BOSCH

:1
;

Industrieausriistung

BoschSeruodyn
lnverterSystem
SeruoModuleSM. . -T
Handbook/Vo.12
P -Nr 3841lE1- 03/86

@ BoscH
FlexibleAutomation

Gontents

1 . D e s i g n o f t h e l n v e r t e rS y s t e m

1 .1 C o nstructi on
and functi onS M . .-T
1 .2 R e gul ati on
functi onsS M . .-T
and moni tori ng
2. TechnicalData
2 .1 T ypedesi gnati on
2.2 Powerunit
2 .3 R egul ati ng
and controluni t
2 . 3.1 C ontroli nputs
2.3.2 Motorfeedback
2.3.3 Controloutputs
2.3.4 Test points
2.4

D i a g n o s t i c sm o d u l e

3 . A p p l i c ati on
Instructi ons
3 . 1 R e c o m m e n d em
dodule/motorcombinations
3 .2 O pti ondi agnosti cs
modul e
3.3 Optiontandemdrive
3.4 Optionbacklashcompensation
3.5 Optionramp generator

10

3 .6 O pti onshortci rcui tbraki ng

10

4 . D i m e n si oned
D raw i ngs
4 .1 D i mensi oned
draw i ng- servomodul eS M . .-T
4 .2 D i mensi oned
draw i ng- rampgenerator
4 .3 D i mensi oned
draw i ng- shortci rcui tbraki ngmodul e
5 . M o u n tingInstructi ons

E r r o r sa n d t e c h n i c a l
m o d i fi c a t i o n se x c e p t e d

12

13
13
14

5 .1 C onfi gurati on
and mounti ngposi ti on

14

5 .2 C abi net

15

5.3 Connectioncables

15

5 .4 M o unti ngi nstructi ons

S M . .-T

16

6. ElectricalConnection

q 1986
R O B E R TB O S C HG M B n

12

17

6.1 BasiccircuitdrawingSM . .-T+ VM 60-T

'100/R-T
6.2 BasiccircuitdrawingSM . .-T+ VM

17

6 .3 F r ontpl atedesi gnati ons

S M ..-T

19

18

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Automation

6.4

Connection- servo module

6.4.1 Earth
6 .4.2 Motorconnecti on
6 .4.3 D C l i nkconnecti on

21

6.4.4 Circuitryfor resistorsfor fast dischargeof DC link

21

6 .4.5 C onnectorX 5: controlsi gnal sfrom motor

6.4.6 Terminalstrip X1
6 .4.7 Termi nalstri pX 6
6.4.8 ConnectorX8

25

6 .4.9 C onnectorX 9

25

6 .4.10Termi nalstri pX 7
6 . 4 . 1 1T e r m i n asl t r i pX 3 1

27

6 . 4.12Testpoi nts

27

6 . 4.13Termi n' al
stri pX ' 14

27

6 . 4.14C onnecti onof rampgenerator

7. IntegrationInstructions
7.1 Safety
7 .2 Prepari ng
the i ntegrati on
7 . 2.1 D ri vecomponents
7 . 2.2 Modul emounti ngand el ectri calconnecti on
7 . 2.3 P reopti mi sati on
of S peedR egul ator

31

7 . 2.4 R educti onof the uni tl i mi tcurrentvi a D IPsw i tch

7 .3 In tegrati on
7 . 3.1 P ow ersuppl y
7.3.2 Ready
7.3.3 Commandadjustment

33

7.3.4 Directionof motor rotation

7 . 3.5 S peedadj ustment
7.3.6 Speeddrift
7 . 3.7 S peedmoni tori ng
7.3.8 Speedregulatoroptimisation
7 . 3.9 A dapti onto the posi ti onal
servol oop

37

7.4 Componentlayoutoptimisationcard
7 .5 Ci rcui tdraw i ngopti mi sati on
card

39

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FlexibleAutomation

1. Designof the ServodynlnverterSystem

Boschinvertersystemsare of modularconstruction.
At leastone supplyand
one servomoduleare requiredto make up an operativeinstallation.
Thesupplymodulegeneratesa DC linkvoltageand varioussupplyvoltages
(for logicand drivercircuits)from the mains(3 x 380 - 3 x 415 V).
The individualmodulesare connectedto one anotherby plug-incableswhich
are suppliedwith them.
On an installation
with severalmodulesup to 10 SM modulescan be connecte d to o n e s uppl ymodul e,dependi ngon the si zeof the modul es.
Sincethe mechanicalconstructionand the electricalconnectionto the supply
moduleare the sameas for the ASM system(invertersystemfor standard
asynchronous
motors)as well as the SPMsystem(invertersystemfor controlledspindledrives)combinationsof thesesystemsare possible(for
i n s ta n c e3 SM modul esand 1 S P Mmodul efor the mai nspi ndl e).

1.1Construction
and
Functionof
SefVO MOdUle SM..-T

BoschAC invertersof the SM..-Trangeallowoptimumutilizationof the brushlessBoschservomotors.

ln conjunctionwith a rotor positionrecognitionfunctionand a brushlesstacho
the servomoduleregulatesthe motor torqueand motor speed.
In a inverterstagewith powersemiconductors
voltagesand currentsare
generatedin such a way that the machinecan producethe requiredtorqueat
any speed.

1.2 Regulatingand
Monitoring Functions
SeruO MOdUle SM..-T

Speed RegulationFunction
The speedregulatoris containedon an optimisationcard.Two speed
c o m m a n ds i gnal sand one actualspeedsi gnalare avai l abl e
as i nputquantiti e s(S W1 ,SW 2 and tacho) The output(U N )i s the commandfor the current
regulator.The regulatingprocesscan be influencedin severalways.
The speedcommandsSW1 and SW2 and the tacho signalare transmittedvia
differentialamplifiers.
The differentialamplifierfor SW1 is linkedto a slope
limitingdevicein orderto smoothout the steppedoutput of most NC controls
(see7.3.3).lts inputvoltageof 7 V to 11 V can be adapted.SW2 has a fixed
a mo l i fi c a ti on
of 1 : 1.
The tacho signalcan be adaptedwithinthe wide rangeof 500 to 4000 rpm
with micro-switches
and an additionalpotentiometerfor fine adjustment.lt is
also possibleto connectan activefilter betweenthe tacho inputamplifierand
the speedregulator(see7.3.8).
The speedregulatorhas a Pl circuitas standard.For specialcasesderivative
actioncan also be realized(see7.3.8).

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Flexible Automation

The l-portionof the regulatorcan be switchedoff via an externalinterface

signal.For purposesof integrationand testingthe regulatorcan be limitedto
1 : 1 amplificationin the P-portionvia a switch.
When the enablesignalfor the regulatorhas not been giventhe P-portionis
alsolimitedto 1 : 1 and command1 (SW1)is short-circuited.
Thereare two possibleresponseswhen the enablesignalis switchedoff.
dr ive
F i rs tp o s s i bi l i ty:
S W 1 i s shortci rcui ted;P -porti on: 1 :1 ampl i fi cati on;the
idlesdown to zero speed.Secondpossibility:
brakingto zero speedwith the
maximumservomodulecurrent(see7.2.3R68,R69).
The speedregulatoroutput (UN)can be limitedas commandfor the current
regulatorby an externalinterfacesignal(Mred),whichdeterminesthe maxim u m a c c e l erati on
6.4.13).
current(seeconnecti ons
lf the motor is jammedthis also resultsin a limitationof UN,in that the maximum current will be reducedto 500/oatter 2 seconds.

