Moog DS2110 Installation And User Manual Download Page 293

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APPENDIX F – DEVICENET

MEZZANINE CARD

F-4

CDS7324 (FORMERLY LSF-0819)

Rev. A

INSTALLATION & USER’S MANUAL

F.10 Parameter List

Parameter Name

Number

Type

Default

Minimum

Maximum

Class ID

Attr. Description

MODEL_REVISION_out 64001

u32

0 0

ULONG_MAX

0x71

0x02 model date revision output

PARAM_UPDATE_in 64002

u16

0x71

0x03

input request to update
parameter calculations

STATE_IDB_out 64003

f32

FLT_MAX

0x71

0x04

output monitor of Backgound
stateflow state number

DRV_FFDTRQ_par 64005

f32

0x71

0x06 friction bias (Apk)

DRV_GRVTRQ_par 64006

f32

0x71 0x07

gravity

bias

(Apk)

DRV_KAFF_par 64008

f32

0x71

0x09

acceleration feedforward gain
(Apk/rad/sec^2)

DRV_KVFF_par

64009

f32

0x71

0x0A velocity feedforward gain

DRV_PLPGAIN_par 64011

f32

200

0x71

0x0C position loop gain (hz)

DRV_VLTI_par 64015

f32

0.02

0.00025

0x71

0x10 velocity loop time constant (sec)

DRV_VLPGAIN_par 64016

f32

0.05

0x71

0x11

velocity loop proportional gain
(Apk/rad/sec)

FILBW_par 64017

f32

100

500

0x71

0x12

torque filter bandwidth (hz)

FILORDER_par 64018

u16

0x71

0x13

torque filter order: 1st or 2nd

FILZETA_par 64019

f32

0.7 0.2 1.5

0x71

0x14

torque filter 2nd order dampening
factor

MDL_PAR_RET_out 64022

u16

UINT_MAX

0x71

0x17

output from Model; return value
from mdl_par_write and read.

STATE_IDF_out 64034

f32

FLT_MAX

0x71

0x23

output monitor of Foregound
stateflow state number

PROFILE_VEL_LIM_par 64035

f32

500 0

FLT_MAX

0x71

0x24

Trajectory Profile velocity limit
(rpm)

PROFILE_ACC_LIM_par 64036

f32

0.1 0

FLT_MAX

0x71

0x25

Trajectory Profile acceleration
limit (g's)

REQUEST_
POS_CMND_ENABLE_in

64044 u16

0 UINT_MAX 0x71

0x2D

Request position command
Enable

HEART_BEAT_PERIOD_par 64047

f32 0.25

0 FLT_MAX 0x71

0x30

Heart Beat LED ON-OFF period
(sec)

MOTION_FLT_out 64051

u16

UINT_MAX

0x71

0x34 motion error fault (composite)

MODEL_FLT_out 64053

u08

UCHAR_MAX

0x71

0x65 model fault out

DRV_VLIGAIN_par

64054

f32

0.05

0x71

0x66 velocity Integral gain

MDL_CORE_FLT_out 64070

u08

0x71

0x74

MDL_CORE_FLT_out

Summary of Contents for DS2110

Page 1: ...DS2110 DIGITAL CONTROLLER INSTALLATION USER S MANUAL Document No CDS7324 formerly LSF 0819 Revision A Date May 2011 INDUSTRIAL CONTROLS DIVISION...

Page 2: ...ase AC Mains Power Source Configuration 3 23 3 8 24V Backup Connection 3 29 3 9 Internal External Regeneration Regen Resistors Configurations 3 32 3 10 Motors Installation 3 36 3 11 DS2110 Control Inp...

Page 3: ...Features B 2 APPENDIX C RESTART INTERLOCK CIRCUITS C 1 C 1 Intended Application C 1 C 2 Restart Interlock Function C 2 C 3 Safety Requirements C 4 C 4 Restart Interlock Circuit C 5 C 5 Restart Interlo...

Page 4: ...ng Factors F 2 F 7 Units F 3 F 8 PARAM UPDATE in F 3 F 9 Implicit I O F 3 F 10 Parameter List F 4 APPENDIX G ETHERNET MEZZANINE CARD G 1 G 1 Introduction G 1 G 2 Modes of Operation G 1 G 3 Changing IP...

Page 5: ...odels ratings and general specifications Detailed outlines of installation and wiring functionality user interfaces and other technical data are given in subsequent sections CAUTION Repairs or modific...

Page 6: ...ode Size Continuous Arms Maximum Arms Peak A G362 x03 A or A 3 6 4 9 G362 x04 A 4 8 5 12 G362 x06 A or A 6 16 22 G362 x08 A 8 16 22 G362 010 B 10 29 7 42 G362 014 B 14 29 7 42 G362 020 C 20 31 8 45 G3...

Page 7: ...CHAPTER 1 0 Overview 1 3 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Page Intentionally Blank...

Page 8: ...EN50178 class 3k3 Elevation 1000m 3 300 feet derate output 2 per 300m 1000 ft above 1000m 3300 ft Air pressure 86 kPa to 106 kPa Type of protection Components must be installed into an enclosure The...

Page 9: ...under the EU s EMC Directive measures as directed in this manual have to be taken to ensure EMC compliance It is designed to the UL508C standard The A size DS2110 units are UL recognized The DS2110 A...

Page 10: ...N A N A N A N A N A N A N A External Regeneration Power Continuous Dissipation Peak Dissipation 230Vac Peak Dissipation 400Vac 50W 1 2Kw 4 8kW 100W 1 2kW 4 8kW 200W 2 8kW 11 3kW 240W 6 6kW 26 3kW 250...

Page 11: ...continuous 42A peak G362 014 14A continuous 42A peak G362 020 20A continuous 45A peak G362 025 25A continuous 70A peak G362 030 30A continuous 90A peak G362 050 50A continuous 140A peak G362 060 60A c...

Page 12: ...eak current can be supplied is dependent on whether the motor is stalled or running 1 5 4 2 Thermal Foldback Thermal foldback is implemented in the DS2110 drives to prevent the junction temperatures o...

Page 13: ...orque Velocity Mode Switch See Section 5 9 Brake Control See Section 5 9 CW Limit Switch See Section 5 9 CCW limit Switch See Section 5 9 Quick Stop See Section 5 9 Controlled Disable See Section 5 9...

Page 14: ...ol J2D 2A 24Vd c solid state high side drive for motor brake control Switched under user control or DS2110 software control Motor Position Feedback Type J3 J4 Resolver Encoder Types SSI Hiperface Anal...

Page 15: ...CHAPTER 1 0 Overview 1 11 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Page Intentionally Blank...

Page 16: ...to the installation is prohibited for non technically qualified individuals Throughout this user s guide may be found NOTES CAUTIONS and WARNINGS and CE Compliance Required They are defined as follows...

Page 17: ...y This user s manual assumes that the user has a basic working knowledge of servo drive products and the system motion controller The user should provide the necessary additional training for ALL pers...

Page 18: ...2110 must be permanently and reliably connected to Earth and all conductive parts in the IP54 rated enclosure or cabinet must be permanently connected to Earth The impedance between the earth terminal...

Page 19: ...FEE 690V Semiconductor Cooper Bussmann Recovery Resistor Fuse Contact Moog Application Engineering for Advice 24Vdc Aux Pwr Fuse 3A 250V Delayed DS2110 Models Size E Notes Size 100 240 Short Circuit...

Page 20: ...is removed It is recommended to refrain from commencing any servicing maintenance repair or upgrading of this equipment until at least 5 minute for the A size 6 minutes for the A E sizes after power s...

Page 21: ...ntrolled system is generally capable of switching external power systems as well as detecting intrusion signals from safety barriers All personnel must observe sound safety practices during the operat...

Page 22: ...x conductor size AWG American wire gauge DS2110 Models Notes C D Cable 20 45 AWG mm2 25 70 AWG mm2 30 90 AWG mm2 50 140 AWG mm 2 60 180 AWG mm 2 Line Power 3x8 8 4 3x 6 13 3x 4 21 Protective Bonding C...

Page 23: ...nect cables and cable assemblies sufficient extra length shall be provided for this purpose The terminations of multicore cables shall be adequately supported where undue strain can be exerted on the...

Page 24: ...ide enclosures Panel conductors shall be supported where necessary to keep them in place Non metallic channels or conduits shall be permitted only when made with a flame retardant insulating material...

Page 25: ...s subject to movement are close to moving parts precautions shall be taken so that a space of at least 25mm shall be maintained between the moving parts and the cables Where this distance is not pract...

