Digital Servodrive digifas™ 7100 series Assembly / Installation / Commissioning Version 01/98
Previous editions Edition 02 / 95 01 / 96 07 / 96 01 / 98 Comments First edition, valid from software version 5L10/5A10 Display description enlarged, software version 5L80/5A77, appendix expanded, text revised, -ILCorrections, software version 6L10/6A10 Corrections, -ROD/SSI- and -G- standard, Seidel Servo Drives version Technical changes to improve the performance of the equipment may be made without prior notice! Printed in the Federal Republic of Germany 01/98 Mat. no. 83498 digifas™ is a Regd.TM.
digifas™ 7100 series 01.98 Contents Diagram Page Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C Directives and standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D - conformance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D I General About this manual . . . . . . . . . . . . .
01.98 Contents digifas™ 7100 series Diagram Page III Control inputs and outputs III.1 Input functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-1 III.1.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-1 III.1.2 Digital control inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
digifas™ 7100 series 01.98 Safety instructions Safety instructions Warning signs : you must observe the important instructions in the text, which are indicated by the following symbols: hazard from electricity and its effects u u u u u u u general warning general instruction Only properly qualified personnel are permitted to perform activities such as transport, installation, commissioning and maintenance.
01.98 digifas™ 7100 series Directives and standards / CE-conformance Directives and standards Servo amplifiers are components which are intended to be incorporated into electrical machines and plant. When the servo amplifiers are incorporated into machines or plant, the intended operation of the amplfiers is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Directive on Machines 89/392/EEC and the EC Directive on EMC 89/336/EEC.
digifas™ 7100 series 01.98 I General I.1 About this manual This manual forms part of the complete documentation for the digifas™ 7100 series of servo amplifiers. It describes the assembly, installation and commissioning of the standard units of this series, i.e. the versions of the servo-amplifier without a CONNECT module. It also includes advice about transport, storage, maintenance and disposal of the equipment.
01.98 - A.4.028.6/2 I.3 digifas™ 7100 series Abbreviations used in this manual The table below explains the abbreviations which are used in this manual. Abbrev.
digifas™ 7100 series 01.98 I.5 Equipment description I.5.1 The digifas™ 7100 series of digital servo-amplifiers The digifas™ 7100 series of digital servo-amplifiers are available in several versions: Standard version digifas™ 7100 series 7 current types, with analog speed-setpoint input, incremental positional output, controllable motor holding brake. In this standard version there is no position control capability in the servo-amplifier. This function must be taken over by the automation equipment.
01.98 I.5.
digifas™ 7100 series I.6 Chapter I 01.98 - A.4.012.4/26 Block diagram - A.4.012.
01.98 - A.4.012.4/14 I.7 digifas™ 7100 series Frontal view: digifas™ 7103-7116 operating components and connections - A.4.012.
digifas™ 7100 series I.8 01.98 - A.4.012.4/38 Frontal view: digifas™ 7133-7150 operating components and connections - A.4.012.
01.98 I.9 digifas™ 7100 series Technical data of the digifas™ 7100 series digifas Rated specifications Rated supply voltage Rated connected load for S1 operation Rated intermediate circuit voltage Rated output value (rms value, ± 3%) Peak output current (max. ca. 5s, ± 3%) Switch-on threshold of ballast circuit Switch-off threshold of ballast circuit Pulse power of ballast circuit (max. 1s) (Internal) cont. power of ballast circuit (R ) Max. cont. power of ballast circuit (R ) Min.
digifas™ 7100 series I.9.1 01.98 Permissible ambient conditions, ventilation, mounting position Supply voltage tolerance Power supply Aux. voltage without brake Aux. voltage with brake Position interface supply Ambient temperature Humidity Installation altitude Storage temperature/humidity/time Pollution level Protection class Mounting position Ventilation digifas 7103/7105 digifas 7108...7150 min. 3x80V AC / max. 3x400V AC + 10% min. 18V DC / max. 36V DC 24V DC ± 10% 5V DC ± 5% 0 ...
