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THIS

DOCUMENT

DESCRIBES

THE

INSTALLATION

AND

STARTUP FOR THE DS2020

COMBITRONIC™ SYSTEM

Rev. A, January 2021

INSTALLATION

AND

STARTUP

SINGLE AXIS DIGITAL
SERVO SYSTEM

DS2020 TECHNOLOGY
WITH

COMBITRONIC™

www.animatics.com

Содержание Combitronic DS2020

Страница 1: ...UMENT DESCRIBES THE INSTALLATION AND STARTUP FOR THE DS2020 COMBITRONIC SYSTEM Rev A January 2021 INSTALLATION AND STARTUP SINGLE AXIS DIGITAL SERVO SYSTEM DS2020 TECHNOLOGY WITH COMBITRONIC www anima...

Страница 2: ...nsibility to decide if a particular code sample or program applies to the application being developed and to adjust the values to fit that application Moog Animatics and the Moog Animatics logo SmartM...

Страница 3: ...2 1 Safety and Usage Guidelines 19 2 2 Qualified Personnel 19 2 3 Electrical Hazards 20 2 3 1 Voltage Arcs and High Voltage 20 2 3 2 General Hazards and Safeguards 21 2 4 Thermal Hazards 21 2 5 Mecha...

Страница 4: ...3 2 4 Connectors 37 3 2 4 1 Connector Layout 38 3 2 5 Power Line Filters 46 3 2 6 Braking Resistor 46 3 2 7 Line Inductors 47 3 3 Motors 47 3 3 1 Selecting a Moog Motor 47 3 3 2 Selecting a Non Moog...

Страница 5: ...ponents 70 5 3 5 3 Ground Connection 71 5 3 5 4 Ground Stud 71 5 3 6 Drive Wiring 72 5 3 6 1 DS2020 Combitronic Motor System Diagram 73 5 3 6 2 Front Panel Connectors and Pin Descriptions 74 5 3 6 3 G...

Страница 6: ...ocedure 112 6 7 9 Factory Reset 113 6 7 10 Fault Configuration 114 6 7 10 1 Understanding Fault Reactions 115 6 7 10 2 Setting Fault Reactions 115 6 7 10 3 Faults List 116 6 7 11 DS2020 Combitronic St...

Страница 7: ...O Signal 137 9 2 5 Errors on Memory Devices 137 9 2 6 Data Corrupted Fault 137 9 2 7 Brake Feedback Fault 138 9 2 8 Errors on Feedback Devices 138 9 2 9 Synchronization Interrupt Time and Task Time Er...

Страница 8: ...the STO Function on the Drive Plate 156 11 System Disposition 157 11 1 What to Do If Repairs Are Required 157 12 Ordering Code 157 12 1 DS2020 Combitronic Ordering Code 157 12 2 Moog Motor Ordering C...

Страница 9: ...re 15 Motor to DS2020 Combitronic System Diagram 73 Figure 16 DS2020 Combitronic Pinouts for All Front Panel Connectors 74 Figure 17 Connector X11 W1 V1 U1 sizes L50 and L75 75 Figure 18 Connector X13...

Страница 10: ...sition Loop Filters Placement 108 Figure 42 DS2020 Combitronic System State Machine 117 Figure 43 Motor View 122 Figure 44 Tab Selected that Matches the Communications Channel 126 Figure 45 Opening th...

Страница 11: ...ation Customers of Moog include leading automotive manufacturers aerospace manufacturers testing labs and global automotive racing teams We help performance driven companies design and develop their n...

Страница 12: ...indicates a hazardous situation which if not avoided could result in minor or moderate injury NOTICE NOTE indicates possible property damage The following table shows the structure of a warning SIGNA...

Страница 13: ...ullet list 1 2 These are steps in a procedure that must be performed in consecutive order The following table shows the abbreviations adopted in Moog documents Abbreviation Explanation EMA Electro Mec...

Страница 14: ...tronic system 1 1 Purpose 15 1 2 Related Documents 15 1 3 Package Contents 15 1 4 Required Qualifications of Personnel 16 1 5 Applicable Laws 16 1 6 Getting Started 17 PN SC80100020 001 Rev A January...

Страница 15: ...lable on the Moog Animatics website l Moog motor installation guides available on the Moog Animatics website l Moog motor installation drawing provides information on motor mounting and wiring schemat...

Страница 16: ...handling components that are sensitive to mechanical shock and electrostatic discharge ESD l Installation and Maintenance All personnel must have extensive technical knowledge and experience with the...

