Open Drive Excellence in the control

Open Drive Excellence in the control dep open drive-gb.indd 1 2-12-2005 15:34:04

FIELD BUS Can Open Ethernet Profi bus Modbus Open Drive POWER MODULARITY AND FLEXIBILITY: FEEDBACK TTL line driver incremental Encoder Absolute sinusoidal Encoder Sin/cos sinusoidal Encoder Encoder and Hall sensors Endat Encoder Resolver INVERTER Control for asynchronous motors sensorless BRU Control for close loop servo Innovation, Flexibility and Modularity OpenDrive is the result of an advanced research project, developed by technicians who have been designing and working in the industrial automation for over thirty years. Thanks to the plug-in modules architecture OpenDrive is tailor-made according to the real needs and functions of the machines. dep open drive-gb.indd 2 2-12-2005 15:34:20

EXCELLENCE IN THE CONTROL CUSTOM SW HW and SW customised solutions TOOLS RUSHLESS for synchronous motors A.F.E. Active Front End Electrical gearing Servodiameter Positioner Dancer Cams PID o linear torque For bidirectional control of energy Advanced characteristics Open drive is an extremely innovative product. In just one drive you have different control SW for the following motors: synchronous, asynchronous, linear, torque and reluctance. The most modern standards of interface and the high performance functions meet the most sophisticated needs. OpenDrive is pure technology based on the new generation of DSP controllers: the result of an excellent product engineering. dep open drive-gb.indd 3 2-12-2005 15:34:28

Open Drive dep open drive-gb.indd 4 2-12-2005 15:34:39

COMMON FEATURES POWER Extended three phase supply: 3 x 200Vac -10% 460Vac +10% External dc Bus power supply with internal soft start IGBT power section, built in braking chopper (resistor not included) Built in pre charge device with automatic or external enabling Automatic monitoring of the power module temperature by NTC sensor Customised cooling systems SOFTWARE FUNCTIONS Indexing function for spindle application Electronic gearing with setting of the speed ratio and space loop control Multipositioner Real Time positioner via Can Bus PID control Cams Winder/Unwinder with servodiameter Customised solutions REGULATION Basic board with built in Can controller - Direct supply of the regulation (380-460VAC ±10%) - 24Vdc external supply for the regulation and the IGBT drivers (safety stop function EN 954-1) I/O boards RS 485 serial interface board and display Feedback boards FEEDBACK BOARDS TTL line driver incremental Encoder Absolute sinusoidal sin/cos Encoder Incremental sin/cos Encoder Resolver Encoder and Hall sensors Endat absolute Encoder ADVANCED FEATURES Output frequency: 0 1.500 Hz PWM frequency from 3 to 16 khz Refresh cycle of speed, current, position loops, inputs and outputs up to 62,5 micro sec. Speed loop bandwidth: 150 Hz on band Full digital regulation with DSP microprocessor (160 Mips) Possibility of parameters storing of motors with different electric characteristics Radiator overheating (NTC, PTC) Motor temperature sensor control (NTC, PTC, PT100, KTY 84) FIELD BUS Built in Can bus (Can Open) DS 301 Profi bus DP future implementations: Device Net Interbus S Sercos Ethernet I/O BOARDS BASIC 4 opto insulated confi gurable digital inputs 2 opto insulated confi gurable digital outputs 1 14 bit analog input ± 10V ( speed reference, torque reference or limit) 1 confi gurable analog output supply ± 10V for external potentiometer I/0 PLUS 4 confi gurable opto insulated digital inputs 2 confi gurable opto insulated digital outputs 2 14 bit analog inputs ± 10V 1 confi gurable analog output 1 4 channels frequency input or frequency and direction ACCESSORIES Remote keypad for parameters setting and diagnosis RS 232/485 converter kit for PC connection with monitor SW Clamping resistors Line impedance EMC fi lters Motor inductors EMC kit ( toroids, shields, etc.) dep open drive-gb.indd 5 2-12-2005 15:35:04

