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161

17D Velocity Controller Loop

17D Velocity
Controller Loop
Diagram

The following diagram shows a 17D velocity controller servo loop.

Summary of Contents for MHDA1004

Page 1: ...Version 2 0 June 2003 31001643_K01_000_04 Lexium Servo Drive 17D Series User Guide...

Page 2: ......

Page 3: ...ing photocopying without express written permission of the Publisher Schneider Electric CAUTION All pertinent state regional and local safety regulations must be observed when installing and using thi...

Page 4: ...Preface iv 890 USE 120 00...

Page 5: ...System Components 4 Single Axis Motion Control System 4 UniLink Commissioning Software for 17D 4 Related Documentation 5 Documents 5 Hazards Warnings and Guidelines 6 Hazards and Warnings 6 Additiona...

Page 6: ...Supplied 21 Equipment Available 21 17D System Configuration Diagram 22 Overview of Usability Features 23 Digital Control 23 Usability Enhancements 24 Restart lock AS A00 drives only 25 Overview of 17D...

Page 7: ...1 Chapter 4 Wiring and I O 43 At a Glance 43 Introduction 43 What s in this Chapter 44 Wiring and I O Initial Considerations 45 Initial Considerations 45 Grounding 45 Wiring Overview 46 Overview of 17...

Page 8: ...onal Description 66 Diagram of master slave operation 67 Incremental encoder emulation 67 SSI encoder emulation 67 External Incremental encoder connection 68 External SSI encoder connection 69 Analog...

Page 9: ...ck diagram 86 Signal diagram sequence 87 Installation Commissioning 88 Connection diagram 89 Application examples 90 Control circuit example 91 Procedure for Verifying System Operation 92 Overview 92...

Page 10: ...tion Specifications Table 116 Electrical Specifications Regen Resistor 117 Regen Circuit Specifications 117 Electrical Specifications Signal 118 Motor Overtemperature Input Specifications Table 118 Re...

Page 11: ...le 133 Appendix C Drive to Controller Wiring Diagrams 135 At a Glance 135 What s in this Appendix 135 Typical Motion Controller Interface Connections 136 Motion Controller Interface Diagram 136 Wiring...

Page 12: ...ing the Motor Power Connector Drive end 153 Wiring the Motor Power Connector 153 Wiring the BPH Motor Power Connector excluded BPH055 154 Wiring the BPH055 Motor Power Connector 155 Wiring the SER Mot...

Page 13: ...2 Motion Task Application Examples 173 Example of a Motion Task Number 173 Connection Diagram 174 Appendix G External Regen Resistor Sizing 175 At a Glance 175 What s in this Appendix 175 Overview 176...

Page 14: ...Contents xiv 890 USE 120 00...

Page 15: ...ntenance information on the Lexium 17D series servo drive What s in this Chapter This chapter provides general information about this user guide and contains the following topics Topic Page About this...

Page 16: ...axis motion control system Accordingly be sure you read and understand the general information detailed descriptions and associated procedures presented in this manual as well as those provided in ot...

Page 17: ...general electrical signal and power specifications Appendix B Parts List Part numbers related to the 17D servo drive system Appendix C Drive to Controller Wiring Diagrams Wiring diagrams that show si...

Page 18: ...dules l Premium CAY motion modules UniLink Commissioning Software for 17D To configure your single axis system you will be using the UniLink axis commissioning software which Schneider supplies UniLin...

Page 19: ...dules User Guide GI BMOT 20X Quantum 140MSx 101 Single Axis Motion Module Reference Guide 840 USE 105 X If you have a Premium motion module CAY you will also need this PL7 Junior Pro Premium PLCs Spec...

Page 20: ...least five minutes after disconnecting the servo drive from the mains supply voltage before touching energized sections of the equipment for example contacts or disconnecting electrical connections Ca...

Page 21: ...and wait until it has cooled below 40 C before touching it Failure to observe this precaution can result in severe injury WARNING OVERCURRENT OVERLOAD AND OVERHEATING PROTECTION Separate motor overcur...

Page 22: ...nt dynamic braking resistors across each motor if they are present Failure to observe this precaution can result in equipment damage CAUTION ELECTROSTATIC COMPONENTS The servo drives contain electrost...

Page 23: ...uipment connected to line power l Handle the servo drives as prescribed herein Incorrect handling can result in personal injury or equipment damage l Adhere to the technical information on connection...

Page 24: ...ion with the Low Voltage Directive 73 23 EEC the associated standards of the EN 50178 series in conjunction with EN 60439 1 EN 60146 and EN 60204 are applied to the servo drives The manufacturer of th...

Page 25: ...liminate the risk of injury to personnel from electric shock or damage to equipment from fire Conformance with the United States and Canadian standard is determined by an independent UL cUL fire inspe...

Page 26: ...rd disk EEPROM Electrically erasable programmable read only memory EMC Electromagnetic compatibility EMI Electromagnetic Interference EN European norm ESD Electrostatic discharge IEC International Ele...

Page 27: ...and Abbreviations continued Acronym or Abbreviation Description PLC Programmable Logic Controller SRAM Static RAM SSI Synchronous Serial Interface UL Underwriters Laboratory Vac Voltage Alternating C...

Page 28: ...14...