Страница 17: ...ur motor 5 Install the SmartMotor that will be used with the DS2020 Combitronic system see the SmartMotor installation guide for your SmartMotor 6 Install the cables and connect power see Electrical I...

Страница 18: ...eature 22 2 6 1 Description 22 2 6 2 Directives on Safety 22 2 7 Safe Use of the DS2020 Combitronic System 23 2 7 1 Risk Assessment 23 2 7 2 Electrical Connections 23 2 7 3 Motor Selection 23 2 7 4 Po...

Страница 19: ...guides listed in Related Documents on page 15 NOTICE Observe and adhere to the technical data and in particular the information given on the system component nameplates The installation must comply wi...

Страница 20: ...damage equipment Additionally the drive s capacitors can have dangerous voltages present up to eight minutes after the removal of the mains voltage l Never attempt to remove safety covers or loosen o...

Страница 21: ...and control connections may be live even when the motor is stopped 2 4 Thermal Hazards CAUTION CAUTION Burn hazard The surface temperature of the drive may reach a temperature of 80 C and the motor m...

Страница 22: ...G Mechanical hazard Large motors can generate very high torque and impact or trapping hazards which can result in death or serious injury to personnel or damage to equipment Follow these safety instru...

Страница 23: ...l be operated For more details see Risk Assessment on page 25 2 7 2 Electrical Connections The drives must operate only inside an enclosed control cabinet Additional ventilation or cooling may be nece...

Страница 24: ...ies with a voltage exceeding 240 VAC l On ships or offshore installations The installation and start up of the drive are prohibited in cases where the machine on which it is installed l Does not compl...

Страница 25: ...0 Combitronic system depend on the application and should be considered during the evaluation of the overall risk of the installation The designer of the installation is responsible for the risk asses...

Страница 26: ...ntact with any electrical hydraulic pneumatic thermal chemical or other hazards that may be present at the machine l Prevent unauthorized access to wiring and power supply cabinets electrical boxes et...

Страница 27: ...and constraints when the reaction to the fault results in the interruption of the reboot l The operating environment description l Tests and associated equipment e g access doors safety gates l Frequ...

Страница 28: ...3 2 Features and Component Details 34 3 2 1 Electrical Data 34 3 2 2 Mechanical Data 34 3 2 3 Transducers 36 3 2 4 Connectors 37 3 2 4 1 Connector Layout 38 3 2 5 Power Line Filters 46 3 2 6 Braking...

Страница 29: ...a slave device on the Combitronic network This allows SmartMotor users to take advantage of larger higher torque motors available for the DS2020 drive while enjoying the ease of use and full Combitron...

Страница 30: ...Diagnostic Through SMI software GUI Positioning transducers Resolver standard User Interface SMI software Data logging Not available AC DC conversion Three phase input bridge with soft start Power ran...

Страница 31: ...drive is idle or powered Mechanical resistance according to EN 60721 3 3 Vibration 3 mm for frequencies between 2 and 9 Hz Vibration 1 g for frequencies between 9 and 200 Hz Shock 98 m s2 10 g for 11...

Страница 32: ...12 Arms 22 Arms X2 X3 Type of transducer Value Type T RESOLVER Fieldbus type Value Type Hardware revision 05 Special versions Internal coding1 C H 1 T Peak current USB CAN Bus COMBITRONIC 4 COMBITRON...

Страница 33: ...ITDS2020 R1 RESOLVER L50 and L75 drives USB KITDS2020 R2 RESOLVER L85 drives USB The drive is equipped with a USB port in the X3 port position It is reserved for firmware updates only contact Applicat...

Страница 34: ...to 22 From 32 to 48 Protections Protection with thermal reading of the heat sink temperature and estimated temperature of the power module junction insufficient voltage under voltage or excessive volt...

Страница 35: ...80 7 09 199 40 7 85 50 1 97 203 7 99 215 8 46 170 6 69 21 0 83 7 5 0 30 4 5 0 18 180 7 09 199 40 7 85 75 2 95 203 7 99 215 8 46 170 6 69 21 0 83 Module 50 mm 1 97 inch Module 75 mm 2 95 inch Figure 5...

Страница 36: ...ch Figure 6 Drive Chassis Dimensions L85 3 2 3 Transducers The DS2020 Combitronic system can manage the following transducers Resolver standard PN SC80100020 001 Rev A January 2021 Page 36 of 166 Moog...

