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ANCA Motion AMD2000 Series, User Manual

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ANCA Motion AMD2000 Series User Manual Download Page 143

 

 

Technical Data 

ANCA Motion 

D-000088 Rev 09 

131 

 

10 

10.10 

Regeneration Resistor 

The D2xxx drives have an inbuilt regeneration resistor.  Regeneration refers to the process whereby when the 
motor is actively providing energy to the drive and then stops, the kinetic energy in the entire mechanical system 
connected to the shaft of the motor gets transferred to the bus capacitance in the drive, which increases the 
voltage.  This happens because of the motor inductance.  When the voltage on the bus capacitance exceeds 
385V the drive will connect the internal regeneration resistor in addition to any external regeneration resistor that 
is provided by the user.  The internal resistor is only capable of dissipating a power of 40W for the D2103 and 
60W for the D2015 and D2109. In addition to the power rating of the resistor to be observed the instantaneous 
energy maximum for each resistor must also be observed.  This is 24.7 joules for the D2103 drive and 143 joules 
for the D2015 and D2109. If there is more regeneration power than this is created then the user must connect an 
external resistor.  

In addition to the energy limitation and average power limitation of the regeneration resistors, the rate of 
deceleration should not result in a DC Bus Overvoltage trip.  This can occur if the instantaneous regenerated 
power exceeds the power being dissipated by the regeneration resistor.  This is rarely an issue but can be a 
problem where very rapid decelerations at high retarding torques are desired.  

Consult ANCA Motion

 for advice if 

this is a concern. 

AMD2000

C

D

Internal Regeneration 

Resistor:

40W(3A drive)

/

60W (9A/15A drive)

DC Bus Capacitors: 

<400V, 

440µF(3A drive)

/

1410µF(9A/15A drive)

External Regeneration 
Resistor(s) as required

X2B

 

In order to preserve the integrity and safety of the Drive, the following MINIMUM values of external Regen 
Resistance shall apply: 

3A Drive:  

51 Ohms Minimum 

9A Drive:  

40 Ohms Minimum 

15A Drive: 

40 Ohms Minimum 

10.10.1 

Regeneration Resistor Selection, Regeneration Energy and Power 

The starting points for the calculations regarding the required regeneration resistor are the two equations for 
kinetic energy in the system, and are dependent entirely on the application of the user. 
 

Linear: 

 

𝐸 =

1

2

𝑚𝑣

2

  

 
Where E = Energy in Joules 
m = mass in kg 
v = velocity in m/s 

 

Rotational: 

 

𝐸 =

1

2

𝐽𝜔

2

  

 
Where E = energy in Joules 
J = moment of inertia in kgm

2

 

ω = angular velocity in rad/s 
 

 

 

Summary of Contents for AMD2000 Series

Page 1: ...AMD2000 Series D2xxx Servo Drive User Guide D 000088 Rev 10 ...

Page 2: ...AMD2000 Series D2xxx Servo Drive User Guide ii D 000088 Rev 10 ANCA Motion Page intentionally left blank ...

Page 3: ...ANCA Motion web site ANCA Motion AMD2000 Servo Drive web page AMD2000 AMD2000 Documentation User Guide SoE Configuration Guide MotionBench Software Software Sales and Support Contact Information Product Sales and Service Enquiries Catalogue Number DS619 0 00 0046 Document Reference D 000088 Rev 10 Effective 8 August 2022 ANCA Motion Pty Ltd ...

Page 4: ...AMD2000 Series D2xxx Servo Drive User Guide iv D 000088 Rev 10 ANCA Motion Page intentionally left blank ...

Page 5: ...n cable selection and routing 6 Power Wiring Insulation earthing power conditioning brake connection and regenerative brake 7 Control Wiring Electrical interfacing with the I O connectors EtherCAT and motor feedback 8 Installation Checklist Pre power up checks 9 Start up Refers to suite of configuration guides 10 Technical Data Functions specifications dimensions de rating brake resistor calculati...

Page 6: ... Number Interpretation 8 3 5 System Overview 9 3 6 Front Panel Overview 12 3 6 1 D2103 12 3 6 2 D2109 and D2015 13 3 6 3 X1 X2 EtherCAT Connectors 13 3 6 4 X3 Factory Use Only 14 3 6 5 X4 Input Output Connector 14 3 6 6 X5 Encoder Interface Connector 14 3 6 7 Motor Armature Cable Connector 14 3 6 8 Power Inductor and Brake Resistor Connector 15 3 6 9 LED Display and Control Panel 15 4 Mechanical I...

Page 7: ... the Assembly 28 6 3 Mains Power Supply 28 6 3 1 AC Voltage Supply 30 6 3 2 DC Voltage Supply 31 6 3 3 Connection of drives to grounded systems TN or TT 31 6 3 4 Connection of drives to non grounded systems IT 31 6 3 5 Connection of drives to Delta Transformer systems IT 32 6 3 6 Harmonics and reactive power compensated supplies 32 6 3 7 Residual current operated protective RCD protection 32 6 4 G...

Page 8: ...59 7 Control Wiring 60 7 1 What this Chapter Contains 60 7 2 I O Connector X4 61 7 3 I O Interface Module 62 7 4 Analogue I O 63 7 4 1 Analogue Inputs 63 7 4 2 Analogue Outputs 67 7 5 Digital I O 68 7 5 1 24V Control Circuit Supply 69 7 5 2 Digital Inputs 69 7 5 3 Digital Outputs 76 7 6 Encoder Pass Through 77 7 7 Safe Torque Off STO Operation 78 7 7 1 Definitions 78 7 7 2 STO Overview 78 7 7 3 ST...

Page 9: ...ures 104 10 2 4 DC bus voltage control 105 10 2 5 Advanced control functions 105 10 3 Interface Specifications 106 10 3 1 Digital I O Supply 106 10 3 2 24V Digital Inputs 106 10 3 3 24V Digital Outputs 106 10 3 4 Differential Digital Inputs 106 10 3 5 Differential Digital Encoder Output 107 10 3 6 Analogue Inputs 107 10 3 7 Analogue Outputs 107 10 3 8 Motor Position Feedback 107 10 3 9 Encoder Cha...

Page 10: ...ons mm 116 10 7 4 Soft Start Module 116 10 8 24V Control Circuit Supply 117 10 9 Voltage and Temperature De rating 118 10 9 1 D2103 De rating 118 10 9 2 D2109 De rating 122 10 9 3 D2015 De rating 126 10 10 Regeneration Resistor 131 10 10 1 Regeneration Resistor Selection Regeneration Energy and Power 131 10 11 Materials 133 10 12 Standards Conformity 134 10 12 1 D2103 D2109 CE Declaration of Confo...

Page 11: ... 11 4 11 DC Choke 147 11 4 12 Power Supply Soft Start Module 147 11 5 Drive Kit Order Codes 148 11 5 1 D2103 SoE Drive 3A with Cable Bracket Kit 148 11 5 2 D2103 SoE Drive 3A with Cable Bracket Kit STO Override Plug 148 11 5 3 D2109 SoE Drive 9A with Cable Bracket Kit 149 11 5 4 D2109 SoE Drive 9A with Cable Bracket Kit STO Override Plug 149 11 5 5 D2015 SoE Drive 15A with Cable Bracket Kit 150 11...

Page 12: ...AMD2000 Series D2xxx Servo Drive User Guide xii D 000088 Rev 10 ANCA Motion Page intentionally left blank ...

Page 13: ...equipment Never operate the equipment if you are in doubt about how these safety features work 1 1 General Safety Please read the following safety guidelines before installing the equipment Equipment operators must read the User Guide carefully and make sure of the correct procedure before operating the AMD2000 The AMD2000 servo drive system is an Open Type product the associated module enclosures...

Page 14: ... all energy sources prior to cleaning or routine maintenance Use cables equal or greater cross sectional area than the minimum recommended Install cables according to local legislation and regulations as applicable Insulation resistance testers sometimes known as a megger or hi pot tester are not to be used on the drive as a false resistance reading and or damage to the drive may result 1 2 Safe S...

Page 15: ...isable the PWM switching in the drive in a reliable and safe manner and consequently shutting down the delivery of torque to the driven machinery This function is often used to replace external safety contactors thereby reducing the need to re start power up sequences in machinery and reducing the total safety system costs for the end user The D2015 drive does not have this capability and should n...

