Eurotherm Drives 631, Product Manual

Page 1: ...form or by any means to persons not employed by a Eurotherm group company without written permission from Eurotherm Drives Ltd Although every effort has been taken to ensure the accuracy of this document it may be necessary without notice to make amendments or correct omissions Eurotherm Drives cannot accept responsibility for damage injury or expenses resulting therefrom RPSDWLEOH ZLWK 6 5 5 9HUV...

Page 2: ...n design materials and workmanship for the period of 12 months from the date of delivery on the terms detailed in Eurotherm Drives Standard Conditions of Sale IA058393C Eurotherm Drives reserves the right to change the content and product specification without notice ...

Page 3: ...roduct label Where installed for your own information Unit used as a refer to Certification for the Inverter RComponent RRelevant Apparatus Unit fitted RWall mounted Enclosure SSOLFDWLRQ UHD The equipment described regulates the flow of energy in electrical power installations and is intended for supplying only Eurotherm or Eurotherm approved servo motors 3HUVRQQHO Installation operation and maint...

Page 4: ... WHPSHUDWXUH RI 3 GHJUHHV FHQWLJUDGH LQ RSHUDWLRQ1 SSOLFDWLRQ 5LVN The specifications processes and circuitry described herein are for guidance only and may need to be adapted to the user s specific application Eurotherm Drives does not guarantee the suitability of the equipment described in this Manual for individual applications 5LVN VVHVVPHQW Under fault conditions power loss or other operating...

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Page 9: ...Q Check for signs of transit damage Check the product code on the rating label conforms to your requirement If the unit is not being installed immediately store the unit in a well ventilated place away from high temperatures humidity dust or metal particles Refer to Chapter 2 An Overview of the Servo Drive to check the rating label product code Refer to Chapter 8 Routine Maintenance and Repair for...

Page 10: ...es learn how to back up your application data RZ WKH 0DQXDO LV 2UJDQLVHG The manual is divided into chapters and paragraphs Page numbering restarts with every chapter i e 5 3 is Chapter 5 page 3 Further descriptions that relate to this document VVRFLDWHG RFXPHQWDWLRQ 8 71515 EVROXWH HQFRGHU ZLWK 1 8 181615 1 QWHUIDFH 8 1814 QWHOOLJHQW 2SHUDWRU07HUPLQDO 7 0 3URGXFW HVFULSWLRQ 8 43191614 6HULDO WUDQ...

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Page 12: ...232 CAN Bus or Incremental Bus using a PLC It is configured using the EASYRIDER software HQHUDO HQHUDO HQHUDO HQHUDO 2SHUDWLQJ 0RGHV 3XOVH2GLUHFWLRQ QSXW 439 YHORFLW FRQWURO 7RUXH FRQWURO 3RVLWLRQ FRQWURO QFRGHU IROORZHU 0RWLRQ FRQWURO 6 0 PRWLRQ ODQJXDJH 0 SURILOLQJ 6HWXS 6HUYLFH 3URJUDPPLQJ 6 5 5 VRIWZDUH RPPXQLFDWLRQV QWHUIDFHV 10 XV 56565 QFUHPHQWDO XV LDJQRVWLFV LDJQRVWLF IDFLOLW 3URWHFWLRQ 3...

Page 13: ...p position loop PLC RS232 X15 CAN Bus X20 X21 Figure 2 2 Communications Options analog setpoint value Pos 1 Pos 2 M Synchronisation electronic gearbox 1 X CAN Bus Network 631 Unit X 631 Unit Y CAN Pulse Control 631 AC Servo Stepper motor CAM Profiling Pos X Pos Y 631 10V 10V R M Point to Point Position Control control or Conventional Control incremental encoder Figure 2 3 Typical Applications ...

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Page 15: ...WDO SDUWV ZKHQ H LWLQJ WKH FRQWURO FXELFOH1 6HSDUDWH GLUW µ FOHDQµ DQG VHQVLWLYHµ FDEOHV LI SRVVLEOH E DW OHDVW 63PP1 DEOHV VKRXOG FURVV DW 3ƒ1 YRLG FDEOH ORRSV HVSHFLDOO EHWZHHQ WKH OLQH ILOWHU DQG GULYH ZKLFK VKRXOG EH DV FORVH DQG DV VKRUW DV SRVVLEOH GULOOHG 1 0 3 m 90 2QO UHPRYH WKH UHTXLUHG OHQJWK RI VFUHHQ IURP WKH HQG RI WKH FDEOH1 8 cm max 0DNH VFUHHQ FRQQHFWLRQV DV DGYLVHG LQ WKLV PDQXDO...

