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moog

MSD Servo Drive Compact Operation Manual

45

[

STO

]

Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012

6 Safe Torque Off (STO)

NOTE:

You will find all information on the “STO” function in the 24-language

document “Description of the STO Safety Function” (Id no. CB19388).

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Summary of Contents for G394-020

Page 1: ...moog MSD Servo Drive Compact Operation Manual Servo drive 2 0 A to 8 A...

Page 2: ...Drive Compact Operation Manual Id no CA97555 001 Rev 3 0 Date 06 2012 Applicable as from firmware version V0 25 The German version is the original of this Operation Manual Technical alterations reser...

Page 3: ...ervo Drive Compact quickly and without problems we ask you kindly to read this Operation Manual thoroughly beforehand Step Action Comment 1 This Operation Manual will enable you to install and commiss...

Page 4: ...o Drive Compact order code Rating plate On rating plates of the MSD Servo Drive Compact you will find the serial number from which you can identify the date of manufacture based on the following key F...

Page 5: ...rams always have the same meanings even where they are placed without text such as next to a connection diagram Warnings see also section 1 1 ATTENTION Misoperation may result in damage to the drive o...

Page 6: ...moog MSD Servo Drive Compact Operation Manual 6 Id no CA97555 001 Rev 3 0 Date 06 2012 to the glossary to the table of contents Space for personal notes...

Page 7: ...n of motor brake X13 25 3 9 Specification of Ethernet interface 26 3 10 Option 1 26 3 11 Option 2 26 3 12 Encoder connection 27 3 12 1 Encoder connection of the synchronous motors 27 3 12 2 Matching m...

Page 8: ...ddress menu IP 40 4 4 5 Fieldbus address menu Fb 42 5 Diagnostics 43 5 1 Device states 43 5 2 Error display 43 5 3 Error codes 43 5 4 Helpline Support Service 44 6 Safe Torque Off STO 45 A Appendix 47...

Page 9: ...n against magnetic and or electromagnetic fields during installation and operation Persons fitted with heart pacemakers metallic implants and hearing aids etc must not be allowed access to the followi...

Page 10: ...as in areas subject to explosion hazard the required standards and regulations e g EN 50014 General provisions and EN 50018 Flameproof housing must always be observed Repairs may only be carried out...

Page 11: ...esult for EMC compatible installation you should use a chromated or galvanized backing plate If backing plates are varnished remove the coating from the contact area The devices themselves have an alu...

Page 12: ...the connecting cables must be taken into account Table 2 2 MSD Servo Drive Compact dimensions see Fig 2 1 and Fig 2 2 NOTE The minimum distance specified in the table for sizes 2 4 applies for devices...

Page 13: ...ovide evidence of the compliance with the protection targets stipulated in the EMC standard Cabel type Use only shielded mains motor and signal lines with double copper braiding that is overlapping by...

Page 14: ...H1 X8 X1 X7 X6 D1 D2 T1 T2 X9 X2 X5 X13 X3 X4 Name plate Software PE Name plate Hardware OP1 Number Designation D1 D2 7 segment display H1 DC link voltage indicator LED OP1 Installation space for opt...

Page 15: ...X2 X9 X4 X8 X7 X6 X5 X13 X1 Front Option 1 24 V DC supply for control electronics UV Communication Fieldbuses Brake 24 V DC supply for brake Brake Resolver Encoder TOP BOTTOM Fig 3 2 Connection diagra...

Page 16: ...industrial C3 3 4 2 Specimen setup The specimen setup presented on the following pages is intended to illustrate the key measures necessary to ensure EMC compatible setup NOTE The specimen setup mere...

Page 17: ...ide area to the shield connection plate by the clamp supplied NOTE Ready made up motor cables are available for Moog servo motors For details refer to the Servo motors Ordering Catalog Fig 3 4 Specime...

Page 18: ...ive Compact is 3 5 mA So Connect the protective conductor from the output of the mains filter to the connection X3 of the MSD Servo Drive Compact and one of the PE connections on the heat sink of the...

Page 19: ...ol cabinet Rules for the PE terminal as leakage current 3 5 mA Use protective conductors with the same cross section as the mains power cables though at least 10 mm Also comply with local and national...

Page 20: ...eeded The opposite overview shows the potential supplies for the individual terminals in detail This concept also delivers higher operational safety and reliability of the drive SELV Safety Extra Low...

