RTS 2nd Generation SERVO AMPLIFIER CONTENTS SAFETY INSTRUCTIONS ……………………………………………………………………………3 1. GENERAL 5 2. TECHNICAL SPECIFICATIONS 6 2.1 2.2 RTS Servo amplifier performance chart Block diagram 7 8 3. DIMENSIONS, LABELLING, 9 3.1 3.2 Dimensions Labelling 9 23 4. - ELECTRICAL CONNECTIONS 4.1 General Wiring Requirements 4.1.1 Appliance handling 4.1.2 Electromagnetic compatibility 4.2 RTS Servo amplifier connection 4.3 Front Panel 4.4 Terminal blocks X1, X2 AND X3 4.
RTS 2nd Generation SERVO AMPLIFIER 7.1 Speed loop rapid adjustment 7.2 Complete speed loop adjustment 7.3 Diagnostic helpI 7.4 Calibration 7.4.1 Tachometric generator voltage calibration (R104) 7.4.2 Rated speed selection (R105) 7.4.3 Pulse current adjustment (R113) 7.4.4 Current limitation by external resistance or external voltage (terminal block X1) 7.4.4.1 By external resistance 7.4.4.2 By external voltage 7.4.5 Time constant adjustment I = f(t) (R109) 7.4.6 Adjustment of function I = f(t) (R103) 7.4.
RTS 2nd Generation SERVO AMPLIFIER SAFETY Servodrives present two main types of hazard : - Electrical hazard Servoamplifiers may contain non-insulated live AC or DC components. Users are advised to guard against access to live parts before installing the equipment. Even after the electrical panel is de-energized, voltages may be present for more than a minute, until the power capacitors have had time to discharge.
RTS 2nd Generation SERVO AMPLIFIER Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length for bugs before shipment. • • Unpack the servoamplifier carefully and check it is in good condition. Also check that data on the manufacturer's plate comries with data on the order acknowledgement. If equipment has been damaged during transport, the addressee must file a complaint with the carrier by recorded delivery mail within 24 hours.
RTS 2nd Generation SERVO AMPLIFIER 1. GENERAL The RTS servo amplifier is designed for four-quadrant control of DC servo motors up to mechanical powers of 2500 W. It incorporates power and chopping supplies, including the energy dissipation resistor for some versions. This integration makes for easier wiring and allows front panel access for a more user-friendly appliance. Two formats are available : Wall mounted type with rear angle bracket Europe single 3 u DIN rack type.
RTS 2nd Generation SERVO AMPLIFIER - COMPLIANCE WITH STANDARDS RTS bears the CE mark under European Directive 89/336/EEC as amended by Directive 93/68/EEC on electromagnetic compatibility. This European Directive refers to the harmonised generic standards EN50081-2 of December 1993 (Electrical Compatibility - Generic Standard for Emissions - Industrial Environments) and EN50082-2 of June 1995 (Electromagnetic Compatibility - Generic Standard for Immunity - Industrial Environments).
RTS 2nd Generation SERVO AMPLIFIER 2.1 RTS Servo amplifier performance chart RTS CHARACTERISTICS at 40°C ambient temperature V V V= A A mH 18/36Vac 32Vac+/-10% 40 3 10 1 10/20-60 single/threephase 18/56Vac 48Vac+/-10% 60 10 20 0.
RTS 2nd Generation SERVO AMPLIFIER 2.
RTS 2nd Generation SERVO AMPLIFIER 3. DIMENSIONS, LABELLING, 3.1 Dimensions RTS servo amplifiers are available in two formats for vertical mounting : - in single Europe 3U DIN rack, in two widths 10" and 19". - wall- or panel-mounted, with rear angle bracket. Racks are available with or without ventilation, while RTS wall-mounted versions have individual ventilation where required (RTS 12/24-130T, RTS 20/40-130T and RTS 16/32-190T). Unventilated racks are for RTS 3/10-40M only.
RTS 2nd Generation SERVO AMPLIFIER W A L L M O U N T E D RTS PARVEX Ref.