Page 26: ...ssis Earth using the EMC kit or the panel earth bar Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be earthed to the panel by use of...

Page 27: ...red to be installed by the user into all equipment systems and installations into which the DS2110 is installed Further details are given throughout this User s Guide The DS2110 Servo drive must be in...

Page 28: ...nt A 50o C 40o C Max Voltage Drive Input Size AT60171 Schaffner FN2070 3 06 3 250V 24Vdc Input AT6009 Schaffner FN258 7 07 7 8 4 3x480V 3 phase AC Line Input Size A AT6010 Schaffner FN258 16 07 16 19...

Page 29: ...85 500 2 8 AT6013 Schaffner FN258 55 07 329 314 80 55 300 185 500 3 1 AT6015 Schaffner FN258 100 35 379 364 90 65 350 220 Terminal blocks only 5 5 TOP VIEW SIDE VIEW Table 4 DS2110 Recommended Filters...

Page 30: ...les shall be earthed to Chassis Earth using the EMC kit or the panel earth bar Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be eart...

Page 31: ...od to earth the shield is shown in Figure 2 Correct Cable Preparation Grounding of Shield to Chassis Figure 2 Correct Cable Preparation Grounding of Shield to Chassis Motor resolver signal cables must...

Page 32: ...CHAPTER 2 0 Safety EMC Instructions 2 17 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 DS2110 A Cable Shield Terminations...

Page 33: ...CHAPTER 2 0 Safety EMC Instructions 2 18 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 4 DS2110 A B Cable Shield Terminations...

Page 34: ...CHAPTER 2 0 Safety EMC Instructions 2 19 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 5 DS2110 C Cable Shield Terminations...

Page 35: ...CHAPTER 2 0 Safety EMC Instructions 2 20 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 6 DS2110 D Cable Shield Terminations...

Page 36: ...CHAPTER 2 0 Safety EMC Instructions 2 21 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 7 DS2110 E Cable Shield Terminations...

Page 37: ...F Semiconductor Type Fuses DS2110 8 22 10 42 14 42 Fuse Model No 50FE Semiconductor Type Fuses DS2110 20 45 25 70 30 90 Fuse Model No 100FE Semiconductor Type Fuses DS2110 50 140 60 180 Fuse Model No...

Page 38: ...CHAPTER 2 0 Safety EMC Instructions 2 23 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Page Intentionally Blank...

Page 39: ...rip Type can be used as a protective device providing its ratings are equivalent to the recommended fuses After a power loss to the servo drive the motor will continue running until its stored energy...

Page 40: ...CHAPTER 3 0 Wiring and Installation 3 2 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 1Typical DS2110 System Components A Size...

Page 41: ...S2110 Series Servo drive connected A low cost unregulated DC supply is adequate 3 1 6 Brushless Servo motors The DS2110 series Servo drive is compatible with Moog brushless servomotors Normal connecti...

Page 42: ...the rated currents of all brakes connected 3 1 7 Heatsinks and Climatic Control The need for air conditioning will depend on the duty cycle of the system and the surrounding ambient temperature The ma...

Page 43: ...enclosures or cabinets must be accessible to technically qualified service or maintenance persons only It is recommended that the cabinet be ventilated using filtered or conditioned air free of corros...

Page 44: ...tem components that must be installed in the correct manner to ensure that all electromagnetic compatibility EMC requirements are met Refer to Chapter 2 of this User s Guide The DS2110 must be mounted...

Page 45: ...CHAPTER 3 0 Wiring and Installation 3 7 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 3 DS2110 A Mechanical Mounting Dimensions...

Page 46: ...CHAPTER 3 0 Wiring and Installation 3 8 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 4 DS2110 A Mechanical Mounting Dimensions...

Page 47: ...CHAPTER 3 0 Wiring and Installation 3 9 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 5 DS2110 B Mechanical Mounting Dimensions...

Page 48: ...CHAPTER 3 0 Wiring and Installation 3 10 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 6 DS2110 C Mechanical Mounting Dimensions...

Page 49: ...CHAPTER 3 0 Wiring and Installation 3 11 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 7 DS2110 D Mechanical Mounting Dimensions...

Page 50: ...CHAPTER 3 0 Wiring and Installation 3 12 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 8 DS2110 E Mechanical Mounting Dimensions...

Page 51: ...CHAPTER 3 0 Wiring and Installation 3 13 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Page Intentionally Blank...

Page 52: ...ee metal cable gland Cables supplying external d c supply voltages to the DS2110 Series Servo drives for example the 24 Vd c supply must be as short as possible The supply wires should be twisted toge...

Page 53: ...ion employs regeneration be sure to add the regen resistor power dissipation to the numbers quoted in Table 3 2 use the continuous wattage rating of the regen resistor if the actual application regen...

Page 54: ...tallation 3 16 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL 3 4 DS2110 Connector Terminals Figures 3 9 through 3 14 detail the connectors on the DS2110 all sizes Figure 3 9 DS2110 Contro...

Page 55: ...PTER 3 0 Wiring and Installation 3 17 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 10 DS2110 Size A Power Connector Terminals Figure 3 11 DS2110 Size A B Power Connector Termina...

Page 56: ...APTER 3 0 Wiring and Installation 3 18 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 12 DS2110 Size C Power Connector Terminals Figure 3 13 DS2110 Size D Power Connector Terminal...

Page 57: ...CHAPTER 3 0 Wiring and Installation 3 19 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure 3 14 DS2110 Size E Power Connector Terminals...

Page 58: ...distance from servo drive and power supply chassis earths to the tie point as short as possible Chassis earth should be run close to D C Bus wires to minimise EMI The impedance between the earth termi...

Page 59: ...re stripping It is recommended to use the appropriate Molex crimping tool 63814 0000 or 63811 1500 or equivalent After crimping the contact must be inserted into the floating connector with the correc...

Page 60: ...for fan external supply if necessary Wire a c mains input to user supplied fuses Make a secure and reliable connection between the chassis of the equipment and Earth Fit a suitable EMC Mains Line Fil...

Page 61: ...ng user supplied options are required 1 Three Phase Mains Fusing 2 Mains Line Filter 3 24Vd c Power Source Fuse 4 24V d c EMC Filter Note that for DS2110 sizes A B C D E if the a c mains is still appl...

Page 62: ...nput Connection Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part GMSTB 2 5 12 ST 7 62 A size wiring cable 14 AWG 2 1 mm2 Wire stripp...

Page 63: ...ing connector 12 pins female supplied with the drive Phoenix Contact Part 1767106 A size wiring cable 14AWG 2 1 mm2 Wire stripping 7 mm B size wiring cable 12AWG 3 3 mm2 Wire stripping 7 mm PE Stud wi...

Page 64: ...Connection Fixed connector 5 pins male connector Mating connector 5 pins female crimped supplied with the drive Molex 42816 0512 C size wiring cable 8 AWG 8 4 mm2 PE Stud wiring cable 6 AWG 13mm2 Pos...

Page 65: ...inal D size wiring cable 6 AWG 13 mm2 for 50 140 D size wiring cable 4 AWG 21mm2 for 60 180 PE Terminal wiring cable 6 AWG 13 mm2 for 50 140 PE Terminal wiring cable 4 AWG 21 mm2 for 60 180 Stripping...

Page 66: ...se voltage input 230 460Vac 10 J9 5 V1 Phase L2 three phase voltage input 230 460Vac 10 J9 6 W1 Phase L3 three phase voltage input 230 460Vac 10 3 7 2 Softstart Power Cycling Frequency Limits The DS21...

Page 67: ...ion 11 12 11 12 Connector J6 DS 24V Auxiliary Supply 24V GND 0V Connector J6 DS Fairrite Clamp Core p n 00443164151 4 Turns of Supply cable Fuse Figure 3 22 Size A 24V DC Input Connection Fixed connec...

Page 68: ...V Schaffner FN2070 3 06 Filter Fuse Figure 3 23 Size A B C D E 24V DC Input Connection Fixed connector 2 pins male connector Mating connector 2 pins female supplied with the drive Wago Part 231 102 02...

Page 69: ...19 Rev A INSTALLATION USER S MANUAL 3 8 3 Auxiliary 24V Fan connection Size E 1 2 Connector J8 Size E 24V Auxiliary Supply 24V GND 0V Figure 3 24 Size E auxiliary 24V fan supply Fixed connector 2 pole...

Page 70: ...available in these sizes 3 9 1 000 148 Table 3 9 Recommended Regeneration Resistors For EMC purposes use shielded cable to connect the external Regen resistor to the DS2110 The length of this cable sh...

