
253
Off
On
Off
Off
Off
Off
Off
Off
254
On
Off
Off
Off
Off
Off
Off
Off
255*
Off
Off
Off
Off
Off
Off
Off
Off
Powering Up
S1 address table
(cont’d)
* For RS-232 operation (factory default)
3. Re-connect power to the SC750 servocontroller.
4. Repeat steps 1 through 4 for other SC750 units on the bus.
Make sure to give the other units unique addresses.
SC750 Manual: Installation & Hardware Reference - Rev F
3-5
3.1.2 Jumper Block Set Up
There are no user accessible jumper block settings on the SC750.
3.1.3 Potentiometers
There are no potentiometer settings on the SC750.
3.2 Establishing Serial Communications with Host PC
Backgroun d
The SC750 utilizes both RS-232 and RS-485 electrical
specifications for its serial communications interfaces. Cabling the
host PC to the SC750 is described in section 2.5.2.
Procedure
Once cabled up to the SC750:
1. Power up the SC750 with the drive disabled.
2. Set the serial interface position to one of the following:
- Address 255 for RS-232 operation
- Appropriate address for RS-422/485 operation
Note: The SC750 always assumes 9600 baud, no parity, 1 start bit
and 1 stop bit. Motion Dialogue assumes the same.
3. Once communications have been established, the integrated
programming environment will supervise program
development and execution.
Warning
Upon initial power up of the SC750, Motion Dialogue will
require entry of the part number of the motor connected to the
drive, this is the user’s responsibility.
Note: This parameter is only entered the first time the unit is
turned on.
3-6
SC750 Manual: Installation & Hardware Reference - Rev F
3.3 System Status Display and Outputs
Introduction
The system status codes are displayed on the seven-segment
display on the front panel. These codes are also available as
outputs on connector J53. Refer to the following table for the
meaning of these codes.
To troubleshoot codes that indicate faults, refer to Section 4.2,
“Troubleshooting the SC750 Series Servocontroller.” To use the
J53 outputs, refer to Section 2.5.2, “J51 to J58 - Input/Output
Cabling.”
SC752/SC753
Below are the system status tables for the SC750 units.
Powering Up
System status
tables
Status Display
FAULTCODE
0
0
No fault, disabled
1
1
Software resolver overspeed
2
2
Motor overtemperature
3
3
Servocontroller overtemperature
4
4
Servocontroller IT
5
5
Motor Line-Neutral fault
6
6
Analog control undervoltage
7
7
Bus OV/OC (highest priority)
8
0
No fault, enabled
9
9
Estimated shunt regulator IT fault
11
Encoder +5V low
C
12
Terminal +5V low
E
14
Microprocessor fault
SC750 Manual: Installation & Hardware Reference - Rev F
Description
3-7
Status Display
FAULTCODE
F1
241
Following error overflow
F2
242
Program memory fault
F3
243
Parameter memory fault
F4
244
Run time error
F5
245
PacLAN error
F6
246
Incompatible motion dialogue
UC
SC754/SC755/
SC756
Unconfigured controller
Status Display
FAULTCODE
0
0
No fault, disabled
1
1
Software resolver overspeed
2
2
Motor overtemperature
3
3
Servocontroller overtemperature
4
4
Servocontroller IT
5
5
Bus overcurrent (BOC)
6
6
Analog control undervoltage
7
7
Output overcurrent
8
0
No fault, enabled
9
9
Measured shunt regulator IT fault
A
10
Bus overvoltage or Hot control
undervoltage
11
Encoder +5V low
12
Terminal +5V low
C
3-8
Description
Description
SC750 Manual: Installation & Hardware Reference - Rev F
FAULTCODE
Description
13
Power stage control undervoltage
E
14
Microprocessor fault
F1
241
Following error overflow
F2
242
Program memory fault
F3
243
Parameter memory fault
F4
244
Run time error
F5
245
PacLAN error
F6
246
Incompatible motion dialogue
UC
Unconfigured controller
Note: Status displays F1, F2, F3, F4, F5, F6 and UC alternately
flash between the two values.
Note: There is no faultcode 8 - No faults, enabled. For status
display 8 , the faultcode indicates 0. The variable ENABLED
will indicate whether the controller is enabled.
SC750 Manual: Installation & Hardware Reference - Rev F
3-9
Powering Up
Status Display
4 Maintaining/Troubleshooting
In this Chapter
This chapter covers maintenance and troubleshooting of the
SC750 servocontroller.
4.1 Maintaining the SC750 Servocontroller
Introduction
The SC750 series servocontrollers are designed for minimum
maintenance. The following cleaning procedures performed as
needed will minimize problems due to dust and dirt build-up.
Procedures
Remove superficial dust and dirt from the unit using clean, dry,
low-pressure air.
