AXOR Industries MiniMagnum 230M Service Manual Download

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AXOR Industries

Service Manual

MiniMagnum

ver.1 rev.05/'15

Enclosures to the manual

On the CD provided with the drive there are the following enclosures (in pdf):

• Operative Modes Manual

• Additional Features Manual

• Speeder One Interface

• Positioner Manual

• Display and Keypad Manual

• Alarms Manual

• ModBus Manual

• CanOpen Reference Manual

• Cables Manual

• Oscilloscope Manual

• Procedures Manual (

available only on request

)

• Safety Enable Function Manual (

available only on request

)

Summary of Contents for MiniMagnum 230M

Page 1: ...AXOR Industries Service Manual MiniMagnumTM ver 1 rev 05 15 1 ...

Page 2: ...ensions insertion Min Max bus voltage values insertion Regen resistance set point values insertion Corrections ver 1 rev 01 09 Figure pag 23 corrected Figure pag 29 corrected RS485 connections inserted Corrections ver 1 rev 01 10 Note about single phase connection inserted Note about regen resistance inserted Corrections ver 1 rev 04 15 Correction about resistor note on RS485 connection Update cha...

Page 3: ...installation procedure 22 2 8 Example of base connection 23 2 9 Supply connections 24 2 10 Motor power connection 25 2 11 Regen resistance connections 26 2 12 Relè OK connection 27 2 13 Digital inputs connection 28 2 14 Analog and digital outputs connections 29 2 15 Analog inputs connections 30 2 16 Emulated encoder outputs connection 31 2 17 Pulse Dir inputs connections 32 2 18 Feedback signals c...

Page 4: ...he following enclosures in pdf Operative Modes Manual Additional Features Manual Speeder One Interface Positioner Manual Display and Keypad Manual Alarms Manual ModBus Manual CanOpen Reference Manual Cables Manual Oscilloscope Manual Procedures Manual available only on request Safety Enable Function Manual available only on request ...

Page 5: ...s Service Manual MiniMagnumTM ver 1 rev 05 15 Chapter 1 Description 1 1 Description 6 1 2 General view MiniMagnum 9 1 3 Technical Data 10 1 4 Mechanical Dimension 11 1 5 Product plate and Ordering Code 12 1 Description ...

Page 6: ...N It is possible to connect the drive to a stepper motor controller piloting it with the Pulse and Dir signals Pulse Dir Mode optional MULTIDROP RS232 It can work in Multidrop where the first drive connected via RS232 to the Master PC is piloted with ModBus communication while the other drives are piloted with the duplication of commands using the CanBus interface optional RS485 INTERFACE It is po...

Page 7: ...he drive standard 1 ANALOG DIFFERENTIAL or COMMON MODE INPUTS Vref It is used for piloting the drive with an analogue speed reference from an external controller standard 2 programmable ANALOG OUTPUTS They allow you to visualise by the oscilloscope some of the drive s measurement values for example the velocity the Iq current etc standard general features KeyPad Four buttons UP DW MODE SET allow t...

Page 8: ...n Voltage the drive I2 t the Motor I2 t etc When there is an alarm the Relè OK contact opens and the motor is stopped or a message is visualised on the display without compromising the system s functioning standard Safety Enable Function It is a safety function which avoids the accidental startup of the motor in the absence of 24Vdc on indicated pin optional Black out dynamic brake function It sto...

Page 9: ...85 comunication J1 connector Feedback motor signals encoder resolver M2 connector Emulated encoder outputs M1 connector Analog and Digital Inputs Outputs Relè OK M3 connector OPTIONAL Analog and Digital Inputs Outputs M6 connector Motor supply M5 connector Power supply Regen resistance Display and Keypad J4 connector RS232 comunication M7 connector OPTIONAL Holding brake drive Chassis ...