Page 29: ...odels and related system components l Feedback and performance information l Power and signal electronics l Software and axis configuration What s in this Chapter This chapter contains the following t...

Page 30: ...as identified in the following table Implementing the Drives The Lexium 17D servo drives are intended for incorporation into electrical equipment or machinery and can only be commissioned as integral...

Page 31: ...s required for 400 480V mains networks without earth ground and for networks with asymmetrical earth ground Continued on next page 208V with 60Hz only 230 480V with 50Hz or 60Hz L1 L2 L3 PE 1 1 400 48...

Page 32: ...rd to earth Warning When the first fault occurs the RCCB has to switch off quickly power of the drives Set of the residual current value must be carefully done and must be started with the lowest avai...

Page 33: ...ive family The complete family consists of five models partitioned into two physical sizes Models MHDA1004 00 MHDA1008 00 MHDA1017 00 and MHDA1028 00 have dimensionally identical physical housings whi...

Page 34: ...20 The 17D Series Servo Drive Family continued 17D Drives Front View The following photograph shows a typical 17D front view without AS function Continued on next page...

Page 35: ...wer and feedback cables Note Power and feedback cables are available in lengths from 5 75 m and are supplied by Schneider with the connector for the servo motor attached to the cable and with the conn...

Page 36: ...22 The 17D Series Servo Drive Family continued 17D System Configuration Diagram The following illustration shows a typical 17D system configuration...

Page 37: ...configured and stored in the drive depending upon the application requirements l An integral step direction input is provided for use with an external indexer which allows the 17D drive and the applic...

Page 38: ...control loop variables via the analog voltage output levels l Four fully programmable 24 V discrete inputs two of which are typically defined as hardware limit switches l Two fully programmable 24 V o...

Page 39: ...rake l When the monitoring contacts KSO1 2 and Fault RA RB for all servo amplifiers are wired into the control signal loop to recognize a cable break The AS restart lock may only be controlled by a PL...

Page 40: ...following block diagram illustrates the 17D internal electronics and depicts internal interfaces for power signal I O and communication Continued on next page Rb ext Rb int Analog1 in X9 X9 X2 X1 Ana...

Page 41: ...es l Direct shield connection points l Two analog setpoint inputs l Integrated and electrically isolated RS 232 communications Primary Power A single phase input supply may be used for commissioning a...

Page 42: ...servo drive has been stored for longer than one year then the DC Link capacitors will have to be reconditioned as follows Integrated Safe Electrical Separation The 17D drive ensures safe electrical s...

Page 43: ...lectronics continued LED display A three character LED display on the front of the 17D drive indicates drive status after the 24 Vdc bias supply is turned on If applicable during operation error and o...

Page 44: ...us online connection to the drive In addition actual values are simultaneously received from the drive and displayed on the PC monitor During the configuration process the Unilink software will show t...

Page 45: ...the UniLink commissioning software are specified in the following table Item Minimum Requirement Operating System Windows 95 Windows 98 Windows 2000 Windows ME Windows NT 4 0 Hardware Processor Graph...

Page 46: ...32...

Page 47: ...ing requirements for and physical dimensions of the Lexium 17D series servo drives and includes the following topics Topic Page Installation safety precautions 34 Installation considerations 36 Drive...

Page 48: ...installation site ensure the maximum permissible rated voltage at the Mains and bias input connectors on the drive are not exceeded See EN 60204 1 Section 4 3 1 Excessive voltages on these terminals c...

Page 49: ...r additional information Failure to observe this precaution can result in injury or equipment damage DANGER ELECTRIC SHOCK HAZARD Residual voltages on the DC link capacitors can remain at dangerous le...

Page 50: ...re properly connected to earth Cable Separation Route power and control signal cables separately Schneider recommends a separation of at least 20 cm This degree of separation improves the EMC performa...

Page 51: ...he following diagram shows height width and depth dimensions for the 17D drive Continued on next page Model MHDA1004 00 MHDA1008 00 MHDA1017 00 MHDA1028 00 Model MHDA1056 00 325 mm 275 mm 325 mm 275 m...

Page 52: ...a requirements for the 17D drive MHDA1056 00 Cable duct 45 mm 5 mm 305 mm 45 mm 40 mm 70 mm 70 mm 70 mm 40 mm 50 mm 273 mm Lexium 17D 265 273 mm mm Cabinet door Mounting panel Dimensions with mating c...

Page 53: ...ns for all three external Regen resistor assemblies F E D A C B E G Rbext Rbext PE Regen Resistor Assembly Part Number A B C D E F G Weight mm mm mm mm mm mm mm Kg 342 352 410 64 45 4 8 x 8 77 1 5 413...

Page 54: ...sistor Mounting and Physical Dimensions continued External regen resistor assembly CAUTION Surface temperature can exceed 200 C Observe the requested free space Do not mount on combustible material 10...

Page 55: ...otor Choke Assembly Dimensions The following diagram shows the dimensions for the motor choke assembly 250 153 3 4 3 160 113 62 35 R f Irms max F max L 3 x 20 A 8 3 kHz 1 2 mH AM0FIL001V056 N B All di...

Page 56: ...42...

Page 57: ...4 position plug in terminal block connector X8 l Resolver feedback input through a 9 pin plug in Sub D connector X2 l Encoder feedback input through a 15 pin plug in Sub D connector X1 l Auxiliary en...