GurrentRegulatorFunctioning
The currentregulatorcomparesthe speedregulatoroutputas a current
commandwith the actualcurrentvalueand sendsa suitablecontrolsignalfor
motors.
the adaptivecontrolof the pulseinverterfor electronically
In c o n j u n c ti on
w i th the commutati onencoderof the motorthe pul sei nvert er
c o n tro lo p e ratesthe pow ersemiconductorsof a bri dgeci rcui t.
Thismakesit possibleto regulatethe currentin the motor windings,in which
an instanttorque can be generateddependingon the rotor position.

MonitoringFunctions
All the monitoringfunctionsdescribedbelowcan be displayedand storedon
an optionaldiagnosticscard.
PSU Fault (Nr)
The internalsupplyvoltagesof servomoduleare monitoredfor overvoltageor
(14 V and 16 V). lf one of thesefaultsoccursReady2 (BTB2) is
undervoltage
switchedoff and the internalenable(FG l) is taken away.
With the aid of the optionaldiagnosticsmodulethe PSUfault (Nr) can be
displayedwith an LEDand signalledto a higherlevelcontrolvia an interface
signal.
Module Fault (Mr)
Thisfault signalis producedif the load circuit(motorconnection)is interrupted or short-circuited.
Ready2 (BTB2) is switchedoff and FG 1 is taken away.Furtherprocessingof
the signalpossiblewith the diagnosticsmodule(see PSUfault).
Tacho Fault (Ir)
Thissignalis producedif the tacho lineis interruptedor short-circuited.
Ready2 (BTB2) is switchedoff; FG I is taken away.Furtherprocessing
possrblewith the diagnosticsmodule(see PSUfault).

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FlexibleAutomation

CommutationMonitoring(Kr)
nati ons
e
T h i smo n i to ri ng
functi onproducesa faul tsi gnali f i nadmi ssi blcombi
of commutationsignalscome from the rotor positionencoder,if the tacho
or the
c o n n e c to ri s not pl uggedi n,or i f therei s a faul ti n the tachoel ectroni cs
ta c h ol i n e .
Ready2 (BTB2) is switchedoff; enablesignalFG I is taken away.Further
p ro c e s s i ng
possi bl ew i th the di agnosti cs
modul e(seeP S Ufaul t).
Excess Heat Sink Temperature(Bx)
Wh e nth e te mperature
of the heatsi nkof the pow eruni texceedsB max,
R e a d y1 (BTB1) i s sw i tchedoff and si gnalB r i s set,i f therei s a di agnosti cs
module.
B u t th e a x i sremai nsacti vefor one more mi nute(i n orderto i ni ti ate" Feed
H o l d " fo
, r i nstance).
Onl ythen i s the i nternalenabl esi gnal(FGl ) takenaw ay.
aftera dro p in
T h i sc o n d i ti onremai nsstoredeveni f the faul tsi gnaldi sappears
temperature,in orderto preventan automaticrestartingof the axis.
modul eon the condi ti onth at
T h efa u l ts i g nalcan be resetvi a the di agnosti cs
the enablehas been switchedoff externallyfirst.
l f th e d i a g nosti cs
modul ei s not usedthe dri vemust be sw i tchedoff;the si g nal
i s th e n re s etw i th mai nsON .
ExcessMotor Temperature(Bu)
Thisfault signalis producedwhen the motor windingtemperatureexceeds
1400c.
Furtherprocessingof the fault signalcorrespondsto that for the excessheat
sinktemperature(Bx).
Motor Blocked(lxt)
T h i ss i g n a appear
l
modul ei f the motorrecei vesthe maxion the di agnosti cs
mu m c u rrentfor morethan 2 secondsw i thoutmovi ng.A fterthi sti me the
maximumcurrentis reducedto 500/0.
T h ed ri v ew i l l remai ni n thi s condi ti onunti lthe causeof the motorbl ocki ngis
e l i m i n a te d.
T h e s i g n a (l lx t) has no f urthereffect.Furtherprocessi ng
of the si gnali s
p o s s i b l ew i ththe di agnosti cs
modul e(seeP S Ufaul t).
Speed Monitoring(n(nx)
T h i ss i g n a il s producedi f the speedat any one ti me i s bel owa predetermined
m i n i m u ms p e e d .
T h e s i g n a can
l
be di spl ayed
vi a the di agnosti cs
modul e.B y changi ngcompon e n tso n th e opti mi sati on
cardthi ssi gnalcan be madeto appearonl yat
standstill.
Thissignalhas no furthereffect.
T h e mo n i to ri ng
speed(nx)i s predetermi ned
by the val ueof a componenton
the optimisationcard (seeintegrationinstructions7.3.7).

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Flexible Automation

2.T*hnical Data
2.1 TVpeDesignation
transistorconstruction
peak modulecurrent(acceleration
current)
ratedmodul ecurrent(conti nuous
curren t )
S ervomodul e

2.2 PowerUnit

Type

sM5/10-T

SM10/20-T SM17/35-T SM25/70-T SM35/70-T SM50/100-T

ra te dc u rre n t[A ]
10
5
17
25
35
a t a m b .t e m p . : 4 5 o C
a t a mb .te mp.> 45" C currentreducti onby 1,2ol per
o degreeK
peak current [A]
(2 sec)

10

DC link voltage

460 Vrs1s6( V1,r< 700 Vrnu*

s p e e dre g u l ati ng
ra n g e

) 1 : 10,000

re q u i re me nt
for
e n e rg ypower supply [W]

20

20

22

max. power loss [W] 60

90

150

20

35

50

50

70

100

24

26

30

200

250

350

Cooling
mass [kg]
max.operatingtemperature
max.storagetemperature

0oCto+55oC
-25"Cto+70"C

m a x .o p e ra trnghei ght

1000m amsl

protectionstandard

lP 00 to DIN 40050 and IEC 144

admissible
humi di tv

classF and DIN 40040

cooling

forced ventilationwith 1 axial

blower,supply:24 V DC, 100 mA

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FlexibleAutomation

2.3 Regulatingand
Control Unit
2 .3 .1Cont r olinput s

d i ffe re n ti al
commandi nputs

S W 1: range+ 7 V to + 11 V on
connectorX6, PINS5 and 6,
i nternalsetti ngof sl opel i mi tation
for steppedN C output
S W 2: range+ 10 V w i th f i xedi np ut
ampl i fi cati on
1:1

2.3.2Motor Feedback

2.3.3ControlOutp.rts

enable

FG:X 6.3+ 24Y and X 6.4OV ,

opto-coupl er
i nput

to rq u ere ducti on
(reductionof the peak
currentof the unit)

:0 V .. 10 V on X 14.4and 3
Mreci
reducti onfrom 100dow nto 100/ o
vi a componentR 25

switchingoff integral
p o rti o no f speedregul ator

P-REG:X14.1and 2
+ 24V si gnalon X 14.2 and0 V on
x14.1

ro to rp o s i ti onencoder

X 5 ;d i g i t asli g n a lAs , 8 , C 1 1 , 2 , 3

tacho voltage

X 5.4and 5 anal ogue+ 2,7 YI

1 0 0 0m i n - '

