Quin Q-drive Instruction Manual
Installation & Users Manual
Quin Systems Limited
Q-drive Servo Amplifier
Issue 1.5
June 1996
(MAN430)
Copyright Notice
Copyright 1996 Quin Systems Limited. All rights reserved.
Reproduction of this document, in part or whole, by any means, without the
prior written consent of Quin Systems Limited is strictly prohibited.
Software Version
This manual reflects the following software versions.
•QDRIVE.EXE version 2.0 or higher.
Important Notice
Quin Systems reserves the right to make changes without notice in the
products described in this document in order to improve design or performance
and for further product development. Examples given are for illustration only,
and no responsibility is assumed for their suitability in particular applications.
Although every attempt has been made to ensure the accuracy of the
information in this document, Quin Systems assumes no liability for inadvertent
errors.
Suggestions for improvements in either the products or the documentation are
welcome.
Relevant Directives
This product is designed to be incorporated into a system for the control of
machinery, and needs external equipment to enable it to fulfil this function. It
must not be relied upon to provide safety-critical features such as guarding or
emergency-stop functions. It must not be put into service until the machinery
into which itis incorporated has beendeclared in conformity with the Machinery
Directive 89/392/EEC and/or its relevant amendments.
The installation instructions in this manual should be followed in constructing a
system which meets requirements.
The product has been tested in typical configurations, and meets the EMC
Directive 89/336/EEC When used with the recommended mains filter.
This product as normally supplied has mains level voltages accessible to touch,
and requires to be mounted within a suitable cabinet to meet any required IP
rating to BSEN 60529.
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page i
Table of Contents
List of Figures iii
List of Tables iv
1. Introduction 1
1.1 Q-Drive Characteristics 2
1.2 EMC Compliance 3
2. Unpacking and Inspection 5
3. Drive Specifications 7
3.1 Mechanical specification 7
3.2 Environmental specification 7
3.3 Power supply specification 7
3.4 Electrical Specification 8
3.4.1 General data for all types 8
3.4.2 Drive Performance Specification 9
3.4.3 Analogue readings on the motherboard 9
3.5 Mounting Details 10
3.6 Relevant Directives 11
4. Connections 13
4.1 General 13
4.1.1 Wiring and connectors 14
4.1.2 Cable lengths and cross-sections 14
4.2 Low Voltage Connections 15
4.2.1 P2 Upper: Resolver 15
4.2.2 P2 Lower: Encoder 16
4.2.3 P4 RS422 Out / RS232 18
4.2.4 P3 RS422 In 18
4.2.5 P10, P11 & P12 19
4.3 High Voltage Connections 20
4.3.1 P7, Three Phase In 20
4.3.2 P8, Earth Terminals 20
4.3.3 P9, Motor 20
4.3.4 Wago Spring Terminals 21
5. Electrical Installation 23
5.1 General 23
5.2 Mains supply 24
5.3 Auxiliary Supply 25
5.4 Earth connections 26
5.5 Connecting the motor to the drive 27
5.6 Connecting the drive to the controller 28
6. Safety - Using Guards and Limits 29
6.1 Choosing a motor 30
6.2 Mounting the motor 32
6.3 Connecting the motor to the load 32
Q-Drive Installation Manual Issue 1.5
Page ii Copyright © 1996 Quin Systems Ltd.
7. Drive Parameters 33
7.1 Serial Link 33
7.2 Getting Around the Configuration Program 33
7.3 Page 0 Parameters 36
7.4 Page 1 Parameters 37
7.5 Page 2 Parameters 39
7.6 Page 3 parameters 41
7.7 Page 6 parameters 41
7.8 Page 8 parameters 42
7.9 Page 9 parameters 43
7.10 Status & Alarm page 44
8. Switching On 47
8.1 Switching the Servo-Amplifier On Without a Motor 47
8.2 Checking LEDS and 7 segment display 47
8.3 7 segment display on the front panel 48
8.3.1 Checking the electrical rotation sense of the resolver 49
8.4 Determining the motor phases 50
8.5 Switch the Servo Amplifier on with a Motor and Optimization 51
8.5.1 Preparation before switching the mains voltage on 51
8.5.2 Switching the mains voltage on 51
8.6 Compensating the speed controller 52
8.6.1 Offset and speed compensation 52
8.7 Trouble Shooting 54
9. Testing the System 55
9.1 General 55
9.2 Serial port 55
9.3 Resolver Interface 55
9.4 Encoder Simulator 56
10. Configurations 57
10.1 General 57
10.2 Resolver Ratio 57
10.3 Amplifier Configuration 58
10.4 Servo-amplifier fuses 58
10.5 Backplane configuration 60
10.6 Backplane Fuse 62
11. Options List 63
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page iii
List of Figures
Figure 1: EMC filtering 3
