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ANCA Motion AMD5x Series, User Manual

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Control Wiring 

ANCA Motion 

D-000129 Rev 09 

83 

6 

6.4 

Ethernet Interface 

 

EtherCAT

®1

 

6.4.1

AMD5x 

supports the EtherCAT protocol with ‘Servo Profile over EtherCAT’ (SoE). This protocol provides 

deterministic communication over a standard 100Mbit/s (100Base-TX) Fast Ethernet (IEEE802.3) connection. 
This makes it suitable for the transmission of control and feedback signals between the AMD5x and other 
EtherCAT enabled controllers.  
 
AMD5x 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 automatically detecting breaks or an intended end of line. 
If only one port is used for EtherCAT operation, it must be the X1 (IN) port. 

 

 

EtherCAT Topology / Port Assignment 

6.4.2

 

Each AMD5x PIU and Drive utilises the EtherCAT system topology as shown in

 Figure 6-1

. 

Loopback 

Function

EtherCAT 

Processing Unit

EtherCAT

Slave Controller

Port 0 

Closed

Port 0 open 

or all ports 

closed

Auto-

forwarder

Loopback 

Function

Loopback 

Function

Port 1 

Closed

Auto-

forwarder

Loopback 

Function

In

Out

Port 3 

Closed

Port 2 

Closed

Port 1 

Open

 

Figure 6-1: EtherCAT system topology 

 

 

 

 

 

                                                           

1

    

EtherCAT

®

  is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany

 

Summary of Contents for AMD5x Series

Page 1: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 i AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide D 000129 Rev 09 ...

Page 2: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 Page intentionally left blank ...

Page 3: ...nit and AMD5x Servo Drive User Guide Some Important Links Related Manuals and Brochures Related Documentation Sales and Support Contact Information Product Sales and Service Enquiries User manual Manuals MotionBench Software Documents Reference D 000129 Revision 09 Effective 12 January 2022 ANCA Motion Pty Ltd ...

Page 4: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 Page intentionally left blank ...

Page 5: ...unting and cooling 5 Power Wiring Insulation earthing power conditioning brake connection and regenerative brake 8 Installation Checklist Pre power up checks 12 Additional Information How to contact ANCA Motion with your enquiries 7 EtherCAT Configuration EtherCAT Frame Packet Mapping EtherCAT LED status 6 Control Wiring Electrical Interfacing with the I O connectors EtherCAT and motor feedback 9 ...

Page 6: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 ii Page intentionally left blank ...

Page 7: ...w 11 3 5 1 PIU 12 3 6 PIU Connector Overview 13 3 6 1 X1 Regenerative Brake Resistor 14 3 6 2 X2 3 Phase Mains Earth Supply 15 3 6 3 X5 Regenerative Brake Resistor Over Temperature Switch 15 3 6 4 X6 LED Supply 16 3 6 5 X7 24 Vdc Supply 16 3 6 6 X3 X4 EtherCAT Ports 16 3 7 Drive Connector Overview 17 3 7 1 X10 24 Vdc Brake Connections 19 3 7 2 X11 3 Phase Armature Supply 19 3 7 3 X12 Motor Tempera...

Page 8: ...stalling the New Fan Housing Assembly 57 4 5 3 Fan Harness Routing and Connection 58 5 Power Wiring 59 5 1 What This Chapter Contains 59 5 2 Mains Power Supply 59 5 2 1 3 Phase AC Voltage Supply 59 5 2 2 Connection of PIU to Grounded Systems TN or TT 60 5 2 3 Connection of PIU to non grounded IT or Delta systems 60 5 2 4 Residual Current Detection RCD protection 61 5 3 Power Disconnect and Protect...

Page 9: ... 83 6 4 2 EtherCAT Topology Port Assignment 83 6 5 Motor Encoder Feedback 85 6 5 1 Analogue Encoder Interface signals 85 6 5 2 Analogue Encoder Power Supplies 85 6 5 3 Hiperface DSL Encoder 86 6 5 4 BiSS ABZ Encoder 86 6 5 5 BiSS Functional Safety System 86 6 5 6 BiSS RS 422 Physical Interface 87 6 6 Probe Inputs 88 6 6 1 Probe Proxy Interface and Power Supply 88 6 7 IO Interface 89 6 7 1 X20 IO I...

Page 10: ... Contains 107 10 2 Control Functions 107 10 2 1 Control Modes 107 10 2 2 Thermal and Over Current Protection 107 10 2 3 Self Protection Features 108 10 2 4 DC Bus Voltage Control 108 10 2 5 Advanced Control Functions 108 10 3 Interface Specifications 109 10 3 1 Motor Position Feedback 109 10 3 2 Encoder Channel 1 109 10 3 3 Encoder Channel 2 109 10 3 4 Encoder Supplies for Ch1 and Ch2 and BiSS ABZ...

Page 11: ...rmance Marking 149 10 8 2 CE Marking 149 10 8 3 FCC Marking 150 11 Accessories 151 11 1 What This Chapter Contains 151 11 2 EMI Filter 151 11 3 Line Reactor 151 11 4 24 Vdc Ribbon Cable 151 11 5 EtherCAT Cables 152 11 6 Cooling Duct Fan Kit 152 11 7 Regen Resistor 153 11 7 1 Regen Resistor 153 11 7 2 Regen Resistor Over Temperature Switch 153 11 7 3 Regen Resistor with Enclosure and Over Temperatu...

Page 12: ......

Page 13: ...re classified as NEMA UL Open Type The AMD5x modules must be mounted within an enclosure which provides access protection with access only possible with a use of a tool or after de energization of the live parts 1 1 General Safety The following points must be understood and adhered to at all times Equipment operators must read the User Manual carefully and make sure of the correct procedure before...

Page 14: ...all power sources Use cables with the minimum cross sectional area as recommended or greater Install cables according to local legislation and regulations as applicable The AMD5x modules must be mounted within an enclosure which provides access protection with access only possible with a use of a tool or after de energization of the live parts Do not touch heatsinks during drive system function as...

Page 15: ...on control for applications that may vary from precise control of movement and angular position of permanent magnet synchronous motors through to less rigorous applications such as simple speed control of induction motors In many of these applications the rotational control of the motor is converted to motion using mechanical means such as ball screws and belts Motion control is performed by the d...

Page 16: ...urrent Features Type P Passive Infeed Unit Accessory Blank No Accessory 1 PIU Connector Kit 2 PIU Connector Kit Regen Kit Mounting option B Duct mounting C Wall mounting D Recessed mounting Figure 2 1 AMD5x Series PIU Catalogue number interpretation For any warranty work to be undertaken these labels must be readable and undamaged Care should be taken to record these numbers in a separate register...

Page 17: ...sion option 0 No Expansion 1 IO Interface 3 Hiperface DSL 4 BiSS ABZ 6 IO Interface Hiperface DSL 7 IO Interface BiSS ABZ Feature set 0 Denotes current features Variant of Output 0 Standard H High Overload Accessory Blank No Accessory 1 Drive connector kit Figure 2 2 AMD5x Series Servo Drive Catalogue number interpretation For any warranty work to be undertaken these labels must be readable and un...

Page 18: ...rvo Drive EtherCat Output Voltage 8 850 Volts Mounting option C Wall mounting D Duct Recessed mounting Capacitance codes 010 2115uF Feature Sets A00 Denotes Current Features Type C Capacitor modules Figure 2 3 AMD5x Series Capacitor Module Catalogue number interpretation For any warranty work to be undertaken these labels must be readable and undamaged Care should be taken to record these numbers ...

Page 19: ...ith firmware bundle Digital Servo Drive Error Code Reference Included with firmware bundle To obtain these documents contact your local ANCA Motion sales office See 12 3 Product Sales and Service Enquiries 2 10 Trademarks EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany HIPERFACE DSL is a registered trademark of SICK STEGMANN GmbH BiSS Interfa...

Page 20: ...Drive DSP Digital Signal Processor EMC Electromagnetic Compatibility EMI Electromagnetic Interference ESD Emergency Stop Device GND Ground Hiperface DSL Hiperface Digital Servo Link Hz Hertz IEC International Electrotechnical Commission IGBT Insulated Gate Bipolar Transistor IO Input Output I O Bidirectional Input Output LVD Low Voltage Directive CE 2014 35 EU ms Millisecond O Output PCBA Printed ...

