Moog DR2020 Series Use And Maintenance Manual Download Page 80

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Fault

index

Error code

Error register

Fault

0x7393

0x01

Interface X2 - Hiperface position

con

�

ict

Digital position (Hiperface protocol)

inconsistent with calculated position

0x7394

0x01

Interface X2 - Hiperface status

error

Encoder status error (Hiperface protocol)

0x7395

0x01

Interface X2 - Hiperface

transmit error

Encoder transmission error (Hiperface

protocol)

0x7396

0x01

Interface X2 - Hiperface receive

error

Encoder reception error (Hiperface

protocol)

0x7397

0x01

Interface X2 - EnDat22 warning

message

Warning message from EnDat 22 encoder

0x7398

0x01

Interface X2 - EnDat22 error1

message

Type 1 error message from EnDat 22

encoder

0x7399

0x01

Interface X2 - EnDat22 error2

message

Type 2 error message from EnDat 22

encoder

0x739A

0x01

Interface X2 - EnDat22 crc error

CRC error from EnDat 22 encoder

0x739B

0x01

Interface X2 - EnDat22 position

not ready

Position error - not ready from EnDat 22

encoder

0x739C

0x01

Interface X2 - EnDat22 not ready

for strobe

Strobe error - not ready from EnDat 22

encoder

0x73A0

0x01

Interface X1 - Missing

transducer con

�

guration

Optional interface X1 transducer enabled

but not con

�

gured

0x73A1

0x01

Interface X1 - General fault

Initialisation error or transducer not

detected (optional interface X1)

0x73A2

0x01

Interface X1 - Erroneous value of

sincos signals

Amplitude of sinusoidal signals inconsistent

(optional interface X1)

0x73A3

0x01

Interface X1 - Hiperface position

con

�

ict

Digital position (Hiperface protocol)

inconsistent with calculated position

(optional interface X1)

0x73A4

0x01

Interface X1 - Hiperface status

error

Encoder status error (Hiperface protocol -

optional interface X1)

0x73A5

0x01

Interface X1 - Hiperface

transmit error

Encoder transmission error (Hiperface

protocol - optional interface X1)

0x73A6

0x01

Interface X1 - Hiperface receive

error

Encoder reception error (Hiperface protocol

- optional interface X1)

0x73A7

0x01

Interface X1 - EnDat22 warning

message

Warning message from EnDat 22 encoder

(optional interface X1)

0x73A8

0x01

Interface X1 - EnDat22 error1

message

Type 1 error message from EnDat 22

encoder (optional interface X1)

0x73A9

0x01

Interface X1 - EnDat22 error2

message

Type 2 error message from EnDat 22

encoder (optional interface X1)

0x73AA

0x01

Interface X1 - EnDat22 crc error

CRC error from EnDat 22 encoder (optional

interface X1)

0x73AB

0x01

Interface X1 - EnDat22 position

not ready

Position error - not ready from EnDat 22

encoder (optional interface X1)

0x73AC

0x01

Interface X1 - EnDat22 not ready

for strobe

Strobe error - not ready from EnDat 22

encoder (optional interface X1)

0x73AD

0x01

Interface X1 - Resolver

synchronization fault

Not used

0x73AE

0x01

Interface X1 - Resolver signals

fault

Not used

0x8700

0x01

synchronization_error

Irregular internal frequency interrupt

0x6102

0x01

interrupt_missing (era Interrupt_

time_exceeded)

Internal interrupt signal not detected

0x6103

0x01

Task_time_exceeded

The execution of the task has exceeded the

maximum time limit

DR2020

MAR2-E-191

Summary of Contents for DR2020 Series

Page 1: ...Axis module coding 2 1 7 Capacitor modules models and coding ABC Auxiliary Bus Capacitor 2 2 Characteristics and components details 2 2 1 Power supply unit electrical data 2 2 2 Power supply unit mechanical data 2 2 3 Connectors 2 2 3 1 Connectors Layout 2 2 4 Filters 2 2 5 Brake resistors 2 2 6 Line inductors 2 2 7 Cables 2 2 8 Capacitor module ABC 2 3 Axis Module 2 3 1 General description of fun...

Page 2: ...orque Off Block on restart 4 ELECTRICAL AND MECHANICAL INSTALLATION 4 1 Tools and instruments 4 2 Mechanical installation 4 2 1 Assembling the components 4 2 1 1 Assembling the power supply unit 4 2 1 2 Assembling the axes 4 2 1 3 Assembling the filters 4 2 1 4 Assembling the inductors 4 2 1 5 Brake resistor positioning 4 3 Electrical installation and thermal sizing 4 3 1 Safety and general instru...