Warning
Use the procedure given in the fuse replacement section (see
Section 4.2 “Troubleshooting the SC750 Series
Servocontroller”) to avoid personal injury or damage to the unit
when removing the cover.
Maintenance
4.2 Troubleshooting the SC750 Series
Servocontroller
Introduction
The system status display located on the front panel indicates unit
status and is useful for troubleshooting. The SC752 and SC753
have a BUS ACTIVE LED which signifies the unit is connected
to line voltage.
A table of problems, causes, and appropriate actions are on the
pages that follow.
SC750 Manual: Installation & Hardware Reference - Rev F
4-1
Troubles hooting
table
Problem (and system
status numbers)
System status display not
lit.
Bus active LED not lit
(SC752, SC753).
4-2
Possible cause
Action
No control power.
Check that SC754, SC755,
and SC756 have AC
switch set to INT or
SC752, SC753 and
SC754, SC755, and
SC756 have 115 V ac or
230 V ac applied to J3
pins 5,6.
Blown control power fuse.
Replacement of fuses
within the drive is not
recommended and rarely
useful. A blown fuse is a
strong indication that the
drive is defective and
should be returned to the
factory for repair.
No Bus power.
Apply power.
Blown Bus fuses.
Replacement of fuses
within the drive is not
recommended and rarely
useful. A blown fuse is a
strong indication that the
drive is defective and
should be returned to the
factory for repair.
SC750 Manual: Installation & Hardware Reference - Rev F
Troubles hooting
table (cont’d)
Resolver conversion
overspeed (1).
Motor overtemperature (2).
Controller overtemperature
(3).
Possible cause
Action
Incorrect resolver phasing.
Verify proper phasing.
Open or intermittent
resolver connection.
Check connector and cable.
Motor PTC pins open.
Connect PTC pins (J51-8
and J51-9).
Temperature overload due
to high motor ambient
temperature or excessive
RMS torque.
Lower ambient
temperature. Operate
within continuous torque
rating.
Temperature overload due to:
High ambient temperature.
Lower ambient
temperature to below 50
degrees (60 degrees, if
derated).
Restriction of cooling air
due to insufficient space
around unit.
Provide sufficient cooling
space.
Operation above
continuous power rating.
Operate within continuous
power rating.
Fan inoperative.
Return to factory for fan
replacement.
IT Fault (4).
Excessive time at peak
current.
Check time spent at peak
current. If excessive,
change profile or load.
(Use larger motor/drive.)
Controller unconfigured
(U/C).
New controller.
Perform controller setup.
SC750 Manual: Installation & Hardware Reference - Rev F
4-3
Maintenance
Problem (and system
status numbers)
Troubles hooting
table (cont’d)
Problem (and system
status numbers)
Line-neutral fault (5).
Servocontroller logic
supply undervoltage (6).
Output overcurrent, or bus
overvoltage (7).
Unit will not enable (does
not display 8 when enable
applied).
4-4
Possible cause
Action
Motor cable short to
ground.
Check motor cable.
Internal failure.
Contact distributor.
External short on signal
connectors.
Remove connectors and
reapply power.
Insufficient voltage on
J3-5 and J3-6.
Check voltage with meter
(> 90 V).
Internal failure.
Contact distributor.
Excessive ac input voltage.
Reduce ac input voltage to
below 264 V ac.
Output short circuit.
Check for short.
Motor cabling wires
shorted together.
Check for short.
Motor cabling shorted to
ground.
Check for short.
Internal motor winding
short circuit.
Check for short.
Insufficient motor
inductance.
Check current loop
compensation parameters
in software. Replace
motor with motor of
correct inductance.
External enable not
applied.
Apply enable input to pin
J53-4.
Internal fault.
Contact distributor.
Software enable not on.
Set Enable variable to 1.
SC750 Manual: Installation & Hardware Reference - Rev F
Troubles hooting
table (cont’d)
Problem (and system
status numbers)
Possible cause
Action
Unit is enabled, BUS
ACTIVE LED On
(SC752, SC753) no
system status faults (status
code 8), but motor does
not respond.
Seized load or excessive
load friction.
Reduce load.
Reset command on J53-3.
Remove reset from J53-3.
Open motor connections.
Connect motor.
Motor oscillates or runs
erratically.
Improper shielding and
grounding.
Shield cabling correctly
per Section 2.5.1 or
Section 2.5.2.
Improper drive set up.
Review set up procedure.
If the
servocon troller
is defective
Return
procedure
If you cannot correct the servocontroller problem, or if it is
defective, return it to Pacific Scientific for repair or replacement.
1. Call Pacific Scientific at (978) 988-9800 from 8 am to 6 pm
Eastern Standard Time to get a Returned Materials
Authorization Number (RMA#).
