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USERGUIDE

Infranor Variable
Speed Drive

Implementation

WARNING - Reliance on this Manual Could Result in Severe Bodily Injury or Death!
This manual is out-of-date and is provided only for its technical information, data and capacities. Portions of this manual
detailing procedures or precautions in the operation, inspection, maintenance and repair of the product forming the subject
matter of this manual may be inadequate, inaccurate, and/or incomplete and cannot be used, followed, or relied upon.
Contact Conair at [email protected] or 1-800-654-6661 for more current information, warnings, and materials about
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– INFRANOUR Variable–Speed Drive – CONTENTS –

CONTENTS

I – DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

II – IMPLEMENTATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1 – Preliminary Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 – Power–up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3 – Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

III – CONFIGURATION FOR SEPRO ROBOTS . . . . . . . . . . . . . . . 5

1 – Personalization Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 – Vertical Load Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 – 1.Operating Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 – 2.Strap Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 – Configurations Set by Infranor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 – 1.Backplane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 – 2.Axis Module: Logic Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 – 3.Axis Module: Power Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

IV – TROUBLESHOOTING HELP . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

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01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

Introduction

This implementation manual must be used in conjunction with manual No. 01T00084:

INFRANOR VARIABLE–SPEED DRIVE (for Sepro robots) DESCRIPTION.

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01T00357 Page 1
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

I – DESCRIPTION

The Infranor variable–speed drive is made up of the following parts:

The figure shows a 3–axis configuration

SMTR.BL Rack SMTB.S (i) Axis Modules

Fans

Complete INFRANOR
Variable–Speed Drive

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Page 2 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

II – IMPLEMENTATION

1 – Preliminary Checks

Follow the procedure described below using the axis identification sheet and
bearing in mind the maximum speed requirement:

– Enter the list of parameters.

– Check the configuration of the variable–speed drive as follows:

. Integral gain: strap or capacitor set to PAV–D

. Number of encoding points: switch A14 set to ON or OFF

. Vertical compensation strap: 2 directions possible if present

– Check that the fastening screws on the front panel of axis modules are tightened.
This is to ensure that the shielding required to protect the equipment against
interference is uninterrupted.

2 – Power–up

– Close the main isolating switch of the cabinet

– Check the main and auxiliary power supplies: 220V AC (240V AC max)

– The power is not set,

the display on the front panel should indicate a fault as follows:

– Reset the power. The display is now:

if the display is not as shown, refer to the section entitled “Safety Devices Stored
in Memory” in the Maintenance chapter in the description manual.

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01T00357 Page 3
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

3 – Settings
Active Effective connector
potentiometers terminals
A. Setting P6 – P5 – P4
P+ X3
P6 – (ramp) to min. (P–) P6 1 6
P5 2 5
P5 – (I RMS) to max. * (P+) P4 3 4

P4 – (I MAX) to max. * (P+)

* Valid for associations:
SMTB.Si SMTB.S
VS Drive VS Drive Motor

220 / 17 220 / 18 LD 620 EL

220 / 30 220 / 25 LD 640 EG – 825EJ
220 / 45 220 / 45 LD 825 EJ

P+
B. Setting Gain Using P2 X3
In Set–up mode, the gain must be preset by increasing it to 1 6
noise level. 2
3
5
4
Reduce it to eliminate noise and attenuate the oscillations visi- P2

ble on the IDC. data item (pin 2 of X3)

C. Setting Set Point Level Using P3

Adjust the set point level for the maximum speed of the custo-
mer application in Auto mode to the following value: P+ P–
Axis controlled by Axis controlled by
CAM/CAF board 3 AXES board
P3
6V 9V

– Caution: don’t measure the set point amplitude at X3

pin 3. It must be measured on X4 extension.
P+
D. Setting Offset Using P1
Set the offset in Set–up Mode function [Offset]
The value of the position of the axis displayed on terminal
musn’t change. P1

E. Check settings one axis at a time (with different movements)

P+ X3
readjusting the gain setting if necessary.
1 6
– On the oscilloscope, check the set point (pin 3 of X3), tachome- 2 5
3 4
ter feedback (pin 4 of X3) and the current (pin 5 of X3)
P2
Caution : Pin 3 of X3 is only used to display the speed of the
set point and not the amplitude.

