BOSCH TRANSISTOR AMPLIFIER

TRL5l25

CONNECTIONS
IT{TEGRATION INSTRUCTIONS

3s85 /82-t2 /81

technical modifications and errors excepted

TR 15-25

CONTENTS DRIVE
BOSCH

Page
T E C H N I C A LD E T A I L S 1

II CONNECTIONS

Transformer DY 5 3
Dimension drawing TRl-5/25 4
Connect ion TR L5/25 5
Control connections 6
Vol tage supply x9 7
Ready signal x 10 I

Command, enable x 11 , 27,31 ,4L 7

Axis clamping 8
Tacho connection x 72,22 ,32 , 42 9
Torque reduct ion Mred 9
Current monitoring I I
Current I imi tation T2 xt I
Mains connection 10
Fuse protection 10
Vent i lator connect ion 10
Motor connection 10
Motor protection 11
Short circuit braking 11
Groundi ng I2

III INTEGRATION INSTRUCTIONS 13

Preparing the integration 13

Instructions for the calculation
of the optimisation data 13
Determination : I = f (n) (calculation) 74
Determination : I = f (n) (diagram) 15
Calculat ion : torque reduction ,
(fxt) (' -M' --r^e d )' 16

Checking the connections 16

Checking the ground connections 16
cont ' d
TR 15-25

CONTENTS BOSCH
DRIVE

III INTEGRATION cont'd Page

Integration of the transistor amplifier \7

Checking BTB signal (ready) 17
Regulator card adjustment :
command value adjustment 18
direction of rotation 18
tacho polarity 18
s p e e d a dj u s t m e n t 18
drift adjustment 19
speed regulator optimisat ion t9
checking I = f(n) 19
T - U optimisation 20
T - U opt imis at ion 27
Checking amplifier in conjunction
with control 22
Completing the integration 22
TR 15-25

CONNECTIONS BOSCH
DRIVE

TECHNICAL DETAILS
B O S C Ht r a n s i s t o r amplifiers of the TR 15 series are availabl-e
as 2, 3 or 4 axis units in 2 power versions.

a) POWERMODULE
nominal current, without ventilator 15 A
nominal current, with ventllator 25A
peak current, without ventilator 30A
peak current, with ventilator 50A
Max. DC output voltage : 140 V or 230 V + LO%
Connecting voltage with AC supply:
140V- version : 3 x 60/104 V, +10%
230 V - vers j-on : 3 x 96/165 V, + 7O%
Connecting voltage with DC supply (e.g. battery):
140 V - version 150 vDC +lo%
230 V - version 24Av DC lro %
Form factor 1.005
Cycle frequency 200 Hz to 10 KIlz, depending on
operating conditions

b) REGULATORMODULE
Current supply via switching power supply from
the DC 1ink
DC output voltage + 15 V, stable, 5 30 mA
Speed command value 1 0V to + 10 V, adjustable by input
attenuator to 0V +5V
Speed command value 2 0V to + 10 V, fixed
o encoder : DC tacho generator
o input voltage: max. + 75 Y
o setting range of input amplifier:
60 7o to 760 %
Auxiliary inputs: o ax j.s aIlow, H = + 24 V DC
o + 24 V DCprovidedexternally as
supply for fault displays
Auxiliary outputs: o ready to run (BTB), H = + 24VDC ,
max. load 50 mA
o l2f, H= +24VDC, max. 50 mA
o lll , OV to +10V, max. 5 mA

c) PROTECTIVE FttNCTIoNS (FAULT DISPLAYS VIA RED L E Ds)

12t monitoring
Tacho monitoring ( interruption, short circuit )
Under-voltage
Over-vo 1t age
Driver monitoring (over-current)

