MAN445 - Quin Systems Ltd

Transcription

Quin Systems Limited
Programmable Transmission System
QDrive 3 Installation Manual
Issue 6
February 2009
(MAN445)
Important Notice
Quin Systems reserves the right to make changes in the products described in this
document in order to improve design or performance and for further product
development. Examples given are for illustration only, and no responsibility is assumed
for their suitability in particular applications. Reproduction of any part hereof without
the prior written consent of Quin Systems is prohibited.
Although every attempt has been made to ensure the accuracy of the information in this
document, Quin Systems assumes no liability for inadvertent errors.
Suggestions for improvements in either the products or the documentation are
welcome.
Relevant Directives
The product is designed to be incorporated into a system for the control of machinery,
and needs external equipment to enable it to fulfil this function. It must not be relied
upon to provide safety-critical features such as guarding or emergency stop functions.
It must not be put into service until the machinery into which it has been incorporated
has been declared in conformity with the Machinery Directive 89/392/EEC and/or its
relevant amendments.
The installation instructions in this manual should be followed in constructing a system
which meets requirements.
The product has been tested in typical configurations, and meets the EMC Directive
89/336/EEC and the Low Voltage Directive 73/23/EEC as amended by 93/68/EEC.
The product as normally supplied has low voltages accessible to touch, and must be
mounted within a suitable cabinet to meet any required IP rating to BS EN 60529.
Issue 6
Copyright Notice
Copyright © 2009 Quin Systems Limited. All rights reserved.
Reproduction of this document, in part or whole, by any means, without the prior
written consent of Quin Systems Limited is strictly prohibited.
Version History
Issue
Date
Update Reason
1
June 2006
2
October 2006
Firmware enhancements
3
June 2007
Added details
4
December 2007
QLC info + details
5
April 2008
Incorporated feedback on clarity and layout
6
Jan 2009
Add AT drives, EtherCAT & more sensor types; various corrections
Amendment Record
Date
Issue
Amdt.
Copyright © 2009 Quin Systems Ltd.
Pages
By
Reason
Page iii
Page iv
Issue 6
Issue 6
Contents
1.
Introduction
2.
Unpacking and Inspection
10
3.
System Specifications
3.1
Relevant directives
3.2
Features
3.3
Overview of QDrive range
3.4
Mechanical specification
3.5
Environmental specification
3.6
Electrical specification
3.7
Electrical characteristics (drive and motion controller)
11
11
11
12
16
16
17
24
4.
Mounting Details
4.1
Mini case mounting details
4.2
Small case mounting details
4.3
Medium case mounting details
4.4
Large case mounting details
25
25
26
28
30
5.
Connections
5.1
SERVOnet Node Number
5.2
Mains power and motor power connectors
5.3
Motor Holding Brake (option)
5.4
Drive feedback (resolver)
5.5
Drive feedback (1 volt p-p)
5.6
Drive feedback (Hiperface)
5.7
Drive feedback (EnDat)
5.8
Drive Feedback (UVW + encoder)
5.9
Port A: RS232 Setup/programming
5.10 Analogue input/Standby supply/Drive status connector
5.11 Master Encoder Connection
5.12 PTS Serial port B (Modbus/operators panel)
5.13 NET (SERVOnet) connectors
5.14 Digital I/O connectors
5.15 Typical installation
31
32
32
36
38
39
40
41
42
42
43
45
46
48
49
54
6.
Safety - Using Guards and Limits
56
7.
Motors
7.1
a.c. brushless servo motor
7.2
Choosing a motor
7.3
Mounting the motor
7.4
Connecting the motor to the load
57
57
57
59
59
8.
Using an additional Encoder
8.1
Introduction
8.2
Configuring a QDrive to use a second encoder
8.3
PTS Parameters FS, FC for encoder channel swapping
60
60
60
61
9
Page 1
Issue 6
9.
Setting Up a QDrive
9.1
Introduction
9.2
Check 1: Unit switches on
9.3
Configuration 1: Some important settings
9.4
Check 2: Factory configuration and feedback sensor
9.5
Configuration 2: Motor settings
9.6
Check 3: a.c. power
9.7
Configuration 3: Resolver/Hiperface settings
9.8
Check 4: Other external connections
62
62
62
66
66
67
67
68
68
10.
Motor tuning
10.1 Introduction
10.2 Current loop tuning (drive controller)
10.3 Speed loop tuning (drive controller)
10.4 Position loop tuning (motion controller)
71
71
71
73
75
11.
QDrive Manager PC Software
11.1 Using the QDrive Manager program
11.2 Configure PC
11.3 Parameter Show
11.4 Edit Menu
11.5 Actions Menu
11.6 File Menu
11.7 ’Scope and Auto Command
11.8 Firmware Update
79
79
80
81
81
81
81
82
82
12.
QDrive Parameters
12.1 System Data - Group 0
12.2 Drive Hardware Data - Group 1
12.3 Firmware - Group 2
12.4 Motor Features - Group 4
12.5 Motor Feedback - Group 5
12.6 Current Loop - Group 6
12.7 Speed Loop - Group 7
12.8 Command/Bus - Group 10
12.9 Input/Output - Group 11
12.10 Status - Group 31
12.11 Addressing QDrive Parameters from PTS programs
83
83
83
83
83
85
87
88
89
89
91
93
13.
Board Configuration
13.1 Fuses
13.2 Configuration
13.3 Reference Accuracy
96
96
97
98
A.
Drive parameters
99
B.
Diagnostics
B.1
Switch-on options
B.2
Firmware update and configuration
B.3
Position Control firmware update and Flashboot configuration
B.4
Drive Commutation Firmware Upgrade (IDM)
B.5
Error Display Codes
Page 2
104
104
104
104
106
107
Issue 6
C.
Standard Cable Drawings
C.1
Introduction
109
109
Page 3
Page 4
Issue 6
Issue 6
Figures and Tables
Figure 1.
MINI case sized QDrive
12
Figure 2.
SMALL case sized QDrive
13
Figure 3.
MEDIUM case sized QDrive
14
Table 1.
Dimensions and Weight of QDrive range
16
Table 2.
a.c. Power input, EMC, MCB and Voltage output for QDrive range
17
Figure 4.
Voltage monitor wiring
18
Table 3.
Current and power ratings for QDrive range
19
Table 4.
Braking power ratings
20
Table 5.
DC bus voltages for Braking resistor, Overvoltage and Undervoltage 21
Table 6.
Motor speeds (RPM) for 230V a.c. QDrives
22
Table 7.
Motor Speeds (RPM) for 400V a.c. QDrives
22
Figure 5.
Fixing centres for the MINI case
25
Figure 6.
Fixing centres for the SMALL case
26
Figure 7.
Installing a SMALL case through a mounting plate.
27
Figure 8.
Fixing centres for the MEDIUM case
28
Figure 9.
Installing a MEDIUM case through a mounting plate.
29
Figure 10.
Fixing centres for the LARGE case
30
Figure 11.
Drive and motion control board connector detail
31
Table 8.
Motor and brake connections
33
Table 9.
Cable sizes
33
Table 10.
Power cable to motor connections for SEM and SBC
34
Figure 12.
DC Bus Wiring
35
Figure 13.
Motor brake wiring diagram
36
Figure 14.
Holding brake and motor enable overlap using brake delay
37
Table 11.
Resolver connections for 9pin DType
38
Table 12.
Resolver connections for 26 way MDR socket
38
Figure 15.
Typical resolver cable connections.
38
Table 13.
Signal cable from resolver for SEM and SBC
39
Table 14.
1 volt p-p connections for 26 way MDR socket
39
Table 15.
Hiperface sensor connections
40
Figure 16.
Hiperface cable connections
40
Figure 17.
Alternative earth connection
41
Page 5
Issue 6
Table 16.
EnDat sensor connections
41
Table 17.
UVW and Encoder connections
42
Table 18.
Drive setup connections
42
Table 19.
Analogue I/O and standby supply connections
43
Figure 18.
Analogue input/Standby supply/Drive connections
44
Table 20.
Link encoder and Encoder input connections
45
Figure 19.
Master encoder input/output connections
46
Table 21.
Serial port B connections for RS-485
46
Table 22.
Serial port B connections for RS232
47
Figure 20.
Port B connections
47
Table 23.
SERVOnet (CANbus) connections
48
Table 24.
Input/Output connections
49
Figure 21.
I/O Breakout unit Connectors
50
Figure 22.
‘Drive Enable’ safety interlock
51
Figure 23.
I/O Connector and LED indicators
52
Figure 24.
Input and output circuits
53
Figure 25.
QDrive operating as a complete motion control solution
54
Figure 26.
QDrive SERVOnet connections
55
Figure 27.
Torque-speed curve for a brushless motor.
57
Table 25.
QDrive 7 segment display codes
63
Table 26.
QDrive error messages and fault finding
65
Figure 28.
Testing the digital signals.
70
Figure 29.
Motor performance for detuned system.
76
Figure 30.
Motor performance for faster moves.
77
Figure 31.
Motor performance with oscillation.
77
Figure 32.
I2t limiting motor current w.r.t. time
85
Table 27.
Default UVW Sequence
86
Table 28.
Parameter 1103 - marker pulse width and gating
89
Table 29.
End switch configuration
90
Table 30.
Direction inhibit
90
Table 31.
Fuse types
96
Figure 33.
CU module board layout
97
Table 32.
Drive parameters
99
Page 6
Issue 6
Table 33.
Status register (parameter 3102)
102
Table 34.
Warning register (parameter 3103)
103
Table 35.
Alarm register (parameter 3101)
103
Table 36.
Cable Cross-reference
136
Page 7
Page 8
Issue 6
Issue 6
1.
Introduction
This document is the Installation Manual for the QDrive 3-series, a member of the Quin
Systems digital Programmable Transmission System (PTS) range.
The QDrive 3 is intended for controlling a 3-phase brushless a.c. servo motor equipped
with a resolver or Hiperface sensor for position feedback. The drive is a fully digital
system, offering high performance torque, speed and position control. Digital control
allows comprehensive diagnostics, motor and drive parameter tuning, and data or fault
logging. The QDrive supports the PTS language and can therefore function as a
complete motion control solution, or be part of a larger network of Quin PTS or Soft
PLC motion controllers.
The QDrive 3 is available in several voltage and current ratings; this manual covers all
combinations, and all of the optional feedback devices: resolver, EnDat or Hiperface
sensor, 1 volt pk-pk sine/cosine, and Hall-effect (UVW) sensor with ABZ encoder.
There are similar products that are not covered in this manual:
•
D2000/4000 series: a servo amplifier only, controlled via an analogue or digital
speed demand.
•
QDrive 200/400 series: using separate PTS and drive DSP boards.
•
QDrive series: used with a.c. induction motor and encoder/resolver feedback.
Please contact Quin Systems Ltd. for documentation on these products if required.
PLEASE READ THIS MANUAL BEFORE INSTALLATION.
It is very important that the guidelines for installation are observed, otherwise damage
to the system or to the machine may occur. Quin Systems Limited accept no liability
for damage or costs arising from incorrect or inadequate installation of the systems, or
from incorrect programming of the system for the required application. Digital control
systems are not simple, but can be used successfully to control industrial machinery and
provide great improvements in reliability, performance and flexibility.
This issue of the manual covers the following drive firmware versions:
Drive amplifier firmware
Cqfw9042/3/4 or 9052 onwards
PTS firmware
V2.4.1.1 or later
QLC (soft PLC) firmware
V1.3 (for host 1.2.3) or later
Page 9
2.
Issue 6
Unpacking and Inspection
Inspect the packaging for external signs of damage, if possible before signing the
delivery receipt, as this may indicate that it has been mishandled in transit. When
unpacking the system, keep all the packaging materials if possible. If it is necessary to
ship the system to another site, or to return it for service, the original packing can be
re-used.
Inspect the system carefully when it is unpacked. Check for any loose parts, any circuit
boards loose in their card guides, cables not connected, or any bending of the case or
chassis.
If any defect or damage is suspected, do not connect power to the system. Notify
the carrier immediately, and contact your sales office or the Quin Systems Service
Department:
Quin Systems Limited
Service Department
Oaklands Business Centre
Oaklands Park
Wokingham
Berkshire RG41 2FD
England
Telephone
Fax
Email
Web site
Page 10
+44 (0)118 977 1077
+44 (0)118 977 6728
[email protected]
[email protected]
http://www.quin.co.uk/
Issue 6
3.
System Specifications
This section gives the overall specifications of the system, including mechanical details
and environmental requirements.
3.1
Relevant directives
The product is designed to be incorporated into a system for the control of machinery,
and needs external equipment to enable it to fulfil this function. It must not be relied
upon to provide safety-critical features such as guarding or emergency stop functions.
It must not be put into service until the machinery into which it has been incorporated
has been declared in conformity with the Machinery Directive 89/392/EEC and/or its
relevant amendments.
The installation instructions in this manual should be followed in constructing a system
which meets requirements.
The product as normally supplied has low voltages accessible to touch, and must be
mounted within a suitable cabinet to meet any required IP rating to BS EN 60529.
3.2
Features
The QDrive 3 is a fully digital high performance motor drive. It is designed to control
a 3 phase brushless a.c. servo motor, suitable motors have the following characteristics:
Brushless a.c. servo motor:
Rotor constructed with permanent magnets, arranged in 1, 2, 3, 4, 5 or 6 pole
pairs, without commutator. Electronic commutation uses shaft position
feedback from a single speed resolver or a Hiperface or EnDat sensor. Stator
constructed with 3 windings, star or delta connected.
Motors fitted with Hall effect sensors also need an encoder, preferably with a Z pulse.
Each drive is a single axis unit including a dynamic braking module, for connection to
a mains power supply (voltage/phases and current detailed later). An internal filter is
available on some models to reduce noise on the mains supply.
The power driver offers galvanic isolation between the control and power electronics.
It uses an IGBT output stage. It has a digital PWM current loop controller providing
very low motor ripple currents and high efficiency.
Temperature monitoring in the drive and a thermostat switch in the motor are standard.
The system executes multiple control loops, with both torque (current) and speed
control loops fully programmable. The current outputs to the motor are sinusoidal,
providing smooth torque and excellent performance at low speeds.
The digital drive controller allows simple firmware upgrades, and is fully
programmable. A single DSP includes the drive controller and PTS motion control.
Page 11
Issue 6
The motion control module has all the capabilities required for a fully functioning PTS
system. Communication is via RS232 and RS485 serial ports, opto-isolated digital I/O
are provided, and a SERVOnet link for real-time networking and synchronization,
based on CANbus or EtherCAT. With FLASH memory for firmware and 64kB of user
program the unit is upgradeable and capable of operating as a complete motion control
package for a single drive or as part of a networked PTS or QLC SERVOnet system.
3.3
Overview of QDrive range
This section presents the QDrive range. Throughout the remainder of this manual the
features of a QDrive will be cross referenced by the shorthand naming used here, which
refers to the case size. Additionally the input voltage is often used: 200 refers to all
230V drives, 400 refers to all 400V drives. Individual drives are often referenced by a
three digit number, the first digit giving the voltage and the second two digits giving the
nominal current rating, e.g. 409 is a 400V drive capable of delivering up to 9A nominal.
3.3.1
MINI
Available in three ratings this is the smallest case size used in the QDrive range.
Figure 1. MINI case sized QDrive
110-230VAC, single phase 4A
110-230VAC, three phase 6A
110-230VAC, three phase 9A
•
The single-phase unit includes an EMC filter and soft start circuitry. There is
no fan, no brake option, no DC bus option, and the case is the heatsink. Note
the wide voltage range supported.
•
The three-phase units have soft start circuitry and a fan. They have no EMC
filter, no brake option, no DC bus option, and the case is the heatsink. Note the
wide voltage range supported.
Page 12
Issue 6
3.3.2
SMALL
This case size is used for the majority of QDrives, as shown below:
Figure 2. SMALL case sized QDrive
230VAC, three phase 5A
•
This unit includes a fan and a heatsink.
•
An EMC filter is included EXCEPT for the 230V/20A version.
•
A motor brake option is available for these drives. This adds a /B to the part
number.
•
DC bus terminals and softstart are now standard, denoted by a /DS in the part
number.
•
Earlier models had softstart or DC bus as options; either removed the EMC
filter.
Page 13
3.3.3
Issue 6
MEDIUM
This case size is used for two members of the QDrive family:
Figure 3. MEDIUM case sized QDrive
•
This unit includes a fan and a heatsink, and DC bus terminals.
•
NO internal EMC filter is fitted, and it is not an option.
•
A motor brake option is available for this drive. This adds a /B to the part
number.
•
Softstart is fitted as standard.
Page 14
Issue 6
3.3.4
LARGE
This case size is used for the most powerful drive available in this range:
A 400VAC, three phase 50A drive is pending - please contact Quin Systems Ltd for
information.
Page 15
3.4
Issue 6
Mechanical specification
The table below gives the overall dimensions and maximum weights for the QDrive 3
range. QDrives are normally rear mounted on a panel, but the small and medium cases
can be mounted recessed through a panel, with the rear part of the unit behind the
mounting panel to allow better cooling - this is detailed later.
Height
(mm)
Width
(mm)
Depth
(mm)
Weight
(kg)
204
214
76
210
2.2
206
214
76
210
2.2
209
214
76
210
2.2
205
300
76
210
3.2
210
300
76
210
3.2
220
300
76
210
3.2
403
300
76
210
3.2
405
300
76
210
3.2
409
300
76
210
3.2
415
300
161
200
6.1
425
300
161
200
6.1
430
422
124
305
10.5
Drive type
Mini
Small
Medium
Large
Table 1: Dimensions and Weight of QDrive range
Sufficient additional clearance must be left in front of the unit for the connectors on the
front panel (typically 100mm), and below the unit for the motor and power connections
(typically 125mm). For cooling purposes the system must be mounted vertically with
at least 50mm clearance above and below the unit and 10mm each side to allow air to
circulate. All units except Mini are fitted with a cooling fan.
AutoCAD drawings of the QDrive are available from http://www.quin.co.uk/support/
and the PTS Toolkit 2000 CD; or contact Quin Systems Ltd.
3.5
Environmental specification
Temperature:
storage
0 to 55°C
operating
0 to 40°C
Relative humidity: 20 to 80% non-condensing
The system is normally supplied in a case or chassis with ventilation holes top and
bottom, and therefore is not protected against dust, particles, or liquids. If necessary,
the unit can be supplied in a suitable sealed cabinet. Please contact your sales office or
Quin Systems directly for further details.
Page 16
Issue 6
3.6
This section lists the electric specification of the QDrive range.
3.6.1
a.c. Power input, filters, MCBs, Voltage output
MCB
class D
(Amps)
Max. output
(at nom. supply)
(V)
16
3 x (Input-10V)
External
10
3 × (Input-10V)
External
20
3 × (Input-10V)
45 to 65
10
3 × 220
3 × 230
+10–20%
45 to 65
20
3 × 220
220
3 × 230
+10–20%
45 to 65
40
3 × 220
403
3 × 400
+10–20%
45 to 65
10
3 × 390
405
3 × 400
+10–20%
45 to 65
10
3 × 390
409
3 × 400
+10–20%
45 to 65
20
3 × 390
415
3 × 400
+10–20%
45 to 65
External
32
3 × 390
425
3 × 400
+10–20%
45 to 65
External
50
3 × 390
430
3 × 400
+10–20%
45 to 65
External
63
3 × 390
Supply
voltage
(V a.c.)
Supply
frequency
(Hz)
204
1 x 110230 ±15%
50 to 60
206
3 × 110 230 ±15%
45 to 65
209
3 × 110230 ±15%
45 to 65
205
3 × 230
+10–20%
210
Drive type
Mini
Small
Medium
Large
EMC
filter *
External
Table 2: a.c. Power input, EMC, MCB and Voltage output for QDrive range
EMC filters: External filters are required when:
•
Always for some models, as noted ‘External’ in table above
•
If 2 or more drives share the same cabinet or supply feed.
•
If the d.c. bus terminals are used, for applications where braking energy is
shared between drives.
Page 17
Issue 6
In these cases the filter rating must provide a small margin over the total of the “Rated
RMS current” for all drives, as shown in Table 3: on page 19. Quin can supply filters
to meet the EMC requirements.
MCBs: The drives also need to be protected by, and isolated with, MCB: one per drive
except where the AC and DC are bus connected. Class D MCBs are required.
Voltage monitor: Where there is any risk of excessive mains voltage, exceeding the
+10% limit given a voltage monitor should be included in the safety/contactor circuit.
Quin can supply these upon request.
L1
L2
L3
Power
to
QDrives
Contactor
Safety
Relay
+24V
Voltage
Monitor
0V
Emergency Stop
+
Guard Switches
Figure 4. Voltage monitor wiring
Page 18
Issue 6
3.6.2
Current and Power ratings
The following table lists the different models in the QDrive 3 range, with their current
and power ratings.
Rated Current (A)
Max. current (A)
Power (kW)
rms
peak
rms
peak
rated
max.
204
4
6
8
12
1.5
3
206
6
9
12
17
2.25
4.5
209
9
13
18
25
3.6
7.2
205
5
7
10
14
2
4
210
10
14
20
28
4
8
220
20
28
40
56
8
15
403
3
4
6
8.5
2
4
405
5
7
10
14
3.5
7
409
9
13
18
25
6
12
415
15
21
30
42
10
20
425
25
35
50
70
17
34
430
30
42
60
84
20
40
Drive type
Mini
Small
Medium
Large
Table 3: Current and power ratings for QDrive range
Explanation of the columns in the above table:
Rated rms current: Nominal continuous input current of the QDrive. Motor output
can be derated via parameter 404.
Max rms current: Double rated rms; a QDrive can deliver this for a few seconds.
Motor output can be derated via parameter 405.
I2t (I squared t, parameter 407) sets the maximum delivery time for this value (from 0ms
to value of parameter 106); exceeding this after 1 second the drive firmware reduces
current supply to nominal (warning given in parameter 3103, bit 17). Below 80% of
nominal takes off the warning.
Rated peak current: rms × 2
Max peak current: rms × 2
These are what is displayed in parameter 3107 and on the tuning ’scope - instantaneous
current (peak of the waveform) rather than rms values.
Page 19
3.6.3
Issue 6
Braking Power and Voltage levels
This table shows the braking power ratings for the QDrive 3 units.
Braking
resistor
value (Ω)
Peak braking
power (W)
Max. continuous
braking power
(W)
Max. surge
energy (J)
204
47
3400
31
1000
206
47
3200
31
1000
209
47
3200
31
1000
205
33
4500
250
5000
210
33
4500
250
5000
220
33
4500
250
5000
403
60
7500
250
5000
405
60
7500
250
5000
409
60
7500
250
5000
415
30
15000
500
10000
425
16.5
27000
500
15000
430
8
56000
1000
24000
Drive type
Mini
Small
Medium
Large
Table 4: Braking power ratings
The surge energy rating is the maximum permitted dynamic brake application from
cold. To a first approximation, heat is then removed from the braking resistor at the rate
given by the continuous braking power value; thus a time interval of about 20s must be
allowed between successive full-energy stops to allow the braking resistor to cool.
Page 20
Issue 6
The following table defines the voltage levels on the d.c. bus for the brake module and
over/under voltage alarm trips. This information should be used to ensure the QDrive
is not operating too close to these limits.
Brake module
threshold (V)
Overvoltage trip
threshold (V)
ON
OFF
ON
OFF
ON
OFF
204
400
390
420
410
85
95
206
385
380
410
400
85
95
209
385
380
410
400
85
95
205
385
380
410
400
220
230
210
385
380
410
400
220
230
220
385
380
410
400
220
230
403
670
660
710
690
380
395
405
670
660
710
690
380
395
409
670
660
710
690
380
395
415
670
660
710
690
380
395
425
670
660
710
690
380
395
430
670
660
710
690
380
395
Drive type
Mini
Undervoltage trip
threshold (V)
Small
Medium
Large
Table 5: DC bus voltages for Braking resistor, Overvoltage and Undervoltage
3.6.4
Use of d.c. bus terminals (option on some models)
The braking energy may be shared between several of the drives by linking their d.c.
bus terminals, up to a total current rating of 60A. For full details and wiring diagram
please refer to section 5.2.1, on page 35.
3.6.5
Motor EMF calculations
This section gives some guidance on motor EMF calculations and expected shaft
speeds for a given combination of motor and drive.
The QDrive runs from 230 volts or 400 volts RMS (nominal) 3-phase, and give out
nominal 220 volts or 390 volts RMS respectively. At lower mains volts, the output is
reduced: so for a normal utility minimum of 6% low, the outputs fall to 207, 367 volts
respectively. Motors are specified for back-EMF at 1000 RPM, some specifying peak,
others RMS (1.414 lower), and again with tolerance, typically ±10%. They also have
resistance and inductance, using up volts when current is passing.
Page 21
Issue 6
Taking a calculation example of a 64 volt (peak) / 1000 RPM 2 pole pair motor, and
assume +10% on that: 70.4/1.414 = 49.8 V/1000 RMS. At 220 volts from the drive, offload one might achieve 4400 RPM. The load might need peaks of 25 amps (typical for
a 20 amp drive): and the motor might show 0.5 ohms and 4.3mH inductance: 1.44 ohms
impedance at 3000 RPM, losing 36 volts at 25 amps. So our 207 volts (at low mains)
becomes 171 volts; /49.8 gives only 3400 RPM.