Page 71: ...5Nm Pos Name Function J6 2 DC DC Bus J6 3 RR Regeneration Resistor Table 3 10 J6 Regeneration Resistor connector A Size 3 9 2 A B Size Regeneration Resistor Connection Tie screen to panel on which res...

Page 72: ...ng cable 8 AWG 8 4 mm2 Pos Name Function J6 4 ATP DC Bus J6 5 RR Regeneration Resistor Table 3 12 J6 Regeneration Resistor connector C Size 3 9 4 D Size Regeneration Resistor connection Tie screen to...

Page 73: ...Size E External Regeneration Connections J9 Fixed connector 2 pole screw terminal E size wiring cable 2 AWG 34 mm2 Stripping Length 19mm Tightening Torque 4Nm Pos Name Function J9 3 RR Regeneration R...

Page 74: ...e cable sets are available in standardized lengths If MOOG cables are not used the values specified below with regard to the cable make up must be maintained in all cases Contact your local Moog sales...

Page 75: ...ground screw in case of terminal board J6 DS2110 A Figure 3 30 DS2110 A Motor Power Connection Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Co...

Page 76: ...minal board J6 DS2110 A B Figure 3 31 DS2110 A B Motor Power Connection Fixed connector 10 pins male connector Mating connector 10 pins female supplied with the drive Phoenix Contact Part PC4 HV 10 ST...

Page 77: ...ector clamp or RF connection to ground screw in case of terminal board J7 DS2110 C Figure 3 32 DS2110 C Motor Power Connection Fixed connector 4 pins male connector Mating connector 4 pins female crim...

Page 78: ...or RF connection to ground screw in case of terminal board J9 DS2110 D Figure 3 33 DS2110 D Motor Power Connection J9 Fixed connector 4 pole screw terminal D size wiring cable 6 AWG 13 mm2 for 50 140...

Page 79: ...f shield via connector clamp or RF connection to ground screw in case of terminal board J9 DS2110 E Figure 3 34 DS2110 E Motor Power Connection J9 Fixed connector 4 pole screw terminal E size wiring c...

Page 80: ...3 35 Motor Brake Connector Location J2D 1 24V DC 2 3 4 24V RET User Supplied 24V PSU Motor Power Cable Figure 3 36 Motor Brake Cabling Fixed connector 4 pins male connector Mating connector 4 pins spr...

Page 81: ...9 Rev A INSTALLATION USER S MANUAL DS2110 J6 A A B J7 C J9 D E EMC Bracket J2D 2 J2D 3 PT00E16 8 PC2 A H G F E D C B 97B 3100 RS 24 10P G F E D C B A 97B 3102R 36 5P A D C B 97B 3102R 24 22P A D C B P...

Page 82: ...B W2 1 W W C C C C C Brake 5 E E Brake 6 F F Table 3 21 Motor Power Connections 3 10 4 Motor Resolver Connection Wire the DS2110 resolver cable in accordance with Figure 3 39 and Table 3 22 For CE com...

Page 83: ...nector 9 pin female Sub D connector Mating connector 9 pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm2 MOTOR RESOLVER CONNECTOR Pos Signal Type FAS T FAS K FAS N FAS Y G4xx FASG J5 1 Cos S2 C 1 3 J5...

Page 84: ...6 PTC 4 sin 5 sin 3 shield DS2110 Cable End Motor Cable End for MOOG motors FAST FASK M N L B A S T J F G H P C U V R D K E 1 cos 2 cos 7 0V 8 PTC 6 PTC 4 sin 5 sin 9 V ref 3 shield C cos E cos S shi...

Page 85: ...el B J4 3 Cosine Cosine Channel A J4 4 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 5 Clock Clock J4 6 Channel Z Zero Data RS485 Data J4 7 J4 8 NTC PTC NTC PTC NTC PTC NTC PTC J4 9 Sine Sine Channel...

Page 86: ...direction of rotation is clockwise when the motor is viewed from the shaft end as shown in the diagram below Figure 3 41 Rotational Convention for Mechanical Process Variables NOTE For operation with...

Page 87: ...user Functionality of this I O is detailed later in this manual Digital Inputs Digital Outputs Drive Ready Figure 3 42 DS2110 I O Connections NOTE An external 12Vd c to 32Vd c power source user suppl...

Page 88: ...DS2110 Digital Input connector The following electrical description applies to all the digital inputs of the DS2110 5V 4K7 Digital Input I1 I8 SIGNAL Optocoupler RET 3V3 Figure 3 43 DS2110 Generic Di...

Page 89: ...igital Output Return Table 3 25 J2B DS2110 Digital Output connector The following electrical description applies to all except one of the digital outputs of the DS2110 One digital output Drive Ready u...

Page 90: ...rt FK MC 0 5 2 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm2 Wire stripping 8 mm Pos Name Function J2C 1 Drive Ready 1 Drive ready relay contact pin 1 Drive Ready Relay Contact J2C 2 Drive Ready 2 Drive re...

Page 91: ...activated to ENABLE transition can be 6ms Figure 3 46 Power Sequencing control using Drive Ready Relay and ENABLE WARNING It is UNSAFE to use the Drive Ready output as a direct control for the ENABLE...

Page 92: ...nector 9 pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm2 Pos DS2110 Signal Function PC Signal J1 1 connected to pin 4 DCD input J1 2 RxD Receive Data RxD input J1 3 TxD Transmit Data TxD output J1 4...

Page 93: ...ng 7 mm Tightening torque 0 5Nm Pos Name Function J6 1 DC DC Bus J6 2 DC DC Bus J6 3 RR Regeneration Resistance J6 4 L1 Phase L1 three phase voltage input 230 460Vac 10 J6 5 L2 Phase L2 three phase vo...

Page 94: ...Phase L1 three phase voltage input 230 460Vac 10 J6 5 V1 Phase L2 three phase voltage input 230 460Vac 10 J6 6 W1 Phase L3 three phase voltage input 230 460Vac 10 J6 7 PE Motor Protective Earth J6 8...

Page 95: ...ctor Mating connector 4 pins female crimped supplied with the drive Molex 42816 0412 C size wiring cable 8 AWG 8 4 mm2 Pos Name Function J7 1 U2 Motor Phase U J7 2 V2 Motor Phase V J7 3 W2 Motor Phase...

Page 96: ...eration Resistance J9 2 ATP DC Bus J9 3 PE Protective Earth Screw Terminal J9 4 U1 Phase L1 three phase voltage input 230 460Vac 10 J9 5 V1 Phase L2 three phase voltage input 230 460Vac 10 J9 6 W1 Pha...

Page 97: ...Resistance J9 4 ATP DC Bus J9 5 PE Protective Earth Screw Terminal J9 6 U1 Phase L1 three phase voltage input 230 460Vac 10 J9 7 V1 Phase L2 three phase voltage input 230 460Vac 10 J9 8 W1 Phase L3 t...

Page 98: ...CHAPTER 3 0 Wiring and Installation 3 60 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL 3 13 6 Control Card...

Page 99: ...nnected to pin 8 RTS output J1 8 connected to pin 7 CTS input J1 9 unused RI input 3 13 6 2 Digital Inputs Fixed connector 9 pins male connector Mating connector 9 pins spring cage female supplied wit...

Page 100: ...connector 2 pins male connector Mating connector 2 pins spring cage female supplied with the drive Phoenix Contact Part FK MC 0 5 2 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm2 Wire stripping 8 mm Pos Nam...

Page 101: ...osine Cosine Channel A J4 4 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 5 Clock Clock J4 6 Channel Z Zero Data RS485 Data J4 7 J4 8 NTC PTC NTC PTC NTC PTC NTC PTC J4 9 Sine Sine Channel B J4 10 Co...

Page 102: ...5 Sin S3 H 12 2 J3 3 Shield S 3 DS2110 Cable End Motor Cable End for MOOG motors FASN FASY Connector IPS02A 12 12PYC SH 1 cos 2 cos 3 shield 7 0V 8 PTC 9 PTC 10 V ref 11 sin 12 sin 1 cos 2 cos 9 V re...

Page 103: ...or with resolver feedback 4 2 Initial Preparation Install the drive as per Section 3 with regards to the safety notices indicated in section 2 As a minimum the following items are required before gett...

Page 104: ...rive will automatically be created in the Start menu For a more detailed account of setting up and installing the Windrive software refer to the Readme file which accompanies the GUI software From the...

Page 105: ...and the Status bar in the upper right hand corner should be green and read Read Successful Controller ACK If the status bar is red and reads Serial Port Timeout Error ensure power is applied and chec...