Note: Do not attempt to return the servocontroller or any
other equipment without a valid RMA#. Returns received
without a valid RMA# will not be accepted and will be
returned to the sender.
2. Pack the controller in its original shipping carton. Pacific
Scientific is not responsible or liable for damage resulting
from improper packaging or shipment.
SC750 Manual: Installation & Hardware Reference - Rev F
4-5
Maintenance
If problems continue to exist, please contact your local distributor
for further assistance.
Procedure
(cont’d)
3. Ship the servocontroller to:
Pacific Scientific
Motion Technology Division
110 Fordham Road
Wilmington, MA 01887
Attn: Repair Department, RMA #________
Note: Do not ship Pacific Scientific motors to the above address.
The correct address for motors is:
Pacific Scientific
Motor Products Division
4301 Kishwaukee Street
Rockford, IL 61105
Attn: Brushless Repair Department, RMA#________
Shipment of your controller or motor to Pacific Scientific
constitutes authorization to repair the unit. Refer to Pacific
Scientific’s repair policy for standard repair charges. Your
repaired unit will be shipped via UPS Ground delivery. If
another means of shipping is desired, please specify this at the
time of receiving an RMA#.
4-6
SC750 Manual: Installation & Hardware Reference - Rev F
Appendix A Specifications
General
Resolver Feedback Interface
Position
Resolution
Noise
Repeatability
Accuracy
2-16 Rev = 0.3 arc min
< 2-16 Rev rms
< 2-16 Rev
standard, drive only
+ 22 arc min
standard with 15 arc min
+ 37 arc min
resolver
Velocity
Resolution
Max tracking rate
Accuracy
+ 4 arc min
0.67 rpm
13,733 rpm
worst case
+ 0.05%
typical
+ 0.01% @ 25oC
Offset
Noise
Ripple
Specifications
optional, drive only
< 0.021 rpm
< 1.5 rpm rms
standard, drive only
3% p-p at 1000 rpm
standard with 15 arc min
5% p-p at 1000 rpm
resolver
optional, drive only
0.75% p-p at 1000 rpm
SC750 Manual: Installation & Hardware Reference - Rev F
A-1
Excitation Frequency
5859.375 Hz
Sample Update Period
85.33 µsec
-3 dB Bandwidth
-60o Phase Lag
Position Control
Command
Range
Resolution
Speed Control
Command
Range
Resolution
Acceleration/
Deceleration Command
Range
Resolution
Torque (current)
Limit control range
Position loop update
period
A-2
> 900 Hz
> 550 Hz
0 to + 100,000,000 steps
4096 steps per rev (5.3 arcmin/step)
0 to + 12,000 rpm (actual maximum speed depends upon
motor/controller combination used)
0.01 rpm
3 to 16,000,000 rpm/second
3 rpm/second
0% to 100% of peak rating (software control)
1.28 milliseconds
SC750 Manual: Installation & Hardware Reference - Rev F
Serial interface
Type
Baud rate
Parity
Data word
Efficiency (50 % output
voltage, rated cont.
current)
427 microseconds
RS-232/RS-485/422 (address selectable)
9600
none
10 bit (8 data, 1 start/1 stop)
> 95%
Form factor
< 1.01
Current loop bandwidth
1500 to 3000 Hz
Output ripple frequency
(+ 15%)
20 KHz
Analog input
+ 12.5 Vdc range, 0.25% linearity, 50 µV/oC drift, fully
monotonic, 60 mV offset, 100 Kohm input impedance
16 bit S/N Ratio @ ADF0 = 2.5 Hz
14 bit S/N Ratio @ ADF0 = 50 Hz
12 bit S/N Ratio @ ADF0 = 1000 Hz
Analog output
+ 5 Vdc range, 12 bit, updated at velocity loop update
rate, fully monotonic, 30 mV offset, 50 ohm source
impedance, 30 mA maximum output current.
SC750 Manual: Installation & Hardware Reference - Rev F
A-3
Specifications
Velocity loop update
Control inputs
Program Memory Data
Retention
Control outputs
Enable, Fault reset, Inhibit +, Inhibit 10 years
Fault, Current monitor, Commutation signal
Two +5 V @ 250 mA max.
Programmable inputs
12 general purpose
2 general purpose/fast
2 general purpose/counter
Optically isolated, 5 to 24 Vdc logic, sourcing; fast
inputs have 5 µS max. capture time
Each bank of 8 optical inputs requires nominally 50 mA
of current from its supply
Programmable
outputs
11 general purpose
1 general purpose/PWM (up to 200 mA)
5 to 24 Vdc logic, open collector sinking, up to 100 mA
Encoder Input/Output
Encoder emulation
output
Quadrature with marker pulse, differential TTL line
driver, software selectable resolution
500, 512, 1000, 1024, 2000, 2048, 4096, 16,384 PPR,
750 KHz max.
Encoder input
Step/Dir input
A-4
Quadrature with marker pulse, differential TTL line
receivers, 750 KHz max.
