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IDBM 04 User`s and Installation Manual

1. IDBm04 OV Common 15V dc output Optoisolated input common Not Used Input 0 Module Enable J8 pin number is axis dependent 15V INTERNAL SUPPLY for drive test pin number is axis dependent I 27 21 Feb 03 Tab 2 21 J8 Connector I O Commands and Signals Panel side shrouded open end header with 20 male contacts Wiring side connector with 20 female contacts screw termination TACHO TEST 1 Programmable output 1 see related command TACHO TEST 2 Programmable output 2 see related command 76 ANALOG OUT 3 Programmable output 6 see related command aa L8 sv HsVdeoupumaxsSOmA o 0 Optosoated V s s 16 x ig 17 DRIVE EN3 Input Enable 3 optoisolated programmable input See Fig 2 12 REF EN PWM enable optoisolated input for the confirmation of the common enable to the three axis REM RESET Remote reset optoisolated input for logic section reset equivalent to push button on the front panel GROUND Ground It must be connected to CNC ground with 2 5 mm wire as short as possible 18 19 GROUND Ground connected to 19 I 28 21 Feb 03 2 11 4 Motor Phases Wiring Fig 2 13 Motor Phases Wiring only one axis shown Motor IDBm E U U V V W ground xy ground J
2. Ill 2 1 Aug 02 3 2 4 Filter Installation he filter must be mounted on the same drive panel CAUTION leave a clear space of at least 60mm around the filter for air circulation when the cabinet does not have forced ventilation The filter must be connected as close as possible to the drive input If the separation between filter and drive exceeds around 30 cm 1 ft then a flat cable should be used for the RF connection between filter and drive REMARK when mounting the drive and the filter to the panel it is essential that any paint or other covering material be removed before mounting the drive and the filter maximum torque of mounting screws is as follows FILTER Max torque CAUTION the filter must be connected to ground before connecting the supply WARNING High Voltage Discharge time approx 10 seconds WARNING the filter can produce high leakage currents see Filter Data Sheets single phase filter can be installed on the left shoulder of the fan housing Power Supply side as in the following figure To 220 Vac 110 Vac main supply lag To AUX PWR connector III 3 1 Aug 02 3 3 Wiring And Grounding All the following cables must be shielded with 85 minimum shielding coverage power motor cable see Fig 3 1 and 3 2 NOTES if a power terminal board is used at motor side the shield must be RF connected to a metallic PG gland connectors
3. qmm oe m up MUR AR QR AMA AA AA ID AP AR ARA ah A di u ir m m Module Dual Channel Circuit Enable Disabled Anpe Dur NCC 1777 Module Single Channel Circuit Enable Disobied cuf som Control amp Verification gt rr Em EP m 8 5 0 s 8 ee ee 9 4 6 4 a s FT AE 4 LEGEND Electric Supply E24 Input Supply 24V DC Actuator Supply VOC MEM e common GND IDBM IDBS Restart interlock Circuit lt Dio Output gt input m Power Supplies 2 Switch Off Delay 0 6 s VIII 13 21 Feb 03 8 9 1 Description of Application Example The application of Fig 8 5 uses both the dual channel and the single channel Restart Interlock circuits This choice has been done after a hazard risk assessment of the application which requires Category 3 dual channel restart interlock function according to EN 954 1 1996 for the motor clamp axis and Category 2 single channel for the motor handling axis The Category 3 according to EN 954 1 1996 requires that a single fault does not lead to the loss of the safety function The Category 2 requi
