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INSTALLATION MANUAL
PULSE-WIDTH MODULATED
4-QUADRANT SERVO CONTROLLER
TBF-I
For electronic commutated servo motors
Custom Servo Motors
Antriebstechnik GmbH & Co. KG
Custom Servo Motors, Antriebstechnik GmbH & Co.
KG 1999
Leinenweberstr. 14
Industriegebiet Hochdorf
D - 79108 Freiburg
Phone 0761-13091-0
Fax
0761-13442
e-mail:
[email protected]
IMPORTANT!
Reading these instructions prior to start-up is absolutely necessary.
Dear customer,
The following items and the “Safety Instructions” are for your benefit and are designed to
protect the amplifier from damage caused by incorrect use. According to the product liability
law, everyone who manufactures a product which constitutes a risk for life and limb is obligated
to provide safety instructions. These instructions should be clearly defined and should have an
informative nature.
To assist you during installation, consider the following points:

Protect the amplifier from aggressive and electrically conductive media. These may lead to
a malfunction or to the destruction of the amplifier!

Do not touch live parts. There is a risk of fatal injury!

Trained personnel who are knowledgeable of the safety instructions must carry out
installation, connection, and set-up.

Performance and capabilities of the drive can only be guaranteed under proper use.

Modifications which are not authorized by MTS Automation, as well as operation of the
amplifier in a manner other than its intended use, will void any warranty or liability.

Our "Terms and Conditions" are the basis for all legal transactions.
Table of Contents
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
3
3.1
3.2
3.3
3.4
3.5
4
4.1
4.2
4.3
5
5.1
5.2
5.3
5.4
5.5
5.6
6
7
7.1
7.2
7.3
8
Safety Instructions ......................................................................................................... 1
General notes................................................................................................................... 1
Qualified personnel .......................................................................................................... 1
Designated use ................................................................................................................ 1
Description of symbols and signal words ......................................................................... 2
Safety notes ..................................................................................................................... 2
Set-up............................................................................................................................... 3
Maintenance / Service ...................................................................................................... 3
Technical Description .................................................................................................... 4
General Information ......................................................................................................... 4
Technical Data ................................................................................................................. 5
Control Principle ............................................................................................................... 6
Block Diagram .................................................................................................................. 7
Function description ......................................................................................................... 8
Function as Current controller ........................................................................................ 10
List of possible adjustments and indicators .................................................................... 11
Front View ...................................................................................................................... 13
Connection of the Device ............................................................................................ 14
Pin assignment............................................................................................................... 14
Explanation of Connection ............................................................................................. 15
Wiring ............................................................................................................................. 19
Proper Polarity of Motor and Rotor Position Emitter ...................................................... 21
Connection Diagram ...................................................................................................... 23
Set-up ............................................................................................................................ 25
Connection ..................................................................................................................... 25
Presetting ....................................................................................................................... 25
Switching on and configuration ...................................................................................... 26
Optimizing the Control Behaviour .............................................................................. 29
Amplification of Alternating Current of Current Controllers ............................................ 29
Amplification of Alternating Voltage of the Speed Controller.......................................... 29
Tachometer filtering ....................................................................................................... 29
Integral Part of the Speed Controller .............................................................................. 29
Direct voltage amplification of the speed controller ........................................................ 29
Differential Part in Tachometer Feedback ...................................................................... 30
Troubleshooting ........................................................................................................... 31
Options.......................................................................................................................... 33
Speed Control with 1. three-phase tachometer (DST) 2. incremental emitter (IGT/K) . 33
Front Plate...................................................................................................................... 33
Bus Board ...................................................................................................................... 34
APPENDIX ..................................................................................................................... 36
iii
8.1
8.2
8.3
8.4
iv
Dimensional Drawings TBF ............................................................................................ 36
Insertion Plan TBF (Top Side) ........................................................................................ 37
Insertion Plan (Bottom Side) .......................................................................................... 38
Classification of Motor Signals ....................................................................................... 39
1
Safety Instructions
1.1
General notes
This start-up manual describes functions and gives all necessary information for the designated
use of the subassemblies produced by MTS Automation. The manufacturer is responsible for
the preparation of an instruction manual in the national language of the end user. The
preparation of machine-specific risk analysis is also the manufacturer's duty.
Observance and realization of the safety instructions and warnings stated in this document is
the condition for the riskless transport, installation and set-up of the components by qualified
personnel.
1.2
Qualified personnel
Must be able to correctly interpret and realize the safety instructions and warnings.
Furthermore, the personnel entrusted must be familiar with the safety concepts of the
automatization technique and must be trained accordingly. Unqualified actions at the
subassemblies or the non-observance of the warnings stated in this document or attached to
the subassemblies constitute a risk to life and limb of the user, or cause damage to the machine
or other material property.
1.3
Designated use
is given when:

any work on equipment of the machine/plant is carried out by a skilled electrician or by
instructed persons under the supervision and guidance of a skilled electrician.

the machine/plant is used only when in a safe and reliable state.

the machine is used in accordance with instructions set out in the operating manual.
1
1.4
Description of symbols and signal words
DANGER!
Warning against risk of serious injuries. Observance is absolutely
necessary.
ATTENTION!
Information, the non-observance of which may lead to substantial damage
to material property. Observance of these safety instructions is absolutely
necessary.
IMPORTANT!
This symbol refers to any information, important with regard to the use of the
machine. Non-observance may lead to problems in operation.
1.5
Safety notes
As the subassemblies are intended for installation in machines, freely
accessible parts may carry dangerous voltage. The manufacturer must
ensure adequate protection against contact.
Any work on these subassemblies must be conducted by qualified
personnel, who are familiar with these start-up instructions.
The instructions included in this manual must be strictly observed in order to
reduce any safety risks.
A correct transport, storage, set-up and assembly of the machine as well as
careful operation and maintenance is an important condition for the correct
and safe operation of these products .
2
1.6
Set-up
The relevant safety and accident prevention regulations for each individual
case must be taken into consideration.
Devices, intended for installation in cabinets and housings must be operated
only in built-in state.
Prior to setting up the devices, which are operated with line voltage, please
check that the adjusted nominal voltage range is identical to the local line
voltage.
For power supplies with 24V, ensure that the low voltage is mechanically
separated from the main.
Deviations in the line voltage, exceeding the tolerances stated in the
technical data for these devices, are not allowed, as this could lead to
dangerous operating conditions.
Voltage dip or voltage failure requires precautions for restoring an
interrupted program. The risk of dangerous operational states must be
avoided.
EMERGENCY-STOP equipment must not effect an uncontrolled or
undefined restart after unlocking. They must remain effective in all modes of
operation.
1.7
Maintenance / Service
For any measuring or test work on the live device, please observe the relevant accident
prevention regulations. The work must be done only with suitable measuring instruments and
tools.
Service work on subassemblies is done exclusively by MTS Automation
staff.
Incorrect repairs done by unqualified persons may lead to damage of
material property and injuries. Open the main switches or unplug the main
plug before opening the device or pulling it out of the sub-rack. When
replacing defective fuses, please observe the stated electrical values.
Incorrect modifications and work on the subassemblies voids the product
warranty and may cause unpredictable risks.
3
2
Technical Description
2.1
General Information
Servo controllers of the TBF series concern themselves with the amplifiers for driving D.C.
brushless motors. Using a rotor position emitter as the feedback device and a three-phase
tachometer or incremental emitter for speed control feedback, these are specially designed for
such operation. In small and medium power ranges, these offer the best price-power
relationships for drives, via the rotor position emitter controlled block flow. Favorable solutions
are achieved, especially for applications which require an incremental emitter anyway for a
higher level positioning control.
The amplifiers work with a pulse width modulated output in the MOSFET technique. The
mounting form is 3 HE (Euroformat) for 19" slide-in casing frames. The power supply device is
built in for this equipment. The electronic supply is provided internally from the intermediate
voltage, whereby battery operation is also made possible.
The main characteristics are:
















