M

DBM 04

User's Manual

GB-4517 Rev.9 - Oct/01

DBM 04 - USER'S MANUAL

Rev. Date Description Updated Pages

0 Sept/96 Initial Release
1 25/Nov/96 Add CE-marking according to LVD; correct Tab.3.6 (IT I-1, 4; III-19; VI-1
protection); add reference to conductive coating
2 20/Feb/97 Correct J1 connector pinout; add figure with single phase I-9; II-4, 8, 10, 16, 19, 34; III-17; VI-3
EMC filter installation; correct miscellaneous errors
3 31/July/97 Add new standard version of DBM 04 Power Supply; I-1 to 7, 9 to 12; II-1 to 40; III-1, 2, 5
update standards with EN 61800-3, EMC product standard; to 40; VI-1 to 4, 6 to 8; VII-1, 7
correct fig.1.5 (EMC/Equipotential bonding); correct tab.3.6
(IT/PC); correct the leakage current of EMC filters; correct
miscellaneous errors
4 24/Oct/97 Add fig.2.18 (Starting Sequence-Timing Chart); update I-2; II-4, 5, 6, 8, 10, 12 to 14, 16, 23,
tab.5.1 to tab.5.4 (parameters settings for T/S curve 25, 26, 28, 31, 34, 37, 40; III-3, 4, 7,
adjustment); integrate keypad setup parameters; correct 13, 16, 17, 23, 26, 31 to 36; IV-1, 6;
miscellaneous errors V-1, 3 to 6; VI-3; VII-14
5 30/July/98 Exchange Section VI (EMC) with Section III (Commands); I - 1, 2, 3, 4, 9, 11, 12; II - 4, 5, 14-
add Par.1.9 (Rating plate); add Analog Out 3; add Par.2.16 19, 21, 23, 24, 27, 28, 31, 32-42;
(Module replacement), Par.2.17 (Sizing of PS circuit) and III (ex-VI) - 1, 3, 7; IV - 3, 6; V - 2, 4,
Par.2.18 (Thermal sizing); add reset to SE command; add 6; VI (ex-III) - 4, 14, 15, 24, 29, 31;
Fig.7.4 and Fig.7.17; correct miscellaneous errors. VII - 4 to 17
6 10/Dec/99 Add Cautions; correct miscellaneous errors I - 3; II - 1, 24, 42; III - 4; VI - 1
7 2/Nov/00 Add UL markings; add PS-6M and PS-120; correct I - all; II - all; III - 1-4, 6, 7; IV - 1, 4 to
miscellaneous errors 6; VI - 2, 9-11, 18, 25-27, 34; VII - 1,
3, 4, 8, 11, 15, 17
8 15/Jun/01 Update UL markings; add PS-U; correct miscellaneous I - 1, 4 to 16; II - 2 to 6, 9 to 50;
errors VII - 1, 2, 10
9 30/Oct/01 Add CE markings; correct miscellaneous errors I - all; II - 4, 7, 15, 16, 17, 18, 29; III -
1, 2, 3, 7; IV - 1; VI - 4; VII - 4, 8
 TABLE OF CONTENTS

SECTION 1 description I-9

Description electrical data 9
dimensions 12
component identification 14
system grounding 15
options 16
rating plate 16

SECTION 2 fuses II - 2
Installation soft start 2
transformers 3
thermal sizing of cabinet 3
recovery circuit 4
fan assembly 5
wire type 6
power supply - wiring 10
power supply - led's 14
power supply - internal card jumpers 14
module wiring 19
resolver wiring 22
motor phases wiring 29
module - leds 32
personality card jumpers 33
potentiometer/button 35
input/output characteristics 35
serial link connection 36
starting sequence 41
resolver to encoder option 46
mechanical brake 48
module replacement 49

SECTION 3 European Directive III - 1

EMC filtering 1
wiring and grounding 4
recovery resistor 6
screening 7
safety aspects 7

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SECTION 4 power supply IV - 1
Protections drive module 2

SECTION 5 phase-speed relation V-1

Adjustment phase-current relation 2
of T/S curve parameters setting for FAS T-V 2

SECTION 6 general features VI - 1

Commands commands 3

SECTION 7 DBM-PS troubleshooting VII -1

Troubleshooting DBM module troubleshooting 4

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Accident Protection
The safety instructions provided in this Manual are included to prevent injury to personnel
(WARNINGS) or damage to equipment (CAUTIONS).

WARNING: L+ and L- pins and Bus Bar's can have voltage

≥810Vdc even after switching off (capacitive voltage).
High Voltage - Discharge Time approx. 6 Minutes.
WARNING: High Voltage. The recovery resistor is connected to
the Bus Bar’s and can have voltage ≥810Vdc.
WARNING: do not touch recovery resistor during operation to
avoid scalds.
CAUTION: make sure that the correct input voltage, 400V or 460V, has been set.

CAUTION: it is recommended to disconnect the drive and the EMC filters to carry out
the AC Voltage Tests of EN 60204-1 (1997), par.19.4, in order to not damage the Y-
type capacitors between phases and ground. Moreover the DC voltage dielectric test
required by EN 50178 (1997), product family standard, has been carried out in factory
as a routine test. The DC Insulation Resistance Tests of EN 60204-1 (1997), par.19.3,
may be carried out without disconnecting the drive and the EMC filters.
CAUTION: when required for an emergency stop, opening U2-V2-W2 pins and closing
motor phases to resistors, must be preceded by disabling the axis. The delay time
must be at least 30 ms.
CAUTION: in case of repetitive switching on and off, wait 1 minute between off and
on.
CAUTION: it is recommended to close the WP jumper on the Personality Card at the
end of installation and setup.
CAUTION: do not exceed the tightening torque of the table (but see proper data
sheets for the tightening torque of input capacitors and power modules and see
Section 2 of this Manual for the tightening torque of terminal blocks)
Screw Tightening torque
Thread [Nm] [lb in]
M3 1.00 8.85
M4 3.00 26.55
M5 6.00 53.10
M6 8.00 70.80
M8 20.0 177.0

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I - 4 - 30/Oct/01
CE Requirements

• Cautionary Marking. See Accident Protection page.

• Protection against electric shock. Electronic Equipment intended for installation in

closed electrical operating areas kept locked. The lock shall be only opened by authorized
person and the access only allowed to skilled persons whilst energized. Where the
equipment requires manual intervention, 412.2.1 of HD 384.4.41 S2 shall be consulted.

• Fixed connection for protection. The equipment may have a continuous leakage current
of more than a.c. 3.5 mA or d.c. 10 mA in normal use and a fixed ground connection is
required for protection.

• RCD. A d.c. component can occur in the fault current in the event of a fault connection to
earth. Only a residual-current-operated protective device (RCD) of Type B is allowed.
When the protection in installations with regard to indirect contact is achieved by means of
an RCD, their appropriate function/combination shall be verified.

• Climatic Conditions. Equipment intended to operate within its performance specification

over the range of Class 3K3, as defined in table 1 of EN 60721-3-1, EN 60721-3-2, EN
60721-3-3, EN 60721-3-4, partly modified.

• Pollution Degree 2 Installation - The equipment shall be placed in a pollution degree 2

environment, where normally only non-conductive pollution occurs. Occasionally, however,
a temporary conductivity caused by condensation is to be expected, when the electronic
equipment is out of operation.

• EMC Requirements. The installer of the equipment is responsible for ensuring

compliance with the EMC standards that apply where the equipment is to be used.
Product conformity is subjected to filters installation and to recommended procedures, as
from Section 3 of this Manual.

• Second Environment (EMC). Equipment intended to be connected to an industrial low-

voltage power supply network, or public network which does not supply buildings used for
domestic purposes (second environment, according to EMC Standards).
It is not intended to be used on a low-voltage public network which supplies domestic
premises (first environment). Radio frequency interference is expected if used on such a
network.
• Recovery Resistor Cable. Shielding of the external recovery resistor cable, provided in
kit for test purposes, is recommended for ensuring compliance with the EMC standards.

I - 5 - 30/Oct/01
I - 6 - 30/Oct/01
UL Requirements

• These Brushless Servo-Drives shall be assembled with the guidelines specified in this
Manual. Only the configurations with the components tested and described in the UL
Report, file E194181, Vol.2, Sec.1, Issue date 03-28-01 and following Revisions can bear
the Recognized Component (R/C) Mark. Each assembled configuration shall be evaluated
in the UL Listed end-use application.

• The Component – Power Conversion Equipment “DBM 04 Series” is considered UL

Recognized in the complete configurations after the assembly of the three main parts of
the Drive, that is the Power Supply, the Modules and the Fan Assembly. The Marking,
including the R/C Mark and the Drive Model No., shall consider the equipment in its
complete configuration.

• These drives shall be used within their ratings, as specified in the marking of the
equipment. In particular:
- rated input voltage, input current, system duty cycle, auxiliary input voltage, auxiliary
input power, fan input voltage, fan input power on the label affixed on the fan assembly
- rated axis continuous output current, axis max output current, module duty cycle on the
label affixed on the module

• Cautionary Marking. See Accident Protection page.

• Duty Cycle. The maximum continuous Drive output current shall be limited to 65 A and to
the Maximum Module Current, due to the rated current of the Power Supply and of the
Module. According to this reason, the Drive shall be used with a Duty Cycle, as specified
in the marking of the equipment.

• Surrounding Air Temperature - "Maximum Surrounding Air Temperature 40°C". In the

final installation considerations shall be given for the need of repeating Temperature test if
the unit is mounted with a different Surrounding Air conditions.

• Pollution degree 2 Installation - The drive must be placed in a pollution degree 2

Environment.

• Environmental designation - “Open Type Equipment”.

• Short Circuit Ratings. “Equipment suitable for use on a circuit capable of delivering not
more than 5000 rms Symmetrical Amperes, 460 V ac +10% maximum”

• Branch Circuit Protection. The Branch Circuit Protection for Short Circuit shall be
provided in the end-use applications by external R/C Fuses (JFHR2), manufactured by
Bussmann Div Cooper (UK) Ltd, Semiconductor fuse type, Mod.No. 160 FEE, rated 160
A, 660 Vac, 200 kA A.I.C.

I - 7 - 30/Oct/01
• Overspeed Protection. The Power Conversion Equipment is incorporating an Overspeed
Protection. See MV command in Section 6 of this Manual.

• Overvoltage Control. In the equipment the Overvoltage is controlled by a Transient

Suppressive device, with 1500 V Clamping Voltage and min 120 J (10x1000 us or 2 ms)
Energy Handling Capability. See also “Bus not normal” protection in Section 4. of this
Manual

• Overload Protection. The equipment does not incorporate internal overload protection for
the motor load. The drive is intended to be used with motors that must have integral
thermal protection through a PTC. The overtemperature fault of the drive will trip when the
PTC reaches 1.2 kΩ. See J4-J5-J6 connectors in Section 2 of this Manual for wiring.

• Over-Current Protection. The drive is provided with a current limiting circuitry. See IL and
IT commands in Section 6 of this Manual.

• Factory Wiring. These equipments are suitable only for Factory Wiring only, that is the
Terminal Blocks and the Connectors for Power Connection Wiring are not suitable for
Field Wiring. In particular the DC-Bus Terminal Blocks for the Power Supply and Modules
Interconnection shall be usable only with the DC-Bus Interconnection Cables provided by
the manufacturer.

• Wiring. Wiring shall be made by stranded and/or solid, copper (Cu), 60/75°C (140/167°F)
conductor only, and, for terminal blocks, the tightening torque values specified in Section 2
of this Manual shall be applied. These requirements do not pertain to control circuit
terminals.

• Wiring of Recovery Resistor. The Dynamic Brake Unit Recovery Resistor shall have the
connection wiring made with R/C (AVLV2) or insulated with R/C (YDPU2) or R/C (UZCW2)
in the end-use installation.

I - 8 - 30/Oct/01
SECTION 1 - DESCRIPTION

1.1 Description

DBM04 four quadrant servodrives provide unrivaled compactness and flexibility through the
integration of three axes in a single module.
A power supply is connected directly to the power distribution line at 400 or 460V and can
supply up to 6 modules (18 axes). The result is a very suitable solution for all multi-axis
applications like machine tools, robotics, packaging, special material working (wood, plastics,
glass, rubber, leather, paper).
A microprocessor based structure allows high servo performances with FASTACT and FC
servomotors all equipped with a resolver feedback. Drive tuning and configuration are
performed via digital parameters (not potentiometers) and stored in non-volatile memory
(EEPROM).
Drive set up is possible via a keypad or PC, therefore simplifying installation and providing
easy fault diagnosis.

General features:
• digital speed loop
• sinusoidal current waveform
• SMD technology with boards automatically assembled and tested
• automatic Resolver to Digital (R/D) resolution switching (from 16 to 10 bit) to achieve high
motion accuracy in the whole speed range (from 0 to 10000 RPM).
• up to 99 axis system configuration
• 10 kHz switching frequency
• operating temperature: 0 to +40°C (exceeding Class 3K3)
• relative humidity: 5% to 85% (no condensation, no formation of ice)
• air pressure: 86 kPa to 106 kPa
• storage temperature: -25 to +55°C (Class 1K4)
• transportation temperature: -25 to +70°C (Class 2K3)
• immunity to vibration: Class V.H.2 according to HD 413.3 S1 (1987)
• maximum case depth of 310 mm

1.2 Electrical Data

PS-Standard Power Supply

• 3-phase power input voltage: 400 or 460 Vac (selectable via switch), ±10%, 50/60 Hz
• 1-phase auxiliary input voltage: 110 or 230 Vac (selectable via jumper), ±10%, 50/60 Hz
• input current: 65 A
• output current: see tab. 1.1
• max number of modules supplied: 4

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PS-6M Power Supply (Standard Plus)

• 3-phase power input voltage: 400 or 460 Vac (selectable via switch), ±10%, 50/60 Hz
• 1-phase auxiliary input voltage: 110 or 230 Vac (selectable via jumper), ±10%, 50/60 Hz
• input current: 65 A
• output current: see tab. 1.1
• max number of modules supplied: 6

PS-Standalone Power Supply

• 3-phase power input voltage: 400 Vac or 460 Vac (set in factory), ±10%, 50/60 Hz
• 1-phase auxiliary input voltage (for data saving): 230 Vac, ±10%, 50/60 Hz
• input current: 65 A
• output current: see tab. 1.1
• max number of modules supplied: 4

PS-120 Power Supply (Powered Standalone)

• 3-phase power input voltage: 400 Vac or 460 Vac (set in factory), ±10%, 50/60 Hz
• 1-phase auxiliary input voltage (for data saving): 230 Vac, ±10%, 50/60 Hz
• input current: 120 A
• output current: see tab. 1.1
• max number of modules supplied: 4

PS-U Power Supply (Special Standalone)

• 3-phase power input voltage: 400 to 460 Vac, ±10%, 50/60 Hz

• auxiliary input voltage (for data saving): 24 Vdc, ±10%
• input current: 65 A
• output current: see tab. 1.1
• max number of modules supplied: 4

DBM 04 Module

• BUS BAR rated voltage: 540 Vdc (with 400 Vac) or 620 Vdc (with 460 Vac)
• three-phase output voltage: 325 Vac (with 400 Vac) or 375 Vac (with 460 Vac)
• output current: see tab. 1.1

DBM 04 Fan Assembly

• input voltage: 230 Vac or 115 Vac, +6%/-10%, 50/60 Hz, or 24 Vdc, ±4%
• input power: see tab. 2.1

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TAB. 1.1 - OUTPUT CURRENT

STANDARD MODULES (see tab.2.16 for the other possible configurations)

Output Current
Model Axis 1 Axis 2 Axis 3 Width Weight
Rated Max Rated Max Rated Max
(Arms) (Arms) (A) (Arms) (Arms) (A) (Arms) (Arms) (A) (mm) (kg)
DBM 04 3-3 3 6.4 9 3 6.4 9 - - - 120 8
DBM 04 6-6 6 10.6 15 6 10.6 15 - - - 120 8
DBM 04 8-8 8 15.6 22 8 15.6 22 - - - 120 8
DBM 04 15-15 15 29.7 42 15 29.7 42 - - - 120 9
DBM 04 25-25 25 49.5 70 25 49.5 70 - - - 180 13
DBM 04 35-35* 35 63.6 90 35 63.6 90 - - - 270 18
DBM 04 3-3-3 3 6.4 9 3 6.4 9 3 6.4 9 120 9
DBM 04 6-6-6 6 10.6 15 6 10.6 15 6 10.6 15 120 9
DBM 04 8-8-8 8 15.6 22 8 15.6 22 8 15.6 22 120 9
DBM 04 15-15-15 15 29.7 42 15 29.7 42 15 29.7 42 180 14
* a duty cycle of 92% applies

POWER SUPPLY - 400/460 Vac

Current Auxiliary
Model Output Output Input Width Weight
Rated Max Braking Voltage
(A) (A) (A) (V) (mm) (kg)
PS-Standard Power Supply 65 100 100 110/230 Vac 120 13
PS-6M Power Supply (Standard Plus) 65 100 100 110/230 Vac 120 13
PS-Standalone Power Supply 65 100 100 230 Vac* 120 13
PS-120 Power Supply (Powered Standalone) 120 280 175 230 Vac* 180 20
PS-U Power Supply (Special Standalone) 65 100 100 24 Vdc* 120 13
* this is not necessary for normal duty but only for data saving

EXPANSIONS

An external expansion module should be used for some configurations, including an axis rated over 35A. This is due to thermal
constrictions.
Available expansions modules are shown in the table. To specify an expansion module, please replace the third axis rating number with E,
this ensures that the drive is configured for use with an expansion module (e.g. DBM 04 15-15-E).

Output Current
Model Rated Max Width Weight
(Arms) (A) (A) (mm) (kg)
EBM 04 50/140 50 99 140 270 18
EBM 04 60/180 60 127 180 270 18

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1.3 Dimensions
Fig. 1.1 and 1.2 (dimensions in mm) show the drilling jig between power supply and drive
module. The modules must be mounted vertically, with the fan housing at the bottom. Leave a
clear space of at least 50 cm (19.7 in) over and under the system for air circulation.

Fig. 1.1 Front View (Drill For M5 Screws)

Power DBM 04 DBM 04 DBM 04

Supply
120 mm 180 mm 270 mm
120 mm Module Module Module

Configuration L L1 L2
1 DBM04 PS + 1 DBM04 120 mm 241 266 282
1 DBM04 PS + 1 DBM04 180 mm 301.5 326 342
1 DBM04 PS + 2 DBM04 120 mm 362 387 403
1 DBM04 PS + 1 DBM04 270 mm 391 416 432
1 DBM04 PS + 1 DBM04 120 mm + 1 DBM04 180 mm 422.5 447 463
1 DBM04 PS + 2 DBM04 180 mm 483 508 524
1 DBM04 PS + 3 DBM04 120 mm 483 508 524
1 DBM04 PS + 1 DBM04 120 mm + 1 DBM04 270 mm 512 537 553
1 DBM04 PS + 2 DBM04 120 mm + 1 DBM04 180 mm 543.5 568 584
1 DBM04 PS + 1 DBM04 180 mm + 1 DBM04 270 mm 572.5 597 613
1 DBM04 PS + 1 DBM04 120 mm + 2 DBM04 180 mm 604 629 645
1 DBM04 PS + 4 DBM04 120 mm 604 629 645

Note: the width of the Power Supply PS-120 is 180 mm. Contact our Sales Locations or Service Centers for the
available configurations and dimensions with this Power Supply.

I - 12 - 30/Oct/01
Fig. 1.2 Side View (Drill For M5 Screws)

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1.4 Component Identification

Fig. 1.3 Component Identification (DBM 04 15-8-8)

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1.5 System Grounding

Fig. 1.4 EMC/Equipotential Bonding

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1.6 Options
• software programmable (from 128 to 16384 pulses per electrical revolution) simulated
encoder with marker
• A/D 14 bit converter on the speed reference with the possibility of software choice
between 12 bit standard conversion and 14 bit optional conversion
• R/D converter resolution: 8 arc/min 2-axis, 4 arc/min 2-axis, 2 arc/min 2-axis,
8 arc/min 3-axis, 4 arc/min 3-axis, 2 arc/min 3-axis
• installation and setup keypad
• PC communication package: see par. 2.11.2.1
• ADR function: external 24 Vdc UPS with added capacitance to recover braking energy
(see Application Note GB-4528)
• frequency reference to use a velocity reference generated by Pulse Frequency
Modulation (PFM) from 0 to 100 kHz instead of the standard analog signal (see
Application Note I-4521)
• master-slave (electric shaft) special software for DBM 04 with expansion (see Application
Note GB-4527)

1.7 Rating Plate

The following informations are supplied on the rating plate of DBM 04.