Page 21: ... connectivity Position velocity and torque current control Support for incremental analogue encoders High bandwidth encoder channels and current sensing Encoder monitoring and protection Probe inputs for position latching Motor brake control Capacitor modules for high regeneration applications Isolated motor temperature sensing Single system 24 Vdc control voltage Thyristor controlled DC Bus charg...

Page 22: ...rvo Drive User Guide ANCA MOTION D 000129 Rev 09 10 3 3 AMD5x Variant Identification Table 2 AMD5x Variant Identification Duct Mount PIU Drive Capacitor Module Wall Mount PIU Drive Capacitor Module Recessed Mount PIU Drive Capacitor Module ...

Page 23: ...nput DC AC Converter AC DC Converter Drive Control AMD5x PIU AMD5x DRIVE Figure 3 1 AMD5x PIU and Drive operating principle 3 5 System Overview The AMD5x system comprises one PIU and one or more digital servo drives as shown in the following figure PIU DRIVE 1 Control Master 380 480VAC 3Φ E Power Supply M 24V EtherCAT DC BUS DRIVE n EtherCAT DC BUS M EtherCAT Figure 3 2 AMD5x PIU and Drive system ...

Page 24: ... to the PIU and Drive system The PIU external connections are shown in Figure 3 3 X4 EtherCAT Out EtherCAT In CNC EtherCAT Master capable device e g CNC X5 X7 X6 X1 X2 External Regenerative Brake Resistor 24 Vdc to Drives 24 Vdc Supply LED Supply Regenerative Brake Resistor Over Temp Switch Circuit Breaker Interrupts power in the case of an overload to protect the power line RFI Filter Attached to...

Page 25: ...oduct Overview ANCA Motion D 000129 Rev 09 13 3 3 6 PIU Connector Overview The top view of the AMD5x PIU is shown in Figure 3 4 Figure 3 4 Regenerative Brake Resistor X1 and 3 Phase Mains Earth Supply X2 ...

Page 26: ...gure 3 5 Digital Input X5 LED Supply X6 and 24 Vdc Supply X7 X1 Regenerative Brake Resistor 3 6 1 Table 3 Regenerative Brake Resistor Connector Function Pin Assignment Looking at top of PIU Pin Number Label X1 Connects Regenerative Output to customer resistor 2 1 1 DC 2 REGEN_OUT Mating Connector Phoenix Plug 1969373 ANCA Part Number ICN 3077 1670 ...

Page 27: ...4 3 2 1 1 Mains Phase L1 2 Mains Phase L2 3 Mains Phase L3 4 Protective Earth Mating Connector Phoenix Plug no locks 1967391 ANCA Part Number ICN 3077 1252 X5 Regenerative Brake Resistor Over Temperature Switch 3 6 3 Table 5 Digital Input Connector Function Pin Assignment Looking at bottom of PIU Pin Number Label X5 Switch Input N C 24 Vdc system 1 2 1 SWITCH_RETURN 2 SWITCH_24 VDC Mating Connecto...

Page 28: ... Supply 3 6 5 Table 7 24 Vdc Supply Connector Function Pin Assignment Looking at bottom of PIU Pin Number Label X7 Connects customer 24 Vdc supply to PIU and Drives 0V is earthed internally 1 2 1 24 VDC_SUPPLY 2 0VDC_SUPPLY Mating Connector Phoenix Plug 1778065 ANCA Part Number ICN 3077 1669 X3 X4 EtherCAT Ports 3 6 6 Table 8 EtherCAT Ports X3 X4 Connector Designator Function Mating Connector RJ 4...

Page 29: ...0129 Rev 09 17 3 3 7 Drive Connector Overview The top view of the AMD5x Drive is shown in Figure 3 6 Figure 3 6 24 Vdc Brake Connections X10 3 Phase Armature Supply X11 Motor Temperature Sensor Input X12 and Hiperface DSL Interface X30 ...

Page 30: ...CA MOTION D 000129 Rev 09 18 The front view of the AMD5x Drive is shown in Figure 3 7 Figure 3 7 Encoder Inputs X13 X14 Probe Input X15 Encoder CH1 Monitor Output X16 EtherCAT In X17 EtherCAT Out X18 BiSS Encoder Monitor Output X31 and BiSS ABZ Encoder Input X32 ...

Page 31: ...ly Connector Function Pin Assignment Looking at top of Drive Pin Number Label X11 Connects Drive to Motor 1 2 3 4 1 U 2 V 3 W 4 E 3A 6A 12A 20A Drives Mating Connector Phoenix Plug Male 1709063 ANCA Part Number ICN 3077 1675 35A Drive Mating Connector Phoenix Plug Male 1969399 ANCA Part Number ICN 3077 1732 X12 Motor Temperature Sensor Input 3 7 3 Table 11 Motor Temperature Sensor Input Connector ...

Page 32: ...7 4 The drive supports 2 channels of 1Vpp encoders on channel 1 Figure 3 8 and channel 2 Figure 3 9 24VDC Out 24VDC In X18 EtherCAT Out EtherCAT In From PIU or Drive Servo Motor Brake Power 24V Probe X17 Encoder Ch1 Encoder Ch2 X14 X10 X12 X11 X15 X13 DC Bus DC Bus Figure 3 8 Drive System with 1 Vpp Encoder Ch 1 ...

Page 33: ...ng at front of Drive Pin Number Label X13 Connects to 1 Vpp Analog Encoder 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 REF1 2 COS1 3 COS_COM1 4 N C 5 N C 6 SIN_COM1 7 SIN1 8 ENC1 5V 9 REF1 10 COS1 11 COS_COM1 12 SHIELD 13 SIN_COM1 14 SIN1 15 ENC1_0V CASE SHIELD Mating Connector D SUB 15 WAY Male with 4 40 UNC jack screws ...

Page 34: ...7 5 The drive supports 2 channels of 1Vpp encoders on channel 1 Figure 3 8 and channel 2 Figure 3 9 24VDC Out 24VDC In X18 EtherCAT Out EtherCAT In From PIU or Drive Servo Motor Brake Power 24V Probe X17 Encoder Ch1 Encoder Ch2 X14 X10 X12 X11 X15 X13 DC Bus DC Bus Figure 3 9 Drive System with 1 Vpp Encoder Ch 2 ...

Page 35: ...ment Looking at front of Drive Pin Number Label X14 Connects to 1 Vpp Analog Encoder 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 REF2 2 COS2 3 N C 4 N C 5 N C 6 N C 7 SIN2 8 ENC2 5V 9 REF2 10 COS2 11 N C 12 SHIELD 13 N C 14 SIN2 15 ENC2_0V CASE SHIELD Mating Connector D SUB 15 WAY Male with 4 40 UNC jack screws ...

Page 36: ...oxy Feed Connector Function Pin Assignment Looking at front of Drive Pin Number Label X15 Connects to 2 x Probes with filtered 24 Vdc output to feed Probe Proxy 1 2 3 4 5 6 7 8 9 1 PROBE1_INPUT 2 PROBE1_GND 3 PROBE1_SHIELD 4 PROBEX_ 24 V 5 PROBEX_GND 6 PROBEX_SHIELD 7 PROBE2_INPUT 8 PROBE2_GND 9 PROBE2_SHIELD CASE SHIELD Mating Connector D SUB 9 WAY Female with 4 40 UNC jack screws ...

Page 37: ...shielded Ethernet cable with twisted pairs to suit X16 X17 X18 EtherCAT Ports 3 7 8 Table 16 EtherCAT Ports X17 X18 Connector Designator Function Mating Connector RJ 45 X17 EtherCAT Input connection EtherCAT Cable see 6 4 2 3 EtherCAT Cables RJ 45 X18 EtherCAT Output connection EtherCAT Cable see 6 4 2 3 EtherCAT Cables Suitable cables KXE 1100 0002 Ethernet Cable Cat 5e SF UTP 200mm QTY 1 supplie...

Page 38: ...26 X30 Hiperface DSL Encoder Interface 3 7 9 Typical drive with Hiperface DSL encoder is shown in Figure 3 10 24VDC Out 24VDC In X18 EtherCAT Out EtherCAT In From PIU or Drive Brake Power 24V Probe X17 X10 X11 HDSL X30 X15 DC Bus DC Bus Figure 3 10 Drive system with Hiperface DSL Encoder ...

