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:,::::. I:: : *

Transistor Amplifier TRA8-L/PI/S

Maintenance manual

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) Servo system alarm transfer circuit . . . . . . . . . .

2) Transistor amplifier inspection . . . . . . . . . . . . . .

i) Display lamp explanations . . . . . . . . . . . . . . . .

ii) Transistor amplifier check pins and their

contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1

5

6

15

15

16

16

19

AMlTSUBlSHlELECTRIC

1. Functions

The transistor amplifiers TRA8 are the amplifiers for driv-

ing of the DC motors installed on machine tools, robots,

etc. by power amplification according to the pulse nodula-

tion 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

piGZZ-+

(Up to 800 W)

3 phases,

2cc/220 v

pcwer supply

Transistor

(Input to the transistor

amplifier must be via a

transformer.)

(Example for control of 4 axes)

1

a*‘3‘. /!.

The type names become as follows.

TRA8 q - 0 Axis 1 HD motor

:,.,...!. f ’ L---HD41 or HD81

Axis 2 HD motor

r

HD41 or HD81

M---HD20 or HD30 HD41 or HD81

management S---+HD20 or HD30 HD20 or HD30

Progressing as A, B, C.

2

2) Drive part (transistor amplifier) block system diagram

-3) Cable system diagram 2

ZS l

. _ ‘.

-

-

-

,

-3Y Ll Yi-7 _-,_

r’ I

2. External dimension drawing

1) External view of TRA8

QQQQQQQQQOO2~ 2 B 2Gl 2G2 2E c D r\c

Pilot lampr 4

Fl

View ir. direction A (termilral base):.!W I

12 jl: 456 12

I ! 480I I:

’ II

Unit: mm

5

..,.:.;,

3. Transistor amplifier exchange method and handling- 1

1) Transistor amplifier connection

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

:Pl ZP2

TRABA-L/K&

ZPl zP2

au

I I TEl. TE2

INC control unit

Amplifier for axis 1, 2 Amplifier for axis 3, 4

Note:

Joint use with the transistor amplifiers TRA31/41/61 or

TRA30/60 is not possible.

d

;it

L

:r

2) Printed circuit board outline drawing

(Card TR43A)

E/2s132s142s15

EI

IS13IS14IS15

0IS16 0 2S16

Alarm display LED

CON 17 CON 16 AG terminal

7

(Card TR43B)

nil5 % 5ijr h‘ -

ElIS16

2vEL17

jR.-I2

2S16

l-4 N

Alarm display LED

CcpJli CON16 AG terminalI

8

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 JSC is set for nse of a motor cf 5Cl 1:

/ 0 S 6 1 / or less.)

iIsat-j’lOS7Setting 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

touch, .zzs setting 372s been made IxCore ship-

1 q SiE 1ICormally, nc: setting ir m a d e .

1 0 sis 1 Sectinq is made ilccording to the type of

tat!-,oqecerator ustic for speed feedback tier

TG fticd!>ack selection).

* Setting pir. disy=l?j.: 0 s

Settiliq pin No.

Standard setting pin setting table

Motor

Setting pin No.

cl Sl

cl s 2

cl s 3

q s 4

cl s5

I S 6

II s 7

II S 8

cl s9

cl SlO

cl Sll

cl s12

q s13

c l s14

cl S15

=-T-=- =-T=---I I I

1 Setting according to the detector gear box

1 type l

.f-j---+

0 0I

i 0 0

0 0

0 0

III S16

c l s17 0 0 0 0

cl S18 Setting according to the tachogenerator type.

T

* "0" indicates a setting pin insertion place.

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.

Motor running

in CCW

direction

Motor running

in CW

direction

. This becomes effective when SW1 or SW2 is switched

to the V side.

. riormally, set the the scale value 5.

(Do not touch this volume when the motor is in-

stalled 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

. Turn in CCW direction (fcr 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 gradu-

ation 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

CUT-

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

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 xigidi-

ty, 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

RA2

RA3

RA4

RA5

l--

Name

RDY

DBL

NORM

SVONl

SVON2

Function when lit

Indication of READY ON.

Indication of released dynamic

brake. (This also means contactor

operation.)

Indication of normal conditions

at the time of power ON.

Indication of SERVO ON status for

the first axis.

Indication of SERVO ON status for

the second axis.

l With SERVO ON for both axes, all relay lamps

are lit.