Note that this is assuming a very efficient PWM modulation system, effectively only
losing 10 volts from input to output. Note also that use on single-phase mains (for 230
volt drives) loses another 10%.
Applying the same calculations to other motors and drives gives the following tables
for typical motors (as might accept the maximum currents quoted).
Motor spec.
Volts per
1000 RPM
Max. RPM of motor for various drive curent output
No load
5 Amps
10 Amps
20 Amps
30 Amps
44 peak
6041
4905
5303
5396
5455
64 peak
4153
3063
3488
3576
3227
52 RMS
3615
-
3302
-
-
69 RMS
2725
1950
-
2121
2525
Table 6: Motor speeds (RPM) for 230V a.c. QDrives
Motor spec.
Volts per
1000 RPM
Max. RPM of motor for various drive current output
No load
5 Amps
10 Amps
20 Amps
30 Amps
88 peak
5355
4598
4726
4509
-
130 peak
3624
2942
3029
3370
3024
180 peak
2618
-
2175
-
2220
69 RMS
4830
4508
-
4227
-
Table 7: Motor Speeds (RPM) for 400V a.c. QDrives
3.6.6
d.c. Power requirements
This section lists the d.c. voltages required by a QDrive.
External power supplies:
Logic standby supply
Digital I/O supply
SERVOnet (CANbus) supply
+24V d.c. (18 to 36V dc, typically 180mA)
+24V d.c. (1A maximum allowed for all I/O)
+12V d.c. (7 to 13V, 35mA per node)
Notes:
•
Encoder power supply for both drive feedback and master external encoder (for
motion control purposes) is output from the QDrive.
Page 22
Issue 6
•
Hiperface sensor is powered by the QDrive.
•
Operator panels used with the QDrive will require separate 5V or 24V supplies.
3.6.7
Regulated outputs
Regulated output supplies are provided for feedback and master encoders as follows:
•
The 10V feedback supply provides a regulated 10 volts supply for Hiperface
(SinCos) feedback sensor on the motor. This can give up to 150 milliamps, at
pin 18 of the 26-way FEEDBACK connector.
•
The 5V feedback supply provides a regulated 5 volts for incremental encoder or
EnDat sensor, when used as feedback sensor of the motor. This can give up to
150 milliamps, at pin 14 of the 26-way FEEDBACK connector. Where none of
the other sensor supplies described here are in use, the current on this one may
be up to 350 milliamps - this allows use of multi-turn EnDat units.
•
The 5V encoder supply provides a regulated 5 volts supply for incremental
encoder for use as a master (channel 2) sensor into the drive. This can give up
to 150 milliamps, at pin 40 of the 50-way PORT B/ANALOGUE connector.
Page 23
3.7
Issue 6
Electrical characteristics (drive and motion controller)
This section gives the electrical characteristics of QDrive 3 units.
Motor drive capabilities:
PWM chopper frequency
Speed loop bandwidth
Current loop bandwidth
Output frequency to motor
7.5kHz
max. 150Hz
max. 2000Hz
0 to 500Hz
Resolver input:
Type
Ratio
Reference frequency
Max. speed
Speed one (1 sine/cosine period per turn)
0.5
5kHz to 10kHz
7500rpm
Sine Cosine input:
Supported Hiperface devices
Supported EnDat devices
Operating temperature range:
Max. speed
SCM/SCS (512 cycles per turn) (multi/single turn)
SRM/SRS (1024 cycles per turn) (multi/single turn)
ROQ425/ROC413 (512 cyc/turn) (multi/single turn)
-40°C to +125°C (subject to exact model)
6000rpm
Encoder input:
Frequency:
master axis encoder:600 kHz maximum (2.4 × 106 counts per second)
(count rate): feedback encoder: 375 kHz (1.5 × 106 counts per second)
Signal level
RS-485
Track A input leads track B input for positive direction
Encoder output:
Signal level
either simulation of resolver
RS-485
or Link encoder (echo of master encoder input)
Analogue inputs :
Input range
Resolution
Input impedance
-10V to +10V
used at 11 bits plus sign
16kΩ
Analogue outputs (1 and 2):
Output range
Resolution
Output impedance
0 to +10V
10 bits
<100Ω (minimum load 500Ω)
Digital inputs:
Voltage rating
Input current
typical:
Threshold voltage
Reverse voltage
Isolation voltage
+24V d.c. nominal. +36V maximum (issue C onwards)
5 mA
10–16V
+50V maximum
250V a.c. peak or d.c.
Digital outputs:
Saturation voltage (output on)
Maximum voltage
Load current
Isolation voltage
Short circuit protection
Page 24
2.4V maximum (at full load current)
35V (depending on the I/O supply)
100 mA continuous, 350mA peak
(total of all 8 to be under 1A, see section 5.14, on page 49)
250V a.c. peak or d.c.
Yes
Issue 6
4.
Mounting Details
The Q-Drive systems have mounting holes on the rear metal plate, for fixing to the
electrical panel inside a cabinet. The units are fixed with M5 bolts through holes at the
top and bottom of the unit. The fixing centres for these bolts are shown in the diagrams
below.
4.1
Mini case mounting details
50
12
Mini case
7.5
214
199.5
7
37
M5 fixings
74
Dimensions in mm
Figure 5. Fixing centres for the MINI case
Page 25
4.2
Issue 6
Small case mounting details
50
12
Small case
7.5
300
280.5
12
37
M5 fixings
Dimensions in mm
74
Figure 6. Fixing centres for the SMALL case
Page 26
Issue 6
The small case can be installed through a cutout in the mounting plate, in such a way
that the braking resistor protrudes behind the plate. This can sometimes be an advantage
because of the improved ventilation and cooling available behind the mounting plate
rather than in front. The revised fixing centres and the panel cutout for this mounting
arrangement are shown in figure 7. The unit protrudes 70mm behind the mounting plate
and 140mm in front when installed in this way. Suitable mounting brackets are supplied
with the unit.
76
Front
50
Rear
13
20
280
Panel cutout
28
15
20.5
30.5
20
20
13
M5 fixings
(20mm square cutout for cable clamp)
Dimensions in mm
Figure 7. Installing a SMALL case through a mounting plate.
Page 27
4.3
Issue 6
Medium case mounting details
The medium case can be mounted from the rear or through a panel as shown in figure
8 and figure 9
M5 fixings
34
50
7.25
13.25
295
280.5
50
84
160.5
38.25
Dimensions in mm
Figure 8. Fixing centres for the MEDIUM case
Page 28
Issue 6
The medium case can be installed through a cutout in the mounting plate, in such a way
that the braking resistor protrudes behind the plate. This can sometimes be an advantage
because of the improved ventilation and cooling available behind the mounting plate
rather than in front. The revised fixing centres and the panel cutout for this mounting
arrangement are shown in figure 7. The unit protrudes 70mm behind the mounting plate
and 140mm in front when installed in this way. Suitable mounting brackets are supplied
with the unit.
160
50
34
50
13
20
Panel cutout
280
20.5
20
28
30.5
20
50
M 5 fixings
34
50
13
(2 0m m square cu tout for cable clam p)
Dimensions in mm
Figure 9. Installing a MEDIUM case through a mounting plate.
Page 29
4.4
Issue 6
Large case mounting details
Large case
80
21
7.5
M5 fixings
422
402.5
12
61
Dimensions in mm
122
Figure 10. Fixing centres for the LARGE case
Page 30
Issue 6
5.
Connections
This chapter details the wiring of the connectors found on a QDrive series 3.
Drive main body has the following connectors (layout differs with case size, detailed
later)
•
Connector for a.c. mains supply input and optional d.c. bus link.
•
Connector for motor power cable and optional brake.
The drive and motion control boards have the same layout for all case sizes
Top view of
control board
connections
Ethernet (RJ45)
USB (mini)
DType Feedback sensor
(Resolver)
MDR Feedback sensor
(alternate Resolver, EnDat, SinCos)
Port A, Setup/programming
SERVOnet node no.
Ch 1 status
Analogue input/output
Standby supply (24V)
Link encoder
input and output
Port B (RS232, 485)
Front view of
control board
connections
(Servo) NET
(CANbus)
Input LEDs
Digital input/output
(Servo) NET
(CANbus)
Output & diagnostic LEDs
Figure 11. Drive and motion control board connector detail
The control board has the following connectors.
•
9 way D socket for resolver feedback connection.
•
26 way MDR socket for resolver (alternative wiring) plus EnDat, Hiperface,
1 volt p-p or hall effect/encoder feedback sensor input.
Page 31
Issue 6
•
9 way D plug for RS-232 serial port, used for initial drive configuration and unit
programming.
•
USB connector for programming.
•
50 way MDR socket for analogue input and output, 24V backup power supply,
link encoder, encoder simulation output, and Port B RS-485 port, used for
Operator’s Panel or low speed plc communications link such as Modbus or Data
Highway. Note: the RS-485 interface is RS422 compatible; this unit use can use
2-wire or 4-wire RS-485, or connections in the manner of RS422
•
9 way D plug and socket for SERVOnet high speed network, based on CANbus.
•
36 way MDR socket for isolated 24V digital inputs and outputs: these can be
brought to a terminal break-out unit for ease of plant wiring. Also duplicates
24V backup power input.
•
With optional board, RJ45 sockets for EtherCAT, in and out.
5.1
The node selector switch is used for SERVOnet systems (CAN or EtherCAT):
•
Set to 0: This will use a software configurable node number (which can be
programmed either by using the local serial port on the QDrive or over the
SERVOnet).
•
Set to 1 - 15: The node number is set to the value of this selector switch.
Note that a node number can only appear once on a SERVOnet.
5.2
Mains power and motor power connectors
The style of mains power and motor power connectors differs according to case size.:
•
MINI case has 2 part screw terminal connectors for both mains and motor
•
SMALL case has screw terminal connector for mains and a 2 part screw
terminal connector for the motor
•
MEDIUM case has screw terminal connector for mains and a 2 part screw
terminal connector for the motor
•
LARGE case has screw terminal connector for both mains and motor
The 230 volt drives in the ‘small’ case (5A, 10A and 20A) can be used on single-phase,
connecting input to L1 and L3. There will be only around 80% of output available.
Similarly the 3-phase Mini drives (230 volt, 6 A and 9 A), but connected to L2 and L3.
Page 32
Issue 6
The QDrive is carefully labelled with motor and power connections; the following table
details the motor connector with optional brake connections.
Pin no.
brake
option
only
Signal
Description
1
U
Motor power (3-phase)
2
V
3
W
4
SCREEN
Motor cable screen or shield
5
+24V
+24V d.c. brake supply (30V max.)
6
BRAKE
Brake relay + signal (2.5A max. load)
7
0V
0V brake supply
Table 8: Motor and brake connections
The following table shows recommended cable sizes for the QDrive 3 units.
Supply cable size
(mm2)
Motor cable size
(mm2)
204
1.5
1.5
206
1.5
1.5
209
1.5
1.5
205
1.5
1.5
210
1.5
1.5
220
2.5
2.5
403
1.5
1.5
405
1.5
1.5
409
1.5
1.5
415
2.5
2.5
425
2.5
2.5
430
4.0
4.0
Drive type
Mini
Small
Medium
Large
Table 9: Cable sizes
The recommended maximum cable length between the motor and the drive is 15m.
Page 33
Issue 6
Function
SEM/Souriau
SEM/Ampenol
SEM/size 1
Interconnectron
SEM/size 1.5
Interconnectron
SBC
Motor cable connections for various typical motors are shown in table 10; also see
Appendix C. on page 109 for Quin standard wiring diagrams.
1
U
1
A
1
U
B
2
V
2
B
2
V
A
3
W
3
F
6
W
C
4
Earth
E
E
E
E
D
5
+24V
6
Brake +
4
C
4
+
G
7
Brake/0V
5
D
5
-
F
Drive
plug
brake
option
only
Table 10: Power cable to motor connections for SEM and SBC
Page 34
Issue 6
5.2.1
Wiring of d.c. bus terminals (option on some models)
The braking energy may be shared between several of the drives by linking their d.c.
bus terminals, up to a total current rating of 60A. All drives linked via the d.c. bus
terminals must always be connected to the same 3 phase supply, with the d.c. and BR
terminals bussed between each drive. It must not be possible to connect a.c. to power
some drives but not others; this will damage the any drive not connected to a.c. power.
The auxiliary contacts of each MCB should be wired serially into the safety circuit (as
shown below) so that if an MCB trips out the safety circuit will be broken and the main
contactor will cut power to all drives. Damage can occur if the d.c. voltages are present
when a.c. voltages are not. The figure below shows the required wiring:
L1
L2
L3
Contactor
MCB
QDrive
MCB
QDrive
Safety
Relay
L1
L2
L3
+
-
0V
L1
L2
L3
+
BR
L1
L2
L3
+
DC Bus
L1
L2
L3
+
BR
+24V
Emergency Stop
+
Guard Switches
Figure 12. DC Bus Wiring
Page 35
5.3
Issue 6
Motor Holding Brake (option)
A motor brake should be wired as per the following diagram:
5: +24V
6: +Brake
7: 0V
QDrive
Motor plug
PSU
+24V d.c.
Brake +
Brake -
0V
Brake
Figure 13. Motor brake wiring diagram
Information and advice on the use of servo motor holding brakes:
•
It is recommended that if a holding brake is required, then a QDrive with a brake
option should be used. [It is possible to program a digital output to switch a relay
to control the brake but this relies on the user program].
•
Inside the QDrive there is a diode between the brake signal terminal and the 0V
terminal. It is possible to wire up a brake circuit without using this 0V terminal.
However, this could potentially damage the contacts in the brake relay in the
drive because the diode would no longer be in the circuit.
Page 36
Issue 6
•
It is possible to program a "brake delay" in the QDrive. This overlaps the brake
action and the motor enable action; to allow for brake release/grip time. The
following diagram shows the operation of this command parameter:
MO
PC
Drive
disabled
enabled
BD
BD
Brake
engaged
motor held
by brake
disabled
released
engaged
motor controlled
by drive
BD = Brake Delay length (configurable parameter)
PC = Start position control (motor on)
MO = Stop position control (motor off)
motor held
by brake
time
Figure 14. Holding brake and motor enable overlap using brake delay
•
A holding brake should not be engaged while a motor is running. These brakes
are designed to provide a high static coefficient of friction. If a motor is rotated
while a brake is engaged then the brake pad will wear out very quickly.
•
Holding brakes are fitted at the mounting-flange end on an SEM motor. They
are fitted at the resolver end on an SBC.
•
If an SBC motor is driven against a brake, then the heat generated by the brake
could damage the resolver before the brake wears out.
•
It is not possible to service a holding brake on a motor: it must be returned to
the manufacturer.
•
Spring-applied brakes do provide a small amount of backlash.
•
The inertia of a brake should not be ignored when sizing a motor. A brake
represents an increasing proportion of the overall motor inertia as the motor size
increases. It could be between 5% and 20%.
Page 37
5.4
Issue 6
Drive feedback (resolver)
The resolver is connected via either the 9-way socket or the 26 way MDR socket,
labelled FEEDBACK. The pin connections to this are shown below for the DType
(backwardsly compatible with previous QDrive variants).
9-way
Pin no
Signal
9-way
Pin no
Signal
1
SCREEN
6
THERMOSTAT1
2
THERMOSTAT2
7
SIN2V5
3
SIN
8
COS2V5
4
COS
9
REFB
5
REF
Table 11: Resolver connections for 9pin DType
The 26 way MDR socket is connected as follows:.
26-way
Pin no.
Signal
26-way
Pin no.
Signal
1
THERMOSTAT1
2
THERMOSTAT2
3
SIN
4
5
SIN2V5
6
7
COS
8
9
COS2V5
10
11
REF
12
13
REFB
....
SCREEN
Table 12: Resolver connections for 26 way MDR socket
The following diagram gives details of the resolver cable connections, showing the
normal use of twisted pairs and the screen connections.
Drive
Resolver connector
5
9
4
8
3
7
2
6
1
Motor
Resolver connector
Red
Blue
A
B
Green
Yellow
D
P
Gray
Pink
C
E
Brown
White
S
T
Screen
J
Resolver
9 way D plug
Motor
thermostat
Example : SEM 115
Figure 15. Typical resolver cable connections.
Page 38
Issue 6
SEM/Souriau
SEM/Ampenol
SEM/size 1
Interconnectron
Resolver cable connections for other typical motors are as shown in table 13. Refer to
the Quin web site for any other more recent examples and to Appendix C. on page 109
for cable drawings. Quin can supply cable assemblies.
5
Ref 1
1
A
10
A
1
9
Ref 2
2
B
7
B
2
4
Cos 1
5
D
1
C
3
8
Cos 2
6
P
2
D
4
3
Sin 1
3
C
11
F
6
7
Sin 2
4
E
12
E
5
2
Therm. 2
8
S
8
K
7
6
Therm. 1
7
T
9
J
8
1
Screen
9
J
shell
G
clip
9-way
Drive
socket
Function
SBC
Plug
Terminal
box
Table 13: Signal cable from resolver for SEM and SBC
5.5
Drive feedback (1 volt p-p)
The 1 volt peeak-to-peak feedback is connected via the 26 way MDR socket, labelled
FEEDBACK. The pin connections to this are shown below:.
26-way
Pin no.
Signal
26-way
Pin no.
Signal
1
THERMOSTAT -
2
THERMOSTAT+
3
4
+ SIN
5
6
- SIN
7
8
+ COS
9
10
- COS
11
12
SCREEN
13
14
5v FB output
15
16
0 volts output
17
....
Table 14: 1 volt p-p connections for 26 way MDR socket
This is adequate for a sensor with 1 cycle per electrical revolution (equal values in P402
and P504). For higher resolution, a further sensor is needed to give commutation
reference: this must be processed in special program logic: consult Quin for advice.
Page 39
5.6
Issue 6
Drive feedback (Hiperface)
The Hiperface sensor is connected via the 26 way MDR type socket FEEDBACK, as
can also be used for the resolver. The pin connections to this are shown below. The 10V
power for the Hiperface sensor is generated by the QDrive and output to the sensor.
Pin no.
Pin no.
Signal
2
THERMOSTAT2
3
4
+SIN
5
6
REFSIN
7
8
+COS
9
10
REFCOS
11
12
SCREEN
13
14
15
16
0 volts output
17
18
10V FB output
19
20
DATA+
21
22
DATA-
23
24
25
26
1
Signal
THERMOSTAT1
Table 15: Hiperface sensor connections
The normal use of twisted pairs and screen connections are shown in figure 16:
Drive
Feedback connector
22
20
Motor
Feedback connector
Green
Grey
13
3
White
Brown
1
2
Pink
Black
11
12
Yellow
Violet
8
9
Blue
Red
7
10
SinCos
4
6
8
10
2
1
16
18
12
Motor
thermostat
Screen
26 way MDR plug
Example: SEM Motor
Figure 16. Hiperface cable connections
Page 40
Issue 6
Note that the above scheme relies on a good connector shell contact for screen
continuity. Where this cannot be guaranteed, a separate screen tail will be needed as
shown in figure 17:
Drive
Feedback connector
22
20
4
6
8
10
2
1
16
18
12
Motor
Feedback connector
Green
Grey
A
G
White
Brown
F
E
Pink
Black
D
C
Yellow
Violet
K
J
Blue
Red
B
H
SinCos
Motor
thermostat
Faston earth tab
Screen
Example: SBC Motor
26 way MDR plug
Figure 17. Alternative earth connection
5.7
Drive feedback (EnDat)
The EnDat sensor is connected via the 26 way MDR socket FEEDBACK, using mostly
the same pins as for Hiperface. The pin connections to this are shown below. The 5V
power for the EnDat sensor is generated by the QDrive and output to the sensor.
Pin no.
Pin no.
Signal
2
THERMOSTAT2
3
4
+SIN, A
5
6
REFSIN, /A
7
8
+COS, B
9
10
REFCOS, /B
11
12
SCREEN
13
14
5V FB output
15
16
0 volts output
17
18
19
20
DATA+
21
22
DATA-
23
24
CLOCK+
25
26
CLOCK-
1
Signal
THERMOSTAT1
Table 16: EnDat sensor connections
Similar use of twisted pairs and screen connections is necessary
Page 41
5.8
Issue 6
Drive Feedback (UVW + encoder)
This again uses the 26-way connector, for the feedback encoder, Hall sensors and
thermal sensor.
Pin no.
Signal
Pin no.
Signal
THERMOSTAT+
1
THERMOSTAT-
2
3
U
4
5
U\
6
7
V
8
9
V\
10
11
12
0 volts
13
14
5V FB output
0 volts output
15
Encoder A
16
17
Encoder A\
18
19
Encoder B
20
21
Encoder B\
22
23
Encoder Z
24
W
25
Encoder Z\
26
W\
Table 17: UVW and Encoder connections
Detail connections will depend on sensor type: one example given in appendix C has Z
forced to ‘off’ and TTL-level UVW (QDV-3-2-012).
5.9
Port A: RS232 Setup/programming
The drive setup and programming serial port uses a 9 way D type plug. This is used for
configuring the drive at the factory, and for entering the user control program
(standalone QDrives, not SERVOnet - as these are programmed via the QManager).
The pin connections to this are shown below.
Pin no.
Signal
1
Pin no.
Signal
6
2
RXD
7
RTS
3
TXD
8
CTS
4
5
9
GND
Table 18: Drive setup connections
The standard cable includes earth tails, these should be connected before the signal
plugs to ensure any static charge on a portable PC is safely discharged.
Page 42
Issue 6
5.10
Analogue input/Standby supply/Drive status connector
The 50-way MDR connector PORT B/ANALOGUE carries an assortment of signals.
They are defined in the next 3 sections.
This section covers:
•
18/36Vext: connection for 24 volt ‘backup’ power to maintain motion and drive
controllers without a.c. power; normally required for motion control as position
and user program are maintained whilst machine guards are open (for example).
This may alternatively connect via the Digital I/O plug.
•
/T_En: low-level drive enable signal: can be wired to ground, to bypass the
check for I/O power which is implicit in using the jumpers on the Digital I/O
plug. Allows the software to control drive.
•
ANALOGUE IN1+, IN1-: analogue input, can be used for tension control for
example (-10V to +10V, 16kΩ). Also ANALOGUE IN2+, IN2-, auxilliary
input, the value of which is available as a parameter (on the 2nd channel) for use
by the user program.
•
DAC1, DAC2: analogue output; DAC1 mirrors the speed demand, and DAC2
can be used for inverter speed setting, for example (0V to +10V, 8kΩ typical
load).
Connections for this part of the 50 way MDR type socket are shown below. This
includes the analogue input and standby supply.
Pin no.
Signal
Pin no.
Signal
1
/T_En
14
2
GND
15
3
ANALOGUE IN1+
16
4
GND
17
5
ANALOGUE IN1–
18
6
GND
19
7
ANALOGUE IN2+
20
8
GND
21
9
ANALOGUE IN2–
22
10
DAC1
23
11
DAC2
24
GND
25
18/36VEXT
....
......
12
13
GND
Table 19: Analogue I/O and standby supply connections
Detail on connections; see figure 18 on page 44 for example wiring schematic:
Page 43
•
Issue 6
.
50
25
+24V pw r
0V
D A C 2 - to define speed
+10V
0V
A N . In1+
26
1
/T _E n on pin 1 m ay be
grounded to 0V pin 2
T ension
feedback
-10V
Figure 18. Analogue input/Standby supply/Drive connections
The above figure shows a typical connection for a tension-control potentiometer, giving
±10 volts into analogue input 1+; input 1- is not needed so must be connected to 0 volts.
DAC2 output might be used to set the speed for an invertor master; a digital output
would be used to switch an enable relay for the invertor.
Page 44
Issue 6
5.11
Master Encoder Connection
The connections to this part of the 50 way MDR socket are shown below. An external
encoder may be connected to the QDrive, to act as a master position axis for example.
These encoder signals are buffered and available as link encoder output signals. The 5V
is an ouput from the QDrive to power the encoder. The internal ground pins are linked
within the QDrive.
Pin no.
Signal
Description
.......
......
26
GND
Internal ground
27
A
Link encoder output track A (true)
28
/A
Link encoder output track A (inverted)
29
B
Link encoder output track B (true)
30
/B
Link encoder output track B (inverted)
31
Z
Link encoder output Z marker (true)
32
/Z
Link encoder output Z marker (inverted)
33
GND
Internal ground
34
AI
Encoder input track A (true)
35
/AI
Encoder input track A (inverted)
36
BI
Encoder input track B (true)
37
/BI
Encoder input track B (inverted)
38
ZI
Encoder input Z marker (true)
39
/ZI
Encoder input Z marker (inverted)
40
5VCOD
5V supply for encoder output
41
GND
Internal ground
.....
.....
Table 20: Link encoder and Encoder input connections
Page 45
•
Issue 6
.
from
Encoder
50
25
26
1
0V
+5V
/ZI
.
.
.
AI
0V
/Z
.
.
.
.
A
0V
Link
Output
Figure 19. Master encoder input/output connections
5.12
PTS Serial port B (Modbus/operators panel)
(not applicable when QDrive is used in a SERVOnet system)
The RS-485 serial port for the Operator’s Panel or Modbus interface again uses the 50
way MDR type socket; Modbus may also use RS232.
This table is for RS-485. It also cross-references the QDrive 2 9pin DType wiring; if
converting a cable use this pin cross-reference:
PORT B/
ANALOGUE
pin no.