4. sufficient 60W for 1 module power supply transformer cable Size NO Replace the fuse AUX fuse iis OK YES Fault of auxiliary power circuit VI 4 1 Aug 02 FIG 6 5 IDBM Module POWER OK green LED off ut Green LED POWER OK OFF Green LED NO AUX PWR on See Fig 6 4 IDBM PS lit Correctly tighten at NO Bus Bars 3 Nm 26 Lb in the tightening Bus Bars OK YES V NO Flat cable between IDBM PS and IDBM module OK Change flat cable YES Fault on module power circuit VI 5 1 Aug 02 FIG 6 6 IDBM Module DR EN1 DR EN2 DR EN3 green LED off Digital Input Axis 1 Axis 2 Axis 3 Verify that 15Vdc NO 7 Green LED DR EN OFF Internal 15V used voltage with 8 mA min current is applied NO Make connection P J8 pin 13 J8 pin 7 common connected to J8 pin 9 opto common YES Fault on input circuit VI 6 1 Aug 02 FIG 6 7 IDBM Module REF EN green LED off Module Enable Green LED REF EN OFF Verify that 15Vdc NO voltage with 8 mA min current is applied Internal 15V used J8 pin 8 YES NO J8 pin 7 common connected to J8 pin 9 opto common Make connection e YES Fault on input circuit V
5. data line 10 LPT Out Initialisation 16 7 joz pdeeeeteWez um 4 8 wot Bi directional data line 11 LPT Out Select amp jos O 40 Olnterupt line LPT Inp Acknowledge ides oe 42 VO16 Bi directional data line 16 LPT Inp Error Hos Bdmdenddsaines ras 3 Bi directional data line 12 LPT Inp On line 13 Bi directional data line 14 LPT Inp JAcknowledge 10 0 V logic circuit LPT Ground 18 25 Bi directional data line 15 LPT Inp Busy 11 V 32 13 May 02 11 2 8 21 Connector CAN 1 2 Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female ape LL Be G Qvid e Be 7 11 2 9 J22 Connector RS232 Port Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female s os Dwmasemay OOOO s cr ens _ _ s m 2 V 33 13 May 02 12 IDBx Module Configuration 12 1 Analog Outputs MCD Commander 1 04 004 Wall Thickness mcd File Edit View Update Extras D Z d 6 Q amp SSS J Com Module Axes Record User New Load Save rint Send Receive Actualize Transfer MCD Hodule Xx Set Parameters Clock and Date MCD Module type IDBm 3kHz DSP Sampling Time 095255 Date 23 Jun 2000 Setnew MCD Module description IDBx Mod
6. P 1 Recovery resistor cable 2 7 Signal Cables 3 Motor power cable Sub D and unshielded cables not shown Ill 5 1 Aug 02 It is not necessary to shield the input power wires the bus bars the flat cables between the modules REMARKs Fig 3 6 Partition Penetration the shields of cables inside the cabinet must be 360 clamped to the cabinet wall see Fig 3 5 noisy cables must be kept away from sensitive cables by at least 30 cm 12 in Noisy cables include input power wires motor power and brake wiring Sensitive cables include analog or digital signal cables resolver cable reference enable OK cable 5485 serial link simulated Hex Head encoder wiring di where noisy cables must cross power cables this must be done with angles as near to 90 as possible c Partition Penetration Enclosure Cable Shield the crossing of the cabinet should be Fig 3 5 Clamping To Cabinet accomplished with a low impedance connection between cable shield and enclosure If a connector is not involved the shortest practical lengths of connecting strap should be used see Fig 3 6 Backpanel earth ocreen is effectively earthed 360 of its radius 3 4 Recovery Resistor Motor Choke To meet the EMC Directive the ventilated enclosures containing dynamic braking resistors must be conductive The cable of recovery resistor must be shielded and the s