Page 58: ...cs Topic Page Wiring and I O initial considerations 45 Wiring overview 46 Cable shield connections 49 Power wiring 51 Signal wiring 60 Analog I O connections 70 Fault Relay and Digital I O connections...

Page 59: ...NGER ELECTRIC SHOCK HAZARD Before you wire and connect cables ensure the mains power supply the 24 Vdc bias power supply and the power supplies to any other connected equipment are OFF Ensure any cabi...

Page 60: ...re identified in those diagrams by their alphanumeric designations only for example X4 the term connector is excluded Continued on next page CAUTION Do not connect a Modbus serial port to the X6 conne...

Page 61: ...RB ROD SSI Ma SI Pulse encoder evaluation stepper motor control slave master amplifier Safety circuit Digital2 Digital1 24V referenced to 0V GND I O GND GND 10V speed setpoint2 referenced to GND GND...

Page 62: ...lt in connectors 24Vdc 1 24Vdc 2 24Vdc Com 3 24Vdc Com 4 Analog Com 1 Fault Ra 2 Fault Rb 3 Analog 1 In 4 Analog 1 In 5 Analog 2 In 6 Analog 2 In 7 Analog Out 1 8 Analog Out 2 9 Analog Com 10 Input 1...

Page 63: ...ter covering and braided shield sufficient to expose the required length of wires 2 Secure the exposed wires with a cable tie 3 Remove approximately 30 mm of the cable s outer covering while ensuring...

Page 64: ...eld Connections continued Cable Shield Connection Diagram The following diagram shows the cable shield connections at the front of the 17D drive 3 2 1 4 5 Cable tie Cable tie Cable tie Lexium 17D 30 3...

Page 65: ...shows the connections for the bias power supply input to the 17D drive 1 The current must not exceed 10A through these pin Continued on next page Lexium 17D 1 2 3 4 FN1 FN2 FN3 L1 L2 L3 L1 L2 L3 PE P...

Page 66: ...exium 17D X4 X0A X7 X0B 24 24 COM COM L1 L2 L3 PE L1 L2 L3 PE DC DC DC DC Lexium 17D X4 X0A X7 X0B 24 24 COM COM L1 L2 L3 PE L1 L2 L3 PE DC DC DC DC Lexium 17D X4 X0A X7 X0B 24 24 COM COM L1 L2 L3 PE...

Page 67: ...in the UniLink software The following is an abbreviated functional description of the Regen circuit operation l Individual drive not coupled through the DC Link circuit The circuit starts to respond a...

Page 68: ...n next page Servo Motor X9 1 2 3 4 5 6 24 Vdc 24 Vdc Com LEXIUM 17D Brake Black Gnd Green W2 3 V2 2 U2 1 Brake White Connection between servo motor and drive when interface cable length is 25 m or les...

Page 69: ...t be limited to 3 x 230 Vac 10 Continued on next page BPH055 Servo Motor X9 1 2 3 4 5 6 24 Vdc 24 Vdc Com LEXIUM 17D 5 Gnd Green 2 3 1 4 Connection between servo motor and drive when interface cable l...

Page 70: ...drive When the interface cable length exceeds 25 m a motor choke must be installed as shown and at a distance of one meter or less from the drive Continued on next page Note The choke must be install...

Page 71: ...ection The following diagram shows the connections between a servo motor and the 17D drive when the optional dynamic brake rersistors and associated contactor are incorporated Continued on next page 1...

Page 72: ...the following diagram During the fixed ENABLE delay time of 100 ms the internal speed setpoint of the drive is internally driven down a 10 ms ramp to 0 V The 3 region of actual speed is scaled to VLIM...

Page 73: ...n contact and a user installed suppressor device Metal oxyde varistor or bidirectionnal transient voltage suppressor must be incorporated into the brake circuit as shown in the following diagram Failu...

Page 74: ...e connections between the resolver and the 17D drive Note The standard Lexium BPH series servo motors are equipped with two pole integral resolvers The thermistor contact in the servo motor is connect...

Page 75: ...s the encoder input connections between the encoder and the 17D drive Note The BPH055 servo motors are equipped with two pole integral resolvers The thermistor contact in the servo motor is connected...

Page 76: ...D drive Note The standard Lexium SER series servo motors are equipped with two pole integral resolvers The thermistor contact in the servo motor is connected via the resolver cable to the 17D drive Co...

Page 77: ...ries servo motors can be optionally fitted with a single turn or multi turn sine cosine encoder which is used by the 17D positioning or extremely smooth running In addition the thermistor contact in t...

Page 78: ...tted with a single turn or multi turn sine cosine encoder which is used by the 17D positioning or extremely smooth running In addition the thermistor contact in the servo motor is connected via the en...

Page 79: ...pairs and shield max length 10m Incremental Encoder Output Functional Description The position of the servo motor shaft is calculated using the cylic absolute signals from the resolver or encoder The...

Page 80: ...is then used to generate a synchronous serial cyclic absolute 12 bit information output that is compatible with the data format of normal commercial SSI absolute encoders A total of 24 bits are transm...

Page 81: ...nputs are disabled a Analog Com and I O Com connector X3 must be connected together Incremental encoder emulation Note Up to 16 slaves drives can be controlled by the master drive SSI encoder emulatio...

