User`s manual

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T200

PROGRAMMABLE

SERVO DRIVE

USER'S MANUAL

C27095-001

Summary of content (372 pages)

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T200 PROGRAMMABLE SERVO DRIVE C27095-001 USER'S MANUAL
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T200 User's Manual T200 Servo-Drive Manual Overview This manual is broken into 11 sections and 1 Appendix. Section 1 is an overview of the functionality of the T200 Product Family. It outlines technical features and data of the T200. Section 2 is description of critical safety issues. It also outlines particular installation and configuration items that the user must implement if the target machine installation is required to be CE-Marked.
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T200 User's Manual Rev Description Date Effectivity Preliminary Preliminary version of the T200 Manual 21/Oct/98 All First Issue First version of the T200 Manual 31/March/99 All Second Issue Revised version of the T200 Manual. Added description of additional features as implemented in A8/B8/P8 software and T200-3/4/5XXG, T200-610D, T200-710C hardware.
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T200 User's Manual Table of Contents SECTION 1: T200 OVERVIEW.............................................................................................................................. 1-1 1.1 INTRODUCTION.....................................................................................................................................1-3 1.2 T200 MODELS .........................................................................................................................................1-4 1.
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T200 User's Manual 3.18 COMMUNICATIONS INTERFACE WIRING AND CONFIGURATION............................................ 3-82 3.19 T200 USER VISUAL INDICATIONS..................................................................................................... 3-90 SECTION 4 MOTOR GUIDE .................................................................................................................................4-1 4.1 MOTOR SERVO-DRIVE SYSTEM...........................................................
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T200 User's Manual 7.6 MAIN WINDOW - FEATURES ..............................................................................................................7-16 7.7 GENERAL FEATURES ...........................................................................................................................7-17 7.8 MENU OPTIONS .....................................................................................................................................7-19 7.9 WINDRIVE MONITORING FEATURES .......
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SECTION 1: T200 OVERVIEW T200 User's Manual SECTION 1: T200 OVERVIEW C27095-001 PAGE 1-1
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T200 User's Manual SECTION 1: T200 OVERVIEW TABLE OF CONTENTS SECTION 1: T200 Overview ....................................................................................................................................1-1 1.1 INTRODUCTION.................................................................................................................................................1-3 1.2 T200 M ODELS ....................................................................................................
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SECTION 1: T200 OVERVIEW T200 User's Manual 1.1 Introduction This section gives an overview of the available T200 models, ratings and general specifications. Detailed outlines of installation and wiring, functionality, user interfaces and other technical data are given in later sections. CAUTION: Repairs or modifications to the product by anyone other than a Moog authorized repair facility may create unsafe operating conditions and will invalidate the product warranty.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.2 T200 Models The T200 family is available in eight base models. These eight models cover a range of output current ratings and include units either with or without integral high voltage power supplies as shown below.
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SECTION 1: T200 OVERVIEW T200 User's Manual Moog also provides a variety of accessories for the T200. Examples include: • Operator terminals for applications requiring a user interface • Hand held terminal for drive configuration and diagnostics • EMC cable brackets for securing cable and grounding shields at the T200 (see Section 3.14.5) • Personality plug for automated drive configuration • Quick connect cables for interconnecting drives in a multi-axis application (see Section 3.1.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.3 Environmental Specifications T200 Electronics Temperature for transport and storage: Operating temperature: Relative Humidity: Elevation: Type of protection: Installed position: Overvoltage protection class: Noise: PAGE 1-6 -25 °C to 70 °C 0 °C to 55 °C 5 % to 95 %, non-condensing, 1 g/m3 to 25 g/m3, in accordance with EN50178 class 3k3 3300feet Derate output 2% per 1000 feet above 3300 feet Components must be installed into an enclosure.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.4 Design Standards The T200 has been designed to EN50178. It is CE-Marked under the EU's Low Voltage Directive. It has been designed to allow easy compliance of customer's machines under the EU's EMC Directive (measures as directed in this manual have to be taken to ensure EMC compliance). It is designed to the UL508C standard. T200 models –3xx, -4xx and –5xx are UL-marked. UL is pending on the –610/710. The T200 is considered professional equipment.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.5 Power Ratings Specifications The T200 family includes models with and without high voltage Power Supply Units (PSU's). These PSU's generate a high voltage D.C. Bus by rectification of A.C. Mains. T200 models with PSU can supply D.C. Bus power to other T200 units which do not contain integral PSU's via D.C. Bus interconnect wiring. All current ratings are specified in ampere r.m.s., unless otherwise stated.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.5.1 Units with A.C. Mains Input Interface (T200-310 to T200-710) All current ratings are specified in ampere r.m.s. T200-310 AC Mains Input Range Minimum Maximum T200-410 T200-510 100Va.c. (120Va.c. -15%) 255Va.c. (230Va.c. +10%) T200-610 T200-710 195Va.c. (230Va.c. -15%) 255Va.c. (230Va.c. +10%) 50..60Hz Frequency Range Continuous Input Power Three-Phase Single Phase 230Va.c. Single Phase 120Va.c. 7.5kW 2.5kW 1.
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T200 User's Manual 1.5.2 SECTION 1: T200 OVERVIEW Units with D.C. Bus Input Interface (T200-300, T200-400, T200-500) All current ratings are specified in ampere r.m.s. unless otherwise stated. Nominal D.C. Bus Voltage 325Vd.c. (generated from rectified 230Va.c.) D.C. Bus Maximum Voltage 400Vd.c. (generated from rectified 280Va.c.) Maximum Continuous Input Current T200-300 T200-400 T200-500 5Ad.c. 10Ad.c. 20Ad.c. Table 1.4: T200-X00 Power Ratings 1.5.3 Optional Control Logic Backup Power D.C.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.5.4 Power Amplifier All current ratings are specified in ampere r.m.s. unless otherwise stated. Power Amplifier Ratings (Ar.m.s. ): T200-3 T200-4 T200-5 T200-6 T200-7 Max. Time at Ipeak 5Acontinuous/10Apeak 10Acontinuous/20Apeak 20Acontinuous/50Apeak 40Acontinuous/80Apeak 60Acontinuous/140Apeak 10s 10s 2s 2s 2s Table 1.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.6 General Functional Specifications 1.6.1 • • • Digital Inputs All Optically Isolated, 12 .. 32V Input Range. 2.5kOhm input impedance. Pull-Up or Pull-Down from I_COMMON line.
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T200 User's Manual SECTION 1: T200 OVERVIEW 1.6.2 • • • Digital Outputs All outputs are Optically Isolated. Maximum ratings of 36V, 50mA. Pull-Up or Pull-Down from O_COMMON line.
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T200 User's Manual 1.6.4 SECTION 1: T200 OVERVIEW Software Control Modes ±10V Torque, Velocity and Position Mode Analog reference for torque, velocity or position slave mode. Encoder Simulation as standard. Stepper Motor Emulation Interface (Positioning Mode) T200 will emulate a stepper motor drive, with a Quadrature or STEP/DIR input format. Digital Reference Speeds T200 uses two digital inputs to set the reference speed. Speeds are software programmable.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS C27095-001 PAGE 2-1
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T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS TABLE OF CONTENTS SAFETY INSTRUCTIONS ...........................................................................................................................................2-1 2.1 GENERAL .......................................................................................................................................................... 2-3 2.2 SAFETY REGULATIONS .................................................................................
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual 2.1 General This user’s manual is intended to provide sufficient information on how to install, wire and tune a Moog brushless electric motor system which includes all of the equipment outlined in Section 3.1. Section 2.2 covers Safety and System Safeguards. Section 2.3 covers Electromagnetic Compatibility (EMC). This user’s guide must be read and understood before applying power and operating the equipment described.
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T200 User's Manual 2.2 SECTION 2: SAFETY INSTRUCTIONS Safety regulations 1. The T200 controller must be disconnected from all power if repair work is to be carried out. Check that the mains supply has been disconnected and that at least 5 minutes has passed, to allow for d.c. bus capacitors to discharge, before removing motor and mains plugs. 2.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual 2.3 Safety This user’s manual assumes that the user has a basic working knowledge of servo-drive products and the system motion controller. The user should provide the necessary additional training for ALL personnel working within or around the workcell. NOTE - These safety precautions are guidelines only and are not claimed to be comprehensive.
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T200 User's Manual 2.3.1 SECTION 2: SAFETY INSTRUCTIONS System Safeguards a) General Safety Requirements Users are required to implement safety measures with all equipment, systems and installations into which the T200 Servo-drive are installed. In addition, safeguards must be an integral part of workcell design, installation, operator training and operator procedures where this equipment is used.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual All external d.c. supply voltages used with the T200 Series Controllers must be derived from a Safety Extra Low Voltage (SELV) supply as defined by standard EN60950. Such SELV voltages do not exceed a value of 60 Vd.c. or 42.4 Va.c. peak under normal conditions and are supplied by circuits which are separated from all hazardous voltage conductors by permitted safety methods such as reinforced insulation.
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T200 User's Manual 2.3.2 SECTION 2: SAFETY INSTRUCTIONS Equipment Safety All persons must observe sound safety practices during the operation and testing of all electrically powered equipment. Prior to first use, power should not be applied to the T200 Servo-drive until all instructions in the Wiring and Installation section of this User’s manual have been carried out. WARNING – You must disconnect the T200 Servo-drive from all voltage supplies (230 Va.c., 120 Va.c., 24 Vd.c.) before servicing.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual WARNING - The equipment described in this user’s guide operates at voltage levels which can exceed 400 volts d.c. and/or 230 volts a.c. These levels are a potential source of severe electrical shock. DO NOT remove or replace any assemblies, subassemblies or components with the primary power present. To avoid possible personal injury or equipment damage, always remove power BEFORE attempting repair or upgrade procedures.
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T200 User's Manual 2.3.3 SECTION 2: SAFETY INSTRUCTIONS Safety Requirements for Cables Required for CE-Compliance User's whose machine installations require CECompliance should read Section 2.3.3. a) Requirements - Conductors and Cables All cables and conductors used shall be specified as compliant with the requirements of European Standard EN 60204-1 and other known National and International Standards for the environment in which they are installed and for the voltage and current carried.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual d) Wiring Practices - Conductors of different circuits Subject to the constraints for EMC suppression given in Sections 2.3 and Section 3 of this User’s manual, conductors of different circuits may be laid side by side, may occupy the same duct (e.g. conduit, cable trunking system), or may be in the same multicore cable, provided that the arrangement does not impair the proper functioning of the respective circuits.
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T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS Connections to devices mounted on doors or to other movable parts shall be made using flexible conductors in accordance with European standard EN 60204-1, to allow for the frequent movement of the part. The conductors shall be anchored to the fixed part and the movable part independently of the electrical connections. Conductors and cables that do not run in ducts shall be adequately supported.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual j) Wiring Practices - Ducts, connection and junction boxes All sharp edges, flash, burrs, rough surfaces, or threads, with which the insulation of the conductors may come in contact, shall be removed from ducts and fittings. Where necessary, additional protection consisting of a flame-retardant, oil-resistant insulating material shall be provided to protect conductor insulation.
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T200 User's Manual 2.3.4 SECTION 2: SAFETY INSTRUCTIONS EMC requirements for cables Required for CE-Compliance User's whose machine installations require for CECompliance should read Section 2.3.4. Avoid close parallel routing of signal cables and power cables. Always use the minimum length of cable necessary and install all cables in a fixed routing. Data signal cables, motor power and resolver/signal cables, regen resistor cables and power input cables shall have segregated routings.
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SECTION 2: SAFETY INSTRUCTIONS T200 User's Manual 2.4 Electromagnetic Compatibility (EMC) Required for CE-Compliance User's whose machine installations are intended for CECompliance should read Section 2.4. Otherwise reading of Section 2.4 is not required. The T200 Servo-drive are system components which must be installed in a correct manner to ensure that all electromagnetic compatibility (EMC) requirements are met.
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T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS For Electrostatic Discharge (ESD) reasons all service or maintenance persons must ground themselves to the chassis of the equipment when performing service functions inside the IP54 rated enclosure or cabinet in which the T200 Servodrive are installed. All external d.c. supply voltages used with the T200 must be supplied from power supplies which are compliant with the requirements of the EU EMC Directive.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual SECTION 3: WIRING AND INSTALLATION C27095-001 PAGE 3-1
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION TABLE OF CONTENTS WIRING AND INSTALLATION .................................................................................................................................3-1 3.1 SYSTEM COMPONENTS.....................................................................................................................................3-7 3.1.1 a.c. Mains Power Interface..........................................................................................
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.14.4 Crimping Tools for Motor Cables .......................................................................................................... 3-64 3.14.5 Terminating the Motor Cable Shield, for CE-Compliance (T200-3/4/5 only) ....................................... 3-65 3.14.6 Terminating the Motor Cable Shield (non-CE Applications) T200-3/4/5 only...................................... 3-66 3.14.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Section 3 Table of Figures Figure 3.1:- Typical T200 System Components .............................................................................................................3-10 Figure 3.2:- T200-3/4/5 Mechanical Mounting ..............................................................................................................3-15 Figure 3.3:- T200-3/4/5 Mechanical Dimensions ..................................................................
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.46: Power Sequencing control using PWR_RDY and ENABLE .................................................................... 3-78 Figure 3.47: Incremental Encoder per channel Input Electrical Description.................................................................. 3-79 Figure 3.48: Encoder Simulation Output Electrical Description.................................................................................... 3-80 Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Section 3 Table of Tables Table 3.1: T200 Input Power Ratings versus Single and Three Phase Mains Voltage Level ...........................................3-8 Table 3.2: T200 Accessory Cabling................................................................................................................................ 3-13 Table 3.3:- Estimated Power Dissipation for the T200 Servo-drives.................................................................
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual This section covers the installation, wiring and cabling of the Moog T200 Servo-drive series. A pictorial diagram of a single-axis system, with typical components included, is shown in Figure 3.1. Users are directed to read Section 2, Safety Instructions, before proceeding with wiring and installation. WARNING – You must disconnect the T200 Servo-drive from all voltage supplies (230 Va.c., 120 Va.c., 24 Vd.c.) before servicing.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.1.1.1 Single-Phase Mains Connection The T200-310/410/510 can operate with single phase a.c. mains voltage sources from 120Va.c. to 230Va.c.. Note that the input power must be linearly de-rated for mains voltages lower than 230Va.c., as shown in Table 3.1. The T200 does not require an input isolation transformer for single-phase operation, for Low Voltage Directive Compliance. • Table 3.
