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Safe Torque Off (STO) with PSD1

72 (109)

192-011006N8 2019-07

09.10.19 09:27

6.2.4.

STO principle of PSD1-M with three axis modules

At the PSD1-M drive with three axis modules, STO for motor 1 is activated via 2

channels (STOA1/ and STOB1/ and for the motors 2 & 3 via two further channels

(STOA2/ & STOB2/).

Pin

Name

Description

X17.12 STOA1/*

Input

STOA1/ = 0 V

Motor 1 deactivated

STOB1/ = 0 V

Motor 1 deactivated

STOA1/ = 24 VDC and
STOB1/ = 24 VDC

Motor 1 released

X17.16
(see
page
49)

STOB1/*

Input

X17.14 STOGND1* Input

STO Ground.
Ground of the external 24 VDC must be connected to the
central ground connection (bottom of the device).

X21.12 STOA2/*

Input

STOA2/ = 0 V

Motor 2 & 3 deactivated

STOB2/ = 0 V

Motor 2 & 3 deactivated

STOA2/ = 24 VDC and
STOB2/ = 24 VDC

Motor 2 & 3 released

X21.16
(see

page
49)

STOB2/*

Input

X21.14 STOGND2* Input

STO Ground.
Ground of the external 24 VDC must be connected to the
central ground connection (bottom of the device).

* The inputs are optically isolated.

Summary of Contents for PSD1

Page 1: ...192 011006N8 PSD1 Installation Guide 1 109 192 011006N8 2019 07 09 10 19 09 27 192 011006N8 2019 07 Up from release R1 7 1 Parker Servo Drive Servo Drives Installation instructions ...

Page 2: ...fin Manufacturing Germany GmbH Co KG Electromechanical Drives Division Europe EMDE Robert Bosch Strasse 22 77656 Offenburg Germany Tel 49 0781 509 0 Fax 49 0781 509 98176 Internet www parker com eme http www parker com eme E mail EM Motion parker com mailto EM Motion parker com Certified accrding to ISO 9001 2015 Parker Hannifin Manufacturing Germany GmbH Co KG Sitz Bielefeld Amtsgericht Bielefeld...

Page 3: ...10 7 Supply networks 24 2 11 Before commissioning the drive please observe the following 25 3 PSD PSD Parker Servo Drive Overview 26 4 Installation of the individual drive PSD1 S 27 4 1 Before commissioning the drive please observe the following 27 4 2 Mounting and dimensions 28 4 2 1 Mounting and dimensions PSD1 S 28 4 3 Connector overview PSD1 S 29 4 3 1 Front view PSD1 S 29 4 3 2 View from belo...

Page 4: ... PSD1 M_P 57 5 12 1 Connector overview PSD1 M_P Mains module 57 5 12 2 P1 Status LEDs indication Mains module 59 5 12 3 S2 Modes switch Power module 60 5 12 4 S3 Voltage switch Power Module 60 5 12 5 Connections of the axis system 61 5 12 6 X9 Control voltage 24 VDC mains module 62 5 12 7 X41 Mains supply mains module PSD1 M_P 62 5 12 8 X40 Braking resistor Temperature switch PSD1 M_P Power supply...

Page 5: ...em 96 8 2 1 Mains Connection Power module PSD1 M_P010 without line choke 96 8 2 2 Mains connection Power module PSD1 M_P010 with line choke 96 8 2 3 Mains Connection Power module PSD1 M_P020 without line choke 97 8 2 4 Mains connection Power module PSD1 M_P020 with line choke 97 8 2 5 Output data servo modules PSD1 M 3 400 VAC 98 8 2 6 Output data of the PSD1 M power output stages 98 8 2 7 Control...

Page 6: ...11006N8 2019 07 09 10 19 09 27 6 109 1 What is necessary and where to find it Software Tool Field Bus Files CE declaration of compliance PSD ServoManager Downloads under http solutions parker com psd_support http solutions parker com psd_support ...

Page 7: ...1 M_2330 5 A 5 A PSD1 M_2440 8 A 8 A PSD1 M_2630 15 A 5 A PSD1 M_3222 2 A 2 A 2 A PSD1 M_3433 8 A 5 A 5 A PSD1 MWP010 Mains module 10 kW PSD1 MWP020 Mains module 20 kW 2 2 Scope of delivery Included in delivery are mating connectors for PSD1 S X17 Push in X51 X52 X63 Cable clamps for the motor cable in sizes D 7 9 9 5 11 1 12 7 mm PSD1 M X17 X21 Push in X45 X46 X48 Tin angle with screw terminals f...

Page 8: ...dentification plate PSD1 M The present device type is defined by the type specification plate on the housing 1 Order code of the device 2 Serial Number 3 Input voltage 4 Input Current 5 UL certification 6 Output voltage 7 Output current 8 Output frequency 9 IP Rating ...

Page 9: ...FINET EtherCATIN Ethernet IP 8 Feedback 1 Hiperface DSL 2 Multi Feedback configurable 3 Hiperface DSL Resolver Encoder 1 Vss 2 Encoder A B TTL 2 Analog Hall 1 Vss 2 EnDat 2 21 BISS C1 9 Option 1 0 No option 1 Functional safety over EtherCATIN 10 Option 2 0 No option 11 Customized 000 Non customized 1 In development 2 in the first expansion stage only forPSD1 S and PSD1MW1 Multi axes device with on...

Page 10: ... 2008 98 EC for dangerous disposal material We recommend to dispose of the respective materials in accordance with the respectively valid environmental laws The following table states the materials suitable for recycling and the materials which have to be disposed of separately Material suitable for recycling Disposal metal yes no Plastics yes no Circuit boards no yes Please dispose of the circuit...

Page 11: ...l personnel according to VDE105 or IEC364 who have a knowledge of first aid techniques and the local emergency rescue services who have read and will observe the safety instructions who have read and observe the manual or help or the sections pertinent to the work to be carried out This applies to all work relating to setting up commissioning configuring programming modifying the conditions of uti...