Trapezoidal commutation using Hall sensors
Hybrid technique / SMD Technique
19 inch/3HE slide-in mounting
Internal power supply
High dynamics
High efficiency
Almost no clock noise by mains frequency doubling
Short-circuit proof and ground contact proof
Protective circuit for undervoltage, overvoltage, overcurrent, overheating
I2t-current limiting
External current limiting
Differential amplifier-input
Enable input
Positive and negative Stop
PLC compatible inputs
Three-phase tachometer or Tachometer emulation from incremental emitter signals
Type code:
TBF
Series
4
60
Nominal voltage
/
5
Nominal current
I
Feedback with: I = Incremental encoder
Optional T = Tachometer generator and
R = Resolver is defined in a separate
manual.
2.2
Technical Data
Model Series
Nominal voltage
Nominal current (Irms)
Pulse power current
DC Bux voltage
TBF 60/5
max.
min.
Recommended transformer voltage
Electronic supply
Efficiency
Residual voltage drop in final stage (at
Irms)
Clock frequency
Frequency of current ripples
Current regulator bandwidth
Minimum load inductivity (at Irms)
Auxiliary voltage for external circuits
Set point input
Inner resistance of set point input
Voltage range of tachometer input
(at Uref=±10V and nominal rotation speed)
Inner resistance of tachometer input
Control inputs Enable, Pos.-Neg.-Stop,
Integral-off
Inner resistance of control inputs
Input external current limiter
Inner resistance external current limiter
Incremental emitter outputs A+,A-;B,B(0,/0 looped through)
Inner resistance incremental emitter in
Electronic commutation
Inner resistance elect.comm. (pull up)
Output processed tachometer voltage
60V
5A
15A
85VDC
25VDC
54VAC
60V
10V
25V
85VDC
25VDC
54VAC
internal
93%
1.5V
Speed feedback
Connections
Dimensions
Weight
120V
7A *
18A *
170VDC
70VDC
95VDC
9.5kHz
19kHz
1kHz
0.8 mH
± 15V/20mA
+ 5V/150mA
± 10V
20kOhm
4.5 - 45V
1.2 mH
100kOhm
"Out" <4V
" In" 30V< >12V
3.9kOhm
0...25A
20kOhm
RS422
0...15A
1.6mH
0...18A
1kOhm
Rotor position emitter
4.7kOhm
Operational amplifier output
External load >10KOhm!
Only short shielded wire!
12V at  20mA
I2t Signal output
Operational readiness output
TBF 60/10 TBF 120/7
Potential-free relay contact
max. 10W at 100V, 100mA
Three-phase tachometer or incremental emitter
1 plug connector according to DIN 41612-F48
160x100x37mm 16x100x55.5 mm 160x100x75mm
0.4kkg
0.8kg
1.0kg
*= outside ventilation with Irms; additional screening at Irms> 4A or Iimp > 12A
Irms= 4A and Iimp= 12A are factory adjusted settings
5
2.3
Control Principle
The three-phase servo controller of the TBF-series operates under the principle of speed
control with a subordinated current control circuit. Additionally the flow logic controls the
commutation of the brushless D.C. motor. The signal flowchart of the control principal is
illustrated as follows:
The speed control circuit consists of a speed controller, current circuit, motor, and a speed
counter holder. The nominal value of the speed is preset externally with a potentiometer or NCcontrol for example. The actual speed value is determined directly on the motor shaft from the
suitable equipment (three-phase tachometer, incremental emitter). At the summation point the
difference between the reference and the actual values is established and sent to the speed
controller. This determines the required nominal current value.
The current control circuit consists of the current controller, the amplifier final output stage,
current reading, and the motor windings. At the output of the current controller there is available
the nominal current value, which via a pulse width modulator controls the six power switches of
the inverter. At a PWM frequency of about 9.5 kHz, obtained through a special trigger, this gives
a ripple current of 19 kHz and a barely audible clock noise.
This subordinated current control circuit under a speed control circuit guarantees a stable
control with good dynamics and a high stiffness to the drive.
The advantage of this control principle is that current limitations which are required for the
protection of motor and amplifier can be realized in a simple way, that means only by limiting
the output voltage of the speed controller (nominal current value).
6
E-
E+
Neg.Stop
Pos.Stop
Iext.
Enable
AC
Incoming
power
P1
Imput
differential
amlifier
+
Offset
P4
End stage
logic
Failure and
supervision
circuit
Power supply
electr. volt.
+
+
P3 (Gain)
Speed controller
Excess voltage
Excess current
Under voltage
Tacho process.
3-phase or
Increm.Emittler
Diver stage
End stage
Dead
Time
PWM
-
P2
I-Imp.
P5 (Irms)
IІt
current limiter
-
+
-
Flow controller
-
+
current measuring point
Incremental Emittler
or
brushless tacho
I/T
RLG
M
2.4
Block Diagram
Figure 1: Block-diagram
7
2.5
Function description
The function of the amplifier is described by means of the block diagram shown in 2.4.
2.5.1 Power supply

Power amplifier:
Rectification and filtering form the Bus Voltage (UB), necessary to operate the power
amplifier from the AC power supply. This DC Bus voltage can also be fed directly as dc
voltage.

