Parker TQ10X User manual

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Compumotor Division
Parker Hannifin Corporation
p/n 88-015174-02 B
Compumotor
TQ10X
Servo Controller/Drive
User Guide
TQ10X
TQ10X
MOTOR FAULT
DRIVE OVERTEMP
GRN REGEN
RED OVERVOLTAGE
GRN PEAKCURRENT
RED IN FOLDBACK
GRN POWER ON
RED NOT ENABLED
=
=
=
=
=
=
1
2
3
4
5
6
7
8
9
10
IN 1
IN 2
IN 3
IN 4
IN 5
OUT 1
OUT 2
GND
RS232 Tx
RS232 Rx
1
2
3
4
5
6
7
8
9
10
CWLIMIT
CCWLIMIT
GND
ENCODER+5
ENCODERA +
ENCODERA -
ENCODERB +
ENCODERB -
ENCODERZ +
ENCODERZ -
1
2
3
4
ENABLE IN
ENABLE GND
FAULT OUT +
FAULT OUT -
4
5
6
7
8
9
10
HALL GND
HALL +5V
HALL 1
HALL 2
HALL 3
MOTOR TEMP +
MOTOR TEMP -
June 1999
CompumotorCompumotor
Automation
Automation
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To ensure that the equipment described in this user guide, as well as all the equipment connected to and used with it, operates
satisfactorily and safely, all applicable local and national codes that apply to installing and operating the equipment must be
followed. Since codes can vary geographically and can change with time, it is the user's responsibility to identify and comply with
the applicable standards and codes. WARNING:
Failure to comply with applicable codes and standards can result in
damage to equipment and/or serious injury to personnel.
Personnel who are to install and operate the equipment should study this user guide and all referenced documentation prior to
installation and/or operation of the equipment.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of this user guide or the
equipment.
© Compumotor Division of Parker Hannifin Corporation, 1999
— All Rights Reserved —
The information in this user guide, including any apparatus, methods, techniques, and concepts described herein, are the
proprietary property of Parker Compumotor or its licensors, and may not be copied, disclosed, or used for any purpose not expressly
authorized by the owner thereof.
Since Parker Compumotor constantly strives to improve all of its products, we reserve the right to change this user guide and
equipment mentioned therein at any time without notice.
Compumotor
User Information
North America and Asia:
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone]
Fax: [phone]
FaxBack: [phone]
BBS: [phone]
e-mail: [email protected]
Europe (non-German speaking) :
Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
Germany, Austria, Switzerland:
HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22 • D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Technical Assistance
Contact your local automation technology center (ATC) or distributor, or ...
Automation
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Contents i
USER GUIDE CHANGE SUMMARY
TQ10X Servo Controller/Drive User Guide
Revision B
June 1999
The following is a summary of the primary technical changes to this document
since the previous version was released. This document, p/n 88-015115-02 B ,
supersedes 88-015174-02 A.
RS485 Communication Option
New –RS485 is now available as a custom option. Contact Custom Products
Department for details. This feature is only available on new controllers, identified
by firmware 92-016637-01 rev A and higher.
Communication Error Checking (pg 91 an pg 102)
New –SSE and % are two new commands added to support communication error
checking. These commands are only available on new controllers, identified by
firmware 93-016637-01 rev A and higher.
Updated Speed Torque Curves for SM Motors (pg 40)
Change –Peak motor current values were reduced.
Revision A
October 1997
Motor Pole Compensation Range (pg 11)
Change –The range has been increased by the addition of a third DIP switch on the
bottom of the product. This allows improved current-loop performance with a
wider range of motor electrical pole frequencies, including all Parker Neometric
70mm and some of the 92mm motors. If the new switch, SW3-3 is placed in the
OFF (up) position, settings are backward-compatible with earlier product.
Reset Input Functionality (pg 27)
Change –Asserting the RESET input will now reset controller, as well as drive
faults. This is accomplished by cycling +5 volt power to controller. The effect of
asserting the RESET input is identical with cycling power, except that power to the
encoder and hall sensors is not interrupted by RESET.
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ii TQ10X User Guide
Enable Input Low-State Threshold (pg 25)
Change –Threshold has been increased by approximately one volt for improved
noise immunity in applications where this signal originates at some distance from
the drive.
Technical Information on SM & NeoMetric Series Added (pg 35 –38)
Addition –Complete technical information is now included on SM and NeoMetric
Series motors.