Ready1

B T B1: X 1 . 3a n d4
potential-f
ree relaycontact
max.contactl oad:24V 1 A D C

Ready2

B T B2 . X 1 . 1a n d 2
potenti alree
-f rel aycontact
m a x .c o n t a c tl o a d :2 4 V 1 A D C

ta c h ov o l ta ge;
me a s u ri ng
output

Ta:X 6.8
shortci rcui tproofmeasuri ng
output
2.7V 11000rPm J-So/o

s ta n d a rd ized
current:
me a s u ri ng
output

Inorm:
X 6.7
shortci rcui tproofmeasuri ng
output
0 ...+ B v,
+ B V : peakcurrentof uni t

c o m m a n do utput,standardi zed

S W 1a:X 6.2
shortcircuitproof output

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FlexibleAutomation

2.3.4Test Points
(with high frequencyprotection)

2.4 DtagnosticsModule
(Option)

command 1

S W 1: measuredagai nst*
l evel 0
: to + 7.5V

tacho

T:

s ta n d a rd i z ed
current

Inormi measuredagai nst4

level:0 to +8 V
B V : uni tpeakcurrent

s p e e dre g u latoroutput

Uru:

v o l ta g es u p pl y

external'.+24 V -F15o/o
| : 1 0 0m A p e r o u t p u t

c o n tro lo u tp uts

2 4 Y D C :m a x l o a d1 0 0m A
300 mA short-ti me
(rel aypul l -i ncurrent);
short circuitproof and protected
agai nstsurgevol tagesresul ti ngfrom
the sw i tchi ngof i nducti vel oads

L E Dd i s p l a ys

LE D

measuredagainst4
level:O to +2.7 V per
1000rpm

measuredagainst+
level:0 to +8 V
8 V ,: uni tpeakcurrent

-t

P S Ufaul tN r
modul efaul tMr
red F
commutati on
faul tK r
tachofaul tTr
)
excessheatsi nktemp.B x
excessmotortemp.B v
speedmoni tori ngn(nx
m o t o rb l o c k e dl x t
re s e ti n p u t

R es:X 7.1for ext.resetsi gnal

+ 2 4 V D C , 2 0m A

resetpushbutton

S1

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Automation

3. ApplicationInstructions
3.1 RecommendedModule/
Motor Combinations

type of motor

sD-...

type of modul e
S M..-T

capacitor
module
KM....-T

(1)

5/10

j -axis

83.031.030
83.050.030

83.068.030
8 3 .0 9 5 .0 3 0

84.070.030
84.092.020
B4.140.O20

10t20 17t35 25t50 35t70 50/100

X
X
X
X
X
X

84.140.030
84.180.020

| =z-u*",

85.250.020

8 5 .3 8 0 .0 2 0

11 0 0

85.250.015

85.380.012

11 0 0

11 0 0

11 0 0

1100
11 0 0

X
X

X
86.480.020
86.720.O20
86.960.010
86.960.015
( 1 ) M o t o r s i n f e r r i t ec o n s t r u c t i o n
Technical data see handbook 01

X
X

X
X
X

11 0 0
11 0 0
11 0 0
11 0 0
2200
11 0 0
11 0 0

2200

11 0 0
11 0 0
11 0 0
2200
11 0 0
2200
2200
2200
2200
2200
2200

2200
2200
2200

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FlexibleAutomation

3 .2 D iagnoS t iCs M o d u l e
(option)

T h ed i a g n o sti cs
modul ei s avai l abl e
as an opti on.l t can be usedi n al l modu les
of the Servodynrange.
Thismodulefacilitatesfast fault diagnosisin the area of the driveelectronics
personnel8. di fferentdi agnosti si
b y th e e n d user' smai ntenance
c gnal sare
output.4 of these signalsare storedand displayedvia red LEDs.
T h eo th e r4 si gnal sare w arni ngsi gnal sand theyare di spl ayed
w i th yel l ow
LEDs.
In additionall faultscan be signalledto a higher-level
controlvia 24 V DC
i n te rfa c es ignal s.Forthi s purposeeachdi agnosti cs
modul ehasa separat e
2 4 V D C s u ppl yw hi chw i l lsuppl ythe faul tstoresand the i nterfaceevenw hen
th e d ri v ei s sw i tchedoff (by E .S top,
for i nstance).
Ea c hty p e of modul ehasa spacefor thi s cardon the ri ghtsi debehi ndthe
f ro n t p l a te .The24 V D C di agnosti si
c gnal scan be takendi rectl yfrom a
1 0 -p o l ete r mi nalstri pon the front pl ate.The external 24YD C i s connectedvia
a 2 -p o l ete rmi nalstri p.
T h efa u l ts torescan be resetei thervi a a reseti nput," R E S "(+ 24V D C ),or via
a re s e tb u t tonl ocatedon the di agnosti cs
modul e.

3.3 Option
Tandem Drive

onrequest

3.4 Option
BacklashCompensation onrequest

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FlexibleAutomation

3.5 Option
Ram p G enef a tOf

T h i sa d d i ti o nalmodul eal l ow sa l i mi tati onof the l eadi ngand trai l i ngedgeof

th e c o mmandsi gnalthereby
l i mi ti ngthe ti me for motoraccel erati on
and
,
b ra k i n g(tm i n: 5 ms;tmax: 10 s).Leadi ngand trai l i ngedgecan be set separa te l y(fo r ra ngesee the secti onon connecti ons,
6.4.14and the draw i ngs
i n 4 .2 ).
T h e c a rd i s d esi gnedto be cl i ppedonto a tophatrai land i s suppl i edw i th a
+ 1 5 V a u x i li ary
vol tagefrom the suppl ymodul eV M.

3.6OptionShort
CifCUit Braking

In orderto preventthe feed axesfrom slowingdown in an uncontrolledway in

th e e v e n to f an E .S topthe feed motorscan be shut dow n by shortci rcui ti n g
th e mo to rwi ndi ngs.
T h ev a l u e sof the shortci rcui tbraki ngresi storsare chosento ensurethat th e
short circuitcurrentachieves3 to 4 times the rated current,and therefore
a l s o3 to 4 timesthe ratedtorque,i n the i ni ti alphase.
T h e re q u i re dresi storval uesare cal cul atedon the basi sof the rotati onal
energy(Wrot:'/, Ji.l2),
which needsto be converted,assumingn : max.speed
a n d l o a di n e rti a: motori nerti a.
T h e re s i s to rscan be purchasedas i ndi vi dual
resi storsor i ncorporated
i ntoa
c o mp l e tere si stormodul e.

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Automation

SelectionTable for Shod Circuit

BrakingModule

type of motor

(co n dit ion:

to ta liner t ia: 2 x m o to ri n e rti a )
Servodyn Ferrite

resistance
R x [Ohm]

m i n .e n e r g y
*KB
[Ws]

stock no.
B osch

sD-il3.031.030 8,2

57

105-913544

sD-13.0s0.0303 , 3
sD-n3.068.030
sD-!3.095.030

293

105-913545

sD-!4.070.030 5 , 6
sD-D4.092.020

261

105-913546

sD-14.140.O20 3 , 3
sD-D4.180.020
sD-!4.140.030
sD-D5.250.015

293

105-913545

sD-D5.250.020 3,3
sD-D5.380.012
sD-D5.380.020

785

105-913547

sD-n6.480.020 1 , 0
sD-D6.720.020
sD-n6.960.010
sD-D6.960.015

4085

105-913862

Rx (+100/o)

Eachmoduleconsistsof 3 resistors
Indi vi dual
resi storsee abovetabl e

m a x .c o n n .si ze

4 mm2

test voltage

25OOVAC

max.ambient
temperature

55'C

mounting

snap-onfasteni ngon 35 mm tophatrai lto D IN

prot.standard

lP 20

dimensioned
drawing

see section4.3

* KB : s h o r t-ti meoperati on- to be speci fi edw henorderi ngthe resi stor!