Page 106: ...otors The motor may be selected by the model Gxxx xxx from the scrollable motor list The nameplate on the motor should be checked for the model and the corresponding motor selected from either of the...

Page 107: ...tabase Click on the Name column header and all parameters will be sorted alphabetically Ensure the commutation feedback parameter comfbk is set to 1 resolver feedback DS2110 Parameter Database comfbk...

Page 108: ...tailed in Section 5 3 5 The Regen on Regen off voltages should be set in accordance with the DC Bus voltage Table 5 4 Typical Regeneration Turn on Turn off Voltage Levels These parameters are automati...

Page 109: ...egen window Open Drive Setup Regen Resistor External Regen and enter the correct resistance and power ratings for the externally connected Regen Resistor RR Select Write All Confirm that values are co...

Page 110: ...celeration limits can be set separately from the acceleration limit but writing to the acceleration limit will always set all of the deceleration limits to the same value as the acceleration limit Set...

Page 111: ...hould now be saved to the non volatile memory such that when the drive is power cycled the DS2110 is initialized with the user s parameters and not the default parameters Open Parameter Utilities Driv...

Page 112: ...be cleared as follows Status and Faults Clear Faults Clear Faults The DS2110 should now display a U1 to indicate High Power Not Ready All other errors and warnings should be removed Should an error i...

Page 113: ...roximately 1 3 seconds for the softstart sequence to complete If the drive has been set up correctly and all errors removed the softstart relay should close to indicate a successful soft start up The...

Page 114: ...the Commutation Parameters panel in the Motor Setup menu item Select Torque Mode Select Start in the Commutation parameters panel Ensure that hardware drive enable input has 24V applied and enable th...

Page 115: ...Drive Enable Open Function Generator and select Trq Click Read All to confirm the Drive Mode Status reads Trq Give the drive an offset by typing 0 5 in the Offset textbox and click Write All Click ena...

Page 116: ...ds Vel Give the drive an offset by typing 50 in the Offset textbox and by clicking Write All Click enable button and check that the drive rotates in a clockwise direction Set the offset back to 0 rad...

Page 117: ...wer right hand corner should be yellow and read initializing Set up Channels 1 3 Timebase and Trigger as per the table 1 below Figure 4 14 Oscilloscope Channel 1 Channel 2 Channel 3 Timebase Trigger S...

Page 118: ...LATION USER S MANUAL 4 15 2 Setting the Velocity Loop Gains Open the Velocity Loop Panel Drive Setup Compensators Velocity Loop Compensators Set the p gain to an initially low value and the I gain to...

Page 119: ...gain 0 0 The following step responses were obtained using a G464 804 Global motor with resolver feedback and under no load conditions Click enable button The Oscilloscope should trigger and the statu...

Page 120: ...0 Change the Velocity Loop gains Drive Setup Compensators Velocity Loop Compensators to p gain 0 075 i gain 0 Reset the trigger mode to Normal Click enable button The Oscilloscope should trigger and t...

Page 121: ...0 Change the Velocity Loop gains Drive Setup Compensators Velocity Loop Compensators to p gain 0 075 i gain 5 Reset the trigger mode to Normal Click enable button The Oscilloscope should trigger and...

Page 122: ...2110 DC Bus Monitoring Detected DC Bus Voltage Close the Oscilloscope and the Windrive GUI and remove the 24V DC Logic Back up from the DS2110 The sequence outlined in the preceding sections provides...

Page 123: ...DS2110 operation 5 2 1 Direction of Rotation The positive direction of rotation is clockwise when the motor is viewed from the shaft end as shown Figure 5 1 Rotational Convention for Mechanical Proces...

Page 124: ...ly section may be divided into functional blocks High voltage rectification and filtering Soft start of a c mains power on Low voltage control power supply Regeneration circuit Monitoring and fault lo...

Page 125: ...ge_limit Field Number 1234 is set by default to 75 of the nominal bus voltage This undervoltage percentage level parameter bus_under_voltage_limit_percentage Field 1235 can be changed to different lev...

Page 126: ...of the internal control electronics logic supplies are available to the user to monitor If these supplies are out of tolerance the drive will report a fault and react accordingly The parameters assoc...

Page 127: ...must have the capability to absorb the regeneration power so that the bus voltage does not rise above the upper limit 2 Duty cycle controlled In this mode the duty cycle calculated from the regenerati...

Page 128: ...xternal_resistor_con tinuous_on_time 1264 External Regeneration Resistor Continuous on time in ms regen_power_capability 1269 Total Regeneration Power Capability regen_max_current 1266 Maximum Regener...

Page 129: ...r w 780 10 V C A regen_off_voltage 1248 f32 r w 760 0 V C A regen_power_filtered 1252 f32 r W N A regen_internal_resistance 1258 f32 r w see note 1 0 Ohm F A regen_internal_resistor_power 1259 f32 r w...

Page 130: ...name 5 4 2 Electrical Parameters Field No Type Units Motor Database Name Name 1072 u16 None Pm motor_poles 1073 f32 Ohms Rtt motor_Rtt 1075 f32 H Lq motor_Lq 1076 f32 H Ld motor_Ld 1077 f32 V rad s Ke...

Page 131: ...s Parameters The default value for the bus over voltage limit is 800 with defaults of 760 and 780 for the regen off and on limit respectively Field No Type Units Motor Database Name Name 1233 F32 V Vm...

Page 132: ...llowing parameters for speed and current ratings for the motor must also be set Field Number Type Units Motor Database Name Name 1078 F32 A Imax motor_max_current_ 1082 F32 rad s Nmax motor_max_veloci...

Page 133: ...current_loop_d axis_i gain 1272 F32 r w 6 35404981 0 V A Tsamp C A current_loop_d axis_p gain 1274 F32 r w 32 0266683 9 0 V A C A current_loop_q axis_i gain 1277 F32 r w 6 35404981 0 V A Tsamp C A cu...

Page 134: ...voltage 1248 F32 r w 760 0 1000 V C A regen_on_voltage 1249 F32 r w 780 0 1000 V C A THERMAL motor_ntc_coefficient_a0 1385 F32 r w 9 74168 none C A motor_ntc_coefficient_a1 1386 F32 r w 0 409214 none...

Page 135: ...e drive can determine the rotor angle of the motor Figure 5 2 Resolver Signal Amplitude The picture shows the amplitude of the Sine and Cosine signals depending on the rotation angle of the resolver N...

Page 136: ...Number 1042 is the resolver reference amplitude determined from the resolver transformer turns ratio 5 5 1 4 Resolver commutation position The parameter resolver_position_ raw Field Number 1057 conta...

Page 137: ...fault Value Minimum Value Maximum Value Units Storage T Data Group RESOLVER resolver_poles 1037 u16 r w 2 2 none C A resolver_transformer_ratio 1024 u16 r w 0 5 0 22 1 34 none C A resolver_amplitude 1...

Page 138: ...Figure 5 3 encoder signals The picture shows typical analogue encoder signals and the digital signals derived from the analogue signals The direction of rotation shown is counter clockwise so that ch...

Page 139: ...s read only 5 6 1 4 Encoder Position The parameter encoder_position Field Number 1713 contains the 32 bit encoder position It is assembled using the encoder incremental count value an interpolated ana...

Page 140: ...ers The encoding can be changed between binary and Gray code transmission with the parameter encoder_ssi_coding Field Number 1710 The following values are possible 0 Gray code 1 Binary code See encode...

Page 141: ...utation feedback source commutation offset motor number of poles motor Rtt motor Lq motor Ld motor Ke motor maximum current motor maximum velocity motor velocity limit current limit mask bus over volt...

Page 142: ...rements 1706 u32 r w 1024 1 none C A encoder_direction_of_rotation 1707 u08 r w 0 1 none C A encoder_resolution 1708 u08 r w 10 2 31 none C A encoder_ssi_number_bits 1709 u08 r w 13 2 32 none C A enco...

Page 143: ...hen commutation with resolver is selected the rotor angle is taken from the resolver commutation position resolver_position 16 bit full scale corresponds to one full mechanical revolution The number o...

Page 144: ...2 Initialize correct motor parameters 3 Set commutation_feedback resolver or encoder 4 Set the drive to torque mode set parameter control_loop_mode_requested Field Number 1330 to 1301 5 Set commutati...

Page 145: ...rage Data Group COMMUTATION commutation_feedback 1035 u08 r w 1 2 none C A commutation_offset 1036 s16 r w 5461 none C A commutation_offset_adjustment 1038 u08 r w 0 1 1 none N A COMMUTATION RELATED c...