Page 16: ...Respect To GND Ground RMS root mean square V mV Volt millivolt A mA Ampere milliamp Φ Phase Ø Diameter Ω Ohms AC DC Alternating Current Direct Current Hz Hertz ms Millisecond SoE Servo Drive Profile according to IEC 61800 7 204 over EtherCAT CNC Computer Numerical Control DCM Drive Controlled Moves PMSM Permanent Magnet Servo Motor PMAC Permanent Magnet Alternating Current STO Safe Torque Off PE P...

Page 17: ...lso capable of running in standalone mode executing pre defined repetitive moves Standard features include Single axis drive for AC synchronous servo motors and induction motors Models with continuous current ratings of 3A 9A or 15A Direct connection to 100V 240VAC single phase or 3 phase Support for incremental analogue and digital encoders Position velocity and torque current control Display and...

Page 18: ...ified circuit diagram of the drive is shown below The AC supply voltage is converted to DC which is then converted into the required variable frequency AC voltage signal to drive the motor AC Motor Drive Control Switching Control Single or 3 Phase AC Input DC AC Converter AC DC Converter AMD2000 Servo Drive ...

Page 19: ...Product Overview ANCA Motion D 000088 Rev 09 7 3 3 4 AMD2000 Variant Identification D2103 D2109 D2015 ...

Page 20: ...RS422 1Vpp Communications S Servo Profile over EtherCAT C CAN over EtherCAT Rated Voltage 2 100 240 VAC Hardware Identification A Hardware Type A Variant 0 Non STO 1 STO Note This product label is generic The D2015 does not have CE compliance hence the CE logo will not be on the D2015 label For any warranty work to be undertaken these labels must be readable and undamaged Care should be taken to r...

Page 21: ...tructions controlling one or more user pre defined moves stored locally on the drive The following figure provides a block diagram of the drive system There are three versions of drive system available corresponding to maximum continuous motor current ratings of 3A 9A and 15A The EtherCAT communications channel is routed between the components within the drive system and the external control syste...

Page 22: ... Encoder 1 Position Encoder 2 Encoder Output Standard Digital Outputs EtherCAT Communications Network EtherCAT Communications Network Soft Starting PWM Control Heatsink Temperature Regeneration Resistor Control 100 240VAC 1Ø 3Ø Power Supply 100 240VAC 1Ø Power Supply Inductor DC link STO Control STO Outputs STO Inputs Optional External Regeneration Resistor Figure 3 2 Block Diagram of the Drive Sy...

Page 23: ...rather than the host device Host Device EtherCAT Master capable device e g CNC or EtherCAT IN X3 Brake Power X5 X4 I O Interface Module EtherCAT OUT Serial Communications Supply Earth Optional External Regenerative Resistor Circuit Breaker Cuts off power in the case of an overload to protect the power line Noise Filter Attached to prevent external noise from the power source line Figure 3 3 Connec...

Page 24: ...NAL LC1 LC2 L1 L2 L3 P1 P2 P C D Control Voltage Single Phase Supply Control Voltage Single Phase Supply Single Three Phase Supply Single Three Phase Supply Single Three Phase Supply External Inductor Connection External Inductor Connection Braking Resistor Braking Resistor Braking Resistor 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 PIN PIN Al 01 Al 02 AGND AGND SFR A SFR B DI 01 DI 02 DI 03 DI 04 ...

Page 25: ... Three Phase Supply Single Three Phase Supply Single Three Phase Supply External Inductor Connection External Inductor Connection Braking Resistor Braking Resistor Braking Resistor 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 PIN PIN Al 01 Al 02 AGND AGND SFR A SFR B DI 01 DI 02 DI 03 DI 04 DI 05 DI 06 DI 07 DI 08 DI 09 DI 09 DI 10 SIGNAL SIGNAL EO A EO A EO B EO B EO Z EO Z NC NC STO 01 NC STO 01 GN...

Page 26: ... 5 jack screws 3 6 6 X5 Encoder Interface Connector Mating Connector High Density D SUB 15 WAY Female with 4 40 UNC jack screws 3 6 7 Motor Armature Cable Connector Mating Connector 3 Position 7 62 mm Male Terminal Plug X3 Port X3 is not available for end users X4 Port X4 is for analogue I O digital I O and STO X5 Port X5 is for encoder connections U V W Motor armature cable connection ...

Page 27: ... For Additional Information refer to section 6 14 Brake Regeneration Resistor 3 6 9 LED Display and Control Panel The AMD2000 series drives are fitted with a LED display and control panel as shown in the following figure The characteristics of the display and control panel are detailed in the following table Drive Display Indicator 5 x 7 segment LED Operator interfacing 4 DIP buttons LC1 LC2 Singl...

Page 28: ...servo drives during installation or removal ensure against discharge before touching the product e g by touching an earthed conductive surface or by wearing an earthed armband 4 3 Requirements 4 3 1 Installation Site The following is a set of requirements on the installation site Failure to follow these instructions may result in drive failure or degraded operation The AMD2000 Series Servo Drive m...

Page 29: ...ves are adequately earthed through the provided protected earth points denoted with the symbol Use appropriate M4 ring terminals for this connection If armature termination brackets are required to be fitted for EMC compliance see 6 8 2 Motor Power Cable Installation for instructions The D2103 drive operates without an additional cooling method whereas the D2109 and D2015 drive requires forced air...

Page 30: ...mm horizontal space between itself and the cabinet wall and at least 30mm space between adjacent drives The D2109 must have at least 8mm horizontal space between itself and the cabinet wall and at least 15mm space between adjacent drives The D2015 must have at least 8mm horizontal space between itself and the cabinet wall and at least 28mm space between adjacent drives Refer to 10 5 Environmental ...

Page 31: ...ion ANCA Motion D 000088 Rev 09 19 4 Figure 4 2 D2015 Mounting clearance requirements If armature termination brackets are required to be fitted for EMC compliance refer to 6 8 2 1 Cable Shielding for fitting instructions ...

Page 32: ...he drive STO function DOES NOT isolate power from any part of the drive Turn the Main Disconnect mains isolator switch to the Off position and follow the appropriate lockout procedure when installing the drive 4 4 2 Mounting a Drive Refer to section 10 7 Dimension Drawings for drive dimensions and mounting hole positions Refer to Figure 4 3 D2103 Figure 4 4 D2109 or Figure 4 5 D2015 for mounting s...

Page 33: ...STEP2 STEP 3 STEP 4 A E Figure 4 3 Mechanical Mounting of AMD2000 D2103 Servo Drive B STEP2 STEP 3 STEP 4 E D A C B Figure 4 4 Mechanical Mounting of AMD2000 D2109 Servo Drive STEP2 STEP 3 STEP 4 E D A C B Figure 4 5 Mechanical Mounting of AMD2000 D2015 Servo Drive ...

Page 34: ...Drive Ensure mains power has been isolated from the drives see 4 4 1 Power Isolation above STEP 1 Unplug the cables from the front of the drive to be un mounted by carefully working the plugs from their sockets STEP 2 Follow steps 4 through to 2 of section 4 4 2 Mounting a Drive in reverse order ...

Page 35: ...a PWM inverter power supply Refer to 10 4 2 Digital servo drive and 11 2 2 Motor Electrical Information Summary 5 3 Power Supply Disconnecting Device A Mains disconnecting device must be connected between the AC power source and the AMD2000 drive This must conform to the requirements and applicable safety regulations of the region of operation An appropriate approval for switches is IEC 60947 2 an...

Page 36: ...by other abnormal output conditions related to uncontrolled output currents The instantaneous trip levels are 11 75A for D2103 accompanied by E0308 Instantaneous Current Limit Exceeded 23 75A for the D2109 accompanied by E0308 Instantaneous Current Limit Exceeded 47 5A for the D2015 accompanied by E0308 Instantaneous Current Limit Exceeded Second protection layer This is the instantaneous overcurr...

Page 37: ...r therefore calculating if the internal regeneration resistor is sufficient and if an additional regeneration resistor is required is paramount Failure to do this and provide evidence of these calculations may result in burning out the resistor and voiding the warranty of your drive Please refer to sections 10 4 5 Regenerative Braking and 10 10 Regeneration Resistor for additional information ...