Страница 37: ...ce X7 and X8 SmartMotor CAN and RS 232 Front view connector layout Bottom view connector layout for sizes L50 and L75 X10 Motor brake Power and command X11 AC supply power in Motor power out Brake res...

Страница 38: ...ke resistor X12 Motor power Out X13 Power In 3 2 4 1 Connector Layout The connector pin tables are shown in the following figures X1 Control Power Input The drive requires a 24 VDC power supply connec...

Страница 39: ...ch as the Moog Fastact G Servomotors can be conveniently connected on the X2 inputs Motors with a thermal sensor on the power connector can use the inputs on the X10 connector X3 USB Interface The X3...

Страница 40: ...inition Function 1 24V_EXT 2 A 3 A 4 B 5 B 6 C 7 C 8 0V 0V reference Pin Reserved Reserved Reserved Reserved Channel A inverted Channel A Output voltage 24 VDC 200 mA 1 3 5 7 2 4 6 8 i The 24 Volt pow...

Страница 41: ...referenced to 0V Digital pin 8 l Digital I O ground on pin 8 is isolated from other system grounds l Drive OK pins 11 and 12 are a relay contact in the DS2020 drive its contacts are closed when the d...

Страница 42: ...section 9 3 Alarm Display on page 139 X7 X8 SmartMotor Option The DS2020 SmartMotor Combitronic provides two screw connectors for the self powered isolated RS 232 port and the self powered isolated C...

Страница 43: ...to the shield of the CAN cable to protect signals from electromagnetic fields this connection should be made only on one side of the cable to avoid ground loops and undesired current flow through it P...

Страница 44: ...act or trapping hazards which can result in death or serious injury to personnel or damage to equipment Follow these safety instructions l The connection to the motor s brake alone does not guarantee...

Страница 45: ...nd closing times depend on the motor type and other motor parameters The drive can t reply to commands during the brake opening and closing so for some tenths or hundreds of milliseconds All three par...

Страница 46: ...able between the drive and motor up to 50 m Non industrial environment EN61800 3 complies with radio shielding Allowable length of the cable between the drive and motor up to 100 m Code Drive Model Ty...

Страница 47: ...ol because the velocity loop always produces current references but it is not directly available to the user 3 3 1 Selecting a Moog Motor To make the motor selection process easy Moog has identified a...

Страница 48: ...er If you are building your own cables or using motors from other manufacturers please consult the following table for recommended cable specifications Feature DS2020 Combitronic 2A 4A 6A 8A 12A Secti...

Страница 49: ...ate cables The cables and the motor winding may interact with the drive output stage to create an oscillating circuit that increases the maximum voltage of the system The parameters that contribute to...

Страница 50: ...3 4 3 Certification Compliant System Installation Requirements 56 4 3 1 Environmental Ratings 56 4 3 2 Short Circuit Protection 57 4 3 3 Primary Circuit Overvoltage Protection 58 4 3 4 Dynamic Brake U...

Страница 51: ...y the DS2020 Combitronic system refers to C3 industrial environments NOTICE The DS2020 Combitronic system can emit radio frequency that might interfere with non industrial electric and electronic devi...

Страница 52: ...Figure 8 CE Declaration of Conformity PN SC80100020 001 Rev A January 2021 Page 52 of 166 Moog Animatics DS2020 Combitronic Installation and Startup Guide 4 1 CE Certificate...

Страница 53: ...t does not lead to loss of the safety function l Some but not all possible faults may be identified l The addition of more undetected failures can lead to loss of the safety function In case of the oc...

Страница 54: ...Figure 9 CE Safe Torque Off Certificate of Conformity PN SC80100020 001 Rev A January 2021 Page 54 of 166 Moog Animatics DS2020 Combitronic Installation and Startup Guide 4 2 Safe Torque Off STO...

Страница 55: ...Figure 10 EC Type Examination Certificate PN SC80100020 001 Rev A January 2021 Page 55 of 166 Moog Animatics DS2020 Combitronic Installation and Startup Guide 4 2 Safe Torque Off STO...

Страница 56: ...stem when provided l Liquid Cooling Type Water 80 Glycol 20 l Inlet Max Liquid Cooling Temperature 40 C l Outlet Max Liquid Cooling Temperature 70 C l Rated Liquid Cooling Operating Pressure 0 8 bars...

Страница 57: ...pecial Purpose Fuses JFHR2 8 Type Semiconductor Fuse See the following table for the man ufacturers model number and electrical ratings of the Fuses External required Type Semiconductor Fuses Drive Mo...