Page 3: ...nts 5 2 3 Dx2020GUI Installation 5 2 4 Connection GUI drive 5 2 5 Layout 5 2 6 Firmware Update BootLoader 5 2 7 How to access the Online Help 5 3 System Configuration 5 3 1 Axis module identification 5 3 2 Motor Parameters Configuration 5 3 3 Transducers Configuration 5 3 3 1 Sensorless 5 3 4 I O Configuration 5 3 5 Control Loops Configuration 5 3 5 1 Control Mode Configuration 5 3 5 2 Torque Loop...

Page 4: ...ce errors 6 3 9 Synchronization Interrupt Time and Task Time Error 6 3 10 EtherCAT Faults 6 3 11 Internal Communication Fault 6 3 12 Control loop Alarms 6 3 13 CAN Bus Alarms 6 4 Alarms Identification 6 5 Anomalies during GUI Drive connection 7 SAFE TORQUE OFF SAFETY FUNCTION 7 1 Application 7 2 Risk assessment of the installation 7 3 Safe Torque Off function 7 3 1 Characteristic values according ...

Page 5: ...ng there is a risk of death serious injury or serious material damage The installer shall therefore make sure that the safety instructions in this manual are read understood and observed by all personnel responsible for operating the drive AVERTISSEMENT Lorsque l entrainement est en marche il existe un risque de mort blessures graves ou dommages matériels importants L installateur doit donc veille...

Page 6: ... installer shall therefore make sure that the safety instructions in this manual are read understood and observed by all personnel responsible for operating the drive AVERTISSEMENT Lorsque l entrainement est en marche il existe un risque de mort blessures graves ou dommages matériels importants L installateur doit donc veiller à ce que les consignes de sécurité dans ce manuel sont lues comprises e...

Page 7: ...s at the bottom carry the power supply AT ATTENTION HIGH VOLTAGE 560VDC or higher There are two standard power supply models those of the DM2020 multi axis drive Each DR2020 axis module is only available in the single axis version The current flows of the various DR2020 axes range from 2 Arms to 8 Continuous Arms and 4 Arms to 16 Peak Arms Sizes are 4 The control modes are 3 Mode Note Analog input...

Page 8: ...ANOpen interface under development on which the CANOpen protocol is implemented with the DS402 profile Safe Torque Off STO protection against accidental start up incorporated into each DR2020 module Configuration commissioning via GUI Dx2020GUI with USB interface X6 connector located at the side of the Fieldbus connectors allows users to configure calibrate and control the drive Alarm diagnostics ...

Page 9: ...Drive Dimensions DR2020 MAR2 E 191 8 ...

Page 10: ...t connector to the next DR2020 module X3 motor connector X4 e X5 EtherCat connectors Connertors Kit it includes 4 connectors X1 X2 X4 e X5 Cables Coding To the Power Supply To the DR2020 To the Motor Nota MM refers to thecables lengthin meters Wire Terminal Code X2 Connector ended for STO Feedback Cap X5 ended for EtherCat Cap for X2 not ended under development BR8906 R DR2020 MAR2 E 191 9 ...

Page 11: ...Model Code CC201xxxxx CC202xxxxx Mechanical dimensions 50 mm 1 97 inches 150 mm 5 9 inches Type L50 L150 Electrical line power supply 3 phase from 200 to 528 V AC 50 60 Hz Auxiliary busbar power supply 24 V DC 10 supplied externally Arms rated current 54 128 Arms peak current 130 256 Protection Communication CANopen for sharing data with the drives Cooling Incorporated ventilation Weight kg 5 1 13...

Page 12: ...del E ec Model Mechanical hardware configuration Value Length Nominal Current CC nc r nc r ue er on t n r OPT2 Special configurations ue er on t n r Hardware revision Internal lue 2 Special Variations ue Internal coding 2 C C 2 Values assigned by Moog Fig 2 3 The first two characters are CC and refer to the family DM2020 DR2020 MAR2 E 191 11 OPT1 Special configurations ...

Page 13: ...d currrent 2 4 6 8 Arms peak current 4 8 12 16 Cooling Natural Dissipation on the plate Weight 4 4 4 4 4 4 4 4 Connector code See p 8 The module code is shown on the plate near the Fieldbus connectors To request any kind of information about a specific module the details on the side plate identifying each individual module must be communicated to Moog Casella Nominal data Serial Number Model code ...

Page 14: ...cial variations C H System data Value Peak Current 52 2 Arms 54 4 Arms 56 6 Arms 58 8 Arms Nominal Current Dimension in mm 4 Arms 8 Arms 12 Arms 16 Arms 135x220x83 1 01 OBE Special 30 SBC low level 31 SBC low level OBE Special 60 SBC high level 61 SBC high level OBE Special 135x220x83 135x220x83 135x220x83 CanBus configuration option Note Serial interface for drive setup is under development Value...

Page 15: ...M2020 ABC1 CC55015 1800 Fig 2 5 Example of capacitor module side plate A and front plate B The capacitive module can be placed alongside the power supply and the DR2020 in order to recover kinetic energy in the braking phases in this way in the presence of repeated cycles of acceleration and load braking it is avoided to dissipate energy on the braking resistor Model Code Serial Number A Nominal D...