Differential TTL line receivers, 750 KHz max.
SC750 Manual: Installation & Hardware Reference - Rev F
Registration
Response time
Registration Trigger Input
Response Time
(microseconds)
Input 7/Reg 1 or Input 8/Reg2
5.0
Z Reference Channel
1.0
Power
SC752
SC753
SC754
SC755
SC756
Input voltage
Control logic power 90 to 264 V ac, 47 to 63 Hz, 1 phase or 130 to 370 Vdc
Bus power
115 Vac (+10%, -15%)/ 230
Vac (+10%, -15%) 47 to
63 Hz, 1 or 3 phase
Bus voltage
Bus Power (RMS)
320 Vdc
SC752
SC753
SC754
SC756
500 mA max. @ 115 V ac, 250 mA max. @ 230 V ac
4.5 A
9A
18 A
230 Vac/3 phase
Output current
Peak (5 seconds)
Continuous
SC755
29 A
38 A
(@ 6kW)
(@ 12 kW)
SC752
SC753
SC754
SC755
SC756
7.5 A
15 A
30 A
60 A
120 A
3.8 A
7.5 A
15 A
30 A
60 A
SC750 Manual: Installation & Hardware Reference - Rev F
A-5
Specifications
Input current
Control logic power
230 Vac (+10%, -15%)
47 to 63 Hz, 3 phase
Output
power (min @
50oC)
SC752
SC753
SC754
SC755
SC756
230 V ac, 3-phase
2.2 kW
4.5 kW
9 kW
18 kW
36 kW
230 V ac, 1-phase
2.0 kW
4.0 kW
N/A
N/A
N/A
230 V ac, 3-phase
1.1 kW
2.2 kW
4.5 kW
9 kW
18 kW
230 V ac, 1-phase
0.8 kW
1.6 kW
N/A
N/A
N/A
SC752
SC753
SC754
SC755
SC756
3 kW
6 kW
20 kW
20 kW
40 kW
20 W
40 W
200 W
200 W
500 W
20 J
20 J
25 J
50 J
180 J
Peak (5 second)
Continuous
Shunt regulator
Peak power
Continuous power
Bus capacitance
(From 330V Bus)
energy absorption
Motor l-l inductance
requirement
A-6
SC752
Min Ll-l 4 mH
MaxLl-l
SC753
SC754
SC755
SC756
2 mH
1 mH
0.5 mH
0.25 mH
200 mH
130 mH
63 mH
1000 mH 500 mH
SC750 Manual: Installation & Hardware Reference - Rev F
Operating Temperature
Full ratings
Derated (linearly derate the
continuous current and
power
ratings to 70% at 60oC)
Humidity
0o to 50oC
50oC to 60oC
10 % to 90%, non-condensing
Altitude
5000 ft (1500 meters)
Storage temperature
-55oC to 70oC
Mechanical
Weight
SC753
SC754
SC755
SC756
13 lbs
16 lbs
40 lbs
40 lbs
90 lbs
(5.9 kg)
(7.26 kg)
(18.16 kg)
(18.16 kg)
(40.86 kg)
Refer to Section 2.4
Specifications
Dimensions
SC752
SC750 Manual: Installation & Hardware Reference - Rev F
A-7
Background
Order Info
Appendix B Ordering Information
This appendix gives the model number for the SC750 number
series lists of accessories for:
• Servocontrollers
• Cables
• Recommended motors
SC750 part
number table
Part
Order Number
Comment
Connector Kit (SC752/SC753)
106-075001-01
Assorted Phoenix
and D connectors
Connector Kit (SC754/55/56)
106-075002-01
Assorted Phoenix
and D connectors
Installation Manual
903-075100-00
Programming Manual
903-075200-00
ServoBASIC Plus Reference
Manual
903-075300-00
Motion Dialogue diskette
904-075100-00
3 1/2 inch
904-075200-00
5 1/4 inch (Prog.)
904-075300-00
5 1/4 inch (Help)
How to order
Contact Pacific Scientific to order these parts:
Call
978-988-9800 from 8 am to 6 pm Eastern Standard Time
Write
Pacific Scientific
Motion Technology Division
110 Fordham Road
Wilmington, MA 01887
Fax
(978) 988-9940
SC750 Manual: Installation & Hardware Reference - Rev F
B-1
Servocontroller Ordering Codes
Servocontroller
only
SC7 XXX-XXX-XX
-01 = PacSci ServoBASIC Plus
programming language with 24K
user memory
Customization code
- Factory assigned, customer
specific
- 001 = standard unit
Option code
- A = +22 arcmin
- B = +4 arcmin
Power level
- 2 = 3.8 A cont./7.5 A peak
- 3 = 7.5 A cont./15 A peak
- 4 = 15 A cont./15 A peak
- 5 = 30 A cont./60 A peak
- 6 = 60 A cont./120 A peak
Configuration code
- 5 = programmable digital
position controller, resolver
feedback
Model designator
B-2
SC750 Manual: Installation & Hardware Reference - Rev F
Power cable
Order Info
Cable ordering
codes
Each system requires one power cable and one feedback cable.
