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moog

MSD Servo Drive

Operation Manual

DC-AC Servo Drive

Multi-Axis System with sinusiodal regeneration

Содержание G393-004

Страница 1: ...moog MSD Servo Drive Operation Manual DC AC Servo Drive Multi Axis System with sinusiodal regeneration...

Страница 2: ...iring and shortening of the installation times are just as easy to achieve as resource saving cost conscious operation Subject to technical change without notice The content of our documentation was c...

Страница 3: ...measures 28 4 2 4 Shielding measures 29 4 2 5 External components 30 4 3 Overview of the connections 30 4 3 1 Layout G393 004 Size 1 to G393 032 G397 035 Size 4 30 4 3 2 Layout G393 045 G397 053 Size...

Страница 4: ...suitable gearboxes and motors 80 9 7 3 Selection of suitable DC AC Servo Drives 80 4 6 Connection of control supply 24 V DC 38 4 6 1 G393 004 Size 1 to G393 170 G397 210 Size 6A 39 4 6 2 G397 250 1 t...

Страница 5: ...Servo Drives 85 A Technical data 87 A 1 Current carrying capacity MSD Servo Drives DC AC 87 A 1 1 G393 004 to G393 032 air cooling 400 V AC 87 A 1 2 G393 004 to G393 032 air cooling 460 V AC 88 A 1 3...

Страница 6: ...6 MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 Table of contents...

Страница 7: ...vo Drive DC AC Servo Drive Multi Axis System Operation Manual Safety mechanical installation electrical installation commissioning diagnostics STO operation with AC AC Servo Drive as supply planning a...

Страница 8: ...l characters of the article designation is given in the following order code G393 Rated current Option 1 Communication Option 2 Technology Option 3 Safety Option 4 Function package Modificatio Variant...

Страница 9: ...e of individual parts depending on their characteristics and existing national regulations e g as Electrical waste Plastic Metal Or engage a certified disposal organisation with scrappin 1 5 Data on m...

Страница 10: ...have any technical queries relating to project planning or commissioning your device Address Moog GmbH Hanns Klemm Stra e 28 D 71034 B blingen Phone 49 7031 622 0 Fax 49 7031 622 100 E mail drives sup...

Страница 11: ...power is not present See also the warning label on the front panel on the device Rotating parts Automatically starting drives Hot components and surfaces 3 Protection against magnetic and or electrom...

Страница 12: ...to rotating parts on the motor Carelessness will result in serious injuries or death Follow safety instructions and warnings in this document Pay attention to special safety instructions and warnings...

Страница 13: ...anufacturer 2 4 1 Repair Only have repairs undertaken by authorised repair shops Unauthorised opening and incorrect intervention could lead to death physical injury or material damage The warranty pro...

Страница 14: ...14 MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 2 8 Declaration of conformity 2 8 1 MSD Servo Drive DC AC Size 1 to 7 2 Safety...

Страница 15: ...to fall into the device The ventilation openings must not covered NOTE The DC AC Servo Drives must not be installed in areas where they would be permanently exposed to vibration You will find further...

Страница 16: ...s even if interference suppressed y For small distances use separators for shielding fasten the separators directly and conductively to the backing plate y If a motor contactor or motor choke is used...

Страница 17: ...Power Supply Unit 10 MSD Servo Drive DC AC 11 DC power supply via DC link cable 12 Braking resistor 13 Motor cables 14 Controller 2 1 Cables without interference suppression must be laid at a distance...

Страница 18: ...o establish a good ground connection to the switch cabinet ground There must not be an air gap between the rear wall of the DC AC Servo Drive and the rear wall of the switch cabinet y The bases of the...

Страница 19: ...led connection cables supplied and is 2 mm 0 08 in NOTE Devices of Size 6A in the air cooling housing variant are an exception The mounting distance between two air cooled devices of Size 6A is 40 mm...

Страница 20: ...de by side mounting DC AC Servo Drive of the same size or reducing size on both sides of the Power Supply Unit MSD Servo Drive DC AC Size 1 MSD Servo Drive DC AC Size 2 MSD Servo Drive DC AC Size 3 MS...