7. 512 G 1024 2048 124096 L 28192 16384 C2 motor poles A72 4 C26 D 8 E210 F 12 C3 resolver poles A722 B 4 6 D 8 E710 12 C4 2 marker width A21 B 1 2 C 1 4 D no marker 1 7 3 UL Rating Plate To comply with the UL requirements the following data are shown on the rating plate of the Fan Assembly These data are referred to the complete IDBm 04 system UL Recognized that is Power Supply one or more modules fan assembly The Duty Cycle is related to the max nominal current of the Power Supply 65A for PS Standard PS Standalone and PS U The Flow Rate F R is the sum of the fan flow rates of the fan assembly Power Supplies and modules intended to be part of a complete DBM 04 system UL Recognized are marked Part of a Recognized System Example CODE Vin 400 Vac Auxiliary Input 3 phase Vin 110 230 Vac Fan Assembly Vin 115 Vac CY2000 CY2007 AO CY1200 A2 CY1200 A9 CY1200 A9 CY4200 50 60Hz ln 27 Ams Duty Cycle 100 96 P 240W Fin 56 W F R 560 m h 20 21 Feb 03 SECTION 2 INSTALLATION CAUTION make sure that the correct input voltage 400V or 460V has been set Fig 2 1 PS Standard and PS 6M 400 460V Setting Top Panel CAUTION make sure that the Fig 2 2 PS Standard and PS 6M correct wiring has been set for 110 230V Jumper auxiliary input voltage on the PS Standard and PS
8. 8 Overtemperaturesignal YU 1 02 9 INC 15 I 21 21 Feb 03 2 11 2 Resolver Wiring Fig 2 10 Resolver Wiring J4 J5 J6 CONNECTORS SUB D 9 CONTACTS MOTOR CONNECTOR PT OOE 14 19 10 ee gt p Ci Rino 0 B Ere ax L _ EIS CS L DR o S Viper MM grounding of shield via connector shell grounding of shield via connector clamp RESOLVER CONNECTOR MOTOR SIDE oignal FAS T FAS N Type FASK Pos V Ref 0 V Ref D ov B Note For Other motors connectors make reference to the motor catalogue too 12 3 I 22 21 Feb 03 Each IDBm module can be connected up to 3 resolvers Axis 1 resolver must be connected to J4 M1 connector axis 2 resolver to J5 M2 and axis 3 resolver to J6 M3 Figure 2 11 shows the wiring lay out of the resolver with differential output We recommend to use 4 pair cables each pair twisted and individually shielded with an independent overall shield 20 AWG 0 60 mm or 22 AWG 0 38 mm wire with low capacitance can be used We suggest to use ground connections as shown in Fig 2 10 Cable length should not exceed 30 m 100 ft It is recommended that the signal cable and power cable be separated if possible through the use of independent duct conduit or by a distance of 12 inches 30 cm oee Section 3 for shielding procedures according to EMC Directive Tab 2 19 J4 J5
9. S _ 24VDC INPUT npur power supply 24 Voltage to drive the MODULE OK signal SSCS MODULE OK Digital output signal MODULE OK 24 Voltage optoisolated 24VDC INPUT Input power supply 24 Voltage to drive the DIGITAL OUT 0 signal DIGITAL OUT 0 Digital output signal 0 24 Voltage optoisolated 24VDC INPUT Input power supply 24 Voltage to drive the DIGITAL OUT 1 signal DIGITAL OUT 1 Digital output signal 1 24 Voltage optoisolate DIGITAL INP 4 Digital input signal 1 24 Voltage optoisolated DIGITAL INP 0 Digital input signal 0 24 Voltage optoisolated MODULE RESET Digital input signal for reset module 24 Voltage optoisolated DIGITAL INP 2 Digital input signal 2 24 Voltage optoisolated Connect to ground with gt 2 5 mm2 11 1 2 J2 Connector RS485 Port Signals Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female G e 11 1 3 J3 Connector Encoder Outputs and l O Signals Connector type at panel side SUB D 15 contacts female Connector type at wiring side SUB D 15 contacts male DIGITAL INP 3 Digital input signal 3 referred to 0 V logic 5 VDC not opto isolated B1 Differential encoder phase B axis 1 output signal A1 Differential encoder phase A axis 1 output signal C1 Differential encoder phase C axis 1 output signal 15VDC 0V 15 VDC output power supply referred to 0 V I