Page 16: ...8NJ 616OE DSSUR LPDWHO 964 23392 5632 1111 OO GLPHQVLRQV DUH LQ PLOOLPHWUHV LQFKHV 1RWH GGLWLRQDO VSDFH LV UHTXLUHG WR WKH IURQW RI WKH XQLW IRU WKH VLJQDO PDWLQJ SOXJV DSSUR LPDWHO 78PP1 0RXQWLQJ WKH 6HUYR ULYH The unit must be installed in a vertical position to guarantee the best air circulation for the cooling ribs of the heat sink Vertical installation above other drive racks or above other h...

Page 17: ... 23392 5632 1111 9HQWLODWLRQ The servo drive gives off heat in normal operation and must therefore be mounted to allow the free flow of air through the ventilation slots and heatsink Maintain minimum clearances for ventilation as shown below to ensure heat generated by other adjacent equipment is not transmitted to the Servo Drive Be aware that other equipment may have its own clearance requiremen...

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Page 20: ...HO SURWHFWLRQ1 8VH DQRWKHU PHDQV WR SURYLGH SHUVRQDO VDIHW 1 5HIHU WR 1834 4 2 9 3493 4 7 2 19353704 4 7 LULQJ WKH 6HUYR ULYH DUWK RQQHFWLRQV 51 1 XH WR WKH ZRUNLQJ SULQFLSOH RI VHUYR GULYHV RU ILOWHUV WKHUH ZLOO EH DQ HDUW OHDNDJH FXUUHQW H FHHGLQJ 43P GF 618P DF1 03257 17 5HIHU WR DUWK DXOW 0RQLWRULQJ 6 VWHPVµ1 SDJH 6081 The wiring terminals accept a maximum conductor size of 12 AWG 3 2mm The se...

Page 21: ...KHG XVLQJ WZR LQGHSHQGHQW HDUWK FRQGXFWRUV XVLQJ 41 3URWHFW WKH LQFRPLQJ PDLQV VXSSO XVLQJ D VXLWDEOH IXVH RU FLUFXLW EUHDNHU DV VKRZQ LQ KDSWHU 44 7HFKQLFDO 6SHFLILFDWLRQVµ 0 3RZHU HWDLOV1 0RWRU DEOH ODPS In order to conform with the specified generic EMC standards the motor cable must be screened and the screen connected to both the motor frame and the motor cable clamp This clamp is internally ...

Page 22: ...connected to Figure 3 5 631 Control Wiring Connections Pin Type Function 1 10V Ri 10kΩ ANALOG IN differential to pin 2 referenced to GND 2 10V Ri 10kΩ ANALOG IN differential to pin 1 referenced to GND 3 0V PLC External supply for digital i o related to pin 4 4 24V DC PLC External supply for digital i o related to pin 3 5 Opto OUT Configurable s 3 1 1 6 Opto OUT Configurable s 3 1 1 7 Opto IN ACTIV...

Page 23: ...r to Chapter 4 Operating the Servo Drive Operating Modes Refer to Chapter 11 Technical Specifications for Control Terminal information Refer to Chapter 12 Certification for the Servo Drive for information on meeting generic EMC standards and minimising electrical interference I O supply L1 N DC 24V PLC PLC 0V PLC Functions according to user software X10 SELV Isolation 2 3 4 5 6 7 9 8 10 1 I O Func...

Page 24: ...rm approved servo motor This connection must be made for the 631 to control the operation of the motor The cable contains wiring for the resolver and the motor thermistor 8 9 1 7 12 10 2 6 11 3 5 4 1 2 3 4 5 6 7 8 9 solder side motor end controller end X30 8 9 1 7 12 10 2 6 11 3 5 4 front Pin No 1 2 3 4 8 7 5 6 9 10 11 12 Pin No 4 8 3 7 5 9 2 6 1 grey white brown green yellow pink red blue sin sin...

Page 25: ...E 2 mount units side by side if possible GND GND GND X40 X41 631 Incremental Out MASTER keep cables as short as possible X40 41 signals are referred to PE Figure 3 8 Application Example To synchronise several 631 servo drives connect the X40 41 sockets as shown using the specified cables The 631 is configured using EASYRIDER software The X40 X41 input output functions are configurable using the EA...

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Page 31: ...sing the EASYRIDER software menu Commissioning General The 631 unit does not use Modes 0 and 3 If you attempt to select these the unit will default to the set up for Mode 1 speed control 0RGH 1R1 2SHUDWLQJ 0RGH 6HWSRLQW 6RXUFH 6 3 5HVHUYHG DV 0RGH 4 5HVHUYHG DV 0RGH 4 4 VSHHG FRQWURO DQDORJ QSXW QR 5 FXUUHQW FRQWURO DQDORJ QSXW QR 6 5HVHUYHG DV 0RGH 4 5HVHUYHG DV 0RGH 4 7 SRVLWLRQ FRQWURO XVLQJ 3R...