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Page 4 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

III – CONFIGURATION FOR SEPRO ROBOTS

1 – Personalization Label

For standard configuration:

Robot serial no.

Robot N° : . . . . . . . . .
SMTB. Si 220/ . . . . . Module refererence.
Axis . . . . . Balancing Imax of board:
standard 17A, 30A, 45A
configuration
Presence of vertical load
compensation strap
Type of axis:
X,Y,Z,B,C.

For specific configuration:

IGBT Variable–Speed Drive Robot serial no.

Current loop configuration strap
B1 B2 B3 Robot N° : . . . . . . . . .
SMTB. Si 220/ . . . . . Module reference.
Current limitation: Axis . . . . . Balancing Imax of board :
. Set value specific 17A, 30A, 45A
. Number of potentiometer turns configuration
Presence of vertical
Speed loop: load compensation
. Standard Type of axis: strap
. Specific B(ra2) = X,Y,Z,B,C.
C(ca1) =
D(ca2) =
L =

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01T00357 Page 5
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

2 – Vertical Load Configuration

2 – 1.Operating Principle

. In order to offset the downward movement of the arm before it is raised,

a vertical load compensation must be implemented.
. This compensation adds a current offset which may be positive or
negative depending on mechanical configuration.
. The required option is selected using a strap.
. The offset value is defined by resistor R120 = 80K

+12v
R120 (80K)
Offset Strap –
direction
+
–12v

Load Current set point

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Page 6 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

2 – 2.Strap Position
. The position of the vertical load compensation strap is determined
through the mechanical configuration of the arm.

Direction of the shaft’s

rotary movement under Strap
the influence of a load

LOGIC BOARD

X1

D
PCBPCA

X2

Strap

X4

F E G
R120 = 80K

TU

D0 F0
E0
X3

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01T00357 Page 7
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

3 – Configurations Set by Infranor

3 – 1.Backplane

a. Layout:

K K

L L

Axis no. 3 Axis no. 2 Axis no. 1

BRIDGES TRACKS

N N N

O O O
P P P
C C C
D D D
E E E
F B F B F
B
G G G
H
J
A H A H A
1234567 8 J J
1 234567 8 1 234567 8

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Page 8 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

b. Bridges and Straps:

Bridges Designation Installed Remark

Auxiliary
K OV Aux. power supply. YES power supply
L + Aux power supply YES distribution

I2t fault anticipa-

O Idyn YES tion output (not
P Idyn YES used)
Var validation
C Servo–control mode (M. Ass) YES inputs mounted in
D Servo–control mode (M.Ass) NO series through X5
connector (n.u.)

Power OK outputs
E Pu. Ready YES
mounted in series
F Pu. Ready YES (n.u.)
Variable–speed
G Var. Ready YES
drive OK outputs
H Var. Ready YES in series (used)

J 0V Numerical Ctrl YES Var. logic 0 V

A Var. Ready Installed after last axis only

B Pu. Ready for connecting signals in
series
N Idyn

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01T00357 Page 9
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

3 – 2.Axis Module: Logic Board

a. Layout:

X4 X2 X1
X3 P1 P2 P3 P4 P5 P6

F PCB PRES
A
IDC TU E B
PCA C
D
D0
G PCAN
E0 F0
Strap A
B
C
D
PAV
A
vertical load compensation B14 B15 E
F
B G
MC C
D B13
E
F
G B12
H J2 J1
I OFF
J
K
R120 = 8o K MOTOR CODER
L EPROM A12 EPROM
A13
A14
B 4

