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BoschSeruodyn
lnverterSystem
SeruoModuleSM. . -T
Handbook/Vo.12
P -Nr 3841lE1- 03/86
@ BoscH
FlexibleAutomation
Gontents 1 . D e s i g n o f t h e l n v e r t e rS y s t e m
1 .1 C o nstructi on
and functi onS M . .-T
1 .2 R e gul ati on functi onsS M . .-T
and moni tori ng
2. TechnicalData
2 .1 T ypedesi gnati on
2.2 Powerunit
2 .3 R egul ati ng
and controluni t
2 . 3.1 C ontroli nputs
2.3.2 Motorfeedback
2.3.3 Controloutputs
2.3.4 Test points
2.4 D i a g n o s t i c sm o d u l e
3 . A p p l i c ati on
Instructi ons
3 . 1 R e c o m m e n d em
dodule/motorcombinations
3 .2 O pti ondi agnosti cs
modul e
3.3 Optiontandemdrive
3.4 Optionbacklashcompensation
3.5 Optionramp generator 10
3 .6 O pti onshortci rcui tbraki ng 10
4 . D i m e n si oned
D raw i ngs 12
draw i ng- servomodul eS M . .-T
4 .1 D i mensi oned 12
draw i ng- rampgenerator
4 .2 D i mensi oned 13
draw i ng- shortci rcui tbraki ngmodul e
4 .3 D i mensi oned 13
5 . M o u n tingInstructi ons 14
and mounti ngposi ti on
5 .1 C onfi gurati on 14
5 .2 C abi net 15
5.3 Connectioncables 15
5 .4 M o unti ngi nstructi ons
S M . .-T 16
6. ElectricalConnection 17
6.1 BasiccircuitdrawingSM . .-T+ VM 60-T 17
'100/R-T
6.2 BasiccircuitdrawingSM . .-T+ VM 18
6 .3 F r ontpl atedesi gnati ons
S M ..-T 19
q 1986
R O B E R TB O S C HG M B n
E r r o r sa n d t e c h n i c a l
m o d i fi c a t i o n se x c e p t e d
@ BoscH
Flexible
Automation
1.1Construction
and
Functionof
SefVO MOdUle SM..-T BoschAC invertersof the SM..-Trangeallowoptimumutilizationof the brush-
lessBoschservomotors.
ln conjunctionwith a rotor positionrecognitionfunctionand a brushlesstacho
the servomoduleregulatesthe motor torqueand motor speed.
In a inverterstagewith powersemiconductors voltagesand currentsare
generatedin such a way that the machinecan producethe requiredtorqueat
any speed.
1.2 Regulatingand
Monitoring Functions Speed RegulationFunction
SeruO MOdUle SM..-T The speedregulatoris containedon an optimisationcard.Two speed
c o m m a n ds i gnal sand one actualspeedsi gnalare avai l abl e
as i nputquanti-
ti e s(S W1 ,SW 2 and tacho) The output(U N )i s the commandfor the current
regulator.The regulatingprocesscan be influencedin severalways.
The speedcommandsSW1 and SW2 and the tacho signalare transmittedvia
differentialamplifiers. The differentialamplifierfor SW1 is linkedto a slope
limitingdevicein orderto smoothout the steppedoutput of most NC controls
(see7.3.3).lts inputvoltageof 7 V to 11 V can be adapted.SW2 has a fixed
a mo l i fi c a ti on
of 1 : 1.
The tacho signalcan be adaptedwithinthe wide rangeof 500 to 4000 rpm
with micro-switchesand an additionalpotentiometerfor fine adjustment.lt is
also possibleto connectan activefilter betweenthe tacho inputamplifierand
the speedregulator(see7.3.8).
The speedregulatorhas a Pl circuitas standard.For specialcasesderivative
actioncan also be realized(see7.3.8).
