Phase AxM II 04.09.4 User Manual Download Page 1

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AxM II

CONfIgurable MOTION

CONTrOl PlaTfOrM

User Manual

Size 1
AxP 02.05.2
AxP 04.09.2
AxP 06.14.2
AxM II 04.09.4
AxM II 06.14.4
AxM II 09.20.4

Size 2
AxM II 20.40.4
AxM II 35.70.4

Size 3
AxM II 70.140.4

Size 4
AxM II 90.150.4
AxM II 110.180.4

Size 5
AxM II 160.320.4
AxM II 200.400.4

Supported Models

(Rev. 1 - Nov. 2011)

AxM-II (2011-10).indd 3

18/10/11 15:15

Summary of Contents for AxM II 04.09.4

Page 1: ...P 04 09 2 AxP 06 14 2 AxM II 04 09 4 AxM II 06 14 4 AxM II 09 20 4 Size 2 AxM II 20 40 4 AxM II 35 70 4 Size 3 AxM II 70 140 4 Size 4 AxM II 90 150 4 AxM II 110 180 4 Size 5 AxM II 160 320 4 AxM II 20...

Page 2: ...Size 3 16 1 4 AxM II Size 4 18 1 5 AxM II Size 5 20 2 Content of the Package 2 1 The Standard Package contains 24 2 2 Software Supplied 24 3 electric Installation 3 1 Connections General Outline 28 3...

Page 3: ...on Use 58 6 6 Firmware downloading 58 7 emergency and power fail condition handling 7 1 General Informations 62 7 2 Emergency Stop with Inertial Loads Safety Brakes 62 8 error codes 8 1 AxM II AxP Dri...

Page 4: ...AxM II 2011 10 indd 6 18 10 11 15 15...

Page 5: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Overall Dimension AND TECHNICAL SPECIFICATIONS 1 AxM II 2011 10 indd 7 18 10 11 15 15...

Page 6: ...he cooling plateside The inner temperature of the switchboard must doesn t exceed 40 C Cooling air flux To assure to the fan the requested breath ing and thus the proper cooling of the heat sink the d...

Page 7: ...ating C Stock temperature 20 70 C Relative humidity 0 95 Altitude 0 1000 m over 1000 m current derating 3 every 100 m Technical specifications AxP 02 05 2 AxP 04 09 2 AxP 06 14 2 AxM II 04 09 4 AxM II...

Page 8: ...current drive monitoring 1 MHz position speed loop 8 kHz PLC fast task 8 kHz PLC slow task 15 625 Hz to 1 kHz user programmable Position target position register 32 or 64 bits Full digital control Id...

Page 9: ...area of AxP 02 05 2 drive as function of output voltage in case of 220V or 265V power voltage supply Operating Area AxP 04 09 2 Operating area of AxP 04 09 2 drive as function of output voltage in cas...

Page 10: ...20V or 265V power voltage supply 50 0 100 150 200 8 9 7 6 5 4 3 2 1 VOLT ARMS Inom 265 volt Inom 220 volt Operating Area AxM II 04 09 4 Operating area of AxM II 04 09 4 drive as function of output vol...

Page 11: ...a AxM II 09 20 4 100 0 200 300 400 14 10 12 08 06 04 02 VOL T ARMS Inom 400 volt Inom 220 volt Operating Area AxM II 06 14 4 Operating area of AxM II 06 14 4 drive as function of output voltage in cas...

Page 12: ...0 rpm S1 20 35 Arms Current output max speed S1 18 31 Arms Peak current 2 40 70 Arms Power Losses total 3 330 580 W Maximum voltage output Vin x 0 95 Vac PWM 8 16 KHz Efficiency at nominal power 3 97...

Page 13: ...ng 1 MHz position speed loop 8 kHz PLC fast task 8 kHz PLC slow task 15 625 Hz to 1 kHz user programmable Position target position register 32 or 64 bits Full digital control Id Iq updated 16 kHz Outp...

Page 14: ...rpm S1 70 Arms Current output max speed S1 61 Arms Peak current 2 140 Arms Power Losses total 3 1240 W Maximum voltage output Vin x 0 95 Vac PWM 8 16 KHz Efficiency at nominal power 96 4 Input form fa...