Страница 58: ...ecessary to reduce the spacings clearances also as required by the Standard UL61800 5 1 for Basic Insulation Suppressive Device Component R C Surge Protective Device VZCA2 VZCA8 or CSA cer tified Refe...

Страница 59: ...81 51 100 W 2 External DBU Ratings Optionally mounted DBU External Resistors The following table also shows the ratings of the external DBU Resistors required or provided as optional accessories by t...

Страница 60: ...67 5 3 3 2 Thermal Dissipation of Accessories 68 5 3 4 Control Power Requirements 68 5 3 5 AC Mains Power Ground Connection 69 5 3 5 1 Types of Earthing Grounding Systems 69 5 3 5 2 Protection Compon...

Страница 61: ...onnecting the SmartMotor X7 X8 Connectors 81 5 3 6 13 Connecting a PC to the System 82 PN SC80100020 001 Rev A January 2021 Page 61 of 166 Moog Animatics DS2020 Combitronic Installation and Startup Gu...

Страница 62: ...eed for any other specialized electronic equipment 5 2 Mechanical Installation This section provides information about the mechanical installation of the DS2020 Combitronic system 5 2 1 Assembly of Sy...

Страница 63: ...y resistors the L85 sizes have external braking resistors If the application requires it external braking resistors are available for all sizes they must be placed at the top of the electrical panel a...

Страница 64: ...ore attempting this operation follow the safety information and procedures in General Hazards and Safeguards on page 21 WARNING WARNING Mechanical hazard The DS2020 Combitronic system and connected mo...

Страница 65: ...y PWM modulation which are capable of generating significant unwanted currents through capacitive couplings and grounded systems These voltage surges can also generate high frequency radiation mainly...

Страница 66: ...ntrol cable shield can only be connected at one end to clear the noise that might interfere with the control signal Requirements for laying the connecting cables l Avoid crossing power cables with sig...

Страница 67: ...ting conditions The value of maximum power that can be dissipated from the radiator is useful to estimate the power dissipated on the internal braking resistors In the application if the dissipated po...

Страница 68: ...t provide 24 VDC with a tolerance of 10 and ripple of less than 200 mV The current consumption will depend on number and type of DS2020 Combitronic drives in the system The maximum required current wi...

Страница 69: ...tem shown in the following figure is common to many industrial facilities and has the following characteristics a Direct connection to ground ground point b The neutral and grounding of the whole syst...

Страница 70: ...xposed to contact and all shields 5 3 5 2 Protection Components Fuses It is recommended to implement protection against short circuit in the final application using external semiconductor type fuses 6...

Страница 71: ...vity needs to be installed on each power supply system modules axis 5 3 5 3 Ground Connection In the electrical panels there are normally two types of grounds l EMC Ground high frequency using unpaint...

Страница 72: ...cting the SmartMotor X7 X8 Connectors on page 81 8 Connect the power supply lines on X11 see Power Cord Connection on page 75 9 Connect the motor on X11 see Motor Cable Connection Details on page 76 1...

Страница 73: ...7 8 kHz 8 TERM B 9 8 kHz X2 Motor Feedback 1 9 2 3 4 5 8 7 6 Pin Motor 12 Pin 4 3 2 1 5 8 7 6 Function SIN SIN COS COS TERM B TERM A 8 kHz 8 kHz NOTE For the Motor 12 Pin connector pins 9 10 11 and 12...

Страница 74: ...1 12 Drive ok contact 13 Digital input 1 fast optoisolated 14 Digital input 2 fast optoisolated 15 Reset of the module 16 1 3 5 7 9 11 13 15 2 4 6 8 10 12 14 16 Not connected Drive ok contact Analog I...

Страница 75: ...ection to the earthing system For grounding details see AC Mains Power Ground Connection on page 69 5 3 6 4 Power Cord Connection For selection information see Cables on page 48 Figure 17 Connector X1...

Страница 76: ...the preper resistance selection see Braking Resistor on page 46 5 3 6 6 Control Power Connection A control power of 24 VDC must be externally provided to the 24 V and 0 V terminals on the X1 connector...

Страница 77: ...evices and the power supply it is installed externally on the 24 Volt line if not protected in any other way l Internal devices are protected from short circuit between the terminals 3 and 4 and to gr...

Страница 78: ...uipment It is the responsibility of the machine manufacturer to specify an appropriate braking mechanism for the application to ensure safe operation In particular vertical loads require an additional...