RTS 2nd Generation SERVO AMPLIFIER 11 PVD 3487 GB 03/2004
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RTS 2nd Generation SERVO AMPLIFIER 3.2 Labelling RTS SERVO AMPLIFIER IDENTIFICATION Each RTS servo amplifier has an identification label affixed either on the metal plate at the rear for wall-mounted versions or on the side of the heat sink for rack versions. The information should be recorded and stored as with the information about the corresponding servo motor. Remember to record the "A" and/or "B" label indications too.
RTS 2nd Generation SERVO AMPLIFIER 4. - ELECTRICAL CONNECTIONS 4.1 General Wiring Requirements 4.1.1 Appliance handling See the safety instructions given at the beginning of this manual. In particular, wait for all the front panel LEDs to go off completely before doing any work on the servo-amplifier or servomotor. 4.1.2 Electromagnetic compatibility EARTHING Comply with all local safety regulations concerning earthing. Utilize a metal surface as an earth reference plane (e.g.
RTS 2nd Generation SERVO AMPLIFIER MAINS FILTERING The mains filter must be mounted as close as possible to the potential reference plate between the mains and the power supply (p.46 and 47). Use shielded cable (or run the cable in metal trunking). Avoid running cables together, ahead of and after the filter. Filters sometimes have high leakage currents. In this case, comply with the standard connection diagrams when fitting them.
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RTS 2nd Generation SERVO AMPLIFIER 4.
RTS 2nd Generation SERVO AMPLIFIER RTS V2 10 E (Rack) RTS V2 12 E (Rack) 31 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER RTS V2 12 E (wall-mounted) RTS V2 12 A / 130V (wall-mounted) 1PH and 3PH 32 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER RTS V2 16 A / 190 V (wall-mounted) 33 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER RTS V2 20 A / 130 V (wall-mounted) 34 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER 4.4 Terminal blocks X1, X2 AND X3 Torque value : terminal block X1, 0.4 Nm terminal blocks X2 and X3, 0.8 Nm. Terminal block X1 front panel connection Recommended cable cross-section : 0.5 mm² - 1.5 mm² multi-strand. Use shielded cables with the shielding connected as stated below. TERMINAL DESCRIPTION N° NAME 1 TACH+ I 2 TACH- I 3 TERMINAL BLOCK X1 Tacho differential inputs. Use shielded cable with shielding connected to terminal 3.
RTS 2nd Generation SERVO AMPLIFIER TERMINAL N° 7 NAME I RED DESCRIPTION I % I max R(KΩ) TERMINAL BLOCK X1 Analogue reduction of current. Reduction may be controlled either by voltage or by resistor between 7 and 8. This input may be used for example when the servo motor is against a mechanical abutment. Resistor value : 10 3.32 - 30 10 50 22,1 70 39.2 90 100 56.
RTS 2nd Generation SERVO AMPLIFIER TERMINAL N° DESCRIPTION NAME TERMINAL BLOCK X1 11 TORQUE EN. I To be connected via an external contact to terminal 13 to enable current; if terminal is not connected, the motor free wheels. When the motor is fitted with a holding brake, synchronise control of this input with brake control. 12 I Reset. By connecting RESET to terminal 13, faults are cleared and the axis is ready again (if fault has been corrected).
RTS 2nd Generation SERVO AMPLIFIER 4.5 Terminal block X2 connection Recommended cable cross-section : 0.5 - 1.5 mm² TERMINAL N° NAME 1 +15 V 2 0V 3 -15V 4 READY 5 READY DESCRIPTION TERMINAL BLOCK X2 O ± 15 V (25 mA) available for external applications. - O Output via contact of sum of faults. Contact opens if fault or mains failure occurs. Permissible current : 0.5 A O Permissible voltage : 220 V ac 4.6 Terminal block X3 connection Recommended cable cross-section : RTS 3/10 : 1.
RTS 2nd Generation SERVO AMPLIFIER 4.7 Accessories 4.7.1 Plug-in Customisation card The RTS includes a number of components for customising the axis. These components are mounted as standard on the control card and may be mounted on a plug-in customisation card as an option. This means a wider rack version of RTS 3/10-40M, RTS 10/20-60 three-phase and RTS 12/24 Battery (front panel width increased from 51 mm to 61 mm).
