MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor -...

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Page 1: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

TECHNICAL DESCRIPTIONissue 1.02

FOR

TRANSISTOR - FOUR - QUADRANT

SERVO - AMPLIFIER

TYPE

MTR 700 (MTR 60/12-30)MTR 1200 (MTR 150/8-20)

Telefon: +49 (0)761- 15 23 4-0Telefax: +49 (0)761- 15 23 4-56E-Mail: [email protected]://www.mattke.de

MATTKE AGLeinenweberstraße 12D-79108 FreiburgGermany

Page 2: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

Dear customer,

We always try to guarantee for an optimum of security measures and to inform ourselves about the latest developments in technical research. However, it is necessary that we pass on the following further information to you as the user of our components:The appliances are supply parts meant for processing by industry, trade or other factories specialised in electronics.

Safety precaution!!

Attention - do not touch! The appliances have unprotected live parts. The voltage may be highly dangerous.

We also have to inform you that, for your own security, only an expert should work on the appliances.

In order to comply with the safety precautions, open connections must be protected against contact with cases, coverings or anything similar. Even after the appliance had been disconnected, there may still be a dangerous voltage (discharges of the capacitors).

Due to an error in handling or unfavourable conditions, the electrolytic capacitors may explode. If you have to work on the open appliance, do protect your body (hands!) and your face!

Make sure that there is enough ventilation because of the fire risk in case of overheating.

All informations subject to change.

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Page 3: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

Table of contents1. TECHNICAL DATA.............................................................................................................4

2. INITIAL OPERATION.........................................................................................................72.1 Preparations.................................................................................................................7

2.2 Speed calibration.........................................................................................................8

2.3 Short-time peak current...............................................................................................8

2.4 Effective current...........................................................................................................8

2.5 Amplification.................................................................................................................8

2.6 IR Compensation.........................................................................................................8

3. TROUBLE SHOOTING......................................................................................................9

4. LIEFERBARE STANDARD - VERSTÄRKER..................................................................10

Table of FiguresFigure 1: Achievable peak current duration after full load as a function of recovery time and overcurrent factor(also valid for periodic operation) IP, IN are the limit values set at pot P6, P7...........................................................................................................................................5Figure 2: achievable peak current duration as a function of bias and overcurrent factor.....5Figure 3: Connection Diagram...............................................................................................6Figure 4: Dimensions.............................................................................................................6Figure 5: Basic circuit diagram...............................................................................................7

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Page 4: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

1. TECHNICAL DATA

Control bandwidth 0...1kHzDead band at zero point noneFormfactor of motor current 1.01 at nominal current and minimum

inductanceRecommended control voltage ± 10 Vmax. permissible tacho-voltage ± 100 V

Setting range of input dividersinput 1 (Pot 1, Term. 1-2) 1.0 ... 0.3Input 2 (Pot 2, Term. 3-4) 1.0 ... 0.3Tacho (Pot 3, Term. 18-19) 0.8 ... 0.08

Internal resistance of control inputs 20 kOhm min.Internal resistance of tacho input 16 kOhm min.

maximum input drift ± 15 V / °C

clock frequency 9.5 kHz7.5 kHz

duration of overcurrent ref. Diagram

specified minimum inductance 0.9 mH (60 V device) or3.5 mH (150 V device)

Disable-input closed during operation

additional outputs:auxiliary voltages ± 15 V, max. 20mA

(for additional circuits)armature current monitor ± 10 V for total short-time peak currentI²t-alarm switching from 0 V to +15 V max. output

currentalarm contact “ready for operation” 20 mA closed during operation, also with ext.

Disable, but opened with undervoltage and servo interference (e.g. overcurrent)

Temperature rangespermissible operation temperature 0 ... +45 °C at 100 % loadpermissible operation temperature +45 ... +55 °C with 20 % short-time peak

current and nominal current reductionstorage temperature -30 ... +70 °C

Indications:LED green: Ready for operation (as alarm contact)LED yellow: I²t-alarm (as alarm output)LED red: overcurrent (e.g. caused by short circuit)

connection:control and power connection via screw terminal; mounted in 2 groups (control terminals, e.g. inputs and power terminals, e.g. motor, including tacho).