1.7.1 Power Supply

CODE: CYZZZZ where ZZZZ=model code

S/N: AASS NNNNNN where AA=year, SS=week, NNNNNN=serial number
Vin: xxx V nominal three phase input voltage
50/60 Hz 3-phase
Iin: xxx Arms nominal rms input current
Iout nom: xxx Arms nominal rms output current
Iout max: xxx A peak output current

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1.7.2 Module

CODE: CY1ZZZ XX where 1ZZZ=model code; XX=option code

S/N: AASS NNNNNN where AA=year, SS=week, NNNNNN=serial number
3-phase
D.C.: XXX% module duty cycle, related to the max nominal current of the
module (34A for 120mm, 53A for 180mm, 65A for 270mm)
Axis 1 C1C2C3-C4 code for motor, resolver, simulated encoder (see below)
Iout nom XX Arms nominal rms output current
Iout max YYY A peak output current
Axis 2 C1C2C3-C4 code for motor, resolver, simulated encoder (see below)
Iout nom XX Arms nominal rms output current
Iout max YYY A peak output current
Axis 3 C1C2C3-C4 code for motor, resolver, simulated encoder (see below)
Iout nom XX Arms nominal rms output current
Iout max YYY A peak output current

C1C2C3-C4 C1=pulses per electrical revolution (C=64, D=128, E=256, F=512,

G=1024, H=2048, I=4096, L=8192, M=16384)
C2=motor poles (A=2, B=4, C=6, D=8, E=10, F=12)
C3=resolver poles (A=2, B=4, C=6, D=8, E=10, F=12)
C4 =marker width (A=1, B=1/2, C=1/4, D=no marker)

1.7.3 UL Rating Plate

To comply with the UL requirements, the following data are shown on the rating plate of the
Fan Assembly. These data are referred to the complete DBM 04 system, UL Recognized,
that is Power Supply, one or more modules, fan assembly.
The Duty Cycle is related to the max nominal current of the Power Supply (65A for PS-
Standard, PS-Standalone and PS-U).
The Flow Rate (F.R.) is the sum of the fan flow rates of the fan assembly.
Power Supplies and modules intended to be part of a complete DBM 04 system, UL
Recognized, are marked “Part of a Recognized System”.

Example:

CODE CY2000 - CY2007 A0 - CY1200 A2 - CY1200 A9 - CY1200 A9 - CY4200

Vin 400 Vac 3-phase 50/60Hz Iin 27 Arms - Duty Cycle 100 %
Auxiliary Input Vin 110/230 Vac Pin 240 W
Fan Assembly Vin 115 Vac Pin 56 W F.R. 560 m3/h

I - 17 - 30/Oct/01
This page intentionally blank

I - 18 - 30/Oct/01
SECTION 2 - INSTALLATION
CAUTION: make sure that the correct input voltage, 400V or 460V, has been set.

Fig.2.1 PS-Standard and PS-6M - 400/460V Setting

Top Panel

CAUTION: make sure that the correct Fig.2.2 PS-Standard and PS-6M -
wiring has been set for auxiliary input 110/230V Jumper
voltage on the PS-Standard and PS-6M
front panel.

- connect the jumper on J12 connector

to use 110 Vac
or
- disconnect the jumper on J12
connector to use 230 Vac

II - 1 - 30/Oct/01
2.1 Fuses

2.1.1 Internal Auxiliary Fuses

2.1.1.1 PS-Standard and PS-6M

A delayed type fuse, rated 4A/250V, is provided on the front panel, to protect the auxiliary
power circuit. The following types are approved:
- Mod.No.SPT 0001.2510 by Schurter AG
- Mod.No. ST520240 by Bussmann Div Cooper (UK) Ltd

2.1.1.2 PS-Standalone and PS-120

A delayed type fuse, rated 3.15A/250V, is provided on the internal base card, to protect the
auxiliary power circuit. The following types are approved:
- Mod.No.SPT 0001.2509 by Schurter AG
- Mod.No. ST520231 by Bussmann Div Cooper (UK) Ltd

2.1.2 External Power Fuses (one in each phase of the power line)

2.1.2.1 PS Standard, PS-6M, PS-Standalone and PS-U

CAUTION: equipment suitable for use on a circuit capable of delivering not more than
5000 RMS symmetrical Amperes, 460V +10% maximum, when protected by
semiconductor type fuses, mod.No.160-FEE, manufactured by Bussmann Div.Cooper
(UK) Ltd

2.1.2.2 PS-120

Semiconductor type fuses, mod.No.315-FM (315A/660Vac), manufactured by Bussmann

Div.Cooper (UK) Ltd, are recommended.

2.2 Soft Start

The soft start circuit (inrush current limiting) is built-in.

II - 2 - 30/Oct/01
2.3 Transformers

2.3.1 Power Transformer

The system is designed to allow direct operation from a 400/460 Vac three phase power line,
without isolation transformer. An isolation transformer may still be required to meet local safety
regulations. It is the user responsibility to determine if an isolation transformer is required to
meet these requirements.
To size the power transformer It is necessary to refer to the rated output power of the motors
(the output power with 65K winding overtemperature is included in the Technical Data table of
catalogs of servomotors), to sum the power of single axes, to multiply the sum by the
contemporaneity factor (factors often utilized are Kc=0.63 for 2 axes, Kc=0.5 for 3 axes,
Kc=0.38 for 4 axes, Kc=0.33 for 5 axes, Kc=0.28 for 6 axes), and by a correction coefficient
(=1.2), accounting for the losses of the motor/drive system.

P = Σ Pim ∗ Kc ∗ 1.2 [W]

2.3.2 Auxiliary Power Transformer - PS-Standard and PS-6M

A transformer for the auxiliary line is not necessary.

2.3.3 Auxiliary Power Transformer - PS-Standalone and PS-120

If data need to be saved in case of three phase power line failure, a 230 Vac monophase
auxiliary line must be connected, via isolation transformer, to the PS-Standalone and PS-120
versions of Power Supply. This is not necessary for normal duty but only for data saving.

CAUTION: do not connect directly the auxiliary line but only through a dedicated,
isolation transformer with 230Vac ±10%, 50/60 Hz secondary voltage. Rated power
must be 60VA for each module (e.g. 240VA for 4 modules)

2.4 Thermal sizing of cabinet

To calculate cabinet cooling requirements, table below provides estimated equipment power
dissipation values. If the application employs continuous braking, it is necessary to include
the recovery resistor power dissipation (use the nominal power of recovery resistor if actual
application recovery dissipation is unknown).

Power Dissipation
PS-Standard PS-120 Module IGBT's Input
PS-6M Bridge
PS-Standalone
PS-U
25 W 50 W 50 W 16 W/A 1 W/A

Example: with one PS-Standard, two modules, a total output current of 60 Arms and
continuous unknown braking, the dissipated power is as follows.

Pd = 25 + (2 ∗ 50) + (16 ∗ 60[A]) + (1 ∗ 60[A]) + 750 [recovery resistor power] = 1895 W

II - 3 - 30/Oct/01
2.5 Recovery Circuit
The recovery circuit is formed by a switching regulator, a recovery transistor and a recovery
resistance. While braking the motor returns energy which cannot be sent to the line since the
rectifier circuit is not regenerative. Returned energy tends to increase the BUS BAR DC
voltage. When HV reaches 680V (for 400Vac version) or 790V (for 460V version) the
switching regulator brings the recovery transistor into conduction, thus connecting the
recovery resistance in parallel with filter capacitors. The recovery resistance is formed by
enameled wire fixed resistor(s).

If the recovery resistance works for intervals shorter than the time necessary to reach
thermal equilibrium, the resistor can temporarily handle power levels up to 10 times the
nominal power rating of the resistor (short time overload).

If not specifically requested, PS-Standard, PS-6M, PS-Standalone are provided with 8.2 Ω,
750W recovery resistor, while PS-U is provided with 12 Ω, 750W recovery resistor and PS-
120 with 3.9 Ω, 1000W recovery resistor.

WARNING: High Voltage. The recovery resistor is connected to the Bus Bar’s and can
have voltage ≥810Vdc

WARNING: do not touch recovery resistor during operation to avoid scalds.

CAUTION: an unusual application with motor driven by the load, a large portion of the
time, could result in overheating of the recovery resistor.
An unusual application with motor driven by high inertial load from high velocity in very
short deceleration time could require a non standard recovery resistor.
It is suggested contacting our Service Centers.

CAUTION: shielding of the recovery resistor cable, provided in kit for test purposes, is
recommended for ensuring compliance with the EMC standards.

CAUTION: for UL approval in the end-use installation, the Dynamic Brake Unit
Recovery Resistor shall have the connection wiring made with R/C (AVLV2) or
insulated with R/C (YDPU2) or R/C (UZCW2)

II - 4 - 30/Oct/01
2.6 Fan Assembly
The ventilation is provided by fans mounted under the modules. The size and the number of
fans are according to the system configuration. Selection of the correct Fan Assembly is due
by matching Fan Assembly width to the total of the DBM drives package (i.e. Fan = Power
Supply and DBM module(s) and DBM expansion module(s)).
Fan input voltage is 230 Vac or 115 Vac or 24 Vdc.

TAB. 2.1 - FAN ASSEMBLY

Fan Assembly Input Input Total

Model Code Width Voltage Power Flow
mm V W Rate
m3/h
CY4300, CY4318, CY4359, CY4360 240 24 Vdc 23 520
CY4301, CY4323, CY4337, CY4338 300 24 Vdc 46 1040
CY4302, CY4319, CY4339, CY4340 360 24 Vdc 46 1040
CY4303, CY4341, CY4342 390 24 Vdc 46 1040
CY4304, CY4320, CY4334, CY4343, CY4344 420 24 Vdc 57 1200
CY4305, CY4321, CY4331, CY4335, CY4345, CY4346 480 24 Vdc 69 1560
CY4306, CY4316, CY4347, CY4348 510 24 Vdc 69 1560
CY4307, CY4311, CY4349, CY4350 540 24 Vdc 69 1560
CY4308, CY4351, CY4352 570 24 Vdc 69 1560
CY4309, CY4312, CY4324, CY4336, CY4353, CY4354 600 24 Vdc 92 2080
CY4310, CY4355, CY4356 750 24 Vdc 92 2080
CY4315, CY4357, CY4358 660 24 Vdc 92 2080
CY4100, CY4118, CY4159, CY4160 240 230 Vac 64 485
CY4101, CY4123, CY4137, CY4138 300 230 Vac 128 970
CY4102, CY4119, CY4139, CY4140 360 230 Vac 128 970
CY4103, CY4141, CY4142 390 230 Vac 128 970
CY4104, CY4120, CY4134, CY4143, CY4144 420 230 Vac 147 1130
CY4105, CY4121, CY4131, CY4135, CY4145, CY4146 480 230 Vac 192 1455
CY4106, CY4116, CY4147, CY4148 510 230 Vac 192 1455
CY4107, CY4111, CY4149, CY4150 540 230 Vac 192 1455
CY4108, CY4151, CY4152 570 230 Vac 192 1455
CY4109, CY4112, CY4124, CY4136, CY4153, CY4154 600 230 Vac 256 1940
CY4110, CY4155, CY4156 750 230 Vac 256 1940
CY4115, CY4157, CY4158 660 230 Vac 256 1940
CY4200, CY4213, CY4214 240 115 Vac 56 560
CY4201, CY4215, CY4216 300 115 Vac 112 1120
CY4202, CY4217, CY4218 360 115 Vac 112 1120
CY4203, CY4219, CY4220 390 115 Vac 112 1120
CY4204, CY4221, CY4222 420 115 Vac 130 1300
CY4205, CY4211, CY4223, CY4224 480 115 Vac 168 1680
CY4206, CY4225, CY4226 510 115 Vac 168 1680
CY4207, CY4227, CY4228 540 115 Vac 168 1680
CY4208, CY4229, CY4230 570 115 Vac 168 1680
CY4209, CY4212, CY4231, CY4232 600 115 Vac 224 2240
CY4210, CY4233, CY4234 750 115 Vac 224 2240
CY4235, CY4236 660 115 Vac 224 2240

CAUTION: a free circulation must be guaranteed for the air flow.

II - 5 - 30/Oct/01
2.7 Wire Type

2.7.1 Sizing of Wires

It is recommended to use Cu, stranded and/or solid wires, 60/75°C (140/167 °F), UL
approved, per the following table.
Note that in the table the wires are sized according to the nominal current. The wires can be
undersized if the actual rms current of the application is lower.

Tab. 2.2 - Sizing of Wires

DBM 04 Model Notes

Power Supply Axis
PS-Standard, PS-6M, PS-120 3/9 to 25/70 35/90 to -
PS-U, PS-Standalone 15/42 60/180
Power Line and ground 4x 4x - - - -
wiring (No.of wires x AWG) 6 AWG 2 AWG
Auxiliary Line wiring 2x 2x . . - -
(No. of wires x AWG) 14 AWG 10 AWG
Motor Power wiring . . 4x 8x 4x shielded
(No.of wires x AWG) 14 AWG 14 AWG 6 AWG
Recovery Resistor wiring 2x 2x . . . shielded
(No.of wires x AWG) 10 AWG 6 AWG
Dc-Bus (+/-AT) 8 AWG (provided in kit) -
with 4 pair,
Resolver wiring each pair
(No.of wires x AWG) twisted and
- 4 x 2 x 22/20 AWG individually
shielded with
an
independent
overall shield

Tab. 2.3 - AWG/mm2 Conversion Table

AWG 22 20 18 16 14 12 10 8 6 4 3 2 1 1/0
mm2 0.3 0.5 0.8 1.3 2.1 3.3 5.3 8.4 13 21 27 34 42 54

Tab. 2.4 - Tightening torque of Power Connectors/Terminal Blocks

Mfg Moog Phoenix Contact Gmbh Harting Kgaa

DC-Bus HDFK 4 HDFK 10 HDFK 25 Han16E HanK 4/0
lb in 53 5-7 13.2-16 35 4.4 7
Nm 6 0.6-0.8 1.5-1.8 4 0.5 0.8

Tab. 2.5 - Wire stripping length for Power Connectors/Terminal Blocks

Phoenix Contact Gmbh Harting Kgaa Wago Gmbh

HDFK 4 HDFK 10 HDFK 25 Han16E HanK 4/0 231-104
in 0.35 0.43 0.75 0.28 0.55 0.33
mm 9 11 19 7 14 8-9

II - 6 - 30/Oct/01
Fig. 2.3A Power Supply - Front Panels

PS-Standalone PS-Standard and PS-6M

II - 7 - 30/Oct/01
Fig. 2.3B Power Supply PS-120 - Front Panel

II - 8 - 30/Oct/01
Fig. 2.3C Power Supply PS-U - Front Panel

II - 9 - 30/Oct/01
2.8 Power Supply - Wiring

See Par.2.7 for sizing of power wires, tightening torque and wire stripping length. See Section 3
for shielding procedures according to EMC Directive.

2.8.1 Signal/ Auxiliary Wiring

Tab. 2.6 - Power Supply - J1 Conn. - Auxiliary Power Supply (to Modules)
Panel side: shrouded header with 13 male contacts
Wiring side: connector with 13 female contacts (provided in kit with cable)

Pos. Function
1 Not connected (N.C.)
2 +18Vdc referred to -HV (540/620 Vdc)
3 -HV (540/620 Vdc)
4 158kHz square wave to high side drives
5 N.C.
6 N.C.
7 +18Vdc referred to logic 0V
8 - 18Vdc referred to logic 0V
9 +8Vdc referred to logic 0V
10 +8Vdc referred to logic 0V
11 Logic 0V
12 Resolver 0V
13 10 kHz sinusoidal wave for resolver and synchronism (carrier)

Tab. 2.7 - Power Supply - J2 Conn. - RS485 Port/Fault signals (to Modules)
Panel side: Sub-D with 9 male contacts
Wiring side: Sub-D with conductive shell, 9 female contacts (supplied with cable)

Pos. Function
1 + Rx (RS485 serial link)
2 N.C.
3 + Tx (RS485 serial link)
4 Power supply binary coded faults (see Tab.2.8)
5 + 5Vdc input referred to logic 0V
6 - Rx (RS485 serial link)
7 Logic 0V
8 - Tx (RS485 serial link)
9 Power supply binary coded faults (see Tab.2.8)

Tab. 2.8 - Power Supply binary coded faults

J2/pos. 4 J2/pos. 9
0 0 OK
0 1 DBR FAULT. Recovery fault
1 0 OVER TEMP. Overtemperature
1 1 Not Used.

II - 10 - 30/Oct/01
Tab. 2.9 - Power Supply - J10 Connector - RS485 Port (to keypad or to converter)
Panel side: Sub-D with 9 female contacts
Wiring side: Sub-D with 9 male contacts (supplied with the optional RS232/485 converter kit
or with the optional keypad)

Pos. Function
1 +Rx (RS485 serial link)
2 N.C.
3 +Tx (RS485 serial link)
4 N.C.
5 +5Vdc output referred to logic 0V for power supply
6 -Rx (RS485 serial link)
7 Logic 0V
8 -Tx (RS485 serial link)
9 N.C.

2.8.2 Power Wiring

2.8.2.1 PS-Standard and PS-6M

Tab. 2.10 - J11 Connector - Power

Power: Terminal Blocks Mod.No.HDFK 10 by Phoenix Contact Gmbh
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Name Function
U1 "L1" phase, three-phase input voltage 400Vac (or 460Vac)
V1 "L2" phase, three-phase input voltage 400Vac (or 460Vac)
W1 "L3" phase, three-phase input voltage 400Vac (or 460Vac)

Ground

R.R. Recovery resistor

R.R. Recovery resistor

Tab. 2.11 - J12 Connector - Aux Power

Panel side: shrouded open end header with 4 male contacts
Wiring side: connector Mod.No.231-104/026-000 by Wago Gmbh (provided in kit)
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Name Function
AUX PWR Auxiliary power supply 230Vac/110Vac
JUMPER Jumper (see Fig.2.2)
JUMPER Open=230Vac - Closed=110Vac
AUX PWR Auxiliary power supply 230Vac/110Vac

II - 11 - 30/Oct/01
2.8.2.2 PS-Standalone

Tab. 2.12 - J11 Connector - Power

Aux Power: Terminal Blocks Mod.No.HDFK 4 by Phoenix Contact Gmbh
Power: Terminal Blocks Mod.No.HDFK 10 by Phoenix Contact Gmbh
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Name Function
AUX PWR Auxiliary power supply 230Vac
AUX PWR Auxiliary power supply 230Vac
U1 "L1" phase, three-phase input voltage 400Vac (or 460Vac)
V1 "L2" phase, three-phase input voltage 400Vac (or 460Vac)
W1 "L3" phase, three-phase input voltage 400Vac (or 460Vac)

Ground

R.R. Recovery resistor

R.R. Recovery resistor

2.8.2.3 PS-120
Tab. 2.13 - J11 Connector - Power
Aux Power: Terminal Blocks Mod.No.HDFK 4 by Phoenix Contact Gmbh
Power: Terminal Blocks Mod.No.HDFK 25 by Phoenix Contact Gmbh
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Name Function
AUX PWR Auxiliary power supply 230Vac
AUX PWR Auxiliary power supply 230Vac
U1 "L1" phase, three-phase input voltage 400Vac (or 460Vac)
V1 "L2" phase, three-phase input voltage 400Vac (or 460Vac)
W1 "L3" phase, three-phase input voltage 400Vac (or 460Vac)

Ground

R.R. Recovery resistor

R.R. Recovery resistor

II - 12 - 30/Oct/01
2.8.2.4 PS-U
Tab. 2.14 - J11 Connector - Power
Aux Power: Terminal Blocks Mod.No.HDFK 4 by Phoenix Contact Gmbh
Power: Terminal Blocks Mod.No.HDFK 10 by Phoenix Contact Gmbh
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Name Function
AUX PWR Auxiliary power supply 24Vdc
AUX PWR Auxiliary power supply 24Vdc
U1 "L1" phase, three-phase input voltage 400Vac (or 460Vac)
V1 "L2" phase, three-phase input voltage 400Vac (or 460Vac)
W1 "L3" phase, three-phase input voltage 400Vac (or 460Vac)

Ground

R.R. Recovery resistor

R.R. Recovery resistor

Tab. 2.15 - J12 Connector - Safety

Panel side: shrouded open end header with 6 male contacts
Wiring side: connector Mod.No.231-106/026-000 by Wago Gmbh (provided in kit)

Pos. Name Function

1 OUTPUT 24Vdc (max 1A) output to feed an external relay during
2 SAFE 24V-1A the anti-freewheeling. See Fig.2.4
3 SIGNAL Output signal for safety. When the opto is OFF (∞ Ω) the DC-
4 DC-BUS LOW Bus is over 48V. When the opto is ON (2.7kΩ) the DC-Bus is
under 48V. See Fig.2.4
5 AUX EXT Input signal for safety. Normally connected to 24 Vdc. When
not
6 CONTACT connected to 24 Vdc, the DC-Bus is discharged via the
recovery resistor. See Fig.2.4

Fig. 2.4 - J12 Connector - Internal Circuitry

II - 13 - 30/Oct/01
2.9 Power Supply - Led's

Tab. 2.16 - Power Supply - Led's

Name Function
Yellow LED - PWR-BUS BUS BAR voltage > 40Vdc
WARNING: with PS-Standard and PS-6M, active only if
the aux power supply is ON
Red LED - DBR FAULT Recovery unit fault
Red LED - OVER TEMP Module overtemperature via PTC (threshold 70 °C)
Green LED - AUX POWER Auxiliary power supply OK

2.10 Power Supply - Internal Card Jumpers

JP1 closed (default) = connects a 120 Ω resistor between RX+ and RX- of serial link.
JP2 closed (default) = connects TX- of serial link to 0V via pull-down resistor
JP3 closed (default) = connects TX+ of serial link to +5V via pull-up resistor

Fig. 2.5 - Power Supply - Card Jumpers

In case of multidrop, the following configuration must be used.