New Back Cover Illustration
Change –The illustration on the back cover of this User Guide has been updated to
incorporate the changes listed in this change summary.
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Contents iii
Product Type: TQ10X Servo Drive
The above product is in compliance with the requirements of directives
• 72/23/EEC Low Voltage Directive
• 93/68/EEC CE Marking Directive
The TQ10X Drive, when installed according to the procedures in the main body of
this User Guide, may not necessarily comply with the Low Voltage Directive
(LVD) of the European Community. To install the TQ10X Drive so that it com-
plies with LVD, Appendix B, you must follow the additional procedures described
in LVD Installation Instructions. If you do not follow these instructions, the
protection of the product may be impaired.
The TQ10X Series of Drive is sold as a complex component to professional
assemblers. As a component, it is not required to be compliant with Electromag-
netic Compatibility Directive 89/336/EEC. However, information is offered in
Compumotor's EMC Installation Guide on how to install this drive in a manner
most likely to minimize the effects of drive emissions and to maximize the
immunity of drives from externally generated interference.
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iv TQ10X User Guide
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Contents v
T
Table of Contents
Chapter One—Introduction .......................................................................... 1
TQ10X Controller/Drive—Description & Block Diagram ..................................................................................2
Compumotor SM and NeoMetric Series Brushless Servo Motors .......................................................................3
ChapterTwo—Installation ............................................................................ 5
WhatYou Should have (ship kit)...........................................................................................................................6
Precautions ............................................................................................................................................................7
Installation Overview ............................................................................................................................................7
Quick Test .............................................................................................................................................................9
Installation............................................................................................................................................................. 9
1. Set DIP Switches (Top of Drive) ...............................................................................................................9
2. Set DIP Switches (Bottom of Drive)........................................................................................................ 11
3. Mount the Drive .......................................................................................................................................12
4. Mount the Motor ......................................................................................................................................18
5. Connect the Motor to the Drive ............................................................................................................... 19
6. Connect Inputs and Outputs..................................................................................................................... 25
7. Connect AC Power...................................................................................................................................31
8. TestYour System......................................................................................................................................32
9. Connect the Motor to the Load –Couplers..............................................................................................32
What’s Next......................................................................................................................................................... 34
Chapter Three—Specifications.................................................................. 35
Specifications –TQ10X Servo Controller/Drive ................................................................................................ 36
Motor Specifications –Compumotor SM Series Servo Motors .........................................................................37
Motor Specifications –Compumotor NeoMetric Series Servo Motors (70mm)................................................38
Motor Specifications –Compumotor NeoMetric Series Servo Motors (92mm)................................................39
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vi TQ10X User Guide
ChapterThree—Specifications (continued)..................................................
Speed/Torque Curves ..........................................................................................................................................40
Motor Dimensions –Compumotor SM Series, Size 16......................................................................................42
Motor Dimensions –Compumotor SM Series, Size 23......................................................................................42
Motor Dimensions –Compumotor NeoMetric Series, Size 70 ..........................................................................43
Motor Dimensions –Compumotor NeoMetric Series, Size 34 ..........................................................................43
Motor Dimensions –Compumotor NeoMetric Series, Size 92 ..........................................................................44
Encoder Specifications –Compumotor SM & NeoMetric Series Motors..........................................................44
Motor Part Numbering System—Compumotor NeoMetric Series Servo Motor................................................45
Chapter Four—Tuning ................................................................................ 47
Tuning and Performance .....................................................................................................................................48
PID Tuning ..........................................................................................................................................................48
CPG –Proportional Gain .............................................................................................................................49
CDG –Derivative Gain; CTG –Derivative Sampling Period.....................................................................49
CIG –Integral Gain; CIL –Integral Limit...................................................................................................49
Tuning the System...............................................................................................................................................50
Special Considerations when Tuning with SM or NeoMetric Motors.........................................................50
Preparing the System for Tuning .................................................................................................................50
Avoid Instability...........................................................................................................................................51
Tuning Procedure .........................................................................................................................................51
Configuring an In Position Window ...................................................................................................................53