Figure 2: Fixing centres for the Q-Drive. 10
Figure 3: Connections 13
Figure 4: P2 Upper: resolver connector 16
Figure 5: P2 Lower: encoder connector 17
Figure 6: P10, P11, P12: discrete signals 19
Figure 7: P7, P8, P9: power connectors 20
Figure 8: Wago spring terminals 21
Figure 9: General installation arrangement 23
Figure 10: Auxiliary supply connection 25
Figure 11: System earthing 26
Figure 12: Q-Drive.exe: password entry page 34
Figure 13: Q-Drive.exe: scanning for active drives 35
Figure 14: Q-Drive.exe: page 0 parameters. 36
Figure 15: Q-Drive.exe: page 1 parameters 37
Figure 16: Q-Drive.exe: page 2 parameters 39
Figure 17: Q-Drive.exe: page 3 parameters 41
Figure 18: Q-Drive.exe: page 6 parameters 41
Figure 19: Q-Drive.exe: page 8 parameters 42
Figure 20: Q-Drive.exe: page 9 parameters 43
Figure 21: Q-Drive.exe: status display 44
Figure 22: Seven segment display codes 48
Figure 23: Electrical rotation sense of the resolver 49
Figure 24: Backplane configuration 61
Figure 25: Backplane fuse 62
Figure 26: Drive amplifier jumper & fuse locations 64
Figure 27: Complete wiring plan 65
Q-Drive Installation Manual Issue 1.5
Page iv Copyright © 1996 Quin Systems Ltd.
List of Tables
Table 1: Drive Data 9
Table 2: Test Points 9
Table 3: Cable Sizes 14
Table 4: P2 Upper, Resolver Input Connections 15
Table 5: P2 Lower, Encoder Output Connections 17
Table 6: P4 RS422 Out / RS232 Connections 18
Table 7: P3 to P4 RS422 Daisy Chain Connections 18
Table 8: P10, P11, P12 Connections 19
Table 9: Motor Phase Determination 50
Table 10: Q-Drive Trouble Shooting 54
Table 11: Amplifier Configuration 58
Table 12: Amplifier Fuses 58
Table 13: Backplane configuration Jumpers 60
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 1
1. Introduction
This document is the Installation Manual for the Q-Drive servo amplifier, a member of
the Quin Systems Ltd. digital Programmable Transmission System (PTS) range.
The Q-Drive series of servo-amplifiers are intended to control 3 phase AC servo-
motors with electronic commutation and resolver feedback, up to a maximum rating of
18 Amps, 6.8kW continuous.
Such servo-motors are generally called AC Brushless, but to avoid any confusion,
motors which can be used with the Q-Drive series servo-amplifiers should have the
following characteristics:
•Rotor constructed with permanent magnets arranged in 1, 2, 3, 4, 5 or 6 pole
pairs, without commutator or slip rings.
• Stator constructed with 3 windings connected in star or delta.
•Electronic commutation is effected by means of a resolver (motors with Hall
effect sensors or tachogenerators are not suitable).
Note:
Servo-amplifiers which deliver a 3 phase sinusoidal supply are usually called
AC Brushless. The name DC Brushless is reserved for servo-amplifiers whose
output supply is trapezoidal.
PLEASE READ THIS MANUAL BEFORE INSTALLATION.
It is very important that the guidelines for installation are observed, otherwise damage
to the system or to the machine may occur. Quin Systems Limited accept no liability
for damage or costs arising from incorrect or inadequate installation of the systems, or
from incorrect programming of the system for the required application. Digital control
systems are not simple, but can be used successfully to control industrial machinery and
provide great improvements in reliability, performance and flexibility.
Q-Drive Installation Manual Issue 1.5
Page 2 Copyright © 1996 Quin Systems Ltd.
1.1 Q-Drive Characteristics
The main characteristics of the Q-Drive servo-amplifiers are as follows:
•Digital servo-amplifier with analogue speed command +/- 10V, for Brushless
motor with resolver.
•Utilises a 16 bit DSP (Digital Signal Processor)
•Compact unit for connection to 3 phase power supply with built-in braking
module.
•Double Eurocard Format using Surface Mount Technology (SMD).
•Completely programmable by a multi-drop RS422 or direct RS 232 serial link.
•Sinusoidal current output assures smooth torque and optimum performance at
low speed.
•Power and command circuits are optically isolated from each other.
•Protections and ruggedness for use in severe conditions.
•Easy to use external connections including two part connectors for resolver
input and encoder output.
•Simulated incremental encoder output with adjustable resolution to 1024 ppr
and adjustable marker pulse. Differential line driver outputs.
• 7 segment status indicator for diagnostic display.
• Short-circuit protected output stage.
• I2t protection.
•Detection of resolver fault, motor overheating.