Page 38: ...le shielded twisted pair cables one individual shielded pair per signal be used for both analogue and digital control signals However single shielded twisted multi pair cable may be used for low voltage digital signals if required Analogue and digital signals should be run in separate cables where possible A common return path should not be used for different analogue signals Low and high voltage ...

Page 39: ...ommended that 24 V and 240 V cables be routed in separate ducts Where this is not possible the 24 V cable should be appropriately insulated for 240 V 5 9 EU Machinery Directive Considerations Customer applications which use the AMD2000 STO drives must install the same electrical accessories EMC filter Line reactor Circuit Breakers and Motor Encoder cables as specified in the compliance test report...

Page 40: ...C D and motor connector U V W 6 3 Mains Power Supply The following components are required for connection to the mains supply Isolation switch to allow correct isolation of the system from the power supply Circuit breakers to protect cables filter and drive EMI filter and line reactor to limit EMI on the mains supply The mains control supply LC1 LC2 for the drive requires a single phase supply whi...

Page 41: ... IEC 61800 5 1 This means they may be connected permanently to the supply at its origin in a building but for outdoor machine installations closer to primary distribution supply overhead cables etc additional over voltage suppression transient voltage surge suppression must be provided to reduce Category IV to Category III AC Supply Unit PIN SIGNAL Control Voltage Single Phase Supply Control Volta...

Page 42: ...t be within the limits specified in Section 10 4 Electrical Specifications Mains supply voltage and frequency limits NOTE all voltages are line to line measurements Drive input single phase voltage range UL1 L2 90 264V AC 100 240 10 Drive input three phase voltage range UL1 L2 L3 90 264V AC 100 240 10 Maximum input voltage to Protective Earth UL1 L2 L3 PE 264V AC 240 10 Nominal Input frequency ƒLN...

Page 43: ...n be used When running from an isolated DC source the negative or 0V terminal can be deemed as ground and the drive chassis should be bonded to it 6 3 3 Connection of drives to grounded systems TN or TT The AMD2000 series drive is designed to operate with grounded TN TT systems where the three phase supply is from a transformer with a grounded star point Resistance grounded systems are not allowed...

Page 44: ...pecially if multiple drives are connected from same supply Calculation of the harmonics and voltage distortion is site specific In multiple drive installations the harmonic currents may affect power supplies equipped with reactive power compensation capacitors as resonances excited by the harmonics will occur at relatively low frequencies Therefore it is strongly recommended that power compensatio...

Page 45: ... can be the same cross section as line conductors L1 L2 L3 due to the earth leakage current That is if the power conductors are 2 5mm 2 each of the two PE wires are also 2 5mm 2 Warning Earth leakage current in the protective earthing conductor exceeds 3 5 mA AC for both the D2103 D2109 and D2015 The Protective Earth screw terminals are located on the heatsink of each drive see figure 6 4 Figure 6...

Page 46: ...impedance paths which must be carefully managed to prevent interference voltages being generated in other equipment connected to the same earth system The internal common mode capacitors of the drive provide one return path IDC to the drive and the EMI filter provides another return path via the drive mains input To ensure the installation conforms to the EMC Directives both of the following actio...

Page 47: ... supply Recommended EMC components for a 3 phase supply EMI Filter D2103 3 phase supply 3 phase 10A Schaffner FN3270H 10 44 D2109 3 phase supply 3 phase 20A Schaffner FN3270H 20 44 D2015 3 phase supply 3 phase 35A Schaffner FN3270H 35 33 Line Reactor D2103 3 phase supply 3 06mH 7 6A Hammond Power Solutions CRX07D6AC or equivalent D2109 3 phase supply 1 64mH 14A Hammond Power Solutions CRX0014AC or...

Page 48: ...ply Recommended EMC Components for a 1 Phase Supply EMI Filter D2103 1 phase supply 1 phase 8A Schaffner FN 350 8 29 D2109 1 phase supply 1 phase 20A Schaffner FN 350 20 29 D2015 1 phase supply 1 phase 20A Schaffner FN 350 20 29 DC Choke D2103 1 phase supply 10mH 5A Hammond Power Solutions 159ZJ or equivalent D2109 1 phase supply 5 46mH 1 14A Hammond Power Solutions CRX0014BC or equivalent D2015 1...

Page 49: ... thickness of 3mm to provide a low impedance return path Otherwise connect the EMC components to a gear tray with minimal length flat copper braid strap Connect EMC components to PE for safety requirements but note that the PE cable does not provide a low impedance return path for common mode currents due to its cable length and the skin effect of conductors Best EMC equipotential bonding is achie...

Page 50: ... for each AMD2000 servo drive Only use the Soft Start Module if installing multiple circuit breakers is not viable Warning Only use the Soft Start Module with AMD2000 servo drives 6 6 1 Soft Start Module Wiring Figure 6 9 illustrates the recommended wiring for the Soft Start Module Figure 6 9 Power Supply Soft Start Module Wiring Diagram The Soft Start Module wiring is identical for 1 phase and 3 ...

Page 51: ...e 6 10 illustrates the mounting and installation requirements for the Soft Start Module The Soft Start Module must be mounted within an enclosure which only provides access with the use of a tool or after the de energization of live parts The Soft Start Module must be mounted on 35mm TS35 DIN rail EN 60715 Both 7 5mm and 15mm deep DIN rail are suitable The DIN rail must be installed horizontally o...

Page 52: ...inst the rail until you hear the black clip spring loaded click into place Refer to Figure 6 11 Figure 6 11 Mounting the Soft Start Module to the DIN rail Warning After clipping the product to the DIN rail ensure the module is fastened securely and the white clip is fully inserted flush with the top surface of the housing as shown in Figure 6 12 Figure 6 12 Ensure the white DIN rail clip is fully ...

Page 53: ...Start Module will generate heat when in use Incorrect installation may be hazardous 6 6 3 Soft Start Module Maintenance There are no user serviceable parts inside the Soft Start Module The only maintenance involves visual inspections of the enclosure At least once a year ensure the vent slots on the Soft Start Module are not blocked by external contaminants e g dust To clean the vent slots gently ...

Page 54: ...afety of Machinery standard EN 60204 1 and local regulations The AMD2000 must have suitable input power protection on each phase input This must conform to the requirements and applicable safety regulations of the region of operation An appropriate approval for switches is IEC 60947 2 and for circuit breakers IEC 60947 3 When using 2 phases of a 3 phase supply each phase must have suitable protect...

Page 55: ...1Φ power 9 A 10 A 14 2 5 3Φ power 13 8 A 16 A 14 2 5 1Φ control 0 5 A 2 A 20 0 5 AMD2015 15 A 1Φ power 9 A 10 A 14 2 5 3Φ power 13 8 A 16 A 14 2 5 1Φ control 0 5 A 2 A 20 0 5 Note All wire sizes are based on 75 C 167 F copper wire Use of higher temperature cable may allow smaller gauge wires Size cables to conform to the local electrical installation regulations The mains supply wire should be use...

Page 56: ... otherwise damage may occur to the drive The PE for the motor must be connected to the M4 screw terminal at one end of the drive heat sink preferably at the end closest to the armature motor connector Do not connect directly to the mains supply protective earth as this will increase EMC noise 6 8 1 Motor Circuit Contactors A motor circuit contactor may be installed if required by local codes or fo...

Page 57: ...F conductivity 6 8 2 1 1 D2103 Cable Shielding Use an Armature Bracket in order to terminate the shielded cable assembly The Armature Termination Bracket assembly consists of the following parts Armature Termination Bracket EMC Saddle Clamp 3 x M4 screws 1 x M6 screw Please see 11 4 8 Motor Armature Cable Shield for bracket ordering details Clamp the Armature Termination Bracket down as shown belo...

Page 58: ...Earth Wires to the Cabinet Earth Bar Termination Bracket EMC Saddle Clamp Figure 6 15 Armature Cable Shield Connection with 2 x PE wires Armature Cable Assembly Exposed Braid Armature Cable Earth Wire A single Protective Earth Wire to the Cabinet Earth Bar Termination Bracket EMC Saddle Clamp Figure 6 16 Armature Cable Shield Connection with 1 x PE wire ...

