Digital Motion Control for Brushless Motors T 161 and T 164 Series Introduction Leading Edge Technology MOOG brushless servo drives are In addition, multi-axis power Guarantees Succes specifically designed to meet the supplies together with all the requirements of the modern pro- necessary accessories (ventilation Modern industrial production is duction environment. units, heat-sinks, cables, etc.) characterised by continuing de- The combination of compact, high completes the package for every velopment in production auto- performance servomotors with application. mation. This development is vital in advanced digital servo controllers ensuring the production process results in the optimum price/ This catalogue contains information remains efficient and economical in performance solution for your on the MOOG range of servo- a fast changing world. Servo drives application. amplifiers, powersupplies and play a critical role in the develop- interface cards. The servoamplifiers ment of automation systems. Mo- The product range comprises ser- are available in two package dern servo drives must provide high vomotors of different dimensions variants and in various different performance solutions to improve with matched servo controllers for power ranges. Interface cards are production effiency while keeping the commutation and control of available for the Siemens Simatic S5 costs at a minimum. the motors. and PC host control systems. 164 Series Panel mounting box Package form ±10 V; CAN (Option) Demand signal 325 DC Bus Voltage [V] 7 to 80 Continuous Current [A ]* s 14 to 200 Peak Current [A ]* s *All current values are peak of sine. A = √2A s eff Components of a MOOG Servo Drive System MOOG Other MOOG Controllers Matching Power Transformer Supply L 1 325 V DC L 2 N S 230 V AC L 3 Bleed Resistor PE Command Resolver Signal MOOG MOOG Controller Brushless Servomotor Our quality system is certified to ISO This catalogue is intended for purpose and meet all required 9001 suitably qualified personnel only. safety regulations. Please consult The user is responsible to ensure the factory if in doubt. that the components described herein are fit for their intended 2 T 161 and T 164 Series Introduction Typical Applications • Robots • Handling Systems • Transfer Lines • Textile Machines • Packaging Machines • Plastic Machines • Paper and Woodworking • Flying Shears and Saws • Punching and Stumping Machines MOOG Brushless Servomotors MOOG Digital Servoamplifiers offer the following features: The performance advantage of • Very compact dimensions MOOG Servomotors can be fully • Low inertia for dynamic achieved using the latest generation performance of digital servoamplifiers from • Low weight MOOG. • Reliable and robust Setting Standards in Technology and Service Advances in technology have led to sales and service coverage provided an ever increasing use of digita- by MOOG Subsidiaries together lisation. MOOG servodrives are no with a growing network of Sales exception. Speed, winding tem- Partners. perature and other physical MOOG supplies complete quantities are sampled periodically Servodrive Systems by a fast microprocessor and this data is used to commutate, control and protect the drive system. This allows complex algorithms to be realised which give better motor performance and easy set-up. Apart from the development and manufacture of brushless Servo- motors, MOOG also offers the hardware and software compo- nents necessary to implement complete drive systems. MOOG Customers benefit from world-wide 3 T 161 Series Technical Data Model T 161-901 T 161-902 Continuous Current [A ]* 3,5 / 6** 4,7 / 11** S Peak Current [A ]* 8 20 S Continuous Power [kW] Dimensions W x D x H [mm] 60,96 x 226,9 x 262,9 60,96 x 226,9 x 262,9 *All current values are peak of sine. A = √2A s eff The T161 Series tor performance. The T161 Series is optimised for motors up to 2.5 kW. consists of modules which are plugged into a 19”rack contai- Encoder Simulation Option ning a backplane. Up to 6 servo- amplifiers may be plugged into An incremental position signal with one rack. Each rack also requires a a programmable resolution of up to T160 power supply which supplies 8192 lines per motor revolution is high voltage DC and logic level generated from the resolver voltages for up to 6 amplifiers. The position feedback. The incremental servoamplifier features digital position is transmitted