Electronic supply
The electronic supply takes place internally through a switch-mode power supply from the
DC Bus voltage.
2.5.2 Control system

Speed controller and current limiting
The nominal speed value is conducted to the differential amplifier input. In the postswitched stage, the positive and negative setpoint values are separately suppressed
(terminal stage logic). The nominal speed value together with the tachometer voltage is
switched up to the speed controller. In this device, via a suitable procedure, the tachometer
voltage will be obtained either from the three-phase tachometer (module DST) or from the
incremental emitter signal (module IGT/K).
There are different possibilities to limit the nominal current:
The I²t current limiting reduces the current set value, using the following procedure: The
actual current values are rectified, quadrated, and run to a low pass. The circuit limits the
current to the continuous current value, which corresponds to the position of the
potentiometer P5 when the output voltage of the low pass reaches the voltage, adjusted at
this potentiometer. Furthermore, the maximum possible nominal current can be adjusted to
0...15A, 0...25A or 0...18A with an externally fed voltage of 0...10V at the input I ext.
The maximum pulse current, deliverable by the device can be adjusted with the
potentiometer P2 of the internal current limiting. This current limiting is connected on load
side of the previously mentioned current limitations - this guarantees that the current
adjusted here, can never by exceeded.
8
 Current-mode control and current controller
As shown in the block diagram, for the generation of the actual nominal current values for the
current controller of the U-circuit and the V-circuit current, these must first be fed to the flow
controller. In there the nominal current of the speed controller output (current conductor),
depending upon the signal of the rotor position emitter, is converted into two 120° shifted
nominal current values and fed to the current controller for phases U and V. In the output of the
current controller, through substraction there is simulated the nominal current of the third phase
W. Thereby it is guaranteed that the sum of the currents is always zero.
The pulse width modulator generates out of the three D.C. signals six PWM signals for the
current carriers, which after the dead time generation serves to activate the driver stage.
2.5.3 Driver Stage and End Stage
The driver stage amplifies the signals, coming from the pulse-width modulator and by this
activates the power transistors. MOSFET transistors are used in the power amplifier, which
allows short switching intervals and low residual voltage drop and ensures a good efficiency.
2.5.4 Monitoring and fault logic, Enable
The intermediate circuit voltage and the current in the intermediate circuit are permanently
monitored by the error detection. The device switches off the motor through the error logic when
these values exceed certain quantities. The error logic also reacts when the device temperature
exceeds the allowed values because of insufficient air circulation or a too high ambient
temperature. Restart is possible only after switch-off and switch-on of the supply voltage.
Now the power amplifier can be enabled at the enable input with an external voltage, the motor
turns.
For safety reasons enable is possible only when the device is ready for
operation! This ensures, that the motor starts running in an uncontrolled
manner when applying the operating voltage while the enable signal is
already applied.
That means a permanent wired connection of e.g. +24V after the enable
input ensures that the motor will not start running when switching on the
operating voltage.
The logic also switches off in case of undervoltage in the intermediate circuit
and undervoltage of the electronic voltages. The device changes to
readiness only when the minimum voltages, necessary for a safe operation,
are available.
The motor slows down and enable is disabled if an undervoltage of the
electronic supply occurs during the operation. If there is an undervoltage in
the intermediate circuit the motor slows down and starts running when the
minimum voltage is exceeded.
9
2.6
Function as Current controller
In the event the device was not ordered as a current controller, the standard set-up from the
factory is for "speed control".
In some applications, it can be useful to operate the TBF device as a pure current controller
because an instantaneous controller will be desired or the speed regulator has already been
converted into a higher level controller.
For setting up the amplifier for current control or for speed control there are three solder
jumpers, JP9, JP10, and JP11 (see figure) as follows.
The jumpers should be set as follows:
Speed control
Current regulator
JP9.1 to JP9.2
closed
open
JP10.1 to JP10.2
closed
open
JP11.1 to JP11.2
open
closed
Numbering of the solder jumpers is as follows: i.e. JP 9: JP9.1 = right side of the solder jumper,
JP 9.2 = left side of the solder jumper.
10
2.7
List of possible adjustments and indicators
2.7.1 The LEDs
LED 1 (green) :
Indicates operating condition of device. LED1 is also lit when the
amplifier is switched to "Disable".
LED 2 (yellow) :
I²t - current limiting is in action.
LED 3 (red) :
Indicates a fault (overvoltage, overcurrent, overheating).
LED 4 (yellow):
Ballast circuit in action (only by 120V amplifier).
2.7.2 The potentiometers
Potentiometer 1 :
Setpoint adjustment; P1 matches the typical device setpoint norm to
the normalization of the setpoint emitter and serves as an adjustment
for maximum motor speed (0...100%).
Potentiometer 2 :
Impuls current limiting; setting range 10%...100% of the device´s
typical value.
Potentiometer 3 :
Adjustment of speed controller´s amplification.
Potentiometer 4 :
Offset balance of speed controller.
Potentiometer 5 :
Constant current limit value; setting range 0...100% of the device´s
specific limit value.
2.7.3 Test Points
MP0 :
Reference ground 0 volts
MP1 :
Nominal voltage
MP2 :
Nominal current
MP3 :
Tachometer voltage
MP4 :
Error diagnostics:
9V ± 0.4V => excess current
8V ± 0.4V => overvoltage
7V ± 0.4V => over temperature
MP5 :
Current monitor Phase V
10V
MP6 :
Current monitor Phase U
10V
2.7.4 Soldering Jumpers
JP1:
For factory internal adjustment only
JP2:
For factory internal adjustment only.
JP3:
Selection for speed feedback (three-phase tachometer or incremental emitter); see
also 4.3.4. Value for incremental emitter feedback is 80 kHz.
