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MSD Servo Drive DC-AC Operation Manual

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Id.-No.: CA97554-001 Date: 06/2012

Table of contents

1 Safety .............................................................................................9

1.1

For your safety ........................................................................................................... 9

1.1.1

Read the Operation Manual first! .................................................................. 9

1.1.2

Warning symbols used ..................................................................................10

1.2

Intended use .............................................................................................................10

1.3 Responsibility ............................................................................................................10

2 Mechanical installation ................................................................. 11

2.1

Notes for installation .................................................................................................11

2.2 DC-AC servo drive installation Air-cooled housing .....................................................12

2.3

DC-AC servo drive installation Liquid-cooled housing ................................................14

2.4

Alignment and arrangement in a group.....................................................................16

2.5

Cooling circuit connection .........................................................................................18

3 Electrical installation ..................................................................... 19

3.1

Notes for installation .................................................................................................19

3.2 Overview of connections Size 1 to Size 4 ...................................................................20

3.3

Overview of connections Size 5 and Size 6A ............................................................. 22

3.4

Protective conductor connection ...............................................................................24

3.5

Electrical isolation method ........................................................................................24

3.6

Connection of supply voltage ....................................................................................26

3.6.1 Connection of control supply (+24 V DC) ......................................................26

3.6.2 DC power supply connection ........................................................................27

3.7

Control connections ..................................................................................................29

3.7.1

Specification of control connections .............................................................29

3.7.2 Brake driver ................................................................................................. 30

3.8 Specification of USB port ...........................................................................................31

3.9

Specification of Ethernet port ....................................................................................31

3.10 Option 1 ....................................................................................................................31

3.11 Option 2 ....................................................................................................................31

3.12 Encoder connection ...................................................................................................32

3.12.1 Encoder connection of servo motors ............................................................32

3.12.2 Matching motor/encoder cable to servo drive ...............................................32

3.12.3 Ready made-up encoder cables ....................................................................33

3.12.4 Resolver connection......................................................................................33

3.12.5 Connection for high-resolution encoders..................................................... 34

3.13 Motor connection .....................................................................................................35

3.13.1 Connection of synchronous motors ..............................................................35

3.13.2 Ready made-up motor cable ........................................................................ 36

3.13.3 Switching in the motor cable ....................................................................... 36

4 Commissioning .............................................................................37

4.1

Notes for operation ...................................................................................................37

4.2 Initial commissioning .................................................................................................37

4.2.1 Switching on control voltage ....................................................................... 38

4.2.2 Connecting the PC and servo drive .............................................................. 38

4.2.3 Parameter setting ........................................................................................ 38

4.2.4 Controlling the drive with Moog

rive

DministrAtor

5 .................................. 38

4.3 Serial commissioning ................................................................................................ 40

4.4 Integrated operator control unit and MMC card ........................................................41

4.4.1 Functions of buttons T1 and T2 ....................................................................42

4.4.2 Display ..........................................................................................................42

4.4.3 Parameter menu (PA) ....................................................................................43

4.4.4 Ethernet IP address menu (IP) ...................................................................... 44

4.4.5 Fieldbus address menu (Fb) ...........................................................................45

4.4.6 Firmware update with MMC card ................................................................ 46

Содержание MSD G393-004

Страница 1: ...moog MSD Servo Drive DC AC Operation Manual Multi Axis System DC AC 565 to 770 V DC...

Страница 2: ...DC AC Operation Manual Multi Axis System Id no CA97554 001 Rev 1 1 Date 06 2012 Applicable as from firmware version V2 20 01 The German version is the original version of the operation manual Technica...

Страница 3: ...to read this Operation Manual thoroughly beforehand Step Action Comment 1 This Operation Manual will enable you to install and commission DC AC servo drive very quickly and easily Quick start guide 2...

Страница 4: ...and multi axis systems and the MSD Servo Drive Compact CA65643 001 MSD Servo Drive CANopen EtherCAT User Manual Description and parameter setting of the MSD Servo Drive on the CANopen or EtherCAT fiel...

Страница 5: ...upply package The supply package includes MSD Servo Drive DC AC Terminal kit for control and power terminals depending on device power and variant Set of grommets on devices with liquid cooling Ready...

Страница 6: ...moog MSD Servo Drive DC AC Operation Manual 6 to glossary to table of contents Id No CA97554 001 Date 06 2012 Space for your personal notes...

Страница 7: ...3 7 1 Specification of control connections 29 3 7 2 Brake driver 30 3 8 Specification of USB port 31 3 9 Specification of Ethernet port 31 3 10 Option 1 31 3 11 Option 2 31 3 12 Encoder connection 32...