JP1,JP2,JP3 JP1,JP2,JP3 JP1,JP2,JP3 JP1,JP2,JP3

To user
open open open closed

Power Power Power Power

Supply Supply Supply Supply

II - 14 - 30/Oct/01
Fig. 2.6 Module - Removable Control Panels

II - 15 - 30/Oct/01
Fig. 2.7 Expansion-EBM - Removable Control Panel

II - 16 - 30/Oct/01
Fig. 2.8 Module (120 mm/180 mm) - Fixed Panels

II - 17 - 30/Oct/01
Fig. 2.9 Module/ Expansion (270 mm) - Fixed Panel

Note: the grey connectors are mounted only in some configurations (see tab.2.27 and 2.28)

II - 18 - 30/Oct/01
2.11 Module Wiring

See Par.2.7 for sizing of power wires, tightening torque and wire stripping length. See Section 3
for shielding procedures according to EMC Directive.

Tab. 2.17 - Module - J1 Connector - Auxiliary Power Supply (to PS/Modules)

Panel side: shrouded header with 13 male contacts
Wiring side: connector with 13 female contacts (supplied in kit with cable)

Pos. Function
1 Not connected (N.C.)
2 +18Vdc referred to -HV (540/620 Vdc)
3 -HV (540/620 Vdc)
4 158kHz square wave to high side drives
5 N.C.
6 N.C.
7 +18Vdc referred to logic 0V
8 - 18Vdc referred to logic 0V
9 +8Vdc referred to logic 0V
10 +8Vdc referred to logic 0V
11 Logic 0V
12 Resolver 0V
13 10 kHz sinusoidal wave for resolver and synchronism (carrier)

Tab. 2.18 - Module - J2 Connector - RS485 Port/Fault signals (to PS/Modules)

Panel side: Sub-D with 9 male contacts
Wiring side: Sub-D with conductive shell, 9 female contacts (supplied by with cable)

Pos.
1 +Rx
2 N.C.
3 +Tx
4 Power supply binary coded faults (see Tab.2.19)
5 +5Vdc output referred to logic 0V
6 -Rx
7 logic 0V
8 -Tx
9 Power supply binary coded faults (see Tab.2.19)

Tab. 2.19 - Module - Power supply binary coded faults

J2/pos. 4 J2/pos. 9
0 0 OK
0 1 DBR FAULT. Recovery fault
1 0 OVER TEMP. Overtemperature
1 1 Not Used

II - 19 - 30/Oct/01
2.11.1 Limit Switches/Expansion Wiring

The J3 connector allows, when the Expansion is not present, the availability of CW/CCW
limit switches for each axis. With the input enabled (to 0V), the rotation is disabled in one
direction and enabled in the other direction.
When the Expansion is present, the J3 connector is used for signal connection to the
Expansion module.

Fig. 2.10 - Limit Switches Wiring

DBM 04

1 0V
2 CW Limit switch axis 1

5 CCW Limit switch axis 1

6 CW Limit switch axis 2

12 CCW Limit switch axis 2

13 CW Limit switch axis 3

14 CCW Limit switch axis 3

cable shield must be RF*

connected to ground J3

grounding of shield
via connector shell
*=see Section 3

II - 20 - 30/Oct/01
Tab. 2.20 - Module - J3 Connector - Limit Switches (When EBM Expansion Is Not
Panel side: Sub-D with 15 female contacts Present)
Wiring side: Sub-D with conductive shell, 15 male solder contacts

Pos.
1 0V common
2 CW limit switch, axis 1
3 N.C.
4 N.C.
5 CCW limit switch, axis 1
6 CW limit switch, axis 2
7 N.C.
8 N.C.
9 N.C.
10 N.C.
11 N.C.
12 CCW limit switch, axis 2
13 CW limit switch, axis 3
14 CCW limit switch, axis 3
15 0V common

Tab. 2.21 - Module/Expansion - J3 Connector - Expansion Connection

Panel side: Sub-D with 15 female contacts
Wiring side: Sub-D with conductive shell, 15 male solder contacts

Pos.
1 0V common
2 Auxiliary voltages referred to logic 0V not OK signal
3 Phase U reference current signal
4 Torque enabled signal
5 Short circuit signal
6 Overtemperature signal
7 Expansion present signal
8 Overtemperature signal
9 N.C.
10 Phase V reference current signal
11 Overtemperature signal
12 N.C.
13 BUS BAR fault signal
14 Auxiliary voltages referred to - HV (540/620 Vdc) not OK signal
15 N.C.

II - 21 - 30/Oct/01
2.11.2 Resolver Wiring

Fig. 2.11 - Resolver Wiring

cosϕ
cosϕ

sinϕ
sinϕ

PTC
PTC

0V
V-Ref

grounding of shield via

connector shell

grounding of shield via

connector clamp

RESOLVER CONNECTOR,
MOTOR SIDE
Signal FAS T/ FAS N
Type FAS K
Pos. Pos.
cosϕ C 1
cosϕ E 2
V-Ref D 10
0V B 7
PTC N 8
PTC A 9
sinϕ G 11
sinϕ H 12
shield S 3

II - 22 - 30/Oct/01
Each DBM module can be connected up to 3 resolvers. Axis 1 resolver must be connected to
J4 M1 connector, axis 2 resolver to J5 M2 and axis 3 resolver to J6 M3.
Figure 2.11 shows the wiring lay-out of the resolver with differential output.
We recommend to use 4 pair cables, each pair twisted and individually shielded with an
independent overall shield. 20 AWG (0.60 mm² ²) or 22 AWG (0.38 mm² ²) wire with low
capacitance can be used. We suggest to use ground connections as shown in Fig. 2.11.
Cable length should not exceed 30 m (100 ft.). It is recommended that the signal cable and
power cable be separated, if possible, through the use of independent duct (conduit) or by a
distance of 12 inches (30 cm).
See Section 3 for shielding procedures according to EMC Directive.

Tab. 2.22 J4-J5-J6 Connectors - Resolvers

Panel side: Sub-D with 9 female contacts
Wiring side: Sub-D with conductive shell, 9 male solder contacts

Pos. Name
1 cos Differential cos signal non-inverted input

2 Differential cos signal inverted input

cos
3 Shield Internally connected to 0V common
4 sin Differential sin signal non-inverted input

5 Differential sin signal inverted input

sin
6 PTC Motor PTC input
7 0V 0V common. Special for 10kHz carrier
8 PTC Motor PTC input
9 V ref 20 Vpp/ 10kHz sinusoidal output signal for supplying primary
resolver winding (carrier)

II - 23 - 30/Oct/01
2.11.3 I/O Wiring

All the signal cables must be separated from power cables by a distance ≥30 cm.
See Section 3 for shielding procedures according to EMC Directive.

REMARKs:
• DRIVE OK (J7 connector): it is suggested to connect the isolated output " DRIVE OK " to
a remote control switch so that, if a fault occurs, the power supply is disconnected to avoid
system damages.
• SIMULATED ENCODER SIGNALS (J7 connector):
- in specially noisy environments it is suggested to connect a 220 ÷ 680 Ω resistor
between A and A, B and B, C and C at the receiver input.
- for lengths in excess of 5 m (16 ft.) the cable must have 3 pairs, each pair twisted.

Fig. 2.12 - Speed Reference Wiring

DBM 04
CNC

REF

REF

0V

0V

J7

cable shield must be RF grounding of shield

connected to the housing via connector shell

DIFFERENTIAL INPUT

DBM 04
CNC

REF
0V REF

0V

J7

cable shield must be RF grounding of shield

connected to the housing via connector shell

UNIPOLAR INPUT

II - 24 - 30/Oct/01
Tab. 2.23 - J7 Connector - I/O Commands, Signals and Encoder Outputs
Panel side: Sub-D with 37 female contacts
Wiring side: Sub-D with conductive shell, 37 male solder contacts

Pos. Name
1 0V Logic 0V (it can be used as common for analog output
supplies ±15V)
2 A1 Encoder output: inverted phase A - motor 1
3 B1 Encoder output: inverted phase B - motor 1
4 C1 Encoder output: inverted phase C - motor 1
5 A2 Encoder output: inverted phase A - motor 2
6 B2 Encoder output: inverted phase B - motor 2
7 C2 Encoder output: inverted phase C - motor 2
8 A3 Encoder output: inverted phase A - motor 3
9 B3 Encoder output: inverted phase B - motor 3
10 C3 Encoder output: inverted phase C - motor 3
11 TP2 Testing point 2
12 ILIMIT3 Analog Current Limit input axis 3
0V = zero current
+10V (or not connected) = max current
13 ILIMIT2 Analog Current Limit input axis 2
(0 to +10V )
14 ILIMIT1 Analog Current Limit input axis 1
(0 to +10V )
15 Shield. Internally connected to 0V
16 REF3 Differential inverting analog input for the speed reference
signal (or torque ref. signal, see TC command) axis 3, max
range ±10V (see MR command). See Fig. 2.12
17 REF2 Differential inverting analog input for the speed reference
signal (or torque ref. signal, see TC command) axis 2, max
range ±10V (see MR command). See Fig. 2.12
18 REF1 Differential inverting analog input for the speed reference
signal (or torque ref. signal, see TC command) axis 1, max
range ±10V (see MR command). See Fig. 2.12
19 +15V +15Vdc output (I max = 30mA)
20 A1 Encoder output: phase A - motor 1
21 B1 Encoder output: phase B - motor 1
22 C1 Encoder output: phase C - motor 1
23 A2 Encoder output: phase A - motor 2
24 B2 Encoder output: phase B - motor 2
25 C2 Encoder output: phase C - motor 2
26 A3 Encoder output: phase A - motor 3
27 B3 Encoder output: phase B - motor 3
28 C3 Encoder output: phase C - motor 3
29 TP1 Testing point 1

II - 25 - 30/Oct/01
 30 Shield. Internally connected to 0V
31 DRIVE Drive OK output, axis 1. Imax=5mA.
OK 1 * 0V=not OK
+5V=OK
32 DRIVE Drive OK output, axis 2. Imax=5mA.
OK 2 * 0V=not OK
+5V=OK
33 DRIVE Drive OK output, axis 3. Imax=5mA.
OK 3 * 0V=not OK
+5V=OK
34 REF3 Differential non-inverting analog input for the speed reference
signal (or torque ref. signal, see TC command) axis 3, max
range ±10V (see MR command). See Fig. 2.12
35 REF2 Differential non-inverting analog input for the speed reference
signal (or torque ref. signal, see TC command) axis 2, max
range ±10V (see MR command). See Fig. 2.12
36 REF1 Differential non-inverting analog input for the speed reference
signal (or torque ref. signal, see TC command) axis 1, max
range ±10V (see MR command). See Fig. 2.12
37 -15V - 15Vdc output (I max = 30mA)

* Note: I LIMIT inputs available on request instead of DRIVE OK outputs

II - 26 - 30/Oct/01
Fig. 2.13 - Input/Output Wiring

+24V

+ 24V Power Supply

0V

CNC DBM 04
+24V
0V 9 Optoisolated input common
Drive Enable * Drive Enable
Ref. Enable 17 Reference Enable

10 Drive OK
Drive OK Optoisolated Output
11
12 Motor OK
Motor OK 13 Optoisolated Output
2
2.5 mm min Ground
Ground 19

cable shield must be RF grounding of shield J8

connected to the housing via hose clamp
* = pin number is axis dependent

+ 24V POWER SUPPLY

DBM 04

7 0V Common
8 +15V dc output
9 Optoisolated input common

* Drive Enable
17 Reference Enable

J8

* = pin number is axis dependent

+ 15V INTERNAL SUPPLY

(for drive test)

II - 27 - 30/Oct/01
Tab. 2.24 - J8 Connector - I/O Commands and Signals
Panel side: shrouded open end header with 20 male contacts
Wiring side: connector with 20 female contacts, screw termination

Pos. Name
1 TACHO TEST 1 tachometer output, axis 1. Range: (ET*/10)V for max speed
2 TACHO TEST 2 tachometer output, axis 2. Range: (ET*/10)V for max speed
3 TACHO TEST 3 tachometer output, axis 3. Range: (ET*/10)V for max speed
4 ANALOG OUT 1 analog output 1. See Tab. 2.25/26 and ES, SO commands
5 ANALOG OUT 2 analog output 2. See Tab. 2.25/26 and ES, SO commands
6 ANALOG OUT 3 max current output, axis 3 (100% of max current = 10V)
7 0L logic 0V
8 +15V +15Vdc output (Imax = 30mA)
9 OPTO 0V Optoisolated 0V
10 DRIVE OK Collector of Drive OK optoisolator (see Fig.2.13)
11 DRIVE OK Emitter of Drive OK optoisolator (see Fig.2.13)
12 MOTOR OK Collector of Motor OK optoisolator (see Fig.2.13)
13 MOTOR OK Emitter of Motor OK optoisolator (see Fig.2.13)
14 DRIVE EN1 Drive enable 1: optoisolated input for axis 1 torque enable.
See Fig. 2.13
15 DRIVE EN2 Drive enable 2: optoisolated input for axis 2 torque enable.
See Fig. 2.13
16 DRIVE EN3 Drive enable 3: optoisolated input for axis 3 torque enable.
See Fig. 2.13
17 REF EN Reference enable: optoisolated input for the confirmation of
the common reference to the three axis (REF EN not active
means no speed reference or zero torque)
18 REM RESET Remote reset: optoisolated input for logic section reset,
equivalent to push button on the front panel
19 GROUND Ground. It must be connected to CNC ground with 2.5 mm2
wire as short as possible
20 GROUND Ground (connected to 19)
* default ET=80

Tab. 2.25 - ANALOG OUT - ADDRESS SETTING (SO COMMAND)

SO Address SO Address SO Address

1SO Analog Out 1 4SO Analog Out 1 7SO Analog Out 1
first module second module third module
2SO Analog Out 2 5SO Analog Out 2 8SO Analog Out 2
first module second module third module

Tab. 2.26 - ANALOG OUT - OUTPUT SETTING (SO COMMAND)

SO Max SO Velocity SO Velocity

Current Reference Error
SO1 axis 1 SO4 axis 1 SO7 axis 1
SO2 axis 2 SO5 axis 2 SO8 axis 2
SO3 axis 3 SO6 axis 3 SO9 axis 3

II - 28 - 30/Oct/01
2.11.4 Motor Phases Wiring

Fig. 2.14 - Motor Phases Wiring (only one axis shown)

Motor DBM 04

U U

V V

W W

ground ground

J9
J9/J10/J11

grounding of
of shield
shield via grounding of shield
grounding
via connector
connector clamp
clamp (or RF via connector clamp
(or RF connection
connection to
to PG gland in
the ground
case screwboard)
of terminal in
case of terminal board)

All the motor phases must be connected from J9 connector(s) to motor connector(s). Note
that M1 always corresponds to the more powerful axis, while M3 must not be connected in 2
axis configuration.
There several motor power connections, depending on module configuration (see Tab.2.27
and Tab.2.28).
See Section 3 for shielding procedures according to EMC Directive.

CAUTION: the resolver wiring must match the motor wiring, i.e. the resolver cable
running from M1 motor must be connected to J4 M1 connector, the resolver cable
running from M2 motor must be connected to J5 M2 connector, the resolver cable
running from M3 motor must be connected to J6 M3 connector.

CAUTION: the U-V-W motor phase sequence of the connector at the drive side must
match the U-V-W motor phase sequence of the connector at the motor side.

CAUTION: do not parallel power connection cables to achieve requested section: this
will increase the capacitance value at levels that may irreversibly damage the drive. If
the value of capacitance of motor and cables, seen from drive output, exceeds 30 nF it
is necessary to verify with Moog technicians the need of an adequate choke in series.

II - 29 - 30/Oct/01
Tab. 2.27 - J9 Connector(s) - Motor Phases (1/2)
16 pins connector: Mod.No. Han16E by Harting Kgaa
4 pins connector: Mod.No.HanK 4/0 by Harting Kgaa
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Wiring side connector view and DBM04 Configurations

J9 J9 J9A J9B J9A J9B

II - 30 - 30/Oct/01
Tab.2.28 - J9 Connector(s) - Motor Phases (2/2)
16 pins connector: Mod.No. Han16E by Harting Kgaa
4 pins connector: Mod.No.HanK 4/0 by Harting Kgaa
See Par.2.7 for sizing of power wires, tightening torque and wire stripping length

Wiring side connector view and DBM04 Configurations

J9A J9B J9A J9B J9

II - 31 - 30/Oct/01
2.12 Module - Led's

Tab. 2.29 - Module - Led's

Name Function
Red LED generic fault: the fault can correspond, according to the
DRF type, to a LED on the front end; if other red LED's are not
on, out of the considered one, it is necessary to
interrogate the drive via serial link to know the fault
reason (see FA command)
Red LED Watch dog - signal; microprocessor circuit faults; this
WTD LED is on during reset
Red LED Resolver 1 fault - signal; resolver M1 fault, sin /cos
RF1 signals interrupted, short circuit between signals or
10kHz carrier abnormal
Red LED Resolver 2 fault - signal; resolver M2 fault, sin /cos
RF2 signals interrupted, short circuit between signals or
10kHz carrier abnormal
Red LED Resolver 3 fault - signal; resolver M3 fault, sin /cos
RF3 signals interrupted, short circuit between signals or
10kHz carrier abnormal
Red LED Motor M1 overtemperature
OT1
Red LED Motor M2 overtemperature
OT2
Red LED Motor M3 overtemperature
OT3
Red LED Module overtemperature
DR.OVT
Red LED Intelligent Power Module axis 1 fault
PWRF1
Red LED Intelligent Power Module axis 2 fault
PWRF2
Red LED Intelligent Power Module axis 3 fault
PWRF3
Green LED Reference enable
REF.EN
Green LED Axis 1 enable (see also ON command)
DR.EN 1
Green LED Axis 2 enable (see also ON command)
DR.EN 2
Green LED Axis 3 enable (see also ON command)
DR.EN 3
Green LED Auxiliary power OK
PWR OK

II - 32 - 30/Oct/01
2.13 Personality Card Jumpers

WP (default: open): if closed, the EEPROM is write protected and the Save (SV) command
is disabled
G1 (default: open) : if closed, connects TX- of serial link to 0V via pull-down resistor
G2 : if closed, gives priority to "opto" , if open gives priority to "keypad"
G3 (default: open) : if closed, set 9600 Baud rate and basic address 1
G4 (default: open) : if closed, connects TX+ of serial link to 5V via pull-up resistor
G5 (default: open) : if closed, connects a 120 Ω resistor between RX+ and RX- of serial link

CAUTION: it is recommended to close the WP jumper at the end of installation and

setup.

Fig. 2.15 - Personality Card

Jumper open

Jumper closed

2.13.1 G2 Jumper: "Keypad" or "Opto" Priority

The jumper G2 on the personality card gives priority to keypad or to opto to execute "Drive
Enable" command. " Drive Enable" opto isolated signals are connected to J8/ pos.13, 14, 15.

G2 open = keypad priority = the keypad (or the device connected to the serial link) is the
master, i.e. it allows to enable or disable motor current, whereas the optocouplers can only
disable (protection); they can enable after resetting only.

The "Drive Enable" and "Reference Enable" opto-isolated signals must be driven at +15V.

Such a procedure should be followed during installation and drive test.

G2 closed = opto priority = the optocouplers are the master and the keypad can only be
used for parameters setup.

Note:
1. See par.2.16.1 if the keypad does not communicate with the drive
2. "Drive Enable" priority is different from the use of the analog or digital reference.
You can choose an analog or digital reference by "AR" (Analog) or "DR" (Digital) commands,
and save. The drives are supplied set to digital reference "DR".

II - 33 - 30/Oct/01
 2.13.2 G1-G4-G5 Jumpers: Link Termination's

By default G1, G4 and G5 jumpers on the personality card are open (no link termination's on
modules). In fact, usually, it is not necessary to close G1, G4 and G5 jumpers because the
link termination's are already closed on the power supply; anyway, in specially noisy
environments, could be necessary to close them also, as follows.

• Environment without noise

To user JP1,JP2,JP3 G1,G4,G5 G1,G4,G5 G1,G4,G5 G1,G4,G5

(see par.2.6) open open open open

Power
Supply Module Module Module Module

• Specially noisy environment

To user JP1,JP2,JP3 G1,G4,G5 G1,G4,G5 G1,G4,G5 G1,G4,G5

(see par.2.6) open open open closed

Power
Supply Module Module Module Module

2.13.3 G3 Jumper: Basic Configuration

The jumper G3 on the personality card allows, if closed, to set 9600 Baud rate and basic
address 1. This configuration can be used to restore the communication in case of fault of
the serial link. When the communication has been restored, the G3 jumper must be open.

