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AMD2000 Series - Servo Drive - User Manual

116

DS619-0-00-0019 - Rev 0

ANCA Motion

6. The drive then sets its reported position at this point as relative to machine zero by the amount set

in either of IDN’s S-0-0052/52 and S-0-0054/54. Under some conditions it is possible for DCH to
then order the drive to execute a further move to the reference offset position before considering
itself to be at home, however the AMD2000 does to currently implement this final offset
r

epositioning that would usually result in a move as specified by IDN’s S-0-0150/150 or S-0-

0151/151.

7. At the completion of homing, the status actual position value (S-0-0403/403) is set to flag the

successful completion of the DCH function.

8. The IDN S-0-0148/148 must now be reset to 0 by an external entity, or the drive will remain in the

DCH state of operation, and will not subsequently move or respond until this action is completed.

For more details regarding each parameter, refer to the “Digital Servo Drive SoE Parameter Reference”
(dd_reference_SoE_parameter.pdf).

The DCH function can be performed at almost any time by activating the DCH function again (via procedure
command S-0-0148/148 being set to 1). Therefore care must be exercised that DCH does not become activated
while the drive and associated axis are executing other tasks.

Warning:

Care must be exercised so that the DCH function is NOT activated while the axis is already in

motion, or committed to performing other tasks, since unexpected behaviour may result.

Control Unit Controlled Homing

Control Unit Controlled Homing (CUCH) requires the Homing Enable IDN S-0-0407/407 to be set by an external
control unit (e.g. a CNC). The drive also sets up the calculated offset at the end of a successful homing
execution so that future position commands are referenced to the machine zero. The home switch may be
connected to either the control unit or the drive via the appropriately configured digital inputs.

There are three configurable use cases that the control unit may select for implementation of CUCH:

1.  Control unit detection of homing, and calculation of homing data,
2.  Drive amplifier detection of homing, but Control unit calculations of homing data, or
3.  Drive amplifier detection of homing, and calculation of homing data.

The following IDN’s are relevant to CUCH configuration and operation:

IDN

Label

S-0-0052 / 52

Reference Distance 1

S-0-0054 / 54

Reference Distance 2

S-0-0146 / 146

Control Unit-Controlled Homing Procedure Command

S-0-0147 / 147

Homing Parameter

S-0-0150 / 150

Reference Offset 1

S-0-0151 / 151

Reference Offset 2

S-0-0171 / 171

Calculate Displacement Procedure Command

S-0-0172 / 172

Set Reference Point Procedure Command

S-0-0175 / 175

Displacement Parameter 1

S-0-0403 / 403

Position Feedback Value Status

P-0-0422 / 33190

Use a Digital Input in Place of an Index Pulse for Homing

Case 1: the home switch is connected to the control unit and the control unit makes calculations.

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Содержание AMD2000 3A

Страница 1: ...AMD2000 Series Servo Drive User Manual DS619 0 00 0019 Rev 0 ...

Страница 2: ...Manuals and brochures Related Documents Sales and Support Contact Information Product Sales and Service Enquiries For the latest copy of the manual visit us online Manuals For the latest version of the ANCA MotionBench Software visit Software Documents reference DS619 0 00 0019 Rev 0 Effective 8 04 2013 ANCA Motion Pty Ltd ...

Страница 3: ...connectors EtherCAT and motor feedback 8 Installation Checklist Pre power up checks 9 Start up Installing and using ANCA Motion Bench to configure and enable the drive 10 Feature Configuration Feature description and configuration information 13 Accessories Selection of accessories including motors cables I O interface modules filters reactors chokes magnetic cores 11 Fault Tracing Indicators driv...

Страница 4: ...15 3 4 AMD2000 Variant Identification 15 AMD2000 3A 15 AMD2000 9A 15 3 4 11 AMD2000 Series Drive Catalogue Number Interpretation 16 3 5 System Overview 17 3 6 Connector Overview 20 3 6 11 AMD2000 3A 20 3 6 12 AMD2000 9A 21 4 Mechanical Installation 25 4 1 What this Chapter Contains 25 4 2 Pre installation checks 25 4 3 Requirements 25 4 3 11 Installation Site 25 4 3 12 Tools Required 26 4 3 13 Mou...

Страница 5: ...CD protection 38 6 4 Grounding 38 6 5 Input EMC Electromagnetic Compatibility 38 6 5 11 EMC Filter Specifications 39 6 5 12 Installation guidelines of EMC filter 40 6 6 Power Supply Filters 41 6 6 11 Harmonic Suppression 41 6 7 Power Disconnect and Protection Devices 43 6 8 Motor Connections 44 6 8 11 Motor Circuit Contactors 45 6 8 12 Motor Power Cable Installation 45 6 9 Drive Output Filters 50 ...

Страница 6: ...a PC 71 9 6 Starting the AMD2000 71 9 6 11 Preliminary Checks 71 9 6 12 Power On Checks 72 9 7 Installing the ANCA MotionBench 72 9 8 Configuring the AMD2000 Series Servo Drive 77 9 8 11 ANCA MotionBench 77 10 Feature Configuration 87 10 1 What this Chapter Contains 87 10 1 11 Analogue Encoder Compensation 87 10 1 12 Backlash Compensation 90 10 1 13 Configuring Wire Saving UVW Motors 92 10 1 14 Di...

Страница 7: ...I O Supply 160 12 3 12 24V Digital Inputs 160 12 3 13 24V Digital Outputs 160 12 3 14 5V RS422 Differential Digital Inputs 160 12 3 15 Differential Digital Outputs 160 12 3 16 Analogue Inputs 161 12 3 17 Analogue Outputs 161 12 3 18 Motor Position Feedback 161 12 3 19 Encoder Channel 1 161 12 3 20 Encoder Channel 2 162 12 3 21 Encoder Supply 162 12 3 22 Ethernet Interface 162 12 3 23 Modbus Interf...

Страница 8: ...tor Selection Braking Energy and Power 172 12 15 Materials 174 12 16 Standards Conformity 175 Marking Applicable Regulations 175 Standard 175 Certification Organisation 175 12 17 EtherCAT Conformance Marking 176 12 18 CE Marking 176 12 18 11 Compliance with the European EMC Directive is achieved via EN 61800 3 176 12 18 12 Compliance with the European Low Voltage Directive is achieved via EN 61800...

Страница 9: ...6 13 4 17 Line Reactors 186 13 4 18 DC Chokes 186 13 4 19 Magnetic Cores 186 13 5 Starter Kits 186 13 5 11 AMD2000 3A Starter Kit 186 13 5 12 AMD2000 9A Starter Kit 187 14 Additional Information 188 14 1 What this Chapter Contains 188 14 2 Maintenance and Repairs 188 14 3 Product Sales and Service Enquiries 188 14 4 Feedback 189 ...

Страница 10: ...er operate the equipment if you are in doubt about how these safety features work 1 1 General Safety The following points must be understood and adhered to at all times Equipment operators must read the user manual carefully and make sure of the correct procedure before operating the AMD2000 Memorize the locations of the power and drive isolator switches so that you can activate them immediately a...

Страница 11: ...e cables with the minimum cross sectional area as recommended or greater Install cables according to local legislation and regulations as applicable Insulation resistance testers sometimes known as a megger or hi pot tester are not to be used on the drive as a false resistance reading and or damage to the tester may result If an inductor choke is placed between terminals P1 and P2 the choke shall ...

Страница 12: ...nt magnet synchronous motors through to less rigorous applications such as simple speed control of induction motors In many of these applications the rotational control of the motor is converted to motion using mechanical means such as ball screws and belts Motion control is performed by the drive controller which accepts position feedback from motor encoders and or separate linear scales The driv...

Страница 13: ...ional Electrontechnical Commission I O Bidirectional Input Output O Output AIN Analog Input AOUT Analog Output DI Digital Input DO Digital Output W R T With Respect To GND Ground rms root mean square V mV Volt millivolt A mA Ampere milliampere Φ Ø phase Ω ohms AC DC Alternating Current Direct Current Hz Hertz ms millisecond SoE Servo Profile Over EtherCAT CNC Computer Numerical Control DCH Drive C...

Страница 14: ...apable of running in standalone mode executing pre defined repetitive moves Standard features include Single axis drive for AC synchronous servo motors and induction motors Models with continuous current ratings of 3A or 9A Direct connection to 105V 265VAC single phase or 3 phase Support for incremental analog and digital encoders as well as absolute encoders Position velocity and torque current c...

Страница 15: ... drive is shown below The AC supply voltage is converted to DC which is then converted into the required AC voltage signal to drive the motor AC Motor Drive Control Switching Control Single or 3 Phase AC Input DC AC Converter AC DC Converter AMD2000 Servo Drive 3 4 AMD2000 Variant Identification AMD2000 3A AMD2000 9A ...

Страница 16: ...iant Current Rating 09 9 Amp 03 3 Amp Feedback Type 1 Incremental Digital Encoder Communications S SERCOS over EtherCAT Rated Voltage 2 100 240 VAC Hardware Identification A Hardware Type A For any warranty work to be undertaken these labels must be readable and undamaged Care should be taken to record these numbers in a separate register in the event of damage or loss Note Do not under any circum...

Страница 17: ...ns controlling one or more user pre defined moves stored locally on the drive If required the control of an external mains contactor is provided by a user defined output from the Drive The following figure provides a block diagram of the drive system There are two versions of drive system available corresponding to maximum continuous motor current ratings of 3A and 9A The communications channel is...