Page 82: ...l incremental encoder Note The receivers are supplied from an internal supply voltage PCom must always be connected to the encoder ground Incremental encoder is powered by an external Power Supply Lex...

Page 83: ...17D drive Note The drivers are supplied from an internal supply voltage PCom must always be connected to the encoder ground SSI encoder is powered by an external Power Supply Lexium 17D RS 485 RS 485...

Page 84: ...vice Com as a ground reference Servo Motor Rotation Direction The standard setting for direction of positive rotation of the servo motor shaft is clockwise looking at the shaft end and is achieved as...

Page 85: ...ution can be configured for various monitoring functions such as current or actual speed The default settings are l Analog Out 1 Tachometer voltage speed The output delivers 10V at the preset limit sp...

Page 86: ...m shows the connections between the fault relay the four fully programmable digital inputs dedicated enable input and two digital outputs on the 17D drive and typical user devices A list of pre progra...

Page 87: ...l open on input terminal X3 13 inhibits the positive direction of axis rotation and a low NSTOP signal open on input terminal X3 14 inhibits the negative direction of axis rotation In both cases the r...

Page 88: ...ing position control and motion block parameters can be carried out with an ordinary commercial PC Connect the PC interface X6 of the servo amplifier while the supply to the equipment is switched off...

Page 89: ...ital setpoint provision data transmission functions and many others Detailed information can be found in the CANopen manual The interface is electrically isolated by optocouplers and is at the same po...

Page 90: ...Lead resistance loop 159 8 km Cable length depending on the transmission rate Lower cable capacitance max 30 nF km and lower lead resistance loop 115 km make it possible to achieve greater distances...

Page 91: ...g the UniLink software and the number of steps are adjustable to allow the drive to correlate to the step direction signals of any stepper motor controller In this configuration the analog inputs are...

Page 92: ...78 Stepper Motor Control Interface Connection continued Stepper Motor Speed Profile and Signal Diagram The following is the speed profile and signal diagram of the stepper motor configuration...

Page 93: ...er provides information on operating the Lexium 17D series servo drives and includes the following topics Topic Page Powering up and powering down the system 80 Description of the restart lock AS 84 P...

Page 94: ...80 890 USE 120 00 Powering Up and Powering Down the System Power on and Power off Characteristics The following diagram illustrates the functional sequence that occurs when the drive is turned on and...

Page 95: ...ich are equipped with a selected Brake function use a special sequence for switching off the output stage The Stop functions are defined in EN 60204 VDE 0113 Para 9 2 2 9 2 5 3 There are three categor...

Page 96: ...motor leads have to be disconnected by a changeover switch and short circuited by resistors connected in a star configuration l Category 1 If hazardous conditions can result from an emergency stop swi...

Page 97: ...nd Emergency Stop function Category 0 L1 L2 L3 PE K10 XOA 3 2 1 K20 K30 24Vdc F K20 K10 K30 K30 K11 K11 K10 K10 Emergency Off OFF ON K11 K10 X3 15 2 3 Fault RA RB RB RB Servo Motor 24 Vdc Enable 24 Vd...

Page 98: ...start l wear on the contacts of the contactors caused by switching under load l extensive wiring required with additional switching components The restart lock AS avoids these disadvantages A safety r...

Page 99: ...toring contact is open and the servo amplifier is ready for operation If the drive is electronically braked the servo amplifier is disabled and the motor holding brake is on then the safety relay is e...

Page 100: ...features are according to EN 50205 IEC 255 IEC 664 monostable high mechanical service life high switching reliability approvals TUV UL and CSA Continued on next page setpoint 6 3 activation M control...

Page 101: ...n the drive is enabled The diagram above must be respected terminal Analog1 terminal Enable terminal Brake terminal KSI terminal KSO1 2 internal setpoint lock motor locked by controller motor blocked...

Page 102: ...lowing functional sequence when the restart lock AS is used 1 Brake the drive in a controlled manner speed setpoint 0V 2 When speed 0 rpm disable the servo amplifier enable 0V 3 If there is a suspende...

Page 103: ...nnection diagram Lexium 17D control 10k 10k 10n 10n 10k 10k 4 5 1 2 3 1 2 3 4 15 18 X3 X10 3K3 6V6 Analog1 in Analog1 in Analog Com Fault RA Fault RB KSO1 KSO2 KSI KSI Enable I O Com Setpoint 10V refe...

Page 104: ...tart lock increases the safety margin and avoids the repeated switching of main contactors or motor Switching off grouped axes with separate working areas Even when several Lexium 17D are operating of...

Page 105: ...h door contact S2 24Vdc Emerg OFF OFF S1 S2 ON K1 0V KSO1 KSO2 KSO1 drive 2 drive 1 KSO2 KSO1 drive 3 KSO2 KSO1 drive 4 KSO2 KSO1 drive 5 KSO2 K1 K2 Fault RA RB drive 2 Fault RA RB drive 1 Fault RA RB...

Page 106: ...analog input command Note Default parameters for each Schneider Lexium BPH or SER series motor are loaded into your drive at the factory and contain valid and safe values for the current and speed co...

Page 107: ...X3 terminal 15 3 Connect the PC to the drive via the serial communications cable 4 Turn on the 24 Vdc bias supply After the initialization procedure 5 seconds the status is shown in the LED display 5...