@ BOSCH
Flexible Automation
GurrentRegulatorFunctioning
The currentregulatorcomparesthe speedregulatoroutputas a current
commandwith the actualcurrentvalueand sendsa suitablecontrolsignalfor
the adaptivecontrolof the pulseinverterfor electronically
motors.
w i th the commutati onencoderof the motorthe pul sei nvert er
In c o n j u n c ti on
c o n tro lo p e ratesthe pow ersemiconductorsof a bri dgeci rcui t.
Thismakesit possibleto regulatethe currentin the motor windings,in which
an instanttorque can be generateddependingon the rotor position.
MonitoringFunctions
All the monitoringfunctionsdescribedbelowcan be displayedand storedon
an optionaldiagnosticscard.
PSU Fault (Nr)
The internalsupplyvoltagesof servomoduleare monitoredfor overvoltageor
undervoltage (14 V and 16 V). lf one of thesefaultsoccursReady2 (BTB2) is
switchedoff and the internalenable(FG l) is taken away.
With the aid of the optionaldiagnosticsmodulethe PSUfault (Nr) can be
displayedwith an LEDand signalledto a higherlevelcontrolvia an interface
signal.
Module Fault (Mr)
Thisfault signalis producedif the load circuit(motorconnection)is interrup-
ted or short-circuited.
Ready2 (BTB2) is switchedoff and FG 1 is taken away.Furtherprocessingof
the signalpossiblewith the diagnosticsmodule(see PSUfault).
Tacho Fault (Ir)
Thissignalis producedif the tacho lineis interruptedor short-circuited.
Ready2 (BTB2) is switchedoff; FG I is taken away.Furtherprocessing
possrblewith the diagnosticsmodule(see PSUfault).
@ BOSCH
FlexibleAutomation
CommutationMonitoring(Kr)
T h i smo n i to ri ngfuncti onproducesa faul tsi gnali f i nadmi ssi blcombie nati ons
of commutationsignalscome from the rotor positionencoder,if the tacho
or the
c o n n e c to ri s not pl uggedi n,or i f therei s a faul ti n the tachoel ectroni cs
ta c h ol i n e .
Ready2 (BTB2) is switchedoff; enablesignalFG I is taken away.Further
p ro c e s s i ng
possi bl ew i th the di agnosti cs
modul e(seeP S Ufaul t).
ExcessMotor Temperature(Bu)
Thisfault signalis producedwhen the motor windingtemperatureexceeds
1400c.
Furtherprocessingof the fault signalcorrespondsto that for the excessheat
sinktemperature(Bx).
Motor Blocked(lxt)
T h i ss i g n a appear
l modul ei f the motorrecei vesthe maxi-
on the di agnosti cs
mu m c u rrentfor morethan 2 secondsw i thoutmovi ng.A fterthi sti me the
maximumcurrentis reducedto 500/0.
T h ed ri v ew i l l remai ni n thi s condi ti onunti lthe causeof the motorbl ocki ngis
e l i m i n a te d.
T h e s i g n a (l lx t) has no f urthereffect.Furtherprocessi ng
of the si gnali s
p o s s i b l ew i ththe di agnosti cs modul e(seeP S Ufaul t).
Speed Monitoring(n(nx)
T h i ss i g n a il s producedi f the speedat any one ti me i s bel owa predetermined
m i n i m u ms p e e d .
T h e s i g n a can
l be di spl ayed modul e.B y changi ngcompo-
vi a the di agnosti cs
n e n tso n th e opti mi sati oncardthi ssi gnalcan be madeto appearonl yat
standstill. Thissignalhas no furthereffect.
speed(nx)i s predetermi ned
T h e mo n i to ri ng by the val ueof a componenton
the optimisationcard (seeintegrationinstructions7.3.7).