Page 16: ...282 to 744 V DC Protection Communication CANopen for sharing data with the drives Cooling Incorporated ventilation MECHANICAL DATA Weight 5 1 kg 13 5 kg Height 455 mm 17 91 inches 455 mm 17 91 inches Width 50 mm 1 97 inches 150 mm 5 91 inches Depth 249 mm 9 80 inches 249 mm 9 80 inches Tab 2 4 Power supply characteristics FUNCTIONS Soft start circuit Braking circuit BUS cc voltage monitoring Mains...

Page 17: ...Fig 2 7 Drawing of the power supply L50 Fig 2 8 Drawing of the power supply L150 2 2 2 Power supply unit mechanical data DR2020 MAR2 E 191 16 ...

Page 18: ...2 2 3 Power supply connectors 0 Volt DC bus DC bus GND X1 Brake resistor X2 Power connector 24 Volt BusBar Status Led CAN connectors Earth Fig 2 9 Connection layout DR2020 MAR2 E 191 17 ...

Page 19: ...N A CAN connector according to CIA 402 CAN on RJ45 connector Pin Designation Function 1 Can_H CAN line positive terminal 2 Can L CAN line negative terminal 3 0V_Can CAN line 0 logic 4 Aux_Ps_Fault_neg Signal denied of power supply status 5 Addr_sx_dx Address for internal communications 6 Ps_out Power supply command output 7 nc 8 5V_Can CAN line power supply supplied by power supply 2 2 3 1 Connect...

Page 20: ...mplies with EC Non industrial environment EN61800 3 complies with radio shielding Cable length permitted between the drive and motor up to 50 m Industrial environment EN61800 3 complies with radio shielding Cable length permitted between the drive and motor up to 100 m Code Suitable for power supply Type Rated current A Total current loss W Current on contact mA Weight kg Connection mm2 AT6013 L50...

Page 21: ...dV dt the effect of limiting the value induced by the input EMC fil lter should also be considered checking the fi lter inductance value INFORMATION The inductor must be fi tted between the transformer of the cab and the drive TOTAL LINE INDUCTANCE 100 uH DM2020_D_005 Fig 2 10 Diagram of a three phase input inductor connection Power supply size Inductance value Current Frequency Type L50 0 1 mH In...

Page 22: ... Moog Casella for more information 2 2 7 Cables DR2020 MAR2 E 191 21 INFORMATION The power and control cables apart from the cables which run from the network to the fi lter must be shielded and kept separate from each other if possible at a distance of more than 200 mm INFORMATION The shielded power cables may be interrupted and connected to earth by a copper bar using a terminal with a cross sec...

Page 23: ...LATED 16mmq TERMINALS for M6 model BM 01531 screw alternatively CEMBRE A3 M6 or equivalent They must be protected in case of accidental contact insulating or heat shrinking tube with INSULATING CAP FOR NON ISOLATED TERMINALS Model BM 81016 or alternatively with VW 1 UL DIA 9 5 THERMOR EXTRACTION TUBE Model PANDUIT HSTTV38 or equivalent Information for the PS L150 128arms To supply all the rated cu...

Page 24: ...th mm 249 Height mm 455 The following table summarises the total capacity of the other modules Module ID Total cap uF L50 power supply 1800 L150 power supply 4500 DR2020 120 DR2020 MAR2 E 191 23 For machines with a fast cycle and movement the amount of energy dispersed by the brake resistor can be reduced At 200 cycles min the addition of an ABC module can save up to 3 kW in braking energy an expl...

Page 25: ...is module 2 3 1 General description of functions EtherCat CanOpen Analogue Digital I O Interior memory Memory card Field BUS Commands process and generation Position ring Speed ring Torque ring PWM commands generation IGBT bridge To the motor Encoder Resolver Acquisition of commands Acquisition of settings Acquisition of feedback FUNCTIONS Position controller Velocity controller Torque controller ...

Page 26: ...factory 2 3 4 Interfaces to the power supply the other DR2020 modules and the fieldbus The figure shows all the connectors of the axis module Power connector X1 input and X2 output X1 male X2 female The pinouts of the two mirror like connectors are shown in the following table Reference Description Minimum recommended section 1 24 V S1 STO 0 35 mm2 2 24 V S2 STO 0 35 mm2 3 FB_BK_STO 0 35 mm2 4 Spa...

Page 27: ...ave the same Pin out Reference Description Minimum recommended section 1 Up Power Supply 0 20 mm2 2 OV Power Supply 0 20 mm2 3 Data 4 Data NEG 5 Clock 6 Clock NEG A B PHASE U C PHASE V PHASE W GND EARTH X3 female 7 8 OV BRAKE BRAKE 0 20 mm2 0 20 mm2 0 20 mm2 0 20 mm2 0 35 mm2 0 35 mm2 1 50 mm2 1 50 mm2 1 50 mm2 1 50 mm2 Motor Connector X3 MAR2 E 191 ...

