Infranor XtrapulsEasy 60VDC Installation Manual Download Page 1 | Manualshive

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XtrapulsEasy

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Embedded module

I n s t a l l a t i o n G u i d e

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Summary of Contents for XtrapulsEasy 60VDC

Page 1: ...1 D IGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS XtrapulsEasy 60VDC Embedded module I n s t a l l a t i o n G u i d e ...

Page 2: ... cancel the warranty INFRANOR reserves the right to change any information contained in this manual without notice WASTE DISPOSAL In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices are labelled with a sticker symbolizing a crossed out dustbin as shown in Appendix IV...

Page 3: ... CONNECTORS 17 3 4 MECHANICAL MOUNTING 17 CHAPTER 4 DESIGN RECOMMENDATIONS 18 4 1 MOTHERBOARD DESIGN 18 4 1 1 Copper section 18 4 1 2 Power and signal separation 18 4 1 3 External capacitors and decoupling 18 4 1 3 1 24V supply 18 4 1 3 2 DC Bus Capacitors 18 4 1 4 Shielding and grounding 19 4 2 PROTECTIONS 19 4 2 1 Auxiliary power supply 19 4 2 2 Power supply 19 4 3 ACCESSORIES AND CONNECTIONS 20...

Page 4: ...back 25 5 1 2 2 X2 connector Input Output 25 5 1 2 3 X3 connector 24 V 26 5 1 2 4 X4 connector Motor phases and power supply 26 5 1 2 5 X5 connector CAN RS232 26 5 1 2 6 X10A connectors 27 5 1 3 Jumper configuration of the capacitor bus 27 5 1 4 Layout 28 5 2 LOW OPERATING VOLTAGE 29 5 3 MAINTENANCE 29 5 3 1 Periodical checking 29 5 3 2 Warranty 30 5 4 OPERATING ENVIRONMENT CONDITIONS 30 ...

Page 5: ...ies integration 1 2 DESCRIPTION COMPLIANCE WITH THE STANDARDS 1 2 1 General description The XtrapulsEasy drive can be configured in 4 feedback modes Resolver TTL encoder with or without Hall effect sensors Hall effect sensors only Sensorless The appropriate position sensor configuration is software selectable and saved in the drive When using a high resolution position sensor this sensor ensures a...

Page 6: ...sEasy drive according to the application type The Digital Oscilloscope of this software tool ensures an easy and quick commissioning of the drive The Gem Drive Studio software also allows parameterization and diagnostic in a multi axis configuration 1 2 2 Reference to the standards Electromagnetic compatibility According to the Directive 2004 108 EC the actuators are complying with the Electromagn...

Page 7: ...DB Logic version ak Analog and CANopen interfaces Voltage range 60 60VDC Current rating for 60VDC drives 45 45Arms Mounting version DB Embedded module 1 5 ACCESSORIES Ordering code Easy dev01 This product provides external connectors identical to XtrapulsEasy 60VDC standard series see section 5 1 ...

Page 8: ...of the drive For lower operating voltage see section 5 2 Low operating voltage OUTPUT CURRENT RATINGS TYPE Max output current for 3 s Arms 1 Rated output current Arms Power losses at rated current W Rated input current Arms Maximum protection line circuit fuses Short circuit current Easy ak 60 45 DB 45 13 6 5 15 9 16 5kA Maximum surrounding air temperature 40 C 2 1 2 Technical specifications Servo...

Page 9: ...supply voltage required if different from 5V HES sequence error detection Logic inputs 4 GND referenced logic inputs 3 software configurable logic inputs Response time 500μs 1 input dedicated to the STO INHIBIT function Response time 50ms Capture input 1 programmable input IN1 IN2 or IN3 Response time 62 5μs Logic outputs 2 software configurable logic outputs type PNP high side 24VDC max 500mA Res...

Page 10: ... air convection and for no obstruction of the upper or lower air admissions Environment The hosting printed circuit board must be mounted inside a cabinet protecting the drive from conducting dust and condensation pollution degree 2 environment and according to the room temperature requirements Weight 0 026kg ...

Page 11: ...11 XtrapulsEasy DB Installation Guide Chapter 2 Specifications 2 2 DIMENSIONS AND MOTHERBOARD FOOTPRINT The mechanical layout to be implemented on the motherboard is shown below ...