Страница 18: ...neration resistor Servo Motor Position Encoder 1 Position Encoder 2 Encoder Output Standard Digital Outputs EtherCAT Communications Network EtherCAT Communications Network Soft Starting PWM Control Heatsink Temperature Regeneration Resistor Control 120 240VAC 1Ø 3Ø Power Supply 120 240VAC 1Ø Power Supply Inductor DC link Figure 3 2 Block Diagram of the Drive System ...

Страница 19: ... the configuration PC rather than the host device Host Device EtherCAT Master capable device e g CNC or EtherCAT IN X3 Brake Power X5 X4 I O Interface Module Circuit Breaker Cuts off power in the case of an overload to protect the power line Noise Filter Attached to prevent external noise from the power source line External Regenerative Resistor EtherCAT OUT Serial Communications Modbus support ...

Страница 20: ... 47 48 49 50 DI 10 DO 01 24V 24V DO 02 DO 03 DO 04 DO 05 Al 01 Al 02 AO 01 Do Not Connect AGND AGND NC NC DO 06 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 PIN SIGNAL X5 Encoder Interface X4 Input Output X3 Serial Communications X1 X2 EtherCAT IN OUT Ethernet Interface Protocol Baud Rate Drive Profile Definition Connection EtherCAT 100 MB s SERCOS Ethernet RJ 45 PIN SIGNAL LC1 LC2 NC L1 L2 ...

Страница 21: ... B B Z Z 9VDC 5VDC GND PIN SIGNAL 9 10 11 12 13 14 15 PIN SIGNAL LC1 LC2 NC L1 L2 L3 Control Voltage Single Phase Supply Control Voltage Single Phase Supply Not Connected Single Three Phase Supply Single Three Phase Supply Single Three Phase Supply 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 PIN PIN Al 01 Al 02 AGND AGND NC NC DI 01 DI 02 DI 03 DI 04 DI 05 DI 06 DI 07 DI 08 DI 09 DI 09 DI 10 SIGNAL ...

Страница 22: ...or Armature Cable Connectors 3 6 12 5 X3 The X3 serial port is an RS232 and RS485 communications interface which implements the Modbus protocol Not enabled on this model X4 Connection interface to analogue and digital inputs and outputs X5 Port for an encoder interface Its purpose is to provide encoder position feedback to axis 1 U V W Motor armature cable connection ...

Страница 23: ...to section 6 6 Power Supply Filters 6 13 Brake Regeneration Resistor Control Power and DC Bus Power Connectors 3 6 12 7 LED Display and Control Panel 3 6 12 8 The AMD2000 series drives are fitted with a LED display and control panel as shown in the following figure The characteristics of the display and control panel are detailed in the following table P1 P2 External inductor connection P1 and P2 ...

Страница 24: ...t Tracing for the description and possible causes for the error When no error has been reported the display will provide information on both the drive state and the communications state Communications state 3 6 12 10 To indicate the state of the EtherCAT communications the leftmost digits of the display will read C where refers to the current communications condition as shown in the following tabl...

Страница 25: ...3 Requirements 4 3 11 Installation Site The AMD2000 Series Servo Drive must only be installed indoors permanently fixed to the electrical cabinet and fitted by trained qualified personnel Refer to the 4 3 13 Mounting and Cooling for the correct installation process The safety precautions outlined in 1Safety must be understood and adhered to The operating environment must not contain corrosive subs...

Страница 26: ...inets and it is the responsibility of the installer to ensure the drives are adequately earthed through the provided protected earthing points denoted with the symbol Use appropriate ring terminals for this connection If armature termination brackets are required to be fitted for EMC compliance see page for fitting instructions The 3A drive operates without an additional cooling method whereas the...

Страница 27: ...ow for this arrangement If drives are to be mounted in a multiple row arrangement please ensure that the drives are offset staggered at least a full drive width apart to maintain effective cooling For 3A drives at least 43mm apart 9A drives at least 60mm apart Ensure there is a minimum gap between each row of drives For 3A drives at least 30mm apart 9A drives at least 50mm apart ...

Страница 28: ...drive must be switched to the Off position at least 15 minutes before any work is commenced on the unit The operator must check the bus voltage with a tested working voltage measuring instrument prior to disconnecting any connectors or opening the DC Bus terminal cover The red LED indicator on the front of the drive which indicates that there is charge remaining in the drive is only to be used as ...

Страница 29: ...l should be a minimum 3mm thick STEP 2 Fit one of the M5 mounting screws partially into the lower drilled and tapped hole so that the majority of the screw thread is evident A STEP 3 Position the drive so that the holes with the heat sink line up with the holes in the cabinet There is an open slotted hole at the bottom of the heat sink Insert the drive so that the screw fits within the open slotte...

Страница 30: ...o complete installation as per sections 5 Planning the Electrical Installation and 6 Power Wiring 4 4 13 Un Mounting a Drive Ensure mains power has been isolated from the drives see 4 4 11 Power Isolation above STEP 1 Unplug the cables from the front of the drive to be un mounted by carefully working the plugs from their sockets STEP 2 Follow steps 4 through to 2 of section 4 4 12 Mounting a Drive...

Страница 31: ...ion of operation 5 4 Emergency Stop Devices An emergency stop device must be installed for safety reasons within easy reach of operators and maintenance personnel at all operator control stations and wherever deemed necessary 5 5 Thermal Overload and Protection Thermal Overload 5 5 11 1 The AMD 2000 has a built in temperature sensor that will shut off the drive when the heat sink temperature reach...

Страница 32: ...able Selection The power and motor cables must be selected according to regional regulations as well as usage and EMC requirements Symmetrical shielded motor cables should be used The power supply cables must be rated for at least 300V AC The cables must be rated to withstand the expected temperature rise due to the current passing through them given the conductor diameter conductor material and i...

Страница 33: ...lso acceptable but not preferred Shield terminated to 0V of X5 at AMD2000 Series Servo Drive end ONLY If not possible terminate to back shell of X5 at AMD2000 Series Servo Drive end ONLY Differential digital Twisted Pair 0 14mm 2 Zo 120 100 also acceptable but not preferred Power 0 5mm 2 Shielding optional but recommended when using analogue signals Terminate at same point as analogue shield s if ...

Страница 34: ...d control cables should maintain at least 500 mm separation over the majority of their length If control and power cables must cross they should cross perpendicular at 90 degrees to one another Where possible it is recommended that 24 V and 230 V cables be routed in separate ducts and where this is not possible the 24 V cable should be appropriately insulated for 230 V Caution Brake resistors can ...

Страница 35: ...HiPot test the cables must be disconnected from the drive The cables to be disconnected and tested are control voltage single phase supply L1C L2C single phase or three phase supply L1 L2 L3 inductor connector P1 P2 brake resistor connector P C D and motor connector U V W 6 3 Mains Power Supply The following components are required for connection to the mains supply Isolation switch to allow corre...

Страница 36: ... SIGNAL LC1 LC2 NC L1 L2 L3 Control Voltage Single Phase Supply Control Voltage Single Phase Supply Not Connected Single Three Phase Supply Single Three Phase Supply Single Three Phase Supply Figure 6 1 Mains Control and Power Supply Connector L1 L2 3 phase only L3 AMD2000 Circuit Breaker Fuses Isolation Switch AC Supply 105V 265V line to line Optional Line Filter LC1 LC2 NC 110V or 220V Single or...

Страница 37: ...nded systems IT The AMD2000 series drive can also operate to non grounded IT systems where the mains voltage to protective earth does not exceed 265V The advantage of IT systems is that any drive or motor or wiring ground fault does not allow substantial current to flow and operation can be maintained in critical installations The ground fault must be promptly detected and eliminated before a seco...

Страница 38: ...s to earth ground until the safety device fuse or circuit breakers disconnects the drive from the mains Symbol for Protective Earth PE The mains supply protective PE cable must have a cross sectional area equal to 10mm 2 due to the drive leakage current The mains PE is connected to M4 screw terminal at either end of the drive heat sink Heatsink PE connection with M4 bolt The protective earth condu...

Страница 39: ...motor cable Common mode currents can also return to the supply transformer star point where the PE is bonded to supply phase lines Thus EMC currents may affect other equipment connected to the same Point of Common Coupling PCC Line Reactor IGBT Inverter Line Filter AMD2000 Motor Cable Ileak PE terminal and metal gear tray ground PE I PCC Converter Cabinet LF I DC I Heatsink Figure 6 4 Common Mode ...

Страница 40: ...er input to noisy power cables by careful routing and cable segregation Ensure filter is installed on an unpainted metal gear tray to provide a low impedance return path Otherwise connect filter to gear tray with minimal length flat copper braid strap Connect the filter to PE for safety requirements but note that PE cable does not provide a low impedance return path for common mode currents due to...

Страница 41: ...Connection at P1 and P2 If no choke is to be used a suitable link must be installed at P1 and P2 on provided connector to power the motor At 3A rms on the AMD2000 3A 10mH of inductance is required A suitable device may be Hammond Manufacturing 159J AS 61000 3 2 defines equipment over 1kW for use in industrial environments as Professional Equipment and there is no requirement by the standard for th...

Страница 42: ...rmonics Harmonic Limits Harmonic Current A 0 0 5 1 1 5 2 2 5 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57 61 65 69 Simulated Harmonics Harmonic Limits Drive harmonics for above drive with inductor 0 0 5 1 1 5 2 2 5 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57 61 65 69 Simulated Harmonics Harmonic Limits Simulated Harmonics Harmonic Limits Harmonic Current A 0 0 5 1 1 5 2 2 5 1 5 9 13 17 21 25 29 33 37 4...