Страница 8: ...of suitable AC AC servo drive as supply 66 A 7 7 External components 67 B Technical data 69 B 1 Current capacity of MSD Servo Drive DC AC 69 B 1 1 Size 1 to Size 4 air coold 400 V AC 69 B 1 2 Size 1...

Страница 9: ...ring aids etc must not be allowed access to the following areas Areas where drive systems are installed repaired and operated Areas where motors are installed repaired and operated Motors with permane...

Страница 10: ...t to explosion hazard the required standards and regulations e g in the Ex zone EN 50014 General provisions and EN 50018 Flameproof housing must always be observed Repairs may only be carried out by a...

Страница 11: ...ctive EMC installation To attain the best result for effective EMC installation you should use a well grounded chromated or galvanized backing plate If backing plates are varnished remove the coating...

Страница 12: ...r hole pitch and dimensional drawings see Table 2 1 Fig 2 1 and Fig 2 2 3 Mount the DC AC servo drives vertically in a row on the back plane The contact area must be metal lically bright For the DC po...

Страница 13: ...put Arrange devices with different drive power in descending order of power output e g viewed from the left Size 4 Size 3 Size 2 Size 1 This minimizes the mutual thermal influence The supply unit must...

Страница 14: ...rtically in a row on the back plane The contact area must be metallically bright For the DC power supply use the supplied ready made up DC link cables 4 When fitting the hose connections not supplied...

Страница 15: ...4 Size 3 Size 2 Size 1 This minimizes the mutual thermal influence The supply unit must always be arranged on the side of the most powerful DC AC servo drive When side by side mounting MSD Servo Driv...

Страница 16: ...C AC Size 4 MSD Servo Drive DC AC Size 3 MSD Servo Drive DC AC Size 1 MSD Servo Drive DC AC Size 2 Fig 2 5 Alignment DC AC servo drive on power supply unit Size 5 example 18 5 mm MSD Power Supply unit...

Страница 17: ...gement of MSD Servo Drives DC AC of same size and in descending order of size on both sides of the power supply unit respectively Impermissible multi axis layouts ACHTUNG Kondensatorenent ladezeit 3 m...

Страница 18: ...the usage of a self sealing liquid coupling not included in the scope of supply to prevent the coolant escaping and to make it possible to disconnect and connect in the filled state 1 2 3 4 5 Key 1 L...

Страница 19: ...omplying with EMC product standard EN 61800 3 2004 The installer operator of a machine and or item of plant must provide proof of compliance with the protec tion targets stipulated in the standard Cab...

Страница 20: ...nal assignment applicable to your device Section 3 2 for Size 1 to Size 4 Section 3 3 for Size 5 and Size 6A 2 Connecct all required input and output units to the control terminals and option interfac...

Страница 21: ...lver Encoder Technology 1 2 1 2 Top side Bottom DC L Motor brake actuation GND 1 2 3 4 Do not connect X13 1 Do not connect X13 4 24 V DC Supply for control electronics U Service interface Analog set p...

Страница 22: ...shows the layout with the corresponding positions of plugs and terminals To aid orientation the connectors and terminals are labelled by abbreviations Fig 3 3 Layout Size 5 without shields Fig 3 4 Lay...

Страница 23: ...ultiMediaCard INSERT Communication fieldbusses Technology Encoder Resolver 1 2 1 2 Top side Bottom X10 X9 X1 X2 X3 X4 X20 X8 X7 X6 X5 X12 DC DC PE DC DC X11 DC DC DC DC only Size 6A DC L Service inter...

Страница 24: ...pper Also comply with local and na tional regulations and conditions 2 Connect the protective conductor terminals of all other components such as mains filter etc in a star configuration to the PE rai...

Страница 25: ...replaced through 0 X3 Resolver X6 Encoder SSI X7 GND P V P PE UV UV X9 X9 X10 X10 UH Control supply 24 V DC Fig 3 6 Electrical isolation method Size 1 to Size 4 24V DC OSD03 Motor brake GND X20 1 X20...

Страница 26: ...ontinuous current capacity of terminals max 10 A Size 5 and Size 6A max 8 A internal polarity reversal protection The power supply unit used must have a safe and reliable isolation against the mains s...

Страница 27: ...r to the MSD Power Supply Unit Operation Manual Attention Connecting cable Use the supplied ready made up cables for the electrical connections be tween the devices If extending the DC link is unavoid...

Страница 28: ...ystem example Key 1 Mains fuses 2 Mains supply Emergency Off 3 Shields grey 4 Step up reactor with KTY temperature sensor 5 Above an cable length of 500 mm shielded cables should be used 6 Input react...