Page 59: ...l bracket as shown below to provide sufficient contact for termination Tighten the Saddle Clamp screw to 0 5Nm as recommended by the manufacturer Fit the armature plug into the armature connector on the drive Ensure that the Armature Cable Earth wire is connected to an M4 ring lug using one M4 screw from the Armature Termination Bracket assembly kit and connect to the bracket as shown below Maximu...

Page 60: ...ximately 25mm of braid length Refer to section 6 8 2 1 4 for details on this process and suggested tools The position of the exposed braid is to coincide with the EMC Saddle Clamp and the plate as shown below to provide sufficient contact for termination Prior to fitting the saddle clamp install the M3 screw to the plate where shown Tightening torque 0 7Nm Align the exposed braid to the plate and ...

Page 61: ...dle clamp To effectively expose the braid of the armature cable the steps below should be followed 1 Measure the required shield clamping position 2 Using a shield removal tool such as the STAR STRIP stripping tool from LAPP GROUP score around the cable outer sheath while ensuring the braid is not cut 3 At approximately 25mm away from the first incision score around the cable outer sheath again 4 ...

Page 62: ... shield In order to add this part to the Armature Cable remove a sufficient amount of outer sheath in order to make direct contact with the exposed metal braid Ensure that the metal braid is not damaged in this process Affix the metal P Clip to bare metal as close to the motor as possible on the motor housing itself if possible The shield is required to have a good electrical connection to the mac...

Page 63: ...s both active and passive antennae Use twisted pair wires wherever possible to prevent interference from radiated common mode noise sources Continue the twist as close as possible to terminals Use shielded twisted pairs for analogue and control level wires exiting from the overall enclosure Keep power and control wiring separate Crossing at right angles is permitted but no significant parallel run...

Page 64: ...ng frequency of 8kHz Sinusoidal filters with nominal frequency higher than 8kHz cannot be used Standard sine wave filters are connected to the drive output as shown in Figure 6 23 Motor Connections and Shielding with Standard Sinusoidal Filter For more demanding applications sine wave filters with DC bus connections can also be used as shown in Figure 6 24 Motor Connections and Shielding and DC Li...

Page 65: ...ink Sinusoidal Filter 6 9 2 du dt Filter The du dt filters consist of inductors and capacitors in a low pass filter arrangement and their cut off frequency is above the nominal switching frequency of the drive Compared to Sine wave filters they have lower L and C values thus they are cheaper and smaller and have less voltage drop approximately 0 5 With a du dt filter the voltage wave form is still...

Page 66: ...de as shown to prevent damage to the output circuit Backshell AMD2000 MOTOR 24V DO 01 1 4 D C U V 3 W PE PE Relay Normally Open Separate Customer 24 V DC supply 24 V 0 V X4 20 or 21 5 Black U Black V White Black Black W Yellow Green Mating Face View Figure 6 25 Example K2B BSMD xyz Armature with Brake Wiring Backshell AMD2000 MOTOR 24V DO 01 B E F A U V G W C PE Relay Normally Open Separate Custom...

Page 67: ...brake supply Do not use the D2xxx 24V supply from X4 to power the brake The separate 24 V DC supply used for the motor brake can also be used to power the relay in the thermal switch circuit 6 11 Motor Thermal Switch Some motors provide thermal switch to prevent the motor overheating The motor s thermal switch must be wired up to a relay which generates a 24V digital input on connector X4 Any of d...

Page 68: ...ors are recommended as in Figure 6 29 Example Connection of Two Thermal Sensors in a bridge configuration instead of one sensor The reasons for this is increased noise immunity because there is twice as much voltage per degree of temperature change and because the voltage feeding the divider does not affect the measurement If this configuration is used the temperature sensors must be co located th...

Page 69: ... regeneration resistor Regeneration refers to the process whereby when the motor is actively providing energy to the drive and then stops the kinetic energy in the entire mechanical system connected to the shaft of the motor gets transferred to the bus capacitance in the drive which increases the voltage This happens because of the motor inductance When the voltage on the bus capacitance exceeds 3...

Page 70: ...de busbar terminals 6 15 1 Drives up to and including Model Year MY2020 The 3A and 9A drives contain 4 x DC busbar screw terminals These are located under the flip lid as shown A clear plastic cover is fitted to restrict access to these screw terminals These busbar screw terminals must only be uncovered and accessed when the drive is completely discharged The clear plastic cover is required to be ...

Page 71: ...00088 Rev 09 59 6 6 15 2 Drives after Model Year MY2020 These model drives do not include the busbar terminals and therefore do not open the lid as there are no user accessible items inside For example 0113 means year 2013 week 01 ...

Page 72: ...o not plug or unplug connectors while power is applied It is recommended that the drive is installed with an upstream circuit breaker that is rated appropriately depending on the model of AMD2000 drive being installed Turn the Main Disconnect mains isolator switch to the Off position Following the appropriate lockout procedure place a sign over the isolation switch clearly indicating to other pers...

Page 73: ... operation of the Safe Torque Off STO function The pin assignments for I O Connector X4 are shown in Figure 7 1 Pin Label Pin Label 1 AI 01 26 AI 01 2 AI 02 27 AI02 3 AGND 28 AO 01 4 AGND 29 AO 02 5 SFR A 30 AGND 6 SFR B 31 AGND 7 DI 01 32 N C 8 DI 02 33 N C 9 DI 03 34 DO 06 10 DI 04 35 EO A 11 DI 05 36 EO A 12 DI 06 37 EO B 13 DI 07 38 EO B 14 DI 08 39 EO Z 15 DI 09 40 EO Z 16 DI 09 41 N C 17 DI ...

Page 74: ...nd 47 are exposed by two grounding terminals on the right of the module Terminate these at the gear tray grounding point using 0 5mm 2 to 2 5mm 2 conductor refer to Figure 7 2 Every pin from the X4 connector is broken out to spring cage terminal blocks The terminal blocks can accept 0 25mm 2 to 1 5mm 2 conductors with 7mm stripping length The module is mounted using 35mm top hat DIN rail EN 60715 ...

Page 75: ... Please refer to section 10 3 Interface Specifications for detailed specifications 7 4 1 Analogue Inputs The analogue inputs pass through a differential buffer and second order low pass filter with a cut off frequency of approximately 700 Hz 7 4 1 1 Idealised drawing of Analogue Input Circuit AMD2000 AI AI AGND 7 4 1 2 Typical Connection Examples of Analogue Input Vs Signal source AMD2000 AI XX AI...

Page 76: ...he common mode voltage range of AMD2000 analogue input circuit Vs Signal source AMD2000 AI XX AI XX AGND Figure 7 5 Typical Example of Ground Referenced Single Ended Connection Note In the scenario presented in Figure 7 5 any potential difference in many cases this is 50 60Hz powerline noise between signal source ground and measurement system ground will be picked up into the measurement result Vs...

Page 77: ...4V DC 0V 1kΩ 0 25W Potentiometer 1 5kΩ 0 25W Figure 7 7 Typical Input Circuit to Provide 0 10V Input from a 24V Source Refer to the applicable AMD2000 Series Servo Drive Configuration Guide for detailed information on how to use ANCA MotionBench to read analogue input values ...

Page 78: ...shorts to GND They are NOT protected against a short to the 24V supply 7 4 1 3 1 Motor Thermistor Sensor Isolator Typical Connection The connection for this module is detailed below in Figure 7 8 24V_IN ANAO ANAO GND AMD2000 IO Interface Module Motor Temp Sense Module Input Input 24VDC AI 0X AI 0X 0V KTY84 130 Thermistor AMD2000 SERVO DRIVE 50 WAY 50 WAY Anode Cathode X1 X2 X4 X1 X2 Figure 7 8 Mot...

Page 79: ...drive It is recommended that shielded twisted pair cable is used for interfacing The shield connection should be made at one end only Refer to the applicable AMD2000 Series Servo Drive Configuration Guide for detailed information on how to use ANCA MotionBench to read analogue output values 7 4 2 1 Idealized Drawing of Output Circuit AMD2000 DSP AO DAC ...