Страница 43: ... exceed the rated input voltage When using a single phase supply with a Neutral conductor protection is only required on the supply phase Circuit Breaker Fuses Isolation Switch 1 Phase Supply Neutral P E Recommended fuse and circuit breakers and supply motor wire sizes Drive Type and current output rating A rms AC supply Input fuse Circuit breaker C type Minimum Φ wire gauge AWG mm 2 AMD2000 3A 1Φ...

Страница 44: ...st acting fuses with high breaking capacity 200kA 250V or more and low I 2 t rating to protect the semiconductor input of the drive The I 2 t rating of the Circuit Breaker must be less than or equal to that of the fuse rating listed above Circuit Breakers must be thermal magnetic type Motor cables should have the same wiring gauge as 3 phase mains supply 6 8 Motor Connections AMD2000 Motor P E U V...

Страница 45: ...The gear tray layout and correct bonding of the shield in the cabinet is a critical component in managing EMC problems The following guidelines must be followed Cables between the inverter and motor must be shielded and the shield grounded at both ends Use motor cables with dedicated PE conductor s Do not use the shield as a PE The shield clamping surface must be free of paint Use specifically des...

Страница 46: ...e the connection Fit the armature plug into the armature connector on the drive Ensure that the Armature Cable Earth wire is connected to an M5 ring lug or M5 spade lug and connect to the heat sink There are two earthing points on the heat sink Install the Protective Earth Wire to the upper earthing point and the Armature Cable Earth Wire to the lower earthing point See below pictures Maximum tigh...

Страница 47: ...Power Wiring ANCA Motion DS619 0 00 0019 Rev 0 47 6 Protective Earth Wire to the Cabinet Earth Bar Figure 6 10 AMD2000 D2003 Drive Protective Earth Connection ...

Страница 48: ... Expose approximately 25mm of braid length The position of the exposed braid is to coincide with the EMC Saddle Clamp and the metal bracket as shown below in order to provide sufficient contact for termination Tighten the Saddle Clamp screw to 0 5Nm as recommended by the manufacturer Fit the armature plug into the armature connector on the drive Ensure that the Armature Cable Earth wire is connect...

Страница 49: ... painted to expose the bare metal beneath The shield is required to have a good electrical connection to the machine earth Motor Metal P Clip Exposed Metal Braid Armature Cable from 3A or 9A Drive Figure 6 12 Armature Cable Shield Termination at Motor End The below graphic shows a typical Earth Bar installation that may exist on the cabinet Connect the Protective Earth wires to the Earth bar as sh...

Страница 50: ...ates or the framework Do not allow spans over free air which could form an antenna Keep shield pigtails as short as possible and note they are less effective than full clamping Allow no breaks in the cable shields Earthing connections should be as short as possible in flat strip multi stranded or braided flexible conductors for low RFI impedance When an EMC enclosure is to be used the maximum diag...

Страница 51: ...3 phase 12A Sinewave and EMC Filter with DC bus link FN 530 12 99 Note Motor frequency range is from 0 200Hz for these filters AMD2000 Motor P E U V W Minimise unshielded lengths Connect PE to drive heatsink Earth shield connected 360 to gear tray Sinusoidal Filter Figure 6 14 Motor Connections and Shielding with Standard Sinusoidal Filter AMD2000 Motor P E U V W Minimise unshielded lengths Sinuso...

Страница 52: ...face Circuit To engage the brake The motor is brought to rest under normal control The relay is deactivated causing the brake to engage The drive is disabled removing power from the motor To disengage the brake The drive is enabled The drive applies power to the motor to hold position under normal control The relay is activated causing the brake to be disengaged It is sometimes necessary to includ...

Страница 53: ... input for this function If using an external CNC the motor thermal sensors can be connected to one of the drive analog inputs by means of a voltage divider or two voltage dividers as indicated in the diagrams and have the monitoring implemented in the CNC The user is then responsible for converting the non linear voltage output from the circuit into an equivalent temperature for the temperature s...

Страница 54: ...aft of the motor gets transferred to the bus capacitance in the drive which increases the voltage This happens because of the motor inductance When the voltage on the bus capacitance exceeds 385V the drive will connect the internal regeneration resistor in addition to any external regeneration resistor that is provided by the user Mode Connection Internal Regeneration Resistor Link pins P D Extern...

Страница 55: ...tream circuit breaker that is rated appropriately depending on the model of AMD2000 drive being installed Turn the Main Disconnect mains isolator switch to the Off position Following the appropriate lockout procedure place a sign over the isolation switch clearly indicating to other personnel that this isolator is not to be touched 7 1 What this Chapter Contains This chapter contains information r...

Страница 56: ...nded Ground Referenced Connection AMD2000 AI 01 AGND X4 1 26 3 Figure 7 1 Typical Example of Single Ended Connection For differential inputs connect lines to AIN and AIN Leave AGND unconnected AMD2000 AI 01 AI 01 X4 1 26 3 Figure 7 2 Typical Example of Differential Connection AMD2000 24V DC X4 1 26 3 0V 1kΩ 0 25W Potentiometer 1 5kΩ 0 25W Figure 7 3 Typical Input Circuit to Provide 0 10V Input Fro...

Страница 57: ...an be used to output converted analog values of digital measurements recorded in the drive It is recommended that shielded twisted pair cable is used for interfacing The shield connection should be made at one end only Idealized Drawing of Output Circuit 7 2 12 1 AMD2000 DSP A0 XX DAC ...

Страница 58: ...Inputs can be configured if required 6 x General Purpose Outputs Please find details specifications in section 12 3 Interface Specifications Connector Pin Number Label X4 or I O Module 7 DI 01 8 DI 02 9 DI 03 10 DI 04 11 DI 05 12 DI 06 13 DI 07 14 DI 08 15 DI 09 16 DI 09 17 DI 10 18 DI 10 19 DO 01 22 DO 02 23 DO 03 24 DO 04 25 DO 05 34 DO 06 20 21 24V Fused 1 46 47 24V GND 1 Refer to the AMD2000 T...

Страница 59: ...ger be 500mA available until the load is removed 7 3 12 Digital Inputs Digital Input Overview DI 01 DI08 are electrically isolated through opto couplers DI 09 DI10 are not isolated Reference ground is 24V GND X4 pins 46 47 Application examples for the digital inputs includes Positive Limit switch Motor over temperature Negative Limit switch Home switch General Purpose Digital Inputs DI 01 to DI 08...

Страница 60: ... provides detailed information on these two RS 422 inputs If 2 additional digital inputs are required this may be done safely via optional I O interface Module accessory listed in 13 4 11 I O Interface Accessories Idealized Drawing Of Differential Input Circuit 7 3 12 2 1 AMD2000 DSP Typical Connection Examples of this special purpose circuit are found below 7 3 12 2 2 24 V 10k 10k 10k DI DI 0 3 V...

Страница 61: ... drive Programmable function of the digital outputs includes Relay Control Digital Output Overview Outputs are current sinking Refer to Section 12 3 Interface Specifications for maximum current ratings All Digital outputs are pulled to ground Idealized Drawing of Digital Output Circuit 7 3 12 3 1 AMD2000 DSP 0 V DO XX If the output is used to drive an inductive load such as a relay a suitably rate...

Страница 62: ...ection 7 4 Motor Brake Control for connection details 7 5 Serial Communication Port The Serial Communication Port is not enabled in this Catalogue Number 7 6 Ethernet Interface 7 6 11 EtherCAT 2 AMD2000 supports the EtherCAT protocol with Servo Profile over EtherCAT SoE capability based on the IEC61800 7 standard This protocol provides deterministic communication over a standard 100Mbit s 100Base ...

Страница 63: ...be the X1 IN port 7 6 12 EtherCAT topology Port assignment Loopback Function EtherCAT Processing Unit EtherCAT Slave Controller Port 0 Closed Port 0 open or all ports closed Auto forwarder Loopback Function Loopback Function Port 1 Closed Auto forwarder Loopback Function In Out Port 3 Closed Port 2 Closed Port 1 Open Possible EtherCAT Configurations are 7 6 12 1 IN OUT IN IN IN IN IN IN IN IN OUT ...

Страница 64: ...ile is provided for the AMD2000 This xml file describes the drive s capabilities to the EtherCAT manager EtherCAT Connectors 7 6 12 3 X1 X2 EtherCAT IN OUT connectors EtherCAT Cables 7 6 12 4 To connect the AMD2000 drive to other EtherCAT devices the following types of cables must be used with 8P8C modular connectors They are commonly referred to as RJ45 shielded patch leads Cable Name Cable Scree...

Страница 65: ...ootstrap mode SW3 UP Reserved SW2 DOWN Reserved SW1 SET Holding during power up will force the device into bootstrap mode 7 8 Motor Feedback Connector Pin Number Label Sin Cos Digital Incremental Encoder X5 1 Sin A Sin 2 Sin A Sin 3 Cos B Cos 4 Cos B Cos 5 Ref Z Z 6 Ref Z Z 7 A A 8 A A 9 B B 10 B B 11 Z Z 12 Z Z 13 9VDC 14 5VDC 5VDC 5VDC 15 GND GND GND ...