2.13.4 WP Jumper: Write Protection

The jumper WP on the personality card allows, if closed, to write protect the EEPROM. If
closed, the Save (SV) command is disabled.

CAUTION: it is recommended to close the WP jumper at the end of installation and

setup.

II - 34 - 30/Oct/01
2.14 Potentiometer/Button

Tab. 2.30 - Potentiometer/Button

I LIMIT Peak current control.

POTENTIOMETER A full CCW rotation will set the current to zero.
A full CW rotation will set the current to 100%.
RESET Digital control card reinitialization and reset
BUTTON of protections.

2.15 Input/Output Characteristics

Tab. 2.31 - Input/Output Characteristics

OPTOISOLATED z in =1.2 kΩ
INPUTS I nom = 10 mA (8 to 20 mA)
Drive enable 1,2,3 Vmin = 15Vdc
Reference enable Vmax = 25V
Remote reset
OPTOISOLATED z out = 1.2 kΩ
OUTPUTS I max = 20 mA
Drive OK/ Motor OK Vnom < 25 Vdc
Analog tacho z out = 100 Ω
outputs 1,2,3 I max = 5 mA
Range: see ET command
Gain error = ±10% over production spread
Max linearity error: ±2% over full range
Analog Out1 z out = 100 Ω
Analog Out2 I max = 10 mA
Full scale = ±10V
Velocity differential z in > 20 kΩ
Reference Signals Full scale = ±10V
1,2,3
Simulated Encoder z out = 100 Ω
differential output Full scale = 7V (RS422/RS485 compatible)
signals

II - 35 - 30/Oct/01
2.16 Serial Link Connection

REMARK: for the first installation it is strongly recommended to use either the
optional keypad or the DBTALK communication program.

2.16.1 Optional Keypad

The keypad is an optional accessory product which can be used for drive setup and
monitoring. The keypad must be connected to J10 connector of Power Supply.
If problems occur when attempting to communicate, the keypad is most likely set incorrectly.
To start the setup procedure press <CTRL>, then <CR>. For each parameter the current
setting is displayed, together with a question asking if you want to change it.
The correct setting is:
BAUD = 9600
WORD = 8D+E+1 STOP
BLOCK MODE
SINGLE LINE MODE
FLASHING OFF
KEY REPEAT ON SLOW

Be sure to save at the end of the procedure by pressing <Y> when the display shows: "Make
changes permanent Y/N".

2.16.2 Connection to Personal Computer

2.16.2.1 RS232/RS485 Full-duplex Converter

The RS422 interface wiring is based on one-to-one, no multidrop, principle. Four wires are
used. With RS422, you can transmit and receive data simultaneously (full-duplex).
The RS485 half-duplex uses only two wires. It allows multidrop communication. With RS485
half-duplex, you cannot transmit and receive simultaneously.
We supports RS485 full-duplex with four wires (RS422 compatible). Up to 99 DBM and up to
15 DBS drives can be connected in multidrop configuration.

• RS232/485 CONVERTER KIT

This very small external converter provides a full-duplex interface between PC and DBM.
The converter must be fit directly into a COM port (RS232) of a PC. This way the link
becomes purely RS485, less susceptible to noise and able to transmit over much longer
distances than RS232.

The kit includes:

- the converter to fit into DB25-S connector of the PC (COM port)
The DTE/DCE switch of the converter must be set to DCE (Data Communications Equipment)
- a DB25 to DB9 interface (to be used if the PC COM port is DB9-S)
- a 2 m cable to connect the converter to DBM J10 connector

II - 36 - 30/Oct/01
• An optoisolated PC board RS 485 full-duplex driver can also be used. The following wiring
must be used.

RS485 full duplex DBM J10 Connector

Connector DBS J2 Connector
Male Female
(+Tx) 1 (+Rx)
(-Tx) 2
(+Rx) 3 (+Tx)
(-Rx) 4-5
(Gnd) 6 (-Rx)
7 (Gnd)
8 (-Tx)
9

2.16.2.2 DBTALK Program

• PC REQUIREMENTS
- 80286, 80386, 80486 microprocessor or better
- Hard disk and one diskette drive. You need 2 Mbytes of disk space and 512 kbytes of RAM
- CGA, EGA, VGA, MCGA graphics card (color VGA recommended)
- MS-DOS 6.2 or later
- ANSI.SYS in CONFIG.SYS

• DBTALK PROGRAM
The DBTALK program is available on floppy disk

• INSTALL PROGRAM
- Insert diskette into drive A or drive B
- Type <a:install> (or <b:install>)
The installation program will create the Directory C:\DBTALK, will copy all the files in this new directory and will
start the program

• START PROGRAM (after the first installation)

- Type <cd dbtalk>
- Type <start>

• MOVE IN THE PROGRAM

Start the selected procedure

Select the field
Space Reread parameters
Move up/down
Go to previous/next screen
Esc Exit/Go to previous menu

II - 37 - 30/Oct/01
• SELECT PROGRAM
⇒ DBM linker
⇒ DBS linker
⇒ PDBS Linker (see PDBS Application Manual)
⇒ Setup

• SETUP to choose
⇒ Language: Italian or English
⇒ Serial link : COM1 or COM2

• UTILITY to
⇒ Scan Baud rates

⇒ Scan Faults

II - 38 - 30/Oct/01
⇒ Restore/store Personality Card parameters
To save the actual parameter set, select STORAGE PARAMETER, select the file (e.g. ST1), press <TAB> to
change the description and press <CR>

⇒ Set Baud rates

⇒ Start the Autophasing procedure
⇒ Set the "Adjustment of Torque/Speed curve" procedure

• MANUAL to
⇒ See/Reset Faults
If the fault condition is not present anymore, the fault will be reset automatically. To reset the fault on the
screen, go to the next screen with the arrow keys

II - 39 - 30/Oct/01
⇒ Display the Status

⇒ See/Change parameters
To change one parameter type the command string on the PC keyboard. Example: 3VE3000

II - 40 - 30/Oct/01
Fig.2.16 - STARTING SEQUENCE - TIMING CHART

1. PS-Standard and PS-6M: t1 = 8 to 10 s, t2 ≥ 1 s, t3 ≥ 20 ms, t4 = 3 s, t5 ≥ 0.5 s

t1 t2 t3 t4 t5

110/230 Vac
1-phase

400/460 Vac
3-phase

Drive
Enable

Remote Reset (*)

Motor OK

Drive OK

2. PS-Standalone and PS-120: t1 ≥ 20 ms, t2 ≥ 1 s, t3 ≥ 20 ms, t4 = 3 s, t5 ≥ 0.5 s

t1 t2 t3 t4 t5

400/460 Vac
3-phase

230 Vac 1-phase

(if applicable)

Drive
Enable

Remote Reset (*)

Motor OK

Drive OK

(*) CAUTION: the Remote Reset must be a single nonrepetitive signal. Otherwise it
must be filtered with 500 Hz cutoff frequency.

II - 41 - 30/Oct/01
3. PS-U: t1 = 6 s, t2 = 2 to 4 s, t3 = 4 s

WARNING: make sure that the AUX EXT CONTACT (pos.5 and 6 of J12 connector) is
connected to 24Vdc before starting.

t1 t2 t3

24 Vdc

400-460 Vac
3-phase

Drive
Enable

Motor OK

Drive OK

II - 42 - 30/Oct/01
2.17 Starting Sequence
The starting sequence depends on the type of Power Supply. See Fig.2.16 for the Timing-chart.

∗ PS-Standalone and PS-120

1. Apply the 400Vac (or 460Vac) three phase power voltage
2. Apply (if applicable) the 230 Vac single phase auxiliary voltage via dedicated transformer

∗ PS-Standard and PS-6M

1. Apply the 230 Vac (or 110Vac) single phase auxiliary voltage
2. Apply the 400Vac (or 460Vac) three phase power voltage

∗ PS-U
1. Apply the 24 Vdc auxiliary voltage
2. Apply the 400Vac (or 460Vac) three phase power voltage

WARNING: High Voltage - Discharge time approx. 6 minutes.

• Multimodule configuration only. Disconnect the first module from the serial link and assign
basic address to the second module and so on for the next modules (all the modules from
factory being usually configured with address 1,2,3 if triple-axis or with address 1,2 if double-
axis).

Example of basic address assignment for the 2nd module, if the first module is triple-axis:

FROM KEYPAD
1 SA 4 <CR> Assign basic address 4 to the second module
4 SV <CR> Save the address configuration

Note: A module programmed as "address 4" will automatically assign for the other axes the
following addresses, i.e. 5 - 6 (if triple-axis) or 5 (if double-axis); and so on for the next basic
addresses.

• Check if NP (pole number), MV (max velocity), MR (max reference) and other required
parameters are OK for the application.

• Make a hardware reset via button on drive or via positive logic on pin 18 of J8 connector
(software reset via FA command being useless for digital control card reinitialization).

2.17.1 Autophasing

• Check that the motor is free to rotate in both directions.

• Check that no fault condition occurs (red drive-fault leds off).
• The jumper G2 on the personality card must be open.
• Check that all module axes have analog drive enable on via positive logic and digital drive
enable off.
• Send the password command for the module.
• Send the autophasing command for every axis of the module and save.

II - 43 - 30/Oct/01
Example for a double module with axis 4 and axis 5:

FROM KEYPAD
4 PW91 <CR> Give the password for the 2nd module
PASSWORD ON The correct answer is displayed
<CR> Only for optional keypad.
4 AP <CR> Allow axis 4 autophasing.
AUTOPHASING IN PROGRESS
AXIS PHASED
5 AP <CR> Allow axis 5 autophasing.
AUTOPHASING IN PROGRESS
AXIS PHASED
4 SV <CR> Save module 4 phasing.

• Repeat the password and autophasing procedures for subsequent modules (if applicable).
• Make a hardware reset via button on drive or via positive logic on pin 18 of J8 connector.

2.17.2 Wiring Check

Axes being phased it is possible to check the wiring by rotating the motor via its digital reference.

• Enable analog drive-enable and reference-enable via positive logic.

• Check that G2 is open for keypad priority.
• Send to every axis the ON command (to enable digital drive-enable) , the VE command (for
CW slow rotation), the VE- command (for CCW slow rotation), the OF command (to disable
the digital drive-enable).

Example of checking axis 5 rotation:

FROM KEYPAD
5 ON <CR> Enable digital drive-enable for axis 5
{ Drive enable led will be on
5 VE 50 <CR> Set CW rotation at 50 rpm
5 VE-50 <CR> Set CCW rotation at 50 rpm
5 OF <CR> Disable digital drive-enable for axis 5
z Drive enable led will be off

2.17.3 CNC Priority

With CNC, the following procedures must be followed.

2.17.3.1 Setting Of Analog References

To set the modules to use the analog references from the CNC, it is necessary to enter the
password, to send the AR command to every axis and to save. ST command can be sent to
check if the commands have been accepted.

II - 44 - 30/Oct/01
Note that:
• AR command can be sent via global address (*).
• If there are two or more modules, PW (password) and SV (save) commands can be sent to
each module.

Example of enabling all the analog references for two modules with axes 1,2,3 and 4,5:

FROM KEYPAD
1 PW91 <CR> Give the password for the 1st module
PASSWORD ON The correct answer is displayed
4 PW91 <CR> Give the password for the 2nd module
PASSWORD ON The correct answer is displayed
* AR <CR> Enable analog reference for all axes
1 SV <CR> Save the configuration for the 1st module
4 SV <CR> Save the configuration for the 2nd module
1 ST <CR> Ask the status for axis 1
A1 ST___ E___ I_0___ Displays the axis 1 status. Check the 0 in the 2nd bit after I
... Repeat ST command and check other axes

2.17.3.2 Drive Enable With CNC Priority

To give the priority for enabling and disabling the drive from the CNC, it is necessary to pull out
the personality card from the module, to solder G2 jumper and to pull in the card.

REMARK: if there are more than one module, do not swap the personality cards, this will swap
the module data.

When the above procedure is completed, the CNC is the master and the keypad is the slave, as
follows:
PARAMETERS MANAGED BY CNC: drive enable, reference enable, speed references.
PARAMETERS MANAGED BY KEYPAD: all dynamic parameters (acceleration,
deceleration, KI, KP, etc.), status and fault.

2.17.4 Velocity Offset

If it is necessary you can adjust the analog velocity offset by providing 0 analog speed
reference and setting VO command for an automatic adjustment. A fine adjustment can be
done with successive steps via OV command.

REMARK: the adjustment of the digital velocity offset must not be used to adjust the analog
velocity offset and it is reserved to setup technicians. It can be made by providing 0 digital
speed reference (VE=0) and setting OC command. The opto Drive Enable must be high.

II - 45 - 30/Oct/01
2.18 - Resolver To Encoder Option
For position sensing a resolver to encoder option (simulated encoder) is available.
Encoder signals are 7V, 100 Ω impedance, as follows:
• 2 channels of square wave output with a resolution from 128 to 16384 pulses per electrical
revolution. Channel B leads channel A by 90° for clockwise rotation when viewed from
shaft end.
• 1 marker pulse per electrical revolution (i.e. 1∗ 3 = 3 marker pulses per mechanical
revolution with a 6 pole resolver).
•. complementary outputs A, B and C.

Fig. 2.17 - Simulated Encoder (CW Rotation When Viewed From Shaft End)

Channel A

Channel B

C Marker

Channel A

Channel B

C Marker

Note: to make C Marker high when Channel A and Channel B are high (like Siemens), swap
Channel A with Channel A and Channel B with Channel B.

II - 46 - 30/Oct/01
2.18.1 Setup For Encoder Resolution

The number of pulses per electrical revolution of simulated encoder can be set via SE
software command.

Example of a setup for axis 1.

FROM KEYPAD
1 PW91 <CR> Give the standard password for axis 1
PASSWORD ON The correct answer is displayed
<CR> Only for optional keypad
1 SE 4096 <CR> Set 4096 ppr to axis 1
1 SE <CR> Ask the number of ppr for axis 1
A01 SIMULATED ENCODER = 4096
1 SV <CR> Save

REMARK: the maximum number of pulses per electrical revolution depends on the R/D
resolution. See the following Table.

The width of C marker can be A (360°), A/2 (180°) or A/4 (90°); it must be specified in the
order. This parameter does not depend on the software commands.

Note: to obtain the resolution per mechanical revolution it is necessary to multiply the pole
pairs by the electrical resolution.

Example: if a FAS T motor with 6 pole resolver is used, 1024 pulses per electrical revolution
mean 1024 ∗ 3 = 3072 pulses per mechanical revolution.

2.18.2 R/D Resolution

The resolution of Resolver to Digital converter will automatically be switched according to

actual speed for optimum system performance between minimum (see RN command in the
User's Manual) and maximum resolution (see RX command).
The speed range of R/D resolution is included in the following table.

Tab. 2.32 - Max speed and max ppr versus R/D resolution

Resolution (bit)
10 12 14 16
Max number of pulses per 256 1024 4096 16384
electrical revolution
Max speed with 2 pole 24000 12000 3510 877
resolver (rpm)
Max speed with 6 pole 8000 4600 1170 292
resolver (rpm)
Max speed with 8 pole 6000 3510 877 219
resolver (rpm)

II - 47 - 30/Oct/01
2.19 Mechanical Brake
FAS series servomotors have as option a 24 Vdc electromagnetic safety brake.

CAUTION: safety brake must be clamped and released with motor at standstill.
Premature failure of the brake will result if brake is used for dynamic stopping of the
motor.

The release of the brake (from 0V to +24V) and the clamp (from +24V to 0V) must follow the
sequence in Fig. 2.18.

FIG. 2.18 - BRAKING SEQUENCE, TIMING CHART

Note: T1 ≥ 200 ms, T2 = application dependent, T3 = 100 ms, T4 ≥ 200 ms

T1 T2 T3 T4

ON
OFF
DRIVE ENABLE

ON
OFF
BRAKE 24V
POWER SUPPLY

RELEASE
CLAMP
BRAKE

0V REFERENCE
ENABLE

0 rpm
MOTOR SPEED

II - 48 - 30/Oct/01
2.20 Module Replacement
Once DBM module to be replaced has been identified, it is necessary to follow this procedure:

• Disconnect the power.

• Remove the Bus Bars (+HV, -HV and GND) and disconnect all connectors and flat cables.
• Unscrew the anchor screw on the top of the module and remove the module.
Remove the Personality Card, at the left of J1 connector, by loosening the two screws. After
removing the card, disconnect the flat cable.

REMARK: on the personality card a EEPROM is mounted. All dynamic parameters (dynamic
settings, autophasing, analog interfaces, ...) are stored in this EEPROM after every reset.
In case of module replacement, it is recommended to save all parameters with the save (SV)
command before removing the Personality Card ready for installation in the replacement
module. This retains and transfers all the previous module information's.

Remove the Personality Card from the new module and replace with the old one.

• Mount the new module and tighten the anchor screw at the top.
• Reassemble the Bus Bars, all the connectors and flat cables.
• Check all connections.
• Enable the auxiliary voltage and check by keypad or PC all application dependent parameters. In
particular: pole number, max velocity, max reference voltage, Ilimit, internal ramp generator.

II - 49 - 30/Oct/01
This page intentionally blank

II - 50 - 30/Oct/01
SECTION 3 - ELECTROMAGNETIC COMPATIBILITY (EMC)
3.1 European Directive (89/336/EEC)
Compliance with the European Directive 89/336/EEC is required for all electric and electronic
products brought onto the European market after December 31st, 1995.
DBM04 drives with FASTACT motors meet the following EMC product standard related to
the Directive:

EN 61800-3 (1996) and EN 61800-3/A11 (2000): "Adjustable speed electrical power drive
systems. Part 3: EMC product standard including specific test methods".
Second environment (industrial) compatibility levels.

Remark: equipments not intended to be used on a low-voltage public network which supplies
domestic premises. May cause radio frequency interference.

Tests have been made in an independent test house.

The installer of the drive is responsible for ensuring compliance with the EMC regulations
that apply where the drive is to be used. We recommend filtering as per par.3.2 and wiring,
grounding and screening as per par.3.3 and 3.4.

3.2 Filtering

The following filters are recommended.

3.2.1 Filter Types

Code Trade-mark Rated Current Max Voltage Drive type

[A] [Vac]
at 50°°C (40°°C) at 50°°C
AT6008 Schaffner (6) 250 DBM04 PS-Standard, PS-Standalone,
FN 250-6/07 PS-6M, PS-120 (Aux Pwr)
- Schaffner (12) 250 DBM04 PS-U (Aux Pwr)
FN 250-12/07
AT6009 Schaffner 7 (8.4) 3 x 480
FN 258-7/07
AT6010 Schaffner 16 (19.2) 3 x 480
FN 258-16/07
AT6011 Schaffner 30 (36) 3 x 480
FN 258-30/07
AT6012 Schaffner 42 (50.4) 3 x 480
FN 258-42/07
AT6013 Schaffner 55 (66) 3 x 480 DBM04 PS Standard, PS-6M, PS-U and
FN 258-55/07 PS-Standalone
AT6014 Schaffner 75 (85) 3 x 480
FN 258-75/34
AT6015 Schaffner 100 (120) 3 x 480 DBM04 PS120
FN 258-100/35

III - 1 - 30/Oct/01
 3.2.2 Filter Sizing

The filter/drive coupling in the previous table is a standard coupling. The filter can be
undersized according to the rms input current of the actual application. This should be done
not only because, as a matter of fact, undersizing the filter means less money, but because
the undersized filter provides better performance to EMC.

Example:

- DBM04 PS-Standard + DBM 04 6-6-6 + DBM 04 6-6-6 and contemporaneity factor of 0.8.

For this application it is not necessary to use the 55A filter of the table.

The reference current is Iin = 6 ∗ 6 ∗ 0.8 = 28.8 A

A 30A filter (FN 258-30/7) can safely be used.

3.2.3 Filter Dimensions

Code Trade-mark Dimensions Weight

[mm]
L1 L2 L3 L4 L5 L6 l7 [kg]
AT6008 Schaffner 85 75 54 0 65 30 300 0.24
FN 250-6/07*
Schaffner 85 75 54 0 65 40 300 0.31
FN 250-12/07*
AT6009 Schaffner 255 240 50 25 225±0.8 126±0.8 300 1.1
FN 258-7/07
AT6010 Schaffner 305 290 55 30 275±0.8 142±0.8 300 1.7
FN 258-16/07
AT6011 Schaffner 335 320 60 35 305 150 400 1.8
FN 258-30/07
AT6012 Schaffner 329 314 70 45 300 185 500 2.8
FN 258-42/07
AT6013 Schaffner 329 314 80 55 300 185 500 3.1
FN 258-55/07
AT6014 Schaffner 329 314 80 55 300 220 terminal 4
FN 258-75/34 block
AT6015 Schaffner 379±1.5 364 90±0.8 65 350±1.2 220±1.5 terminal 5.5
FN 258-100/35 block
*= the FN250-6/07 and 12/07 filters have wiring leads (length=300mm) at both sides.

TOP VIEW SIDE VIEW

L5 L7
L1

L2

L6

L3 L4

III - 2 - 30/Oct/01
3.2.4 Filter Installation

- The filter must be mounted on the same panel as the drive.