Chapter Five—Software Commands ......................................................... 55
Summary of Commands....................................................................................................................................103
Chapter Six—Troubleshooting ................................................................ 105
Troubleshooting Basics .....................................................................................................................................106
Diagnostic LEDs ...............................................................................................................................................106
Reducing Electrical Noise.................................................................................................................................106
RS-232C Problems............................................................................................................................................ 107
Software Debugging Tips..................................................................................................................................107
Encoder Problems .............................................................................................................................................108
Homing Diagrams .............................................................................................................................................108
Troubleshooting Table....................................................................................................................................... 110
Non-Drive Related Problems ............................................................................................................................ 110
Protective Circuits ............................................................................................................................................. 112
Drive Overtemperature Protection ............................................................................................................. 112
Short Circuit Protection ............................................................................................................................. 112
Regeneration .............................................................................................................................................. 112
Overvoltage................................................................................................................................................ 112
Undervoltage.............................................................................................................................................. 112
Foldback..................................................................................................................................................... 113
Hall Miswiring ........................................................................................................................................... 115
Motor Overtemperature Protection ............................................................................................................ 115
Technical Support.............................................................................................................................................. 115
Product Return Procedure ................................................................................................................................. 116
Appendix A—Using Non-Compumotor Motors...................................... 117
Appendix B—LVD Installation Instructions ............................................ 121
LVD Installation Instructions ............................................................................................................................122
Environmental Conditions .........................................................................................................................122
Mechanical ................................................................................................................................................. 123
Servicing the TQ10 Drive ..........................................................................................................................123
Do Not Replace Fuses................................................................................................................................123
Thermal Safety........................................................................................................................................... 123
Table of Graphic Symbols and Warnings..........................................................................................................124
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➀ Introduction 1
1
Introduction
IN THIS CHAPTER
•TQ10X Servo Controller/Drive –Description & Block
Diagram
CHAPTER ONE
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2 TQ10X User Guide
TQ10X Controller/Drive—Description & Block Diagram
The TQ10X Servo Controller/Drive is a servo drive designed to run three phase
brushless DC servo motors equipped with Hall effect sensors, using trapazoidal
commutation. It can also operate brushed DC servo motors.
The block diagram for a typical system is shown below.
TQ10X Servo
Controller/Drive Motor
Motor
Currents
Hall & Motor Temp
Signals
Encoder Signals
High Level
Commands
Host Computer
or
Programmable
Controller
Block Diagram –System with TQ10X Controller/Drive
The host computer or programmable controller may or may not be necessary,
depending upon the application's requirements.
The next drawing shows a block diagram of the drive itself.
FOLD-
BACK
PWM
ASIC POWER STAGE
COMMUT
LOGIC
FAULT/PROTEC-
TION CIRCUITS
DC/DC
Converter Encoder +5V
PhaseA
Phase B
Phase C
Hall 1
Hall 2
Hall 3
GND
Line
Neutal
Earth
AC Power
Input:
Reset
RS-232C
Inputs
Outputs
Commun.
Σ
+
−
Enable
Σ
+
−
ENABLE
FAULT
MONITOR
MOTOR
Encoder
POSITION CONTROLLER
CIRCUIT BOARD
Fault
LEDs
PID
INPUTS
OUT-
PUTS
RS-232C
Comm
M
I
C
R
O
P
R
O
C
E
S
S
O
R
Torque Command
Position
Feedback
TORQUE DRIVE
CIRCUIT BOARD
Power
Supply Loop
Comp
Block Diagram –TQ10X Controller/Drive
Inside the drive, there are two circuit boards—a position controller board, and a
torque drive board. The position controller receives information about actual
positionfromanencoder.-
Inputs, outputs, and RS-232C communications also enter the position controller
board, where they interface with a microprocessor. The microprocessor can enable
or disable the torque board. It also generates a position command. The position
command is compared with actual position at a summing node; the result passes
through a digital-to-analog converter, where it becomes an analog voltage signal.
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➀ Introduction 3
The voltage signal goes through a PID position control loop, and then on to the
torque board.
The analog voltage is a torque command that represents commanded current. It can
range from -10VDC to +10VDC. For each volt of command input, the TQ10X will
produce 1.0 A of output current to the motor.
On the torque board, the torque command goes into one of the inputs of a summing
node. A feedback signal representing actual motor current goes into the other input.
When actual current is subtracted from commanded current at the summing node,
the difference is current error.
The resulting error signal goes through an error amplifier whose output controls a
pulse width modulation (PWM) circuit. If actual current is too low, the PWM
circuit will send longer pulses to the drive’s power stage. These pulses keep the
stage turned on longer, which results in more motor current. If actual current is too
high, the PWM circuit sends shorter pulses, resulting in less motor current.