11
JP4
As with JP3, however with a value of 40kHz.
JP5
As with JP3, however with a value of 20kHz.
JP6
As with JP3, however with a value of 10kHz.
JP7
Voltage range of rotor position emitter inputs (only for emitters having active outputs,
in contrast to the usual Open Collector outputs). JP7.2 to JP7.3 closed for 15 volt
output level and JP7.2 to JP7.1 for 5 volt output level.
JP8
For factory internal adjustment only
JP9
Closed for operation of the device as a speed controller, open for current controller.
JP10
As with JP9
JP11
Open for operation of the device as speed controller, closed for current controller
JP12
For factory internal adjustment only
JP13
For factory internal adjustment only
2.7.5 Internal Potentiometers
P6
For factory internal adjustment only
P7
For factory internal adjustment only
P8
A potentiometer can be installed here for special requirements to the clock frequency
of the output stage (not inserted for standard devices).
12
PEAK
CUR
CONT
BALANCE
RESP
CUR
SIGNAL
40.30
GND
VEL CM D
CUR CM D
VELOCITY
FLT DIAG
CUR V
CUR U
FAULT
CURLM T
POWER
TBF
PEAK
CUR
CONT
BALANCE
RESP
CUR
SIGNAL
55.40
GND
VEL CM D
CUR CM D
VELOCITY
FLT DIAG
CUR V
CUR U
FAULT
CURLM T
POWER
TBF
SHUNT LOAD
PEAK
CUR
GND
VEL CM D
CUR CM D
VELOCITY
FLT DIAG
CUR V
CUR U
80.80
CONT
BALANCE
RESP
CUR
SIGNAL
FAULT
CURLM T
POWER
TBF
2.8
Front View
128.50
128.50
128.50
Figure 2: Front Views
13
3
Connection of the Device
3.1
Pin assignment (Din F48 connector)
2z
Integral shut off
18z
Ground
2b
Negative Stop
18b
– 15 volts
2d
Positive Stop
18d
+ 15 volts
4z
Tachometer MP / Ground reference
20z
+ VBus
4b
Rotation speed set point input (+)
20b
+ VBus
4d
Rotation speed set point input (–)
20d
+ VBus
6z
+ 5 volts
22z
AC 2
6b
Operational readiness 13
22b
AC 2
6d
Operational readiness 14
22d
AC 2
8z
+ 15 volts
24z
AC 1
8b
Enable input
24b
AC 1
8d
Tachometer output
24d
AC 1
10z
Hall W
26z
Power ground
10b
Tachometer V; Track I+
26b
Power ground
10d
Track I-
26d
Power ground
12z
Hall U
28z
Motor T
12b
Tachometer W; Track A+
28b
Motor T
12d
Track A-
28d
Motor T
14z
Hall V
30z
Motor R
14b
Tachometer U; Track B+
30b
Motor R
14d
Track B-
30d
Motor R
16z
Ground
32z
Motor S
2
16b
I t signal
32b
Motor S
16d
Iext.
32d
Motor S
14
3.2
2z
2b, 2d
Explanation of Connection
Integral Shut Off
At this input, via cut in of a high signal (15-30 volts),
the integral part of the speed controller can be shut
off. This can be useful for example for positioning
operations. With open or at ground level input the
integral portion is active.
During the normal operation, this input is inactive. The input is not to be
wired for this case or is to be connected to ground.
For running the motor in a positive direction, the input
Negative Stop,
Positive Stop must have a +15 to +30 volt connection.
Positive Stop
By the opening of this connection, for example
through a limit switch (open) the positive nominal
value will be suppressed and so the motor will be
braked with the maximum adjusted impulse current.
Negative speed is still possible. At the same time,
with an activated stop-function the integral part is shut
off. In a similar manner, the Negative Stop input
applies for a negative rotation.
When these inputs are not used, they have to be connected to +15V.
4z
4b,
4d
Three-Phase
Tachometer
MP/GND Reference
Command+;
Command -
6z
+5V
6b,
6d
Ready message
8z
+15V
8b
Enable input
Reference ground for applying the mid-point lead of a
three-phase tachometer.
Inputs from a differential amplifier for pre-setting the
speed setpoints. Terminal 4b works positively as
opposed to 4d. The maximum difference voltage may
not exceed ±10 volts. Both inputs must always be
switched to attached circuits, for example Command+
to the output of a D/A converter and Command- to an
analog ground of an NC control.
Output of a +5 volt supply, for example for the supply
of an incremental emitter or a rotor position emitter.
Power rating 100mA.
Potentialfree reed relay contact to signal the read
message of the device. The contact is closed with an
operationally ready device.
Output of the +15 volt electronic voltage, for example
for the supply of a rotor position emitter or the limit
switch inputs Positive Stop, Negative Stop.
This connection is to bring a voltage of between +15
volts to +30 volts for operational use, with an open
input the motor is without current.
15
8d
10z
12z,
14z
As in chapter 2.5 the following applies: Enable of the motor is possible only
when the device is ready for operation (green LED lights). This prevents the
motor from running in an uncontrolled manner when the operating voltage is
applied to the amplifier while the enable signal is active
Output Tachometer Output of the processed tachometer signals. With a
power rating of 1 mA, there is a signal available which
is equivalent to a D.C. tachometer. The lead-in wire
must be a shielded cable and as short as possible.
The reference point is 4z (GND ref).
Inputs for the rotor position emitter signals. For
Hall W,
motors use the following: Lead W to terminal 10z,
Hall U,
Lead U to terminal 12z, and Lead V to terminal 14z .
Hall V
Look about the right connection
10b,
12b,
14b
16
Tacho V, Track I+, Inputs for a three-phase tachometer or an incremental
Tacho W, Track A+ emitter.
For our motor, the following applies: For a threeTacho U, Track B+,
phase tachometer connect Lead W to 12b, Lead U to
14b, and Lead V to 10b. For maximum speed, with 10
volt set-point, voltages from 4.5 volts to 45 volts can
be treated. It should be noted that a correct
tachometer signal can only be produced with correct
synchronization of the rotor position emitter (see also
2.4 and 3.3).
With connection of an incremental emitter one should
distinguish whether the encoder has a 5 volt TTL
output or an RS 422 line driver.
If an incremental emitter is used without a line driver,
IC 6 must be removed and solder jumper JP1.2
connected to JP1.1 and JP1.3, and as well JP2.2
connected to JP2.1 and JP2.3, and additionally JP8.1
connected to JP8.2. The device is then prepared for
utilization of signals with a TTL level. Track A and
Track B signals are now drawn over a 2.2kOhm pullup resistor to 5 volts. Track I+ goes to terminal 10b,
Track A+ to terminal 12b and Track B to terminal 14b.
Track I+ is not utilized in the device and is only looped
through.
For an incremental emitter with a line driver, the not
inverted signals are placed as described above. The
jumpers nevertheless are open and IC 6 is in place
(standard).
Incremental emitter inputs with use of line drivers.