Page 21: ...polarity reversal protection The power supply unit used must have a safe and reliable isolation against the mains system acc to EN 50178 or EN 61800 5 1 Table 3 3 Specification of control supply MSD S...

Page 22: ...evice design C4 X2 X3 L1 L2 L3 L1 N Mains filte r Mains choke 1 phase system K1 F1 Fig 3 14 Connection C4 mains supply 1 x 230 V Procedure Step Action Comment 1 Specify the cable cross section depende...

Page 23: ...he neutral point of the the supply system is grounded and 2 the supply system conforms to the maximum overvoltage category III as per EN 61800 5 1 at a system voltage external conductor neutral point...

Page 24: ...lded connections 3 8 1 Specification of control connections Des Term Specification El isolation Analog inputs REL REL ISDSH ISD06 ISD05 ISD04 ISD03 ISD02 ISD01 ISD00 24V DGND RSH RSH ENPO OSD02 OSD01...

Page 25: ...24 V X4 2 X4 14 Auxiliary voltage output UH to feed the digital control inputs UH UV U U typically approx 1 2 V no destruction in case of short circuit 24 V DC DGND but device may briefly shut down Im...

Page 26: ...e Specification of interface Transfer rate 10 100 MBits s BASE Line protocol IEEE802 3 compliant Connection via standard commercially available crosslink cable CAT 5 e g Moog GnmbH accessory CC ECL03...

Page 27: ...components according to variant A B or C Resolver High resolution encoder Variant A Variant B Variant C High resolution encoder X1 X6 X7 optional X8 Fig 3 15 Matching motor encoder cable Motor with i...

Page 28: ...V 4 Data EIA485 5 Data EIA485 6 REFSIN 7 Jumper to PIN 12 8 GND 11 SIN 12 Jumper to PIN 7 9 10 13 14 15 n c Festoon compatible yes Minimum bend radius 90 mm 100 mm 90 mm Table 3 8 Technical data encod...

Page 29: ...e correct voltage The sensor cable must always be connected Select the cable type specified by the motor or encoder manufacturer bearing in mind the following Always used shielded cables Apply the shi...

Page 30: ...nnected to X5 must be provided with basic insulation against the motor winding and when connected to X6 or X7 must be provided with reinforced insulation as per EN 61800 5 1 X5 Temperature switch Klix...

Page 31: ...reen 5 Brake white 6 Brake black Connector housing Screen Connector type Size 1 2 xxx 001 for standard configuration option others on request Table 3 13 Technical data motor cable Connector type Size...

Page 32: ...he internal braking chopper transistor is permanently switched on because it is alloyed through by overload 0 there is a protective function to protect the device against overheating You activate this...

Page 33: ...hod to calculate the continuous braking power Calculation of effective drive loading in a cycle T dt i T I T eff 0 2 1 1 1 K I I P N eff DBr Br T PBr DBr dt P T P 0 1 T Br DBr PBr dt P P T 0 T P P T D...

Page 34: ...s while these are live Always disconnect the power before working on the device Dangerously high voltages of 50 V may still be present 10 minutes after the power is cut capacitor charging So always ch...

Page 35: ...when touching Cooling air must be able to flow through the device without restriction 4 2 Initial commissioning Once the MSD Servo Drive Compact has been installed as described in chapter 2 and wired...

Page 36: ...or the corresponding interfaces see installation manual Moog DriveAdministrator 5 4 2 3 Parameter setting 4 The Commissioning Wizard in Moog DriveAdministrator 5 helps to make settings to the drive sy...

Page 37: ...for terminal X4 must be interconnected Manual operation dialog For step 2 in table 4 3 best via the Manual operation dialog of Moog DriveAdministrator 5 details can be found in the help system Configu...

Page 38: ...buttons T1 T2 Fig 4 1 Integrated control unit MSD Servo Drive Compact The following functions and displays are available Display of device state see section 5 1 Device states on page 43 The device sta...

Page 39: ...can still be aborted by pressing any button without the set value being accepted Otherwise the new value will be saved after 5 seconds General The time the button needs to be held depressed until an...

Page 40: ...by default to 192 168 39 5 and the subnet mask to 255 255 255 0 Both can be changed by way of the IP address menu Menu level Pa ram eter Value range Meaning Explanation 1 2 IP Iu b0 00 FF IP address u...

Page 41: ...Changes on the IP address menu are only saved when the control electronics are subsequently restarted T1 T2 Tx Tx Back Back Back Apply 5 s 5 s 5 s T2 5 s T1 T2 T1 T2 T1 T2 Back T1 T2 Back T1 T2 T1 T2...