@ BOSCH
Flexible Automation
2.T*hnical Data
2.1 TVpeDesignation
transistorconstruction
peak modulecurrent(accelerationcurrent)
ratedmodul ecurrent(conti nuous
curren t )
S ervomodul e
ra te dc u rre n t[A ] 5 10 17 25 35 50
a t a m b .t e m p . : 4 5 o C
a t a mb .te mp.> 45" C currentreducti onby 1,2ol per
o degreeK
peak current [A]
(2 sec) 10 20 35 50 70 100
DC link voltage 460 Vrs1s6( V1,r< 700 Vrnu*
s p e e dre g u l ati ng
ra n g e ) 1 : 10,000
re q u i re me nt
for
e n e rg y-
power supply [W] 20 20 22 24 26 30
max. power loss [W] 60 90 150 200 250 350
Cooling
mass [kg]
max.operatingtemperature 0oCto+55oC
max.storagetemperature -25"Cto+70"C
2.3 Regulatingand
Control Unit
3. ApplicationInstructions
3.1 RecommendedModule/
Motor Combinations
83.031.030 X
83.050.030
I X
83.068.030 X
8 3 .0 9 5 .0 3 0 X
84.070.030 X
84.092.020 X
B4.140.O20 X
X 11 0 0
84.140.030
I X 11 0 0
84.180.020
I X 11 0 0
85.250.015 X 11 0 0 11 0 0
85.250.020
I X 11 0 0
11 0 0
2200
85.380.012 X 1100 11 0 0
X 11 0 0 2200
8 5 .3 8 0 .0 2 0 X 11 0 0 2200
X 11 0 0 2200
86.480.020
1 X
11 0 0
11 0 0
2200
2200
86.720.O20 X 2200 2200
86.960.010 X 11 0 0 2200
X 11 0 0 2200
86.960.015 X 2200 2200
( 1 ) M o t o r s i n f e r r i t ec o n s t r u c t i o n
Technical data see handbook 01
@ BoscH
FlexibleAutomation
3.3 Option
Tandem Drive onrequest
3.4 Option
BacklashCompensation onrequest
@ BOSCH
FlexibleAutomation
3.5 Option
Ram p G enef a tOf T h i sa d d i ti o nalmodul eal l ow sa l i mi tati onof the l eadi ngand trai l i ngedgeof
th e c o mmandsi gnalthereby
, l i mi ti ngthe ti me for motoraccel erati on and
b ra k i n g(tm i n: 5 ms;tmax: 10 s).Leadi ngand trai l i ngedgecan be set sepa-
ra te l y(fo r ra ngesee the secti onon connecti ons, 6.4.14and the draw i ngs
i n 4 .2 ).
T h e c a rd i s d esi gnedto be cl i ppedonto a tophatrai land i s suppl i edw i th a
+ 1 5 V a u x i li ary
vol tagefrom the suppl ymodul eV M.
3.6OptionShort
CifCUit Braking In orderto preventthe feed axesfrom slowingdown in an uncontrolledway in
th e e v e n to f an E .S topthe feed motorscan be shut dow n by shortci rcui ti n g
th e mo to rwi ndi ngs.
T h ev a l u e sof the shortci rcui tbraki ngresi storsare chosento ensurethat th e
short circuitcurrentachieves3 to 4 times the rated current,and therefore
a l s o3 to 4 timesthe ratedtorque,i n the i ni ti alphase.
T h e re q u i re dresi storval uesare cal cul atedon the basi sof the rotati onal
energy(Wrot:'/, Ji.l2), which needsto be converted,assumingn : max.speed
a n d l o a di n e rti a: motori nerti a.
T h e re s i s to rscan be purchasedas i ndi vi dual
resi storsor i ncorporated
i ntoa
c o mp l e tere si stormodul e.
10
@ BoscH
FlexibleAutomation
5.3 GonnectionCables C o n n e c ti o ncabl esw hi chgo to the termi nalboardand the P Econnecti on
m u s tb e c o mbi nedi n a cabl etree and attachedto exi sti nghol dersw i ththe aid
o f 2 c a b l ebi nders.
cabl esgoi ngto front pl ateconnectorsX 1,X 6,X 9 and to di agn os-
C o n n e c ti on
modul eX 14 can be routeddi rectl ydown-
ti c s X 3 1, X7 and to the opti mi sati on
w a rd sa n d intoa cabl echannelw hi chmustbe mountedbel owthe modul e s
(m o u n ti n gbracketsfor the channelare suppl i ed).