10. e Perform AUTOPHASING routine using MCD Commander II 36 21 Feb 03 2 18 Resolver To Encoder Option For position sensing a resolver to encoder option simulated encoder is available Encoder signals are 7 100 Q impedance as follows e 2 channels of square wave output with a resolution from 128 to 16384 pulses per electrical revolution Channel B leads channel A by 90 for clockwise rotation when viewed from shaft end e 1 marker pulse per electrical revolution i e 1 3 3 marker pulses per mechanical revolution with a 6 pole resolver e complementary outputs B and C Fig 2 16 Simulated Encoder CW Rotation When Viewed From Shaft End Channel A Channel B C Marker Channel A Channel B Note to make C Marker high when Channel A and Channel B are high like Siemens swap Channel A with Channel A and Channel B with Channel B I 37 21 Feb 03 2 18 1 Setup For Encoder Resolution REMARK the maximum number of pulses per electrical revolution depends on the R D resolution See Tab 2 26 The width of C marker can be 360 A 2 180 or 4 90 it must be specified in the order This parameter does not depend on the software commands Note to obtain the resolut
11. 50 60 Hz e auxiliary input voltage for data saving 24 Vdc 10 e advanced functions for safety requirements on IMM machine as described in Section 7 e input current 65 A rms e Output current see tab 1 1 e max number of modules supplied 4 IDBm Module e BUS BAR rated voltage 540 Vdc with 400 Vac or 620 Vdc with 460 Vac set in factory e three phase output voltage 325 Vac with 400 Vac or 375 Vac with 460 Vac set in factory e Output current see tab 1 1 IDBM 04 Fan Assembly e fan input voltage 230 Vac or 115 Vac 0 10 50 60 Hz or 24 Vdc 4 e input power see tab 2 1 12 21 Feb 03 Tab 1 1 Output Currents STANDARD MODULES see tab 2 27 for the other possible configurations ies RI Amer Qam maf S er mss 3 64 9 3 64 o 120 lt G SS ss IDBm88 8 156 22 8 456 22 120 8 Output Current eth Weight mm IDBm 15 75 15 297 42 15 207 42 10 9 IDBm 25 25 25 495 70 25 495 70 180 13 ibBm 38 35 35 836 30 35 ese 390 20 18 ibBm3 3 3 sus mas mas mim mim sam ss s 8 IDBm6 66 6 106 15 6 106 15 6 106 15 120 9 IDBm 8 8 8 8 156 22 8 156 22 8 156 2 120 9 a duty cycle of 92 96 applies POWER SUPPLY 400 460 Vac Currents Auxiliary Output Output Input Width Weight Ra
12. Encoder output phase C motor3 1 29 TP Testingpointt 1 1 C1 2 B2 C2 3 B3 C3 14 15 16 17 29 I 25 21 Feb 03 3 Shera OK 1 OV not OK 5V OK Drive OK output axis 2 Imax 5mA OK 2 OV not OK 5V OK Drive OK output axis 3 Imax 5mA OK 3 OV not OK 5V OK 34 REF3 Differential non inverting analog input for the analog input signal axis 3 max range 10V see related command See Fig 2 11 35 REF2 Differential non inverting analog input for the analog input signal axis 2 max range 10V see related command See Fig 2 11 36 REF 1 Differential non inverting analog input for the analog input signal axis 1 max range 10V see related command See Fig 2 11 15Vdc output I max 30mA Note Differential Analog Inputs three available on request instead of DRIVE OK outputs I 26 21 Feb 03 Fig 2 12 Input Output Wiring CNC 24V OV Output 1 3 Output 0 Module Ok Input Ok Ground 24V 24V Power Supply IDBm04 db 7 9 Optoisolated input common Input 1 3 4 Output 0 enable n 10 1 Module Ok 1 T NER Input Ok 12 13 A zm n 19 Ground grounding of shield 48 cable shield must RF connected to the housing via hose clamp 24V POWER SUPPLY
