Digital Servo Controllers
DSV 130 / DSV 132 / DSV 133
Operating Manual Rev. 1.8 www.engelantriebe.de Page 1
Table of contents Page
1 INDICATIONS FOR SAFETY AND HANDLING ............................................................................................... 3
2 FUNCTIONALITY .............................................................................................................................................. 4
3 TECHNICAL DATA OF THE DSV 13X ............................................................................................................. 5
3.1 IMPORTANT TECHNICAL NOTES ........................................................................................................................................ 6
3.1.1 Brake chopper ................................................................................................................................................. 6
3.1.2 Lead fuses ....................................................................................................................................................... 6
3.1.3 Lifetime ............................................................................................................................................................ 6
3.2 SAFETY INSTALLATIONS .................................................................................................................................................. 7
3.2.1 Power stage protection .................................................................................................................................... 7
3.2.2 Motor protection ............................................................................................................................................... 7
4 MODES OF OPERATION .................................................................................................................................. 8
4.1 SPEED CONTROL MODE .................................................................................................................................................. 9
4.2 CURRENT / TORQUE CONTROL MODE ................................................................................................................................ 9
4.3 POSITIONING MODE ...................................................................................................................................................... 10
4.3.1 Homing .......................................................................................................................................................... 12
4.3.2 Limit switches ................................................................................................................................................ 13
4.4 SUPPLEMENTARY FUNCTIONS ........................................................................................................................................ 13
4.4.1 External limitation of speed / torque............................................................................................................... 13
4.4.2 Digital inputs .................................................................................................................................................. 14
4.4.3 Digital outputs ................................................................................................................................................ 15
4.4.4 Parking brake ................................................................................................................................................ 15
4.4.5 Analogue Monitor........................................................................................................................................... 16
5 PIN ASSIGNMENT .......................................................................................................................................... 17
5.1 X1 – MOTOR CONNECTION ........................................................................................................................................... 17
5.2 X2 – VOLTAGE SUPPLY................................................................................................................................................. 17
5.3 X3 – MOTORSIGNALS ................................................................................................................................................... 17
5.4 X4 – SET VALUES CONNECTOR ...................................................................................................................................... 18
5.5 X5 – SERIAL INTERFACE RS232 ................................................................................................................................... 19
5.6 X6 – CAN INTERFACE .................................................................................................................................................. 19
5.7 X7 – PARKING BRAKE .................................................................................................................................................. 19
5.8 X8 – INCREMENTAL INTERFACE ..................................................................................................................................... 19
6 INSTALLATION ............................................................................................................................................... 21
6.1 CABLE TYPE, CABLE LENGTH AND SHIELDING ................................................................................................................... 21
6.2 INSTALLATION DIAGRAM ................................................................................................................................................ 22
6.2.1 Operating with a three-phase synchronous motor ......................................................................................... 22
6.2.2 Operating with a DC motor ............................................................................................................................ 23
6.2.3 Decoupling of the parking brake .................................................................................................................... 23
6.3 JUMPER SETTING ......................................................................................................................................................... 24
7 SET-UP PROCEDURE OF THE DSV13X ....................................................................................................... 25
8 STATUS INDICATOR, ERROR CODES ......................................................................................................... 26
8.1 TABLE OF ERROR CODES .............................................................................................................................................. 27
9 TUNING THE CONTROLLER ......................................................................................................................... 29
9.1 CURRENT CONTROLLER TUNING .................................................................................................................................... 29
9.2 RESOLVER OFFSET DETECTION, MOTOR POLES ............................................................................................................... 30
9.3 SPEED CONTROLLER TUNING ......................................................................................................................................... 30
9.3.1 Tuning a motor system with a speed sensor (resolver, incremental encoder, tacho) .................................... 30
9.3.2 Tuning of DC motors with BEMF control and IxR compensation ................................................................... 31
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