Page 28: ...rn off the power supply to prevent accidental start up The function disables the control voltage of the converter output stage power semiconductors preventing the drive from generating the voltage requested to rotate the motor By using this function short term operations and or maintenance can be carried out on non electrical parts of equipment without turning off the power supply This function mu...

Page 29: ...rd 2 4 3 3 Power supply The DM2020 series drives overvoltage category III according to EN 61800 5 1 may be powered by three phase earthed industrial electric networks TN system TT system with earthed neutral point no more than 10 KA symmetrical rated current at 208 V 10 230 V 240 V 400 V or 480 V 10 Overvoltages between phases and the drive housing must not be higher than the peak of 1000 V Accord...

Page 30: ...ean with a dry cloth in case of dirty ventilation grille clean with a dry brush 2 4 3 8 Decommissioning To remove and put out of order a servo drive DM2020 replacement dismantling follow the procedure below Disconnect the supply voltage of the electrical panel and wait Check that the heat sink and the mechanical parts temperatures aren t still too high Loosen all connections and disconnect them Re...

Page 31: ...ty to the above Directives is declared As regards electromagnetic compatibility the DR2020 refers to C3 category industrial environments CAUTION In a domestic environment the DR2020 may emit radio frequency disturbance ATTENTION Dans un environnement domestique le DR2020 peut émettre des perturbations des fréquences radio INFORMATION The manufacturer of the end machine or equipment MUST NOT use dr...

Page 32: ...tandards AVERTISSEMENT Le fabricant de la machine et ou de l équipement final doit exécuter et fournir les résultats d une analyse de risque de la machine selon ISO12100 et ISO14121 et prendre toutes les mesures nécessaires pour empêcher des mouvements imprévus qui peuvent nuire aux personnes ou endommager des biens En particulier le fabricant de la machine et ou de l équipement final doit assurer...

Page 33: ...Fig 3 2 EC declaration of conformity original MAR2 E 191 32 ...

Page 34: ...ling the power supply Standard vertical assembly Assembly material 2 M6 cheese headed screws In the case of horizontal assembly please contact the Applications Department to verify the application 4 2 1 2 Assembling the DR2020 axes Standard vertical assembly Assembly material 2 M6 cheese headed screws In the case of horizontal assembly please contact the Applications Department to verify the appli...

Page 35: ...igh frequency irradiated disturbance above all through the motor cable Filters installed on the network will reduce conducted disturbance See section 2 2 3 1 Filters for recommended models There are usually two types of problems regarding earthing in boards The high frequency EMC earth comprising a portion of an unpainted metal wall where the drives are positioned and the filters creating an elect...

Page 36: ...cables separate from those of the output power for the DR2020 4 3 2 2 Dissipation of DR2020 axes in Watt Rated Current CH6 52 X X X XX CH6 54 X X X XX CH6 56 X X X XX 0 17 17 17 25 43 69 95 50 69 121 173 75 95 173 252 100 121 226 330 Note the DR2020 normally installed externally to the panel must not be considered in the thermal calculation of the panel itself CH6 58 X X X XX 17 121 226 330 434 2 ...

Page 37: ...uld be assembled outside the distribution board adequately protected from accidental contact to avoid having to eliminate the heat they generate in the distribution board MAR2 E 191 36 k fi k fi Tab 4 1 Auxiliary circuits input CAUTION Where a dedicated power supply for the motor brake is absent it is important to ensure that the general auxiliary power supply system is correctly dimensioned and t...

Page 38: ... a size immediately greater than 4 6 24 A 34 or a 36 A fuse will be used in the instance that both axes are being used at once Safety switches for fault currents According to EN60204 1 on the electrical equipment of machinery a safety switch can be used for fault currents provided it complies with applicable regulations To protect from direct accidental contact a safety switch for fault currents d...

Page 39: ...rives 4 3 5 Power supply unit wiring 4 3 5 1 Earthing Connect the filter and power supply housing to the structure of the board making sure the contact surface is adequate and the connection has low resistance and low inductance Avoid fitting the filter and power supply housing on painted surfaces 4 3 5 2 Power supply cable connection See section 2 2 3 3 Cables of DM2020 manual for cable selection...

Page 40: ...les 2 5 mm2 minimum recommended section for power supply and auxiliary power supply 4 3 6 1 Earthing Connect the module housing to the structure of the board making sure the contact surface is adequate and the connection has low resistance and low inductance Avoid fitting the module housing on painted or insulated surfaces FINISH THE NON INSULATED TERMINAL 5 mm TOWARDS THE INSIDE OF THE TERMINAL B...

Page 41: ...r model data The external brake activation command must reach the drive when the motor speed is close to or equal to 0 The delay introduced by the drive between receiving the command and its transmission to the brake is less than 125 us The delay in brake activation depends on the type of brake and is specified by the motor manufacturer Motor speed Motor stopped Command of voltage to the brake Bra...

