Bridge Command BC-MT-2450 Guía de instalación

49 50Programmable Inputs/Outputs12CHA+CHA -CHB+CHB -CHZ+CHZ -GndEncoder Output ShieldS1 RedS2 BlkS3 GrnS4 BluR1 BrnR2 WhtMT+ YelMT- Org

6APEX615n Installation GuidePre-installation AdjustmentsDIP Switch Settings – Motor Current, Feedback Options, Drive FeaturesThe APEX615n has three 8-

96APEX615n Installation GuideContinuous Duty means steady state operation for drive ambient temperatures of 0°C to50°C. Intermittent Duty means operat

Appendix C97Speed/Torque Curves (at nominal value for torque constant)SpeedTorque2000(33)4000(67)6000(100)8000(133)RPM(rps)800600400200(5.6)(4.2)(2.8

98APEX615n Installation GuideSM Motor SpecificationsParameter Symbol Units SM231AR SM232AR SM233BRStall Torque Continuous 1Tcslb.in.oz. in.Nm3.5560.40

Appendix C99Motor Size: APEX602 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeThermal52.6 (0.37)22.

100APEX615n Installation GuideMotor Size: APEX603 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeTher

Appendix C101Motor Size: APEX604 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeThermal52.6 (0.37)22

102APEX615n Installation GuideMotor Size: APEX605 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeTher

Appendix C103Motor Size: APEX606 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeThermal120 (0.85)51.

104APEX615n Installation GuideMotor Size: APEX610 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeTher

Appendix C105Motor Size: APEX620 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeThermal124.2 (0.877)

Chapter 1. Installation7OFF1OFF2ONOFF3ONOFF4ONOFF5ONOFF OFF67OFF8RESERVEDALIGNMENT MODECOMMUTATION TEST MODEHALL SELECTTACH SCALINGRESERVEDOffNoYesNoY

106APEX615n Installation GuideMotor Size: APEX630 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeTher

Appendix C107Motor Size: APEX635 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeThermal164.0 (1.158)

108APEX615n Installation GuideMotor Size: APEX640 Value Units Tolerance12345Constant (s): TorqueVoltage (Sinusoidal)Electrical TimeMechanical TimeThe

Appendix DLVD Installation InstructionsFor more information about LVD, see 73/23/EEC and 93/68/EEC, published by the EuropeanEconomic Community (EEC).

110APEX615n Installation GuideLine FusesLine fuses need to be added to protect the transformer and associated wiring. If the live wirecannot be readil

Appendix D111Servo MotorSafety EarthCable(green/yellow)Providing Protective Earth Connection for Motor1 Use a spade lug in combination with a star w

112APEX615n Installation GuideTable of Graphic Symbols and WarningsThe following symbols may appear in this user guide, and may be affixed to the prod

Appendix EEMC Installation GuidelinesGeneral Product PhilosophyCompumotor products that were not designed originally for EMC compliance, such as theAP

114APEX615n Installation GuideGeneral Considerations Applicable to all ProductsExternal enclosuresThe measures described in these recommendations are

Appendix E115Ferrite absorber specificationsThe absorbers described in these installation recommendations are made from a low-gradeferrite material wh

8APEX615n Installation GuideOFF1OFF2ONOFF3ONOFF4ONOFF5ONOFF OFF67OFF8RESERVEDALIGNMENT MODECOMMUTATION TEST MODEHALL SELECTTACH SCALINGRESERVEDOffNoYe

116APEX615n Installation GuideP-Clip Installation DetailsThe function of the P-Clip is to provide a 360 degree metallic contact and thus a convenientm

Appendix E117Mount the filter within 2 inches (50mm) of the drive as shown in Figure 4. Ensure that thereis no paint on the mounting panel under the

118APEX615n Installation GuideWithin the cabinet itself, all the motor cables should lie in the same trunking as far aspossible. They must be kept sep

Appendix E119APEX6154RxTxIso GndOffset Tach OutputBalance CalibrationEnableDisableBridge FaultDrive FaultMotor FaultOver VoltageI2t LimitRegen FaultRe

120APEX615n Installation GuideControl Signal WiringHigh-quality braided screen cable should be used for control connections. In cases where the signal

Appendix FConfiguring DIP SwitchesAPEX6151 DIP SwitchesThe APEX6151 has three 8-position DIP switches. The switches are located behind a smallmetal c

122APEX615n Installation GuideCURRENT LOOP COMPENSATION — #7 & #8: These two switches control thedynamics of the APEX6151's current feedback