1
TR 15 - 25

CONNECTIONS BOSCH
DRIVE

d) VENTTLATTON

B a si c vers ion self-ventilation

Add. equipment forced ventilation by a
venti lator assembly
o ventilators : 2 axial fans
o connecting voltage : L-230 Y or
7-715 V
current intake : approx. 0 .2 A for 230 Y
approx. 0 . 35 A f o r 1 1 5 V
delivery efficiency: approx. 3oo m3/ h

e ) O P E R A T I N GC O N D I T I O N S

Maximum ambient temperature : for operation: _

-25oe, to +45oC
for transport and storage:
- 25oC to + 85 oC
Operational height above sea leveI: max. 1000m
Protection standard IP)) to DIN 40050 and IEC \44
Admissible humidity: class F to DIN 40040
When fitting the amplifier it must be ensured that the
airflow through the power module is not impaired by
any other devices
Chokes and transformers must be located at a distance
> 300 rnm bel-ow the arnplif ier
The amplifiers must be fitted into cabinets to standard
IP54 or IP44 with dust filters in front of air inl-ets and
out lets .
If necessary forced ventilation is to be provided to
eliminate the dissipation loss from the cabinet.

Dissipation loss: approx. 5% of the nominal power

f) KEY TO TYPE NOTATION (example)

TR 15 4A 230 V

nominal output voltage: 230 V

4 axes
nominal current (self-ventilated)
transistor amplifier

2
Trl 15 - 25

CONNECTIONS BOSCH
DRIVE

r R 15 / 25 DIMENSION DRAWING

CLEARANCEABOVE VEI{TI LATORS

VENTI LATOR I\lIN. 100 mm
ASSEMBLY
I
I
CONNECTI ON
SIDE
rI
\\

T<2il.9
r;,2

Usi:*

485
26o,

T h e m o u n t i n gb r a c k e t sc a n b e
fitted for either front or
rear nnuntn i g.

-4-
TR 75-25

CONNECTIONS DRIVE
BOSCH

CONNECTION DIAGRAM

A A1
A 1
(
(
A
A2
A 2

D3 c3 D4 c4
D1 c1 (c) (D)
(c) (D) (c) to)

----l r- x42 --1 r x 1o.l r X 9 - r

r-X 2r t-x22 r-X31 r-x41
r-x12 2 34 r2345678 12345 1234 56 78 1234 r23
6 78 12345 1234 t7t t2345

, - a - F 4 - t -

v - - . 1 ' r I -l - -

(.XJ Jl[-],l,LtJ.:
s w l sw2 srg'
r;rrilr
sw 2 8TB
.t2t
tJl
M r"d' (.) { -l r.rti[I
s w l Sw2 ltg
J2r
tJl

H r. l.)lJ
sw1 SW2EID
r JI

lI5.r2, M
r.rr-r
< 5OmA
ov
' l5 V 1 3 0 m A

SW = command value

BTB = ready to run

FG = enable

5
TR 15 - 25

COI{NECTIONS BOSCH
DRIVE

CONTROL CONNECTIONS

Function and axis related terminal- strips are

provided a the under-side of the amplifier for
the connect ion of the control- s ignals .
\a vnl to
/t o output + 15 V, stable
Y1n
l \ I v o output " R e a d y " ( B T B)
o input +24Y, external

x11 , x2\, x31, X41 o command1 (SW1) & command2 (SWz)

for axes 1 to 4
o enable (FG) for axes 1 to 4

xrz , x22 , x32 , X42 o tacho axes 1 to 4

o output l2t axes 1 to 4
o output lt I axes 1 to 4
o input Mred axes 1 to 4

In the following text axis related connectors will

be referred to in the following notation:

ex amp1e.:

x
t ermi n al number
funct i on (e.g. 1 3 S t v+ F G )
re I evant axis (.e.g. 1 4 1st axis )
general notat ion for
plug-in connector

6
TR 15 - 25

C()NNECTIONS BOSCH
DRIVE

X09 : +15V V O L T A G ES U P P L Y

At connector X09. 1 and 2

,''sI there are + 15 V and - 15 \I
430rnA Available.
x09 .,,; Max. load: 30 mA each
Function : voltage supply
0v for command value
generat ion etc .

x10
8 T B 2 1 V , < 5 0m A

erern
if'2rV

i'\
\l

At X10.1 the "Ready" signal (BTB) is output. The signal has

+ 24 Y level when none of the monitoring functions have been
triggered. If one is triggered the signal immediately goes to
0 V Ievel.
Display via green LEDs on the "Power Supply" board.
The "BTB" signal must be incorporated into the hold-on
circuit of "E. STOP".
X10.3 serves for the connection of + 24Y from an external
supply (e.g. 24V power supply in the interface cabinet).
This will ensure that any active fault displays (red LEDs
on the "Power Supply" board) will be maintained in the
event of an "E STOP" condition, when the supply to the
amplifier is cut acc. to the connection instructions.

