Parker 8902/RE User manual

Cont.1
8902/RE and 8902/RR
Resolver Speed Feedback
Options
Technical Manual
HA469251U002 Issue 1
Compatible with Version 2.x and 3.x Software
©Copyright 2009 Parker SSD Drives, a division of Parker Hannifin Ltd.
All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any
form or by any means to persons not employed by a Parker SSD Drives company without written permission
from Parker SSD Drives, a division of Parker Hannifin 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.
Parker SSD Drives cannot accept responsibility for damage, injury, or expenses resulting therefrom.
WARRANTY
Parker SSD Drives warrants the goods against defects in design, materials and workmanship for the period of 12
months from the date of delivery on the terms detailed in Parker SSD Drives Standard Conditions of Sale
IA500504.
Parker SSD Drives reserves the right to change the content and product specification without notice.
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Cont.2
WARNING!
During commissioning, remove the fuses (or trip the circuit breaker) on your 3-
phase supply.
Make sure the power is OFF, and that it cannot be switched on accidentally whilst you
are working.
REFER TO YOUR MAIN PRODUCT MANUAL FOR SPECIFIC SAFETY
INFORMATION ABOUT THE DEVICE YOU ARE CONTROLLING
IMPORTANT: Please read this information BEFORE installing the equipment.
Intended Users
This manual is to be made available to all persons who are required to install, configure or
service equipment described herein, or any other associated operation.
The information given is intended to highlight safety issues, EMC considerations, and to enable
the user to obtain maximum benefit from the equipment.
Application Area
The equipment described is intended for industrial motor speed control utilising AC induction or
AC synchronous machines.
Personnel
Installation, operation and maintenance of the equipment should be carried out by qualified
personnel. A qualified person is someone who is technically competent and familiar with all
safety information and established safety practices; with the installation process, operation and
maintenance of this equipment; and with all the hazards involved.
Safety
All control and signal terminals are SELV, i.e. protected by double insulation.
EMC
In a domestic environment this product may cause radio interference in which case the user may
be required to take adequate counter-measures.
This equipment contains electrostatic discharge (ESD) sensitive parts. Observe static control
precautions when handling, installing and servicing this product.
Safety Information
!
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Cont.3
CAUTION!
At any time, there may be a loss of motor control and separate/independent application
measures should be taken to ensure that such loss of motor control cannot present a safety
hazard.
RISK ASSESSMENT
Under fault conditions, power loss or unintended operating conditions, the drive may not
operate as intended. In particular:
•Stored energy might not discharge to safe
levels as quickly as suggested, and can still
be present even though the drive appears to
be switched off
•The motor's direction of rotation might not
be controlled
•The motor speed might not be controlled
•The motor might be energised
A drive is a component within a drive system that may influence its operation or effects under
a fault condition. Consideration must be given to:
•Stored energy •Supply disconnects •Sequencing logic •Unintended
operation
Safety Information
!
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Contents
Contents Page
Cont.4
RESOLVER SPEED FEEDBACK OPTION 1
Description....................................................................................................... 1
•Features..................................................................................................1
•Part Number ...........................................................................................1
•Used On.................................................................................................1
•Specifications – Resolver Interface (8902/RE and 8902/RR)........................1
•Specifications – Resolver Interface (8902/RE and 8902/RR)........................2
•Specifications – Emulated Encoder (8902/RR only).....................................2
Recommended Spare Parts.........................................................................................2
Installation....................................................................................................... 3
Fitting the Option.......................................................................................................3
Wiring the System ......................................................................................................4
•D-Type Connections ................................................................................4
Approved Resolvers....................................................................................................6
Encoder Emulation.....................................................................................................7
Initial Set-up.................................................................................................... 8
Configuring the 890 Drive..........................................................................................8
•RESOLVER Function Block.........................................................................8
Motor Phasing ............................................................................................... 10
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1
8902/RE Resolver Speed Feedback Option
RESOLVER SPEED FEEDBACK OPTION
Description
The 8902/RE and 8902/RR Resolver Speed Feedback Options allow resolvers to be connected
directly to the motor controller to provide highly accurate speed feedback measurement.