Page 80: ...e configured if required 6 x General Purpose Outputs Please find detailed specifications in section 10 3 Interface Specifications Connector Pin Number Label X4 or I O Module ICN 3077 1952 7 DI 01 8 DI 02 9 DI 03 10 DI 04 11 DI 05 12 DI 06 13 DI 07 14 DI 08 15 DI 09 16 DI 09 17 DI 10 18 DI 10 19 DO 01 22 DO 02 23 DO 03 24 DO 04 25 DO 05 34 DO 06 20 21 24V Fused 1 46 47 0VDC 1 Refer to Section 10 3 ...

Page 81: ...0VDC X4 pins 46 47 This reference ground must be connected to the chassis ground gear tray to establish a control ground for the installation 7 5 2 Digital Inputs Digital Input Overview DI 01 DI08 are electrically isolated through opto couplers DI 09 DI10 are not isolated Reference 0V is 0VDC X4 pins 46 47 Refer to the applicable AMD2000 Series Servo Drive Configuration Guide for detailed informat...

Page 82: ...ser Guide 70 D 000088 Rev 10 ANCA Motion 7 5 2 1 2 Typical Connection Example AMD2000 DI XX DSP 0V Control Control GND 24 V 7 5 2 1 3 Typical Connection Example NPN Pull Up Resistor NPN Device AMD2000 DI XX DSP Control GND 0V 24 V 1K 1W ...

Page 83: ...tal inputs are required this may be done safely using the optional I O interface Module refer 11 4 2 7 5 2 2 1 Idealized Drawing of Differential Input Circuit AMD2000 DSP DI DI 7 5 2 2 2 Typical Connection Examples of interfacing with PNP NPN based sensors 24 V 4k 4k 4k DI DI Signal Sensor AMD2000 Figure 7 9 Example PNP Based Sensor 24V 4k 4k 4k DI DI Signal Sensor AMD2000 Figure 7 10 Example NPN ...

Page 84: ...tions for technical specifications of the single ended inputs when using the 646 0 05 0723 module Attribute Qualification Nominal Operating Voltage 24 V Maximum Voltage 30 V Maximum Input Low Threshold Voltage 5 V Minimum Input High Threshold Voltage 11 V Nominal Input Current at 24V Input 15 mA Control Control GND 24 V GND 24V I O Interface module 646 0 05 0723 DI 09 DI 10 GND DI 09 DI 10 Figure ...

Page 85: ...l Input 15 DI 09 Digital 0V 16 DI 09 Single ended Digital Input 17 DI 010 Digital 0V 18 DI 10 Single ended Digital Input 19 DO 01 Digital Output 22 DO 02 Digital Output 23 DO 03 Digital Output 24 DO 04 Digital Output 25 DO 05 Digital Output 34 DO 06 Digital Output 20 21 24V Fused 1 24V 46 47 0VDC Digital 0V 48 50 Not Connected 51 GND Digital GND 52 GND Digital GND Control Control GND 24 V 0VDC 24V...

Page 86: ...power supply and signals have a common ground DI 09 DI 09 DI 10 DI 10 Figure 7 13 Differential Quadrature Mode Wiring Diagram 7 5 2 2 5 Connecting a Differential Pulse and Direction Position Input device DI 09 DI 09 DI 10 DI 10 DIR A A AMD2000 DRIVE X4 MODE Pulse Direction Pulse Direction Device Customer Specific DIR The drive does not provide power to the quadrature device so the power supply mus...

Page 87: ...46 0 05 0723 15 16 17 18 A Digital GND 50 Way SCSI Cable Figure 7 15 Single Ended Quadrature Mode Wiring Diagram 7 5 2 2 7 Connecting a Single Ended Pulse and Direction Position Input device DI 09 DI 09 DI 10 DI 10 AMD2000 DRIVE X4 MODE Pulse Direction Pulse Direction Device Customer Specific The drive does not provide power to the quadrature device so the power supply must be provided by the user...

Page 88: ...ent sinking Refer to Section 10 3 Interface Specifications for maximum current ratings All Digital outputs are pulled to ground 7 5 3 1 Idealized Drawing of Digital Output Circuit AMD2000 DSP 0 V DO XX Refer to the applicable AMD2000 Series Servo Drive Configuration Guide for detailed information on how to use ANCA MotionBench to read digital output values 7 5 3 2 Typical Connection Examples 24V X...

Page 89: ...Pin 46 or 47 3 Φ Supply 7 6 Encoder Pass Through An encoder pass through is available via connector X4 It provides access to either the analogue or digital encoder input supplied on connector X5 The differential output signals are in the form of an incremental encoder Connector Pin Number Label X4 or I O Module 35 EO A 36 EO A 37 EO B 38 EO B 39 EO Z 40 EO Z ...

Page 90: ...ormance in an installation it is the machine builder s or integrator s responsibility to use suitably qualified and experienced personnel to design commission and operate safety systems for the application of interest STO in the drive itself is not the sole basis for claiming SIL or PL when installed on a machine 1 STO can be used to prevent unexpected start up of the motor without having to shut ...

Page 91: ... This drive must be installed in a suitable location under suitable ambient conditions see section 10 5 Environmental Specifications Acceptance tests must be performed to verify the correct operation of the safety system and STO function of this drive The acceptance test procedure see section 7 7 8 STO Function Commissioning Test Procedure should be carried out after any of the following occur o O...

Page 92: ...livery to the motor There are two different sequences that may be employed to reset from STO in this situation 1 a The recommended sequence is to first disable the drive then clear the drive error and subsequently de assert 24V the STO inputs but b It is also possible to reset to normal operation by de asserting 24V the STO inputs and then clearing the drive error while the drive remains enabled I...

Page 93: ...ust be set running again Warning Applying a sequence of shorter than 1ms assertions can still result in STO if the durations of de assertion 24V between each assertion are shorter than 10 ms Note Both STO inputs must change within the 120ms timing window whether asserting or de asserting STO or the drive may trigger a fault reaction as described in 7 7 6 Fault detection Note Some safety programmab...

Page 94: ...s described in section 7 7 5 5 When STO is not required or some other suitable 24V power supply Example wiring diagrams are given elsewhere in this document see 7 7 5 1 Example Wiring Installation for a Single AMD2000 using STO and 7 7 5 2 Example Wiring Installation for Multiple AMD2000 using STO Any switching contacts on the STO inputs must operate within 120ms of each other otherwise a fault wi...

Page 95: ...upply has a limited output capability refer to the AMD2000 User Guide for details Over current protection inside the drive will cause the 24V output to cease if too much load is connected If this supply is shared between STO and the six digital outputs then you must ensure that you stay under the current limit threshold If the limit is exceeded it will cause the STO function to activate and theref...

Page 96: ...h the conditions listed in Table 7 1 STO Input Ratings Each channel will draw the current listed in Table 7 1 STO Input Ratings so the power supply should be sized accordingly taking into account the number of drives in parallel 5 6 45 24VDC STO FAULT RELAY STO 01 STO 01 SFR A SFR B STO FAULT RELAY OUTPUT STO 02 STO 02 D2103 or D2109 I O interface module 0V Safety circuit 43 49 50 5 6 45 STO FAULT...

Page 97: ...A SFR B STO 02 STO 02 D2103 or D2109 I O interface module 43 49 50 24VDC 0V Control Contactor Mirror Contacts If applicable RESET As per 60204 1 Restart Loop Emergency Stop Button Safety Relay Module PE Figure 7 20 Example of Integrating Single STO Drive to Safety Circuit Note Requirement for IEC60204 1 regarding earth fault detection must be followed Note Installation of the safety circuit will n...

Page 98: ...TO 01 SFR A SFR B STO 02 STO 02 D2103 or D2109 I O interface module 43 49 50 PE Figure 7 21 Example of Integrating 2 STO drives to Safety Circuit Notes 1 Requirement for IEC60204 1 regarding earth fault detection must be followed 2 Installation of the safety circuit will need to follow particular installation instructions for chosen unit and requirements of IEC 60204 1 If you are wiring multiple d...

Page 99: ...feature not used Without this wiring the drive cannot operate Also refer to the note in section Table 7 1 STO Input Ratings about power supply loading There is no requirement to use the AMD2000 internal power supply in this instance but this is displayed here for convenience 45 STO 01 STO 01 STO 02 STO 02 D2103 or D2109 I O interface module 43 49 50 24V GND 24V 20 21 46 47 PE Figure 7 22 STO featu...