X11 , XzL, X31 , X4L : COMMANDVALIIES CSW), ENABLE (FG)

-rtl
; : swl
COMMANDCONNECTION:
x11
(x21) - (.1
,,swz Use twisted, screened
(x311 +t- |
2-cote cable only.
{x(1) i5 rErl
The screen must only be
connected on one side,
either at the eommand
output or at X. xl . 3 on
the amplifier.
Both inputs are designed
as differential inputs.

7
TR 15 - 25

CONNECTIONS BOSCH
DRIVE

The commandvoltage, which is used, must be earthed at the

c o m m a n do u t p u t . The voltage relatrng to ground potential
should not exceed + 1 V in order not to impair the regulating
accuracy .

ampltli er comma nvdo ' l t a g e

r'- --
xt';
ix21t
(x31)

, ortput fi I ter
{x41)

The ground connection of the command output must be good

enough to ensure that the maximum admissible difference
in potential is not exceeded, even during switching
operations in the mains supply. The ground connection of the
c o m m a n do u t p u t a n d t h e g r o u n d c o n n e c t i o n o f t h e a m p l i f i e r
must both be connected to the central ground busbar at
the same place in the interface cabinet.

ENABLE ( FG)

When the unlt is ready to run there is + 24 Y available

at term. X. x1 .6. It is advisable to connect a potential-
free contact between X.x1.6 and X.x1.8 to enable the unit
when it closes. Other conditions can be included in the
enable circuitry ( c l a m p i n g , oi1 p u m p etc. ).
If there is no + 24Y avai-lable at X.x1.8 operation of the
unit is inhibited.

CLAMPING

With axis clamping the enable must be switched off once

the axis has been clamped, so that the amplifier does not
work agai-nst the clamping.
The diagram below shows the switching sequence for command,
clamping and enable , signals.
ON Ena.ble should never be
travel switched off during nornal
OFF i n st r u c t i o n drive olreration, since the
ON cl amPing rmtor weuld othenrise not be
OFF decelerated under contrcl.
ON d
comman Exception: "E. STOP"
OFF In this case the enable
enabe
l
signal nn:st be switched
0 off inmediately. It rnu,st
tJ L time until
iJtt.ErHf;Fl
c l a m p sa r e o p e n Lti I axis
re unti
is statronary
a x is be ensured that the a><is
is stopped by a brake or
by short-circuit braking.

8
TR 15 - 25

CONNECTIONS DRIVE
BOSCH

,
x12, x22 , X32 , x42 : TACHO , Mred , lrl , T" xt

,r 2
xl
tll
x12
lx?zl Hred

(x iz)
lx qz)

TACHO CONNECTION

I4lith respect to the cable the same applies as for the

commandeonnection. The screen must only be connected
to X.x2.6 on the amplif ier. On the tacho side the screen
must be insulated. The screen must always be routed
separately . I ntermediary connect j-ons must theref ore
always be 3-pole.

r ^ MONITORING
A

f n order to monitor the armature current ( e.g. for a neasuring

device in the operating panel) there is a DC voltage
available at X.x2.2, which is proportional to the
normalised motor current. The voltage for the maximum
admissible motor current is + 10 V.
fnternal resistance of the measuring device: R. 2 2.2 kg
I

TORQUEREDUCTIONMred

Through the supply of +24Y to term. X.x2.4, a torque

reduction function can be realised, depending on
a resistor on the "Regulator" board.

CURRENTLIMITATION T2 x t

Once the current limit 12 xt has been exceeded there

will be + 24 Y available at X.x2.1 .
(The signal can be used for an external display in the
operating panel. )
At the same time the red LED on the "Regulator" board
wiII light up.