Страница 29: ...OSD00 ISA1 ISA1 ISA0 ISA0 24V DGND 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 X4 ISA0 ISA0 ISA1 ISA1 X4 3 X4 4 X4 5 X4 6 UIN 10 V DC Resolution 12 Bit RIN approx 101 k Terminal sc...

Страница 30: ...etting circuit breaker polyswitch yes Digital ground DGND X4 1 X4 13 Reference ground for 24 V IMAX 80 mA per pin Hardware versions 0 1 with self resetting circuit breaker polyswitch yes Table 3 4 Spe...

Страница 31: ...ort Connection via standard commercially available USB interface cable type A to type B see also MSD Servo Drive Ordering Catalog 3 9 Specification of Ethernet port The service and diagnostic interfac...

Страница 32: ...ant A B or C Resolver high resolution encoder high resolution encoder Variant A Variant B Variant C X optional X 7 8 X6 Fig 3 12 Matching motor encoder cable Motor with installed encoder Encoder cable...

Страница 33: ...GND Sense 14 CLK 15 CLK 7 9 10 n c 1 REFCOS 2 COS 3 Us 7 12 V 4 Data EIA485 5 Data EIA485 6 REFSIN 7 Jumper to PIN 12 8 GND 11 SIN 12 Jumper to PIN 7 9 10 13 14 15 n c Capable for en ergy chains yes M...

Страница 34: ...ncoder is supplied with the correct volt age The sensor cable must always be connected Select the cable type specified by the motor or encoder manufacturer bearing in mind the following Always use shi...

Страница 35: ...olation in accordance with 61800 5 1 against the motor winding Note In the event of a short circuit or ground fault in the motor cable the power stage is disabled and an error message is generated 3 1...

Страница 36: ...Surge current TBD Minimum bend radius In fixed installation 60 mm In flexible use 120 mm TBD Cable diameter range 16 2 3 mm TBD Cable cross section 4 x 6 mm 2 x 1 mm 4 x 10 mm 2 x 1 5 mm 4 x 16 mm 2 x...

Страница 37: ...vo Drive multi axis system be sure also to refer to the Operation Manual for the MSD Power Supply Unit or the supplying MSD Servo Drive AC AC 4 2 Initial commissioning When the MSD Servo Drive DC AC h...

Страница 38: ...f the relevant interface see Moog DriveAdministrator 5 Instal lation Manual 4 2 3 Parameter setting 4 For drive system setup Moog DriveAdministrator 5 includes a Commission ing Wizard Start the Wizard...

Страница 39: ...n operating with an AC AC servo drive as the supply all DC AC servo drives in the system must be in state 2 ready for operation before the first axis starts up Manual mode dialog The best way to execu...

Страница 40: ...rial commissioning An existing parameter data set can be transferred to other MSD Servo Drives using Moog DriveAdministrator 5 or a MMC card For details refer to the Moog DriveAdministrator 5 Online H...

Страница 41: ...he following functions and displays are available Display of device state see section 5 1 1 starting on page 47 The device state is displayed after switching on the control voltage If no input is made...

Страница 42: ...the setting being applied Otherwise the new value is saved after five seconds General The button press time until anaction is executed is around 1 second If no user action occurs for 60 seconds the d...

Страница 43: ...as long as 2 minutes Table 4 7 Parameter menu Error numbers A failed user action is indicated by an error message The message consists of an alter nating display of Er and the error number Note The er...

Страница 44: ...P address to factory default 192 168 39 5 Su b0 00 FF Subnet mask udate Byte 0 Setting of byte 0 of the subnet mask in hexadecimal format e g 00 at 255 255 255 0 b1 00 FF Subnet mask udate Byte 1 Sett...

Страница 45: ...Param eter Value range Meaning Explanation 1 2 Fb Ad 00 xx or Fieldbus address Setting of fieldbus address only when fieldbus option used otherwise display The maximum programmable value depends on t...

Страница 46: ...Connect the preconfigured MMC card to the MSD Servo Drive Then perform a reset of the 24 V DC control supply by pressing both buttons T1 and T2 simultaneously When the display shows the code c1 you ca...

Страница 47: ...ff function is active display goes out when function is inactive 2 The dot flashes when the power stage is active Table 5 1 Device states 5 1 2 Error display The 7 segment display shows the specificer...

Страница 48: ...k the Drive status button on the MDA 5 header to open the drive status window Fig 5 1 Drive status button on header Click the Error history button to call up information on the last 20 occurring error...

Страница 49: ...occurring errors and warnings 1 In the Project window at the top in the header area select Number search and in the search box enter the number 31 2 Then in the project tree which opens up double clic...