5
6
7
EV 8
1 1

MNOP

J
A K
L

PR8

CAUTION ! CHECK THAT MOTOR AND CODER EPROMs

ARE IN THE RIGHT DIRECTION

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Page 10 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

b. Bridges:

Bridges Designation Installation Remark

D YES
G input logic YES positive logic
EF (positive or negative) YES
MN Motor temperature sensor YES Type PTC
(PTC or NTC)
Ev I2t safety device management NO Locked on
B (locked or limited) YES i 2t
TU SMTP 21 option YES No SMTP 21 option
IDC Not connected NO
DO–EO Current image on X4 and X3 YES Current image = I meas.
(= Idc or = I meas. )
KJ Fault 3 management YES Var ready = no fault and
power ready (Pu ready)
MC Set point limitation NO +/– 10V set point
(+/– 5V ou +/– 10V )
A YES
PCA Type of board (TZ / AE) YES TZ logic board
PCB YES
J1 NO
J2 Configuration YES
B12 converter YES Resolution =
B13 resolver signals YES 14 bits
B14 (resolution 12, 14 or 16 bits) NO
B15 NO
OSC
LA Reserved for Infranor
+–

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01T00357 Page 11
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

c. Switches:

Switch Designation State Remark

1000pts 2000pts

A12 Number of OFF OFF Refer to

A13 coder points OFF OFF motorization
A14 OFF ON identification sheet
4 Used for AE version board OFF Not used
5 OFF
6 Zero pulse OFF No
7 shift OFF shift
8 OFF

d. P.RES module for resolver matching:

Order Turns ratio 0.5

A 12.7 kΩ
B 12.7 kΩ
C 12.7 kΩ
D 12.7 kΩ

e. P.CAN. module for matching the converter speed rating:

RESOLUTION 14 BITS
Order
Max. speed 3600 rpm

A 220 pF
B 470 kΩ
C 1.5 nF
D 62 kΩ
E NC
F 33 kΩ
G NC

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Page 12 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

f. PAV. module for adapting the speed loop:

Speed rating: 3600 rpm Current Rating

Order 8/10/12A 17/18A 25/30A 45A

A NC NC NC NC
B (RA2) 10 kΩ 22 kΩ 47 kΩ 100 kΩ
C (CA1) 22 nF 10 nF 4.7 nF 2.2 nF
Refer to motorization identification sheet D (CA2) 470 nF 220 nF 100 nF 47 nF
E NC NC NC NC
F NC NC NC NC
G NC NC NC NC
H NC NC NC NC
I NC NC NC NC
J NC NC NC NC
K NC NC NC NC
L 0Ω 0Ω 0Ω 0Ω

g. EPROMS:

Reference / Check sum

8 A – 10 A – 12 A 17 A – 18 A – 25 A 30 A – 45 A

Coder PC 14 – 1000 / 2000 PC 14 – 1000 / 2000

EPROM FFCE FFCE

Motor ALS / 4 / 4 – 8 ALS / 10 / 4 – 8

EPROM C00C C000

Reference : ALSTHOM / num. of pairs of poles / resolver shift

Reference: Resolution 14 bits – num of coder points

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01T00357 Page 13
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

3 – 3.Axis Module: Power Board

There are two types of power board:
– boards with an IGBT power stage (1 hybrid power circuit, small
transformer) of varying design according to type: SMTB.Si or
SMTB.S.
– boards with a bipolar stage (3 groups of 2 power transistors, large
transformer),

a. Power board with IGBT POWER STAGE for SMTB.Si:

B3 B2 B1

Hybrid power circuit

Fuse F1

Connector

Transfo.

connector
Current loop
Fuse F2

Current Rating
8A 12A 17A 30A 45A
Position L > 8.93 mH L > 5.95 mH L > 4.2 mH 2.38 < L < 5.95 L > 3.97 mH

B1 B1 B1 B1 B1
B2 B2
B3

L = Inductance between phases of motor B3 B2 B1

Example of configuration for variable–speed drive

with 8 A rating :