Page 10: ...ol signals Optoisolated digital inputs 24Vdc 7mA PLC compatible Optoisolated digital outputs 24Vdc 50mA PLC compatible Analog programmable outputs 10V 5 Analog common mode input TPRC 10V max 20kOhm input resistance Analog differential or common input Vref 10V max 40kOhm input resistance Pulse Dir digital inputs 5V optoisolated max frequency 250kHz Emulated encoder outputs VOH 2 5V min IOH 20mA VOL...

Page 11: ...XOR Industries Service Manual MiniMagnumTM ver 1 rev 05 15 1 4 Mechanical Dimension Dimension in mm Mechanical specifications Drive assembly Panel mount External dimensions mm 201 x 141 x 66 Weight Kg 1 750 ...

Page 12: ...ommutation encoder or resolver both Specific number presence opt S xxx 001 999 specific number Expansion cards 0 X Not in use HBD Holding Brake Drive 1 Present opt 0 Not Present std Additional features 0 0 0 0 0 X CBMD CanBus Multidrop Interface 1 Present opt 0 Not Present std Not in use SEF Safety Enable Function 1 Present opt 0 Not Present std RXDB Black Out Dynamic Brake 1 Present opt 0 Not Pre...

Page 13: ...le of base connection 23 2 9 Supply connections 24 2 10 Motor power connection 25 2 11 Regen resistance connections 26 2 12 Relè OK connection 27 2 13 Digital inputs connection 28 2 14 Analog and digital outputs connections 29 2 15 Analog inputs connections 30 2 16 Emulated encoder outputs connection 31 2 17 Pulse Dir inputs connections 32 2 18 Feedback signals connections 33 2 19 Multidrop connec...

Page 14: ...h the drive powered off without supply connections drive having a power supply 220VAC 1 year drive having a power supply 145VAC 200VDC 2 years After this time before enable the drive it is necessary activate the capacitors following this procedure remove all electrical connections then supply the input terminals of the supply with the main voltage three phase or single phase for 30 minutes In deta...

Page 15: ...lms of plastic material and so forth During operation the converter surface can become hot Protect the user from accidental contact and keep the indicated distances from all objects Never loosen electrical connections while the servoamplifiers are being powered The appropriate terminals of the drive must always be connected to earth as instructed in this manual After having disconnected the conver...

Page 16: ...h an integrated EMI anti disturbance filter at the 3 phase power supply input and with another EMI anti disturbance filter at the auxiliary 24V power supply input Being implicit to filter operation the deviation towards earth or mass of the undesired frequencies ensure that these devices can produce leakage currents towards earth which are measurable in mil liAmpers Please remember that leakage cu...

Page 17: ...specting the following distances 2 2 Positioning Note Arrange the power components converters main s filters resistors terminals in bins of the electrical panel different from those reserved to the command or control systems PLC PC CNC regulators This improves the level of immunity to interference of the system 20 20 20 20 Ecc 191 45 45 Dimensions in mm Cable duct Cable duc Zinced panel ...

Page 18: ...ion Altitude Up to 1000m without restriction From 1000 to 2500m of altitude the converter must be derated in the output current of 1 5 every 100m Enclosure protection IP20 Pollution level LEVEL 2 Norm EN60204 EN50178 The drives are designed to be utilized in an electrical box protected against the infiltration of polluting agents such as water oil conductive dust and others Notes The electrical bo...

Page 19: ... Note about cable shielding for the Encoder signals 0 25 0 35mm2 22 24AWG It must be shielded It must have a capacity less than 120pF m 25m max length for the Resolver signals 0 25 0 35mm2 22 24AWG for external resistor 1 5mm2 15AWG for the RS232 communication 0 22mm2 24AWG or 0 34mm2 22AWG The length of the cable must be equal to or less than 2 5m It must be connected when the main supply and the...

Page 20: ... the digital inputs for each drive the 0V of the auxiliary supply the internal zero voltage of the CNC the earth terminals of the PLC CNC frames 2 Connect the ground bar to the zinced panel of the drive by using a screw then connect that screw to earth 3 Connect earth to the motor s carcass Ground bar l Connection to earth PE Symbol Description It suggests a conductive connection as much as possib...