Page 12: ...wiring without separating the circuit to be tested from the drive Please exchange devices only in currentless state and in an axis system only in a defined original state If the axis controller is replaced it is absolutely necessary to transfer the configuration determining the correct operation of the drive to the device before the device is put into operation Depending on the operation mode a ma...

Page 13: ...inputs outputs and interfaces only in the manner described in the manual Fix the devices according to the mounting instructions see page 27 We cannot provide any guarantee for other mounting methods Note on exchange of options Device options must be exchanged in the factory to ensure hardware and software compatibility When installing the device make sure the heat dissipators of the device receive...

Page 14: ...003 03 see page 84 PSD1 S C3 10 m no mains filter PSD1 S single phase supply C3 10 m ECP 0001 01 see page 83 PSD1 S 3 phase supply C3 10 m ECP 0002 01 see page 83 2 10 1 3 Connection length in between mains filters device In general the connection mains filter device shall be as short as possible unshielded 0 5 m shielded 5 screen must be connected to ground e g ground control cabinet 2 10 1 4 Mot...

Page 15: ...imum diameter of 10 mm2 The connection to the central earth rail should be as short as possible The minimum required width of the central earth rail depends on the length of the grounding cable Length m Width mm Strength mm 0 5 20 6 1 40 6 1 5 50 6 Pay close attention to the overall grounding of the complete system With several mounting plates Ground connection by copper rails or copper strip Ensu...

Page 16: ...Introduction 16 109 192 011006N8 2019 07 09 10 19 09 27 2 10 2 CE declaration of conformity PSD1 M ...

Page 17: ...192 011006N8 PSD1 Installation Guide 192 011006N8 2019 07 09 10 19 09 27 17 109 2 10 3 CE declaration of conformity PSD1 S ...

Page 18: ...ssible with class 2 power supply The devices are internally protected against overvoltage in compliance with UL508C The drive modules are equipped with a current limit Values for maximum device current and maximum motor current can be set via PSD ServoManager Chapter resp Menu Limit values Motor Characteristics PSD1 M is intended for use in motors with internal or external motor protection Integra...

Page 19: ... for line and device protection UL listing DIVQ fuses Manufacturer ABB Stotz Kontakt GmbH E212323 Model No S203UP K 1 fuse 480 VAC 3 phase 25 A operating temperature 55 C PSD1 M_P020 Maximum fuse rating per device 2 special purpose fuses in line are required Cable protection measure MCB K characteristic with a rating of 50A 4xxVAC depending on the input voltage Recommendation ABB S203U K50 440VAC ...

Page 20: ...vervoltage Protection External overvoltage protection in accordance with Canadian Standards C22 2 No 274 13 with over voltage protection device VZCA2 CSA certified Note the following table Mains module Manufacturer Model No Quantity 1 Maximum Continuous Operating Voltage Vac Voltage Protection Rating VPR Vpk Category Nominal earth leakage current PSD1 M_P01 0 PSD1 M_P02 0 ABB Frankreich E322885 OV...

Page 21: ...s Environmental Characteristics PSD1 S 21 Tightening torque of the wiring terminals 23 Auxiliary connection electrical ratings 23 Data of integrated dynamic brake unit 23 In Output Ratings 23 2 10 5 1 UL certification Category Specifications Certified E File_No E142140 The UL certification is only valid if the type plate of the device shows the UL sign PSD1 S UL61800 5 1 1st Edition issued June 8t...

Page 22: ...r Instructions National Electrical Code and any additional local codes Suitable for use on a circuit capable of delivering not more than 5000 rms Symmetrical Amperes 240 Vac maximum When protected by Listed Cartridge Fuses Non Renewable JDDZ Time Delay Class CC Fuses rated 600 Vac 3 A or 8A for model No PSD1SW1200 6 A or 12A for model No PSD1SW1300 See table below for the manufacturers model numbe...

Page 23: ... max 24 VDC max 100 mA 2 10 5 5 Data of integrated dynamic brake unit Internal DBU Ratings Servo Drive Model Nos Max Current Amps Max Duty Cycle per cent Internal D B U Resistor Ratings Peak rms Ohm PSD1SW1200 PSD1SW1300 7 84 A 0 1 A 1 27 60s 51 Ω 40 W External DBU Ratings Servo Drive Model Nos Max Current Amps Max Duty Cycle per cent Min Resistance D B U Resistor Peak rms Ohm PSD1SW1200 7 84 A 0 ...

Page 24: ...leakage current depends on the following factors Length and properties of the motor cable Switching frequency Operation with or without external mains filter Motor cable with or without shield network Motor housing grounding how and where Remark The leakage current is important with respect to the handling and usage safety of the device A pulsing leakage current occurs if the supply voltage is swi...

Page 25: ...Check all external power circuits of the system Power supply control motor and ground connections Make sure no damages or injuries may occur by a rotating motor Uncouple the load from the motor shaft Check the condition of the motor thermistor and brake resistance connections Make sure that all external set speeds are zero Make sure nobody works with another part of the system which may affect swi...

Page 26: ...PSD PSD Parker Servo Drive Overview 26 109 192 011006N8 2019 07 09 10 19 09 27 3 PSD PSD Parker Servo Drive Overview ...

Page 27: ...of electric shock disconnect power before removing cover resp disconnect the devices from the mains supply Caution Dangerous electrical voltage even after turning off the intermediate capacitors Up to 3 minutes with PSD1 S and 10 minutes with PSD1 M after switching off mains supply dangerous voltages may still be present Please check that no voltages are present 50 V at the output terminals DC and...

Page 28: ...ect the recommended distances of other devices Make sure that the mounting plate is not exhibited to other temperature influences than that of the devices mounted on this very plate The devices must be mounted vertically on a level surface Make sure that all devices are sufficiently fixed 4 2 1 Mounting and dimensions PSD1 S Mounting 2 socket head screws M6 Lateral distance of fixing of mounting h...