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Page 14 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

b. Power board with IGBT POWER STAGE for SMTB.S :

CA
C14
RA
CA
C14
RA
CA
C14
RA
Hybrid power circuit

Fuse F1

Connector
Fuse F2

Transfo.

connector
Current loop matching

Current rating / Type of motor

10A / L x 310 18A / LD 620 25A / LD 640 45A / LD 825

Order
LD 825

CA 470 pF 1 nF 1.2 nF 560 pF

RA 330 kΩ 150 kΩ 110 kΩ 220 kΩ
C14 100 pF 220 pF 220 pF 100 pF

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01T00357 Page 15
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

c. Power board with BIPOLAR STAGE :

Power transistors

A A
B B Fuse
F1
Prise
A
B Fuse
Transformer
F2

Connector

Current loop
matching

Current rating / Type of motor

10A / L x 310 18A / LD 620 25A / LD 640 45A / LD 825

Order
LD 825

A 470 pF 1 nF 1.2 nF 560 pF

B 330 kΩ 150 kΩ 110 kΩ 220 kΩ
B 100 pF 220 pF 220 pF 100 pF

21/04/95
Page 16 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

IV – TROUBLESHOOTING HELP

* NO RESPONSE FROM MOTOR

– No power supply voltage (if auxiliary supply).
– No main power supply voltage.
– Motor wire cut or fuse.
– Power supply fuse.
– Servo–control mode (M.ASS) input not activated.
– Limit switch input not activated.
– No personalization board (PAV module).

* MOTOR CONTROL BUT NO TORQUE

– Potentiometer P4 set to minimum (Imax).
– Wiring fault on personalization board (PAV module).
– Potentiometer P5 set to minimum (leff).

* PREFERENTIAL POSITIONS HELD WITH ALTERNATING

OSCILLATIONS
– Motor wires are badly connected or coupled or even reversed.
– Resolver wrongly positioned with respect to motor or misconnected.
– Number of resolver poles does not comply.
– EPROM does not comply with number of motor poles.

* DISCONTINUOUS OPERATION
– Wire cut on one phase.

* TORQUE WITH POSSIBLE SPEED DRIFT

– No set point.
– Both limit switches are activated.

* THE MOTOR ONLY RUNS AT HIGH SPEED

– Resolver adjustment or connection fault.

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01T00357 Page 17
– INTRODUCTION – – INFRANOR Variable–Speed Drive –

* LOUD NOISE AND CRACKLING EVEN WHEN OFF

– Shielding fault on resolver wires.
– Motor ground connection fault.
– Ground link fault on logic 0V potential.

* IRREGULAR BUZZING SOUND

– Same causes as above.
– Shielding fault on set point link.

* MOTOR DRIFT ON LOAD IN ONE DIRECTION

– Incorrect logic 0V potential reference.

* IRREGULAR OPERATION, ESPECIALLY AT HIGH SPEED

– Resolver impedance too low.
– Resolver interface faulty.
– Speed dynamic adjustment fault.
– Resolver wiring fault.

* LOUD NOISE IN THE MOTOR WHEN RUNNING AT HIGH SPEED IN ONE

DIRECTION
– Resolver wiring fault.

* THE VARIABLE–SPEED DRIVE CUTS OUT AFTER AN ACCELERATION

OR BRAKING WITH OVERVOLTAGE
– Discharge on a resistor ineffective (threshold setting fault or fuse blown
on discharge system) – Fault no. 6 displayed on the variable–speed
drive.

* MOTOR WHISTLES AFTER HIGH ACCELERATION AND NOMINAL

SPEED NOT REACHED
– DC voltage too low during accelerations.

* WHISTLING WHEN OFF

– The resolver used has an unsuitable turns ratio.

21/04/95
Page 18 01T00357
– INFRANOR Variable–Speed Drive – – INTRODUCTION –

* UNSTABLE SETTINGS (DAMPED SPEED OSCILLATIONS)

– Gain too low (increase by turning P2 to the right).