RTS 2nd Generation SERVO AMPLIFIER Recommended combinations : RTS 3/10-40M single-phase RTS 10/20-60 single-phase or three-phase SF020231 12A-2x0.25 mH drawing FELX 303434 (p.42). RTS 12/24-130T three-phase RTS 20/40-130T three-phase RTS 16/32-190T three-phase SF02023 25A-1.5 mH drawing FELX 302804 (p.41). SF02022 16A-2.5 mH drawing FELX 302804 (p.41). 4.7.3 Transformer General specifications - Power supply 230/400 V - 50/60 Hz - single-phase or three-phase depending on model.
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RTS 2nd Generation SERVO AMPLIFIER 44 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER 45 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER 46 PVD 3487 GB 03/2004
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RTS 2nd Generation SERVO AMPLIFIER 48 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER 5. LED DISPLAYS LED displays are possible only if the supply voltage is present. The "Ready" relay, in this case, must not be incorporated in the auto-hold of the power supply. POWER ON ON : energised - axis OK OFF : no power on axis. Check wiring, fuses, internal fuse : (FU 5x20) - 5 A (rating 3/10) - 10 A (gauge 10/20; 12/24 16/32; 20/40) FLASHING : axis fault (see corresponding fault on side strip).
RTS 2nd Generation SERVO AMPLIFIER 6. SERVO AMPLIFIER ADAPTATION Selector switch positions * Selector S1 O I * Position O Speed control. Speed feedback is used. Usual case. I S1 O S2 I * Position S3 * Selector S2 Current control. Speed control is unused. X1/4-X1/5 input becomes a current reference. O I * Position X1/9 output indicates current information. ± 10 V corresponds to pulse current. Usual position : O I * Position * Selector S3 X1/9 output indicates speed information.
RTS 2nd Generation SERVO AMPLIFIER 7. COMMISSIONING - Check the connection of the following items : - transformer - relay system, especially the emergency stop - motor and any smoothing choke - tachometer system - ground circuit - Speed and current inhibited (X1/10 and X1/11 not connected), Connect the power to the servo amplifier. The "POWER ON" LED should light up (if not check the transformer wiring and relay system).
RTS 2nd Generation SERVO AMPLIFIER 7.1 Speed loop rapid adjustment * Offset adjustment Once ambient temperature is stabilised, adjust zero speed to the mid-position with the "SPEED OFFSET" potentiometer on the front panel. * Speed adjustment The "SPEED ADJUST" potentiometer calibration of speed for a given reference. produces fine * Gain adjustment By increasing gain, the servo motor becomes more rigid. Turn the "GAIN" potentiometer clockwise until the motor is unstable and vibrates.
RTS 2nd Generation SERVO AMPLIFIER 7.2 Complete speed loop adjustment Systematically applicable when J charge ≥ 10 J motors Caution As servo amplifiers are factory set based on parametersprovided by the customer, this setting does not usuallyrequire adjustment. Before adjusting the speed loop, all the adjustable parameters must be fixed (current limits, speed scale setting, speed limits). Adjusting the speed scale setting alters loop gain and means readjustments are required.
RTS 2nd Generation SERVO AMPLIFIER FIG 2 a b c 100 - 300 Hz 100 à 300 Hz TTime emps FIG. 2 : a, b, c, - graphs obtained with increasing C103 values In some cases, gain limitation is due to resonance: the motor starts to whistle or vibrate at high frequencies (> 100 Hz). A -1 filter must be included at a frequency 3 to 4 times lower than the oscillation so the gain can be increased by the same ratio.
RTS 2nd Generation SERVO AMPLIFIER 7.3 Diagnostic helpI ENERGISING « POWER ON » on "POWER ON" off "POWER ON" flashes Check which LED on side of card Measure voltage at terminals U, V, W Voltage present Check fuse F1 (gauge 5 x 20) Motor races and "TAC" LED lights up No voltage Check fuses, main switch and transformer connections Check tachometric dynamo wiring, invert tacho wires if fault arises during first time use. Motor under current control: selector S1 must be changed.
RTS 2nd Generation SERVO AMPLIFIER 7.4 Calibration CAUTION : Servo amplifiers are factory set and the information in sections 7.4.1 - 7.4.11 are for reference only. The components below are stud mounted and used to calibrate the servo amplifier for the corresponding motor. Calibration is done at the manufacturer's facility before delivery and these components should not be modified.