Page 29: ...f mains supply dangerous voltages may still be present Please check that no voltages are present 50 V at the output terminals DC and DC of PSD1 S X63 3 X63 5 and with PSD1 M Bus HV DC 3 5 rail View from above see page 30 P10 Status LEDs for the fieldbus C11 Slot for SD card SD card not included in delivery S12 see page 38 Device address higher value half byte accept with power ON S13 see page 38 D...

Page 30: ...edback Motor holding brake and 24VDC feeding for the brake Motor ground connection Connecting screw for motor earth the shielding of the motor cable see image bellow X52 see page 35 Connection of motor Front view see page 29 Shows pin 1 of the connector Wiring Explanation 1 DSL connection 2 Motor brake connection 3 Connect ground via ring cable lug with a 10 mm2 copper cable to central ground 4 Mo...

Page 31: ...en LEDb rot 2 Axis not ready Booting of axis No feedback detected IEC61131 3 program not compatible with firmware no IEC61131 3 program Hall signals invalid off flashes quickly 5 HZ 3 Axis de energized flashes slowly off 4 Axis energized commutation calibration running flashes quickly off 5 Axis energized on off 6 Axis in error state error present axis energized error reaction 1 on flashes quickly...

Page 32: ...lash Triple flash Caution Risk of electric shock High voltage supply may be present even with missing voltage supply both LEDs off 4 5 X17 Digital Inputs outputs PSD1 S Pin X17 Input Output 1 Input 24 VDC Devices Control voltage 2 Input GND24V 3 Input 24 VDC for digital outputs 4 I0 Input 0 5 I1 Input 1 6 I2 Input 2 7 I3 Input 3 8 GND24V 9 O0 Output 0 10 GND24V 11 A1 Output 1 12 STOA STO Channel A...

Page 33: ...otor brakes fed via connectors X51 1 2 Current requirements of optional boards 4 6 Wiring of the digital inputs and outputs Wiring of digital inputs Wiring of digital outputs 4 7 X63 AC Mains Supply DC voltage supply Connection of braking resistor PSD1 S Pin Designation Description 1 Rin Internal Braking Resistor 2 R Output for braking resistor see page 89 connection 3 R Output for braking resisto...

Page 34: ...gle Phase 230 VAC 10 30 253 VAC 50 60 Hz Input Current 1AC230V 6 8 Arms 3AC230V 1 7 Arms 1AC230V 11 Arms 3AC230V 4 2 Arms Maximum fuse per device Single phase 8 A Three phases 3 A Fuse Class gS gRL Time delay Single phase 12 A Three phases 6 A Fuse Class gS gRL Time delay Earth leakage current Current on the mains PE see page 24 3 5 mA Supply networks Possible supply networks see page 24 TN Circui...

Page 35: ...must be correctly connected to PE both on the drive side see page 46 see page 59 see page 30 as well as on the motor side Shielding may not be interrupted Please observe the notes in chapter Operating conditions for CE conform operation see page 13 4 8 1 Motor connection with self made motor cable Please consider special features of the DSL motor connection with EX motors EY motors NK motors NV mo...

Page 36: ...t X51 Motor holding brake and HIPERFACE DSL Connection 36 X18 Connector assignment with configured resolver feedback 37 X18 Assignment with configured incremental encoder or analogue Hall 37 Feedback system can be destroyed if configured incorrectly If you connect a PSD that has already been configured for a specific feedback system to another feedback system it can be destroyed by too high a volt...

Page 37: ...actory use 2 factory use 3 factory use 4 REF Resolver 8 kHz max 9 5 Vss 5 3 3 V for temperature sensor 6 factory use 7 SIN max 4 7 Vss differential 8 SIN max 4 7 Vss differential 9 factory use 10 Tmot 11 COS max 4 7 Vss differential 12 COS max 4 7 Vss differential 13 factory use 14 factory use 15 REF Resolver Pin10 Tmot must not be connected to X48 see page 54 to PSD 1M with PSD1 M at the same tim...

Page 38: ...connected to pins 1 6 at the same time as X48 see page 54 PSD1 M Category Specifications Incremental encoder see page 37 square wave or Sine Cosine signal Linear or rotary Signal Sin Cos signal max 5 VSS typical 1 VSS 90 offset max 400 kHz or A B pluses 90 electrical phase shift max 5 MHz with the following commutation options Automatic commutation or U V W or R S T commutation signals NPN open co...

Page 39: ...he complete IP address can be redefined via the objects 0x2605 5 0x2605 01 Addresses 0 and 241 255 are not possible Connection is configured in PSD ServoManager 4 11 Communication interfaces In this chapter you can read about X61 X62 Ethernet Connection 66 4 11 1 X61 X62 Ethernet Connection RJ45 Socket Assignment Pin Wire pair No RJ45 X61 RJ45 X62 out in 1 2 Tx Tx 2 2 Tx Tx 3 3 Rx Rx 4 1 factory u...

Page 40: ... read about Before commissioning the drive please observe the following 41 Mounting and dimensions 41 Connector overview PSD1 M 44 P14 P16 Status LEDs of the individual axes PSD1 M 47 X17 Digital Inputs outputs Axis 1 3 PSD1 M 49 X21 Digital Inputs outputs Axis 2 3 PSD1 M 49 Wiring of the digital inputs and outputs 50 Motor connection Output data 50 Motor feedback 54 X46 Connection of motor brake ...

Page 41: ...ectrician may commission the drive Accident prevention measures must be observed Please make sure that no small parts screws cable remnants enter the devices Feedback system can be destroyed if configured incorrectly If you connect a PSD that has already been configured for a specific feedback system to another feedback system it can be destroyed by too high a voltage Procedure when changing the f...

Page 42: ...of the heat dissipator Mounting spacing At the top and below at least 100mm Information on PSD1 M Size 1 Multi axes servo drives and Mains Module PSD1 M_P010 Mounting 2 socket head screws M6 Lateral distance of fixing of mounting holes 50 5 mm Required mounting distance for heat regulation at the top and below At least 100mm Please check regularly the firmness of the screw connection Tolerances DI...

