Lenze AC Tech SimpleServo SS108DC User manual

SimpleServo 100/200 User Manual Rev 3.4
SimpleServo®
Digital Servo Amplifier
USER'S MANUAL
MODELS:
SS108DC SS208DC
SS108AC SS208AC
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SimpleServo 100/200 User Manual Rev 3.4
Copyright ©2001 by AC Technology Corporation
All rights reserved. No part of this manual may be reproduced or transmitted in any form without written
permission from AC Technology Corporation. The information and technical data in this manual are
subject to change without notice. AC Technology Corporation and its Divisions make no warranty of any
kind with respect to this material, including, but not limited to, the implied warranties of its merchantability
and fitness for a given purpose. AC Technology Corporation and its Divisions assume no responsibility for
any errors that may appear in this manual and make no commitment to update or to keep current the
information in this manual.
MotionView, SimpleServo, and all related indicia are either registered trademarks or trademarks of AC
Technology Corporation in the United States and other countries.
Printed in the United States of America.
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SimpleServo 100/200 User Manual Rev 3.4
Table Of Contents
General Information ...................................................................................................................................... 5
Specifications ................................................................................................................................................ 6
Electrical Characteristics ........................................................................................................................... 6
Environment .............................................................................................................................................. 6
Dimensions and Weight............................................................................................................................. 7
Operating Modes ....................................................................................................................................... 7
Connections............................................................................................................................................... 7
SS108DC/SS208DC Dimensions ................................................................................................................. 8
SS108AC/SS208AC Dimensions.................................................................................................................. 9
Installation ...................................................................................................................................................10
Wiring ..........................................................................................................................................................11
Shielding and grounding..........................................................................................................................11
EMI Protection .........................................................................................................................................12
Enclosure.................................................................................................................................................12
Line filtering .............................................................................................................................................12
Heat sinking.............................................................................................................................................12
Line fusing ...............................................................................................................................................13
SimpleServo Connections .......................................................................................................................13
Encoder Feedback ..................................................................................................................................13
Wire size..................................................................................................................................................13
Connectors ..............................................................................................................................................14
I/O details ................................................................................................................................................19
Operations...................................................................................................................................................21
Configure the SimpleServo .....................................................................................................................21
Diagnostic LED........................................................................................................................................22
Enabling the drive....................................................................................................................................22
Appendix A..................................................................................................................................................23
A1. SimpleServo connections ................................................................................................................23
A2. SimpleServo Indexer Follower (SS208XX models only)...................................................................26
Appendix B..................................................................................................................................................28
Troubleshooting.......................................................................................................................................28
Warranty and Other Info.............................................................................................................................. 30
A. WARRANTY........................................................................................................................................ 30
B. PRODUCT CHANGES........................................................................................................................30
C. RECEIVING ........................................................................................................................................30
D. CUSTOMER MODIFICATION ............................................................................................................30
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SimpleServo 100/200 User Manual Rev 3.4
Safety Warnings
• The symbol shown at left indicates an important safety consideration. Please read
this manual carefully before performing any of the procedures contained herein.
Failure to follow these instructions may result in equipment damage, fire, severe
injury, or fatality.
• Have a qualified electrical maintenance technician install, adjust and service this
equipment. Follow the National Electrical Code and all other applicable electrical and
safety codes, including the provisions of the Occupational Safety and Health Act
(OSHA), when installing equipment.
• The symbol shown at left indicates additional information, shortcuts, or tips that do
not affect the safe operation of the drive.
• Reduce the chance of an electrical fire, shock, or explosion by proper grounding,
over-current protection, thermal protection, and enclosure. Follow sound maintenance
procedures.
• It is possible for a drive to run at full speed as a result of a component failure. Please
ensure that a master switch has been placed in the AC line to stop the drive in an
emergency.
WARNING!
Hazard of electrical shock! Circuit potentials are at 115 VAC or 230 VAC above earth
ground. Avoid direct contact with the printed circuit board or with circuit elements to
prevent the risk of serious injury or fatality. Disconnect incoming power and wait 60
seconds before servicing drive. Capacitors retain charge after power is removed.
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SimpleServo 100/200 User Manual Rev 3.4
General Information
The SimpleServo family of servo amplifiers is an economical solution to today's complex motion-
control needs. The SimpleServo combines a Digital Signal Processor (DSP), controller, heat sink and
power supply in one standalone, DIN-rail mountable or panel-mounted unit. The SimpleServo can be
operated as a stand-alone unit or as a digital amplifier.
The SimpleServo controls brushless motors with a high switching (carrier) frequency for virtually silent
operation. Most servomotors used today require high precision control and a smooth, sinusoidally
commutated signal. An on-board DSP provides commutation by generating the three-phase sine wave,
using feedback information from an optical encoder.
The servo will accept feedback from an encoder that includes Hall sensor feedback information. It
accepts commands from a variety of sources, including analog voltage, PWM and internal reference
signals. The control will operate in current mode (torque), velocity mode, or position mode (step and
direction). Upon initial start up, the motor is commutated using the hall sensors-for the first two or three
mechanical degrees of motor rotation-to map the encoder; the Hall-effect information is unnecessary
thereafter.