In addition, the 8902/RR provides an emulated
pulse encoder output.
Features
The Option has the following features:
•Contains two differential inputs on channels
Sin and Cos
•Contains a carrier output signal to power the
Resolver
•8902/RR contains three differential outputs,
emulating a pulse encoder.
Part Number
The part number for the Resolver Speed Feedback
Option is :
8902/RE/00/00
8902/RE/00/FF (indicates a factory-
fitted Option)
8902/RR/00/00
8902/RR/00/FF (indicates a factory-fitted
Option)
Used On
This Option can be used on 890 drives with the
following Product Codes:
890SD/.. 890SD Standalone Drive
890CD/.. 890CD Common Bus Drive
Refer to the 890 Engineering Reference Manual,
Appendix E for Product Code details.
Figure 1 8902/RE Resolver Speed Feedback Option
Figure 2 8902/RR Resolver Speed Feedback Option
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2
8902/RE Resolver Speed Feedback Option
Specifications – Resolver Interface (8902/RE and
8902/RR)
Maximum Speed 8902/RE:
Up to 50,000RPM (with 2 pole resolver )
8902/RR:
Up to 30,000RPM (with 2 pole resolver )
Carrier Output Signal 7Vrms, 8kHz
Maximum Carrier Supply 70mA rms
Maximum Input Voltage ±12V peak
Accuracy < 5 minutes
Resolution Equivalent to 16 bits per electrical revolution
of resolver
Inputs Differential inputs, Zin ~2 kΩ
Maximum input voltage : 12Vpeak
Isolation None
Specifications – Emulated Encoder (8902/RR only)
Signal amplitude Compatible with RS422 and RS485
Outputs 3 Differential pairs
Signal nomenclature A and B quadrature
Z index pulse
Number of lines per revolution 1024
Isolation Outputs are isolated from drive electronics
Recommended Spare Parts
We recommend that you keep one Option as a spare to reduce down-time.
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3
8902/RE Resolver Speed Feedback Option
Figure 3 Rear of
Control Board
A
B
B
A
Installation
Fitting the Option
If the Option is not factory-fitted, follow the procedure
given below.
WARNING!
Disconnect all sources of power before
attempting installation.
Caution
This Option contains ESD (Electrostatic Discharge)
sensitive parts. Observe static control precautions
when handling, installing and servicing this Option.
1. Undo the two screws securing Option A and Option B
to the front of the drive. If Options are not fitted,
completely remove the blank covers for the Option A
and Option B slots.
2. Undo the screws (A) located in the top and bottom
handles of the control board. Gently pull on the
handles to withdraw the board from the drive,
supporting any attached option boards. Note that the
boards are sliding in top and bottom slots.
3. Remove any other Options that are fitted to the control
board.
4. Offer up the Resolver Option through the "OPTION F"
cut-out as shown opposite.
5. Fit the two locating pegs of the large connector on the
rear edge of the option board into the locating holes on
the control board, as shown below.
6. Fit the two screws and crinkle washers (C) at the rear edge of the Option.
DO NOT OVERTIGHTEN.
Tightening torque : 0.2Nm (28 oz-in).
7. Secure with the two screws (B) to the front of the control
board.
The front panel screws (B) are self-tapping and can be
quite hard to turn. This turning torque must not be
transferred through the option board to the control board
connector. To avoid this hold the option board with one
hand, while tightening the front panel screws with the
other. DO NOT hold the control board while tightening
these screws.
8. Refit any other Options that were removed from the control
board.
9. Replace the control board (with attached Options) into the
drive.
10. Tighten the Option A and Option B screws; or importantly,
fit the blank covers and secure with the screws.
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4
8902/RE Resolver Speed Feedback Option
Wiring the System
WARNING!
Disconnect all sources of power before attempting installation.
Caution
This Option contains ESD (Electrostatic Discharge) sensitive parts. Observe static control
precautions when handling, installing and servicing this Option.