Page 42: ...O function 24 Volt Monitoring inputs of the drive Fig 4 12 Basic diagram for connection to the PLC Note Feedback from the STO is the series of feedbacks of the various DR2020 modules as long as one of the drives does not correctly acquire the two pins S1 and S2 the chain is interrupted and the safety PLC intervenes by cutting the power supply to the drives DR2020 X1 and X2 Connectors Towards the o...

Page 43: ...e two commands the drive relays corresponding S1 and S2 feedback 3 3 V 1 kOhm to the PLC to check that commands are correct and consistent and to operate movements with an adequate sequence The delay between Command application S1 or S2 and Feedback which signals that the command has been executed is below 50 ms the delay between removal of the command and feedback signalling is below 20 ms In any...

Page 44: ...re manages communication with the EtherCat network IN Connector X4 and OUT EtherCat Connector X5 EtherCat Connector Connector Pin out N pin Description 1 Tx 2 Tx 3 Rx 4 Rx The input and output fieldbus connectors have the same pin out CAN Connection The same connector is used for CAN interface A cable with a 120 ohm resistor at each end must be used for the connection The cable length that may be ...

Page 45: ...duct The maximum section of the cable that the power terminal is able to house is equal to 4 mm2 AWG12 terminals A B C D The theoretical maximum number of DR2020 modules connectable in the chain is equal to about 20 considering to divide the 30 Arms on the auxiliary power supply 700 mA on the auxiliary power supply and 750 mA on the brake power supply to be verified according to the brake mounted ...

Page 46: ...ontrôles précédents peuvent provoquer un mouvement inattendu et incorrecte de la machine ATTENTION Seul le personnel qualifié est autorisé à configurer les paramètres d un entraînement en fonctionnement ATTENTION Avant de procéder à l opérateur d entraînement il est conseillé de vous assurer que tous les paramètres sont configurés correctement WARNING Whenthedrivesarelive donotloosentheelectricalc...

Page 47: ...ort Ethernetport CANinterface IXXAT In order to function the GUI uses the libraries NET Framework 4 0 which have the following minimum space requirements x86 600 MB of free disk space x64 1 5 MB of free disk space Operating systems INFORMATION There are some versions of Windows XP that are NOT supported by the NET Framework 4 0 in this case it is not possible to install the GUI or use it Windows 8...

Page 48: ...st choice This setting is applied to both the installer language and the Dx2020 GUI application language The languages available are English and Italian In any case the language can also be changed from the GUI Graphics User Interface at a later time After the update the program will proceed with the installation of the Net FrameWork 4 where this is not already present Installation of this last pa...

Page 49: ...and on the toolbar or via the Network drop down menu The status bar LED will turn green Wait for the GUI to connect to the drive and automatically upload the parameters INFORMATION In the event of anomalies during connection refer to the Trouble Shooting chapter and follow the recommended steps MAR2 E 191 48 The GUI can connect to the drive via the RS232 serial X5 connector or via EtherCAT connerc...

Page 50: ...e Online Help on the application for more information Toolbar Connect Open the communication port selected Disconnect Close the communication port Load all Update all of the parameters of the connected axes Monitor Open the monitoring window Terminal Open the terminal form manual access Load view Update the parameters in the current view only MAR2 E 191 49 ...

Page 51: ...ocity loop etc Clicking on the sub menu in the main area will display the associated graphics window The last element of the menu relates to the EtherCAT or CAN communication parameters one per module Main area This area displays the information and parameters relating to the view selected in the navigation area This window allows users to view and set DR2020 drive parameters Refer to the Online H...

Page 52: ...rCAT and Bootloader RS232 that are installed at the same time as the Dx2020 GUI Th rmware can only be downloaded if the GUI is disconnected from the driver The procedure is accessed from the Menu Tools tab on the menu bar Follow the relevant instructions on the Online Help present on the operator interface To access the dedicated tools Go to PC Start Programs MoogTools Dx2020 GUI Bootloader See th...

Page 53: ...asing procedure as described in section 5 3 2 1 Autophasing procedure Thermal protection can be activated for all three motor types The thermal model parameters will need to be entered INFORMATION De uxing can be activated when a synchronous permanent magnet motor is being used Defluxing Field Weakening Algorithm If you require a maximum speed which is considerably higher than the nominal speed st...

Page 54: ...n please start the Autophasing procedure 5 3 3 1 Sensorless Il DR2020 features the Sensorless operating mode with no speed transducer it is usually not used in the field except for motor test purposes without using the position transducer To enable it select Feedback from the Navigation area Under the tab Feedback sources set the fields as indicated in the figure Make sure you also activate the se...