Page 43: ...ponding to the minimum bending radius of the cables 2 At least 100mm distance for free circulation of cooling air 5 2 2 Mounting and dimensions PSD1 M size 2 Information on PSD1 M Size 2 Multi axis Servo Drives 30 A and Mains Module PSD1 M_P020 Required mounting distance for heat regulation at the top and below At least 100mm Mounting 4 socket head screws M5 ...

Page 44: ...fore wiring or loosening electrical connections please observe the following Risk of electric shock disconnect power before removing cover resp disconnect the devices from the mains supply Caution Dangerous electrical voltage even after turning off the intermediate capacitors Up to 3 minutes with PSD1 S and 10 minutes with PSD1 M after switching off mains supply dangerous voltages may still be pre...

Page 45: ...dback sensor Axis 1 Resolver see page 55 Encoder Hall see page 55 X19 Feedback sensor Axis 2 Resolver see page 55 Encoder Hall see page 55 X20 Feedback sensor Axis 3 Resolver see page 55 Encoder Hall see page 55 S33 For safety option S34 For safety option X21 see page 49 Digital inputs outputs axis 2 3 24 VDC DC power see page 61 Behind the yellow protective covers you can find the rails for the s...

Page 46: ...f HIPERFACE DSL motor feedback systems and motor temperature sensor Axis 1 3 dependng on the device Front view see page 44 Shows pin 1 of the connector Tin angle for motor and feedback cable does not apply to PSD1M_1800 this is wired similar as PSD1 S Mounting Fix cables with clamp collars on the corresponding tin bar 3 Connect plug Screw on tin angle Explanation 1 Fixing screw for tin angle inclu...

Page 47: ...SD1 M P14 Status Axis 1 LEDs P15 Status Axis 2 LEDs P16 Status Axis 3 Status No Status of axis Left LED a green ready Right LED b red error 0 No voltage off off 1 Booting of axis firmware is missing alternate quick flashing LEDa green LEDb rot 2 Axis not ready Booting of axis No feedback detected IEC61131 3 program not compatible with firmware no IEC61131 3 program Hall signals invalid off flashes...

Page 48: ...ing from SD card interrupted alternate quick flashing LEDa red LEDb red 13 Axis de energized off Single flash 14 Axis energized on Single flash 15 Axis de energized HEDA3 slave not ready off Double flash 16 Axis energized HEDA3 Slave not ready on Double flash 17 Axis de energized HEDA3 Master not ready off Triple flash 18 Axis energized HEDA3 Master not ready on Triple flash 19 Axis de energized o...

Page 49: ...l outputs are deactivated and reactivated automatically after cooling All inputs and outputs do have 24 V level Input level 0 low Rated Input Voltage 12 5 V 1 high Rated Input Voltage 13 5 V The digital outputs are free for writing via object 0x2079 0x01 or 0x60FE 0x01 via fieldbus The status of digital inputs can be read via object 0x2070 0x00 or 0x60FD 0x00 5 6 X21 Digital Inputs outputs Axis 2 ...

Page 50: ...ter cooling All inputs and outputs do have 24 V level Input level 0 low Rated Input Voltage 12 5 V 1 high Rated Input Voltage 13 5 V The digital outputs are free for writing via object 0x2079 0x01 or 0x60FE 0x01 via fieldbus The status of digital inputs can be read via object 0x2070 0x00 or 0x60FD 0x00 5 7 Wiring of the digital inputs and outputs Wiring of digital inputs Wiring of digital outputs ...

Page 51: ...s f 3 Hz with a rotating field frequency of f 3 Hz the maximum peak current duration is 100 ms 3 Maximum total output current per device 16 A 5 8 2 Output data of the PSD1 M power output stages Category Specifications Power output stage 2 A 5 A 8 A 15 A 2 30A 2 Input voltage 300 750 VDC Output voltage 3x 0 400 V 0 450 Hz Power at continuous operation1 1 2 kVA 3 kVA 4 8 kVA 9 kVA 18 kVA Power dissi...

Page 52: ...2 BW 2 W L3 3 U3 FE PE 2 YE GN AU 1 U L1 1 U1 AV 1 V L2 2 U2 AW 1 W L3 3 U3 FE PE 1 YE GN Depending on cable type FE Functional ground PE Protective earth Shielding connection of the motor cable The outer shielding of the motor cable must be correctly connected to PE both on the drive side see page 46 see page 59 see page 30 as well as on the motor side Shielding may not be interrupted Please obse...

Page 53: ... PE 1 YE GN Depending on cable type FE Functional ground PE Protective earth Shielding connection of the motor cable The outer shielding of the motor cable must be correctly connected to PE both on the drive side see page 46 see page 59 see page 30 as well as on the motor side Shielding may not be interrupted Please observe the notes in chapter Operating conditions for CE conform operation see pag...

Page 54: ...onnection for 3 axes The respective pins are not assigned with 1 or 2 axis devices Pin Designation Axis 1 PTC 1 Temperature sensor motor 1 2 PTC 1 Temperature sensor motor 1 3 PTC 2 Temperature sensor motor 2 4 PTC 2 Temperature sensor motor 2 5 PTC 3 Temperature sensor motor 3 6 PTC 3 Temperature sensor motor 3 7 DSL 1 8 DSL 1 9 DSL 2 10 DSL 2 11 DSL 3 12 DSL 3 Connection on the device see page 4...

Page 55: ...7 Vss differential 8 SIN max 4 7 Vss differential 9 factory use 10 Tmot 11 COS max 4 7 Vss differential 12 COS max 4 7 Vss differential 13 factory use 14 factory use 15 REF Resolver Pin10 Tmot must not be connected to X48 see page 54 to PSD 1M with PSD1 M at the same time as the connections for temperature sensors Category Specifications Resolution of the motor position Position resolution 16 6 Bi...