Page 108: ...this precaution can result in severe injury or equipment damage 8 Apply 0V to the analog command input on connector X3 terminals 4 and 5 or 6 and 7 9 Turn on the AC mains power supply drive being disa...

Page 109: ...mplifier For most applications these settings will already provide good control loop characteristics An exact description of all parameters and the possibilities for optimizing the control loop charac...

Page 110: ...ng the PC to specify and enter the address for the drive Continued on next page Key Function From the initial display Press once one of the two keys to display the current address Press once Increment...

Page 111: ...fter 1 second displays Status 2 3 or 4 Status 2 24 Vdc switched on Displays the continuous current rating of the drive in this case 1A Dot will be flashing Status 3 24 Vdc and main supply switched on...

Page 112: ...Chapter 5 System Operation 98 890 USE 120 00...

Page 113: ...ting At a Glance What s in this Chapter This chapter provides information on correcting problems with the drive and contains the following topics Topic Page Warning messages 100 Error messages 101 Tro...

Page 114: ...n be disabled for single phase operation with the Mains Phase Missing parameter n06 Sw limit switch 1 Passed software limit switch 1 n07 Sw limit switch 2 Passed software limit switch 2 n08 Motion tas...

Page 115: ...at sink overtemperature Improve ventilation Reduce motion profile duty cycle F02 DC link voltage limit exceeded Check Parameter Mains Supply Voltage for correct setting Supply voltage too high use a m...

Page 116: ...ufacturer F08 Motor speed limit exceeded Feedback parameters not set correctly Incorrect feedback wiring Motor phases reversed Check Parameter Overspeed for correct setting F09 EEPROM checksum error R...

Page 117: ...ly Reduce motion profile duty cycle F16 Mains supply missing two or three phases Check mains fuses Check mains wiring and connections on drive F17 A D converter error Return drive to manufacturer F18...

Page 118: ...ommutation error Encoder system only Actual speed is incompatible with speed and acceleration parameters F26 Limit switch Homing error hardware limit switch reached F27 AS option Operating error for A...

Page 119: ...Actions No communication with PC Wrong cable used Cable plugged into wrong position in drive or PC Wrong PC interface selected Check cable Plug cable into the correct sockets on the drive and PC Selec...

Page 120: ...le Connect Analog Com to controller common Poor servo performance drive too soft Kp speed controller too low Tn speed controller too high PID T2 too high T Tacho too high Increase Kp speed controller...

Page 121: ...ance What s in this Appendix This appendix contains the following topics Topic Page Performance specifications 108 Environmental and mechanical specifications 109 Electrical specifications 111 Wire sp...

Page 122: ...rformance Specifications Table The following table lists 17D performance specifications PERFORMANCE Servo updates Torque 62 5 sec Velocity 250 sec Position 250 sec Tuning procedure UniLink application...

Page 123: ...perating temperature ambient measured at fan inlet Full power With linear derating 2 5 C available power 75 of rated output at 55 C 0 45 C 45 55 C max Vibration operational 10 57 Hz Sinusoidal 0 75 mm...

Page 124: ...nued Mechanical Specifications Table The following table provides 17D mechanical specifications Drive Model Number Height Width Depth Weight MHDA1004 00 325 mm 70 mm 265 mm 3 kg MHDA1008 00 MHDA1017 0...

Page 125: ...cifications What s in this Section This section provides tables for the following topics Topic Page Electrical Specifications Power 112 Electrical Specifications Regen resistor 118 Electrical Specific...

Page 126: ...t page LINE INPUT Voltage 208 Vac 10 60 Hz 230 Vac 10 50 Hz 480 Vac 10 50 60 Hz three phase Current MHDA1004 00 1 8 A RMS MHDA1008 00 3 6 A RMS MHDA1017 00 7 2 A RMS MHDA1028 00 12 A RMS MHDA1056 00 2...

Page 127: ...drive is necessary Continued on next page Model Motor Brake Present Bias Input Value MHDA1004 00 MHDA1008 00 MHDA1017 00 MHDA1028 00 No Voltage 24V 5 15 Current 0 75 A Yes Voltage Current 2 A max MHDA...

Page 128: ...usetron 230V Reference Fusetron 480V Reference Line MHDA1004 00 6 A aM FRN FRN R 6 FRS FRS R 6 MHDA1008 00 MHDA1017 00 10 A aM FRN FRN R 10 FRS FRS R 10 MHDA1028 00 16 A aM FRN FRN R 15 FRS FRS R 15 M...

Page 129: ...8 00 20 A MHDA1056 00 40 A Switching frequency 8 kHz 0 1 Cable length 75 m maximum Maximum cable capacitance motor phase to ground or shield 150 pF m For single phase main connection the output curren...

Page 130: ...116 Continued on next page...

Page 131: ...se power dissipations are measured at maximum continuous power and should be considered worst case Often in sizing servo systems factors such as profile duty cycle may reduce these numbers These value...

Page 132: ...wer external RBext max 1s kW 5 3 phase 400 V Upper switch on level of Regen circuit V 720 750 Switch off level of Regen circuit V 680 710 Overvoltage F02 V 800 Continuous power of Regen circuit RBint...