Страница 50: ...n 3 Displayed error code on 7 segment display or Moog DriveAdministrator 4 Description of the error symptoms how it occurred and relevant circumstances 5 Save device settings to file in Moog DriveAdmi...

Страница 51: ...Manual STO 51 Id No CA97554 001 Date 06 2012 to glossary to table of contents 6 Safe Torque Off STO Note You will find all information on the STO function in the 24 language document Description of t...

Страница 52: ...moog MSD Servo Drive DC AC Operation Manual 52 Id No CA97554 001 Date 06 2012 to glossary to table of contents Space for your personal notes...

Страница 53: ...t reactors Transformers Mains motor DC power supply and braking resistor cables even if shielded Relays and contactors even if interference suppressed The mains filter must be sealed tight as far as p...

Страница 54: ...in the range up to the permissible overload The rated current of the motor protection switch Power switch for system and motor protection trip class 10 SIEMENS series SIRIUS 3RV10 or SIRIUS 3RV20 shou...

Страница 55: ...3 5 L3 L2 L1 L3 1 L2 1 L1 1 Fig 7 1 Overview Connection diagram for operation with supply by AC AC servo drive Size 1 to Size 4 Key 1 Mains fuses 1 2 Mains supply Emergency stop 3 Short circuit proof...

Страница 56: ...1 5 RB ZK Fig 7 2 Overview Connection diagram for operation with supply by AC AC servo drive Size 5 to Size 6A Key 1 Mains fuses 1 2 Mains supply Emergency stop 3 Short circuit proof cables 4 for Size...

Страница 57: ...L1 L3 1 L2 1 L1 1 5 RB ZK Fig 7 3 Overview Connection diagram for operation with supply by AC AC servo drive Size 7 Key 1 Mains fuses 1 2 Mains supply emergency stop 3 Short circuit proof cables 4 no...

Страница 58: ...irectives Moog GmbH can provide no guarantee as to the applicability of the following switch cabinet layout ID number Meaning 1 Mains cable 2 Main switch 3 Fuse 4 Mains filter 5 not present 6 Mains co...

Страница 59: ...amilies is not permitted For each application a number of specific factors such as total power output and simultaneity must be individually considered in order to ensure safe system operation You shou...

Страница 60: ...w that of a system comprising an AC AC servo drive or AC AC servo drives as the supply source Higher DC link voltage than with a corresponding AC feed meaning smaller sized motors can be used Loop con...

Страница 61: ...verloaded The supplying AC AC servo drive may need to be overdimensioned Regenerative power cannot be fed back into the supply grid but can only be con verted into heat by way of a braking resistor Si...

Страница 62: ...need to be determined individually for each application 2 German Federal Association of Energy Consumers electricity price comparison I 2011 for small and medium sized indus trial customers average el...

Страница 63: ...ctive torque formula with torque curves constant in each segment Maximum torque formula Mi ti T Meff 1 i n t 1 ngear Mmax load Maccel 2 Maccel 1 i2 Jload Jmotor M Calculation of the drive power for li...

Страница 64: ...power supply unit can be derived from it Nominal feed power Maximum feed power Nominal feedback power Maximum feedback power If the simultaneity factor in the axis network is low it may be possible to...

Страница 65: ...G397 026 504 504 G393 032 G397 035 504 504 G393 045 G397 053 430 900 G393 060 G397 070 900 900 G393 072 G397 084 900 900 G393 090 G397 110 1060 2120 G393 110 G397 143 2120 2120 G393 143 G397 170 3180...

Страница 66: ...Attention Dimensioning of braking resistor The braking resistor of the AC AC servo drive should be dimensioned such that the total regenerative power of the multi axis system can be dissipated DC link...

Страница 67: ...7200 60000 60000 Table A 6 DC link capacitance and Maximum total DC link capacitance of the AC AC servo drives Attention Observe switching on sequence The mains voltage is only allowed to be switched...

Страница 68: ...moog MSD Servo Drive DC AC Operation Manual 68 Id No CA97554 001 Date 06 2012 to glossary to table of contents Space for your personal notes...

Страница 69: ...G393 008 Size 2 4 40 104 9 3 15 9 15 9 10 23 9 0 5 8 9 3 15 9 15 9 12 6 7 9 4 9 4 16 5 5 7 7 7 7 1 At max 70 preload 2 Shutdown as per I t characteristic All data apply for motor cable length 10 m Ta...

Страница 70: ...current Size 1 to Size 4 air cooled 460 V AC B 1 2 Size 1 to Size 4 air cooled 460 V AC Type Power stage switching frequency Ambient temperature Rated current Peak current 1 IMAX 0 Hz I1MAX 5 Hz t1 2...