Page 146: ...osition feedback is done through parameter position_feedback Field Number 1168 It can have the following values 1 position feedback from resolver 2 position feedback from encoder See Resolver Module a...

Page 147: ...elocity feedback is done through parameter velocity_feedback Field Number 1169 It can have the following values 1 velocity feedback from resolver 2 velocity feedback from encoder See Resolver Module a...

Page 148: ...that the numbers on the front panel start at 1 Field No Type Name 1545 U08 hardware_enable_configuration 1553 U08 digital_input_4_configuration 1546 U08 hardware_enable_debounce_count 1554 U08 digita...

Page 149: ...nputs The handler function is not called Handler Handler Function Input Set Input Cleared 0 NULL 3 Brake Release Switch Release Brake Enable Brake 6 Positive Limit Switch Inactive Active 7 Negative Li...

Page 150: ...ith disable can be configured to either apply or remain released using the brake_control parameter as described in the Brake Release Switch section 5 10 1 1 3 Negative Limit Switch This handler functi...

Page 151: ...d the brake applied if configured to do so The operation of the brake under a quick stop with disable can be configured to either apply or remain released using the brake_control parameter as describe...

Page 152: ...input status word shows the state of the 8 bits of the digital input word The LSB corresponds to I1 and the MSB corresponds to I8 A bit is shown as 1 if the digital input is set and shown as 0 if the...

Page 153: ...field value of the DS402_status_word parameter i e 1651 and digital_output_1_mask is set to 0x80 then digital output 1 will be 0 in when no warnings are present and will be 1 when a warning occurs Th...

Page 154: ...nput_2_invert 1662 u08 r w 0 0 1 none C A digital_input_2_control 1674 u08 r w 0 none C A digital_input_3_configuration 1551 u08 r w 0 none C A digital_input_3_debounce_count 1552 u08 r w 1 254 none C...

Page 155: ...meout 1004 f32 r w 0 1 0 5 s C A velocity_rampdown_time_limit 1143 f32 r w 1 0 1000 s C A AUTOMATIC MANUAL manual_mode_limit 1133 f32 r w 10 0 100 C A current_maximum_physical 1124 f32 r A N A motor_m...

Page 156: ...d set by the user In position mode the position compensator output is input to the velocity loop with the velocity compensator output in turn input to the current loop Again the user sets the position...

Page 157: ...sition_PI_ loop_i gain f32 1 s2 Table 5 22 List of Position Loop PI Compensator Gains Field Number Name Type Units 1328 position_PI_loop_error f32 increments 1034 internal_loop_demand f32 increments 1...

Page 158: ..._loop_a gain f32 rad s2 1342 position_TO_loop _p gain f32 1 s 1350 position_TO_loop _enable_velocity_i term f32 rad Table 5 24 List of Position Loop Time Optimal Compensator Gains 6 Name Type Units 13...

Page 159: ...current loop The compensator has parameters are listed below Field Number Name Type Units 1305 position_mode_velocity_loop_p gain f32 Nm rad s 1306 position_mode_velocity_loop_i gain f32 Nm rad Table...

Page 160: ...d lower limit parameters of the compensator The I PI velocity loop compensator has gains as listed below Field Number Name Type Units 1317 velocity_mode_p gain f32 Nm rad s 1318 velocity_mode _i gain...

Page 161: ...ommand_acceleration_limited 1157 These may both be monitored using the GUI scope to view the effect of acceleration limiting These velocity terms have embedded units of increments velocity loop sample...

Page 162: ...clearing the appropriate bit in the control loop configuration see section 5 11 4 NOTE The default filter operating period is velocity_loop_rate_divider switching_frequency 4 9920 approx 400 s The Gen...

Page 163: ...ty loop rate modulus is 4 and the switching frequency parameter is 9920Hz Then the velocity loop sample rate is 400 s approximately 2 5KHz approx Hence the 0 1 filter factor means that the low pass fi...

Page 164: ...ple Euler approximation filter characterised by two filter coefficients The filter cut off is specified with a filter cut off factor FCF held in a parameter called velocity_filter_cutoff_factor veloci...

Page 165: ...3 Phase inverter Clarke Transformation abc dspias Park Transformation i dq Inverse Park Transformation Space Vector Modulation V PI iqd vcq id dq i vwd vq State Observer State Feedback Decoupling idd...

Page 166: ...at maximum current The gains are decreased linearly between the current_loop_foldback_breakpoint and the maximum current The current loop d and q axis compensators gains and the observer and compensa...

Page 167: ...ity held in a parameter called motor_velocity_filtered 1163 It is this filtered velocity variable that is used to limit the motor velocity The filter is a simple Euler approximation filter characteris...

Page 168: ...ed for use with a particular motor A linear de rating of the torque applied to the motor is implemented when the velocity of the drive exceeds the motor max velocity The de rating is such that the dem...

Page 169: ...Definition 31 MSB 0 30 0 29 0 28 0 27 0 26 0 25 0 24 0 23 0 22 0 21 0 20 0 19 0 18 0 17 0 16 0 15 1 14 0 13 0 12 0 11 0 10 acceleration limiting enable 9 command micro interpolation 8 gain calibratio...

Page 170: ...s 1 3 4 8 9 10 and 15 are set Note that the bit 1 must always be set in this parameter bits 0 and 6 must never be set and bit 7 has no meaning in velocity mode 5 11 4 3 Position Mode Preset The parame...

Page 171: ...0 6 28 rad C A position_TO_loop_error 1337 f32 r increments N A internal_loop_demand 1034 f32 r increments N A velocity_command_acceleration_limited 1157 f32 r incs Tsamp N A POSITION MODE VELOCITY CO...

Page 172: ...1 f32 r Amps N A velocity_loop_rate_divider 1136 s16 r w 4 1 10 none C A switching_frequency 1194 u32 r Hz N A velocity_loop_filter_coefficient_a1 1351 f32 r w 0 none C A velocity_loop_filter_coeffici...

Page 173: ...phase_A_demand 1104 s16 r Amps N A current_phase_B_demand 1105 s16 r Amps N A current_phase_A_feedback 1069 s16 r see note 1 N A current_phase_B_feedback 1070 s16 r see note 1 N A current_loop_q axis_...

Page 174: ...Voltages Parameter Name Field No Subindex Description supply_ 24V 1441 Internal 24V Logic Supply supply_ 3V3 1421 3 3V Logic Supply supply_ 15V 1426 15V Logic Supply supply_ 15V 1431 15V Logic Supply...

Page 175: ...en faults and warnings Faults are those abnormal conditions that are of a serious enough consequence to cause the DS2110 to halt operation This will always result in removal of power from the DS2110 h...

Page 176: ...greater than 32 Volts None U8 Manual Mode This warning indicates that user has switched the drive into manual mode Current and velocity limited to limman of normal limits U9 Enable Attempted Warning T...

Page 177: ...324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL U18 IT Limit Warning Set if the IT limit integral current demand Field 1130 is greater than the IT limit max IT product Field 1129 Current Limite...

Page 178: ...n link 12 DC Bus Fault Bus undervoltage 13 Program Fault Drive internal programming error 14 Current Loop Fault Current offsets Drive improperly configured 15 Board Fault Defective board in control he...

Page 179: ...yed and are only logged they have no display code Group Number Not Displayed Power Down NVM Save Error Logged 16 Analog to Digital Command Offset Fault Logged 30 TPU Initialization Fault Logged 55 Vel...

Page 180: ...of a non fatal fault the drive immediately decelerates the drive to zero speed at the drive deceleration limit deceleration_limit_ _fault Field Number 1671 Once the velocity falls below the level set...

Page 181: ...75 Bridge PTC fault FATAL 94 Group 06 Motor Over temperature Fault Motor over temperature fault NON_FATAL 76 Group 07 Encoder Fault Loss of encoder fault FATAL 72 Encoder security loop fault NON_FATAL...

Page 182: ...155 Data protection exception FATAL 156 Data breakpoint exception FATAL 157 Instruction breakpoint exception FATAL 158 Maskable external breakpoint exception FATAL 159 Non maskable external breakpoint...

Page 183: ...fault FATAL 108 Group 19 Static Position Fault Model static position fault FATAL 107 Group 20 Dynamic Position Fault Model dynamic position fault FATAL 106 Group 23 Control System Fault Control system...

Page 184: ...e data recorded for each fault entry in the event log is as follows Field Number Type Name Description 1499 U32 event_log_timesta mp total power on time in seconds as a 32 bit unsigned integer 1500 U3...