15
@ BoscH
FlexibleAutomation
5.4 Mountinglnstructions
SeruoModuleSM..-T
A
draw cablebindersthrough
t h e e x i s t i n gh o l d e r sa n d tr
holdcableswith them
+il
unscrewcover,
fastencable shoes
and busbarswith screws
with washerassemblies,
screw cover back into place
connectorf. Xg
connectorf
ffi ffil'b*;
ffi
spadeconnector(red)
for screen
\;B
xHi rb
connectorsare
suppliedwith modules
(option)
nE
c o n n e c t o fr. X 1
assembleconnectorX5
(RODencoderfrom motor);
for connectorassigment
see connectioninstructions
connectconnectorX8
from next moduleto
the left here
6I
connectconnectorX8
to the next module
on the right (X8)
16
6. ElectricalConnectionand FrontPlateDesignations g'@
5
'l-i{v
q trrr o ccnnranCS^I1
.e lacno I
O lras Elrr O orftft O rq.ff6
{-,.
tt-'
3ltrl;l*,
OF6 flr_ '
N-reE:la
0PTIMISATI$I
ln 2kt
<-r
qa-a .sH l-l tu
{-. l=lrre
-l-a ar
i-.
rl-r t--' t-rrt ror
.ttat? ,r. Jf
I
(ll
9o
FO
=U)
"*.O
9r
Fs- ar
-'lJ:-a5-
'l-i;J'
'-'r'lT
"'l:a:]
ocormand
S^11 --.-.r-. -.-.-<
lltOn^ulaqnostrcs
-- :
f s:>
@fas vro PSUfALiTt- ! Fits o lrtr,
O ltDr Fl-t o oFrtET OAff6 @ Ertt
€ anr EII- 0PTIMISATIOtiI
N-regu'l
ator
O Fct l-lo'
OFc fl".
SH Ei; vtlt00/R
cable
lr{fJ
Its
-lrffJ PS.Jfzul t . faul t
.SCl €€0 rrDtorDlocKed l.-
,- cl
\
TncnQfau tI o> nnectionfault
sDeed[Dnrtorrnc aRr F E: S'!.8;
i iri'iili
a.
[Dtor tgno. Sctt/<t
l"eat sink'tsrp.
nodulefault-'
ccnrutatjon fault
reset rnput
@ connectortlpe X5
15-poleon nndulesiG
@ BOSCH
Flexible Automation
6.3FrontPlateDesignations
SM..-T
{ n-regua
l tor 1:l P - R E GI
- P - r e g u l a t i o nf r o m n - r e g .
s w it c h L t * i t c r rni s I PI ov\ t
|
ll
c o m m a n1d
t a c h o v o 1t a g e
l;+
m o d uel c u r r e n t
points ( st a n d a r dzi e d)
n-regua l tor output
nrserQ reset button
NF P S Uf a u l t
ui m o d uel f a u l t
KF c o m m u t a t i ofna u l t
TF tacho fault LED
n-regua
l tor output
'J-.l Uxc
rlx heat sink temp.
fu motor temperature
Ux-
t-]-J n<nr s p e e dm o nti o r i n g
t a c h o v o lt a g e o u t p u t
m o d uel c u r r e n t o u t'o u t
( s t a n d a r dzi e d)
il Tr
I norm
S Wl o
lrt motor blocked
c o m m a ni n dput { s wl -
ov
NF P S Uf a u l t
axis enable { lrl motorblocked
FG
c o m m a nodu t p u t'
Tr tacho fault
I SWir
standardizbd s p e e dm o nti o r i n g
gr o u nd ,q_J
,n GN D
fr motor temperature
$x .... heat sink temp.