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SECTION 3: WIRING AND INSTALLATION 3.1.2 T200 User's Manual A.C. Input Circuit Breaker - (User Supplied) It is recommended that an a.c. mains Circuit Breaker is used as a protective device. A single or three phase automatic circuit breaker will ensure that all phases are interrupted in the event of a fault condition.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION 3.1.3 T200 User's Manual Serial Set-up Terminal (User-Supplied) An RS-232 interface should be established for individual servo-drive communications, using a user supplied IBM compatible service computer (PC) or a Hand Held Terminal (HHT). The IBM PC can run either a Terminal Emulation program (e.g. Windows 95 HyperTerminal) or Moog's WinDrive Windows-based user-interface program.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.1.4.2 120 V a.c. Control-Backup Power Supply The 120V a.c. Power Supply allows high voltage motor power to be removed from the T200 Series Servo-drive without losing control power. The acceptable voltage range for this supply is 120 V a.c. +10/-15%, with a minimum current rating of 0.3 A a.c. per T200 Servo-drive connected. Caution - The 120Va.c. backup must be isolated from the T200 a.c. mains input (in both of the cases where the T200 a.c.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.1.8 Mating Connectors, Cables and Wiring Moog can provide the necessary cabling for interconnect of the motor to the T200. See Section 3.14 for details. Moog also provides the following accessory cabling for interconnection of individual T200's:Function Description Length between Blocks 150mm Overview Diagram Moog Part Number 3-Axis System T200-3/4/510 AC Mains Input Connectors Two AC Mains Blocks provided.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.2 Equipment Mounting Figures 3.2 to 3.7 show the mechanical dimensions of the T200 chassis, as well as required clearances for cabling etc.. The T200 is designed to be panel or cabinet mounted. The T200 must be mounted in a vertical orientation. The T200 must be panel mounted within an enclosure or cabinet which provides a degree of ingress protection against liquids and objects of at least IP54.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION 3.2.1 T200 User's Manual CE Items for Mechanical Installation Additional electromagnetic compatibility (EMC) measures must be installed on equipment associated with the T200 Servo-drive.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.3 Power Dissipation To calculate cabinet cooling requirements, Table 3.3 provides approximate equipment power dissipation values. If the application employs regeneration, be sure to add the regen resistor power dissipation to the numbers quoted in Table 3.3 below, (use the continuous wattage rating of the regen resistor if the actual application regen dissipation is unknown).
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.4 T200 Connector Terminals Figures 3.4 and 3.5 below detail the connectors on the T200-X10 (unit with internal high power PSU) and the T200-X00 (unit without internal high power PSU) respectively. Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.5 General System Wiring Guidelines The following is a general reminder of the cable requirements for the T200 Series Servo-drives and related equipment. NOTE - Cabling and component wiring is critical in obtaining successful operation of the system. Pay close attention to specified wiring practice, cabling information, earthing and shielding requirements. Improper wiring can result in electrical noise generation and unstable motor performance.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION CAUTION - All external electrical wiring connected to this equipment must be color coded in accordance with European Standard EN 60204-1 requirements. Refer to Section 2.3.3. Required for CE-Compliance CAUTION - Additional electromagnetic compatibility (EMC) measures which must be installed on equipment cables associated with the T200 Servo-drive are given in Section 2.3.4 of this User’s Guide.
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T200 User's Manual 3.6 SECTION 3: WIRING AND INSTALLATION Sequence of Component Wiring Recommendations The following sequence for wiring is a recommendation. Individual wiring steps are denoted by a box character, which can be used as an installation check off list. The terminal block layout on all power supplies and servo-drives has been designed to isolate low voltage from high voltage circuits. Cabinet conduits should be arranged to maintain this physical separation.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.7 Three-Phase A.C. Mains Power Source Configuration The T200 may be supplied from a three-phase a.c. mains input. In this case the following user supplied options are required:1. Three-Phase Mains Circuit Breaker 2. Mains Matching Transformer (400/440/480Va.c. to 230Va.c.) 3. Mains Contactor For a control-backup power source either of the following may be used:1. 24Vd.c. Power Source OR 2. 120Va.c. Power Source.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.11:- T200 Multi-Axis system with 3-Phase A.C.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.8 Single Phase 230Va.c. Mains Configuration The T200-310/410/510 Models only may be driven by single-phase 230Va.c.-mains input. In this case the following user supplied options are required:1. Single-Phase Mains Circuit Breaker 2. Mains Contactor For a control-backup power source, any of the following may be used:1. 24Vd.c. Power Source or 2. 120Va.c. Power Source. This power source must provide galvanic isolation between the 120Va.c.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.12:- T200 Multi-Axis system with Single-Phase 230Va.c.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.9 Single Phase 120Va.c. Mains Configuration The T200-310/410/510 Models only may be driven by single-phase 120V a.c. mains input. In this case the following user supplied options are required:1. Single-Phase Mains Circuit Breaker 2. Mains Contactor For a control-backup power source, one of the following MUST be used:1. 24Vd.c. Power Source or 2. 120Va.c. Power Source CAUTION:- In this case the user must supply either a 24Vd.c. or a 120Va.c.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.13:- T200 Multi-Axis system with Single-Phase 120V A.C.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.10 Providing D.C. Bus Power from a T200-X10 Unit to T200-X00 Units A T200-X10 unit contains an a.c. mains rectification stage, which generates a D.C. Bus voltage from the a.c. mains. A T200-X00 unit does not contain this rectification stage. It accepts a high power input only in the form of a high voltage D.C. Bus. This D.C.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION There is a limitation to the number of T200-X00 units that can be attached to a T200-X10. This limitation is summarised below. CAUTION:- Limit on Number of Units without PSU Connected to a T200 Unit with PSU (T200-X10) The D.C. Bus output of a T200-X10 is capable of supplying up to 6.5kW continuously when connected to three phase mains. The user should calculate the continuous electrical power requirements for each axis in the application.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.10.1 Power Ready Signalling from T200-X10 to Connected T200-X00 Units The T200-X10 units contain a soft-start function. The soft-start function limits the inrush current into the T200's D.C. Bus smoothing capacitors after the a.c. mains has been switched on. The T200 should not allow currents to flow in the motor before the softstart has completed. Otherwise the D.C.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.15:- T200 Power Ready, 24V d.c. and 120V a.c.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.16:- T200-610/710 Power Ready, 24V d.c. and 120V a.c.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 26AWG (0.15mm2) Wiring User-PSU 24V+ 24V- 1 2 PR+ PR- Connector TB4 6 4 6 4 PWR_RDY I_COMMON PWR_RDY I_COMMON Connector J1 T200-X10 (Unit with an Integral High Power PSU) Connector J1 T200-X00 T200-X00 (Unit without an Integral High Power PSU) (Unit without an Integral High Power PSU) Figure 3.17:- Pull-up Power Ready Interconnect between T200-X10 and Connected T200-X00 Units (I_COMMON connected to 24V RETURN) 26AWG (0.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.10.2 Power Cycling Frequency Limits As outlined in a previous section, the T200-X10 units contain a soft-start function. The soft-start function limits the inrush current into the T200's D.C. Bus smoothing capacitors after the a.c. mains has been switched on. If the frequency of power cycling becomes too high, then the power dissipation in the soft-start resistor can be excessive. In this case the softstart circuitry may become damaged.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.11 Paralleling T200-X10 Units through the D.C. Bus T200-X10 units can be paralleled via the D.C. Bus, in order to share regeneration power. In Figure 3.19, below, the T200-X10 units are shown with the a.c. mains inputs connected to all T200-X10 units. The user can also connect the D.C. Bus outputs of the T200-X10's at TB3 in order to share regeneration power. CAUTION:- If a T200-X10 unit does not see a high a.c.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.12 Daisychaining Control-Backup Power Connections to T200's The T200 contains extra connector terminals which allow easy connection of the 24Vd.c. and 120Va.c. control-backup power. 3.12.1 24Vd.c. Control-Backup Power Daisychaining Connections to wire the 24Vd.c. control backup power are shown Figure 3.20 below. NOTE:- The T200 contains a resetable fuse on the 24Vd.c. input.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.12.2 120Va.c. Control-Backup Power Daisychaining Connections to wire the 120Va.c. control backup power are shown in Figure 3.21. ISOLATED 120Va.c. Logic Backup Power Source L 24AWG (0.25mm2 ) Wire. Wiring needs to take 0.3Arms/axis, add axis requirements. N PE 120Va.c.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.13 Internal/External Regeneration (Regen) Resistors – Configurations Regeneration resistors can only be fitted to T200 servo-drives with an Internal Power Supply (i.e. Model Numbers. T200-X10). The T200-310/410/510 do have an internal regen resistor with a continuous power rating of 40W, peek power of 2.8kW. This regen resistor can be supplemented with an additional external regeneration resistor.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.22: T200-310/410/510 External Regeneration and Mains Input, d.c.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.23: T200-610/710 External Regeneration and Mains Input, d.c.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.13.1 T200-310 External Regeneration Resistor Options Figure 3.24:- T200-310 Regeneration Resistor 200W Option 1 – C22654-002 (Mounting and Connection) Moog offers two regeneration resitor kit options for use with the T200-310. Figure 3.24 shows the first option for an external regeneration resistor for the T200-310 unit, which uses a 225W-rated resistor operated at a maximum continuous dissipation of 200W. Table 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.25:- T200-310 Regeneration Resistor 200W Option 2 – A76178-002 (Mounting and Connection) Regeneration Resistor Option/ Continuous Rating 50Ohm/55W (Internal) 10Ohm/225W (External) 10Ohm/350W (External) Actual Continuous Regen. Power Peak Regen Power Regen Resistor Kit Part Number AWG/(mm2) Wiring to connect regen resistor 40W 2.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.13.2 T200-410 and T200-510 External Regeneration Resistor Connection Figure 3.26:- T200-410 and T200-510 600W Regeneration Resistor Option 1 – C22654-006 (Mounting and Connection) Moog offers two regeneration resitor kit options for use with the T200-410 and T200-510. Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.27:- T200-410 and T200-510 600W Regeneration Resistor Option 2 – A76178-003 (Mounting and Connection) Regeneration Resistor Option/ Continuous Rating 50Ohm/55W (Internal) 10Ohm/750W (External) 10Ohm/1kW (External) Actual Continuous Regen. Power Peak Regen Power Regen Resistor Kit Part Number AWG/(mm2) Wiring to connect regen resistor 40W 2.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.13.3 T200-610 and T200-710 External Regeneration Resistor Connection MOOG offers four different regen options for the T200-610/710- Figures 3.28 ...3.31 show the different options. Table 3.6 outlines the external resistor’s Moog part numbers and wire gauge to be used when connecting these resistors. The user need to calculate the application dependent regen power and select one of the options accordingly. Options 1..
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.29:- T200-610 and T200-710: 1.25KW Regeneration Resistor Option 2 – C22654-011 (Mounting and Connection) Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.31:- T200-610 and T200-710 Regeneration Resistor Option 4:- two C09838-010 (Mounting and Connection) Regeneration Resistor Option/ Continuous Rating Option 1 (10Ω/750W) Actual Continuous Regen. Power Peak Regen Power Fuse Part Number Fuse Holder Regen Resistor Part Number Regen Resistor Kit Part Number AWG/(mm2) Wiring to connect regen resistor 600W 14kW C09762-012000 DIN Rail 1) B81493-007 C22654-007 20AWG/ (0.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Fuse Holder WARNING - When performing any changes to the regen resistor configuration, a.c. input power must be removed from the T200. Wait 5 minutes upon removal of all power, to allow for D.C. Bus capacitors to discharge. Do not operate the T200 with the cover removed.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.14 Motors - Installation Motors should be sized by qualified personnel. Improper sizing will directly affect performance and reliability. Motor performance data for Moog G4XX series is shown in separate data sheets, and in Section 4. Contact Moog Applications Engineering for detailed motor technical information and application sizing, etc. Standard motors should not be mounted directly onto a gearbox with the shaft inside the lubrication chamber.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.14.2 Motor Power Cable Wire the motor power connector in accordance with Figure 3.32, Figure 3.33, Figure 3.34 and Figure 3.35. Use wire sizes based on the motor’s continuous stall current (r m s) and wire length requirements. Required for CE-Compliance Wiring must be in accordance with standard EN 60204-1 (See Section 2 of this Users Manual.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Pin assignment for Motor Power Cable and Mating Connectors Table 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.35:- T200 J6 Resolver Cable Find No. 1 2 • 3 Refer to MOOG Part No. B47886-001-xxx C22297-001-xxx • C08309-001 B47885-001 • n.a. Description Complete Cable Assembly Quantity 1 Signal Mating Connector OD Cable 5,5 mm to 12 mm (.217 in to .472 in) Wire Gauges 0,08 mm2 to 0.82 mm2 (AWG 28 to AWG 18) Bare Cable 1 9 Pole Male (Plug) Sub-D:- User Supplied 1 1 Table 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Pin assignment for Motor Signal (Resolver) Cable and Mating Connector Table 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.14.4 Crimping Tools for Motor Cables Contact your local Moog Sales for a detailed specification and Moog Part Numbers for cable/connector crimping tools.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.14.5 Terminating the Motor Cable Shield, for CE-Compliance (T200-3/4/5 only) Required for CE-Compliance This section should be read by users who require their installation to comply with the EMC-Directive of the EU. The EMC Brackets shall be used where CE-Compliance under the EMC Directive is required, for the T200-3/4/5 units only. Figure 3.36 below shows how to strip back cabling insulation to expose the shield.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.14.6 Terminating the Motor Cable Shield (non-CE Applications) T200-3/4/5 only Moog motor cables are supplied with a terminating crimp for the motor shield. The T200 provides two means of termination of the motor cable shield. 1. The motor cable shield crimp can be screwed into TB8-4 along with the MOTOR-GROUND crimp termination from the motor cable. This is possible with G4x2, G4x3, G4x4 and G4x5 motor power cables. 2.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.14.7 T200-610 and T200-710 Motor Power Cable Shield Connection The motor-power-cables shields should be clamped to a suitable Protective Earth bar made available where the cables enter the user cabinet. The connection should be made 360degrees if possible around the cable shield, using P-Clips or other means to ensure good high frequency contact with the Protective Earth 3.14.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15 T200 Control Input and Outputs The following section contains a description of the control related Input/Output (I/O) available to the user. Functionality is detailed in Section 6. NOTE - An external 12Vd.c. to 32Vd.c. power source (user supplied) is required for the I/O functions. The amperage rating of this power source will depend on the number of I/O functions used.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.15.1 General Purpose Description of the Digital Inputs The following electrical description applies to all the digital inputs of the T200. Figure 3.39:- T200 Generic Digital Inputs Note that:§ Input Impedance is 2.5k Ω. § Voltage Range is 12V to 32V from Digital-Input to the I_COMMON line. § Input voltages whose magnitude is less than 12V with respect to the I_COMMON line will not be guaranteed to be recognised as an active signal input.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION § Figure 3.40 shows options for connection in pull-up or pull-down mode. Note that all inputs must be used in the § same mode for each T200. Current flowing in the digital input implies the 'safer' of the corresponding active/inactive functions. For example, when current flows in the clockwise limit switch input, then the limit is NOT active. See Table 3.9. User-PSU 24V+ 26AWG (0.15mm2) Wiring OR User's pull-up output 26AWG (0.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.2 General Purpose Description of the Digital Outputs The following electrical description applies to all, except one, of the digital outputs of the T200. (One digital output, SYS-RDY, uses a relay rather than an opto-coupler). 33Oh ms Dig ital Output 39Vz O_COMMON DGND Optocoupler Isolation Figure 3.41:- T200 Generic Digital Outputs Note that:§ Output Impedance is 33 Ω. § Voltage Range is 12V to 36V from Digital-Output to the O_COMMON line.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION § Figure 3.42 shows options for connection in pull-up or pull-down mode. Note that all outputs must be used in the same mode for each T200. User's pulled-down input 26AWG (0.15mm2) Wiring User-PSU 24V+ User's pulled-up input User Input 26AWG (0.15mm2) Wiring User-PSU 24V+ 24V- OR User Input 18 24V- Digital Output O_COMMON Connector J1 T200-XX0 18 Digital Output O_COMMON Connector J1 T200-XX0 Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.3 General Purpose Description of the Analog Inputs The T200 has two differential analog input stages (Analog-Reference REF± and Spare-Analog-Input SAIN± on connector J1 as shown in Figure 3.45). 10kOhms Analog_Input + 10kOhms + Analog_Input - 12Bit A/D Converter 10kOhms 10kOhms AGND Figure 3.43:- T200 Analog Input Description Note that: § Input Impedance is 10k Ω. § Analog input maximum voltages Maximum input voltage wrt PE:- 30V.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.4 General Purpose Description of the Analog Outputs The T200 has two analog output connection points (TP1 and TP2 on connector J1 as shown in Figure 3.45). Analog_OP 12Bit D/A Converter + _ 100Ω DGND Figure 3.44: T200 Analog Output Description Note that: § Output Impedance is 100Ω. An internal 100Ω series output resistor is provided in case of output short circuit.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.5 I/O Overview and Usage in Different Software Modes Table 3.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Table 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.6 Power Sequencing on Startup The timing of the digital inputs ENABLE and PWR_RDY must be considered carefully for proper power-on sequencing. Minimum Time from logic power to SYS_RDY 15seconds A.C. Mains to PWR_RDY < 2s Logic Power applied 24Vd.c. or 120Va.c. A.C.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.16 Incremental Encoder/Stepper Motor Interface Input Description. The T200 has an RS422 based incremental encoder input on Connector J5 as shown in Figure 3.49. The same inputs are used for the Stepper Motor inputs. Figure 3.47: Incremental Encoder per channel Input Electrical Description § Input Impedance is 120Ω in series with a 1nF capacitor, to reduce driver power losses. A 10k resistor also connects each input to Digital Ground (DGND).