13. I 15 21 Feb 03 Fig 2 5 Module Removable Control Panels I 16 21 Feb 03 Fig 2 6 Expansion EBM Removable Control Panel Ja EBM AXIS I 17 21 Feb 03 Fig 2 7 Module 120 mm 180 mm Fixed Panels COs E DBM 04 DBM 04 Code CY1200 SIN 1234567890 3 phase lout nom 50 Arms loutmax 140 A GCG A lout nom 50 Arms lout max 140 SECA lout nom 90 Arms lout max 140 A Moog Itnliansa Electric Division Made in Italy Jo MOOG Code 1200 SIN 1234567890 3 phase Axis 1 lout nom lout max lout nom lout max GCC A 50 Arms 140 A GCC A 50 Arms 140 A GCC A lout nom 50 Arms lout max 140 cel Moog italiana Electric Division Made In Italy Je I 18 21 Feb 03 MOOG Code CY1200 SIN 71234557890 3 phase lout nom 50 Arms tout max 140 A GCC loutnom 50 Arms tout max 140 A lout nom 50 Arms iout max 140 A Moog Italiana Electric Division Made in Itaty JOB Fig 2 8 Module Expansion 270 mm Fixed Panel DBM 04 Code CY1200 SIM 1234567890 J phase GCC A lout nom 50 Arms lout max 140 A Axis 2 GCC A lout nom 50 Arms lout max 140 A Axis 3 GCC A lout nom 50 Arms lout max 140 A Fa Moog Electric Division Made Italy Q eo 5 O Q Note the grey connectors are mounted only in some configurations see tab 2 22 I 1
14. 10 4 1 10 4 2 MOTION CONTROL MODE 1 POSITION CONTROL MODE RXPDO RECEIVE PDO FOR ONE AXIS OF THE MCD MODULE Control Command Control Torque Limitation TrqLim Velocity Command Velocity Position Value Position TXPDO TRANSMIT PDO FOR ONE AXIS OF THE MCD MODULE Control Status Status Torque Output Torque Actual Velocity Velocity Position MOTION CONTROL MODE 2 PROFILE CONTROL MODE RXPDO RECEIVE PDO FOR ONE AXIS OF THE MCD MODULE Control Command Control Torque Limitation TrqLim Profile Scale Factor ProfScale Velocity outside profile range ProfVel Position Value Position TXPDO TRANSMIT PDO FOR ONE AXIS OF THE MCD MODULE Control Status Status Torque Output Torque Actual Velocity Velocity Position MOTION CONTROL MODE 3 TRAJECTORY CONTROL MODE RXPDO RECEIVE PDO FOR ONE AXIS OF THE MCD MODULE Control Command Control Torque Limitation TrqLim Velocity Limitation Velocity Position Value Position TXPDO TRANSMIT PDO FOR ONE AXIS OF THE MCD MODULE Control Status Status Torque Output Torque Actual Velocity Velocity Position ERROR WARNING MESSAGES MODULE ERRORS WARNINGS Error Messages Warning Messages AXIS ERRORS WARNINGS Error Messages Warning Messages EMERGENCY TELEGRAM Transmit PDO structure Error Code Error Register MCD manufacturer specific error field PRE DEFINE ERROR FIELD ERROR HISTORY 16 bit Error Code 16 bit Additional error information field
15. 4104 4120 4134 4143 4144 1130 4105 4121 4131 4135 4145 4146 1455 4106 4116 4147 4148 1455 4107 4111 4149 4150 1455 CY4108 CY4151 4152 1455 4109 4112 4124 CY4136 4153 CY4154 600 230Vac 256 1940 4110 4155 4156 1940 4115 4157 4158 22660 230Vac 256 1940 4200 4213 4214 560 CY4201 4215 4216 1120 CY4202 4217 4218 1120 CY4203 4219 4220 1120 CY4204 4221 4222 1300 4205 4211 4223 4224 1680 4206 4225 4226 1680 CY4207 4227 4228 1680 4208 4229 4230 1680 CY4209 4212 4231 4232 600 115Vac 224 2240 CY4210 4233 4234 2240 4235 4236 660 115Vac 224 2240 CAUTION a free circulation must be guaranteed for the air flow KINL O 5 Il 6 21 Feb 03 2 7 Wire Type 2 7 1 Sizing of Wires It is recommended to use Cu stranded and or solid wires 75 C 167 F UL approved per the following table Tab 2 2 Sizing of Wires IDBmO04 Model Netes C cee eee PS U PS Standalone 15 42 60 180 Power Line and ground ae wiring No of wires x 6 2 AWG Auxiliary Line wiring 2X 2 No of wires ZAN 14 25 CNN AWG No of wires x AnS 14 MN 14 EN 6 AWG wiring 10 AWG 6 AWG No o