Страница 66: ...8 11 1 DSP RS485 RS422 Transceiver A B A B Z Z AMD2000 X5 7 8 12 Analog Encoder Cable BACKSHELL BACKSHELL TO SERVO DRIVE TO ENCODER PLUG INNER SHIELD OUTER SHIELD SIN SIN COS COS REF REF 5V 0V SIN SIN COS COS REF REF 5V 0V NOTE 1 THE INNER AND OUTER SHIELD SHOULD NOT TOUCH AT ANY POINT Figure 7 6 Typical Wiring Example of Analogue Incremental Encoder Wiring ...

Страница 67: ...ircuit 7 8 13 1 DSP RS485 RS422 Receiver A B Z A B Z AMD2000 X5 7 8 14 Digital Encoder Cable BACKSHELL BACKSHELL TO SERVO DRIVE TO ENCODER PLUG A A B B Z Z 5V 0V 5V 0V A A B B Z Z Figure 7 7 Typical Wiring Example of Digital Incremental Encoder Wiring Recommended cables are listed in the accessories section 13 3 12 Encoder Cables ...

Страница 68: ...red Appropriate supply fuses and disconnect devices have been installed The motor cable is connected to the appropriate terminals the phase order is correct and the conductors are secured The brake resistor cable if applicable has been connected to the appropriate terminals and the connections secure The motor cable and brake resistor cable if applicable have been routed away from other cables No ...

Страница 69: ...power has been assessed and external resistor has been connected if required There are no shorts between encoder power supplies and encoder GND Possible load for all digital outputs does not exceed 300mA combined current sinking Input voltage does not exceed 265V rms between L1 L2 and L3 ...

Страница 70: ...s well as an interface to access the entire list of parameters MotionBench includes powerful real time signal logging and graphing capability 9 3 PC minimum specifications The minimum PC requirements for MotionBench are 1GB Memory minimum 2GB Free Disk Space minimum 1024 x 768 Screen Resolution 32 bit colour recommended Mouse or similar pointing device Microsoft Net Framework 4 Supported Operating...

Страница 71: ...Area Connection then click Properties Windows XP Right click the Local Area Connection entry for the required Ethernet adapter and choose Properties 3 Windows 7 Select the Internet Protocol Version 4 TCP IPv4 entry and click Properties Windows XP Select Internet Protocol Version TCP IP and click Properties 4 On the General tab make a note of the existing settings Click Advanced and make a note of ...

Страница 72: ...6 Ambient temperature is within stated manual conditions 7 Line voltages are within stated manual conditions 8 There are no shorts to encoder power supply or across armature connections 9 A machine risk assessment has been performed and the machine has been assessed as safe to use 10 The motor has an appropriate voltage and power rating matched with the drive installation conditions 11 Ensure inpu...

Страница 73: ...Start up ANCA Motion DS619 0 00 0019 Rev 0 73 9 4 Click Next You will then be presented with the End User License Agreement shown below ...

Страница 74: ... with the default destination folder simply click Next Alternatively use the Change button to navigate to an alternative location By default a shortcut icon for launching MotionBench will be added to the Desktop If you do not wish for an icon to be added to the desktop untick the Create a MotionBench shortcut on the desktop check box Click Next You will then be presented with Install MotionBench d...

Страница 75: ...19 Rev 0 75 9 9 Click Yes MotionBench will then start installing on your PC The dialogue shown below you indicate the status of the installation process 10 When the installation process has completed the following dialogue will be shown ...

Страница 76: ... 0019 Rev 0 ANCA Motion 11 By default the MotionBench application will launch immediately after you click the Finish button If you do not wish for the application to launch immediately untick the Launch MotionBench when setup exits check box Click Finish ...

Страница 77: ...ed on 3 Launch Motion Bench via the start menu or desktop icon 4 You will be presented with the Add a device wizard a Select the network adaptor connected to the device This is the adapter that was configured in 9 4 Configuring the Network Adapter b The check box Always use this adapter will ensure that this adapter is used for future ANCA MotionBench session recommended c Select Next d Select a d...

Страница 78: ...details IV Network adaptor configuration is incorrect Refer to Section 9 4 Configuring the Network Adapter for details V Try closing the MotionBench application and then restarting VI Try power cycling the AMD2000 VII Try rebooting the PC f The version of the firmware currently installed on the drive is indicated If required this can be updated using the Update Device button Refer to point 7 below...

Страница 79: ...the AMD2000 for details II Ethernet cable between the AMD2000 and the PC is not connected Refer to Section 9 5 Connecting the AMD2000 to a PC for details III Network adaptor configuration is incorrect Refer to Section 9 4 Configuring the Network Adapter for details IV Try closing the MotionBench application and then restarting V Try power cycling the AMD2000 VI Try rebooting the PC l If MotionBenc...

Страница 80: ...vo Drive User Manual 80 DS619 0 00 0019 Rev 0 ANCA Motion 5 Quick Start wizard a When the Quick Start wizard starts you will be given three options Quick Start Standard Configuration and Advanced Parameter Configuration ...

Страница 81: ...Start up ANCA Motion DS619 0 00 0019 Rev 0 81 9 b Quick Start will allow you to select a standard motor from the ANCA Motion range and get the motor turning with minimum effort ...

Страница 82: ...000 Series Servo Drive User Manual 82 DS619 0 00 0019 Rev 0 ANCA Motion c Standard Configuration will take you to the functional overview of the drive where you can drill down into specific function modules ...

Страница 83: ...Start up ANCA Motion DS619 0 00 0019 Rev 0 83 9 d Advanced Parameter Configuration will take you to a table where all variables in the drive profile can be accessed ...

Страница 84: ...ill open the dialogue shown below This interface shows the status of the devices connected to MotionBench b Clicking on Open Connection Status will open the dialogue shown below Here addition information regarding the status of the device can be viewed As well it provides an interface to update the device firmware via the Update Device button See point 7 for details ...

Страница 85: ...ndow see point 6 b The Update a device dialogue shown below will open c Browse to the amf file Note that the Update button will only become available if a valid firmware file is selected Click Update d Firmware can be downloaded from the ANCA Motion website under Product AMD2000 Resources e If MotionBench fails to update the firmware on the AMD2000 then the following screen will be shown ...

Страница 86: ...not powered on Power on the AMD2000 Refer to Section 9 6 for details II Ethernet cable between the AMD2000 and the PC is not connected Refer to Section 9 5 for details III Network adaptor configuration is incorrect Refer to Section 9 4 for details IV Try closing the MotionBench application and then restarting V Try power cycling the AMD2000 VI Try rebooting the PC ...

Страница 87: ...coder setup The topmost left corner of the Circle Graph Tab shows five buttons Start Measurement Clear Motor Encoder ZX and ZY Start Measurement must be pressed in order to start recording data and update the graph on display Once pressed the button will toggle to Stop Measurement so the user may select when to cease gathering data The graph will automatically update while measuring Clear can be s...

Страница 88: ...nal It is recommended that the user select from the appropriate Zoom buttons on either Tab to obtain a high resolution plot of the region close to the appropriate minimum and maximum data that they wish to collect They can then obtain high resolution ADC values to supply from the above measurements for the purposes of the next step of calculation Step 3 Calculate the offsets and gains for correcti...

Страница 89: ...Feature Configuration ANCA Motion DS619 0 00 0019 Rev 0 89 10 Figure 10 1 Circle Graph Tab Figure 10 2 Time Domain Tab ...

Страница 90: ... be either positive or negative with respect to its reference value of 0 0 See below for more details concerning the setting of clearance and homing the machine Min Speed sets the lowest value of speed above which compensation will be applied it defaults to 0 0 Slew Limit is a fractional value between 0 0 and 1 0 that determines how fast the fixed clearance value will accrue to the position estima...

Страница 91: ...sation Make sure the motor and its associated motor encoder are setup and enabled and your personal computer is linked to the drive see Section 9 5 Connecting the AMD2000 to a PC Start up ANCA MotionBench see Section 9 8 Configuring the AMD2000 Series Servo Drive then navigate to the Advanced Parameter Access interface In the field it is common practice to use a dial gauge and command step moves f...

Страница 92: ...Motor 1 Set UVW Hall Sensor Source IDN 33347 to 3 wire saving Encoder 2 2 Program the correct number of motor poles IDN 32774 3 Set Absolute Feedback Type IDN 33080 to 2 UVW hall sensors 4 Set Field Orientation Initialisation Type IDN 33065 to 3 Absolute Warning Excessive movement more than 30 electrical degrees between drive power up and when the drive firmware loads will result with an invalid f...

Страница 93: ...ral Purpose or as a Hardware Level digital output These variables can be accessed through the Advanced Parameter Access interface in ANCA MotionBench Digital Output Polarity 33344 o is a 32 bit bitmask that is applied directly to 33345 in order to determine the final bit setting of the digital outputs Essentially it can reverse the logic level output for any particular bit in 33345 The Digital Out...

Страница 94: ...r bitmasking is set to pass this IDN s value straight through to 33345 and then to the digital outputs directly Figure 10 5 shows that this default safe state value can be altered by 33351 33352 and 33344 Recall that because it is General Purpose its bit setting applies ONLY to those digital outputs for which a non zero value in IDN 33350 has been chosen Digital Output User Configurable Default Sa...

Страница 95: ...List The value of bit i contained by the IDN stored in element i of IDN 33350 Digital Output GP Level Safe State IDN 33353 bit i XOR Digital Output Invert Mask IDN 33351 bit i AND Digital Output Source Bitmask IDN 33352 bit i Digital Output Data IDN 33345 bit i XOR Digital Output Polarity IDN 33344 bit i Bit i 0 Yes No Set bit i 0 Set bit i 1 Bit i 0 Digital Output HW Level Safe State IDN 33354 bi...

