Escolar Documentos
Profissional Documentos
Cultura Documentos
I:: : *
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
(Up to 800 W)
transformer.)
a*
/!.
- 0
r S---+HD20 or HD30
Progressing as A, B, C.
2 ZS
._
i-7
_-,_
-3 Y
Ll
QQQQQQQQQOO
2~ 2 B 2Gl 2G2 2E c D r\c Pilot lamp r 4
: .! W I
Fl
12 jl: I!
456 480
I I: 12 I I
Unit: mm
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
Note: Joint use with the transistor amplifiers TRA31/41/61 or TRA30/60 is not possible.
E/
IS16
2S16
;it
L
: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
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
q
cl I II II cl cl cl cl
=-T-=- =-T=--1
I
I
I
type
.f-j---+
0
I
q
cl cl
0 0
0 0 0
III
cl
cl
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.
to the V side.
. riormally,
(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
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
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
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,
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,
16
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
Lighting condition This lights when the temperature in the motor exceeds the specified temperature (95OC)
ovc
OCP
This lights when an abnormal current flows to the transistors or to the motor.
1ALM
2ALM
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 TR pin
NO.
TR 43B
Signal name
43f
lCP1 ----2CPl
0 - - -
0 -
-_ 0
-L_ 0
lCP3
The following waveforms can be seen at the time of motor acceleration and deceleration.
19
rR
Signal name
Output waveform
13A 131 3 =
0
Speed loop
CPl 0
CP3
?.-~--,~--
At the time of READY OFF and at the time of SERVO OFF, the output voltacre becomes about 0 V. lCP4
0 0
.---2CP4
axis 1 --_------Current command signal axis 2 The same waveform as for 2CP3 can be seen.
20
Signal name
Output waveform
lCP6
Current feed- The following waveforms can be back signal seen at the time of motor
21
Signal name
Output waveform
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
'R
Signal name
Output waveform
13A L3B
so--7sors
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
Note: Do not turn the motor when you want to see the above waveform.
23
Signal name
Output waveform
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
24
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
The same waveform as for CP20 can be seen simultaneously with occurrence of overvoltage detection alarm.
CP22
The same waveform as for CP20 can be seen simultaneously with occurrence of low voltage detection alarm.
25
Signal name
Output waveform
The same waveform as for CP20 can be seen with occurrence of alarm for axis 1.
CP24
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.
26
TR
Signal name
Output waveform
43A 43B
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.
l?R
TR
Signal name
Output waveform
43A 43B
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
Signal name
Output waveform
Discharge starts when the voltage between P and N exceeds 300 V. The following waveform can be seen.
_______
- 1.3~-2v
OV - 6 V
Power
1.3-Z v
Power ov _5_
-6V---
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)
Signal name
Output waveform
Power transistor
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