16. V 2 13 May 02 21 21 21 21 21 21 21 21 21 21 21 22 22 22 22 22 22 22 22 22 22 22 22 23 23 23 23 23 23 23 23 23 23 23 24 24 24 24 24 24 24 25 25 25 25 25 26 26 26 11 11 1 11 1 1 11 1 2 11 1 3 11 1 4 11 1 5 11 1 6 11 1 7 11 1 8 11 2 11 2 1 11 2 2 11 2 3 11 2 4 11 2 5 11 2 6 11 2 7 11 2 8 11 2 9 12 12 1 12 1 1 12 1 2 12 2 12 2 1 12 2 2 12 3 12 3 1 12 3 2 13 13 1 13 1 1 13 1 2 14 IDBX MODULE CONNECTORS IDBS MODULE J1 Connector l O Signals J2 Connector RS485 Port Signals J3 Connector Encoder Outputs and l O Signals J4 Connector Resolver J20 Connector l O Port LPT J21 Connector CAN 1 2 J22 Connector RS232 Port J24 Connector 24VDC Auxiliary Power Supply IDBM MODULE J1 Connector Auxiliary Power Supply J2 Connector RS485 Port Fault Signals J3 Connector Expansion Module J4 5 6 Connector Resolver J7 Connector Encoder Outputs and l O Signals J8 Connector l O Signals J20 Connector l O Port LPT 21 Connector CAN 1 2 J22 Connector RS232 Port IDBX MODULE CONFIGURATION ANALOG OUTPUTS Configuration table IDBx Modules and DSP Versions specific definition DIGITAL OUTPUTS Matrix Output Configuration table IDBx Modules specific definition DIGITAL INPUTS Matrix Input Configuration table IDBx Modules specific definition PROJECT UP DOWNLOAD MCD COMMANDER Upload Backup Download HARDWARE DEFINITION V 3 13 May 02 27 27 27 27 27
17. in order to not damage the Y type capacitors between phases and ground Moreover the DC voltage dielectric test required by EN 50178 1997 product family standard has been carried out in factory as a routine test The DC Insulation Resistance Tests of EN 60204 1 1997 par 19 3 may be carried out without disconnecting the drive and the EMC filters III 7 1 Aug 02 SECTION 4 PROTECTIONS 4 1 Power Supply Recovery not ok or wrong input sequence in the PS U Indicated by LED s DRF drive fault on all modules LED DBR FAULT optoisolated output Module OK oet condition when recovery circuit is active for longer than 2 s PS U or broken resistance others PS Effect all drives inhibit torque Reset condition if the condition is not present anymore power off and on single phase voltage PS Standard and PS 6M or 24Vdc PS U or 3 phase voltage PS Standalone and PS 120 For the PS U please read the Application Notes diagrams in Section 7 Power supply overtemperature Indicated by LED s DRF drive fault on all drives LED OVER TEMP optoisolated output DRIVE OK bit of the FA string see FA command Set condition when a limit temperature is reached Effect all drives inhibit torque Reset condition if the condition is not present anymore power off and on single phase voltage PS Standard and PS 6M or 3 phase voltage PS Standalone and PS 120 or 24 Vdc PS U IV 1 1 Aug 02 4 2 Drive Module
18. 1 1 Control Command Control Bit 0 2 Mode 0 7 2 Profile control mode Bit 3 Variable profile set position Bit 4 5 Profile number 0 3 Bit 6 Clear error messages and switch motor on if axis enabled Bit 7 Axis enable if no error exist motor will switch on 8 1 2 Torque Limitation TrqLim 0 127 Torque PWM output limitation torque low res 8 1 3 Profile Scale Factor ProfScale 0 100 Set velocity Profile velocity ProfScale 100 96 8 1 4 Velocity outside profile range ProfVel 0 255 Velocity command outside profile range min 8 1 5 Position Value Position PosRange TxPDO Control Bit 3 0 no function