CAUTION: leave a clear space of at least 60mm around the filter for air circulation
when the cabinet does not have forced ventilation.

- The filter must be connected as close as possible to the drive input. If the separation
between filter and drive exceeds around 30 cm (1 ft.) then a flat cable should be used for
the RF connection between filter and drive

REMARK: when mounting the drive and the filter to the panel, it is essential that any paint or
other covering material be removed before mounting the drive and the filter.

- The maximum torque of mounting screws is as follows:

FILTER Max
torque
FN 250 - 6/07 0.8 Nm
FN 250 - 12/07 0.8 Nm
FN 258 - 7/07 0.8 Nm
FN 258 - 16/07 0.8 Nm
FN 258 - 30/07 1.8 Nm
FN 258 - 42/07 1.8 Nm
FN 258 - 55/07 3.0 Nm
FN 258 - 75/34 3.0 Nm
FN 258 - 100/35 4.0 Nm

- The filter can produce high leakage currents (see Data Sheets by Schaffner)

- The capacitors within the filters have discharge resistors.

CAUTION: the filter must be connected to ground before connecting the supply
WARNING: High Voltage - Discharge time approx. 10 seconds

- The single phase filter can be installed on the left shoulder of the fan housing (Power
Supply side), as in the following figure:

To 220 Vac
(110 Vac) To
main supply AUX PWR
connector

III - 3 - 30/Oct/01
3.3 Wiring And Grounding Fig. 3.2 - Grounding Of Shield To
Connectors At Motor Side
All the following cables must be shielded,
with 85% minimum shielding coverage:

- power motor cable (see Fig.3.1 and 3.2)

NOTES: if a power terminal board is used at motor
side, the shield must be RF connected to a metallic
PG gland.
- connectors at motor side can have a threaded
clamp. Cable shield must be grounded in the same
way as in Fig.3.2.

- resolver cable (see Fig.2.11 and Fig.3.2 In case of Sub-D connector, cable shield
motor side) must be grounded to the metallic hood.

When there is not connector at drive side,

a kit with stand-off, screws and hose
Fig. 3.1 - Grounding Of Shield To Motor clamps is provided.
Connector At Drive Side
The shield of the cable must be uncovered
from insulation coating and RF connected
to the stand-off through the hose clamp, as
in Fig.3.3.

Fig. 3.3 - Grounding Of Shield Without

Connector

- recovery resistor cable.

CAUTION: the recovery resistor cable
provided in kit is only for test purposes
and not EMC compliant.

- Reference, Enable and OK cable

- RS485 cable (flat cable between modules

excluded)

- simulated encoder cable (if applicable)

The shields of the cables must be

connected at both ends to the proper
housing via full circumferential bond to
metallic connectors or hose clamps.

III - 4 - 30/Oct/01
Fig. 3.4 - Cable Grounding At Drive Side

1 = Recovery resistor cable

2 = Reference, Enable, OK cable
3 = Motor power cable

Sub-D and unshielded cables not shown

III - 5 - 30/Oct/01
It is not necessary to shield the input power wires, the bus bars, the flat cables between the
modules.

REMARKs: Fig. 3.6 - Partition Penetration

- the shields of cables inside the cabinet
must be 360° clamped to the cabinet wall Strap
Enclosure Cable Shield
(see Fig. 3.5).
- "noisy" cables must be kept away from
"sensitive" cables by at least 30 cm (12 in).
Noisy cables include input-power wires,
motor power and brake wiring. Sensitive
cables include analog or digital signal Hex Head
cables: resolver cable; reference, enable Bolt
and OK cable; RS485 serial link; simulated
encoder wiring.
- where noisy cables must cross power
cables, this must be done with angles as
near to 90° as possible.

Fig. 3.5 - Clamping To Cabinet - the crossing of the cabinet should be

Backpanel accomplished with a low impedance
(earth) connection between cable shield and
enclosure. If a connector is not involved,
the shortest practical lengths of connecting
strap should be used (see Fig.3.6).

Screen is effectively
earthed 360° of its
radius

3.4 Recovery Resistor/ Motor Choke

To meet the EMC Directive, the ventilated enclosures containing dynamic braking resistors
must be conductive. The cable of recovery resistor must be shielded and the shield must be
360° clamped at both sides.
In some applications (e.g. some size 3 FAS T motors) a choke in series for each motor
phase has to be added. This choke must be shielded.

REMARK: when mounting the enclosure of recovery resistor or motor choke to the panel, it is
essential that any paint or other covering material be removed before mounting the enclosure
of recovery resistor or motor choke.

III - 6 - 30/Oct/01
3.5 Screening
To effectively screening the system all the single screens (CNC, electronic cabinet, machine,
motor housing, cables) must be connected together to effectively form one screen (see
Fig.1.4).

3.6 Safety Aspects

Noise suppression of Motor and Drive systems involves consideration of the earthing system,
and its effectiveness at high frequencies. It should not be forgotten that is the safety system
too and that the safety must take priority over EMC.
To reduce the radiated emissions, the use of capacitance to earth is very effective. In fact
DBM 04 drives have Y-type capacitors near the input power supply connector and Schaffner
filters also include them. These capacitors conduct current from phase to earth; this can be
in the order of hundreds of milliamperes.

WARNING: appropriate safety measures should be taken to ensure that this

potentially dangerous current flows to earth.

CAUTION: it is recommended to disconnect the drive and the EMC filters to carry out
the AC Voltage Tests of EN 60204-1 (1997), par.19.4, in order to not damage the Y-
type capacitors between phases and ground. Moreover the DC voltage dielectric test
required by EN 50178 (1997), product family standard, has been carried out in factory
as a routine test. The DC Insulation Resistance Tests of EN 60204-1 (1997), par.19.3,
may be carried out without disconnecting the drive and the EMC filters.

III - 7 - 30/Oct/01
This page intentionally blank

III - 8 - 30/Oct/01
SECTION 4 - PROTECTIONS

4.1 Power Supply

Recovery not ok.

Indicated by: LED's DRF (drive fault) on all drives, LED DBR FAULT, optoisolated output
DRIVE OK, bit H of the FA string (see FA command).

Set condition: when recovery circuit or recovery resistor is broken, in short circuit; when the
recovery is active for too much time.

Effect: all drives inhibit torque

Reset condition: if the condition is not present anymore, power off and on monophase
voltage (PS-Standard and PS-6M) or 3-phase voltage (PS-Standalone, PS-120 and PS-U)).

Power supply overtemperature.

Indicated by: LED's DRF (drive fault) on all drives, LED OVER TEMP, optoisolated output
DRIVE OK, bit I of the FA string (see FA command).

Set condition: when a limit temperature is reached.

Effect: all drives inhibit torque.

Reset condition: if the condition is not present anymore, power off and on monophase
voltage (PS-Standard and PS-6M) or 3-phase voltage (PS-Standalone, PS-120 and PS-U).

IV - 1 - 30/Oct/01
4.2 Drive Module

Resolver not ok.

Indicated by: LED DRF, LED RF1/RF2/RF3 (Resolver Fault), optoisolated output DRIVE OK,
bit B of the FA string (see FA command).

Set condition: when the resolver is not connected or in short circuit at the power up, when the
resolver fails or is disconnected during running.

Effect: the drive inhibit torque of all axes of the module.

Reset condition: if the condition is not present anymore, reset button on drive or send pulse
to REM RESET.

Motor over temperature.

Indicated by: LED DRF, LED OT1/OT2/OT3, optoisolated outputs DRIVE OK and MOTOR
OK, bit C of the FA string (see FA command).

Set condition: when a limit temperature is reached inside the motor.

Effect: the drive inhibit torque of all axes of the module.

Reset condition: if the condition is not present anymore, reset button on drive or send pulse
to REM RESET.

Notes: the fault information via LEDS and opto is reset when the motor temperature goes
down the limit, while the drive is disabled until the reset condition has been met.

Power fault.

Indicated by: LED DRF, LED PWRF1/PWRF2/PWRF3, optoisolated output DRIVE OK, bit D
of the FA string (see FA command).

Set conditions:
1. When a short circuit is detected between motor phases, phase and ground, phase and
HV.
2. When overcurrent is detected in motor phases.
3. Overheating of power modules (locked rotor condition).
4. Undervoltage of internal supply of power modules

Effect: the drive inhibit torque.

Reset condition: if the condition is not present anymore, power off and on the power supply.
In case of condition 3. (overheating) wait at least 3 minutes before power up the drive.

IV - 2 - 30/Oct/01
Auxiliary voltages not normal

Indicated by: LED DRF, optoisolated output DRIVE OK

Set condition: when the level of +/- 15V or 5V becomes out of tolerance.

Effect: inhibit torque of all axes of the module.

Reset condition: if the condition is not present anymore, reset button on drive or send pulse
to REM RESET.

Personality card absent

Indicated by: LED DRF, optoisolated output DRIVE OK, bit L of the FA string .

Set condition: when the personality card is not present or taken away during running.

Effect: inhibit torque of all axes of the module.

Reset condition: if the condition is not present anymore, reset button on drive or send pulse
to REM RESET.

EEPROM error

Indicated by: LED DRF, optoisolated output DRIVE OK, bit L of the FA string (see FA
command), "EE ERROR" on the keyboard.

Set condition: when, after the SV command, a reset has been sent before 5 sec.

Effect: inhibit torque of all axes of the module.

Reset condition: check the parameters (e.g. KP, KI,..), correct the wrong values and save.

IV - 3 - 30/Oct/01
Bus not normal.

Indicated by: LED DRF, LED POWER OK, optoisolated output DRIVE OK, bit M of the FA
string (see FA command).

Set condition: See figure 4.1.

Effect: inhibit torque of all axes of the module .

Reset condition: if the condition is not present anymore at analog level (with hysteresis),
reset button on drive or send pulse to REM RESET.

FIG. 4.1 Bus Bar Voltage

810 V (overvoltage)

790 V (Recovery circuit enabled)

690 V (Reset max voltage)

540 V (Bus nominal voltage)

440 V (Reset min voltage)

410 V (Undervoltage)

IV - 4 - 30/Oct/01
Auxiliary HV referred voltages not norm.

Indicated by: LED DRF, optoisolated output DRIVE OK, bit N of the FA string (see FA
command).

Set condition: when the level of auxiliary voltages referred to power stage (-HV) becomes out
of tolerance.

Effect: inhibit torque of all axes of the module.

Reset condition: if the condition is not present anymore at analog level (with hysteresis) reset
button on drive or send pulse to REM RESET.

Overspeed

Indicated by: LED DRF, optoisolated output DRIVE OK, bit F of the FA string (see FA
command).

Set condition: when an error between set speed and actual speed bigger than the
programmed via EV command is detected.

Effect: inhibit torque on axis.

Reset condition: when the condition is no longer present, reset button on drive or send pulse
to REM RESET.

Drive overtemperature.

Indicated by: LED's DRF and DR.OVT, optoisolated output DRIVE OK, bit O of the FA string
(see FA command).

Set condition: when a limit temperature is reached on the heatsink.

Effect: inhibit torque of all axes of the module.

Reset condition: if the condition is not present anymore power off and on monophase
voltage.

Notes: the temperature limit is detected by thermo-switch.

IV - 5 - 30/Oct/01
IT

Indicated by: LED DRF, bit G of the FA string (see FA command).

Set condition: when the current exceeds the nominal motor current for a time longer than the
time stated by the motor thermal model (see IT command and Tab.6.6)

Effect: when the fault is going on the current limit is reduced to the level of the motor rated
current (set by PC command).

Reset condition: if the condition is not present anymore, the protection is reset. To reset the
fault status in FA string, push button on drive or send pulse to REM RESET.

Watchdog.

Indicated by: LED DRF, LED WTD, optoisolated output DRIVE OK.

Set condition: when the micro controller or DSP fails.

Effect: inhibit torque or all axes of the module.

Reset condition: if the condition is not present anymore reset button on drive or send pulse to
REM RESET.

IV - 6 - 30/Oct/01
SECTION 5 - ADJUSTMENT OF TORQUE/SPEED CURVE

In most of the DBM 04 applications, the magneto-motive force (MMF, that is, the stator
current vector) is perpendicular to the rotor flux. In such a way, the torque constant ( [Nm]
per Ampere) is maximized.
In some applications requiring extremely high speed and high frequency of the stator current,
the phase lag caused by the current controller imperfection might degrade the drive torque
constant. The current controller implemented within the DBM 04 drive results in a phase lag
of 9 degrees at the output frequency of 270 Hz.
Due to the phase lag, the spatial displacement between the rotor flux and the stator MMF will
be less than 90 degrees (electrical) and the torque will diminish as the cosine function of the
phase lag, and to optimize the Torque/Speed curve.
DBM 04 drive might compensate this phase lag and the lack of torque through the user
programmable phase advance. That is, an additional phase advance might be inserted into
the drive vector rotator, rendering the possibility to compensate for the current controller
phase lag.
Along with the conventional synchronous PM motors, the DBM 04 might run PM motors with
pronounced saliency effect (Ld ≠ Lq) and ensuring reluctance torque. The peak of total
electromagnetic torque for this family of PM motors is obtained with flux-MMF angles
different that 90 electrical degrees.
For the purpose of maximizing the torque per Amp constant of synchronous reluctance
motors, the phase advance in function of the speed and stator current is provided as a
standard feature of the DBM 04

5.1 Phase-speed relation

According to the requirements, the phase-speed curve equals zero for all the speeds below
the speed S1[rpm] (see Fig. 5.1). Above that speed, the phase rises with the speed with a
constant slope. Hence, two parameters (TF and TG in the following text) are sufficient for the
purpose of customizing the phase-speed demagnetization curve. TF parameter will define
the speed S1[rpm]. From the stall up to the S1[rpm], the phase(speed) correction will have
the value zero. Above S1[rpm], the phase(speed) correction will rise up with the constant
slope. This slope is defined by the second, TG parameter.

FIG. 5.1 - PHASE-SPEED CURVE

Phase (degrees)

S1[rpm]
= f(TF)
Slope = f(TG)
Speed [rpm]

V - 1 - 30/Oct/01
5.2 Phase-current relation

The phase-current curve is linearly rising or falling for the currents IQ>0, starting at the
current level S2[%] defined by the TY parameter, with a slope defined by TQ parameter.

FIG. 5.2 - PHASE-CURRENT CURVE

Phase (degrees)

S2[%] => TY
Slope=> TQ
Current IQ [%]

Hence, the point S2[%] is defined by TY parameter. According to requirements, the phase-
current curve might increase at a steeper slope for the values of IQ superior to S2[%]. For
this purpose, the fourth, TQ parameter is provided in order to program the slope of the
phase-current curve for the values bigger than S2[%].

5.3 Parameters Setting for FAS T-V

To optimize the match between FAST-V brushless servomotors and DBM 04 drive, the
following parameters settings have been found to be the best choice. With these parameters
the motor provides, at the nominal speed and with nominal voltage - 5% (that is 380Vac for
400Vac-and 437Vac for 460Vac), a Max Torque from 1.5 to 3 times the Max Torque without the
optimization algorithm.

V - 2 - 30/Oct/01
Tab. 5.1 - Parameters Setting for 400V and 6-pole resolver

Motor type DBM 04 IL TF TG TY TQ

FAS T0 V2 060 3/9 100 60 3 115 19
V4 060 3/9 100 60 3 87 26
V8 060 6/15 100 106 4 127 21

FAS T1 V2 030 3/9 100 38 8 94 22

V2 060 6/15 100 106 4 127 21
V4 030 6/15 100 58 7 166 30
V4 045 6/15 100 88 5 133 22
" 8/22 100 58 5 89 25
V6 030 6/15 100 58 7 127 21
" 8/22 100 42 7 87 19
V6 045 8/22 100 92 6 127 21
" 15/42 88 60 5 66 28
V8 030 6/15 100 60 7 97 14
" 8/22 100 48 7 66 16
V8 045 15/42 100 60 4 74 23

FAS T2 V2 030 8/22 100 32 6 51 22

V2 045 15/42 100 60 5 102 26
V4 020 8/22 100 30 9 76 17
V4 030 15/42 100 36 7 74 17
V6 020 15/42 100 32 12 69 15
V6 030 15/42 100 54 8 66 14
" 25/70 73 54 9 40 22
V8 020 15/42 100 32 8 102 16
" 25/70 65 30 7 61 27
V8 030 25/70 100 52 7 102 16

FAS T3 V2 020 15/42 100 30 7 140 23

V2 030 25/70 100 42 7 135 21
V3 020 25/70 100 28 8 122 20
V3 030 25/70 100 54 9 79 15
" 35/90 100 46 9 61 15
V4 020 25/70 100 36 9 94 19
V4 030 35/90 100 52 7 76 17
V6 012 25/70 100 22 15 112 19
V6 020 35/90 100 30 12 0 9
V8 012 35/90 100 20 16 76 14
V8 020 50/140 100 30 10 0 10
" 60/180 77 30 10 0 13

V - 3 - 30/Oct/01
Tab. 5.2 - Parameters Setting for 400V and 2-pole resolver

Motor type DBM 04 IL TF TG TY TQ

FAS T0 C2 060 3/9 100 20 8 115 19
C4 060 3/9 100 20 10 87 26
C8 060 6/15 100 34 13 127 21

FAS T1 C2 030 3/9 100 12 23 94 22

C2 060 6/15 100 34 13 127 21
C4 030 6/15 100 18 20 166 30
C4 045 6/15 100 28 16 133 22
" 8/22 100 18 14 89 25
C6 030 6/15 100 18 20 127 21
" 8/22 100 14 21 87 19
C6 045 8/22 100 30 19 127 21
" 15/42 88 20 16 66 28
C8 030 6/15 100 20 22 97 14
" 8/22 100 16 22 66 16
C8 045 15/42 100 20 13 74 23

FAS T2 C2 030 8/22 100 10 18 51 22

C2 045 15/42 100 20 16 102 26
C4 020 8/22 100 10 26 76 17
C4 030 15/42 100 12 20 74 17
C6 020 15/42 100 10 37 69 15
C6 030 15/42 100 18 23 66 14
" 25/70 73 18 26 40 22
C8 020 15/42 100 10 25 102 16
" 25/70 65 10 22 61 27
C8 030 25/70 100 16 21 102 16

FAS T3 C2 020 15/42 100 10 22 140 23

C2 030 25/70 100 14 21 135 21
C3 020 25/70 100 8 25 122 20
C3 030 25/70 100 14 26 79 15
" 35/90 100 18 27 61 15
C4 020 25/70 100 12 28 94 19
C4 030 35/90 100 16 21 76 17
C6 012 25/70 100 6 45 112 19
C6 020 35/90 100 10 36 0 9
C8 012 35/90 100 6 49 76 14
C8 020 50/140 100 10 30 0 10
" 60/180 77 10 30 0 13

V - 4 - 30/Oct/01
Tab. 5.3 - Parameters Setting for 460V and 6-pole resolver

Motor type DBM 04 IL TF TG TY TQ

FAS T0 V2 060 3/9 100 78 3 163 29
V4 060 3/9 100 82 4 140 31
V8 060 6/15 100 128 4 204 35

FAS T1 V2 030 3/9 100 48 8 145 26

V2 060 6/15 100 128 4 204 35
V4 030 6/15 100 76 7 245 88
" 8/22 100 92 7 158 31
V6 030 6/15 100 76 7 238 50
" 8/22 100 58 7 161 30
V6 045 8/22 100 116 8 230 35
" 15/42 88 70 6 120 33
V8 030 6/15 100 76 7 245 53
" 8/22 100 60 7 166 24
V8 045 15/42 100 86 5 151 27

FAS T2 V2 030 8/22 100 54 9 143 24

V2 045 15/42 100 88 6 174 44
V4 020 8/22 100 46 7 197 43
V4 030 15/42 100 60 7 166 30
V6 020 15/42 100 38 11 166 24
V6 030 15/42 100 72 7 222 65
" 25/70 73 66 7 133 50
V8 020 15/42 100 52 9 235 62
" 25/70 65 52 11 140 64
V8 030 25/70 100 76 7 225 53

FAS T3 V2 020 15/42 100 48 9 230 56

V2 030 25/70 100 76 13 225 59
V3 020 25/70 100 48 12 217 47
V3 030 25/70 100 76 9 225 77
" 35/90 100 60 9 174 28
V3 030+1.5mH 25/70 100 46 9 143 24
"+1.5mH 35/90 100 38 8 110 24
V4 020 25/70 100 50 11 225 59
V4 030 35/90 100 76 11 230 71
V4 030+1.5mH 35/90 100 54 11 133 22
V6 012 25/70 100 30 15 243 22
V6 020 35/90 100 42 12 148 18
V8 012 35/90 100 26 12 207 29
V8 020 50/140 100 46 10 189 32
" 60/180 77 46 10 145 40
V8 020+1.5mH 50/140 100 26 12 112 20
"+1.5mH 60/180 77 26 12 87 25

V - 5 - 30/Oct/01
Tab. 5.4 - Parameters Setting for 460V and 2-pole resolver

Motor type DBM 04 IL TF TG TY TQ

FAS T0 C2 060 3/9 100 26 10 163 29
C4 060 3/9 100 26 12 140 31
C8 060 6/15 100 42 12 204 35

FAS T1 C2 030 3/9 100 16 24 145 26

C2 060 6/15 100 42 12 204 35
C4 030 6/15 100 24 22 245 88
C4 045 6/15 100 28 16 235 44
" 8/22 100 30 21 158 31
C6 030 6/15 100 24 22 238 50
" 8/22 100 18 22 161 30
C6 045 8/22 100 38 24 230 35
" 15/42 88 22 18 120 33
C8 030 6/15 100 24 22 245 53
" 8/22 100 20 20 166 24
C8 045 15/42 100 28 16 151 27

FAS T2 C2 030 8/22 100 18 28 143 24

C2 045 15/42 100 28 18 174 44
C4 020 8/22 100 14 22 197 43
C4 030 15/42 100 20 22 166 30
C6 020 15/42 100 12 32 166 24
C6 030 15/42 100 24 22 222 65
" 25/70 73 22 21 133 50
C8 020 15/42 100 16 26 235 62
" 25/70 65 16 33 140 64
C8 030 25/70 100 24 20 225 53

FAS T3 C2 020 15/42 100 16 28 230 56

C2 030 25/70 100 24 40 225 59
C3 020 25/70 100 16 36 217 47
C3 030 25/70 100 20 28 225 77
" 35/90 100 24 27 174 28
C3 030+1.5mH 25/70 100 14 26 143 24
"+1.5mH 35/90 100 12 25 110 24
C4 020 25/70 100 16 32 225 59
C4 030 35/90 100 24 33 230 71
C4 030+1.5mH 35/90 100 18 32 133 22
C6 012 25/70 100 10 44 243 22
C6 020 35/90 100 14 37 148 18
C8 012 35/90 100 8 37 207 29
C8 020 50/140 100 14 29 189 32
" 60/180 77 14 29 145 40
C8 020+1.5mH 50/140 100 8 35 112 20
"+1.5mH 60/180 77 8 35 87 25

V - 6 - 30/Oct/01
SECTION 6 - COMMANDS

6.1 General Features

For serial communication, according to standard RS485, DBM drives are connected in
parallel (multidrop) and in "slave" configuration, whereas the CNC, the PC or the keypad are
in "master" configuration.