Page 133: ...when resistance exceeds 290 10 default value Thermostat Closed for normal operation The value of the threshold is adjustable by the parameter MAXTEMPM see Unilink commands RESOLVER Reference 8kHz 0 1...

Page 134: ...ltage 9V 5 Current maximum 200 mA Input Signal Sin Cos encoder cyclic absolute Absolute accuracy 15 bits 39 arc seconds or 0 01 Resolution 20 bits 1 2 arc seconds or 0 0003 Sin Cos encoder multi turn...

Page 135: ...LECTRICAL Channels Data and Clock Type Differential RS 485 compliant ENCODER OUTPUT SSI FORMATTING Primary Feedback Type Possible Emulations Resolver Single turn SSI 12 upper bits set to 0 12 lower bi...

Page 136: ...ial RS 485 compliant Voltage 8 V nominal Current 200 mA maximum Maximum frequency 1 5 MHz Rise time 0 1 s Fall time 0 1 s DISCRETE INPUT Channels Five four programmable and one dedicated for enable Ty...

Page 137: ...tput specifications Note An external brake relay is required for cable lengths greater than 50 m Continued on next page DISCRETE OUTPUT Channels Two Type Solid state open collector 30 Vdc max opticall...

Page 138: ...NPUTS Channels Two Type Differential non isolated Maximum common mode voltage referenced to AGND 10V Measurement range 10 Vdc Maximum differential input 12 V Accuracy 12 bits Resolution Input 1 14 bit...

Page 139: ...al Specifications Signal continued Serial Communications Specifications Table The following table lists the serial communications specifications SERIAL I O Data bits Eight Stop bits One Parity None Ba...

Page 140: ...56 00 4 0 mm2 or 10 AWG Protective earth All 4 0 mm2 or 10 AWG DC Link MHDA1004 00 MHDA1008 00 MHDA1017 00 MHDA1028 00 1 5 mm2 or 14 AWG Shielded for lengths greater than 20cm 1000V 105 C MHDA1056 00...

Page 141: ...s Appendix This appendix contains information about the following Lexium 17D parts and assemblies Topic Page Lexium 17D drives 128 External 24 Vdc supply 129 Drive cables 130 Regen resistor assemblies...

Page 142: ...ifferent output current levels as identified in the following table Model Intermittent Peak Output Current Intermittent RMS Output Current Continuous RMS Output Current MHDA1004 00 4 2 A 3 A 1 5 A MHD...

Page 143: ...2 7 Description Output voltage Rating Parallel connection Ref Weight V A Kg Module 100 240 V 50 60 400 Hz and 125 Vdc 24 Vdc SELV 1 1 Yes TSX SUP 1011 1 2 0 720 Module 100 120 V and 200 240V 50 60 400...

Page 144: ...ur PC use the following cable Encoder Output Cables Parts Table The following table lists encoder output cables for the Lexium 17D drive Part Number Description AM0CAV001V003 3 m cable Part Number Des...

Page 145: ...art Table The following table identifies the external Regen resistor assemblies available for the Lexium 17D drive Part Number Description AM0RFE001V025 33 250 W Regen resistor AM0RFE001V050 33 500 W...

Page 146: ...Motor Choke Servo Motor Choke Part Table when cable length exceeds 25m These following table identifies the servo motor choke available for the Lexium 17D drive Part Number Description AM0FIL001V056 M...

Page 147: ...rts Table These field replaceable spare parts are available from Schneider Part Number Description AM0SPA001V000 17D Connector Kit I O connector 24 V connector DC Bus connector Regen resistor connecto...

Page 148: ...134...

Page 149: ...onnections l Modicon MOT 201 compact motion module l Modicon Quantum Automation Series 140 MSx 101 00 motion modules l Modicon B885 11x motion modules l Premium CAY motion modules This appendix presen...

Page 150: ...f pre programmed functions contained in the UniLink online help Note The Analog Com must always be connected to the Controller Com as a ground reference 10K 10K 10n Fault Relay RA LEXIUM 17D Motion Co...

Page 151: ...m CAY Single Axis Drive Option Diagram The following diagram shows wiring between a Premium CAY motion module and the X3 connector on a single Lexium 17D axis Continued on next page Axis 0 Gnd ANA Gra...

Page 152: ...terface connectors X5 for four axes Continued on next page CAY 4 Module Breakout Module TAP MAS Cable CXP213 613 To Axis 1 To Axis 2 To Axis 3 Cable CDP611 To Breakout Modules ABE 7H16R20 Black Blue 1...

Page 153: ...ctor This represents the first of four axes Enable Fault Relay RA Fault Relay RB I O Com Input 1 2 3 15 18 11 X3 VALR 0 24 V 101 100 200 112 212 1 2 COM 0 OK_VAR 0 24 Vdc 0 V 212 112 3 4 QO CHAN 0 0 V...

Page 154: ...Motion Module MOT 201 Control Wiring Diagram The following diagram shows the wiring between the MOT 201 connectors J3 and J1 and the Lexium 17D drive X3 connector as well as the 24 Vdc bias field powe...

Page 155: ...tion Module continued MOT 201 Encoder Wiring Diagram Option 1 The following diagram shows the wiring between the MOT 201 connector J4 and the Lexium 17D drive and the auxiliary encoder command Interfa...