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.17 Encoder Simulation Output Description The T200 has an RS422 based incremental encoder simulation output on connector J7 as shown in Figure 3.49. Figure 3.48: Encoder Simulation Output Electrical Description § § § § § § § Galvanically isolated drivers must be supplied by a User-Supplied 5Vd.c.. 5V Current demand is up to 80mA per axis for the isolated circuitry and output drivers stage. Signal levels on the outputs are 0-5V differential.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18 Communications Interface Wiring and Configuration The T200 provides three serial communications interfaces:1. RS232 for communications between one System Motion Controller and one T200 2. RS485 for communications between one System Motion Controller and many T200's 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18.1 RS232 Interface Description The T200 provides an RS232 compatible communications interface on J4 (9-Sub-D Female (Socket) on the T200 side). The RS232 port provides a one to one communication mechanism only. 3.18.1.1 Wiring an RS232 Connection The RS232 port of the drive is configured as a null modem. The connector pins on the Serial Port 9-way D-Type connector on the front-panel of the servo-drive are as follows:-.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18.1.2 RS232 Set-up Parameters The following port parameters are used to communicate with the T200 via the RS232 link:- § 9600 baud § 8 data bits § 1 stop bit § no parity bits § no hardware control/handshaking.
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual 3.18.2 RS485 Interfaces Description The T200 provides an RS485 compatible communications interface on J2 and J3 (9-Sub-D Male and Female (Connector and Socket) on the T200 side). The RS485 port provides one to many communications. Two Sub-D connectors are provided to allow convenient daisy-chain connection of the RS485 cabling from one T200 to the next. DAISYCHAINED RS485 CABLE Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18.2.1 Wiring an RS485 Connection The connector pins on the Serial Port 9-way D-Type connectors on the front-panel of the drive are as follows:- Pin Number 1 2 3 4 5 6 7 8 9 Function Reserved for future use CAN-Low CAN_GND RS485+ RS485CAN_GND CAN_High DGND V_EXTF Table 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Example of PC Interface If an external signal is required to enable the transmitter of the adaptor, the Transmit Data pin from the PC can be used as an enable pin. An adaptor can be wired to ensure that the transmitter is enabled when data is sent, thus actively driving Highs on the RS485+ line. If the RTS line is used by the adaptor, the following adaptor can be placed between the PC Communications port, and the RS232/485 Converter.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18.2.3 RS485 Line Termination RS485 lines must be terminated in 120Ohm resistance, at each end of the cable, between the positive and negative terminals (RS485+ and RS485-). Figure 3.54 below does not show a 120 Ω resistor at the adaptor end as this is presumed to be part of the adaptor circuitry. 26AWG (0.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18.2.5 RS485 Address Set-up via Axis-ID-HEX-Switches on T200 front Panel A unique RS485 address must be assigned to each T200 in an RS485 network. The two Node ID switches are used to set this address. Note that a fine screwdriver should be used to set the HEX switches to the appropriate value. Node addresses start at 1, rather than 0. The node address 0 is reserved for broadcast messages via RS485. Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.19 T200 User Visual Indications The T200 product family provides the following diagnostic information to the user:• On T200-X10 models (with integral High Power PSU), three power monitoring LED's are provided for user diagnostic purposes (BUS ACTIVE, MAINS APPLIED, REGEN ACTIVE in Figure 3.56). • On T200-X00 models (without integral High Power PSU), one power monitoring LED is provided for user diagnostic purposes (BUS ACTIVE in Figure 3.57).
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SECTION 3: WIRING AND INSTALLATION T200 User's Manual Figure 3.56:- T200-X10 (with PSU) LED's and 7-Segment Display Figure 3.
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T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.
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SECTION 4: MOTOR GUIDE T200 User's Manual SECTION 4: MOTOR GUIDE C27095-001 PAGE 4-1
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T200 User's Manual SECTION 4: MOTOR GUIDE TABLE OF CONTENTS MOTOR GUIDE............................................................................................................................................................. 4-1 4.1 MOTOR SERVO-DRIVE SYSTEM....................................................................................................................... 4-4 4.2 GLOBAL MOTOR MODELS AND ELECTRICAL TYPES .............................................................................
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SECTION 4: MOTOR GUIDE T200 User's Manual SECTION 4 TABLE OF TABLES Table 4.1 :Motor Part Number Cross-Reference.............................................................................................................. 4-6 Table 4.2 :Motor Electrical Type Cross-Reference .......................................................................................................... 4-7 Table 4.3 Electrical Type and Standard Model Equivalency Table ............................................................
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.1 Motor Servo-Drive System A Moog T200 Servo-Drive system consists of a T200 and a G4XX servo-motor. The selection of a particular motor and servo-drive for a specific application can be carried out with assistance of Moog selection sheets. These sheets are provided by local Moog sales offices. Moog-Size, a PC-Windows based program, is also available to aid in the selection process. The T200 can be configured to support Moog's D31X.. series and 30X..
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.2.2 Motor Nameplate Figure 4.1:- Example Nameplate S/N: Date: Model: Type: nN: nmax: P N: J: M0: I0: Rtt: Ud: serial number production quarter and year motor model number electric model, description optional brake nominal speed (speed at PN) maximum speed nominal power (maximum continuous power) moment of inertia continuous stall torque continuous stall current terminal to terminal resistance bus voltage Further electrical data can be found in the catalogue.
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T200 User's Manual 4.2.
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.2.4 Motor Electrical Type Cross Reference Table 4.
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.3 Configuring the Motor in the T200 Servo-Drive There are two ways of telling the T200 which type of motor is connected, listed in Sections 4.2.1 and 4.2.2 below. 4.3.1 Motor Configuration via WinDrive WinDrive contains a database of the 'standard' motor models. The user can select either the motor's electrical-Type or the motor-Model as the search-key for the database.
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.3.2.1 Example using SSM command The motor nameplate shows a Motor Model of G404-123A (i.e. a non-standard motor model) and an electrical Type of G4L20. By checking for G4L20 in the left hand column of Table 4.2, the user finds that the equivalent standard motor is a G424-600. He uses the SSM command. He enters the string 'G424-600' and the T200 is configured automatically with the correct electrical parameter set.
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.4 Motor-Drive Selection Please consult your local Moog sales office or authorised distributor for selection of the appropriate T200 and motor for your application.
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T200 User's Manual SECTION 4: MOTOR GUIDE 4.
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T200 User's Manual SECTION 4: MOTOR GUIDE Table 4.
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SECTION 4: MOTOR GUIDE T200 User's Manual 4.6 Mounting and Installation 4.6.1 Motor Dimensions Table 4.
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T200 User's Manual SECTION 4: MOTOR GUIDE Additional dimensions, e.g. for connectors and mating connectors can be found in the motor datasheet catalogues provided by Moog. CAUTION - Do not hammer on, or press pulleys, gears, couplings, etc. onto the motor shaft. Internal damage will occur.
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SECTION 4 MOTOR GUIDE 4.6.2 T200 User's Manual Motor Installation Guideline MOOG recommends that hexagon socket head screws to DIN 912 8.8 (see column H in) be used to secure the motor. Assembly is made very much easier by using an Allen key with ball head, particularly in the cases of motor sizes 2 and 3. The screws used to install these motor sizes must not be more than 40 mm long. MOOG motors can become very hot (up to 155°C winding temperature) in operation.
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T200 User's Manual 4.6.3 SECTION 4: MOTOR GUIDE Rated Bearing Load Capacity Radial load capacity, shown in Figure 4.3 to Figure 4.7, are for a B10 life of 20,000 hours. The load is applied at shaft extension midpoint. Curves are based on minor axial shaft loads. Consult factory for other loading conditions. Maximum permissible axial and radial forces for brushless MOOG servomotors during installation refer to Table 4.7.
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T200 User's Manual SECTION 4 MOTOR GUIDE Motor Series G4x3 12000 G4x3-2xx 10000 G4x3-4xx G4x3-6xx Speed [rpm] 8000 G4x3-8xx 6000 4000 2000 0 0 100 200 300 400 500 Radial Load Capacity [N] Figure 4.4:- Radial Load Capacity G4x3 Motor Series G4x4 12000 10000 G4x4-2xx G4x4-4xx Speed [rpm] 8000 G4x4-6xx 6000 G4x4-8xx 4000 2000 0 0 100 200 300 400 500 600 700 800 900 1000 Radial Load Capacity [N] Figure 4.
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T200 User's Manual SECTION 4: MOTOR GUIDE Motor Series G4x5 8000 7000 G4x5-2xx Speed [rpm] 6000 5000 G4x5-4xx 4000 G4x5-6xx 3000 G4x5-8xx 2000 1000 0 0 200 400 600 800 1000 1200 1400 1600 Radial Load Capacity [N] Figure 4.6:- Radial Load Capacity G4x5 Motor Series G4x6 8000 7000 G4x6-2xx Speed [rpm] 6000 5000 G4x6-4xx 4000 G4x6-6xx G4x6-8xx 3000 2000 1000 0 0 200 400 600 800 1000 1200 1400 1600 Radial Load Capacity [N] Figure 4.
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T200 User's Manual SECTION 4 MOTOR GUIDE 4.6.4 Coupling A flexible coupling offers the advantages of economy, allowance for misalignment, and reduction of backlash. Flexible disc or bellows style couplings are recommended. The couplings are available for both plain shaft as well as for slot and key configurations. The shaft key should then be a close clearance or light press fit into the coupling key-way. Refer to Figure 4.8:- Motor Load Coupling , for flexible coupling detail.
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T200 User's Manual 4.6.5 SECTION 4: MOTOR GUIDE Runout The reduced runout provided by MOOG motors allows the attachment of various gear heads. The precision manufacturing of the motor avoids loads caused by misalignments between motor and gear heads. Diameter of the Shaft Extension øU [mm] to 10 over 10 to 18 over 18 to 30 over 30 to 50 L=AH see Table 4.6 Maximum Runout Tolerance Class R [mm] 0.015 0.018 0.021 0.025 Table 4.
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T200 User's Manual SECTION 4 MOTOR GUIDE 4.6.6 Design Standards The G400 series has been designed, assembled and tested in conformity with the following standards. (see Table 4.9 Motor Design Standards and Table 4.
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T200 User's Manual SECTION 4: MOTOR GUIDE Relevant standards for electrical equipment Standard English International IEC International Electrotechnical Commission Europe EN CENELEC Europäisches Komitee für Elektrotechn. Normung Deutschland DIN / VDE Deutsche Industrie Norm / Verband Deutscher Elektrotechniker USA NEMA / NEC National Electric Code MG.-... Rotating electrical machines, Rating and performance IEC 34-1 IEC 2/915/CDV: 1995 EN 60034-1 DIN EN 60034-1 VDE 0530-1 MG 1-1.
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T200 User's Manual SECTION 4 MOTOR GUIDE Relevant standards for mechanical design Standard English International IEC International Electrotechnical Commission Europe EN CENELEC Europäisches Komitee für Elektrotechn.
