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AXOR Industries MiniMagnum brushless servodrive Service Manual
Below you will find brief information for MiniMagnum MiniMagnum. This digital drive is capable of piloting both rotary AC brushless motors and linear motors, up to 7,5Nm. It can be supplied by a 3-phase voltage equal to 380 or 480Vac. The drive has a variety of features including speed control, torque control, position control, electrical axis, pulse/direction, multidrop RS232, and CANbus. The drive also includes a keypad, display, and Speeder One interface.
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AXOR Industries Service Manual MiniMagnumTM ver.1 rev.02/'08 1 POPHOF Antriebstechnik Tel. 07821-983 913, Fax 07821-983 914, Funk 0171 80 38 472 Schützenstr. 14a, D-77933 Lahr, Mail: [email protected] www.pophof.de Release Notes ver.1 rev. 06/'07 First preliminary edition. ver.1 rev. 08/'07 First official edition. ver.1 rev. 10/'07 Regen resistance value corrected. ver.1 rev. 02/'08 External regen resistance dimensions insertion. Min/Max bus voltage values insertion. Regen resistance set point values insertion. Corrections. All rights reserved. Reproduction in whole or in part is prohibited without prior written consent of the copyright owner. All specifications are subject to change without prior notification. This manual has been carefully checked. However, Axor does not assume liability for errors or inaccuracies. Print in Italy 02/2008 THIS MANUAL CONTAINS A DESCRIPTION OF MiniMagnumTM AND A GUIDELINES FOR THE DRIVE'S INSTALLATION; FOR MORE DETAILS SEE ENCLOSURES ON THE CD PROVIDED WITH THE DRIVE. USING THE DRIVE INCORRECTLY CAN INJURE PEOPLE OR MANAGE THINGS. FULLY RESPECT THE TECHNICAL DATA AND INDICATIONS ON CONNECTION CONDITIONS. 2 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 Summary 1) Description 1.1 1.2 1.3 1.4 1.5 Description General view MiniMagnum Technical Data Mechanical Dimension Product plate and Ordering Code 6 9 10 11 12 2) Installation 2.1 General Advices 2.2 Positioning 2.3 Environmental conditions 2.4 Cables 2.5 Connection to ground and earth 2.6 Note about cable shielding 2.7 Base installation procedure 2.8 Example of base connection 2.9 Supply connections 2.10 Motor power connection 2.11 Regen resistance connections 2.12 Relè OK connection 2.13 Digital inputs connection 2.14 Analog and digital outputs connections 2.15 Analog inputs connections 2.16 Emulated encoder outputs connection 2.17 Pulse/Dir inputs connections 2.18 Feedback signals connections 2.19 Multidrop connection 2.20 Canbus connection 2.21 MiniMagnumTM power up 2.22 Motor Test 14 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 35 36 37 38 3) Diagnostic 3.1 Display 3.2 Alarms 42 43 Index 45 Conformity 47 AXOR Industries Service Manual MiniMagnumTM ver.1 rev.02/'08 3 Enclosures to the manual On the CD provided with the drive there are the following enclosures (in pdf): • Operative Modes Manual • Additional Features Manual • Speeder One Interface • Positioner Manual • Display and Keypad Manual • Alarms Manual • ModBus Manual • CanOpen Reference Manual • Cable Manual • Oscilloscope Manual • Procedures Manual (available only on request) 4 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 1) Description Chapter 1 Description 1.1 1.2 1.3 1.4 1.5 Description General view MiniMagnum Technical Data Mechanical Dimension Product plate and Ordering Code AXOR Industries Service Manual 6 9 10 11 12 MiniMagnumTM ver.1 rel.02/'08 5 1.1 Description The MiniMagnumTM is a digital drive capable of piloting both rotary AC brushless motors and linear motors, up to 7,5Nm. It can be supplied by a 3-phase voltage equal to 380 or 480Vac. OPERATIVE MODES SPEED CONTROL It is speed piloting utilising a digital reference or an analogue reference (differential or common mode). standard TORQUE CONTROL It is torque piloting utilising a digital reference or an analogue reference. This function allows you to control the current from the drive. standard POSITION CONTROL The positioner can be managed via hardware (by using the digital inputs) or via RS232 (by using the Axor's Speeder One interface or another ModBus Master). It supports 32 programmable position profiles; a single task or a sequence of tasks are permitted. standard The Homing Procedure is implemented. It uses the signal coming from the homing sensor and eventually the zero signal of the encoder. ELECTRICAL AXIS (GEARING) It is possible to pilot the drive with the quadrature signals of an emulated encoder from a Master drive or with the quadrature signals of an incremental encoder from a Master motor (Electrical Axis or Gearing). optional PULSE/DIRECTION It is possible to connect the drive to a stepper-motor controller, piloting it with the +/-Pulse and +/-Dir signals (Pulse/Dir Mode). optional MULTIDROP RS232 It can work in Multidrop, where the first drive, connected via RS232 to the Master PC, is piloted with ModBus communication, while the other drives are piloted with the duplication of commands using the CanBus interface. optional RS485 INTERFACE CANBUS It is possible to communicate with two or more drives by using the RS485 interface. It can be configured and controlled using CanBus. It supports the following Can Open protocols: • part of the DS301-V4.02 • part of the DSP402-V2.0 optional AVAILABLE SOON optional Notes: • The current controller is vectorial with sampling time of 62,5µs. The velocity and position loop both work with sampling time of 250µs. • The current commutation is sinusoidal. FEEDBACK 6 ENCODER incremental encoder signals plus hall signals standard RESOLVER 2 pole optional AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 1.1 Description DIGITAL INPUTS/OUTPUTS 9 programmable DIGITAL INPUTS They are programmable for: the limit switch, the holding brake, the homing and positioning procedures, the emergency stop, the reset alarm, etc. 4 standard + 5 optional 2 programmable DIGITAL OUTPUTS They can be used to send messages from pre-programmed functions of the drive. 