Page 21: ...r cable power and signal cables are connected as follows drive side 20 50cm remove the outside sheath and fix shield to the zinced pannel by using a u clamp Note To reduce the capacitive and inductive coupling these cables must be run keeping a distance of more than 30cm from the power cables 10 cm if they are shielded If it is absolutely necessary to cross the control cables with the I O s do so ...

Page 22: ...d of the motor s cable it must be shielded utilising a u clamp to the zinced panel of the electrical box see 2 6 Note about cable shielding 5 If an external braking resistor is used connect it between pins R and R by using a cable as short as possible If the cable length is greater than 20 30 cm the cable must be twisted and shielded besides the shield must be connected to ground on both ends util...

Page 23: ... CHB CHB CHZ CHZ PGND PULSE PULSE DIR DIR M2 VREF AGND DGT IN4 DGT IN5 DGT IN6 DGT IN7 DGT IN8 DGT IN9 TPRC AN OUT2 AGND RELE OK RELE OK 4 5 6 7 1 2 3 8 12 13 14 15 9 10 11 4 5 6 7 1 2 3 A A A PE A Cap 2 9 MAIN EARTH Cap 2 9 F3 16 M3 4 5 6 7 1 2 3 8 12 9 10 11 DGT IN RTN V U PE M6 4 1 2 3 W M7 1 2 3 V V 30VAC DC 500mA max Cap 2 12 V U PE W Motor Holding Brake OPTIONAL B Motor feedback SUB D 25 pin...

Page 24: ... transformer is calculated by adding the various wattage of each mo tor Pt Pn Pn Pn Pt nominal power of the transformer VA Pn nominal power of each motor VA which can be calculated in this way Pn n x Cn 9 55 Pn nominal motor power W n motor speed rpm Cn motor nominal torque Nm For single phase power supply use L1 and L2 AC DC 1 2 3 4 PE F2 L1 L2 L3 M5 MiniMagnum TM 3 PE 50 60Hz 110 480Vac F2 F2 PO...

Page 25: ...a see note a see note b see note b b The earth connection of the power cable s shield must be made on the zinc coated panel using a u clamp near the drive 20 50cm Motor side the shield is connected to connector s metal ring so it is connected to ground through motor s carcass Note a Use 3x1 2mH 20Arms filter series for connections with cables longer than 20 25 meters Technical characteristics of b...

Page 26: ...ising u clamps to the zinced panel of the electrical box Notes The temperature of the zinced panel of the electrical box can be higher than 200 C Do not mount the resistor on surfaces which can be damaged by heat If the resistors are mounted externally protect them Respect the distances and shieldings illustrated in Fig 1 External regen resistance has dimesions illustrated in Fig 2 100 100 100 100...

Page 27: ...iMagnumTM ver 1 rev 05 15 2 12 Relè OK connection Rele OK connection 15 16 M1 MiniMagnumTM It is normally open when the drive is not supplied it is normally closed when the drive is supplied and it has not active alarms 30VAC DC 500mA max ...

Page 28: ... para graph 2 21 is respected if M1 8 is LOW 0V the motor is without torque ATTENTION THE DRIVE S ENABLE DISABLE BY USING THE ENABLE INPUT IS NOT CONSIDERED A SECURITY FUNCTION The M1 9 M1 10 M1 11 programmable inputs can be used to activate pre programmed functions of the drive for example limit switch electromechanical brake homing and positioning procedures emergency stop etc For a detailed des...

Page 29: ...utput can be used to send messages from the pre programmed function of the drive For a detailed description of the pre programmed functions see enclosure Speeder One Interface on the CD provided with the drive If there is the M3 connector optional it provides an additional digital output Max load for each output 50 mA Always use a relay with a diode in parallel They permit visualisation by oscillo...