Page 12: ... phase short circuit power stage overtemperature defective IGBT module Triggering of the I2t protection Counting error Position following error EEPROM error Procedure execution error busy Current offset error Drive rating overcurrent Motor temperature error Resolver or encoder cable interruption Hall sensors or absolute encoder error Notes Any of these errors except for the Undervolt error involve...

Page 13: ... below Manufacturer REFERENCE FCI 87606 315LF HARWIN M20 7831546 SAMTEC SSQ 115 01 G D E TEC BL2 030 S842 55 The pinout of this connector is described below 3 2 1 Resolver feedback PIN FUNCTION I O DESCRIPTION 1 RS232 TX O Transmit data RS 232 3 RS232 RX I Receive data RS 232 2 CAN H IO Line CAN H dominant high 4 CAN L IO Line CAN L dominant low 12 24V I 24VDC supply 15 Consumption 100mA without d...

Page 14: ...ut 10V 27 IN_ANA1 I 28 TM I Motor thermal sensor input The valid measurement range is between 100Ω and 44kΩ measured between TM and GND 9 HALL_U I Hall sensor input signal phase U 11 HALL_V I Hall sensor input signal phase V 13 HALL_W I Hall sensor input signal phase W Others Reserved For a non differential input signal ANA1 must be connected to GND on the drive side ...

Page 15: ...nnel I Differential input of the encoder channel B 5 Z marker pulse I Differential input of the encoder marker pulse Z 7 Z marker pulse I Differential input of the encoder marker pulse Z 29 IN_ANA1 I Analog input nr 1 Differential input 10V 27 IN_ANA1 I 28 TM I Motor thermal sensor input The valid measurement range is between 100Ω and 44kΩ measured between TM and GND 9 HALL_U I Hall sensor input s...

Page 16: ...27V Low input voltage 0V 0V 5V Specification of the logic outputs OUT1 and OUT2 Digital outputs can be paralleled in order to increase the maximum output current Be careful to connect all paralleled outputs to the same drive signal Paralleled outputs Output voltage Maximum output current 1 24V 500mA 2 24V 900mA Specification of the analog inputs ANA1 ...

Page 17: ...r phase V 8 9 10 11 12 13 W O Motor phase W 14 15 16 17 18 19 DC IO Negative DC bus voltage DC is internally connected to GND 20 21 22 23 24 25 26 27 DC IO Positive DC bus voltage 24V to 60V power supply 28 29 30 31 32 33 34 IMPORTANT Motor cable must be shielded The 360 shield connection must be ensured by metallic collars and connected to the ground reference potential The GND wire of the motor ...

Page 18: ...e power phases and the feedback signals Keep a GND trace between the power phases or power source and logic signals Differential signals ex CANOpen Resolver must be routed in respect of differential state of the art rules 4 1 3 External capacitors and decoupling 4 1 3 1 24V supply A 220µF 35V aluminum capacitor placed on the host PCB near each drive is recommended for a proper 24V decoupling Note ...

Page 19: ...The motor cable shield must be connected to the chassis A mounting example is shown below 4 2 PROTECTIONS 4 2 1 Auxiliary power supply The final user has to provide an isolated auxiliary 24VDC 15 supply e g with isolation transformer for the auxiliary supply input protected by a 3A fuse or circuit breaker 4 2 2 Power supply The recommended protection is a D type current for 1s 10 x rated current T...

Page 20: ... RS232 The other axis are parameterized via the CAN bus 4 4 WIRING INSTRUCTIONS According to the EN61000 4 2 3 4 5 and EN55011 standards 4 4 1 Motor resolver and encoder cables Motors resolvers and encoders are grounded via their housing Cable inputs must be made by means of metal connectors with collars allowing the 360 shield connection The resolver cable must be pair twisted and shielded sin co...

Page 21: ...t in the calculation of the current loops The current rating of the reactance must be higher than or equal to the drive rating The reactance must be mounted at the drive output Due to the use of a reactance a shielded cable is not mandatory anymore A more complex sinus filter type B84143V x R127 by company Epcos may also be mounted instead of the reactance UNDESIRABLE EFFECTS OF MOTOR CABLES LONGE...

Page 22: ...to the recommendations of section 4 1 4 4 4 5 Connection of the DC Bus The red Err front panel LED must be unlit Note If a fault occurs the red Err LED remains continuously lit 4 4 6 Starting procedure See XtrapulsEasy User Guide WARNING During the machine adjustments drive connection or parameterization errors may involve dangerous axis movements It is the user s responsibility to take all necess...

