User manual

3U Servo Amplifier
Wiring the Motor Thermostats ................................................................................................................................24
Motor Temperature Switch .................................................................................................................................24
GEO 3U PWM BACKPLANE CONNECTIONS...................................................................................................25
3UBP8A, 300-603730-10x......................................................................................................................................25
J1: 3U Geo Drive backplane slot........................................................................................................................25
J2: 24V Input Molex Connector..........................................................................................................................26
J3: FAN output Molex Connector.......................................................................................................................26
TB1: AC input Power and Regen Resistor Connector ........................................................................................26
TB2: Regen Resistor Connector .........................................................................................................................26
DIRECT PWM COMMUTATION CONTROLLER SETUP ..............................................................................28
Key Servo IC Variables...........................................................................................................................................28
Key Motor Variables...............................................................................................................................................28
DC BRUSH MOTOR DRIVE SETUP WITH NON-TURBO PMAC ..................................................................29
Hardware Connection ........................................................................................................................................29
I-Variable Setup..................................................................................................................................................29
DC BRUSH MOTOR DRIVE SETUP WITH TURBO PMAC ............................................................................31
Commutation Phase Angle: Ixx72...........................................................................................................................31
Special Instructions for Direct-PWM Control of Brush Motors..............................................................................31
Testing PWM and Current Feedback Operation .....................................................................................................32
Purpose...............................................................................................................................................................33
Preparation.........................................................................................................................................................33
Position Feedback and Polarity Test..................................................................................................................34
PWM Output and ADC Input Connection ..............................................................................................................34
PWM/ADC Phase Match ....................................................................................................................................35
Synchronous Motor Stepper Action ....................................................................................................................35
Current Loop Polarity Check .............................................................................................................................35
Troubleshooting..................................................................................................................................................35
SETTING I
2
T PROTECTION .................................................................................................................................36
CALCULATING MINIMUM PWM FREQUENCY.............................................................................................37
PWM DRIVE COMMAND STRUCTURE.............................................................................................................38
Default Mode...........................................................................................................................................................38
Enhanced Mode.......................................................................................................................................................38
TROUBLESHOOTING............................................................................................................................................39
Error Codes .............................................................................................................................................................39
3U Drive Status Display Codes ..........................................................................................................................39
Status LEDs (for older and newer revision) 3U042............................................................................................40
Amplifier stops and displays a code....................................................................................................................41
APPENDIX A.............................................................................................................................................................42
PWM Cable Ordering Information..........................................................................................................................42
Mating Connector and Cable Kits ...........................................................................................................................42
Connector and pins Part numbers ......................................................................................................................42
Motor Cable Drawing..............................................................................................................................................43
3U042 (CABKIT3C) ...........................................................................................................................................43
APPENDIX B.............................................................................................................................................................44
Regenerative Resistor: GAR78/48 .........................................................................................................................44
APPENDIX C.............................................................................................................................................................46
3U Rack DIMENSIONS .........................................................................................................................................46
Table of Contents iii