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T200 User's Manual 4.6.7 SECTION 4: MOTOR GUIDE Motor Brake Data The following are the specification data for the G4XX motor brakes. Options are specified via the box-car drawing. Parameter G4X2 Series Brakes G4X3 Series Brakes G4X4 Series Brakes G4X5 Series Brakes G4X6 Series Brakes Option 1 Option 1 Option 2 Option 1 Option 2 Option 1 Option 2 Option 1 Option 2 Rated Braking Holding Torque [Nm] 0.9 1.5 3.0 6.0 15.0 15.0 25.0 25.0 50.0 Inertia [kg cm2] 0.02 0.07 0.18 0.
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SECTION 5: QUICK START T200 User's Manual SECTION 5: QUICK-START C27095-001 PAGE 5-1
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T200 User's Manual SECTION 5: QUICK START TABLE OF CONTENTS QUICK-START .............................................................................................................................................................. 5-1 5.1 GETTING STARTED...........................................................................................................................................5-3 5.1.1 Initial Preparation.......................................................................................
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SECTION 5: QUICK START T200 User's Manual 5.1 Getting Started The following section describes a “Quick Start” method for the Moog T200 Servo-drive. This will allow the user to quickly and easily set up a T200 motor-drive system and start basic motor operations. The user should first read and be familiar with sections 1, 2 and 3 of this manual before attempting to follow this quick start procedure. This is especially true with respect to the safety notices and other hazard warnings. 5.1.
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T200 User's Manual 5.1.3 SECTION 5: QUICK START Starting the Drive The MS-Windows-based Windrive interface may be used to quickly configure the T200, and check basic wiring and installation as well as simple backward and forward motion of the connected load. 5.1.3.0 Preliminary Step:- Activate WinDrive Install Windrive using the install instructions detailed in the WinDrive Software Kit, or as described in Section 7.2.
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T200 User's Manual SECTION 5: QUICK START 5.1.3.2 Step 2:- Setup the Reference Source The user should next select the reference source for the T200. The Reference Source determines where the reference signal is coming from. Figure 5.2:- Selecting the Reference Source The appropriate choice should first be made by selection of the appropriate Radio Button.
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T200 User's Manual SECTION 5: QUICK START 5.1.3.3 Step 3:- Setup of the Torque and Velocity Limits The T200 AUTO_MAN digital input sets the T200 into either the Automatic or the Manual mode of operation. The Automatic mode corresponds to normal machine operation, at typical machine velocity and torque levels. The Manual mode is provided to ensure that via a digital input, the T200 can be switched to lower levels of torque and velocity, to ensure machine and personnel safety.
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SECTION 5: QUICK START T200 User's Manual 5.1.3.5 Step 5:- Basic Tuning The next step is to set the control mode. In order to check that the drive is wired correctly, Moog recommends that the drive is placed in Velocity Mode with a function generator reference (Step 2) to cause slow backward and forward movement. (Note however that if the axis is connected to a vertically mounted load or has a offset load torque, then this option should not be used.).
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T200 User's Manual SECTION 5: QUICK START 5.1.3.6 Step 6:- Encoder Simulation Many applications, especially those applications that use the T200 in ±10V command Velocity or Torque Mode, use the T200's inbuilt Encoder Simulation to feed back the motor shaft position to a master Motion Controller System. The user should set the number of Lines per Revolution to match that required by the Motion Controller by setting the Number of Lines per Revolution input.
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T200 User's Manual SECTION 5: QUICK START 5.1.3.7 Step 7:- Regen Resistor Configuration If an external regen resistor is used in the user’s configuration the proper regen resistor need to be selected. This is necessary to ensure proper functionality of the regen exceeded feature which indicates that the cont. regen power of the selected regen resistor is exceeded. Figure 5.7:- Regen Resistor Configuration Click the Update button to activate the settings. Click Exit to leave the dialog box. 5.1.3.
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T200 User's Manual SECTION 5: QUICK START 5.1.3.9 Step 9:- Enabling the T200 and Causing Movement of the Motor Apply 230Vac mains power to the mains inputs of the T200. Wait 5s for completion of softstart. After this time the T200 should close the Power Ready Relay to indicate a successful soft start-up. Note that this relay should be used in an interlock fashion to signal to all connected T200s that they can be enabled.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW C27095-001 PAGE 6-1
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW TABLE OF CONTENTS T200 FUNCTIONAL OVERVIEW .............................................................................................................................. 6-1 6.1 INTRODUCTION.................................................................................................................................................6-5 6.2 T200 FUNCTIONALITY OVERVIEW ..................................................................................
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SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.2.6 6.7.2.7 6.7.2.8 6.7.2.9 6.7.2.10 6.7.2.11 6.7.3 6.7.3.1 6.7.3.2 6.7.3.3 6.7.2.4 6.7.3.5 6.7.3.6 6.7.3.7 6.7.3.8 6.7.3.9 6.7.3.10 6.7.3.11 T200 User's Manual Analog Torque Limiting in Velocity Mode..........................................................................................................6-38 Velocity Mode Functional Block Diagram...........................................................................................................
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Section 6 Table of Figures Figure 6.1:- Analog Command Mode System Diagram ...................................................................................................6-6 Figure 6.2:- CAN Interface Mode System Diagram .........................................................................................................6-7 Figure 6.3:- Stepper Interface Mode System Diagram ......................................................................
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.1 Introduction This section describes the functionality of the T200. It details the various modes of operation and the I/O that operate with these modes. The WinDrive Graphical User Interface or the Hand Held terminal can be used to configure and tune a T200 and diagnose problems in a T200 application. This section will provide an overview of functionality.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.2 T200 Functionality Overview The following section gives an overview of T200 functional options. 6.2.1 Analog Command Interface The T200 provides a ±10 analog command interface. In this interface mode the T200 accepts a torque, velocity or position command.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.2.2 Controller Area Network (CAN) Interface Mode The T200 provides a CAN fieldbus connection. The CAN interface provides:• Set-up of all drive parameters using a standard communications protocol (CANOpen). • High-speed transfer of process and status information. This removes the need for extensive interconnect between the T200 and the System Motion Controller.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW • • • • An internal home position routine can be called to reference the T200 position to the machine A Jog function is provided to aid in machine start-up and positioning. Software limits are provided for position, velocity and torque. Hardware limits are also provided for position. Extensive T200 status information is transmitted regularly at high speed via CAN. Status information is also available through digital outputs, if required.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.2.4 Digital Inputs Velocity Interface Mode The T200 generates its velocity command as a function of the state of two digital inputs.
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T200 User's Manual 6.2.5 SECTION 6: T200 FUNCTIONAL OVERVIEW Standalone Motion-Controller Custom Interface Mode ("Point") The T200 provides a standalone motion control capability. Contact Moog sales offices for further information on the Point software option.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.3 T200 Conventions This section deals with commonly understood conventions for T200 operation. 6.3.1 Direction of Rotation The positive direction of rotation is clockwise, when the motor is viewed from the shaft end, as shown in the diagram below. M otor Front Clockw ise is Positive Direction of Rotation Figure 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.4 Power Interface Section 6.4.1 T200 Model Types and High Power Interface Two basic types of the T200 are available:1. The T200-X10 models accept a.c. mains inputs with a nominal voltage level from 120Va.c. to 230Va.c. (where X stands for a digit between 3 and 5). The T200-610/710 models accept a.c. mains input with a nominal voltage level of 230Va.c..
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual Figure 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Figure 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.4.2.1 High Power Circuit Description The high power supply section may be divided into functional blocks: • High voltage rectification and filtering • Soft-start of a.c. mains power-on • Low voltage control power supply • Regeneration circuit • Monitoring and fault logic circuits a) High Voltage Rectification and Filtering The a.c.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW energy. The frequency at which the Regeneration circuit operates is dependent upon the magnitude of the Regeneration energy. The internal Regeneration resistor is protected by an internal electronic circuit breaker which disables Regeneration when the internal resistor’s rating is exceeded. If the Regeneration energy exceeds the capacity of the internal Regeneration circuit, a higher capacity external Regeneration resistor must be used. Section 3.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.5 Input and Output Functional Description 6.5.1 Reference Analog (±10V Command) Input The Reference Analog Input is a ±10V differential analog Torque or Velocity command input from a System Motion Controller. The Reference input is also used for general motion control purposes by the Point Motion Control subsystem. Section 3.15 outlines the electrical characteristics of the analog inputs.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6. Actual Position:- The position feedback can be monitored on TP1. This is scaled by the user-programmable Revsper-10V parameter. As before, the T200 contains a special function to zero-reference the present shaft position, such that this position is taken as the zero-voltage-point of TP1 and TP2. 7. Position Error:- The position error can be monitored on TP1. This is scaled by the user-programmable Revs-per10V parameter. 8.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual § In CAN Profile Mode, activation of either limit switch will cause the T200 to perform a servo-stop, return to Point to Point mode from whatever mode it was previously in, and allow motion in the opposite direction to the direction of the active Limit Switch. § In CAN Interpolation Mode, the limit switches are ignored. § In Point mode, it is the responsibility of the user to use appropriately program use of Limit Switch type inputs.
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T200 User's Manual 6.5.8 SECTION 6: T200 FUNCTIONAL OVERVIEW Torque-Velocity Control Mode switching The TRQ-VEL digital input is used to switch the T200 from velocity mode to torque mode and back. This feature is useful in nut-running and other applications. The TRQ-VEL input is only used when the user programs the T200 control compensator to Velocity Mode. If the user programs either Torque or Position mode, then this input will be ignored.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.5.10 Programmable Speed Functions The T200 provides a velocity command mode, in which the state of two digital inputs is used to command the motor to rotate at one of four user-programmed speeds. The reference speeds are specified in units of RPM and can be positive or negative. Note that the programmable speeds is influenced by the ROT_DIR input as described in Section 6.4.9 Rotation Direction.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.5.12 Drive Power Status The DRV_ENBLD opto-coupler output shows the enabled status of the T200's high power electronics. If the output is closed (current flowing) then the power electronics are applying high power to the motor phases. If the output is open (no current flowing), then the high power has been removed from the motor phases.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.5.13 Speed Torque Achieved Indication The SPD_TRQ_ACHVD opto-coupler output is used to indicate the status of achieving the programmed set-point command, whether torque or velocity (in position mode this output is used to track the velocity command). The user programs a Set-Point band, expressed as a percentage of a peak (Tmotor(MAX) in the case of torque Nominal_Speed in the case of velocity).
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.5.14 System Ready Indication The System-Ready relay output (SYS_RDY±) indicates the error status of the T200. The relay will close when all fatal faults have been removed. It will open when any fatal faults appear. Note on application of a.c. mains power:- § The System-Ready relay will close only when the a.c. mains has been applied and all other faults have been removed. 6.5.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.6 Internal Function Generator An internal function generator is provided, which is used to generate square wave excitation signals in torque and velocity mode, and a spline shape in position mode, to aid in control loop tuning and general drive debug work. 6.6.1 Torque and Velocity Function Generator Function Generator Output Period Amplitude Offset On-Time Time Duty-Cycle = On-Time*100 Period Figure 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW § Duty-Cycle:- The Duty-Cycle determines the length of time the Speed or Torque Amplitude is of a more positive polarity and is expressed as a percentage. For the remainder of the period, the Speed or Torque Amplitude is of a more negative polarity. CAUTION:- The function generator will apply steps of torque and velocity commands, which may damage machinery due to a sudden jerk.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual § Acceleration:- The Acceleration parameter will set the rate of change of the velocity command during the position traverse. Specified in units of rad/s2. § Speed Amplitude:- The Speed Amplitude determines maximum motor velocity during the motion. The SpeedAmplitude is specified in units of RPM. If the traverse is short, it is possible that the speed command will not reach the Speed-Amplitude.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7 Control Loop Overview 6.7.1 Torque Mode The T200 can be operated in torque mode, with several sources of its torque command. In this mode the T200 acts as a simple current amplifier, so that the torque produced by the motor is proportional to the analog command. WARNING:- DANGER OF UNCONTROLLED MOTOR ACCELERATION The T200 has specialised motor current compensation. For optimum performance the T200 operates a software model of the current loop.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 20m max User Control System Torque Command J1 O/P DAC 0.25sq.mm twisted pair (24AWG) Analog Torque Limit Command O/P DAC 0.25sq.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.1.1 Torque Command Sources Three sources of torque command may be user-programmed:1/ Internal Function Generator. The T200 provides an internal software function generator. The function generator produces rectangular pulses which provide a means of exciting the load, in order to diagnose applications problems or tune the T200. The Torque Amplitude, Offset, Period of excitation and Duty Cycle are programmable. See section 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.1.3 Rate Limiting in Torque-Mode The T200 provides a means of limiting the rate of change of the actual torque. This limits the jerk (rate of change of acceleration) which a sensitive load may experience during acceleration and deceleration phases of a motion. The user can program the Torque Rate Value (specified in Nm) and the Torque Rate Time (specified in seconds).
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.1.4 Programmable Torque Limiting in Torque Mode The T200 uses the Automatic and Manual Torque Limits as described in Section 6.4.7 Automatic and Manual Power Settings, under the control of the AUTO_MAN digital input. 6.7.1.5 Programmable Velocity Limiting in Torque Mode In torque mode, the T200 uses the velocity limits.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.7.1.6 Analog Torque Limiting in Torque Mode The Spare Analog input (SAIN) is used in Torque Mode as a means of reducing the maximum allowable torque in a continuous way. Figure 6.16 below shows the linear relationship between the Analog Torque Limit and the input voltage level between the SAIN inputs. Analog Torque Limit Tlimit Tmotor (MAX) Tlimit as a function of SAIN differential voltage (SAIN+) - (SAIN-) 0V - 10V Figure 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.1.7 Torque Mode Functional Block Diagram Figure 6.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual The diagram above outlines the operation of the T200 in torque mode. Note that Automatic/Manual mode is controlled by the Auto_Man digital input. However the switch-over between Automatic and Manual modes can be disabled by disabling the Manual Mode, leaving the T200 permanently in Automatic Mode (full power mode).