Страница 96: ...NOT EQUAL 0 33345 bit i 1 else 33345 bit i 0 end end else if EtherCAT NOT EQUAL OP eg SAFEOP Pre OP or INIT if 33354 bit i NOT EQUAL 0 33345 bit i 1 else 33345 bit i 0 end end end PHYSICAL DIGITAL OUTPUT i 33345 bit i XOR 33344 bit i end A note concerning bitwise operations Truth table Input 1 Input 2 Bitwise XOR Bitwise AND 0 0 0 0 0 1 1 0 1 0 1 0 1 1 0 1 Bitwise XOR example Input 1 0101 1101 100...

Страница 97: ...ve Status Word will also mimic the requested operating mode bits 8 9 11 of the Master Control Word When in Bypass Mode all Class 1 Diagnostic Errors C1D are masked out IDN Description P 0 739 33507 Bypass mode toggle To put a drive into bypass mode set IDN 33507 P 0 739 to 1 To disable bypass mode set IDN 33507 P 0 739 back to 0 Note that if the drive is already enabled then the drive will remain ...

Страница 98: ...D drive firmware v2 036 or above Procedure for configuring and executing data logging To configure the drive data logger follow these steps Note that ANCA MotionBench can be used for this task and there is a figure describing its use at the end of this Section 1 Specify the IDNs of the variables you wish to log A complete listing is specified in the Digital Servo Drive Parameter Reference Up to 4 ...

Страница 99: ...ger sample In the following example IDN 34063 is set to 500 This means that the buffers returned on completion of the data log will include 500 samples taken immediately before the trigger event occurred and 1548 after for a total of 2048 data points 0 1 498 499 500 501 2046 2047 4 The trigger variable s IDN is specified in P 0 1296 34064 and the fixed value for comparison and detection of the tri...

Страница 100: ...dule to ensure that the specified configuration parameters that were discussed above are within acceptable bounds Any violations are reported in the Data Log Error Word P 0 1305 34073 and 5 such violations are as follows IDN 34073 Label bit 0 Number of pre trigger samples exceeds buffer length bit 1 IDN specified for trigger is not valid bit 2 IDN index specified for trigger is not valid bit 3 Com...

Страница 101: ...4068 2 0 Element 0 not an array IDN 34068 3 0 Element 0 not an array Step 2 Specify the sample period factor for example IDN 34062 4 Log at Task1 250µs 62 5µs 4 Step 3 Configure trigger for example IDN 34064 33255 Class 1 Diagnostic C1D Error Status Word IDN 33255 IDN 34065 0 disable mask IDN 34066 0 Compare to 0 no C1D IDN 34067 16 Comparison type is Not Equal To bits 4 6 001 and index into IDN 3...

Страница 102: ...AMD2000 Series Servo Drive User Manual 102 DS619 0 00 0019 Rev 0 ANCA Motion Figure 10 6 ANCA MotionBench Drive Data Logger Interface ...

Страница 103: ...cted 10 Incremental encoder connected IDN Description P 0 1432 34200 Encoder Type Connected Channel 1 P 0 1433 34201 Encoder Type Connected Channel 2 Furthermore each channel needs to be specified as either motor encoder feedback or external encoder feedback The user can set the following IDN s to either of two values 0 Channel 1 1 Channel 2 IDN Description P 0 1028 33796 Motor Encoder Source Chan...

Страница 104: ... Resolution of Rotary External Encoder S 0 0118 118 Resolution of Linear External Encoder P 0 0005 32773 External Encoder Control Word The external encoder is usually the feedback device attached at the end effector Encoder details must be configured via parameters S 0 0115 115 and P 0 0005 32773 for specific bitfield details refer to the SoE parameters document The resolution of an incremental ex...

Страница 105: ...tor magnetic fields is near 90 degrees For optimum torque delivery and motor efficiency it is essential to keep this field angle at 90 degrees The algorithm for doing this task is called commutation For Permanent Magnet AC PMAC motors successful commutation requires correct initialisation wherein the rotor field angle is determined relative to a reference position on the stator This initialisation...

Страница 106: ...DQA__as32ThetaElec_TestAngles 2 24 elec rev P 0 0312 33080 MCPA_en16AbsoluteFeedback_Type NA P 0 0596 33364 HWADC_au16EncoderCosSin_Com_Sample 16 bits ADC counts P 0 1039 33807 MCPOS_s32ThetaElec_Estim_Motor 10 4 elec rev P 0 1132 33900 MCFOJ_s32Stimulus_Amplitude mA P 0 1133 33901 MCFOJ_s32Stimulus_Frequency 10 4 Hz P 0 1135 33903 MCFOJ_u16SM_RepeatCount NA P 0 1136 33904 MCFOJ_u16SM_StimulusTime...

Страница 107: ...e 0 15 elec rev or 54 elec deg This error is usually triggered by the motor not moving moving too far or not enough or moving in the wrong direction E405 DQ Alignment Current Control Error Alignment current error the difference between the command and measured motor current exceeded specified tolerance IDN 33071 This error may be caused by sensor failure current loop poorly tuned Safe Torque Off S...

Страница 108: ... 108 DS619 0 00 0019 Rev 0 ANCA Motion Figure 10 7 ThetaFb follows ThetaCmd correctly Figure 10 8 ThetaFb does not correctly follow ThetaCmd Likely cause incorrect number of motor poles IDN 32774 and or incorrect encoder resolution IDN 116 ...

Страница 109: ...9 and idFb_1 dat in mA is the d axis current feedback Figure 4 below shows a plot of idCmd_1 dat and idFb_1 dat logged during a successful DQA FOI It is seen that idFb_1 dat follows idCmd_1 dat When the drive triggers E405 idFb_1 dat does not follow idCmd_1 dat In this case check the following DC bus powered Safe Torque OFF STO connector wired correctly Current loop properly tuned It is also recom...

Страница 110: ...l 0 none 1 once 2 always 33062 Alignment Off Index Pulse Control 0 0 disable 1 commissioning 2 enable 33064 Index Pulse Offset 0 10 4 elec rev Procedure for commissioning and enabling alignment off index pulse Step1 Determine the angle between the index pulse and the d axis that is the index pulse offset 1 Ensure that the drive is disabled 2 Set Alignment Off Index Pulse to Commissioning Mode IDN ...

Страница 111: ...on tracks if the offset angle between index pulse and the stator magnetic field is known Typically this offset angle is zero if this is not the case then an offset can be added using IDN 33066 For illustrative purpose Table 10 4 below lists the key parameters for configuring Commutation Track FOI It is important to note that ID33066 is set to 0 Table 10 4 Configuration parameters for Use analogue ...

Страница 112: ...t Maximum Deviation 200000 0 10 4 mech rev 33906 Phase Estimator Correction 2 T1 33910 Torque Estimator Model Type 0 0 Inertia 1 Compliant 33913 Torque Estimator Model Inertia 99 kg mm 2 33914 Torque Estimator Model Stiffness 25600 2 8 Nm mech rev Suggestions for selecting key parameters Torque estimator model type o For unbraked motors Use inertia model IDN 33910 0 for estimating torque Axis iner...

Страница 113: ...via one of the two available encoder channels The home switch is connected to the drive The home offset and distance is calculated and retained by the drive 3 Control Unit Controlled Homing CUCH A homing routine for the drive that requires control from an external control unit e g CNC software on a PC The home offset and distance is calculated and written to the drive by the control unit 4 Drive C...

Страница 114: ...Rev 0 ANCA Motion Procedure command set and enabled Procedure command change bit Bit 5 status word Home switch IDN 00400 Latch reference marker pulse Position feedback marker pulse Position feedback value status IDN 00403 a Figure 10 11 Drive controlled homing ...

Страница 115: ...is sometimes useful for a machine that is being homed to travel a further fixed distance away from the above reference distance in order to finally be considered as at home position This is called the reference offset and can be set for each end of an axis as 1 and 2 by configuring the value of the IDN s S 0 0150 150 or S 0 0151 151 5 These parameters may need to be re commissioned i e Changed whe...

Страница 116: ...tion is NOT activated while the axis is already in motion or committed to performing other tasks since unexpected behaviour may result Control Unit Controlled Homing Control Unit Controlled Homing CUCH requires the Homing Enable IDN S 0 0407 407 to be set by an external control unit e g a CNC The drive also sets up the calculated offset at the end of a successful homing execution so that future po...

Страница 117: ... 10 12 CUCH case 1 Case 2 1 the home switch is connected to the drive but the control unit makes calculations Procedure command set and enabled Procedure command change bit Bit 5 status word Home switch IDN 00400 Latch reference marker pulse Position feedback marker pulse Evaluation in the control unit only Homing enable IDN 00407 Figure 10 13 CUCH case 2 1 Case 2 2 the home switch is connected to...

Страница 118: ...3 4 The drive resets its actual position to account for calculated offset 5 At the completion of homing Status Actual Position Value S 0 0403 403 is set to flag the successful completion of the DCH function and the DCH function S 0 0146 146 must be reset to 0 by an external entity before the drive will undertake other tasks The calculate displacement procedure command S 0 0171 171 and set referenc...

Страница 119: ... 33033 or the Next Move specification If this Next Move IDN is set to 0 then the sequence of moves has ended Therefore each move can be identified by an index of 1 through to N moves The sequence of moves begins with the move index set in IDN 33034 In the following example 5 DCM are created to execute the following motion 1 Move to 100 mm at 1000mm min 2 Move to 200 mm at 2000mm min 3 Move to 300 ...