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Page 35: ...ady F0 X10 5 Warning display fault signal display motor protection max current rated current of motor Warning time approx 3s I 2t Nsoll Function Passive Delay recommended for motor brake use reaction time for brake input ACTIVE OK X10 7 setpoint internally to zero output stage Active output ACTIVE OK F4 X10 5 holding brake Nsetpoint I LIMIT regulator protection output Warning F5 X10 6 output Ready...

Page 36: ...he motor windings Enter the relevant data type tripping value in to the EASYRIDER menu COMMISSIONING MOTOR TEMPERATURE SENSOR QWHUQDO 2YHUODRG 3URWHFWLRQ Using thermal simulation of the motor in the drive I t related to the rated current of the motor Enter the rated current of the motor into the EASYRIDER menu COMMISSIONING MOTOR RATED CURRENT MOTOR ...

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Page 38: ...ent Check for loose ends clippings drilling swarf etc lodged in the Servo Drive and system If possible check that the motor can be turned freely and that any cooling fans are intact and free from obstruction QVXUH WKH VDIHW RI WKH FRPSOHWH V VWHP EHIRUH WKH 6HUYR ULYH LV HQHUJLVHG Ensure that rotation of the motor in either direction will not cause damage Ensure that nobody else is working on anot...

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Page 43: ... set this under the following menu Options General Options Simulated Drive Type This selection is saved when you exit the software You must supply an external 24V supply for terminal X10 7 ACTIVE NOT ACTIVE in order to operate the drive The software checks for the correct connections to the drive i e resolver when not simulating and may not let you proceed with the configuration Ensure the 631 is ...

Page 44: ... PHPRU 1 DWD VWRUHG KHUH LV VDYHG GXULQJ SRZHU0GRZQ1 File Figure 6 1 EASYRIDER Main Screen 6 3URJUDPPLQJ DQJXDJH Select BIAS from the menu in the main screen and enter the Editor You can program the drive to perform a set routine involving up to 1500 lines of code The BIAS program is used when Operating Mode 5 is selected We suggest you practice programming by using and applying the example files ...

Page 45: ...vated the programmed PLC commands are processed as per the specified block number The BIAS command end of program within a PLC program causes a jump back to the start of the PLC program The reaction of the PLC program to the deactivation of the output stage can be adjusted in the BIAS menu Edit BIAS Program Definition parameter Program Reaction PLC Program Here it is possible to allow the PLC prog...

Page 46: ...and update firmware M e n u s y s t e m B I A S s c r e e n file edit p r o g r a m c o m m a n d diagnosis options n e w B I A S p r o g r a m u n d o change edit mode deactivate drive amplifier diagnosis simulate communication load BIAS program redo BIAS program definitions activate drive in output diagnosis select interface s a v e B I A S p r o g r a m cut BIAS program definition configuration...

Page 47: ... remaining position remaining position variable X variable X actual position Y jump variable X flag X flag Y flag Z 7 synchronous settings 1 m o v e s p e e d integrator ramp filter maximal current variable X variable X analog input Y BIAS execution pointer flag X flagY flag Z 8 synchronous settings 2 actual position X actual position X variable Y variable X latchposition Y wait for position reach...

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Page 55: ...When the unit is powered down a set of important indicators is stored in to dedicated memory This allows the last eight status conditions to displayed by the EASYRIDER diagnostic menu Thus important failure information for instance is not lost when the unit is powered down ...

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Page 57: ... available The model and serial number see the unit s rating label Details of the fault Contact your nearest Eurotherm Drives Service Centre to arrange return of the item You will be given a Returned Material Authorisation Use this as a reference on all paperwork you return with the faulty item Pack and despatch the item in the original packing materials or at least an anti static enclosure Do not...

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Page 71: ...ontactors etc re connect the screen using the shortest possible route Keep the length of screen stripped back as short as possible when making screen connections Ideally use 360 screen terminations using cable glands or U clips on power screen rails If a shielded cable is not available lay unshielded motor cables in a metal conduit which will act as a shield The conduit must be continuous with a d...

Page 72: ...and hence conducted emissions increase with motor cable length conformance to EMC limits is only guaranteed with the internal ac supply filter option Screened armoured cable has significant capacitance between the conductors and screen which increases linearly with cable length typically 200pF m but varies with cable type and current rating Long cable lengths may have the following undesirable eff...