Track /I is connected to terminal 10d, Track A- to
terminal 12d, and Track B- to terminal 14d. Solder
jumpers JP1, JP2, and JP8 must be open, IC 6 must
be in place (standard).
For incremental emitter with TTL output there are
available at these terminals the looped through
signals Track I, Track A+, and Track B
Look about the right connection.
10d,
12d,
14d
Track /I,
Track A-,
Track B-
16z
16b
GND
I2t Signal
16d
0 volt reference point for inputs and signal outputs.
If the I2t current limiter is active, then the output is low
impedance tied with +15 volts, otherwise it is high
impedance.
Using an external voltage from 0 to 10 volts, the
I external
impulse current at the current limiter input can be
limited from 0 to 100%, adjusted by P2. A voltage of 0
volts corresponds to about 0 amps and a voltage of
10 volts to the P2 adjusted impulse current..
If no current limiting is desired, the input must be switched to +15 volts
18z
GND
18b
18d
20z,b,d
22z,b,d
24z,b,d
0 volts reference potential for +5 volts, +15 volts, and
-15 volts
-15 volt supply for external use. Power rating –10mA.
-15V
+15 volt supply for external use. Power rating together
+15V
with 8z 10mA.
Plus of the D.C. Bus. Here the plus pole can be fed
+UB
by a possible available external D.C. voltage, from bypassing the internal rectifier
These three contacts have be switched parallel ! One single contact is ready
for constant current of 5A and 45°C.
AC1
AC2
Supply inputs of the device. Here the secondary
terminals of the transformer are connected. For safety
purposes a fuse must be built into the lead-in wire.
NOTICE! The transformer voltage may not, in any operating condition, exceed 60
volts AC, for a 60 volt device, considering all winding tolerances and mains
fluctuations. (120 volts AC for 120 volt device).
These three contacts 22z,22b,22d have be switched parallel!
These three contacts 24z,24b,24d have be switched parallel!
One single contact is ready for constant current of 5A and 45°C.
17
Ground of the D.C. current intermediate circuit. Here
the plus pole can be fed by a possible available
external D.C. voltage, from by-passing the internal
rectifier.
These three contacts have be switched parallel! One single contact is ready
for constant current of 5A and 45°C.
26z,b,d
Power GND
28z,b,d
30z,b,d
32z,b,d
Output terminals of the final stage, to which the motor
Motor T,
is connected. 32z,b,d to wiring S, 30z,b,d to wiring R,
Motor R,
and 28z,b,d to wiring T.
Motor S
These three contacts have to be switched parallel! One single contact is
ready for constant current of 5A and 45°C.
18
3.3 Wiring
A careful wiring is absolutely necessary to guarantee a troublefree operation of the servo
amplifier!
The control line for the servo amplifier, the signal lines of the motor, and the motor lines are to
be wired separately.
See also “Measures for an installation in conformity to the EMC directive“.
3.3.1 Protective earth terminal
Power GND (ST1 26z,b,d) must be connected with the protective earth terminal. The control
unit and amplifier must have an equal potential. The equalized potential must be realized by a
single connection between control unit and amplifier (ST1 26z,b,d). This connection should be a
sufficiently strong line. The conductor cross section should at least correspond to that of the
motor line, however, should not be smaller than 1.5mm². As in the amplifier Power GND (ST1
26z,b,d), GND (ST1 18z and ST1 16z) and GND-REF (ST1 4z) are connected, no further
terminal must be connected with control GND, to avoid ground loops.
3.3.2 Resolver cable
The resolver cable must be shielded. The pairs S1/S3, S2/S4 and R1/R2 must be twisted. The
shorter the twist, the better it is. Each pair has to be shielded separately within the total shield
(see 3.5). The internal shields are to be connected to connector ST2 with ST2.6, ST2.7, ST2.8,
the external shield is to be connected to the connector housing. Connection of the shields on
the side of the motor is not allowed, and not to the connector housing either, as otherwise
interference currents of the motor winding may be discharged through this shield, which would
partly wreck the shielding effect (ground loops).
3.3.3 The line cable of the motor
The power supply of the motor, that means the actual motor cable, has to consist of four
stranded cores (R¹,S¹,T¹,PE). The shorter the twist, the better it is. In order to minimize
interference emission, you have to use a shielded cable. The shield must be connected with a
low inductance to POWER GND (26z,b,d). On the motor side the shield has to be connected to
the motor housing via the metallic connector housing. To guarantee a reliable functioning of the
protective function ground contact resistance (safety against contact of the winding with the
housing), the motor housing has to be connected with POWER GND (26z,b,d).
19
3.3.4 Control lines and signal lines between master control unit and amplifier
For the definition of the speed reference, the master control unit normally provides an output of
a digital/analogue converter. This output signal normally is measured against ground or against
reference voltage. The input at the amplifier is a differential input with set value+ at 4d and set
value- at 4b. The lines at these inputs have to be run to the control unit in the same cable. This
cable has to be shielded, with connection of the shield to the servo amplifier and the control
unit. Input+ of the TBF-R is connected to the set value output of the master control unit. Inputof the TBF-R is connected to the reference point for the set value output at the master control
unit.
The lines Iext., Int.off, Ready output, Enable and Pos.Stop/Neg.Stop, if used, have to be wired in
a shielded cable as well. These lines are measured against ground, that means the connection
requested in 3.3.1. between TBF and master control unit is sufficient.
3.3.5 The simulated incremental encoder signals
The connection cable for the incremental encoder signals has to be shielded. The pairs track
A+/track A-, track B+/track B- and track I+/track I- have to be twisted, the shorter the twist the
better the interference immunity. Each pair is shielded separately within the total shield. The
shield has to be connected on amplifier side and control unit side.
20
3.4
Proper Polarity of Motor and Rotor Position Emitter
Connection
The motor is connected to the amplifier using the power contacts U,V,W, as shown in the
terminal board connection diagram in 3.5. Also the signal wiring of the rotor position emitter and