RTS 2nd Generation SERVO AMPLIFIER TACHOMETER SYSTEM EMF RATED SPEED 57 PVD 3487 GB 03/2004
RTS 2nd Generation SERVO AMPLIFIER Symbols used Nn = rated speed of application for 10 V reference speed Ilim = maximum pulse current of motor Imax = maximum pulse current of servo amplifier In = maximum rated current of motor Ket = gradient of tachometric generator in V per thousands of rpm Ke = back electromotive force of motor in volts per rpm r = resistance of motor and its supply circuitry in ohms L = inductance of motor in mHenrys Ub = bus voltage in volts (1.
RTS 2nd Generation SERVO AMPLIFIER 7.4.2 Rated speed selection (R105) U - RI R105 R102 39 K C102 10 K Fine speed adjustment S3 Offset Resistor R105 calibrates the useful speed of the application. For a speed reference of ± 10 V, the speed corresponding in rpm to the servo motor will be determined by R105 according to the table below. Calibration accuracy supposes that R104 calibration value of the tacho is correctly set.
RTS 2nd Generation SERVO AMPLIFIER 7.4.3 Pulse current adjustment (R113) R113 modifies the maximum current authorised by the servo amplifier. The standard pulse current is twice the value of the permanent current. It may be set either internally by using R113 or by using current reduction input X1/7 "Ired". The table below shows the value of resistor R113 in kΩ versus the percentage of maximum current. % of maximum current 10 20 30 40 50 60 70 80 90 R113 (kΩ) 0.392 0.825 1.5 2.21 3.32 4.
RTS 2nd Generation SERVO AMPLIFIER 7.4.5 Time constant adjustment I = f(t) (R109) CAUTION : For safety reasons the values of resistors R109 and R103 must not be altered without authorisation from PARVEX - Warranty may be affected. The system time constant is factory set so the servo amplifier accepts maximum current for one second, starting from I = 0. After one second the servo amplifier switches automatically to safety mode. + 15 V 4.
RTS 2nd Generation SERVO AMPLIFIER 7.4.7 Adjustment of current limitation curve versus speed I F(n) (R131 132) + 15 V 10 K R 132 Réduction Current reduction de I R 131 - 15 V Resistor R131 is used to select the zero current point on the speed current diagram. Resistor R132 determines the speed beyond which pulse current (selected by R113) begins to decrease linearly with speed.
RTS 2nd Generation SERVO AMPLIFIER R132 values % of maximum current Ns - Nr 20 40 60 80 100 500 27.4 kΩ 47.5 kΩ 100 kΩ 82.5 kΩ 121 kΩ 1000 12.1 kΩ 22.1 kΩ 33.2 kΩ 47.5 kΩ 56.2 kΩ 1500 8.25 kΩ 16.2 kΩ 22.1 kΩ 33.2 kΩ 39.2 kΩ 2000 6.81 kΩ 12.1 kΩ 18.2 kΩ 22.1 kΩ 27.4 kΩ 2500 5.62 kΩ 10 kΩ 15 kΩ 18.2 kΩ 22.1 kΩ 3000 4.75 kΩ 6.82 kΩ 10 kΩ 15 kΩ 18.2 kΩ 3500 3.32 kΩ 6.82 kΩ 10 kΩ 13.7 kΩ 16.2 kΩ 4000 3.32 kΩ 5.62 kΩ 8.25 kΩ 12.1 kΩ 15 kΩ 7.4.
RTS 2nd Generation SERVO AMPLIFIER To calculate motor speed, coefficients R and KE must be calibrated by the resistor values below : R 133 [kΩ] R 134 [kΩ] RTS 3/10 - 40 180/ KE 40 R RTS 10/20 - 60 260/ KE 60 R RTS 12/24 - 130 540/ KE 32 R RTS 12/24 - 24 B 1) 96/ KE 154 R RTS 12/24 - 48 B 192/ KE 77 R RTS 16/32 - 190 760/ KE 32 R RTS 20/40 - 130 540/ KE 64 R e.g. RX 120 L servo motor with RTS 3/10-40 KE = 11.5 V/1000 rpm R 133 = 15 kΩ R = 2.
RTS 2nd Generation SERVO AMPLIFIER 7.4.11 dc voltage calibration (RB) Resistor RB is used to adapt limit values: MAX U, MIN U, tripping of supply voltage recovery.