All lamps go out when an alarm occurs.. .

13

Note:

The volume indication is made as follows.

Axis No. Volume No.

14

Pm

1-__I__ --

(y-) (y-J (-TyT)

1_

‘1’1lA8 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 gradu-

ation 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 tran-

sistors 1 and 2.



13 Interlock adjustment volume

This is used for interlock adjustment for the tran-

sistors 3 and 4.



15 Current loop compensation adjustment volume

This is used for adjustment of the current loop re-

sponsiveness.

. Normally, setting is made to the scale value '2'.

17 Dummy thermal adjustment volume

Setting is made according to the rated current of the

used motor.



16

(3) Alarm display lamps (on the TR431 card)

OK OCP ZAUI 1‘u.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

Display lamp Lighting condition

MOH This lights when the temperature

in the motor exceeds the speci-

fied temperature (95OC)

ovc This lights in case of continuous

motor overload condition.

OCP This lights when an abnormal

current flows to the transistors

or to the motor.

1ALM This lights when an alarm occurs

for the axis 1.

2ALM This lights when an alarm occurs

for the axis 2.

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 ex-

tremely high (350 V or more).

FOH (NP.T) This lights when the ambient

temperature for the power tran-

sistors has become abnormally

high (8OOC) and when the no-fuse

breaker has become OFF or RDY ON.

18

Check

pin

N O .

lCP1-----

2CPl

lCP2

_--_2CP2

lCP3

ii) Transistor amplifier check pins and their contents

The control cards TR43A and TR43B have exchangeabili-

ty, 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 pin o: Check pin

existence x: No check pin

TR

43f

0- - -

0

0

-_

0

0

TR

43B

0- -

0

0

-L_

0

0

I

Signal name

TG signal- - - - - - - - -axis 1

TG signal

axis 2

ER signal

axis 1- - - - - - - - -ER signal

axis 2

Speed loop The following waveforms can be

error signal seen at the time of motor

axis 1 acceleration and deceleration.

Output waveform

The output voltage differs as

follows according to the used TG.

Detector RST-[ x 2 V/l000 rpm

Conventional type 1lTG . . .

7 V/l000 rpm

Output of the speed command

signal

19

Check

pin

No.

2CP3

lCP4

.----

2CP4

, !R

13A

0

0

- -

0

rR

131

=

0

0

-

0

-

3

--

Signal name

Speed loop

error signal

axis 2

Current com-

mand signal

axis 1_-------

Current com-

mand signal

axis 2

Output waveform

.

+CPl 0 _

This voltage corresponds to the

motor speed.

CP3 ?.-~--,~--

Output waveform with saturation

At the time of READY OFF and at

the time of SERVO OFF, the output

voltacre becomes about 0 V.

The same waveform as for lCP3 can

be seen.

The same waveform as for 2CP3 can

be seen.

20

Check TR TR Signal name Output waveform

pin 43A 43B

No.

lCP5 0 0 Comparator The following waveforms can be

input signal seen at the time of motor

axis 1 acceleration and deceleration.---.__-------

2cp5 -o- 0 ComparatorCPl

input signal ov

axis 2 This voltage is

proportional to

the motor

lCP6 o o Current feed- The following waveforms can be

back signal seen at the time of motor

axis 1 acceleration and deceleration_----L---------_-_____-2CP6 o o Current feed-

_ CPI L

back signal 0

axis 2 This voltage is

proportional to

the motor

speed.

21


pin 43A 43B

No.

Current feedback signal when the

current command is clamped.

Clamped

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 cl SlO

setting.

0.95 V/A at the time of no set-

ting.

lCP7 0 x Step input The speed loop step input signal

signal axis 1 can be seen.---- --__--___--------2CP7

I

o x Step input Change in the range from about

signal axis 2 -4 to +4 V will be made when 1VRl

and 2VRl are turned.

22

Check

pin

No.

CP8

lCP9

lCPl0_-_-2CP9

2CPlO

L?R

13A

'R Signal name Output waveform

L3B

0 X Sawtooth The sawtooth oscillation waveform

wave signal can be seen.

so--7sors

0

--_

0

0

- -

0

PWM signal

axis 1--------_PWM signal

axis 2

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.

Note:

Do not turn the motor when you

want to see the above waveform.

23


pin 43A 43B

No.