the three phase tachometer, or incremental emitter, will be connected as described in 3.5
Since the labeling of the rotor position emitter and the three-phase tachometer may vary from
one manufacturer to another, the equivalents are:
RLG-U
RLG-V
RLG-W
=
=
=
Hall1
Hall2
Hall3
=
=
=
RLG-K
RLG-L
RLG-M
...and so on
Tacho-U
Tacho-V
Tacho-W
=
=
=
U1
U2
U3
=
=
=
T0A
T0B
T0C
...and so on
If the motor is to be connected where the labeling is unknown or a normally arranged wiring is
not successful because the definition of the terminals varies from the basic normally connected
system, one can accomplish this in two ways:
1) If one rotates the motor externally and measures the signals on the motor contacts, then the
signals must be locked with the phase position to the amplifier, as described in the
appendix. Thereby with the rotation of the motor the motor wires should not be clamped to
the amplifier, the rotor position emitter wires must first of all be clamped somewhere, since
otherwise no signal can be measured.
2) First all the rotor position emitter wires must in some sequence be wired up between the
motor and the amplifier. Also, as a first step, the tachometer wiring must be clamped
somewhere. At MP3 (Nactual) the voltage must be measurable with an oscilloscope, which
with external rotation of the motor follows this rotation and is continuous and smooth,
without breaks. If this is not the case, the tachometer leads must be switched around, using
the following table:
Equipment Input
Motor
Tacho U
X
Y
Y
Z
Z
X
Tacho V
Y
X
Z
Y
X
Z
Tacho W
Z
Z
X
X
Y
Y
21
One sees, that hereby at one time the right leads are switched around and one time the left
leads are switched around. After each switching around, one checks whether the processed
tachometer voltage at MP3 is correct. If this is so, the correct placement is found.
One proceeds in the same way for the motor leads. At first the motor is connected in some
fashion, and with a small reference presetting and reduced impulse current (30%) the amplifier
is release switched on. The motor must run smoothly and follow the setpoint in both directions.
If this is not the case, one should proceed as with the tachometer. When switching the motor
leads, the amplifier should be disabled.
For use with an incremental emitter
If an incremental emitter is used for speed feedback, the set-up for a tachometer is disregarded.
With the determination of the correct motor-amplifier wiring, the incremental emitter must
already be linked with the amplifier. It can happen that a connection combination will be found,
in which the motor runs to the speed limit, but it is possible to change rotation direction through
a change in setpoint polarity. With this combination, Track A+ and B (A- and B-) should be
switched around in order to obtain a stable regulation circuit.
Adjustment of rotor position emitter / three-phase tachometer
The rotor position emitter and the three-phase tachometer are usually factory adjusted. If it
becomes necessary to replace the rotor position emitter or should a new motor/emitter
combination be put together, one should proceed in the following manner:
One rotates the motor externally and with an oscilloscope measures the tachometer voltage
between tachometer U and tachometer MP (the motor, therefore should not be linked with the
amplifier). One then connects the rotor position emitter (RLG) with the amplifier and with the
second channel of the oscilloscope one measures Track U of the rotor position emitter (RLG).
By twisting the rotor position emitter against the tachometer, one brings the phase shift to 0
(mostly the rotor position emitter (RLG) and the tachometer are an already assembled device).
Next, with the second channel of the oscilloscope, the EMF between motor phases U and V are
measured (GND terminal to V, test point to U). By twisting the complete tachometer/rotor
position emitter combination the phase shift will be brought to 0°. Thereafter the motor and the
amplifier can be linked together, as indicated on the terminal, that is:
Motor U to 32z,b,d
Tacho U to 14b
RLG U to 12z
Tacho MP to 4z
Motor V to 30z,b,d
Tacho V to 10b
RLG V to 14z
Motor W to 28z,b,d
Tacho W to 12b
RLG W to 10z
If this does not bring good motor rotation, one should proceed as above described under
"Connection".
22
NCControl
AD- Converter
GND- Control
AGND
AD-Converter
+15V
Neg. Stop
Pos. Stop
Enable
operational
readiness
output
Int. Ab
Iext.
rotation speed reference value
E-
E+
8Z
2B
2D
8B
6D
6B
2Z
16D
4D
4B
TBF
10B
14B
12B
4Z
18Z
12Z
14Z
10Z
6Z
16Z
20Z,B,D
28Z,B,D
30Z,B,D
32Z,B,D
26Z,B,D
22Z,B,D
24Z,B,D
+UB
Power GND
Tacho V
Tacho U
Tacho W
Tacho MP
RLGU
RLGV
RLGW
+5V
GND
W
V
U
6
7
9
1
2
3
10
4
12
11
8
5
3
4
1
2
rotor position
emitter and
tachometer
combination
(95VAC)
52VAC
10AMT
Tacho
RLG
M
230VAC
depending on
transformer
3.5
Connection Diagram
a) With Tachometer
Figure 3
23
Figure 4
24
inputs for
incremental
encoder
(if necessary)
CONTROL
UNIT
AD- converter
GND- Control
AGND
AD- converter
Enable
ready
output
Int.off
IEXT.
+15V
Neg. Stop
Pos. Stop
nominal speed value -
norminal speed value +
E-
E+
8Z
2B
2D
18z
8B
6D
6B
2Z
16D
4D
4B
TBF ...I
12B
10B
14B
12D
14D
10D
18Z
12Z
14Z
10Z
6Z
16Z
20Z,B,D
28Z,B,D
30Z,B,D
32Z,B,D
26Z,B,D
22Z,B,D
24Z,B,D
track A+
track I+
track B+
track Atrack Btrack I-
RLGU
RLGV
RLGW
+5V
GND
2
6
4
3
5
7
10
11
12
8
1
3
4
1
2
INK.
RLG
M
applies for motor series "S" with serial no. ...507 and higher
+UB
W
V
U
gr/yel
230VAC
N
L1
PE
b) With Incremental Emitter
4
Set-up
4.1
Connection
When the servo amplifier is used together with one of our motors, the connection does not
cause any problems. In 3.5 you will find the connection diagrams. Connect the motor power
contacts R, S, T, earth and shield as described there. The correct connection sequence of rotor
position emitter, tachometer/incremental emitter are also connected as described in 3.5.
When using an auxiliary drive together with the servo amplifier TBF, we offer
to work out the correct connection diagram for you.
In end of documentation you will find the connection for other motors.
4.2
Presetting
Prior to set-up please read the chapters 1, 2, and 3.
For connecting the power amplifier and the motor sensors, the specifications
given in the connection diagrams 3.5 have to be strictly observed!
Connecting the motor "in any way" and to exchange two phase in case of
wrong directional run is not useful! We therefore offer to first check the
capability of auxiliary drives in-house.

