Renishaw Spa1 User manual

Installation guide

H-1000-5068-05-A

SPA1 servo power ampliﬁer

Renishaw® is a registered trademark of Renishaw plc.

This document may not be copied or reproduced in whole or in

part, or transferred to any other media or language, by any means,

without the prior written permission of Renishaw.

The publication of material within this document does not imply

freedom from the patent rights of Renishaw plc.

Disclaimer

Considerable effort has been made to ensure that the contents of

this document are free from inaccuracies and omissions. However,

Renishaw makes no warranties with respect to the contents of

this document and speciﬁcally disclaims any implied warranties.

Renishaw reserves the right to make changes to this document

and to the product described herein without obligation to notify any

person of such changes.

Trademarks

RENISHAW® and the probe emblem used in the RENISHAW logo

are registered trademarks of Renishaw plc in the UK and other

countries.

apply innovation is a trademark of Renishaw plc.

All brand names and product names used in this document are

trade names, service marks, trademarks, or registered trademarks

of their respective owners.

Renishaw part no: H-1000-5068-05-A

Issued: 12 2006

SPA1

Installation guide

FCC

Information to user (FCC section 15.105)

This equipment has been tested and found to comply with the limits for a class A digital device, pursuant

to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful

interference when the equipment is operated in a commercial environment. This equipment generates,

uses and can radiate radio frequency energy and, if not installed and used in accordance with the

installation manual, may cause harmful interference to radio communications. Operation of this equipment

in a residential area is likely to cause harmful interference, in which case you will be required to correct the

interference at your expense.

Information to user (FCC section 15.21)

The user is cautioned that any changes or modifications not expressly approved by Renishaw plc or

authorised representative could void the user’s authority to operate the equipment.

EC declaration of conformity

The SPA1 has been manufactured in conformity with the following standards:

BS EN 61326:1998 Electrical equipment for measurement, control and laboratory use –

EMC requirements.

Immunity to Annex A - industrial locations.

Emissions to class A (non-domestic) limits.

BS EN 60204-1:1998 Safety of machinery – Electrical equipment of machines.

Part 1: General requirements.

and that it complies with the requirements of the following EC Directives (as amended):

89/336/EEC – Electromagnetic compatibility (EMC).

73/23/EEC – Low voltage.

Care of equipment

Renishaw probes and associated systems are precision tools used for obtaining precise measurements

and must therefore be treated with care.

Changes to Renishaw products

Renishaw reserves the right to improve, change or modify its hardware or software without incurring any

obligations to make changes to Renishaw equipment previously sold.

Warranty

Renishaw plc warrants its equipment for a limited period (as set out in our Standard Terms and Conditions

of Sale) provided that it is installed exactly as defined in associated Renishaw documentation.

Prior consent must be obtained from Renishaw if non-Renishaw equipment (e.g. interfaces and/or cabling)

is to be used or substituted. Failure to comply with this will invalidate the Renishaw warranty.

Claims under warranty must be made from authorised service centres only, which may be advised by the

supplier or distributor.

References and associated documents

It is recommended that the following documentation is referred to when installing the SPA1.

Renishaw documents

Documentation supplied on Renishaw UCC software CD.

Document number Title

H-1000-5056 UCC1 installation guide

H-1000-5057 UCC programmer’s guide

H-1000-5058 RENICIS user’s guide

H-1000-5067 MCU1 installation and user’s guide

H-1000-5223 UCC2 installation guide

H-1000-5227 UCC1 and UCC2 servo tuning user’s guide

External documents

National and international standards including the following may be applicable to the finished machine or

installation:

EN 292-2:1991 (Safety of machinery - Basic concepts, general principles for design - Part 2: Technical

principles and specifications.

EN (IEC) 60204-1:1997 (Safety of machinery - Electrical equipment of machines -

Part 1: General requirements).

Document number Title

0470-0005 User’s guide, ‘Mini Maestro™’ drive

6 Safety

Safety

Electrical requirements

The SPA1 is powered from the a.c. mains supply via an IEC 320 connector. The operating voltages of the

unit are as follows:

90 – 264 V ac 47 – 63 Hz 600 W maximum

This equipment must be connected to a protective earth conductor via a three core mains (line) cable. The

mains plug shall be inserted only into a socket outlet provided with a protective earth contact. The

protective earth contact shall not be negated by the use of an extension cable without protective

conductor.

