SSD RTS User manual

RTS 2nd Generation SERVO AMPLIFIER
1
PVD 3487 GB 03/2004
CONTENTS
SAFETY INSTRUCTIONS ……………………………………………………………………………3
1. GENERAL 5
2. TECHNICAL SPECIFICATIONS 6
2.1 RTS Servo amplifier performance chart 7
2.2 Block diagram 8
3. DIMENSIONS, LABELLING, 9
3.1 Dimensions 9
3.2 Labelling 23
4. - ELECTRICAL CONNECTIONS 24
4.1 General Wiring Requirements 24
4.1.1 Appliance handling 24
4.1.2 Electromagnetic compatibility 24
4.2 RTS Servo amplifier connection 25
4.3 Front Panel 30
4.4 Terminal blocks X1, X2 AND X3 35
4.5 Terminal block X2 connection 38
4.6 Terminal block X3 connection 38
4.7 Accessories 39
4.7.1 Plug-in Customisation card 39
4.7.2 Extra choke 39
4.7.3 Transformer 40
4.7.4 Mains filter 40
5. LED DISPLAYS 49
6. SERVO AMPLIFIER ADAPTATION 50
7. COMMISSIONING 51

RTS 2nd Generation SERVO AMPLIFIER
2
PVD 3487 GB 03/2004
7.1 Speed loop rapid adjustment 52
7.2 Complete speed loop adjustment 53
7.3 Diagnostic helpI 55
7.4 Calibration 56
7.4.1 Tachometric generator voltage calibration (R104) 58
7.4.2 Rated speed selection (R105) 59
7.4.3 Pulse current adjustment (R113) 60
7.4.4 Current limitation by external resistance or external voltage (terminal block X1) 60
7.4.4.1 By external resistance 60
7.4.4.2 By external voltage 60
7.4.5 Time constant adjustment I = f(t) (R109) 61
7.4.6 Adjustment of function I = f(t) (R103) 61
7.4.7 Adjustment of current limitation curve versus speed I F(n) (R131 - 132) 62
7.4.8 Calibration of function U - RI (R133 - R134) 63
7.4.9 Tripping limit calibration (R135) 64
7.4.10 Current loop gain adaptation to motor inductance (R136) 64
7.4.11 dc voltage calibration (RB) 65
Characteristics and dimensions subject to change without notice.
SSD Parvex SAS
8 Avenue du Lac / B.P 249 / F-21007 Dijon Cedex
Tél. : [phone] / Fax : [phone]
www.SSDdrives.com
YOUR LOCAL CORRESPONDENT

RTS 2nd Generation SERVO AMPLIFIER
3
PVD 3487 GB 03/2004
SAFETY
Servodrives present two main types of hazard :
- Electrical hazard
Servoamplifiers may contain non-insulated live AC or DC
components. Users are advised to guard against access to live
parts before installing the equipment.
Even after the electrical panel is de-energized, voltages may be
present for more than a minute, until the power capacitors have
had time to discharge.
Specific features of the installation need to be studied to prevent
any accidental contact with live components :
- Connector lug protection ;
- Correctly fitted protection and earthing features ;
- Workplace insulation
(enclosure insulation humidity, etc.).
General recommendations :
• Check the bonding circuit;
• Lock the electrical cabinets;
• Use standardised equipment.
- Mechanical hazard
Servomotors can accelerate in milliseconds. Moving parts must be
screened off to prevent operators coming into contact with them.
The working procedure must allow the operator to keep well clear
of the danger area.
All assembly and commissioning work must be done by qualified
personnel who are familiar with the safety regulations (e.g. VDE
0105 or accreditation C18510).

RTS 2nd Generation SERVO AMPLIFIER
4
PVD 3487 GB 03/2004
Upon delivery
All servoamplifiers are thoroughly inspected during manufacture and tested at length for bugs
before shipment.
• Unpack the servoamplifier carefully and check it is in good condition.
• Also check that data on the manufacturer's plate comries with data on the order
acknowledgement.
If equipment has been damaged during transport, the addressee must file a complaint with the
carrier by recorded delivery mail within 24 hours.
Caution :
The packaging may contain essential documents or accessories, in particular :
• User Manual,
• Connectors.
Storage
Until installed, the servoamplifier must be stored in a dry place safe from sudden temperature
changes so condensation cannot form.
Special instructions for setting up the equipment
CAUTION
For this equipment to work correctly and safely it must be
transported, stored, installed and assembled in accordance with
this manual and must receive thorough care and attention..
Failure to comply with these safety instructions may lead to
serious injury or damage.
The cards contain components that are sensitive to electrostatic
discharges. Before touching a card you must get rid of the static
electricity on your body. The simplest way to do this is to touch a
conductive object that is connected to earth (e.g. bare metal
parts of equipment cabinets or earth pins of plugs).