Страница 21: ...re 3 12 3 Mount the DC AC Servo Drives vertically and side by side mounted in a row on the backing plate The contact area must be bare metal Use the pre assembled DC link cables supplied for the DC po...

Страница 22: ...2 171 6 73 190 7 48 280 11 02 H height 1 295 11 61 345 13 58 540 21 26 D depth 1 224 8 82 240 9 45 322 12 68 A 29 25 1 15 50 1 97 80 3 15 120 4 72 150 5 91 200 7 87 C 382 15 04 406 5 16 581 22 87 C1 5...

Страница 23: ...ing variant 1 Arrange the devices starting from the Power Supply Unit to the right and or left sorted in descending order by power rating to minimise the thermal effects Align all devices in a line al...

Страница 24: ...thout terminals connections 2 Also pay attention to the bending radius of the connection cables Table 3 2 Dimensions and mounting clearances liquid cooling housing variant NOTE The minimum distance sp...

Страница 25: ...moog Id no CA97554 001 05 2017 25 3 Mechanical installation E G F F Figure 3 15 Mounting distance liquid cooling housing variant based on Size 5 as an example G F F E Figure 3 16 Mounting distance liq...

Страница 26: ...nnection WARNING Risk of injury due to hot coolant Carelessness may result in serious burns In operation the coolant reaches high temperatures Prior to starting work make sure the coolant has cooled d...

Страница 27: ...minals X11 ZK and X11 ZK Dangerous voltage may be present at the device even if the device is not emitting any visual or audible signals indications e g with mains voltage applied to terminal X11 and...

Страница 28: ...cores at one end as a minimum so that there is no electrostatic charging y Free contact areas of paint and corrosion and make large area connections 4 2 Effective EMC installation 4 2 1 Cable type y U...

Страница 29: ...essing interference without transmitting the 50 Hz components y The usage of tinned galvanised aluminised or cadmium plated elements is to be preferred over painted components it will then not be nece...

Страница 30: ...ld be at least 200 mm 7 87 in away from the process controlled assemblies If you require further detailed information on installation please contact the Moog Helpline 4 3 Overview of the connections 1...

Страница 31: ...ayout and connection diagram G393 004 Size 1 to G393 032 G397 035 Size 4 USB 1 1 ISD00 ISD01 ISD02 OSD02 Relay ENPO STO Motor 3 Option 2 Control Service interface Service interface ISDSH STO ISA00 ISA...

Страница 32: ...5 to G393 170 G397 210 Size 6A In the following you will find the layout with the corresponding positions of the connectors and terminals For improved clarity we have added an abbreviation to the desi...

Страница 33: ...2 Key to connection diagram G393 045 G397 053 Size 5 to G393 170 G397 210 Size 6A USB 1 1 ISD00 ISD01 ISD02 OSD02 Relay ENPO STO Motor 3 Option 2 Control Service interface Service interface ISDSH STO...

Страница 34: ...1 4 3 2 1 9 8 7 6 Front 24 V Power supply for control electronic UV 24 V DC Power supply for brake IIN 2 0 A Brake Brake e g add encoder Encoder Resolver 1 2 3 4 5 6 7 Bottom side Top side X44 X8 X7 X...

Страница 35: ...ly chapter 4 7 DC L DC link cables chapter A 5 PE Connection for PE conductor chapter 4 4 X44 Connection for control supply chapter 4 6 Connection for motor brake chapter 4 8 2 X8 Option 2 Technology...

Страница 36: ...al and national regulations and conditions On operation with a Power Supply Unit G393 004 Size 1 to G393 072 G397 084 Size 5 Connect the PE connections on the DC AC Servo Drives and the Power Supply U...

Страница 37: ...Encoder SSI X7 GND P V P PE UV UV X9 X9 X10 X10 UH Control supply 24 V DC Figure 4 12 Electrical isolation concept Size 5 and Size 6A X13 1 X13 2 X13 3 X13 4 Motor brake PE GND P DGND complexe impeda...

Страница 38: ...issue on dimensioning the power supply for the control section and on looping through to other devices You will find the current required by the individual devices in chapter A 4 NOTE Do not use the...