Page 39: ...Vdc Data Pair Negative The Hiperface DSL Encoder Interface is accessed via a single pluggable connector X30 on the top face of the Servo Drive which includes integral polarisation The connector plug has a Spring Cage format and supports the termination of a wire gauge range of 16 24 AWG with a wire strip length of 10 mm or ferrules including a plastic sleeve with a cross sectional area range of 0 ...

Page 40: ...09 28 X32 BiSS ABZ Encoder Input 3 7 10 Typical drive with BiSS or ABZ encoder is shown in Figure 3 11 24VDC Out 24VDC In X18 EtherCAT Out EtherCAT In From PIU or Drive Servo Motor Brake Power 24V Probe X17 X10 X12 X11 BiSS ABZ X15 X32 DC Bus DC Bus Figure 3 11 BiSS ABZ System Overview ...

Page 41: ... 9 pin Male plug which can be fixed with M4 40 UNC jack screws Table 18 BiSS Input Connector Function Pin Assignment Looking at front of Drive Pin Number Label X32 Connects to BiSS or ABZ digital encoder 1 BiSS_ 5V 2 BiSS_MA A 3 BiSS_MA A 4 BiSS_ 5V 5 BiSS_MO Z 6 BiSS_ 0V 7 BiSS_SLO B 8 BiSS_SLO B 9 BiSS_MO Z CASE SHIELD Mating Connector D SUB 9 WAY Male with 4 40 UNC jack screws ...

Page 42: ...nnector Function Pin Assignment Looking at front of Drive Pin Number Label X31 Allows external Safety PLC to monitor BiSS Encoder with standard 1 1 Shielded Cable 4 3 2 1 8 7 6 5 1 SLO 2 SLO 3 MA 4 N C 5 N C 6 MA 7 5V 8 0V CASE SHIELD Mating Connector Suitable cables 8P8C Plug KXE 1100 0010 Shielded Ethernet Cable Cat 5e SF UTP 1 metre KXE 1100 0015 Shielded Ethernet Cable Cat 5e SF UTP 1 5 metres...

Page 43: ...Differential 9 Signal Voltage Interface Channel 1 N Differential 10 External Reference Common Negative 0 Vdc Reference 11 Signal Voltage Interface Channel 2 P Differential 12 Signal Voltage Interface Channel 2 N Differential 13 X20 Row 2 DO GP External Reference Positive 24 Vdc Reference 14 Signal Channel 1 Push Pull 15 Signal Channel 2 Push Pull 16 External Reference Common Negative 0 Vdc Referen...

Page 44: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 32 Figure 3 12 AMD5x Drive IO Interface Connector ...

Page 45: ... LED Status Red LED State Definition LED State Definition OFF No 24 Vdc control supply OFF No 24 Vdc control supply Blue Slow Flash DC Bus Not Charged and No PIU Enable Request AC input is present Blue Fast Flash Bus Charging Red Continuous PIU Error Blue Continuous PIU Ready Red Blue Alternating Flash DC Bus Not Charged and No PIU Enable Request AC input is not present Red Blue Alternating Flash ...

Page 46: ...owing figure Table 22 LED Display and Control Panel Drive Drive Display LED Status Blue Drive Display LED Status Red LED State Definition LED State Definition OFF No 24 Vdc control supply OFF No 24 Vdc control supply Blue Flash No Error No Torque On Motor Red Continuous Class 1 Diagnostic C1D Fault Blue Continuous No Error Torque On Motor Red Blue Alternating Flash Bypass Mode Red Blue Alternating...

Page 47: ...Capacitor Module must be permanently fixed in an enclosed electrical cabinet and fitted by trained qualified personnel The electrical cabinet must be designed to provide access protection with access only possible with a use of a tool or after de energization of the live parts Refer to the 4 3 2 Mounting for the correct installation process The safety precautions outlined in 1 Safety must be under...

Page 48: ...unted on a zinc plated steel or Aluminium panel Painted panels are not to be used If any AMD5x 35A 125mm wide drives are to be installed these must be mounted adjacent to the PIU All 24 Vdc ribbon cable configurations require this installation method Refer 11 4 24 Vdc Ribbon Cable If any AMD5x Capacitor Modules are to be installed these must be mounted furthest away from the PIU after all Drives T...

Page 49: ...nefits of this system are The drive array is installed entirely within the electrical cabinet and does not require an external duct 2 Wall Mount The entire Drive Array system is mounted on the gear tray Each PIU and Drive s heatsink in the array will be independently cooled Refer to 4 3 7 Heatsink Cooling Wall Mount Fitment for more details The Drive array depth has increased by 45mm due to the fa...

Page 50: ...able 10 5 4 Duct Mount Cooling heatsink losses are the major power losses from the PIU and Drives and it is preferable to dissipate this heat into the external environment and not into the cabinet enclosure Figure 4 1 AMD5x system with external cabinet air supplying cooling duct Figure 4 2 AMD5x cooling duct and gear tray with external cabinet air supplying cooling duct Heatsink Cooling with Inter...

Page 51: ...PIU and Drives are mounted on a small gear tray which also supports the cooling duct and fan mounting see Figure 4 4 Figure 4 3 AMD5x system with internal cabinet air supplying cooling duct Figure 4 4 AMD5x cooling duct and gear tray with internal cabinet air supplying cooling duct ...

Page 52: ... rear of the gear tray with PIU and Drives Each PIU and Drive has a rubber gasket surrounding the heatsink to provide a seal between the duct and cabinet preventing air from the duct entering the cabinet Refer to Figure 4 6 to allow even air flow the duct must extend past the last Drive and provide 60 to 90mm of space between the fans and PIU heatsink Figure 4 6 AMD5x system fan clearance to first...

Page 53: ...t Air Using Duct Mount Fitment the inlet fans can be mounted on inside of the cabinet wall with outlet protection grills on the outside The fan cut out is shown in Figure 4 9 For installations using internal cabinet air see 4 3 5 Heatsink Cooling with Internal Cabinet Air Using Duct Mount Fitment the fans can be mounted on duct end plate with fan cut out is shown in Figure 4 9 The outlet protectio...

Page 54: ...ce Enquiries for assistance to determine drive current limits when operating drives at high ambient and high continuous load currents Heatsink Cooling Wall Mount Fitment 4 3 7 The wall mount AMD5x installation is shown Figure 4 10 The cool air is drawn from the fan entry at the bottom of the modules and exits at the top The user must ensure the environmental conditions inside the cabinet meet the ...

Page 55: ...e humidity of the air entering the drive system shall be within the specified limits of table 10 5 3 Installation and Operation 4 3 9 1 Mounting of Drives for Effective Cooling Inside the Electrical Cabinet The AMD5x PIU and drives require 100mm clearance on the top and bottom as shown in Figure 4 12 to allow connector access and provide sufficient ventilation There is no clearance requirement for...

Page 56: ...ons show the PIU mounting holes for the duct mount Figure 4 13 wall mount Figure 4 14 and recessed mount Figure 4 15 variants The installation is intended to insert the bottom screw first before the PIU is lifted into position The screw should not be made tight but screwed with about 5mm of exposed thread exposed Lift the PIU onto the screw so the screw supports the weight of the PIU in the bottom...

Page 57: ...cal Mounting of PIU Wall Mount 4 4 2 1 Recessed Mount When installing the recessed mount PIU be careful not to damage the pull tabs on the fan housing when the product is inserted into the gear tray slot Refer to Figure 4 15 Figure 4 15 Mechanical Mounting of PIU Recessed Mount ...

Page 58: ...crew should not be made tight but screwed with about 5mm of thread exposed Lift the drive onto the screw so the screw supports the weight of the drive in the bottom slot in the chassis then tilt it back into position and install the top mounting screw and tighten both screws to a torque of 3 0 Nm Refer to Figure 4 16 Figure 4 17 and Figure 4 18 Uninstalling the product is the reverse of the instal...

Page 59: ...Mechanical Installation ANCA Motion D 000129 Rev 09 47 4 Figure 4 17 Mechanical Mounting of a Drive Wall Mount Figure 4 18 Mechanical Mounting of a Drive Recessed Mount ...