An earth stud is provided to allow bonding of the CMM metal parts to the protective earth.

WARNING: Any interruption of the protective conductor may make the equipment dangerous.

Make sure that the grounding requirements are strictly observed.

Environmental requirements

The following environmental conditions comply with (or exceed) BS EN 61010-1:1993

Indoor use IP30 (no protection against water)

Altitude up to 2000 m

Operating temperature 0 °C to +50 °C (local to SPA2)

Storage temperature -10°C to +70°C

Relative humidity 80% maximum (non-condensing) for temperatures up to +31 °C.

Linear decrease to 50% at +40 °C

Transient overvoltages Installation category II

Pollution degree 2

NOTE: If a higher IP rating is required, following a risk assessment by the installer of the equipment, an

additional external enclosure will be required to house the SPA1.

System description 7

Contents

1System description .................................................................................................................................. 9

1.1 SPA1 kit components .................................................................................................................... 9

1.1.1 SPA1 kit for UCC1 control (A-1333-0008) ...........................................................................9

1.1.2 SPA1 kit for UCC2 and UCClite control (A-5121-0008).......................................................9

1.2 SPA1 accessories ....................................................................................................................... 10

1.2.1 Service kits.........................................................................................................................10

1.2.2 Replacement SPA drives ...................................................................................................10

1.3 SPA1 system layout .................................................................................................................... 11

1.4 Simplified SPA1 and UCC2 layout .............................................................................................. 12

1.5 Simplified SPA1 and UCClite layout............................................................................................ 13

2Front panel description .......................................................................................................................... 14

2.1 Axis overload............................................................................................................................... 14

2.2 Emergency stop LED .................................................................................................................. 14

2.3 Motor enabled ............................................................................................................................. 15

2.4 Power .......................................................................................................................................... 15

2.5 Emergency stop button ............................................................................................................... 15

3Rear panel description........................................................................................................................... 16

3.1 Emergency stop connector.......................................................................................................... 17

3.1.1 Connector...........................................................................................................................17

3.1.2 Pin-outs..............................................................................................................................17

3.2 Machine I/O connector ................................................................................................................ 17

3.2.1 Connector...........................................................................................................................17

3.2.2 Pin-outs..............................................................................................................................17

3.3 Servo power amplifier connector.................................................................................................18

3.3.1 Connector...........................................................................................................................18

3.3.2 Pin-outs..............................................................................................................................18

3.4 Motor connector .......................................................................................................................... 19

3.4.1 Connector...........................................................................................................................19

3.4.2 Pin-outs..............................................................................................................................19

4Installing the SPA1 ................................................................................................................................ 20

4.1 Preparation of SPA1 service pack............................................................................................... 20

4.1.1 Motor connectors ...............................................................................................................20

4.1.2 20 KΩpotentiometer on DIL header ..................................................................................21

4.1.3 20 KΩpotentiometer on 150 mm wire ...............................................................................21

4.1.4 Emergency stop .................................................................................................................22

4.1.5 Machine I/O connector.......................................................................................................22

4.2 Setting of the motor voltage ........................................................................................................ 23

4.3 Accessing SPA drives ................................................................................................................. 24

4.4 Functions of the SPA drive potentiometers ................................................................................. 25

4.4.1 Ramp..................................................................................................................................25

8System description

4.4.2 Derivative .......................................................................................................................... 25

4.4.3 Proportional....................................................................................................................... 25

4.4.4 Zero offset ......................................................................................................................... 25

4.4.5 Max speed......................................................................................................................... 25

4.5 Adjusting the SPA drives............................................................................................................. 26

4.5.1 Max speed adjustment ...................................................................................................... 26

4.6 Adjustment of the inductance of the motor drive system............................................................. 28

5System interconnection diagrams.......................................................................................................... 30

5.1 Cable connections....................................................................................................................... 30

5.1.1 Emergency stop cable....................................................................................................... 30

5.1.2 SPA cable ......................................................................................................................... 31

5.1.3 Machine I/O cable ............................................................................................................. 32

6Maintenance .......................................................................................................................................... 33

7Testing and verification.......................................................................................................................... 34

8Revision history ..................................................................................................................................... 35