Page 30: ...GND CN GND M1 COMMON MODE TPRC The technical characteristics of TPRC input are as follows Voltage 10V Max Input impedance 20k ohm Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 The technical characteristics of these inputs are as follows Voltage 10V Max Input impedance 40k ohm To change the sense of rotation apply the positive vol...

Page 31: ...R OUTPUTS connection CN GND A A B B Z Z M2 R 1 2 3 4 5 6 CN R R RS485 RS485 RS485 PGND 5V 7 MiniMagnum TM CN GND A B Z M2 1 2 3 4 5 6 CN PGND 5V 7 MiniMagnum TM LINE RECEIVER CN inputs COMMON MODE CN inputs Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 ...

Page 32: ...20 Logical signal 0 5V Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 OPTIONAL Electrical Axis GEARING Connection 1 2 MiniMagnum TM Slave 3 4 M3 A A B B MiniMagnum TM Master M2 1 2 3 4 4k7 220 220 4k7 220 220 Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 OPTIONAL...

Page 33: ...5 16 17 2 3 4 AGND 5V 17 pole connector Encoder 1 9 8 2 10 12 7 3 11 6 4 5 13 14 15 16 17 PE Motor Cable Drive Motor 20 50cm Max 25m 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 J1 connector Sub D 25 pole If the motor has not the thermal protection PTC MOTOR you should bridge pins 4 and 17 on the J1 Sub D 25 pole connector of the drive Note The ground connection of the externa...

Page 34: ...onnector Resolver 1 9 8 2 10 12 7 3 11 6 4 5 PE 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 J1 connector Sub D 25 pole OPTIONAL RESOLVER FEEDBACK connection If the motor does not have thermal protection PTC MOTOR you should bridge pins 4 and 17 on the J1 Sub D 25 pole connector of the drive Note The ground connection of the external shield must be made on the zinc coated pane...

Page 35: ...MiniMagnumTM to the Master using the RS232 cable J4 connector connect each additional drive with to the drive preceeding it using the Can Bus cables and the J2 and J3 connec tors connect a RESISTOR 120 Ohm 1 4W between pins 1 and 2 of the J2 or J3 connector of the first MiniMagnumTM and another resistor between pins 1 and 2 of the J2 or J3 connector of the last drive Axor drives use MODBUS communi...

Page 36: ...gnum 1 MiniMagnum 2 CAN Server 120 Ohm CAN H CAN L PGND dc dc Converter 7 PGND 4 5 6 8 1 2 3 CAN H CAN L PGND dc dc Converter 7 PGND 4 5 6 8 1 2 1 2 3 dc dc Converter PGND 7 4 5 6 8 dc dc Converter PGND 3 7 4 5 6 8 PGND OPTIONAL Note Connect a RESISTOR 120 Ohm 1 4W between pins 1 and 2 of the J2 or J3 connector of the last MiniMagnumTM ...

Page 37: ...J3 J2 J3 J2 MiniMagnum 1 MiniMagnum 2 Master 120 Ohm A B PGND dc dc Converter 7 PGND 1 2 6 8 4 5 3 A B PGND dc dc Converter 7 PGND 1 2 6 8 4 5 4 5 3 dc dc Converter PGND 7 1 2 6 8 dc dc Converter PGND 3 7 1 2 6 8 PGND Note Connect a RESISTOR 120 Ohm 1 4W between pins 1 and 2 of the J2 or J3 connector of the last MiniMagnumTM ...

Page 38: ...tilising the Enable key or the DGT IN1 digital input T T T T AUXILIARY SUPPLY MAIN SUPPLY RELE OK DGT IN1 HARDWARE ENABLE 24V 24V 0V 0V 1 0 ON OFF 1s 50ms 100ms 1 2 3 4 T T T 24V 24V 0V 0V ON OFF 1s DGT IN1 HARDWARE ENABLE A B T INTERNAL ENABLE ON OFF AUXILIARY SUPPLY MAIN SUPPLY Attention If the digital input DGT IN1 ENABLE is enabled by the CN after powering the drive utilising the auxiliary sup...