Ready1 - relay.contact B TBT
MF m o d uel f a u l t
i KF) c o m m u t a t i ofna u l t
Ready2 - relaycontact / B T 82
nes\_J
'-1-J reset i nput
OY s u p p l yv o lt a g e f o r
I
2.V
J d i a g n o s t i c so p t i o n
19
@ BoscH
FlexibleAutomation
6.4Gonnection
ServoModule Ea c hs e rv omodul e(S M)hasa connecti onfor the protecti veearth(pow er
c o n n e c ti on,
termi nalbl ocktop ri ght).P rotecti ve
earthand P Ebusbarmust be
6.4.1Earth c o n n e c te dw i th a 2.5 mm2cabl efor S M 5/10,1ol 2o,17l 3sand w i th a 6 mm 2
c a b l efo r SM 25150, S M 35/70and 10 mm2for S M 5O/100.
6.4.2Motor Connection T h e c o n n e cti onto the brushl ess servomotorsi s madevi a termi nal sU 2,V 2 .
w 2 o f th e associ ated servomodul es.on the motorsthemesel ves the
c o n n e c ti o ni s madevi a pl ug-i nconnectors.
motor sizes
SD-N3
SD-!4
SD-N5 Motor
* Note:
PIN D (motor star point) A B
must not be connected! S D - 8 3 ,8 4 , 8 5 1 2
+ 2 4 V + 1 0 0 / oO V P E - b u s b a r
L___T_____-_-_
brake
(option)
i n di v i du a l
resistors
or
KBmodule
motor size:SD-n6
motor type c o n n e c ti o ns i z e
[mm']
SD-!3 1,5 1u
SD-N4 1,5
+24 V +'l0o/o 0V
sD-n 5. 250. 015 1,5 L__T__________J
sD-n5.250.020 2 ,5 brake
(option)
sD-n5.380.O12 2.5
sD-n5.380.020 4
sD-n6.480.020 6 individual
resistors
sD-tr6.720.020 1 6 or
sD-n6.960.010 1 0 KBmodule
sD-tr6.960.015 1 6
* s h o rtc i rc ui tbraki ngfor E .S top
condi ti on
20
@ BoscH
FlexibleAutomation
-t-t
[:I4:4:i
U!4liC f,l,il'j ll
l -l -f
SM VM
Es ta b l i s the
h D C l i nkconnecti onw i ththe busbarsand fasteni ngscrew s
s u p p l i e di n the accessori es
pack.
T h es e e -through coverfor the termi nalbl ockand the busbarconnecti ons
must be replacedafterwardsas protectionagainstaccidentalcontact.The
ri g h ts i d eo f the busbarconnecti on(on the ri ghtsi deof the V M,E B Mor K M)
mu s ta l s ob e protectedagai nstacci dentalcontactw i th an addi ti onalbl ack
p l a s ti cc o ver(suppl i edi n the accessori es
packfor V M,K M or E B M).
Start-upswitchingmodule
(Bo s c hno. ' l05- 913274 )
3ontactorsK01 in series,since
D C l i n kv olt ageuPt o 1 0 0 0V.
21
@ BOSCH
Flexible Automation
6.4.5ConnectorX5:
Control Signalsfrom Motor C o n n ecti onof screenby
(rotor position encoderand d i re c tcl ampi ngonto connectorhousi ng
tacho)
_l e n c o d e ru n i t
1 0x 0 . 1 4 D 1 r nm o t o r )
tC-
'FI
.F
.F
5C-
X5 I
I
I
s(-
L
10( I
,
of- r----------> V*
lJ 10
7(- G__l 0v
.t-
I 4 x 0,5f1
r----------r> V-
tt(-
,e
gC- Note:
Connect screenat both ends!