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Flexi
ble Automation

5.2 Gabinet

T h e mo d u l e smust be mountedi n sw i tchcabi netsto protecti onstandardl P 54

o r l P 4 4 (d ustfi l tersi n front of the ai r i nl etand outl et).
T h efl o w o f cool i ngai r throughthe modul es,w hi chi s di rectedupw ards,must
n o t b e i mp ededby othercomponentsor partsof the sw i tchcabi net.To
e n s u reth i sa cl earanceof at l east100mm must be provi dedaboveand below
themodules.
N o m i n i m u mcl earancei s requi redat the si des.
T h ea i r te mperature
w i thi nthe cabi netmust not exceed+ 55 oC .C ondensa t ion
i s n o t a d m i ssi bl e.

5.3 GonnectionCables

C o n n e c ti o ncabl esw hi chgo to the termi nalboardand the P Econnecti on

m u s tb e c o mbi nedi n a cabl etree and attachedto exi sti nghol dersw i ththe aid
o f 2 c a b l ebi nders.
C o n n e c ti on
cabl esgoi ngto front pl ateconnectorsX 1,X 6,X 9 and to di agn osmodul eX 14 can be routeddi rectl ydownti c s X 3 1, X7 and to the opti mi sati on
w a rd sa n d intoa cabl echannelw hi chmustbe mountedbel owthe modul e s
(m o u n ti n gbracketsfor the channelare suppl i ed).

15

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5.4 Mountinglnstructions
SeruoModuleSM..-T

draw cablebindersthrough
t h e e x i s t i n gh o l d e r sa n d
holdcableswith them

tr

+il
unscrewcover,
fastencable shoes
and busbarswith screws
with washerassemblies,
screw cover back into place

connectorf. Xg

ffi

ffil'b*;

connectorf

ffi
spadeconnector(red)
for screen

\;B
xHi rb

connectorsare
suppliedwith modules
(option)

nE
c o n n e c t o fr. X 1

assembleconnectorX5
(RODencoderfrom motor);
for connectorassigment
see connectioninstructions

connectconnectorX8
from next moduleto
the left here
!

6
I

connectconnectorX8
to the next module
on the right (X8)

16

6. ElectricalConnectionand FrontPlateDesignations

g'@
5

9o

6.1 Basic Circuit DrawingSM..-T+ VM 60-T

FO

=U|

(, tl r,

o ccnnranC
S^I1
.e lacno I

q trrr

O lras Elrr

O orftft

3ltrl;l*,

{-,.
<-r
qa-a

{-.

ar

-l-a
i-.
rl-r

.ttat?

O rq.ff6

'

ln 2kt

l-l tu
l=lrre

.sH

,r.

ror

Jf

(ll

. i'*

cable
&lfJ
.r*tlrf
. SCI8II
----.Jllllrlalll-

_.tt_:s l. ^ a.LL!_Lt_L
.!rJ L +Ll
J J J-3-LL
I

'l-i{v

t-rrt

t--'

rAtic

@ .*r*tor

tJ-'f

I
j
I

VM 6OIEBs e e h a n d b o o k1 1
S u p p l yM o d u l e

N-reE:la
0PTIMISATI$I

OF6 flr_

tt-'

rc

so
9r

iir!. ii

typeX5

l5-oole on nncirlesirf

l':

PSUfault
rlDtpr hlocked
tncno tau I t
spqednnnitoring

)nntor tnD.
$heatsink'tsrD.
innduiefault-'
\tuTmifatronTaull:
heset input

=
>
..

.) CD

PSU'taul
t

'c{-'!.

ET r 5

rit

o!

1entct

it '

:ilrblenl
Billslt
6etlt*a
.ts]p.
rEAt SlnKtsxp.
uneruoltaqe
overvoltaae
reset inpdt

d@

6.2BasicCircuitDrawingSM..-T+ VM 100/R-T

9o

FO
=U)
"*.O

9r

Fs- ar
-'lJ:-a5-

"'l:a:]
'-'r'lT
ocormand
S^11
f
@fas
o oFrtET

O ltDr Fl-t

anr EIIOFc fl".

t-.ts9

t?.

--.-.r-.

-.-.-<

:
lltOn^ulaqnostrcs
-vro PSUfALiTt!

s:>

o lrtr,

Fits

@ Ertt

OAff6

0PTIMISATIOtiI
N-regu'l
ator

O Fct l-lo'

ttt.t,

'l-i;J'

Ei;

SH
,

(-x,-l

vtlt00/R

rt'-'l

t.

Its

cable
lr{fJ
-lrffJ

PS.Jfzul t .
rrDtorDlocKed

.SCl 0

i iri'iili
@ connectortlpe X5
15-poleon nndulesiG

l.-

TncnQfau tI
sDeed[Dnrtorrnc aRr F
[Dtor tgno.
l"eat sink'tsrp.
nodulefault-'
ccnrutatjon fault
reset rnput

faul t
nnectionfault

,- cl

\
E:

o>

S'!.8;
Sctt/<t

a.

@ BOSCH
Flexible Automation

6.3FrontPlateDesignations
SM..-T

orrserQ

R e a d y2
R e a d yI
i n t e r n a l e n a bel
a x i s e n a bel

LED

swr

(J'o

O
./--,

P-REG (
l-

sw2P
sw2- |

')1 .

Mr c d o

i
'

Mred-

s w it c h

l;+
points

l tor
{ n-regua

L t * i t c r rni s

1:l

P - R E GI

PI

ov\

offset adjustment
tacho adjustment
c o m m a nadd j u s t m e n t
P - r e q u al t ' i o n f r o m
n - r e ! uI a t o r
7nd command

/ E7

torouereduction
P - r e g u l a t i o nf r o m n - r e g .

ll

c o m m a n1d
t a c h o v o 1t a g e
m o d uel c u r r e n t
( st a n d a r dzi e d)
n-regua
l tor output

nrserQ
NF

ui
KF

'J-.l

n-regua
l tor output

t-]-J

t a c h o v o lt a g e o u t p u t
m o d uel c u r r e n t o u t'o u t
( s t a n d a r dzi e d)
c o m m a ni n
dput
{
axis enable

il

TF
rlx

Uxc

n<nr

Tr

LED

I norm
s wl -

FG
I

SWir

,q_J
,n

GN D

Ready1 - relay.contact

B TBT

i
Ready2 - relaycontact

lrt

P S Uf a u l t
m o d uel f a u l t
c o m m u t a t i ofna u l t
tacho fault
heat sink temp.
motor temperature
s p e e dm o nti o r i n g
motor blocked

S Wl o

ov

c o m m a nodu t p u t'
standardizbd
gr o u nd

fu

Ux-

reset button

'-1-J

NF
lrl

Tr
fr
$x ....
MF
KF)

B T 82

nes\_J
OY
2.V

P S Uf a u l t
motorblocked
tacho fault
s p e e dm o nti o r i n g
motor temperature
heat sink temp.
m o d uel f a u l t
c o m m u t a t i ofna u l t
reset i nput
I
J

s u p p l yv o lt a g e f o r
d i a g n o s t i c so p t i o n
19

BoscH
@
FlexibleAutomation

6.4Gonnection
ServoModule
6.4.1Earth

6.4.2Motor Connection

Ea c hs e rv omodul e(S M)hasa connecti onfor the protecti veearth(pow er

c o n n e c ti on,
termi nalbl ocktop ri ght).P rotecti ve
earthand P Ebusbarmust be
c o n n e c te dw i th a 2.5 mm2cabl efor S M 5/10,1ol 2o,17l 3sand w i th a 6 mm 2
c a b l efo r SM 25150,
S M 35/70and 10 mm2for S M 5O/100.
T h e c o n n e cti onto the brushl ess
servomotorsi s madevi a termi nal sU 2,V 2 .
w 2 o f th e associ ated
servomodul es.on the motorsthemesel ves
the
c o n n e c ti o ni s madevi a pl ug-i nconnectors.

motor sizes
SD-N3
SD-!4
SD-N5

Motor

* Note:
PIN D (motor star point)
must not be connected!