CP-XX-XXX-XXXF
Control connector type
- 752 = for SC752 drive
- 753 = for SC753 drive
- 754 = for SC754 drive
- 755 = for SC755 drive
- 756 = for SC756 drive
- F = Flex Cable
Cable length
- xxx = cable length in feet (150
feet maximum)
Motor connector type
- R2 = for R20 series motor
- R3 = for R30 series motor
- R4 = for R40 series motor
- R6 = for R60 series motor
- R8 = for R80 series motor
Power cable designator
Note: Flexible Cable is now an option that is available with all
Pacific Scientific cables. Please contact customer service for
additional information.
SC750 Manual: Installation & Hardware Reference - Rev F
B-3
Feedback cable
CF-XX-XXX-XXXF
750 control connector type
- all SC750 series
- F = Flex Cable
Cable length
- xxx = cable length in feet (150
feet maximum)
Feedback connector type
- RO = Resolver only (standard)
Feedback cable designator
Note: Flexible Cable is now an option that is available with all
Pacific Scientific cables. Please contact customer support for
additional information.
B-4
SC750 Manual: Installation & Hardware Reference - Rev F
Servo Loop
Appendix C Servo Loop
SC750 Manual: Installation & Hardware Reference - Rev F
C-1
C-2
SC750 Manual: Installation & Hardware Reference - Rev F
Appendix D Cabling Diagrams
Introduction
This appendix contains power and feedback cabling information
for all SC750 Servocontrollers.
Power Cables
Cabling
Diagrams
SC752/SC753
Note: Insulate shield drain wire at motor end.
SC754/SC755
Note: 1. Insulate drain wire at motor end.
2. Drive end strip wire 15 mm (.591 in).
3. Ferrules on wires at drive end.
R.S.T. wires black #10 ferrules.
Motor Gnd & shield tied before ferrule.
SC750 Manual: Installation & Hardware Reference - Rev F
D-1
SC756
Light duty cable
Heavy duty cable
The following notes apply to both of the cable diagrams shown
above:
Notes: 1. Insulate drain wire at motor end.
2. Drive end strip wire 15mm (.591 in).
3. Ferrules on wires at drive end.
R.S.T. wires black #10 ferrules
Motor Gnd & shield white #8 ferrules.
D-2
SC750 Manual: Installation & Hardware Reference - Rev F
Feedback Cables
The feedback cable is the same for all models of the SC750.
Notes: 1. Insulate shield drain wires at motor end.
2. Insulate unused wires at motor end.
3. Insulate unused wires at drive end.
SC750 Manual: Installation & Hardware Reference - Rev F
D-3
External Encoder Cabling
For information pertaining to interfacing an external encoder
input to the SC750 encoder port, refer to the diagrams below.
Using TTL differential line drivers
D-4
SC750 Manual: Installation & Hardware Reference - Rev F
Complemen tary encoder output driven by 7406 with pullup resistor
SC750 Manual: Installation & Hardware Reference - Rev F
D-5
Complemen tary encoder output driven by standard TTL logic
D-6
SC750 Manual: Installation & Hardware Reference - Rev F
Single-ended encoder output - open collector, no pullup
SC750 Manual: Installation & Hardware Reference - Rev F
D-7
Single-ended encoder output using standard TTL signals
D-8
SC750 Manual: Installation & Hardware Reference - Rev F
Single-ended encoder output - open collector pull up to 5-12 Vdc
SC750 Manual: Installation & Hardware Reference - Rev F
D-9
Single-ended encoder output - open collector pull up to 12-24 Vdc
D-10
SC750 Manual: Installation & Hardware Reference - Rev F
Interfacing to master servocont roller
SC750 Manual: Installation & Hardware Reference - Rev F
D-11
Appendix E Discrete Input Trip
Voltages
Discrete Input
Trip Voltages
Detailed input
schematic
Filter Time
Constant
Propagation
Delay
Minimum
Pulse Width
Normal Inputs
6 µsec
30 µsec
75 µsec
Fast Inputs
0 µsec
1 µsec
1 µsec
Input
characteristics
SC750 Manual: Installation & Hardware Reference - Rev F
E-1
Voltage trip
percentage charts
The table below shows logic voltage thresholds and their
percentages as a fraction of the DC supply voltage.