Appendix F123Switch 3 (SW 3)RESERVED — #1: Set this switch in the OFF position.ALIGNMENT MODE — #2: Turn this switch OFF. If you need to align the res

124APEX615n Installation GuideSwitch 1 (SW 1)RESERVED — #1, #2, #3: Set these three switches in the OFF position.MOTOR POLE PAIR NUMBER — #4, #5: Set

Appendix F125The time constant is NOT the time until foldback occurs. It is a parameter based upon themotor's physical characteristics.Three vari

Chapter 1. Installation9 OFF1OFF2ONOFF3ONOFF4ONOFF5ONOFF OFF67OFF8RESERVEDALIGNMENT MODECOMMUTATION TEST MODEHALL SELECTTACH SCALINGRESERVEDOffNoYesN

126APEX615n Installation Guide

Appendix GRegenerationThe APEX615n can dissipate regenerated energy in its internal regeneration resistor. If anAPEX615n system regenerates more energ

128APEX615n Installation GuideBy changing the move profile—less torque, slower velocities, or a longer time betweenmoves, for example—you may be able

Appendix G129Peak power regeneration occurs at the moment deceleration begins, when the velocity ishighest.Pshaft( peak)= 2πvmaxTNot all of this peak

130APEX615n Installation GuideThe total energy that must be dissipated in the regen resistor consists of the total regeneratedenergy, less copper and

Appendix G131APEX6152: (for reference only: do not install external resistor)• Resistor Size and Type 50 ohm, 100 watt, 5% non-inductive resistor:• M

132APEX615n Installation GuideThe APEX615n controller/drive's internal IGBT power switch is the component thatdetermines the above specifications

INDEXAAC input power connections & specs21AC powerjumpers 22wiring options 23accelerationacceleration feedforward control(SGAF) 83acceleration ran

134615n Installation Guidemotor 51DIP switchfunction 125location 6, 121, 123DIP switch locations 6DIP switch settingsbias & termination resistors

Index135internal configuration 10NNational Electric Code Handbook inegative-travel limits 27noisedefeating 96electrical 11externally conducted 94groun

10APEX615n Installation GuideChanging the COM 2 Connector from RS-232 to RS-485Rx+Rx–Tx+Tx–Iso GndRS-232 (factory default)RS-485 (optional)COM 2RxTxSh

136615n Installation Guidespecificationsoverall list of 4, 5speed/torque curves 97stability 78status commands (see also backcover, and test on page 20

ShieldMotor GroundPhase CPhase BPhase AV Bus -Regen ResistorV Bus+DANGERHIGH VOLTAGE123456781234567812345678DANGERL1L2EarthEarthEarthControl L1C

DIP Switch Settingsfor APEX Series Motorssee page 7-9DANGERHIGH VOLTAGEL1L2L3EarthEarthControl L1Control L2123456781234567812345678Off 1 SW1

Chapter 1. Installation11Mounting the APEX615nBefore you mount the APEX615nMake sure you have performed all the necessary configuration tasks that req

12APEX615n Installation GuideMounting Slots andGroundingThe APEX615n's mounting bracket is notched with keyhole type slots to accept four screwsf

Chapter 1. Installation13APEX61524.500 (114.3)2.000 (50.8)4X clearance for#10 (M5) mounting screw1.000(25.4)0.33(8.4)15.375(390.5)16.250(412.7)14.250(

14APEX615n Installation GuideAirflow & CoolingThe APEX615n can operate in anambient temperature environment of 0°Cto 50°C (32°F to 122°F). It is c

Chapter 1. Installation151.50(38.1)(Minimum)3.00 (76.2)(Minimum)1.50(38.1)4.0 (102)Clearance(Minimum)14.25(362)4.0 (102)Clearance(Minimum)1.50 (38.1)C

6000 Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may

16APEX615n Installation GuideElectrical ConnectionsProgrammableInputs/OutputsConnectorAuxiliaryConnectorLimitsConnectorExternal EncoderConnectorCOM 2C

Chapter 1. Installation17ANI+ANI–Trg-ATrg-BOut-AIso Gnd+5VOut-PIn-PAux-PV_I/OAuxiliaryIso GndHomeNegPosLimits49 50Programmable Inputs/Outputs12CHA+CHA

18APEX615n Installation GuideGround ConnectionsThe APEX615n has three internal ground systems: two floating ground systems (IsolatedGround and Analog

Chapter 1. Installation19Iso GndLimits49 50Programmable Inputs/Outputs12GndEncoder OutputShieldGndGndGndGndI2T LimitShieldIso GndExternal Encoder Inpu