Page 156: ...how the AS BR85 110 breakout module facilitates encoder wiring between a MOT 201 motion module and an Lexium 17D drive At one end the MOT J5 and J4 connectors are plugged into the breakout module P3 c...

Page 157: ...Motion Modules Quantum 140 MSx Control and Encoder Wiring Diagram The following diagram shows how a Quantum 140 MSx breakout module facilitates control and encoder wiring between a Quantum 140 MSx 101...

Page 158: ...rive to B885 11x Motion Modules B885 11x Control Wiring Diagram The following diagram shows the wiring between a B885 11x motion module connectors TB1 and TB3 to the Lexium 17D drive X3 connector Cont...

Page 159: ...s continued B885 11x Encoder Wiring Diagram Option 1 The following diagram shows the encoder wiring between the B885 11x motion module DB 25 connector and the Lexium 17D drive auxiliary encoder comman...

Page 160: ...o B885 11x Motion Modules continued B885 11x Encoder Wiring Diagram Option 2 The following diagram shows how the AS BR85 110 breakout module facilitates encoder wiring between a B885 11x motion module...

Page 161: ...ow to wire certain cable connectors that are used with the Lexium 17D drive This appendix presents the following topics Topic Page Wiring a Sub D connector with shielding drive side 148 Wiring the fee...

Page 162: ...h the exposed braided shield back over the outer covering 3 Leave the first 12mm of the braided shield free and insulate the rear portion with shrink tubing 4 Carefully strip about 5mm from the indivi...

Page 163: ...149 Wiring a Sub D Connector with Shielding continued Wiring the Sub D Connector continued The following diagram shows the eight steps required to wire a Sub D connector with shielding...

Page 164: ...1 9 8 7 6 5 4 3 2 P 12 10 11 1 9 8 7 6 5 4 3 2 Green Grey Pink Blue Violet Red Black 1 8 7 6 5 4 3 2 9 Connector MOTOR END Connector DRIVE END 12 10 11 1 9 8 7 6 5 4 3 2 17 13 16 15 E 14 Red White Bo...

Page 165: ...of the motors continued Wiring the feedback connector of the BPH055 motors Resolver 1 8 7 6 5 4 3 2 9 Brown Bottom view 4 1 3 6 8 7 2 5 Green Grey Pink Red Black 8 6 5 4 2 9 Connector MOTOR END Connec...

Page 166: ...9 8 7 6 5 4 3 2 P 4 9 8 7 2 1 5 3 12 11 10 6 Yellow White Brown Grey Pink Black Grey Pink 1 4 5 2 3 8 9 6 7 Connector MOTOR END Connector DRIVE END Black Bottom view 12 10 11 1 9 8 7 6 5 4 3 2 P 5 1...

Page 167: ...d ensure good electrical contact 5 Push the filling wires and protective cloth back over the shielding 6 Push the shrink tubing 30mm long over the shielding and leave about 15mm exposed 7 Use a hot ai...

Page 168: ...PH055 Wiring the Motor Power Connector Drive end 2 1 3 4 5 6 7 8 9 10 11 12 13 70 mm Green Yellow 1 2 3 White Black 10 mm 1 U 2 V 3 W PE Green Yellow White Br Black Br U V W PE Br Br 6 5 4 3 2 1 1 2 3...

Page 169: ...connector 2 1 3 4 5 6 7 8 9 10 11 12 13 70 mm 1 2 3 10 mm 1 U 3 V 2 W PE Green Yellow 4 Br 5 Br 6 5 4 3 2 1 1 2 3 Green Yellow Lexium BPH055 1 5 3 4 2 55 mm 15 mm 30 mm 45 mm For U V and W 5 4 1 5 4...

Page 170: ...nector 2 1 3 4 5 6 7 8 9 10 11 12 13 70 mm 10 mm L3 U L2 V L1 W PE Green Yellow White Br Grey Br 6 5 4 3 2 1 L3 L1 L2 Green Yellow SER Motors 55 mm 15 mm 30 mm 45 mm For U V and W B A 3 Grey White 1 4...

Page 171: ...Cable Connectors The following diagram details the null modem connection between the drive and a PC 1 1 1 1 Femelle Female Female Female RxD TxD PCom X6 Sub D 9 pin PC RS 232 Sub D 25 pin X6 Sub D 9 p...

Page 172: ...158...

Page 173: ...t a Glance What s in this Appendix This appendix illustrates several servo loops within a 17D single axis system Topic Page 17D current controller overview 160 17D velocity controller loop 161 17D ana...

Page 174: ...160 17D Current Controller Overview 17D Current Controller Diagram The following diagram shows an overview of the 17D current controller servo loop...

Page 175: ...161 17D Velocity Controller Loop 17D Velocity Controller Loop Diagram The following diagram shows a 17D velocity controller servo loop...

Page 176: ...ams Overview The following illustrations show simplified servo loops for analog input Modes 0 1 3 4 and 5 17D Analog Input Mode 0 Loop Diagram The following diagram shows an 17D analog input Mode 0 se...

Page 177: ...163 17D Analog Input Loop Diagrams continued 17D Analog Input Mode 1 Loop Diagram The following diagram shows an analog input Mode 1 servo loop Continued on next page...

Page 178: ...164 17D Analog Input Loop Diagrams continued 17D Analog Input Mode 3 Loop Diagram The following diagram shows an analog input Mode 3 servo loop Continued on next page...