I
TR 15 - 25

CONNECTIONS BOSCH
DRIVE

2. MAINS CONNECTION

OnIy one voltage is required for the current supply to the

amptifier, since the logic is supplied via a power supply
from the D.C. link.
There are two possibilities for the current supply:
via transformer from the AC mains, with the connection
being made at terminals U, V, W.
The phase relationship is of no importance.
by DC voltage connection to terminals L+ and L-, with
the voltage being approx. 7A% higher than the nominal
voltage of the particular unit.

cv
dilil
*---\l--\'.'
)\l

-= T= oY s
lll
" l ' l ' l' t ' l
ttt ll/'4
m;n\7
Fz,il'11.l
I
fuse protection *e
a) for AC connection:
primary: 2 preferred values above the ncminal current of the transf . prfuuqy
type : s r.ow
secondary: 1 preferred value above the noidna] current of the transf. sec.
type: fast
max. 63 A
b) for DC connection:
corresponding to the cross-sectional efficiency to VDE tab1e.
type: slow (purely cable protection)

3. VENTILATOR CONNECTION

If the ventilator assembly is used an auxiliary voltage

must be made available for it. The connection is made
directly on the ventilator assembly.
( connection values: see Technical Details )

MOTOR CONNECTION

Dl cl D2 C2
(ct ) (Dl) ( c 2) ( D 2) 10 D3
(c3)
C3
( D 3)
D4
( c 4)
c4
(D4)
TR 15 - 25

CONNECTIONS BOSCH
DRIVE

If the armature inductance of the motor does not falI below

a certain minimum value the motor can be connected directly
to term. Cx and D" of the amplifier.

Required minimum inductance:

for 140 V units: L =35 (mH)

min r.
I
It = curent ljmit at n=O(A
for 230 V units: L = 140
min Il (mH)
I

If the eonnected nptor does not have an inductance of at

19"?t_ "Lrnin"
ru4' ,
the additionally required inductance must be supplied by
an additional choke in the armature circuit. This is, for
instance, the case with disk armature motors .

5. MOTORPROTECTION
D
The I- x t current limitation, which is standard to this
unit , oDsures optimum motor protection.
It is, however, advisable to use a thermal contact
provided in the motor.

6. S H O R T - C I R C U I TB R A K I N G

In order to allow fast braking of permanently excited

DC motors in emergencies the use of short circuit
braking is advisable.
For short-circuiting the motor one magnetic relay
contactor (normally closed) - or several switched in
paralle1 is used together with a resistor for
current limitation.

The load capacity for the contact of the braking relay

must be suitabl-e for the maximum admissible braking
curren t of the motor. It is calculated as follows:
Emax Emax = mtor B{F at ura)(. speed [U]
.,: r -1
na
ffi LfrJ rnru< = rrlax. admissible curnent rlit taJ
na = arrnatureresistance of rctor
L*]
The power of the resistor should be at least 50 W

11
TR 15 - 25

CONNECTIONS BOSCH
DRIVE

7. GROUNDING

Th9 amplifier has one connection each for "Ground" (Schutzleiter)

and trl rt

a) Ground connection for the housing (protection

against contact) .
The cross-segtion of the connecting cable must be at
least 6 mmo.
b) Terminal L- at the power connection (0V potential) -
cross-section as under a).
The reference potential of the commandoutput^ ( 0v)
must also have an erectrical c o n n e c t i o n ( 6 m m z) t o
the 0V busbar in the interface.

amplifier omrnandI /P
sw1 |

mi n.66
a
0 V b u s b a ri n T / F c a b in e t
( i n s u l a t e dm o u n t ni g )

DF zsd
l s -
machine

L2
Tlll 5-25

INTEGRATION BOSCH
DRIVE
PREPARING THE INTEGRATION
A11 components of the drive and their fitting must be
checked agarnst the customer specification.
This also applies to parts which are not supplied
by Bosch, and which are marked with an asterisk (* )
in the specif tcation:
The following points are to be compared with the
data given in the speci fication :
1. 1 Motor data
1. 2 Tacho data
1. 3 Transformer data see type }abels
1. 4 Amplifier type, part Do. , AB. no.
1. 5 Choke data (if required)
1. 6 Check opt irhisation dat a on the regulator card .
Where the specification gives special instructions regarding
connection, fitting or adjustment, these override the
relevant information given in the connection manual.
1.7 rf no optimisation varues are entered, they can be
carculated according to the following procedure:

acceleration current 1.9 103 :