Signal
QDrive 2
DType pin
number
....
PORT B/
ANALOGUE
pin no.
Signal
QDrive 2
DType pin
number
18
GND
5
14
High Termination
1
19
+Vbias
6
15
TXD (= TxB)
2
20
/TXD (TxA)
7
16
RXD (= RxB)
3
21
/RXD (RxA)
8
17
Low termination
4
.....
Table 21: Serial port B connections for RS-485
Page 46
Issue 6
This table is for RS232:
PORT B/
ANALOGUE
pin no.
Signal
QDrive 2
DType pin
number
15
TXD
7
16
RXD
8
GND
5
17
18
Table 22: Serial port B connections for RS232
This figure gives the connections as seen on the MDR.
50
25
/RXDB or CTS
/T XD B or R T S
0V
RXDB
TX D B
26
1
Figure 20. Port B connections
Page 47
5.13
Issue 6
NET (SERVOnet) connectors
The SERVOnet CANbus high speed network ports use both a 9 way D type plug and
socket. This allows units to be daisy chained together easily with standard cables, while
allowing any unit to be bypassed by linking the two cables together. The pin
connections to these are shown below. Note that this includes additional signals used
for error detection.
Pin no.
Signal
Pin no.
Signal
1
LINK1
6
CAN_GND
2
CAN_L
7
CAN_H
3
CAN_GND
8
CAN_ERR
4
LINK4
9
CAN_V+ (7–13V)
5
CAN_SHLD (screen)
Table 23: SERVOnet (CANbus) connections
The EtherCAT network uses RJ45 sockets, with the right-hand socket being the host
direction, the left socket feeding on to further nodes if any. Refer to the SNoE
(SERVOnet over EtherCAT) User Guide.
EtherCAT cables must be Ethernet standard (not crossover) EIA/TIA 568A CAT 5 or
better, STP (screened).
Page 48
Issue 6
5.14
Digital I/O connectors
The 24V isolated digital input and output signals are accessible at the drive at 36-way
MDR connector labelled I/O. In view of the large number of signals possibly required
on this small-size connector, a breakout unit is available to bring these signals to screw
terminals for access. The user can use either method of connection, but it is not possible
to use a mixture of methods. The pin allocation for both methods of connection are as
follows.
Signal
MDR
pin
Breakout
Row In1:
Signal
MDR
pin
Breakout
Row In2:
Signal
MDR
pin
Breakout
Row
Out1
0 V IO
17
I-
0 V IO
17
I-
0V IO
17
I-
In 1:1
19
1
In 2:1
27
1
Out 1:1
1
1
In 1:2
20
2
In 2:2
28
2
Out 1:2
2
2
In 1:3
21
3
In 2:3
29
3
Out 1:3
3
3
In 1:4
22
4
In 2:4
30
4
Out 1:4
4
4
In 1:5
23
5
In 2:5
31
5
Out 1:5
5
5
In 1:6
24
6
In 2:6
32
6
Out 1:6
6
6
In 1:7
25
7
In 2:7
33
7
Out 1:7
7
7
In 1:8
26
8
In 2:8
34
8
Out 1:8
8
8
+24V IO
18
I+
+24V IO
18
I+
+24V IO
18
I+
Supply-
14
0
Enable
35
E
0V IO
17
I-
Supply+
15
S+
Enable
36
E
Ready
12
R
Table 24: Input/Output connections
Notes:
•
Supply + and Supply - are the 24V backup supply for the QDrive (powers
control and drive logic whilst drive 3phase AC is off).
•
Enable is the drive enable connection.
•
The Ready output can be used as part of a safety circuit if required; it indicates
that the QDrive is booted and operational.
•
All I/O 24V (I+) are internally linked (as are the 0V, I-); input is required to one
pair (to power the I/O); the other pairs can be used as output if required.
•
The +24 volts standby ‘S+’ and its return ‘0’ may be fed in here instead of at the
PORT B/ ANALOGUE 50-way.
•
Plug pins are rated at 1 amp only, thus the total output load must not exceed this.
•
Outputs are current limited, and cut off on overload. To clear, remove I/O
power. Parameter 3102 (Status) bit 11 indicates a cut-off.
Page 49
Issue 6
Breakout panel terminal functions are as follows:
Cables enter into screw terminals
Plan view
I-
1
77mm
I- 1
2 3
6
4
5 6
2 3
2 3
I- 1
4 5
4
5 6
7 8 I+ 0 S+
7 8 I+ E E
7
8 I+
I- R
Jumpers
S1 connects
to QDrive
78.75mm
Sketch of side view
showing cable entry position
I n 1 : In 2 : O u t 1
S1
Figure 21. I/O Breakout unit Connectors
The breakout unit is designed to be attached to G Type or Top Hat DIN Rail, is
78.75 mm wide and 77 mm high. It requires a minimum depth of 100 mm. The
individual I/O wires enter from the top of the above plan view; into screw terminal
connectors. S1 is an MDR connector, the necessary cable for connecting to the QDrive
can be supplied by Quin Systems.
Page 50
Issue 6
There is a safety interlock required to enable the drive. For motion, either /T_En must
be connected to 0 volts (fig 14), or the ‘Enable’ terminals on the I/O connector must be
fed with 24 volts. Also the interlock should preferably not be fed at power-on. The
simplest method is to connect the Rdy signal output back into the opto-coupled Enable
input, with the jumpers shown on the diagram above: this provides a check also that the
I/O power is on. Where further logic/safety conditions need to be covered, OMIT the
two links shown above on J1 and wire the user interlock in the circuit as shown below.
R eady
‘R ’(=24V, I+)
12
U ser
G uard/safety
interlock
Breakout unit
or X IO plug
E nable 36 (E)
E nable
35 (E)
17
0V I/O (I-)
Figure 22. ‘Drive Enable’ safety interlock
The input opto-coupler is bipolar.
As a minimum, the /T_En signal (on PORT B/ANALOGUE) may be connected to its
adjacent 0V pin. Do not wire external logic to the PORT B/ANALOGUE /T_En signal,
but use the opto-coupled ‘Enable’ inputs as described above.
Page 51
Issue 6
Inputs 1 2 3 and 4 can be programmed for a fast response, and are used for referencing
or position snapshot functions. Both inputs and outputs are provided with LED
indicators to aid diagnostics, these are shown in figure 23.
1
2
3
In 1: 4
5
6
7
8
1
2
3
In 2: 4
5
6
7
8
36
18
19
1
2
3
4 O ut 1:
5
6
7
8
R eady
1
I/O err
Figure 23. I/O Connector and LED indicators
The Ready LED indicates that the QDrive has booted and is operational.
The I/O error indicates that the outputs are overloaded (current overload) and no longer
functioning (I/O 24v power cycle required to clear).
Page 52
Issue 6
This diagram shows typical circuits for the digital input and output lines on the motion
control module fitted in the QDrive, with the indicator LEDs on the front panel
connector board shown as well.
+24V
Input 1
PNP sensor
0V
0V I/O
Fast Input circuit
World .. Qdrive 3
+24V
Input 2:1
Pushbutton
0V
0V I/O
Standard Input circuit
Qdrive 3.. World
+24V I/O
+24V
Output 1
Load
0V I/O
0V
Output circuit
Figure 24. Input and output circuits
* Note the commutating diode local to the output load. This is important for avoiding
interference from inductive loads: do not rely on the small protection diode in the
QDrive 3.
Further input/output may be provided with a range of CANopen modules: the suppliers’
handbooks define their interfaces. Refer to the SERVOnet manual (MAN529) appendix
for more on the configuration and connection of these modules to the SERVOnet
(CANbus) network. Equivalent EtherCAT support will follow.
Page 53
5.15
Issue 6
Typical installation
The following diagram shows typical connections used with the QDrive acting as a
complete motion control package for a single motor.
VT50
Operator’s
Panel
RS-232 serial link
RS-485
D.C.
power
supply
Master
encoder
Link encoder
output
+12V for
CANbus
Analogue input
(optional) for
tension feedback
E
CANbus to
other nodes
or devices
Transformer *
415V 3 phase
N
L1
L2
L3
MCB
+24V I/O
+24V
standby
Digital inputs
Digital outputs
Contactor
Voltage
Monitor
Safety
or
guard relay
Breakout
Panel
Motor
Resolver
* Note that transformer is required for 230V,
but is not necessary for 400V drives.
Photocell or proximity
Figure 25. QDrive operating as a complete motion control solution
Notes on earthing:•
The safety earth must be taken to the screw terminal next to the mains input.
•
We recommend a second earth for EMC purposes, achieved by using a spring
washer under the head of the fixing screws in the lower holes.
•
Do not tie the mains supply or motor power cables together with any low
voltage signal cables, or run them close together in a conduit or cable duct.
Page 54
Issue 6
•
Connect cable screens as per the drawings in the appendix C.
•
Note that the 24V power supply input is not isolated, and an earth connection
should be made at the 0 volts (negative side) of the power supply. This avoids
the internal paths of the QDrive 3 having to provide the earth connection for the
power supplies.
The signal connections required for a typical QDrive SERVOnet (CANbus) installation
are shown in the following diagram.
Quin
QManager
Operator’s Panel
RS-485
RS-232 serial link
+12V for
CANbus
+24V
SERVOnet
(CANbus)
+24V
D.C.
power
supply
Motor
Feedback
Sensor
+12V
+24V
+24V
standby
+24V I/O
Digital inputs Digital outputs
Master
encoder
Link encoder
output
Breakout
Panel
Analogue input
(optional) for
tension feedback
CANbus to
other nodes
or devices
Photocell or proximity
Figure 26. QDrive SERVOnet connections
Page 55
6.
Issue 6
Safety - Using Guards and Limits
All machines should include comprehensive safety features. This is essential both for
normal safety considerations, and to comply with Health and Safety requirements. It
can also prevent any unwanted interference with the machine while it is running.
All moving machinery must be guarded so that it cannot be reached by anybody while
in motion. The guards should be fitted with guard switches or sensors, connected so as
to immediately cut power from the motors when any guard is opened. On some
machines, it may be useful to lock the guards closed by means of a solenoid to prevent
them from being opened while the machine is running. This allows the machine to
detect any attempt to open a guard and shut down the machine cleanly before unlocking
the guard and allowing it to open.
Motors which have constraints or limits on their range of motion should be fitted with
hard wired limit switches. These should cut power from the motors if any motor goes
outside its limits of travel. The machine must also have one or more locking emergency
stop pushbutton switches, accessible from several positions around the machine.
Anyone operating or working on the machine must be able to instantly stop the machine
at any time by hitting an emergency stop switch.
Guards, emergency stop and limit switches may be connected into the PTS motor
control systems, by using the digital input lines. However, the programmable input
functions on the PTS unit should only be used in addition to the conventional hard
wired guard and limit switches, not to replace them. The digital inputs can be used to
trigger a smooth shutdown sequence, or to generate a limit switch error and shut down
immediately. The control system can then remove power from the motors and drives if
required, under software control, by using a digital output line to switch the motor
supply contactors. In all installations the limit switches and guard switches MUST
remove all electrical power from the motors and drives, independently of any
action of the control system.
Note that in most cases, it is not necessary to remove power from the control system,
only from all the high power equipment. If power to the control system and encoders
can be maintained even when the motors and drives are shut down, then the system does
not lose any position information. This can allow the machine to start up again much
more quickly than if the control system is powered off as well, since the machine does
not need to execute a complete initialization before it can be restarted.
For more information on programming the QDrive 3 for limit switch inputs and user
defined functions, please refer to the descriptions of the DL and DI commands in the
Input/Output Configuration section of the PTS Reference Manual.
Page 56
Issue 6
7.
Motors
7.1
a.c. brushless servo motor
Brushless motors combine the best features of both d.c. and a.c. motors. They have high
torque at all speeds, in some cases right up to the maximum speed of the motor. They
have no brushes, giving improved reliability and lower maintenance than a brushed
motor, and they do not suffer from the commutation limiting effects at high speeds and
torques. They have a very high intermittent overdrive capability, up to as much as ten
times the continuous rating for short periods. This is very useful in applications such as
indexing, where the motor starts and stops very rapidly, but is not running continuously.
They dissipate excess heat very quickly, because the motor windings are in the static
outer case of the motor, not on the armature. This means they can run continuously at
high power levels without overheating internally. All these factors combine to make
brushless motors ideally suited for use in servo control systems. The diagram below
shows a typical torque-speed curve for a brushless motor.
Speed (r.p.m.)
2000
High current drive
1500
Continuous
1000
500
Torque
(% of continuous rating)
0
0
100
200
300
400
Figure 27. Torque-speed curve for a brushless motor.
Note that the QDrive 3 systems are designed specifically for use with this type of a.c.
brushless servo motor.
7.2
Choosing a motor
The choice of motor for a particular application depends on several factors. Some of
these are given below.
•
Maximum torque required.
•
Continuous torque required (r.m.s.).
Page 57
Issue 6
•
Maximum motor shaft speed.
•
Maximum acceleration rate.
The torque is the turning effort required from the motor in order to accelerate the
mechanical load or system at the desired rate. It is usually measured in Newton metres
(Nm), gramme centimetres (gcm), pound feet (lb ft) or ounce inches (oz in). In order to
calculate the torque required from the motor, it is necessary to find out the following
information about the mechanical system.
•
The reflected total inertia of the system or load, at the motor shaft.
•
The reflected total friction of the load.
•
The internal motor inertia and friction.
•
The maximum acceleration rate of the motor.
•
Any gear or pulley ratios in the mechanical system.
For example, consider a motor driving a load via a belt and pulleys. The total torque
required from the motor is given by:
2
D 2
d θ D1
+ -F L + F M
T =   ------1 I L + I M
  D 2
 d t 2 ----D2
where T
D1
D2
IL
IM
= total motor torque required
= diameter of motor pulley
= diameter of load pulley
= inertia of load
= inertia of motor
2
dθ
dt
2
= acceleration at motor shaft
FL = friction torque of load
FM = friction of motor.
In most cases, the inertia and friction can be assumed constant, unless the system has a
changing load. In this case the maximum possible load should be used in the
calculations. The required velocity profile of the motor should be sketched out by
plotting motor velocity against time. The slope of this gives the motor acceleration, and
thus the maximum required acceleration can be found from the steepest slope on the
graph. This acceleration value can then be substituted in the torque equation for a given
motor to see if the motor is powerful enough to do the job.
Page 58
Issue 6
This can be repeated along the velocity-time plot for all accelerations to give a graph of
torque against time. This can be used to find the average or r.m.s. continuous torque
required by the system. Servo motors are often specified with both a continuous and a
peak torque rating, and they should be chosen such that the torque requirement of the
machine is well within the capacity of the motor. Care must also be taken to ensure that
the maximum speed of the motor is not exceeded.
Note that if too large a motor is selected, the motor inertia is higher than for a smaller
motor. This affects the maximum acceleration that the motor produces. It is not always
the largest or most powerful motor that accelerates the load at the quickest rate. Also
note that maximum power transfer from the motor into the load is obtained if the motor
inertia and load inertia are similar.
The ideal motor should have as high a torque to inertia ratio as possible. Pancake or
printed armature motors are often used because they have low rotor inertias. This is also
another advantage of brushless motors, in that they have low rotor inertias. This is
because the rotor often does not have any electrical windings but consists simply of a
permanent magnet on a shaft.
7.3
Mounting the motor
The motor must be mounted rigidly to the structure of the machine or to a solid floor.
If it is not mounted securely, it may vibrate or oscillate when the motor is powered up
and the position or velocity control loops closed. The motor exerts as much torque on
its mountings as it does on the load. If the mountings are flexible, they may form a
resonant system, with the motor supplying plenty of power to sustain severe
oscillations.
7.4
Connecting the motor to the load
The motor shaft must be connected securely to the load. This may be by means of a
drive shaft, a toothed belt and pulleys, or by a gearbox. In all cases the coupling
between the motor and the load must be as stiff as possible, and must have minimum
backlash. At the same time, care must be taken to avoid adding any unnecessary friction
into the system, as this reduces the performance of the servo system.
A common problem when connecting the motor to its load is backlash. This is usually
found in gearboxes, where the input gear is allowed to move by a small amount between
the teeth of the output gear, while the output gear is stationary. A similar effect is seen
if the motor mountings are loose or sloppy, or if the coupling between motor and load
is too flexible. The effect of backlash is not just a loss of position accuracy, but may in
extreme cases result in a highly unstable system. All possible precautions must be taken
to minimise or eliminate backlash in the system.
Page 59
Issue 6
8.
Using an additional Encoder
8.1
Introduction
The QDrive 3 uses a resolver or similar sensor mounted on the servo motor to provide
position feedback to the drive for commutation and motion control purposes.
Additionally QDrives have the option to connect an external incremental quadrature
encoder as a second master axis, as used in following applications. A second option is
to use a CANopen encoder; using the SERVOnet (CANbus) interface.
8.1.1
Incremental or quadrature encoders
Incremental encoders are readily available from 100 to 10000 counts per turn, and
hardware multiplication of the encoder signals can increase this. There are also now
available incremental encoders using semiconductor lasers and interferometric
techniques that give 81,000 counts per turn as standard, and up to 16 times this with
hardware interpolation (1,296,000 counts per turn).
8.1.2
CANopen encoders
The CANbus QDrive 3 has provision for using CANopen compatible absolute
encoders. These are single or multiturn absolute encoders with a CANbus interface,
having a software protocol that conforms to the CANopen encoder profile. They have
typically 12 bits of position data per turn (4096 counts), and often have up to 12 bits of
turns count data (4096 turns) available as well. The data from the encoder is returned
in a CANopen message, when requested by the axis card or in response to a regular
clock tick message. This avoids the cabling problems of parallel absolute encoders,
while giving absolute position information at all times.
The wiring of this is shown in Appendix C, drawing QDV-2-2-007, and further
information is given in the SERVOnet manual MAN529. The interface is to CiA (CAN
in Automation) specification DS406.
8.2
Configuring a QDrive to use a second encoder
This section details the steps required to use an addtional encoder with a QDrive.
8.2.1
Incremental encoder
•
Connect the encoder as per Table 20: on page 45.
•
Via PTS Terminal; select the second channel on the QDrive, ensure PTS
parameters FS0, FC0, VM0 and then type DM, rotate encoder and see data
changing. Type DO to stop display.
•
Or using QLC terminal, select the channel, show position with DP, rotate, and
show again.
Page 60
Issue 6
8.2.2
CANopen encoder
•
CANopen encoder must have a node number set - refer to documentation with
encoder. This node number must be the same as the QDrive
SERVOnet/SynchroLink node.
•
For a SERVOnet system, for use as a master axis, set CW bit 0 and smooth with
VT2 (QLC: parameters cntlopts and setvtime).
•
For a single QDrive: CANbus power (12V d.c.) must be connected, a node
number (PTS parameter CN) - same as the encoder, and a clock signal (PTS
command CK2 for 1mS clock).
•
On the second channel on the QDrive set PTS parameters FS and NB to the
required value for the encoder selected (QLC Q_EncOpts and Q_EncDataBits).
•
Via PTS Terminal; select the second channel on the QDrive, ensure PTS
parameters FC0, VM0 and then type DM, rotate encoder and see data changing.
Type DO to stop display.
•
OR using QLC terminal, select the channel, show position with DP, rotate, and
show again.
8.3
PTS Parameters FS, FC for encoder channel swapping
It is possible to override the default configuration of a PTS QDrive using the FC and
FS commands.
8.3.1
Default configuration
Each PTS channel has FS0 and FC0 set. This means default feedback source. Hence
QDrive PTS channel 1 - the motor, the feedback will be the resolver/Hiperface. The
second PTS channel on the QDrive will be the encoder.
8.3.2
CANopen configuration
Set FS on the second PTS channel to the appropriate value (e.g. FS9 for a CANopen
relative encoder). The encoder plug pins on the QDrive will not be in use.
8.3.3
Advanced configurations
The PTS parameter FC allows for more complex configurations; some examples of
which are detailed here. Note: these may not have any relevance in terms of controlling
a machine.
Using a CANopen encoder for motor position control: CH1/FS9.
Duplicating the motor feedback to channel 2: CH1/FC0/FS0/CH2/FC1/FS0.
CANopen and motor feedback, swapping channels: CH1/FC2/FS0/CH2/FC1/FS9.
Page 61
Issue 6
9.
Setting Up a QDrive
9.1
Introduction
This section presents a step by step approach to installation, testing and initial
configuration of a QDrive.
Please read section 11., on page 79 which details using the PC setup software required
for a QDrive.
Once these checks and configuration have been completed it is possible to tune the
motor; as is detailed in the next section.
DO NOT SWITCH ON
Before switching on a QDrive a certain number of checks are sensible:
1.
Earth (ground) - is the unit correctly and securely earthed electrically?
2.
Cables constructed carefully? - look for signs of damage. Particularly check
motor and 3 phase screw connections on QDrive as these can become loose
during assembly.
3.
E-stop circuits in place? Never operate a QDrive on a machine without safety
systems. If testing a QDrive on a bench make sure any cabling is neat and there
is easy access to the 3 phase isolator.
4.
Free of debris? The QDrive has an integral fan - make sure the cabinet is clean
and there is sufficient clearance for cooling air to circulate.
5.
Reverse wiring? Check any d.c. power inputs for reverse wiring. The best way
to do this is disconnect all plugs, turn d.c. supply on and then test relevant pins
with a multimeter or similar.
6.
If using the 24 volts hold-up (backup) power supply please check how many
QDrives are attached to this. Low voltage from the power supply on this signal
can cause "odd" problems such as QDrive parameter corruption.
The following scheme of installation testing assumes the operator has knowledge of
PTS Toolkit 2000 and basic PTS training.
9.2
Check 1: Unit switches on
Follow this four step procedure to check whether the QDrive switches on:
1.
Connect PTS serial crossover cable (CBA-140) to port A on QDrive. Connect to
PC, start PC (Windows) and use PTS Toolkit 2000 - PTS Terminal.. Cancel
detection of PTS when PTS Terminal connects.
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2.
Turn on 24V backup power supply to QDrive. DO NOT USE 3 PHASE AC at
this stage if at all possible. [Try not to turn on any other d.c. power - disconnect
plugs if necessary]
3.
Observe the numerical display on QDrive - it should briefly display a 6 or 7, then
either a 0 or cycle a display N 0 1 or similar; if not see Table 25: on page 63
below.
4.
Look at the PC and check start up messages. If the unit is "standalone" (i.e. an
independent PTS system) then you should get a PTS prompt:
QDrive Series 3 Version 2.4
Copyright 2006 Quin Systems Ltd
Motor1 found
Motor2 found
1:
and be able to type VN. If the unit is configured for SERVOnet then you will get the
SERVOnet banner:
Axis Module (Q-Drive SERVOnet) Version 2.4
If there is no response from the unit, or the messages are garbled, then check the
connections between the terminal and the system, and also check that the serial data
format on the terminal is set to eight data bits, one stop bit, no parity and 9600 baud. If
there is still no response from the system on power-up, the serial data signals should be
checked with a data analyser or an oscilloscope, to verify whether the system is actually
sending any characters out.
9.2.1
Symbols seen on the 7 segment display
The single-digit 7 segment display conveys a lot of information; use the following table
to understand what each symbol means:
Display
Meaning in normal use )
0
A PTS system in "motor off”
1
A PTS system in velocity
control mode
2
A PTS system performing a
move
3
A PTS system following a
profile
4
A PTS system in mapping
5
A PTS system decelerating
to a stop
Meaning when system fails to work
drive speed control firmware not
starting PTS motion control firmware
Table 25: QDrive 7 segment display codes
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Display
Meaning in normal use )
Issue 6
Meaning when system fails to work
6
A PTS system initialising
(no a.c. power to drive, or drive fault)
7
Not used
(no a.c. power to drive)
8
Not used
9
A PTS system waiting
(e.g. WI command)
A
position alignment
C
position clutch
E01
A PTS error [two digit error
code] (refer to appendix B)
F
System fault on PTS board
(very rare - check alternative
meaning first)
L
Limit switch detected.
P
A PTS holding position
X
A PTS following as mapped
N01
SERVOnet node with
address 1 and fixed (preset)
node number
n01
SERVOnet node with
address 1 and temporary
node number
0 1 2…
SERVOnet node number clash - two
nodes (modules) with the same
number on the same SERVOnet
Cycling 0 1 2 3 4 5 6 7 8 9 A b C d E F
- drive speed card firmware damaged please refer to Quin
Table 25: QDrive 7 segment display codes
This table lists the symbols you would expect to see on a properly configured and
functioning QDrive as it is used. The "system fails" column tries to explain what might
be seen if the QDrive is not working. As some symbols duplicate you need to use some
logic.
Network fault indications are different on the EtherCAT network - see the SNoE
(SERVOnet over EtherCAT) User Guide.
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9.2.2
QDrive error messages and fault finding
The following table lists error messages that can be generated by a QDrive and may be
seen at PTS Terminal or using QDrive Manager; and typically have an entry in
parameter 3101:
Fault message
Possible causes and remedies
Drive under/over voltage
Check 3-phase supply voltage.
If latched, power-cycle to clear.
Drive power module fault
IGBT power module has failed (if permanent error)
(cable damage?)
Wiring problem in motor power cable (intermittent
fault)
IGBT overheat (poor drive tuning).
Possibly needs power-cycle to clear.