01.98 I.10 digifas™ 7100 series System grounds The following grounds are available in the system: AGND — reference ground for analog inputs/outputs, internal analog ground DGND — reference ground for digital inputs/outputs, optically isolated XGND — ref. ground for external 25V aux. voltage, optically and inductively isolated PGND — ref. ground for external supply for the position interfaces, optically isolated GND — ground for internal electronics (also EGND), connected to AGND I.
digifas™ 7100 series 01.98 II Installation and commissioning II.1 Important instructions Check the conformance of the servo amplifier and the motor. Compare the rated voltage and current of the equipment. Implement the wiring according to the wiring diagram in Chapter II.2.2 or II.2.4. For units with CONNECT modules, also refer to the connection diagram for the interface in the appropriate CONNECT operating manual.
01.98 II.2 digifas™ 7100 series Installation Only electrically qualified personnel are allowed to install the servo amplifier. The installation procedure is described in examples. A different procedure may be necessary or appropriate, depending on the usage of the equipment. More detailed knowledge can be acquired through our training courses (on request). Caution! Protect the servo amplifier from inadmissible treatment.
digifas™ 7100 series 01.98 The following instructions should help you to follow a sensible installation sequence without overlooking any important steps. Location Ventilation Assembly Cable selection Grounding Shielding Wiring In a closed switchgear cabinet. Observe Chapter I.9.1 . The location must be free from conductive and agressive material. — Installation position in the switchgear cabinet: digifas™ 7103...7116 see Chapter V.5 digifas™ 7133...7150 see Chapter V.
01.98 - A.4.012.1/3 II.2.1 Page II - 4 digifas™ 7100 series - correct wiring digifas™ 7103 to 7116, general diagram - A.4.012.
digifas™ 7100 series II.2.2 Chapter II 01.98 - A.4.012.1/2 Wiring diagram digifas™ 7103 to 7116 , standard unit - A.4.012.
01.98 - A.4.012.1/8 II.2.3 Page II - 6 digifas™ 7100 series - correct wiring digifas™ 7133 to 7150, general diagram - A.4.012.
digifas™ 7100 series II.2.4 Chapter II 01.98 - A.4.012.1/5 Wiring diagram digifas™ 7133 to 7150 , standard unit - A.4.012.
01.98 - A.4.012.1/6 II.2.5 Page II - 8 digifas™ 7100 series Wiring example: multi-axis system - A.4.012.
digifas™ 7100 series II.2.6 Chapter II 01.98 - A.4.012.4/27 Pin assignments for digifas™ 7103...7116 - A.4.012.
01.98 - A.4.012.4/35 II.2.7 Page II - 10 digifas™ 7100 series Pin and terminal assignments for digifas™ 7133...7150 - A.4.012.
digifas™ 7100 series 01.98 - A.4.029.4/1 II.2.8 Notes on connection methods II.2.8.1 Using the shield connection terminal clamps - A.4.029.4/1 Caution ! Cut off a busbar of the required length from brass bar stock (10x3mm cross-section) and drill the holes as shown. All the terminal clamps which are needed for connecting the shielding must fit between these drilled holes. Compressed coil springs can be dangerous. Use pliers or grips.
01.98 - A.4.029.4/2 II.2.8.2 digifas™ 7100 series Connecting the SubD9 connector Example: resolver connector X2 A.4.029.4/2 Strip off about 25mm of the outer insulation, taking care not to damage the shielding braid. Push the free shielding braid back over the outer insulation. Insulate the back portion with heatshrink sleeving, leaving about 12mm of the braid bare. Strip off the individual cores over a length of 5mm, without damaging the stranded copper.
digifas™ 7100 series II.2.8.3 01.98 - A.4.029.4/3 Using shielded leads with terminals Example : analog lead - A.4.029.4/3 Strip off about 60mm of the outer insulation, taking care not to damage the shielding braid. Cut back the shielding braid to a length of about 20mm. Push back the bare shielding braid over the outer insulation. Shield connection by stranded cable: Strip off the individual cores (e.g. H05V-K 1mm²).