•Velocity or current regulation.
•Auxiliary voltages are produced within the drive, no external power supply
required.
•Drive can be enabled using an optional opto-coupled input or using a volt free
contact.
•Motor connections are constantly monitored.
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 3
1.2 EMC Compliance
The Q-Drive amplifier has been tested to and complies with BSEN 50081-1 and BSEN
50081-2 for radiated emissions. The Q-Drive also complies with mains borne
interference tests when used with a suitable three phase filter and when both the Q-
Drive and the filter are securely mounted and earth bonded to a conductive panel. If the
auxiliary supply is used then this too must be filtered. Both filters must provide at least
55dB attenuation at 1MHz. The cable between the filters and the Q-Drive should
preferably be screened and be kept as short as possible. Figure 1. below shows a typical
arrangement between the filter and Q-Drive,
Figure 1. EMC filtering
3 ø MCB
E
T
R
S
Drive
Contactor
2 ø MCB
1 ø line
filter
1 ø isolating
transformer
Q-Drive
R' T
S' R
SEEEU
V
W
3 ø line
filter
3 ø Auto-
transformer
Q-Drive Installation Manual Issue 1.5
Page 4 Copyright © 1996 Quin Systems Ltd.
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Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 5
2. Unpacking and Inspection
Inspect the packaging for external signs of damage if possible before signing the
delivery receipt, as this may indicate that the goods have been mishandled in transit.
When unpacking the Q-drive, keep all the packaging materials if possible. If it is
necessary to ship the Q-drive to another site, or to return it for service, the original
packing can be reused.
Inspect the Q-drive carefully when it is unpacked. Check for any loose parts, any circuit
boards loose in their card guides, cables not connected, or any bending of the case or
chassis.
If any defect or damage is suspected, do not connect power to the system. Notify
the carrier immediately, and contact your sales office or the Quin Systems Service
Department:
Quin Systems Limited
Service Department
Oaklands Business Centre
Oaklands Park
Wokingham
Berkshire RG11 2FD
England
Telephone Wokingham (01734) 771077
Fax (01734) 776728
Q-Drive Installation Manual Issue 1.5
Page 6 Copyright © 1996 Quin Systems Ltd.
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Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 7
3. Drive Specifications
This section gives the overall specifications of the drive, including mechanical details
and environmental requirements.
3.1 Mechanical specification
The dimensions of the Q-Drive are as follows:
Height 400 mm
Width 115 mm
Depth 290mm
Weight 4 kg
IP Rating IP20
The drive is designed to be mounted with the circuit board vertical, to allow cooling air
circulation by convection. There should be at least 100mm clearance above and below
the unit to allow free air flow. If the unit cannot be mounted with the drive vertical, then
a fan must be fitted to blow air through the unit. The 18 amp model has built in fans for
forced cooling, the fans are optional on other models.
3.2 Environmental specification
Temperature: operating 0°C to 60°C
full power 0°C to 45°C
storage -20°C to 70°C
Relative humidity: 20 to 80% non-condensing
The drive may be operated at higher ambient temperatures, but will require additional
cooling such as forced air ventilation in order to do so. The drive is normally supplied
in a case or chassis with ventilation holes top and bottom, and therefore is not protected
against dust, particles, or liquids. If necessary, the unit can be supplied in a suitable
sealed cabinet. Please contact your sales office or Quin Systems directly for further
details.
3.3 Power supply specification
Supply voltage 3 x 220V AC +/- 15%
Supply frequency 45 to 65 Hz
An additional single phase 230V AC supply is required to keep the resolver interface
powered when the main three phase supply to the drive is interrupted, i.e. during an E-
stop situation. If this auxiliary supply is fitted it is very important to ensure that the
correct phases are used, this is explained further in section 5.3 on page 25.
Q-Drive Installation Manual Issue 1.5
Page 8 Copyright © 1996 Quin Systems Ltd.