Page 15: ...sition speed loop 8 kHz PLC fast task 8 kHz PLC slow task 15 625 Hz to 1 kHz user programmable Position target position register 32 or 64 bits Full digital control Id Iq updated 16 kHz Output signals...

Page 16: ...0 rpm S1 90 110 Arms Current output max speed S1 78 94 Arms Peak current 2 150 180 Arms Power Losses total 3 1750 2130 W Maximum voltage output Vin x 0 95 Vac PWM 8 16 KHz Efficiency at nominal power...

Page 17: ...Hz PLC fast task 8 kHz PLC slow task 15 625 Hz to 1 kHz user programmable Position target position register 32 or 64 bits Full digital control Id Iq updated 16 kHz Output signals 2 analog outputs prog...

Page 18: ...00 rpm S1 160 200 Arms Current output max speed S1 142 177 Arms Peak current 2 320 400 Arms Power Losses total 3 3100 3872 W Maximum voltage output Vin x 0 95 Vac PWM 8 16 KHz Efficiency at nominal po...

Page 19: ...kHz PLC fast task 8 kHz PLC slow task 15 625 Hz to 1 kHz user programmable Position target position register 32 or 64 bits Full digital control Id Iq updated 16 kHz Output signals 2 analog outputs pro...

Page 20: ...AxM II 2011 10 indd 22 18 10 11 15 15...

Page 21: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Content of the package 2 AxM II 2011 10 indd 23 18 10 11 15 15...

Page 22: ...ve functions and parameters it can identify the unit and its working life and it allows to copy data in and out the memory in order to duplicate the installation data Moreover Cockpit is a powerfull d...

Page 23: ...n Standard Phase applications Together with AxM II AxP drives a set of Standard Applications are supplied with source code In details following applications are supplied Basic The basic application al...

Page 24: ...AxM II 2011 10 indd 26 18 10 11 15 15...

Page 25: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Electric installation 3 AxM II 2011 10 indd 27 18 10 11 15 15...

Page 26: ...e firmware will use these values to ac tivate the thermal protection of the resistor itself Motor Power connections Connect the phase windings of the motor to the A B and C terminals of the power conn...

Page 27: ...pondence specified in the wiring table of par 7 2 Use a shielded cable with twisted duplexes possibly of high flexibility type When the connection cable is longer than 25 m the use of adequate cable s...

Page 28: ...AxM II 2011 10 indd 30 18 10 11 15 15...

Page 29: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Hardware description 4 AxM II 2011 10 indd 31 18 10 11 15 15...

Page 30: ...al time temperature observer for each power chip with adaptive current limit 4 2 Connections High speed sensor interface E1 and C1 two independent inputs configurable a main general pourpose encoder i...

Page 31: ...the led display more than one led can light together Drive condition Leds on Lighting mode Description Alarm 0 1 2 3 4 Fix Display the binary code of the active alarm Refer to chap 9 for codes descrip...

Page 32: ...AxM II 2011 10 indd 34 18 10 11 15 15...

Page 33: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Electrical Connections 5 AxM II 2011 10 indd 35 18 10 11 15 15...

Page 34: ...36 AxM II AxP Configurable Motion Control Platform EtherCAT OUT EtherCAT IN Ground Connection P1 R1 E1 U2 S1 C1 U1 AxM II 2011 10 indd 36 18 10 11 15 15...

Page 35: ...Requested current 500mA 12 0V Auxiliary supply Auxiliary supply negative Digital signal reference USER CONNECTOR U2 N Name Type Function Signal description 13 GND Analog ground Reference ground Analog...

Page 36: ...without noise problems it is necessary to connect the shield of the encoder cable both on motor and drive side Motor side connect the shield to the connector frame or to the apposite screws or of the...

Page 37: ...Multifunction input Encoder incremental channel 1 Vpp differential 8 PTC KTY Multifunction input Thermal sensor PTC or KTY ground connected 9 ENC_I Multifunction input Encoder index 1 Vpp differential...

Page 38: ...Auxiliary supply Encoder supply Positive supply voltage 7 8 PTC KTY Multifunction input Thermal sensor PTC or KTY ground connected 9 ENDAT DATA Multifunction input ENDAT data TTL 10 11 12 13 14 ENDAT...