20APEX615n Installation Guide2. If you must connect to a GND terminal, use a separate ground wirefrom your remote device. Do not put a jumper between

Chapter 1. Installation21AC Input ConnectorConnect AC power to the APEX615n's AC Input connector, which is an 8-pin removableconnector located on

22APEX615n Installation GuideAPEX6152 & APEX6154 Internal ConnectionsMotor ConnectorFront Panel – Right SideFront Panel – Left SideAC InputConnect

Chapter 1. Installation23WIRING OPTIONSL1L2L3EarthEarthControl L1Control L2AC PowerSourceDisconnectingMeansAC InputConnectorL1L2L3EarthEarthControl L1

24APEX615n Installation GuideDisconnectingPower to theControllerRemoving power to the controller portion of the APEX615n (Control L1 and Control L2) w

Chapter 1. Installation25Serial CommunicationRxTxIso GNDCOM 1COM 2RxTxSHLD+5VIsoGNDRx+Rx–Tx+Tx–Iso GNDRxTxIso GNDRS-232C ConnectionsStandard 25-PinCOM

Online ManualsThis manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.comABOUT THIS GUIDEChapter 1. Installati

26APEX615n Installation GuideExternal EncoderCONNECTIONS & INTERNAL SCHEMATICSInternal SchematicChassis GroundIsolated GroundSHLDIso GNDZ-Z+B-B+A-

Chapter 1. Installation27End-of-Travel and Home Limit InputsNOTES• Motion will not occur until you do one of the following:- Install end-of-travel (PO

28APEX615n Installation GuideTrigger InputsSHLDGNDZ-Z+B-B+A-A++5VENCODER ConnectorANI+ANI-TRG-ATRG-BOUT-AIso GND+5VOUT-PIN-PAUX-PV_I/O6.8 KΩ10.0 KΩ12.

Chapter 1. Installation29General-Purpose Programmable Inputs & OutputsVM50 ADAPTOR — for screw-terminal connectionsCHA+CHA -CHB+CHB -CHZ+CHZ -GndS

30APEX615n Installation GuideINPUT CONNECTIONS — Connecting to electronic devices such as PLCsConnection to aSinking OutputDeviceConnection to aSourci

Chapter 1. Installation31OUTPUT CONNECTIONS (includes OUT-A) — for electronic devices such as PLCsConnection to a Sinking Input (active high) Connect

32APEX615n Installation GuideTHUMBWHEEL CONNECTIONS — for entering BCD dataConnection to the Compumotor TM8 ModuleOptional Sign BitProgrammable Input

Chapter 1. Installation33Lengthening I/O CablesBear in mind that lengthening cables increases noise sensitivity. (The maximum length ofcables is ulti

34APEX615n Installation GuideDrive Auxiliary ConnectorPin #:12345678910111213Function:ResetGround (tied to AC earth ground)No ConnectionEnable InFault

Chapter 1. Installation35Enable InputInternal SchematicResetGndNCEnable InFault OutGndNCNCTach OutGnd+15 VGnd-15 V6.81K+5VDC74HC1447.5K1000pFANA GND•

iiAPEX615n Installation GuideAPEX615n CONTROLLER/DRIVE: LVD Installation InstructionsProduct Type: APEX6151, APEX6152 and APEX6154 Servo Controller/D

36APEX615n Installation GuideTachometer OutputLF347From RDCvelocity output20K20KInternal SchematicResetGndNCEnable InFault OutGndNCNCTach OutGnd+15 VG

Chapter 1. Installation37Encoder Output ConnectorThe encoder output connector is a dual use connector. It can be used for either Encoder Outputor for

38APEX615n Installation GuideEncoder -Quadrature OutputsFrom RDCFrom RDCFrom RDCCHA+CHA -CHB+CHB -CHZ+CHZ -GndInternal SchematicENCODER OUTPUT Conne

Chapter 1. Installation39Hall Effect Input The following circuit is internally connected to the encoder connector when DIP Switch #3,position 4 is tur

40APEX615n Installation GuideResolver ConnectorConnect the motor end of the resolver cable to the motor. Cables are available for SM motorsin 10 and 2

Chapter 1. Installation41Motor TemperatureSensor InputThe resolver connector has two terminals through which the APEX615n can monitor motortemperature

42APEX615n Installation GuideMotor Braking —Fault RelayTerminalsIf the APEX615n faults, for any reason, the drive will be disabled and the motor willf

Chapter 1. Installation43EXAMPLE 1: APEX Series motors are available from Compumotor with an optionalmechanical brake. Call Compumotor’s Customer Serv

