Open Drive Excellence in the control - All-Electronics.de...Sensorless vector control • Motor and...

Open DriveExcellence in the control

dep open drive-GB.indd 1dep open drive-GB.indd 1 2-12-2005 15:34:042-12-2005 15:34:04

INVERTER

Control for asynchronous motors

BRU

Control for

Innovation, Flexibility and ModularityOpenDrive 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.

sensorless

close loop servo

POWER MODULARITY AND FLEXIBILITY:

Open Drive

FIE

LD B

US

Can OpenEthernetProfi busM

odbus

FEEDBACK

TTL line driver incremental Encoder

Absolute sinusoidal Encoder

Sin/cos sinusoidal Encoder

Encoder and Hall sensors

Endat Encoder

Resolver


RUSHLESS

for synchronous motors

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.

Active

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t End

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Advanced characteristicsOpen 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.

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linear

EXCELLENCE IN THE CONTROL

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Open Drive


ADVANCED FEATURESPOWER

SOFTWARE FUNCTIONSFIELD BUS

ACCESSORIES

REGULATION

I/O BOARDS

FEEDBACK BOARDS

• 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

• 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

• 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

• TTL line driver incremental Encoder• Absolute sinusoidal sin/cos Encoder• Incremental sin/cos Encoder• Resolver• Encoder and Hall sensors• Endat absolute Encoder

• 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)

• Built in Can bus (Can Open) DS 301 • Profi bus DP future implementations: Device Net Interbus S Sercos Ethernet

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 potentiometerI/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

• 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.)

COMMON FEATURES


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 FEATURESStandard 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

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 signWith 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

• 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


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 FEATURESRegulation • 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 signWith 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

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

INVERTER

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


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 CHARACTERISTICSSinusoidal line currents – low harmonicsCompared 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.

Compensating line voltage fl uctuations 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

Fed back line current

Line current

in the dc Bus

Vac

ACTIVE FRONT END

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

Open Drive


ELECTRICAL GEARINGOpenDrive supports electronic gearing. You can set up different gear ratios to create different relationships between the master resource and slave axis

MULTIPOSITIONERTrapezoidal profi le with S or linear ramps

INTERPOLATED POSITIONERCan Open DS301 via Can Bus

CAMSVery 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 REGULATORTo apply for speed, torque and external values, via analogue/digital references, serial line, fi eldbus and feedback

SERVODIAMETERSpeed control with feedback from dancerDirect tension control with feedback from load cellUndirect tension control with motor torque regulation

PARAMETER STORINGPossibility of parameters storing of motors with different electric characteristics

SPINDLE INDEXINGStop in position for tools changer in space control

ENCODER MANAGEMENTSpeed feedback from encoder not mounted on the motor with setting of revolutions ratio referred to the motor

ELECTRONIC TRAVERSING DEVICEElectronic yarn guide control suited for automatic winders

SW APPLICATIONS


SIZES03 07 12 15 22 32 40

( A r m s )

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

Rated current 2,6 6,0 10,2 12,8 18,8 27,3 34,2


Rated current 3,2 7,4 12,6 15,8 23,2 33,7 42,2


Rated current 3,6 8,3 14,2 17,8 26,0 37,9 47,4


Overload 120% for 45sec

Overload 200% for 3 sec and 155% for 30sec

Overload 200% for 30sec

150% for 30sec

Dimensions

H = 310 D = 240

H = 310 D = 240 fieldbus

W

( m m )

W

( m m )

8 6 8 6 1 1 3 1 1 3 1 3 4 1 9 0 1 9 0

1 1 3 1 1 3 1 1 3 1 1 3 1 3 4 1 9 0 1 9 0

Overload

MONITOR SW

Open Drive

Brushless applications Inverter applications

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

The technical data are referred to 5 kHZ PWM.

TDE MACNO reserves the right to change the technical data without any prior written notice.


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 (120% - 150% - 200% programmable via SW) • Y 150%

SIZE• 03 3A - 1,5 kW• 07 7A - 3,0 kW• 12 12A - 5,5 kW• 15 15A - 7,5 kW(Power is referred to 3 x 400V ac supply)

• 22 22A - 11kW• 32 32A - 15kW• 40 40A - 20 kW

CONTROL TYPE• F V/f Sensorless• V Field oriented vector• S Brushless


BDF INDUSTRIES. A group with many qualities.

TDE MACNO S.p.a.Via dell’Orefi ceria, 41 36100 Vicenza - Italy

Tel: +39 0444 343555Fax +39 0444 343509E-mail: [email protected]

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