S D - 8 3 ,8 4 , 8 5

+ 2 4 V + 1 0 0 / oO V P E - b u s b a r
L___T_____-_-_

brake
(option)

i n di v i du a l
resistors
or
KBmodule

motor size:SD-n6
motor type

c o n n e c ti o ns i z e
[mm']

SD-!3

1,5

SD-N4
sD-n 5. 250. 015
sD-n5.250.020
sD-n5.380.O12

1,5
1,5
2 ,5
2.5
4

sD-n5.380.020
sD-n6.480.020 6
sD-tr6.720.020 1 6
sD-n6.960.010 1 0
sD-tr6.960.015 1 6

1u
+24 V +'l0o/o 0V
L__T__________J
brake
(option)

individual
resistors
or
KBmodule

* s h o rtc i rc ui tbraki ngfor E .S top

condi ti on
20

BoscH
@
Flexible
Automation

6.4.3DC Link Connection

T h e D C l i n k v o l t a g e f o r t h e s u p p l y o f t h e s e r v o m o d u l e s i s a v a i l a b l eo n
c o n n e c t i o n sL + a n d L - o f t h e s u p p l y m o d u l e .

-t-t

U!4liC
[:I4:4:i
f,l,il'j
l -l -f

ll

SM

VM

D C l i n kconnecti onfor 3 S M modul esand 1 K M modul e

Es ta b l i s the
h D C l i nkconnecti onw i ththe busbarsand fasteni ngscrew s
s u p p l i e di n the accessori es
pack.
T h es e e -through
coverfor the termi nalbl ockand the busbarconnecti ons
must be replacedafterwardsas protectionagainstaccidentalcontact.The
ri g h ts i d eo f the busbarconnecti on(on the ri ghtsi deof the V M,E B Mor K M)
mu s ta l s ob e protectedagai nstacci dentalcontactw i th an addi ti onalbl ack
p l a s ti cc o ver(suppl i edi n the accessori es
packfor V M,K M or E B M).
6.4.4Circuitryfor the Resistorsfor
Fast Dischargeof the DC Link

Start-upswitchingmodule
(Bo s c hno. ' l05- 913274 )
3ontactorsK01 in series,since
D C l i n kv olt ageuPt o 1 0 0 0V.

21

@ BOSCH
Flexible Automation

6.4.5ConnectorX5:
Control Signalsfrom Motor
(rotor position encoderand
tacho)

C o n n ecti onof screenby

d i re c tcl ampi ngonto connectorhousi ng

_l

e n c o d e ru n i t
1 r nm o t o r )

1 0x 0 . 1 4 D

tCI

'F
.F
.F
5C-

X5

I
s(-

10( I

,
of-

r---------->

V*

7(-

lJ 10
G__l

0v

r----------r>

V-

.tI

tt(-

4 x 0,5f1

,e

gCqC5Csignal

S ouri au
motor
pl ugi n

2
3

tacho
N

4
5

Note:
Connect screenat both ends!

col our

encoderuni tfuncti on

greyw hi te
vi ol et
green

rotorposi ti onencoderfor
commutationcontrol

yellow
brownwhite

brushlessDC tacho
Y :2.7 V/1000rpm +5olo
screenconnectedwith PEin motor

B
B

7
B

grey
w hi te

thermi storfor motor

temperaturemonitoring

V+
GND
V_

red
black
bl ue

i 15 V D C vol tagesuppl y
for tacho and encoder

10
11

c o n n e c ti o nc abl eX 5 encoder:speci arcabre1o x 0.14 mm2+ 4 x 0.5mm2,

s c re e n e dM
. a x.cabl el ength100 m.
Thistype of cableis availablefrom Boschunclerstock number020-9034gg
(by the meter).
22

BoscH
@
Flexible
Automation

6.4.6TerminalStrip X1
* Fo rgener alf aults i g n a l :

SM

+24Y

i4

all readycontactsof the module

c onn e c te di n s e ri e s
co m binat ion
( V M ;S M ;A S M ;S P M )
M a x .c o n t a c tl o a d :2 4 V , 1 A D C

Ready 1 BTB 1

A m o d u l especi fi crel aycontacti s cl osedw hen:

- th e rei s n o excessheatsi nktemperature
- th e rei s n o excessmotortemperature.
l f a fa u l to ccursthe R eady1 contactopensand the axi si s sw i tchedoff
a p p ro x .1 m i nutel atervi athe i nternalenabl eFG l .

Ready2 BTB 2

A m o d u l especi fi crel aycontacti s cl osedw hentherei s:

- n o PS Ufaul t
- n o c u rre ntl oopfaul t
- n o ta c h ofaul t
- n o c o mmutati onfaul t.
lf a fault occursthe Ready2 relaycontactis openedand the internalenable
signalFG I is switchedoff immediately.
Si g n a R
l e ady2 must be i ncorporated
i ntothe l atchi ngci rcui tof the mai ns
c o n ta c to r s(seehandbook11 V M).

6.4.7TerminalStrip X6

GND
I
I

t*.t ,

Kl"

+ 2 4V

"I-

X6

AH
|

)enabre

-ou
,-llr

c o n n e c ts c r e e n
a t b o t h e n d sI

swrlii
0
z

f
BT",

ii

SW1+
ln,,.u,

)
lcommand
)
)

I n:;',l'"n

J
* In ter loc k ing
wit h K 1 (m a i n sa n d
brakingcontactor)must be provided
c th a t t he enables ig n a li s s w i tc h e d
- -rffduringshort circuitbraking.
23

BoscH
@
FlexibleAutomation

GonnectorAssignment
X6

TerminalStrip

X 6.1

ground
GND
R e fe re n c ep otenti alfor measuri ngoutputs.

X6.2

SWla
standardizedcommandoutput
Si n g l e -p o l e,
shortci rcui tproof,+ 10 V

X6.3/4

FG
axis enable
O p to c o u p leri nputw i th physi calseparati on.
D i gi tal+ 24 V on X 6.3,0 V on
X 6 .4 ;d i s p l a yvi a greenLE D" FG"on the front pl ate.
- l f th e s i g nalon X 6.3i s hi ghagai nstX 6.4and i f R eady1 and R eady2 are
p re s e n tthe outputstageand the regul atorare enabl ed.
- A n o rm a ll yopen contactof contactorsK 01 and K O2(mai nscontactors)
a nd
a n o rm a l l yopencontactof eachshortci rcui tbraki ngcontactormust be
c o n n e c tedi n seri esw i ththe enabl ei nput.Thi si s necessary
to ensuretha t
th e e n a b l ew i l l be sw i tchedoff duri ngshortci rcui tbraki ng.
- l f th e a x i scan be brakedor cl ampedthe enabl esi gnalFG must be sw i tch ed
o ff w h i l eth e brakeor cl ampi ngi s acti ve.
- Thereare two possiblesequenceswhen the enableis switchedoff s e e s e c ti on7.2.3:
- d ri v es l ow sdow n i n an uncontrol l ed
manner
- d ri v eb rakesw i th maxi mumcurrent.