Page 55: ...a band of signal beneath which the two inputs will be ignored This is set on the terminal The unit of measurement is in internal units from 0 to 215 corresponding to 11 volts meaning that 100 units correspond to a deadband of 33 5 millivolts under develoment INFORMATION The digital outputs are active if supplied with a 24 power supply on X6 X16 connector on pin 7 and earth on pin 8 MAR2 E 191 54 ...

Page 56: ... speed control must ensure that the motor speed follows the speed reference as closely as possible both in static and dynamic conditions The quality of response from the system depends on the loop parameter settings Basic velocity control is PI proportional integral with an additional Feedforward ff_calc command torque compensation and variable saturation SAT_VARIABLE The proportional term produce...

Page 57: ...of the zero Frequency of the pole Dampening of the pole The frequencies must be positive or zero The damping factors must be between 1 and 1 Pole The filter has a single real pole The parameter to be specified is the pole frequency which must be positive or zero DbPole The filter has two complex combined poles The parameters that must be specified are Frequency of the pole Dampening of the pole Th...

Page 58: ...Examples of filters Example of a notch filter configuration You want enter a notch filter centered at 30 Hz MAR2 E 191 57 Example of configuration of a 2nd order low pass filter ...

Page 59: ...e bigger the error The derivative term observes whether the error is increasing or decreasing damping system behaviour The integral term cancels the steady state error To set the parameters select Position loop from the Navigation area A window will open showing the block diagram of the loop in question The standard network corrector PID is characterised by four parameters There is subsequently a ...

Page 60: ...bleshooting Settings to be avoided with the machine in normal operating conditions AVERTISSEMENT Seulement au cours de mise en service ou de dépannage Paramètres à éviter avec la machine dans des conditions normales de fonctionnement Emergency The drive sends an emergency message but is not stopped or disabled Disabling Disables the drive and carries out the con gured stop procedure from Applicati...

Page 61: ...ort_circuit_phase_W_low short_circuit_phase_W_hi restore_data_memory_corrupted factory_data_memory_corrupted calibration_data_memory_corrupted Contact Moog Casella s Service Centre for suggestions or specific checks 5 3 7 Application parameters From this menu it is possible to configure the drive reaction when specific events occur Details on the events and the type of reaction are described in th...

Page 62: ...t to Local Operating mode The drive command source will be set The following values can be chosen EtherCAT The drive receives commands set points remotely via the EtherCAT fieldbus standard CANopen the drive receives commands set points remotely via the CAN bus Local the drive receives commands set points from Dx2020 GUI Analogue the drive receives commands set points through configured digital an...

Page 63: ...om an analogue input Typical operating mode Analogue Internal speed The drive runs operates a speed control following a reference generated inside the drive itself see function generator typical operating mode Local Internal torque The drive runs a torque control following a reference generated inside the drive itself see function generator Typical operating mode Local Cyclic Synch Position The dr...

Page 64: ...n views Modes and Commands for details on the FSA Not ready to switch on Start 0 1 7 6 14 5 2 3 10 12 4 16 11 15 13 9 8 Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault Power off or reset Fault reaction active MAR2 E 191 63 ...

Page 65: ...ns replacingpartsandoninitialplantstart up theSTOfunctionshouldalwaysbechecked WARNING Do not access the protected area and do not touch any live part or high voltage part of the drive Opening of a protective door must cause the chain of emergencies to intervene interruption of motor power along with the STO If the STO signal is not removed with the correct sequence F fault is displayed AVERTISSEM...

Page 66: ...on guring the automatic brake control and the manual control Autophasing is run by Dx2020 GUI software Once the motor parameters have been set select Modes and Commands in the navigation area Check that the power supply and the STO are then press the following in sequence in the Command eld Power off Power on leaving the drive in this status MAR2 E 191 65 fi fi ...

Page 67: ...g place correctly 5 6 Enabling the axis The drive implements the DS402 pro le standard Cia The enabling of the drive depends on the application of a command which can be received remotely eldbus EtherCAT or CAN via HW analogue function or from the GUI Local operation Fieldbus EtherCAT or CAN Enabling is carried out by the Master PLC via Control Word Analogue Enabling is carried out by hardware con...

Page 68: ... choosing Enabled from the Trigger eld choosing Continuous will automatically provide repeated views of the same event To con gure the trigger Choose the trigger variable from those which appear in the drop down menu in the Variable eld Next choose the front Ascent Descent in the Front eld and the level of activation of the trigger numeric value in the Level eld The setting of the Pre Trigger allo...

Page 69: ...s it is changed by varying the scale via the Scale command Moving the Graphic Pan Magni cation of Details The mouse cursor reveals the legend of each of the four In the top left corner are the functions Cursor Activation Cursor Zoom and automatic printing of the image Screenshot buttons when it hovers over each of them MAR2 E 191 68 ...

Page 70: ...d The name of file is fixed rec ucx Warning The name of the file cannot be changed Each time a recording is made the file on the SD card will be overwritten The copy on the PC automatically changes the file name 5 7 4 UCX file management When data is saved in Local a file is created with the name date and time that this occurs The extension of these files is UCX To view archived recordings go to t...