1 standard + 1 optional EMULATED ENCODER OUTPUTS There are 6 pins dedicated to emulated encoder with different programmed ratios (1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128) between output pulse/rev and encoder/ resolver ones. standard ANALOG INPUTS/OUTPUTS 1 ANALOG COMMON MODE INPUT (TPRC) It is used for controlling the current from the drive. standard 1 ANALOG DIFFERENTIAL or COMMON MODE INPUTS (+/-Vref) It is used for piloting the drive with an analogue speed reference from an external controller. standard 2 programmable ANALOG OUTPUTS They allow you to visualise by the oscilloscope some of the drive’s measurement values (for example: the velocity, the Iq current, etc.) standard GENERAL FEATURES KEYPAD Four buttons (UP-DW-MODE-SET) allow the manual insertion of data without using a PC. standard DISPLAY A display with 3 characters visualises: the inserted values, the drive’s status, the alarms. standard SPEEDER ONE SOFTWARE INTERFACE The Axor Speeder One interface allows you to set and manage all drive’s parameters. It uses a PC connected to the drive and the communication between the drive and PC is done by a RS232 cable using the ModBUS protocol. standard The software works on the following operating systems: Windows 98, Windows 2000, Windows XP. AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 7 1.1 Description HOLDING BRAKE The drive has circuitry that allows the control of the electromechanical brake integrated in the motor, which can be used with motor not running, for blocking the motor's axis. The drive supplies the brake with +24Vdc. It can be externally managed by the user or automatically by the drive. optional EMI FILTER The drive is equipped with an integrated EMI anti-disturbance filter at the 3-phase power supply input and with another EMI anti-disturbance filter at the auxiliary +24V power supply input. standard standard REGEN CIRCUIT EXPANSION CARDS There is a slot for expansion card to implement additional features. optional SAFETY SAFETY The converter is protected from short circuitry, the Max/Min Voltage, the drive I2t , the Motor I2t , etc. When there is an alarm the "Relè OK" contact opens and the motor is stopped, or a message is visualised on the display without compromising the system's functioning. standard SAFETY ENABLE FUNCTION It is a safety function which avoids the accidental startup of the motor in the absence of 24Vdc on indicated pin. optional AVAILABLE SOON BLACK-OUT DYNAMIC BRAKE FUNCTION It stops the motor when there is a black-out. optional AVAILABLE SOON EQUIPMENT a drive serie MiniMagnumTM terminals: M1, M2, M4, M5, M6 standard Service Manual a CD-ROM with Speeder One software interface and all enclosures to service manual terminals: M3, M7 Motor inductance, 3x1.2mH, for cables over 20/25 meters in length an external braking resistor CBLS cable for motor feedback signal, encoder/resolver (meter multiple) optional CBLS power cable for motors series SuperSAX motors series SuperSAX All optional features have to be requested by using the proper ordering code (see "1.5 Product plate and Ordering code"). 8 AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 1.2 General view MiniMagnum (M5 connector) Power supply, Regen resistance (M6 connector) Motor supply (M7 connector, OPTIONAL) Holding brake drive Display and Keypad (M3 connector, OPTIONAL) Analog and Digital Inputs/Outputs (J4 connector) RS232 comunication (M1 connector) Analog and Digital Inputs/Outputs, Relè OK Chassis (M2 connector) Emulated encoder outputs (J1 connector) Feedback motor signals (encoder/resolver) (J2-J3 connectors, OPTIONAL) CanBus, RS485 comunication (M4 connector) Auxiliary supply +24Vdc, Safety Enable Function AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 9 1.3 Technical Data Nominal Data Nominal Voltage Vac Mix/Max bus voltage Vdc Auxiliary power supply (for back up) Vdc Three phase: 3x480Vac +10% max, 3x380Vac -10%, 50/60Hz (Single phase permitted for setup only) 380Vac 480Vac 400Vdc min ÷ 800Vdc max 500Vdc min ÷ 870Vdc max +24Vdc (0%, +15%) - 1Adc (3Adc with brake) Size 1,5/3 3,5/7 5/10 Nominal Current Arms 1,5 3,5 5 Peak current for 2 sec. Arms 3 7 10 PWM output frequency kHz 8 ÷ 16 Control signals Optoisolated digital inputs +24Vdc - 7mA (PLC compatible) Optoisolated digital outputs +24Vdc - 50mA (PLC compatible) Analog programmable outputs ±10V (±5%) Analog common mode input (TPRC) ±10V max, 20kOhm input resistance Analog differential or common input (+/-Vref) ±10V max, 40kOhm input resistance Pulse/Dir digital inputs +5V, optoisolated, max. frequency 250kHz Emulated encoder outputs VOH=2.5V min - IOH=-20mA VOL=0.5V max - IOL=20mA Braking Resistance Internal Resistance External Resistance 100W - 66 ohm 500W - 66 ohm 1000W - 33 ohm + 33 ohm (500W) Set point values 380Vac 480Vac 695Vdc min ÷ 735Vdc max 815Vdc min ÷ 845Vdc max External Protections (fuses or similar) Size 1,5/3 3,5/7 5/10 Power supply (F2) 4A / 500V (Time Lag) 6A / 500V (Time Lag) 8A / 500V (Time Lag) Auxiliary power supply (F3) External braking resistor (F4) 10 AXOR Industries 6A (Time Lag) 4A F Service Manual MiniMagnumTM 6A F ver.1 rel.02/'08 1.4 Mechanical Dimension Dimension in: [mm] Mechanical specifications Panel mount Drive assembly External dimensions mm 201 x 141 x 66 Weight Kg 1,750 AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 11 1.5 Product plate and Ordering Code On the side of each MiniMagnumTM there is a product plate like the follow: Nominal and peak output current (in Ampere RMS) Power supply 380 Environmental temperature range Protection rating The "Part. No" gives others descriptive codes about the drive and the settings. To order a digital drive serie MiniMagnumTM refer to this ordering code: MM400 - 3.5/7 - RXX - S - RO - 0 0 0 0 0 X - 0X - Sxxx Specific number presence (opt): S xxx Drive Model 001÷999=specific number Size: 1.5/3, 3.5/7, 5/10 Expansion cards: 0X Dumping size: RXX = Internal standard resistor R05 = 500W - 66Ω External resistor (opt) R10 = 1000W - 33Ω + 33Ω 500W External resistors (opt) Additional features: 00000X Protection: S = Standard T = Tropicalized Not in use Holding Brake Drive 1= Present (opt) 0= Not Present (std) Not in use Feedback: RO = Resolver EC = Commutation encoder ER = Commutation encoder or resolver (both) CBMD: CanBus + Multidrop Interface 1= Present (opt) 0= Not Present (std) Additional Connector M3 1= Present (opt) 0= Not Present (std) SEF: Safety Enable Function 1= Present (opt) 0= Not Present (std) RXDB: Black Out Dynamic Brake 1= Present (opt) 0= Not Present (std) R485: RS485 Interface 1= Present (opt) 0= Not Present (std) 12 AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 2) Installation Chapter 2 Installation 2.1 General Advices 2.2 Positioning 2.3 Environmental conditions 2.4 Cables 2.5 Connection to ground and earth 2.6 Note about cable shielding 2.7 Base installation procedure 2.8 Example of base connection 2.9 Supply connections 2.10 Motor power connection 2.11 Regen resistance connections 2.12 Relè OK connection 2.13 Digital inputs connection 2.14 Analog and digital outputs connections 2.15 Analog inputs connections 2.16 Emulated encoder outputs connection 2.17 Pulse/Dir inputs connections 2.18 Feedback signals connections 2.19 Multidrop connection 2.20 Canbus connection 2.21 MiniMagnumTM power up 2.22 Motor Test AXOR Industries Service Manual MiniMagnumTM 14 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 35 36 37 38 ver.1 rev. 02/'08 13 2.1 General Advices Transport During the transport of the drive respect the following indications: • the transport must be made by qualified personnel; • avoid shocks; • the temperature range must