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MPA-460 ANF38031 BRUSHLESS SERVO AMPLIFIER

By Veronica Tucker,2014-05-06 15:44
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MPA-460 ANF38031 BRUSHLESS SERVO AMPLIFIER

MPA-460 ACE-01 BRUSHLESS SERVO

    AMPLIFIER

Application

    This manual is designed to help you install the MaxPlus? amplifier.

Unpacking and Inspection

    Carefully unpack the amplifier and inspect it for visible damage. Check items against the

    packing list. Report any missing or damaged items to your supplier.

Warranty and Service

    The amplifier is warranted to be free from defects in workmanship and materials for a

    period of 18 months from the original shipment by MTS Automation, or 12 months in

    service, whichever comes first.

    During the warranty period, a defective amplifier unit will be repaired or replaced as

    outlined below.

    Before requesting return authorization, please try to verify that the problem is within the

    amplifier, and not with external devices.

    To arrange for repair or replacement, please contact:

    MTS Automation Customer Service

    (507) 354-1616

    (800) 967-1785

    MondayFriday, 8:004:30 Central Time

     You must provide the model and serial number from the labels on the amplifier.

     You must provide an explanation as to why the unit is being returned.

     You will be issued a return authorization number which must be marked on the return shipment

    and on all correspondence.

    Continued on next page

    1

    Warranty and Service (continued)

    Service Under Warranty

     Return your defective unit, freight prepaid, and it will be repaired and returned within two weeks

    of receipt via regular UPS, freight prepaid.

     Upon request, a factory-repaired replacement unit will be sent via regular prepaid UPS, within 4

    working days. Next day shipment for overnight delivery, freight collect, is available at an

    expediting charge of $100. The defective unit is to be returned via regular UPS, freight prepaid,

    upon your receipt of the replacement.

Non-Warranty Service

     Return your defective unit, freight prepaid, and it will be repaired on a time and material basis

    and returned within three weeks of receipt.

     OR contact your local distributor or MTS Automation Customer Service for a factory-repaired

    exchange unit, which is available at a flat rate price, assuming the defective unit is in repairable

    condition and is returned freight prepaid. Next day shipment for overnight delivery, freight collect,

    is available at an expediting charge of $100.

General Provisions

    Except as specifically modified by this warranty statement, all MTS Automation Conditions

    of Sale and Warranty shall apply.

    2

    Introduction

    MPA Amplifiers represent a series of amplifiers that are high performance, reliable, and efficient. The amplifiers are designed to be used with high performance brushless servo motors. Extreme care has been taken to assure robust operation. Design consideration for electrical transients have been implemented on the ac inputs and all I/O lines. The MPA 460-100 series amplifiers operate over ac voltage ranges of 200 to 520 Vac from 45 to 65 Hz. The motor feedback device is a resolver to assure normal operation at elevated motor temperatures of 115? C for the case, and 155? C for the motor windings. The resolver allows for both position and velocity feedback. The motor is further protected by a thermal shutdown thermostat in the motor windings. The amplifier high power switching devices are state of the art IGBT modules. The logic supplies are switch mode designs reducing undesired heat. LED indicators for diagnostics are provided. Encoder simulated TTL compatible differential quadrature outputs plus an index output are provided for external pulse or position control. The amplifiers have inrush current protection to allow for normal turn on. This is especially worthwhile for multiple axes. Consideration for dissipation of regenerative energy is included with internal shunt regulators.

    The ACE-1 (Analog Control Electronics) Control Board is available as a means of providing multiple configuration and extended features to the MPA Servo Amplifier.

The following features are available:

     6-Pole, 8-Pole, 12-Pole, and Brush Motor selection

     I/O logic level signal inversion

     12 or 14 bit mode

     Internal or External TAC

     Four different TAC Filters

     15 TAC Gradients per mode

     Latched fault display

     EPROM encoder selection

     Independent reference for all zero adjustments

     Lead Gain - 16 choices for Capacitor

     16 choices for Lag Network

     Overspeed shut down

    3

    Sizes

    Model Continuous Amps Peak Amps

    MPA-100-460 100 165

    MPA-100-230 100 165

    Features

     Efficient power conversion

     High frequency switching

     Resolver feedback or Hall-effect commutation

     Simulated quadrature encoder signals (with resolver feedback)

     ?10 Vdc for maximum velocity or torque

     24 volt I/O for ?LIMIT, RESET, VEL/TORQUE mode

     2 differential analog channels (command and auxiliary)

     LED diagnostic indicators

     Motor and amplifier thermal protection

     AC, I/O and bridge transient suppression

     Totally self contained space efficient design

     Simple screw terminal interface

     AC inrush protection

     Three-phase operation

SpecificationsParameter Specification

    Operating Environment:

     Temperature 0 to 45?C (32 to 113?F) Maximum, Ambient

     Humidity 0 to 95% noncondensing

    Input/Output Interface:

     Analog Signals

     Velocity Command Input Differential input 0 to ?10 Vdc(15 Vdc Max)

     Auxiliary Input Differential input 0 to ?10 Vdc(15 Vdc Max)

     Velocity Output 1.5 volts per 1000 rpm (default)

     Current Output ?10 volts = ? Peak Current

    Reset

    + Limit

    - Limit 24 Volt Logic: Velocity/Torque Select

    Fault Output(Open Collector)

    Overspeed

    Continuous Current

    Shorts(Stator)

    Amplifier Temperature

    Fault Protection: Feedback Resolver Wiring

    Motor Thermal

    HI-BUS

    Overspeed

    TTL Differential Output Plus Index

    Phase Quadrature

    Encoder Simulation: Line Count(select with DIP switch);