Drive over temperature
Drive heat-sink over 80ºC: check drive cooling (fan,
cabinet volume, cabinet fan). Check dynamic braking
cumulative power and burst energy is below specified
figures.
Drive I2t limit exceeded
Check load calculations for required movement cycle.
Check parameter settings: I2t setting, resolver shift
angle, drive tuning.
Drive resolver fault
Resolver cable break or short.
Plug connection.
Resolver wrong type or ratio.
Resolver failure.
Hiperface feedback: as above
Drive overspeed error
Exceeded parameter 0406.
Drive motor link fault
Motor power cable break.
Drive motor thermostat
Motor overheat.
Motor sensor failure.
Polarity parameter 0403 set wrong
Drive enable feedback fail
External interlock En not made or powered.
Drive firmware not OK
Drive DSP firmware update failed.
Drive parameters not OK
Drive DSP parameter checksum fail.
Table 26: QDrive error messages and fault finding
9.2.3
Using a QDrive with SERVOnet
A SERVOnet axis module requires to be part of a SERVOnet system to continue the
remainder of this section.
Connect the SERVOnet cables between the QDrive(s) and the QManager. These need
careful checking for voltage wiring etc. Also the node (module) number needs setting
correctly via serial port A on each QDrive, or using the node switch (see section 5.1, on
page 32).
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Once this has been successfully completed and everything turned on then connect the
PC via CBA-139 (Note: a different cable) to port A on the QManager, or connect on
Ethernet. Continue with this section.
9.3
Configuration 1: Some important settings
There are many configuration parameters for the drive speed control inside a QDrive;
some of these are not to be changed as doing so can stop the unit working. Here is a list
of these parameters. Please do not change these from this recommended list; and if the
drive does not work properly please check against this list. Note that the parameter
identification is shown as selected with the QS or QP command: 2 digits group then 2
digits parameter number in group.
•
Parameter 0002 - default string AUTO for QDrive with PTS motion control
•
Parameter 0601 - default 0
•
Parameter 0701 - default 2 for QDrive with PTS motion control
•
Parameter 0708 - default 0
In addition, certain parameters are factory set to define the drive size/type, and must not
be changed as they would cause damage:
•
Parameter 0103 - Drive mains voltage, 230 or 400
•
Parameter 0104 - Drive nominal current (taken from 3003)
•
Parameter 0105 - Drive maximum current (taken from 3004)
•
Parameters 0129 and 0131 are derived from group 30 by the firmware
To read these settings you need to use QDrive Manager, main parameters screen, refer
to section 11.3, on page 81; alternatively use PTS/QLC Terminal with QQ command.
9.4
Check 2: Factory configuration and feedback sensor
Follow this procedure to check the motor feedback:
1.
In PTS Terminal make sure the PC s/w is "PTS aware" - this can be done by
disconnecting and then reconnecting in PTS Terminal, or using the
"update/upgrade" option from the file or help menu.
2.
Start QDrive Manager PC software. Choose to connect via PTS Terminal, and
then select the appropriate PTS channel number (probably 1 unless you are
dealing with a SERVOnet system)
3.
Or start QLC Drive Manager PC software.Choose to connect with the Ethernet IP
number, and then select the appropriate PTS channel number.
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It is possible for QDrive Manager to take a while to upload details for a new version,
and make a new "XML" file at this point. These files contain information about the
QDrive and there is one file for each version of firmware parameters of the QDrive.
4.
Once connection is established you should see the "Parameters" screen of QDrive
Manager. Expand Group 30 and compare details with what you were expecting:
? Serial number is the amplifier sub assembly serial number
? Check 230V or 415V, and make sure current is as expected.
5.
It is sensible to record this information as part of the cabinet documentation.
6.
Expand group 31: are the value readouts sensible?
? Temperature - should be room temperature
? Speed and current should be around 0!
? Motor position should be stable.
If the motor position and speed are rubbish then this implies that the resolver/hiperface
unit is not connected or configured properly. Check, and if necessary correct and save,
group 5 parameter 1. Turn off 24V power; check wiring and installation of this device,
and turn 24V power back on [rebooting SERVOnet if necessary].
7.
Check status and alarm values (Group 31 parameters 2 and 1).
? 3 phase power should be off so there will be a DC bus fault
? any other faults are worrying - check motor cable if necessary
? A power module fault might clear itself once 3 phase is turned on - but note this
down if you see it here.
8.
Now rotate motor by hand and observe the position readout on the PC. Make sure
this is stable and sensible.
9.5
Configuration 2: Motor settings
Before the a.c. mains can be turned on it is sensible to configure the QDrive with the
motor settings:
1.
On the motor features group of QDrive Manager correctly enter the PAIRS of
motor poles, the limits for current, speed, I2t, etc. Also configure any motor
options. When asked to save parameters, it is wise to do so.
2.
On the input/output group choose relevant options such as limit inputs.
9.6
Check 3: a.c. power
Return to status page of QDrive Manager. Ensuring that it is safe to turn 3 phase power
on, do so.
Check status and alarm values of group 31- these should now reflect the presence of the
ac power.
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9.7
Issue 6
Configuration 3: Resolver/Hiperface settings
Select the Actions menu of QDrive Manager. Choose "Detect shift angle". Make sure
you can Estop motor quickly if necessary! Allow the test to be conducted.
For Quin supplied motors and cables please contact Quin if unsure of the shift angle.
If shift angle test fails try swapping two motor wires (say U and V) and try again. There
are a number of possible configurations of the motor cable if the motor plug was not
labelled correctly…
If shift angle detects either 120 or 240 degrees then try shifting all motor wires along
one, ie. U into V, V into W, W into U. Test again.
Resolver shift angle detect can fail if tuning gains are incorrect - this can happen for
"unusual" combinations of motor/amplifiers. In this case set shift angle to zero and
proceed with motor tuning - carefully observing results. Keep returning and testing
shift angle. Standard resolver wiring drawings give the expected shift angle; standard
Hiperface motors are shipped set to zero or can be zeroed here. Single-cycle 1 volt p-p
functions like a resolver.
UVW/encoder feedback determines its own shift angle at power-up, making use of the
UVW cycle sequence as set up.
9.8
Check 4: Other external connections
9.8.1
Master Encoder
Ensure that the shaft encoder is connected to the inputs of the QDrive 3, and that the
motor power is switched off.
For a single QDrive: Type “CH2/FC0/FS0/VM0” on the keyboard, and press
Return, this string of PTS commands ensures the encoder is being received on this
channel, and no other settings are present.
For a SERVOnet system; determine the appropriate PTS channel, and then use the
string of PTS commands above, changing the channel number as appropriate.
For a PTS system, type “DM” on the keyboard, and press Return. The system should
start displaying data continuously, giving the demand position, measured position, and
position error information. For a QLC, use successive DP commands.
The measured position data in the second column of data gives the current position, in
encoder counts, of the encoder shaft. Turn the shaft by hand, and the displayed position
data should change, showing that the system has measured the change in position of the
shaft.
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If the encoder position counts up and down by only one count, then one of the two
phases of the encoder signals is not being detected. If the encoder position value does
not change at all, then either both phase signals are missing, the encoder power supply
is missing or off, or the light source in the encoder is faulty. If the position tends to
count either up or down whichever direction the shaft is turned, then the track A and B
signals are mixed up with their complementary signals, such that instead of the system
receiving two signals in quadrature, it always receives two signals in opposite phase
regardless of the shaft direction. These problems can be confirmed by monitoring the
encoder signals with an oscilloscope.
Parameter 1131 shows the A B and Z signals; a value >7 is a signal level error.
9.8.2
Digital signals
Equipment required:
Multimeter or DVM.
Connecting wire or pushbutton switch.
External power supply.
The digital signals may be checked using the multimeter in conjunction with the manual
input and output commands. Set the external power supply to the voltage required by
the digital inputs, usually +24V d.c. Begin with all input and output lines disconnected
from the external system. Type “RI<Return>” and check that all inputs are shown
with a ‘0’. Connect the external power supply to each input line in turn, and use the
RI command to verify the operation of each line. For the second bank of 8 inputs, type
“RI2:<Return>” and check similarly.
QLC Terminal needs ‘RI1:’ or ‘RI2:’ to view sets of inputs.
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Connect the external power supply to the +24V and 0V I/O connections. Connect the
multimeter in turn to each output line, and using the SO set output and CO clear output
commands, check the operation of the line (SO, CO also apply with QLC Terminal).
The SO command turns on the output optical isolator, pulling the output signal up to
+24V, and the CO command turns the output isolator off.
World
Drive
Input circuit
+24V
0V
Input 1
0V I/O
Drive
World
Output circuit
+24V I/O
+24V
Output 1
V
0V I/O
Meter
0V
Figure 28. Testing the digital signals.
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10.
Motor tuning
10.1
Introduction
The QDrive contains three control loops which can be tuned to achieve the desired
performance from the motor:
•
current control; this is part of the drive controller
•
speed control; this is part of the drive controller
•
position control; this is part of the motion controller
Tuning the drive should initially be performed with the motor dismounted from the
machine. Once a reasonably tuned system has been reached then remount the motor and
fine tune the control loops to adjust for the mechanics of the system.
10.2
Current loop tuning (drive controller)
The QDrive uses a digital PID loop to control the motor current
N
U
c
= KPI × i
e [N ]
+ KII ×
∑
(i
i
–i
e[ N] e [ N – 1]
× ∆T ) + KDI × ------------------------------------------e [j ]
∆T
j=0
where
KPI
KII
KDI
ie[N]
Uc
= proportional gain constant
= integral gain constant
= differential gain constant
= error in current (desired - actual)
= output to used to drive PWM calculations
Using QDrive Manager Scope the current loop can be tuned graphically. Use the
QDrive Manager software or PTS Terminal to initially set:
•
KPI current loop (parameter 0602) to 500.
•
KII current loop (parameter 0603) to 50.
•
KDI current loop (parameter 0604) to 0.
•
Feed-forward current loop (parameter 0605) to 0 (this is a future feature).
From QDrive Manager, select ‘Actions’, ‘Scope’; then from the ‘scope, select Motor
Stimulus. Choose ‘Current’ type stimulus and set the following:
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•
Resolver shift angle (parameter 0502) to +90° of correct setting. Due to the
resolver shift angle being set +90° from correct position the motor will not
move during this tuning exercise. This offset is automatic if selected and
user intervention or check can cause its automatic restore to fail.
•
The motor stimulus to produce a repeating, unipolar current demand of quarter
of the setting for max. rated current, and a time of tx=30ms, T=2000ms. The
short time for the current pulse is important as this stops any damage to the drive
electrics. NOTE: The setting of parameter 0405 (max. current) may limit this.
Do not start a stimulus yet.
In QDrive Manager Scope set traces to display current command (parameter 3106) on
the first channel and instant current (parameter 3107) on the second channel. Set the
display scales to show from -1 amp to +1 amp more than the stimulus requested. Select
timebase 5mS per division, triggered + off trace 1, threshold half the current, trigger
position at 50 samples out of total 360.
Start the Scope, and once it shows ‘Waiting for Trigger’ start the stimulus. Examine the
trace as it appears, and adjust the gain for optimum. Note that traces may take 2
refreshes to show results, due to the capture buffering.
Tuning the current loop will involve increasing each of the control loop gains until a
satisfactory motor/drive performance is reached. The aim of tuning the current loop is
to produce a fast and smooth response with no overshoot (a critically damped first order
response). Too high a gain will cause the motor to buzz or sing, and in extreme cases to
indicate power-module fault. Too low a KPI gain will mean that target speeds cannot
be reached.
First increase KPI until the current loop control response is as follows (though the trace
will have noise on the actual signal):
Current demand
KPI too high
KPI OK
KPI too low
(KII small & KDI zero)
Time
Current loop KPI is typically over 1000.
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Secondly increase KII until the current loop control response is as follows:
1
Current demand
2
1 KII too high
3
2 KII OK
3 KII too low
Time
Current loop KII is typically around 20% of KPI.
For most applications current loop KDI should remain at zero.
Once this tuning has been performed use the Motor Stimulus ‘Stop’ button; this
includes reset of the resolver shift angle P0502 to its original value.
10.3
Speed loop tuning (drive controller)
The QDrive uses a digital PID loop to control the motor speed
N
I
c
= KPV × ω
e [N ]
+ KIV ×
∑
(ω
ωe [N ] – ωe [N – 1 ]
× ∆T ) + KDV × ------------------------------------------------e [j ]
∆T
j=0
where
KPV
KIV
KDV
ωe[N]
Ic
= error in speed (desired - actual)
= calculated demand current, used in the current loop PID equation
Using QDrive Manager Scope the speed loop can be tuned graphically. Use the QDrive
Manager software or PTS Terminal to initially set:
•
KPV speed loop (parameter 0702) to 500
•
KIV speed loop (parameter 0703) to 1
•
KDV speed loop (parameter 0704) to 0
•
Feed-forward speed loop (parameter 0705) to 0 (this is a future feature).
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•
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Max. speed (parameter 0406) to a value determined by the motor and the
application.
From QDrive Manager, select ‘Actions’, ‘Scope’; then from the ‘scope, select Motor
Stimulus. Choose ‘Speed’ type stimulus and set the motor stimulus to produce a
repeating, unipolar speed demand of 300 RPM, ramping at 120000 RPM/sec, and a time
of tx=70ms, T=2000ms.
Do not start a stimulus yet.
In QDrive Manager Scope set traces to display speed command (parameter 3112) on
the first channel and motor speed (parameter 3113) on the second channel. Set the
display scales to show from -100 to +500 RPM. Select timebase 10mS per division,
triggered + off trace 1, threshold 200 RPM, trigger position at 50 samples out of total
360.
Start the Scope, and once it shows ‘Waiting for Trigger’ start the stimulus. Examine the
trace as it appears, and adjust the gain for optimum. Note that traces may take 2
refreshes to show results, due to the capture buffering.
The aim of tuning the speed loop is to achieve a fast and smooth response. It is not
necessary for the demand speed and actual speed of the drive to be the same when in
the steady state (when then actual speed has finished changing), This is because the PTS
position control system automatically compensates for any steady state error.
First increase KPV until the speed loop control response is as follows:
1
Speed demand
2
1 KPV too high
3
2 KPV OK
3 KPV too low
(KIV=1 & KDV zero)
Time
Speed loop KPV will typically be in the thousands.
Secondly set KIV to a very small value (not 0). This is because the speed loop KIV
competes with the PTS position control loop and can produce unsatisfactory results
when set to zero (no position holding at zero speed) or a large value (too much speed
adjustment within the drive). The PTS position control loop will automatically
compensate for any speed errors in the drive.
For most applications KDV should remain at 0. Once this tuning has been performed
use the ’scope to monitor the drive under normal operating conditions to check that all
ranges of stimulus are catered for by your chosen gains.
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10.4
Position loop tuning (motion controller)
The PTS motion controller in the QDrive uses a digital PID loop with additional
feedforward terms to control the motor position. This position loop operates every
1millisecond.
U = KPe i + KI ∑ e i + KD ( e i – e i – 1 ) – KV ( pi – p i – 1 ) + KF ( d i – di – 1 ) + KA ( ui – u i – 1 )
where
KP
KI
KD
KV
KF
KA
ei
= velocity feedback gain constant
= velocity feed-forward gain constant
= acceleration feed-forward gain constant
= position error (= demand position – measured position)
di
= demand position
pi
= measured position
ui
= demand speed to speed loop (di - di-1)
The actual scaling between position error and output, for proportional gain only, is as
follows:
KP 0.925
U = Error × -------- × ------------- RPM
16
4
where KP is the proportional gain term, and Error is the position error, measured in
encoder counts. Note: this is for resolver feedback; Hiperface feedback can add more
gain due to extra resolution per turn.
Use PTS Scope, part of PTS Toolkit 2000 to tune the PTS motion control position loop,
or use QLC Scope to find the gain values for a QLC program.
10.4.1
A simple tuning procedure
Tuning a control system is never easy, especially if it is necessary to wring the last
ounce of performance out of a motor. However, in most cases this simple outline
procedure is a useful starting point for a fuller tuning exercise on a system.
NOTE: This procedure involves trying to set the system into oscillation in order to find
an upper limit on the gain parameters. If this is likely to cause any problems or damage
to the system, or it is impractical for any reason, then this procedure should not be
followed.
•
Use the motor tuning facility of PTS Scope; select the appropriate PTS channel
number.
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•
Set the proportional gain to some low value, say 50, and set all other gain terms
to zero. The default settings for the gain parameters are 100 for KP and 256 for
KF, and zero for all other gain values. At high sensor resolutions these will need
to be reduced. Set the velocity and acceleration with the SV and SA commands
to some suitable low values, depending on the resolution of the feedback.
•
Try executing some simple moves using the ‘signal generator’ built into the
tuning system in PTS scope. The motor should move as instructed. If it moves
as requested but starts to vibrate or oscillate, then the gain is already too high.
Reduce it by halves until the vibration stops. The scope should show something
approximating a trapezoidal or triangular velocity profile for the move.
Velocity
Move forwards
Demand velocity
+
Measured velocity
Time
–
Move backwards
Figure 29. Motor performance for detuned system.
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•
When the motor is following some simple slow move commands correctly, the
next stage is to try some fast moves. This is like giving the system a step
function. Increase the speed and acceleration to larger values, and modify the
‘signal generator’ output as appropriate. Repeat this until the motor is making a
very sudden motion.
Velocity
Move forwards
Demand velocity
+
Measured velocity
Time
–
Move backwards
Figure 30. Motor performance for faster moves.
•
While the system is doing these moves, slowly increase the proportional gain
with the KP command until overshoot or ringing occurs at the end of each move.
This is an indication that the system is beginning to become unstable. It should
be possible to increase the gain to the point where the oscillation is sustained
indefinitely, or decays away slowly. This is the highest usable value of KP
without making the system completely unstable, although it is of no practical
use because of the oscillations.
Velocity
Move forwards
Demand velocity
+
Measured velocity
Time
–
Move backwards
Figure 31. Motor performance with oscillation.
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•
If it is possible to run the machine at constant speed in one direction, then the
KF feed-forward gain may be set up at this point as well. If not, it will have to
be set up during more normal operation of the system. Set the speed to the
desired operating speed of the motor. Increase the value of KF and note that the
position error values should decrease. KF may be increased until the position is
approximately zero, at which point the feed-forward gain is compensating for
the velocity lag present in the system with proportional gain only. The KF value
may be increased further to the point where the motor position is ahead of the
demand position, if required, without any problems.
•
Velocity feedback gain can be added if required with the KV command
(however the equivalent tuning effect can be obtained by tuning the speed loop).
Velocity feedback adds damping into the system, and should begin to reduce the
amplitude of the oscillations. This should be visible on the scope signal.
Continue to increase the value of KV until the oscillations stop, and there is little
or no ringing at the end of each move. The KV term usually can be increased to
a much larger value than the KP term. On many systems, it is possible to
increase KV to the point where no oscillations or ringing occurs, and the time
taken to reach the target position is a minimum. This is called critical damping.
•
The KA acceleration feed-forward gain is used on systems with high
accelerations and decelerations. It provides quick response to changes in
velocity. To tune a system requiring this feature use a step function signal
similar to that used to tune KP, and increase KA and note the improvements
during the acceleration/deceleration parts of the profile. Too much KA adds
‘noise’ into the system; this can be seen as ringing or oscillations recorded on
the position error.
•
The KI integration gain is used to improve stopping to position; so this may not
be relevant on some systems. Care should be taken as integral terms can “wind
up” and produce oscillations or overshoots.
This procedure, although it only briefly describes setting up the gain terms, is sufficient
in many cases to give acceptable performance from the motor system. However, an
acceptable setup for any particular operation may not be ideal for a different operation,
so it is useful to experiment with many different moves and profiles to find the best
compromise. Clearly, the most important operation for the purpose of tuning the motors
is the normal operation cycle of the machine. Note that by using the command sequence
facilities on the system, it is quite feasible to change gain settings automatically, in
response to an input signal or according to a set programme. This would be used, for
example, on a robot arm, where the ideal setup depends on the load carried by the arm.
Tuning any control system is not a simple process, particularly a servo control system
with a very fast response time. Most literature on control systems and tuning describes
the application of controllers to large process plant, where the plant response time to a
change is very long compared to the sample time of the controller. The situation is often
quite different when dealing with high speed electric motors, which now can have
mechanical time constants down to about 10 ms with no external load.
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11.
QDrive Manager PC Software
The QDrive systems are fully digital, and as such they offer comprehensive diagnostics,
motor and drive parameter tuning, and data or fault logging via the built-in software
within the drive.
To set up a Qdrive3, use the program QDrive Manager.EXE on a PC or compatible
machine. The program runs under the Windows 98, ME, NT 4, 2000, XP operating
systems (or later). QDrive Manager is part of PTS Toolkit 2000 and is installed from
the CD that is shipped with the QDrive.
•
For a single PTS QDrive: a serial connection to the QDrive, via serial port A, is
required (CBA-140).
•
For a PTS SERVOnet system: a serial (CBA-139) or ethernet connection to the
machine manager is required.
Use PTS Terminal (part of PTS Toolkit 2000) to connect to the QDrive, and then use
QDrive Manager to select ‘A PTS system’ and connect and choose a channel.
•
To set up a QLC drive select ‘A QLC system’ to connect through the Ethernet
port of the host Qmanager with standard Ethernet cable. The QLC Ethernet
address will be set initially using serial access or the default jumper, with the
CoDeSys Browser or QLC terminal features.
Once connection is made, functions are the same and the descriptions below apply to
both.
11.1
Using the QDrive Manager program
It is beyond the scope of this manual to describe fully the operation of a typical
Windows program, and it will be assumed that most readers are familiar with the
normal operation of the mouse, menus, dialogue boxes, etc.
The program has a number of functions available. The primary screen is a tabulation of
the drive control parameters, with similar functions grouped. A group may be expanded
to show the detail parameters by selecting the + tabs, and the group closed again by
selecting -.
A number of functions are selected by one of the pull-down menu options, or by
clicking on the buttons below the menu. The main functions are listed here and are
detailed in the following sections.
•
Loading parameters from PC file (either the native .XML format or the .IRT
format). Saving to PC (same formats, or Excel, or a sequence in PTS code)
•
Selecting a parameter for Edit of details or bit-patterns: double-click or rightmouse on the value can also give this. Upload to refresh data.
Page 79
Issue 6
•
Actions: bringing on the ‘scope; setting or testing feedback sensor shift angle;
save of parameters in the drive; update of parameter descriptions from the drive.
•
Display of PTS status, and alarms.
•
Transfer to other toolkit programs.
Each option brings up a window containing text fields, up/down buttons, or other
pushbuttons. The operation of the program is reasonably simple, and includes tooltips;
move the mouse over an item and a brief description of the item appears.
Some general points of note are:
•
When configuring a drive through a PTS motion control system there should be
no active PTS program. It is best to issue the RS command from the PTS
Terminal before using the QDrive 3 Manager program. The manager program
uses the PTS commands AO, CH, MO, OM, PC, QS, QV, QT, SY, WT, and the
variable $QP.
•
Always have an external method of shutting off the drive if a fault occurs. Do
not rely solely on the PC software.
•
Drive settings are uploaded to the PC for viewing when a particular group
display is expanded. If the PC is then connected to a different drive, or the drive
settings are modified by some other method, the setup program does not
automatically detect the change and update the displayed values. To refresh the
display with the current values in the drive, use the ‘Edit, Refresh’ button again.
11.2
Configure PC
QDrive Manager requires the Microsoft .NET package installed. The user will be
prompted for this to be downloaded and installed at the time of QDrive Manager
installation.
QDrive Manager starts offline, and allows a choice of offline or connected working:
•
Via PTS Toolkit 2000 Terminal: to a single QDrive. Connect standard drive
programming serial cable (CBA-140) to serial port A on the QDrive. Start PTS
Terminal on the PC. Once a connection is established use QDrive Manager, and
choose the ‘Connect’ option and select channel 1.
•
Via PTS Toolkit 2000 Terminal: to a network of QDrives via a SERVOnet
system. PTS Terminal is connected to a QManager (network host), at its serial
‘Port A’ via a cable CBA-139. Then at Qdrive Manager choose the ‘Connect’
option, then select from the drive motor channels presented.
•
Load .XML file (offline): After saving the QDrive configuration to PC disk it
can be read by QDrive Manager, allowing you to browse configuration whilst
not connected to a QDrive. Other formats (like .IRT) may also be read and
browsed, provided the parameter descriptions are known on the PC.
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Issue 6
11.3
Parameter Show
The main display gives the list of available parameter groups. Buttons allow selecting
a group, showing all the parameters in that group with current values, status and limits.
Values can be edited by selecting the value and changing it as required - confirm the
entry with the Return key. The selected value is regularly updated from the drive.
The Group 31: Status window shows live data for the first 3 items (alarm, status, and
warning) as long as it is the selected window. It is read-only as a group; other individual
values are also read-only.
The drive status and alarm registers are displayed by double-click of the value in the
group table. Each bit in these registers is shown with a description of the present state.
Individual parameter groups are described below in section 12., on page 83.
11.4
Edit Menu
The Edit menu allows selection of
•
Expansion of selected item to show details. Double-click or right mouse offer
similar expansion.
•
Full refresh of all parameter values.
11.5
Actions Menu
This offers the options of
•
Starting the ‘scope
•
Saving all parameters in the drive.