be between -20°C and +55°C; • the max. humidity must be 95% (without condensation); • The converters contains elements which are sensitive to electrostatic discharges. These elements can be damaged by careless manipulation. Discharge static electricity from your body before touching the converter. Avoid contact with material that insulates well (synthetic fibres, films of plastic material and so forth). • we suggest to check the motor condition at its arrival to survey eventual damages. Storage The • • • unused drives must be storage in an environment having the following characteristics: temperature from -20°C to +55°C; max. relative humidity 95% (without condensation); max. time with the drive powered off (without supply connections): drive having a power supply ≥ 220VAC 1 year drive having a power supply ≤ 145VAC (200VDC) 2 years After this time, before enable the drive, it is necessary activate the capacitors following this procedure: remove all electrical connections, then supply the input terminals of the supply with the main voltage (three phase or single phase) for 30 minutes. In details: - for the drive having a power supply equal to 380VAC: power it by using a single phase (or three phase) supply equal to 220VAC; - for the drive having a power supply equal to 220VAC: power it by using a single phase (or three phase) supply equal to 110÷130VAC. In order to avoid this procedure, we suggest to power on the drive with its rated voltage for 30 minutes, before the max. time is reached. Maintenance The drives does not need maintenance. Otherwise: • if the casing is dirty: clean it with isopropanol or similar; • if the drive is dirty: the cleaning is reserved to the producer; • if the fans are dirty: clean them by using a dry brush. Disposal The disposal should be carried out by a certified company. 14 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.1 General Advices Security standard • This manual is exclusively addressed to technical personnel with the following requirements: - Technician with knowledge on movimentation of elements sensitive to electrostatic discharges (for the transport). - Technician with appropriate technical training and with vast knowledge on electrotechnics/drive technical field (for the installation and operation of servodrives). Using the drive incorrectly can injure people or damage things. Fully respect the technical data and indications on connection conditions. • As well as the points described in this manual, current regulations regarding safety and accident prevention must be followed in order to prevent accidents and residual risks. The installer must be familiar with and observe the following norms and directives: - IEC 364 and CENELEC HD 384 or DIN VDE 0100; - IEC-Report 664 or DIN VDE 0110; - national accident prevention dispositions or BGV A2. • The user must analyse possible machine risks and take the necessary measures to avoid injuries to people and damage to things because of unpredictable movements. • The converters contains elements which are sensitive to electrostatic discharges. These elements can be damaged by careless manipulation. Discharge static electricity from your body before touching the converter. Avoid contact with material that insulates well (synthetic fibres, films of plastic material and so forth). • During operation, the converter surface can become hot. Protect the user from accidental contact and keep the indicated distances from all objects. • Never loosen electrical connections while the servoamplifiers are being powered. The appropriate terminals of the drive must always be connected to earth as instructed in this manual. After having disconnected the converters from the supply current, always wait at least 5 minutes before touching the powered components (e.g. contacts) or loosening connections. • Switch off the converter and wait at least 5 minutes before opening it. Remove the fuses or switch off the main switch before removing the drive. When opening, place the converter on a surface that does not belong to the electrical panel. • The residual charges in the capacitors can remain at a dangerous level for up to 5 minutes after disconnection from the mains. Measure the voltage at the intermediate circuit (+AT/-AT) and wait until it is below 15V. • The command and power connections can still hold current even when the motor has stopped. • The MiniMagnumTM is equipped with electronic protections that deactivate it in case of irregularities. The motor, as a result, is not controlled and can stop or go into neutral (for a time determined by the type of system). • During installation, avoid letting any residue with metallic components fall inside the drive. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 15 2.1 General Advices • Protect the converter from excessive mechanical vibrations in the electrical box. • Check that the main supply and the nominal current are coherent with the rating of the drive. Be sure that the voltage between the connectors L1-L2-L3 is not greater than 10% of the nominal values. An excessively high voltage causes the breakdown of the load circuitry and of the drive. • The MiniMagnumTM is equipped with an integrated EMI anti-disturbance filter at the 3-phase power supply input and with another EMI anti-disturbance filter at the auxiliary +24V power supply input. Being implicit to filter operation the deviation towards earth or mass of the undesired frequencies, ensure that these devices can produce leakage currents towards earth, which are measurable in milliAmpers. Please remember that "leakage currents" must be considered when settings differential devices in order to avoid useless interventions. For safety reasons connect the prepared terminal to earth before powering the drive. Incorrect connections make filter operation unreliable. 16 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.2 Positioning The MiniMagnumTM is made to be fixed vertically to the bottom of the electrical box in order to guarantee reliable cooling, respecting the following distances: Zinced panel Cable duct 45 191 Ecc. 20 20 20 20 45 Cable duc Dimensions in: mm Note: Arrange the power components (converters, main's filters, resistors, terminals, ... ) in bins of the electrical panel different from those reserved to the command or control systems (PLC, PC, CNC, regulators, ...). This improves the level of immunity to interference of the system. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 17 2.3 Environmental conditions During the storage and the installation respect the followings environmental conditions: Condizioni ambientali Storage temperature -20°C...