R90= (KJt)
r1
tacho input resistors R 7 3/ 7 4 = ut. 1.71 (K4J
RAp
N- regu I ato r R 80 = 10 Klll
R79:300 Kr].r rough values
C 23 = 0.1 PFJ
tacho monitoring R103 =
R151 _
C33= I
1 see 2.tO

speed-dependent R 99 =
current
torque
1imi tation
reduction
R101 = l see 1.8

for 12 xt R93=
f or I{ R98= ] see 1 .9
".d
current display l'l R 94 : 12 KILA 10V for It at X.x2.2

Abbreviations:

It = acceleration current
UT. = tacho voltage at rapid
RAp

13
T R 15 - 2 5

INTEGRATION BOSCH
DRIVE

1.8 DETERMININGTHE SPEED DEPENDENTCURRENTLI},IITATION

1.8.1 If no speed-dependent current limi tation is required

the following components are to be fitted:
R 99 = 10 kO
R101 = k.rt

7.8.2 If speed-dependent current limitation is required it

must be determined as follows:
a) In the drawing of the speed torque characteristic
a line indi cating Mlir1t ( in our example 2 * M
.,o*. )
is to be drawn.
b) The next line to enter is a tangent to the commutation
limit curve. This will give point Uf Z.

c) A straight vertical line should then be drawn from

the intersection of line 1 and 2. This will give
point U
1,t .
d) The ampliftcation U of the normed tacho signal
is to be calculated as follows:

(J':6-'-8v 7'2
u tz urt
V
e ) Uf g to be calculated as f ollows : U -- = +
T3U

f ) A vertical l-ine should be drawn upwards f rom_Uf g

At the intersection with line 2 an hori zontal lfne
(.line 3) should be drawn.
If line 3 cuts the commutation limit, line 2 must be
drawn flatter and the calculations repeated from b).
If it does not, resistances R 101 and R 99 should
be calcul-ated:
D
^' 1 0 0 100 k_r
R 101 = -. : ---------
UU
R g g = 1 0 ^KL = == J5 V ==^ :
6.8V+ U-, .R100. 10
IJ.
EftT.E

abbrevi at ions :
Ilt
U-, = tacho voltage at intersection , = =^-
U -'I'r . 10V
r r. nn*r.
Ur, = tacho voltage at intersection U n . , o= r 1
t
10V
La La
nrto*.

DETERIUINATIONOF THE SPEED DEPENDENTCURRENTLIMITATION

If t a c h o - E M F 1 O 0 0= 2 0 V , n = 2 0 0 0 r p m
1,2 = 8.16 y 72V t2v
rT = 6.8V
uM ur,
= 1.36 urg = ;-= i*a
= 8'8 v
]^2v 6v
8.8V=L76Orpm
L4
T R 15 - 2 5

INTEGRA TION BOSCI.|

DRIVE

TOROUE
M/
lNml

1L
TNTERSECTION IINE l and 2

1?

I t l
M limit
IU

'l
I
I
( LrNE 1)

I
I
8_j
I
DYNAI{IC LIMIT

RANGB INTERSECTI N L I N E 2
6

Mt,t Line 3

{ intersect ion and

Iine 3 are admissible

cont i nuous t angent

ope rat i on

ulrz

1200 16m 2000 2400 28m

SPEED tl lmin.l

15
TR1 5-25

INTEGRATION DRIVE
BOSCH

1 .9 T O R Q U ER E D U C T I O N R93 = Mred for 12 ' t

R98 = M"ed

Since there is always a 20 KJL resistor fitted as a

parallel resistor the values to be fitted for R93
ifl.t7 and R98 (Mred) have to be determined with the
help of RX,
Simplified formula for RX

9.3 =[
Rx= 'ted
T
'.]
1 o. 453 %
100 %

Ca l c u l a t i o n for R93 and R98

-'l
K R1 r
R :20 = lr.frl
LJ
20KtRx

The following reductions can be obtained with

the resistance values of the E 24- range:

R t- t] reduct ion to ,
33 55% Ig
30 50% IB ,
2z 40% Ig
24 337o Ig
22 257o Ig
20 20% Ig

Abbreviations:
I - -- , = i n d i c a t e S t o h o w m a n y % in relat ion to the
reo 'acceleration the amplifier is to
current
reduce to.
value in 7o.