Page 56: ...Pin10 Tmot may not be connected to pins 1 6 at the same time as X48 see page 54 PSD1 M Category Specifications Incremental encoder see page 37 square wave or Sine Cosine signal Linear or rotary Signal Sin Cos signal max 5 VSS typical 1 VSS 90 offset max 400 kHz or A B pluses 90 electrical phase shift max 5 MHz with the following commutation options Automatic commutation or U V W or R S T commutati...

Page 57: ...holding brake BK 5 Br2 3 Input power supply brake 24 VDC 4 GND24 VDC Depending on cable type 1 6 A max 5 12 Mains module PSD1 M_P In this chapter you can read about Connector overview PSD1 M_P Mains module 57 P1 Status LEDs indication Mains module 59 S2 Modes switch Power module 60 S3 Voltage switch Power Module 60 Connections of the axis system 61 X9 Control voltage 24 VDC mains module 61 X41 Mai...

Page 58: ...es with PSD1 S and 10 minutes with PSD1 M after switching off mains supply dangerous voltages may still be present Please check that no voltages are present 50 V at the output terminals DC and DC of PSD1 S X63 3 X63 5 and with PSD1 M Bus HV DC 3 5 rail P1 Status LEDs S2 see page 60 Modes switch S3 see page 60 Power supply requirements setting X4 see page 65 Digital Inputs Outputs X9 see page 61 Co...

Page 59: ...f All Outputs Low Device ready on off Ready A0 high Warning A1 High One or multiple errors occurred Error number to be displayed after 5 s off power on 5s Ready A0 Low Warning A1 High Intermediate circuit is loaded Control voltage OK Drive Healthy flashes quickly off Ready A0 Low Warning A1 High Error digital outputs off flashes quickly Ready A0 Low Warning A1 High Error over temperature or overlo...

Page 60: ...r too high 24 Short circuit in the braking circuit 25 Rectifier overloaded 31 Voltage DC bus too high 32 Voltage offset DC bus too high 41 Overcurrent at digital output 51 None or wrong EEPROM Data Caution Risk of electric shock High voltage supply may be present even with missing voltage supply both LEDs off 5 12 3 S2 Modes switch Power module Switch position Operating mode 0 standard 1 Increased...

Page 61: ...es before wiring them Dangerous voltages are still present until 10min after switching off the power supply Please check that no voltages are present 50 V at the output terminals DC and DC X63 3 X63 5 1 24VDC 2 GND24V 3 HV DC 4 PE 5 HV DC Protective seals Caution Risk of electric shock In order to secure the contact protection against the alive rails it is absolutely necessary to respect the follo...

Page 62: ...tection By cyclically switching on and off the power voltage the input current limitation can be overloaded which may cause damage to the device Wait at least one minute between two switching on processes 5 12 7 1 X41 Mains supply PSD1 M_P connector assignment Pin Designation PE Earth conductor L3 Phase 3 L2 Phase 2 L1 Phase 1 Only three phase operation of the PSD1 M_P devices is permitted Please ...

Page 63: ...power 9 kW 15 kW 15 kW Pulse power 5 s 18 kW 30 kW 30 kW Power dissipation 70 W 70 W 70 W Maximum fuse rating per device Measure for line and device protection UL listing DIVQ fuses Manufacturer ABB Stotz Kontakt GmbH E212323 Model No S203UP K 1 fuse 480 VAC 3 phase 25 A operating temperature 55 C Earth leakage current Current on the mains PE see page 24 3 5 mA Supply networks Possible supply netw...

Page 64: ... leg in accordance with UL category JFHR2 Requirement Bussmann 170M1366 or 170M1566D Earth leakage current Current on the mains PE see page 24 3 5 mA Supply networks Possible supply networks see page 24 TN The specified performance data are only valid in connection with line choke see page 87 IND 0002 01 or IND 0002 02 UL 5 12 8 X40 Braking resistor Temperature switch PSD1 M_P Power supply The ene...

Page 65: ...essage will be issued Temperature switch relay No galvanic separation the temperature sensor normally closed contact must comply with the safe separation according to EN 60664 If there is no temperature monitoring due to the connected braking resistor the T1R and T2R connections must be connected by a jumper Caution Without temperature monitoring the braking resistor might be destroyed 5 12 9 X4 I...

Page 66: ...0 S12_S13 If the IP address has been changed and is not longer known it can be reset with S12_S13 253 0xF9 to IP address 192 168 10 2 SubNetmask 255 255 0 0 Gateway_IP 192 168 10 254 Host name PSD1 002 The complete IP address can be redefined via the objects 0x2605 5 0x2605 01 Addresses 0 and 241 255 are not possible Connection is configured in PSD ServoManager 5 14 Communication interfaces 5 14 1...

Page 67: ...t in protective functions for individual fault conditions Some but not all faults will be recognized The frequent occurrence of fault conditions can lead to a loss of the safety functions The remainder of the risk must be understood and accepted The determination for the application of the appropriate safety category requirements risk analysis lies with the installer and operator of the equipment ...

Page 68: ...l safety control device the safe stop 1 SS1 safety function according to the requirements of DIN EN 61800 5 2 2008 category 3 can be used As the function is however realized with the aid of an individually settable time delay on the safety control it must be taken into account that due to an error in the drive system during the active braking phase the motor coasts uncontrolled or may even acceler...

Page 69: ...rhead for EMC conform wiring Emergency stop function Allowed Allowed 6 2 STO Operating Principle In this chapter you can read about STO principle with PSD1 S 70 STO principle of PSD1 S with one axis module 70 STO principle of PSD1 M with two axis modules 70 STO principle of PSD1 M with three axis modules 71 Principle The current flow in the motor windings is controlled by a power semiconductor bri...

Page 70: ... external 24 VDC must be connected to the central ground connection bottom of the device The inputs are optically isolated 6 2 2 STO principle of PSD1 S with one axis module At the PSD1 M with one axis module STO is activated via 2 channels STOA1 und STOB1 Pin Name Description X17 12 STOA1 Input STOA1 0 V Motor deactivated STOB1 0 V Motor deactivated STOA1 24 VDC and STOB1 24 VDC Motor released X1...