Page 73: ... earth terminal on the VSD 6WDU 3RLQW DUWKLQJ Doors Metal Work 110V Control 24V Control unscreened signals STAR POINT Incoming Safety Earth PE Analogue Clean Earth Dirty Earth Digital Clean Earth Signal Control Screen all screened signals not Back Panel U clip used to terminate screen connection to the back panel PE Protective Earth 0A 0 Volts Analogue 0D 0 Volts Digital f External Filter VSD Vari...

Page 74: ... is also used as a reference for any 110 or 220V control used and for the control transformer screen 6 0HWDO RUN DUWK XVEDU The back panel is used as this earth busbar and should provide earthing points for all parts of the cubicle including panels and doors This busbar is also used for power screened cables which terminate near to 10cm or directly into a VSD such as motor cables braking choppers ...

Page 75: ...d Drive VSD EMC output filters Input or output chokes transformers The cable between VSD and motor even when screened armoured Connections to external braking chopper and resistor even when screened armoured Relays and contactors even when suppressed From experience the following equipment is particularly sensitive and requires careful installation Any transducers which produce low level analog ou...

Page 76: ...delivering not more than 5 000 RMS Symmetrical Amperes 480V maximum 6ROLG06WDWH 6KRUW0 LUFXLW 3URWHFWLRQ These devices are provided with Solid State Short Circuit output Protection Branch circuit protection requirements must be in accordance with the latest edition of the National Electrical Code NEC NFPA 70 5HFRPPHQGHG UDQFK LUFXLW 3URWHFWLRQ It is recommended that UL Listed JDDZ non renewable ca...

Page 77: ... DQG LPPXQLW SHUIRUPDQFH RI WKLV XQLW FDQ RQO EH DFKLHYHG ZKHQ WKH XQLW LV LQVWDOOHG WR WKH 0 QVWDOODWLRQ QVWUXFWLRQV JLYHQ LQ WKLV PDQXDO1 According to S I No 2373 which implements the EMC directive into UK law the requirement for CE marking this unit falls into two categories 1 Where the supplied unit has an intrinsic direct function to the end user then the unit is classed as relevant apparatus...

Page 78: ...standard 2 Third party testing to a relevant standard 3 Writing a technical construction file stating the technical rationale as to why your final machine system is compliant An EMC competent body must then assess this and issue a technical report or certificate to demonstrate compliance Refer to Article 10 2 of Directive 89 336 EEC With EMC compliance an EC Declaration of Conformity and the CE ma...

Page 79: ...33 404 4 5 LWK 48GE DWWHQXDWLRQ Residential supplied directly from public electricity supply Conducted Emissions 1833 404 4 5 0D LPXP 48P VKLHOGHG PRWRU FDEOH PPXQLW RQO EN50082 1 1992 see below for referenced standards Commercial and light industry supplied directly Radiated Emissions 1833 404 4 5 LWK 48GE DWWHQXDWLRQ from public electricity supply Conducted Emissions 1833 404 4 5 0D LPXP 48P VKL...

Page 80: ...nce in EMC requirements of drives RQGXFWHG 5 PLVVLRQ Class A performance premises PPXQLW See below for referenced standards 6 21 6 21 6 21 6 21 19 5210 17 19 5210 17 19 5210 17 19 5210 17 All environments except domestic premises All commercial light industry and industrial installations supplied from an 5 PLVVLRQ EMC measures do not have to be implemented If interference in a neighbouring install...

Page 81: ... 1 1998 AND EN50082 2 1995 EN61800 3 1996 EMC CHARACTERISTICS STATED IN MANUAL EMC INSTALLATION GUIDELINES STATED IN MANUAL CEMEP VALIDITY FIELDS 2 3 AND 4 NO EMC CE MARK APPLIED TO E D MODULE A GLOBAL EMC SOLUTION MAY BE ADVANTAGEOUS MANUFACTURER SUPPLIER INSTALLERS RESPONSIBILITY TO CONFORM WITH EMC DIRECTIVE E D EMC CHARACTERISTICS AND MANUFACTURERS IN THE OVERALL PRODUCT JUSTIFICATION RELEVANT...

Page 82: ...tandards EN50081 1 1992 EN50081 2 1994 EN50082 1 1992 EN50082 2 1995 BSEN61800 3 1996 Following provisions of EEC Directive 89 336 EEC with amendments 92 31 EEC and 93 68 EEC Dr Martin Payn Conformance Officer Eurotherm Drives Ltd Dr Dan Slattery Technical Director Eurotherm Drives Ltd 04 05 99 Date For information only Compliant with these immunity standards without specified internal EMC filter ...