This is because the protocol is configured so that the drives are able to communicate only if
inquired by the master, to avoid contentions on the line. As a consequence, all the
commands have been configured individually (single axis questioned), except those for
which an answer is not foreseen; therefore all the drives can be reached simultaneously.

There are 3 kinds of command:

• status monitoring
Monitor commands on the status of the drive, which displays axis configuration and eventual
faults.

• data monitoring
Monitor commands for displaying memorized motion parameters (e.g. I limit=100%, etc.).

• data (command) input

Execute commands for setting and changing parameters (e.g. speed, pole number,
acceleration, deceleration, etc.).

Remark: if a mistake has been made while digitizing, it is possible to reset the command by
pressing <CR> ( <CARRIAGE RETURN> ).

The commands are in ASCII format:

1 bit-start
8 bit-data
1 bit-parity even
1 bit-stop

Serial communication speed can vary from 1200 to 19200 Baud.

VI - 1 - 30/Oct/01
Command syntax is as follows:

status monitoring: „ address COMMAND

data monitoring: „ address COMMAND
data input: „ address COMMAND data
command input: „ address COMMAND

Remark: press <CR> after each command string if the optional keypad is used.

• Address: there are three kinds of address:

Axis: it is a number from 1 to 9 ( max. number of axes in a system); it identifies the axis
selected for data monitoring / input.

Module: the "module" (or "basic") address is referred to the possibility to get the execution of
the command either addressing the chosen axis (axis) or any axis inside the module (
module ). This last possibility is valid for all axes within a module common commands (e.g.
temperature).

Global: it is also possible to globally address all axes (global address) using the <∗> in place
of the address number.

• Command: it consists of two letters (e.g. AC, AE, etc.).

• Datum: it can be composed by a max. of 4 figures or 3 figures and the <-> symbol. The
<+> symbol is optional. Any data without a symbol is considered as positive.

VI - 2 - 30/Oct/01
6.2 Commands
All commands available for system management can be used to monitor and execute every
datum.

To monitor, it is sufficient to enter the address and the command; to execute, the address,
the command and the datum must be typed.

Tab. 6.1 List of Commands

Symbol Command Symbol Command

AC Acceleration OF Off
AD Axis disabled ON On
AE Axis enabled OV Offset Display
AL Analog limit PC Peak current
AP Autophasing PR Motor poles to resolver
AR Analog reference poles ratio
AS Address show PW Password
BR Baud rate RE A/D resolution
CG Current gain RN Minimum of R/D
CP Current position resolution
CU Current U offset RS Resolver shaft
CV Current V offset RX Maximum of R/D
DE Deceleration resolution
DF Digital velocity SA Set Address
reference filter SE Simulated encoder
DI Direction SO Spare output
DL Digital limit SR Show Release
DR Digital reference ST Status
ES Extra parameter for SV Save
spare output TC Torque Control
ET Extra parameter for TF T/S adjustment (1/4)
Tacho output TG T/S adjustment (2/4)
EV Error velocity TQ T/S adjustment (3/4)
FA Fault TY T/S adjustment (4/4)
IL I Limit VC Velocity Control
IT IT protection VE Velocity
KI Integral gain VO Velocity Offset
KP Proportional gain VS Velocity structure
MR Max reference
MV Max velocity
NP Number of poles
OC Velocity Fine offset

VI - 3 - 30/Oct/01
Tab. 6.2 - Standard/Default Configuration

Standard 1 2 3 4 5 6
address address address address address address
AC 0
AL DL
AR DR
BR 9600
CG 2
CU -
CV -
DE 0
DF 0
DL DL
DR DR
ES 16
ET 80
EV 0
IL 100
IT see Tab.6.6
KI 10
KP 20
MR 100
MV -
NP -
OC -
OV 128
PC see Tab.6.6
PR -
RN -
RX -
RS -
SA 1
SE -
TC VC
TF see Sect.V
TG see Sect.V
TQ see Sect.V
TY see Sect.V
VC VC
VO 128
VS 1

Note: with G3 jumper on the personality card closed, BR=9600 and SA=1 are set.

VI - 4 - 30/Oct/01
AC - Acceleration

Function: it allows to set an acceleration ramp. Whatever the input

reference (analog or digital), the system will follow it, but
accelerations will never be faster than those set by this command. It
can be useful when the drive is connected to rather simple position
controllers ( e.g. max, 0, -max), with an application requiring
progressive accelerations.
Syntax: data monitoring: „ address AC <CR>
data input: „ address AC n <CR>
Address type: axis
Unit of measure: n = ms
Range: 10 to 999 or 0
Default: 0 (disabled)
Password: no
(∗) addressing: yes
Opposite to: -
See also: DE

Examples:
„ 1 AC 100 <CR>: it sets an acceleration ramp = 100ms for axis1.
„ 2 AC <CR>: it questions axis 2 about the acceleration ramp. In case no one has been set, the answer
is: "A2 ACC. TIME = ms 0".

FIG. 6.1 - Acceleration/Deceleration

rpm

MV

VE DE

AC ms

DE AC

VI - 5 - 30/Oct/01
AD - Axis Disabled

Function: AD command makes the logic section ignore an axis and the
relatives faults. It is useful with DBM 2-axis: if the
third axis were not disabled, the logic would reveal resolver
fault and motor overtemperature, preventing the drive from
running.
Syntax: data monitoring: „ address AD <CR>
data input: „ address AD n <CR>
Address type: axis
Unit of measure: n = axis number
Range: 1 to 99
Default: -
Password: yes
(∗) addressing: no
Opposite to: AE
See also: AE

Note: the axis disabled holds his address, which can be interrogated via FA command.

REMARK: AD and AE commands must be set only when the motor is standstill

Examples:
„ 1 AD 3 <CR>: it disables the 3rd axis of a module, whose first address is 1.
„ 4 AD 6 <CR>: it disables the 3rd axis of a module, whose first address is 4.
„ 1 AD <CR>: "1 AXIS DISABLED 3" will be displayed if the 3rd axis is disabled. "1 AXIS DISABLED 1 3"
will be displayed if the 1st and 3rd axis is disabled.

AE - Axis Enabled

Function: the AE command enables an axis and relative faults.

Syntax: data monitoring: „ address AE <CR>
data input: „ address AE n <CR>
Address type: axis
Unit of measure: n = axis number
Range: 1 to 99
Default: -
Password: yes
(∗) addressing: no
Opposite to: AD
See also: AD

Examples:
„ 1 AE 3 <CR>: it enables the 3rd axis of a module, whose first address is 1.
„ 4 AE 6 <CR>: it enables the 3rd axis of a module, whose first address is 4.
„ 1 AE <CR>: "1 AXIS ENABLED 3" will be displayed if the 3rd axis is enabled. "1 AXIS ENABLED 1 3"
will be displayed if the 1st and 3rd axis is enabled.

VI - 6 - 30/Oct/01
AL - Analog Limit

Function: it informs the controller that I limit reference to be considered is

analog (see J7 connector).
Syntax: command input: „ address AL <CR>
Address type: axis
Unit of measure: -
Range: -
Default: digital I Limit
Password: yes
(∗) addressing: yes
Opposite to: DL
See also: DL, IL, ST

Examples:
„ 1 AL <CR>: Sets the analog I limit for axis 1. The display is cleared. After this command a current
limit can be set via J7 connector, pos. 12, 13 and 14 (range 0 to 10V).
The status can be interrogated via ST command.

REMARK: DBM 04 has the "Analog I limit" as standard.

AP - Autophasing

Function: AP command allows resolver auto-phasing. As in this phase the

motor can rotate for a revolution fraction, it is opportune to make
sure it is free to rotate to avoid risk of friction, which could
compromise phasing accuracy. So, motor must be disconnected
from load.
Syntax: command input: „ address AP <CR>
Address type: axis
Unit of measure: -
Range: -
Default: non-phased axes
Password: yes
(∗) addressing: no
Opposite to: -
See also: ON, OF

Note: To execute AP, all module axes must have optoisolated Drive Enable signals "on" and digital ones "off"
(see paragraph 2.2.3) via OF command. To execute AP, it is necessary that the "G2" jumper on the
personality card is open, which means priority from the keypad (see paragraph 2.2.2.).

Examples:
„ 1 AP <CR>: it allows axis 1 auto-phasing. During such operation (a few seconds) "AUTOPHASING IN
PROGRESS" will be displayed; when auto-phasing is successfully carried out "AXIS PHASED" will be
displayed, otherwise "ERROR IN AUTOPHASING" will be shown. If digital Drive Enable is enabled (ON) (see
above) the message "WARNING DRIVE EN. CLOSED" will appear. The auto-phasing is not allowed if a
fault is on. This case, the message displayed will be "ERROR: FAULT STATUS".

VI - 7 - 30/Oct/01
AR - Analog Reference

Function: AR command allows enabling analog (speed or torque) reference.

The drive will follow as reference the voltage of connector J7
pins, ignoring VE command given from keypad.
Syntax: command input: „ address AR <CR>
Address type: axis
Unit of measure: -
Range: -
Default: digital reference
Password: yes
(∗) addressing: yes
Opposite to: DR
See also: DR

Note: the status can be interrogated via ST command (bit I).

AS - Address Show

Function: it allows display of the basic address of a module, if unknown. To

avoid simultaneous answers on the line from more than one
module, it is necessary that serial flat J2 is connected only between
power supply and the questioned module. It is different from
SA command, which is used to change basic address.
Syntax: data monitoring: „ ∗ AS <CR>
Address type: -
Unit of measure: -
Range: -
Default: -
Password: no
(∗) addressing: compulsory
Opposite to: -
See also: SA

Examples:
„ ∗ AS <CR>: if the "base" address for such a module is 1, the answer will be "ADDRESS MODULE 1".

VI - 8 - 30/Oct/01
BR - Baud Rate

Function: it allows to change transmission speed of the serial link.

Syntax: data monitoring: „ address BR <CR>
data input: „ address BR n <CR>
Address type: module
Unit of measure: n = Baud
Range: 1200, 2400, 4800, 9600, 19200
Default: 9600
Password: yes
(∗) addressing: yes
Opposite to: -
See also: -

Note: To modify the Baud Rate also at keypad side, it is necessary to type <Control> and after <CR>.
Type <Y> to change Baud Rate and after <CR>.

CG - Current Gain

Function: The current loop gain of the DBM drive might be adjusted through
the serial link communication. A dedicated CG parameter with
4 discrete values is introduced in order to set the current error gain.
Syntax: data monitoring: „ address CG <CR>
data input: „ address CG n <CR>
Address type: axis
Unit of measure: -
Range: 0=very low gain
1=medium low
2=medium high
3=very high
Unit of measure: -
Default: 2
Password: YES
(∗) addressing: no
Opposite to: -
See also: -

VI - 9 - 30/Oct/01
CP - Current Position

Function: it allows to know the position relative to electric revolution of the

resolver at start-up. It is used when the application requires to
know the absolute position.
Syntax: data monitoring: „ address CP <CR>
Address type: axis
Unit of measure: -
Range: 0 to 4096
Default: -
Password: no
(∗) addressing: no
Opposite to: -
See also: -

Examples:
„ 2 CP <CR>: Interrogates axis 2 about the current position. If the starting position is 4006, the
answer will be : "A02 CURRENT POSITION = 4006".

CU - Current U offset (only for setup technicians)

Function: it allows to set the offset of U phase current

Syntax: data monitoring: „ address CU <CR>
data input: „ address CU n <CR>
Address type: axis
Unit of measure:
Range: 0 to 255
Default: -
Password: no
(∗) addressing: no
Opposite to: -
See also: CV

Note: the CU command must be executed with digital Drive Enable disabled (via OF command) and the opto
Drive Enable enabled.

Examples:
„ 2 CU <CR>: Interrogates axis 2 about the offset of the U current. If U current offset is 128, the
answer will be : "A02 CURRENT U OFFSET = 128".

CAUTION: do not change CU parameter. A wrong set of CU increases torque ripple.

VI - 10 - 30/Oct/01
CV - Current V offset (only for setup technicians)

Function: it allows to set the offset of V phase current

Syntax: data monitoring: „ address CV <CR>
data input: „ address CV n <CR>
Address type: axis
Unit of measure:
Range: 0 to 255
Default: -
Password: no
(∗) addressing: no
Opposite to: -
See also: CU

Note: the CV command must be executed with digital Drive Enable disabled (via OF command) and the opto
Drive Enable enabled.

Examples:
„ 1 CV <CR>: Interrogates axis 1 about the offset of the V current. If V current offset is 128, the
answer will be : "A01 CURRENT V OFFSET = 128".

CAUTION: do not change CV parameter. A wrong set of CU increases torque ripple.

DE - Deceleration

Function: it allows to set a deceleration ramp. Whatever the input reference

(analog or digital), the system will follow it, but decelerations will
never be faster than those set by this command. It can be
useful when the drive is connected to a rather simple position
controller (e.g. max,0,-max), with an application requiring
progressive decelerations (see Fig. 6.1).
Syntax: data monitoring: „ address DE <CR>
data input: „ address DE n <CR>
Address type: axis
Unit of measure: n = ms
Range: 10 to 999 or 0
Default: 0 (disabled)
Password: no
(∗) addressing: yes
Opposite to: -
See also: AC

Examples:
„ 1 DE 100 <CR>: it sets a deceleration ramp = 100 ms for axis 1.
„ 1 DE <CR>: it questions axis 1 about the deceleration ramp. In case no one has been set, the
answer is: "A01 DECEL. TIME = ms 0"

VI - 11 - 30/Oct/01
DF - Digital Filter

Function: it allows to set a low-pass digital filter. The filter reduces high
frequency noise and resonance's
When the Velocity Structure command is VS=0 or VS=1, the
velocity reference is filtered.
When the Velocity Structure command is VS=2 or VS=3, the
velocity error is filtered.
The value DF=0 switches the filter OFF
Syntax: data monitoring: „ address DF <CR>
data input: „ address DF n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255. The filter bandwidth is:
f [Hz] = {ln[1/(1-DF/512)]}/(2π∗300 10-6)
Default: 0 (disabled)
Password: yes
(∗) addressing: no
Opposite to: -
See also: VS

Note: the DF command must be executed with digital Drive Enable disabled (via OF command) and the opto
Drive Enable enabled.

Examples:
„ 2 DF 165 <CR>: sets the filter bandwidth to 206 Hz for axis 2.
„ 2 DF <CR>: Interrogates axis 2 about the reference filter on the velocity reference. The answer will be
: "A02 DIG.FIL. REF. PAR. = 165".

Tab. 6.3 - Filter Bandwidth

DF Frequency DF Frequency DF Frequency DF Frequency

1 1 Hz 65 72 Hz 130 155 Hz 195 254 Hz
5 5 Hz 70 77 Hz 135 162 Hz 200 262 Hz
10 10 Hz 75 84 Hz 140 169 Hz 205 271 Hz
15 15 Hz 80 90 Hz 145 176 Hz 210 280 Hz
20 21 Hz 85 96 Hz 150 183 Hz 215 288 Hz
25 26 Hz 90 102 Hz 155 191 Hz 220 297 Hz
30 32 Hz 95 108 Hz 160 198 Hz 225 307 Hz
35 37 Hz 100 115 Hz 165 206 Hz 230 316 Hz
40 43 Hz 105 121 Hz 170 214 Hz 235 325 Hz
45 48 Hz 110 128 Hz 175 221 Hz 240 335 Hz
50 54 Hz 115 134 Hz 180 229 Hz 245 345 Hz
55 60 Hz 120 141 Hz 185 237 Hz 250 355 Hz
60 66 Hz 125 148 Hz 190 246 Hz 255 366 Hz

VI - 12 - 30/Oct/01
DI - Direction

Function: it allows to invert the direction of the motor rotation, in case of

analog or digital reference. The drive is supplied set to CW
rotation, (viewed from shaft end) corresponding to positive
during the installation. To know what the actual configuration is,
ST command shall be asked.
Syntax: command input: „ address DI <CR>
Address type: axis
Unit of measure: -
Range: -
Default: CW
Password: no
(∗) addressing: yes
Opposite to: -
See also: ST

Example:
„ 4 DI <CR>: it reverses the direction of motor rotation for axis 4. The display is cleared.

Note: The status can be interrogated via ST command (bit L).

DL - Digital Limit

Function: it informs the controller that the I limit reference to be considered as

active is digital (programmable via IL command).
Syntax: command input: „ address DL <CR>
Address type: axis
Unit of measure: -
Range: -
Default: digital I limit
Password: yes
(∗) addressing: yes
Opposite to: AL
See also: AL, IL

Note: the status can be interrogated via ST command (bit J).

VI - 13 - 30/Oct/01
DR - Digital Reference

Function: it allows to enable digital (speed or torque) reference. The drive

will consider as reference the number set via VE command and
ignore connector J7 voltage.
Syntax: command input: „ address DR <CR>
Address type: axis
Unit of measure: -
Range: -
Default: digital reference
Password: yes
(∗) addressing: yes
Opposite to: AR
See also: AR

Note: the status can be interrogated via ST command (bit I)

ES - Extra parameter for Spare output

Function: it allows to scale the Analog Outputs (max current, speed reference
or error reference) on J8 connector.
Syntax: data monitoring: „ address ES <CR>
data input: „ address ES n <CR>
Address type: 1=Analog Output 1 (see J8 connector, pos.4)
2=Analog Output 2 (see J8 connector, pos.5)
Unit of measure: -
Range: 0 to 255. Analog outputs on J8 connector (±10V, 10 mA max):
Max current for axis 1 (SO=1), axis 2 (SO=2) or axis 3 (SO=3):
±(10∗ES/16)V for ±100% max current
Speed reference for axis 1 (SO=4), axis 2 (SO=5) or axis 3 (SO=6),
and velocity error for axis 1 (SO=7), axis 2 (SO=8) or axis 3 (SO=9):
±[(ES∗NP∗MV)/(786∗MR)]V for ±MV (max velocity)
Default: 16
Password: yes
(∗) addressing: no
Opposite to: -
See also: MR, MV, NP, SO, Tab.6.4, Tab.6.5

Examples:
„ 1 SO 1 <CR>: sets analog out1 (J8 conn., pos.4) to max current of axis 1 of the first module
„ 1 ES 16 <CR>: sets analog out1 to ±10V for ±100% max current of axis 1
„ 1 ES 32 <CR>: sets analog out1 to ±10V for ±50% max current (zoom-in) of axis 1
„ 1 ES 8 <CR>: sets analog out1 to ±5V for ±100% max current (zoom-out) of axis 1
„ 8 SO 5 <CR>: sets analog out2 (J8 conn., pos.5) to speed reference of axis 2 of the third module
„ 2 ES 16 <CR>: sets analog out2 to ±10V for ±6140 rpm (if NP=8 and MR=100 have been set for axis 2)

VI - 14 - 30/Oct/01
Tab. 6.4 - ES for Max Current (SO=1 to SO=3)

ES MAX ANALOG
CURRENT OUT
8 100 % 5V
16 100 % 10 V
32 50 % 10 V

REMARK
actual current

The voltage at the Analog Output

represents the envelope of the actual
current.
Analog Output (envelope)

1. To calculate the max current, Imax:

- check the max current of the drive (see the rating plate or par.1.3).
- search for the max Analog Out voltage during the entire duty cycle.
- % scale according to ES, and Tab.6.4

Imax
2. To calculate the max rms current, Imrms = :
2

3. To calculate the rms current:

- calculate the max rms current for each step of the duty cycle (acceleration, deceleration, ...)
Imrms1 2 ∗ t 1 + Imrms2 2 ∗ t 2 + ...
- use the following formula Irms =
t 1 + t 2 + ...