Page 23: ...er relay deactivation number of XtrapulsEasy drives x 1ms 4 5 2 AOK chaining with XtrapulsEasy and XtrapulsPac drives together Example 1 Example 2 INx IN1 or IN2 or IN3 and OUTy OUT1 or OUT2 XtrapulsEasy inputs and outputs must be configured according to the wiring diagram Note Maximum delay for the power relay deactivation number of XtrapulsEasy drives x 1ms ...

Page 24: ...e purpose of the development kit is to evaluate the drive performance before designing your own board It provides extend connectors identical to XtrapulsEasy 60V Standard series 5 1 1 Overview of the development kit The following drawing shows the development kit with its associated connectors and options ...

Page 25: ... 5 V O Encoder supply voltage max current 300mA 8 GND O Encoder supply GND 6 HALL U I Hall sensor input signal phase U 14 HALL V I Hall sensor input signal phase V 15 HALL W I Hall sensor input signal phase W 12 TC I Motor thermal sensor input The valid measurement range is between 100 Ω and 44kΩ 13 TC I Others Reserved 5 1 2 2 X2 connector Input Output SUB D 15 PIN MALE CONNECTOR PIN FUNCTION I O...

Page 26: ... negative voltage 6 DC I O DC bus positive voltage 7 NC Not used IMPORTANT Motor cables must be shielded The 360 shield connection must be ensured by metallic collars and connected to the ground reference potential The GND wire of the motor cable MUST be connected to pin 4 of the X4 connector See section 4 1 4 for grounding and shielding precautions 5 1 2 5 X5 connector CAN RS232 SUB D 9 pin male ...

Page 27: ...coder A I Resolver signal Encoder signal 18 S1 cosine Encoder A I Resolver signal Encoder Signal 20 S2 sine Encoder B I Resolver signal Encoder Signal 22 S4 sine Encoder B I Resolver signal Encoder Signal 29 IN_ANA1 I Analog input nr 1 Differential input 10V 27 IN_ANA1 I 28 TM I Motor thermal sensor input The valid measurement range is between 100Ω and 44 kΩ measured between TM and GND 9 HALL_U I ...

Page 28: ...28 XtrapulsEasy DB Installation Guide Chapter 5 Appendix 5 1 4 Layout The layout of the development kit PCB Easy Dev01 is presented below ...

Page 29: ...portional 27 0 5 13 and Iq_proportional 27 0 5 13 Id_integral 51 0 5 25 and Iq_integral 51 0 5 25 IMPORTANT The use of XtrapulsEasy drives at very low operating voltage suffers from several limitations Voltage below 15VDC cannot be accurately measured on the DC link The capacitors bank is optimized for operation at rated voltage The energy stored in the capacitors is proportional to the square of ...

Page 30: ...ir pollution degree 2 Drive must be protected against conducting dust 5 Storage periods no restriction B MECHANICAL INSTALLATION CONDITIONS The drive must be mounted on a stiff surface in rooms or additional housings without hindering the heatsink The reliability may be increased by installing a cooling system take care of condensation Other installation conditions must be specially analysed and s...

Page 31: ...ately stored under adequate shelter The transport packaging is not suited to outdoor or non protected storing Climatic conditions Equipments must be stored in the environment conditions specified by the IEC 60721 3 1 standard This includes 1 Room temperature class 1K4 25 C to 55 C 2 Relative moisture class 1K3 5 to 95 Modules and panels must be protected against condensation Rough temperature and ...

Page 32: ...s The possible transport of the equipment at temperatures lower than 25 C requires either a re heating or the removal of components sensitive to low temperature 3 Mechanical conditions The equipment may be transported in its standard packaging in the conditions specified by class 2M1 of the IEC 60721 3 2 standard This includes vibrations and shocks see tables below TABLE 4 Vibration limits during ...

Page 33: ...ange of high quality products leading to productivity gains and therefore to comparative advantages for its customers in their respective markets Infranor worldwide Benelux China France Germany Italy Spain Switzerland United Kingdom USA Other representations Austria Denmark India Israel Poland Slovenia Turkey Contact Manufacturer INFRANOR SAS 29 avenue Jean Moulin F 65100 LOURDES INFRANOR November...

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