Installation guide H-1000-5068-02-A SPA1 servo power amplifier
© 2002 Renishaw. All rights reserved. Warranty Renishaw® is a registered trademark of Renishaw plc. Renishaw plc warrants its equipment for a limited period (as set out in our Standard Terms and Conditions of Sale) provided that it is installed exactly as defined in associated Renishaw documentation. This document may not be copied or reproduced in whole or in part, or transferred to any other media or language, by any means, without the prior written permission of Renishaw.
Warnings GB 1 F WARNINGS AVERTISEMENTS The machine manufacturer or the installer of this equipment is responsible for ensuring that the finished machine complies with the necessary safety regulations and standards including those referenced in this handbook. Le fabricant de la machine ou l'installateur de cet équipement est responsable de l'assurance que le produit fini respecte les normes d'installation et de sécurité y compris celles en référence dans ce manuel.
2 Warnings D I ACHTUNG AVVERTENZE Der Hersteller der Maschine oder derjenige, der dieses Produkt auf der Maschine installiert ist dafür verantwortlich, dass die fertiggestellte Maschine den notwendigen Sicherheitsbestimmungen und Standards, einschließlich derer in diesem Handbuch erwähnten, entspricht.
Warnings E 3 P ADVERTANCIAS AVISOS El fabricante de la máquina o el instalador de este equipo es responsable de asegurarse de que la máquina acabada cumple con las regulaciones de seguridad necesarias y con las normas, incluyendo aquéllas referenciadas en este manual. O fabricante da máquina ou o instalador deste equipamento é responsável em assegurar que quando terminada, a máquina esteja em acordo com os padrões e regulamentos de segurança, incluindo os mencionados neste manual.
4 Warnings DK NL ADVARSLER WAARSUCHSWINGEN Det er maskinproducentens eller installatøren af dette udstyrs ansvar at sikre, at den færdige maskine overholder alle relevante sikkerhedsregulativer og standarder, indbefattet dem, der henvises til i denne håndbog. De machinefabrikant of de installateur van deze apparatuur moet garanderen dat de afgewerkte machine voldoet aan de vereiste veiligheidsvoorschriften en –normen, met inbegrip van deze waarnaar verwezen wordt in dit handboek.
Warnings SW 5 FIN VARNING VAROITUKSIA Antingen maskintillverkaren eller den som installerar denna utrustning ansvarar för att säkerställa att den färdiga maskinen uppfyller tillämpliga säkerhetskrav och –standarder, inklusive dem som nämns i denna handbok. Koneen valmistaja tai laitteiden asentaja on vastuussa siitä, että valmis kone vastaa kaikkia asiaankuuluvia turvallisuusmääräyksiä ja -säädöksiä mukaan lukien ne, joihin tässä käyttöoppaassa viitataan.
6 Warnings GR —–œ≈…ƒœ—œ…«”≈…” Ο κατασκευαστής της µηχανής ή ο υπεύθυνος εγκατάστασης του εξοπλισµού έχει την ευθύνη να επιβεβαιώσει ότι αφού ολοκληρωθεί η µηχανή, πληροί τα απαραίτητα στάνταρτ και απαιτήσεις ασφαλείας, περιλαµβανοµένων και αυτών που αναφέρονται στο παρόν εγχειρίδιο. Ο χρήστης πρέπει να λάβει υπόψη του ότι µπορεί να υπάρχει ρεύµα στο σερβοµηχανισµό όταν η µηχανή είναι σταµατηµένη.
FCC statement FCC Information to user (FCC section 15.105) This equipment has been tested and found to comply with the limits for a class A digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment.
8 Safety information Safety Electrical requirements The SPA1 is powered from the a.c. mains supply via an IEC 320 connector. The operating voltages of the unit are as follows : 85 – 264 V ac 47 – 66 Hz 600 W maximum This equipment must be connected to a protective earth conductor via a three core mains (line) cable. The mains plug shall be inserted only into a socket outlet provided with a protective earth contact.
Contents 9 Contents 1.0 System description......................................................................................................................... 10 1.1 SPA1 kit components ............................................................................................................. 10 1.2 SPA1 accessories .................................................................................................................. 10 1.3 SPA1 system layout ...........................................
10 System description 1.0 System description The servo power amplifier (SPA1) unit is a 3-axis variable speed drive for permanent magnet DC servo motors, designed for use with the Renishaw universal CMM controller (UCC1). The unit contains three proprietary servo power amplifiers, contactor circuitry and a power supply. 1.1 SPA1 kit components Each SPA1 kit (part number A-1333-0008) contains the following components: 1.1.
System description 1.
12 Front panel description 2.0 Front panel description 1 2 3 4 7 6 5 Figure 2 - Front panel of the SPA1. Key 1 – X axis overload indicator (refer to section 2.1) 2 – Y axis overload indicator (refer to section 2.1) 3 – Z axis overload indicator (refer to section 2.1) 4 – Emergency stop indicator (refer to section 2.2) 5 – Motor enabled indicator (refer to section 2.3) 6 – Power indicator (refer to section 2.4) 7 – Emergency Stop button (refer to section 2.5) 2.
Rear panel description 13 3.0 Rear panel description 1 2 3 4 5 6 7 8 11 10 Figure 3 - Rear panel of the SPA1. Key 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. Emergency stop connector (refer to section 3.1) Machine I/O connector (refer to section 3.2) SPA connector (refer to section 3.3) Z motor connector (refer to section 3.4) Y motor connector (refer to section 3.4) X motor connector (refer to section 3.