Page 100: ...t has been detected If a fault is tripped the output switches to the open position This output is intended only for connection to an external machine safety system or fault indicator When a fault is indicated the open condition will remain and the drive will remain in the Safe State no matter what signal is applied to the STO inputs The only way to reset from a fault and restore drive operation is...

Page 101: ...t 2 STO Fault STO Input 1 Figure 7 23 STO Timing Diagrams Parameter Description Min ms Max ms ts Time between STO input demand asserted or de asserted N A N A td Time between first STO input demand detected and Torque Power shut down N A 50 tg Time below which STO demand changes are ignored from safety PLC pulses for example N A 11 tm Maximum time allowable between differing STO demands before ext...

Page 102: ...an be cleared by de asserting the STO inputs and sending a reset error command to the drive via the EtherCAT interface Refer to the AMD2000 Series Servo Drive Configuration Guide for details concerning resetting errors If the drive is not enabled and therefore not able to move a motor the drive may still be queried via EtherCAT to determine if the STO is asserted as this is considered a normal ope...

Page 103: ...s Wire as per Figure 7 24 STO Test Setup below Follow the flow charts described on the following pages to evaluate the STO function There are three sub tests to be executed Any single failure in any sub tests leads to an overall failure Warning Performance during this test should be logged by the operator of the machine and assessed by suitably qualified personnel for safety related functions All ...

Page 104: ... motor stops running Check STO fault relay De assert both STO channels simultaneously Switch S1 and S2 to POS1 simultaneously Reset error and enable the drive via software to turn the motor at slow speed Check motor starts running Check STO fault relay End sub test1 and go to sub test2 Test fails Safely put machine into a safe state electrically isolate drive remove drive and contact ANCA Motion O...

Page 105: ...s running Check STO fault relay De assert STO1 Switch S1 to POS1 while keep S2 in POS1 Attempt to reset error and enable the drive via software to turn the motor at slow speed Check motor starts running Check STO fault relay Test fails Safely put machine into a safe state electrically isolate drive remove drive and contact ANCA Motion Open Closed No Yes Closed Open Yes No Closed Open End sub test2...

Page 106: ...ts running Check STO fault relay Test fails Safely put machine into a safe state electrically isolate drive remove drive and contact ANCA Motion Open Closed No Yes Closed Open Yes No Closed Open End STO test End sub test3 Check motor starts running No Yes Check for error code E0071 Yes No Power cycle the drive with both STO inputs de asserted Both S1 and S2 switch to POS1 Check STO fault relay Ope...

Page 107: ...on This makes it suitable for the transmission of control and feedback signals between the AMD2000 and other EtherCAT enabled controllers AMD2000 functions as an EtherCAT slave controller providing two ports IN OUT for connection to other EtherCAT compliant equipment This allows nodes to be connected in many configurations such as a ring star or tree with EtherCAT s self terminating technology aut...

Page 108: ... IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT EtherCAt Master IN OUT IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT IN IN OUT OUT External Switch Multi Branch EtherCAT network 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 7 10 2 2 EtherCAT Configuration EtherCAT configuration is usually performed using EtherCAT manager software To assist with configuration an EtherCAT Slav...

Page 109: ...unshielded F foil shielding S screened braid type Either straight or crossover cables may be used Recommended cables are listed in the accessories section See 11 4 6 EtherCAT Cables for more information 7 11 DIP Buttons Button Label Function SW4 MODE Holding during power up will force the device into bootstrap mode SW3 UP Reserved SW2 DOWN Reserved SW1 SET Holding during power up will force the de...

Page 110: ...in A Sin A 3 Cos B Cos B 4 Cos B Cos B 5 Ref Z Ref Z 6 Ref Z Ref Z 7 A A 8 A A 9 B B 10 B B 11 Z Z 12 Z Z 13 9VDC 14 5VDC 5VDC 5VDC 15 GND GND GND 7 12 1 Analogue Encoder Interface 7 12 1 1 Idealized Drawing of the Analogue Encoder Circuit DSP A B Z A B Z AMD2000 X5 1 Encoder channel 1 is designed to support Sin Cos encoders but can also be used for a secondary digital incremental encoder This cha...

Page 111: ...R SHIELD SIN SIN COS COS REF REF 5V 0V 5 6 8 1 3 4 12 10 NOTE 1 THE INNER AND OUTER SHIELD SHOULD NOT TOUCH AT ANY POINT 2 1 4 3 6 5 14 15 Figure 7 28 Example K2B FSMD xyz Analogue Incremental Encoder Wiring 7 12 3 Digital Encoder Interface 7 12 3 1 Idealized Drawing of the Digital Encoder Circuit DSP RS485 RS422 Receiver A B Z A B Z AMD2000 X5 ...

Page 112: ...ection 11 3 2 Encoder Cables BACKSHELL SERVO DRIVE X5 MOTOR ENCODER A A B B Z Z 5V 0V 1 2 5 6 3 4 7 8 7 8 9 10 11 12 14 15 9 Figure 7 29 Example K2A FSPD xyz Digital Incremental Encoder Wiring BACKSHELL SERVO DRIVE X5 MOTOR ENCODER A A B B Z Z 5V 0V B I H D A C G E 7 8 9 10 11 12 14 15 F Figure 7 30 Example K2A FSMD xyz Digital Incremental Encoder Wiring ...

Page 113: ... Signal Pin Number Signal 1 SIN A 1 SIN A 1 NC 2 SIN A 2 SIN A 2 NC 3 COS B 3 COS B 3 NC 4 COS B 4 COS B 4 NC 5 REF Z 5 REF Z 5 NC 6 REF Z 6 REF Z 6 NC 7 A 7 NC 7 A 8 A 8 NC 8 A 9 B 9 NC 9 B 10 B 10 NC 10 B 11 Z 11 NC 11 Z 12 Z 12 NC 12 Z 13 E 9V 13 NC 13 NC 14 E 5V 14 E 5V 14 E 5V 15 EGND 15 EGND 15 EGND Backshell Shield Backshell Shield Backshell Shield CN1 CN2 CN3 ...

Page 114: ...propriate terminals and the connections secure The motor cable and brake resistor cable if applicable have been routed away from other cables No power factor compensation capacitors have been connected to the motor cable A sinusoidal filter has been installed in between the motor armature output on the drive and the motor if required by the application All low voltage control cables have been corr...

Page 115: ...otion D 000088 Rev 09 103 9 9 Start up Please refer to the applicable configuration guides for this series of drive for parameter configuration tuning and diagnostics AMD2000 Series Servo Drive SoE Configuration Guide ...

Page 116: ...es Rotational control Yes Position control Via EtherCAT SoE Pulse Input Velocity control Via EtherCAT SoE Analogue Voltage Input Current Torque control Via EtherCAT SoE Sinusoidal Permanent Magnet Servo Control Yes Sinusoidal Induction Motor Control Yes 10 2 2 Thermal and over current protection Inverter heat sink temperature limit 80 C Adjustable dynamic current limiting Yes Adjustable continuous...

Page 117: ...rol functions DC Bus compensation Yes Backlash compensation Yes Probing Yes Pre defined Drive Controlled Moves DCM Yes up to 64 move segments Drive Controlled Homing DCH Yes Field Orientation Modes DQ Alignment Preconfigured Offset Acceleration Observer Absolute EtherCAT Slave Mode Yes Stand alone Mode Yes Field Firmware Updates Yes Position Latch Yes Persistent Configuration Data Yes via EEPROM C...

Page 118: ...put Current 20mA Input Impedance 1kΩ Maximum Propagation Delay 10us Isolated Yes 10 3 3 24V Digital Outputs Number of Outputs 6 Output Type Low side MOSFET switch Nominal Operating Voltage 24V Maximum Operating Voltage 30V Maximum Sink Current 500 mA total for all 6 outputs while not exceeding 500 mA per output Isolated Yes Short Circuit Protected Yes 10 3 4 Differential Digital Inputs Voltage rat...

Page 119: ... 10 3 6 Analogue Inputs Number of Inputs 2 Input impedance DC 20kΩ Input Voltage Nominal Range 10V Input Voltage Absolute Maximum Range 12 64V Bandwidth 700Hz Isolated No 10 3 7 Analogue Outputs Number of Outputs 2 Output Voltage Nominal Range 10V Output Voltage Absolute Maximum Range 12 25V Output Current Nominal 10mA Short circuit protection Yes Bandwidth 500Hz Isolated No 10 3 8 Motor Position ...