SPECIAL CASES
Imax
2 Imax
Sinusoidal Analog Output: Irms = =
2 2

Imax
2 Imax
Triangular Analog Output (I Limit): Irms = =
3 2.45

Tab. 6.5 - ES for Speed Reference and Velocity Error (MR=100, SO=4 to SO=9)
2 pole resolver 6 pole resolver 8 pole resolver

ES MV ANALOG ES MV ANALOG ES MV ANALOG

rpm OUT rpm OUT rpm OUT
52 6046 8V 17 6165 8V 13 6046 8V
65 6046 10 V 22 5954 10 V 16 6140 10 V
105 2994 8V 35 2994 8V 26 3023 8V
131 3000 10 V 44 2977 10 V 33 2977 10 V
52 2015 8V 39 2015 8V
65 2015 10 V 49 2005 10 V

VI - 15 - 30/Oct/01
ET - Extra parameter for Tacho output

Function: it allows to scale the Tacho Tests outputs on J8 connector

Syntax: data monitoring: „ address ET <CR>
data input: „ address ET n <CR>
Address type: axis
Unit of measure: -
Range: 50 to 100. Tacho outputs = ±(ET/10) ∗ (MR/100) [V] for ±MV
Default: 80
Password: yes
(∗) addressing: no
Opposite to: -
See also: MR, MV

Examples:
„ 1 MV 3000 <CR>: sets max velocity to 3000 rpm for axis 1.
„ 1 MR 100 <CR>: sets max velocity reference to 10 V for axis 1.
„ 1 ET 50 <CR>: sets ET parameter to 50 for axis 1. The Tacho Test 1 (J8, pos.1) will be ± 5V for
± 3000 rpm.
„ 1 ET <CR>: questions axis 1 about the extra parameter for Tacho Test 1. The answer is: "A01 EXTRA
PAR. FOR TO = 50".

EV - Error Velocity

Function: it allows to set the maximum velocity error between reference

velocity and the actual speed in rpm. If the set value is overcome,
a fault occurs. Value = 0 disables the command.
Syntax: data monitoring: „ address EV <CR>
data input: „ address EV n <CR>
Address type: axis
Unit of measure: n = rpm
Range: 1 to MV. 0 = disabled
Default: 0
Password: yes
(∗) addressing: no
Opposite to: -
See also: -

Remark: While testing the drives via step response, it is advisable to disable this protection or set a
high value of tolerated error, to avoid continuous faults.

Examples:
„ 1 EV 100 <CR>: it sets axis 1 to tolerate up to 100 rpm error, without fault.
„ 1 EV <CR>: it questions axis 1 about the maximum error allowed. The answer is: "A1 VELOCITY
ERROR RPM = 100".

VI - 16 - 30/Oct/01
FA - Fault

Function: as only main faults have front panel LED indications, when the
generic LED DRF lights up, it is necessary to interrogate
the drive via FA command. The answer is a codified ASCII string
(see below). Another function of the command is to reset the faults
occurred at logic level (also resettable via push button).
Syntax: status monitoring and reset: „ address FA <CR>
Address type: axis
Password: no
(∗) addressing: no

Answer explanation: A a FA b c d e f g P h i j k l MA m n o B p q r

A = axis
a = axis address

FA = fault
b = Resolver connection 0 = OK 1 = not OK
c = Motor temperature 0 = OK 1 = overtemperature
d = Axis short circuit 0 = OK 1 = short circuit
e = Bus Bar voltage (Axis 3 only) 0 = OK 1 = under 430V
f = Velocity error 0 = OK 1 = not OK
g = It 0 = off 1 = on

P = Power supply
h = Recovery unit 0 = OK 1 = not OK
i = PWRS temperature 0 = OK 1 = overtemperature
j = n.c.
k = n.c.
l = Personality card 0 = OK 1 = not OK*

MA = A module (DBM module)

m = BUS BAR voltage 0 = OK 1 = overvoltage/undervoltage
n = Aux. Volt. ref. to - HV 0 = OK 1 = out of tolerance
o = A module temperature 0 = OK 1 = overtemperature

B = B module (eventual expansion module)

p = BUS BAR voltage 0 = OK 1 = overvoltage/undervoltage
q = Aux. Volt. ref. to - HV 0 = OK 1 = out of tolerance
r = B module temperature 0 = OK 1 = overtemperature

* = in case of checksum error, check the parameters (e.g. KP, KI,...), correct the wrong values and save.

Note: If the expansion missing, the last characters are not significant.

Examples:
„ 1 FA <CR>: if OK, the answer will be: "A1 FA 000000 P 00000 MA 000 B 000"

VI - 17 - 30/Oct/01
IL - I Limit (Current Limit)

Function: it allows to program the peak current. It is useful when

undersized motors are used or during special tests.
Syntax: data monitoring: „ address IL <CR>
data input: „ address IL n <CR>
Address type: axis
Unit of measure: n = % max current
Range: 0 to 100
Default: 100
Password: no
(∗) addressing: no
Opposite to: -
See also: DL, AL

REMARK: before executing IL command it is necessary to perform DL command.

Examples:
„ 2 IL <CR>: it asks axis 2 about I limit. In default case the answer will be: "A2 CURRENT LIMIT % =
100".
„ 2 IL 90 <CR>: it sets 90% current limit for axis 2.

IT - IT Protection

Function: it allows to manage the IT thermal protections which prevents the

motor from an overheating too quick for the PTC operating
time. When the integral of current multiplied by time exceeds the
IT value, drive limits, after operating time, to nominal motor
current (see Tab. 6.6).
Syntax: data monitoring: „ address IT <CR>
data input: „ address IT xx n <CR>. xx = special password
Address type: axis
Unit of measure: n = ms
Range: 0 to 255. 0 = protection disabled
Default: see Tab. 6.6
Password: special password
(∗) addressing: no
Opposite to: -
See also: PC

Notes: IT status can be interrogated via FA command (bit g).

CAUTION: do not change IT parameter. A wrong set of IT can damage the motor.

VI - 18 - 30/Oct/01
Tab. 6.6 - IT Protection
The following table shows IT and PC values set in factory.

MOTOR DRIVE Operating

time at
drive peak
current
In (A) In (A) Ip (A) IT PC IL (s)
FAS K0V 020 060 2.9 8 22 12 18 100 4.9
FAS K1V 080 030 5.3 15 42 2 17 100 26.2
FAS T0 V2 060 1.1 3 9 9 17 100 5.8
FAS T0 V4 060 1.5 3 9 8 23 100 12.1
FAS T0 V8 060 3 6 15 8 28 100 18.2
FAS T1 V2 030 1.7 3 9 6 26 100 20.8
FAS T1 V2 060 3.26 6 15 5 30 100 33.6
FAS T1 V4 030 3.34 6 15 6 31 100 30.0
FAS T1 V4 045 4.22 6 15 5 39 100 58.9
" 4.22 8 22 5 27 100 27
FAS T1 V6 030 4.26 6 15 5 40 100 62.2
" 4.26 8 22 5 27 100 27
FAS T1 V6 045 6.27 8 22 5 40 100 62.2
" 6.27 15 42 6 21 87 17.9
FAS T1 V8 030 4.93 6 15 5 46 100 84.8
" 4.93 8 22 4 31 100 45.1
FAS T1 V8 045 7.58 15 42 4 25 100 28.8
FAS T2 V2 030 5.1 8 22 5 32 100 38.5
FAS T2 V2 045 8.4 15 42 5 28 100 29.1
FAS T2 V4 020 5.6 8 22 4 35 100 58.3
FAS T2 V4 030 8.5 15 42 4 28 100 36.4
FAS T2 V6 020 8.2 15 42 4 27 98 35.2
FAS T2 V6 030 11.6 15 42 4 39 100 73.6
" 11.6 25 70 4 23 84 34.4
FAS T2 V8 020 10.4 15 42 3 35 100 77.7
" 10.4 25 70 5 21 77 27.9
FAS T2 V8 030 15.5 15 42 3 52 100 187.5
" 15.5 25 70 3 31 100 60.1
FAS T3 V2 020 12.7 15 42 4 42 100 86.6
" 12.7 25 70 7 25 70 34.8
FAS T3 V2 030 19 25 70 4 38 100 69.6
FAS T3 V3 020 17.5 25 70 3 35 100 77.7
FAS T3 V3 030 23.3 25 70 4 47 100 111.3
" 23.3 35 90 3 36 100 82.6
FAS T3 V4 020 21.2 25 70 3 42 100 115.4
FAS T3 V4 030 30.9 35 90 4 48 100 116.8
FAS T3 V6 012 18.8 25 70 3 37 100 87.6
FAS T3 V6 020 26.4 35 90 3 41 100 109.5
FAS T3 V6 030 44 50 140 3 44 97 128.0
FAS T3 V6 030 44 60 180 3 34 100 77.5
FAS T3 V8 012 22.9 35 90 3 35 100 77.7
FAS T3 V8 020 36 50 140 3 36 100 82.6
" 36 60 180 4 28 79 60.0

REMARK: the "operating time at drive peak current" is the operating time after a reset. In a steady state
condition, this time can be shorter according to the motor thermal simulation.
An overtemperature protection via PTC is also provided.

VI - 19 - 30/Oct/01
KI - Integral Gain

Function: it allows to set the speed loop integral gain. KI value is directly
proportional to the intensity of the integral action.
Syntax: data monitoring: „ address KI <CR>
data input: „ address KI n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: 20
Password: no
(∗) addressing: yes
Opposite to: -
See also: KP

Examples:
„ 2 KI <CR>: it asks axis 2 about KI. If it is 40, the answer will be "A4 KI = 40".
„ 2 KI 50 <CR>: it sets the integral gain to 50 for axis 2

KP - Proportional Gain

Function: it allows to set the speed loop error proportional correction gain. KI
value is directly proportional to the intensity of the requested action.
Syntax: data monitoring: „ address KP <CR>
data input: „ address KP n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: 80
Password: no
(∗) addressing: yes
Opposite to: -
See also: KI

Examples:
„ 4 KI <CR>: it asks axis 4 about KP. If it is 90 the answer will be "A04 KI = 90".
„ 4 KI 50 <CR>: it sets the integral gain to 100 for axis 4.

VI - 20 - 30/Oct/01
MR - Max Reference

Function: it allows to set speed/torque max reference. The drive will

automatically make it corresponding to the maximum velocity
(see MV command). It is advisable to set MR as near as possible
conversion.
Syntax: data monitoring: „ address MR <CR>
data input: „ address MR n <CR>
Address type: axis
Unit of measure: n = Volt decimal
Range: 50 to 100
Default: 100
Password: yes
(∗) addressing: no
Opposite to: -
See also: MV

Examples:
„ 1 MV 2000 <CR>:
„ 1 MR 100 <CR>: for axis 1, 10V correspond to 2000 rpm.
„ 3 MR <CR>: it interrogates axis 3 about max. reference. If MR = 10V the answer will be: "A3 MAX
REFER. V = 10.0"

REMARK'S: MR command can be executed only after resetting or giving MV command.

In case of torque control, it must be MR = 100.

VI - 21 - 30/Oct/01
MV - Max Velocity

Function: it allows to set max velocity, referred to MR command. Anyway,

such a max. speed can never be overcome, either by analog
reference or by keypad command.
Syntax: data monitoring: „ address MV <CR>
data input: „ address MV n <CR>
Address type: axis
Unit of measure: n = rpm
Range: 200 to 32000
Default: motor dependent
Password: yes
(∗) addressing: yes
Opposite to: -
See also: MR, Tab. 6.7

REMARK: max velocity depends on R/D resolution. See Tab. 6.7.

Examples:
„ 1 MV 2000 <CR>: sets max velocity for axis 1 to 2000 rpm.
„ 1 MR 100 <CR>: for axis 1, 10V correspond to 2000 rpm.
„ 1 MV <CR>: interrogates axis 1 about max. velocity. The answer will be: "A1 RPM MAX = 2000"

NP - Number of Resolver Poles

Function: it informs the controller about the number of poles, so that

the right correspondence between mechanical speed and
electrical frequency can be set.
Syntax: data monitoring: „ address NP <CR>
data input: „ address NP n <CR>
Address type: axis
Unit of measure: -
Range: 2 to 8
Default: -
Password: yes
(∗) addressing: yes
Opposite to: -
See also: PR

Examples:
„ 1 NP 2 <CR>: allows to set 2 poles for axis 1.
„ 1 NP <CR>: allows to know the resolver pole number for axis 1. The answer will be: "A1 NUM. OF
POLES = 2"

VI - 22 - 30/Oct/01
OC - Digital Offset Compensation (only for setup technicians)

Function: it allows to set the digital velocity offset

Syntax: data monitoring: „ address OC <CR>
data input: „ address OC n <CR>
Address type: axis
Unit of measure: (n-128) ∗ x / 128 rpm
where x=24 for 8 and 2 pole resolver
x=32 for 6 pole resolver
Range: 0 to 255. OC = 128 disables offset
OC > 128 sets CW offset
OC < 128 sets CCW offset
Default: -
Password: no
(∗) addressing: yes
Opposite to: -
See also: OV, VO

Examples:
„ 1 OC 8 <CR>: adjust 30 rpm CCW offset for axis 1 with 6 pole resolver.
„ 4 OC <CR>: if OC = 90, the answer will be "A4 OC = 90".

OF - Off

Function: it allows to disable the digital Drive Enable for the addressed axis
Syntax: command input: „ address OF <CR>
Address type: axis
Unit of measure: -
Range: -
Default: digital Drive Enable off
Password: no
(∗) addressing: yes
Opposite to: ON
See also: ON

REMARK: if opto Drive Enable are not enabled, the following message will be displayed: "ERROR: DRIVE
EN. OPEN". If the axis is not phased "AXIS NOT PHASED" will appear. If the jumper G2 is in
position 1-2 (closed) the message "NOT POSSIBLE" will appear.

VI - 23 - 30/Oct/01
ON - On

Function: it allows to enable the digital Drive Enable for the addressed axis
To use the digital Drive Enable, G2 jumper on the personality card
must be open (see par. 2.9.1) and the opto Drive Enable on J8
connector must be enabled (to +15V)
Syntax: command input: „ address ON <CR>
Address type: axis
Unit of measure: -
Range: -
Default: Digital Drive Enable off
Password: no
(∗) addressing: yes
Opposite to: OF
See also: OF

REMARK: if opto Drive Enable are not enabled, the following message will be displayed: "ERROR: DRIVE
EN. OPEN". If the axis is not phased "AXIS NOT PHASED" will appear. If the jumper G2 is in
position 1-2 (closed) the message "NOT POSSIBLE" will appear.

OV - Analog Offset

Function: it allows to monitor and to set the analog offset of speed/ torque
analog reference.
A fine adjustment of the analog offset can be done with successive
steps by setting and monitoring the OV parameter.
Syntax: data monitoring: „ address OV <CR>
data input: „ address OV n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: 128
Password: yes
(∗) addressing: no
Opposite to: -
See also: VO

VI - 24 - 30/Oct/01
PC - Peak Current

Function: it informs the drive control section about the ratio between motor
current and drive peak rms current. This way, when IT protection is
on, drive current will be reduced to nominal motor current.
Syntax: data monitoring: „ address PC <CR>
data input: „ address PC xx n <CR>. xx = special password
Address type: axis
Unit of measure: n=%
Range: 0 to 100
Default: see Tab. 6.6
Password: special password
(∗) addressing: no
Opposite to: -
See also: IT

CAUTION: do not change PC parameter. A wrong set of PC can damage the motor.

VI - 25 - 30/Oct/01
PR - Motor Poles to Resolver Poles Ratio

Function: it allows to set the ratio between the motor pole number and the
resolver pole number.
Syntax: data monitoring: „ address PR <CR>
data input: „ address PR n <CR>
Address type: axis
Unit of measure: -
Range: 1 to 24
Default: -
Password: yes
(∗) addressing: no
Opposite to: -
See also: NP

Examples:
„ 2 PR 3 <CR>: sets axis 2 for 6 pole motor and 2 pole resolver
„ 2 PR <CR>: questions axis 2 about the ratio between motor poles and resolver pole number. The
answer is: "A02 MOTOR/RES. POLES = 3".

CAUTION: a wrong set of PR can damage the motor.

VI - 26 - 30/Oct/01
PW - Password

Function: it allows the operator to change critical parameters. After executing

PW command, it is possible to enter the status in which such
modification are permitted. If you want to exit from this mode, set
PW again.
The DBM 04 release allows to change the password.
Syntax: command input: „ address PW n <CR>
data input: „ address PW n <CR>
Address type: module
Unit of measure: -
Range: 1 to 255
Default: PW91
Password: -
(∗) addressing: yes
Opposite to: -
See also: -

Examples:
„ 1 PW91 <CR>: if previously OFF, the answer is "PASSWORD ON"
„ 1 PW137 <CR>: enters a new password. The answer is "NEW PASSWORD IS 137 SAVE? "
„ 1 SV <CR> saves the new password. Note that all new parameters will be saved, if changed.
„ 1 PW137 <CR>: the answer is be "PASSWORD OFF"

CAUTION: Password protected parameters must be set only when the motor is standstill.

VI - 27 - 30/Oct/01
RE - A/D Resolution

Function: it allows to display the resolution of A/D converter

Syntax: data monitoring: „ address RE <CR>
Address type: module
Unit of measure: bit
Range: 12 (standard) , 14 (optional)
Default: -
Password: no
(∗) addressing: no
Opposite to: -
See also: -

Example:
„ 1 RE <CR>: it questions module 1 about the resolution of A/D converter. The standard answer is: "12
BIT A/D CONVERTER IS PRESENT".

VI - 28 - 30/Oct/01
RN - Minimum of R/D Resolution

Function: it allows to set the minimum of Resolver to Digital converter

resolution. The R/D resolution will automatically be switched
according to actual speed for optimum system performance
between RN (minimum) and RX (maximum).
RN must be the maximum R/D resolution according to max speed
(see Tab. 6.7)
If RN equals RX, the R/D resolution is fixed.
Syntax: data monitoring: „ address RN <CR>
data input: „ address RN n <CR>
Address type: axis
Unit of measure: bit
Range: 10, 12, 14 and 16 (it must be ≤ RX)
Default: -
Password: yes
(∗) addressing: no
Opposite to: -
See also: RX, SE, Tab. 6.7

Example:
„ 2 NP 8 <CR>: allows to set the resolver pole number of axis 2 to 8
„ 2 MV 3000 <CR>: allows to set max velocity of axis 2 to 3000 rpm
„ 2 RN 12 <CR>: allows to set min R/D resolution to 12 bit (max R/D resolution with 8 poles/ 3000 rpm
according to Tab. 6.7)
„ 2 RN <CR>: questions axis 2 about the minimum of R/D resolution. The answer is: "A02 MINIMAL R/D
RES. = 12".

Tab. 6.7 - Max speed versus R/D resolution

Resolution (bit)

10 12 14 16
Max speed with 2 pole 24000 12000 3510 877
resolver (rpm)

Max speed with 6 pole 8000 4600 1170 292

resolver (rpm)

Max speed with 8 pole 6000 3510 877 219

resolver (rpm)

VI - 29 - 30/Oct/01
RS - Resolver Shaft

Function: it informs about the phase shift between motor and resolver.
Syntax: data monitoring: „ address RS <CR>
data input: „ address RS n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 65535
Default: -
Password: yes
(∗) addressing: no
Opposite to: -
See also: -

Examples:
„ 1 RS <CR>: the answer for axis 1 will be: "A1 RESOLVER SHAFT BIT = XXXXX". Where, if the
autophasing has been correctly made:
XXXXX = 14000 to 16000 for 6 pole motor and resolver or 8 pole motor and resolver
XXXXX = approx. 17000 or approx. 39000 or approx. 61000 for 2 pole resolver and 6 or 8
pole motor.

RX - Maximum of R/D Resolution

Function: it allows to set the maximum of Resolver to Digital converter

resolution. The R/D resolution will automatically be switched
according to actual speed for optimum system performance
between RN (minimum) and RX (maximum).
The default is 16 bit.
If acceleration [rad/s2 ] > 314000/NP, then RX must be set to 14.
If RX equals RN, the R/D resolution is fixed.
Syntax: data monitoring: „ address RX <CR>
data input: „ address RX n <CR>
Address type: axis
Unit of measure: bit
Range: 10, 12, 14 and 16 (it must be ≥ RN)
Default: 16
Password: yes
(∗) addressing: no
Opposite to: -
See also: RN, Tab. 6.7

Example:
„ 2 RX <CR>: questions axis 2 about the maximum resolution of R/D. The answer is: "A02 MAXIMAL R/D
RES. = 16" (if 16 bit R/D resolution has been set for axis 2).