RTS 2nd Generation SERVO AMPLIFIER
5
PVD 3487 GB 03/2004
1. GENERAL
The RTS servo amplifier is designed for four-quadrant control of DC servo motors up to
mechanical powers of 2500 W.
It incorporates power and chopping supplies, including the energy dissipation resistor for some
versions.
This integration makes for easier wiring and allows front panel access for a more user-friendly
appliance.
Two formats are available :
Wall mounted type with rear angle bracket
Europe single 3 u DIN rack type.
Several axes can thus be included in one 19" rack.
TECHNOLOGY
• CMS components (surface mounted).
• Genuine galvanic insulation to prevent sensitivity to interference.
• Hall effect current sensor.
• Chopping frequency 17 kHz.
• Speed bandwidth up to 150 Hz.
• Integrated short circuit protection.
• Speed range : With tachometer 1: 10 000
U-RI 1 : 10
• ± 10 V differential reference for speed or current.
• Differential tachometer input.
FUNCTIONS
• Switchable tachometer control in U-RI.
• Current or speed control.
• Current reduction with speed.
• Current reduction with temperature.
• External current reduction.
• Zero speed adjustment.
• Zero torque adjustment.
• Fault clearance (RESET).
• Analogue speed or torque information.
• Servo amplifier status relay.
• ± 15 V available.

RTS 2nd Generation SERVO AMPLIFIER
6
PVD 3487 GB 03/2004
- COMPLIANCE WITH STANDARDS
RTS bears the CE mark under European Directive 89/336/EEC as amended by Directive 93/68/EEC on
electromagnetic compatibility. This European Directive refers to the harmonised generic standards
EN50081-2 of December 1993 (Electrical Compatibility - Generic Standard for Emissions - Industrial
Environments) and EN50082-2 of June 1995 (Electromagnetic Compatibility - Generic Standard for
Immunity - Industrial Environments). These two harmonised generic standards are based on the following
standards :
• EN 55011 of July 1991 : Radiated and conducted emissions
• EN 50140 of August 1993 and ENV 50204 : Immunity to radiated electromagnetic fields
• EN 61000-4-8 of February 1994: Mains frequency magnetic fields
• EN 61000-4-2 of June 1995 : Electrostatic discharge
• ENV 50141 of August 1993 : Interference induced in cables
• EN 61000-4-4 of June 1995 : Rapid transient currents
Compliance with the reference standards above implies adherence to the instructions and wiring diagrams
in the technical documents supplied with the appliances.
Incorporation in Machinery
The design of the equipment means it can be used in machinery covered by Directive 89/392/EEC (Machine
Directive) provided that it is integrated (or incorporated and/or assembled) in accordance with the rules-of-
the-art by the machinery manufacturer and in keeping with the instructions in this booklet.
2. TECHNICAL SPECIFICATIONS
Power reduction with altitude Above 1000 m, 10% fall in useful power per 1000 m up to maximum 4000 m
Operating temperature Normal use: 0 to + 40°C
Above 40°C, 35% fall in useful power per 10°C up to maximum 60°C
Storage temperature -30°C to +85°C
Chopping frequency 17 kHz current
Technology Photocoupler controlled MOS transistors.
Bandwidth in current Up to 1500 Hz
Bandwidth in speed Up to 150 Hz at 90° phase shift
Tachogenerator
maximum voltage 100 V at input
Speed range 1:10 000 with tachogenerator
1:10 with armature reaction (U - RI)
Static precision of speed for
load variation of 0 at In and
for servo amplifier rated
voltage
From Nmax to Nmax/100 +/- 0.5%
From Nmax/100 to Nmax/1000 +/-1.5%
From Nmax/1000 to Nmax/10 000 +/-10%
U-RI control, from Nmax to Nmax/10 +/-20%
Current control
Precision
Linearity
+/-2% of rated current at 25°C
+/-1% of rated current at 25°C
Electrical protection
- Galvanic insulation of power bridge
- Magnetic current sensor
- Power outputs protected against phase-to-phase and phase
to-ground short-circuits
Connections Plug-in terminal blocks on front panel
Protection IP20, IP20 for shrouded versions