as differential speed control, commutation and quadrature pulse outputs and a fault monitoring. Analogue current differential marker pulse output loops guarantee the highest pos- which may be set at any motor sible bandwidth for dynamic mo- position. User Interfaces Analogue Inputs ±10 V Demand Input 0-10 V Torque Limit Digital Inputs Enable, Speed Limit Speed / Torque Mode Select Limit Switches Analogue Outputs Current Monitor Speed Monitor Digital Outputs Thermal Limit Drive Fault System Ready Encoder Simulation (Option) Status Display LED’s on the front panel show drive status Communication RS232 / 485 Interface CAN Bus (Option) 4 T 161 Series Technical Data T 161-903 T 161-904 T 160-901/2 6,5 / 15** 18** Power Supply 30 60 0,8/2,5** ( 1 x 230 V AC ) 2,5/7,5** ( 3 x 230 V AC ) 60,96 x 226,9 x 262,9 91,44 x 226,9 x 262,9 60,96 x 226,9 x 262,9 3 ** Forced air cooling Q ‡35 m / h CAN Interface Option no encoder feedback cables and no itself, allowing point to point 160 Power Supply additional RS232/RS422 cables motions and electronic gearing The use of a high speed CAN digital required. between axes. Two versions of the 160 power interface to replace the old ±10V MOOG CAN drives offer two The functionality of MOOG CAN supply are available, one which demand signal opens up the full modes of operation. In both cases, drives allow cost effective and generates the logic voltage supply potential of digital drive technology. the position control loop is closed reliable system solutions to be from the main bus and one which By integrating higher level motion on the servodrive eliminating the quickly realised. uses a seperate 24 V DC input. The control functions in the drive, the need for a seperate position control The 19" rack plug-in system and latter version allows communication advantages of distributed control card. With the Interpolation Mode the parameter download over CAN with the drive to function even after systems can be exploited in full. version, the motion profile is allow fast and reliable exchange of removal of the high voltage supply. Only a single twisted-pair cable is generated on the host controller T161 drives in the field thereby needed between the Host allowing complex path control. reducing machine downtime. Controller and the servodrives. With the Profile Mode version, the There are no analog control cables, profile is generated on the drive Block Diagram of the T 161 Digital Servo Controller MOOG Motor Power Stage Temperature Power DC-Bus- Stage Voltage Motor Temperature Thermistor A/D-Converter Velocity Resolver Setpoint Digital I/0 I/0 Pulse Width COMPUTER- Unit Modulator SYSTEM Monitor Outputs Resolver Signal Processing Encoder Commutation Position Simulation Controller Velocity Loop Current System Controller Monitoring Host Digital System Interface Position Controller PC Position D/A-Converter Controller Program- Digital Bus mable I/0 Options 5 T 164 Series Technical Data Model T 164-901 T 164-903 Continuous Current [A ]* 7 14 S Peak Current [A ]* 14 28 S Continuous Power [kW] Dimensions W x D x H [mm] 76 x 254 x 312 76 x 254 x 312 *All current values are peak of sine. A = √2A s eff The T164 Series series. In addition, a single-axis position control card is available features a panel mounting which plugs into the T164 servo- construction and covers the amplifier. High power DC voltage is complete range of MOOG motors supplied by the 150 Power Supply up to 10 kW. Screw terminal which also features a ballast circuit connectors allow easy system to absorb energy regenerated by installation. A built-in fan is the motor. For large loads, an included for optimum heat external ballast resistor, (up to dissipation. The T164 series offers 2.5 kW continuous, 36 kW peak), the same functionality and is available as an option. expansion options as the T161 User Interfaces Digital Outputs Thermal Limit Analogue Input Drive Fault ±10 V Demand, switchable System Ready (Option) between speed and torque control Encoder Simulation (Option) Digital Inputs Status Display Drive Enable LED's on the front panel show drive Limit Switch Inputs (Option) status Torque / Speed mode select (Option) Communication Automatic / Manual mode select RS 232 / 485 Interface (Option) CAN-Bus (Option) Analogue Outputs Two programmable test points on the front panel. e.g. to monitor speed or current. 