Other Features
Dip Switches
The TQ10X Drive has 12 DIP switches on the top and three DIP switches on the
bottom. You can set these switches to configure the drive for your particular
application.
Inputs and Outputs
All input and output signal connections are made on the front panel of the drive,
through removable screw terminal connectors.
Cooling Options
The drive has a heatplate design. You can mount the drive without a heatsink, if
your mounting surface provides sufficient heatsinking capability.
An external heatsink/fan unit is available from Compumotor as an option.
The drive is open on the top and bottom. You can purchase optional covers from
Compumotor. If you install the covers, you may also need to install the heatsink/
fan unit, to help keep the drive within its temperature limits.
You can purchase a TQ10X drive from Compumotor that has the heatsink/fan unit
and the covers installed at the factory. The part number for this drive is TQ10X-
EHS. (The suffix -EHS is an acronym for Enclosure/Heat Sink.)
Compumotor SM and NeoMetric Series Brushless Servo Motors
Compumotor manufactures SM and NeoMetric Series servo motors; you can use
these motors with the TQ10X Drive. Each motor is equipped with Hall effect
sensors, an encoder, and a thermostat. The motor cables are color coded, which
makes connecting the motor to the drive a straightforward procedure.
Compumotor Family of Products
The TQ10X Drive is completely compatible with Compumotor's broad range of
single-axis and multi-axis motion control products.
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4 TQ10X User Guide
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➁ Installation 5
2
Installation
IN THIS CHAPTER
•Product Ship Kit List
•Installation Procedure
CHAPTER TWO
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6 TQ10X User Guide
WhatYou Should have (ship kit)
If you ordered a TQ10X, you should have
Part Part Number
TQ10X Drive TQ10X
includes 10-pin plug (four included) 43-013891-01
includes 7-pin plug (one included) 43-013575-01
Power Cable –6 feet (1.8 m) in length 44-000054-01
Thermally Conductive Strip 58-014871-01
TQ10 Torque Servo Drive User Guide 88-015115-02
Accessories
External Heatsink/Fan Unit TQ-HS3
Top & Bottom Covers (to enclose drive) TQ-ENCL
NOTE: If you ordered a TQ10X-EHS, the External Fan/Heatsink Unit and the Top &
Bottom Covers are installed at the factory.
SM Motor Information
SM with SM with
500 Line Encoder 1000 Line Encoder SM Motor Cables
SM161AD-N10N SM161AE-N10N 23TQ Cable-10
SM162AD-N10N SM162AE-N10N (1 set/10’cables)
SM161AD-NTQN SM161AE-NTQN 23TQ Cable-25
SM162AD-NTQN SM162AE-NTQN (1 set/25’cables)
SM231AD-NTQN SM231AE-NTQN Above cables are for
SM232AD-NTQN SM232AE-NTQN Size 16 and 23 motors
SM232BD-NTQN SM232BE-NTQN
SM233AD-NTQN SM233AE-NTQN
SM233BD-NTQN SM233BE-NTQN
NeoMetric Motor Information
NeoMetric with NeoMetric with NeoMetric
500 Line Encoder 1000 Line Encoder Motor Cables
N0701DD-NTQN N0701DE-NTQN 70TQ Cable-10
N0701FD-NTQN N0701FE-NTQN (1 set/10’cables)
N0702ED-NTQN N0702EE-NTQN 70TQ Cable-25
N0702FD-NTQN N0702FE-NTQN (1 set/25’cables)
N0703FD-NTQN N0703FE-NTQN 92MS Cable-10
N0703GD-NTQN N0703GE-NTQN (1 set/10’cables)
N0704FD-NTQN N0704FE-NTQN 92MS Cable-25
N0704GD-NTQN N0704GE-NTQN (1 set/25’cables)
N0921FE-NMSN
N0921GE-NMSN
N0922GE-NMSN
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➁ Installation 7
Precautions
The TQ10X Drive has an open-frame style of construction. The top and bottom of
the sheet metal enclosure is open, and internal components are exposed. Hazardous
voltages are present inside the drive and on many of its terminals. Therefore,
observe the following precautions:
•Do not reach inside the drive
•Do not probe inside the drive
•Do not touch the drive’s motor terminals while power is applied to the drive
•Do not touch MOTOR TEMP+ or MOTOR TEMP- while power is applied to the drive
•Configure the drive’s DIP switches for your application before you apply power to
the drive
Installation Overview
The order of topics in the installation procedure is:
•Quick Test
•DIP Switch Configuration
•Drive Mounting & Heatsinking
•Motor Mounting
•Connecting the Motor to the Drive
•Connecting AC Power
•Testing the System Installation
•Connecting the Motor to the Load
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8 TQ10X User Guide
Installation Procedure
Topics in this chapter are arranged to lead you through the installation process in a
step-by-step manner. Complete each step before proceeding to the next.