Page 185: ...and data2 values since the timestamp read is used to set up the data values to be read Successive entries may be read from the event log without setting the read pointer each time For example to read...

Page 186: ...4V 1441 f32 r V N A supply_ 3V3 1421 f32 r V N A supply_ 15V 1426 f32 r V N A supply_ 15V 1431 f32 r V N A supply_ 2V_ref 1436 f32 r V N A encoder_supply 1446 f32 r V N A bus_voltage_actual 1232 f32 r...

Page 187: ...A velocity_rampdown_time_limit 1143 f32 r w 1 0 1000 s C A FAULT CLEARING status_controller 1522 u08 r none N A errors_clear 1491 u16 r w 0 none N A EVENT LOG event_log_timestamp 1499 u32 r s N A eve...

Page 188: ...motor NTC temperature is measurable between approximately 25 C and 175 C The PTC acts as a thermal switch so linear temperature measurement of the motor is not possible When this device changes from...

Page 189: ...ser Ext Extended types are used to hold baud rates parity etc Cus General Customer types are placed in a general area used to hold parameters set by the user Enc Encoder types are stored in the encode...

Page 190: ...wishes to save only application parameters set nvm_save_parameters to 0x72 If the user wishes to load all factory settings set nvm_load_parameters to 0x47 The parameters and bit masks are required to...

Page 191: ...eters Parameter Name Field Number Data Type Access Default Value Minimum Value Maximum Value Units Storage Data Group PARAMETER STORAGE nvm_load_parameters 10000 u08 r w 0 none N A nvm_save_parameters...

Page 192: ...CHAPTER 5 0 Functional Overview 5 70 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Page Intentionally Blank...

Page 193: ...umber to be sampled into data_logger_channel field number 1754 and setting the data_logger_enable field number 1753 parameter to 0x01 where the index into the array is the channel number 0 3 The numbe...

Page 194: ...gger modes The parameter trigger mode trigger_mode field number 1755 controls the trigger and the sampling There are four different trigger modes available 0x00 free running trigger always sampling 0x...

Page 195: ...a falling input signal 0x01 trigger on rising edge 0x02 trigger on falling edge 0x03 trigger on both edges Normally the sampling would start at the trigger event If the sampling has to be delayed or i...

Page 196: ...vider to 1 data_logger_divider_factor 1 8 set trigger input to parameter number of position trigger_field_number field number actual drive position 9 set trigger coupling to dc trigger_coupling 0x01 1...

Page 197: ...R W 1000 1000 1000 1000 None N A A 1 7 Trigger parameters Parameter Name Field Number Data Type Access Default Value Minimum Value Maximum Value Units Storage T Data Group trigger_mode 1755 u08 R W 0x...

Page 198: ...ccess Default Value Minimum Value Maximum Value Units Storage Data Group data_logger_scaling_factor 1768 f32 R W None N A data_logger_scaling_offset 1769 f32 R W None N A data_logger_sample_number 177...

Page 199: ...from the Program Manager In Program Manager you can do this from Run under the File menu item Type D setup exe in the command line if your CD drive is drive E type E setup exe etc Alternatively you ca...

Page 200: ...which controller specific dialogs and panels are displayed within WinDrive and which protocol is used to communicate with the controller B 2 2 Starting WinDrive From the Windows Start menu select Sta...

Page 201: ...ar is located directly under the Main Menu The toolbar is used to perform common tasks in the application Parts of the toolbar are configuration specific and are described in the relevant section of e...

Page 202: ...indow directly under the Toolbar The Navigator panel contains one or more navigator tabbed panels These panels display a tree The tree is the principal method of navigating around WinDrive The tree is...

Page 203: ...controller They are typically used to display controller parameters and to modify the values of these parameters To open panels in the Panel View use the tree in the Navigator panel described in the...

Page 204: ...timestamp are logged B 2 12 Event Logger Toolbar The Event Logger toolbar consists of the following buttons Start Logging If the Start Logging toggle button is depressed the Event Logger logs those e...

Page 205: ...depressed the Macro Player records those events whose filter toggle buttons i e Record Read Parameter or Record Write Parameter also are depressed Stop Recording If the Stop Recording toggle button is...

Page 206: ...Configuration Upload button displays the Save Configuration File dialog box In this dialog box a file can be specified to which the current controller configuration will be saved By clicking the Save...

Page 207: ...ems Protocol This menu and any submenus are protocol specific Help About Driver Displays the Driver About Box This dialog contains the driver version information The following controls are part of the...

Page 208: ...e command into the loop Mode Control This pull down menu allows the user to set the drive mode The options are torque velocity and position Function Generator Setup This allows the user to enable disa...

Page 209: ...S MANUAL B 2 16 4 Function Generator Jog Parameter 2003 function generator offset The User enters a value in the Extend Position and the actuator will jog to that new position Then the User enters a...

Page 210: ...4776 87D8 hex indicating that bits 3 4 6 7 8 9 10 and 15 are set Note that bit 6 must always be set in this parameter bits 0 and 1 must never be set in position mode The user can set the following com...

Page 211: ...eter is 34586 871A hex indicating that bits 1 3 4 8 9 10 and 15 are set Note that bit 1 must always be set in this parameter bits 0 and 6 must never be set and bit 7 has no meaning in velocity mode Th...

Page 212: ...n set the following commands d q Gain Calibration ON OFF bit 8 Field weakening ON OFF bit 5 Observer ON OFF bit 4 Torque Mode ON OFF bit 0 B 2 16 8 Feedback Sources The Feedback Sources panel allows t...

Page 213: ...amplifier bridge ON OFF Thermal Limiting Motor Thermal winding limit of the motor ON OFF Thermal Limiting Ambient Thermal limit of the control electronics ambient ON OFF Manual Mode Limiting Enables...

Page 214: ...al value of the thermal limit factor a value between 0 and 1 0 The motor s temperature is measurable approximately between 25 C and 175 C The software calculates the motor thermal limit based upon the...

Page 215: ...therwise takes the value of Span Bridge temp RUN Bridge Thermal Limit Factor the actual value of the thermal limit factor a value between 0 and 1 0 Start Bridge temp STALL the temperature at which the...

Page 216: ...T Limiting ON OFF B 2 16 14 Current Loop The Current Loop panel allows the user to set read the current loop compensator configuration and to monitor some internal loop variables The current control c...

Page 217: ...he requested current on q axis before thermal limits setting iq demand post thermal limiting A The requested current on q axis after thermal limits setting iq observer predicted A The value of the q a...

Page 218: ...ator 1 s 2 Vel Pi comp p gain Kp The p gain of the velocity loop PI compensator used in position mode Nm rad s This is separate to the velocity loop compensator used in velocity mode Vel Pi comp i gai...

Page 219: ...oop compensator used in velocity mode Vel Pi comp i gain Ki The i gain of the velocity loop PI compensator used in position mode Nm rad This is separate to the velocity loop compensator used in veloci...

Page 220: ...once the bus voltage is stable otherwise this is the default bus voltage B 2 16 19 Softstart Voltage Parameters The Softstart panel allows the user to enable disable the softstart detection and to se...

Page 221: ...set Detected Bus Voltage V The actual value of the bus voltage Over Voltage Limit V The bus voltage at which a bus over voltage fault is indicated Under Voltage Limit V The bus voltage at which a bus...

Page 222: ...LTER PARAMETERS Filter Coefficients these can be set individually or else the filter coefficient calculator can be used to derive the coefficients for a requested filter response Filter Mode Allows th...

Page 223: ...proximation filter characterised by two filter coefficients a1 and b0 VELOCITY FEEDBACK FILTER PARAMETERS Cutoff The cutoff frequency as a fraction of the velocity loop sample rate Setting this factor...

Page 224: ...e sensed by the drive this is set automatically at power up for the power stage being used Controller Max Current A This is the maximum current peak available from the drive this is set automatically...

Page 225: ...city Limits The Velocity Limits panel allows the user to set the velocity limit parameters VELOCITY LIMIT PARAMETERS Maximum Velocity rad s Allows the user to set the maximum velocity value This is th...

Page 226: ...parameters The acceleration limiting is performed on the velocity command and has units of rad s2 ACCELERATION LIMIT PARAMETERS Max Acceleration The max acceleration value for the velocity loop input...

Page 227: ...it senses when the bus voltage exceeds the Regeneration cut in voltage and switches a Regeneration resistor across the D C Bus to dissipate the Regeneration energy REGENERATION PARAMETERS Regen contro...

Page 228: ...generation resistor value Power W The internal regeneration resistor power Continuous Initial on time s These values are calculated by the software to set the appropriate duty cycle for the regenerati...