Page 60: ...screwed with about 5mm of thread exposed Lift the capacitor module onto the screw so the screw supports the weight of the capacitor module in the bottom slot in the chassis then tilt it back into position and install the top mounting screw and tighten both screws to a torque of 3 0 Nm Refer to Figure 4 19 and Figure 4 20 The Capacitor Modules must be mounted furthest away from the PIU after all Dr...

Page 61: ...Mechanical Installation ANCA Motion D 000129 Rev 09 49 4 Figure 4 20 Mechanical Mounting of Capacitor Module for a Wall Mount ...

Page 62: ...n in Figure 4 21 and Figure 4 22 Figure 4 23 Note if there is no room in the electrical cabinet to fit and access this Cover it must be fitted before mounting the Drive or Capacitor Module to the gear tray The Protective Cover and the two mounting screws are included with the PIU for the system Figure 4 21 Fit the Protective Cover to the last Drive in the Array Duct Mount Figure 4 22 Fit the Prote...

Page 63: ...E The open ends forked end of the Busbars must point to the LEFT towards the PIU See Figure 4 24 Each unit s chassis contains a PE wire harness to be connected to the DC bus system Ensure that the terminal for the PE wire harness is connected to the busbars Tighten all M4 nuts for each busbar standoff to a torque of 1 5 Nm Refer to Figure 4 22 for fitment of the Protective Cover to the Capacitor M...

Page 64: ...s in the tray For the 20A 12A 6A and 3A drives route the ribbon cables between the LHS of the tray and the chassis wall Carefully place the Controller PCBA tray into each drive as shown and tighten the four captive screws on each tray Figure 4 25 Fitted Drive Controller PCBA For Wall and Recessed mount drives connect the loose plug end into the controller PCBA connector as shown in Figure 4 26 Fig...

Page 65: ...ee section 11 4 24 Vdc Ribbon Cable The ribbon cable does not extend into any Capacitor Modules Figure 4 27 Connection of the 24Vdc Ribbon Cable to the PIU and Drive controller PCBAs 4 4 5 5 Fit Front Covers to the PIU and Drives Fit the Front Covers to the PIU Drives and Capacitor Module by tightening the four captive screws as shown in Figure 4 28 Ensure the cover flanges are located within the ...

Page 66: ...ecting any connectors or exposing any part of the DC Bus Refer also to figures in 4 4 5 System Installation Unplug and remove all connectors to the PIU Drive and also to the adjacent PIU or Drives modules Remove the front cover from the PIU Drive by undoing the four captive fasteners on the cover Also remove the front covers of the adjacent PIU or Drives modules Unplug and remove the 24 Vdc Ribbon...

Page 67: ...e that your work area is safe and clean Make sure that no foreign objects are dropped into the unit s while performing this procedure For Wall Mount units the fan housing assembly can be replaced without removing it from the gear tray It is only required to remove the lower mounting screw see Figure 4 30 below Figure 4 30 Remove lower mounting screw for Wall mount variants only For Recessed Mount ...

Page 68: ...sembly completely and then the whole fan housing assembly can be discarded For Recessed mount variants an easy method to remove the fan housing assembly is to do the following Place index fingers in the fan housing recess located on the sides and pull back while using thumbs to push against the chassis return tabs as shown Figure 4 33 The plastic snaps will disengage from the chassis and the housi...

Page 69: ...s own slot in the chassis Carefully slide the fan housing assembly into the unit as shown in Figure 4 34 while also pulling the fan wires up through the slot in the chassis Ensure the fan wires are not damaged during this process Once the fan housing assembly has been fully inserted check the plastic snaps are located into their slots in the chassis Figure 4 34 Routing the fan wires through the ch...

Page 70: ...he PIU PCBA For the Drives route the harness es through the cut out hole in the PCB board as shown in Figure 4 36 Insert the plug s into the correct connector on the PCB board For multiple fans the LHS harness to connect to the LHS connector on the PCB board etc Figure 4 36 Connecting the fan plug s into the Drive PCBA For Recessed mount PIU and Drives follow the instructions in 4 4 7 Uninstalling...

Page 71: ...re also required for EMC compliance refer to 5 5 Installations Conforming to the EMC Directive for details on the recommended EMC compliant installation The AMD5x PIUs and Drives are suitable for use on supplies of installation overvoltage Category III according to IEC 61800 5 1 This means they may be connected permanently to the supply at its origin in a building but for machine installations clo...

Page 72: ...to a non grounded IT or Delta system as this will exceed PIU Drive electrical safety limits Proper function of the PIU is reliant upon an input supply that is ground referenced The incorrect use of transformer connection systems with asymmetrical grounding such as Corner Earth High Leg Scott T shown in Figure 5 2 will generate a a warning W_Gnd 1 see Table 37 and the PIU will not start If the W_Gn...

Page 73: ...system If an external EMI filter is used a delay of at least 50ms should be incorporated to ensure spurious trips are not seen The leakage current is likely to exceed the trip level if all the phases are not energized simultaneously Caution Under fault conditions it is possible for a DC current to be present in the protective earthing conductor This DC current can reduce the ability of a type A or...

Page 74: ...tactor AC3 Rating is a switching rating and this is lower than its AC1 Thermal Rating Note Wire sizes are based on 75 C 167 F insulated copper wire Use of higher temperature cable may allow smaller gauge wires Size wire gauges to conform to the local electrical installation regulations The Input Mains supply wire size should be used for the following power connections 3 Phase AC connection from Is...

Page 75: ...ation of output power It is recommended that at least one isolation contactor be used on the three phase AC mains supply to the Passive Infeed Unit The contactor s can provide a safe and reliable method of isolating the Drive Array DC Bus Servo Drive motor armature cable outputs from the line supply See Contactor Ratings given in Table 23 5 4 Grounding Earth and ground are synonymous where earth i...

Page 76: ...s The AMD5x PIU and Drives are designed to be installed on a metal gear tray which forms an equipotential bond to all equipment mounted on the same gear tray This minimizes voltage differences to all grounded connections and enhances the immunity of equipment against conducted and radiated RF disturbance The gear tray must be connected to the supply PE and is designated the Chassis Earth Symbol fo...

Page 77: ...e return path IDC to the drive and the EMI line filter provides another return path ILF via the drive mains input It is important that the level of interference fed back to the mains supply via path IPE is minimised because all other equipment in the installation is also connected to this same mains supply and could therefore be affected by this interference Adding an EMI filter provides a low imp...

Page 78: ...ances attempt to operate the PIU without a line reactor fitted In mains supply installations equipped with reactive power compensation capacitors the harmonic currents drawn by the PIU may cause resonances excited by the harmonic currents being drawn Therefore it is strongly recommended that any power compensation capacitor equipment be fitted with suitable reactor protection and damping to preven...

Page 79: ...Cable Shielding For longer cable lengths a ferrite ring on the drive output will reduce EMC noise Ensure that the EMI filter is always used with a line inductor that reduces rms currents otherwise these may lead to currents exceeding the EMI filter rating Ensure the EMI filter is connected to the mains supply for maximum performance refer to Figure 5 6 Ensure the current rating of EMC components i...

Page 80: ...rol relay Ensure that shielding of the motor cable is continued on both sides of the motor circuit contactor Shielded Armature Cable Schematic 5 6 2 Shielded armature cable schematic for Beta and Gamma Motors is shown in Figure 5 8 with connector pin identification K5B ASMD cable variant catalogue numbers can be found in 11 8 2 Shielded Armature Cable for Beta Gamma Motors Figure 5 8 K5B ASMD sche...

Page 81: ...ial bonding of the shield in the cabinet is a critical component in managing EMC problems The following guidelines must be followed It is preferable to use motor connectors where the shield is terminated to the connector housing and thus is directly bonded to the motor If a shield terminated motor connector is not used then the cable shield must clamped to the earthing system close to the motor Se...

Page 82: ... permitted but no significant parallel runs should be allowed and cables should not share cable trays trunking or conduits unless they are separately shielded and the shields correctly terminated Avoid mixing pairs with different signal types Do not mix 415 V AC with 24 Vdc analogue digital If plastic trunking ducting is used secure it directly to installation plates or the framework Do not allow ...