Page 179: ...165 17D Analog Input Loop Diagrams continued 17D Analog Input Mode 4 Loop Diagram The following diagram shows an analog input Mode 4 servo loop Continued on next page...

Page 180: ...166 17D Analog Input Loop Diagrams continued 17D Analog Input Mode 5 Loop Diagram The following diagram shows an analog input Mode 5 servo loop...

Page 181: ...167 F Expansion Options At a Glance What s in this Appendix This appendix contains the following topics Topic Page Expansion cards 168 I O Expansion Cards 169...

Page 182: ...anual Fitting expansion card If you want to fit an expansion card into the Lexium 17 D please observe the followin l Detach the cover from the expansion option slot Take care that no small items fall...

Page 183: ...puts which are fully compatible with Modicon Telemecanique family of PLCs The drive must be powered off both the AC Mains and the 24 Vdc Bias Supply when the I O Card is installed The card is automati...

Page 184: ...nal Assignments The terminal assignments for I O connector X11A are provided in the following table Continued on next page CONNECTOR X11A Terminal Function Signal Identification Notes 1 Input A0 Motio...

Page 185: ...Function Signal Identification Notes 1 Input Motion task restart See UniLink online help 2 Input Start motion task number X 3 Output InPos 4 Output Next InPos 5 Output Sfault 6 Output PosReg1 7 Outpu...

Page 186: ...l external positioning modules Programming the PLC As the interface between the drive and the PLC is realized with standard discrete I O in this configuration the user is free to program the PLC in an...

Page 187: ...edicated to the In position bit l If the application under consideration requires only 4 separate motion tasks in the drive then only 2 discrete inputs to the drive need be reserved to uniquely addres...

Page 188: ...AT 24 Vdc 8 9 REF CLEAR FAULT 11 START TASK 12 JOG X11B X11A 1 2 3 IN POS 4 NEXT IN POS 5 FAULT 6 POS REG 1 7 POS REG 2 8 POS REG 3 9 POS REG 4 10 11 24 V I O 12 TSX 07 31 2412 REF START TASK JOG CLEA...

Page 189: ...ns descriptions and procedures for calculating the power dissipation requirements for the external Regen resistor This appendix presents the following topics Continued on next page Topic Page Determin...

Page 190: ...ameter This dissipates the remaining energy as heat in the Regen resistor The energy dissipated by the Regen resistor must be calculated in order to determine the proper power rating of the resistor D...

Page 191: ...in each deceleration using the formula E Jt 2 Where E Energy in joules Jt Total system inertia including motor in kg m2 Speed at start of deceleration in radians per second 2 RPM 60 4 Compare the ener...

Page 192: ...drives must be calculated by superimposing all the time speed plots and calculating the energy generated by each axis For calculating the power in complex multi drive applications contact Schneider El...

Page 193: ...using the motor drive and input power specifications identified below Refer to the power dissipation calculation procedure presented earlier in this chapter l Motor BPH1423 with brake Total Inertia JT...

Page 194: ...esistor Power Dissipation Calculation continued Example Step 1 Plot speed versus time and torque versus time for the entire move cycle Continued on next page Speed RPM Torque 0 3450 3000 600 0 Time se...

Page 195: ...in each deceleration as follows Deceleration 1 2 3000RPM 60 314 radians sec E 0 01kgm2 314 radians sec 2 493 joules Deceleration 2 2 600RPM 60 63 radians sec E 0 01kgm2 63 radians sec 2 20 joules Dec...

Page 196: ...r circuit Deceleration 1 493 joules 23 joules Deceleration 2 20 joules 23 joules disregard this segment in the remaining steps Deceleration 3 652 joules 23 joules Example Step 5 Calculate dissipated e...

Page 197: ...Regen resistor ratings of the MHDA1028 00 Ppulse 21 kW Pcontinuous 200W Deceleration 1 Ppulse 940W 21 kW rating Deceleration 2 Ppulse 1258W 21 kW rating Pcontinuous 231W 200W Requires an external Rege...

Page 198: ...184...

Page 199: ...put specifications 122 breakout module wiring for Premium CAY 138 139 C cable separation 36 shield connections 49 cables drive to motor 130 parts list 130 CAN bus cable 76 CANopen Interface 75 connect...

Page 200: ...for Quantum 140 MSx 143 wiring to B885 11x 145 146 environmental and mechanical specifications 109 environmental specifications 109 equipment available 21 equipment supplied 21 error identification an...

Page 201: ...stem 95 O output cables 130 overcurrent protection 36 overview drive models 16 128 P parameter setting 95 parts list cables 130 overview 127 regen resistor assemblies 131 spare parts 132 133 performan...

Page 202: ...otors types 16 setting parameters 30 signal wiring 60 single axis motion control system 4 software setup 30 spare parts 132 133 specifications analog input 123 analog output 123 bias input 113 brake o...

Page 203: ...hould use this guide 2 wire specifications 125 wiring a 17D drive to a MOT 201 motion module 140 and I O initial considerations 45 connections 46 drive to B885 11x 144 drive to MOT 20x 140 drive to Qu...

Page 204: ...Index 190 890 USE 120 00...

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LEXIUM MHDA1004, User Manual

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