Страница 39: ...ly DC power supply 24 V DC 20 external voltage supply D1 D2 next servo drive maximum 10 A gG Looping only possible for Size 1 to Size 4 1 2 1 2 D1 D2 1 2 1 2 Top side Top side Device 1 Device 2 X9 X10...

Страница 40: ...connections The pre assembled connection cables supplied are as long as the related device is wide 3 You will find more detailed information on the mains connection for the Power Supply Unit in the Op...

Страница 41: ...1 Mains fuses 2 Mains supply emergency stop 3 Shield plates grey 4 Step up choke with KTY temperature sensor 5 Shielded cables should be used from 500 mm cable length 6 Input choke with film capacito...

Страница 42: ...1 Min Max Typ ISD05 3 s 16 s 8 s ISD05 4 s 27 s 15 s ISD06 2 s From hardware version 2 Min Max Typ ISD05 ISD06 2 s Activation via ISD05 ISD06 15 PROBE Standard input Frequency range 500 Hz Sampling cy...

Страница 43: ...amage to the Power Supply Unit s braking resistor on extended regenerative operation the DC AC Servo Drives and the Power Supply Unit can be mutually interlocked via terminal X4 You will find further...

Страница 44: ...For operating a motor holding brake up to IBR 2 0 A maximum for brakes with a higher current requirement a relay must be connect ed in between Overcurrent causes shutdown Configurable cable break moni...

Страница 45: ...full speed device interface y Connection via commercially available USB interface cable type A to type B 4 10 Specification Ethernet interface The service and diagnostic interface X3 is designed as an...

Страница 46: ...oder cable SSI EnDat CA58876 Encoder cable Hiperface CA58877 002 002 Encoder system Version Cable length m 1 yyy stands for length in meters standard length 1 m 3 28 ft 5 m 16 40 ft 10 m 32 80 ft 15 m...

Страница 47: ...motor winding on connection to X5 on connection to X6 with reinforced insulation as per IEC EN 61800 5 1 Technical data Technical data CO8335 013 yyy1 CA58876 002 yyy1 CA58877 002 yyy1 Motors with en...

Страница 48: ...es special approval by Moog The maximum signal input frequency is 500 kHz Encoders with a power supply of 5 V 5 must have a separate sensor cable connection The sensor cable detects the actual supply...

Страница 49: ...and national regulations and conditions It is dependent on the rated current the type of cable laying and the ambient temperature 2 Connect the shielded motor cable to terminals X12 U V W and connect...

Страница 50: ...ength on request Motor cable CO8336 xxx yyy Order code NOTE Connection option for a motor brake with a motor brake current of maximum 2 A see Figure 4 20 Cable break detection is not possible Motor 3...

Страница 51: ...pin Wiring 2 U 2 U U U U U U U 4 VV 4 VV V VV V VV V VV 1 WWW 1 WWW W WWW W WWW W WWW PE yellow green PE yellow green PE yellow green PE yellow green PE yellow green 5 Brake white 5 Brake white Brake...

Страница 52: ...ensure unpowered switch on you must make sure that the contacts on the motor contactor are closed before the DC AC Servo Drive power stage is enabled At the moment when the contactor is switched off i...

Страница 53: ...onditions The device may suffer irreparable damage Therefore during operation Moisture must not be allowed to enter the device There must not be any aggressive or conductive substances in the ambient...

Страница 54: ...Online help You will find a detailed description of Moog DriveAdministrator 5 and the commissioning wizard in the online help for Moog DriveAdministrator 5 Motor data set On using Moog Synchronous Mo...

Страница 55: ...s injuries or death Before commissioning motors with feather keys in the shaft end these keys must be reliably secured against throwing out if this is not already prevented by drive elements such as b...

Страница 56: ...ils on adjusting the drive to your application please refer to the Online Help for Moog DriveAdministrator 5 and the Device Help 5 3 Serial commissioning An existing parameter data set can be transfer...

Страница 57: ...iately switched to the indication of the error code y Parameter setting indication PA see chapter 5 4 3 The device parameter configuration can be eset to the factory settings y Ethernet IP address set...

