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Transistor Amplifier TRA8-L/PI/S Maintenance manual

This is the maintenance manual for the transistor amplifier TRAS-L/M/S used for the MELDAS NC control unit. This manual must be read before handling o f the transistor amplifier.

Contents 1. Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2. External dimension drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. Transistor amplifier exchange method and handling . . . . 4. Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1) 2) Servo system alarm transfer circuit . . . . . . . . . . Transistor amplifier inspection . . . . . . . . . . . . . . i) ii) Display lamp explanations . . . . . . . . . . . . . . . . Transistor amplifier check pins and their contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1 5 6 15 15 16 16

MlTSUBlSHl ELECTRIC

1. Functions The transistor amplifiers TRA8 are the amplifiers for driving of the DC motors installed on machine tools, robots, etc. by power amplification according to the pulse nodulation method with high-frequency switching for the error voltages (command voltages) resulting from the comparison of the position detector output with the calculation result output in regard to the movement ccrrmand from the logic card of the control unit, and two medium inertia HD motors of up to 800 W can be driven by one amplifier. 1) Composition of the drive amplifier part

Transistor

63

Transformer

3 phases,

piGZZ-+

Transistor

2cc/220 v pcwer supply (Input to the transistor amplifier must be via a

(Up to 800 W)

transformer.)

(Example for control of 4 axes)

a*

/!.

The type names become as follows. TRA8

- 0

Axis 1 HD motor or or HD81 HD30

Axis 2 HD motor HD41 or HD81 HD41 or HD81 HD20 or HD30

:,.,...!. f L---HD41 M---HD20 management

r S---+HD20 or HD30

Progressing as A, B, C.

2) Drive part (transistor amplifier) block system diagram

3) Cable system diagram

2 ZS

._

i-7

_-,_
-3 Y

Ll

2. External dimension drawing 1) External view of TRA8

QQQQQQQQQOO
2~ 2 B 2Gl 2G2 2E c D r\c Pilot lamp r 4

View ir. direction A (termilral base)

: .! W I

Fl

12 jl: I!

456 480

I I: 12 I I

Unit: mm

3. Transistor amplifier exchange method and 1) Transistor amplifier connection

handling-

TEl and TE2 are connected to the drive motor. The unit body is fixed with 4 set screws to the rack. Take sufficient care that ZPl and ZP2 are not connected reversely. As the control card (TR43) is equipped with setting plugs and control volumes, setting must be executed at the time of unit exchange.

TRi8A-L/M/s

TRABA-L/K&

..,.:.;,
:Pl ZP2 ZPl zP2

au

I I

TEl. TE2

NC control unit Amplifier for axis 1, 2 Amplifier for axis 3, 4

Note: Joint use with the transistor amplifiers TRA31/41/61 or TRA30/60 is not possible.

2) Printed circuit board outline drawing (Card TR43A)

IS13 IS14 EI IS15

E/

2s13 2s14 2s15

IS16

2S16

;it
L

Alarm display LED

:r

CON 17 CON 16

AG terminal

(Card TR43B)

2vEL17

jR.-I2

IS16

El

2S16

nil
5 % 5i
jr
h -

l-4

Alarm

display

LED

CcpJli CON16

AG

terminal

3) Setting by means of setting plugs Setting is made according to the detector gear box type (for position loop gair, adjusrment). Normally, no setting is made. (1 / 0 S 6 1 / or JSC is set for nse of a motor cf 5Cl 1: less.)

t-jl
iIsa

OS7

Setting is r-:zdc for motor use up t(; !:,?3Q, Setting is made acccr,Cing to the type of Zhe used amplifier. ;nrl the motor Lype. (Do net

touch, .zzs setting 372s been made IxCore ship-

1ICormally, q SiE 1

nc:

setting

ir

m a d e .

0 sis 1

Sectinq is made ilccording to the type of tat!-,oqecerator ustic for speed feedback tier TG fticd!>ack selection).

Setting

pir. disy=l?j.: 0 s Settiliq pin No.

Standard setting pin setting table

Motor Setting pin No. cl cl cl Sl s 2 s 3 s 4 s5 S 6 s 7 S 8 s9 SlO Sll

q
cl I II II cl cl cl cl

=-T-=- =-T=--1
I
I
I

Setting according to the detector gear box

type

.f-j---+
0
I

s12 s13 s14 S15 S16 s17 S18

0 0 0 0

q
cl cl

0 0

0 0 0

III
cl
cl

Setting according to the tachogenerator type.