Page 83: ... above the top face of the Drive The EMC Shield Clamps for the Outer Shield and Hiperface DSL Segment Shields should normally be separated by at least 25 mm D2 on the Gear Tray Wall Mount The Outer Shield and Hiperface DSL Segment Shield EMC Clamps must be co located at the Gear Tray DIN Rail which would normally be placed 100 mm D1 and 80 mm D3 above the top face of the Drive The EMC Shield Clamp...

Page 84: ...nstallation of the Hiperface DSL armature cable is shown in Figure 5 11 Figure 5 13 K5B DSMD schematic and connector pin identification Shielded Hiperface DSL Armature Cable with Brake 5 6 11 Shielded Hiperface DSL armature cable with brake schematic for Gamma Motors is shown in with connector pin identification K5B HSMD cable variant catalogue numbers can be found in 11 8 6 Shielded Hiperface DSL...

Page 85: ...e AMD5x Drive Motor 24V Brake Coil Separate Customer 24V DC Supply 24V 0V Brake Brake 1 2 3 4 X10 Figure 5 15 Motor Brake Interface Circuit To engage the brake The motor is brought to rest under normal control The relay is deactivated causing the brake to engage The drive is disabled removing power from the motor To disengage the brake The drive is enabled The drive applies power to the motor to h...

Page 86: ...or Thermal Sensor The AMD5x Drive employs a fully isolated input circuit to receive the signal from a KTY84 130 temperature sensor which is embedded in the motor windings This input circuit complies with LVD requirements to assume that the temperature sensor itself may under some circumstances be live at the full armature voltage potential This drive isolator relieves the requirement to achieve re...

Page 87: ...re Cable with Thermal Sensor Schematic 5 8 1 Shielded armature cable with thermal sensor schematics for Beta and Gamma Motors are shown in Figure 5 20 and Figure 5 21 with connector pin identification K5B TSMD 020 and K5B T2ND cable variant catalogue numbers can be found in 11 8 3 Shielded Armature Cable for Beta Gamma Motors with Thermal Sensor An example installation of the armature cable with t...

Page 88: ... Gamma Motors is shown in Figure 5 22 with connector pin identification K5B SSMD cable variant catalogue numbers can be found in 11 8 5 Shielded Armature Cables for Beta Gamma Motors with Brake and Thermal Sensor An example installation of the armature cable with brake is shown in Figure 5 16 and an example of thermal sensor installation is shown in Figure 5 19 Figure 5 22 K5B SSMD schematic and c...

Page 89: ...pable of absorbing the amount of peak regenerated power then the voltage will continue to rise and an overvoltage trip will occur The selection of the appropriate resistance value for the Brake Resistor is dependent on the application AND the PIU rating The regenerative Brake Resistor for the 15kW PIU can have a resistance range of between 36Ω and 18Ω which results in a peak resistor power dissipa...

Page 90: ...tor surface temperatures and thus higher kW capability The regeneration resistor must be able to sustain 3 electrical load conditions Discharge of the DC Bus which depends on the total bus capacitance energy and occurs only when the PIU is turned off The peak power listed in 5 9 1 Regenerative Brake Resistor which depends on the resistor value The rms power during regeneration which depends on the...

Page 91: ...les VM maximum bus voltage 806V VNOM Nominal bus voltage ULL 3 Φ 2 C Total Bus Capacitance in Farads If the kinetic energy EB is greater than the DC Bus Capacitor Energy EC then the brake resistor will be required to dissipate the excess energy Example 1 A 4 axis gantry system moving in one axis decelerates from 2m s to stop in 0 136s The motor is rotating at 2790rpm when deceleration begins The f...

Page 92: ...o the DC Bus and uses the same busbars to connect between Drives and PIU Longer Busbars are supplied with Wide Drives the 35A and 35AH Warning The M4 nuts holding the busbars must be tightend to 1 5Nm Warning Ensure all busbars are installed before applying mains power to the AMD5x system 5 11 Checking the Insulation of the Assembly The Installed three phase supply and motor cables must be tested ...

Page 93: ...cuit Supply The AMD5x requires an external 24 Vdc supply to power all control circuits in the PIU and Drives This supply is connected to PIU with connector X7 Refer 3 6 5 X7 24 Vdc Supply The 24 Vdc is distributed via a ribbon cable from the PIU to all the Drives Each Drive uses one connector to draw control power from the ribbon cable bus The ribbon cable has a folded arrangement with widths and ...

Page 94: ... Vdc supply calculation AMD5x Module Base load current A Module Fan current A Encoder current A Probe current A Total module current A PIU 0 27 0 27 0 0 0 54 35A 0 27 0 81 0 07 0 1 15 20A 0 27 0 54 0 14 0 0 95 12A 0 27 0 27 0 07 0 1 0 71 Total 24 Vdc system current A 3 35 This column shows the reflected current load on the 24VDC supply This current is of the actual Encoder currents due to the SMPS...

Page 95: ... be connected in many configurations such as a ring star or tree with EtherCAT s self terminating technology automatically detecting breaks or an intended end of line If only one port is used for EtherCAT operation it must be the X1 IN port EtherCAT Topology Port Assignment 6 4 2 Each AMD5x PIU and Drive utilises the EtherCAT system topology as shown in Figure 6 1 Loopback Function EtherCAT Proces...

Page 96: ...UT connectors Drive X17 X18 EtherCAT IN OUT connectors 6 4 2 3 EtherCAT Cables To connect the AMD5x drive and PIU to other EtherCAT devices the following types of cables must be used with Ethernet 8P8C modular connectors They are commonly referred to as RJ45 shielded patch leads Table 27 EtherCAT Cables Cable Name Cable Shield Pair Shielding Cat 5e or Above F UTP Foil None SF UTP Screen and Foil N...

Page 97: ...lse detection circuitry is compatible with various signal formats such as Renishaw and Tamagawa as well as the demanding Heidenhain Analogue Encoder Encoder cable connections are as per 3 7 4 X13 Encoder 1 Input for Encoder 1 and 3 7 5 X14 Encoder 2 Input for Encoder 2 It is recommended that the inner shield of a particular Encoder Cable be connected to ENC1_0V or ENC2_0V or Pin 12 This cable inne...

Page 98: ...e also refer to 5 6 9 Hiperface DSL Segment Shield Clamping BiSS ABZ Encoder 6 5 4 The AMD5x Servo Drive with integrated BiSS Encoder support provides a core Servo Drive function along with a BiSS encoder or ABZ incremental encoder interface The BiSS or ABZ Encoder Interface is accessed via a single pluggable connector X32 on the top of the Servo Drive Refer 3 7 10 X32 BiSS ABZ Encoder Input BiSS ...

Page 99: ...ion resistors if the BiSS Functional Safety Monitor is not connected The BiSS Functional Safety Monitor Clock MA and Data SL signals are buffered with a maximum propagation delay of 12ns which can be compensated in the BiSS Functional Safety Monitor Figure 6 3 AMD5x Drive BiSS RS 422 connections The RS 422 cables must have the following characteristics Leads for Clock MA Data SL 5V shall be twiste...

Page 100: ...e 24 Vdc feed is clean and free of noise usually present on general use 24 Vdcsupplies in the electrical cabinet The 24 Vdc source PROBEX designation on X15 is obtained from pins 4 5 and 6 and can be used to supply either or both Probe Proxies The ProbeX 24 Vdc output is rated at 200mA and is short circuit protected self resetting fuse In addition this 24 Vdc output is monitored by the DSP so that...

Page 101: ... additional IO control and detection for external transducers and other control measurement equipment The IO Interface provides the following IO functions Table 28 IO Interface Functions and Channels Function Channels Digital Input General Purpose 8 Digital Output High Speed 2 Digital Output General Purpose 2 Analog Input Voltage 2 Analog Output 1 The IO interface is accessed via two pluggable con...

Page 102: ...External Voltage References 6 7 2 The IO Interface requires the use of two external voltage references for operation of specific subsystems VREF24 V X20 13 Digital Input General Purpose Digital Output VREFHS X20 1 High Speed Digital Output The VREF24 Vdc Positive Reference has a nominal value of 24 Vdc is used for both the General Purpose Digital Output and Digital Input subsystems and must be con...