Страница 58: ...enus and to control the corresponding functions Button Function Comment T1 left Activate the menu exit the device status display Scroll through the menus sub menus Set values left segment display D1 T...

Страница 59: ...mal format e g FF in 255 255 255 0 b2 00 FF Subnet mask update byte 2 Setting for byte 2 of the subnet mask in hexadecimal format e g FF in 255 255 255 0 b3 00 FF Subnet mask update byte 3 Setting for...

Страница 60: ...address only if field bus option used otherwise indication The maximum value that can be programmed depends on the option Po 0 3 or Transmit power Setting for fibre optic power output only with SERCOS...

Страница 61: ...changed from 1 to 23 Tx Tx back back T2 T2 T1 T2 T1 T2 T1 T2 back accept 5 s 5 s 5 s 5 s T1 T2 T1 T2 T1 T2 Value NOT saved Value saved T1 T2 T1 several actuations of buttonTx X 1 2 until the desired m...

Страница 62: ...62 MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 5 Commissioning...

Страница 63: ...active indication extinguishes if function is inactive 3 The point flashes if the power stage is active Table 6 1 Device states 6 1 2 Error indication The specific er or codes are indicated via the 7...

Страница 64: ...ssage 6 2 Status and error indication in Moog DriveAdministrator 5 Click the Device status button in the header in the Moog DriveAdministrator 5 to open the Device status window Figure 6 1 Device stat...

Страница 65: ...Diagnostics Alarms Warnings Details contains detailed information on an error or warning that has occurred 1 Double click in the project tree Alarms Warnings Details NOTE You will find further inform...

Страница 66: ...66 MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 6 Diagnostics...

Страница 67: ...97554 001 05 2017 67 7 Safe Torque Off STO 7 Safe Torque Off STO NOTE You will find all information on the STO function in the 24 language document Description of the STO Safety Function ID no CB19388...

Страница 68: ...68 MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 7 Safe Torque Off STO...

Страница 69: ...wing information on device protection Mains fuses y G392 004 Size 1 to G392 072 G395 084 Size 5 In all circumstances the mains fuses are to be installed in addition to the motor protection switch and...

Страница 70: ...d U_Mains of the components used mains choke mains filte AC AC Servo Drive y G392 090 G395 110 Size 6 to G395 450 Size 7 The motor protection switch is not required if semiconductor fuses of utilisati...

Страница 71: ...8 1 Overview connection diagram for operation with supply by an AC AC Servo Drive Size 1 to 4 Key 1 Mains fuses1 2 Mains supply emergency stop 3 Short circuit proof cables 4 Motor protection switch 1...

Страница 72: ...supply by an AC AC Servo Drive Size 5 to 6A Key 1 Mains fuses1 2 Mains supply emergency stop 3 Short circuit proof cables 4 For Size 5 motor protection switch 1 5 Mains choke 6 Mains filte 7 AC mains...

Страница 73: ...trol supply protected 10 MSD Servo Drive AC AC Size 7 11 MSD Servo Drive DC AC 12 DC link coupling 13 Switch cabinet 14 Field 15 Braking resistor 1 1 NOTE Pay attention to the requirements on device p...

Страница 74: ...for the applicability of the switch cabinet arrangement shown in the following Item Meaning 1 Mains cable 2 Main switch 3 Fuse 4 Mains filter 5 Does not exist 6 Mains contactor 7 Does not exist 8 Does...

Страница 75: ...from other manufacturers or product families is not allowed y For each application several factors e g total power and simultaneity factor are to be taken into account to ensure safe operation of the...

Страница 76: ...power factor can be controlled at cos 1 reactive power compensation y Same power ratings for motor operation and regenerative operation y The system can have more axes than on supply using one AC AC S...

Страница 77: ...resistor Disadvantages y In this system variant in general it is not possible to operate all axes at full rated power as otherwise the DC link on the AC supplied AC AC Servo Drive may be overloaded y...

Страница 78: ...ice comparison I 2011 for medium sized industrial custom ers average electricity price in former West German states Table 9 2 Cost effectiveness calculation for three axes 9 5 Functional comparison As...