Open Drive BRUSHLESS OPENDRIVE FOR SYNCHRONOUS MOTORS CONTROL The OpenDrive servo controls synchronous, sinusoidal brushless, linear brushless and torque motors. Thanks to the modular architecture and to the outstanding dynamic control performances, it perfectly meets any kind of applications, from the simplest to the most sophisticated ones. MAIN FEATURES Standard functions Feedback sensor test and autophasing Motor and current loop auto tuning Motor control up to 36 poles Converter thermal protection with temperature value Motor temperature sensor control (NTC, PTC, PT100, KTY 84) Possibility to change the speed loop gains according to the work speed Notch fi lter on the speed loop Step motor function with space loop Cams function Feedback sensors Resolver Sinusoidal absolute sin/cos encoder Endat Encoder Incremental encoder and Hall sensors up to 60.000 ppr Special functions Linear motors control Torque motors control Reluctance synchronous motors control Brushless motors control Control and regulation Full digital regulation with DSP (160 Mips) Speed, torque and speed with torque limit regulation Inputs for speed reference: - from serial line RS 485 (Modbus RTU); from Field bus Can Open (DS301), Profi bus DP - from analog and digital inputs: - 3 analog inputs ± 10V (14 bit) - 1 analog input ± 10V (16 bit on sin/cos Encoder, Endat feedback board) - digital potentiometer with up / down function from digital inputs - 1 digital jog speed reference - frequency input (max f. 300Khz) 2 channels or frequency and sign With the frequency input 2 special functions can be enabled: - frequency speed reference with pulses decoding (extremely precise even at low frequencies) - Speed electrical gearing with space control (perfect master-slave synchronisation) Simulated line driver encoder output from 64 to 65.536 pls. /rev according to maximum speed Functions Electrical gearing with master / slave function Positioner (2 positions ) and multipositioner Real Time interpolated positioner via Can Open dep open drive-gb.indd 6 2-12-2005 15:35:07

INVERTER OPENDRIVE FOR ASYNCHRONOUS MOTORS CONTROL The OpenDrive inverter controls asynchronous motors with and without feedback in sensorless vector mode or close loop mode. OpenDrive offers remarkably easy setup, complete fl exibility, outstanding performance and exceptional torque at any speed (even at zero rpm, with feedback) and great stability at high frequencies (4 5 times the rated current). TECHNICAL FEATURES Regulation Full digital regulation with DSP (160 Mips) Speed, torque and speed with torque limit regulation Inputs for speed reference: - from serial line RS 485 (Modbus RTU); from Field bus Can Open (DS301), Profi bus DP - from analog and digital inputs: - 3 analog inputs ± 10V (14 bit) - 1 analog input± 10V (16 bit on sin/cos Encoder, Endat feedback board) - digital potentiometer with up / down function from logic inputs - 1 digital jog speed reference - frequency input (max f. 300Khz) 2 channels or frequency and sign With the frequency input 2 special functions can be enabled: - frequency speed reference with pulses decoding (extremely precise even at low frequencies) - Speed electrical gearing with space control (master-slave perfect synchronisation) Simulated line driver encoder output from 64 to 65.536 pls. /rev according to maximum speed Independent ramps with S or linear profi le Close loop vector control Auto test for speed sensor Measurement of the electric motor characteristics: stator resistance leakage inductance magnetising current and magnetic characteristics rotor and stator time constant Auto tuning of current and fl ux regulators according to motor parameters Variable gains of the speed regulator Notch fi lters on speed loop Functions Flying restart by rotating motor Regenerative function during short power interruptions Dc bus voltage limitation in braking mode Over modulation Parameters storing of motors with different electric characteristics Electrical gearing with master / slave function Positioner (2 positions) and multipositioner (available with close loop vector control) Real Time positioner via Can Open (with close loop vector control) Feedback sensors TTL line driver incremental Encoder up to 60.000 ppr Endat Encoder Resolver Sin/cos Encoder Sensorless vector control Motor and current loop auto tuning Dc braking mode Slip compensation Stator voltage drop compensation Motor stall protection De-rating current curve selection for self-cooling motors Initial boost for a start under load Energy Saving function for optimisation of supplied current at same torque Skip frequencies with programmable skip bandwidth Voltage / frequency programmable characteristic dep open drive-gb.indd 7 2-12-2005 15:35:09

Open Drive ACTIVE FRONT END OPENDRIVE FOR REGENERATIVE FEEDBACK INTO THE LINE SUPPLY OpenDrive Active Front End version is a self-commutated, pulsed rectifi er-regenerative feedback unit comprising an inverter with IGBT modules, admirably suited for regenerating the power back into the line in the form of sinusoidal current. TECHNICAL CHARACTERISTICS Sinusoidal line currents low harmonics Compared to traditional diode- and thyristors supplies, OpenDrive Active Front End manages the line current, drawing and feeding it back, according to the loads connected to the line supply. Active Front End OpenDrive guarantees extremely low harmonics: the power drawn from the line supply or fed back into the line supply is in the form of sinusoidal current. The line current is in the active range (power factor =1) and it can compensate the capacitive or inductive fl uctuation of the load. Typical applications Spindles for tools machines Textile machinery Glass working machines Injection moulding machines Test stands Centrifuges Elevator and crane systems Chair-lifts systems Wind-driven generator systems Advantages in comparison to conventional braking systems Energy saving Compact sizes and low heat release Controlled dc Bus (with line voltage fl uctuations) Bidirectional power control Compensating line voltage fluctuations OpenDrive Active Front End operates as a step-up controller with a DC link voltage. It allows to parameterize the drives connected to the same DC bus in the best way, by compensating possible line voltage fl uctuations. Drawn line current Vac Fed back line current + - + - + - + - Line current in the dc Bus dep open drive-gb.indd 8 2-12-2005 15:35:12