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T200 User's Manual 6.7.2 SECTION 6: T200 FUNCTIONAL OVERVIEW Velocity Mode In velocity mode the T200 closes a PI loop to track an analog command, a function generator command, a digital reference input command, or a velocity command from an internal position loop. 6.7.2.1 Velocity Mode Reference Sources Five sources of velocity command may be user-programmed:1/ Internal Function Generator. The T200 provides an internal software function generator.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Automatic_Mode_Velocity_Limit or the Manual_Mode_Velocity_Limit depending upon the status of the AUTO_MAN input) by clamping the velocity command to the applicable Velocity Limit. 6.7.2.5 Rate Limiting in Velocity-Mode The T200 provides a means of limiting the rate of change of the velocity command. This limits the acceleration (rate of change of velocity) which a sensitive load may experience during acceleration and deceleration phases of a motion.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.2.6 Analog Torque Limiting in Velocity Mode The Analog Torque Limit functions in exactly the same way in velocity mode, as it does in torque mode. See Section 6.7.1.6 Analog Torque Limiting in Torque Mode. 6.7.2.7 Velocity Mode Functional Block Diagram Figure 6.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.7.2.8 Velocity Loop Tuning After completing drive initialisation (Motor Type selected, Options selected, etc.) the user should tune the velocity loop to optimise performance. This section provides a recommended velocity mode standard tuning procedure for use with either the WinDrive user interface or the Hand Held Terminal interface. The procedure should be followed in the sequence listed.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW • Use the P command set to enter the gain adjust mode for the velocity loop proportional gain term. Using the PU command increase the P gain until the shaft is turning. Use the PU command, while monitoring the velocity response on the oscilloscope, to increase the P gain until a slight overshoot occurs in the velocity response (Fig 1 below). Use the PD command to decrease the P gain until the overshoot just disappears (Fig 2 below) .
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual (B) also shows θerr when Jest is tuned correctly, θerr steps with a slight ripple superimposed. θerr is a measure of the model uncertainty, and of any disturbance torque which may be present. Normally there will be some viscous friction present, so that θerr will step appropriately when the shaft velocity makes a step change.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW OBSERVER POSITION ERROR OBSERVER POSITION ERROR Figure 6.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.7.2.10 Auto-tuning the Velocity Loop Gains and the Velocity Observer The T200 auto-tuner can only be used in conjunction with the WinDrive interface.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW A Systems Parameters dialog box is then displayed showing the results of the System Identification. The user must choose to calculate gains, and then exit the system parameters dialog. When the user exits the system parameters dialog a pop-up dialog will be shown which informs the user that the calculated gains will be downloaded to the T200, T200 will be switched into velocity mode, and a step response will be obtained.
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SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3 T200 User's Manual Position Mode 6.7.3.1 Position Mode Reference Sources One of the following sources for position command need to be programmed by the user:1/ Internal Function Generator. The T200 provides an internal software function generator for position reference generation. The function generator produces spline shaped position profiles, in order to tune the T200. Position loop gains.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3.5 Analog Torque Limiting in Position Mode The Analog Torque Limit functions in exactly the same way in position mode, as it does in torque mode. See Section 6.7.1.6 Analog Torque Limiting in Torque Mode for a full description. 6.7.3.6 Position Limits in Position Mode There are two means of activation of position limiting in the T200, when it operates in position mode. 1.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.7.3.8 Position Mode Functional Block Diagram Figure 6.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3.9 Position Loop Tuning Before tuning the position loop, the user should first tune the velocity loop as described in Section 6.6.2 Velocity Mode. This makes the process of tuning the position loop easier, because the inner velocity loop has already been increased to as high a bandwidth as the application will allow. Such a velocity loop tuning should make the position loop tuning seem to be as easy as tuning a first order system.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual Tuning the Position loop. The following technique should be used to tune the position loop using the set-up loop described earlier. § Enable the Servo-drive; Hardware Enable first using the external enable I/P, then Software Enable, with the function generator initialised as detailed above.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3.11 Monitoring the Position Tracking in CAN Interpolation Mode The T200 also provides monitoring of the position error in CAN Interpolation mode. Two parameters are provided for the user to configure this tracking. These are:§ Static Loop Position Error Band:- This quantity is specified in position increments (see Section 7.10.1.3 CAN Position Scaling for an explanation of the scaling).
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.8 Fault Detection 6.8.1 Faults and User Indication in the T200 This sections outlines faults which are detected in the T200 6.8.1.1 Faults and Warnings The T200 distinguishes between faults and warnings. Faults are those abnormal conditions that are of a serious enough consequence to cause the T200 to halt operation.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.1.3 Fatal Faults The following is an overview of the fault detection mechanisms in the T200. Note that the fault codes that are displayed on the 7-segment display are explained in Section 3.19. Power Amplifier Short Circuit [ F 1 ] A power amplifier short circuit fault occurs when a short circuit between any one of the motor phases or between a motor output phase and DC+ or DC- causes a fault current to flow.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Note:- the T200 provides a measurement of the Regeneration Continuous Power over the last averaging period. The '?LRR' Hand Held terminal command will display the average energy which has been expended over that period. This will help in sizing the regeneration resistance needed. This power measurement is accurate to ±10% of the actual regeneration power being expended. If WinDrive is used the calculated average regen EXTREGEN.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.1.4 Non Fatal Faults The following is an overview of the non-fault detection mechanisms in the T200. The fault codes that are displayed on the 7-segment display are explained in Section 3.19. A.C. Mains not applied or High Power Not Ready Fault [ U 1 ] • A.C.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual If the drive is powered down after the internal regeneration fuse has blown and then powered up again, the high voltage D.C. Bus will not charge up and the T200 will report that all PSU related faults have occurred. CAUTION:- If a regeneration fuse blown fault occurs, the user should not attempt to restart the drive. Consult Moog for further details. A.C.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.1.5 T200 Warnings The following is an overview of the warnings detection mechanisms in the T200. Note that the warning codes that are displayed on the 7-segment display are explained in Section 3.19. Thermal Foldback Active [ . ] This warning is active when the torque command is limited due to thermal current limiting (See Self Protection).
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SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.2 T200 User's Manual Fault History Record The T200 records all faults and warnings as these occur in a special non-volatile memory. Approximately every 0.5seconds the T200 checks have any new faults been reported. The time stamp is relative to the time the drive is powered. The T200 has sufficient space to record 1024 such faults or warnings, so that it should be able to continue recording such fault and warning data for a significant number of fault occurrences.
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T200 User's Manual 6.8.3 SECTION 6: T200 FUNCTIONAL OVERVIEW Fault indication via digital outputs To allow drive status and fault diagnostics with a PLC drive status and fault information is available on the digital outputs of the T200. Fault indication via digital outputs is only available if the drive operates in the following modes: • Velocity mode with analog reference. • Torque Mode with analog reference. • Digital Speed Input • Stepper Mode (only Mode 1 available) 6.8.3.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Drive Status in Mode 1 has the following meaning: 1. Drive ok This status indicates that the drive has no faults. The status is independent of AC-mains. I.e. “Drive ok” will be indicated even when AC-mains is not applied. PSU faults, which can only be evaluated when AC-mains is applied, will be indicated. 2.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW The dedicated digital outputs indicate the drive status as follows. Drive Status FAULTS AND STATUS Drive OK. No Faults. Foldback Bridge Overcurrent Bus Overvoltage Regen Fuse Blown PSU Temperature Fault Bridge Temperature Fault Motor Temperature Fault Programming Error Resolver Fault ±15V Fault WARNINGS Bus Not Active Regen Exceeded Limit Switch Activated Inc. Encoder Warning Temperature Indication DO1,DO3...DO5 (DO1=LSB) O [.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.9 Self Protection 6.9.1 Sources of Torque Limits There are three sources of torque limitation within the T200:1. 2. 3. Programmable Torque Limits:- The user may program Automatic_Mode and Manual _Mode Torque_Limits. These are described in Section Automatic and Manual Power Settings. Analog Torque Limit:- The Spare Analog Input is used as a means of reading in a analog torque limit command. This is described in Section 6.6.3 Position Mode.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW The T200 measures the motor phase currents at a high frequency. Approximately 2 times per second, a new RMS current limit is calculated. The algorithm measures the RMS phase current for the last averaging period. It calculates the remaining amount of current for the next 0.5 seconds, for which the total current over the averaging period would be 20Arms. This remainder becomes the RMS current limit for the next 0.5second period.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW • Regen Exceeded Enabled Mode 1 (Warning Indication): As soon as the max. continuous regen power is exceeded digital output J1/19 will be switched off and E6 or U6 will be displayed on the 7-segment display. This warning is not a latched warning. I.e. as soon as the calculated regen power is less than the max. continuous regen power output J1/19 will be switched on and E6/U6 will no longer be displayed.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.10 Encoder Simulation Function The Encoder Simulation generates incremental encoder formatted output signals from a resolver position transducer. See Section 3.17 for an electrical description of the interface. The following signals are generated:- C lock w is e C o u n te r- C lock w is e A le a d s B B le a d s A (ESM ) A (ESM ) B L o n g Z e ro M A RKER S h o rt Z e ro M A RKER In c re a s in g M o t o r Sh a ft P o s it io n Figure 6.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual Note on Maximum Speeds:- The T200 Encoder Simulation Output is galvanically isolated. There is a maximum rate of pulses which may be transferred without loss of position information, through the isolation circuitry. The maximum pulse rate for the Channel A, Channel B and Zero-Marker is 200kHz. The user is informed by the WinDrive interface what is the maximum motor rotational speed for that number of Lines-Per-Revolution.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.11 Incremental Encoder Input A quadrature incremental encoder input is provided on the T200. This encoder is not used for motor commutation purposes, but for feedback of relative position information to the Point motion control software or CAN interface system. The encoder interface accepts Channel A, Channel B and Zero Marker Differential Inputs in RS422 electrical format.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual Note that the following user programmable parameters are available for the Encoder Input:Number of Lines per Revolution:- The user may program this parameter to set the number of encoder lines per revolution of the motor shaft. This allows the T200 software to translate a rotary encoder's shaft position into its own internal position units for motion control calculations.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.12 Stepper Motor Interface In Stepper Motor Inerface Mode the T200 can be used to replace a stepper motor if the dynamics of the stepper motor do not satisfy the requirements of the application. This mode allows as well an easy implementaiton of an electronic gearing. In Stepper Motor Interface Mode the T200 operates in Position Mode. This means that the Position Loop needs to be tuned for proper operation.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.12.2 Following Error Detection Indication and reaction of the drive when the Following Error Limit is exceeded The “Speed/Torque Achieved” output (SPD/TORQ_ACHVD pin 21 of J1), is used to indicate to the user that the Following Error Limit is exceeded. As soon as the Following Error Limit is exceeded the SPD/TORQ_ACHVD output will be turned on. The SPD/TORQ_ACHVD output will stay turned on until the drive is disabled.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.13 Communications Interfaces 6.13.1 Axis Identification See Section 3.18 for an overview of set-up of the axis-ID switches to set the T200 communications network address. 6.13.2 Communications Protocol The T200 supports two protocols over its RS232 and RS485 communications links. These are:1. Hand Held Terminal Pneumonics Protocol.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.13.2.2 MESSAGE / REPLY FORMATS Message Transmission to T200 All messages transmitted to T200 will be assembled in the following format: Byte Use 1 Number of bytes to follow (i.e. Message size - 1) 2 Address of T200 3 Command code : Command data : : N Additive checksum modulo 256 Note: • All numbers are restricted to 8 bits (0..255) • The T200 address for RS232 or single node RS485 is ‘0’ .
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW The address refered to by byte 2 is made from a bitwise OR between the T200 ‘slave’ address and the Host ‘master’ address (Master fixed at 80 hex). For RS232, address = 80 hex or 128 decimal .
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual T200 Acknowledgement to Modify Parameter There is no data returned with an acknowledgement to a parameter write command.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.13.2.4 MONITORING T200 PARAMETERS Message Transmission to T200 The command code for monitoring a parameter is 01. The data required is: • Parameter number (least significant byte followed by most) • Size of parameter to read (2 or 4 bytes).
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual Example To monitor the parameter UFlag1 (Parameter Number 46316, 2 bytes) the following bytes should be sent to T200: Byte Value Meaning 1 6 Length of command 2 0 Address 3 1 Read parameter 4 236 Least significant part of Parameter Number 46316 5 180 Most significant part of Parameter Number 46316 6 2 2 Byte parameter 7 169 Additive Checksum MODULO 256 value of 6, 1, 236, 180, 2 If the value of Uflag1 is - 5 , the T200 acknowle
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.13.2.5 BLOCK DATA FORMAT Write Block Data to T200 Block data is different from parameter data in that it may be relatively large. Block data is written to the T200 in sections of up to 64 bytes, known as paragraphs. The command code for writing a block of data to the T200 is 18 . The data required is: • • Block number. Paragraph number.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual Read Block Data from T200 Block data is read from the T200 in sections of up to 64 bytes, known as paragraphs. The command code for reading a block of data from the T200 is 17 . The data required is: • • • Block number. Paragraph number. Number of bytes to be read. Paragraphs should all be 64 bytes long except for the last, which may be up to 64 bytes long.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.13.3 Parameter Set Description A detailed description of the T200 parameter set can be provided on request. See Section 11 for phone numbers and addresses of Moog Sales outlets.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.14 Parameter Storage The T200 provides non-volatile storage for user-programmable parameters in both its internal Flash, and via the Personality Plug module. Parameter Storage and initialisation There are four user-configuration data storage locations of significance to the user. 1. T200 Flash database (non-volatile storage):- The T200 internal non-volatile Flash provides storage for all user parameters and for the POINT application program.
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T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.14.1 Personality Plug The Personality Plug (Part No.: C25226-001) is a module which allows permanent storage of all T200 user parameters. The module allows the configuration of the T200 without a PC. I.e. in case a T200 need to be replaced in the field the T200 can be configured in connecting the plug to the serial interface J4 and powering up the T200.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual 6.14.2 Format of Log Files An example .log files is shown below. It contains:- § A description of the application, date, user notes etc. § A Listing of the units which are used for Torque, Temperature, Current etc. § A parameter-by-parameter listing of values. This file format is relatively easy to review and modify. The example listed below is intended to be indicative of the file structure and is not rigorous in listing all T200 parameters.
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T200 User's Manual RES.OFFSET = 0.000000 CNFG.ACCESSPARAMS = FALSE REFERENCESELECT = 1 ANALOG.OFFSET = 0.000000 VELOCITY.SCALE = 8000.000000 FG.VELOCITY = 0.000000 FG.TORQUE = 0.000000 FG.DUTYCYCLE = 50.000000 FG.VELOCOFFSET = 0.000000 FG.TORQUEOFFSET = 0.000000 FG.PERIOD = 1.000000 VELLOOPGAIN = 0.010000 INTEGRALTIMECONST = 0.200000 COMP.SELECT = 4 OBS.ENABLE = FALSE FILTER.FREQ = 190.985931 MANUALMODEDISABLE = FALSE LIMITSW.DISABLE = TRUE QSTOP.DECEL = 10000.000000 FP.SIGNAL.TPA = 8 FP.SIGNAL.TPB = 1 IT.