Страница 79: ...l Digital OUT1 pin 9 of X5 is driven by OUT 5 x command It is referred to 0V Digital pin 8 of X5 and needs to be supplied with 24 VDC on 24 Volt IN pin 7 of X5 Notes for the digital inputs on the X4 c...

Страница 80: ...axis to drop uncontrollably which could cause damage to equipment In situations where this behavior is not compatible with the machine move ments for example with interpolated axes or ones that interf...

Страница 81: ...the connection cables of the STO function are located beyond the area of the machine installation the cables must be installed in a fixed manner and pro tected for example through a raceway 5 3 6 11 T...

Страница 82: ...the drive The Shield and CAN GND connections are intended for different purposes and should not be linked together The CAN GND pin is the reference for the CAN signals and must be shared by all Smart...

Страница 83: ...ing Overview 85 6 2 Safety 86 6 3 Activate Power 86 6 4 Installing the SMI Software 87 6 4 1 Installation Procedure 87 6 4 2 Installation Verification 90 6 5 Accessing the SMI Software Interface 90 6...

Страница 84: ...1 6 10 2 Clearing the Overtravel Limits and Fault Bits 124 6 11 Motion Checklist 125 6 12 Moving the DS2020 Combitronic System s Motor 125 6 12 1 Making the DS2020 Combitronic System s Motor Move 126...

Страница 85: ...page 93 f Use the SMI software to configure the DS2020 Combitronic system s motor parameters see Setting the DS2020 Combitronic Drive Motor Parameters on page 101 g Activate check the STO circuit see...

Страница 86: ...el are authorized to set the parameters of a running drive l Changing parameters without prior verification may result in unexpected unsafe and or incorrect machine movements l Before operating the dr...

Страница 87: ...ottom of the page Figure 25 SMI Download Link The installation package is downloaded to your system 6 4 1 Installation Procedure i Depending on the SMI software version and SmartMotor products being u...

Страница 88: ...i All personal settings and user files will be retained 2 Click Next to proceed The Installation Configuration page opens PN SC80100020 001 Rev A January 2021 Page 88 of 166 Moog Animatics DS2020 Com...

Страница 89: ...u have finished reviewing the welcome information click Next to proceed Continue following the on screen instructions to complete the SMI software installation PN SC80100020 001 Rev A January 2021 Pag...

Страница 90: ...Interface The SmartMotor Interface software SMI software communicates with a single or series of SmartMotors from a Windows based PC and gives you the capability to control and monitor the status of...

Страница 91: ...oftware double click the SmartMotor Interface shortcut on the Windows desktop Figure 26 SmartMotor Interface Shortcut Optionally to open the SMI software from the Microsoft Windows Start menu select S...

Страница 92: ...nd or a connected DS2020 Combitronic system for example issue single line commands to one or all motors The response if any is also shown in this window l Information Window lower window This window i...

Страница 93: ...system connected the address may be changed For details see Using the Address Motors Feature on page 99 These methods are described in the following sections Some notes about motor addressing The Smar...

Страница 94: ...evices you can address serial and CAN in the same command which means you can use the serial network to communicate with the CAN bus The leading number is the serial address the number following the c...

Страница 95: ...29 Address the Motors Prompt A progress bar displays a Getting motor information message while the SMI software addresses the DS2020 Combitronic systems During this process the SMI software is collect...

Страница 96: ...port Each DS2020 Combitronic system is represented by a DS2020 Combitronic icon the DS2020 Combitronic s address is shown next to the DS2020 Combitronic icon Figure 31 Configuration Window Showing Fo...

Страница 97: ...e detected the SMI software will address them if needed The following steps are only used when the SMI software finds SmartMotors or or DS2020 Combitronic systems that do not have addresses To address...

Страница 98: ...ort Each DS2020 Combitronic system is represented by a DS2020 Combitronic icon the DS2020 Combitronic s address is shown next to the DS2020 Combitronic icon Figure 35 Configuration Window Showing Foun...

Страница 99: ...s RS 232 Chain from the menu Figure 36 Selecting the Detect Motors Feature To address the DS2020 Combitronic systems click Yes when you see the following prompt Figure 37 Address the Motors Prompt A p...

Страница 100: ...rt Each DS2020 Combitronic system is represented by a DS2020 Combitronic icon the DS2020 Combitronic s address is shown next to the DS2020 Combitronic icon Figure 39 Configuration Window Showing Found...

Страница 101: ...ect an item in the interface and press F1 or click the help icon on the SMI software toolbar and then click on the item in the interface l SMI software online help file from the SMI software menu sele...