Page 103: ...m of the General Purpose Digital Output subsystem is shown in Figure 6 4 Typical Wiring Diagram DO GP and DO HS High Speed Digital Output 6 7 5 The High Speed Digital Output subsystem has a Push Pull output format which allows the Load to either be connected between the Output Pin and the Positive Reference or between the Output Pin and the Negative Reference It should be noted that this subsystem...

Page 104: ... Rev 09 92 Digital Input 6 7 6 An isolated Positive Reference of 24 Vdc is connected to Positive Reference VREF24 V for this subsystem A typical wiring diagram of a Digital Input subsystem is shown in Figure 6 5 Typical Wiring Diagram DI GP Figure 6 5 Typical Wiring Diagram DI GP ...

Page 105: ...ingle Ended output format A Transducer with a Single Ended Output format is formed by connecting the Output Signal to the appropriate channel input P N and connecting the other channel input to the appropriate Reference usually the Negative Reference A typical wiring diagram of the Analog Input subsystem is shown in Figure 6 6 Typical Wiring Diagram AI Figure 6 6 Typical Wiring Diagram AI ...

Page 106: ...ence A Transducer with a Differential Input format could be interfaced to the Analog Output by connecting the Channel Output Signal to the appropriate Transducer Differential Input P N and connecting the other Transducer Differential Input to the Negative Reference A typical wiring diagram of the Analog Output subsystem is shown in Figure 6 7 Typical Wiring Diagram AO Figure 6 7 Typical Wiring Dia...

Page 107: ...en being used with other products please contact Product Sales and Service Enquiries 7 2 EtherCAT LED Status Definitions As shown in Figure 7 1 4 LEDs are located on the AMD5x EtherCAT interface RUN L A and ERROR The LEDs are Green RUN L A and Red ERROR in color The LED state and LED blink rates are detailed in Table 29 Table 30 and Table 29 Figure 7 1 EtherCAT Indicators EtherCAT RUN Indicator 7 ...

Page 108: ...k Activity L A LED for the IN and OUT Ports is located on the top right hand corner of the RJ 45 connector The states of the L A LED are detailed in the following table The L A LED is green in colour The normal working state of the L A LED is flickering Table 31 EtherCAT Link Activity LED Indicator Blink Rates State of LED Activity EtherCAT Linked On No Yes Flickering Yes Yes Single Flash No No Of...

Page 109: ...ature switch mounted on REGEN resistor E_GridSeq Error Phase rotation check of the mains 3 phase supply after PIU is enabled E_Current Error DC Bus current exceeds IDC in the direction or IDC in the direction E_HiVolt Error DC Bus voltage is 900V E_LoVolt Error DC Bus voltage is 320V while PIU is in Ready state E_ThyristTemp Error Rectifier thyristor module internal temperature 110 C E_HeatsnkTemp...

Page 110: ...NT8 R Reserved n a USINT8 HeatsinkTemp Measured temperature of heat sink temperature sense Range of 2 C to 120 C C USINT8 R Reserved n a UINT8 24 V Measurement of customer 24 Vdc supply Range of 0V to 48 18V x 0 1 Volts UINT16 GridFrq Calculated mains frequency to 2 0 5Hz 0 1 Hz UINT16 Outputs 7 3 3 All EtherCAT Frame Packet Output Digital states are 1 bit in size and active with Bit Value 1 Table...

Page 111: ...ecurely connected to the X2 plug See 5 2 Mains Power Supply Appropriate supply fuses and disconnect devices have been installed See 5 2 Mains Power Supply An appropriate inductor must be installed between the AMD5x PIU input X2 and 3 phase mains AC supply See 5 5 Installations Conforming to the EMC Directive for recommended inductor ratigns and installation The motor cable is connected to the appr...

Page 112: ... and are secure There is no dust or other foreign object inside the drive after installation e g Due to cutting of cables etc All wiring conforms to applicable regulations and standards Insulation of power wiring has been tested See 5 11 Checking the Insulation of the Assembly No physical damage is present to any component within the system The drive and all equipment connected to the motor is rea...

Page 113: ...nverting 3 phase mains to a filtered DC supply which is distributed to the servo drives on common bus The PIU uses a half controlled bridge rectifier to slowly charge the DC Bus capacitors in the PIU and Drives Once the capacitors are charged the DC output voltage varies according to the supply mains voltage and load power The PIU also distributes the customer supplied 24 Vdc control voltage to al...

Page 114: ...pacitors in the PIU and drives and then provide continuous power to connected drives The PIU should be Enabled at least 1s after three phase mains contactors are closed The start up sequence can be broken up into 4 key areas Mains Check Capacitor Charging Regenerative Brake Resistor test and Load Application Figure 9 2 Timing graph of typical DC Bus voltage and status bits after enabling the PIU M...

Page 115: ...ause the current flow is opposite to the normal Load current The DC Bus voltage will drop slightly during the test The status bit Rgn 1 is briefly set for 5ms during the test If the test is passed the thyristors will be turned on and the DC Bus will recover to normal operating values If the regen resistor test fails the error bit E_RgnTest 1 will remain set and the DC Bus will be fully discharged ...

Page 116: ...or while a positive value indicates power is being supplied to the Drives Temperature Measurements 9 5 2 Heat generated by the PIU rectifier is removed by the heatsink which is cooled by air flow in the external cooling duct The heatsink temperature sensor is a slowly changing value dependant on PIU load cooling air temperature and flow rate The sensor has a measuring range of 2 C to 120 C with tr...

Page 117: ...rake Resistor circuit and check Drives are not overloaded 6 E_HiVolt The DC Bus voltage is greater than 900V due to excessive drive regeneration Check Regen Brake Resistor is sized and functioning correctly 7 E_LoVolt The DC Bus voltage is less than 320V while the PIU is ready Ready 1 Customer to check all phase are present and above minimum requiements and check drives are not overloaded 8 E_Thyr...

Page 118: ...current controlled with a range of 0 to 20mA The LED output is isolated with a transformer from the controller 24vdc supply and connected to the chassis earth with a high impedance connection Thus if either LED output is accidently shorted to ground the LED driver will continue to function normally The LED output is also protected from open and short circuits Figure 9 3 LED Supply LED Fault Detect...

Page 119: ...es Position Control Via EtherCAT SoE Velocity Control Via EtherCAT SoE Current Torque Control Via EtherCAT SoE Sinusoidal Permanent Magnet Servo Control Yes Sinusoidal Induction Motor Control Yes Thermal and Over Current Protection 10 2 2 3A 6A 12A Drive amplifier temperature limit 80 C 20A Drive heat sink temperature limit 80 C 35A and 35AH Drive amplifier temperature limit 110 C PIU heat sink te...

Page 120: ... 2 4 Bus voltage monitor Yes Bus regeneration brake chopper Yes Bus over under voltage adjustable limits Yes Advanced Control Functions 10 2 5 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...

Page 121: ...ial Input Voltage 1 5 Vpp Acceptable range of DC Offset Voltage 1 0V to 3 0V DC 1 Vpp Bandwidth 600 kHz for Incremental 22kHz for Comm Tracks Encoder Channel 2 10 3 3 Interface Type Analogue 1 Vpp Supported Inputs Sin Cos Ref 1 Vpp 1 Vpp Commutation Track Not supported on Channel 2 1 Vpp Terminating Resistance 120 Ω for Incremental and Reference 1 Vpp Full Scale Differential Input Voltage 1 5 Vpp ...

Page 122: ...edback Supported via encoder IO channel Encoder Type SICK EKx36 18 20 bit EFx50 family 21 23 bit single turn and multi turn BiSS ABZ Encoder 10 3 6 Number of BiSS ABZ Channels per AMD5x Drive One BiSS Encoder Cable Format 3 Pairs Master Slave data power pair ABZ Encoder Cable Format 4 Pairs A B Z data power pair BiSS Signal Bandwidth 20 Mbps ABZ Signal Bandwidth 1 MHz 4M counts sec Data Physical I...

Page 123: ...20 4 to 28 8 Vdc User supplied Output Current maximum 500 mA 24 Vdc Multiple Output State Configuration Multiple digital outputs can be turned ON Total output load current across all outputs 500 mA Output Architecture Push Pull Load Type Resistive and inductive Switching Bandwidth DC to 1 kHz Short Circuit Protection Provided Isolation Provided 10 3 9 3 Digital Output High Speed Number of Outputs ...