"0" indicates a setting pin insertion place.

i0

4) Setting of the various volumes (Volume No., name, function, and setting) 1 Speed loop command volume This becomes the motor speed command at the time of speed loop operation.

Motor running in CCW direction

Motor running in CW direction

. This becomes effective when SW1 or SW2 is switched

to the V side.
. riormally,

set the the scale value 5.

(Do not touch this volume when the motor is installed on the machine.) 2 Position loop gain adjustment volume This is used to adjust the position loop gain.
. As this has been adjusted at the time of shipping,

the setting should not be changed. 3 Speed loop compensation adjustment volume This is used for adjustment of system responsiveness and stability. Turning in CW direction improves the responsiveness and decreases the stability, while turning in CCW direction decreases the responsiveness and improves the stability.

11

. Turn in CCW direction (fcr higher stability], when

the vibrations etc. on the machine side are severe,

. When there is a tendency for overshooting, turn in

CW direction (to improve the response). (At the time of adjustment, adjust by half a graduation each and observe the result. hunting may be caused when large changes are made.! 4 Current clamp fine adjustment volume -This is used for fine adjustment of the maximum rent flowing to the motor. . Setting to the scale value 10 has been made at the time of shipping. Do not change this setting. 7 Zero point adjustment volume This volume is used for fine adjustment near droop zero when a position loop is formed. (Execute readjustment when the machine moves at the time of NC power ON.)
. Adjust the volume so that the display 'POD' 01;. the
CUT-

NC side becomes close to '0'. 9 Speed loop gain adjustment volume This is the volume for the servo rigidity. Turning in CW direction increases the servo rigidity, but excessive turning causes instability. Turning in CCK direction decreases the servo xigidity, but the stability wil.l be increased.

12

2) Transistor amplifier inspection i) Display lamp explanations (1) Pilot lamp (on the left of the terminal block) This lights simultaneously with RDY ON. It goes out simultaneously with RDY OFF. t Never touch while the pilot lamp is lit, as this is extremely dangerous. (2) Relay display lamps (on the TR43U card) RA1to 5

Name RDY RA2 DBL

Function when lit Indication of READY ON. Indication of released dynamic brake. (This also means contactor

operation.) RA3 NORM Indication of normal conditions at the time of power ON. RA4 SVONl Indication of SERVO ON status for the first axis. RA5 SVON2 Indication of SERVO ON status for the second axis.

l-l

With SERVO ON for both axes, all relay lamps are lit. All lamps go out when an alarm occurs. . .

13

Note: The volume indication is made as follows.

Axis No.

Volume No.

14

Pm

-__I__

--

(y-)

(y-J

(-TyT)

1_
11lA8 0 - 0
L_ -_ --

. Turn in CCW direction (for higher stability), when the vibrations etc. on the machine side are severe. . When there is a tendency for overshooting, turn in CW direction (to improve the response). (At the time of adjustment, adjust by half a graduation each and observe the result. Hunting may be caused when large changes are made.) 12 Interlock adjustment volume This is used for interlock adjustment for the transistors 1 and 2.
. As this has been adjusted at the time of shipping,

the setting should not be changed. 13 Interlock adjustment volume This is used for interlock adjustment for the transistors 3 and 4.
. As this has been adjusted at the time of shipping,

the setting should not be changed. 15 Current loop compensation adjustment volume This is used for adjustment of the current loop responsiveness.
. Normally,

setting is made to the scale value '2'.

17 Dummy thermal adjustment volume Setting is made according to the rated current of the used motor.
. As this has been adjusted at the time of shipping,

the setting should not be changed.

16

(3) Alarm display lamps (on the TR431 card)

OK

OCP

ZAUI

1u.Y

LVAL

vov

FOE (N-F- T)

As the 3 alarms on the left (MOH, OVC, OCP) are caused for each axis, the axis display lamps (yellow) at the center also light at the sacle time. Example: Occurrence of MOH alarm for axis 1

As the 3 alarms on the right (LVAL, VOV, FOX (NF.T)) occur independent of the axes, the axis display lamps do not light. Example: Occurrence of LVAL alarm

000~00~~00 \
Lit

17

Display lamp MOH

Lighting condition This lights when the temperature in the motor exceeds the specified temperature (95OC)

ovc

This lights in case of continuous motor overload condition.