SW APPLICATIONS ELECTRICAL GEARING OpenDrive supports electronic gearing. You can set up different gear ratios to create different relationships between the master resource and slave axis MULTIPOSITIONER Trapezoidal profi le with S or linear ramps INTERPOLATED POSITIONER Can Open DS301 via Can Bus CAMS Very easy modifi cation of the cam profi le. Setting of cam parameters : duration, number of points, cam depending on time or on a master axis position, logic and analogue values PID REGULATOR To apply for speed, torque and external values, via analogue/digital references, serial line, fi eldbus and feedback SERVODIAMETER Speed control with feedback from dancer Direct tension control with feedback from load cell Undirect tension control with motor torque regulation PARAMETER STORING Possibility of parameters storing of motors with different electric characteristics SPINDLE INDEXING Stop in position for tools changer in space control ENCODER MANAGEMENT Speed feedback from encoder not mounted on the motor with setting of revolutions ratio referred to the motor ELECTRONIC TRAVERSING DEVICE Electronic yarn guide control suited for automatic winders dep open drive-gb.indd 9 2-12-2005 15:35:23

Open Drive MONITOR SW OPENWARE Monitor SW for drive programming from PC Graphic display of internal values Alarms display I/O status display Easy setting of confi guration parameters Displaying, storing and use of memory parameters Graphic display of the motor magnetic characteristic Two channels scope for monitoring and storing of internal values ( trigger function for events or value levels) TECHNICAL DATA SIZES (A rm s) 03 07 12 15 22 32 40 Overload 200% for 3 sec and 155% for 30sec Rated current 3,0 7,0 12,0 15,0 22,0 32,0 40,0 Maximum current for 3 sec. 6,0 14,0 24,0 30,0 44,0 64,0 80,0 Limit current for 30 sec. 4,7 10,9 18,6 23,3 34,1 49,6 62,0 Overload 200% for 30sec Rated current 2,6 6,0 10,2 12,8 18,8 27,3 34,2 Maximum current for 30 sec. 5,1 12,0 20,5 25,6 37,6 54,7 68,3 Overload 150% for 30sec Rated current 3,2 7,4 12,6 15,8 23,2 33,7 42,2 Maximum current for 30 sec. 4,7 11,1 19,0 23,7 34,8 50,6 63,2 Overload 120% for 45sec Rated current 3,6 8,3 14,2 17,8 26,0 37,9 47,4 Maximum current for 45 sec. 4,3 9,9 17,0 21,3 31,3 45,5 56,8 Dimensions H = 310 D = 240 H = 310 D = 240 fieldbus W (mm) W (mm) 86 86 113 113 134 190 190 113 113 113 113 134 190 190 Brushless applications Inverter applications The technical data are referred to 5 khz PWM. TDE MACNO reserves the right to change the technical data without any prior written notice. dep open drive-gb.indd 10 2-12-2005 15:35:29

HW AND SW CONFIGURATION 5ODS 03 X A1 A4 3 G 0 APPLICATIONS Servodiameter Profi le follower Positioner HW and SW customised solutions I/O BOARDS AND DISPLAY E I/O basic + display and RS 485 F I/O plus + display and RS485 G I/O basic + I/O plus + display and RS485 FIELD BUS 0 no 1 Profi bus 3 Canbus FEEDBACK A1 TTL 5-24V Encoder A2 Sin-Cos Encoder A4 Resolver A5 Encoder + Hall sensors A6 Endat Encoder EXTENDED SUPPLY A Power supply: 200-460V ac (regulation: 24V dc external supply) J Common power supply for 400 Vac X 560V dc (dc Bus), regulation: 24V dc external supply OVERLOAD X Standard Y 150% (120% - 150% - 200% programmable via SW) SIZE 03 07 12 15 3A - 1,5 kw 7A - 3,0 kw 12A - 5,5 kw 15A - 7,5 kw (Power is referred to 3 x 400V ac supply) CONTROL TYPE F V/f Sensorless V Field oriented vector S Brushless 22 32 40 22A - 11kW 32A - 15kW 40A - 20 kw dep open drive-gb.indd 11 2-12-2005 15:35:34

BDF INDUSTRIES. A group with many qualities. Ed. 11/05 QUOTA ADV TDE MACNO S.p.a. Via dell Orefi ceria, 41 36100 Vicenza - Italy Tel: +39 0444 343555 Fax +39 0444 343509 E-mail: info@tdemacno.it www.tdemacno.it dep open drive-gb.indd 12 2-12-2005 15:35:34