X6.5

SWl-/SW1+ command
Analogue
i n p u t- 1 0 V t o + 1 0 V / 1 0 k O h m
- T h e c o m m andi nputi s desi gnedas a di fferenti al
i nput.
- T h e c o m m andconnecti onmustal w aysbe 2-pol e,i .e.termi nal s5 and 6 must
b o th b e c o nnected.
- T h e ma x .c ommandvol tagemust be i n the range+ 7 V and + 11 V .
- l f th e s i g nali s routedvi a an addi ti onal
termi nalor connectorthe screen
mu s t b e l ai don *
- T h e re fe rencepotenti alof the commandsource(for i nstanceC N C )must
h a v e0 V l evel(connecti on
w i th 0 V busbarsee handbook11 V M).
- T h e d i ffe renti al
i nputi s l i nkedto a sl opel i mi ti ngdevi cei n orderto smooth
o u t th e s te ppedoutputof an N C (seeopti mi sati on
of speedregul ators e c ti o n7 .3.3).

24

X6.7

Inorm
actual current value
Measuringoutput,short circuitproof,0 ...+8 V: unit peak current.

X6.8

tacho voltage
Ta
Me a s u ri n o
g utput,shortci rcui tproof,+ 2.7 V 11000rpm.

@ BOSCH

FlexibleAutomation

An 8-polecable,readyconnectedat the left belowthe front plateof each

mo d u l eo n del i veryprovi desthe connecti onto X 8 on the nextmodul eto the
right.

6.4.8ConnectorXg
(GonnectionCable X8)

T e rm i n asl tri pX 8 on the modul ei tsel fw i l l havecabl eX 8 from the next module
to the left connectedto it (seeconnectiondiagram6.3).
6.4.9ConnectorX9

Ux-,.Up-:
S p e e dre g ul atoroutput
A n a l o g u eo utput0 ...+ 8 V

6.4.10TerminalStrip X7 for Use with

Option DiagnosticsCard

PSU fault

Nr

motor blocked

Ixt

tacho fault

I T

+I

speed monitoring

n<nx

excess motor temp.

8M

excessheat sinktemp

8K

module fault

Mr

commutation fault

Kr

reset input

RES

I
I

+I
H
I
1Il

o u t p u tr a t i n g
1 0 0m A c o n t i n u o u s ,h o r tc i r c u i tp r o o f

x 7.1

Reset Input RES

S to re dfa u l tsi gnal scan be resetvi a a si gnalon the reseti nput(+ 24Y D C
pulse)or with resetbutton.

x7.2

LED Kp red, stored

CommutationFault
T h es i g n a g
l oesl rom + 24 V to l ow i f:
- th e ta c h opl ugi s not pl uggedi n
- th e rei s a faul ton the tacho P C B(el ectroni cs)
i n the motor
- th e rei s a faul tw i ththe tachocabl e
- th e rei s a n i ncorrectcombi nati on
si gnal s.
of commutati on
Red LED lights.Ready2 (BTB2) is switchedoff.

x 7.3

LEDMF red, stored

Module Fault
The signalgoes from +24 V to low if:
- the power unit is defective
- th e l o a dc i rcui t(motorconnecti on)
i s shortci rcui ted
- th e l o a dc i rcui ti s i nterrupted.
Red LEDlights.Ready2 (BTB2) is switchedoff.
25

@ BoscH
Automation
Flexible

X7.4

Heat Sink TemperatureMonitoring

LED86,yellow

T h es i g n a g
l oesfrom + 2-4V to l ow w hen:
- th e h e a ts i nktemperatureof the pow eruni texceedsB max.
Y e l l o wL EDl i gl rts.R eady1 (B TB1) i s sw i tchedoff and afterapprox.1 mi nut e
t h e i n t e r n aei n a b i ei s t a k e na w a v .
X 7.5

Motor WindingTemperature
Monitoring

yellow
LEDBnlt,

T h es i g n a g
l o estrom + 24 V to l ow w hen:
- th e mo to rw i ndi ngtemperaturereaches140oC .
Y e l l o wL EDli ghts.R eady1 (B TB1) i s sw i tchedoff and afterapprox.1 mi nute
th e i n te rn ael nabl ei s takenaw av.
X 7.6

SpeedMonitoring

LEDn(nx, yellow

T h es i g n agl o e sf r o m + 2 4 V a t l o w l e v e w
l h e nt h e c u r r e n st p e e di s s m a l l e r
h c h a n g eo n t h e o p t i m i s a t i ocna r dt h i s
t h a na p r e d e t e i ' m i n es d
p e e d (. T h r o u g a
s i g n acl a n b e m a d et o g o h i g ho n l ya t s t a n d s t i l l ) .
Ye l l o wL EDl i ghtsw henn(nx. On how to adj ustthe speedmoni tori ng
see
7.3.7.
s e c ti o n" l n te grati on"
X7.7

Tacho Fault

LEDTr, red, stored

T h es i g n a g
l oestrom + 24 V to l ow w hen:
- th e ta c h oli nei s i nterrupted
- th e ta c h oli rrei s shortci rcui ted.
Red LEDlights.Ready2 (BTB2) is switchedoff.
X 7.8

Motor Blocked

LEDlxt, yellow

T h es i g n a g
l oesl ow w henthe motorrecei vesmaxi mummodul ecurrentfor
m o reth a n 2 secondsw i thoutturni ng.A fterthi sti me the currenti s automatic a l l yre d u c edto 50o/o
of the maxi mumcurrent.The dri veremai nsi n thi scon diti o n u n ti lth e causeof the motorbl ockagei s removed.
Y e l l o wL E Dli ghts.
X 7.9

PSU Fault

LED Nr, red, stored

Thissignalgoes trom +24 V to low if the two supplyvoltages+15 V and -15 V

fo r th e e l e ctroni cs
are outsi dethe admi ssi bl tol
e erances.
Red LEDlights.Ready2 (BTB2) is switchedoff.

26

@ BOSCH
Flexible Automation

T h eta b l eb e lowshow sthe currentl i mi tval uesachi evedby usi ngdi fferent
v a l u e sfo r re si storR 25,w hi chi s fi ttedon sol deri ngtermi nal s,
w hena di gi tal
card:
s i g n a l *(H : + 24 V ) i s suppi i edto the opti mi sati on

l k O h ml

reduction
to i limit
Io,b]

51.1

90

23.7

al

16.2

50

12.1

??

R25

8.25

10

* X 1 4 . 4+. 2 4 V
X 143: 0V

T h et a b l eb e l o ws h o w st h e c u r r e n tl i m i tv a l u e sa c h i e v e di t a 5 . 6 2k O h m
r e s i s t o irs f i t t e df o r R 2 5a n d a n a n a l o g u es i g n a l "i s s u p p l i e dt o t h e o p t i m i s a t i o nc a r d :

v o l ta g eo n

reducti onto

Mred

Iiimit

tvl

[70]

92
82
72
62
52

32
10

12

* X 1 4 . 4 e: . g .+ 1 0 V
0V
X 14.3:

x14.5+6

2nd Command Input

SW 2+, SW 2-

D i f f e r e n t i a li n p u t w i t h f i x e d a m p l i f i c a t i o n1 : 1 .
I n p u t s i g n a l :0 t o + 1 0 V .