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SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual FG.ACCEL = 100.000000 FG.TRAVERSE = 0.000000 FG.STOPFLAG = FALSE ENC.LINECOUNT = 0 ENC.ZEROMARKEROFFSET = 0 DIGIN.REFVEL0 = 0.000000 DIGIN.REFVEL1 = 0.000000 DIGIN.REFVEL2 = 0.000000 DIGIN.REFVEL3 = 0.000000 STEPPERIN.SCALING = 0 STEPPERIN.COMMAND = 2 CAN.COMMCYCLEPERIODUS = 6000 CAN.COMMANDWINDOW = 2000 CAN.ACTUALWINDOW = 2000 CAN.POSITIONSCALING = 1 CAN.KBAUDRATE = 1000.000000 CAN.DIRECTIONFLAG = FALSE CAN.MODE = 2 LIMIT.POSITION.
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T200 User's Manual INVERT.SYSTEMREADY = FALSE INVERT.
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SECTION 7: WINDRIVE T200 User's Manual SECTION 7: WINDRIVE C27095-001 PAGE 7-1
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T200 User's Manual SECTION 7: WINDRIVE TABLE OF CONTENTS WINDRIVE.....................................................................................................................................................................7-1 7.1 INTRODUCTION.................................................................................................................................................7-6 7.2 WINDRIVE SOFTWARE SET-UP ...............................................................................
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SECTION 7: WINDRIVE T200 User's Manual 7.10 DRIVE SET-UP ................................................................................................................................................ 7-31 7.10.1 Basic Velocity Mode Drive Set-up......................................................................................................... 7-31 7.10.1.1 Units Set-up ...................................................................................................................................
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T200 User's Manual SECTION 7: WINDRIVE Section 7 Table of Figures Figure 7.1: Communication Port Dialog Box ................................................................................................................... 7-8 Figure 7.2: Adapter between PC and RS232/RS485 Adapter......................................................................................... 7-12 Figure 7.3: Password Dialog Box .....................................................................................................
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SECTION 7: WINDRIVE T200 User's Manual Figure 7.55: IT Thermal Limits Dialog Box .................................................................................................................. 7-52 Figure 7.56: Invert System Ready Relay / Thermal Limit Output Dialog Box.............................................................. 7-53 Figure 7.57: Apply Brake and Release Brake options on the Drive Menu ....................................................................
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T200 User's Manual SECTION 7: WINDRIVE 7.1 Introduction Two user interface options are available: a.) Graphical User Interface, WinDrive System. b.) Hand Held Terminal. This is described in Section 8. The WinDrive Graphical User Interface (GUI) is a standard windows based product used with MOOG’s T200 ServoDrive. WinDrive is used as a tool for the user friendly configuring, tuning and monitoring of a T200. NOTE: The Hand-Held terminal device uses the same RS232 link to the T200 as the PC.
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SECTION 7: WINDRIVE T200 User's Manual When setup is complete, remove the WinDrive Distribution Disk and reboot the PC. WinDrive can be run by double clicking on the WinDrive icon. WinDrive can be uninstalled if required. In Windows 3.1 select the uninstall Icon in WinDrive’s group. In Windows 95/NT select the Add/Remove Programs within the Control Panel. 7.3 Starting WinDrive WinDrive can be run by double-clicking on the MOOG WinDrive icon under Windows 3.
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T200 User's Manual SECTION 7: WINDRIVE NOTE on Communications Robustness between WinDrive and T200. MOOG has made the communication between WinDrive and T200 as robust as possible by implementation of message error checking, and message-retransmission upon errors, as well as message time-out checking. Due to the wide variation in operating conditions under different versions of Windows and PC configurations, the user may experience occasional difficulties in establishing secure communications.
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SECTION 7: WINDRIVE T200 User's Manual 7.4 RS232 and RS485 Communication RS232 is a serial data standard, which allows WinDrive to communicate directly to a single drive. Both WinDrive software and the physical link between the PC and the Drive must be configured correctly, in order to establish communication. The RS-Type must be set as RS232 at WinDrive start-up. If the user is unsure of the RS-Type, the RS-Type can be reset by selecting the Low Level/Reset Comm menu item.
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T200 User's Manual 7.4.1 SECTION 7: WINDRIVE RS232 Connection The RS232 port of the drive is configured as a modem. The connector pins on the Serial Port 9-way D-Type connector on the front-panel of the drive are as follows: Pin 2 RS232 Receive Rx Pin 3 RS232 Transmit Tx Pin 5 Signal Ground The diagrams below show the wiring required for an RS232 cable between a PC and drive.
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SECTION 7: WINDRIVE 7.4.2 T200 User's Manual RS485 Communication RS485 is multidrop serial data standard, which allows WinDrive to communicate with a number of T200's, each of which has a unique Axis Address. The communications protocol is the same as for the RS232 link but demands that the drive address identifier be included in order to address individual T200's. NOTE When using WinDrive, the RTS line of the PC Communications Port should not be used to enable the Transmitter of the adapter.
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T200 User's Manual SECTION 7: WINDRIVE Example of PC Interface If an external signal is required to enable the transmitter of the adapter, the Transmit Data pin from the PC can be used as an enable pin. An adapter can be wired to ensure that the transmitter is enabled when data is sent, thus actively driving Highs on the RS485 line. If the RTS line is used by the RS232/RS485 adapter, the following adapter can be placed between the PC Communications port, and the RS232/485 converter.
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T200 User's Manual SECTION 7: WINDRIVE 7.5 Password Protection This dialog box appears at system start-up and is used to enter a User Password. Two levels of user access are supported: • Access Level 0 = General User Access (Enable, Disable, and Monitor a Drive). • Access Level 1 = Privileged User Access (Drive Tuning and Configuration plus all Access Level 0 privileges). If a valid User Password is not accepted by the servo-drive, Access Level 0 will be invoked by default.
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T200 User's Manual SECTION 7: WINDRIVE To change a saved password, the old password is entered in the Password Dialog box. The Change Password Dialog box may then be displayed by selecting the Change button in the Password Dialog box. The new numeric value should be entered in the Password field and the OK button selected. A message will appear informing the user that the User Password has been changed.
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SECTION 7: WINDRIVE 7.5.1 T200 User's Manual Off-line Mode Off-line Mode occurs when the PC communications port is not connected to a servo-drive, the servo-drive is not powered on, or the User has selected Off-line in the Communications Port Dialog box. In off-line mode, the Password Dialog box will not appear since no actual servo-drive configuration or tuning can take place. Instead, a Controller Type Dialog box is shown, from which the desired controller type should be selected.
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T200 User's Manual SECTION 7: WINDRIVE 7.6 Main Window - Features The WinDrive Main window is divided into several sections: § Outer Frame - Standard Microsoft Windows Frame with minimise/maximise and exit Icons. § Menu Bar - Pull-down menus to access all WinDrive features. § Main Tool Bar - Icon buttons for various functions and commands. § WinDrive Status Bar 1 - Compensator Mode/Drive Status/Fault Status/Axis ID (RS485).
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SECTION 7: WINDRIVE T200 User's Manual The Main Window Button Console, Log File Display, and Data Logger Plots sections are part of a three way “splitter window”. The mouse cursor converts to a vertical or horizontal bar as it moves over these vertical or horizontal window dividers. The size of each split section can be changed, by holding down the left mouse button and moving the window divider. The Button Console window has a minimum size, regardless of the application size. 7.6.
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T200 User's Manual 7.7.3 SECTION 7: WINDRIVE Main Window Button Console The Main Window Button Console allows for quick access to the most frequently used dialogs. It consists of six icons which are selected in order to set, or adjust the main parameters required to configure a T200. From the Main Window Button Console, the Reference Source, Tuning Parameters, Velocity and Torque Limit values, Motor Type and parameters, Limit Switch and Encoder settings may be viewed and altered.
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SECTION 7: WINDRIVE T200 User's Manual 7.8 Menu Options 7.8.1 File Menu Options • Open - Opens a previously saved log (file extension *.log) or Data Logger (file extension *.mdl) file. • Save - Saves the current Data Logger or log file data to disk for future use. • Print Plots - Three options are available from the Print Plots option: 1. Print Graph - Prints the selected plot. 2. Print Page - Prints plots for both Data Logger channels. 3.
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T200 User's Manual 7.8.2 SECTION 7: WINDRIVE Drive Menu Options Set-up – The following options are available from the Set-up option: Ø Reference Source - Set the reference source for the servo-drive. Ø Tuning - Adjust the drive tuning parameters. Ø Limits - Set and adjust torque and velocity limits. Figure 7.9: Drive Menu and Drive/Set-up Menu Options Ø Motor - Motor parameters are entered using this option.
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T200 User's Manual SECTION 7: WINDRIVE Ø Invert System Ready Relay / Thermal Limit Output - For certain applications, it can be desirable to invert the polarity of the System Ready Relay or Thermal Limit Output. These can be set in this dialog. • Basic DriveSetup - A basic drive set up is the fastest means of manually tuning and configuring a drive. All parameters essential for the basic set-up are set by the user.
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T200 User's Manual • SECTION 7: WINDRIVE Logfile Player - The log file player “plays” log files which send communication requests to the drive. Log files may be played as a continuous stream of commands or in a string, stepped through line by line. An Echo to File option allows the servo-drive response to each command to be saved to disk. A loop function allows the log file to be continuously played to the drive. 7.8.
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T200 User's Manual SECTION 7: WINDRIVE • Grid Lines - Two options are available from the Grid Lines option: Ø Horizontal Grid - Adds a horizontal grid to the current Data Logger plot. Ø Vertical Grid - Adds a vertical grid to the current Data Logger plot. Figure 7.14: Plots/Grid Lines Menu Options • Save Plots - Saves the current Data Logger plots to disk for future use. • Load Plots - Allows the user to load previously saved plots to the Data Logger plot display window. 7.8.
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T200 User's Manual SECTION 7: WINDRIVE 7.9 WinDrive Monitoring Features 7.9.1 Data Logger WinDrive’s Data Logger function is used for monitoring and recording system parameters. This information is read by WinDrive and plotted in the Data Logger Output Window. Before the Data Logger can be used, the operating parameters must be set-up, using either the Data Logger Set-up Icon, or the Set-up option from the Data Logger Menu.
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T200 User's Manual SECTION 7: WINDRIVE Several parameters must be set by the user in the Trigger Flag Set-up dialog: Data Trigger Enable - The Data Trigger feature must be enabled before it can trigger the gathering of data. Rising Edge - When this option is selected, data recording will start when the Trigger Source variable rises above the value determined in Trigger Level. Falling Edge - For Falling Edge mode, the Trigger Source variable falling below the Trigger Level will trigger the Data Logger.
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T200 User's Manual 7.9.2 SECTION 7: WINDRIVE Engineering User Interface The Engineering User Interface (EUI) is opened by selecting the EUI Icon or the EUI Input option from the Low Level Menu. The EUI dialog box has four main fields: the input (Command) and output (Result) displays, and Command and Result History fields. Three buttons, Exit, Update and Help are located at the bottom of the dialog box.
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T200 User's Manual SECTION 7: WINDRIVE 7.9.4 Manual Block Operations Block data may be saved to disk for future use by selecting Manual Block Operations from the Low Level menu, selecting Save to File, as well as the Block Data Number and Length, entering the path and File name and clicking the Update button. This information may be saved in either BYTE or Word format.
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T200 User's Manual 7.9.6 SECTION 7: WINDRIVE Drive Status Figure 7.25: Drive Status Dialog Box Available by selecting Drive Status from the Drive Menu, the Drive Status Dialog box provides a table of current drive and motor parameters and is constantly updated by the WinDrive software. The appearance of this dialog box changes to facilitate Reference Source settings. This dialog shows all essential system parameters and is useful in both diagnostic and system querying procedures.
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T200 User's Manual SECTION 7: WINDRIVE 7.9.7 Fault Status Figure 7.26: Fault Status Dialog Box This dialog is available by selecting Fault Status from the Drive Menu. This dialog box provides an overview of current fault and warning conditions and is constantly updated by the WinDrive software. This dialog is useful in diagnostic as well as system querying procedures.
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T200 User's Manual 7.9.8 SECTION 7: WINDRIVE Fault History The T200 provides a means of uploading and displaying the fault history data stored in the T200 non-volatile storage. Using this dialog box, all error data recorded by the drive can be accessed. When the dialog opens, the first 10 records of errors are uploaded automatically. A further 10 records can be uploaded by clicking on the Upload Record button. The viewed records can be saved by clicking on the Save button.
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T200 User's Manual SECTION 7: WINDRIVE 7.10 Drive Set-up The drive can be configured in either Position Mode, Velocity Mode or Torque Mode via WinDrive. Note that the T200 defaults to the Velocity loop configuration mode, with an analog ±10V reference type. Configuration of the T200 into other modes besides Velocity Mode is described in Section 6. 7.10.1 Basic Velocity Mode Drive Set-up This section describes a basic set-up method for a servo-drive, using the Basic DriveSetup option from the Drive Menu.
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T200 User's Manual SECTION 7: WINDRIVE 7.10.1.2 Select Motor Dialog Box The motor is selected by the user. Motor types are divided into standard (MOOG standard range) and non-standard motors (MOOG custom designed or non- MOOG motors). See Section 4 for a review of motor naming terminology and standard or non-standard motors. Note that all MOOG G3XX and G4XX Global motors are included in the standard motor database.
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T200 User's Manual SECTION 7: WINDRIVE b) Non Standard Motor Selection Non-standard motor entry should only be necessary when using MOOG's older 30X series motors, when using MOOG custom designed motors, or when configuring the T200 to function with a motor from another manufacturer. For nonstandard motors, the parameters necessary for drive interfacing must be known (or determined) by the user.
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T200 User's Manual SECTION 7: WINDRIVE NOTE - G40X series MOOG motors usually have an equivalent standard MOOG motor. The G40X motors and their equivalent standard motors have the same electrical parameters, though may differ in mechanical configuration. The T200 only needs to be configured with the correct electrical parameters. Consult the MOOG sales outlet for information on the equivalent standard motor. If this equivalent is known, the standard motor may be entered instead of a non-standard motor.