44APEX615n Installation GuideEXAMPLE 2: The next drawing illustrates how to connect auxiliary resistors to controlmotor braking. The drawing shows tha

Chapter 1. Installation45Connecting the MotorThe motor cable connects the APEX615n’s power output, located on the bottom of the drive,to the motor&ap

1CHAPTER ONEInstallationIN THIS CHAPTER• Product ship kit list• Things to consider before you install the APEX615n• General specifications table• Opti

46APEX615n Installation GuideRegenerationResistorThe APEX615n can dissipate regenerated energy in its internal regeneration resistor. If anAPEX615n sy

Chapter 1. Installation47Test SetupCOM2COM1APEX6151CompumotorOffsetBalanceTach OutputCalibrationTorque CmdTest PointEnableDisableBridge FaultDrive Fau

48APEX615n Installation GuideConnections Test Procedure Response Format (left to right)End-of-traveland HomelimitsNOTE: If you are not using end-of-tr

Chapter 1. Installation49Mounting & Coupling the Motor WARNINGS • Improper motor mounting and coupling can jeopardize personal s

50APEX615n Installation Guide2.720(69.0)2.11 ± 0.004(53.6 ± 1.0)0.07 (1.8)1.18 ± .02(30.0 ± .5)0.093(2.36)0.375(9.54)1.53(38.9)Brake Option Dimension—

Chapter 1. Installation519.30(236.2)4.87(123.7)3.14 (79.8)2.56 (65.0)Dimensions in inches (mm)APEX603 Dimensions1.18 ± 0.02(30.0 ± 0.5)0.12 (3.0)0.44

52APEX615n Installation Guide2.720(69.0)2.11 ± 0.004(53.6 ± 1.0) 2.76+.06-.00(70.0+1.5-0.0) 2.76+.06-.00(70.0+1.5-0.0).07 (1.8)ø.228 (ø5.80) THRU(4) H

Chapter 1. Installation531.18 ± 0.02(30.0 ± 0.5)0.12 (3.0)0.44 (11.2)0.78 (19.8) min.A 0.003 TIRA 0.003 TIR(0.08)0.3932 (9.987)0.3922 (9.962)ABMax.3.0

54APEX615n Installation Guide0.9449 (Ø24.00 )1.967 ± 0.02(50.0 ± 0.5)0.14 (3.50)0.49 (12.5)1.457 (37.00) min.A 0.004 TIRA 0.004 TIR(0

Chapter 1. Installation550.9449 (Ø24.00 )1.967 ± 0.02(50.0 ± 0.5)0.14 (3.50)0.71 (18.0)1.457 (37.00) min.A 0.004 TIRA 0.004 TIR(0.10

2APEX615n Installation GuideWhat You Should Have (ship kit)Part Name Part NumberIf an item is missing,call the factory (seephone numbers oninside fron

56APEX615n Installation GuideMotor HeatsinkingPerformance of a servo motor is limited by the amount of current that can flow in the motor's coils

Chapter 1. Installation57Double-Flex CouplingUse a double-flex coupling whenever two shafts are joined with parallel misalignment, or a combination of

58APEX615n Installation GuideWhat's Next?By now, you should have completed the following tasks, as instructed earlier in this chapter:1. Review t

2CHAPTER TWOTroubleshootingIN THIS CHAPTER• Troubleshooting basics:- Diagnostic LEDs for hardware problems- Reducing Electrical Noise- Error message a

60APEX615n Installation GuideTroubleshooting BasicsWhen your system does not function properly (or as you expect it to operate), the first thingthat y

Chapter 2. Troubleshooting61LED Description Latched (yes/no)How to reset the fault(see Recovering from Faultsbelow for additional details)Enable Ind

62APEX615n Installation GuideRecovering fromFaultsMany of the fault conditions will shut down the APEX615n’s output current to the motor.Before trying

Chapter 2. Troubleshooting63Common Problems & SolutionsThe following table presents some guidelines to help you isolate problems with your motio

64APEX615n Installation GuideProblem Cause SolutionNo RS-232CCommunication1. Improper RS-232C Interface orcommunication parameters2. RS-232C disabled3

Chapter 2. Troubleshooting65Troubleshooting Serial Communication ProblemsGeneral Notes• Power up your computer or terminal BEFORE you power up the A

Chapter 1. Installation3Before You Begin WARNINGS The APEX615n is used to control your system's electrical and mechanical compo