6 T 164 Series Technical Data T 164-905 T 164-907 T 164-909 T 150-901 28 56 80 Power Supply 56 112 200 5 ( 1 x 230 V AC ) 15 ( 3 x 230 V AC ) 76 x 254 x 312 127 x 254 x 312 127 x 254 x 312 76 x 254 x 312 CAN Interface Option Point Card Option wide variety of motion tasks to be programmed. A program develop- The CAN functionality described for Point is a complete single axis ment environment is provided and the T161 Controller Series is also motion control card which plugs user programs may stored on the available for the T164 Series. into the drive and allows the drive Point card in EEPROM. to operate as a standalone motion An encoder input, high speed regis- controller. The card also contains 9 tration input and a CAN interface digital inputs, 5 digital outputs and are also available as options. a serial interface. A powerful motion control language based on BASIC allows a 7 ® S5 SERVOLINK ® Simatic S5 Interface for Digital Servodrives Description positioning card in the PLC. Up to 47 axes may be controlled from The S5 ServoLink card from MOOG one PLC. offers a high speed serial interface between the Simatic S5 from The S5-ServoLink card is a standard Siemens and the MOOG digital plug-in card for the 115U, 135U servodrives. Using the high speed and 155U S5 PLC’s. The card CAN interface to replace the ±10 V implements all the necessary analogue demand signal opens up protocol to allow MOOG intelligent the full potential of digital control. servodrives to be directly accessed Integrating higher level motion from PLC programs using a library control functions in the servodrive of Step 5 function blocks provided. allows the advantages of distributed control systems to be fully realised. Highly synchronised motion control is possible without any additional Features: • Point to point motions • Up to 16 drives may be • Electronic gearing and camming controlled by one card, up to 3 functions cards in one PLC • Motion parameters freely pro- • Compatible with all S5-115U, grammable from the S5 Program 135U and 155U PLC’s (a version • Servodrive data (position, status, for 95U and 100U is in prepara- etc.) available to the PLC program tion) Advantages Intelligent servodrives networked via CAN bus have the following advantages compared with servodrives having an analog speed interface: k •No extra position controller Reduced costs. necessary. One S5 ServoLink card can control up to 16 axes. k • Lower installation and wiring costs Less possibility of wiring errors. using a serial bus. k • No more analog interfaces. No noise or drift problems. k • Status and diagnostic information Higher availability and easier to available in the PLC. service. k • Step5 motion functions available. Easy to program. k • Modular decentralised concept. Simplifies testing and com- missioning. 8 ® S5 SERVOLINK ® Simatic S5 Interface for Digital Servodrives Details of Operation the PLC program calls the MOVE- other drives can be configured as control mode with a programmable ABSOLUTE function block and sets slave axes. The relationship of the acceleration ramp or in torque Generation of motion profiles, the required acceleration, max. slave position to the master is control mode with a programmable transmission of data for electronic speed and target position. Actual defined by a table which is stored in maximum speed. gearing and CAM functions and position and status information is each slave drive. This allows position loop closure is performed sent every cycle from the servodrive electronic gearing or CAM on the servo amplifier. The PLC to the PLC. This allows the PLC to functions to be programmed. parameterises these functions using determine the position of the drive the library of function blocks and when the motion profile has Gear ratios may be set on the provided, (see example below). Pro- been completed. master and on each slave. The gramming can be done either amplitude and offset of the CAM directly in Instruction List or gra- To perform electronic gearing any table can be changed every CAM phically using function plans and one axis can be configured as a cycle allowing very flexible systems ladder logic. gearing master. This master axis will to be realised. then broadcast its position on the To perform a point to point move, CAN bus every 2 ms. Any of the The drives can also be run in speed Example DJS1: L KB 0 ;Check DRIVE_JOB_STATUS (D_J_S) A DB 201 ;Data block for drive 1 L MB 101 ;MB101 = D_J_S L DW 3 ;Load status word