+55°C Working environmental temperature From 0°C to +45° C (no derating). From +45°C to +55°C the drive must be derated 2.5%/°C in reference to nominal and peak current. Humidity From 10% to 85% Altitude Up to 1000m without restriction. From 1000 to 2500m of altitude the converter must be derated in the output current of 1.5% every 100m. Enclosure protection IP20 Pollution level LEVEL 2 (Norm EN60204/EN50178) The drives are designed to be utilized in an electrical box protected against the infiltration of polluting agents such as water, oil, conductive dust and others. Notes: • The electrical box must have suitably filtered air vents. Leave the necessary space both above and below the converters. • Periodically check drive case and fans for excess dust or dirt, that could interfere with the correct dissipation of the drive. 18 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.4 Cables The following table illustrates the technical characteristics of all cables: Cables (as norm EN60204) Type Section Notes for the Main Supply 1.5mm2/15AWG Always insert a power relay or a thermal magnet on every phase of the products power supply. for the Auxiliary Supply 1.5mm2/15AWG Connect the 0V of the auxiliary supply to the ground bar. for the Motor's Brake 0.75mm2 It must shielded. It must be shielded. It must have a capacity of ≤150pF/m. for the Motor's Power 1.5mm2/15AWG for the Control signals and I/O signals from PLC/CNC 0.5mm2/20AWG See "2.6 Note about cable shielding" for the Encoder signals 0.25-0.35mm2/ 22-24AWG It must be shielded. for the Resolver signals 0.25-0.35mm2/ 22-24AWG It must have a capacity less than 120pF/m. for external resistor 1.5mm2/15AWG In the configuration without filter, the cable can reach a maximum length of 20/25m. If the length exceeds 20/25m, insert an Axor 3x1.2mH filter. The length of the cable must be equal to or less than 2.5m. for the RS232 communication 0.22mm2/24AWG or 0.34mm2/22AWG It must be connected when the main supply and the auxiliary supply are both powered off. It must have a capacity less than 160pF/m. Cable capacitance: max 60 nF/km. for the CanBus communication Impedance characteristics : 100...120Ω. Lead resistance (loop): 159,8 Ω/km 0.25mm2/0.34mm2 The length depends upon the transmission speed: • 1000kbit/s 20m max; • 500kbit/s 70m max; • 250kbit/s 115m max. Note: • Avoid crossing, overlapping and twisting cables together. If it is absolutely necessary to cross them, do so at 90°. • On request Axor provides motor signal cables series encoder or resolver for motors series SuperSAX. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 19 2.5 Connection to ground and earth Make sure that the servodrive and the motor are connected to earth in accordance with the current norms. This connection must be done by using a copper bar, mounted on insulating supports: l Ground bar PE l Bar's section 0,5 ...1 m 5x40 mm 1 ... 2 m 5x50 mm Connection to earth then follow these indications: 1. Connect to the ground bar: the earth power terminal of the drives; the CHASSIS of all drives; the DGT-IN RTN pin of the digital inputs for each drive; the 0V of the auxiliary supply; the internal zero voltage of the CNC; the earth terminals of the PLC/CNC frames; 2. Connect the ground bar to the zinced panel of the drive by using a screw, then connect that screw to earth. 3. Connect earth to the motor's carcass. Symbol Description It suggests a conductive connection as much as possible to the chassis, or the heatsink, or the mounting panel of the electrical box. It refers to the earth connection. It refers to the connection of the shield to the drive's carcass as illustrated on page 21. It refers to the connection of the shield to the connector's metal ring. 20 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.6 Note about cable shielding Control signal cables The conductor of the analogic signal must be twisted and shielded, and the shield must be connected to ground as illustrated below: Remove the outside sheath and affix the shield to the dedicated retainer rings, by using plastic clamps. Note: • To reduce the capacitive and inductive coupling, these cables must be run keeping a distance of more than 30cm from the power cables (10 cm if they are shielded). • If it is absolutely necessary to cross the control cables with the I/O's, do so at 90°, in order to reduce the effect of the magnetic fields. Motor cables The shield of the motor cable (power and signal cables) are connected as follows: • drive side (20:50cm) remove the outside sheath and fix shield to the zinced pannel, by using a u-clamp: • motor side The shield is internally connected to the metal ring of the motor connector, thus to earth through the motor's carcass. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 21 2.7 Base installation procedure This procedure must be done only by qualified personel which are familiar with drives. If you need more information contact Axor. a) Power off all the supplies of the electrical box. b) Verify: the drive-motor coupling the stall current (Io) of the motor should be equal to/or greater than the nominal output current of the drive; the positioning of the drive into the electrical box; the pollution level and the ventilation; the connection to earth of the electrical box where the drive is installed (see "2.5 Connection to ground and earth"). c) Execute the wiring following this order, avoiding that wiring's pieces, cables, wires, screws, conductive objects, etc. do not enter into the drive through its slits: 1- First connect earth. 2- Connect the cables for the motor's power (U, V, W) and the filter 3x1.2mH, if the cable length is greater than 20/25m. 3- Connect the earth of the motor's power (PE) and, if necessary, connect the cables of the electromechanical brake. 4- Connect the external shield of the motor's cable: it must be shielded utilising a u-clamp to the zinced panel of the electrical box (see "2.6 Note about cable shielding"). 5- If an external braking resistor is used, connect it between pins +R and -R by using a cable as short as possible. If the cable length is greater than 20/30 cm, the cable must be twisted and shielded, besides the shield must be connected to ground on both ends utilising u-clamps to the zinced panel of the electrical box. 6- Connect the motor's feedback cable to the drive's J1 connector 7- Connect the main power supply cable (L1-L2-L3) and the earth cable (PE). Always insert a power relay or a thermal magnet on every phase of the products power supply. 8- Connect the auxiliary supply cable (+24V). Use an external power supply, that must be stabilized and galvanically isolated from the main supply. 9- Connect the PC to the drive utilising the RS232 cable. 10- Supply the drive with the auxiliary supply and then main supply following the procedure illustrated at the end of the chapter. 11- Open the Speeder One interface. 12- Execute the tests on the drive and the motor. In the following page there is an example of a basic connection. 