Page 83: ... of equipment is in Conformity with the relevant clauses from the following standards EN50081 1 1992 EN50081 2 1994 EN50082 1 1992 EN50082 2 1995 BSEN61800 3 1996 Dr Martin Payn Conformance Officer Eurotherm Drives Ltd Dr Dan Slattery Technical Director Eurotherm Drives Ltd 04 05 99 Date Compliant with these immunity standards without specified internal EMC filter 8527 50 5 9 6 0 7 1 2857 1 77 037...

Page 84: ...stalled and operated with reference to the instructions in the Product Manual provided with each piece of equipment is in accordance with the relevant clauses from the following standard EN50178 1997 Following provisions of EEC Directive 73 23 EEC with amendment 93 68 EEC Dr Martin Payn Conformance Officer Eurotherm Drives Ltd Dr Dan Slattery Technical Director Eurotherm Drives Ltd 25 3 99 Date 85...

Page 85: ... into service when the safety considerations of the Directive 89 392 EEC are fully adhered to Particular reference should be made to EN60204 1 Safety of Machinery Electrical Equipment of Machines All instructions warnings and safety information of the Product Manual must be adhered to Dr Martin Payn Conformance Officer Eurotherm Drives Ltd Dr Dan Slattery Technical Director Eurotherm Drives Ltd 25...

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Page 87: ...or position e g by Resolver 8VLQJ LQH KRNHV Line chokes are not required to limit input current to Eurotherm Drives Servo drives Line chokes may be used to reduce the harmonic content of the supply current where this a particular requirement of the application or where greater protection from mains borne transients is required 8VLQJ 2XWSXW RQWDFWRUV The use of output contactors is not recommended ...

Page 88: ...Total Inertia Data RL 0 3 Ohm Speed at Brake Start Braking Time Cycle Time Cable Resistance Braking Current Ib 3 2A Motor Resistance Rph 3 6 Ohm 67 3 4 DOFXODWLQJ DFWXDO EUDNH SRZHU DQ DSSUR LPDWLRQ 0 FDSDFLWRU ORDG IULFWLRQ DQG GULYH ORVVHV DUH QHJOHFWHG DPSOH YDOXHV VHH DERYH DOFXODWLRQ 3NLQ 313388 313338 6333ò2314 3NLQ 57 3RZHU RI 0RWLRQ 3NLQ 3NLQ 3NLQ 3NLQ 313388 Q4ò 2 WE4 3YPRW 615ò 619 316 3...

Page 89: ...LV FDVH1 UHTXLUHG LQ WKLV FDVH1 UHTXLUHG LQ WKLV FDVH1 5HIHU WR WKH KDSWHU FFHVVRULHVµ Q FDVH RI LQVXIILFLHQW FDSDELOLW RI WKH LQWHUQDO EUDNH UHVLVWRU DQ H WHUQDO UHVLVWRU PXVW EH FRQQHFWHG1 7HUPLQDOV 54 55 03257 17 2QO WKH DSSURYHG UHVLVWRUV OLVWHG LQ KDSWHU FFHVVRULHVµ PXVW EH XVHG ZLWK WKH 964 VHUYR GULYH1 HUDWLQJ RI 2XWSXW 9ROWDJH Due to the line ripple of DC Bus the rate of usable output volt...

Page 90: ...ed motor terminal voltage for a specified motor speed up to 3000rpm Ukl 1 2 EMC n 1000 I Rph RL Volts where Ukl Required motor voltage V rms EMF Back EMF of motor V rms 1000 rpm Rph Resistance of motor between terminals Ω RL Line resistance of motor cable Ω I Motor current A rms ...

Page 91: ... Speed Feedback Position POS Speed PWM 6 6 IV IGBT IGBT UCC 0VP DC DC Filter DC AC Soft start RS232 PTC NTC DBR1 DBR2 X10 X10 Analog Input A D Converter Setpoint Processing Configurable Functions Current Limit Supervising Current Loop Speed Loop SELV Isolation Brake Resolver to Digital Converter Digital Parameter Set Angle Position Loop Diff Driver EEprom 4 OPTO Inputs 2 OPTO Outputs Mode Select I...

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Page 93: ...ICATION ECN No DATE DRAWN CHK D 3UHOLPLQDU LVVXH RQO 45 7 292 0 5 LJLWDOO SULQWHG1 1HZ 6 5 5 LQIRUPDWLRQ1 45 7 48292 0 5 567 86 21 02 7 21 5 25 964 LJLWDO 6HUYR ULYH 8527 50 5 9 6 5 1 180 5 79 3498334 6 71 4 2 4 ...

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