14 Rear panel description 3.1 Emergency stop connector 3.1.1 Connector 5 1 2.0H X 6 9 Figure 4 - ESTOP connector (View on face of socket rear of plug) 3.1.2 Pin outs Pin No. 1 2 3 4 5 6 7 8 9 Shell Description Not connected Not connected Not connected Not connected Not connected ESTOP_A ESTOP_B Not connected Not connected Gnd 3.2 Machine I/O connector 3.2.1 Connector 5 1 2.0H X 9 6 Figure 5 - Machine I/O connector (View on face of socket, rear of plug) 3.2.
Rear panel description 3.3 Servo power amplifier connector 3.3.1 Connector 13 1 2.0H X 8.6W 25 14 Figure 6 – Servo power amplifier connector (View on face of socket, rear of plug) 3.3.
16 Rear panel description 3.4 Motor connector 3.4.1 Connector On the rear of the SPA1 unit there are three motor connection channels (X,Y and Z) the function of: A2 2 1 A1 5 4 3 Figure 7 – Motor connection (View on face of socket, rear of plug) 3.4.
Installing the SPA1 17 4.0 Installing the SPA1 4.1 Preparation of SPA1 service pack When the SPA1 service pack is received it contains all the components required to construct the following items. These items will assist in the connection and set-up of the SPA1 unit. 4.1.1 Motor connectors The service pack contains three motor connectors that fit the motor output from the SPA1.
18 Installing the SPA1 4.1.4 Emergency stop The service pack contains a 9-way D connector and backshell which fits the Emergency stop connector from the SPA1. This connector is of the solder bucket variety and should be fitted to the CMM wiring by a competent technician or engineer. 4.1.5 Machine I/O connector The service pack contains a 37-way D connector and backshell which connects to the cable linking the UCC1 machine I/O connector and the SPA1 machine I/O connector.
Installing the SPA1 19 3. Locate the motor voltage configuration as shown in figure 10. Figure 10 – Motor voltage configuration 4. Changing the motor voltage is achieved by positioning the link wire that is joining the “SUPP” terminal (supply to PCB) to the “48V” terminal, such that the link wire now joins the “SUPP” and the “24V” terminals. Refer to figure 11.
20 Installing the SPA1 4.3 Accessing SPA drives The recommended procedure for accessing the SPA drives located within the SPA1 unit is as detailed below. 1. Remove the front panel of the SPA1 by releasing the 6 fixing screws that restrain the front panel as shown in figure 12. WARNING: Sharp edges will be exposed when removing the front panel of the SPA1, as the EMC connection strip behind the panel has a serrated edge.
Installing the SPA1 21 4.4 Functions of the SPA drive potentiometers The SPA drives have 5 potentiometers located at the front of the SPA1 when fitted. The functions of the are as detailed below – please refer to figure 13. Fig 13 - Locations of potentiometers on the drive 4.4.1 Ramp Adjust the potentiometer to increase or decrease the time from 0 second to 2 seconds for the motor to reach maximum speed (with a 10 V speed reference signal).
22 Installing the SPA1 4.5 Adjusting the SPA drives Please refer to the Renicis UCC1 controller installation program User’s guide (H-1000-5058), chapter 6 for the procedure on how to set up the SPA drives. The Mini Maestro drive offers the ability to adjust various parameters such as peak current, motor internal resistance compensation and armature voltage speed feedback. Most applications do not require these parameters to be adjusted.
Installing the SPA1 23 1. Remove the SPA drive requiring adjustment from the SPA1 by sliding out the drive from the front of the enclosure. 2. Remove the dil header fitted to SK1 of the SPA drive that has the 10 K resistor fitted. 3. Set the value of the 20K multiturn potentiometer on 150 mm wire connected to a dil header (contained in the service pack refer to section 4.1) to 10 K. 4. Fit the 20 K multiturn potentiometer on 150 mm wire connected to a dil header into SK1. 5.
24 Installing the SPA1 4.6 Adjustment of the inductance of the motor drive system When using the Mini Maestro drives it is necessary, when a motor has an inductance of less than 1mH, to have an inductor connected between the motor and the drive. The SPA1 has a 10 mH inductor fitted to the system as default. This can be removed if not required. If the inductance of the SPA1 and motor combination is to high then the CMM will tend to overshoot when positioning.
Installing the SPA1 25 4. Removal of the inductor from the drive system is achieved by changing the link wire that is joining the “COM” (common) to the “IN” (inductor in circuit) terminals, such that the link wire now joins the “COM” and the “OUT” (inductor out of circuit) terminal. Refer to figure 16. The inductor configuration terminal is located at towards the rear panel on the SPA1 in the respective axis area as shown in figure 15.
26 System interconnection 5.0 System interconnection diagrams Many problems can be solved by examination of the system configuration and current conditions. In addition, the RENICIS program provides several functions to assist in SPA1 problem solving and commissioning. 5.1 Cable connections 5.1.1 Emergency stop cable This cable is designed to connect the E.STOP circuit between the Joystick daughter card emergency stop connector and the UCC1 comms channel 1 connector.
System interconnection 27 5.1.3 Machine I/O cable This cable is designed to connect some functions from the machine I/O connector from the UCC1 to the machine I/O connector on the SPA1, also giving the ability to attach external connections to the system through the additional connector. The cable configuration is as specified below.
28 Maintenance 6.0 Maintenance Periodically check the security of mounting screws and electrical connectors. Periodical electrical safety checks should include inspection of the mains cable for damage and safe connections. An earth continuity (ground bonding) test may be applied between the protective earth pin of the mains connector and the metal case at a test current of no greater than 25 A.
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