Page 39: ...mental channel TTL 8 PTC KTY Multifunction input Thermal sensor PTC or KTY ground connected 9 ENC_I Multifunction input Encoder index TTL 10 11 12 ENC A Multifunction input Encoder incremental channel...

Page 40: ...XP Analog output Resolver energising 8 kHz sinusoidal wave 11 RESEXP Analog output Resolver energising 8 kHz sinusoidal wave 12 13 14 15 Resolver Connections Table Adopt a cable with individually shie...

Page 41: ...oder incremental channel TTL Differential line driver CLOCK Endat I O ENDAT Clock 5 I Digital I O Encoder index TL Differential line driver 6 B Digital I O Encoder incremental channel TL Differential...

Page 42: ...ower supply Blu A 5 B Motor phase B Motor power supply Red B 6 C Motor phase C Motor power supply Yellow C 7 DC DC bus negative DC bus parallel connection possible Rectified power supply 8 BR Brake te...

Page 43: ...Auxiliary CAN Cannon connector sub D 9 pin female plug Minimal RS 232 Connection to Host Pin Standard RS 232 S1 connections Description RS 232 RS 422 RS 485 CAN 1 DCD CAN H 2 RxD RxD Rx A LN A Data L...

Page 44: ...possible Rectified power supply 5 R Mains phase Triphase power supply Triphase power supply 0 460V 6 S Mains phase Triphase power supply 7 T Mains phase Triphase power supply 8 Pin Name Type Function...

Page 45: ...NO relay Relay normally open contact 3 Com Relay Common Common relay contact Relay Connector R1 Phoenix terminal board 3 poles cod MC 1 5 3 ST 3 81 1 2 3 Pin Standard RS 232 S1 connections Description...

Page 46: ...ze 3 POWER CONNECTION Pin Name Type Function Description 1 DC DC bus positive DC bus parallel connection possible Rectified power supply 2 BRK Brake terminal Brake terminal Connect to the internal or...

Page 47: ...NO relay Relay normally open contact 3 Com Relay Common Common relay contact Relay Connector R1 Phoenix terminal board 3 poles cod MC 1 5 3 ST 3 81 1 2 3 Pin Standard RS 232 S1 connections Description...

Page 48: ...tive DC bus parallel connection possible Rectified power supply 6 BRK Brake terminal Brake terminal Connect to the internal or external braking resistor 7 BRK Brake terminal Brake terminal Connect to...

Page 49: ...d connection 6 DSR 232 485 232 485 232 485 If 12V RS232 if open RS485 7 RTS RTS Tx Y LN A Data Line 8 CTS CTS Rx B LN B Data Line 9 RI CAN L P1 Connector AUX Power Phoenix terminal board 4 poles Pin N...

Page 50: ...1 2 3 4 5 6 7 Pin Name Type Function Description 1 R Mains phase Triphase power supply Triphase power supply 0 460V 2 S Mains phase Triphase power supply 3 T Mains phase Triphase power supply 4 DC DC...

Page 51: ...a Line 4 DTR 12V 100mA MAX 5 GND GND GND GND GND Ground connection 6 DSR 232 485 232 485 232 485 If 12V RS232 if open RS485 7 RTS RTS Tx Y LN A Data Line 8 CTS CTS Rx B LN B Data Line 9 RI CAN L Pin N...

Page 52: ...latform 5 10 Connection example Make the jumper with 1 5 mm2 wire between BR and DC to use the internal braking resis tor If an external resistor is connected to pins BR and DC the jumper must not be...

Page 53: ...6 First installation and tests Phase Motion Control AxM II AxP Configurable Motion Control Platform AxM II 2011 10 indd 55 18 10 11 15 15...

Page 54: ...the drive s power terminal board according to the sequence specified in the connection outline supplied with the motor Connect the power supply to the R S and T of the power terminal board see par 8...

Page 55: ...able 6 4 Basic Mode Definitions Phase Motion Control supplies the AxM II AxP drive with Basic application downloaded This mode allows the current and speed motor control Commands and controls are give...

Page 56: ...o the drive only through the tool LogcLAB 6 6 Firmware downloading Firmware upgrades are periodically available on the web site www phase eu New functionality and or software evolution processing from...