Page 120: ...pp Supported Inputs Sin Cos Ref 1Vpp 1Vpp Commutation Track Not Supported 1Vpp Terminating Resistance 120 Ω 1Vpp Full Scale Differential Input Voltage 1 6 Vpp 1Vpp Bandwidth 200 kHz 10 3 11 Digital Encoder Input Channel 2 Supported Channels 1 Interface Type RS422 Number of Inputs 3 6 wires Input Common Mode Voltage Range 12 7V Terminating Resistance 120Ω Turn On Differential Threshold 200mV Turn O...

Page 121: ...v 09 109 10 Attribute Qualification 10 3 13 Ethernet Interface Protocol EtherCAT Baud Rate 100Mb s Drive Profile Definition SoE Connector Ethernet RJ 45 10 3 14 Drive Display Indicator 5 x 7 segment LED Operator Interfacing 4 x DIP buttons ...

Page 122: ...xULN 1Φ 3Φ Max output voltage UaN1 0 90x ULN 1Φ 3Φ Continuous output current IaN 3Arms 9Arms 15Arms One minute overload capability IaM 110 Peak repetitive overload current Ip 6Arms 12 9Arms 30Arms Max Peak repetitive overload duration tp 1 sec Min Peak repetitive overload interval ts 10 sec Current loop update rate ti 62 5 sec Drive efficiency ηD 90 Nominal output power rating 1 400 W 1 5 kW 5 1kW...

Page 123: ...3 Resolution Analogue to Digital 12 Bits 10 4 4 Steady State Performance Precision at recommended operating conditions 2 encoder counts 10 4 5 Regenerative Braking Regenerative brake switching capacity 3A at UDC 9A at UDC 9A at UDC Internal Brake Resistor 40 Watts 60 Watts 60 Watts External Brake Resistor Optional ...

Page 124: ... stress class 2M2 chemical influences class 2C2 and sand and dust class 2S2 10 5 3 Installation and Operation Permissible Ambient Temperature at rated continuous current IaN 0 to 50 C 1 Maximum Ambient Temperature 2 55 C Relative Humidity 5 to 85 non condensing Mechanical vibration 15 to 27 Hz at 0 35 mm displacement amplitude sinusoid and 9 8m s 2 from 27 to 150 Hz This is between 3M1 and 3M4 acc...

Page 125: ...g 2 10 kg 2 80 kg Height mm 206 182 261 Width mm 43 60 60 Depth mm 189 189 189 10 5 5 Cooling Fan Cooled No Yes Yes Heat generation full rated continuous current 2 31 W 80 W 128W 1 The top surface of cabinets enclosures which are accessible when the equipment is energized shall meet the requirement of protective type IP3X with regard to vertical access only 2 This amount of heat energy needs to be...

Page 126: ... C 0 4mA Short circuit protection to 24V No Short circuit protection to GND Yes Isolated Yes Supported Sensor KTY84 130 Temperature Sensor Suggested Motor Range ANCA Motion Beta Series Servo Motor 10 6 3 Power Supply Soft Start Module Maximum Connected Drives 4 at 100 Vac 8 at 240 Vac 1 Maximum Operating Voltage 264 Vac 50 60 Hz Maximum Operating Continuous Current 2 A Power Consumption 3 1 W Limi...

Page 127: ...cal Data ANCA Motion D 000088 Rev 09 115 10 10 7 Dimension Drawings 10 7 1 D2103 drive mounting hole positions and physical dimensions mm 10 7 2 D2109 drive mounting hole positions and physical dimensions mm ...

Page 128: ...AMD2000 Series D2xxx Servo Drive User Guide 116 D 000088 Rev 10 ANCA Motion 10 7 3 D2015 drive mounting hole positions and physical dimensions mm 10 7 4 Soft Start Module ...

Page 129: ...brake is required this may be insufficient current to release the brake so an external power supply will be required If an external power supply is used it must be of the Separated Extra Low Voltage SELV type and approved to IEC 61950 Note if overloaded the poly fuse in the drive will present a high resistance and there will no longer be 500mA available until the load is removed ...

Page 130: ...ves below represent the operating range of the AMD2000 drive under varying electrical and environmental conditions Input chokes specified correspond to Section 6 5 Installations conforming to the EMC Directive There is no temperature de rating specified unless explicitly demonstrated 10 9 1 D2103 De rating 10 9 1 1 1 Phase ...

Page 131: ...Technical Data ANCA Motion D 000088 Rev 09 119 10 ...

Page 132: ...AMD2000 Series D2xxx Servo Drive User Guide 120 D 000088 Rev 10 ANCA Motion 10 9 1 2 3 Phase ...

Page 133: ...Technical Data ANCA Motion D 000088 Rev 09 121 10 ...

Page 134: ...AMD2000 Series D2xxx Servo Drive User Guide 122 D 000088 Rev 10 ANCA Motion 10 9 2 D2109 De rating 10 9 2 1 1 Phase ...

Page 135: ...Technical Data ANCA Motion D 000088 Rev 09 123 10 ...

Page 136: ...AMD2000 Series D2xxx Servo Drive User Guide 124 D 000088 Rev 10 ANCA Motion 10 9 2 2 3 Phase ...

Page 137: ...Technical Data ANCA Motion D 000088 Rev 09 125 10 ...

Page 138: ...AMD2000 Series D2xxx Servo Drive User Guide 126 D 000088 Rev 10 ANCA Motion 10 9 3 D2015 De rating 10 9 3 1 1 Phase ...

Page 139: ...Technical Data ANCA Motion D 000088 Rev 09 127 10 ...

Page 140: ...AMD2000 Series D2xxx Servo Drive User Guide 128 D 000088 Rev 10 ANCA Motion ...

Page 141: ...Technical Data ANCA Motion D 000088 Rev 09 129 10 10 9 3 2 3 Phase ...

Page 142: ...AMD2000 Series D2xxx Servo Drive User Guide 130 D 000088 Rev 10 ANCA Motion ...

Page 143: ...or In addition to the energy limitation and average power limitation of the regeneration resistors the rate of deceleration should not result in a DC Bus Overvoltage trip This can occur if the instantaneous regenerated power exceeds the power being dissipated by the regeneration resistor This is rarely an issue but can be a problem where very rapid decelerations at high retarding torques are desir...

Page 144: ...xample 1 Servo Motor Pulley Pulley Ratio 5 Load Grinding Wheel Flywheel etc Pulley to Drive Load The servo motor drives a load via two pulleys The ratio is 1 5 from motor to load to provide a slower speed but higher torque Assuming the belt has negligible stored energy compared to the rest of the system and the load is rotational Jeff effective moment of inertia Jmotor Jmotor pulley 1 5 2 Jload pu...

Page 145: ... to preserve energy and natural resources The package materials are mostly environmentally compatible and recyclable All metal parts can be recycled The plastic parts can either be recycled or burned under controlled circumstances according to local regulations Most recyclable parts are marked with recycling marks The electrolytic capacitors and the integrated power module are classified as hazard...

Page 146: ...te issued by Projects Etc Pty Ltd FCC Part 15 Standards FCC CFR Title 47 Part 15 Subpart B 2005 Class A Radiated and Conducted Emission Precision Machinery Research and Development Centre Taichung Taiwan 1 ETG 1000 ETG 9001 ETG 1300 The AMD2000 is a conforming EtherCAT device but does not qualify as conformance tested ANCA Motion self determination of compliance Those items in the drive with no ap...

Page 147: ... Date EN 61800 5 2 International Standard for Adjustable Speed Electrical Power Drive Systems Part 5 2 Safety Requirements Functional 1st 2007 EN 61800 5 1 International Standard for Adjustable Speed Electrical Power Drive Systems Part 5 1 Safety Requirements Electrical thermal and energy 2nd 2007 EN 61800 3 International Standard for Adjustable Speed Electrical Power Drive Systems Part 3 EMC requ...

Page 148: ...D2109 and D2015 are intended for use as Category 3 PDS and have been tested and certified to comply for use within what 61800 3 defines as the second environment The D2103 D2109 and D2015 comply with the standard with the following provisions 1 The motor and control cables are selected according the specifications given in the user guide 2 The drives are installed and maintained according to the i...