Page 71: ...by selecting a file without having connected the drive the GUI suggests switching to the OFF LINE mode To check a file s parameters from the main menu select the axis with the right button of the mouse load the parameters as if there were a real drive connected change them if needed and save the new configuration file to the new parameters Download files Delete files Add files Exit MAR2 E 191 70 5...

Page 72: ...rent con guration on the internal memory of the drive Restore a saved con guration from the internal memory Upload a con guration saved ont le downloa le parameters Save the current con guration onto th le uploa le parameters Reset item Reset the selected device Disable axis Disable the axis selected Enable axis Enable the axis selected MAR2 E 191 71 fi d fi fi o a fi fi d fi e fi ...

Page 73: ...w active fault list and a list of the 8 most recent alarms will appear on the right hand side fault history 6 TROUBLESHOOTiNg 6 1 Introduction The main malfunctions are listed and described below along with a set of instructions on how to resolve them If any problem persists contact the Moog Casella Service Centre 6 2 Power supply unit anomalies YELLOW LED GREEN LED RED LED Status Off Off On xed l...

Page 74: ...tors the excess if not dissipated by the braking resistor RR on the power supply can result in DC_Link_Over Voltage It is advisable to disable the axis to avoid any damage to the drives AVERTISSEMENT Dans le cas de freinage contrôlé l énergie cinétique disponible est régénérée sur le bus DC et en partie stockée dans les condensateurs l excès sinon dissipé par la résistance de freinage RR sur l ali...

Page 75: ...mode then reset the drive and restart the GUI If the problem persists replace the drive 6 3 7 Brake Chopper Fault brake_feedback_fault This alarm indicates a fault in the motor brake circuit The drive checks that the output voltage is consistent with the command The alarm may be caused by a mismatch between the command and output voltage The internal circuit is protected from short circuits and th...

Page 76: ...showing errors on feedback devices Fault Cause Check Missing Transducer Con guration Interface STD is enabled but transducer configuration is missing Con gure Resolver Signals Fault Signal resolver level error amplitude Carrying out cable compensation Erroneous value of sincos signals Each alarm describes the problem in detail Except in cases of incorrect or missing configuration of the device rep...

Page 77: ...not detected Task_time_exceeded The execution of the task has exceeded the maximum time limit 6 3 10 EtherCAT fault Fault Cause Check EtherCAT_communication_fault Communication error Check the wiring con guration of the communication of the drive and or the EtherCAT master EtherCAT_link_fault Eth link not present EtherCAT_rpdo_data PDO data received not correct EtherCAT_rpdo_time_out PDO data not ...

Page 78: ...t CAN_rpdo3_time_out CAN_rpdo0_data PDO data received not correct CAN_rpdo1_data CAN_rpdo2_data CAN_rpdo3_data CAN_tpdo0_time_out PDO data not transmitted or transmitted after time out CAN_tpdo1_time_out CAN_tpdo2_time_out CAN_tpdo3_time_out CAN_tpdo0_data PDO data not transmitted CAN_tpdo1_data CAN_tpdo2_data CAN_tpdo3_data CAN_sync_consumer_time_out Sync not received or received after time out C...

Page 79: ...Software alarm 14 0x6320 0x01 parameter_initialisation_error Initialisation error 15 0x6311 0x01 node_identi er_data_memory_ corrupted Not used 16 0x6312 0x01 user_data_memory_corrupted Parametric user memory corrupt not con gured 17 0x6313 0x01 restore_data_memory_corrupted Not used 18 0x6314 0x01 factory_data_memory_corrupted Constructor parameter memory corrupt not con gured 19 0x6315 0x01 cali...

Page 80: ...nterface X1 Hiperface position con ict Digital position Hiperface protocol inconsistent with calculated position optional interface X1 45 0x73A4 0x01 Interface X1 Hiperface status error Encoder status error Hiperface protocol optional interface X1 46 0x73A5 0x01 Interface X1 Hiperface transmit error Encoder transmission error Hiperface protocol optional interface X1 47 0x73A6 0x01 Interface X1 Hip...

Page 81: ...nsmission time out dual axis module 72 0x3100 0x10 Phases_not_ok Not used 73 0x3200 0x04 Overcurrent Overcurrent fault 74 0x8100 0x04 CAN_communication_fault Generic CAN communication fault 75 0x8231 0x10 CAN_rpdo0_time_out PDO0 reception time out 76 0x8232 0x10 CAN_rpdo1_time_out PDO1 reception time out 77 0x8233 0x10 CAN_rpdo2_time_out PDO2 reception time out 78 0x8234 0x10 CAN_rpdo3_time_out PD...

Page 82: ...ses where communication between the PC and the drive fails an error message will appear To check the values set on the drive proceed as follows Connect to the drive Read the baud rate value from the terminal locbdr parameter for the firmware _ecat version or canbdr parameter for the firmware _can version Read the node ID from the terminal locmodide parameter for the _ecat version or the modide par...