•
24 Volt
12 Volt
5.0 Volt
VT-
15.1V/63%
6.5V/54%
1.65V/33%
VT+
16.6V/69%
7.9V/66%
2.95V/59%
Minimum pulse width = 75 µsec for hardware through optos
Note: The software scan rate > 75 µsec
•
Must sink > 4mA
- 3.75 mA nominal
- 3.5 - 4.0 mA range
Outputs
Standard
< 100 mA
Out 12/PWM
< 200 mA
Internal flyback diode to 39V clamp handles up to max Iout
ratings.
E-2
SC750 Manual: Installation & Hardware Reference - Rev F
Appendix F Transformer Sizing
SC750 drives do not require an isolation transformer. If a
transformer is to be used, the table below lists recommended
sizes. The smaller size is adequate for most servo applications.
The larger size provides an additional safety factor for
applications that require minimum bus voltage sag to accelerate
the motor to high speed in minimum time, and for applications
with high continuous power.
Recommended
Transformer Rating
SC752/SC753
3 KVA
SC754
3 to 5 KVA
SC755
5 to 7.5 KVA
SC756
10 to 15 KVA
Transformer
Sizing
Drive
SC750 Manual: Installation & Hardware Reference - Rev F
F-1
Note: The default serial communications format for the SC750 is
RS-232. The address value is AXIS 255 (all S1 switches in the
UP or OFF position). Multidrop protocol does not apply to
RS-232 communications.
SC750 Multidrop
Protocol
A multidrop system consists of a multidrop master and 1 to 32
multidrop subsystems. Each subsystem has a unique address
ranging from 0 to 254. The address of a subsystem is configured
using the dip switch S1, as described in Section 3.1.1 of the
“SC750 Installation and Hardware Reference Manual”. The
subsystem address is indicated in the software variable
AXIS.ADDR.
Note: Only one multidrop subsystem can transmit data back to
the multidrop master at any given time.
Configuring a multidrop subsystem to transmit data to the
multidrop master requires the multidrop master to transmit a
message which selects the multidrop subsystem as the unique
logged on system. A variable indicating the logon status
(LOGGEDON) will be set appropriately in all the multidrop
subsystems connected on the multidrop interface.
A logged on multidrop subsystem can input received data during
program execution using the INKEY$ function or INPUT
statement. If subsystems are not logged on, they cannot access
data transmitted by the multidrop master. Also, an INPUT
statement program execution will effectively be suspended until
the subsystem has been issued a logon message and receives valid
input data terminated with the carriage return character. The
INKEY$ statement will return a null string, with a value of 0, if a
subsystem is not logged on.
A logged on subsystem can transmit data to the multidrop master
using the PRINT statement while the program is executing. If a
subsystem is not currently logged on, its multidrop transmitter is
disabled and program execution will not halt at the PRINT
statement.
SC750 Manual: Installation & Hardware Reference - Rev F
G-1
Multidrop Serial
Communications
Appendix G Multidrop Serial
Communications
Subsystem
selection
A subsystem’s address is configured using the S1 dip switch
located underneath the small panel on top of the controller.
Setting up this switch for a particular address is described in
Section 3.1.1 of the “SC750 Installation and Hardware Reference
Manual”. The subsystem address is indicated in the software
variable AXIS.ADDR.
Note: The subsystem address S1 switch setting is polled only
when power is applied to the controller. If the switch setting is
modified, then power must be cycled to the controller for the new
address to take effect.
When a multidrop subsystem is logged on, its’ multidrop
transmitter can be enabled whenever data is to be transmitted. If
a unit has not been logged on (since AC power was applied) or if
a valid logon command has been issued to another SC750
multidrop subsystem, the subsystem’s transmitter is disabled.
The multidrop master must transmit a multidrop subsystem
selection, or logon command, message using the format:
/nnn,
This permits the multidrop subsystem’s transmitter to be enabled.
“nnn” is a valid SC750 subsystem address, ranging from 0 (all
switches ON) to 254.
Note: Address 255, all switches OFF, indicates the unit is
configured for RS232 serial communications.
Once the “/” (slash) has been transmitted, the subsystem address
is defined by the three digit numeric code. If there are less than
three numeric digits, the address is terminated by the first
non-numeric character.
When a multidrop subsystem that is currently logged on
recognizes selection of another subsystem, it will disable its
multidrop transmitter.
A logon variable (LOGGEDON) indicates that a multidrop
subsystem has been selected to transmit to the multidrop master.
This variable will be updated in all multidrop subsystems after
the multidrop master has issued the logon message. This variable
can be used to determine the status of a multidrop subsystem.