Страница 120: ...100000 Program deceleration rates units are 1µm sec 2 P 0 0264 33032 1000 2000 0 0 0 Program 1 second 1000msec delay for DCM 1 and 2 seconds for DCM 2 P 0 0265 33033 2 3 0 0 0 Chain DCM 1 2 and 3 together P 0 0266 33034 1 Set desirable first move segment ID DCM Status Word Bit Value Description 0 1 0 DCM inactive 1 DCM halted 3 DCM in progress 2 0 DCM not complete 1 DCM complete 3 0 No delay activ...

Страница 121: ...urs The Modulo operation is applied to the joint position which means it applies to motions that are measured by the external encoder feedback that are closer to the end effector tool tip or driven end of the machine rather than the motor or driving end If the gear ratio is not 1 1 then the motor will have done more than or less than a full revolution before the joint motion completely covers one ...

Страница 122: ... the Global Constraints Enable Flag P 0 0099 32867 The values residing in the following list of IDN s if so enabled will be applied to constrain their associated demands IDN Label P 0 0099 32867 Global Constraints Enable Flag P 0 0100 32868 Global Maximum Position Constraint P 0 0101 32869 Global Minimum Position Constraint P 0 0102 32870 Global Maximum Velocity Constraint P 0 0103 32871 Global Mi...

Страница 123: ...onstraints Enable Flag IDN P 0 0099 and its associated constraint is listed below Bit Label 0 Position Minimum 1 Velocity Minimum 2 Deceleration positive velocity 3 Acceleration negative velocity 4 Not used 5 Force Torque Minimum 6 Not used 7 Not used 8 Position Maximum 9 Velocity Maximum 10 Deceleration negative velocity 11 Acceleration positive velocity 12 Not used 13 Force Torque Maximum 14 Not...

Страница 124: ...099 3855 binary 0000 1111 0000 1111 these last are the 4 LSB P 0 0100 0 4 m P 0 0101 0 1 m P 0 0102 1200 mm min P 0 0103 900 mm min P 0 0104 0 003 m s s P 0 0105 0 003 m s s P 0 0106 0 001 m s s P 0 0107 0 001 m s s Acceleration and Deceleration constraints apply even inside the allowable region of motion Position Constraints Acceleration and Deceleration further constrain how close the axis can g...

Страница 125: ...ints is enabled by setting its associated bit to 1 ON in the Safety Constraints Enable Flag P 0 0099 32867 The values residing in the the following list of IDN s then provide the relevant constraint levels IDN Label P 0 120 32882 Safety Constraints Master Enable P 0 115 32883 Safety Constraints Enable Flag P 0 0116 32884 Safety Maximum Position Constraint P 0 0117 32885 Safety Minimum Position Con...

Страница 126: ...onstraints is enabled by setting its associated bit to 1 ON in the Safety Constraints Enable Flag P 0 0099 32867 The values residing in the following list of IDN s are relevant to setting Error Limits IDN Label P 0 0126 32894 Error Limits Master Enable P 0 0127 32895 Error Limits Enable Flags P 0 0128 32896 Array for Position Hard Limits Minimum Maximum P 0 0129 32897 Array for Position Soft Limit...

Страница 127: ...her of these elements are set to 0 then the maximum deceleration is defined to be the minimum in magnitude of Global Constraints P 0 0106 32874 and P 0 0107 32875 or if active the Safety Constraints P 0 0122 32890 and P 0 0123 32891 See definitions previously given in the Constraints section of this document Error Code Label E304 Positive Soft Predictive Limit Exceeded E305 Negative Soft Predictiv...

Страница 128: ...owever this puts an upper restriction on the maximum representable velocity For high speed applications for example spindle motors the ability to achieve high speed is more important than precision In order to be able to manage this trade off between precision against range use the velocity scaling shift factor P 0 0852 33620 Each increment of the velocity scaling shift factor doubles the maximum ...

Страница 129: ...tion s approach to implementing Motor Control is broken down into a number of sub systems that must all be configured correctly if they are to be used effectively in controlling either of these two motor types The two dominant sub systems of concern to the user are the Torque controller and the Current controller Torque and current are intimately related to one another where the relationship betwe...

Страница 130: ...que Force Setpoint Command S 0 0081 81 Torque Loop Additive Torque Command P 0 0222 32990 Torque Setpoint Switch Primary Field Weakening of PMSM IDN Label P 0 0929 33697 Field Weakening Lookup Table Number of Break Points P 0 0930 33698 Field Weakening Lookup Table Velocity Break Points P 0 0931 33699 Field Weakening Lookup Table Field Weakening d axis Current Command Break Points P 0 0232 33000 C...

Страница 131: ...Nm P 0 0232 33000 q axis current limit A P 0 0926 33694 d axis current limit A P 0 1242 34010 Temperature Monitoring Control Word P 0 1243 34011 Amplifier Temperature Current Limiting Temp Threshold degC P 0 1244 34012 Motor Temperature Current Limiting Temp Threshold degC P 0 1245 34013 Amplifier Temperature Current Limiting Decay Rate A degC P 0 1246 34014 Motor Temperature Current Limiting Deca...

Страница 132: ...ng may apply to a PMSM type of motor As a consequence of this it should be evident from Figure 10 22 that an external entity may gain access to setting torque commands and thereby be able to affect current commands The torque control loop takes either a torque command from the velocity control loop output or an externally originating NC torque command via IDN S 0 0080 80 This command can be furthe...

Страница 133: ...peeds where the user may wish to alter this simple relationship to account for power limits by using a Field Weakening technique Field Weakening In such cases the AMD2000 incorporates a Field Weakening technique to command higher velocity from the PMSM at digressively lower torque in order to stay within the motor s maximum power output limits This technique reduces the allowable limit on q axis c...

Страница 134: ...3 Velocity break points RPM P 0 0213 450 6000 7000 Voltage limit break points V P 0 0214 25 294 339 Applying Current Control Loop Parameters for PMSM or IM V F Tuning parameters for the current control loops may be configured at any time however such configuration is not applied until either the drive re enable is carried out see Operation Modes elsewhere in this manual or manually triggered by th...

Страница 135: ...e demands are Motor Peak Current S 0 0109 109 defines the maximum quadrature current to which the drive is rated Amplifier Peak Current S 0 0110 110 specifies the maximum quadrature current rating of the drive This variable is configured automatically by the drive and the user cannot change it Peak Torque Producing Current P 0 0232 33000 defines the maximum quadrature current and by extension torq...

Страница 136: ...erate within If this IDN is set to zero then Power Limiting is disabled The drive Amplifier Continuous Current Limit can be set to detect current overlimits in the sensed phase currents Iu Iv Iw and flag an error in response Error Code Label E308 Continuous Current Limit Exceeded Variable Torque Control Variable Torque Control is a feature which allows the applied motor torque to be independently ...

Страница 137: ...mposed current limit They are Temperature Threshold amplifier P 0 1243 34011 motor P 0 1244 34012 and Decay Rate amplifier P 0 1245 34013 motor P 0 1246 34014 The Temperature Threshold deg C defines the temperature at which the current limit reduces to zero The Decay Rate A deg C defines how quickly the current limit approaches the Temperature Threshold as temperature increases Figure 10 26 illust...

Страница 138: ...AMD2000 Series Servo Drive User Manual 138 DS619 0 00 0019 Rev 0 ANCA Motion Figure 10 26 Amplifier Motor Temperature Based Current Limiting ...

Страница 139: ...e Transitions in mode while in motion are not generally recommended Warning Switching between operating modes mode slots while in motion should ONLY be done with care as unexpected motions can result In addition to the drive modes of operation being assigned it is also possible to pre assign the source of control set point data to be used for each mode slot Up to three different sources of data ar...

Страница 140: ... 11 9 and 8 of the IDN S 0 0134 134 Master Control Word determine which of the operation modes is active To operate the drive Bit 15 14 and 13 must all be set to 1 and this is usually undertaken as part of the start up and enable sequence in the drive Bit 15 Drive on off 0 drive off 1 drive on Bit 14 Enable drive 0 not enabled 1 enabled Bit 13 Halt restart drive Halt drive when changing from 1 to ...

Страница 141: ...00 for the drive amplifier or S 0 0201 201 for the motor Should the temperature exceed the shut down temperature S 0 0203 203 for the drive amplifier or S 0 0204 204 for the motor then drive will disable itself and display the C1D diagnostic error message E0104 E0114 This error must be manually reset prior to the drive being re enabled IDN Label S 0 200 200 Amplifier warning temperature S 0 0203 2...

Страница 142: ...plifier fan activation AMD 2000 only The following parameters are used to specify threshold values at which the cooling fan will turn on off IDN Description P 0 1238 34006 Cooling Fan Activation Amplifier Temperature Enable Threshold P 0 1239 34007 Cooling Fan Activation Amplifier Temperature Disable Threshold Temperature based current limiting Temperature rise is often a direct consequence of hig...

Страница 143: ...Torque Cmd Notch 3 Filter Freq P 0 0018 32786 Torque Cmd Notch 3 QFactor P 0 0019 32787 Torque Cmd Notch 4 Filter Freq P 0 0020 32788 Torque Cmd Notch 4 QFactor P 0 0021 32789 Torque Cmd Notch 5 Filter Freq P 0 0022 32790 Torque Cmd Notch 5 QFactor P 0 0510 33278 Motor Control Tuning Procedure Command The parameters in the above IDN s can be calculated or estimated as follows Low pass filter corne...