•
Detecting motor sensor shift angle, as described in section 12.5, on page 85
•
Uploading the configuration of all parameter descriptions. This allows the
creation of a definition file for a new version, not known on this PC - the
information is then saved in file PVnn.XML, corresponding to the parameter
string in 0208. NOTE that the upload takes a while.
11.6
File Menu
This offers the options of:
•
Connect/Disconnect of function through a PTS Toolkit Terminal (PTS version)
or Ethernet (QLC version), with selection of terminal window and PTS channel
number.
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Issue 6
•
Loading parameters from PC file (a .QML file, using the native .XML format),
and save in the same format.
•
Import of parameters from PC file, in the .IRT format. Export to a PC file, in the
same format, or Excel, or a constructed sequence in PTS code. this last is
numbered sequence 1, and finishes with a QT1 instruction; it is readily edited.
•
Page setup and printing.
11.7
’Scope and Auto Command
The ’scope allows a stimulus to be applied to the motor and the response to be recorded.
The current and velocity control loops within the drive can then be adjusted to produce
the desired performance. It is a good idea to perform the final tuning of the motor when
attached to the machine if possible, so that the inertia load of the machine is present.
When the ’scope is selected, a toolbar appears containing buttons representing the main
functions; start/stop, configuration, and tuning. The functions of the ’scope use
dialogue boxes to configure or display the settings, as detailed below. The colours and
line widths of the ’scope display are configurable from the ’scope menu.
The motor stimulus dialogue box provides a simple signal generator to make the motor
move. The motor can be stimulated in current or velocity control, and various repeating
step changes in current or speed can be programmed. Sensible speeds and time intervals
should be chosen for the motor/machinery in use.
The ’scope records up to four traces of information from the drive. The drive parameter
and scale for each of these traces can be selected, along with the ’scope trigger and
timebase. Parameter 3106 (current demand) and parameter 3107 (instant current) allow
tuning of the current loop, and parameter 3112 (speed demand) plus parameter 3113
(instant speed) provide the same for speed loop. Once current and speed loops have
both been tuned, it can be worth adjustment of the current gains again using the speed
generator and moving motor.
Note that some combinations of motor and drive may find limitations to the maximum
speed unless the current loop KP gain is increased above the figures given by ’scope
tuning.
Each drive is shipped from Quin Systems with PID gains suitable for a motor as used
for testing, but this does not take into account any specific motor, nor the external load
to be attached to the motor shaft.
11.8
Firmware Update
This uses the IDM.exe program, directly connected to the drive. See appendix B. The
tool also allows definition of drive size parameters.
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Issue 6
12.
QDrive Parameters
The organization of the drive parameters on the Series 3 QDrive is quite different from
previous drives. The parameters are organized in 32 groups of 32 parameters although
not all parameters are used at the moment. Parameters are 32 bit numbers & can be
integer, floating point or characters strings.
(S) means the parameter requires saving and power cycling before the change in value
is accepted.
12.1
System Data - Group 0
User code (parameter 0002) (S)
This has character value AUTO for the normal operation using the Quin motion
firmware. This must be written in IDM Monitor mode, followed by the Return key and
a parameter save.
Other values are used for testing and for drive size definition.
12.2
Drive Hardware Data - Group 1
This shows the drive characteristics: rated voltage, continuous and maximum currents,
and case size.
12.3
Firmware - Group 2
This shows the versions of the various drive components, firmware and hard logic.
12.4
Motor Features - Group 4
Seven parameters give the basic drive configuration for any given motor. They are
listed on the Parameter screen when the expansion button forGroup 4 is selected. They
may be changed (enter with ‘return’) and saved.
These parameters depend on the particular details of the motor to be used with the drive.
The required information may be obtained from the motor rating plate, or from the
manufacturer’s data sheet.
Motor type (parameter 0401) (S)
This has integer value 0 for the normal brushless motor. No other values are presently
supported.
Pairs of motor poles (parameter 0402)
The motor pole pairs must be entered here.
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Issue 6
Thermostat switch type (parameter 0403)
This specifies whether the motor thermostat switch is normally open, normally closed,
or used for a temperature reading (PTC). Set it to zero for normally open, one for
normally closed, or 2 for PTC. The unit recognises a normally-open switch as fault with
less than 100Ω between the contacts, and a normally-closed switch as fault with greater
than 1kΩ between the contacts.
Note: SBC motors use PTC, but it is normal to set N/C (value 1).
Note 2: SEM motors also need value 1 (N/C).
Nominal motor current (parameter 0404)
This value ranges between 0 and the nominal drive current, and sets what fraction of
the nominal drive current is allowed by the motor.
Maximum motor current (parameter 0405)
This value ranges between 0 and the maximum drive current, and sets what fraction of
the maximum drive current is allowed by the motor.
Maximum speed (parameter 0406)
The maximum motor speed is normally printed on the motor rating plate. This drive
parameter value should be set to the motor maximum speed in r.p.m. This value sets the
speed for the overspeed alarm.
Motor I2t limit (parameter 0407)
This parameter limits the length of time that the QDrive delivers maximum current to
the motor. A QDrive will deliver (up to) nominal current (parameter 0404) without a
time limit. The QDrive will deliver twice parameter 0404 for up to the value in
parameter 0407 (ms). Parameter 3108 is a percentage figure of the maximum given by
parameter 0407. Once this limit is exceeded the drive will limit to nominal current until
the I2t reduces to 80% of the limit.
I2t is the cumulative summation of the square of the current.
This parameter should be used to protect the motor. To observe this parameter in
operation use the scope feature in QDrive Manager, to plot parameter 3108 (I2t
percentage value).
Note that the current limit is set by parameter 405 (which need not be twice parameter
404). Adjusting the value of parameter 407 adjusts the length of time the drive will
deliver any given current (above nominal).
Page 84
Issue 6
The following graph shows the effect of the I2t limit: any value of I greater than the
nominal current (parameter 404) is limited in terms of time.
Current
P405
2 * P404
P404
P407
Time
Figure 32. I2t limiting motor current w.r.t. time
12.5
Motor Feedback - Group 5
Parameter 0501 - Type of feedback (S)
Integer value 0 or 1 to indicates resolver feedback (default 0, either is acceptable);
value 2 for 1 volt P-P;
value 4 for EnDat;
value 8 for Hiperface (SinCos);
value 16 for UVW + encoder;
)from version
value 32 for UVW + encoder without Z pulse (such as a linear motor). )9052.
Resolver/Hiperface shift angle (parameter 0502)
The resolver/Hiperace shift angle is required by the drive to calculate the actual position
of the rotor for electrical signal generation. It corresponds to the mounting angle
between the top dead centre positions of the resolver or Hiperface sensor and the motor
itself. If the feedback device and the motor windings are aligned, then this value is zero.
With UVW feedback this parameter sets itself on start, but the setup feature defines the
UVW sequence, encoder scaling and poles (where encoders have a Z pulse).
For Quin supplied motors and cables please contact Quin for the relevant shift angle
value. This is also noted on motor cable drawings from Quin. SEM motors are generally
preset to give zero, and Hiperface sensor are also normally set for zero. SBC 8-pole
motors (4 pole pairs) need 60°, and SBC 4-pole motors 180°.
Selecting the “Detect Shift Angle” action will produce a dialogue box that can perform
an automatic detection of the correct resolver/Hiperface shift angle.
NOTE: an incorrectly configured resolver/Hiperface shift angle can cause the motor to
spin very fast out of control. This may damage any attached machinery. Carefully test
this parameter before mounting the motor on any machine. Please note the following
points:
Page 85
Issue 6
•
Ensure that the drive can be stopped independently of the PC.
•
The maximum drive current is automatically reduced during the shift angle
detection to protect the drive electrics.
•
The shift angle detect will be fully automatic, locking the rotor then measuring
the feedback to determine the best shift angle.
•
The PTS command string “SE400/SA90000/SV3000/SW25/PC/
MR500/MR-500/MO” may be used to test the drive with a short move. The
test procedure relies on several other PTS parameters in order to work properly,
including CW, KP, KI and KV. The default values for these (after an RS) are
normally satisfactory [though KP of 50 rather than 100 is better for certain
drive/motor combinations]; any changes from the default values may cause
problems.
•
Incorrect wiring can cause the automatic detection of the shift angle to fail.
During the shift angle detection procedure, the motor may move suddenly, and at high
speed. This happens when the safe range of the shift angle is being detected.
EXERCISE CARE WITH AN UNGUARDED MOTOR.
WARNING ! Incorrect setting of the shift angle can leave the motor and drive in a state
where the drive is supplying a large current through one phase continuously. The drive
power output devices are then in a high power dissipation region, and can be damaged
if operated in this way for any significant time. It is recommended that the maximum
motor current (parameter 0405) is limited to a value less than 1/3 of its maximum value,
until the correct shift angle has been determined.
Parameter 0503 - UVW Cycle Sequence
This parameter contains the pattern of the 3 first states of the UVW encoding, moving
forwards from the ‘U’ pole position (electrical zero).
Each state needs 3 bits. The 9 bits needed to represent this are in bit 16 (LSB) to bit 24
(MSB) of the 32-bit parameter, plus bit 8 if count direction needs reversal.
For example the original 6 states sequence (as for standard wiring) is 1 3 2 6 4 5 (as
P0507 below), and is represented:
Bit 24
23
22
21
State 3
20
19
18
State 2
17
16
8
0
State 1
W
V
U
W
V
U
W
V
U
0
1
0
0
1
1
0
0
1
Table 27: Default UVW Sequence
The hexadecimal value for this pattern is 0x990000, decimal 10027008.
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Parameter 0504 - Feedback Encoder Lines/revolution
This parameter gives the number of A-B cycles per revolution, 1 to 8192 (i.e. per Z
pulse, or per linear motor pole cycle - using P402 = 1).
Parameter 0507 - Encoder UVW input states
Bit 0 = U, bit 1 = V, bit 2 = W.
Parameter 0529 - Sin2Cos2 init (32bit)
This parameter contains the value at initialisation of the sum of the squares of the sine
and cosine position value from the resolver.
Parameter 0530 - motor position (16 + 16 bit)
This parameter contains the current value of the motor position derived from the sensor,
extended by the turns count. It is automatically updated as the motor rotates.
Parameter 0531 - One-turn position (16 bit)
This parameter contains the current value of the motor position derived from the sensor,
within one rotation.
12.6
Current Loop - Group 6
Parameter 0601 - Current loop source
This parameter configures the drive to use either the speed loop (value 0, as normal
default) or the analogue input 1 signal (value 2) as the current setpoint. It may also have
value 1, to use parameter 629 for motor tuning or a fixed-torque setpoint. This is not
normally set by the user; a value of 0 is required for the PTS motion control software
to be able to work with the drive controller.
The following may be changed during the tuning process: enter on ‘return’: then saved.
KPI current loop (parameter 0602).
This is the proportional gain of the current loop: typical value 2000.
KII current loop (parameter 0603)
This is the integral gain of the current loop: typical value 50.
KDI current loop (parameter 0604)
This is the differental gain of the current loop: typical value 0.
Feed forward, current loop (parameter 0605)
This is the feed-forward gain of the current loop: typical value 0: a future feature.
Current loop frequency (parameter 0606)
Typically 7350 Hz: changing is a future feature.
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12.7
Issue 6
Speed Loop - Group 7
Parameter 0701 - Speed loop source
This parameter configures the drive to use either the Quin position generation (value 2,
as normal default from parameter 731) or the analogue input 1 signal (value 1) as the
speed setpoint. This is not normally set by the user; a value of 2 is required for the PTS
motion control software to be able to work with the drive controller.
For test purposes, a value 8 selects source from the internal generator for tuning.
The following may be changed during the tuning process: enter on ‘return’: then saved.
KPV speed loop (parameter 0702)
This is the proportional gain of the speed loop: typical value 2000
KIV speed loop (parameter 0703 plus parameter 713/1000)
These together set the integral gain of the speed loop: typical value 2.000
KDV speed loop (parameter 0704)
This is the differental gain of the speed loop: typical value 0
Feed forward, speed loop (parameter 0705)
This is the feed-forward gain of the speed loop: typical value 0: a future feature.
Filter type, speed loop (parameter 0707)
This sets the number of values (samples) to used build the speed average. The value
range is 1 to 16. Default values: for resolver feedback 10, for Hiperface or EnDat
feedback 4.
Other parameter values in this group are set for the tuning generator:
Parameter 0726: generator type, 1 for single-shot, 2 for unipolar, 3 for bipolar.
Parameter 0727: generator on/off ratio, %.
Parameter 0728: generator slope, RPM/second.
Parameter 0729: generator setpoint, RPM.
Parameter 0730: generator period, milliseconds.
The generator is enabled by setting parameter 0701 to 8 and enabling the drive with
AO1.
A single-shot is initiated by writing a setpoint into 0729, or a repeating run starts when
0726 is set to 2 or 3.
On completion, disable with AO0 and be sure to set 0701 back to value 2 and 0708 to 0.
Page 88
Issue 6
12.8
Command/Bus - Group 10
Drive Enable mode (parameter 1001)
Factory default is 0. A value of 0 or 1 means the drive is only enabled if hardware AND
software enable are present. Hardware enable means /T_En input is low OR En inputs
are fed with 24V (see section 5.14, on page 49).
Special command (parameter 1002)
Used by PC software (QDriveManager).
12.9
Input/Output - Group 11
The drive has input and output encoder interfaces. The output can either echo the
external encoder or output simulated encoder signals from the resolver position data.
Encoder output configuration (parameter 1101) (S)
This value is normally set to 1 to enable encoder input link to encoder output (so
encoder input is copied to encoder output). Set to 0 to output a simulated encoder signal
derived from the feedback (Resolver or EnDat etc.)
The following 3 parameters apply in simulation mode, mode 0:
Simulation resolution (parameter 1102) (S)
This sets the number of lines per turn of the simulated encoder output, derived from the
resolver feedback signals. It may be set between 1 to 8192 lines (quadrature cycles) per
turn, giving 4 to 32768 encoder counts.
Simulation marker pulse width and gating (parameter 1103) (S)
This sets the width of the marker pulse output to 1, 2, or 4 encoder counts, and whether
the marker is gated with the /A or /B signal. Set this parameter as follows:
Parameter
1103
Marker pulse
width (counts)
Gated with:
0
1
/A
1
2
/A
3
4
/A
4
1
/B
5
2
/B
7
4
/B
Table 28: Parameter 1103 - marker pulse width and gating
Page 89
Issue 6
Simulation marker pulse position (parameter 1104)
This sets an offset between the marker pulse position and the resolver zero position, of
up to 1 turn.
Encoder Input marker pulse zero (parameter 1105) (S)
This sets the encoder counts in P3116 to be zeroed on Z input; normally off, value zero,
for use for Quin channel 2.
Encoder Input marker pulse position (parameter 1106)
This shows the position, in counts as per parameter 3116, at which the last marker pulse
occurred.
End switch configuration (parameters 1110, 1111, 1108)
These parameter bits set the drive up for use with either normally open or normally
closed contacts on the end switch inputs. Parameter 1110 defines the end switch input
to inhibit motion in the positive direction, while 1111 defines the end switch to inhibit
motion in the negative direction. The corresponding bit in 1108 sets the polarity of that
bit when used for these limits. Set these parameters as follows:
Parameter 1108 bit:
Set to 0
Set to 1
Parameter 1110 Bit 4..15 - end switch 1
Normally open
(active high)
Normally closed
(active low)
Parameter 1111 Bit 4..15 - end switch 2
Normally open
(active high)
Normally closed
(active low)
Table 29: End switch configuration
Direction inhibit (parameters 1110, 1111 bit 16)
These parameter bits set up the system to drive the motor in one direction only. Setting
bit 16 of 1110 to 1 inhibits movement in the positive direction, while setting bit 16 of
1111 to 1 inhibits movement in the negative direction.
Bit 16
Set to 0
Set to 1
P1110 - positive inhibit
No effect
Inhibit positive movement
P1111 - negative inhibit
No effect
Inhibit negative movement
Table 30: Direction inhibit
Note: this can cause problems with a tightly tuned position control during high
acceleration/deceleration profiles. It may be possible for the motion controller to ask for
a negative speed from the motor (i.e. opposite to the direction of travel) to try and stop
the motor quickly. This will be ignored by the drive controller and the performance of
the position control loop will be severly impacted. PTS contains the MW parameter to
achieve a similar affect without this drawback.
The next two parameters allow correction of analogue inputs:
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Issue 6
Analogue input 1 offset (parameter 1126)
This sets an offset voltage for the analogue input 1.
Analogue input 2 offset (parameter 1127)
This sets an offset voltage for the analogue input 2.
Encoder ABZ & Fault (parameter 1131)
This shows the encoder input state:
•
Bit0 = A,
•
Bit1 = B,
•
Bit2 = Z,
•
Bit3 = line receiver fault; which is one of the following:
•
Open circuit condition
•
Short circuit condition
•
Low differential voltage signal
•
Common mode range violation
This fault is not latched and is cleared when the line receiver chip returns to nonfault conditions.
12.10
Status - Group 31
Alarms (parameter 3101)
This shows the reason why the drive is non-functional: bit values shown in appendix A.
A power cycle may be needed for reset of some faults, although many clear on PC (see
Table 34: on page 103 for which faults require power cycle).
Status (parameter 3102)
This shows the status of the drive modules: bit values shown in appendix A.
Warnings (parameter 3103)
This gives indication of imminent problems: bit values shown in appendix A.
Digital inputs (parameter 3104)
This gives the current status of the 16-bit input register. (bit 0 = In1:1, bit 7 = In1:8;
bit 8 = I2:1; bit 15 = In2:8). Read only.
Current demand (parameter 3106)
Instantaneous value of current demand - used for tuning.
Instant current (parameter 3107)
Instantaneous value of actual current - used for tuning.
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Issue 6
Instantaneous I2t (parameter 3108)
as a percentage of the maximum allowed.
Phase U current (parameter 3109)
Instantaneous value of current.
Phase V current (parameter 3110)
Phase W current (parameter 3111)
Speed demand (parameter 3112)
Instantaneous value of speed demand - used for tuning.
Motor speed (parameter 3113)
Actual speed - used for tuning.
Position demand (parameter 3114)
Not Quin standard.
Motor position (parameter 3115)
Not Quin standard.
Parameter 3116 - encoder input counter value
This parameter contains the current value of the encoder input position counter within
the drive. It is incremented and decremented by the drive from the encoder input
signals. This is the counter used by the Quin motion controller for channel 2.
Drive temperature (parameter 3117)
used for checks and warning. Note that the drive maximum current is reduced once over
60°, linearly to 90°. Warning (P3103) bit 22 is set at 60°, and bit 19 at 80°. Alarm
(P3101) bit 19 sets at 82° and the drive is disabled.
Motor temperature (parameter 3118)
Where sensor is analogue (PTC) - used for checks.
Analogue input 1 (parameter 3119)
value in volts; read every 4ms.
Analogue input 1 scaled (parameter 3120)
scaled value; G31P20 = G31P18 * G07P20 (only if G07P01 = 1).
Analogue input 2 (parameter 3121)
value in volts; read every 4ms.
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Issue 6
Other entries give diagnostic figures.
12.11
Addressing QDrive Parameters from PTS programs
It is possible to address QDrive configuration parameters from PTS motion control
programs. This can be used to monitor the amplifier or even configure the amplifier.
QS - Select QDrive Parameter
Use this PTS command to pre-select a parameter for query or update; the value entered
to QS is ggpp where gg is the group number (0 to 31) and pp the parameter number
within the group. For example:
QS0405 will preselect maximum motor current for read or write.
QV - Read or write selected QDrive Parameter
PTS command QV displays the selected parameter; QVnnn sets the selected parameter
to a value; for example:
QS0405 then QV3.0 will reduce the maximum current to 3.0 amps.
QS0405 then QV will show the preset maximum current, and offer the chance to enter
a new figure.
QS3107/$QQ=QV; This will record the instantaneous current into PTS variable $QQ.
QT - Save QDrive Parameter
QT1 will save all drive parameters in the drive controller; this is useful for parameters
which require a save to activate. This command is required because the PTS command
SP only saves motion control parameters.
QA - Select a QDrive Parameter to read by DA
PTS command QAggpp selects the chosen parameter for DA to show; the default is the
analogue inputs. Floating point values are multiplied by 204.8 for display.
QQ - Display a QDrive Parameter
PTS command QQggpp displays the chosen parameter value; it internally uses QS and
QV, and is for compatibility with earlier drives.
QP - Update a QDrive Parameter
PTS command QPggpp/nnn sets the chosen parameter to the entered value; it internally
uses QS and QV, and is for compatibility with earlier drives.
A QLC drive via QLC terminal recognizes QA, QQ, and QP for integers only; programs
have equivalent functions and reals. Save needs function Q_SaveDriveParameters.
12.11.1
QDrive configuration from a PTS sequence
It is possible to configure a QDrive from a PTS sequence, as this example shows:
Page 93
ES1
CH1
QS0402/QV3
QS0502/QV60
QS0405/QV2.5
QS0404/QV2.0
QS0602/QV350
QS0603/QV1
QS0604/QV0
QS0702/QV2000
QS0703/QV7
QS0704/QV0
QT1
Issue 6
# Configuration of PTS channel 1, QDrive
#
#
#
#
#
3 pairs of motor poles
resolver shift angle
peak current reduced
nominal current reduced
current loop gains
# speed loop gains
# Save settings
Note that this sequence includes a save drive parameters command. Therefore this
sequence should not be operated unless the QDrive needs reprogramming (as
parameters are stored and remembered).
Never save more than average once per hour to ensure the FLASH memory used for
storing parameters has a reasonable lifetime. This warning applies equally to the PTS
‘SP’ command, whether it is used for save of programs or variables/arrays. The
mimumim lifetime of the FLASH memory is 100,000 write cycles.
12.11.2
Drive tuning from a PTS sequence
This example shows tuning generator speed setup commands:
ES2
# Configuration of current PTS channel
QA3112/AH-200 # speed demand seen as DA, big positive
# (AH setting to stop continual error messages)
QP727/50
# 50% cycle
QP728/120000 # RPM/sec ramp
QP729/600
# 600 RPM setpoint
QP730/500
# half second cycle
QP701/8
# speed loop from generator
AO1
QP726/2
# Unipolar cycle
‘Scope settings for the above would be, ‘analogue input’ at ±245760, ‘actual speed’ at
±81920 for full screen.
A sequence is needed to stop the cycle:
ES3
QP726/0
AO0
QP701/2
QA0/AH2047
#
#
#
#
stop
disable drive
restore source
... and analogue input
For a QLC drive the above commands can be put in as strings via QLC Terminal, and
the results viewed with QLC Scope. Be sure to put in all of the stop sequence
commands to restore the drive to its normal functional state.
Similar stimuli can be generated for current-loop tuning:
Page 94
Issue 6
ES4
QS0404/$na=QV
QS502/$sa=QV
if($sa>0)/QV($sa-90.0)/EL/QV($sa+90.0)
$ch=CH/$ch2=($ch+1)/CH$ch2
AH32000/AL-32000/QA3107
CH$ch
AH32000/AL-32000/QA3106/QS629/QV0
QS601/QV1/AO1
QS629/QV($na/4.0)/WT50/QV0.0/WT350/RP
#
#
#
#
#
#
#
#
#
read setting
read setting
set shift angle
to virtual channel
analogue 2
to motor channel
analogue 1
enable drive
and create pulses
And stopped by:
ES5
GX4/WT40
QS629/QV0/AO0/QS601/QV0
QS502/QV$sa
# stop pulses
# restore command route
# .... and shift angle
Display scales ±614 for ±3 amps full screen, ±2048 for ±10 amps.
Page 95
Issue 6
13.
Board Configuration
13.1
Fuses
The following table lists the fuses fitted in the QDrive 3 series.
Drive type
Mini
204
16A 500V 6.3 x 32,
SIBA 70 065 65
206
16A 500V 6.3 x 32,
SIBA 70 065 65
209
16A 500V 6.3 x 32,
SIBA 70 065 65
205AT
210AT
Small
DC bus
(FBUS)
220AT
Braking module
(FBR)
Internal
power supply
(FDEC)
1 Fuse only: 30A gRB/690V Ferraz 10.3 × 38
403AT
405AT
409AT
415
1 Fuse only: 50A gRB/690V Ferraz 14 × 51
425
1 Fuse only: 50A gRB/690V Ferraz 14 × 51
Medium
Large
430
50A URGA
Ferraz 22 × 58
32A URGB
Ferraz 14 × 51
(Rbrake = 8Ω)
1.6A Wickmann
19354 6.3 × 32
Table 31: Fuse types
NOTE: No fuse should be replaced until the reason for it blowing has been identified.
Fuse replacement needs the drive to be removed from its cover, after removing 4 Tx
screws close to the rear mounting tabs; and for a mini, two large screws in the side.
PLEASE OBSERVE SAFETY PRECAUTIONS AND ALLOW CAPACITORS
TIME TO DISCHARGE BEFORE SERVICING A QDRIVE.
Page 96
Issue 6
13.2
Configuration
This section gives details of the configuration options on the 2072 CU board used in the
QDrive 3. They are described here for completeness, although the items are not
normally changed in the field.