28

BOSCH
@
trlexible
Automation

6.4.14Connectionof Option
Ramp Generator

c o m m a n ds o u r c e

rO

II

2o

30

x6

4O
I

SW+

5C)

r*-l
60

) SW_

70

o0v

sw+l

I
I

30
'.J I
6 / 1 9 R a m pG e n e r a t o C
r onnection
W i r et h e c a r d u p a c c o r d i n gt o t h e a b o v ec i r c u i td i a g r a mp, a y i n gs p e c i a l
a t t e n t i o nt o t h e c o m m a n dl i n e sI
T h e r e q u i r e dr i s ea n d f a l lt i m e sa r e d e t e r m i n e db y t h e v a l u ec h o s e nf o r
c a p a c i to rC5 on the card.
Afte r e v a l uati onof the operati onaldata accordi ngto the exampl ebel owthe
c a p a c i ta n cecan be deri vedfrom the tabl e bel ow :

5000 msec 500 msec

Example:

10v
R i s ei n 5 000 msec
C o m m a n ds t e pt o 1 0 V
pF
R e q u i redcapaci tanceacc.to tabl e:O.47O

T h e ri s e ra mp for accel erati onand braki ngcan be adj ustedseparatel yw i th

re s i s to rsR 24and R 25.

C s [p F ]

operationaldata [msec/V]

0.01

1 . 1. . . 1 1

o.o47

660

0.1

11

110

o.47

60

600

11 0 . . .11 0 0

29

BOSCH

FlexibleAutomation

7.2.3 Preoptimisationof
Speed Regulator

A l l B o s c h i n v e r t e r so f t h e S e r v o d y n r a n g e a r e d e l i v e r e dw i t h t h e f o l l o w i n g
standard optimrsation:

Function

Position

Unit

Value

P - p o r t i o ns p e e dr e g u l a t o r

R77

kOhm

301

l - p o r t i o ns p e e dr e g u l a t o r

c9

pF

o.o22

S W 1 : 0 , D I Ps w i t c h

S6

OFF

l r e dc u r ' r e f l ti m i t ,D I Ps w i t c h e s

s 7 ,s 3

OFF

t o r q u er e d u c t i o n

R25

1 : 1 a m p l i fs. p e e dr e g .

P l / 1: 1

s l o p el i m i t a t i o nc,o m m a n d

R62

kOhm

1t

s w i tc ho ff enabl e(standard)

R 68

Ohm

A f t e rs w i t c h i n go f f e n a b l e
th e d ri v ei s sl ow eddow n to
n : 0 w i t h m a x .c u r r e n t

R69

Ohm

co

kOhm

5.62
sw i tch

B e fo res ta rti ngthe i ntegrati onthe tacho vol tagemust be adj ustedroughly.
D e p e n d i ngon the rapi dspeedthe adj ustmentcan be made i n 12 stepsacc.
t o t h e t a b l eb e l o wv i a D I Ps w i t c h e sS 1- S 5 .
T h ef i n e a d j u s t m e not f t h e t a c h ov o l t a g ei s c a r r i e do u t l a t e rw i t h p o t e n t i o m e t e rT o n t h e f r o n t p l a t eo f t h e S M - o p t i m i s a t i ocna r d .

Omin

nmax

VT

switch

Irpm]

Irpm]

Irpm]

tvl

"oN"

468

550

633

1.485

none

629

740

1.998

S1

837

985

851
1' t33

2.659

S2

999

1175

13 5 1

3.172

S1+S2

1122

1320

15 1 8

3.564

S3

1284

1510

1736

4.O77

S1+S3

1475

1740

2001

4.696

S4

1640

1930

2219

5.211

S ' 1+ S 4

1849

2175

2501

5.872

S2+S4

10

2133

2514

2886

6.777

S3+S4

11

2663

3 13 3

3603

8.459

S1,S2,S3,S4

12

3527

4 15 0

4773

11 . 2 0 5

step

S4+S5

31

@ BOSCH
FlexibleAutomation

7.2.4Reductionof the
Unit Limit Current
via DIP Switch

T h e D IPs w i tch(S 1 .. S 7) on the opti mi sati oncard i s usedto reducethe

l i mi tc u rre n to f the uni t as show ni n the tabl e bel ow :

s w i tc hn o .
p o s i ti o n
OF F

ON

100

S7+S8
S7

32

I limit
lolol

88

S8

78

S7+S8

70

I stand

tvl

BOSCH
@
''exible

Automation

7.3 Integration
7.3.1Power Supply

- Removefuses for the supply module on the mains side.

- UnplugconnectorX'l on the supplymodule.
- Disconnect one coil connection at contactor K01 (see VM connections).
- Switch on power (main switch).
- Theremust be +24 V presentbetweenX1.6and X1.5of the supplymodule.

Note:

lf a simple external +24 V supply with 86 rectifiers is used an electrolytic

capacitor ol at least 4700 pF must be connected to the output terminals (24V).
- Measurethe mainsvoltageat the mainfuseswith a multimeter.
Admissiblerange:340 V to 455 V.
- Switch on drive. Contactors K01 and K02 must not pull in !
- Switch off main switch.
- PlugconnectorX1 in on supplymodule.
- Reconnectcoil connectionat K01.
- Switchon main switch.
- Switchon drive.
- K0l and K02 must pull in,for as longas the butlon is depressed,and they
must fall off again when the button is released.
- Switch off main switch.
- Reinsertfuses.

7.3.2 Ready

- Switch on main switch, do not give enable signal.

- Switch on drive.
- On the supplymodulesthe green LEDS"Ready1" (BTB1) and "Ready2"
(BTB2) must light.
- K01 and KO2must remainpulledin once the ON button is released.

7.3.3 C,ommandAdiustment

Introduce a command voltage which correspondsto the intended maximum

operating voltage on terminalsX6.5 and X6.6 of the servo module.
Admissiblerange:a7 V to t1 1 V.
DIPswitch S6 on the ootimisationcard must be switched off.

33

@ BOSCH
FlexibleAutomation

Adjustmenton the SM-optimisation.

Use pot.SW 1 on the front plateof the
S M -o p ti mi s ati on
cardto set the vol tageon test poi nt" S W 1" (command)to
7.5V against" + " (turncounter-clockwise
to achievehighervoltageon test
p o i n t" S W 1 " )
Switchon switch6 (optimisation
card).
Slopelimitationfor commandstepswith R62.The parametersare the
scanningfrequencyof the NC and the largestcommandstep per scanning
interval.
The valueof R62 must be determinedby trialand error sincethe quantity
"largestcommandstep per scanninginterval"is usuallynot known.R62 is to
be increased(resistancedecade)to the highestpossiblevaluebeforethe
tacho voltagestartsto showsome overshoot,Thisadjustmentmust be made
after the speedregulatoroptimisation.
Sta n d a rdv a l uefor R 62: 1 kQ.
7.3.4Directionof Motor Rotation

On motorswith disk brakethe brakemust be releasedbeforethe enableis

switchedon !
- S w i tc hPl /1: 1 (S 1)on the regul atorcard mustbe set to 1 : 1.
- Set commandinputto 0 V.
- Switch56 on the optimisationcard must be closed.
- Gi v ee n a b l esi gnal(greenLE D sFG and FG l come on).
- Carefullyincreasecommanduntilthe axisstartsmoving.
- Observethe directionof axis rotation!
A reversalof the directionof rotationcan be effectedby swappingthe
commandconnectionson X6.5and X6.6.
- Switchoff enablesignal.
- S e ts w i t c hP l l l : 1 ( S 1 )t o P l .