Страница 144: ...EtherCAT communications and to indicate the state of the drive The dots represent wire saving encoder UVW sensor feedback state on power up Error state 11 2 11 1 In an error condition the display will read either E where refers to the relevant error code See 11 3 Supported Error Codes for the description and cause of each When no error has been reported the display will provide information on both...

Страница 145: ...n segment display in the format of a prefix followed by a number 11 3 11 Error Code Prefixes Prefix Severity Description E Error Critical faults which disables the drive Class 1 Diagnostics W Warning Tolerable faults often a monitored measurable parameter has exceeded its specified desirable operating range Class 2 Diagnostics I Information Reported information regarding various internal states of...

Страница 146: ...or Error Low W0103 Warning Amplifier Temperature High Warning E0104 Error Amplifier Temperature High Error E0105 Error Amplifier Temperature High Error with Drive Enabled E0120 Error Motor Not Standstill During Enable E0205 Error EtherCAT Watchdog Timeout E0206 Error Configuration Mode Watchdog Timeout E0210 Error PSU Main Power Start Timeout Error E0211 Error PSU Error E0215 Error Encoder Adjuste...

Страница 147: ...E0403 Error Alignment Off Index Pulse Error E0404 Error DQA Current Magnitude Error E0405 Error DQA Current Control Error E0406 Error Absolute Encoder Alignment Error I0409 Info Field Orientation Alignment in Progress E0411 Error Acceleration Observer Excessive Movement E0412 Error Acceleration Observer Current Control Error E0413 Error Acceleration Observer Excessive Velocity E0414 Error Accelera...

Страница 148: ...or this error are 1 Encoder cable is wired incorrectly 2 Encoder is not analogue 3 Encoder is not outputting the correct voltage 4 Encoder is faulty 5 Drive is faulty Please contact ANCA Motion for support Severity Error Excess Servo Position Error E0023 Description Position following error exceeded the configured threshold Possible causes for this error are 1 Contouring commands too demanding 2 I...

Страница 149: ...lty drive mechanism eg loss coupling 4 Faulty encoder 5 Fault drive Please contact ANCA Motion for support Severity Error Variable Torque Limit Error E0080 Description Configuration of the variable torque limit is invalid The minimum torque limit is configured larger than the maximum torque limit Severity Error Drive Not Configured E0100 Description The drive has been enabled before being configur...

Страница 150: ...till During Enable E0120 Description When the drive is enabled the motor must be stationary This error is triggered if the motor moves during initialisation Possible causes for this error are 1 Motor is moving via some external interaction during initialisation 2 Analogue encoder feedback is excessively noisy if applicable 3 Standstill threshold is set below the analogue encoder feedback noise flo...

Страница 151: ...n The magnitude of the adjusted signals for the external analogue encoder is too low Incorrect gain and or offset values have been configured Severity Error Encoder Adjusted Amplitude High External E0228 Description The magnitude of the adjusted signals for the external analogue encoder is too high Incorrect gain and or offset values have been configured Severity Error DC Bus Voltage High E0302 De...

Страница 152: ... Error Positive Position Dead stop E0306 Description Position positive dead stop input is active Severity Error Negative Position Dead stop E0307 Description Position negative dead stop input is active Severity Error Instantaneous Current Limit Exceeded E0308 Description One or more of the motor phase currents has exceeded the instantaneous limit Possible causes for this error are 1 Instantaneous ...

Страница 153: ...dual heat within the motor exceeds the thermal limit Possible causes for this error are 1 Application is outside the specification for the motor too demanding 2 Current controller is poorly tuned 3 Field orientation alignment is inaccurate possible encoder fault 4 Motor is faulty Severity Error Positive Position Hard Limit E0330 Description Position hard limit in the positive direction has been ex...

Страница 154: ... contact ANCA Motion for support Severity Error DQA Invalid Movement Detected E0402 Description During DQ alignment an invalid movement was detected Possible causes for this error are 1 Incorrect motor poles configured 2 Incorrect motor phase sequence 3 Incorrect motor encoder line count configured 4 Incorrect motor encoder polarity configured 5 The configured alignment current is too low to drive...

Страница 155: ...n Sensed motor current is not following the Acceleration Observer alignment current with sufficient accuracy Possible causes for this error are 1 Poorly tuned current loop 2 DC bus voltage too low 3 Motor armature cable is disconnected 4 Motor is faulty 5 Drive is faulty Please contact ANCA Motion for support Severity Error Acceleration Observer Excessive Velocity E0413 Description Excessive veloc...

Страница 156: ...d list of error refers to P 0488 33256 Severity Info Task Overrun W1002 Description One or more of the internal tasks has exceeded their maximum execution time Please contact ANCA Motion for support Severity Warning 11 3 14 Firmware Upgrade Errors Displayed state Description BOOT1 Boot loader started BOOT2 Boot loader finished BLUP0 Boot loader Updater Firmware processing state idle BLUP1 Boot loa...

Страница 157: ...ng error in validating the image block CRC E0018 EFW Streaming in validating the software image E0019 EFW Streaming error flash interface is not enabled while finalizing image stage 2 E0020 EFW Streaming error in validating the file CRC E0021 Boot loader Updater error boot loader CRC check failed E0022 Boot loader Updater Firmware Processing error Flash controller interface error while preparing t...

Страница 158: ...2 2 11 Control Modes Linear control Yes Rotational control Yes Position control with cyclic position commands Commands received via the Ethernet interface EtherCAT protocol Velocity control Commands received via the Ethernet interface EtherCAT protocol Current Torque control Yes Sinusoidal Induction Motor Control Yes 12 2 12 Thermal and over current protection Inverter heat sink temperature limit ...

Страница 159: ...No Backlash compensation No Probing No Pre defined Drive Controlled Moves DCM Yes up to 64 move segments Drive controlled Homing DCH Yes Field Orientation Modes DQ Alignment Acceleration Observer Hall Sensors Fixed EtherCAT Slave Mode Yes EtherCAT Slave to Slave Communication Yes Stand alone Mode Yes Field Firmware Updates Yes Position Latch Yes Secure Boot Loader Yes Persistent Configuration Data...

Страница 160: ...mpedance 1 kΩ Isolated Yes 12 3 13 24V Digital Outputs Number of Outputs 6 Output Type NPN Open Collector Nominal Operating Voltage 24 V Maximum Operating Voltage 30 V Maximum Sink Current 300 mA total for all 6 outputs while not exceeding 300 mA per output 1 Isolated Yes Short Circuit Protected No 12 3 14 5V RS422 Differential Digital Inputs Number of Inputs 2 4 wires Absolute Maximum Voltage on ...

Страница 161: ...ximum Range 12 25 V Output Current Nominal 10 mA Short circuit protection Yes Bandwidth 500 Hz Isolated No 12 3 18 Motor Position Feedback Number of position feedback channels 2 Ch1 Analogue 1 Vpp Ch2 RS422 Line Drive Supported Encoders Analogue Incremental Sin Cos 1 Vpp Digital Incremental RS422 12 3 19 Encoder Channel 1 Interface Type Analogue 1 Vpp Supported Inputs Sin Cos 1Vpp Ref RS485 1Vpp C...

Страница 162: ...old 200 mV Hysteresis 45 mV Isolated No 12 3 21 Encoder Supply Nominal Voltage 5VDC 5 unregulated supply 9VDC 5 regulated supply Maximum Current 400mA 5VDC 500mA 9VDC Short Circuit Protection No 12 3 22 Ethernet Interface Protocol EtherCAT Baud Rate 100 Mb s Drive Profile Definition SoE Connector Ethernet RJ 45 12 3 23 Modbus Interface Baud Rate 19200 b s Connector RJ 45 12 3 24 Drive Display Indi...

Страница 163: ...oltage ULN 1Ø ULL 3Ø 100 240VAC 100 240VAC Voltage fluctuation Uδ 10 Input frequency ƒLN 50 60Hz Maximum input voltage to Protective Earth UL1 L2 L3 PE 265V AC Auxiliary input current ILN 500 mA Soft Start Relay Internal 12 4 12 Digital servo drive DC voltage UDC 1 404xULN 1Ø 3 Ø Max output voltage UaN1 0 90x ULN 1Ø 3 Ø Continuous output current IaN 3 A rms 9 A rms One minute overload capability I...

Страница 164: ... State Performance Accuracy at recommended operating conditions 2 encoder counts 12 5 13 Dynamic Performance Max settling time 13 Current loop response 14 12 5 14 Regenerative Braking Regenerative brake switching capacity 3A at UDC 9A at UDC Internal Brake Resistor 40 Watts 60 Watts External Brake Resistor Optional 13 Depends on current velocity position control loop tuning 14 Depends on current v...

Страница 165: ...tive Humidity 5 to 85 non condensing Mechanical vibration 5 9 m s2 maximum Unusual environmental conditions Not provided beyond 60146 1 1 Maximum installation operating altitude with respect to mean sea level 1000 12 6 14 Physical Characteristics Degree of Protection IP20 in accordance with 60529 Mounting position in Operation Vertical Device Weight 1 25kg 2kg Height mm 206 182 Width mm 43 60 Dept...

Страница 166: ...D2000 drives comply with EN 60529 IP20 NOTE The top surface of cabinets enclosures which are accessible when the equipment is energized shall meet at the requirement of protective type IP3X with regard to vertical access only 12 7 Dimension Drawings 12 7 11 AMD2000 3A drive mounting hole positions and physical dimensions ...