Page 124: ... 10 Vdc Input Voltage maximum 11 3 Vdc Common Mode Range combined common mode level and input signal level 10 to 10 Vdc Resolution 12 bit Measurement Accuracy 0 1 of full scale at 25 C 0 3 of full scale over 20 C to 65 C Frequency Bandwidth DC to 1 kHz Input Impedance nominal 20 kΩ Short Circuit Protection Provided Isolation Provided 10 3 9 5 Analog Output Number of Outputs One Configuration Volta...

Page 125: ...kW 600V Cont DC Output Current IDC 30 A 100 40 A 100 Intermittent DC Output Current for 15s IDC1 43 A 143 80 A 200 Intermittent DC Output Current for 5s IDC2 60 A 200 120 A 300 Intermittent DC Output Current for 100ms IDC3 100 A 333 170 A 425 Continuous Regen Power PRG 10 kW 15 kW Max Peak Regen Power 1s pulse PRG1 36 kW 18R 72 kW 9R 24 Vdc Control Input Voltage UC 20 4 to 28 8 V 24 Vdc Control In...

Page 126: ...repetitive overload duration tp 1 sec Min Peak repetitive overload interval ts 10 sec PWM Switching frequency fs 8 kHz Current loop update rate ti 62 5 µs Drive efficiency Unity PF 600VDC ηD 97 1 97 7 98 1 98 3 98 5 98 5 Nominal output power rating 4 1 9 kVA 3 9 kVA 7 7 kVA 12 8 kVA 22 5 kVA 22 5 kVA Max Output frequency at nominal ULL 3 Φ ƒmax 500 Hz DC Bus capacitance C 135 µF 135 µF 135 µF 135 ...

Page 127: ...g above 40 C The derating factor is 2 of IaN C up to the maximum operating ambient temperature of 50 C as shown in Figure 10 1 See also 10 4 2 Drive for drive continuous rms output current ratings IaN The Duct mount drives are specified for full load over 0 C to 55 C Figure 10 1 Drive continuous rms output current derating The air inlet temperature to the heatsink of the duct mounted drives is lim...

Page 128: ...s 2K4 mechanical stress class 2M2 chemical influences class 2C2 and sand and dust class 2S2 Installation and Operation 10 5 3 Permissible cabinet ambient temperature of Duct Mounted Drives 0 to 55 C Permissible temperature of air entry to heatsinks of Duct Mounted Drives 0 to 45 C Permissible cabinet ambient temperature of Wall and Recessed Mounted Drives See 10 4 4 Temperature Derating for curren...

Page 129: ... 70 W 131 W 194 W 298 W 297 W Losses to cabinet at full rated continuous current 16 W 18 W 11 W 14 W 21 W 28 W 37 W 37 W Wall and Recessed Cooling 10 5 5 AMD5x Product Variant 15kW PIU 24kW PIU 3A Drive 6A Drive 12A Drive 20A Drive 35A Drive 35AH Drive Losses to cabinet at full rated continuous current 82 W 100 W 59 W 90 W 158 W 235 W 354 W 353 W Number of fans 1 1 1 1 1 2 3 3 Fan variable speed c...

Page 130: ...H Device Weight 3 0kg 4 4kg 4 5kg 6 5kg 4 5kg 6 5kg Height mm 362 362 362 362 362 362 Width mm 89 125 89 125 89 125 Depth mm 191 191 157 157 157 157 Including IO Interface 3A 6A 12A and 20A 35A and 35AH 3A 6A 12A and 20A 35A and 35AH 3A 6A 12A and 20A 35A and 35AH Device Weight 3 0kg 4 4kg 4 5kg 6 5kg 4 5kg 6 5kg Height mm 362 362 362 362 362 362 Width mm 89 125 89 125 89 125 Depth mm 6 193 193 15...

Page 131: ... 09 119 10 10 6 Dimension Drawings 15kW and 24kW PIU Physical Dimensions 10 6 1 Physical dimensions for Duct mount Figure 10 2 Wall mount Figure 10 3 and Recessed mount Figure 10 4 for PIU Figure 10 2 15kW and 24kW PIU dimensions Duct mount ...

Page 132: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 120 Figure 10 3 15kW and 24kW PIU dimensions Wall mount ...

Page 133: ...Technical Data ANCA Motion D 000129 Rev 09 121 10 Figure 10 4 15kW and 24kW PIU dimensions Recessed mount ...

Page 134: ...ink Cut Out 10 6 2 Specifications Mounting hole positions and heatsink cut outs for Duct Figure 10 5 and Wall Figure 10 6 mount PIU Drill and tap two mounting holes to M6x1 0 The sheet metal panel should be a minimum 3mm thick 109 50 189 50 80 25 54 75 M6x1 2 Places 80 25 Figure 10 5 Mounting hole and cut out specifications for PIU Duct mount ...

Page 135: ...Technical Data ANCA Motion D 000129 Rev 09 123 10 Figure 10 6 Mounting holes for PIU Wall mount For Recessed Mount heatsink hole cut out details refer to Figure 10 26 and Figure 10 30 ...

Page 136: ...ions 10 6 3 Mounting hole positions and physical dimensions for Duct mount Figure 10 7 Duct mount with IO interface Figure 10 8 Wall mount Figure 10 9 Wall mount with IO interface Figure 10 10 Recessed mount Figure 10 11 and Recessed mount with IO interface Figure 10 12 35A Drives Figure 10 7 35A and 35AH Drive dimensions without IO Interface Duct mount ...

Page 137: ...Technical Data ANCA Motion D 000129 Rev 09 125 10 Figure 10 8 35A and 35AH Drive dimensions with IO Interface Duct mount ...

Page 138: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 126 Figure 10 9 35A and 35AH Drive dimensions without IO Interface Wall mount ...

Page 139: ...Technical Data ANCA Motion D 000129 Rev 09 127 10 Figure 10 10 35A and 35AH Drive dimensions with IO Interface Wall mount ...

Page 140: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 128 Figure 10 11 35A and 35AH Drive dimensions without IO Interface Recessed mount ...

Page 141: ...Technical Data ANCA Motion D 000129 Rev 09 129 10 Figure 10 12 35A and 35AH Drive dimensions with IO Interface Recessed mount ...

Page 142: ...ns Mounting hole positions and physical dimensions for Duct mount Figure 10 13 Duct mount with IO interface Figure 10 14 Wall mount Figure 10 15 Wall mount with IO interface Figure 10 16 Recessed mount Figure 10 17 and Recessed mount with IO interface Figure 10 18 3A 6A 12A and 20A Drives Figure 10 13 3A 6A 12A 20A Drive dimensions without IO Interface Duct mount ...

Page 143: ...Technical Data ANCA Motion D 000129 Rev 09 131 10 Figure 10 14 3A 6A 12A 20A Drive dimensions with IO Interface Duct mount ...

Page 144: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 132 Figure 10 15 3A 6A 12A 20A Drive dimensions without IO Interface Wall mount ...

Page 145: ...Technical Data ANCA Motion D 000129 Rev 09 133 10 Figure 10 16 3A 6A 12A 20A Drive dimensions with IO Interface Wall mount ...

Page 146: ...AMD5x Passive Infeed Unit and AMD5x Servo Drive User Guide ANCA MOTION D 000129 Rev 09 134 Figure 10 17 3A 6A 12A 20A Drive dimensions without IO Interface Recessed mount ...

Page 147: ...Technical Data ANCA Motion D 000129 Rev 09 135 10 Figure 10 18 3A 6A 12A 20A Drive dimensions with IO Interface Recessed mount ...

Page 148: ... Duct Figure 10 19 and Wall Figure 10 20 mount 3A 6A 12A 20A 35A and 35AH Drives For each drive drill and tap two mounting holes to M6x1 0 The sheet metal panel should be a minimum 3mm thick 109 50 74 00 189 50 80 25 54 75 37 00 M6x1 2 Places 189 50 M6x1 2 Places 35A and 35AH Drive 3A 6A 12A 20A Drive 80 25 80 25 80 25 Figure 10 19 Mounting hole cut out specifications for 3A 6A 12A 20A 35A 35AH Du...