1.10 C H E C K I N GT H E C O N M C T I O N S

A detailed check of the installation from the MTB drawings

must be carried out, to ensure that everything adheres to
the connection instructions. This applies particularly to
installations where our amplifiers are used for the first
time.

1.11 CHECKING TIIE GROUNDCONMCTIONS

- There must be one 6 nrn2 cable l-eading from the ground terminal
of the anplifier to the central ground start point (PE) in the
interface, No other cables must be connected to this terminal.
AIso, terminal L- must be connected to the central 0V bus-
. bar in the interface.
- As per connection instructions the screens of comnand, tacho
and any +15V cables should only be connected at one end.
- Lines within the screened cable, which are not used must be
connected to the screen at both'ends.
- 16 -
T R 15 - 2 5

INTTGRATION DRIVE
BOSCH

2. INTEGRATION OF THE
TRANSISTOR AMPTIFIER

2.T C H E C KV O L T A G E S

remove all printed circuit boards from the unit-

disconnect c o n t r o l e o m m a n dv a l u e and connect
a variable command source ,z
remove fuses F1 - F3
swi t ch on vo It age (mai n swi t ch )
measure transformer yoltages (see spec. for
correct voltages)
switch of f maj.n switch, Teinsert fuses F1 - F3,
switch main switch on again
measure D.C. link voltage at term. L+ and L- (for correct
value: see max. output voltage in specification)

on units with forced ventilation the functioning

of the fan should be checked
switch main switch off

2.2 C H E C KB T B S I G N A L ( r e a d y to run)

insert braking chopper card and power supply card

switch on drive
the green LED on the power supply card must be on
and there must be +24Y present at X10.1
switch off drive

:i:::3I' il:;;;"'ffi;i::il.o;*i,?ll"f"i3':$,;:il:N'3,
I{hen the main switch has been switched off
boards must only be inserted or pulled out
once all LEDs have gone out (approx. 10 sec.
after switching off ).

2.3 ADJUSTMENTOF THE REGULATORCARD

2 .4 On pre-optimised units only items 2 .5 , 2 .6 , 2 .7 and

2 .L6 need to be carried out .

L7
T R1 5 - 2 5

INTEGRATION DRIVE
BOSCH

2.5 CHECKINGCOMMAND ADJUSTTIENT,DIRECTIONS OF ROTATION

AND TACHO POLARITY

remove the TU bridge on the regulator card

a 10 K-ff resistor must be fitted in R80
fit resistor in R90 acc. to the calculation instructions
or the speciftcation
R73/74 must only be soldered in on one side
insert regulator and power supply cards
switch on drive, without giving an enable signal
i n t r o d u c e c o m m a n dv o l t a g e c o r r e s p o n d i n g t o r a p i d
feedrate, (e.g. + 7.5 V) and adjust to +10V at measuring
point "SIlr 1" with pot R144
introduce 0V and give enable ( FG)
slowIy increase commandvoltage
the axis must move in positive direction with positive
command values
should the direction be incorrect: change motor polarity
for positive c o m m a n dv a l u e s a t X . x l . 2 t h e t a c h o v o l t a g e
at X.x2.B must be positive with respect to X.x2.T
should this polarity be incorrect: change tacho
polarity
switch off drive
solder in R 7 3/ 7 4

2 .6 SPEED ADJUSTI\MNT

activate N-regulator, + remove R80 = 10 k Jl- and

connect Rc-decade via R79 - C23 (rough values 300 k(),
0.1 pF)
switch on drive, give enabl-e ( FG)
i n t r o d u c e c o m m a n dv a l u e c o r r e s p o n d i n g to 50% of
the expected rapid speed

measure speed, and set to 50% of the rapid speed with

p o t R 14 3
(measure either with a tachometer on the motor, or
via the tacho voltage at terminal X.x2.7-8)
when the speed adjustment has been completed +10V
at measuring point trTrrcorrespond to the rapid speed.