G-2
SC750 Manual: Installation & Hardware Reference - Rev F
Subsystem
Address
If a multidrop master changes the subsystem address by issuing a
new logon command, then a subsystem that was previously
logged on will suspend its multidrop transmit and receive
functions as follows:
• The INKEY$ function will not indicate data characters
received by the multidrop interface and will always return a
null string (value of zero).
• If an INPUT statement is encountered after the address is
changed, the subsystem will effectively suspend program
execution until it has been re-selected as the multidrop
subsystem and the INPUT statement receives valid data
terminated with a carriage return. If a logon command is
received while an INPUT data message is being received
(embedded within the data), the INPUT statement will ignore
the data transmitted prior to the logon command, await its
subsystem to be addressed with a new logon command,
re-prompt with a “Redo from Start” message, and wait for
valid data to be input terminated with a carriage return.
• The PRINT statement will complete transmission of the most
recent (single) character being output to the multidrop
transmitter, prior to issuing the change of the subsystem
address. The subsystem’s multidrop transmitter will be
disabled when subsequent characters are output, however the
PRINT statement(s) will continue execution regardless of the
logon state.
Due to the potential suspension, or hanging, of program execution
if the selected subsystem address is changed while a subsystem is
receiving input data, proper synchronization of the master and
multidrop subsystems should be carefully developed. You may
want to perform software handshaking to support the
communications between the multidrop master and subsystems.
SC750 Manual: Installation & Hardware Reference - Rev F
G-3
Multidrop Serial
Communications
Change of
RS-232 Notes
Serial data from the RS-232 RXD input is wire “or”-ed with the
multidrop (RS-485) RXD input channel. Multidrop input
communcations are not intended to be used simultaneously with
RS-232 input sources.
Executing a PRINT statement when a multidrop subsystem is
logged off will result in serial data being transmitted on the
RS-232 channel only. When the subsystem is enabled, data will
be transmitted on both the RS-232 and multidrop (RS-485) output
channels.
G-4
SC750 Manual: Installation & Hardware Reference - Rev F
Index
A
D
AC power cabling, 2-21
AC switch, 2-21
cabling diagram, 2-21
mating connectors, 2-21
230 Vac power input table, 2-21
AC switch, 2-21
Adjustments, 3-1
Air ventilation, 2-2
Analog I/O connections, 2-42
Analog I/O interfaces, 2-3
Analog input channel, 2-3
Analog output channel, 2-4
Applications, typical, 1-3
Autotuning, 1-2
C
Cabinet selection ,2-2
Cable
J1, 2-12
J2, 2-18
J3, 2-21
J51, 2-23
J52, 2-27
J53, 2-38
J54, 2-42
J55, 2-43
J56, 2-50
Cabling diagrams, D-1
Communications, multidrop, G-1
Connections, 2-12
Connection diagram, 2-11
Definition, general drive, 1-1
Digital I/O, 2-4
Dimensions,
SC752/SC753, 2-6
SC754/SC755, 2-7
SC756, 2-8
Discrete inputs, 2-4
Discrete input connections, 2-43
counters, 2-45
dedicated control inputs, 2-43
FAST inputs, 2-45
general purpose inputs, 2-43
J53 common input circuit dedicated
control configuration, 2-44
J55 cabling diagram, 2-49
J55 mating connector, 2-50
J56 cabling diagram, 2-50
J56 mating connector, 2-50
J55, J56 common general purpose
programmable input circuit
configuration, 2-46
simplified functional diagram general purpose inputs, 2-43
Discrete outputs, 2-4
Discrete output connections, 2-38
discrete output diagrams, 2-40
discrete output table, 2-39
general output circuit, 2-38
J53 cabling diagram, 2-41
J53 mating connector, 2-41
J54 cabling diagram, 2-42
J54 mating connector, 2-42
output circuit connections, 2-38
SC750 Manual: Installation and Hardware Reference - Rev F
Index-1
E
J
Earth ground, safety, 2-2
Encoder emulation output, 1-2
Encoder I/O, 2-4
Encoder I/O connections, 2-27
cabling diagram, 2-29
functional circuit diagram, 2-27
input/output table, 2-28
mating connector, 2-30
Error codes, 3-7
External regen resistors, 2-19
configuration, 2-19
procedure, 2-20
wiring circuitry, 2-20
F
Faultcodes, 3-7
Features, 1-1
Functional block diagram, 1-4
G