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T200 User's Manual SECTION 7: WINDRIVE a) Analog Input Reference The Analog Input is a ±10V signal which is used as a command reference. When the Analog Input is being used as the reference source, several parameters must be set in the dialog box. Enter this dialog via Set-up from the Reference Source dialog. Velocity Scaling: The Velocity Scaling is defined as the commanded motor speed (in RPM) when the analog input value is +10V.
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T200 User's Manual SECTION 7: WINDRIVE Torque Offset: The Torque Offset is used to bias the torque of the motor in one direction of rotation. It can be positive or negative. It is specified in units of Nm or lb-in. Period: The Period determines the time taken for one cycle of operation for one cycle of the Function Generator. This is specified in seconds.
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SECTION 7: WINDRIVE T200 User's Manual d) Digital Speed Input Reference The Digital Speed Input functionality is described in Section 6. The reference speeds corresponding to the state of the 2 digital inputs are specified in units of RPM. Enter this dialog via Set-up from the Reference Source dialog. PROG_ SPRD_1 Status PROG_ SPRD_0 Status Speed Reference Used 0 0 Digital Input Reference 0 0 1 Digital Input Reference 1 1 0 Digital Input Reference 2 1 1 Digital Input Reference 3 Figure 7.
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T200 User's Manual SECTION 7: WINDRIVE 7.10.1.4 Reference Rate Limit Set-up The Rate Limit Dialog box allows limiting of the rate of change of the velocity and torque commands that are applied to the drive. Enter this dialog via Set-up from the Reference Source dialog. Note that this functionality has been outlined in Section 4. When in Torque Mode, the T200 torque command is allowed to climb to the Maximum Torque (specified in Nm) in a time Torque Rise Time (specified in seconds).
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SECTION 7: WINDRIVE T200 User's Manual 7.10.1.5 Normal and Reduced Power (Automatic and Manual Mode) Limits Set-up The Limits Dialog box allows the user to specify operating limits for both torque and velocity to the servo-drive to ensure proper tuning and safe operation of the system (see Section 6 for a description of functionality).
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T200 User's Manual SECTION 7: WINDRIVE 7.10.1.7 Drive Tuning This dialog enables the user to select the Control Mode for the drive, set up the Tuning Gains as well as enter additional tuning related dialogs. Refer to section 7.11.1 Control Mode Selection. 7.10.1.8 Encoder Simulation (ESM) The functionality of an incremental rotary encoder may be emulated with Encoder Simulation software.
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T200 User's Manual SECTION 7: WINDRIVE Figure 7.44: Regen Resistor Configuration Dialog Box Select Regen Kit: Allows the selection of the regen kit used in the application. The selection is based on the maximum continuous power of the regen resistor kit. Data of a regen resistor not supplied by MOOG can be set up under “Other”. This option allows the setting of the resistor value and the maximum continuous power of the resistor.
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T200 User's Manual SECTION 7: WINDRIVE 7.10.2 Torque Mode Operation In Torque Mode, the input command reference is a current command to the power amplifier that drives the motor. The term Torque Mode is adopted because the motor produces a nearly linear torque per ampere of input current. The tuning of the inner current loops of WinDrive compatible servo-drives is pre-programmed during drive initialization, by selection of the motor model or the electrical type.
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T200 User's Manual SECTION 7: WINDRIVE 7.11 Control Loop Configuration and Tuning This section describes how WinDrive allows easy configuration and monitoring access to T200 internal variables, to facilitate quick configuration of control loops and estimation of control loop gain values. The Auto Tuning feature is described as well. NOTE: The user should review Section 6.6.2, Velocity Loop Tuning, before starting the tuning process. 7.11.
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T200 User's Manual SECTION 7: WINDRIVE Options: Advanced Options for T200 control loops, Auto-Tuning and control loop Tracking Monitoring parameters can be accessed from the Options group. These features are described in Sections Advanced Options, Section Auto Tuning and Tracking respectively. Update: This button is used to write the tuning parameter values shown in the dialog to the T200.
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T200 User's Manual SECTION 7: WINDRIVE 7.11.2 Torque Mode Tuning As mentioned earlier, tuning of the current loops is performed during drive initialization. Hence no parameter tuning is required in Torque Mode. 7.11.3 Velocity Loop Tuning After completing drive configuration per Section Drive Set-up the user must tune the velocity loop to optimise velocity loop performance. This section provides a recommended velocity mode standard tuning procedure for use with WinDrive.
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T200 User's Manual SECTION 7: WINDRIVE It is recommended to monitor the Torque Demand and the Actual Velocity variables during Velocity Loop tuning. The Data Logger will be set up by default to monitor these variables. See Section 7.9.1 Data Logger for a description of how to set up these variables as the logged data set.
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SECTION 7: WINDRIVE T200 User's Manual parameter. Tuning of the software model for the user applications is described in Section 6.6.2. Note that the Data Logger can be used to record Torque Demand and Observer Position Error, in a convenient way during observer tuning.
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T200 User's Manual SECTION 7: WINDRIVE 7.11.5 Auto Tuning (Velocity Loop Only) Auto Tuning of T200 Velocity Loop Gain parameters and the Velocity Observer is only available through WinDrive. If quick tuning of a T200 is required by the user, WinDrive's Auto Tuning feature can be used to determine the values of both the velocity loop gain and the integral time constant terms. Auto Tuning can be selected from the Drive/Set-up Menu or via the Auto-Tuning button in the Tuning dialog.
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SECTION 7: WINDRIVE T200 User's Manual 7.11.5.1 Auto Tuning System Parameters The System Parameters dialog provides a means of viewing and setting various Auto Tune parameters and results: The user is informed if the load system is resonant. If the system is resonant then there is some flexibility in the coupling of the load to the motor.
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T200 User's Manual SECTION 7: WINDRIVE 7.11.6 Tracking Monitoring The Tracking Monitoring dialog box is available from the Tuning dialog box. This dialog is used to set warning thresholds, such that if these thresholds are exceeded, the T200 will flag the warnings to users via the 7-segment display, and through feedback via the CAN channel. Velocity Tracking: The Velocity Error is the difference between the velocity command and the Actual Velocity.
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SECTION 7: WINDRIVE T200 User's Manual 7.12 Incremental Encoder Input Configuration The T200 Incremental Encoder input can be set-up via WinDrive. A description of the incremental encoder input is given in Section 6.10. Number of Lines per Revolution: The user sets this input to scale the encoder. The encoder input is used in Stepper Mode and POINT Mode. The motor cannot be commutated with the incremental encoder. The Number of Lines per Revolution is usually available from the encoder nameplate.
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T200 User's Manual SECTION 7: WINDRIVE 7.13 Equipment And Personal Safety WinDrive contains several functions to ensure equipment and personal safety. 7.13.1 Manual Mode / Automatic Mode Manual and Automatic operating modes are set from the Limits Dialog box. Values are entered for both the Manual and Automatic Mode limits for Torque and Velocity. Manual Mode limits are always set below those for Automatic Mode resulting in lower Velocity or Torque operation than in Automatic (normal) Mode. Figure 7.
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SECTION 7: WINDRIVE T200 User's Manual 7.14 Drive Disabling The drive may be disabled at any time through several means. In case of emergency F2 may be pressed, the Stop Icon clicked or Quick Stop selected from the Drive Menu to perform a Quick Stop. The drive may be disabled by pressing the F4 key, clicking the relevant icon on the Floating Toolbar Disable from the Drive Menu.
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T200 User's Manual SECTION 7: WINDRIVE 7.16 Brake Control If an optional motor brake is fitted, this may be controlled from the Drive Menu with the Apply Brake and Release Brake commands. Figure 7.57: Apply Brake and Release Brake options on the Drive Menu 7.17 Trouble Shooting If WinDrive is unable to communicate with a servo-drive then the Graphical User Interface will issue a Communication Time-Out message. If this occurs, check the following: • Check control and mains power to the drive.
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SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE C27095-001 PAGE 8-1
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE TABLE OF CONTENTS HAND-HELD-TERMINAL INTERFACE ..................................................................................................................8-1 8.1 HAND-HELD-TERMINAL INTERFACE ("POD" MODE) ...................................................................................8-3 8.1.1 Establishing Serial Communications ........................................................................................................8-3 8.
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SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual 8.1 Hand-Held-Terminal Interface ("Pod" Mode) Configuration and Tuning of the T200 is possible using a Hand Held Terminal. This section details the use of this device. WARNING - A User supplied hardware enable/disable switch wired so that the motor can be stopped quickly in a emergency must be provided at all times. Software enable/disable commands do not meet safety requirements and should never be used in lieu of a hardware circuit.
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE > -2.9 E -2 Enter numbers and press RETURN. > .029 > 0.029 > 203789 > 203.789e3 All string entries should be terminated by pressing the RETURN () key. If a command entry error is detected by the software, the following message will be displayed along with a prompt to reenter: Invalid Command > All numeric parameters entered are compared against an acceptable range.
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SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual 8.2 Servo-drive Initialization NOTE - The installation and wiring described in Section 3 should be completed and verified before proceeding with servo-drive initialization. CAUTION - The T200 Series Servo-drives with integrated power supply units have a built in soft start feature. An on-board interlock disallows enabling of the output inverter bridge until the soft start period has expired.
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE The servo-drive saves data in its Flash EEPROM, which is a non-volatile memory that retains data when power is removed. When power is applied, the servo-drive will attempt to initialize itself using the data in its EEPROM. See Section 6.13 for a description of the operation of the data storage systems of T200.
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SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual After entering the SSM command, the user should then enter a valid motor model number. An example of such a model number is given below. Drive Disabled Motor:? Enter appropriate motor model number here e.g. G424-400 > NOTE - It is important that the motor model number is entered correctly as the T200 Series Servo-drive sets many parameters automatically based on this configuration.
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T200 User's Manual 8.2.3 SECTION 8: HAND-HELD-TERMINAL INTERFACE Non-Standard Motor Configuration Applications employing non-standard motor models (other than the G4XX series) require the data listed in Table 8.
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SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual 8.3 Servo-drive Tuning Section 6 already contains a comprehensive overview, which is oriented at the Hand-Held terminal interface, on how to tune the T200 control loops. Please refer to this section for a procedure on how to tune the loops.
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE 8.4 T200 Hand-Held-Terminal Command Set The following is a list of commands for the hand held pod interface of the T200. User Information: If the Win-Drive User Interface was previously used with the T200, and the Hand Held Terminal is subsequently used without power cycling of the T200, the user may experience difficulty in establishing communication with the Hand Held Terminal.
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE 8.4.1 LC LV C * SUP OR OC SD LD SU or Imperial units. For current units, input [A] or [Arms], in order to enter Apk or Arms. Drive Set-up Commands List the Servo-drive Size and Power Configuration List the Software Version Save all parameters to non-volatile storage Enter the Password to enable privileged mode access Modify the Password (once in privileged mode) Set the drive control loop reference source. Options: 1.
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE 8.4.3 8.4.7 SE SLA SLM STA STM STT STV SRT SRV Drive Limits Commands Set the Emergency Deceleration Rate for Quick-Stops and Limit Switch activation. Set the Automatic Mode Velocity Limit Set the Manual Mode Velocity Limit Set the Automatic Mode Torque Limit Set the Manual Mode Torque Limit Set the Torque Rate Time (i.e.
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE SGP GD GU SGT SGV SJ JD JU OO SSA VP SSA VB SSAT P SSAT B OSP Set the Position Loop Proportional Gain G Decrease the Position Loop Proportional Gain G Increase the Position Loop Proportional Gain G Set the Torque Feedforward Gain GT Set the Velocity Feedforward Gain GV Set the Observer Inertia J Decrease the Observer Inertia J Increase the Observer Inertia J Enable or disable use of the Observer Velocity Estimate Set Set-Point-Achieved Velocity
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T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE 8.4.12 Warnings Commands 8.4.14 Local Mode Control Commands STD STS SVL SVT RE ORM ORR Set the position tracking dynamic error band ∆, in % For a P-position loop: Position-Error = Velocity/Position-G-Gain If Position-Error > Velocity * ∆ / G then a CAN warning is issued Set the static loop warning position error, in position increments. If the position error exceeds this, then a CAN warning is issued.
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SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual 8.4.16 Thermal Protection Commands IT Set the IT Protection parameters: • Ipeak • Icont • Max Time at Ipeak OD Disable the Thermal Protection 8.4.
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SECTION 9: CAN INSTALLATION T200 User's Manual SECTION 9: CAN INSTALLATION Version 37/00 PAGE 9-1
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T200 User's Manual SECTION 9: CAN INSTALLATION TABLE OF CONTENTS SECTION 9: CAN INSTALLATION ................................................................................................................ 9-1 9.1 INTRODUCTION ......................................................................................................................................... 9-3 9.2 CAN CABLE WIRING ..................................................................................................................
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SECTION 9: CAN INSTALLATION T200 User's Manual 9.1 Introduction CAN is an abbreviation for the Controller Area Network. This is a high speed serial interface which was designed for use in Automotive and Industrial applications. The T200 provides two CAN Modes of operation:1. CAN Interpolation Mode:- The System Motion Controller transmits target positions at high data rates, and the T200 finely interpolates these positions to follow the target trajectory. 2. CAN Profile Mode.
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T200 User's Manual SECTION 9: CAN INSTALLATION 9.2 CAN Cable Wiring The CAN-In and CAN-Out ports at J2 and J3 of the T200 provide the means to daisy-chain the CAN cabling between T200 units. Note:1. CAN lines must be terminated in a 120Ohm resistance, between the positive and negative terminals (CAN-High and CAN-Low). 2. The CAN circuitry is isolated from the T200 logic power. An internal DC/DC – converter generates the supply voltage for the isolated CAN interface. Figure 9.
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SECTION 9:- CAN INSTALLATION T200 User's Manual Figure 9.
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SECTION 10: TROUBLE-SHOOTING GUIDE SECTION 10: C27095-001 T200 User's Manual TROUBLE-SHOOTING GUIDE PAGE 10-1
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T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE How to use this Section The table of contents below should help the user to understand problems and find solutions. The status of the T200 power status LED’s and 7-segment display is used as the starting point. § The user should check if a fault or warning code is displayed on the 7-segment display. If so the user can use the table of contents below as a cross-reference to the appropriate troubleshooting section.
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SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's Manual 10.6 OTHER PROBLEM SOURCES ........................................................................................................................ 10-26 10.6.1 Problem: T200 will not enable ............................................................................................................. 10-26 10.6.2 Problem: T200 is Enabled, but will not move the Axis........................................................................ 10-27 10.6.