The next drawing shows locations and names of the various connectors, switches,
and components that you will encounter during the installation procedure.
Motion & Control
Motion & Control
TQ10X
TQ10X
MOTOR FAULT
DRIVE OVERTEMP
GRN REGEN
RED OVERVOLTAGE
GRN PEAKCURRENT
RED INFOLDBACK
GRN POWER ON
RED NOTENABLED
=
=
=
=
=
=
1
2
3
4
5
6
7
8
9
10
IN 1
IN 2
IN 3
IN 4
IN 5
OUT 1
OUT 2
GND
RS232 Tx
RS232 Rx
1
2
3
4
5
6
7
8
9
10
CW LIMIT
CCW LIMIT
GND
ENCODER +5
ENCODER A +
ENCODER A -
ENCODER B +
ENCODER B -
ENCODER Z +
ENCODER Z -
1
2
3
4
ENABLE IN
ENABLE GND
FAULT OUT +
FAULT OUT -
4
5
6
7
8
9
10
HALL GND
HALL +5V
HALL 1
HALL 2
HALL 3
MOTOR TEMP +
MOTOR TEMP -
Compumotor
Compumotor
DIP Switches
TQ10X Servo Controller/Drive
Motor Connector
DIP
Switches
AC Power Connector
Status LEDs
Inputs &
Outputs
Hall &
Motor Temp
Signals
Heatsink
Automation
Automation
TQ10X
TQ10X
MOTOR FAULT
DRIVE OVERTEMP
GRN REGEN
RED OVERVOLTAGE
GRN PEAK CURRENT
RED IN FOLDBACK
GRN POWER ON
RED NOT ENABLED
=
=
=
=
=
=
1
2
3
4
5
6
7
8
9
10
IN 1
IN 2
IN 3
IN 4
IN 5
OUT 1
OUT 2
GND
RS232 Tx
RS232 Rx
1
2
3
4
5
6
7
8
9
10
CW LIMIT
CCW LIMIT
GND
ENCODER +5
ENCODER A +
ENCODER A -
ENCODER B +
ENCODER B -
ENCODER Z +
ENCODER Z -
1
2
3
4
5
6
ENABLE IN
ENABLE GND
FAULT OUT +
FAULT OUT -
RESET IN
RESET GND
4
5
6
7
8
9
10
HALL GND
HALL +5V
HALL 1
HALL 2
HALL 3
MOTOR TEMP +
MOTOR TEMP -
Compumotor
TQ10X –Component Locations
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➁ Installation 9
Quick Test
The steps in the following installation procedure will lead you through the perma-
nent installation process. However, if you wish to familiarize yourself with the
drive before you install it, you can perform a bench top quick test. To do so,
complete the following sections, in the order given below:
Set configuration DIP switches (on top of drive)
Set peak current at twice the motor’s continuous rated current, or less
Set compensation DIP switches (on bottom of drive)
Connect RS-232C signals
Connect the Motor to the Drive
Connect AC Power
Test your system
During your permanent installation, complete the other sections in this chapter—
drive mounting, motor mounting, and connecting the load—and review Chapter 4
Tuning.
Installation
The following procedures will lead you through the steps required to permanently
install your TQ10X Drive and motor.
1. Set DIP Switches (Top of Drive)
Configure the TQ10X Drive’s DIP switches for your motor and application. Two
6-position DIP switches—Switch 1 (SW1) and Switch 2 (SW2)—are located on
top of the drive. The table below summarizes their settings. A three-position DIP
switch—Switch 3 (SW3)—is located on the bottom of the drive. See the section
after this for instructions on setting SW3.
Default Settings
The factory default position is off for all switches. You must set the DIP switches
appropriately for your application.
Peak Current
Set DIP switches SW1-#1 —SW1-#3 for the peak current that you want your
drive to produce. If you use a high performance motor (peak current rating greater
than three times the continuous current rating), such as Compumotor’s SM or
NeoMetric Series servo motors, see the caution note below.