7.3.5Speed Adjustment

Give enablesignal.
- lntroduceexactly500/oof the intendedmax.commandon X6.5and X6.6.
- Measurethe speed (if possiblewith a manualrevolutioncounter).
- Use pot.T (optimisationcard)to set the speedto exactly500/oof the max.
speed(clockwiseturning--) higherspeed).
- lf it is not possibleto measurethe speed with a separaterevolutioncounter
it can be approximatedby measuringthe tacho voltage.
At test point "T"there is a voltageof 2.7 mVlrpm*5o/oavailable,
i.e.at a
speedof 1000rpm the tacho voltageis approx.2.7V (for rangeSE-82:
...m V/rp m).
- Commandinputto 0 V and short circuitingof terminalsX6.5and X6.6.
- The motor drift can then be reducedto a minimumwith pot. OFFSET
(optimisation
card).

7.3.6SpeedDrift

Note:
It is usuallynot possibleto eliminatethe drift altogetherwithoutthe positionalservoloop beingactive.
- Undothe short circuitingof terminalsX6.5and X6.6and switchDIPswitch
5 6 b a c kO N .

34
F.J

l'

'-

BoscH
@
Flexible
Automation

7.3.7Speed Monitoring
(with Option Diagnostics)

S p e e dre cogni ti on
vi a di agnosti cs
or moni tori ng
output(n(nx) and LE D .
- Determination
of the recognitionspeedby selectionof the valuefor R4 on
th e s p e edregul atoropti mi sati on
cardaccordi ngto the fol l ow i ngformul a:

n'.750k
7 6 . 4- 7 6 ' n '

R4:

tkol

NX
nt--

Ilrapid

n x:
Ilrapid:

recogni ti on
speed
rapidspeed

Sta n d a rdv al uefor R 4 : 10 kOhm: 1500rpm w i th fl rapi:d 3000rpm.

- Definitionof the speedrecognitionfunctionas standstilldisplayby fitting
R 7 2 :0 O hm on the opti mi sati on
card.
7.3.8SpeedRegulatorOptimisation

In g0o/oof all applicationsthe standardoptimisationof the speedregulator

(R77:301 kOhm,C9 : 22 nF)is suitablefor machinetool axes.Should
p ro b l e m sari sethe opti mi sati on
can be checkedas fol l ow s:
- Switchoff main switch.
- Connectan RC decadeinsteadof R77 and C9.
Sta rti n gval ues:R : 301 kOhm;C 9 : 22 nF.
= C o n n e ctan osci l l oscope
to test poi nt" U N + " .
Sw i tc ho n mai nsw i tchand dri ve.Gi veenabl esi gnal .
- In tro d u cea commandstepas a functi on.
T h eti me constantshoul dl i e approx.100/o
bel owthe ti me constantexcept ed
d u ri n gfu tureoperati on.
Example:
Pl a n n e dK V factor:
KV: 1
T i m ec o nstant:
Tm:60 msec
Se t th e c ommandfor the opti mi sati on
to T: 55 msec.
- Selectthe levelof the commandsignalso that the speed regulator(test
j ust bel owthe l i mi t(thel i mi tl i esaroundB V ).
)
p o i n t" U N+ "operates
- T h e re g ul atoroutputsi gnalon test poi nt" U N + can
"
be i nfl uencedby
changingR77 (P-portion)and C9 (l-portion)as illustratedin the following
d i a g ra ms:

35

@ BOSCH
FlexibleAutomation

lf the P-portionis too largeor the l-portiontoo smallthe speedregulator

b e c o me su nstabl e:
Up
S peed
R egul ator
Output

The instabilityis mainlya resultof the excessivetacho ripple.

lf the p-portionis too smallthe speedregulatoris also unstable,but at a very
low frequency.
Up
S peed
R egul ator
Output

lf the l-portionis too largethe speedregulatoris stable,but its responseis

w i th a l ow
s l u g g i s hd u e to the resul ti nghi ghti me constanti n conj uncti on
P-amplif
ication.
U5
Speed
Regulator
Output

When the speedregulatoris adjustedcorrectlythe signalwill look as foollows:

U51
Speed
Regulator
Output

Oncethe requiredvalueshavebeen determinedsolderthe appropriate

componentsin for R17 and C9.
DerivativeAction
For specialcasesan additionalderivativeactioncan be achievedwith C13.
36

@ BOSCH
Flexible Automation

Note:Additionalactivefilterat the tacho input.

w hi chw i l l i mprove
l f R 7 5i s m a de0 Ohm an acti vefi l tercan be connected,
th e s ta b i l i tyof the servol oopfor motorsw i th l argei nerti ai n most cases.
7.3.9Adaptionto the
PositionalServo Loop

- Connectcommand source.
- Sw i tc ho n dri ve,gi veenabl esi gnal .
- In tro d u cecommand" 0 V " .
- Ad j u s tth e l ag (fol l ow i ng
potenti ometer
error)to " 0" w i ththe appropri ate
on
th e c o n t rol(on sometypesof C N Cthi s i s oonevi a parameteri nput!).
- D ri v eth e axi sat a defi nedfeedrate(suchas 1 m/mi n)and measurethe
re s u l ti n gl ag.The l agdependson the K y-factorand the axi svel oci ty.

LAG :

: axisvelocity[m/min]
v
- K y factor[1O' /mi n]
Ky
:
LAG
lag [mm]

:-:[mm]
Kvc

Example:

V:1 T
mln
<n3

K v : 1, 2 : +

mtn

L AG :

v1
:
Ku

12

: o' 83 mm

The lag must be set on the CNC with the appropriatepotentiometeror by

p a ra m e teinput.
r

37

@ BOSCH
Flexibl
e Automation

7.4 GomponentLayout

Optimisation
card
(047830-4O23O3)

38

7.5 Circuit drawing

s@
9w
o-

FO
=Ul

sw=0

tso

9-

5 k 62
S\l/ I norm
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P67

4
tll

5k 62

81

3ok1

b10

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1k
-

rot

?k5

R55

SUM
2k

17

F,
t_

pF

c 13

- nicht bestiickt

ffibary

R15

o6

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verziigert
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c'll.

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b14

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la
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P-REG2

SWI Sollwert

o5

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UNl

R7

b5

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R50

R56

UN

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R73
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Tocho
R 70

R48

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o9

tr-

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o 14
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c9

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9 5 k3

Ernstellung
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V+
r

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i ,
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R34

C12

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9,33pF

l (

'16

b . c2

c8

b9

R32

It"

SM-Optimisation

0 , 03 l p F

(04783081.2t3)

-I1

7.5 Circuit drawing

/6\

g\y
-

9o

FO
-Ul

so

9IC8
2200eF

ru0B2

,17

83

Rz6

t,k2z

cz

sr.oz

lzzopr

TLOB2

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SM-Optimisation
( 047830 Bt 3/ 3)

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Naherelnformationen
:
Telefon06062/78-0
RobertBosch GmbH,Schulungszentrum,
Postfach1162,6120Erbach/Odenwald,