VI - 30 - 30/Oct/01
SA - Set Address

Function: it is used to assign the module a basic address different from

default. A module programmed as "address 1" will
automatically assign, for the other axes, the following address, i.e.
2 - 3 (if triple-axis) or 2 (if double-axis).
Syntax: data input: „ address SA n <CR>
Address type: axis
Unit of measure: -
Range: 1 to 99
Default: 1
Password: no
(∗) addressing: no
Opposite to: -
See also: AS

REMARK: To perform SA command, only one module at the time must be connected to J2 flat cable.

SE - Simulated Encoder (Optional)

Function: it allows to set the number of pulses per electrical revolution of

simulated encoder.
The number of ppr must be ≤ ppr according to RN (see Tab.6.7)
Syntax: data monitoring: „ address SE <CR>
data input: „ address SE n <CR>
Address type: axis
Unit of measure: pulses per electrical revolution
Range: 128, 256, 512, 1024, 2048, 4096, 8192, 16384
Default: -
Password: yes
(∗) addressing: no
Opposite to: -
See also: RN, Tab.6.8

REMARK: to enable a new SE value (after setting and saving), reset button on front panel or send pulse to REM
Reset.

Example:
„ 2 RN 12 <CR>: allows to set min R/D resolution for axis 2 to 12 bit.
„ 2 ES 1024 <CR>: allows to set the pulses per electr. revolution for axis 2 to 1024.

Tab. 6.8 - Max ppr versus min R/D resolution (RN)

Resolution (bit)

10 12 14 16
Max number of pulses per 256 1024 4096 16384
electrical revolution

VI - 31 - 30/Oct/01
SO - Spare Output

Function: it allows to set the Analog Outputs on J8 connector.

Parameters 1SO (1st module), 4SO (2nd module) and 7SO
(3rd module) determine which signal is to be seen at the Analog
Out 1 (pos.4). Parameters 2SO (1st module), 5SO (2nd module)
and 8SO (3rd module) determine which signal is to be seen at the
Analog Out 2 (pos.5).
The possible outputs are max current, velocity reference and
velocity error. The internal velocity reference has the slope limited
by AC and DE commands and differs from the reference at the input
connector.
The analog outputs can be scaled via ES command.
Syntax: data monitoring(binary output): „ address SO <CR>
data input: „ address SO n <CR>
Address type: Analog Output 1, Analog Output 2 and module (see Tab.6.9)
Unit of measure: -
Range: 0 to 9 (max current, velocity reference, velocity error, see Tab.6.10)
Default: 1SO=1
2SO=2
Password: yes
(∗) addressing: no
Opposite to: -
See also: ES, Tab.6.9 and 6.10

Note: the SO command must be executed with digital Drive Enable disabled (via OF command) and the opto
Drive Enable enabled.

Example (see also the examples in ES command):

„ 1 SO 6 <CR>: sets velocity reference of axis 3 on Analog Out 1 (J8 connector, pos.4).

Tab. 6.9 - ANALOG OUT - ADDRESS SETTING

SO Address SO Address SO Address

1SO Analog Out 1 4SO Analog Out 1 7SO Analog Out 1
first module second module third module
2SO Analog Out 2 5SO Analog Out 2 8SO Analog Out 2
first module second module third module

Tab. 6.10 - ANALOG OUT - OUTPUT SETTING

SO Max SO Velocity SO Velocity

Current Reference Error
SO1 axis 1 SO4 axis 1 SO7 axis 1
SO2 axis 2 SO5 axis 2 SO8 axis 2
SO3 axis 3 SO6 axis 3 SO9 axis 3

VI - 32 - 30/Oct/01
SR - Show Release

Function: it is used to display the software releases of the system.

Syntax: data monitoring: „ address SR <CR>
Address type: module
Unit of measure: -
Range: 0.00 to 9.99
Default: -
Password: no
(∗) addressing: no
Opposite to: -
See also: -

Examples:
„ 1 SR <CR>: the answer can be: "SOFTWARE REL. MC 0.3 DSP 0.12" .

ST - Status

Function: it allows to display axis status via a codified ASCII string.

Syntax: status monitoring: „ address ST <CR>
Address type: axis
Password: no
(∗) addressing: no

Answer explanation: A a ST b c d E e f g l h i j k l

A = Axis
a = Axis address

ST = Status
b = Priority (G2 jumper on person.card) 0 = opto (G2=closed) 1 = keypad (G2=open)
c = DRIVE OK opto output 0 = absent 1 = present
d = Expansion module 0 = absent 1 = present

E = External (opto input configuration)

e = DRIVE EN (Drive enable) 0 = OFF 1 = ON
f = REF EN (Reference Enable) 0 = OFF 1 = ON
g = N.C.

I = Internal (internal variables config.)

h = Drive Enable 0 = OFF 1 = ON
i = Reference Enable 0 = analog 1 = digital
j = I LIMIT (Current Limit) 0 = analog 1 = digital
k = System control 0 = velocity 1 = torque
l = Direction of rotation 0 = CW 1 = CCW
(viewed from shaft end)

VI - 33 - 30/Oct/01
SV - Save

Function: it allows to save all parameters in the personality card. If the WP

jumper on the Personality Card is closed, the SV command is
disabled (see Par.2.9).
Syntax: command input: „ address SV <CR>
Address type: module
Unit of measure: -
Range: -
Default: -
Password: yes
(∗) addressing: yes
Opposite to: -
See also: -

CAUTION: the SV command execution time is 5s. If a reset has been sent during this time
"EEPROM ERROR" will appear and some data can be lost. In this case, the following
steps must be met:
- close G3 on the personality card
- send 1SV command
- if the basic address is not 1, send 1SA command
- if 2-axis module, disable 3rd axis via AD command
- open G3 on the personality card

TC - Torque Control

Function: it allows to pass from speed control to torque control. A torque

control proportional to the input reference (analog or digital,
positive or negative) will be applied to the motor. As for analog
reference, max. torque will be given according to max. voltage at
the input reference . As for digital reference, max. torque will be
given when a value equal to the maximum one (MV command) is
set via VE command. Note that, in that case, VE ("velocity")
and MV ("max. velocity") mean "torque" and "max torque". It is an
actual torque control and not a speed control, with limited torque
(see IL command).
Syntax: command input: „ address TC <CR>
Address type: axis
Unit of measure: -
Range: -
Default: velocity control
Password: yes
(∗) addressing: yes
Opposite to: VC
See also: IL, MV, VE, VC

Note: the status can be interrogated via ST command (bit K)

VI - 34 - 30/Oct/01
TF - Parameter for the adjustment of Torque/Speed curve

Function: Current loop of a typical AC drive suffers the phase lag at extremely
high output frequencies (speeds). This lag reduces the resulting
torque-per-amp ratio. To counterbalance this phenomenon
the current vector relative to the motor flux is advanced, through TF,
TG, TY, and TQ parameters (see the dedicated Section 5).
The values TF=255, TG=0, TQ=0, TY=255 disable the function.
Syntax: data monitoring: „ address TF <CR>
data input: „ address TF n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: see Tab.5.1 to 5.4
Password: yes
(∗) addressing: no
Opposite to: -
See also: TG, TQ, TY

TG - Parameter for the adjustment of Torque/Speed curve

Function: Current loop of a typical AC drive suffers the phase lag at extremely
high output frequencies (speeds). This lag reduces the resulting
torque-per-amp ratio. To counterbalance this phenomenon
the current vector relative to the motor flux is advanced, through TF,
TG, TY, and TQ parameters (see the dedicated Section 5).
The values TF=255, TG=0, TQ=0, TY=255 disable the function.
Syntax: data monitoring: „ address TG <CR>
data input: „ address TG n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: see Tab.5.1 to 5.4
Password: yes
(∗) addressing: no
Opposite to: -
See also: TF, TQ, TY

VI - 35 - 30/Oct/01
TQ - Parameter for the adjustment of Torque/Speed curve

Function: Current loop of a typical AC drive suffers the phase lag at extremely
high output frequencies (speeds). This lag reduces the resulting
torque-per-amp ratio. To counterbalance this phenomenon
the current vector relative to the motor flux is advanced, through TF,
TG, TY, and TQ parameters (see the dedicated Section 5).
The values TF=255, TG=0, TQ=0, TY=255 disable the function.
Syntax: data monitoring: „ address TQ <CR>
data input: „ address TQ n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: see Tab.5.1 to 5.4
Password: yes
(∗) addressing: no
Opposite to: -
See also: TF, TG, TY

TY - Parameter for the adjustment of Torque/Speed curve

Function: Current loop of a typical AC drive suffers the phase lag at extremely
high output frequencies (speeds). This lag reduces the resulting
torque-per-amp ratio. To counterbalance this phenomenon
the current vector relative to the motor flux is advanced, through TF,
TG, TY, and TQ parameters (see the dedicated Section 5).
The values TF=255, TG=0, TQ=0, TY=255 disable the function.
Syntax: data monitoring: „ address TY <CR>
data input: „ address TY n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: see Tab.5.1 to 5.4
Password: yes
(∗) addressing: no
Opposite to: -
See also: TF, TG, TQ

VI - 36 - 30/Oct/01
VC - Velocity Control

Function: it allows to pass from torque to velocity control.

Syntax: command input: „ address VC <CR>
Address type: axis
Unit of measure: -
Range: -
Default: velocity control
Password: yes
(∗) addressing: yes
Opposite to: TC
See also: TC

Note: the status can be interrogated via ST command (bit K)

VE - Velocity

Function: it allows to set velocity, in case the digital reference is enabled

(see DR command). If the drive is configured also as torque
actuator, it allows to set torque (see TC command). The
numeric value can be preceded by "-".
Syntax: data monitoring: „ address VE <CR>
data input: „ address VE n <CR>
Address type: axis
Unit of measure: n = rpm
Range: -9999 to MV
Default: 0
Password: no
(∗) addressing: no
Opposite to: -
See also: VC, MV

Note: the maximum range for - MV is -9999. To have extended range (up to 32000) for negative speed, it is
necessary to set +MV and to change direction via DI command.

Examples:
„ 1 VE 500 <CR>: it sets axis 1 to 500 rpm.
„ 2 VE -500 <CR>: it sets axis 2 to -500 rpm.

VI - 37 - 30/Oct/01
VO - Analog Velocity Offset Automatic Setting

Function: it allows to automatically adjust the analog velocity offset

Syntax: command input: „ address VO <CR>
Address type: axis
Unit of measure: -
Range: 0 to 255
Default: 0
Password: yes
(∗) addressing: no
Opposite to: -
See also: OV

REMARK'S: The VO command must be executed with digital Drive Enable off (stopped motor). Before
executing the command it is necessary to check that the external opto input Drive Enable is
enabled and keypad Drive Enable is off (OF command).

Notes: If error > 255, "OUT-OF-RANGE" is displayed.

VI - 38 - 30/Oct/01
VS - Velocity Structure

Function: it allows to set 4 different structures of the velocity control. All the
structures have a digital low pass filter processing the speed
reference or the speed error signal. The cutoff frequency of this
filter can be adjusted by DF parameter (see DF). The value DF=0
switches the filter OFF.
VS=0 selects the speed controller having the feedback KP and KI
gains four times higher than the standard gains and a digital low
pass filter processing the speed reference signal.
This structure should be used in applications where the analog
speed reference lines from the CNC are noisy, and high gains are
required.
VS=1 selects the speed controller having standard feedback KP
and KI gains and a digital low pass filter processing the speed
reference signal.
This structure should be used in applications where the analog
speed reference lines from the CNC are noisy, and normal gains
are required.
VS=2 selects the speed controller having the feedback KP and KI
gains four times higher than the standard gains and a digital low
pass filter processing the speed error signal.
This structure should be used in applications with high ratios
between load and motor inertia (inertia mismatch), and high gains
are required.
VS=3 selects the speed controller having standard feedback KP
and KI gains and a digital low pass filter processing the speed
error signal.
This structure should be used in applications with high ratios
between load and motor inertia (inertia mismatch), and normal
gains are required.
Syntax: data monitoring: „ address VS <CR>
data input: „ address VS n <CR>
Address type: axis
Unit of measure: -
Range: 0 to 3.
VS=0: gains multiplied by 4, reference filtering
VS=1: standard gains, reference filtering
VS=2: gains multiplied by 4,error filtering
VS=3: standard gains , error filtering
Default: 1
Password: yes
(∗) addressing: no
Opposite to: -
See also: DF

Note: the VS command must be executed with digital Drive Enable disabled (via OF command) and the opto
Drive Enable enabled.

VI - 39 - 30/Oct/01
This page intentionally blank

VI - 40 - 30/Oct/01
SECTION 7 - TROUBLESHOOTING

FIG. 7.1 - DBM-PS Power Supply - OVER TEMP red LED on

Overtemperature

Red LED OVERTEMP = ON

YES
Verify the correct Ambient temperature
cooling of cabinet > 40 °C ?

NO

NO
Power the fans
Fans powered?

YES

Output current >

nominal current

VII - 1 - 30/Oct/01
FIG. 7.2 - DBM-PS Power Supply - DBR FAULT red LED on
Recovery Fault

Red LED DBR FAULT = ON

NO Recovery
Connect the
recovery resistance resistance
connected?

YES

YES Recovery
Replace the recovery resistance open or
resistance short-circuited?

NO

NO
Correctly tighten at
6 Nm (53 Lb in) the Bus Bars tightening
Bus Bars OK?

YES

Too much recovery

energy. Undersize the
duty cycle or oversize
the recovery resistance

VII - 2 - 30/Oct/01
FIG. 7.3 - DBM-PS Power Supply - PWR BUS yellow LED off

Yellow LED PWR BUS = OFF

NO Is three-phase
Connect 3-phase ac-line connected to
400 or 460 Vac DBM-PS?

YES

NO
Fault of 3-phase input Voltage of Fig.4.1
rectifier circuit present on Bus Bars?

YES

Fault of detecting fault

circuit

VII - 3 - 30/Oct/01
FIG. 7.4 - DBM PS-Standard and PS-6M Power Supply - AUX PWR green LED off

Green LED AUX PWR = OFF

NO Auxiliary power
Connect single phase
230 Vac (or 110 Vac) supply on DBM-PS
+/-10% Standard present?

YES

Oversize the auxiliary NO Aux Input Power

power supply sufficient? (60W
(transformer, cable per module)
size,..)

YES

NO
Replace the fuse 4A/250V fuse on front
panel OK?

YES

Fault of auxiliary power

circuit

VII - 4 - 30/Oct/01
FIG. 7.5 - DBM Module - POWER OK green LED off

Green LED POWER OK = OFF

Green LED
NO AUX PWR on
See Fig. 7.4 DBM-PS standard
lit ?

YES

Correctly tighten at NO Bus Bars

3 Nm (26 Lb in) the tightening
Bus Bars OK?

YES

NO
Flat cable between
Change flat cable
DBM-PS and DBM
module OK?

YES

Fault on module power

circuit

VII - 5 - 30/Oct/01
FIG. 7.6 - DBM Module - DR.EN1/DR.EN2/DR.EN3 green LED off
Drive Enable Axis 1/Axis 2/Axis 3

Green LED DR.EN = OFF

Verify that 15Vdc NO

voltage with 8 mA min Internal +15V used?
current is applied (J8/pin 8)

YES

NO
J8/pin 7 (common)
Make connection
connected to J8/pin 9
(opto common)?

YES

Fault on input circuit

VII - 6 - 30/Oct/01
FIG. 7.7 - DBM Module - REF.EN green LED off
Reference Enable

Green LED REF.EN = OFF

Verify that 15Vdc NO

voltage with 8 mA min Internal +15V used?
current is applied (J8/pin 8)

YES

NO
J8/pin 7 (common)
Make connection
connected to J8/pin 9
(opto common)?

YES

Fault on input circuit

VII - 7 - 30/Oct/01
FIG. 7.8 - DBM Module - DR.OVT red LED on
DBM Overtemperature

Red LED DR.OVT = ON

NO
Power the fan
Fan powered?

YES

YES
Verify the correct Ambient temperature
cooling of cabinet > 40°C ?

NO

Undersize the duty

cycle(s)

VII - 8 - 30/Oct/01
FIG. 7.9 - DBM Module - PWRF1/PWRF2/PWRF3 red LED on
Power Circuit Fault Axis 1/Axis 2/Axis 3

Red LED PWRF = ON

YES Motor phases

Change motor short circuited or
grounded?

NO

NO Auxiliary
Change DBM-PS
voltages on
power supply
J1 connector
OK?

YES

NO
Change flat cable Flat cable on J1 OK?

YES

Fault on power stage

VII - 9 - 30/Oct/01
FIG. 7.10 - DBM Module - OT1/OT2/OT3 red LED on
Motor Overtemperature Axis 1/Axis 2/Axis 3

Red LED OT = ON

NO Motor PTC
connected to J4,
Connect PTC
J5, J6?

YES

NO
PTC value at 20°C
Fault on motor PTC correct?
(20 to 400 ohm)

YES

Undersize the duty

cycle

VII - 10 - 30/Oct/01
FIG. 7.11 - DBM Module - RF1/RF2/RF3 red LED on
Resolver Fault Axis 1/Axis 2/Axis 3

Red LED RF = ON

NO Is the resolver YES

shield connection Random fault ?
OK?

YES
NO

NO
Other resolver
Make correct
connection OK?
connection

YES

NO
Vref carrier present on J4, J5,
Fault on oscillator J6 (20 Vpp, 10 kHz)?
circuit

YES

NO
Resolver fault or Sin and cos signals
connection not OK at present on J4, J5, J6
(6.5 Vpp max, 10 kHz
motor side for resolver)?

YES

Internal fault

VII - 11 - 30/Oct/01
FIG. 7.12 - DBM Module - WTD red LED on
Watch Dog

Red LED WTD = ON

Reset via:
- Pushbutton on front
panel
- Remote Reset

YES
Fault caused by noise Red LED WTD =
OFF ?

NO

8031 or DSP fault

VII - 12 - 30/Oct/01
FIG. 7.13 - DBM Module - DRF red LED on
Drive Fault

Red LED DRF = ON

NO
Other red LEDs lit ?
Check via FA
command the fault not
reported by LEDs.
It can be:

- Velocity error (see EV

command)
- Personality card not YES
present.
-Bus Bars overvoltage/
undervoltage.

See the figure with

the proper LED/fault

VII - 13 - 30/Oct/01
FIG. 7.14 - Motor vibrates

Axis enabled. Motor with

overspeed or running at a
speed not related to the
reference or vibrates

NO 6 resolver/motor
poles or
8 resolver/motor
poles ?

2 pole resolver
with 6 pole YES
motor?

YES

Check via RS
command. RS = NO NO
Check via RS command.
approx. 17,000 or RS = 14,000 to 16,000 ?
39,000 or 61,000?

YES
YES

Check power and

resolver connections. Internal fault.
Remake Autophasing.

VII - 14 - 30/Oct/01
FIG. 7.15 - Keypad fault

Keypad does not work

NO
Serial cable and/or
J10 cable OK?

Make correct
connection
YES

YES
Baud rate > 9600 ?

Close G3 on
Personality Card
(Baud rate set to
9600)
NO

NO Keypad Baud Rate

and other
parameters
correct?

Adjust the keypad setting.

Press <CTRL>, then <CR>. YES
Correct parameters are:
BAUD=9600
WORD=8D+E+1 STOP
BLOCK MODE
SINGLE LINE MODE
FLASHING OFF
KEY REPEAT ON SLOW Internal fault.
Save at the end

VII - 15 - 30/Oct/01
FIG. 7.16 - Motor at zero speed

Axis enabled. Motor at zero

speed with speed reference
not zero

NO
REF EN = ON ?

Make REF EN = ON
on J8/pin 17
YES

YES AR = ON with
digital reference or
DR = ON with
analog reference?
NO

Check via ST
command. Use
coherent reference.
NO

YES
KI = 0 ?

Set correct value for KI NO

(standard value = 10)

Internal fault.

VII - 16 - 30/Oct/01
FIG. 7.17 - Runaway or locked motor (6 pole motor and resolver)

Runaway or locked motor

(6 pole motor and resolver)

NO Resolver wiring
Correct resolver wiring (see Fig.2.10)
OK ?

NO

YES

Wrong motor YES

connection. RS = 27000 ?
Exchange V with U

NO

NO

Wrong motor YES

connection. RS = 5000 ?
Exchange W with V

NO

Wrong motor YES

connection. RS = 48000 ?
Exchange U with W.

NO

Ask the
Service Center

VII - 17 - 30/Oct/01
 M
Moog Italiana S.r.l.
Electric Division
Via Avosso, 94
16015 Casella (Genova) - Italy
Phone: (+39) 010 9671
Fax: (+39) 010 9671 280
www.moog.com

GB-4517 Rev.9 - Oct/01 Moog Italiana S.r.l. reserves the right to alter any dimensions or data without prior notice
Printed in Italy