CAUTION
Peak current settings for initial drive tuning with SM and NeoMetric Motors: Set peak
current at twice the motor’s continuous rated current, or less. Otherwise, motor damage due
to excessive heating may result from high peak currents and improper tuning values. See
Chapter 4 ,Tuning for a procedure to iteratively raise peak current during tuning.
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10 TQ10X User Guide
Time at Peak Current
Set DIP switches SW1-#4 —SW1-#6 to control the length of time the drive can
produce peak current, before it goes into current foldback.
off
123456
SW 2 16
123
SW 3
123456
SW 1 16
SM161A
off
123456
SW 2 16
123456
SW 1 16
SM231A
off
123456
SW 2 16
123456
SW 1 16
SM162A
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
SM232B
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
SM232A
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
SM233A
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
SM233B
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0701F
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0702F
123
SW 3
off
123456
SW 2 16
123
SW 3
123456
SW 1 16
N0702E
off
123456
SW 2 16
123456
SW 1 16
N0703G
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0703F
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0704G
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0704F
123
SW 3
SW 3
123
off
123456
SW 2 16
123456
SW 1 16
N0701D
123
SW 3
off off
456
off
on
off
on
on
off
PEAK CURRENT
TIME AT PEAK
LOOP GAIN
FOLDBACK
FOLDBACK FAULT
off off offon on offoff on offon off onoff off onon on onoff on onon
123 456
1
2
3
off off
123456
SW 2 16
123456
SW 1 16
TQ10X DIP SWITCH SETTINGS
(amps)
(seconds)
setting
number
on
on
off
off
on
on
off
on
on
on
on
off
off
off
on
off
on
off
on
off
on
1.0
1.2
1.4
1.6
3.3
5.0
10.0
DIP Switch Settings for Compumotor SM and NeoMetric Motors* (with foldback enabled)
0
1.5
3.0
4.4
6.0
7.4
8.9
10.0
off offoff off offon on offoff on offon off onoff off onon on onoff on onon
0
1
2
3
4
5
6
7
Foldback Disabled
Foldback Enabled
High Threshold
Low Threshold
Fault on Foldback
No Fault on Foldback
Less Gain
(use with lower
inductance motors)
More Gain
(use with higher
inductance motors)
Shown Configured for
SM161A Motor*
*Switches shown configured for initial tuning, with peak current approx. twice motor’s continous current rating. See Tuning for
procedure to raise current. For SW 3 settings, see next page.
off
123456
SW 2 16
123456
SW 1 16
N0921G
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0922G
123
SW 3
off
123456
SW 2 16
123456
SW 1 16
N0921F
123
SW 3
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➁ Installation 11
Foldback Fault Enable
If DIP switch SW2–#1 is in the off position, the drive can go in and out of current
foldback without causing a fault condition. If DIP switch SW2-#1 is in the on
position, then going into foldback will cause a latched fault condition; this setting
can aid in troubleshooting your system.
Foldback Threshold
DIP switch SW2-2 sets the current threshold for the foldback circuit. During initial
tuning, this switch should be ON (low threshold) for all SM motors, and for
NeoMetric motors with “D”and “E”windings. After tuning is completed, this
switch should be ON for “A”winding SM motors. It should be OFF (high thresh-
old) for “B”winding motors, NeoMetric (70mm and 92mm) motors, and for most
motors with continuous current ratings above 4 amps.
Foldback Enable
DIP switch SW2-3 enables foldback. When this switch is ON (the default)
foldback is enabled.
Loop Gain
Set DIP switches SW2-#4 —SW2-#6 to control the gain of the drive’s internal
current control loop. Properly setting this switch will match the drive to your
motor’s parameters (inductance and resistance). The suggested settings provide
wide current-loop bandwidth. In some applications, lower bandwidth may allow
easier position-loop tuning. To reduce bandwidth, set the loop gain DIP switch for
lower gain by one or two settings. Do no set loop gain higher than the suggested
setting.
DIP Switch Settings for SM and NeoMetric Motors
DIP switch settings for Compumotor SM and NeoMetric motors are shown above.
If you use a non-Compumotor motor, see the Appendix at the end of this user guide
for information about setting DIP switches for your motor.
2. Set DIP Switches (Bottom of Drive)
Switch 3 (SW3) is a three-position DIP switch located on the bottom of the drive,
near the motor connector.
123
off
SW3
DIP Switch 3 –Location
Set it to control the drive’s motor pole compensation, based upon your motor’s
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