Dimensions and weight: 200 x 106 x 166 mm, 1.9 Kp (L x W x H, valid for both versions).

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Page 5: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

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Figure 1: Achievable peak current duration after full load as a function of recovery time and overcurrent factor(also valid for periodic operation) IP, IN are the limit values set at pot P6, P7

Figure 2: achievable peak current duration as a function of bias and overcurrent factor

Page 6: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

1) not required for motors with permanent excitation2) power supply either from mains transformer or from battery3) note minimum inductance (incl. Motor), each inductance coil 0.4 mH min.

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Figure 3: Connection Diagram

Figure 4: Dimensions

Page 7: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

2. INITIAL OPERATION

2.1 Preparations

Connect device as described in the connection diagram. Take special care that the input, motor and tacho polarities are connected correctly. (If the tacho polarity is uncertain, turn motor shaft manually in the direction defined as positive and determine the polarity of the terminals with a voltmeter). Detach motor shaft from machine to prevent damage in the event of uncontrolled high acceleration.Assure that main switch for power supply has ample rating (Inrush current!). Place limit switch (normally closed limit switch) or jumper over terminals 14-15. Place jumper over terminal 5-7 if external additional circuits are not intended at this point. Set pot P1 and P2 to right stop, P5 to middle position and P3, P6, P9 to left stop. Do not change position of other potentiometers yet. If IxR regulation is desired then unsolder jumper below P4 on board 1 and solder into the position opposite of the potentiometer (as single-pole switch).

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Figure 5: Basic circuit diagram

Page 8: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

2.2 Speed calibration

Apply operating voltage (set value 0 Volt): green LED must illuminate, motor must develop holding torque (with IR regulation only weak) and should only rift slightly. A silent constant whistle tone should be heard at the motor and at the reactors. If the motor overshoots out of working range, check tacho circuit again for incorrect poling, short circuit or cut lines and check jumper at P4 board 1 (position “tacho regulation” = closed towards P4). If holding torque at set value 0 V is present, enter set value voltage 10 V constant. Set tacho pot P3 (or EMF pot P8 with IR regulation) to desired final speed. After that, issue set value 0 V again (preferably short-circuit input) and remove drift with pot P4.

2.3 Short-time peak current

Issue set value 0 V and turn motor manually out of zero point or block motor and provide constant set value. (If reactors with at least the defined minimum inductance are available, the ammeter can be switched in series to the reactors without the motor; if so, provide also constant set value).Set potentiometer P6 without interruption (i.e. within 2 seconds) to desired peak current. (Note demagnetisation limit of motor!).If I²t current limitation activates, open the disable input (terminals 14-15) for approx. 20 seconds to allow device to recover; when closed again, the setting can be continued.

2.4 Effective current

After the overcurrent phase (ref. Section c), the current is automatically reduced to a value set at P7. When setting this value always adjust P7 step-by-step without delay. After a short adaption time (the current is then either zero or IP) the new constant current is available.

2.5 Amplification

Connect the motor as usual and connect load. Issue set value 0 V. Turn potentiometer P5 to the right until oscillation occurs and immediately after, turn the potentiometer to the left to the point of intermittence. If the device is to work in position control loop, then, to improve line-up to the zero point, the integration capacitor C4 of the speed regulator (also on solder pins) can be increased.

2.6 IR Compensation

Issue short start/stop impulse and observe the braking behaviour of the motor. Turn potentiometer P9 slowly to the right until out of the initial e-function like braking a single overshoot is produced. Perform this setting with a cold motor if possible.