Page 149: ...ANCA Motion D 000129 Rev 09 137 10 Figure 10 20 Mounting hole cut out specifications for 3A 6A 12A 20A 35A 35AH Wall mount Drives For Recessed Mount heatsink hole cut out details refer to Figure 10 26 and Figure 10 30 ...

Page 150: ...ser Guide ANCA MOTION D 000129 Rev 09 138 Capacitor Module Physical Dimensions 10 6 6 Physical dimensions of Duct Recessed Figure 10 21 and Wall Figure 10 22 mount Capacitor Modules Figure 10 21 Capacitor Module dimensions for Duct and Recessed mount ...

Page 151: ... Capacitor Module dimensions for Wall mount Capacitor Module Mounting Hole Positions 10 6 7 The capacitor module has the same mounting hole positions as the 15kW and 24kW PIU See section 10 6 1 15kW and 24kW PIU Physical Dimensions No heatsink cut out is required ...

Page 152: ...le Mounting 10 6 8 Hole Positions Mouting hole positions for Duct Wall and Recessed mount Array PIU 35A 20A 12A 6A 3A Drives and Capacitor Module Figure 10 23 Figure 10 23 PIU 35A 20A 12A 6A 3A drives and Capacitor Module mounting hole positions for Duct Wall and Recessed mounting Array PIU 35A Drive 20A Drive 12A 6A3A Drive Capacitor Module ...

Page 153: ...PIU 35A 20A and 12A 6A 3A drives and Capacitor Module Figure 10 24 PIU 35A 20A and 12A 6A 3A drives heatsink cut outs and Capacitor Module mounting hole positions in an array Duct mount Figure 10 25 PIU 35A 20A and 12A 6A 3A drives heatsink cut outs and Capacitor Module mounting hole positions in an array Wall mount PIU 35A Drive 20A Drive 12A 6A3A Drive Capacitor Module PIU 35A Drive 20A Drive 12...

Page 154: ...o Drive User Guide ANCA MOTION D 000129 Rev 09 142 Figure 10 26 PIU 35A 20A and 12A 6A 3A drives heatsink cut outs and Capacitor Module mounting hole positions in an array Recessed mount PIU 35A Drive 20A Drive 12A 6A3A Drive Capacitor Module ...

Page 155: ...0 Hole Positions Mounting hole positions for Duct Wall and Recessed mount Array PIU 20A and 12A 6A 3A Drives and Capacitor Module Figure 10 27 Figure 10 27 PIU 20A and 12A 6A 3A drives and Capacitor Module mounting hole positions for Duct Wall and Recessed mounted Array PIU 20A Drive 12A 6A3A Drive Capacitor Module ...

Page 156: ...fications 10 6 11 Heat sink cut out specifications for Duct Figure 10 28 Wall Figure 10 29 and Recessed Figure 10 30 mount PIU 20A 12A 6A drives and Capacitor Module Figure 10 28 PIU 20A and 12A 6A 3A drives heatsink cut outs and Capacitor Module hole mounting hole positions in an array Duct mount PIU 20A Drive 12A 6A3A Drive Capacitor Module ...

Page 157: ...a ANCA Motion D 000129 Rev 09 145 10 Figure 10 29 PIU 20A and 12A 6A 3A drives heatsink cut outs and Capacitor Module hole mounting hole positions in an array Wall mount PIU 20A Drive 12A 6A3A Drive Capacitor Module ...

Page 158: ...Servo Drive User Guide ANCA MOTION D 000129 Rev 09 146 Figure 10 30 PIU 20A and 12A 6A 3A drives heatsink cut outs and Capacitor Module hole mounting hole positions in an array Recessed mount PIU 20A Drive 12A 6A3A Drive Capacitor Module ...

Page 159: ...ins raw materials that should be recycled 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 power m...

Page 160: ...EC 61000 2 4 2003 IEC 60146 1 1 1993 Precision Machinery Research and Development Centre Taichung Taiwan EMC Bayswater Pty Ltd Taichung Taiwan 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 7 ETG 1000 series ETG 9001 ETG 1300 Note the AMD5x is a conforming EtherCAT device but ...

Page 161: ...ategory 3 PDS and have been tested and certified to comply for use within what 61800 3 defines as the second environment The AMD5x PIUs and Drives comply with the standard with the following provisions 1 The motor and control cables are selected according the specifications given in this manual 2 The PIUs and Drives are installed and maintained according to the instructions given in this manual 3 ...

Page 162: ...efine the limits and test methods for a Power Drive System PDS according to its intended use whether residential commercial or industrial The standard defines limits for voltage disturbances and harmonics produced by the PDS and the methods for ascertaining compliance to the limits in order to maintain electromagnetic compatibility within the electrical network The AMD5x PIU and drive comply with ...

Page 163: ...on Cable Product code K5R 0000 0206 AMD5x 24v Ribbon Cable Reserved Number of 90mm Drives Number of 125mm Drives Examples Table 44 24 Vdc Ribbon Cables Examples ANCA Part Number Description K5R 0000 0006 24 Vdc Ribbon Cable to suit PIU Drives configuration PIU 6x90mm Drives K5R 0000 0204 24 Vdc Ribbon Cable to suit PIU Drives configuration PIU 2x125mm Drives 4x90mm Drives K5R 0000 0205 24 Vdc Ribb...

Page 164: ... KXE 1100 0030 Ethernet Cable Cat 5e SF UTP 3 0m For additional details please refer to 12 3 Product Sales and Service Enquiries 11 6 Cooling Duct Fan Kit Table 46 Cooling Duct Fan Kits ANCA Part Number Description 619 0 00 1733 AMD5x Fan Module kit Includes 2 x fans with mounting screws 4 x finger guards Fan Rating 114mA 24 V Fan Connection Red 24 V Blue 0V 619 0 00 1770 AMD5x High Speed Fan Modu...

Page 165: ...atsink 300W without heatsink 18kW for 1s Regen Resistor Over Temperature Switch 11 7 2 ANCA Part Number Description ICN 3079 0341 Regen Resistor over temperature switch open above 70 C TO 220 package Regen Resistor with Enclosure and 11 7 3 Over Temperature Switch ANCA Part Number Description ICN 3009 0850 Aluminium Housed Braking Resistor 36Ω 10 375W 180 C temperature switch 24kW 1s ...

Page 166: ... 2 Table 48 Shielded Armature Cables for Beta Motors Catalogue Number Length K5B ASMD 020 2m K5B ASMD 030 3m K5B ASMD 050 5m K5B ASMD 100 10m Shielded Armature Cable for Beta Gamma Motors with Thermal Sensor 11 8 3 Table 49 Shielded Armature Cables for Beta Motors with Thermal Sensor Catalogue Number Length K5B TSMD 020 2m K5B T2ND 050 5m K5B T2ND 100 10m Shielded Armature Cables for Beta Gamma Mo...

Page 167: ... DSL Armature Cables for Gamma Motors 11 8 7 Table 53 Shielded Hiperface DSL Armature Cables for Gamma Motors Catalogue Number Length K5B DSMD 020 2m K5B DSMD 300 30m Shielded Armature Cables for LinX M motor with Temperature 11 8 8 Table 54 Shielded Armature Cables for LinX M Motors with Temperature Sensor Catalogue Number Length K5M T1MD 020 2m K5M T1MD 300 30m Motor Power Cable Shield Clamps 11...

Page 168: ...Connections ICN 3077 1675 3A 6A 12A 20A Drive Armature Connector 4 Way 3 7 2 X11 3 Phase Armature Supply ICN 3077 1732 35A and 35AH Drive Armature Connector 4 Way 3 7 2 X11 3 Phase Armature Supply ICN 3077 0875 Drive Motor Temperature Sensor Connector 2 Way 3 7 3 X12 Motor Temperature Sensor Input ICN 3077 1982 Drive Encoder Connector 2 Way 3 7 9 X30 Hiperface DSL Encoder Interface ICN 3077 1898 D...

Page 169: ...There are no user serviceable parts inside the AMD5x drive or PIU 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 the connectors and that there are no signs of discolouration which may indicate heating Make sure all drive cov...

Page 170: ...ation Features may 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 VIC 3153 AUSTRALIA Telephone 61 3 9751 8900 Fax 61 3 9751 8901 www ancamotion com Contact Us Email sales au ancamotion com ANCA Motion Taiwan 4F No 63 Jingke Central Ro...

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