Page 229: ...andler function is used to configure the input as a positive limit switch 9 Negative Limit Switch this handler function is used to configure the input as a negative limit switch 9 Home Switch this han...

Page 230: ...The specific parameter to be associated with the digital output The field value of the parameter must be entered into the digital output field number parameter to specify the parameter of interest 9...

Page 231: ...is preferable to set up the non standard motor in the non standard motor database so that it is available for future use MOTOR PARAMETERS d axis inductance H The inductance value of d axis q axis indu...

Page 232: ...of the resolver which determines the amplitude of the resolver reference Resolver reference amplitude This is the voltage output from the DS2110 to drive the resolver Resolver position The multi turn...

Page 233: ...oder Encoder Direction Select the encoder s direction of rotation between Clockwise and Counter clockwise Encoder Resolution Fix the bit position of the full encoder increments in the encoder position...

Page 234: ...ation position 16 bit full scale corresponds to one full mechanical revolution 9 Encoder Feedback the commutation is done from the encoder commutation angle 16 bit scale corresponds to one full mechan...

Page 235: ...view the database or enter the motor required in the search textbox Once a motor is selected the motor parameters are shown Use the scrollbars to view all the parameters Select Download Parameters to...

Page 236: ...ly if a standard motor is similar to the motor required then the standard motor parameters can be altered and saved as a Non standard motor Select the similar motor e g a G424 400 and make the changes...

Page 237: ...LY LSF 0819 Rev A INSTALLATION USER S MANUAL Click Save Parameters As and save the new motor to the DatabaseMotorParametersNonstandard mot file On selecting the Moog Nonstandard Motors tab again the n...

Page 238: ...finition of the status bits for each of the bytes B 2 16 39 General Status Byte GENERAL STATUS BYTE Shared Resources Status Shows the shared resources state Shared resources are those that would be co...

Page 239: ...e Indicates that the ambient temperature is greater than the programmed limit Ambient Thermal Foldback Warning Indicates that the ambient temperature has reached 90 of the set temperature at which poi...

Page 240: ...YTE 3 COM2 loopback The result of the loop back test performed during initialisation of the drive COM2 initialisation The result of the COM port initialisation QSPI Initialisation The result of the QS...

Page 241: ...9 Rev A INSTALLATION USER S MANUAL B 2 16 44 Exception Status Byte 1 The processor exceptions indicate serious internal faults in the drive B 2 16 45 Exception Status Byte 2 The processor exceptions i...

Page 242: ...e serious internal faults in the drive B 2 16 47 Memory Status Byte 1 MEMORY STATUS BYTE 1 NVM Write Indicates a problem writing to the drive internal NVM Application NVM Checksum Indicates that the c...

Page 243: ...in the drive internal error log NVM is incorrect This is for information only it does not cause a fault condition on the drive B 2 16 49 Power Status Byte 1 POWER STATUS BYTE 1 Bus Over Voltage Indic...

Page 244: ...her the 24 V supply is OK 15 V Supply Indicates whether the 15 V supply is OK 15 V Supply Indicates whether the 15 V supply is OK Power Down Interrupt Indicates whether the power goes down low VDC Bus...

Page 245: ...e fault and should never occur Programming Warning Indicates a fieldbus software warning Rate Task Initialisation Indicates that a fault occurred during the initialisation of the periodic tasks NVM Ad...

Page 246: ...sk code has taken longer than allowed to execute Rate Task 4 Time Overrun Indicates the rate task code has taken longer than allowed to execute Background Task Overrun Indicates the background task co...

Page 247: ...16 55 Input Monitor Status Byte INPUT MONITOR STATUS BYTE Fault Override Indicates faults have been overidden Safety Circuit monitor Indicates the status of the safety circuit monitor Restart I L Outp...

Page 248: ...f Resolver Fault Indicates that the resolver is disconnected but has been selected as a feedback source Bridge Over Temperature Indicates that the bridge temperature has exceeded the upper limit Motor...

Page 249: ...s within 10 of the start temperature for motor thermal foldback Bridge Thermal Foldback Warning Indicates that the temperature is within 10 of the start temperature for bridge thermal foldback B 2 16...

Page 250: ...l Warning Indicates that the power transistor heatsink temperature is within 10 of the bridge maximum temperature Regen Warning Indicates that the power dissipated in the regen resistor s is within 10...

Page 251: ...us Shows the state of selected drive status bits o Bit 7 MSB enable state o Bit 3 short circuit top fault o Bit 2 short circuit bottom fault o Bit 1 regeneration fault o Bit 0 LSB PWM dead time genera...

Page 252: ...ent Temperature C The control electronics ambient temperature B 2 16 64 Voltages The Voltages panel displays the actual voltage VOLTAGE STATUS DC Bus V The actual value of the DC bus voltage 3 3V Supp...

Page 253: ...TIME INDICATORS System On Time Time Since Last Power on s The elapsed time since power up Total System On Time s The total powered up time Total No of Power downs The number of power downs Drive Enab...

Page 254: ...arameters implemented in the software PARAMETER LOAD SAVE Load Default Parameter Values This allows the user to load the default values of each drive configuration parameter Save all Parameters This a...

Page 255: ...implemented in the software to the encoder EEPROM PARAMETER LOAD SAVE Load Default Parameter Values This allows the user to load the default values of the motor configuration parameters to the drive...

Page 256: ...database requires at minimum application engineer access It is possible to sort the database in various ways by right clicking on the database and selecting the required sort method Alternatively cli...

Page 257: ...0 1 Display Area This displays the traces cursors and trigger position Traces are shown in their respective colours i e green red pink or blue Cursors are shown in blue The trigger position is shown i...

Page 258: ...the following o Stopped The oscilloscope is currently not logging any data o Waiting The oscilloscope is currently waiting for the trigger to fire o Sampling The oscilloscope is currently sampling Sou...

Page 259: ...re Therefore all of these functions will cause the drive to shut down and reset The choose file and download file buttons are used to change the application firmware in the drive The system command bu...

Page 260: ...o ensure that the database held by the GUI is consistent with the database in the drive B 2 16 72 Configuration Upload This function allows the user to upload the values for all of the configuration p...

Page 261: ...APPENDIX B GUI B 63 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL...

Page 262: ...nction Note For safety reasons the drive must be disabled when downloading a new configuration file and a warning message will appear explaining this If the drive is enabled it will automatically be d...

Page 263: ...APPENDIX B GUI B 65 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL B 2 16 74 Unit Selection This panel allows the user to select the units to be used for each physical attribute...

Page 264: ...o the start of a record After a refresh has completed this number will be set to the end of the block of bytes that have been read No of records to display this is the number of event log records that...

Page 265: ...ER S MANUAL B 2 16 76 Device Information This panel displays useful information Device Name Moog DS2110 CANopen Servodrive Hardware version contains the revision of the CAN digital control card Softwa...

Page 266: ...APPENDIX B GUI B 68 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Page Intentionally Blank...

Page 267: ...erlock is achieved using an internal Restart Interlock Circuit RIC option card and can be requested as an option for 10 42 and 100 240 size drives This will in the future be made available as an optio...

Page 268: ...complete machine taking into account all of the integrated components of the safety chain including the electric drives The approach to achieving category 3 safety is mainly characterized by structure...

Page 269: ...h as a self locking mechanical system or a weight equalization system The restart interlock function does not provide electrical isolation It does not provide protection against electric shock The com...

Page 270: ...g specific test methods Second environment industrial Vibration immunity 2 to 12Hz 1 5 mm amplitude peak 12 to 200Hz 1 g acceleration Shock immunity 10 g half sine 11 ms according to EN 60721 3 3 1995...

Page 271: ...afety category For monitoring the interlocking system the input signal Channel 2 and the output signal Channel 2 verification must be checked to have the appropriate status under the following conditi...

Page 272: ...APPENDIX C RESTART INTERLOCK CIRCUITS C 6 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Figure C 1 RESTART INTERLOCK CIRCUIT...

Page 273: ...Relay Channel 2 4 Channel 2 Input to coil of RL2 Safety Relay Channel 2 With the input active this input must be high 24Vdc When the input is inactive this input must change to low 0V 5 6 Channel 1 ve...

Page 274: ...sed and the Restart Interlock Channel 1 is activated If Channel 2 is used the Restart Interlock relay of Channel 2 is controlled using the external 24Vdc pin4 positive terminal pin3 0V terminal When t...