Страница 102: ...feedback parameters of the connected drive motor Send to Read from Drive Sends to reads from the connected drive s motor and feedback parameters Factory Reset Clears the EEPROM and resets the drive to...

Страница 103: ...Parameters The DS2020 Configuration Dialog provides two methods for setting motor parameters 1 selecting a predefined motor from a list 2 manually entering the motor parameters This section describes...

Страница 104: ...motor parameters 1 selecting a predefined motor from a list 2 manually entering the motor parameters This section describes the second method for the first method see Selecting Predefined Motor Parame...

Страница 105: ...to go from fully closed to fully open 0 to 1000 Brake Closing Time ms Sets the time in ms for the brake to go from fully open to fully closed 0 to 1000 Operating Voltage VAC Sets the incoming AC volta...

Страница 106: ...ed 1 resolver Resolver Poles Sets the number of resolver poles 0 to 65535 only even numbers allowed Phasing Angle Set the phasing angle decimal degrees 0 to 65535 Start Cable Compensation initiates th...

Страница 107: ...nt Controller PI Power Stage Motor Initial Position Initial Velocity Position Reference KV Target Position Target Velocity Target Accel Decel Velocity Reference Velocity Feedback Current Feedback Auto...

Страница 108: ...ault it is set to be a low pass filter LPF with its cutoff frequency at 400 Hz The velocity control must ensure that the motor velocity follows as closely as possible the velocity reference both in st...

Страница 109: ...ty com puted from transducer Default Low pass filter 400 Hz cutoff Disabled Low pass filter Double pole filter Filter 1 Set filter 1 applied on velocity reference from position loop Default Disabled D...

Страница 110: ...Disabled Disabled Low pass filter Double pole filter Send to Drive Sends the values entered in the above fields to the DS2020 Combitronic sys tem Read from Drive Reads the currently set values from t...

Страница 111: ...the values to the DS2020 Combitronic system nonvolatile memory For more details see Save to EEPROM on page 103 6 7 7 Cable Compensation Procedure This feature is enabled only if the DS2020 Combitroni...

Страница 112: ...sing procedure When the operation has been completed a check mark is shown next to the button on the dialog i The motor parameters must be set before starting the auto phasing procedure See Selecting...

Страница 113: ...be stored to nonvolatile memory To store it on EEPROM click Save to EEPROM which stores the value in nonvolatile memory On successful completion of the Auto phasing procedure the displayed Phasing An...

Страница 114: ...n The DS2020 Configuration dialog provides a Fault Display Settings dialog for viewing faults and also for setting the system s reaction to those faults 1 From the DS2020 Configuration dialog click th...

Страница 115: ...reactions remember the following l Reactions 3 4 slow and quick stops are executed by actively driving the motor generating PWM signals to control it l Only reaction 2 and 127 immediately disables th...

Страница 116: ...l Additionally there are two buttons available Send to Drive Sends the edited fault reaction to the connected drive Close Closes the Edit Fault Reaction dialog box For each alarm the most appropriate...

Страница 117: ...te machine of DS2020 Combitronic system follows the DS402 specification The transitions from one state to another are triggered by the following events Transition Event s 1 Automatic transition 2 STO...

Страница 118: ...on Switch on disabled Ready to switch on l S in the state Switched on l E in the states Operation enable Quick Stop Active l F followed by the fault index in the states Fault and Fault Reaction Active...

Страница 119: ...any system maintenance l Do not attempt to access a protected area safety interlocked cover door barrier etc while the machine is powered up or operating Doing so triggers the emergency stop chain wh...

Страница 120: ...e the limits are enabled The EIGN command can be used from the SMI Terminal window or a SmartMotor program to disable the positive and negative limits as follows l EIGN 2 Disables the right positive l...

Страница 121: ...detected and addressed For details see Detecting and Addressing the DS2020 Combitronic System on page 93 6 10 1 Polling the DS2020 Combitronic system To view the current state of the status bits you...

Страница 122: ...it is closed 2 State of standard input 1 Can be used as positive limit switch with the command EILP that can be disabled by EIGN 2 3 State of standard input 2 Can be used as negative limit switch with...

Страница 123: ...xample Additionally the other LEDs Status Words 0 6 indicate a status or fault condition For details see Fault Configuration on page 114 and Drive Alarms Faults on page 135 The DS2020 Combitronic syst...

Страница 124: ...the terminal screen and then click Send or press Enter The active and asserted bits are cleared as shown in the following figures EIGN Commands Entered Active and Asserted Bits Cleared To clear the h...