Page 42: ...depends on the option Po 0 3 or Transmit power Setting of fibre optic power output only with SERCOS II option otherwise display Table 4 10 Fieldbus address menu Example configuration of fieldbus addre...

Page 43: ...STO Safe Torque Off function is active display goes out when function is inactive 2 The dot flashes when the power stage is active Table 5 1 Device states 5 2 Error display The 7 segment display show...

Page 44: ...rsion 3 Displayed error code version on 7 segment display or Moog DriveAdministrator 4 Description of the error symptoms how it occurred and relevant circumstances 5 Save device settings to file in Mo...

Page 45: ...45 STO to the glossary to the table of contents Id no CA97555 001 Rev 3 0 Date 06 2012 6 Safe Torque Off STO NOTE You will find all information on the STO function in the 24 language document Descrip...

Page 46: ...moog MSD Servo Drive Compact Operation Manual 46 to the glossary to the table of contents Id no CA97555 001 Rev 3 0 Date 06 2012 Space for personal notes...

Page 47: ...8 10 8 40 104 16 40 104 G394 080 4 45 113 8 0 16 0 10 8 40 104 8 0 16 0 16 40 104 5 4 10 8 1 Automatic power stage switching frequency change to 4 kHz Data applies to motor cable length 10m Maximum p...

Page 48: ...0 4 45 113 2 0 2 0 2 0 4 0 10 6 0 0 08 8 40 104 2 0 2 0 1 7 4 0 6 0 1 16 40 104 0 7 0 7 1 4 2 1 1 G394 035 4 45 113 3 5 3 5 3 5 7 0 10 10 5 0 08 8 40 104 3 5 3 5 2 6 7 0 10 5 1 16 40 104 2 2 1 3 4 4 6...

Page 49: ...resistor always integrated Connection of an external resistor is permissible 5 Option G394 xxx xxx xx2 Table A 4 Technical data G394 030 G394 059 and G394 080 Designation Technical data G394 030 G394...

Page 50: ...rmissible 5 Option G394 xxx xxx xx2 Table A 5 Technical data G394 020 G394 035 and G394 065 Designation Technical data G394 020 G394 035 G394 065 DC link Braking chopper switch on treshold 650 V DC 1...

Page 51: ...y may only be maximum 40 2 The absolute humidity is limited to maximum 29 g m So the maximum values for temperature and relative air humidity stipulated in the table must not occur simultaneously 3 Th...

Page 52: ...nd any additional local codes 8 Control outputs X4 23 X4 24 and OSD00 OSD01 OSD02 see ratings of control circuitry Use secondary isolating source rated 25 V AC 30 V DC or 24 V DC as appropriate for ra...

Page 53: ...ion diagram 15 Continuous braking power see Braking resistor Continous braking power Control 37 Control cabinet 51 Control connections Terminals 24 see also X4 Controlled shutdown see Stop categories...

Page 54: ...er EnDat EN ISO 13849 9 EN ISO 14121 10 ENPO 24 37 Environmental conditions 11 Error code 43 Error number 40 EtherCAT see Option 1 Ethernet interface 14 15 26 see also X9 F Fault currents RCD 23 Field...

Page 55: ...cable 17 Motor connection 29 30 see also X1 Motor dataset 36 Motor temperature monitoring 14 15 see also X5 Motor temperature sensor see also X5 Klixon 28 KTY 28 PTC 27 31 49 50 Ready made up motor c...

Page 56: ...terface Shield connecting plates 4 Shielding Shielding measures 13 Shielding measures 13 Sin Cos see Encoder Sin Cos Specification of control connections 24 Specimen setup 16 SSI see Encoder SSI Start...

Page 57: ...21 see also Control supply X3 14 15 18 52 see also Mains supply Mains connection X4 14 15 18 24 25 see also Control connections Terminals X5 14 15 29 see also Motor Motor temperature monitoring X6 14...

Page 58: ...moog MSD Servo Drive Compact Operation Manual 58 to the table of contents Id no CA97555 001 Rev 3 0 Date 06 2012 Space for personal notes...

Page 59: ......

Page 60: ...60 7000 info france moog com Germany 49 7031 622 0 info germany moog com Hong Kong 852 2 635 3200 info hongkong moog com India 91 80 4057 6605 info india moog com Ireland 353 21 451 9000 info ireland...

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