qC-
5C-
22
@ BoscH
Flexible Automation
6.4.6TerminalStrip X1
SM I +24Y
* Fo rgener alf aults i g n a l : i4
all readycontactsof the module
co m binat ion c onn e c te di n s e ri e s
( V M ;S M ;A S M ;S P M )
M a x .c o n t a c tl o a d :2 4 V , 1 A D C
6.4.7TerminalStrip X6
l GND
I
I
t*.t ,
I Kl"
+ 2 4V
"I-
)enabre
-ou
AH c o n n e c ts c r e e n
| ,-llr I a t b o t h e n d sI
X6
swr- )
lii ii lcommand
0 SW1+
)
z ln,,.u, ) -
f
BT",
I n:;',l'"n
J
* In ter loc k ingwit h K 1 (m a i n sa n d
brakingcontactor)must be provided
c th a t t he enables ig n a li s s w i tc h e d
- -rffduringshort circuitbraking.
23
@ BoscH
FlexibleAutomation
GonnectorAssignment
X6 TerminalStrip
X 6.1 GND ground
R e fe re n c ep otenti alfor measuri ngoutputs.
X6.2 SWla standardizedcommandoutput
shortci rcui tproof,+ 10 V
Si n g l e -p o l e,
X6.3/4 FG axis enable
O p to c o u p leri nputw i th physi calseparati on.
D i gi tal+ 24 V on X 6.3,0 V on
X 6 .4 ;d i s p l a yvi a greenLE D" FG"on the front pl ate.
- l f th e s i g nalon X 6.3i s hi ghagai nstX 6.4and i f R eady1 and R eady2 are
p re s e n tthe outputstageand the regul atorare enabl ed.
- A n o rm a ll yopen contactof contactorsK 01 and K O2(mai nscontactors) a nd
a n o rm a l l yopencontactof eachshortci rcui tbraki ngcontactormust be
c o n n e c tedi n seri esw i ththe enabl ei nput.Thi si s necessary to ensuretha t
th e e n a b l ew i l l be sw i tchedoff duri ngshortci rcui tbraki ng.
- l f th e a x i scan be brakedor cl ampedthe enabl esi gnalFG must be sw i tch ed
o ff w h i l eth e brakeor cl ampi ngi s acti ve.
- Thereare two possiblesequenceswhen the enableis switchedoff -
s e e s e c ti on7.2.3:
- d ri v es l ow sdow n i n an uncontrol l ed manner
- d ri v eb rakesw i th maxi mumcurrent.
24
@ BOSCH
FlexibleAutomation
6.4.9ConnectorX9 Ux-,.Up-:
S p e e dre g ul atoroutput
A n a l o g u eo utput0 ...+ 8 V
+ I
PSU fault Nr
I
+I speed monitoring n<nx
25
@ BoscH
Automation
Flexible
26
@ BOSCH
Flexible Automation
T h eta b l eb e lowshow sthe currentl i mi tval uesachi evedby usi ngdi fferent
v a l u e sfo r re si storR 25,w hi chi s fi ttedon sol deri ngtermi nal s,
w hena di gi tal
s i g n a l *(H : + 24 V ) i s suppi i edto the opti mi sati on
card:
R25 reduction
to i limit
l k O h ml Io,b]
51.1 90
23.7 al
16.2 50
12.1 ??
8.25 10
* X 1 4 . 4+. 2 4 V
X 143: 0V
T h et a b l eb e l o ws h o w st h e c u r r e n tl i m i tv a l u e sa c h i e v e di t a 5 . 6 2k O h m
r e s i s t o irs f i t t e df o r R 2 5a n d a n a n a l o g u es i g n a l "i s s u p p l i e dt o t h e o p t i m i -
s a t i o nc a r d :
v o l ta g eo n reducti onto
Mred Iiimit
tvl [70]
92
82
72
62
52
32
10 12
* X 1 4 . 4 e: . g .+ 1 0 V
X 14.3: 0V
D i f f e r e n t i a li n p u t w i t h f i x e d a m p l i f i c a t i o n1 : 1 .