Страница 71: ...8 2 G393 016 Size 3 4 40 104 20 0 33 6 33 6 10 48 0 0 5 8 13 3 27 9 27 9 12 8 5 18 3 18 3 16 6 0 13 7 13 7 1 At max 70 preload 2 Shutdown as per I t characteristic All data apply for motor cable leng...

Страница 72: ...6 Size 3 4 40 104 20 0 33 6 33 6 10 48 0 0 5 8 11 2 23 5 23 5 12 7 0 15 0 15 0 16 4 5 10 2 10 2 1 At max 70 preload 2 Shutdown as per I t characteristic All data apply for motor cable length 10 m Tabl...

Страница 73: ...corresponding to 400 V AC at max 70 preload 2 Shutdown as per I t characteristic 3 When supplied with AC AC servo drive All data apply for motor cable length 10 m Table B 5 Rated and peak current Siz...

Страница 74: ...ad 2 Shutdown as per I t characteristic All data apply for motor cable length 10 m Table B 6 Rated and peak current Size 3 and Size 4 liquid cooled 400 V AC B 1 7 Size 3 and Size 4 liquid cooled 460 V...

Страница 75: ...max 70 preload 2 Shutdown as per I t characteristic All data apply for motor cable length 10 m Table B 8 Rated and peak current Size 3 and Size 4 liquid cooled 480 V AC B 1 9 Size 3 and Size 4 liquid...

Страница 76: ...400 V AC at max 70 preload 2 Shutdown as per I t characteristic 3 When supplied with AC AC servo drive All data apply for motor cable length 10 m Table B 10 Rated and peak current Size 5 and Size 6A l...

Страница 77: ...t Insulation voltage as per EN 61800 5 1 system voltage 277 V overvoltage category III 3 Approximate values Table B 11 Technical data G393 004 to G393 020 B 2 2 G393 024 to G393 060 G397 026 to G397 0...

Страница 78: ...frequency 8 kHz 2 Generated from rectified TN system with grounded neutral point and external conductor voltages 3 x 400 V AC 3 x 460 V AC or 3 x 480 V AC with the approved Moog Servo Drive devices M...

Страница 79: ...5 Power supply unit Size 6A Cable Use only the ready made up cables supplied 95 mm AWG 4 0 Tightening torque Nm 2 5 20 AC AC servo drive Cable 6 mm AWG 9 max 1 m 16 mm AWG 5 max 1 m 35 mm AWG 2 95 mm...

Страница 80: ...uction 2 per C F Relative humidity 5 to 85 without condensation 1 The absolute humidity is limited to max 60 g m This means at 70 C 158 F for example that the relative humidity may only be max 40 2 Th...

Страница 81: ...temperature monitoring If the coolant flow breaks down or is not generated the power stage may overheat For this reason the servo drive is fitted with a dynamichet sink temperature monitor which shuts...

Страница 82: ...moog MSD Servo Drive DC AC Operation Manual 82 Id No CA97554 001 Date 06 2012 to glossary to table of contents Space for your personal notes...

Страница 83: ...servo drives as follows As soon as the power supply unit is no longer actively controlling the DC AC servo drives power stage enable ENPO is cancelled Step Action Comment 1 Wire the supply unit with t...

Страница 84: ...moog MSD Servo Drive DC AC Operation Manual 84 Id No CA97554 001 Date 06 2012 to glossary to table of contents Space for your personal notes...

Страница 85: ...r cable length 19 69 70 71 72 73 74 75 76 Signal cable 19 CANopen See Fieldbus option CANopen Capable for energy chains 33 Circuit category 10 Climatic conditions 80 Commissioning 9 10 19 20 27 31 37...

Страница 86: ...7 Environmental contitions 11 80 Ambient temperature 35 69 70 71 72 74 75 81 Errors 42 47 48 49 Error code 47 50 Error display 47 Error number 42 43 47 EtherCAT See Fieldbus option EtherCAT Ethernet 2...

Страница 87: ...ee Cable Motor cable Motor contactor 19 Motor temperature sensor 21 23 See also X5 KTY 28 PTC 24 33 36 Motor winding 35 N Neutral point 77 78 O Option 1 20 21 22 23 31 See also Fieldbus option Option...

Страница 88: ...rvice 50 See also Helpline Supply voltage 20 26 27 33 34 41 67 69 Switching on sequence 39 67 T T1 T2 Buttons 20 21 22 23 41 Technical data 33 36 69 77 78 79 Technology option See Option 2 Terminals 2...

Страница 89: ......

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