The values of certain components depend on the size of drive being controlled. The
relevant components are resistors R327 and R328. For a standard small or medium size
AT drive, and for a Mini drive, neither are fitted, and adjacent 10kΩ resistors determine
the current. For old-style 230 volt small drives (5 amp, 10 amp, and 18 amp) resistors
of 27Ω were fitted. For a large 30 amp drive, two of 27Ω are fitted for each, doublestacked on each position. The general component location is shown below:.
Top view
Resolver socket
R327
R328
RS232 Port A
CU module - processor side
Figure 33. CU module board layout
The following figure gives detail position:
Page 97
13.3
Reference Accuracy
13.3.1
Channel 1 DR input
Issue 6
DR inputs 1 2 3 and 4 are high-priority inputs to firmware time-stamping. Each time
the resolver is read the time is also latched. The reference position is calculated by
interpolating between the current and last resolver positions using the reference time
and the times of the two resolver readings.
Causes of delay are:
•
The opto isolators on the DR inputs, about 0.6µs turning ‘on’, 0.2µs turning
‘off’.
•
The accuracy of the time stamp on the readings: 1 to 2µs.
•
The loop time of the DSP on the drive controller - the resolver/Hiperface can
only be read on each cycle of its excitation of 7.5kHz. Thus because the
resolver/Hiperface positions are up to 130µs old when they are timestamped,
the reference position appears to move BACKWARDS in the cycle as the speed
increases. However the spread of reference values is only 10 to 20µs at constant
speed.
13.3.2
Channel 2 DZ
This is hardware captured at an accuracy of 1 or 2µs.
13.3.3
Channel 2 DR input
For channel 2 DR input the reference signals are again time-stamped and the encoder
counter is read during the 130µs servo loop. The time for correction of this is known
only to about 20 or 30µs, giving 4 to 6 counts variation at a speed of 200000 counts/s,
and about 50 at a speed of 2 million counts/s, for the QDrive channel 2.
Page 98
Issue 6
A.
Drive parameters
This appendix gives a table of the QDrive 3 firmware configuration parameters, when
used with resolver, Hiperface, or UVW feedback. This is provided for reference only.
COMPATIBLE WITH DRIVE FIRMWARE 9042/3/4 OR 9052 ONLY
QDrive Manager automatically selects a parameter table from the QDrive in use; if you
require documentation for other firmware versions please contact Quin Systems Ltd.
Entries in the note column have the following meaning:
R - Read only parameter
S – This value takes effect only at start-up after drive parameters are saved.
Group
Param
0
02
1
03
2
4
Note
Units, unit type
Description
String
‘AUTO’ flag
R
Volts, float
Drive main voltage
04
R
Amps, float
Drive nominal current
05
R
Amps, float
Drive max current
06
R
milliseconds, float
Drive max I2t
29
R
float
Nominal current identified
31
R
string
Drive type
02
R
Integer
Firmware creation date.
03
R
String
USER flag, set to ‘QUIN’
04
R
Integer
Firmware version
08
R
String
Parameter version (e.g. ‘PV11’)
01
S
Integer
Motor type
0:
brushless servo motor
Integer
Number of pairs of motor poles, 1 to 40
03
Integer
Motor thermostat n.o. or n.c.
0:
thermostat n.o.
1:
thermostat n.c.
2:
PTC resistor
04
Amps, float
Nominal motor current, amps RMS
05
Amps, float
Maximum motor current, amps RMS
06
RPM, float
Maximum speed
07
milliseconds, float
Motor max I2t
02
Table 32: Drive parameters
Page 99
Group
5
6
Param
Units, unit type
Description
Integer
Type of feedback: 0 or 1 = resolver,
2 = 1 volt p-p
From 9052:
4 = EnDat
16 = UVW + encoder
8 = Hiperface 32 = UVW + enc (no Z)
02
Degrees, float
Resolver shift angle, 0 to 359.9999°
03
Integer
UVW cycle sequence
04
Integer
Feedback encoder lines/rev, 8192 max
01
S
07
R
Integer
UVW state
29
R
integer
Sin2Cos2 initial value on power up
30
R
16+16 bit integer
Position, turns + within turn
31
R
16 bit integer
Motor position within one turn
01
Integer
Current loop source, 0 = speed loop, 1
= Group 6 parameter 29 (for tuning)
02
Integer
Current loop proportional gain
03
Integer
Current loop integral gain
04
Integer
Current loop differential gain
05
Integer
Phase advance with speed (future)
Hz, integer
Loop frequency
29
Amps, float
I setpoint (for tuning tests)
01
Integer
Speed loop source: 2 = user, 8 =
generator
02
Integer
Speed loop proportional gain
03
Integer
Speed loop integral gain
04
Integer
Speed loop differential gain
05
Integer
Feed forward (future feature)
07
Integer
Filter type
08
Integer
Command slope - must be zero
13
Integer
Fraction of speed loop integral gain
26
integer
Generator type: 1 = single, 2 = unipolar,
3 = bipolar pulses
27
%, float
Generator on/off ratio
28
RPM/s, float
Generator slope
29
RPM, float
Generator setpoint
30
Milliseconds, integer
Generator period
31
RPM, float
Digital setpoint
06
7
Note
Issue 6
R
Page 100
Issue 6
Group
Param
10
01
Note
02
11
Description
Drive Enable
0 or 1 = hard + soft enable
2 = hardware enable
Command, char
CALE = force top-dead-centre
CRSA = compute resolver shift angle
CLAL = clear software alarm
FBIN = feedback initialize
HI20 = zero Hiperface sensor
UVWI = start UVW (with Z enc) setup
01
S
integer
1 = link encoder output on, 0 =
simulation
02
S
integer
Encoder simulation resolution
03
S
integer
Encoder simulation marker width
integer
Encoder simulation marker position
04
31
Units, unit type
05
S
Integer
Encoder input options
06
R
Integer
Encoder input Z snapshot
08
Integer
Inputs polarity - see section 12.9, on
page 89 for more detail
10
Integer
Positive limit switch
11
Integer
Negative limit switch
26
float
Analogue input 1 offset
27
float
Analogue input 2 offset
31
R
integer
Encoder ABZ & fault
01
R
Integer
Alarm register: see details later
02
R
Integer
Status register: see details later
03
R
Integer
Warnings: see details later
04
R
Integer
Digital inputs
06
R
float
Current demand
07
R
Amps, float
Instant current
08
R
float
Instant I2t, % of max
09
R
Amps, float
Phase U current
10
R
Amps, float
Phase V current
11
R
Amps, float
Phase W current
12
R
RPM, float
Speed demand
13
R
RPM, float
Motor speed
14
R
float
Position demand
Page 101
Group
31
Issue 6
Param
Note
Units, unit type
Description
15
R
float
Motor position, turns
16
R
Integer
Encoder count
17
R
°C, float
Heatsink temperature
18
R
°C, float
Motor temperature
19
R
Volts, float
Analogue input 1
20
R
float
Analogue input1 scaled
21
R
Volts, float
Analogue input 2
23
R
Hz, float
True PWM frequency
24
R
float
Feedback sine
25
R
float
Feedback cosine
26
R
integer
Feedback Sin2Cos2
30
R
String
Error type
Detailed bit definitions for the drive status register and alarm register.
Bit
Decimal
Description (when status bit is set to 1)
0
1
Under or over voltage on DC bus
1
2
Phase N over current or temperature
2
4
Power module fault phase Ut
3
8
Power module fault phase V
4
16
Power module fault phase W
6
64
Internal power supply OK
7
128
Motor brake feedback
11
2048
Digital output fault
12
4096
Enable hardware input is ON
13
8192
Enable PWM feedback
14
16384
Internal 6 volt low
15
32768
Safety relay is disabled
17
131072
Feedback encoder fault
27
134217728
Power module faults
Direction stop active
30
Busy writing flash
31
Initialization phase on startup
Table 33: Status register (parameter 3102)
Page 102
Issue 6
Bit
Decimal
Description
0
1
Under or over voltage on DC bus
1
2
Power module fault N (*)
2
4
Power module fault phase U
3
8
Power module fault phase V
4
16
Power module fault phase W
5 to 15
-
16
65536
Feedback Sin2Cos2out of tolerance
17
131072
Overspeed to 133% of P406
18
262144
Motor over temperature (if PTC,
>135°)
19
524288
Drive over temperature, >82°
20
1048576
LEM offset out of range
21
2097152
Over-braking (excess generated
volts)
22
4194304
Motor link fault
23
8388608
No initialization values. (*)
23 to 31
-
Table 34: Alarm register (parameter 3101)
(*) These alarms are only cleared by cycling all power.
The warning register gives a first indication of temperature and other problems.
Bit
Decimal
0 to 14
Description
-
15
Hiperface counter fault
16
Resolver fault
17
131072
I2t exceeds threshold
18
262144
Motor over temperature (if PTC,
>120°)
19
524288
Drive temperature >80°
20
-
21
Rotor locked
22
Drive temperature >60°
23 to 27
-
28
Current 10% excess
29
Software interrupt overlap
30
Flash write error
31
Table 35: Warning register (parameter 3103)
Page 103
B.
Issue 6
Diagnostics
This appendix gives a summary of the QDrive 3 firmware startup features, and the
means of access to several diagnostic modes. This is provided for reference only.
B.1
Switch-on options
The processor passes through several phases following switch-on. The LED numeric
displays show indication of status:
•
The basic drive download monitor is first entered, with scrolling display
Monitor.
•
The drive-control firmware then performs checks, indicating 1 in the case of
good mains supply, or 7 or 6 with standby supply only. Without resolver, a 5
may show. These are all transient values and will clear quickly.
•
A SERVOnet axis module shows the module number or network error
indications until the network manager establishes communications.
•
On successful test completion the message 0 shows as the normal PTS code
indications for the drive channel.
Normal start of the code then gives the serial-port ‘Copyright’ message and channel
checks; then data restore and channel status display.
B.2
Firmware update and configuration
The QDrive uses FLASH memory and as such can be updated using a PC to download
new firmware. Certain low-level configurations can also be performed using the
“flashboot” tools mentioned in the following sections.
The firmware within a QDrive consists of two parts; the position control portion and
the drive communtation portion. Differrent PC tools are required for these different
parts. All the necesssary PC tools can be found on the PTS Toolkit 2000 CD. For more
information on this please contact Quin Systems.
B.3
Position Control firmware update and Flashboot
configuration
The “flashboot” portion of the firmware in a QDrive allows the updating of the Position
Control firmware and also the setting of some low-level configuration parameters.
Page 104
Issue 6
B.3.1
Entry to Flashboot
The entry to flashboot code makes use of Toolkit 2000. From standard terminal,
Firmware Upgrade and choice of Version 2.x use the ZP command to switch the PTS
to the flashboot, at the same time as the terminal changes to 38400 baud. Or if there is
no live PTS, the terminal anyway selects 38400 baud. From there, user selection of
Unlock will await a PTS response to the UNLOCK string, then act as a terminal in the
faster flashboot mode. The flashboot Help prompt is given:
Flash Boot Version 2.2 05/19/00
> h
boot
Restart the processor
erase <start> <num> Erase <num> sectors from <start>
module [S or A]
Set module to Standalone or Axis
program
Program Flash memory
verify
Verify Flash memory
>
Commands can be shortened to an initial letter, so ‘b’ and return will restart, or ‘m a’
and return sets a unit to be an axis module.
B.3.2
Firmware Upgrade
As far as possible the user can upgrade a unit or change mode without needing any deep
understanding. The erase function is normally automatic before programming, and the
user is given a file already named, so need not know the details of sector numbering.
For a basic unit upgrade of version using Toolkit, the following steps are needed:
•
Select ‘Tools’, ‘PTS Firmware upgrade’, and choose Flashboot V2.x
•
Select ‘Unlock’ or Alt-U, and switch on when prompted, if the drive was not
already live.
•
Select ‘Program’ and choose a file, then click ‘Download’. The toolkit issues
the necessary commands for erase and programming.
•
When complete, as indicated by the bar, ‘Close’ the download box.
To exit now back to PTS code:
•
Type ‘m’ and return to verify you have the correct mode.
•
Select ‘Restart’ to run the new PTS firmware just loaded.
B.3.3
Exit to PTS code
This uses the b command from the menu. ‘Restart’ on the Toolkit window toolbar will
give the b command and change the terminal baud rate back to 9600.
Page 105
B.3.4
Issue 6
Technical Information for Advanced Reprogramming
This card has one 16-bit-wide flash chip, copied for execution into working memory for
32-bit memory access. For erase program or verify the sector base address is defined as
a hexadecimal number of 64kbyte blocks per flash chip; the numeric part of the file
name extension defines the start number of 64kbytes in total for a file download. Thus
to erase from or write starting at address $110000, the user would select sector 11 and
a file with extension .b11 when prompted in response to the Erase or Program
command.
B.4
Drive Commutation Firmware Upgrade (IDM)
This PC software (called IDM, available on the PTS Toolkit 2000 CD in the utilities
directory) allows update of any of the firmware in the drive, and is the only method of
change of the firmware controlling the current and speed loops (drive commutation
calculations). Firmware update requires the drive to be in Monitor mode. The drive
must connect to the PC directly from port A (not via SERVOnet) with cable CBA-140,
and the ‘MR’ icon of the toolbar is to be selected before applying any power to the
drive.The serial cable is connected, and the PC program started, with the drive off.
‘MR’ monitor request is selected, then standby power is applied to the drive: observe
the yellow traffic light. Displayed parameters are stored or frozen values only in this
mode.
Firmware may be updated with the ‘Update tool’, at addresses appropriate to any code
updates. ‘Update Tool’ is selected from the ‘Utility’ menu, and allows for three
operations:
•
Selection of flash program - normally with .CRC extension - using the [...]
button. Selection of starting flash block number within the drive: 1 for
current/speed loop firmware, 10 for Quin flashboot, or 11 (enter number
manually, and ignore the ‘Invalid CRC’ error; and this file may have .b11 name)
for main Quin PTS code.
•
Comparison with current drive firmware, for verification.
•
Transfer of new firmware to the Q-drive.
‘Reset drive’ exits without damage, with a full restart.
Parameters may be shown, loaded (as ‘Recall file’), and saved in the drive using the
various menu items, and the drive size may be defined (see factory setup procedures).
Firmware update is not possible using the drive’s internal USB port, because of startup
timing conflicts.
Page 106
Issue 6
B.5
Error Display Codes
If a motor error occurs on any axis, then the LED display indicates an error code. The
error code remains on the LED display until the next PC command is executed on the
channel which detected the error. System errors, used during software development, are
not normally seen on a running system, but are described here for completeness.
Q-Drive3 systems: The single digit displays ‘E’, or limit switches ‘L’, cycling with two
other numerals displaying the error code as in the table below.
Prefix
E
Error type
Errors
Code
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
Position error
Timeout error
High position limit
Low position limit
Reference timeout
Reference out of limits
Reference overrun
Watchdog timeout
Map update timeout
Map position overflow
Analogue input high limit
Analogue input low limit
Encoder counter fault
SSI encoder too noisy
Demand position change too large
Clock tick during servo loop
Missed servo loop execution
83
88
90
no clock being received over CANbus
SERVOnet module back on bus
SERVOnet hardware error line
The following are specific to Qdrives:
Page 107
Issue 6
91
92
93
94
95
96
97
98
99
A0
A1
A2
A3
A4
A5
A6
A7
L
Page 108
Limit switch xx
Drive enable feedback failed
Under/over voltage (alarm 7)
Power module fault (alarm 6)
Earth fault
Drive over temperature (alarm 4)
I2t exceeded (alarm 2)
Resolver fault (alarm 5)
Overspeed (alarm b)
Motor link fault (alarm C)
Motor thermostat (alarm 3)
Alarm register bit 9 set
Overspeed asynchronous (alarm U)
Software watchdog (alarm 9)
Firmware not OK (alarm E)
Parameters not OK (alarm F)
Limit switch input detected
First digit = input group number
Second digit = line number
Issue 6
Q-Drive 3 Installation Manual
C.
Standard Cable Drawings
C.1
Introduction
This appendix contains the assembly drawings for the standard cable configurations used with Q-Drive 3 series, and D3000.
•
QDV-1-2-002
Q-Drive Motor drive cable for SEM motors
•
QDV-1-2-003
Q-Drive Motor drive cable for SBC motors.
•
QDV-2-2-001
Q-Drive series Resolver cable for SEM motors.
•
QDV-2-2-002
•
QDV-2-2-007
SERVOnet/Synchrolink cable assembly/feed/terminator.
•
QDV-2-2-010
•
QDV-2-2-012
Q-Drive series Resolver cable for SBC motors.
•
QDV-2-2-013
Q-Drive Motor Drive cable for SBC motors.
•
QDV-2-2-025
Q-Drive series Resolver cable for SBC SMB motors.
•
QDV-2-2-026
Q-Drive Motor drive cable for SBC SMB motors.
•
QDV-2-2-027
Qdrive Programming cable assembly.
•
QDV-3-2-001
Q-Drive 3 series Resolver cable for SEM motors (26-way plug).
•
QDV-3-2-002
Q-Drive 3 series Resolver cable for SBC motors (26-way plug).
•
QDV-3-2-003
Q-Drive 3 series SinCos cable for SEM, SBC motors.
•
QDV-3-2-004
Drive 3000 series Command/power/position cable assembly.
•
QDV-3-2-005
Q-Drive 3 series Power/Analogue/Encoder cable assembly.
•
QDV-3-2-006
Q-drive 3 series SinCos cable for Stegmann sensors.
•
QDV-3-2-007
Q-drive 3 Modbus link to Proface panel.
•
QDV-3-2-008
Q-Drive 3 series VT50 panel cable.
•
QDV-3-2-009
Q-Drive 3 series Operator Panel cable.
•
QDV-3-2-010
Q-Drive 3 cable to breakout panel.
•
QDV-3-2-011
Q-Drive 3 series EnDat cable for Heidenhain sensor.
Quin can supply these cables pre-assembled.
Page 109
Page 110
Third Ang le
Projection
C o nn ecto r
M o tor E n d
W ire
C o lou r
F un ction
A
B
C
D
E
F
G
Screen
B row n
B la ck
G reen/ Y ellow
B lu e
-
Screen
M o tor U
M o tor V
M o tor E a rth
M o tor W
-
G rn/Yel. Earth
E
D
F
G
C
A
B
Blue . Motor W
Brow n. Motor U
3.0m between connectors
Amphenol
Connector
(M otor end)
Notes
The o verall screen should be conne cted at Q -Drive end only.
The Amp henol en d should be made up first, selecting the cable end that orienta tes the four conductors to
suit the connector, i.e. with the cable one way round the cond uctors w ill line up with the connector pins, the
other way round and th e condu ctors w ill cross over each other.
Note: to reduce pulse radiation from cable, fit a
ferrite sleeve (Farnell 559-570 or similar) over
U V W cores at the drive end.
Issue
Date
Modification Record
Comment
A
29 Feb 96 First Issue
B
29 Jan 02
Added note re ferrite sleeve
Flying leads with
bootlace ferrules
(Q-Drive end)
Material
Drawn
D
F
Finish
n/ a
Approved
NRM AM
JRAF
n/ a
Scale
Stock Code
N ot to sca le
C B A 130
Tittle.
C
E
Black. Motor V
Q uin System s L td
O aklands B usiness C e nt re
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
Q -D rive M oto r d riv e ca ble
fo r SE M m oto rs
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V -1 -2 -0 0 2
Issue 6
Issue 6
Third Angle
Projectio n
C o nn ector
M o tor E n d
W ire
C o lo u r
F u nctio n
B
A
C
D
E
F
G
Screen
B row n
B la ck
B lu e
G reen / Y ello w
-
Screen
M o tor U
M o tor V
M o tor W
M o tor E a rth
-
G rn/Yel. Ea rth
E
D
F
G
C
A
B
Blu e. Motor W
Bla ck. Motor V
3.0m between connectors
Motor end
Connector
(as supplied
with motor)
Notes
The overall screen should be connected at Q -Drive end only.
The Amphenol end should be made up first, selecting th e cable end that orientate s the fou r conductors to
suit th e con necto r, i.e. with th e cab le on e way roun d the con ducto rs will line up with the connector pins, the
other way roun d and the conductors will cross over each other.
Note: to reduce pulse radiation from cable, fit a
ferrite sleeve (Farnell 559-570 or similar) over
U V W cores at the drive end.
Issue
A
B
Date
8 Jan 03
Modification Record
Comment
First Issue
Flying leads with
bootlace ferrules
(Q-Drive end)
Material
Drawn
D
F
Finish
n/ a
Approved
JRAF AM
n/ a
Scale
Stock Code
N ot to sca le
n/ a
Tittle.
C
E
Brow n. Motor U
Q uin System s L td
O aklands B usine ss Ce ntre
O aklands P ark
W o kingh am
B erk shire.
RG 41 2F D
Q -D riv e M otor d riv e cab le
fo r SB C m o tors
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V -1 -2 -0 0 3
Page 111
Page 112
Third Angle
Projection
1
C o nnector - M otor E nd
Interconnectro n
S ou riau
A m pheno l
Cable CBA131/nnA
Souriau
Connector
(M otor End)
8GN -DM 2-9S (AM 0995)
Cable CBA131/nnB
Interconnectron
12-pin Con nector
(M otor End)
2
8
(N o te B)
9
8
12
11
2
1
7
10
3
9
7
8
4
3
6
5
2
1
J
T
S
E
C
P
D
B
A
C o nnector
D rive A m p
W ire
C o lou r
F unctio n
1
6
2
7
3
8
4
9
5
Screen
W h ite
B row n
P ink
G rey
Y ellow
G reen
B lu e
R ed
Screen
T herm al 1
T herm al 2
S in 2
S in 1
Cos 2
Cos 1
R ef 2
R ef 1
9
7
4
6
3
5
4
5
11
A
L
N
H
9
8
7
1
6
C
P
S
J
N o te B : S creen to m a ke
fu ll contact w ith
connector sh ell
1
B
T
K
10
12
6
M
2
R
G
D
E
F
Cable CBA131/nn
Am phenol
Connector
(M otor End)
M S3106E-20-29S
(AM 0235/1 )
Notes
The overall screen should be connected at both ends of the cable (Suffix B, at m otor end :
to connector shell).
The three internal scree ns should be connected only at the Q -drive end of the cable, to p in 1.
At the m otor end they should be cut back and m easures taken to ensure that they can not
short out to any other wire or connector pin.
Issue
Date
Modification Record
Comment
A
22 Jul 97
First Issue
B
29 Oct 97
Suffix A added
C
26 Apr 99
D
25 Feb 00 Suffix B added
E
F
9
Length between connectors
as per part number suffix:
thus CBA131/3 = 3.0 metres
Souriau pt. no. corrected
5
9-pin D-type
plug
(Q -Drive end)
Material
Drawn
JRAF AM
JRAF
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
Stock Code
N o t to scale
C B A 13 1
Tittle.
Q uin Sy ste ms L td
O aklands Business C entre
O aklands Park
W o king ham
Be rkshire.
RG 41 2FD
Q -D riv e 200 s eries
res olv er cab le
for S E M m otors
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 0 1
Issue 6
Issue 6
Third Ang le
Projection
4
5
1
Souriau
Connector
(M otor end)
Motor Type:
Connector Type:
SEM size 55 or 70
8GN-DM2-6S (AM 0996)
Cable: 4-core SY armoured, 1.5 mm (CA2040)
(Suffix A)
C o nn ecto r - M o tor E n d
Sou riau
A m p heno l
3
E
2
E
D
F
G
C
A
B
1
2
E
3
-
A
B
C
D
E
F
G
C o nn ecto r
D riv e E nd
W ire
C o lou r
F un ction
1
2
4
3
-
Screen
B row n
B la ck
G reen/ Y ellow
B lu e
-
Screen
M o tor U
M o tor V
M o tor E a rth
M o tor W
-
Weidm uller/Klippon
BLZ 7.50/4/90
(Q-Drive end)
(for M ini + M ini3 drive)
1
as per part no. numeric suffix:
thus CBA132/4B = 4.0 metres
Amphenol
Connector
(M otor end)
Motor Type:
Connector Type:
SEM size 90 or 115
M S3106E-20-15S (AM0235) (Suffix B)
SEM size 142
M S3106E-24-10S
(Suffix C)
Brow n. Motor U
2
Black. Motor V
3
Blue . Motor W
4
G rn/Yel. Earth
Weidm uller/Klippon
STV S 4 S S
(Q-Drive end)
(for drives from size 205 up to
420, without m otor brake: for
large drives see QDV-1-2-002)
Cable: 4-core SY armoured, 2.5 mm (CA2024) for Suffices B and C
Notes
The o verall screen should be conne cted at Q -Drive end only.
The Amp henol en d should be made up first, selecting the cable end that orienta tes the four conductors to
suit the connector, i.e. with the cable one way round the cond uctors w ill line up with the connector pins, the
other way round and th e condu ctors w ill cross over each other.
Issue
Modification Record
Comment
A
22 Jul 97
First Issue
B
23 Oct 97
Suffix A added
C
26 Apr 99
Souriau pt. no. corrected
D
8 Jan 03
Mini drive TB pt. no. added
E
12 Jul 04
Incl Mini3 drive
F
Date
Material
Drawn
JRAF AM
JRAF
JRAF
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
Stock Code
N ot to sca le
C B A 132 / nnx
Tittle.