The SimpleServo's built-in RS-232 serial communications port and servo control program,
MotionView™, make programming extremely simple. In fact, you could be up and running in less
than thirty minutes! Each SimpleServo unit is an amplifier, power supply, controller and heat sink
integrated into a single standalone package. The SimpleServo will only accept an encoder with Hall or an
encoder with hall-commutation tracks encoded on the feedback device.
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SimpleServo 100/200 User Manual Rev 3.4
Specifications
ELECTRICAL CHARACTERISTICS
Drive
Maximum
Continuous
Current (AC)
Continuous
Phase Current
(AC RMS)
Peak
Current
(AC RMS) Input Voltage
SS108DC - 8A 12A 80 - 170
SS208DC - 8A 12A 80 - 170
SS108AC 5 8A 12A 60 - 120
SS208AC 5 8A 12A 60 - 120
Applies to all models:
AC Output Voltage Range (Sinusoidal, Three-Phase) 0 - 120 VAC RMS
Acceleration Time Range (Zero to Max Speed) 0.1 - 5000000 Rpm/sec
Deceleration Time Range (Max Speed to Zero) 0.1 - 5000000 Rpm/sec
Speed Regulation (typical) ± 0.5 RPM
Input Impedance (+REF to COM and +REF to -REF) 47 kohms
Power Device Switching Frequency (sinusoidal commutation) 16 kHz
Encoder power supply (max) +5 VDC @ 300 mA
Maximum encoder feedback frequency 2.5 MHz
ENVIRONMENT
Vibration 0.1 G (all frequencies)
0.5G max (20 - 50 Hz)
0.1G max (>50 Hz)
Shock 1.0 g @10 m/sec
Ambient Operating Temperature Range 0 to 40ºC
Ambient Storage Temperature Range -10 to 70ºC
Humidity 5 - 90% non-condensing
Altitude** 1500 m/5000 ft
**derate by 1% per 300m (1000 ft) above 1500m (5000 ft)
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SimpleServo 100/200 User Manual Rev 3.4
DIMENSIONS AND WEIGHT
Model S108DC SS208DC SS108AC SS208AC
Height (inches) 7.35 7.35 7.35 7.35
Width (inches) 1.25 1.25 2.5 2.5
Depth (inches) 4.40 4.40 4.40 4.40
OPERATING MODES
Torque
Reference 0 ± 10 VDC or 0 to 10 VDC, scalable
Accuracy ± 0.01 amp
Current-Loop Bandwidth up to 2.5 kHz
Velocity
Reference 0 ± 10 VDC or 0 to 10 VDC
Accuracy ± 0.5 RPM
Velocity-Loop Bandwidth up to 300 Hz
Speed Range up to 8000:1
Position (SS208AC SS208DC only)
Reference Step and direction signals or Master Encoder full
quadrature signal (software selectable).
Minimum Pulse Width 250 nanoseconds
Reference Max frequency 2 MHz
Position-Loop Bandwidth Up to200 Hz
Accuracy ±1 encoder count
CONNECTIONS
Serial Standard 9-pin D-shell
Encoder Feedback Standard 15-pin D-shell
I/O 15-pin removable terminal block or 25-pin D-shell
Power in
SS108AC, SS208AC 3-pin AC socket
SS108DC, SS108DC 15-pin removable terminal block or 25-pin D-shell
Windows® Software: MotionViewTM (Windows 95, 98, NT)
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SimpleServo 100/200 User Manual Rev 3.4
SS108DC/SS208DC Dimensions
DIM "A"
DIM "C"
DIM "B"
DIMENSIONS
A 4.25 [108]
B 7.25 [185]
ALL DIMENSIONS IN INCHES [MILLIMTERS]
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SimpleServo 100/200 User Manual Rev 3.4
SS108AC/SS208AC Dimensions
DIM "C"
DIM "A"
DIM "B"
DIMENSIONS
A 4.25 [108]
B 7.25 [185]
ALL DIMENSIONS IN INCHES [MILLIMTERS]
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SimpleServo 100/200 User Manual Rev 3.4
Installation
WARNING!
Hazard of electrical shock! Circuit potentials are at 115 VAC or 230 VAC above earth
ground. Avoid direct contact with the printed circuit board or with circuit elements to
prevent the risk of serious injury or fatality. Disconnect incoming power and wait 60
seconds before servicing drive. Capacitors retain charge after power is removed.
• The SimpleServo must be mounted vertically for safe operation at the maximum
current rating.
• Printed circuit board components are sensitive to electrostatic fields. Avoid contact
with the printed circuit board directly. Hold the SimpleServo by the case only.
• Protect the control from dirt, filings, airborne particles, moisture, and accidental
contact. Provide sufficient room for access to the terminal block.
• Mount the control away from other heat sources. Operate within the specified
ambient operating temperature range. Additional cooling with an external fan may be
recommended in certain applications.
• Avoid excessive vibration to prevent intermittent connections.
• DO NOT connect incoming power to the output motor terminals (U, V, W)! Severe
damage to the SimpleServo will result.
• Do not disconnect any of the motor leads from the SimpleServo unless power is
removed or the control is disabled. Opening any one motor lead may cause failure.
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