Страница 125: ...baud rate current limits etc should be followed with reboot to ensure those changes are in effect After the changes are made click Save to EEPROM and reboot For details see Save to EEPROM on page 103...

Страница 126: ...2020 Combitronic System s Motor Move To make the DS2020 Combitronic system s motor move 1 In the Terminal window select the tab that matches the communications channel to which your DS2020 Combitronic...

Страница 127: ...ion position you can enter the X command to decelerate the motor to a stop 4 To see the shaft turn in the opposite counterclockwise direction use a negative value for the PT command 6 13 Checking the...

Страница 128: ...position at the time the command was issued Therefore it is just a snapshot if the motor is moving the reported position is not dynamically updated 6 13 2 Viewing the DS2020 Combitronic System s Moto...

Страница 129: ...0 Combitronic System s Motor Position PN SC80100020 001 Rev A January 2021 Page 129 of 166 Moog Animatics DS2020 Combitronic Installation and Star tup Guide 6 13 2 Viewing the DS2020 Combitronic Syste...

Страница 130: ...eneral Hazards and Safeguards on page 21 To disable a DS2020 Combitronic replacement dismantling follow the procedure below 1 Disconnect and lock out the mains supply voltage of the electrical panel a...

Страница 131: ...y 7 2 Storage DS2020 Combitronic system components can be stored for a consecutive period of up to one year without special requirements or actions If you have retained the original packing materials...

Страница 132: ...cautions are not observed which may result in death or serious injury to personnel or damage to equipment Before attempting this operation follow the safety information and procedures in General Hazar...

Страница 133: ...in as those must be used if the system components need to be sent to Moog Animatics for service This will ensure that they arrive safely 8 3 Firmware Updates Firmware updates are issued periodically...

Страница 134: ...eshooting of the DS2020 Combitronic system is primarily done through the SMI software The following sections describe typical malfunctions and provides a series of recommendations on how to fix them I...

Страница 135: ...nd slowly move the axis to see if the problem still exists If it persists replace the drive 9 2 Drive Alarms Faults The drive axis alarms faults are shown on the axis display by the letter F to troubl...

Страница 136: ...lternatively l unplug the power cable from the drive side l re enable the axis Wrong setting of the current loop Check the motor parameters stored in the drive configuration Damaged internal drive com...

Страница 137: ...is low below 60 C on the structure of the motor There could be a fault in the temperature sensor inside or an error in the thermal protection settings software 9 2 4 Removal of STO Signal l Safety_st...

Страница 138: ...appropriate tool or l Disconnect the brake cable on the motor side and enable l If the problem does not reoccur replace the motor Failure detection circuit l Send the drive for analysis and possible r...

Страница 139: ...se Action CAN_communication_fault PDO data not received or received after the timeout Check wiring configuration of the drive communication and or the CAN master CAN_rpdo0_time_out PDO data not receiv...

Страница 140: ...V high IGBT fault phase V high arm 5 0x2348 0x04 Short circuit phase W low IGBT fault phase W low arm 6 0x2349 0x04 Short circuit Phase W high IGBT fault phase W high arm 7 0x2351 0x04 Short circuit...

Страница 141: ...has been selected RMTFB and MTFB commands Check that the motor is correctly cooled Check that the motor is correctly sized for the application 25 0x7125 0x08 Motor overtemperature Fault motor tempera...

Страница 142: ...ations 61 0x8232 0x10 CAN RPDO1 timed out Time out PDO1 reception CAN 62 0x8241 0x10 CAN RPDO0 data PDO0 data reception error CAN 63 0x8242 0x10 CAN RPDO1 data PDO1 data reception error CAN 64 0x8235...

Страница 143: ...nections and polarity 9 4 Faults During the GUI Drive Connection If the communication between the PC and DS2020 Combitronic system fails an error message will appear If the drive cannot be detected If...

Страница 144: ...ud rate to 115200 For a CAN connection verify that l The CAN bus is properly terminated i The default baud rate is 500 Kbps The default node 127 i Cat 5 EtherCAT cable must be straight not crossover P...

Страница 145: ...148 10 4 1 Full Stop 148 10 5 Safe Torque Off Circuit 150 10 6 Safe Torque Off Connections 151 10 6 1 Connector X6 JRC1 151 10 6 2 Electrical Input Output Specifications 152 10 7 Example Application 1...

Страница 146: ...y The risk assessment presented by the machine must be carried out in accordance with Directive 2006 42 EC referring to UNI EN ISO 12100 2010 and must contain the safety circuit configuration relating...