Page 83: ...nctional integrity levels and safety integrity levels SIL of the drive according to CEI EN 62061 2005 and or performance levels PL according to EN ISO 13849 1 2008 The table below identical to Table 4 of UNI EN ISO 13849 1 2008 shows the relationship between PL and SIL PL SIL IEC 61508 1 by way of example high continual operating mode a No correspondence b 1 c 1 d 2 e 3 Tab 7 1 Relationship betwee...

Page 84: ...d 7 3 1 CHARACTERISTIC VALUES ACCORDING TO UNI EN ISO 13849 1 Hardware Feedback Characteristic values according to UNI EN ISO 13849 1 Software Feedback Characteristic values according to UNI EN ISO 13849 1 Value Observation Performance level PL e Category 4 External subsystems must be able to perform diagnostics at the same time as or before the subsequent safety function request for example immed...

Page 85: ...valuation des risques l ingénieur doit évaluer le temps d arrêt de la machine Le temps de fonctionnement de la fonction de sécurité Safe Torque Off doit être supérieur au temps de freinage de la rampe de décélération défini par vitesse maximale et charge maximale sur l axe L évaluation devrait prévoir la possibilité d un défaut La machine peut avoir une surcharge dangereuse en cas de panne de mote...

Page 86: ...ing a manual reset function if necessary that prevents the motor from restarting automatically AVERTISSEMENT La fonction STO est automatiquement redémarrée lorsque les entrées de sécurité sont activées Le fabricant de la machine est responsable de la vérification et de l installation d une fonction de réinitialisation manuelle si nécessaire qui puisse empêcher le redémarrage automatique du moteur ...

Page 87: ...dware feedback electrical contact consists of a Photo Mos relay protected by a fuse When both control channels Channel 1 and Channel 2 are at low logic level 0V the STO circuit is in safe mode safety function enabled the monitoring signal is active and provides closed contact In all remaining cases the monitoring signal is always off and provides open contact The monitoring channel of the complete...

Page 88: ...d in series to control the A1 safety PLC in the case that an NO contact is welded The two output safety channels of the DM2020 are connected to the A1 safety PLC to provide diagnostics coverage of the DR2020 subsystem INFORMATION In the example a controlled stop may be obtained by using the delayed outputs of A1 The controlled stop is not a safety function incorporated in the drive so the relative...

Page 89: ...linked contacts according to IEC 60947 5 2 Attachment L mirror contacts When a person is able to fully enter the hazardous area guards must be installed in addition to a detection system or restart must only be possible after a separate restart which occurs after the guards have closed and ensured that no person remains in the hazardous area in line with risk analysis guidance A short circuit betw...

Page 90: ...01 standard CIA 402 Stop Category1 Disable the protection devices for example opening the guards while the motor is operating and check that the motor stops If the stop is category 1 according to EN 60204 1 2006 check that the motor has stopped in a controlled mode and that the Safe Torque Off function is enabled after the stop This must not cause hazardous situations 7 10 Assemblyandproductiontes...

Page 91: ...it that turns into heat the excess energy regenerated by the motor during the deceleration phase Short Circuit Connection into electrical conduction between two phases or conductors with different polarity of an alternating or continuous voltage Clock Timing signal Control loops Set of hardware and firmware circuits that determine the control of the quantities relating to torque speed position on ...

Page 92: ...electronic power equipment operation likely to generate or induce disturbances in other electronic equipment Emissions Electromagnetic interference caused by electronic equipment operating at frequencies likely to generate or induce disturbances Enable Signal that enables the drive Encoder Motor component that detects the value of the position of the shaft and transmits it to the drive to operate ...

Page 93: ...smission R Rectifier Circuit that converts an AC voltage into a DC voltage Regolator P Regulating circuit functioning in a purely proportional manner Regolator PI Control circuit running in a proportional and integral way Regolator PID Proportional adjustment circuit functioning integral and derivative way Reset Restart the microprocessor Braking resistor When the motor decelerates a braking resis...

Page 94: ...84 2 1 8153 23 22 6 0 574 511 0 259 66 6 2 3064 22 25 3 0 643 640 0 324 53 2 2 8867 21 28 5 0 724 812 0 411 41 9 3 6604 20 32 0 0 813 1020 0 519 33 2 4 6128 19 35 9 0 912 1290 0 653 26 4 5 8032 18 40 3 1 02 1620 0 823 21 0 7 3209 17 45 3 1 15 2050 1 04 16 6 9 2404 16 50 8 1 29 2580 1 31 13 2 11 6212 15 57 1 1 45 3260 1 65 10 4 14 6885 14 64 1 1 63 4110 2 08 8 28 18 4512 13 72 0 1 83 5180 2 63 6 56...

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Moog DR2020 Series, Use And Maintenance Manual

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