Page 71: ...ated STOB1 0 V Motor 1 deactivated STOA1 24 VDC and STOB1 24 VDC Motor 1 released X17 16 STOB1 Input X17 14 STOGND1 Input STO Ground Ground of the external 24 VDC must be connected to the central ground connection bottom of the device X21 12 see page 49 STOA2 Input STOA2 0 V Motor 2 deactivated STOB2 0 V Motor 2 deactivated STOA2 24 VDC and STOB2 24 VDC Motor 2 released X21 16 STOB2 Input X21 14 S...

Page 72: ... 0 V Motor 1 deactivated STOA1 24 VDC and STOB1 24 VDC Motor 1 released X17 16 see page 49 STOB1 Input X17 14 STOGND1 Input STO Ground Ground of the external 24 VDC must be connected to the central ground connection bottom of the device X21 12 STOA2 Input STOA2 0 V Motor 2 3 deactivated STOB2 0 V Motor 2 3 deactivated STOA2 24 VDC and STOB2 24 VDC Motor 2 3 released X21 16 see page 49 STOB2 Input ...

Page 73: ...ng the operation of the machine The PSD1 with integrated STO safety function as well as the utilized safety switching devices must be mounted protected IP54 control cabinet Basically there is only a maximum cable lenght of 30 m of STO inputs X17 X21 alllowed It s not permitted to route the cables outside Only qualified staff members are permitted to install the STO function and place it in service...

Page 74: ...11006N8 2019 07 09 10 19 09 27 6 5 STO delay times Complies with der Quick Stop Ramp 0x6085 0x00 in PSD ServoManager under 1 MinSlowDown 0x3428 0x00 2 QuickStopDecel 0x6085 0x00 Recommendation Use the settings default then switch off the power ...

Page 75: ...ervo drive cooperates with the safety control UE410 MU of Sick and with a PLC The STO circuit of the 3 axis PSD1 M must support a safe stop 1 of the control with emergency stop category 3 PL e The application example described here corresponds to Stop Category 1 as defined by EN60204 1 Together with the external safety switching device the Safe Stop 1 SS1 safety function can also be implemented A ...

Page 76: ...cally in accordance with EN 60947 5 1 appendix K Concerning the delayed STO procedure the risk must be considered by the machine designer Drive and safety control must be wired in the same control cabinet Wiring must be in accordance with EN 60204 1 The operating instructions of the UE410 MU3T5 safety control must be observed We recommend to use a filter 3 ms for the signal Q3 in the PLC stop inpu...

Page 77: ...y STO status is displayed in the Fieldbus Status Word Bit 15 and as slowly flashing LED During trundling of the motor the motor brakes of the Parker motor must not be activated as otherwise they can be damaged In case error 0x5492 or 0x5495 are triggered then error must be acknowledged in order to reactivate the drive The acknowledgement is only permissible with category B It shouldn t been used i...

Page 78: ...e STO on terminal X17 12 and X17 16 Simultaneous removing of 24 VDC on terminal X17 12 and X17 16 Active STO must be displayed via LED or fieldbus No error must be present if object STO_Setup 0 Error message 0x5492 if object STO Setup 1 5 Apply again 24 VDC voltage to terminal X17 12 and X17 16 and acknowledge STO afterwards No error must be present torque at the motor should be present 6 Then swi...

Page 79: ... test protocol specimen Project machine Name of the tester Servo axis Settings STO_Setup STO function test STO function test steps 1 6 o successfully tested Safe stop 1 o successfully tested o is not used Initial acceptance on Repeat check on Signature of the tester Signature of the tester ...

Page 80: ...l inputs via optocoupler 2 Low 0 5 V DC or open High 15 26 4 VDC Iin at 24 VDC 9 mA 1 mA STO Input A Level Low or open STO activated High STO deactivated Reaction time max 5 ms STO Input B Level Low or open STO activated High STO deactivated Reaction time max 5 ms Switch off time Switch off time with unequal input statuses 10 s max error response time During the inequality it is ensured within 5 m...

Page 81: ...19 07 09 10 19 09 27 81 109 In this chapter you can read about SMH Servo Motors with HIPERFACE DSL Feedback 81 EMC measures 82 Line choke 87 External braking resistors 88 Interface Cables 92 7 1 SMH Servo Motors with HIPERFACE DSL Feedback 7 Accessories ...

Page 82: ...100 Length in 10 cm max 50 m Example 0025 2 5 m 0205 20 5 m 1020 102 0 m Standard length m 3 5 7 10 12 15 20 25 30 35 40 45 50 8 Special design 00 Standard 1 is required for Mx 205 series motors and Smx 170 60 Nm motors 7 2 EMC measures In this chapter you can read about Mains filter 82 Motor output chokes 84 7 2 1 Mains filter In this chapter you can read about Mains filters for PSD1 S single pha...

Page 83: ... 57 5 45 4 130 5 56 143 6 1 8 4 18 Stated in mm Color code BN Brown BU blue GNYE green yellow Weight 0 67 kg 7 2 1 2 Mains filters for PSD1 S 3 phases operation ECP 0002 01 Mains filters with UL certification for PSD1 S_1200 2 A and PSD1 S_1300 5 A for 3 phases operation Required for limit value class C3 In accordance with EN 61800 3 in 3 phase operation with motor cable length 10m Scale drawing O...

Page 84: ...length in total Scale drawing Filter type O B C D E F G H Weight GND I Connection clamp mm kg ECP 0003 01 240 50 85 270 0 8 30 255 5 4 1 5 M5 10mm2 ECP 0003 02 305 60 150 335 35 320 6 4 M5 10mm2 ECP 0003 03 220 85 90 250 1 0 60 235 5 4 2 4 M6 16 mm2 7 2 2 Motor output chokes In this chapter you can read about Motor output chokes ECM 0005 01 for PSD1 S up to 7 A 1 mH 85 Output motor chokes ECM 0004...