I n p u t s i g n a l :0 t o + 1 0 V .
28
@ BOSCH
trlexible
Automation
6.4.14Connectionof Option
Ramp Generator
c o m m a n ds o u r c e
rO
II
2o
30
I
4O
I
x6 I
I
5C) SW+
r*-l
60 ) SW_
sw+l I
70 o0v
I
I
30
'.J I
6 / 1 9 R a m pG e n e r a t o C
r onnection
W i r et h e c a r d u p a c c o r d i n gt o t h e a b o v ec i r c u i td i a g r a mp, a y i n gs p e c i a l
a t t e n t i o nt o t h e c o m m a n dl i n e sI
T h e r e q u i r e dr i s ea n d f a l lt i m e sa r e d e t e r m i n e db y t h e v a l u ec h o s e nf o r
c a p a c i to rC5 on the card.
Afte r e v a l uati onof the operati onaldata accordi ngto the exampl ebel owthe
c a p a c i ta n cecan be deri vedfrom the tabl e bel ow :
C s [p F ] operationaldata [msec/V]
0.01 1 . 1. . . 1 1
o.o47 660
0.1 11 110
o.47 60 600
11 0 . . .11 0 0
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@ BOSCH
FlexibleAutomation
7.2.3 Preoptimisationof A l l B o s c h i n v e r t e r so f t h e S e r v o d y n r a n g e a r e d e l i v e r e dw i t h t h e f o l l o w i n g
Speed Regulator standard optimrsation:
B e fo res ta rti ngthe i ntegrati onthe tacho vol tagemust be adj ustedroughly.
D e p e n d i ngon the rapi dspeedthe adj ustmentcan be made i n 12 stepsacc.
t o t h e t a b l eb e l o wv i a D I Ps w i t c h e sS 1- S 5 .
T h ef i n e a d j u s t m e not f t h e t a c h ov o l t a g ei s c a r r i e do u t l a t e rw i t h p o t e n t i o -
m e t e rT o n t h e f r o n t p l a t eo f t h e S M - o p t i m i s a t i ocna r d .
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FlexibleAutomation
7.2.4Reductionof the T h e D IPs w i tch(S 1 .. S 7) on the opti mi sati oncard i s usedto reducethe
Unit Limit Current l i mi tc u rre n to f the uni t as show ni n the tabl e bel ow :
via DIP Switch
s w i tc hn o .
p o s i ti o n I limit I stand
OF F ON lolol tvl
S7+S8 100
S7 88
S8 78
S7+S8 70
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''exible
Automation
7.3 Integration
7.3.1Power Supply - Removefuses for the supply module on the mains side.
- UnplugconnectorX'l on the supplymodule.
- Disconnect one coil connection at contactor K01 (see VM connections).
- Switch on power (main switch).
- Theremust be +24 V presentbetweenX1.6and X1.5of the supplymodule.
7.3.3 C,ommandAdiustment Introduce a command voltage which correspondsto the intended maximum
operating voltage on terminalsX6.5 and X6.6 of the servo module.
Admissiblerange:a7 V to t1 1 V.
DIPswitch S6 on the ootimisationcard must be switched off.
33
@ BOSCH
FlexibleAutomation
34
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@ BoscH
Flexible
Automation
n'.750k
R4: tkol
7 6 . 4- 7 6 ' n '
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Ilrapid
n x: recogni ti on
speed
Ilrapid: rapidspeed
35
@ BOSCH
FlexibleAutomation
Up
S peed
R egul ator
Output
Up
S peed
R egul ator
Output
U5
Speed
Regulator
Output
U51
Speed
Regulator
Output
DerivativeAction
For specialcasesan additionalderivativeactioncan be achievedwith C13.
36
@ BOSCH
Flexible Automation
7.3.9Adaptionto the
PositionalServo Loop - Connectcommand source.
- Sw i tc ho n dri ve,gi veenabl esi gnal .
- In tro d u cecommand" 0 V " .