Страница 79: ...LCL set Investment costs 100 115 142 Energy saving 1 5 10 Electricity price 0 1264 kWh 2 Operating time 16 hours day 20 days month Amortisation of the additional costs after 11 months 16 months 1 Comp...

Страница 80: ...ed via a braking resistor and converted into heat NOTE If the supply system fails due to the principle of operation the Power Supply Unit can no longer feed back power For this special situation we th...

Страница 81: ...9 4 Power output and capacitances for the Power Supply Units DC AC Servo Drive DC link capacitance F Air cooling Liquid cooling G393 004 60 G393 006 60 G393 008 105 G393 012 105 G393 016 G397 020 288...

Страница 82: ...AC Servo Drives G393 060 G397 070 and one DC AC Servo Drive G393 090 are to be connected to one Power Supply Unit G396 075 Calculation 1 x 4240 F 2 x 504 F 2 x 900 F 1 x 1060 F 8108 F Result The Power...

Страница 83: ...G393 016 G397 020 1230 1230 2460 1734 G393 020 G397 025 1230 1230 2460 1734 G393 024 G397 026 2000 2000 2504 2000 G393 032 G397 035 2000 2000 2504 2000 G393 045 G397 053 430 430 5100 5100 G393 060 G3...

Страница 84: ...e higher please consult your project engineer Example calculation supply from an AC AC Servo Drive Two DC AC Servo Drives G393 024 G397 026 two DC AC Servo Drives G393 060 G397 070 and one DC AC Servo...

Страница 85: ...he Power Supply Unit is no longer actively regulated the enable for the power stage ENPO is withdrawn from the DC AC Servo Drives Connect the Power Supply Unit to the DC AC Servo Drives connected as s...

Страница 86: ...86 MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 10 Application example...

Страница 87: ...70 pre load 2 Shutdown as per I t characteristic All data apply for a motor cable length 10 m 32 80 ft Table A 1 Rated and peak current G393 004 to G393 032 air cooling 400 V AC Device Switching frequ...

Страница 88: ...4 11 8 11 8 16 6 2 8 7 8 7 1 At maximum 70 pre load 2 Shutdown as per I t characteristic All data apply for a motor cable length 10 m 32 80 ft Table A 2 Rated and peak current G393 004 to G393 032 ai...

Страница 89: ...tic All data apply for a motor cable length 10 m 32 80 ft Table A 3 Rated and peak current G393 004 to G393 032 air cooling 480 V AC Device Switching frequency of the power stage Ambient temperature R...

Страница 90: ...y for a motor cable length 10 m 32 80 ft Table A 4 Rated and peak current G393 004 to G393 032 air cooling 770 V DC Device Switching frequency of the power stage Ambient temperature Rated current Peak...

Страница 91: ...4 144 16 72 67 65 59 86 115 115 1 When supplied with 565 V DC corresponding to 400 V AC at maximum 70 pre load 2 Shutdown as per I t characteristic 3 When supplied with AC AC Servo Drive All data appl...

Страница 92: ...ng 400 V AC Device Switching frequency of the power stage Ambient temperature Rated current Peak current Aeff 1 At 565 V DC 400 V AC 3 At 650 V DC 460 V AC 3 At 678 V DC 480 V AC 3 At 770 V DC At rota...

Страница 93: ...apply for a motor cable length 10 m 32 80 ft Table A 8 Rated and peak current G397 016 to G397 032 liquid cooling 480 V AC A 1 7 G397 016 to G397 032 liquid cooling 460 V AC Device Switching frequency...

Страница 94: ...plied with 565 V DC corresponding to 400 V AC at maximum 70 pre load 2 Shutdown as per I t characteristic 3 When supplied with AC AC Servo Drive All data apply for a motor cable length 10 m 32 80 ft T...

Страница 95: ...and peak current G397 250 to G397 450 liquid cooling 2 to 4 kHz Device Switching frequency of the power stage Ambient temperature Rated current Peak current Aeff 1 At 565 V DC 400 V AC 3 At 650 V DC...

Страница 96: ...per IEC EN 61800 5 1 system voltage 277 V overvoltage category III 3 Approximate values Table A 13 Technical data G393 024 to G393 072 G397 026 to G397 084 A 2 Technical data MSD Servo Drive DC AC A 2...