Page 275: ...ALLATION USER S MANUAL C 6 SAFETY RELAYS TECHNICAL DATA Input coil Pnom 500 mW Inom 20 8 mA 10 Vnom 24 Vdc Pick up voltage 14 4 Vdc Drop out Voltage 2 4 Vdc Resistance 1 152 Vmax 28 8 Vdc Contact Rmax...

Page 276: ...4V IGBT Drivers NO NO NO NO NO NO NC NC 3 8 10 7 4 1 6 2 5 9 NC NC A1 24V A1 33 34 37 38 KM 1 GND KM1 NA DRV EN J2A I1 Dig I P Gnd J2A RET PWM M Dig I P 1 J2A I2 Dig I P Gnd J2A RET Channel Software P...

Page 277: ...with the maximum torque available The drive disables after the 100mS delay and it is then possible to activate the SW and HW channels The axis stopped status can be communicated to the PLC via digital...

Page 278: ...ter the intervention of the Restart Interlock If Channel 2 is also used the acknowledgement contacts Channel 2 verification remain open after the intervention of the Restart Interlock There is a fault...

Page 279: ...acts 7 8 Channel 2 verification of RESTART INTERLOCK connector must be closed The drive must not provide output current Put the drive in the starting condition with Drive Enable OFF Send a reference s...

Page 280: ...rting sequence Wiring requirements to avoid common mode failures The external cable to RESTART INTERLOCK connector must be protected against mechanical damage according to the safety requirements of E...

Page 281: ...FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL C 10 INSTALLATION AND ROUTINE TEST The restart interlock circuit RIC is installed and tested at Moog Please consult Moog ICD Sales or a Moog Distrib...

Page 282: ...nine card on to the host card gently pushing the connectors together until the mezzanine card rests evenly on the four stand offs attached to the host card 5 Use the 4 M2 5 6mm Torx screws provided wi...

Page 283: ...nnels for external control system integration The simulated encoder interface reproduces encoder data and allows for serial data transfer for master slave arrangements Figure E1 Picture of Analog Inte...

Page 284: ...ures the voltage between the input signal and ground In single ended mode the board measures the voltage between the input channel and ground reference see Figure E4 The single ended input configurati...

Page 285: ...riations A differential input is also more immune to EMI than a single ended input Most EMI noise induced in one lead is also induced in the other The input measures only the difference between the tw...

Page 286: ...ck pulse from the external controller The input frequency of the Clock In pulse determines the rate at which the Data Out will output the serial information The data is strobed out on the positive edg...

Page 287: ...ome Offset Refer to specific application manual for more details on this parameter association E 6 Simulated Encoder Resolver E 6 1 Interface The Simulated Encoder is a 9 pin D sub male connector J5B...

Page 288: ...Delta Fraction 2043 scaled_Delta_Pos Realtime Sim Enc Scaled Delta Position 2044 integer_Delta_Pos Realtime Sim Enc Integer Delta Position 2045 delta_Pos_Output Realtime Sim Enc Delta Position Output...

Page 289: ...it will vary between devices E 8 Noise Reduction Twisted pair wiring ensures that both wires are subject to virtually identical external influence This means cancellation of noise Cable with external...

Page 290: ...blication PUB00027R1 ODVA Planning and Installation Manual DeviceNetTM Cable System for guidance F 1 Connector V CANL CANH V SHIELD F 2 Network Status NS LED LED status Description LEDs off Drive Offl...

Page 291: ...nputs or by setting the parameter GUI_START_CMND to 1 or by setting bit 7 in the CMND_WORD Note that if the drive is power cycled GUI_PROFILE_SELECT GUI_START_CMND and CMND_WORD will revert back to 0...

Page 292: ...s set to 1 and the drive is disabled and the drive is not faulted This is a safety precaution to avoid unexpected actuator movement The PARAM_UPDATE_in parameter will auto reset to 0 after the drive h...

Page 293: ...0x11 velocity loop proportional gain Apk rad sec FILBW_par 64017 f32 100 50 500 0x71 0x12 torque filter bandwidth hz FILORDER_par 64018 u16 2 1 2 0x71 0x13 torque filter order 1st or 2nd FILZETA_par 6...

Page 294: ...ive Faulted Bit 2 In Position Bit 3 Moving Bit 4 Stopped Bit 5 Binary In Position bit 0 Bit 6 Binary In Position bit 1 Bit 7 Binary In Position bit 2 Bit 8 Following Error Bit 9 Current Foldback Activ...

Page 295: ...x78 0x06 Monitor signal Actual Following Error MONITOR_FOLDBACK_ACTIVE 64811 u16 0 0 UINT_MAX 0x78 0x0C Monitor signal for debug Foldback is Active MONITOR_ACTIVE_PROFILE 64812 u16 0 0 UINT_MAX 0x78 0...

Page 296: ...r POS_RESOLUTION 65007 f32 0 0 FLT_MAX 0x72 0x08 Position resolution when inputting position values HOME_OFFSET 65008 f32 0 0 FLT_MAX 0x72 0x09 Home Offset for the actuator UNITS 65009 u16 0 0 1 0x72...

Page 297: ...NE 1 DO1 2 DO2 3 DO3 IN_POSITION_DO_SELECT 65122 u16 0 0 3 0x73 0x17 Selects which DO is used for IN POSITION 0 NONE 1 DO1 2 DO2 3 DO3 IN_MOTION_DO_SELECT 65123 u16 0 0 3 0x73 0x18 Selects which DO is...

Page 298: ...Position on mA Command Loss 0 Act Pos 1 Move 2 2 Move3 6 Move7 Position ANALOG_ COMMAND_DEADBAND 65209 f32 0 0 FLT_MAX 0x74 0x0A Set analog command deadband Drive will ignore command change smaller t...

Page 299: ..._5 65245 f32 0 0 FLT_MAX 0x74 0x2E Select Move Deceleration for Move 5 MOVE_TYPE_6 65251 u16 0 0 2 0x74 0x34 Select Move Type 0 Absolute 1 Relative 2 Compound MOVE_TARGET_6 65252 f32 0 FLT_MAX FLT_MAX...

Page 300: ...ommand Stop Motion GUI_FAULT_RESET_CMND 65310 u16 0 0 1 0x75 0x0B GUI Command Stop Motion ANALOG_INPUT1_OFFSET 65311 s16 0 32767 32767 0x75 0x0C Analog Input 1 offset ANALOG_INPUT1_FULLSCALE 65312 f32...

Page 301: ...LSF 0819 Rev A INSTALLATION USER S MANUAL ACC_SCALE_FACTOR Acceleration when using field bus Acc Move 1 Acc Scale Factor FIELDBUS_ DEC_SCALE_FACTOR 65524 f32 1 0 1 0x75 0x19 Scale Factor for scaling M...

Page 302: ...n the drive interface DCD Data Carrier Detect DSR Data Set Ready RTS Request to Send CTS Clear To Send RX Receive Data TX Transmit Data DTR Data Terminal Ready G 2 Modes of Operation There are two dis...

Page 303: ...eads and writes A client performs a single read or write to access a parameter or parameters mapped to the interface G 3 Changing IP Address for Ethernet Device The default IP address is 192 168 0 100...

Page 304: ...24 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL The IP Configuration shows up Change the IP Address to the desired value then press the Save Settings button The unit will automatically reset to...

Page 305: ...4 Changing Command and Status Registers The EMA GUI will setup a default configuration with 4 Commands inputs and 4 Status words outputs A Maximum of 20 Commands and 20 Status words can be configured...

Page 306: ...value A value of 2 for example will multiply the floating point value with 10 2 100 In other words an actual position of 1 23 would become 123 when sent The Host or PLC on the receiving end must then...

Page 307: ...n the drive The easiest thing to do is to close out the Ethernet Mapping and Advanced Diagnostics pages and press the configuration download button Green Arrow pointing DOWN in top left corner of the...

Page 308: ...APPENDIX G ETHERNET MEZZANINE CARD G 7 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Right click on the Ethernet icon and select new module...

Page 309: ...IX G ETHERNET MEZZANINE CARD G 8 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Select Generic Ethernet Module Set properties exactly as shown using the actual IP Address of the Ethernet d...

Page 310: ...APPENDIX G ETHERNET MEZZANINE CARD G 9 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL...

Page 311: ...APPENDIX G ETHERNET MEZZANINE CARD G 10 CDS7324 FORMERLY LSF 0819 Rev A INSTALLATION USER S MANUAL Double click on controller tags...

Page 312: ...n this example you can write data to the Exlink O Data tags to send data to the Exlink For a simple example program which is configured to send commands to 3 DS2110 drives with Ethernet devices see th...

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