Q uin System s L td
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
Q -D rive 2 00 series
M o tor d riv e cab le
fo r SE M m oto rs
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 0 2
Page 113
Page 114
Third Angle
Projection
View of solder
buckets on a
9 way D-type
Plug ... and ...Socket
C A N b u s T e r m in a to r
S e r v o n e t (C A N b u s ) c a b le
(C A 2 0 4 9 o r C A 2 0 5 0 )
X
6
1
View of solder
buckets on a
9 way D-type
Plug ... and ...Socket
6
1
1
6
S e r v o n e t (C A N b u s )
fe e d le a d
1
0 volts
120R
6
(Black)
+
120R
(CBA137/B)
9
9
5
5
5
1
6
CAN-L
+ 12 volts
(Red)
Y
100R 2W
5
diode
9
5
120R
small
Red
Function
Cable X
Colour
9 way
Socket
9 way
plug
CAN_V+
CAN_L
CAN_G nd
reserved
CAN_SHLD
CAN_G nd
CAN_H
Error line
reserved
W hite/Blue
W hite/O ran ge
W hite/G ree n
W hite/Brown
Screen
Blue
O range
G reen
Brown
9
2
3
4
5
6
7
8
1
9
2
3
4
5
6
7
8
1
bush
Black
to C A N o p e n e n c o d e r o r I/ O
(a s p e r c o n tr o lle r & o p tio n s )
1
Scrap inside
view
S e r v o n e t (C A N b u s ) c a b le
C A N b u s T e r m in a to r
Plug
100R 2W
(CBA137/A)
Length
as per numeric part
no. suffix
(Thus for example
CBA137/2 = 2 metres)
CAN-H
CAN-GND
Diode BAV21
9
U s e r o p tio n o n T e r m in a to r :
120R (local
to end unit)
5
9
Socket
Plug
Ends should
be crimped
with ferrules
Socket
Length 2 metres
S e r v o n e t (C A N b u s )
fe e d le a d
Notes
Cable type:X - 4 twisted pairs p lus scree n (7/0.16 mm, CA2049 , subject
to total volt-drop limitations)
Y - 2 cores 16/0.2, Re d and Black, tw isted
Slee ve component leads w ithin plugs. For CBA137/A, dress
position of 2 watt resistor to be in free space within
metal shell, not touch ing other leads.
Issue
Date
Modification Record
Comment
A
24 Jul 97 First Issue
B
24 Jul 97 Functions/pins corrected
C
26 Apr 99 Option notes added
D
22 M ay 02 Reposition cable labels, add note
E
12 Nov 03
F
Add scrap view of feed lead plug
Material
Drawn
JRAF AM
JRAF AM
JRAF
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
Stock Code
N o t to scale
C B A 137
Tittle.
Q uin System s Ltd
O akland s B usiness C entre
O akland s Park
W o kingham
Be rkshire .
RG 41 2FD
Serv o net/ Syn chrolin k
cab le assem b ly /
feed / term ina tor
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 0 7
Issue 6
Issue 6
Third Ang le
Projection
1
6
5
Size 1 Connector (Motor end)
Motor Type:
Connector Type:
SEM up to size 142 Interconnectron size 1 (Suffix A)
(4-core if no brake, suffix C: CA2040)
C o nn ecto r - M o tor E n d
Size 1
Size 1 .5
2
E
1
2
6
U
V
W
E
E
4
5
+
-
F un ction
M o tor U
M o tor V
M o tor W
Screen
M o tor E a rth
+ 24v
B rak e +
B rak e 0v
W ith B rak e
C o nn ecto r W ire
D riv e E nd C o lou r
1
2
3
4
4
5
6
7
N o B rak e
W ire
C o nn ecto r
D riv e E nd C o lou r
B la ck 3
B la ck2
B la ck 1
Screen
G reen/ Y ellow
B la ck 6
B la ck 4
4
1
+
U
V
-
B row n
B la ck
B lu e
Screen
G reen/ Y ellow
-
1
2
3
4
4
E
W
Weidm uller/Klippon
STV S 7 S S
(Q-Drive end)
(for drives size 205 to 420,
with motor brake: for other
drives see QDV-2-2-002, QDV-1-2-002)
Size 1.5 Connector (Motor end)
Motor Type:
Connector Type:
SEM size 155
Interconnectron size 1.5 (Suffix B)
or larger
(4-core if no brake, suffix D: CA2024)
Notes
The o verall screen should be conn ected at Q-Drive end only.
The M otor end should be made up first, selecting the cable end that orientates the six conductors
to suit the connector, i.e. with the cable one way roun d the cond uctors w ill line up with the
connector pins, th e other w ay round and the conductors will cross over each other.
Issue
Modification Record
Comment
A
1 Dec 98
B
26 Apr 99 Motor size choices changed
C
23 Feb 00 No-brake options added
D
8 Jan 03
Mini-drive plug noted
E
12 Jul 04
Mini-drive plug incl Mini3
F
Date
First Issue
Motor U
2
Motor V
3
Motor W
4
G rn/Yel. Earth
5
+24v
6
Brake +
7
0 v Brake
B rake options
only - w ith no
brake, u se 4-p in
STV S 4 SS
(bu t M in i size:
B L Z 7 .5 0/ 4/ 90 )
Material
Drawn
JRAF AM
JRAF
JRAF
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
Stock Code
N ot to sca le
C B A 144 / nnx
Tittle.
Q uin System s L td
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
fo r SE M m oto rs
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 1 0
Page 115
Page 116
Third Ang le
Projection
C o nn ecto r
M o tor E n d
C o nn ecto r
D riv e A m p
W ire
C o lou r
F un ction
G
J
K
E
F
D
C
B
A
1
6
2
7
3
8
4
9
5
Screen
W hite
B row n
P ink
G rey
Y ellow
G reen
B lu e
R ed
Screen
T herm al 1
T herm al 2
Sin 2
Sin 1
Cos 2
Cos 1
R ef 2
R ef 1
Q -drive resolver shift angle
set to +60 degrees for 8-pole,
or 18 0 degrees for 4-pole
B
C
1
D
A
J
E
H
K
F
6
G
9
5
9-pin D-type
plug
(Q -D rive end)
SBC resolver
Motor-end
Connector
Notes
The o verall screen should be conne cted at b oth ends of the cable.
The three internal screens shou ld be connected only at the Q -drive end of the cable , to pin 1 .
At the motor end they shou ld be cut back and measures taken to ensure that the y can not
short out to an y other wire or co nnector pin.
Issue
Modification Record
Comment
A
6 Mar 00
First Issue
B
8 Jan 03
Note re 4-pole shift angle
C
D
E
F
Date
Material
Drawn
Finish
n/ a
Approved
JRAF AM
JRAF
n/ a
Scale
Stock Code
N ot to sca le
C B A 146
Tittle.
Q uin System s L td
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
resolver ca ble
fo r SB C m oto rs
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 1 2
Issue 6
Issue 6
Third Angle
Projection
C o nnecto r
M o tor E n d
C o nnecto r
D riv e E nd
4
B
1
A
2
C
3
D
4
E
B rak e O p tion O n ly:
G
6
F
7
F un ction
W ire C olo u r
(n o b ra ke)
W ire N o.
(w ith b rak e)
Screen
M o tor U
M o tor V
M o tor W
M o tor E arth
-
Screen
B row n
B lack
B lu e
G reen/ Y ellow
-
Screen
B lack 3
B lack 4
B lack 2
G reen/ Y ellow
-
B rak e +
0v B rak e
-
B lack 1
B lack 6
Weidm uller/Klippon
BLZ 7.50/4/90
(Q-Drive end)
(for Mini + Mini 3 drive)
Brake option wiring not drawn. Uses
7-pin drive connector STV S 7 S S
(for drives from size 205 to 420)
D
C
E
F
G
A
B
(M otor end Connector as supplied with motor)
Motor Type:
Cable type:
Suffix:
SBC size 56
TBA
Suffix A
SBC size70 or 105
1.5 sq.mm ., CA2040 Suffix B
SBC size 145
2.5 sq.m m., CA2024 Suffix C
SBC size 205
TBA
Suffix D
W ith motor brake:
SBC size70 or 105
1.5 sq.mm ., CA2025 Suffix E
SBC size 145
2.5 sq.m m., CA2068 Suffix F
SBC size 205
TBA
Suffix G
Notes
The o verall scree n should be connecte d at Q-Drive end only.
The mo tor end should be made up first, selecting the cable end that orientates the four conductors to
suit the connector, i.e. with the cable one way round the conductors will line up w ith the connector pins,
the other way round and the conductors will cross over each other.
Brown . Motor U
2
Black. Motor V
3
Blue . Motor W
4
G rn/Yel. Earth
Weidm uller/Klippon
STV S 4 S S
(Q-Drive end)
420, without motor brake; for
large drives see QDV-1-2-003)
Issue
Date
Modification Record
Comment
A
6 Mar 00
First Issue
B
8 Jan 03
Mini drive TB pt. no. added
C
13 Jul 04
Mini3 drive included
D
10 Nov 08 Brake polarity corrected
E
F
1
Material
Drawn
JRAF AM
JRAF
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
Stock Code
N o t to scale
C B A 147/ n nx
Tittle.
Q uin System s Ltd
O akland s Park
W o kingham
Be rkshire .
RG 41 2FD
Q -D riv e 2 00 series
M o tor d riv e cable
fo r SB C m oto rs
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 1 3
Page 117
Page 118
Third Angle
Projection
C o n n e cto r
M o to r E n d
C o n n e cto r
D r iv e A m p
W ire
C o lo u r
F u n c tion
c la m p
8
7
5
6
4
3
2
1
1
6
2
7
3
8
4
9
5
S c re en
W h ite
Brow n
P in k
G re y
Y ello w
G re en
B lu e
R ed
S c re en
T h e rm a l 1
T h e rm a l 2
S in 2
S in 1
C os 2
C os 1
R ef 2
R ef 1
Q-drive resolver shift angle
set to +60 degrees
Screens earthed
under cable
clamp
1
6
Optional Brake
connects via
Motor (power)
Cable
9
as per part num ber suffix:
5
9-pin D-type
plug
(Q-Drive end)
Motor (power)
Terminal
10 9
8
7 6
5
4
3
2
1
Resolver Terminal Strip
Notes
The overall screen should be connected at both ends of the cable, using the clamp at the motor end.
The three internal screens should be connected only at the Q-drive end of the cable, to pin 1.
At the m otor end they should be cut back and m easures taken to ensure that they can not
short out to any other wire or connector pin.
Issue
A
9 Jan 03
Modification Record
Comment
First Issue
Material
Drawn
JRAF AM
F
n/a
Scale
Stock Code
N o t to sc a le
n/a
Tittle.
Q -D riv e 2 0 0 serie s
re so lv e r ca b le
fo r S B C S M B m o to rs
C
D
Finish
n/a
Approved
B
E
Date
Q u in S y s te m s L td
O ak l an d s B u sin e s s C e n tr e
O ak l an d s P ar k
W o k i ng h am
B e r k s hi re .
R G 4 1 2F D
T el (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V - 2 -2 - 0 2 5
Issue 6
Issue 6
Third Ang le
Projection
Resolver
Terminal
M o tor E n d
T erm in al
C o nn ecto r
D riv e E nd
W ire
C o lou r
F un ction
B
A
C
D
4
1
2
3
4
Screen
B row n
B la ck
B lu e
G reen/ Y ellow
Screen
M o tor U
M o tor V
M o tor W
M o tor E a rth
Weidm uller/Klippon
BLZ 7.50/4/90
(Q-Drive end)
(for M ini + M ini 3 drive)
A
B
C
D
1
Power (motor)
Terminal
The o verall screen should be conn ected at Q-Drive end only.
Issue
Date
Modification Record
Comment
A
9 Jan 03
First Issue
B
13 Jul 04
Mini 3 included
C
D
E
F
2
Black. Motor V
3
Blue . Motor W
4
G rn/Yel. Earth
Weidm uller/Klippon
STV S 4 S S
(Q-Drive end)
420, without m otor brake)
Notes
Brow n. Motor U
Material
Drawn
Finish
n/ a
Approved
JRAF AM
JRAF
n/ a
Scale
Stock Code
N ot to sca le
n/ a
Tittle.
Q uin System s L td
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
fo r SB C SM B m o tors
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V -2 -2 -0 2 6
Page 119
Page 120
Th ird Angle
Projection
View of solde r
buckets on a
9 wa y D -type
Socke t
View of solde r
buckets on a
9 wa y D -type
Socke t
6
X
1
1
6
T o c o n n e c t to
P C C O M p o rt
D r iv e 2 3 2 P o r t
c o n n e c tio n
9
5
5
9
Y
R in g T e r m in a l a n d
ja c k s c r e w to c o n n e c t
to D -ty p e s o c k e t
s c r e w (P C c h a s s is )
3 0 c m (1 2 " ) g r e e n /
y e llo w le a d
Length as standard,
3 metres
(but for example
CBA140/2 = 2 metres;
maximum approved
is 3 metres)
Socke t
Blade Terminal to
connect to control
system earth
Y
1 metre green/
yellow lead
Socke t
Function
Cable X
Colour
Drive
Socket
PC COM
socket
TxD
RxD
G nd
RTS
CTS
Screen/e arth
PC chassis
Earth
Bla ck
W hite
Bla ck
Red
G reen
Screen
2
3
5
7
8
shell
3
2
5
8
7
shell
shell
shell
A s s e m b le d c a b le
Note s
Cable type:X - 3 twiste d pairs plu s screen (0.25 sq m m) CB03 004
Y - 1 6/0.2, G ree n/yellow
Usage:'Chan tilly' drive contro ller requires issue B or later
Issue
Modification Record
Comment
A
24 Jul 97 First Issue (as wiring schedule only)
B
3 Jun 04 Earth tails + RTS added
C
D
E
F
Date
Material
Drawn
Finish
n/ a
Approved
JRAF AM
JRAF AM
n/ a
Scale
Stock Code
N ot to scale
C B A 14 0
Tittle.
Q u in Syste ms Ltd
O aklands Busine ss C entre
O aklands Park
W o kingh am
B erk shire.
RG 41 2F D
Q -d riv e P ro g ram m ing
cab le a ssem b ly
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V - 2 -2 -0 2 7
Issue 6
Issue 6
Third Angle
Projectio n
1
C o nn ector - M oto r E nd
In terco nnectro n
Sou ria u
A m p heno l
Cable CBA201 /nnA
Souriau
Conne ctor
(Mo tor End)
8G N-D M2-9 S (AM0995)
Cable CBA201 /nnB
Interconn ectron
12-pin C onnector
(Mo tor End)
2
8
(N ote B )
9
8
12
11
2
1
7
10
3
9
7
8
4
3
6
5
2
1
9
7
4
6
3
5
4
5
11
A
L
N
H
F u nctio n
12
1
2
5
3
9
7
13
11
Screen
W hite
B row n
P in k
G rey
Y ellow
G reen
B lu e
R ed
Screen
T herm al 1
T herm al 2
Sin 2
Sin 1
Cos 2
Cos 1
R ef 2
R ef 1
J
T
S
E
C
P
D
B
A
N ote B : Screen to m ak e
fu ll contact w ith
con nector shells
1
9
8
1
14
13
26
Material
Finish
2
7
C
P
S
J
W ire
C o lo u r
B
T
K
10
12
6
M
2
C o nn ector
D riv e A m p
R
G
D
E
F
Cable CBA201 /nn
Amphenol
Conne ctor
(Mo tor End)
MS3106E-20-29S
(AM02 35/1)
Notes
The overall screen should be connected at bo th ends of the cable (Suffix B, at motor en d:
to connector shell).
The three internal scree ns should be connected only at the Q -drive end o f the cable, to pin 12 .
At the moto r end the y should be cut back a nd measures taken to ensure that they can not
short out to any other w ire or connector pin .
26-pin M DR
plug
(Q -Drive end)
Issue
A
Date
Modification Record
Comment
22 May 04 First Issue
Drawn
n/ a
Approved
JRAF AM
F
Stock Code
N ot to sca le
C B A 201
Tittle.
Q -D riv e 3 series
resolv er ca ble
fo r SE M m oto rs
C
D
n/ a
Scale
B
E
12
Q uin System s L td
O aklands P ark
W o kingh am
B erk shire.
RG 41 2F D
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 0 1
Page 121
Page 122
Third Ang le
Projection
B
C
SBC resolver
Motor-end
Connector
D
A
J
E
H
K
F
T erm in al N o .,
SM B M oto r E nd
C o nn ecto r
M o tor E n d
C o nn ecto r
D riv e A m p
W ire
C o lou r
F un ction
clam p
8
7
5
6
4
3
2
1
G
J
K
E
F
D
C
B
A
12
1
2
5
3
9
7
13
11
Screen
W hite
B row n
P ink
G rey
Y ellow
G reen
B lu e
R ed
Screen
T herm al 1
T herm al 2
Sin 2
Sin 1
Cos 2
Cos 1
R ef 2
R ef 1
G
14
13
26
2
Screens earthed
under cable
clamp
O ptional Brake
connects via
Motor (power)
Cable
1
SBC SMB motor
Motor-end -resolver
Terminals
(Suffix B)
12
Motor (power)
Terminal
10 9
8
7 6
5
4
3 2
1
Resolver Terminal Strip
Notes
The o verall screen should be conn ected at both ends of the cable (on SMB, using the clamp).
The three internal screens sho uld be connected only at the Q-drive end of the cable, to pin 12.
At the motor end they sho uld be cut back and measures taken to ensure that they can not
short out to a ny other wire or connecto r pin.
Issue
A
Date
Modification Record
Comment
Material
Drawn
JRAF AM
F
n/ a
Scale
Stock Code
N ot to sca le
C B A 202
Tittle.
Q -D rive 3 series
resolver ca ble
fo r SB C m oto rs
C
D
Finish
n/ a
Approved
B
E
26-p in MD R
plug
(Q -D rive end)
Q -drive resolver shift angle
set to +60 degrees for 8-pole
motors (including SMB), or
to 180 degrees for 4-pole
Q uin System s L td
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 0 2
Issue 6
Issue 6
C o nnecto r - SE M M o tor
In tercon nectron
Third Angle
Projection
10
7
9
8
12
11
2
1
3
13
7
Cable CBA203/nnB
SBC 10-pin Commital
Connector
(Motor End)
C
B
D
A
J
10
7
9
8
12
11
2
1
3
13
4
W ire C olo u rs
L ap p C able
Stegm an n
18
16
1
2
10
8
6
4
20
22
12
H
B
J
K
C
D
E
F
G
A
B
R ed
B lu e
V iolet
B lack
G rey
P ink
B row n
W hite
Y ello w
G reen
Screen
R ed
B lu e
V iolet
Y ello w
B lack
P ink
B row n
W hite
G rey
G reen
Screen
F un ction
+ Su pp ly
0 V o lt
T herm al 1
T herm al 2
R ef C os
Cos
R ef Sin
Sin
D ata +
D ata -
E
K
H
C o nnecto r
D riv e A m p
C o nnecto r - SB C M otor
In tercon nectron
C o m m ita l
26-p in MDR
plug
(Q -D rive end)
F
G
Female pushon 'Faston',
red 6 .3mm
15 cm (6") green/yellow tail, 16/0.2
11
10
9
14
13
26
2
16
13
15
14
6
2
12
7
1
1
3
17
8
Screen to make ele ctrical
contact w ith connector shell,
as well as wiring to pin B
with blu e supply lead and
having 'tail' to faston tab
4
5
12
Convention used to denote twisted pair
Cable CBA203/nn
SEM or SBC Interconnectron
Connector
(Motor End)
Size 1, 17 pin
Screen to make com plete
electrical contact with
motor connector shell.
For SEM, a lso wire to pin 7
with blu e supply lead; for
SBC, also wire to p in 4
Notes
Stegmann cable ma y be used for runs up to 10 metres; lon ger runs need
double-screened 5-pair Lapp cable. Th e table shows core colours for both.
The o verall scree n should be connecte d at both ends of the cable. For Lapp
cable, the five internal screens should be connected only at the Q -drive end
of the cable, to pin 1. At the motor end they should be cut back and measures
taken to ensure that they can not short out to any other wire or conne ctor pin.
O range core of Stegmann cable is not used.
Issue
A
Modification Record
Comment
15 Sep 04 First Issue
Material
Drawn
JRAF AM
E
n/ a
Scale
Stock Code
N o t to scale
C B A 203
Tittle.
Q -D riv e 3 series
SinC os cab le
fo r SE M , SB C m o tors
C
D
Finish
n/ a
Approved
B
F
Date
Q uin System s Ltd
O akland s Park
W o kingham
Be rkshire .
RG 41 2FD
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 0 3
Page 123
Page 124
Third An gle
Projectio n
Q c o n tro l 4 T 6 , T 7
T 8 o r T 9 a s p e r a x is
Q c o n tro l 2 o r 3
T8 T9 or T10
A lso Q c o n tr o l 1
T 4 p in s 6 th ru 1 0
5
X
1
Cable Y
Colour
Cable X
Colour
Phoenix
5 way Plug
G re en
Re d
Blue
Re d
G re en
Yello w
Blue
Scre en
-
1
2
3
4
n/c
n/c
n/c
n/c
10 0 nF
Pow er
S u p p ly
+24 vo lts Red
End s sho uld
be crimped
0 volts Blue
with ferrules,
of 0 .5 sq m m m ax.
Earth G reen
25
Phoenix
5-way plug,
MSTB2,5/5-ST
50
3
5
1
2
4
48
25
24
n/c
n/c
n/c
n/c
n/c
Earth
+24V
0V
Vie w of so ld er
spills on a
50 way M DR
plug
1
1.5 M
50-w ay
plug
External
Power
Connections for com mand & supply
D 2 0 0 0 d r iv e , 3 s e r i e s
'C o m m a n d ' s o c k e t
Y
Q-drive
50 way plug
26
H5 0 Sleeving
9-wa y
Plug
Connections for feedback plug
Re d
1.5 M
Function
Blue
Z
G re en
Feedback
plug
1
Vie w of so ld er
buckets o n a
9 w ay D-type 5
Plug
A
A\
B
B\
Z
Z\
0 volt
Scre en
6
Cable
Colour
Qcontrol
9 way Plug
Pink
G re y
Yello w
G re en
Blue
Re d
W hite
Scre ens
1
6
2
7
3
8
9
shell
Q-drive 50 way plug
Incremental
data - Suff A
27
28
29
30
31
32
26
33
9
1.5 M
No tes
Ca ble types:X - 4 core plus scre en (16/0 .2) (C A2013 )
Y - 3 core (16/0 .2) (C A2051 )
Z - 3 screen ed p airs (0 .14 sq mm) plus 2 x 1 .0 sq m m
w ith overall screen, CA20 04.
Co nnect inn er and o uter scree ns to shell of 9 -pin
plug
Som e app lication s m ay not want all ca bles.
Pow er 0 volts ma y u se black or b lu e, as
per available cab le .
De couple com man d with1 00 n F ceramic, C 0302
Issue
Date
Modification Record
Comment
A
B
28 M ar 06
C
D
E
Revised Card
Material
Drawn
Finish
n/ a
Approved
JRAF AM
JRAF AM
n/ a
Scale
Stock Code
N ot to sca le
C B A 20 4
Tittle.
Q u in Sy stem s L td
O ak land s B usine ss C en tre
O ak land s P ar k
W ok ing ham
B erk shire .
RG 41 2FD
D 2 00 0 d riv e, 3 Series
C om m a nd / su p p ly/ p ositio n
ca ble assem b ly
T el (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V - 3 -2 -0 0 4
Issue 6
Issue 6
Third Angle
Projectio n
10 0 nF
Decouple analogue, at source,
with100 nF ceramic, C0302
X
Cable X
Colour
Tension
Pot/bridge
Red
Yellow
G reen
Blu e
Screen
An in +
An in n/c
0V(24 )
n/c
Q-drive
50 way plug
Analogue in +
Analogue in -
Tension
pot/bridge
Terminals
0v(24) (Earth)
Ends sho uld
be crimped
with flat spade
ferrules.
Connections for analogue
Q -d r iv e 3 s e r ie s
'P o r t B / a n a lo g u e ' s o c k e t
Red
Tension
pot/bridge
3
5
n/c
4
6
1.5M
50-way
plug
G reen
25
Blu e
Length as
per suffix
H50 Sleevin g
1
50
26
Encoder
Plu g
1
Socket to m ate
with encoder
(screw-on
outer ring)
2
9
10
3
11
4
Socket to m ate
with extension
cable (male
thread)
7
5
6
8
1
3
4
10
11
9
6
5
2
12
9
12
6
1
10
11
5
Z
7
(Vie w of sold er
bucke ts on 12way encoder
socket)
8
Connections for encoder plug
Cable Z is only for
CBA205/nn A, CBA205/nnB
8
12
View o f solder
spills on a
50 wa y MD R
plug
2
Function
Cable
Colour
Encoder
socket
A
A\
B
B\
Z
Z\
+5 volt
0 volt
Screen
Yellow
G reen
G rey
Pin k
Red
Blu e
Brow n
W hite
Screens
5
6
8
1
3
4
2 & 12
10 & 11
9
Q-drive
50 way plug
34
35
36
37
38
39
40
33
41
3
4
Notes
Cable types:X - 4 core plus screen (16/0.2) (CA20 13)
Z - 3 screened pa irs (0.14 sq mm) plus 2 x 1.0 sq mm
with overa ll screen, CA2004.
Some applications may not wan t all cables.