Page 149: ...TG standards listed in Section 10 12 Standards Conformity Future drive revisions intend to achieve Conformance tested marking by independent verification through an externally registered body 10 12 3 FCC Marking A FCC mark is attached to the Product Label in order to verify that the unit meets the relevant Electromagnetic Compliance EMC standards of the Federal Communications Commission 1 EtherCAT...

Page 150: ...ries servo drives can be used with a variety of standard servo motors ANCA Motion has the Alpha series servo motors available that have compatible encoder feedback and current ratings in a range suitable for use with AMD2000 drives Further information on these motors is provided below 11 2 1 Motor Catalogue Number Interpretation Product M Motor Series A X Alpha Series Frame Size 40 40 mm square fl...

Page 151: ... 5000 2 45 2 18 7 7 8 MA86 2430 AB 2 39 3000 750 3 4 0 78 54 3 10 2 5000 2 45 2 18 7 7 8 MA130 5310 A 5 25 1000 550 3 43 1 68 117 3 10 3 2000 6 26 3 58 18 33 8 MA130 5310 AB 5 25 1000 550 3 43 1 68 117 3 10 3 2000 6 58 3 58 18 33 8 MA130 4830 A 4 78 3000 1500 7 06 0 74 51 7 21 2 5000 6 26 0 65 3 58 8 MA130 4830 AB 4 78 3000 1500 7 06 0 74 51 7 21 2 5000 6 58 0 65 3 58 8 MA130 7220 A 7 16 2000 1500...

Page 152: ... 155 AMP MAX80 2430 A 122 2 80 70 19 40 37 90 6 5 2 4 IP67 F 155 AMP MAX80 2430 AB 174 80 70 19 40 37 90 6 5 3 8 IP67 F 155 AMP MA86 2430 A 146 86 80 16 35 32 100 6 5 3 41 IP67 F 155 AMP MA86 2430 AB 183 2 86 80 16 35 32 100 6 5 4 06 IP67 F 155 AMP MA130 5310 A 164 8 130 4 110 22 58 52 145 9 6 47 IP67 B 130 MS MA130 5310 AB 219 3 130 4 110 22 58 52 145 9 7 57 IP67 B 130 MS MA130 4830 A 164 8 130 4...

Page 153: ...e Catalogue Number Interpretation Function Cable Type Description F S Feedback cable analogue incremental F A Feedback cable digital incremental A B T S 0 Armature cable 0 75mm2 A B T S 1 Armature cable 1mm2 A B T S S Armature cable 1 5mm2 A B T S 2 Armature cable 2 5mm2 ...

Page 154: ... 2 1 Encoder Cables Plastic AMP Part Number Length K2A FSPD 020 2m K2A FSPD 030 3m K2A FSPD 050 5m K2A FSPD 100 10m 11 3 2 2 Encoder Cables Metal MS Part Number Length K2A FSMD 020 2m K2A FSMD 030 3m K2A FSMD 050 5m K2A FSMD 100 10m 11 3 2 3 Encoder Splitter Cable Part Number Length 619 0 01 0340 0 55m ...

Page 155: ...gth K2A ASPD 020 2m K2A ASPD 030 3m K2A ASPD 050 5m K2A ASPD 100 10m 11 3 3 2 Shielded Armature Cables Metal MS Part Number Length K2A ASMD 020 2m K2A ASMD 030 3m K2A ASMD 050 5m K2A ASMD 100 10m 11 3 3 3 Shielded Armature Cables with Brake Metal MS Part Number Length K2A BSMD 020 2m K2A BSMD 030 3m K2A BSMD 050 5m K2A BSMD 100 10m ...

Page 156: ...O Connector Part Number Description 619 0 00 1187 AMD2000 I O Connector 50 Way Mini D Ribbon MDR Male with M2 5 jack screws ICN 3077 1652 Plug MDR 50 Way Male Solder Shielded ICN 3077 1653 Backshell MDR 50 Way Screw Type Warning The I O Connector supplied in this way is not guaranteed by ANCA Motion for reliable STO delivery Correct wiring and controls on manufacture of the cabling integrated with...

Page 157: ...5 Metres 0030 3 0 Metres EtherCAT cable Examples Part Number Description KXE 1100 0002 Ethernet Cable Cat 5e SF UTP 0 2m KXE 1100 0015 Ethernet Cable Cat 5e SF UTP 1 5m KXE 1100 0030 Ethernet Cable Cat 5e SF UTP 3 0m 11 4 7 Regen Resistors 11 4 7 1 Aluminium clad Regen Resistor Part Number Description ICN 3009 0317 Aluminium clad regen resistor 36Ω 10 500W with heatsink 300W without heatsink 17kW ...

Page 158: ...nd Over Temperature Switch Part Number Description ICN 3009 0850 Aluminium clad braking resistor with steel enclosure and over temperature switch Resistor 36Ω 10 375W Temperature switch 180 C 24kW for 1 sec 11 4 8 Motor Armature Cable Shield Termination Kit Part Number Description 619 0 00 1028 D2103 Drive Armature Cable Shield Termination Kit 619 0 02 0957 D2109 Drive Armature Cable Shield Termin...

Page 159: ...96 1674 Schaffner FN 350 20 29 11 4 10 Line Reactor Part Number Description ICN 3096 1670 Hammond Power Solutions CRX07D6AC ICN 3096 1671 Hammond Power Solutions CRX0014AC ICN 3096 1672 Hammond Power Solutions CRX0014BC 11 4 11 DC Choke Part Number Description ICN 3096 1661 Hammond Manufacturing 159ZJ 11 4 12 Power Supply Soft Start Module Part Number Description 619 0 00 2290 Power Supply Soft St...

Page 160: ...r Description D2103 2S2 A 1 D2103 SoE Drive with Cable Bracket Kit D2103 2S2 A AMD2000 STO 3A SoE Servo Drive 619 0 00 2017 Armature Shield Termination Bracket ICN 3049 0503 EMC Shield Saddle Clamp ICN 3001 0958 Screws M4x10 ICN 3001 3132 Screws M6x10 11 5 2 D2103 SoE Drive 3A with Cable Bracket Kit STO Override Plug Part Number Description D2103 2S2 A 2 D2103 SoE Drive with Cable Bracket Kit and ...

Page 161: ...49 0503 EMC Shield Saddle Clamp ICN 3001 0958 Screws M4x10 ICN 3001 3132 Screws M6x10 11 5 4 D2109 SoE Drive 9A with Cable Bracket Kit STO Override Plug Part Number Description D2109 2S2 A 2 D2109 SoE Drive with Cable Bracket Kit and STO Override Plug D2109 2S2 A AMD2000 STO 9A SoE Servo Drive 619 0 03 0938 Armature Shield Termination Bracket ICN 3049 0503 EMC Shield Saddle Clamp 619 0 00 1903 D21...

Page 162: ...ICN 3049 0517 EMC Shield Saddle Clamp ICN 3001 0958 Screws M4x10 ICN 3001 1006 Screws pan head M3x6 11 5 6 D2015 SoE Drive 15A with Cable Bracket Kit STO Override Plug Part Number Description D2015 2S2 A 2 D2015 SoE Drive with Cable Bracket Kit and STO Override Plug D2015 2S2 A AMD2000 15A SoE Servo Drive 619 0 01 1535 Armature Shield Termination Bracket ICN 3049 0517 EMC Shield Saddle Clamp 619 0...

Page 163: ...in the drive is only to be used as an aid to visual troubleshooting It shall not be relied on as a means of safety There are no user serviceable parts inside the AMD2000 drive therefore maintenance only involves inspection of the drive its connections and enclosure Make sure that all connections are fitted correctly and that there are no signs of damage Check that all wires are tightly fitted to t...

Page 164: ...ay be described herein which are not present in all hardware and software systems We would like to hear your feedback via our website www ancamotion com Contact Us ANCA Motion Pty Ltd 1 Bessemer Road Bayswater North Victoria 3153 AUSTRALIA Telephone 613 9751 8900 Fax 613 9751 8901 Web www ancamotion com Contact Us Email sales au ancamotion com ANCA Motion Taiwan 4F No 63 Jingke Central Road Nantun...

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