01.98 II.3 digifas™ 7100 series Commissioning The commissioning of servo amplifiers can only be carried out by qualified personnel with extensive knowledge of the fields of electrical engineering and drive technology. The method of commissioning is described in an example. A different method may be appropriate or necessary, depending on the usage of the equipment. In the case of multi-axis systems, each amplifier must be commissioned individually.
digifas™ 7100 series 01.98 The following instructions should help you to follow a sensible installation sequence without endangering personnel or machinery. check installation disable Enable Signal switch on 25V aux. voltage see Chapter II.2. De-energize the servo amplifier. 0V on terminal X3/16 24V DC on terminal X1/1 and ground on terminal X1/2 The green LED light up after the initialisation sequence (approx. 0.5s) (see Chapter I.9.
01.98 II.4 digifas™ 7100 series Parameter description A brief description of the parameters is given. Detailed explanations can be found in the operating manual for BS7200. II.4.1 General Motor pole no. [-] The current setpoint entry can be adjusted for operating 2- to 12-pole motors. Changes are only possible when the Enable signal is inactive. Language [-] The operator language can be selected from: English, German, French. Resolver pole-no. [-] Switches the no.
digifas™ 7100 series II.4.2 01.98 Current controller Irms , root mean square current [A] Sets the desired rms output current. Ipeak, peak current [A] Sets the desired peak output current (rms value) according to requirements. I2t threshold, signal threshold [%] Monitors the actual rms current required. Kp, P-gain [-] Determines the proportional gain of the current controller. Tn, integration time [ms] Determines the integration time constant / integral-action time of the current controller. II.4.
01.98 II.4.4 digifas™ 7100 series Service functions The service functions are help functions for optimizing the controller parameters. Constant speed Drive runs with constant speed. The analog setpoint input is inoperable. Constant current Drive runs with constant current, under current control. Actual current is the phase current (combined active and reactive currents). The analog setpoint input is inoperable. Reversing mode Drive runs in reversing mode. The analog setpoint input is inoperable. II.4.
digifas™ 7100 series 01.98 III Control inputs and outputs III.1 Input functions III.1.1 Analog inputs Setpoint input SW The servo amplifier is equipped with a decoupled differential input for an analog setpoint. It is set for a differential input voltage of max. ± 10 V, resolution 1mV. Ground reference: AGND, terminal X3/17. A positive voltage on terminal X3/1 with regard to terminal X3/2 produces a clockwise rotation of the motor shaft (looking at the shaft).
01.98 III.2 Output functions III.2.1 Analog outputs digifas™ 7100 series DC-monitor: armature current setpoint IDC and tachometer monitor output VTA Depending on the setting of the DC-MONITOR parameter, the IDC/VTA output (terminal X3/23) provides either the current setpoint (IDC) or a tachometer voltage (VTA). IDC preselection The IDC monitor provides ± 10V at ± peak equipment current (sinusoidal rms value) referred to AGND.
digifas™ 7100 series III.2.3 01.98 - A.4.012.3/2 Brake A 24V holding-brake in the motor series 6SM27-G to 6SM100-G can be operated directly from the servo amplifier. The braking function must be explicitly enabled by using the BRAKE parameter: setting WITH. The diagram below shows the timing and functional relationship between the ENABLE signal, speed setpoint, speed and braking force.
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digifas™ 7100 series 01.98 - A.4.011.3/4 IV Interfaces and options IV.1 Incremental encoder interface (only for units without a CONNECT module) The incremental encoder interface is included as part of the delivery package for servoamplifiers which do not have a CONNECT module (standard version) . The position of the motor shaft is calculated in the servo-amplifier from the cyclically-absolute 14-bit information of the resolver digital converter.
01.98 - A.4.011.3/5 IV.2 digifas™ 7100 series SSI-Interface, (only for units without a CONNECT module) The SSI position output is available for servo-amplifiers which do not have a CONNECT module (standard units). Set the ROD/SSI parameter to SSI by using either the operator software or the operating keys. The signal sequence can be output in Gray code (standard) or in Binary code. Set the SSICODE parameter by using the operator software or the operating keys.
digifas™ 7100 series IV.3 01.98 - A.4.011.1/9 PC interface With the operating software BS7200 you can carry out the setting of the operating, positional, and motion parameters, using a normal commercial personal computer (PC). While all supply voltages are switched off, use the special 9-core interface cable to connect the PC interface (X6) of the servo amplifier to a serial or parallel port of the PC. The interface in the servo amplifier is electrically isolated by optocouplers.