    Standard - 250, 360, 400, 500, 720, 1000, 1024, 2000, and

    4096

    200 to 520 Vac Electrical Characteristics: 45 to 65 Hz Input Voltage Three phase; 80 amps continuous maximum No Isolation Transformer Required

    4

    Output Characteristics Quasi Trapezoid with Torque Linearization

    (All Models) Torque Ripple 5% Maximum

    100 amps continuous; 165 amps peak; peak 5 seconds Output: MPA-100-460 PWM frequency 10 kHz MPA-100-230 DC Bus and output voltage is AC line dependent

    The motor's maximum speed is dependent on the bus

    voltage and motor KE by the following relationships: Motor/Amplifier Speed and Load Relationship: (AC Input)/(Motor KE Vrms) = Maximum no load speed. Maximum no load speed * .75 = Maximum speed at

    continuous full load.

    0 - Peak Current Limit(CL)

    Response (RESP)

    Auxiliary (AUX) Adjustments: Signal (SIG)

    Balance BAL)

    Overspeed Shut Down

    ?5% Speed/Torque Regulation Max Speed 12000 rpm (12 bit) or 3000 rpm (14 bit)

    5

    Parameter Specification Encoder Signals:

     Resolution 250, 360, 400, 500, 720, 1000, 1024, 2000 and 4096 lines

     Accuracy:

     Resolver Cable Length: Max. Error:

     15 foot ?20 minutes

     25 foot ?20 minutes

     50 foot ?30 minutes

     100 foot ?40 minutes Weight:

     MPA-100-460/230 75 lbs. max

    For all 460 volt products, the inductance line-to-line must be

    no less than 1mH.

     Motor Inductance:

    For all 230 volt products, the inductance line-to-line must be

    no less than 500 H.

    6

    MPA-100-460/230 Mechanical Footprint

    CURRENTRMPA100-460+24V-24VRESETT/S+T/S-ENCODERMOTOR POWEROUTPUTR S T GNDPOWER

    RESPWM MODELIM+RMS MODELIM-V/TINPUTFLTINVERTGNDMOTORVELSELECTCURFLTINVENCODERCOM-MODEGNDCONTINUOUSAUX-SHORTSMOTORAUX+AMPLIFIERFDBKGNDHI-BUSRESETLIMITREF+BUS SHUNT -BUS GNDGNDVELOCITYCOSD.C.BUSCOS GNDCOMPSINSIN GNDTSRESOLVERGNDSHIELDSHIELDTAC-15VVELOCITY+15VSCALINGTAC RET

    LEADCURRENTBALANCERESOLVERSIGNAL

    MARK

    A B CAC POWER INPUT

    7

    Control Interface and User Configuration Locations

     CURRENTR100% shielded cable is foil and braid. The pairs do not have to be twisted. The resolver

    wiring should not be run adjacent to any non-shielded high voltage wires, such as the motor MPA100-460

    wires (RST). If the wiring cannot be separated, the RST motor leads should also be 100%

    shielded. It is highly recommended that factory cable sets or wiring be used. RESET

    ENCODERThermostat

    If the motor is equipped with a winding thermostat that is normally closed, it can be POWERconnected between terminals 7 and 8 of the feedback wiring connector. If an excess

    temperature thermal condition exists as indicated by an open thermostat, the amplifier is

    disabled.

    If this feature is not used, connect a short jumper wire between terminals 7 and 8. RES LIM+RMS MODESW5 PWM MODELIM- V/TINPUTSW7FLTINVERTGNDMOTORVELSW6SELECTCURFLT INVCOM+ENCODERSW8COM-GNDCONTINUOUSAUX+SHORTSMOTORAMPLIFIERAUX-FDBKGNDHI-BUSRESETLIMITREFGNDCOSVELOCITYSW1COS GNDCOMPSIN

    SIN GNDTSSW2RESOLVERGNDSHIELDSHIELDTAC-15VVELOCITYSW3+15VSCALINGTAC RET

    BALANCE

    RESPONCE

    SIGNAL LEAD CURRENT

    Disable drive before changing

    DIP switch settings.

    MARK

    8

    Resolver Feedback Wiring

    SHIELD10SHIELD9THERM GND8

    THERM SWITCH7SIN GND6

    SIN5

    COS GND4

    COS3REF GND2

    REF1

    100%

    Shielded

    Reference Frequency

    2 kHz 20-25 VP-P

    REF

    SIN/COS 0 TO 5 V

    Maximum rms

    SIN

    Winding

    Thermostat

    9

    Motors and Commutation

    The amplifier can commutate 6-pole, 8-pole, 12-pole, and brush motors in its standard configuration and other factory options are available. DIP switch SW6 allows for configuration changes and switches one through three determine the choice. Amplifiers are shipped set for 6-pole operation. Never change the switch settings of SW6 with power ON.

    DIP SWITCH SW6

    SW6 1 2 Motor Type

    ON ON 12-POLE

    OFF ON 8-POLE ON OFF 6-POLE (default)

    OFF OFF BRUSH

    SW6-3 selects the torque linearization mode. When the switch is on, a algorithm is invoked to reduce the generation of torque ripple for 4 or 6 pole sinusoidally wound motors when commutating with a trapezoidal output drive.

    For brush motor operation, (SW6-1,2 off) no resolver alignment is required and the R lead connects to armature (+) and the T lead connects to armature (-).

    A positive command (+COM > -COM) will make the R lead positive with respect to the T lead. These connections will cause clockwise rotation from the shaft end of the motor.

    10

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