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Page 9: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

3. TROUBLE SHOOTING

Errors Cause and repairno reactions, greenLED does not illuminate

– check fuses 501, 502 and 201 (on board 2)– measure operating D.C. voltage at terminals 21 (-) and

22 (+)– detach external auxiliary circuits especially those at

terminal 8, 9, 10, 11, 12green LED illuminates, but not reaction (no whistle tone be heard)

– limit switch or disable input not closed; place jumper over terminal 14-15

– interrupt within motor circuitProof: measure voltage between terminals 23-24 using a voltmeter

– field winding not attachedwhistle tone can be heard, but no torque and no holding torque

– operating voltage too high; idle voltage should not exceed 75 V or 190 V D.C. at terminals 21-22

Load resistors (board 2) get hot during stand-still

– operating voltage too high; idle voltage should not exceed 75 V or 190 V D.C. at terminals 21-22

Load resistors get too hot during operation

– braking power to large; attach external additional capacitors or additional load circuit with large power

Superimposed hum on the motor current

– superimposed common mode at differential amplifier input too large; lay separate grounding wire from terminal 13 to central 0 V point of control

Motor runs unregulated with max. speed

– Tacho voltage missing or poled incorrectly;measure voltage at terminals 18-19 with running motor

– Tacho /IR jumper is open; for tacho regulation connect towards pot P4

Maximum speed to low – Tacho voltage too high, operating voltage too low, load to large

– Set input pot P1, P2 to right stop; measure operating voltage and compare with motor EMF at desired speed; increase peak current (P6) or effective current (P7) for a short period to prove overload (speed must increase)

Drift too strong – Unfavourable input circuit connection (e.g. potentiometer in bridge circuit between a positive and a negative voltage source, respectively); inputs unnecessary weakened; interference voltages on the input lines

– Use only on voltage source for bridge circuits and produce a “mirror image” using a precision inverter; set potentiometer of used input always to min.

– Shield input lines correctly (ref. also “interference level to large”)

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Page 10: MTR 700 (MTR 60/12-30) MTR 1200 (MTR 150/8-20) · technical description issue 1.02 for transistor - four - quadrant servo - amplifier type mtr 700 (mtr 60/12-30) mtr 1200 (mtr 150/8-20)

Technical Description, issue 1.02MTR 60/12-30; MTR 150/8-20 15. June 2007

Errors Cause and repairOvercurrent alarm (with internal device switch off) at high speeds

– Commutation limit of motor exceeded; choose smaller operating voltage and/or reduce peak current

Howl tone of constant frequency and low stability of motor shaft

– Torsional resonance due to too weak attachment of tachogenerator; harder tacho attachment or use a tacho with smaller moment of inertia. If not possible, then increase C1

Not precise regulating behaviour with strong overshoot even with low amplification (P5)

– Inductive phase angle rotation due to very large motor inductivity with small mechanical time constant at the same time; use motor with smaller inductivity

– increase operating voltageRumpling, rhythmic running noise with early activation of I²t current limitation

– Tacho voltage ripple to large; use better tacho or reduce amplification at pot P5

Continuous power too low, i.e. activates too early

– Load too large, possible frictional losses or restraints in the machine; measure current monitor terminal 12 or with ammeter in the motor line) and calculate actual effective value

– Unnecessary high peak currents; to achieve optimum clock intervals during continuous operation, drive the acceleration and braking phases with least possible peak current (instead of trapeze-like speed curves, if possible gain triangular curves without idle phase)

Motor gets hot even without load

– Temperature rise due to hysteresis losses; reduce operating voltage or mount chokes in the motor line or, in extreme cases use an LC-filters

Electrical interference level to high (e.g. interference of the controller), hysteresis effects, mutual interference of several axes

– Wiring not correct; mount reactors directly to the device and ground the cores with short conductors to terminal 21

– Ground shielding connections of control lines to central zero point of controller, not to the servo amplifier (is not valid for manual controllers e.g. battery box; their shielding is attached at both ends if the control box is not already grounded somewhere else

– Detach outputs of external controllers (operational amplifiers) from the line using serial resistors (330 Ohm)

4. AVAILABLE STANDARD AMPLIFIERS

Type outputvoltage

outputcurrent

peakcurrent

Transformersecondary

Voltageprimary

Transformercurrent

Inductance Coil

MTR 60/12-30 60 V 12 A 30 A 52 V / 18 A 230 V 18 A D 400-20-70

MTR 150/8 150 V 8 A 20 A 125 V / 12 A 230 V 12 A D 2,6-18-6

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