01.98 IV.4 digifas™ 7100 series Key control / LC display, Option -DISPOnly possible for units without a CONNECT module. When the -DISP- option is installed the parameters for the servo amplifier can still be set with the aid of a PC, using the BS7200 operator software. In this case the -DISP- option is disabled. When the supply voltage has been switched on, the status indication of the servo amplifier appears in the display. The flashing star indicates the operational readiness of the microprocessor.
digifas™ 7100 series IV.4.2 Chapter IV 01.98 - A.4.012.3/1 Menu structure and operation - A.4.012.
01.98 IV.5 digifas™ 7100 series Controllable torque limiting, Option -ILOnly possible for units without a CONNECT module. IV.5.1 General, technical data With the -IL- option you can limit the torque of the motor which is connected to the digifas™ to a freely selectable value which is less than the pulse torque, with the aid of a DC control voltage. This is achieved by changing the current setpoint by means of an external analog speed-control loop. The electronics is contained in a separate casing.
digifas™ 7100 series IV.5.2 01.98 Important notes Connect up the unit according to the wiring diagram in Chapter IV.5.5. The unit is supplied from the auxiliary voltage (terminals +25V, XGND) which is also available in the servo amplifier. Internally, this is electrically connected to the analog ground (AGND). There is an internal fuse for the positive pole. Both poles are decoupled via HF chokes.
01.98 - A.4.011.4/27 IV.5.3 digifas™ 7100 series Commissioning Our applications department can help you with commissioning. Preparation — switch off the supply voltages — detach plug X4 from the servo amplifier — check LB1 (final speed), change solder link if necessary — set enable signal to 0V — switch on aux. voltage 25V DC and PC, start operator software BS7200 Setting parameters — set parameter “ROD resolution” to 1024 incr.
digifas™ 7100 series IV.5.5 Chapter IV 01.98 - A.4.011.1/15 Wiring diagram, -IL- option - A.4.011.
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digifas™ 7100 series 01.98 - A.4.017.4/10 V Drawings V.1 Resolver cable for the 6SM series of motors - A.4.017.
01.98 - A.4.011.1/7 V.2 Page V - 2 digifas™ 7100 series Analog input and output circuits - A.4.011.
digifas™ 7100 series V.3 Chapter V 01.98 - A.4.011.1/8 Digital input and output circuits - A.4.011.
01.98 - A.4.012.4/30 V.4 Page V - 4 digifas™ 7100 series Assembly levels and dimensions for digifas™ 7103...7116 - A.4.012.
digifas™ 7100 series V.5 Chapter V 01.98 - A.4.012.4/28 Installation of digifas™ 7103...7116 in a switchgear cabinet - A.4.012.
01.98 - A.4.012.4/36 V.6 Page V - 6 digifas™ 7100 series Asembly levels and dimensions for digifas™ 7133...7150 - A.4.012.
digifas™ 7100 series V.7 Chapter V 01.98 - A.4.012.4/37 Installation of digifas™ 7133...7150 in a switchgear cabinet - A.4.012.
01.98 - A.4.011.4/26 V.8 Page V - 8 digifas™ 7100 series Mains filters 1EF06 and 3EFxx series - A.4.011.
digifas™ 7100 series V.9 Chapter V 01.98 - A.4.012.4/29 Mains choke 3L0,5-60 - A.4.012.
01.98 - E.4.947.4/21 V.10 Page V - 10 digifas™ 7100 series Ballast resistor BAR860 - E.4.947.
digifas™ 7100 series V.11 Chapter V 01.98 - A.4.012.4/31 External 5V DC power supply for the position output - A.4.012.