Страница 147: ...hat perform the diagnostic function must use techniques capable of providing a DC 99 Service life 20 years Change the drive Repair Time 8 hours Diagnostic test interval 8 hours max See also the observ...

Страница 148: ...of motor stop within predefined limits of deceleration or after a delay function of the application The final machine must be able to stop the motor WARNING WARNING Electrical hazard The DS2020 Combi...

Страница 149: ...t be installed in an environment with pollution degree 2 where there is normally only non conductive pollution Occasionally however there may be a temporary conductivity caused by condensation when th...

Страница 150: ...m controls the movements of a three phase AC motor through the generation of a rotating magnetic field To this end the microprocessor generates a complex pattern of pulses PWM which are amplified and...

Страница 151: ...unction 1 Channel 1 24 VDC input of Channel 1 This input must be high 24 V to power the motor When the input goes low 0V the motor is not powered 2 Channel 1 0V of Channel 1 3 Channel 2 24 VDC input o...

Страница 152: ...st have the screens connected to the grounding circuit l To avoid common failure causes the cable of the Channel 1 pins 1 2 and 6 of JRC1 must be separated from the cable of the Channel 2 pins 3 4 and...

Страница 153: ...an A1 safety PLC that controls two contactors Q1 and Q2 with associated contacts The NO contacts of Q1 and Q2 control the two input channels of the DS2020 Combitronic safety for the shutdown of the mo...

Страница 154: ...g the STO function it is necessary to stop the motor while maintaining the power supply during the stop controlled stop l Delay of outputs A1 which operate the contactors Q1 and Q2 should be T general...

Страница 155: ...the sequence of on off commutation shown in the following figure by providing 24 VDC and 0V on the two input channels connected to the X6 JRC1 connector perform a plausibility check with monitoring s...

Страница 156: ...braked in a controlled manner and that the Safe Torque Off function is active after the arrest This should not cause dangerous situations 10 9 Assembly and Serial Tests The Safe Torque Off STO circuit...

Страница 157: ...tion 12 Ordering Code 12 1 DS2020 Combitronic Ordering Code DS2020 Combitronic part numbers are encoded to include the drive size mechanical configuration and various options To decode an existing par...

Страница 158: ...n table 13 1 Example I O Connections on X5 159 13 2 Example RS 485 Driver on X4 160 13 1 Glossary 161 13 2 Metric AWG Conversion Table 164 PN SC80100020 001 Rev A January 2021 Page 158 of 166 Moog Ani...

Страница 159: ...closed contacts that connect Digital IN1 and Digital IN2 to an external 24 VDC supply referenced to 0V Digital pin 8 When the limit switch is opened so the digital input is not connected it is conside...

Страница 160: ...o a differential signal used by the DS2020 Combitronic system Figure 51 Example RS 485 Driver Using the SN75176 IC A similar circuit can be built around any other RS 485 transceiver IC Consult the IC...

Страница 161: ...into heat during the deceleration phase Circuit short Typically unintended electrical conduction between two phases or conductors with different polarity of an alternating or continuous voltage Clock...

Страница 162: ...four main parts l Rectifier of AC mains voltage l DC link voltage rectified and leveled l Inverter of the rectified voltage l Control circuit that transmits signals for the switching of the power semi...

Страница 163: ...uit when the DC bus voltage exceeds its threshold Resolver Analog motor feedback component that detects a change in position of the shaft and transmits it to the drive for controlling the motor RS 232...

Страница 164: ...0 0 0507 340 0 4508 29 11 3 0 287 128 0 0649 266 0 5758 28 12 6 0 320 159 0 0806 214 0 7157 27 14 2 0 361 202 0 102 169 0 9076 26 15 9 0 404 253 0 128 135 1 1383 25 17 9 0 455 320 0 162 106 1 4433 24...

Страница 165: ...6 77 1 028 148 8 4 204 3 5 189 41740 21 15 0 8152 187 488 3 229 4 5 287 52260 26 67 0 6466 235 592 2 257 6 6 543 66360 33 62 0 5128 299 088 1 289 3 7 348 83690 42 41 0 4065 376 464 1 0 324 9 8 252 105...

Страница 166: ...766 Memmingerberg Germany Asia Sales Office Kichijoji Nagatani City Plaza 405 1 20 1 Kichijojihoncho Musashino city Tokyo 180 0004 Japan Tel 1 650 960 4215 Email animatics_sales moog com Tel 49 8331 9...

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