22 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.8 Example of base connection Example of BASE connection: MiniMagnum J4 SUB-D 9 pins RS232 M1 +VREF 2 -VREF 3 AGND J2/J3 AN.OUT1 AN.OUT2 DGT-IN1 (ENABLE) Cap 2.18 J1 DGT-IN2 SUB-D 25 pins DGT-IN3 DGT-IN4 DGT-IN RTN B 1 - DGT-OUT1 RTN - 2 RELE' OK + 3 RELE' OK W 1 Holding Brake (OPTIONAL) Motor DGT-OUT1 M7 2 Cap 2.10 V 3 U PE A 4 F2 L1 Cap 2.9 L2 CHA W CHA- V U PE CHB CHBCHZ CHZ- 1 PE PGND 2 L1 L2 L3 -AT +AT 4 5 6 7 Cap 2.11 M2 M6 M5 3 L3 + 8 M3 PULSE(+) PULSE(-) DIR(+) DIR(-) +R -R DGT-OUT2 DGT-OUT2 RTN DGT-IN5 Safety Enable Function, OPTIONAL 0 0V Auxiliary voltage Cap 2.9 1 A 2 F3 +24VDC A 3 5 6 Cap 2.14 7 AGND B Motor feedback Cap 2.15 4 TPRC Rj45 Cap 2.19 and 2.20 1 M4 DGT-IN6 SEF IN DGT-IN7 0V N.C. +24V DGT-IN8 DGT-IN9 DGT-IN RTN 8 9 10 Cap 2.13 11 12 13 14 Cap 2.14 15 +V 16 -V 30VAC/DC - 500mA max Cap 2.12 1 2 3 4 Cap 2.16 5 6 7 1 2 3 Cap 2.17 4 5 6 Cap 2.14 7 8 9 10 Cap 2.13 11 12 CHASSIS A GROUND BAR AXOR Industries Service Manual MiniMagnumTM PE MAIN EARTH ver.1 rev. 02/'08 23 2.9 Supply connections AUXILIARY SUPPLY +24Vdc External supply +24VDC TM MiniMagnum +24V M4 L 3 +24V F2 DC F3 2 F2 F2 L 0V 1 AC L1 L2 L3 3PH 50/60Hz 230...480Vac PE 0V Note: • Accepted voltage: +24VDC (0%/+15%); • current required for the external supply: 3A (motor with brake); • current required for the external supply: 1A (motor without brake); • we suggest to insert the F3 (6A T) fuse; • Remember to connect the 0V of the external supply to the ground bar. POWER SUPPLY TM M5 MiniMagnum 1 PE 2 DC L1 F2 3 L2 F2 4 AC 3/PE 50/60Hz 380...480V L3 F2 Note: • Always insert a power relay or a thermal magnet on every phase of the products power supply. • If a power supply between 380V and 480V is utilized and ground protection is not present, or there is an asymmetrical grounding system, an isolation transformer is required. The nominal power of the transformer is calculated by adding the various wattage of each motor: Pt = Pn+Pn+Pn+... Pt= nominal power of the transformer (VA) Pn= nominal power of each motor (VA), which can be calculated in this way: Pn = n x Cn / 9,55 Pn=nominal motor power (W) n= motor speed (rpm) Cn= motor nominal torque (Nm) 24 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.10 Motor power connection MOTOR POWER + MOTOR HOLDING BRAKE WITHOUT brake MiniMagnumTM M6 W 1 L (see note a) M V 2 Power U 3 PE 4 (see note b) M7 1 (NC) 2 (NC) 3 (NC) WITH brake MiniMagnumTM M6 W 1 OPTIONAL L (see note a) M V 2 Power U 3 PE 4 M7 3 Technical characteristics of brake outputs: Output Voltage: +24VDC [0%, +15%]. Maximum available current: 3A. 1 (see note b) Note: a- Use 3x1.2mH - 20Arms filter series for connections with cables longer than 20/25 meters. b- The earth connection of the power cable’s shield must be made on the zinc-coated panel (using a u-clamp) near the drive (20-50cm). Motor side: the shield is connected to connector's metal ring, so it is connected to ground through motor's carcass. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 25 2.11 Regen resistance connections REGEN RESISTANCE connection INTERNAL resistance MiniMagnumTM M5 1 PE 2 L1 3 L2 4 L3 5 -AT 6 +AT The value of internal resistance is 66 ohm - 100W. It is not necessary any connection. EXTERNAL resistance MiniMagnumTM M5 1 PE 2 L1 3 L2 4 L3 5 -AT 6 +AT +R OPTIONAL PE It is possible to use: - one external resistance: 66 ohm 500W; or: - two external resistances: 33 + 33 ohm (500W). The cable must be as short as possible. The resistances must be connected to the zinced pannel utilising two screws. If the cable length is greater than 20/30cm, it must be twisted and shielded. The shield must be connected to ground on both ends, utilising u-clamps to the zinced panel of the electrical box. F4 7 8 -R Notes: • The temperature of the zinced panel of the electrical box can be higher than 200°C. • Do not mount the resistor on surfaces which can be damaged by heat. • If the resistors are mounted externally, protect them. • Respect the distances and shieldings illustrated in Fig.1. • External regen resistance has dimesions illustrated in Fig.2. 100 100 260mm 35mm 100 100 100 80 100 400mm 100 100 100 (mm) 26 AXOR Industries Fig.2 (mm) Service Manual Fig.1 MiniMagnumTM ver.1 rev. 02/'08 2.12 Relè OK connection RELE' OK connection MiniMagnumTM M1 15 16 AXOR Industries Service Manual It is normally open when the drive is not supplied; it is normally closed when the drive is supplied and it has not active alarms. 30VAC/DC - 500mA max MiniMagnumTM ver.1 rev. 02/'08 27 2.13 Digital inputs connection DIGITAL INPUTS connection CN MiniMagnumTM M1 +24VDC refered to I/O GND 8 DGT-IN1 (ENABLE) 5V1 10k DGT- IN RTN DGT-IN2 DGT-IN3 DGT-IN4 DGND 9 10 11 12 DGT-IN RTN I/O GND Note: • The enable signal should be +24VDC-7mA (PLC compatible). The enable range is between +14V Min and +30V Max. • The M1-8 terminal (DGT-IN1 (ENABLE)) is used only as the drive’s enable. If M1-8 is HIGH (+24VDC) the drive is enabled (without active alarms and if start up sequence, illustrated on paragraph 2.21, is respected); if M1-8 is LOW (0V), the motor is without torque. ATTENTION: THE DRIVE'S ENABLE/DISABLE, BY USING THE ENABLE INPUT, IS NOT CONSIDERED A SECURITY FUNCTION. • The M1-9, M1-10, M1-11 programmable inputs can be used to activate pre-programmed functions of the drive (for example: limit switch , electromechanical brake, homing and positioning procedures, emergency stop, etc.). For a detailed description of the pre-programmed functions see enclosure "Speeder One Interface", "Additional Features Manual" and "Positioner Manual" on the CD provided with the drive. If there is the M3 connector (OPTIONAL), it provides five additional digital inputs and one of them is programmable. • Connect pin M1-12 (DGT-IN RTN) to the ground bar of the system. 28 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.14 Analog and digital outputs connections DIGITAL OUTPUT Connection (example) CN MiniMagnumTM 25R +24VDC M1 refered to I/O GND 13 IN1-DIGITAL Max. load for each output: 50[mA]. Always use a relay with a diode in parallel. 14 I/O GND MiniMagnumTM 25R CN M1 13 +24VDC refered to I/O GND LOAD IN1-DIGITAL 14 I/O GND TM MiniMagnum 25R CN M1 13 IN1-DIGITAL 14 LOAD This digital output can be used to send messages from the pre-programmed function of the drive. For a detailed description of the pre-programmed functions see enclosure "Speeder One Interface" on the CD provided with the drive. If there is the M3 connector (OPTIONAL), it provides an additional digital output. ANALOG OUTPUTS Connections TM MiniMagnum 180 CN M1 5 AN-OUT1 ANALOG1 The two outputs furnish +/-10Volt as the low scale setting refers to. 470n 180 They permit visualisation by oscilloscope of some of the drive’s measurement values. 6 AN-OUT2 ANALOG2 470n 7 They can be set by the Speeder One interface. CN-GND AGND Note: We suggest to connect the shield on both sides: drive side follow the indications illustrated on paragraph 2.6. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 29 2.15 Analog inputs connections ANALOG DIFFERENTIAL OR COMMON MODE INPUT (+/-Vref and TPRC) connection DIFFERENTIAL MODE (+/-Vref) TM MiniMagnum CN M1 3 CN-GND 2K0 AGND 2 -VREF +VREF 10K0 10K0 10K0 10K0 + 1 2K0 AGND COMMON MODE (+/-Vref) TM MiniMagnum CN M1 3 AGND 2K0 10K0 10K0 10K0 10K0 CN-GND 2 + 1 +VREF 2K0 AGND The technical characteristics of these inputs are as follows: Voltage: ±10V Max. Input impedance: 40k ohm. To change the sense of rotation, apply the positive voltage reference to M1-2, or change the Rotary Direction parameter in the Speed window (from Positive to Negative). Note: We suggest connecting the shield on both sides: drive side, follow the indications illustrated on paragraph 2.6. COMMON MODE (TPRC) CN CN-GND MiniMagnum M1 3 4 TM 2K0 AGND 20K0 220p + AGND 1K TORQUE REFERENCE AGND The technical characteristics of TPRC input are as follows: Voltage: ±10V Max. Input impedance: 20k ohm. Note: We suggest connecting the shield on both sides: drive side, follow the indications illustrated on paragraph 2.6. 30 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.16 Emulated encoder outputs connection EMULATED ENCODER OUTPUTS connection LINE RECEIVER CN inputs TM MiniMagnum CN M2 +5V 1 A+ 2 A- 3 B+ 4 B- 5 Z+ 6 PGND R RS485 R RS485 R RS485 ZCN-GND 7 COMMON MODE CN inputs MiniMagnumTM CN M2 +5V 1 A+ 2 3 B+ 4 5 Z+ 6 7 PGND CN-GND Note: We suggest connecting the shield on both sides: drive side, follow the indications illustrated on paragraph 2.6. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 31 2.17 Pulse/Dir inputs connections PULSE/DIRECTION MODE connection OPTIONAL Logical signal 0/+5V MiniMagnumTM CN M3 1 +PULSE 220Ω 2 -PULSE 220Ω 3 +DIR 220Ω 4 -DIR 220Ω 4k7 4k7 Note: We suggest connecting the shield on both sides: drive side, follow the indications illustrated on paragraph 2.6. ELECTRICAL AXIS (GEARING) Connection OPTIONAL MiniMagnumTM (Slave) M3 220Ω M2 1 A+ 1 2 A- 2 3 B+ 3 4 B- 4 MiniMagnumTM (Master) 4k7 220Ω 220Ω 4k7 220Ω Note: We suggest connecting the shield on both sides: drive side, follow the indications illustrated on paragraph 2.6. 32 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.18 Feedback signals connections ENCODER FEEDBACK connection Motore side ENCODER +5V 3 +5V 21 13 AGND Drive side J1 +5V AGND 4 0V 5 CHA+ 5 6 CHA- 18 7 CHB+ 6 8 CHB- 19 9 CHZ+ 7 10 CHZ- 20 11 HALL U+ 10 12 HALL U- 1 14 HALL V+ 11 13 HALL V- 2 15 HALL W+ 12 16 HALL W- 3 2K2 100p 270 17 17 2 4 2K2 PTC INPUT PTC MOTOR 8 J1 connector Sub-D 25 pole 11 10 1 2 3 4 5 6 7 8 9 10 11 12 13 8 14 15 16 17 18 19 20 21 22 23 24 25 1 2 17 16 9 12 13 15 14 7 6 5 3 4 17 pole connector (Encoder) * PE If the motor has not the thermal protection (PTC MOTOR) you should bridge pins 4 and 17 on the "J1, Sub-D 25 pole" connector of the drive. Motor Cable Note: The ground connection of the external shield must be made on the zinc-coated panel (using a u-clamp) near the drive (20-50cm). Motor side: the shield is connected to connector's metal ring. AXOR Industries Service Manual 20:50cm Drive MiniMagnumTM Max 25m Motor ver.1 rev. 02/'08 33 2.18 Feedback signals connections RESOLVER FEEDBACK connection Motor side RESOLVER OPTIONAL J1 5 +ECC 25 9 -ECC 16 3 +SEN 23 7 -SEN 14 4 +COS 24 8 -COS 15 Drive side 4V RMS SIN INPUT COS INPUT 2 4 6 17 PTC INPUT PTC MOTOR AGND 13 8 J1 connector Sub-D 25 pole 9 2 1 2 3 4 5 6 7 8 8 1 9 10 11 12 13 11 3 4 14 15 16 17 18 19 20 21 22 23 24 25 12 pole connector (Resolver) 7 10 12 6 5 PE * If the motor does not have thermal protection (PTC MOTOR) you should bridge pins 4 and 17 on the "J1, Sub-D 25 pole" connector of the drive. Motor Cable Note: The ground connection of the external shield must be made on the zinc-coated panel (using a u-clamp) near the drive (20-50cm). Motor side: the shield is connected to connector's metal ring. 34 AXOR Industries Service Manual 20:50cm Drive MiniMagnumTM Max 25m Motor ver.1 rev. 02/'08 2.19 Multidrop connection OPTIONAL MULTIDROP connection MiniMagnum 1 MASTER MODBUS J4 2 TXD 3 RXD 5 PGND MiniMagnum 2 J2 J3 1 CAN H 1 2 CAN L 2 3 3 PGND PGND 7 7 4 5 4 5 6 8 6 8 dc-dc Converter J3 dc-dc Converter PGND J2 1 1 120 Ohm 120 Ohm 2 2 3 3 7 7 PGND dc-dc Converter 4 5 6 8 4 5 6 8 PGND dc-dc Converter Note: • Connect the first MiniMagnumTM to the Master using the RS232 cable (J4 connector); connect each additional drive with to the drive preceeding it using the Can Bus cables and the J2 and J3 connectors; connect a RESISTOR (120 Ohm, 1/4W) between pins 1 and 2 of the J2 (or J3) connector of the first MiniMagnumTM and another resistor between pins 1 and 2 of the J2 (or J3) connector of the last drive. • Axor drives use MODBUS communication protocol specified in the Modicon instructions (see http://www.modicon.com/techpubs/). For more information see enclosure "Modbus Manual" and "CanOpen Reference Manual" on the CD provided with the drive. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 35 2.20 Canbus connection CANBUS connection OPTIONAL MiniMagnum 1 CAN Server J2 1 CAN H 120 Ohm CAN L 2 3 PGND 7 PGND PGND dc-dc Converter 4 5 6 8 MiniMagnum 2 J3 J2 1 CAN H 1 2 CAN L 2 3 3 PGND PGND dc-dc Converter 7 7 4 5 4 5 6 8 6 8 dc-dc Converter PGND J3 1 120 Ohm 2 Note: Connect a RESISTOR (120 Ohm, 1/4W) between pins 1 and 2 of the J2 (or J3) connector of the last MiniMagnumTM. 36 AXOR Industries Service Manual 3 7 4 5 6 8 PGND MiniMagnumTM dc-dc Converter ver.1 rev. 02/'08 2.21 MiniMagnumTM power up The power up of the MiniMagnumTM must be done following this diagram, in order to save the drive and the electrical box: 1) Power the drive utilising the auxiliary supply, +24VDC. +24V AUXILIARY SUPPLY (1) T 0V 1s ON 2) After 1sec. power the main supply. MAIN SUPPLY (2) OFF T 50ms 1 3) the "Relè Ok " contact closes (*) . RELE' OK (3) 0 T 100ms 4) After 100ms it is possible to enable the drive utilising the "Enable" key or the DGTIN1 digital input. +24V DGT-IN1 (HARDWARE ENABLE) 0V (4) T *) It is possible to close the contact after auxiliary supply insertion, setting the "Closed when ready" function in the "General Settings" window of the Speeder One interface. ( Attention: If the DGT-IN1 (ENABLE) digital input is enabled by the CN before powering the drive (A), after powering the drive utilising the auxiliary supply and the main supply, it is necessary disable and enable the DGT-IN1 input (B), in order to enable the INTERNAL ENABLE. If the DGTIN1 is not disabled , then re-enabled, the INTERNAL ENABLE remains disabled and the user cannot execute any movement. +24V DGT-IN1 (HARDWARE ENABLE) 0V IN1 (ENABLE) is enabled by the CN after powering the drive utilising the auxiliary supply, but before powering the drive utilising the main supply (C), it is necessary to disable and then re-enable DGT-IN1 input (D), in order to enable the INTERNAL ENABLE also. If the DGTIN1 is not disabled then re-enabled, the INTERNAL ENABLE remains disabled and the user cannot execute any movement. T ON OFF T +24V AUXILIARY SUPPLY T 0V 1s ON OFF +24V DGT-IN1 (HARDWARE ENABLE) 0V T (C) (D) T ON INTERNAL ENABLE OFF T +24V AUXILIARY SUPPLY MAIN SUPPLY AXOR Industries (B) INTERNAL ENABLE MAIN SUPPLY Attention: If the digital input DGT- (A) Service Manual T 0V ON OFF MiniMagnumTM T ver.1 rev. 02/'08 37 2.22 Motor Test This procedure is a guide line for the first power up of the drive-motor system. It must only be executed by technically qualified personnel. If you need more information contact Axor. 1) Follow the basic procedure previously described. ATTENTION: do not apply load to the motor. 