1CPll 0 o Base input The following waveform can be

lCP12 signal seen when a clip is used to

lCP13 axis 1 short-circuit between lCP5 and

lCP14 earth check pin or 2CP5 and earth----_-----------__2CPll 0 0 Base input check pin respectively.

2CP12 signal

2CP13 axis 1

2CP14I I I

235---1&OV

I I- o-0.m

cmCP14

- PS--14.ov

O-

-YO_?5~S~_--i,. *A-

o-c.sv

Note:

Do not turn the motor when you

want to see the above waveform.

lCP15 0 x Current The CP6 absolute value waveform

absolute can be seen.

value signal

axis 1_------_----_-__--2CP15 o x Current

absolute

value signalCPl5

axis 20

I

24

Check

pin

No.

CP16

18

CP20

2P21

CP22

l?R ‘R

13A 13B

0

0

0

0

Signal name

Sawtooth

wave signal

FOK alarm

signal

VOV alarm

signal

LVAL alarm The same waveform as for CP20 can

signal be seen simultaneously with

Output waveform

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 set-

ting.

The sawtooth wave oscillation

waveform is put out (same as for

CP8).

The following waveform can be

seen simultaneously with

occurrence of fin overheat alarm.

1 l-12v

o__?Jl_-------

t -

Alarm

The same waveform as for CP20 can

be seen simultaneously with

occurrence of overvoltage

detection alarm.

occurrence of low voltage

detection alarm.

25


pin 43A 43B

No.

CP23 o o Alarm signal The same waveform as for CP20 can

axis 1 be seen with occurrence of alarm

for axis 1.

CP24 o o Alarm signal The following waveform can be

axis 2 seen with occurrence of alarm

for axis 2.

I I--12v0__2v_---____

t

Alarm

CP25 o o OCP alarm The same waveform as for CP24 can

signal be seen with occurrence of

momentary overcurrent protection

alarm.

CP26 o o OVC alarm The same waveform as for CP24 can


overcurrent protection alarm.

CP27 o o MOH alarm The same waveform as for CP24 can


motor overheat protection alarm.

CP17I0 O

Earth signal This is the earth for lCP1 to 27.

19___---.-----

28, 290 x Do not look at other check pins.

30, 31

26

I b) Group 2 (simultaneous checking with other groups is not

possible.)

Check

pin

No.

1CPA

---_-iCPB

signal the momentary overcurrent

axis 1 protection circuit for axis 1,

(Output voltage: 50 mV/l A)-----__-------_----___------------0 0 Earth signal This is the earth for 1CPA. Do

not check simultaneously with

signals of other groups.

c) Group 3 (simultaneous checking with other groups is not

possible.)

TR TR Signal name Output waveform

43A 43B

0 0 OCP input This is the input signal for

Check l?R

pin

No.

2CPA

-----?!CPB

--0

43A

0

TR

43B

0

-- -------0 Earth signal

Signal name

OCP input

signal

axis 2

Output waveform

This is the input signal for

the momentary overcurrent I

protection circuit for axis 2.

(Output voltage: 50 mV/l A).--------_-__- - - -This is the earth for 2CPA. DC

not check simultaneously with

signals of other groups.. .

27

d) Group 4 (simultaneous checking with other groups is not

possible.)


pin 43A 43B

No.

CPC 0 0 Discharge Discharge starts when the voltage

circuit between P and N exceeds 300 V.

operation The following waveform can be

signal seen.

- 1.3~-2v_ _ _ _ _ _ _

I %

OV

- 6 V

Discharging

Discharging stops at about 290 V

or less.

1B2 o o Power Power1.3-Z v

1B4 transistor

6

transistor ONov

2B2 base signal _5_ Power-6V---

2B4 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)


pin 43A 43B

No.

lB1 o o Power Same as the above waveform lB2

transistor etc.

base signal--------------------------_------ - -lE1 o o Earth signal Earth for 1Bl

1B3 o o Power Same as the above waveform IB2

transistor etc.

base signal-----------------___ --------------_1E3 0 0 Earth signal Earth for lB3

2B1 o o Power Same as the above waveform lB2

transistor etc.

base signal-----------------------____-_________2El 0 0 Earth signal Earth for 2Bl

2B3 0 0 Power Same as the above waveform lB2

transistor etc.

base signal~----------._------------------------__2E3 0 0 Earth signal Earth for 2B3

29

i:: · pdf filedirection motor running in cw direction. this becomes effective when sw1 or sw2...

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