Connect the power amplifier to the motor (see 3.5)

Connect the sensors of the motor (resolver) to the servo amplifier (see 3.5)

Connect the amplifier with the power supply (see 3.5)

The servo amplifier is configured by the factory so our motors will reach 3000 rpm with 10V
setpoint default.
If you need other speed values or if this motor/amplifier combination is set up
for the first time, please proceed as follows.
Input potentiometer
P1
five turns from left stop
Pulse current potentiometer P2
five turns from left stop
Amplification
P3
Shipped adjustment by two turns
to the left
25
4.3
Switching on and configuration
4.3.1 Procedure until amplifier is enabled
Set enable input to logical 0!
Give a speed reference of 0V!
Switch on control unit and amplifier supply!
Release the brake of the motor, if available!
Set enable input to logical 1!
Turn P3 to the left, if the motor vibrates, until the vibration stops
4.3.2 Configuration of the speed controller amplification
For the configuration of the amplification, the motor has to be coupled to load. Turn the
potentiometer P3 to the right until vibrations are noticeable, reduce the amplification
immediately by turning the potentiometer to the left until the oscillation stops and then turn it tick
more to the left.
4.3.3 Configuration of pulse current and continuous current
For a first set-up, where the currents have been reduced as described under 4.1, or when a
pulse current or continuous current, other than the preset values is required (see 2.2), the
configuration can be done as follows:
Measure the current at MP2. The scaling is to be found under 2.7.3 Proceed as follows to load
the motor in a way that it is operated to the pulse current and continuous current limits:
4.3.3.1 Pulse current
Move the motor with minimum speed to a mechanical stop and leave the set value at the
amplifier so that the motor still tries to move towards the stop. Neither limit switch, nor I AB must
be active
Turn P5 to the right stop and P2 to the left stop.
Use the potentiometer (P2) to increase the pulse current to the desired value.
Should the device reduce the continuous current before the adjustment is completed, disable
the amplifier, wait for a recovery time of 10 to 20sec. and carry out the configuration once again;
optimum values are often achieved after several repeated adjustments.
26
4.3.3.2 Continuous current
Leave P2 in the position determined as described above, adjust P5 with five turns from left stop.
Here too, move the motor with minimum speed to a mechanical stop and leave the set value at
the amplifier so that the motor still tries to move towards the stop. Neither limit switch, nor IAB
must be active.
After expire of the pulse current phase, the current is automatically reduced to the continuos
current, adjustable at P5. For adjusting P5, always turn slowly. After a short time the new
continuos current flows.
Adjustment becomes essentially easier when instead of the motor, three wye-connected
reactors are connected to the motor connections. The reactors should have a minimum load
inductance and a saturation current, that exceeds the maximum current of the amplifier.
4.3.4 Setting the maximum motor speed
The amplifier is set ex factory to a motor speed of max. = 3000RPM with 10V input voltage for
our motors. In order to reduce the maximum motor speed, turn the input potentiometer to the
left, to increase the motor speed turn it to the right.
When increasing the motor speed, depending upon the speed emitter (tachometer or
incremental emitter) one must distinguish:
a) For use with a three-phase tachometer, the tachometer voltage can be from 4.5 volts to 45
volts, for maximum speed and a 10 volt nominal value for use of a motor containing a
tachometer with 4 volts per 1000RPM, the maximum nominal speed of the motor can be
adjusted by turning to the right the input potentiometer P1.
The solder jumpers JP 6.2, JP 5.2, Jp 4.2 and JP 3.2 in each case should be soldered to "3".
The connection to "1" must be open.
b) For use with an incremental emitter, a higher rotation speed can be obtained by unsoldering
the corresponding solder lugs. In addition the highest possible emitter frequency can be
found. That is:
f max . 
Bar numbers  max imum RPM
60
Since the input frequencies of from 10kHz to 150kHz are adjustable only in 10kHz steps, the
next higher frequency must always be chosen. The ratings of the solder jumpers are as follows:
JP6.2 to JP6.1 closed
10kHz
JP5.2 to JP5.1 closed
JP4.2 to JP4.1 closed
JP3.2 to JP3.1 closed
20kHz
40kHz
80kHz
If more than one jumper is closed, use the summation of the frequencies; e.g. JP 6.2 to JP 6.1
and JP 5.2 to JP 5.1 gives: 10kHz + 20kHz = 30kHz
The calculated frequency leads to the desired speed via the formula, if the nominal speed value
as a 10 volt signal lays at the nominal value input. With lesser reference values for maximum
speed, the factor 10 volt/nominal value must be multiplied by Nmax .
27
4.3.5 Offset adjustment of the speed regulator
The offset adjustment has to be carried out in a warm operating status of the device. Define the
set value zero (short-circuit the input). Adjust motor drift by setting P4 to zero.
The amplifier is factory adjusted for a motor for a speed of n max = 3000 with an input voltage of
10 volts. In order to reduce the maximum speed the input potentiometer should be turned to the
left.
28
5
Optimizing the Control Behaviour
5.1 Amplification of Alternating Current of Current Controllers
The adjustment of the A.C. current amplification of the current controller is obtained with
resistors R25 (standard 4.7kOhm) and R26 (standard 4.7kOhm) (see appendix), whereby each
resistor is a part of a voltage divider. In the testing phase one can substitute the fixed resistors
with potentiometers (25Ohm), and then in production the optimal discovered values can be
achieved with fixed resistors.
For set up, with a low RPM, one increases the current amplification until vibration starts. The
amplification is then immediately reduced until the vibration stops and then a little bit less. Since
an excessive current amplification under some circumstances can impose a negative effect on
the commutation characteristics, one should also have consideration for this fixation.
5.2
Amplification of Alternating Voltage of the Speed Controller
For set up the amplifier, couple a load to the motor and preset the nominal value to 0volts. Turn
potentiometer P3 to the right until vibration starts, immediately take back the amplification until
the oscillation stops and then a little bit less.
The amplifier set up using an incremental emitter is less critical the higher the bar numbers of
the emitter.
5.3
Tachometer filtering
Condensor C21 (see appendix) is responsible for the tachometer filtering. For operation of the
drive with a three-phase tachometer the standard value of 22nF is sufficient, which allows for a
very good dynamic controller characteristic. If an incremental emitter is used, values of from 22
nF - 220nF are necessary, depending upon the bar numbers of the encoder and dimensioning
of the integral portion of the speed controller.
With a relatively large value of the tachometer filter, the maximum possible amplification - and
consequently the dynamics as well - is reduced. If the influence of the incremental emitter edge
is tolerable or should the dynamics of a smaller motor be utilized, then the condensor may be
completely removed.
5.4
Integral Part of the Speed Controller
Condensor C27 is responsible for the integral part of the speed controller (see appendix).
Several factors have an influence on the choice of C27. A three-phase tachometer as speed
feedback allows for a small value, which results in a high dynamic stiffness. An incremental
emitter with its larger tachometer filter requires also a somewhat larger condensor. In addition, a
possibly available higher order position regulator often makes a reduction of stiffness (larger
C27) necessary. The standard value of C27 is 330 nF.
5.5
Direct voltage amplification of the speed controller
For alteration of the static stiffness, resistor R71 is provided (see appendix). With ever larger
resistance values, the stiffness is lessened. The standard value is 330Ohm.
29
5.6
Differential Part in Tachometer Feedback
For special applications to the controller, through adaptation of a standard but not inserted
resistor (R80) and a condensor (C25), the tachometer feedback can be given a differential
characteristic.
30
6
Troubleshooting
Green light emitting diode (LED 1) does not light up, shaft doesn´t move, no holding
torque:

Fuse S1 is faulty
 External fuse to power portion is faulty
Green light emitting diode (LED 1) lights up, shaft doesn´t move, no holding torque:

Open condition of motor lead wiring

Output stage release (Enable) is missing
 Output stage release has not taken place even with operationally ready device
Shaft doesn´t move, motor has an advantageous position, which with manual
displacement of the motor starts vibrating:

Motor wrongly polarized

Motor wiring interrupted
 Rotor position emitter improperly connected or misaligned
Shaft moves, holding torque only weakly formed:
 Impulse current potentiometer is at far right position (P2)
Shaft doesn´t move, motor has holding torque:

No nominal speed value available
 Motor shaft is blocked
I²t Signal LED 2 (yellow) lights up:

Potentiometer P5 (Irms) is improperly adjusted

Mechanical friction is too great

Oscillation from improper amplifier adjustment (P3)
 Hum on the input wiring
Output stage interference LED 3 (red) lights up:

operational voltage too high (8 volts at MP4)

brake energy too high (8 volts at MP4)

thermal switch activated, since the heat sink temperature > 80° (7volts at MP4)

short circuit in motor or ground circuit of a motor wire (9 volts at MP4)
 current amplification too low
Motor rotates uncontrollable high:

three-phase tachometer or incremental emitter wrongly polarized

rotor position emitter wrongly polarized or incorrectly adjusted
 motor wrongly polarized
Speed is too low:
31

speed set point is weakened too much

operational voltage is too low

load to be driven is too great, or the current limiter has been set too low

tachometer generator has too high a voltage (>45 volts at Nmax)

incremental emitter adaptation at JP3, JP4, JP5, and JP6 has been improperly
selected
Motor has a rough running:

alternating voltage amplification is too big

tachometer wiring, or also the encoder wiring is not properly shielded

pickups due to wrong input wiring

tachometer MP is missing or is not connected as single wire to 4z
32
7
Options
7.1
Speed Control with1. three-phase tachometer (DST)
2. incremental emitter (IGT/K)
As already described in chapter 3.3, servo regulator TBF offers the possibility to generate the
actual speed value either from a three-phase tachometer or from incremental emitter signals.
Please note the model code when ordering.
7.2
Front Plate
For this device there is available in the German language a printed front plate for 19 inch
cabinet mounting with corresponding holes for all indicators and operator controls.
7.2.1 Ballast Switching
A ballast switching is necessary then if the regenerated energy from the motor and the load is
greater than the energy which can be stored in the ELKO filter. This is the case if the
momentum energy in the load during a braking operation must be taken up in the amplifier.
The TBF 60/5R comes in most cases without ballast switching, on the basis of the relatively
large condensor in the power supply.
Since with the TPF 120/7R the filter condensor is only half as large and as well the voltage and
also the current are larger, this device is provided on a standard basis with a ballast switch for
35 watts.
If by braking the LED 3 lights up and 8 volts are measured at MP4, an additional ballast switch
(at least one anyway) must be used.
The following ballast switches are available:
for 60 volt devices:
BS2/60 with 35 watts
for 120 volt devices:
BS2/120 with 80 watts and BS120/V with 125 watts
If the TBF 120/7R is to be used for more than three axis, it could be more advantageous to
employ a large common ballast switch. The internal ballast switches with this option are not
used. One connects the intermediate circuits (St1 20z,b,d, +Ub and St1 26z,b,d, Power GND)
each with one another and the D.C. voltage is fed from a three-phase rectifier.
The ballast threshold is 87 volts for the 60 volt devices and 172 volts for 120 volt devices.
To ascertain the braking power, a rough approximation can be found using the following
formula:
P = 0.0055 * J * n2/T
P = power in watts
J = mass moment of inertia in [kgm2]
n = speed in RPM
T = time length in seconds (time from the start of braking operation until the start of the next braking operation)
33
7.3
Bus Board
7.3.1 For 19" Rack Mounting (Ordering symbol TBF/BUS):
Connector plug layout for screw terminals:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
34
integral off
Neg.Stop
Pos. Stop
+ 5 volts
Ready contact 13
Ready contact 14
track /0
track Atrack BHall W
Hall U
Hall V
Iext.
GND
AC2
AC1
Power GND
Motor T
Motor R
Motor S
+ UB
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
tachometer MP/GND reference
+Command
–Command
+ 15 volts
Enable
output tachometer
tachometer V; track 0
tachometer W; track A+
tachometer U; track B
I2t signal
+ 15 volts
+ 15 volts
– 15 volts
GND
AC2
AC1
Power GND
Power GND
Power GND
Power GND
+ UB
7.3.2 For Wall Mounting (ordering symbol: TBF/BUS-W)
Connector plug layout for screw terminals:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
+Command
Enable
Iext
+ 15 volts
integral off
tachometer W; track A+
track A–Command
Ready Contact 14
positive stop
GND
GND
tachometer U; track B
track Boutput tachometer
operational readiness 13
negative stop
– 15 volts
I2t signal
tachometer V; track 0
track /0
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
Motor S
Motor R
Motor T
AC1
AC2
+ UB
Power GND
track /0
track Btrack Apower GND (motor ground)
+ 5 volts
power GND
GND (electronic ground)
tachometer V; track 0
tachometer U; track B
tachometer W; track A+
tachometer MP; GND reference
Hall W
Hall U
Hall V
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8
APPENDIX
8.1
Dimensional Drawings TBF
36
8.2
Insertion Plan TBF (Top Side)
37
8.3
38
Insertion Plan (Bottom Side)
8.4
Classification of Motor Signals
Phase position of signals with correct connection:
RLG U (12z)
RLG V (14z)
RLG W (10z)
Tacho against MP(4z)
Tacho U (14b)
Tacho V (10b)
Tacho W (12b)
V to U (30 nach 32)
(Ground to V Testpoint to U)
W to V (28 to 30)
U to W (32 to 28)
track A (12b)
track /A (12d)
track B (14b)
track /B (14d)
*****end of dokumentation*****
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