No suffix - omit cable 'Z' to en coder
Plu g type s designated by suffix:
suffix lette r A has female 'co nnector',
Heidenhain 237 5 24 12, to fit plug on
encoder body.
Suffix letter B has female 'coupling',
Heidenhain 237 5 25 06, to fit plug on
extension cable.
Nume ric pa rt of suffix gives cable 'Z'
length in metre s.
Issue
Date
Modification Record
Comment
A
B
28 M ar 06
C
D
E
Revised card
Material
Drawn
Finish
n/ a
Approved
JRAF AM
JRAF AM
n/ a
Scale
Stock Code
N ot to sca le
C B A 20 5
Tittle.
Q uin System s L td
O aklands P ark
W o kingh am
B erk shire.
RG 41 2F D
Q -D riv e 3 Series
A na lo gu e/ encod er
cab le a ssem b ly
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 0 5
Page 125
Page 126
C onn ector - sensor,
Stan d alone SinC os
Th ird Angle
Projection
C onn ector
D riv e A m p
W ire C o lo urs
Steg m a nn
F u nctio n
R ed
B lu e
(V io let)
(Y ellow )
B la ck
P in k
B row n
W hite
G rey
G reen
Screen
+ Su p p ly
0 V o lt
n/ c
n/ c
R ef C o s
C os
R ef Sin
Sin
D ata +
D ata -
18
16
10
8
6
4
20
22
12
12
10
1
8
6
5
2
7
9
Cab le C BA206/nn
Stegma nn
Con nector
(M otor En d)
9
1
8
4
14
13
26
2
11
3
1
7
12
10
2
26-pin MDR
plug
(Q -Drive end)
6
5
Screen to make complete
electrica l contact w ith
sensor conne ctor shell,
as well as wiring to pin 9
thus C BA206/3 = 3.0 metres
12
Con ven tion use d to denote twisted pair
Issue
Note s
Stegma nn cable may be used for runs up to 15 metres.
Th e overall scre en should be connected a t both ends of
the cable, as drawn.
O rang e co re of Ste gmann cable is n ot used.
A
Modification Record
Comment
Material
Drawn
JRAF AM
F
n/ a
Scale
Stock Code
N ot to scale
C B A 20 6
Tittle.
Q -D riv e 3 series
Sin C o s ca ble
fo r Stan d alo ne senso r
C
D
Finish
n/ a
Approved
B
E
Date
Q u in Syste ms Ltd
O aklands Busine ss C entre
O aklands Park
W o king ham
B erk shire.
RG 41 2F D
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V - 3 -2 -0 0 6
Issue 6
Issue 6
Third Ang le
Projection
1
View of solder
buckets on a
25 way D-type
Plug
RS232 connection s
(suffix B)
14
View of solder
buckets on a
25 way D-type
Plug
1
RS485 connection s
(suffix A)
X
Tx
/Tx
Rx
/RX
P ro face P an el
SIO p o rt so cke t
13
14
P ro face
Panel
SIO p o rt
sock et
0V
25
Q d r iv e , 3 s e r ie s
25
13
25
Drive
50 way Plug
15
16
18
8
48
25
24
Panel
25 way plug
(RS232)
3
2
7
shell
n/c
n/c
n/c
Cable X
Colour
Red
G reen
Black x 2
Screen
-
View of solder
spills on a
50 way MDR
plug
1
50
Drive
50 way Plug
14+15
17+20
16
21
18
8
48
25
24
26
Length as part no suffix: thu s
CBA207/3A = 3.0M
Panel
plug
Drive
Plug
RS232 connections for panel - Suffix B
Connect cable X screen also to shell of
50-w ay p lug
Connections to be made as per suffix req uired.
Red
Black
G reen
Black
(W hite)
Black
Screen
-
Note links on panel plug, 18 to 19 and 21 to 22.
Issue
Date
Modification Record
Comment
A
B
28 Mar 06 Revised card
C
D
E
9+10
16
11
15
7
shell
n/c
n/c
n/c
Cable X
Colour
RS485 connections for panel - Suffix A
Note links on panel plug, pins 4 to 5.
Maximum RS232 cable length 3 metres.
Notes
Cable types:X - 3 tw isted pairs plus screen (7/0.2, CB03004)
Panel
25 way plug
(RS485)
Material
Drawn
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
AM
AM
Stock Code
N ot to sca le
C B A 207
Tittle.
Q uin System s L td
O aklands P ark
W o kingham
Be rk shir e.
RG 41 2F D
Q d riv e 3 to P roface p anel
M o d bu s cab le assem bly
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 0 7
Page 127
Page 128
Third Angle
Projectio n
View o f solder
bucke ts on a
25 wa y D -type
Plu g
1
RS485 connections
(no suffix)
14
X
Tx
/Tx
Rx
/RX
V T50
Panel
M SP p o rt
sock et
0V
25
View o f solder
spills on a
50 wa y MD R
plug
1
50
13
Drive
50 way Plug
15
20
16
21
18
8
26
Length a s part no suffix: thus
CBA208/3 = 3.0 M
Panel
plug
Drive
Plu g
Panel
25 way plug
(RS485)
13
24
23
12
7+25
shell
25
Cable X
Colour
Red
Bla ck
G reen
Bla ck
(W hite)
Bla ck
Screen
RS485 connections for panel
Note links on panel plug, 4 to 5, 15 to 18 and 7 to 25.
Notes
Cable types:X - 3 twisted p airs p lus screen (7/0 .2, CB03004)
Issue
Modification Record
Comment
A
B
28 Mar 06 Revised card
Conne ct cable X screen also to shell of
50-way plug .
C
D
E
Date
Material
Drawn
JRAF
JRAF
Finish
n/ a
Approved
n/ a
Scale
AM
AM
Stock Code
N ot to sca le
C B A 208
Tittle.
Q uin System s L td
O aklands P ark
W o kingh am
B erk shire.
RG 41 2F D
Q d riv e 3 to E SA V T 50 p anel
cab le a ssem b ly
T e l (0 1 1 8 9 ) 7 7 1 0 7 7
F a x (0 1 1 8 9 ) 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 0 8
Issue 6
Issue 6
Page 129
Page 130
Third Angle
Projection
Pow er
S u p p ly
Ends should
be crimped
with ferrules,
of 0.5 sq mm max.
Y
+24 volts Red
+24V
L a r g e O p e r a to r s
p a n el
0 volts Blue
Earth G reen
6
X
1
Tx
/Tx
Rx
/RX
View of solder
buckets on a
9 way D-type
Socket
0V
5
9
25
1
50
View of solder
spills on a
50 way MDR
plug
26
Length as part no suffix: thus
CBA209/3 = 3.0M
Plug
Socket
Red
C able Y
C olour
C able X
C olour
D rive
50 w ay Plug
G reen
Red
Blue
Red
Black
G reen
Black
W hite
Black
Screen
-
15
20
16
21
n/c
18
8
n/c
n/c
n/c
O P Panel
9 w ay Skt
3
4
1
2
9
5
5
7
6
External
Pow er
n/c
n/c
n/c
n/c
n/c
n/c
n/c
Earth
+24V
0V
Connections for panel & supply
As above
There may be other signal cables to this
connector - fo r example, encoder or analogue
tension input.
Blue
G reen
Notes
Cable types:X - 3 twisted pairs plus screen (7/0.2, CB03004)
Y - 3 core (16/0.2, CA2051)
Connect cable X screen also to shell of
50-w ay plug
Power 0 volts may use black or blue, as
per available cable.
Sleeve cable join w ith stretch sleeve.
Issue
A
B
C
D
E
D ate
M odification R ecord
C om m ent
M aterial
D raw n
21 M ay 04 First Issue
JRAF
25 Apr 06 R evised card
JRAF
Finish
n/ a
Approved
n/ a
Scale
AM
AM
Stock C ode
N o t to sc a le
C B A 20 9
Tittle.
Q u in Sy ste m s L td
O a k lan d s B u sin e ss C e n tre
O a k lan d s P a rk
W ok ing h am
B e r k shi re .
R G 41 2F D
Q d r iv e 3 to L arg e O p era to rs p an el
ca b le assem b ly
T el (0 1 18 9 ) 7 7 10 7 7
F ax (01 1 8 9) 77 6 72 8
D rg N o.
Q D V -3 -2 -0 0 9
Issue 6
Issue 6
Page 131
Page 132
Third Angle
Projection
Length as part no suffix: thus
CBA210/15 = 1.5M
Panel
plug
Drive
Plug
D rive
36 w ay P lug
P anel
36 w ay plug
C able
C olour
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
TBA
I/O connections for panel
Notes
Plug types, both ends:3M M DR, 36-way IDC, 10136-6000EL, plus shells
Issue
A
B
Cable round-profile IDC to suit above plugs;
rating 1 am p per core.
C
D
E
D ate
M odification R ecord
C om m ent
24 Apr 06 First Issue
M aterial
D raw n
JRAF
Finish
n/ a
A pproved
n/ a
S cale
AM
AM
S tock C ode
N o t to sc ale
C B A 21 0
Tittle.
Q u in Sy ste m s L td
O a k la n d s B u sin e ss C e n tr e
O a k la n d s P a r k
W ok i n g h a m
B e rk sh i re .
R G 41 2FD
Q d r iv e 3 to b rea k ou t p an el
ca b le assem b ly
T el (0 1 18 9 ) 7 71 0 7 7
F ax (01 1 8 9) 7 7 67 2 8
D rg N o.
Q D V -3 -2 - 0 1 0
Issue 6
Issue 6
S en sor C on nector
H e id en hain
Third Angle
Projection
C o nnector
D riv e A m p
W ire C olo urs
H e id en hain (C A 2 011)
Fu nction
14
16
1
2
10
8
6
4
20
22
24
26
12
W hite
B lu e
W hite / gre en
B row n/ gre en
P ink
G re y
G re e n
B row n
Red
B lack
V iole t
Y e llow
S cre en
+ S up ply
0 V olt
T he rm al 1
T he rm al 2
R e f C os
Cos
R e f S in
S in
D ata +
D ata C lo ck +
C lo ck -
7
10
rese rve d
rese rve d
13
12
16
15
14
17
8
9
11
26-pin M DR
plug
(Q -Drive end)
1
14
13
26
2
11
10
9
1
16
13
3
17
8
15
7
14
6
as per part num ber suffix:
thus CBA2xx/3 = 3.0 m etres
2
12
4
5
12
View into solder buckets inside
17-way socket: same as view on
plug face of encoder.
Socket Heidenhain 291697 26.
Screen to make com plete
m otor connector shell;
also wire to pin11.
Notes
Heidenhain cable CA2011 is to be used for runs up to 15 m etres; longer runs
need a differnt cable grade and wiring, up to 45 m etres m ax. The table
shows core colours for CA2011.
The overall screen should be connected at both ends of the cable, as drawn.
W here the sensor is within a m otor, a different plug m ay be needed; the white/
green and brown/green cores are available for a m otor therma l senso r in
that case.
Issue
A
Modification Record
Comment
19 Sep 06 First Issue
Material
Drawn
E
n/ a
Scale
JRAF AM
Stock Code
N o t to scale
C B A 2x x
Tittle.
Q -D rive 3 s erie s
E nD at cable fo r
H e id en hain se ns ors
C
D
Finish
n/ a
Approved
B
F
Date
Q uin Sy stem s Ltd
O ak la nds B usiness Ce ntre
O ak la nds P ark
W ok ing ham
Berk shire.
RG 41 2F D
T e l (0 1 1 8 ) 9 7 7 1 07 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 1 1
Page 133
Page 134
Third Angle
Projection
C onnector
M otor feed back
C onnector
D riv e A m p
9
10
13
14
1
2
3
4
15
16
17
shell
14
16
2
16
15
17
19
21
3
7
24
clip
Fu nction
W ire C olou rs
H eid enha in
S tegm ann
W hite
B lue
B row n/ green
W hite/ green
Y ello w
V iolet
B row n
G reen
R ed
B lack
Pin k
Screen
+ Su pply
0 V olt
T herm al 1
0 V olt
A+
AB+
BS1
S2
S3
R ed
B lue
G reen
G rey
Y ello w
V iolet
B row n
W hite
O rang e
B lack
Pin k
Screen
26-pin M DR
plug
(Q-Drive end)
1
14
2
11
10
9
1
16
13
3
17
8
15
7
thus CBAxxx/3 = 3.0 metres
2
12
14
6
4
5
470R
Cable CBAxxx/nn
Epic Circon R2.5 or
Interconnectron Size 1
Connector, 17 pin
(M otor End)
Screen to m ake complete
m otor connector shell.
Notes
Sick/Stegm ann (CA2067) or Heidenhain (CA2011) encoder cable m ay be
used, for runs up to 30 m etres. The table shows core colours for both.
The overall screen or drain wire should be connected at both ends of the cable.
Grey core of Heidenhain cable is not used.
Resistors to be m etal film M F12, sleeved and dressed in M DR plug shell.
For standard settings wire power to QDV-3-2-013
2K
13
Issue
A
Date
Modification Record
Comment
26 Nov 08 First Issue
Material
Drawn
E
Stock Code
N ot to scale
C B Ax xx
Title.
Q -D rive 3 series
U V W + encod er cable
for Linear S tage m otors
C
D
n/a
Scale
JRAF AM
26
Finish
n/a
Approved
B
F
12
62K 62K
Q u in S y ste m s L td
O ak la nd s B u sin e s s C e ntr e
O ak la nd s P ar k
W o k i n g h am
B e r k sh ir e .
R G 4 1 2 FD
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
F a x (0 1 1 8 ) 9 7 7 6 7 2 8
Drg No.
Q D V -3 -2 -0 1 2
Issue 6
Issue 6
Third Angle
Projection
C o nnector
M o tor E nd
C o nnector
D riv e En d
4
B
1
A
2
C
3
D
4
E
B rak e O ptio n O n ly:
F
6
G
7
F un ction
W ire C o lou r
(no brak e)
W ire N o .
(w ith b ra ke)
Screen
M o tor U
M o tor V
M o tor W
M o tor E arth
-
Screen
B row n
B lack
B lu e
G reen/ Y ello w
-
Screen
B lack 3
B lack 4
B lack 2
G reen/ Y ello w
-
B rak e +
0v B rak e
-
B lack 6
B lack 1
Weidmuller/Klippon
BLZ 7.50/4/90
(Q-Drive end)
(for Mini + Mini 3 drive)
Brake option wiring not drawn. Uses
7-pin drive connector STV S 7 S S
(for drives from size 205 to 425)
E
D
H
F
G
C
L
A
B
thus CBAxxx/4B = 4.0 metres
(M otor end Connector: Epic CIRCON LS1, 5+3+E)
Motor Type:
Cable type:
Suffix:
MPAS-AnnnnB-ALMxxx 1.5 sq.m m., CA2040 Suffix A
W ith motor brake
1.5 sq.m m., CA2025 Suffix B
Notes
The overall screen should be connected at Q-Drive end only.
The motor end should be made up first, selecting the cable end that orientates the four conductors to
suit the connector, i.e. with the cable one way round the conductors will line up with the connector pins,
the other way round and the conductors will cross over each other.
Brown. Motor U
2
Black. Motor V
3
Blue. Motor W
4
G rn/Yel. Earth
Weidmuller/Klippon
STV S 4 S S
(Q-Drive end)
425, without motor brake)
Issue
A
Date
Modification Record
Comment
10 Nov 08 First Issue
Material
Drawn
F
n/ a
Scale
JRAF AM
Stock Code
N o t to scale
C B A x x x/ nn x
Tittle.
Q -D riv e 3 series
fo r L in ea r Sta ge m otors
C
D
Finish
n/ a
Approved
B
E
1
Q uin Sy ste ms Ltd
O aklands Busine ss Ce nt re
O aklands Park
W o king ham
Be rkshire .
RG 41 2FD
T e l (0 1 1 8 ) 9 7 7 1 0 7 7
Fax (0118) 977 6728
Drg No.
Q D V -3 -2 -0 1 3
Page 135
Page 136
Cable Part
number
Description
Drawing
CBA130
Qdrive power cable for SEM motors (large drive)
QDV-1-2-002
tba
Qdrive power cable for SBC motors (large drive)
QDV-1-2-003
CBA131
Qdrive resolver cable, SEM motors
QDV-2-2-001
CBA132
Qdrive power cable, SEM motors
QDV-2-2-002
CBA137
SERVOnet cable
QDV-2-2-007
CBA137/A
SERVOnet power feed
QDV-2-2-007
CBA137/B
SERVOnet terminator
QDV-2-2-007
CBA140
Qdrive Programming cable
QDV-2-2-027
CBA144
Qdrive power cable, SEM motors (with SinCos)
QDV-2-2-010
CBA145
SERVOnet cable, 150mm ribbon
..
CBA146
Qdrive resolver cable, SBC motors
QDV-2-2-012
CBA147
Qdrive power cable, SBC motors
QDV-2-2-013
CBA168
SERVOnet to CANopen (encoder, I/O box)
QDV-2-2-007
CBA178
Qdrive resolver cable, SBC SMB motors
QDV-2-2-025
CBA200
Qdrive 3 connector set (MDR plugs, for user wiring)
CBA201
Qdrive 3 resolver cable, SEM motors
QDV-3-2-001
CBA202
Qdrive 3 resolver cable, SBC motors
QDV-3-2-002
CBA203
Qdrive 3 SinCos cable, SEM, SBC motors
QDV-3-2-003
CBA204
*
D3000 command/sb. power/position (from MiniPTS,
Qmotion, Qcontrol)
QDV-3-2-004
CBA205
Qdrive 3 power/analogue/encoder cable
QDV-3-2-005
Table 36: Cable Cross-reference
Issue 6
Issue 6
Cable Part
number
Description
Drawing
CBA206
Qdrive 3 SinCos cable, standalone sensor
QDV-3-2-006
CBA207
Qdrive 3 Modbus link to Proface panel
QDV-3-2-007
CBA208
Qdrive 3 VT50 panel cable
QDV-3-2-008
CBA209
Qdrive 3 Operator Panel Cable
QDV-3-2-009
CBA210
Breakout unit link cable (IDC, pre-made)
QDV-3-2-010
Table 36: Cable Cross-reference
* Cables thus marked are relevant only to use of the drive as a stand-alone drive
Page 137
Page 138
Issue 6
Issue 6
Index
1Volt p-p
connections
7 segment display
39
63
A
a.c. mains connection
acceleration
Accuracy (referencing)
Actions Menu
address for service or repair
adjusting KA
adjusting KF
adjusting KP
adjusting KV
alarm register
brushless motor
feedback fault
iit limit exceeded
link fault
power module fault
under/over voltage on dc bus
analogue input
connections
analogue input offset
analogue output
AutoCAD
average torque
32
58
98
81
10
78
78
77
78
103
103
103
103
103
103
24
43
91
24
16
59
B
backlash
baud rate
BD
bit display
board layout
Brake
brake
brake delay
brake module
braking power
brushless motors
59
63
37
81
97
36
37
37
21
20
57
C
cable length
cable sizes
cables
Cables cross-reference
CANbus connections
Copyright © 2009 Quin Systems Ltd
33
33
109
136
48
CANbus power supply
CANopen encoders
case size
large
medium
mini
small
checks
a.c. power
digital I/O
encoder
factory configuration
Hiperface
resolver
switching on
choice of motor
clearances
command signal
scaling
configuration
Hiperface
important settings
motor settings
resolver
connection details
connections
1 V p-p
a.c. mains
analogue input
analogue output
CANbus
drive setup
encoder
encoder simulation
EnDat sensor
Hiperface sensor
inputs and outputs
link encoder
motor
Q-Drive
Q-Drive SERVOnet
resolver
serial port B
SERVOnet
standby power supply
count rate
counts per turn
couplings
critical damping
current loop source
Current loop tuning
current sense resistors
22
60
15
14
12
13
67
68
68
66
66
66
62
57
16
75
68
66
67
68
109
39
32
43
43
48
42
45
40
41
40
49
45
32, 33
54
55
38
46
48
43
24
89
59
78
87
71
97
Page 139
Issue 6
D
d.c. bus terminals
D2000/4000
detect shift angle
digital i/o power supply
digital inputs and outputs
dimensions
direction inhibit
directives
display codes
Display QDrive parameter
drawings
drive
direction inhibit
end switch configuration
serial port
drive enable
21, 35
9
81, 85
22
24
16
90
11
63
93
16
90
90
42
43, 51
Page 140
24
17
10
10
17
56
60
24
60
60
40
69
92
90
89
89
68
45
40
23
90
41
16
48
56
75
74
74
63, 107
103
103
103
65
22
F
fax number
feedback type
firmware update
firmware upgrade
firmware user code
firmware versions
fixing centres
friction
fuse types
10
85
104
82
83
9
25, 26, 30
58
96
G
gain adjustment
guards
E
electrical characteristics
electronic mail
e-mail address
EMC filters
emergency stop
encoder
CANopen
count rate
encoder input
encoder simulation
encoder simulation connections
faults
input counter
marker pulse position
marker pulse width and gating
resolution
testing
encoder connections
encoder simulation connections
encoder supplies
end switch configuration
EnDat sensor connections
environmental specification
error
detection on SERVOnet
limit switch
position - definition
speed
steady state
error codes
iit limit exceeded
power module fault
under/over voltage on dc bus
error messages
external power supplies
77
56
H
Hiperface
shift angle
supported devices
wiring
Hiperface sensor connections
hiperface supplies
Holding brake
humidity
85
24
40, 41
40
23
36
16
I
I2t limit
import/export
induction motor
inertia
input and output circuits
input line testing
input/output connections
isolated inputs and outputs
84
82
9
58
53
69
49
24
J
jumper locations
97
K
KA adjustment
KF adjustment
KP adjustment
KV adjustment
78
78
77
78
Issue 6
L
mounting the motor
large
limit switches
link encoder
connections
input configuration
input counter
logic power supply
15
56
45
89
92
22
machine guards
maintaining position information
marker pulse position
marker pulse width and gating
master axis encoder
maximum motor current
maximum speed for motor
MCBs
measured position display
mechanical specification
medium
messages
error
mini
motion control
Motor
motor
connections
Hiperface shift angle
I2t limit
inertia
installation
maximum current
nominal current
resolver shift angle
selection
thermostat switch
motor connection
Motor EMF
Motor pole pairs
motor position
motor position in turn
Motor tuning
motor types
Mounting details
cutout
large
medium
mini
small
mounting details
N
Node number (SERVOnet)
nominal motor current
56
56
90
89
60
84
84
17
68
16
14
65
12
12
24
33
85
84
59
59
84
84
85
57
84
32
21
83
87
87
71
11
27, 29
30
28
25
26
25, 26, 30
32
84
O
output line testing
output scaling
M
59
69
75
P
parameter
display
read/write
save
select
update
parameter 0002
parameter 0401
parameter 0402
parameter 0403
parameter 0404
parameter 0405
parameter 0406
parameter 0407
parameter 0501
parameter 0502
parameter 0503
parameter 0504
parameter 0529
parameter 0530
parameter 0531
parameter 0601
parameter 0602
parameter 0603
parameter 0604
parameter 0605
parameter 0606
parameter 0701
parameter 0702
parameter 0703
parameter 0704
parameter 0705
parameter 1001
parameter 1002
parameter 1101
parameter 1102
parameter 1103
parameter 1104
93
93
93
93
93
83
83
83
84
84
84
84
84
85
85
86
87
87
87
87
87
87
87
87
87
87
88
88
88
88
88
89
89
89
89
89
90
Page 141
parameter 1105
parameter 1106
parameter 1126
parameter 1127
parameter 1131
parameter 3101
parameter 3102
parameter 3103
parameter 3116
parameter grid
peak current
poles
motor
Position loop tuning
power down
power ratings
power supplies
CANbus
digital i/o
encoder
external
hiperface
logic
proportional gain
PTS Scope
PTS Toolkit 2000
Issue 6
90
90
91
91
91
91
91
91
92
81
19
83
75
56
19
22
22
23
22
23
22
77
75
79
Q
QA
Q-Drive connections
Q-Drive SERVOnet connections
Q-Drive setup
QP
QQ
QS
QT
QV
93
54
55
79
93
93
93
93
93
R
r.m.s. current
r.m.s. torque
read/write QDrive parameter
Reference accurary
reference inputs
resolver
connections
shift angle
Resolver characteristics
S
Page 142
19
59
93
98
52
38
85
24
Safety
safety interlock
Save QDrive parameter
Select QDrive parameter
serial cable
serial data format
serial port B
connections
service department address
SERVOnet
Node number
node number
SERVOnet connections
setting KA
setting KF
setting KP
setting KV
Setting Up
shift angle
shutdown
small
snapshot inputs
speed end switches
speed limit
speed loop source
Speed loop tuning
standby power supply
status
status register
brushless motor
status window
surge energy
56
43, 51
93
93
62, 66
63
46
10
32
65
48
32
78
78
77
78
62
85
56
13
52
90
84
88
73
43
102
102
81
20
T
telephone number
temperature range
testing
digital inputs and outputs
encoder
torque calculation
torque-speed curves
tuning
current loop
position loop
speed loop
tuning generator
tuning procedure
10
16
69
68
58
57
71
71
75
73
88
75
U
Issue 6
Update QDrive parameter
93
V
velocity feedback
velocity feed-forward
velocity profile
version upload
78
78
58
67, 81
W
weight
Windows program
wiring faults
16
79
69
Page 143
Page 144
Issue 6

MAN445 - Quin Systems Ltd

Transcription

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