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T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE 10.1 Introduction The following tables list typical system, controller, and motor troubleshooting conditions. A list of possible cause(s) is given for each condition. For some conditions, there are multiple possible causes which are generally listed in order of increasing complexity or decreasing likelihood for the stated conditions. A list of check/correct action recommendations are listed below each possible cause(s).
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SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's Manual 10.2 Power Status LED's not Illuminated Section 3.19 T200 User Visual Indications outlines the functionality of the power status LED's on the T200. The following is list of problem sources and corrective actions when these LED's fail to illuminate, or in the case of the REGEN-ACTIVE LED, is constantly illuminated. 10.2.1 Fault Type: Mains-Applied LED is not lighting (T200-X10 ONLY) Table 1: Causes of Mains Applied LED not illuminated Cause a.c.
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T200 User's Manual 10.2.2 SECTION 10: TROUBLE-SHOOTING GUIDE Fault Type: DC-Bus-Active LED is not Lighting Table 2: Causes of DC-Bus-Active LED not lighting Cause Check/[Correction] a.c. Mains not Applied (T200-X10 Units ONLY) Regeneration Fuse Blown (T200-X10 Units ONLY) Check Mains Applied LED status. If this is not lit then the DC-Bus-Active LED cannot be illuminated.
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SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's Manual 10.3 Seven-Segment Display Status The following section deals with T200 7-segment display status conditions. These are conditions that indicate to the user a particular T200 state. They may or may not indicate real problems with the unit. For example, if the 7-segment display is not illuminated, then there is no high voltage or logic backup power applied to the T200. 10.3.
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T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE 10.4 'F' Symbol Followed by Number on Seven-Segment Display (Faults) The following section deals with fatal T200 faults. These are fault conditions, which cause the T200 to immediately remove high power from its power amplifier. If the fault condition has not been removed, then the T200 cannot generate torque in the motor. 10.4.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.4.2 T200 User's Manual Fault Type: F2 (DC-Bus Overvoltage) on 7-segment Display The F2 fault is displayed when the DC-Bus voltage exceeds 400V d.c. The T200 disabled itself immediately when the fault occurred.
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T200 User's Manual 10.4.3 SECTION 10: TROUBLE-SHOOTING GUIDE Fault Type: F3 (Fuse Fault) on 7-Segment Display The F3 fault is displayed when either the internal regeneration resistor fuse (ONLY on T200-X10 units) or the DC bus fuse or both fuses have blown. If the drive is enabled the T200 decelerates and disables itself immediately when the fault occurs. The controller cannot be enabled if it is disabled when the fault occurs.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.4.4 T200 User's Manual Fault Type: F4 (PSU Heatsink Overtemperature) on 7-Segment Display The F4 fault is displayed when the High Power PSU Heatsink Temperature is excessive. The T200 decelerates and disables itself immediately when the fault occurs. Table 9: Causes of F4 on 7-segment Display Cause Check/[Correction] Too Many T200X00's Connected Too many T200-X00 (units without integral PSU) have been connected to the T200-X10 (unit with integral high power PSU).
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T200 User's Manual 10.4.6 SECTION 10: TROUBLE-SHOOTING GUIDE Fault Type: F6 (Motor Over-Temperature) on 7-Segment Display The F6 fault is displayed when the motor temperature is too high (at or greater than 155°C). The T200 decelerates and disabled itself immediately when the fault occurs.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.4.7 T200 User's Manual Fault Type: F7 (Internal Software Fault) on 7-Segment Display The F7 fault is displayed when an internal software error has occurred. The T200 disabled itself immediately when the fault occurred. Table 12: Causes of F7 on 7-segment Display Cause Check/[Correction] Software MisConfiguration The software error should rarely if ever occur.
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T200 User's Manual 10.4.9 SECTION 10: TROUBLE-SHOOTING GUIDE Fault Type: F9 (Internal DC/DC Fault) on 7-segment Display The F9 fault is displayed when a internal analogue power supplies are below acceptable voltage levels. The T200 disabled itself immediately when the fault occurred. Table 10: Causes of F9 on 7-segment Display Cause Check/[Correction] Internal DC/DC Error The internal DC/DC which generates ±15V supplies has malfunctioned. [This error should never occur.
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SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's Manual 10.5 'U' Symbol Followed by Number on Seven-Segment Display (Warnings) The following section deals with T200 warnings. These are usually fault conditions which do not require that the T200 immediately remove high power from its power amplifier. However some of these warning conditions will cause the T200 to servo-stop and disable. 10.5.1 Warning Type: U1 (a.c. Mains has not been applied) on 7-Segment Display The U1 Warning is displayed when a.c.
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T200 User's Manual 10.5.2 SECTION 10: TROUBLE-SHOOTING GUIDE Warning Type: U2 (Motor Temperature Warning) on 7-Segment Display The U2 warning is displayed when the motor temperature exceeds 130°C. The T200 can generate reduced torque in the motor when U2 is present.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.5.3 T200 User's Manual Warning Type: U3 (Power Amplifier Warning) on 7-Segment Display The U3 warning is displayed when the power amplifier internal heatsink temperature comes within about 10°C of its fault temperature. The warning may only signify that the T200 is being used close to its thermal limits. The T200 can generate torque in the motor when U3 is present.
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T200 User's Manual 10.5.4 SECTION 10: TROUBLE-SHOOTING GUIDE Warning Type: U4 (Position Error Warning) on 7-Segment Display The U4 Warning is displayed when the T200 position error exceeds the user-programmed range (see Section 6.6.3 for an overview of position error monitoring). The T200 can generate torque in the motor when U4 is present.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.5.5 T200 User's Manual Warning Type: U5 (Velocity Error Warning) on 7-Segment Display The U5 Warning is displayed when the T200 velocity error exceeds the user-programmed range (see Section 6.6.2 for an overview of velocity error monitoring). The T200 can generate torque in the motor when U5 is present.
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T200 User's Manual 10.5.6 SECTION 10: TROUBLE-SHOOTING GUIDE Warning Type: U6 (External Regen Resistor Warning) on 7-segment Display The U6 warning is displayed when the thermal rating of the external regeneration resistor has been exceeded. The T200 can generate torque in the motor when U6 is present.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.5.7 T200 User's Manual Warning Type: U7 (CAN Communications Warning) on 7-segment Display The U7 warning is displayed when the CAN interface has malfunctioned. The T200 will servo-stop, apply the brake if present, and then disable when U7 occurs. Table 20: Causes of U7 on 7-segment Display Cause CAN Cable Disconnected Check/[Correction] CAN cable pin(s) have become disconnected, resulting in a break in CAN communications.
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T200 User's Manual 10.5.8 SECTION 10: TROUBLE-SHOOTING GUIDE Warning Type: U8 (Limit Switches Warning) on 7-segment Display The U8 warning is displayed when the Limit Switches (digital inputs on J1) have been activated, and they have not been disabled through software control. The T200 can still generate torque when the limit switches have been activated.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.5.9 T200 User's Manual Warning Type: UA (Quick-Stop Warning) on 7-segment Display The UA warning is displayed when the servo-stop function is active, ONLY IF the Reference Source is the CAN interface, in Interpolation Mode. Table 22: Causes of UA on 7-segment Display Cause Quick-Stop digital input has been activated Check/[Correction] Check the activity state of the Quick-Stop Digital input.
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T200 User's Manual 10.5.10 SECTION 10: TROUBLE-SHOOTING GUIDE Warning Type: Ub (Stepper or Inc. Encoder Warning) on 7-segment Display The Ub warning is displayed when the incremental encoder or stepper motor interface cable is disconnected. The T200 can still generate motor torque when Ub is displayed.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.5.11 T200 User's Manual Warning Type: Dot (Thermal Limit Warning) on 7-segment Display The Dot warning is displayed when the T200 current demand exceeds the thermal current limit that was derived from a variety of sources. The T200 can generate torque in the motor when Dot is present. Table 24: Causes of Dot on 7-segment Display Cause Motor 'ThermistorPresent' Parameter Incorrectly Configured Motor Thermally Limited Power Amplifier Thermally Limited R.M.S.
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T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE 10.6 Other Problem Sources The T200 diagnostics will not identify all problem sources. The following is a list of faults that do not necessarily result in T200 diagnostics messages. 10.6.1 Problem: T200 will not enable The T200 can be enabled only if all faults have been removed, high power is present, AND if the digital input ENABLE on J1 is activated simultaneously. The E symbol on the 7-segment display indicates that the T200 is enabled.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.6.2 T200 User's Manual Problem: T200 is Enabled, but will not move the Axis The motor cannot move the axis, though the T200 is already applying high voltage to the motor. Table 26: Causes of T200 not moving Cause Command Source set to 0 Limit Switches activated Brake Applied Check/[Correction] The T200 command source is not commanding a movement! Check: • Analogue command voltage wiring to REF+ and REF- is intact.
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T200 User's Manual 10.6.3 SECTION 10: TROUBLE-SHOOTING GUIDE Problem: T200 Movement is not Smooth The motor moves, but the movement is not smooth. Table 27: Causes of T200 lack of smoothness Cause Motor Phase(s) Disconnected Motor not mounted correctly. Check/[Correction] A loss of a motor phase will cause a non-smooth torque to be applied to the motor. [Disable the T200. Remove all power from the T200 and wait 5 minutes before attempting re-connection. Check the motor power cable connections to TB8.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.6.4 T200 User's Manual Problem: Excessive Audible Noise from the Motor The motor movement is somewhat acceptable, but there is unacceptable high frequency noise from the motor. Table 28: Causes of Noise in the Motor Cause Check/[Correction] Control Loop Gains are too High Retune the velocity and position loop gains, so that these are lower in value to reduce the effects of noise.
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T200 User's Manual 10.6.5 SECTION 10: TROUBLE-SHOOTING GUIDE Problem: Motor Shaft rotates in the Wrong Direction The motor movement is reversed in direction from that desired. CAUTION: Reversal of the direction of rotation can lead to positive feedback and runway conditions of control loops, as part of the system control loop is closed outside of the T200. Ensure that the direction of rotation is well understood before changing polarity of rotation.
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SECTION 10: TROUBLE-SHOOTING GUIDE 10.6.6 T200 User's Manual Problem: No ESM Position Feedback from the T200 The motor moves but the encoder simulation feedback does not appear to move. Table 30: Causes of no ESM Feedback Cause No user-supplied external 5V Power Supply Mis-wiring or Disconnected Cable Check/[Correction] The RS422 type outputs on the T200 are isolated from the T200 control section. A usersupplied 5V must be available to supply power to the isolated side of these RS422 drivers.
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SECTION 11: USER INFORMATION SECTION 11: C27095-001 T200 User's Manual USER INFORMATON PAGE 11-1
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T200 User's Manual SECTION 11: USER INFORMATION TABLE OF CONTENTS USER INFORMATON.................................................................................................................................................11-1 11.1 TECHNICAL SUPPORT ....................................................................................................................................
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SECTION 11: USER INFORMATION T200 User's Manual 11.
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APPENDIX A: EMC TEST CONFIGURATION T200 User's Manual APPENDIX A: EMC TEST CONFIGURATIONS C27095-001 PAGE A-1
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T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION TABLE OF CONTENTS EMC TEST CONFIGURATIONS............................................................................................................................... A-1 APPENDIX A:- TEST CONFIGURATIONS FOR EMC-RELATED CE-COMPLIANCE ..................................................... A-3 Test Configuration 1: EMC Emissions: 3 Phase Power application. .......................................................................
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APPENDIX A: EMC TEST CONFIGURATION T200 User's Manual Appendix A:- Test Configurations for EMC-related CE-Compliance The T200 Series Motor Controllers are system components which must be installed in a correct manner to ensure that all electromagnetic compatibility (EMC) requirements are met. The requirements of European Union (EU) EMC Directive: 89/336/EEC, as amended, must be met by all equipment, systems and installations into which the T200 Series Motor Controllers are installed.
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T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION There was a 3m shielded cable terminated in characteristic impedances connected to the Power Ready port on the T200410 Drive. There were 3m shielded cables terminated in characteristic impedances connected to the CAN IN port on the T200-410 Drive and the CAN OUT port on the T200-400 Drive and a daisy chain connection from the T200-410 CAN OUT port to the T200-400 CAN IN port. Input power was supplied via a 3 phase 400:230 V a.c.
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APPENDIX A: EMC TEST CONFIGURATION T200 User's Manual Test Configuration 4: EMC Emissions: 3 Phase Power application. The configuration consisted of a Model T200-410 Drive and Model T200-400 Drive plus a Model T200-510 Drive and Model T200-500 Drive. The T200-400 Drive had a T200 Personality Module option ( Moog p/n C09951) installed. The T200-510 Drive had a T200 Point Extended I/O Card option (Moog p/n C09950) and external regen resistor option installed.
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T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION cable of the T200-310 CAN-IN port. One T200-300 had a motor brake option installed with cable connection to the MOTOR BRAKE port The T200-400 Drive had a T200 Personality Module option ( Moog p/n C09951) installed. The T200-510 Drive had a T200 Point Extended I/O Card option (Moog p/n C09950) and external regen resistor option installed.
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APPENDIX A: EMC TEST CONFIGURATION T200 User's Manual Single phase input power was supplied via a Schaffner type FN 350-12-29 mains input line to the AC LINE IN port on the T200-310 Drive. The DC BUS voltage was daisy chained from the T200-310 Drive to the two T200-300 Drives. An optional 24Vd.c. control backup supply was connected to the 24Vd.c. control backup port of the T200-310 and daisy-chained to the two T200-300's. A Steward 28A2024-0A0 ferrite was installed through 2.5turns on the external 24Vd.
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T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION to the T200-500 CAN IN port. There was a 3m shielded cable terminated in characteristic impedances connected to the Point Extended I/O option port on the T200-510 Drive. There was an in-line FairRite Type 0443164151 ferrite installed at each end of this cable. Single phase input power was supplied via a Schaffner type FN 350-12-29 mains input line to the AC LINE IN port on the T200-510 Drive.
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APPENDIX A: EMC TEST CONFIGURATION T200 User's Manual Both Drives were mounted onto an earthed metal panel mounted in turn onto an earthed equipment chassis frame. The bare metal rear panel of each Drive enclosure was fixed in direct contact with the earthed metal panel on the equipment chassis. Output cables were grouped and routed along the chassis of the equipment frame in a manner similar to routing of cables on machinery.
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T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION P Clip ( Cable shield connection to earth ) Output cable Input cable LINE FILTER Correct Input/Output Cable Routing Output cable Input cable LINE FILTER Incorrect Input/Output Cable Routing PAGE A-10
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