Page 85: ...d Ambient temperature 0 40 C Max Elevation of operating site 1000 m above sea level Weight 2 5 kg Up to 7 A nominal motor current 1 mH Scale drawing Stated in mm 7 2 2 2 Output motor chokes ECM 0004 01 for PSD1 M up to 6 3 A 3 6 mH For motor cable length 20m Inductance 3 6 mH Rated current 6 3 A Protection IP00 Ambient temperature 0 40 C Max Elevation of operating site 1000 m above sea level Weigh...

Page 86: ...evation of operating site 1000 m above sea level Weight 4 kg Scale drawing 150 67 95 6 113 50 195 U1 V1 W1 U2 V2 W2 Stated in mm 7 2 2 4 Motor output chokes ECM 0002 01 for PSD1 M up to 30 A 1 1 mH For motor cable length 20m Inductance 1 1 mH Rated current 30 A Protection IP00 Ambient temperature 0 40 C Max Elevation of operating site 1000 m above sea level Weight 7 kg Scale drawing 180 76 110 6 1...

Page 87: ...D 0001 02 with UL certification the output performance of PSD1 M_P010 can be increased by 50 Line chokes for reducing the low frequency interferences on the mains side 0 86 mH 30 A Scale drawing IND 0001 02 Weight 8 kg 7 3 2 Line choke for PSD1_M_P020 0 45 mH 55 A By means of the line choke IND 0002 01 with UL certification resp IND 0002 02 mit UL certification the output performance of PSD1 M_P02...

Page 88: ... 0001 1 and ACB 0002 1 90 Braking resistor ACB 0003 01 for PSD1 M_P020 91 Hazards when handling ballast resistors Housing temperature up to 200 C Dangerous voltage The device may be operated only in the mounted state The external braking resistors must be installed such that protection against contact is ensured IP20 Install the connecting leads at the bottom The braking resistors must be grounded...

Page 89: ...L ACB 0005 02 56 Ω see page 90 PSD1 S_1200 1300 190 W With UL ACB 0001 01 30 Ω see page 90 PSD1 M_P010 PSD1 M_P020 with 2x30 Ω parallel 400 W 2 400 W With UL ACB 0002 01 15 Ω see page 90 PSD1 M_P010 with 2x15 Ω in series PSD1 M_P020 2 400 W 400 W With UL ACB 0003 01 15 Ω see page 91 PSD1 M_P020 1500 W Without UL 7 4 2 Braking resistor ACB 0004 01 Pulse power W Tu 40 C referring to a cycle time of1...

Page 90: ...t 20 C 10 Type of protection EN 60529 in the corresponding bolted state IP 54 Max permitted operation voltage UL 800 V Cooling Natural convection Housing temperature at a continuous nominal output Tu 40 C approx 200 C Electrical connection 2x AWG 18 19 l 50 cm Operating temperature range 30 40 C 40 C 4 reduction per 10 K Test voltage 4 2 kV DC Certification Marking UL CSA Weight 0 34 kg 0 515 kg M...

Page 91: ... resistance value at 20 C ACB 0001 01 30 Ω ACB 0002 01 15 Ω Nominal tolerance at 20 C 10 Type of protection EN 60529 in the corresponding bolted state IP 54 Max permitted operation voltage UL 600 1000 V Cooling Natural convection Housing temperature at a continuous nominal output Tu 40 C approx 340 C Electrical connection 2x AWG 16 l 25 cm Operating temperature range 25 40 C Test voltage 2 7 kV AC...

Page 92: ... value at 20 C 15 Ω Nominal tolerance at 20 C 10 Type of protection EN 60529 in the corresponding bolted state IP 20 Max permitted operation voltage 600 VAC or 800 V DC Cooling Natural convection Electrical connection on the thermal current overload cut off 2 5 mm2 Operating temperature range 5 40 C Test voltage 2 5 kV AC Certification Marking CE Weight 4 4 kg Mounting positions Scale drawing 95 9...

Page 93: ... Schirm großflächig auf Gehäuse legen Place sheath over large area of housing Pin 6 Pin 5 Pin 4 Pin 3 Pin 2 Pin 1 Pin 7 Pin 8 5 2x0 14 2x0 14 2x0 14 2x0 14 4 7 8 GN WH GN OG WH BU BU BN WH BN WH OG 2 3 1 6 5 4 7 8 2 3 1 6 GN WH GN OG WH BU BU BN WH BN WH OG Length code des Ethernet Crossover cables CBD000D0 T00 T00 xxxx 00 xxxx Length code Active part length in dm 0 25 m CBD000D0 T00 T00 0002 00 0...

Page 94: ...ltage 24 VDC PSD1 S 95 Braking operation PSD1 S 95 Size weight of PSD1 S 95 8 1 1 Mains connection PSD1 S Category Specifications PSD1 S PSD1 S_1200 PSD1 S_1300 Mains voltage 3 phases 3 230 VAC 10 30 253 VAC 50 60 Hz or Single Phase 230 VAC 10 30 253 VAC 50 60 Hz Input Current 1AC230V 6 8 Arms 3AC230V 1 7 Arms 1AC230V 11 Arms 3AC230V 4 2 Arms Maximum fuse per device Single phase 8 A Three phases 3...

Page 95: ...pecifications Voltage operating range 21 6 27 0 VDC 24 VDC 10 12 5 Ripple 0 5 Vss Requirement according to safe extra low voltage PELV yes class 2 mains module Electric current drain 0 5 A Output current of digital output currents fed via connectors X17 2 3 Output current of motor brakes fed via connectors X51 1 2 Current requirements of optional boards 8 1 4 Braking operation PSD1 S Category Spec...

Page 96: ... 20 kW 20 kW Power dissipation 60 W 60 W 60 W Maximum fuse rating per device Measure for line and device protection UL listing DIVQ fuses Manufacturer ABB Stotz Kontakt GmbH E212323 Model No S203UP K 1 fuse 480 VAC 3 phase 25 A operating temperature 55 C 8 2 2 Mains connection Power module PSD1 M_P010 with line choke Increased power by means of a line choke see page 87 Category Specifications PSD1...