01.98 - A.4.012.4/32 V.12 Page V - 12 digifas™ 7100 series External 24V DC power supply for a single servo-amplifier - A.4.012.
digifas™ 7100 series V.13 Chapter V 01.98 - A.4.012.4/33 External 24V DC power supply for up to 7 servo-amplifiers - A.4.012.
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digifas™ 7100 series 01.98 VI Appendix VI.1 Delivery package, transport, storage, maintenance, disposal Delivery package : — 1 digifas™ 7100 series servo amplifier — 3.
01.98 - A.4.012.1/4 VI.2 Page VI - 2 digifas™ 7100 series - relevant system components of digifas™ 7103 to 7116 - A.4.012.
digifas™ 7100 series 01.98 Only under the condition that the system components listed below are used and that the commissioning instructions in this documentation (Chapter II.2) are followed, can we guarantee the conformance of the servo amplifier with the following standards for industrial areas: — EC EMC Directive 89/336/EEC — EC Low Voltage Directive 73/231/EEC If there is any deviation from these requirements you must provide your own measurements to demonstrate conformance to the standards.
01.98 - A.4.012.1/9 VI.3 Page VI - 4 digifas™ 7100 series - relevant system components of digifas™ 7133 to 7150 - A.4.012.
digifas™ 7100 series 01.98 Only under the condition that the system components listed below are used and that the commissioning instructions in this documentation (Chapter II.2) are followed, can we guarantee the conformance of the servo amplifier with the following standards for industrial areas: — EC EMC Directive 89/336/EEC — EC Low Voltage Directive 73/231/EEC If there is any deviation from these requirements you must provide your own measurements to demonstrate conformance to the standards.
01.98 VI.4 digifas™ 7100 series Fault-finding The table below should be seen as a “First-Aid” box. There may be a wide variety of possible reasons for the occurrence of a fault, depending on the circumstances in your system. Multi-axis systems may conceal further causes of a fault. Our applications department can give you further assistance with problems. Fault fault signal: comms.
digifas™ 7100 series Fault 01.98 fault signal: resolver fault signal: heat sink temperature fault signal: internal temperature fault signal: motor temperature no motor rotation motor runaway motor oscillates ways to remove the possible causes resolver plug not properly connected break in resolver cable, cable crushed etc.
01.98 VI.
digifas™ 7100 series 01.
01.98 VI.6 Group Parameter list Display text I I I t threshold Kp Tn Speed Kp controller Tn PID-T2 SW offset SW ramp + SW ramp Final limit speed DC monitor Limit switch Start Phi Limit Phi T-tacho General Motor pole no. Language Resolv. pole no. I/O Current controller digifas™ 7100 series Remarks Units effective current A peak current A monitoring threshold % P(roportional) gain I(integr.) time constant ms P-gain I(ntegr.) time constant ms 2.
digifas™ 7100 series VI.7 Index Text A Page Text AGND . . . . . . . . . . . . . . . I-2, I-10, II-5, II-7 Ambient temperature B 01.98 N . . . . . . . I-9, II-18 NSTOP Assembly NSTOP input. . . . . . . . . . . . II-5, II-7, III-1 . . . . . . . . . . . . . II-3, V-4, V-5, V-6, V-7 Ballast circuit. . . . . . . . . . . . I-10 O . . . . . . . . . . . I-10, II-16, II-18 BIT CONNECT Brake Operating time . . . . . . . . . . . II-18 Option -IL- . . . . . . . . . . . . . IV-6 . . . . . . . . . .
V e rt ri e b u n d S erv ic e / S a le s and Service / Agence et Services Bundesrepublik Deutschland/ Dänemark/ Niederlande/ Germany/Allemagne Denmark/Danemark Netherlands/Pays-Bas Seidel Servo Drives GmbH DIGIMATIC Dynamic Drives Ormhöjgaardvej 12-14 Jan van der Heydenstraat 24a Dasselsbrucher Str. 49a DK-8700 Horsens NL-2665 JA Bleiswijk D-29227 Celle Tel.: +45 - 76 26 12 00 Tel.: +31(0)10 - 52 15 490 Tel.