RTS 2nd Generation SERVO AMPLIFIER
7
PVD 3487 GB 03/2004
2.1 RTS Servo amplifier performance chart
RTS CHARACTERISTICS
at 40°C ambient temperature
3/10-40M
single-phase
10/20-60
single/three-
phase
12/24---B
battery
12/24-130T
three-phase
20/40-130T
three-phase
16/32-190T
three-phase
In
p
ut volta
g
e ran
g
eV18/36Vac 18/56Vac 16/60Vdc 58/116Vac 58/116Vac 82/164Vac
Rated input voltage V 32Vac+/-10% 48Vac+/-10% 100Vac+/-10% 100Vac+/-10% 135Vac+/-10%
Maximum output voltage V= 40 60 V battery -2V 130 130 190
Permanent output current A 3 10 12 12 20 16
Pulse current (2 sec) A 10 20 24 24 40 32
Minimum motor choke mH 1 0.4 0.4 0.8 0.4 0.8
BRAKING ENERGY
DISSIPATION CAPACITY
Mean power
Max pulse power
(4% of cycle)
Maximum, non-repetitive
W
W
sec
15W (option)
400 (option)
2
30
800
1
without
without
-
100
2500
1
180
4500
2
180
4500
2
Losses dissi
p
ated b
y
RTS W 15 40 30 80 120 130
DIMENSIONS H x L x D (mm)
Rack version (single-phase)
Rack version (three-phase)
Wall-mounted (single-phase)
Wall-mounted (three-phase)
Rack/wall-mounted wei
g
ht
mm
mm
mm
mm
kg
130/51/216
--
150/61/212
--
0.8/1
--
130/51/216
180/61/212
150/61/212
0.8/1.2
--
130/51/216
(battery)
--
150/61/212
(battery)
0.8/1
--
130/61/216
--
150/92/212
0.85/1.8
--
--
--
150/115/221
1.9
--
--
--
150/115/221
1.9

RTS 2nd Generation SERVO AMPLIFIER
8
PVD 3487 GB 03/2004
2.2 Block diagram

RTS 2nd Generation SERVO AMPLIFIER
9
PVD 3487 GB 03/2004
3. DIMENSIONS, LABELLING,
3.1 Dimensions
RTS servo amplifiers are available in two formats for vertical mounting :
- in single Europe 3U DIN rack, in two widths 10" and 19".
- wall- or panel-mounted, with rear angle bracket.
Racks are available with or without ventilation, while RTS wall-mounted versions have individual
ventilation where required (RTS 12/24-130T, RTS 20/40-130T and RTS 16/32-190T). Unventilated
racks are for RTS 3/10-40M only.
230 V single-phase fan connection : To terminal block located at the bottom of the rack front
panel.
- Power consumption : RACE234V22, 2 x 15W fans.
RACE238V32, 3 x 15W fans.
CODE WIDTH DIMENSIONS
RACE234 42E (10’’) FELX 303532 (p12)
RACE234V22 (fan-cooled) 42E (10’’) FELX 303532(p12)
RACE238 84E (19’’) FELX 303531 (p11)
RACE238V32 (fan-cooled) 84E (19’’) FELX 303531 (p11)
Dimensions :
RTS Parvex Ref.
Input supply Compulsor
y
ventilation
Fan supply
voltage
Dimensional drawing ref.
Without
customisation
card
With
customisation
card
R
RTS 3/10-40M RTS 4104-301 Single-phase No
A*RTS 6104-301
C
K
RTS 10/20-60T RTS 43060102R Three-phase FELX 303440 FELX 303805
V
*RTS 63060102R (p13) (p15)
e Yes 230 V
r
s
Single-phase
i
o
RTS 12/24---B RTS 42BA0102 Battery FELX 303814
(p14)
n
RTS 12/24-
130T
RTS 43130102R
* RTS 63130102R
Three-phase FELX 303805
(p15)
*With personalizing card RZ6602

RTS 2nd Generation SERVO AMPLIFIER
10
PVD 3487 GB 03/2004
RTS PARVEX Ref. Input supply Ventilation Supply
Dimensional
drawing
(with or without
customisation
card)
W RTS 3/10-40M RTS 5104-301 Single-phase Not
A * RTS 7104-301 fan-cooled
L FELX 304743
L RTS 10/20-60T RTS53060102R Three-phase Not (p16)
*RTS73060102R fan-cooled
M FELX 304749
O RTS 12/24---B RTS 52BA0102 Battery Not (p21)
U * RTS 72BA0102 fan-cooled
N FELX 304780
T RTS 10/20-60M RTS 51060102R Single-phase Not (p17)
E * RTS 71060102R fan-cooled
D FELX 304790
RTS 12/24-130M RTS 51130102R
* RTS 71130102R
Single-phase fan-cooled (p18)
FELX 304745
RTS 12/24-130T RTS 53130102R
* RTS 73130102R
Three-phase fan-cooled connection
Internal (p19)
V
e FELX 304747
r
s
RTS 20/40-130T RTS 53130204R
* RTS 753130204R
Three-phase fan-cooled connection
Internal (p20)
i
o FELX 304746
n RTS 16/32-190T RTS 53190103R Three-phase fan-cooled connection (p22)
* 753190103R Internal
* With customisation card RZ6602

RTS 2nd Generation SERVO AMPLIFIER
11
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
12
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
13
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
14
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
15
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
16
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
17
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
18
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
19
PVD 3487 GB 03/2004

RTS 2nd Generation SERVO AMPLIFIER
20
PVD 3487 GB 03/2004