D-Type Connections
Note: For correct operation, carrier, sine and cosine must be connected as specified. Poor
performance/motor behaviour may occur if these signals are left unconnected or are
connected incorrectly.
Take special care wiring the resolvers to the Option due to the low level of the signals.
Ideally use twisted-pair, screened cable with an overall screen and a screen over each individual
pair. It may be possible to use a cable with just a screen over each individual pair. The signal
pairs should have characteristic impedance of 120Ω. To ensure compliance with the EMC
Directive the overall cable screen should be connected to the connector body and to the cable
clamp. Connect overall screen and individual screens together, on each side of the cable.
Use the resolver manufacturer's recommended cable.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1 Sin+ input
2
3 Cos+ input
4 not connected
5 not connected
6 not connected
7
8 + carrier input, reference voltage
9 Sin- input
10
11 Cos- input
12 not connected
13 not connected
14 not connected
15 - carrier input, reference voltage
not connected
not connected
not connected
OPTION BOARD
+ - + -
Sin Cos+-+-
RESOLVER
Sin Cos+-+-
Power
+-
Bracket
X30
X30 Terminal:
Carrier Input
+-
Figure 4 Wiring Diagram 8902/RE
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5
8902/RE Resolver Speed Feedback Option
1
3
4
5
6
7
8
9
10
11
12
13
14
15
1 Sin+ input
2
3 Cos+ input
4 Index Z+ output
5 QuadratureA+ output
6 Quadrature B+ output
7
8 + carrier input, reference voltage
9 Sin- input
10
11 Cos- input
12 Index Z- output
13 QuadratureA- output
14 Quadrature B- output
15 - carrier input, reference voltage
not connected
not connected
not connected
OPTION BOARD
+ - + -
Sin Cos+-+-
RESOLVER
Sin Cos+-+-
Power
+-
Bracket
X36
X36 Terminal:
Carrier Input
+-
2
+-+-+-
QuadratureA
QuadratureB
IndexZ
To encoder
input
Figure 5 Wiring Diagram 8902/RR
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6
8902/RE Resolver Speed Feedback Option
Resolver Diagram
Angle Information
V
sin
ϕ
V
cos
V
sin
V
cos
V
in
∼
Time t
Input Voltage
Stator
Output Voltages
Phase position
provides
sign information
Rotor
ϕ
COSINE input : Vcos = V(S1-S3) = V(R1-R2) x TR x cosθ
SINE input : Vsin = V(S2-S4) = V(R1-R2) x TR x sinθ
With : Vin = V(R1-R2) : carrier signal ( reference voltage )
TR = transformation ratio
ϕ= position
Approved Resolvers
Parker SSD Drives approve the following Resolvers for use with the 8902/RE Speed Feedback
Option.
Tamagawa TS2610N71E64
Tamagawa TS2620N701E11
Tamagawa TS2620N861E11
Tamagawa TS2640N821E64
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7
8902/RE Resolver Speed Feedback Option
Encoder Emulation
Encoder emulation creates three differential pairs, A, B and Z. These emulate a 1024 line
encoder rotating at the same speed and direction as the resolver. Clockwise rotation of the
encoder shaft normally causes channel A to lead channel B, but this could reverse depending on
the resolver wiring.
A
/A
B
/B
Z
/Z
1 encoder line
1024 encoder lines = 1 com
p
lete revolution of resolve
r
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8
8902/RE Resolver Speed Feedback Option
Initial Set-up
Configuring the 890 Drive
Note: The DSE 890 Configuration Tool is Parker SSD Drives’ Windows-based block
programming software and is supplied with each drive.
Use the DSE 890 Configuration Tool to configure the RESOLVER function block, as detailed
below.
You will require a PMAC (Permanent Magnet AC) Configuration when using DSE 890: create
a "New Configuration" in DSE 890 and select "890 Permanent Magnet AC" in the dialog box.
Double-click on the MOTOR CONTROL function block in the new configuration to display the
RESOLVER function block.