18
TRl 5-25

INTEGRATION DRI VE
BOSCH

2.7 DRIFT ADJUSTMENT

introduce speed command value 0

i f the motor drifts noticibly , reduce t he drifting
as much as possible with pot R146 (dou'n to 0, if possible )

2.8 OPTIMISATION OF THE SPEED REGULATOR

i n t r o d u c e c o r n m a n dv a l u e a s E - f u n c t i o n
t h e t i m e c o n s t a n t T s h o u l d l i e a p p r o x . 1 0 7 ob e \ o w
the expected final time constant
the amplitude of the commandvalue should be such
that the regulator works just below the current
limit during acceleration and deceleration
the signal measured at point "UN" should ideally
be as follows:
RZg = 390 kJl- ; C23 = 0.1 pF

test point trUNr

adj ustment
3 V / div.

signal standardisation ; 8V 3 current limit

2.9 CHECKING THE SPEED DEPENDENTCURRENT LIMITATION (if required)

check the tacho signal characteristic (measuring

point T) and the current command value characteristie
(measuring point UN) against the values entered for
r^ 1 , ^r 2 , n l a n d n o i n t h e s p e c i f i c a t i o n .
r z
please note that both signals are standardised, i.e.
o at measuring point t'Ttr --) 10 V 3 RAPID = n2

o at measuring point fruNrf -? 8V 3currentlimit=It

19
T R 15 - 2 5

INTEGRATION BOSCH
DRIVE

2.9 cont'd

example of a speed dependentcurrent limitation

adjustnent
10 V /div.

current limit value I-l - 50 A ! 8V

rnrtor speed n1 _ 1500 rpm _4 5V
cument limit value IZ = 35 A 5.5 V
rnrtor sped n2 = 3000 rprt 10v

2.7O O P T I M I S A T I O NO F THE TACHO MONITORING

examp1e

TU bridge not connected up yet

opt imi s at i on sequence:
1 ) R 10 3
2 ) R 15 1 C33

2 .71

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2 .12 U s e R 10 3 t o a d a p t t h e E M F c u r v e to the tacho signal

( rough value approx. 10 k)

EHF

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Rl 51 k 10 v / div.
c33 = pF

2 .73 Use R151 - C33 to eliminate any remaining spikes. St art

by trying low values (R = 3 kJ?-, C = 22 nF).
Sequence: 1 ) Eliminate the remaining spikes by changing
the capacltor value.
(if the capacitor value is chosen too high
spikes wilI appear in the opposite direction)
2) The final fine adjustment is done by changing
the value of the resistor.

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2 .74 Solder in the values determined f o r R 10 3 , R 1 5 1 a n d C 3 3 .

Plug in TU bridge and check the tacho monitoring function

2.\5 The above procedure is to be carried out for each axis.

2L
'i'i.1.1
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INTEGRATION DRIVE
BOSCH

2.!6 WITH CONTROL

C H E C K I N GA I { P L I F I E R I N C O N J U N C T I O N

connect final c o m m a n dv a l u e source

switch on drive and give enable signal
introduce c o m m a n de q u i v a l e n t t o f ' 0 ' f s p e e d
should the motor drift adjust as close as possible
t o r r0 ' ' w i t h p o t R 1 4 6
on installations with positional servo loop:
adjust LAG down to 'r0tt
introduce c o m m a n de q u i v a l e n t to max. motor speed
on instal lations without positional servo loop:
use a manual tachometer to adjust the motor speed
t o t h e c o m m a n ds p e e d ( p o t R 1 4 3 )
on installations with positional servo loop:
set the required KV factor with pot R143:

= i+l
KV v = axis velocity
m*i

S = lag

example: V = 10 m/min
S = 10 mm
1r)
KV=;+=L
IU

switch off drive

3. COMPLETING THE INTEGRATION

solder in all values which were determined with

the RC decade as fixed values in the amplifier
and notify VES3
seal alI potentiometers

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