Страница 97: ...ling A 2 3 G393 090 to G393 170 G397 110 to G397 210 Size Size 6A Device G393 090 G397 110 G393 110 G397 130 G393 143 G397 170 G393 170 G397 210 Output motor side 1 Voltage 3 phase UZK 2 Rated current...

Страница 98: ...Table A 17 Terminals A 3 Power connections Size Size 1 Size 2 Size 3 Size 4 Size 5 Device G393 004 G393 006 G393 008 G393 012 G393 016 G397 020 G303 020 G397 025 G393 024 G397 026 G393 032 G397 035 G...

Страница 99: ...A 4 A Table A 20 Current required for the control supply Size Size 7 Device G397 250 G397 325 G397 450 X11 ZK ZK Screw size for ring cable lug M12 Tightening torque 25 to 30 Nm 221 to 265 lb in X11 PE...

Страница 100: ...xceeded Per multi axis system there is only allowed to be one extension A 5 Pre assembled DC link connections Type L Cross section Model Connection DC link Size 1 61 5 mm 2 42 in 42 mm 0 065 in Flat c...

Страница 101: ...ulated continuously using heatshrink sleeve 3 Referred to DC voltage UZK 565 VDC Table A 23 DC coupling DC AC Servo Drive and DC AC Servo Drive cables cable cross section and tightening torques A 5 1...

Страница 102: ...C Servo Drive cables cable cross section and tightening torques DC AC Servo Drive DC AC Servo Drive Size 1 Size 2 Size 3 Size 4 Size 5 Size 6A Size 7 G393 004 G393 006 G393 008 G393 012 G393 016 G397...

Страница 103: ...ervo Drive AC AC Servo Drive Size 1 Size 2 Size 3 Size 4 Size 5 Size 6A Size 7 G393 004 G393 006 G393 008 G393 012 G393 016 G397 020 G393 020 G397 025 G393 024 G397 026 G393 032 G397 035 G393 045 G397...

Страница 104: ...ultaneously Table A 26 Climatic conditions A 6 Ambient conditions Ambient conditions Protection IP20 except terminals IP00 Health and safety regulations As per local regulations in Germany e g BGV A3...

Страница 105: ...104 F However the coolant temperature should not be more than 10 C 50 F below the ambient temperature to prevent condensation on the heat sink Cooler material Aluminium Aluminised galvanised sheet st...

Страница 106: ...mperature monitoring Should the coolant flow rate collapse or not become established the power stage could overheat For this reason the DC AC Servo Drives Size 5 and Size 6A are equipped with dynamic...

Страница 107: ...c conditions 104 Commissioning 53 55 75 Connection diagram 30 36 40 42 71 72 73 Connections 23 26 36 100 Control 55 56 85 Control supply 31 33 35 42 54 57 71 72 73 99 Control unit 57 58 Cooling Air co...

Страница 108: ...Mains connection conditions 36 41 Mains contactor 36 41 Mains fuses 41 Mains supply 41 Measures for your safety 11 Mechanical conditions 105 Cable shield 42 Cable type 38 Circuit breaker 42 Motor cabl...

Страница 109: ...33 35 46 47 69 71 72 73 104 Switching on sequence 56 Synchronous motor Moog servo motor 46 49 Motor brake 49 Motor choke 31 33 35 44 Motor connection 49 Motor contactor 28 Motor temperature sensor 28...

Страница 110: ...33 35 46 47 87 96 97 100 TN system 96 97 U UL approval 106 USB 49 54 USB interface X2 31 33 35 45 X X2 43 X4 31 33 35 45 55 85 X5 31 33 35 45 X6 31 33 35 42 43 X7 31 33 35 36 49 X8 31 33 35 46 47 48 X...

Страница 111: ...MSD Multi Axis System Operation Manual DC AC Servo Drive moog Id no CA97554 001 05 2017 111...

Страница 112: ...oog com Russia 7 831 713 1811 Service 7 831 764 5540 info russia moog com service russia moog com Brazil 55 11 3572 0400 info brazil moog com service brazil moog com Ireland 353 21 451 9000 info irela...

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