2) Install Speeder One interface from CD. 3) Power up the drive: apply the auxiliary supply and then the main supply (follow the procedure previously described). 4) Open the Speeder One interface clicking on "Axormb.exe" executable file on directory: "C:\Programm\Axor". The main window "Axor Servo Drive" and the "Select Driver" windows open simultaneously. On the Select Driver window insert the drive's address (all drives have 1 set as default value), then click OK. 5) If the drive is "Not configured", it is necessary to open a pre-set connfiguration file, following this procedure: - in the main window select the "File"menu and then "Open"; - in the directory: ...\Axor\Data\Devices\ select a file reference to the coupling drive-motor, then click on “Open”; - save load parameters by using "Save Data To EEPROM" icon. If the drive is configured for a specified motor, it is sufficient to check these parameters: Main voltage (Main Voltage menu in the main window of the interface) Number of motor poles (Motor window) Feedback type(Motor window) Encoder impulse/rev or resolver n° of poles (Motor window) Irms current(Current window) Ipk current (Current window) Speed Limit (Speed window) 38 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 2.22 Motor Test 6) If alarms should appear, resolve them before going forward (see chapter 3). 7) Set the operative mode "1: Digital Speed", set a speed reference equal to 100rpm, enable the drive with the Enable button. If shaft turns correctly, at teh set speed, without alarms, it is possible to connect the load and cable the machineè possibile procedere con il collegamento del carico e con il cablaggio della macchina; at teh contrary, if alarms should be compare or if the behavior should not be as set, we suggest to control te connections and the settings (eventually contact Axor). 8) Connecting the load to the motor, it shoul be necessary to connect gains of speed loop, following this procedure: a- set the "10: Square wave" operating mode. b- Set the "Speed_RPM" parameter on the "Analog OUT1" menu. c- Connect the probe of the oscilloscope on pins AN.OUT1 (speed signal) and AGND (zero signal). d- enable the drive e- Adjust the KP and KI gains in a way that you obtain a stable step response in both directions. Increasing KP decreases the system’s response time; however, the system gets closer to becoming unstable; therefore, during adjustment increase the KP to the oscillation limit and then reduce until secure oscillation stoppage. Increasing KI the steady state diminishes, however increasing the overshoot, therefore after adjusting KP increase KI keeping the overshoot within authorized limits (±10%). The figure below illustrates some typical oscilloscope tracks: A) Proportional and integral gains too low. Increase the numerical values of KP and KI. B) and C) Good proportional and integral gains. Speed A B C 9) At this point it is possible to set other parameters in reference to the desired operative mode (see enclosures "Operative Modes Manual", "Additional Features Manual", "Speeder One Interface" available on the CD provided with the drive. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 39 40 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 3) Diagnostic Chapter 3 Diagnostic 3.1 Display 3.2 Alarms AXOR Industries 42 43 Service Manual MiniMagnumTM ver.1 rel.02/08 41 3.1 Display A display LED visualises: the drive's status, the inserted values, the alarms. Symbol Description F The digital input ENABLE is enabled, while the digital input set with the "Ref on" function is disabled. E The digital input ENABLE is disabled, while the digital input set with the "Ref on" function is enabled. [] The digital input ENABLE and the digital input set with the "Ref on" function are both enabled; the motor does not move. The rotor is turning in a clockwise or counter-clockwise direction. (segment appears rotating in a clockwise or counter-clockwise direction) This appears when the negative limit switch (NSTOP) is interrupted. 0ı ı This appears when the positive limit switch (PSTOP) is interrupted. --- This appears when the converter is correctly powered on, the digital input ENABLE is disabled and there are no alarms. 24 UP This appears when there is the +24VDC auxiliary supply, but not the main supply. ALxx There is alarm xx. 0 42 AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 3.2 Alarms The table below illustrates all the message errors: ALARM SOLUTION AL1 EEPROM alarm Disable the drive, try to memorise the paError while memorising parameter to the rameter, then re-enable. drive's EEPROM. AL2 Overcurrent alarm Disconnect the power, verify the wiring, then Short circuit between U, V, W or towards power up again. earth. AL3 Drive Temperature alarm Heat sink temperature too high, >75°C. Disable the drive, verify: • the forced ventilation functioning, • the ambient temperature, wait until the radiator has cooled off, reset the alarm then enable the drive. AL4 Hall alarm Disable the drive, verify the cell's wire conThis alarm comes on if one or more of the hall nection, reset the alarm, then enable the cell's wires are disconnected. drive. AL5 Encoder alarm Disable the drive, control the connections, This alarm comes on if one or more of the reset the alarm, then enable the drive. encoder channels are interrupted. If the alarm persists contact Axor. AL6 I2t Drive alarm This does not cause the disabling of the The internal I2t function has reached the drive's functioning. maximum permitted. The cause could be one of the following: • the working cycle could be too heavy; • a possible mechanical block; • motor phase inversion; • the electronic brake is not unblocked; • the amplifier's dynamic costants: "KP", "KI" and "KD", could create useless current oscillation. AL7 Disable the drive: • control the heat sink temperature; Motor Temperature alarm • decrease the dynamic constant if the Heat sink temperature too high. motor is vibrating. This situation causes This causes the opening of the Ok Relè concurrent oscillation