Page 39: ... and the Select Driver windows open simul taneously On the Select Driver window insert the drive s address all drives have 1 set as default value then click OK 5 If the drive is Not configured it is necessary to open a pre set connfiguration file following this procedure in the main window select the File menu and then Open in the directory Axor Data Devices select a file reference to the coupling...

Page 40: ...T1 menu c Connect the probe of the oscilloscope on pins AN OUT1 speed signal and AGND zero sig nal d enable the drive e Adjust the KP and KI gains in a way that you obtain a stable step response in both directions Increasing KP decreases the system s response time however the system gets closer to becoming unstable therefore during adjustment increase the KP to the oscillation limit and then reduc...

Page 41: ...AXOR Industries Service Manual MiniMagnumTM ver 1 rev 05 15 41 Chapter 3 Diagnostic 3 Diagnostic 3 1 Display 42 3 2 Alarms 43 ...

Page 42: ...ABLE and the digital input set with the Ref on function are both enabled the mo tor does not move segment appears rotating in a clockwise or counter clockwise direction The rotor is turning in a clockwise or counter clockwise direction 0ı This appears when the negative lim it switch NSTOP is interrupted 0 ı This appears when the positive limit switch PSTOP is interrupted This appears when the conv...

Page 43: ... a possible mechanical block motor phase inversion the electronic brake is not unblocked the amplifier s dynamic costants KP KI and KD could create useless cur rent oscillation This does not cause the disabling of the drive s functioning AL7 Motor Temperature alarm Heat sink temperature too high This causes the opening of the Ok Relè con tact and the disabling of the functioning Disable the drive ...

Page 44: ...or brake verify the settings of the Holding Brake pa rameter on the Motor window then power up again 24 UP In rush Bus This is not an alarm Indication of the drive s in rush phase or the lack of the main power supply AL20 Auxiliary Voltage Presence of the main supply L1 L2 L3 but the auxiliary 24Vdc voltage is miss ing Disable the drive connect the Auxiliary Voltage and then re enable AL21 Phasing...

Page 45: ...n of the motor shaft Check the connection of the shields in the green ca ble AL31 Intervention of the IMMEDIATE STOP function The drive has detected the possibility of a Run away Motor It only generates in Historical Alarm the massage AL5 ENCODER ALLARM AL32 Maximum speed exceeded The speed value set in the drive was exceeded This will generate Historical Alarm AL32 And seb sequentlyit will genera...

Page 46: ... Resistance 10 C Cables 19 Canbus connection 36 Conformity 47 Connection to earth 20 Connection to ground 20 D Digital inputs 7 10 28 Digital output 7 10 29 Display 7 42 Disposal 14 E EMI filter 8 emulated encoder outputs 7 31 encoder connection 33 Environmental conditions 18 equipment 8 Example of base connection 23 Expansion cards 8 External Protections 10 G General view 9 H Holding brake 8 I in...

Page 47: ... CanBus 6 electrical axis 6 multidrop RS232 6 position control 6 pulse direction mode 6 RS485 interface 6 speed control 6 Torque control 6 Ordering code 12 P Positioning 17 Power supply 24 Product plate 12 Pulse Dir digital inputs 10 32 R Regen resistance 26 Rele OK 27 resolver connection 34 S Safety 8 black out dynamic brake function 8 safety enable function 8 Security standard 14 15 Shielding 21...

Page 48: ...its machine plant still further or other standards or EEC guidelines are to be used EC Conformity The EC mark that is applied to the drives references to the Low Voltage Directive 2006 95 EC and EC Directive on EMC 2004 108 EC The standard EN 61800 5 1 is applied to ensure conformance with the Low Voltage Directive The standard EN 61800 3 is applied to ensure conformance with the EMC Directive In ...

Page 49: ...49 AXOR Industries Service Manual MiniMagnumTM ver 1 rev 05 15 ...

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