Страница 167: ...works by rectifying AC into DC to generate what is known as a DC Bus This is smoothed by the bus capacitance and then 6 switches turn on in such a manner that rotation of the motor occurs Because there is a finite capacitance in the drive there will always be voltage ripple when the drive is providing energy to a motor The higher the input voltage is to the drive and the more power that is drawn f...

Страница 168: ...l also affect ripple and droop If the load is decreased the ripple will decrease but the relationship is not linear Either simulation testing or solution of non linear equations is required to find the droop that will result in a changed load with fixed AC input voltage and capacitance ...

Страница 169: ...e that this will give up to 1 5 times more voltage droop than will occur in reality As the bus capacitance increases and the load decreases this equation becomes more accurate If exact voltage droop is desired then please contact ANCA Motion applications engineering Note that with increasing drive bus capacitance the inrush current upon power up increases and the internal soft start resistor may n...

Страница 170: ...mbient temperature and maximum voltage rating of the drive Note that these curves are for a single drive only Where multiple drives are used in close proximity further de rating may be necessary Please see mechanical drawings below that show spacing required 12 11 Input Power cycling and Inrush Upon start up the drive will have an inrush current of no more than 6 8 A Power cycling the drive more t...

Страница 171: ...able below This is dependent on motor input voltage optional harmonic suppression inductor if used and optional additional bus capacitance and if a single or three phase supply is used Note that the increase of power by using additional bus capacitance is not covered in the de ratings tables Please contact ANCA Motion applications if increased power output is required by using additional bus capac...

Страница 172: ...he AMD 9 If there is more regeneration power than this is created then the user must connect an external resistor In addition to the power dissipation constraint of the regeneration resistors the internal bulk capacitance of the drive is 440µF for the AMD2000 3A and 1410µF for the AMD2000 9A with a working voltage of 400V This value of 400V must never be exceeded The user must calculate what the b...

Страница 173: ...ain Example 1 Servo Motor Pulley Pulley Ratio 5 Load Grinding Wheel Flywheel etc Pulley to Drive Load The servo motor drives a load via two pulleys The ratio is 1 5 from motor to load to provide a slower speed but higher torque Assuming the belt has negligible stored energy compared to the rest of the system and the load is rotational Jeff effective moment of inertia Jmotor Jmotor pulley Jload pul...

Страница 174: ...ecycled to preserve energy and natural resources The package materials are mostly environmentally compatible and recyclable All metal parts can be recycled The plastic parts can either be recycled or burned under controlled circumstances according to local regulations Most recyclable parts are marked with recycling marks The electrolytic capacitors and the integrator power module are classified as...

Страница 175: ...2 4 2003 IEC 60146 1 1 1993 IEC 61000 2 1 1990 Integrity EnE Lab Inc Taiwan Electronics Testing Center Taiwan Report No IL110705800 Report No 13 01 MAS 116 R Report No IL100812800 Report No 12 06 MAS 263 16 ETG 1000 series ETG 9001 ETG 1300 Note the AMD2000 is a conforming EtherCAT device but does not qualify as conformance tested ANCA Motion self determination of compliance Those items in the dri...

Страница 176: ...h the following provisions 1 The motor and control cables are selected according the specifications given in this manual 2 The drives are installed and maintained according to the instructions given in this manual 3 The maximum cable lengths are 15 metres Warning A drive of category C3 is not intended to be used on a low voltage public network which supplies domestic premises Radio frequency inter...

Страница 177: ...nual Definitions 12 18 12 1 Protective Class I Equipment in which protection against electric shock does not rely on basic insulation only but which includes an additional safety precaution in such a way that means are provided for the connection of accessible conductive parts to the protective earthing conductor in the fixed wiring of the installation so that accessible conductive parts cannot be...

Страница 178: ...AMD2000 Series Servo Drive User Manual 178 DS619 0 00 0019 Rev 0 ANCA Motion 12 18 13 CE Declaration of Conformity ...

Страница 179: ...Technical Data ANCA Motion DS619 0 00 0019 Rev 0 179 12 ...

Страница 180: ...details please refer to full catalogue and information available via 14 3 Product Sales and Service Enquiries 13 2 Motors 13 2 11 Motor Catalogue Number Interpretation Product M Motor Series A Alpha Series Frame Size 60 60 mm square flange 80 80 mm square flange 86 86 mm square flange 130 130 mm square flange Rated Torque 06 0 6 Nm 13 1 3 Nm 24 2 4 Nm etc Rated Speed 10 1000 rpm 20 2000 rpm 30 300...

Страница 181: ...AMD2000 D2009 MA80 2430 A 2 39 3000 750 4 3 0 61 52 09 12 9 5000 0 94 2 1 8 63 8 MA80 2430 AB 2 39 3000 750 4 3 0 61 52 09 12 9 5000 1 07 2 1 8 63 8 MA130 4830 A 4 78 3000 1500 7 06 0 74 51 7 21 2 5000 6 26 0 65 3 58 8 MA130 4830 AB 4 78 3000 1500 7 06 0 74 51 7 21 2 5000 6 58 0 65 3 58 8 MA130 7220 A 7 16 2000 1500 7 57 1 06 72 5 22 71 4000 8 88 0 79 4 74 8 MA130 7220 AB 7 16 2000 1500 7 57 1 06 ...

Страница 182: ... AMP MA86 2430 AB 183 2 86 80 16 35 32 100 6 5 4 06 IP67 F 155 AMP MA130 5310 A 164 8 130 4 110 22 58 52 145 9 6 47 IP67 B 130 MS MA130 5310 AB 219 3 130 4 110 22 58 52 145 9 7 57 IP67 B 130 MS MA80 2430 A 139 80 70 19 40 37 90 5 5 2 47 IP67 F 155 AMP MA80 2430 AB 174 80 70 19 40 37 90 5 5 3 12 IP67 F 155 AMP MA130 4830 A 164 8 130 4 110 22 58 52 145 9 6 47 IP67 B 130 MS AMD2000 MA130 4830 AB 219 ...

Страница 183: ...ure with Brake Connector Type P Plastic M Metal Length 020 2 Metre 030 3 Metre 050 5 Metre 100 10 Metre Specials D Default K 2 A F S P D 0 2 0 Shielding S Shielded U Unshielded 13 3 12 Encoder Cables Encoder Cables Plastic AMP 13 3 12 1 Catalogue Number Length K2A FSPD 020 2m K2A FSPD 030 3m K2A FSPD 050 5m K2A FSPD 100 10m Encoder Cables Metal MS 13 3 12 2 Catalogue Number Length K2A FSMD 020 2m ...

Страница 184: ...l MS 13 3 13 2 Catalogue Number Length K2A ASMD 020 2m K2A ASMD 030 3m K2A ASMD 050 5m K2A ASMD 100 10m Shielded Armature Cables with Brake Metal MS 13 3 13 3 Catalogue Number Length K2A BSMD 020 2m K2A BSMD 030 3m K2A BSMD 050 5m K2A BSMD 100 10m 13 4 Other Accessories 13 4 11 I O Interface Accessories Part Number Description 619 0 00 0965 AMD2000 I O Interface Module Kit ICN 3077 1150 1 x AMD200...

Страница 185: ...9A Armature Bracket Kit 13 4 14 AMD2000 3A EMC Kit Part Number Description 619 0 00 0966 AMD2000 3A EMC Kit ICN 3096 1665 Schaffner FN 3270H 10 44 ICN 3096 0048 Schaffner FN 343 3 05 ICN 3096 1661 Hammond Manufacturing 159ZJ ICN 3096 1663 King Core KCF 130 B ICN 3096 1664 King Core K5B T 29x7 7x19 ICN 3096 0049 JFE R 60 40 25B MA055 C 13 4 15 AMD2000 9A EMC Kit Part Number Description 619 0 00 096...

Страница 186: ...er FN 343 3 05 13 4 17 Line Reactors Part Number Description ICN 3096 1662 Hammond Power Solutions RM0012N13 13 4 18 DC Chokes Part Number Description ICN 3096 1661 Hammond Manufacturing 159ZJ 13 4 19 Magnetic Cores Part Number Description ICN 3096 1663 King Core KCF 130 B ICN 3096 1664 King Core K5B T 29x7 7x19 ICN 3096 0049 JFE R 60 40 25B MA055 C 13 5 Starter Kits 13 5 11 AMD2000 3A Starter Kit...

Страница 187: ...able K2A ASPD 020 Alpha Motor Cable ICN 1026 1097 Ethernet Cable Cat 5e SF UTP 1m 13 5 12 AMD2000 9A Starter Kit Part Number Description 619 0 00 0972 AMD2000 9A Starter Kit D2009 2S1 A AMD2000 Series Servo Drive MA80 2430 A Alpha Series Servo Motor K2A FSPD 020 Alpha Motor Cable K2A ASPD 020 Alpha Motor Cable ICN 1026 1097 Ethernet Cable Cat 5e SF UTP 1m ...

Страница 188: ...tions are fitted correctly and that there are no signs of damage Check that all wires are tightly fitted to the connectors and that there are no signs of discolouration which may indicate heating Make sure all drive covers are securely fitted and that they have no signs of damage Make sure that the drive enclosure is free from dust or anything that may inhibit its operation Refer to section Mechan...

Страница 189: ...precautions have been taken in the preparation of this Manual but the information contained herein does not purport to cover all details or variations in hardware and software configuration Features may be described herein which are not present in all hardware and software systems We would like to hear your feedback via our website www ancamotion com Contact Us ...

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