and consequently the tact and the disabling of the functioning. overheating of the motor. Wait until the motor has cooled off, reset the alarm, then enable the drive. AL8 Disable the drive: Regenerative Resistance alarm • check the AC power supply input; The value I2t energy recovery has reached the maximum allowed. • check that the working cycles are not excessive; • verify if the motor, going at half speed, shows the same problem. Reset the alarm, then enable the drive. AL9 Min/Max Voltage alarm Minimum or maximum converter voltage. Disable the drive, wait until the DC power supply voltage reaches the correct threshold, check the AC power supply input, then enable the drive. Check the AC power supply input and the Pre-Alarm Recovery alarm 80% of the I2t energy recovery value has working cycles. This is a visual alarm, it anAL10 been reached. ticipates the intervention of the "Maximum recovery" alarm. AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/08 43 3.2 Alarms AL12 Resolver alarm Missing resolver power supply/signal. Disable the drive, control the resolver's contact, reset the alarm, then enable the drive. Following Error Disable the drive, check the Max Position Error The error between the position reference parameter, check the dynamic gains, reset the and the position feedback exceeds the alarm, then enable the drive. AL14 "Max Position Error" parameter, because the "Max Position Error" parameter is too small, or the dynamic gains of the velocity-positioning loop are wrong. Limit Switch Disable the drive, check the limit limit switches AL15 The two fixed limit switches have both and external connections, then enable the drive. been disabled or interrupted. Overcurrent regen resistance circuit Power off the drive, control the short-circuit, then Possible short-circuit in the regen resist- power on the drive. ance circuit. AL17 This causes the opening of the Relè OK contact and the disabling of the functioning. Mechanical Brake Disconnect the power: Overcurrent at the internal brake com• control the external connections; mand or wrong connections. • control the current absorption of the motor AL18 brake; • verify the settings of the "Holding Brake" parameter on the "Motor" window; then power up again. 24 UP In-rush Bus This is not an alarm. Indication of the drive's in-rush phase or the lack of the main power supply. Disable the drive, connect the Auxiliary Voltage, Auxiliary Voltage Presence of the main supply (L1, L2, L3), and then re-enable. AL20 but the auxiliary +24Vdc voltage is missing. Flash Alarm Disable the drive, save new values, then Errors in reading/writing parameters on re-enable. If the problem persists contact Axor. AL23 the Flash memory, or Flash memory is empty. AL24 Can Bus Alarm Error during communication on CANBus. Disable the drive, check the cabling and re-enable. If the problem persists contact Axor. Homing Error Check the homing setup, then reset the alarm Position error too high during the homing using the "Start Homing" function. AL26 procedure. The motor stops, but it is not disabled. You can find more information in enclosure "Alarm Manual" available in the CD provided with the drive. 44 AXOR Industries Service Manual MiniMagnumTM ver.1 rel.02/'08 Index A Alarms 43 analog common mode input (TPRC) 7, 10, 30 analog differential or common mode inputs (+/-Vref) 7, 10, 30 Analog outputs 7, 10, 29 Auxiliary supply +24Vdc 24 B Braking Resistance 10 C Cables 19 Canbus connection 36 Conformity 47 Connection to earth 20 Connection to ground 20 D Digital inputs 7, 10, 28 Digital output 7, 10, 29 Display 7, 42 Disposal 14 E EMI filter 8 emulated encoder outputs 7, 31 encoder connection 33 Environmental conditions 18 equipment 8 Example of base connection 23 Expansion cards 8 External Protections 10 G General view 9 H Holding brake 8 I installation procedure 22 K KeyPad 7 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 45 Index M Maintenance 14 Mechanical Dimension 11 Mechanical specifications 11 Motor holding brake 25 Motor power 25 Multidrop connection 35 N Nominal Data 10 O Operative Modes 6 CanBus 6 electrical axis 6 multidrop RS232 6 position control 6 pulse/direction mode 6 RS485 interface 6 speed control 6 Torque control 6 Ordering code 12 P Positioning 17 Power supply 24 Product plate 12 Pulse/Dir digital inputs 10, 32 R Regen resistance 26 Rele' OK 27 resolver connection 34 S Safety 8 black-out dynamic brake function 8 safety enable function 8 Security standard 14, 15 Shielding 21 Speeder One 7 Storage 14 T Transport 14 46 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 Conformity European directives and norms The servodrives are "components" that are intended to be incorporated into electrical plant and machines for industrial use. When the servodrive is used into machines or plant, the electrical plant/machine must respect the following directives: EC Machinery Directive (98/37/EC), EC Directive on EMC (89/336/EC), Low Voltage Directive (2006/95/EEC). The machine/plant manufacturer must examine whether with its machine/plant still further or other standards or EEC guidelines are to be used. EC Conformity The EC mark that is applied to the drives references to the Low Voltage Directive (2006/95/EC) and EC Directive on EMC (89/336/EC). The standard EN 61800-5-1 is applied to ensure conformance with the Low Voltage Directive. The standard EN 61800-3 is applied to ensure conformance with the EMC Directive. In reference to noise immunity and noise emission the converters fulfil the requirement to the category second environment (industrial environment). If the installation of the drive is carried out differently than described in this manual, the user must carry out new measures to satisfy the requisites of law. AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08 47 UWE POPHOF Postfach 1967 D-77909 LAHR Schützenstr. 14a D-77933 LAHR Tel.: 07821 / 98 39 13 Fax: 07821 / 98 39 14 Funk: 0171 80 38 472 ANTRIEBSTECHNIK Mail: [email protected] & AUTOMATION www.pophof.de 48 AXOR Industries Service Manual MiniMagnumTM ver.1 rev. 02/'08
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Key Features
- Speed Control
- Torque Control
- Position Control
- Electrical Axis
- Pulse/Direction
- Multidrop RS232
- CANbus
- Keypad
- Display
Frequently Answers and Questions
What is the maximum torque that this drive can pilot?
The MiniMagnum can pilot motors up to 7,5Nm.
What types of motors can this drive pilot?
The MiniMagnum can pilot both rotary AC brushless motors and linear motors.
What are some of the features of this drive?
The MiniMagnum has a variety of features including speed control, torque control, position control, electrical axis, pulse/direction, multidrop RS232, and CANbus.
How do I connect the drive to a PC?
The MiniMagnum uses a RS232 cable and the ModBUS protocol to connect to a PC.