3.4 Electrical Specification
3.4.1 General data for all types
Supply voltage 3 x 220V AC +/- 15%
Supply frequency 45 to 65 Hz
Operating temperature range 0 to 60° C
Operating temperature range at full power 0 to 45° C
(from 45°C, reduce output current by 2%/°C to 60°C)
Storage temperature range -20 °C to + 70 °C
PWM chopper frequency 9.99 kHz
Differential input reference +/- 10V
Speed control range 1/5000
Bandwidth: speed loop 300 Hz
current loop 2 kHz
Rated power dissipation during braking
with standard resistance 125W
Max. output to motor 3 x 210 V, 0 to 500 Hz
Incremental encoder: output 5V
“low speed” settings available 128, 256, 512, 1024 ppr
“high speed” settings available 128, 256, 512 ppr
Theoretical max. speed for motor with resolver:
“low speed” up to 3500 rpm
“high speed” up to 6000 rpm
Switching threshold of brake module 385 V DC
Over voltage trip threshold 415 V DC
Voltage drop trip threshold 180 V DC
RS 232/RS422 serial link
baud rate
Standard: 9600 Bd
Configured by solder bridge: 19200 Bd
transmission Full duplex
format 1 Start bit
8 Data bit
no parity
1 Stop bit
RTS/DTR controls RS232 transmission flow
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 9
3.4.2 Drive Performance Specification
Note:
Irms = Ipeak / 1.41
P =1.73 x I rms x Vrms or P= 3 x Irms phase x Vrms phase
- in star Vrms phase = 210V / 1.73
I rms phase = I rms
- in delta V rms phase = 210V
I rms phase = I rms / 1.73
Example: Type PQD506 I rms max = 11.8 A rms rated = 5.9 A
Pmax = 1.73 x 11.8 x 210 = 4.3 kW
Prated= 1.73 x 5.9 x 210 = 2.1 kW
3.4.3 Analogue readings on the motherboard
The Q-Drive motherboard contains several measurement points which permit an
analogue reading of the three signals shown in Table 2-
The location of the measurement points is shown in Figure 24. on page 61
Servo-amplifier type: PQD506 PQD510 PQD518
Rated rms current Amps 5,9 10,0 18,7
Rated peak current Amps 8,3 14,2 26,4
Max. rms current Amps 11,8 20,1 37,3
Max. peak current
Amps 16,7 28,4 52,8
Rated power (kW) 2,1 3,6 6,8
Max. power (kW) 4,3 7,3 13,6
Table 1: Drive Data
Measurement
point Description Scaling
Current Instantaneous Current 10V corresponds to the max. current of
the unit
Command Internal command voltage V command = V ext. cmd
Speed Motor speed +/- 10V corresponds to the max. speed
of 6000 rpm
Table 2: Test Points
Q-Drive Installation Manual Issue 1.5
Page 10 Copyright © 1996 Quin Systems Ltd.
3.5 Mounting Details
The Q-Drive has mounting holes on the rear plate for fixing to an electrical panel inside
a cabinet. The unit is fixed with four M5 bolts using the fixing centres as shown in
Figure 2. below.
Figure 2. Fixing centres for the Q-Drive.
385.0mm
400.0mm
4 off fixing holes
M5 Clearance.
Braking
Over Current
115.5mm
95.5mm
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 11
3.6 Relevant Directives
This product is designed to be incorporated into a system for the control of
machinery, and needs external equipment to enable it to fulfil this function. It
must not be relied upon to provide safety-critical features such as guarding or
emergency-stop functions. It must not be put into service until the machinery
into which itis incorporated has beendeclared in conformity with the Machinery
Directive 89/392/EEC and/or its relevant amendments.
The installation instructions in this manual should be followed in constructing a
system which meets requirements.
The product has been tested in typical configurations, and meets the EMC
Directive 89/336/EEC when used with the recommended mains filter.
This product as normally supplied has mains level voltages accessible to touch,
and requires to be mounted within a suitable cabinet to meet any required IP
rating to BSEN 60529.
Q-Drive Installation Manual Issue 1.5
Page 12 Copyright © 1996 Quin Systems Ltd.
This Page is intentionally Left Blank
Issue 1.5 Q-Drive Installation Manual
Copyright © 1996 Quin Systems Ltd. Page 13
4. Connections
4.1 General
High and low voltage cable connections have been segregated in the Q-drive. The
positions of the various connectors are shown in Figure 3.
Figure 3. Connections
S'
R'
S'
R'
P7
P7
SUPPLY
T S R
Fan
Fan
P8 P9
P9
MOTOR
W U V
P8
EARTH
RS422/232
ENCODER
RESOLVER
P4
P11
P12
J4 J3
SW1
P10
J1J2
RS422
P3
P2 Upper
P2 Lower
Q-Drive Installation Manual Issue 1.5
Page 14 Copyright © 1996 Quin Systems Ltd.
4.1.1 Wiring and connectors
The wiring of the Q-Drive series of servo-amplifiers must be carried out according to
the schematics in these instructions. Local wiring regulations must be observed.
Special attention should be paid with respect to wiring rules regarding ground, earth and
neutral.
The earth wire to the amplifier, motor and housing must be as short as possible and
connected to a common earth point.
The complete wiring plan is represented in on the next page.
4.1.2 Cable lengths and cross-sections
Quin Systems recommend that the following cable cross-sections are used:
Units PQD506 PQD510 PQD518
Supply voltage mm21.50 2.50 4.00
Motor mm21.50 2.50 4.00
Earth mm21.50 2.50 4.00
Command signals mm20.18 0.18 0.18
Table 3: Cable Sizes
Table of contents