DSE 890 offers a "Motor Wizard" to quickly enter parameter information into the RESOLVER
function block: from the menu at the top of the screen select Edit →Motor Wizard. In the pop-
up dialog box you can now select the motor and resolver from the drop-down lists.
Alternatively, you can enter parameter information directly into the RESOLVER function block.
The parameters are described below.
RESOLVER Function Block
SETUP::MOTOR CONTROL::RESOLVER
This block allows Speed Feedback to be measured using a resolver.
Note:
Only parameters relevant to the Resolver are described below.
Parameter Descriptions
NAME Range:
Resolver name/designation
POLES Range: 2 to 20
Number of resolver poles. In case of multi-pair poles resolver, the resolution of the resolver
option is multiplied by the number of pair poles.
RATIO Range: 0.2 to 1.0
Transformation ratio of the resolver
SPEED MAX Range: 0 to 231 (user units)
Mechanical maximum speed supported by the resolver.
ACCURACY Range: 0 to 60.0 minutes
This parameter represents the nominal accuracy of the resolver. (This information is only
informative and could be left unspecified).
CARRIER VOLTAGE Range: 5.0 to 10.0 Vrms
This parameter represents the nominal carrier voltage for the resolver. (This information is
only informative and could be left unspecified).
CURRENT Range: 0.0 to 70mA rms
This information represents the nominal current needed to run the resolver. (This information
is only informative and could be left unspecified).
INERTIA Range: 10.0 to 100000 Kgcm²
This information represents the resolver rotor inertia. (This information is only informative
and could be left unspecified).
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9
8902/RE Resolver Speed Feedback Option
Parameter Descriptions
TRIP Range: FALSE-TRUE
This information gives the resolver processing state :
-TRUE : the drive has tripped. Verify the connection of the resolver.
-FALSE : the system is able to run. The position and speed information are available.
POSITION SET UP Range : - 180° to 180°
Relative position between the position 0 degree from the resolver and the Parvex
convention for the motor phasing.
Refer to "Motor Phasing" below.
INIT DONE Range: FALSE-TRUE
This information gives the resolver processing init state :
-TRUE : the resolver processing is running, the init state is completed and the speed
and position information are normally available
-FALSE : the initialisation phase is on-going. Position and speed information are not
available.
The initialisation phase could be viewed :
-at power on,
-after a trip and reset action.
REVERSE CNT DIR Range: FALSE-TRUE
This input allows you to reverse the counting direction of the resolver feedback.
FALSE : counting direction is positive when the motor spins in a clockwise direction,
looking to the front shaft of the motor
TRUE : counting direction is negative when the motor spins in a clockwise direction,
looking to the front shaft of the motor
SPEED FILTER Range : 10.0 to 1000.0 Hz
This input allows you to select the cutting frequency of the first order low pass filter applied
to the resolver speed output.
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10
8902/RE Resolver Speed Feedback Option
Motor Phasing
The control of PMAC brushless motors is allowed if the relative position between the stator and
the rotor is well known. The resolver must be set up to define the relative position between the
resolver and the 3 motor phases. For the 890 drive, the convention is as follows :
♦when the motor runs in a clockwise direction, looking to the front shaft of the motor, the 3
successive phases are M1, M2 and M3 as shown below.
Motor phasing
0 90 180 270 360
electrical position
M1 phase M2 phase M3 phase
♦The resolver must be adjusted in a way to give a position of 0 degrees when the M1 motor
phase crosses the 0 Volt line in a rising variation. For example, a 6 pole motor associated
with a 2 pole resolver will give the following curves:
-200
-150
-100
-50
0
50
100
150
200
0 90 180 270 360
position(degree) M1 phase
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11
8902/RE Resolver Speed Feedback Option
ISS. MODIFICATION ECN No. DATE DRAWN CHK'D
1 Add support for 8902/RR 17852 27/08/09 AFL
FIRST USED ON MODIFICATION RECORD
8902/RE and 8902/RR Resolver Speed
Feedback Options
DRAWING NUMBER
ZZ469251C002
SHT. 1
OF 1
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