- Ad j u s tth e l ag (fol l ow i ng
error)to " 0" w i ththe appropri ate
potenti ometer
on
th e c o n t rol(on sometypesof C N Cthi s i s oonevi a parameteri nput!).
- D ri v eth e axi sat a defi nedfeedrate(suchas 1 m/mi n)and measurethe
re s u l ti n gl ag.The l agdependson the K y-factorand the axi svel oci ty.
:-:[mm] v : axisvelocity[m/min]
LAG : - K y factor[1O' /mi n]
Kvc Ky
LAG : lag [mm]
Example:
V:1 T
mln
<n3
K v : 1, 2 : +
mtn
v1
L AG : : : o' 83 mm
Ku 12
37
@ BOSCH
Flexibl
e Automation
7.4 GomponentLayout
Optimisation
card
(047830-4O23O3)
38
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Kurstibersicht I : Inhaltsschwerpunkte
I : S o n s t i gl n
ehalte
)dukt-
l--/adu Kurz- Bo s c h -P ro d u k t Kursthema E
Det. Tage
Gru ppe Zeichen ; s . S . Dauer
=
= E clt
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L cc) o- o- U
Numerische A 3 -P C N C A l p h a3 Bedienen,Progr. n I I 5
Steuerungen A2-P C N CA l p h a2 P rogr.
B edi enen, ! I I 6
CC 2OO-C ) / t e t t l
P r o g ri n C P L I 11 R
CC20a lnoetrrebnahme T1 I T 10
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CC CC3OO RAaJrcncn Pronr I I 1'1
CC 3OO-C C C 3 OO P rogr.i n C P L D I 11 5
cc 300-t1 CC 3OO I n b e t r i e bO
n .e i l 1 ) tr t tr tr n I 12 10
cc 300-12 C C 3 OO Inbetriebn,Oeil
2) f, I n 12 5
D S2 l 3 l S: h w e i B s te u e rung Bedienen ! I T ?
SchweiB-
Steuerungen P S2 0 0 0 Bedienen,Insthlt. t l
U I D tr I 15 5
EB1 S- ^ u re rBs te u e r ung B edi enen I I ! 2
! 3 1 m i tK S R Bedienen.lnsthlt. t t
t D I 15 5
Qpeicher-
PC-GL ;S -Famrlie SPS-Basiskurs n I n n 18 4
)ogrammier-C L 1 O O C r 1 3 0 m i tP G 3 Programmieren n I D D I 18 5
Ya
6are P C4 O O . P - : - 1 : , 0 t 2 0m
0 . P G 3 Projektieren n I I 19 5
Steuerungen P C 4 0 0 -l e C 4 J 0 / 6 0 0m . P G 3 Instandhaltung n n I I 19 5
c L 3 0 0 - P 1 : r 3 : l ' " n r tP G 4 Projektieren ! I I 20 6
P C6 0 0 - P 2 D C a : ' l m r tP G 4 Aufbaukurs
fl-eil2) n ! I 22
P C 6 0 0 -P3 P C 6 0 0 m i tP G 4 (eil
Diagnose 3) u I I I 23 4
P C 6 0 0 -l P C 6 0 0 m r tP G 3 Instandhal tung n tr I I I 23 10
PG 4-W PG4 Bedienen,
Progr. tr I n 24 3
P U 4 OO P U4 O O Instandhaltung ! ! I 24 3
Servo- GA€L Servoantriebe Basiskurs tr n 25 3
antriebe SD-SY Servodyn Systemkurs n ! D r-]
t_J 25 3
S D -C ServodynC Inbetriebnahme I n L-J D 26 2
SD-T ServodynT Inbetri ebnahme I n I ! 26 3
) SD-V Servodyn,
ASM lnbetriebnahme I tr tr I
Naherelnformationen
:
RobertBosch GmbH,Schulungszentrum, Telefon06062/78-0
Postfach1162,6120Erbach/Odenwald,