Page 97: ...s connection Power module PSD1 M_P020 with line choke Increased power by means of a line choke see page 87 Category Specifications PSD1 M_P020 with line choke 230 V 400 V 480 V Mains voltage 230 VAC 10 50 60 Hz 400 VAC 10 50 60 Hz 480VAC 10 50 60Hz Rated voltage 3 AC 230 V 3 AC 400 V 3 AC 480 V Input Current rms 44 A 44 A 40 A Output voltage 325 VDC 10 565 VDC 10 680 VDC 10 Output power 15 5 kW 27...

Page 98: ...0 VDC Output voltage 3x 0 400 V 0 450 Hz Power at continuous operation1 1 2 kVA 3 kVA 4 8 kVA 9 kVA 18 kVA Power dissipiation 1 20 W 45 W 75 W 105 W 220 W Output currents 3 With 400 VAC at the power module INominal Arms 4 kHz 2 5 8 15 30 Ipeak 2 s Arms 4 kHz 4 10 16 30 60 Nominal Arms 8kHz 2 5 8 10 20 I peak 2 s Arms 8kHz 4 10 16 20 40 Nominal Arms 16 kHz 1 33 3 33 5 33 5 11 I peak 2 s Arms 16 kHz...

Page 99: ...1 M_P020 Capacity storable energy 550 µF 92 Ws at 400 V 53 Ws at 480 V 1175 µF 197 Ws at 400 V 114 Ws at 480 V Servo Drives Category Specifications Controller type PSD1 M unless PSD1 M_1800 PSD1 M_1800 30 A Capacity storable energy 20 220 µF 37 Ws at 400 V 21 Ws at 480 V 440 µF 74 Ws at 400 V 42 Ws at 480 V 8 2 9 Dynamic braking module Data of the integrated dynamic brake module PSD1 M_P Category ...

Page 100: ... holding brake In this chapter you can read about Motor technologies supported 100 Feedback system HIPERFACE DSL 101 Resolver 101 Incremental encoder analogue HAL sensor 101 Motor holding brake output 102 8 3 1 Motor technologies supported Category Specifications Motors Direct drives Linear motors Torque motors Sinusoidally commutated synchronous motors Maximum rotating field frequency 590 Hz max ...

Page 101: ...2 Resolver data supported Transformation ratio 0 25 1 typical 0 5 Exciting frequency 8kHz Amplitude of the excitation signal max 9 5 Vss The resolver must be approved for at least this value Accuracy The exactitude of the position signal is above all determined by the exactitude of the feedback system used 8 3 4 Incremental encoder analogue HAL sensor Category Specifications Incremental encoder se...

Page 102: ...ut current short circuit proof PSD1 S 1 0 A PSD1 M 1 6 A 8 4 Digital inputs outputs specifications Category Specifications Digital inputs 4 Digital inputs Input resistor 22 kΩ All inputs and outputs do have 24 V level Input level 0 low Rated Input Voltage 12 5 V 1 high Rated Input Voltage 13 5 V Digital outputs 2 Digital outputs 4 on mains module Load max 100 mA ...

Page 103: ...max error response time During the inequality it is ensured within 5 ms that the motor torque is switched off single channel Maximum tolerable test pulse time Maximum tolerable test pulse time low active for external safety control 1 ms Grouping of safety level Category 3 PL e SIL 3 PFHd 1 00E 9 per STO circuit Mission time 20 years MTTFd 800 years when using EN ISO 13849 1 the MTTFd value must be...

Page 104: ... sea level for 100 load ratings 2000m above sea level for 1 100m power reduction please inquire for greater elevations Sealing Type of protection IP20 according to EN 60 529 Mechanic resonances With packaging transport storage 10 m s2 9 200 Hz Without packaging 10 m s2 57 150 Hz Pollution degree Degree of contamination 2 in accordance with EN 60664 1 and EN 61800 5 1 8 10 cUL certification Categor...

Page 105: ...embedded switch technology for the support of linear or ring topology Connection established Device Level ring DLR functionality is supported announce based ring nod Connections Simultaneous support for up to 10 I O connections Simultaneous support for up to 10 encapsulation sessions Simultaneous support for up to 2 explicit messaging connections per encapsulation session Unconnected explicit mess...

Page 106: ...stem 61 Connector overview PSD1 M 44 Connector overview PSD1 M_P Mains module 57 Connector overview PSD1 S 29 Control requirements 15 Control voltage 24 VDC PSD1 M_P mains module 99 Control Voltage 24 VDC PSD1 S 33 95 CSA Zulassung 20 cUL certification 104 Current on the mains PE leakage current 24 D Data of integrated dynamic brake unit 23 Description 75 Design Features 76 77 Designated use 9 Dev...

Page 107: ...e 100 Mounting and dimensions 28 41 Mounting and dimensions PSD1 M size 1 42 Mounting and dimensions PSD1 M size 2 43 Mounting and dimensions PSD1 S 28 Mounting distances PSD1 M size 1 43 N Notes on the STO function 73 Notes on the use in domestic environments 15 O Order code of motor cable 82 Order type code PSD 9 Output data of the PSD1 M power output stages 51 98 Output data PSD1 S 1 3 230 VAC ...

Page 108: ...fication 11 X X17 Digital Inputs outputs PSD1 S 32 Digital Inputs outputs Axis 1 3 PSD1 M 49 X18 Assignment with configured incremental encoder or analogue Hall 38 Connector assignment with configured resolver feedback 37 X18 X19 X20 Assignment with configured incremental encoder or analogue Hall 55 X18 X19 X20 Connector assignment with configured resolver 55 X21 Digital Inputs outputs Axis 2 3 PS...

Page 109: ...192 011006N8 PSD1 Installation Guide 192 011006N8 2019 07 09 10 19 09 27 109 109 ...

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