OCP

This lights when an abnormal current flows to the transistors or to the motor.

1ALM

This lights when an alarm occurs for the axis 1.

2ALM

This lights when an alarm occurs for the axis 2.

LVAL

This lights with an abnormal drop of the AC 100 V input voltage (to about 70 V).

vov

This lights when the voltage between P and N has become extremely high (350 V or more).

FOH (NP.T)

This lights when the ambient temperature for the power transistors has become abnormally high (8OOC) and when the no-fuse breaker has become OFF or RDY ON.

18

ii) Transistor amplifier check pins and their contents The control cards TR43A and TR43B have exchangeability, but there are slight differences for the check pins shown in the following table. a) Group 1 (simultaneous checking with other groups is not possible.)

Check pin existence

I

o: Check pin x: No check pin Output waveform

Check TR pin
NO.

TR 43B

Signal name

43f

lCP1 ----2CPl

0 - - -

0 -

TG signal --------axis 1 TG signal axis 2

The output voltage differs as follows according to the used TG.

Detector RST-[ x Conventional type

2 V/l000 rpm 1lTG . . . 7 V/l000 rpm

lCP2 _--_ 2CP2

ER signal axis 1 --------ER signal axis 2

Output of the speed command signal

-_ 0

-L_ 0

lCP3

Speed loop error signal axis 1

The following waveforms can be seen at the time of motor acceleration and deceleration.

19

Check , !R pin No. 2CP3

0

rR

Signal name

Output waveform

13A 131 3 =
0

Speed loop
CPl 0

error signal axis 2 This voltage corresponds to the motor speed.

CP3

?.-~--,~--

Output waveform with saturation

At the time of READY OFF and at the time of SERVO OFF, the output voltacre becomes about 0 V. lCP4
0 0

Current command signal

The same waveform as for lCP3 can be seen.

.---2CP4

axis 1 --_------Current command signal axis 2 The same waveform as for 2CP3 can be seen.

20

Check TR TR pin No. lCP5 0 0 43A 43B

Signal name

Output waveform

Comparator input signal

The following waveforms can be seen at the time of motor

axis 1 acceleration and deceleration. ---.__------2cp5 -o- 0 Comparator

CPl

input signal axis 2

ov This voltage is proportional to the motor

lCP6

Current feed- The following waveforms can be back signal seen at the time of motor

axis 1 acceleration and deceleration_ ----L---------_-_____2CP6 o o Current feed_ CPI

back signal axis 2

This voltage is proportional to the motor speed.

21

Check TR TR pin No. 43A 43B

Signal name

Output waveform

Current feedback signal when the current command is clamped. Clamped

In about earth potential is held until input of the READY signal. The CP6 output voltages are as follows: 0.19 V/A at the time of 0 Sll setting. 0.41 V/A at the time of setting. 0.95 V/A at the time of no setting. lCP7 ---2CP7 I 0 x Step input The speed loop step input signal cl SlO

signal axis 1 can be seen. --__--___-------Change in the range from about Step input o x signal axis 2 -4 to +4 V will be made when 1VRl and 2VRl are turned.

22

Check L?R pin No. CP8

0

'R

Signal name

Output waveform

13A L3B

Sawtooth wave signal

The sawtooth oscillation waveform can be seen.

so--7sors

lCP9 lCPl0 _-_2CP9 2CPlO

PWM signal
-

The following waveform can be seen when a clip is used to short-circuit between lCP5 and earth check pin or 2CP5 and earth check pin respectively.

--_ 0

axis 1 --------_ PWM signal axis 2

Note: Do not turn the motor when you want to see the above waveform.

23

Check TR TR pin No. 1CPll lCP12 lCP13 0 o 43A 43B

Signal name

Output waveform

Base input signal axis 1

The following waveform can be seen when a clip is used to short-circuit between lCP5 and

lCP14 earth check pin or 2CP5 and earth ----_-----------__ 2CPll 0 0 Base input check pin respectively. 2CP12 2CP13 2CP14 signal axis 1
I cm
CP14 O-YO_?5~S~_--i,. *A-

235---1&OV I I I I - o-0.m
- PS--14.ov o-c.sv

Note: Do not turn the motor when you want to see the above waveform. lCP15 0 x Current absolute value signal axis 1 _------_----_-__-2CP15 o x Current absolute value signal axis 2
CPl5 0

The CP6 absolute value waveform can be seen.