General overview, 1-1
H
How to use this manual, 1-5
I
Inputs/Outputs diagram, 2-11
Inspection, 2-1
Installation, 2-2
Insulated gate bipolar transistor
technology, 1-2
Interfaces and connections, 2-10
Index-2
J1 Motor connections, 2-12
cable requirements, 2-13
cabling diagram, 2-15
mating connectors, 2-16
motor output table, 2-12
procedure, 2-16
wiring diagram, 2-13, 2-14
J2 Shunt regulator, 2-18
cable diagram, 2-18
external regen resistors, 2-19
shunt regulator table, 2-18
J3 AC power cabling, 2-22
AC switch, 2-21
cabling diagram, 2-22
mating connectors, 2-21
230 Vac power input table, 2-21
J51 Resolver & motor temperature,
2-22
cabling diagram, 2-25
input/output table, 2-23
mating connector, 2-24
procedure notes, 2-25
wiring diagram, 2-24
J52 Encoder I/O connections, 2-27
cabling diagram, 2-29
external encoders, 2-30
functional circuit diagram, 2-27
general cabling procedure, 2-26
input/output table, 2-28
mating connector, 2-38
J53 & J54 discrete output connections,
2-38
discrete output diagrams, 2-40
discrete output table, 2-39
general cabling procedure, 2-38
general output circuit, 2-38
J53 cabling diagram, 2-41
SC750 Manual: Installation and Hardware Reference - Rev F
J53 mating connector, 2-41
J54 cabling diagram, 2-42
J54 mating connector, 2-42
J53, J55 & J56 Discrete input
connections, 2-43
counters, 2-45
dedicated control inputs, 2-43
dedicated control input table, 2-47
FAST inputs, 2-45
general cabling procedure, 2-26
general purpose inputs, 2-43
J53 common input circuit dedicated
control configuration, 2-44
J55 cabling diagram, 2-49
J55, J56 common general purpose
programmable input circuit
configuration, 2-46
J55 mating connector 2-50
J56 cabling diagram, 2-50
J56 mating connector, 2-50
simplified functional diagram general purpose inputs, 2-45
J57 Analog I/O connections, 2-51
analog I/O table, 2-51
cabling diagram, 2-52
mating connector, 2-52
PacLAN cabling, 2-53
J58 Serial I/O connections, 2-55
cabling diagram, 2-56
mating connector, 2-56
RS-232 connection, 2-57
RS-422/485 connection, 2-58
schematic, 2-57
serial I/O table, 2-55
single & multi-unit control, 2-55
T10, 2-60
Jumper block set up, 3-6
M
Maintenance, 4-1
Manual, how to use, 1-3
Microcontroller technology, 1-2
Models, SC750, 1-1
Motion Dialogue, 1-1
Motor connections, 2-12
cabling diagram, 2-15
cable requirements, 2-13
mating connector, 2-16
motor output table, 2-12
procedure, 2-16
wiring diagram, 2-13, 2-14
Mounting the SC750, 2-5
guidelines, 2-9
procedure, 2-9
Multidrop serial communicatioins, G-1
Multiple protection circuits, 1-2
N
NEMA enclosure, 2-4
O
Operating temperature, 2-9
Options, 1-3
Ordering information, B-1
Overview, general, 1-1
P
Packing list, 2-1
PacLAN, 2-53
Parameter set up, 2-59
Potentiometers, 3-6
Power dissipation, 2-10
SC750 Manual: Installation and Hardware Reference - Rev F
Index-3
single- and multi-unit control, 2-55
Servo block diagram, C-1
ServoBASIC Plus, 1-1
Shunt regulator connections, 2-18
cable diagram, 2-18
external regen resistors, 2-18
shunt regulator table, 2-18
Signature commutation, 1-2
Singe and multi-unit control, 2-3
Specifications, A-1
Stand-alone design, 1-2
Status displays, 3-7
Storage, 2-1
Storage temperature, 2-1
Switch S1, 3-2
S1 address table, 3-3
System components, 2-3
System status display, 3-7
FAULTCODE, 3-7
table, 3-7
Powering up, 3-1
Proprietary circuitry, 1-2
R
Resolver control, 1-2
Resolver & motor temperature
connections, 2-23
cabling diagram, 2-25
input/output table, 2-23
mating connector, 2-24
procedure notes, 2-25
wiring diagram, 2-24
Repair procedure, 4-5
Return procedure, 4-5
RS-232 connection, 2-55
RS-422/485 connection, 2-56
converter installation, 2-57
procedure, 2-57
S
Safety background, 2-2
Safety guidelines, 2-2
Selecting a motor, 2-5
Serial addresses set up, 3-2
procedure, 3-2
switch S1, 3-2
Serial communications interfaces, 2-3
Serial communications, 3-6
background, 3-6
procedure, 3-6
Serial I/O connections, 2-55
cabling diagram, 2-56
mating connector, 2-56
RS-232 connection, 2-57
RS-422/485 connection, 2-58
serial I/O table, 2-55
Index-4
T
Transformer, F-1
Troubleshooting, 4-1
230 volt power, 1-2
U
Unpacking, 2-1
W
Warranty, 1-5
Weight, 2-5
SC750 Manual: Installation and Hardware Reference - Rev F
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