66APEX615n Installation GuideFaults Caused by Excessive RegenerationThe APEX615n’s protection circuitry monitors regeneration activity, and can trigge

Chapter 2. Troubleshooting67CAUTIONRepeatedly cyclingpower or resetting theAPEX615n to clearregeneration faultsmay damage theregeneration resistor.Y

68APEX615n Installation GuideCurrent Foldback (I2T Limit)The purpose of the current foldback circuit is to protect the motor from overheating due topr

Chapter 2. Troubleshooting69Offset Balance AdjustmentsThe offset balance potentiometer (offset pot) adjusts the offset voltage of the APEX615n’sinte

70APEX615n Installation GuideTachometer Output CalibrationUse the Tachometer Output Calibration potentiometer to precisely calibrate the APEX615nContr

Chapter 2. Troubleshooting71Commutation Test ModeYou can operate the APEX615n in commutation test mode to help identify and isolateproblems. When it

Appendix AServo TuningIn a Hurry?We strongly recommend tuning the APEX615n before attempting to executeany motion functions. If you must execute moti

74APEX615n Installation GuideLoadDrive MotorLoadCommandDigitalControlAlgorithmControlSignalOffsetAnalog Command =Control Signal + OffsetDriveClosed L

Appendix A75CommandedPositionThe commanded position is calculated by the motion profile routine based on theacceleration (A, AA), deceleration (AD, AD

4APEX615n Installation GuideGeneral SpecificationsParameter SpecificationInput PowerVoltage Range...

76APEX615n Installation GuideServo Response TerminologyStability The first objective of tuning is to stabilize the system. The formal definition of s

Appendix A77These three measurements are made before or shortly after the motor stops moving. When itis moving to reach and settle to the setpoint, w

78APEX615n Installation GuideSTRGTESTRGTDSTRGTVSTRGTTTarget Zone Mode EnableTarget Zone DistanceTarget Zone VelocityTarget Zone Timeout PeriodWhen usi

Appendix A79Gain Stability DampingDisturbanceRejectionSteadyState ErrorTrackingErrorProportional (SGP)Improve Improve Improve Improve ImproveIntegral

80APEX615n Installation GuideControlling IntegralWindupIf integral control (SGI) is used and an appreciable position error has persisted long enoughdu

Appendix A81Velocity Feedforward Control (SGVF)The purpose of velocity feedforward control is to improve tracking performance—that is,reduce the posit

82APEX615n Installation GuideController Tuning ProcedureThe Controller Tuning Procedure leads you through the following steps:1. Turn on AC power to t

Appendix A83Higher sampling frequencies improve the accuracy of the derived velocity and integral values.A higher sampling frequency can also improve

84APEX615n Installation GuideStep 4Set the Maximum Position Error (SMPER):The SMPER command allows you to set the maximum position error allowed befor

Appendix A85STARTORIncrease SGPUNTILORDecrease SGVUNTILIncrease SGVUNTILORORDecrease SGVUNTILSTOPORDecrease SGPUNTILORDecrease SGVUNTILIncrease SGVUNT

Chapter 1. Installation5Serial CommunicationRS-485 requires internal jumper and DIP switch configuration (see page 10).Connection Options...

86APEX615n Installation GuideStep 6Use the Integral Feedback Gain (SGI) to reduce steady state error:☞Steady state position error isdescribed earlier

Appendix A87Tuning ScenarioThis example shows how to obtain the highest possible proportional feedback (SGP) andvelocity feedback (SGV) gains experime

88APEX615n Installation GuideStep 5After the SGV gain is raised to 2.6, theovershoot was reduced but chattering is stillquite pronounced. This means

Appendix A89Step 11When we raised the SGV gain to 2.52, thestep response became fast and very stable.SGP = 70SGV = 2.52Target Zone (Move Completion Cr

90APEX615n Installation GuideDamping is criticalTo ensure that a move settles within the distance zone, it must be damped to the point that itwill not

Appendix BReducing Electrical NoiseNoise-related difficulties can range in severity from minor positioning errors to damagedequipment from runaway loa

92APEX615n Installation GuideInternal Switching NoiseThis noise directly relates to the high dv/dt from the internal switching of the IGBT powerblock

Appendix B93Multiple devices on the same circuit should be grounded together at a single point.Furthermore, power supplies and programmable controller

94APEX615n Installation GuideDefeating NoiseThe best time to handle electrical noise problems is before they occur. When a motion systemis in the des

Appendix CMotor SpecificationsMotor SpecificationsSpeed/torque curves, motor specifications, and dimensions are shown on the following pages.Motor Bra