24

Check l?R pin No.

Signal name

Output waveform

13A 13B

0.19 V/A at the time of El Sll setting. 0.41 V/A at the time of 0 SlO setting. 0.95 V/A at the time of no setting. CP16 18 Sawtooth wave signal The sawtooth wave oscillation waveform is put out (same as for CP8). CP20 FOK alarm signal The following waveform can be seen simultaneously with occurrence of fin overheat alarm.
1 l-12v o__?Jl_------t -

Alarm 2P21
0 0

VOV alarm signal

The same waveform as for CP20 can be seen simultaneously with occurrence of overvoltage detection alarm.

CP22

LVAL alarm signal

The same waveform as for CP20 can be seen simultaneously with occurrence of low voltage detection alarm.

25

Check TR TR pin No. CP23 o o 43A 43B

Signal name

Output waveform

Alarm signal axis 1

The same waveform as for CP20 can be seen with occurrence of alarm for axis 1.

CP24

Alarm signal axis 2

The following waveform can be seen with occurrence of alarm for axis 2.
I I--12v 0__2v_---____ t

Alarm CP25 o o OCP alarm signal The same waveform as for CP24 can be seen with occurrence of momentary overcurrent protection alarm. CP26 o o OVC alarm signal The same waveform as for CP24 can be seen with occurrence of overcurrent protection alarm. CP27 o o MOH alarm signal The same waveform as for CP24 can be seen with occurrence of motor overheat protection alarm. CP17 I0 O Earth signal This is the earth for lCP1 to 27.

19 ___---.----x 28, 290 30, 31

Do not look at other check pins.

26

b) Group 2 (simultaneous checking with other groups is not possible.)

Check TR pin No. 1CPA 0

TR

Signal name

Output waveform

43A 43B

OCP input signal axis 1

This is the input signal for the momentary overcurrent protection circuit for axis 1, (Output voltage: 50 mV/l A)

--- -----__-------_----___------------

_-iCPB

Earth signal

This is the earth for 1CPA. Do not check simultaneously with signals of other groups.

c) Group 3 (simultaneous checking with other groups is not possible.)

Check pin No. 2CPA

l?R

TR

Signal name

Output waveform

43A 43B

OCP input signal axis 2

This is the input signal for the momentary overcurrent protection circuit for axis 2. (Output voltage: 50 mV/l A) .--------_-__- - - This is the earth for 2CPA. D C not check simultaneously with signals of other groups.
. . I

--- -- -- -------

--?!CPB

Earth signal

27

d) Group 4 (simultaneous checking with other groups is not possible.)

Check TR TR pin No. CPC 0 0 43A 43B

Signal name

Output waveform

Discharge circuit operation signal

Discharge starts when the voltage between P and N exceeds 300 V. The following waveform can be seen.
_______

- 1.3~-2v
OV - 6 V

% Discharging Discharging stops at about 290 V or less.

1B2 1B4 2B2 2B4

Power
1.3-Z v

Power ov _5_
-6V---

transistor base signal

transistor ON Power

6 transistor OFF

.----_____-_---------------------______ E.C 0 0 Earth signal This is the earth for the above five check pins. Do not check simultaneously with other groups.

28

d) Others (The following four signals have different earths, and simultaneous checking is)

Check TR TR pin No. lB1 o o 43A 43B

Signal name

Output waveform

Power transistor

Same as the above waveform lB2 etc.

base signal --------------------------_------ - lE1 o o Earth signal Earth for 1Bl 1B3 o o Power transistor Same as the above waveform IB2 etc.

base signal -----------------___ --------------_ 1E3 0 0 Earth signal Earth for lB3 2B1 o o Power transistor Same as the above waveform lB2 etc.

base signal -----------------------____-_________ 2El 0 0 Earth signal Earth for 2Bl 2B3 0 0 Power transistor Same as the above waveform lB2 etc.

base signal ~----------._------------- -----------__ 2E3 Earth signal Earth for 2B3 0 0

29