Page 57: ...mportant select the right file SRE to download SysApp 1 4 291 xxxx xx sre SysApp 1 4 291 xxxx xx sre SysApp 1 4 291 xxxx xx sre You can see the wich Hardware you have by selecting Service Target Infor...

Page 58: ...AxM II 2011 10 indd 60 18 10 11 15 15...

Page 59: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Emergency and power fail condition handling 7 AxM II 2011 10 indd 61 18 10 11 15 15...

Page 60: ...ed The simple use of a safety brake however is wrong and dangerous for the following reasons Safety brakes designed for servo motors are stationary brakes They are designed ex clusively to hold a moto...

Page 61: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Error CODEs 8 AxM II 2011 10 indd 63 18 10 11 15 15...

Page 62: ...cal obstacle and the correct motor size for the use 9 Overvoltage Too high voltage level detected on the DC bus Check presence and connection of braking resistor 10 Undervoltage The DC bus voltege bec...

Page 63: ...nections check EtherCAT master running status 26 27 Motor Overtemp The PTC sensor has detected a too high tempertaure of the motor Check the motor PTC connection to drive terminals and the real temper...

Page 64: ...AxM II 2011 10 indd 66 18 10 11 15 15...

Page 65: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform CE Conformity 9 AxM II 2011 10 indd 67 18 10 11 15 15...

Page 66: ...rs Phase Motion Control have already proved and certified the conformity of a CE typical system to the EMC directive see following chapter with the AxM digital platforms and the ULTRACT III brushless...

Page 67: ...which is built into the drives cause a certain amount of leakage current to flow in the ground wires This current may cause tripping of too sensitive differential device and need to be taken into acc...

Page 68: ...be shorter than 15 meters This limita tion is necessary also for the protection of the drive itself For longer cables use appro priate snubber inductors 8 For shield and ground connections refer to f...

Page 69: ...HAFFNER FN251 16 07 or something equivalent with up to 100 meters of shielded conductor cable between the drive and the motor following the cabling normative explained in the user manual allows the ac...

Page 70: ...AxM II 2011 10 indd 72 18 10 11 15 15...

Page 71: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Safety Instructions 10 AxM II 2011 10 indd 73 18 10 11 15 15...

Page 72: ...e software products or alter source codes Do not mount damaged or faulty products or use them in operation Make sure that the products have been installed in the manner described in the relevant docum...

Page 73: ...with the product Read and understand these safety instructions and all user docu mentation prior to working with the device If you do not have the user documentation for the device contact your respo...

Page 74: ...the use of the delivered components contains only examples of applications and suggestions The machine and installation manufacturer must make sure that the delivered com ponents are suited for his i...

Page 75: ...time even for brief measurements or tests if the equipment grounding conductor is not permanently connected to the mounting points of the components provided for this purpose Before working with elect...

Page 76: ...ts This is also applicable before short tests The equipment grounding conductor of the electrical equipment and the units must be non detachably and permanently connected to the power supply unit at a...

Page 77: ...oid accidents bodily harm and or material damage Keep free and clear of the machine s range of motion and moving parts Possible mea sures to prevent people from accidentally entering the machine s ran...

Page 78: ...aids must consult a doctor before they enter the areas described above Otherwise health hazards may occur Protection Against Contact with Hot Parts Hot surfaces at motor housings on drive controllers...

Page 79: ...transport Avoid jamming and bruising by appropriate measures Always use suitable tools Use special tools if specified Use lifting equipment and tools in the correct manner If necessary use suitable p...

Page 80: ...AxM II 2011 10 indd 82 18 10 11 15 15...

Page 81: ...Phase Motion Control AxM II AxP Configurable Motion Control Platform Appendix AxM II 2011 10 indd 83 18 10 11 15 15...

Page 82: ...power supply Red B 7 C Motor phase C Motor power supply Yellow C 8 N C NC relay Relay normally closed contact Use it as Drive Ok signal or to manage the emergency braking 9 N O NO relay Relay normally...

Page 83: ...Appendix 85 AxM II 2011 10 indd 85 18 10 11 15 15...

Page 84: ...AxM II 2011 10 indd 86 18 10 11 15 15...

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