* FLUTTERING BETWEEN PLUS OR MINUS INCREMENT POSITION

– Static gain Ko too high: decrease gain using P2.

* OVERRUN IN POSITIONING PHASES

– Speed loop gain too low (turn P2 to the right).
– Position loop gain to be corrected, dragging errors in the position
measuring system.
– Position loop gain too high.

REMARK:
One error does not rule out another.

Have you remembered to retighten all connections ?

21/04/95

01T00357 Page 19
Conair has made the largest investment in customer support in
the plastics industry. Our service experts are available to help WE’RE HERE
with any problem you might have installing and operating
your equipment. Your Conair sales representative also can help TO HELP
analyze the nature of your problem, assuring that it did not
result from misapplication or improper use.

To contact Customer Service personnel, call:

HOW TO CONTACT
CUSTOMER
SERVICE
From outside the United States, call: 814-437-6861
You can commission Conair service personnel to provide on-
site service by contacting the Customer Service Department.
Standard rates include an on-site hourly rate, with a one-day
minimum plus expenses.

If you do have a problem, please complete the

following checklist before calling Conair: BEFORE YOU
❒ Make sure you have all model, serial and parts list num- CALL ...
bers for your particular equipment. Service personnel will
need this information to assist you.
❒ Make sure power is supplied to the equipment.
❒ Make sure that all connectors and wires within and
between loading control and related components have been
installed correctly.
❒ Check the troubleshooting guide of this manual
for a solution.
❒ Thoroughly examine the instruction manual(s)
for associated equipment, especially controls. Additional manuals and
Each manual may have its own troubleshooting prints for your Conair
guide to help you. equipment may be
ordered through the
❒ Check that the equipment has been operated as Customer Service or
described in this manual. Parts Departments for
a nominal fee.
❒ Check accompanying schematic drawings for
information on special considerations.

SERVICE INFORMATION APPENDIX A-1

Conair guarantees the machinery and equipment on this
EQUIPMENT order, for a period as defined in the quotation from date of
GUARANTEE shipment, against defects in material and workmanship
under the normal use and service for which it was recom-
mended (except for parts that are typically replaced after
normal usage, such as filters, liner plates, etc.). Conair’s
guarantee is limited to replacing, at our option, the part or
parts determined by us to be defective after examination.
The customer assumes the cost of transportation of the
part or parts to and from the factory.

Conair warrants that this equipment will perform at or

PERFORMANCE above the ratings stated in specific quotations covering the
WARRANTY equipment or as detailed in engineering specifications,
provided the equipment is applied, installed, operated and
maintained in the recommended manner as outlined in our
quotation or specifications.

Should performance not meet warranted levels, Conair at

its discretion will exercise one of the following options:
● Inspect the equipment and perform alterations or
adjustments to satisfy performance claims. (Charges
for such inspections and corrections will be waived
unless failure to meet warranty is due to misapplica-
tion, improper installation, poor maintenance practices
or improper operation.)
● Replace the original equipment with other Conair
equipment that will meet original performance claims
at no extra cost to the customer.
● Refund the invoiced cost to the customer. Credit is sub-
ject to prior notice by the customer at which time a
Return Goods Authorization Number (RGA) will be
issued by Conair’s Service Department. Returned
equipment must be well crated and in proper operating
condition, including all parts. Returns must be prepaid.

Purchaser must notify Conair in writing of any claim and

provide a customer receipt and other evidence that a claim
is being made.

Except for the Equipment Guarantee and Performance

WARRANTY Warranty stated above, Conair disclaims all other war-
ranties with respect to the equipment, express or
LIMITATIONS implied, arising by operation of law, course of dealing,
usage of trade or otherwise, including but not limited to
the implied warranties of merchantability and fitness for
a particular purpose.

APPENDIX A-2 WARRANTY INFORMATION UGE015/0499