PosRange TxPDO Control Bit 3 1 Variable profile set position counts 8 2 TxPDO Transmit PDO for one axis of the MCD Module Velocity 8 2 1 Control Status Status Bit 0 2 Mode 0 7 2 Profile control mode Bit 3 Position tolerance window reached Bit 4 Profile status Bit 6 0 Set position outside profile table Bit 6 1 Profile table not exits Bit 5 Reference cycle done reference position valid Bit 6 Error exist Bit 7 Axis enabled 8 2 2 Torque Output Torque 127 Torque PWM output torque low res 8 2 3 Actual Velocity Velocity 32767 Actuel velocity min 6 2 4 Position PosRange Actual position counts Position Range PosRange 2147483647 2 Resolver Pools V 21 13 May 02 9 Motion Control Mode 3 Trajectory Control Mode 9 1 RxPDO Receive PDO for one axis
19. 1 2 Electrical Data PS Standard Power Supply e 3 phase power input voltage 400 or 460 Vac selectable via switch 10 50 60 Hz 1 auxiliary input voltage 110 or 230 Vac selectable via jumper 10 50 60 Hz max 240 W 60 W per module e input current 65 A rms e output current see tab 1 1 e max number of modules supplied 4 11 21 Feb 03 PS 6M Power Supply Standard Plus 3 phase power input voltage 400 or 460 Vac selectable via switch 10 50 60 Hz e 1 auxiliary input voltage 110 or 230 Vac selectable via jumper 10 50 60 Hz max 360 W 60 W per module e input current 65 A rms e Output current see tab 1 1 e max number of modules supplied 6 PS Standalone Power Supply 3 phase power input voltage 400 Vac 460 Vac set in factory 10 50 60 Hz 1 phase auxiliary input voltage for data saving 230 Vac 10 50 60 Hz max 360 W 60 W per module e input current 65 A rms e Output current see tab 1 1 e max number of modules supplied 4 PS 120 Power Supply Powered Standalone 3 phase power input voltage 400 Vac 460 Vac set in factory 10 50 60 Hz 1 phase auxiliary input voltage for data saving 230 Vac 10 50 60 Hz max 360 W 60 W per module e input current 120 A rms e output current see tab 1 1 e max number of modules supplied 4 PS U Power Supply Special Standalone 3 phase power input voltage 400 to 480 Vac 10
20. 1008 See Axis 3 ErorMessages 7 10 3 4 2 MCD error additional Index Value For debugging or special function it s possible to send together with the error message a additional 16 bit value with the corresponding index number 0 255 V 24 13 May 02 10 4 Pre define Error Field Error History The object at index 1003h holds the errors that have occurred on the device and have been signaled via the Emergency Object In doing so it provides an error history 1 The entry at sub index 0 contains the number of actual errors that are recorded in the array starting at sub index 1 2 Every new error is stored at sub index 1 the older ones move down the list Writing a 0 to sub index 0 deletes the entire error history empties the array 4 The error numbers are of type UNSIGNED32 and are composed of a 16 bit error code and a 16 bit additional error information field which is manufacturer specific The error code is contained in the lower 2 bytes LSB and the additional information is included in the upper 2 bytes MSB 10 4 1 16 bit Error Code See 10 4 2 16 bit Additional error information field See MCD error reaister V 25 13 May 02 11 IDBx Module Connectors 11 1IDBs Module 11 1 1 J1 Connector l O Signals Connector type at panel side WAGO 231 450 Connector type at wiring side WAGO 231 120 026 000 G ANALOG GND s INPUT COMMON input power supply common for DIGITAL INPUTO
21. 28 28 29 29 29 30 30 30 30 31 32 33 33 34 34 35 35 35 35 36 36 37 37 37 38 38 38 38 39 0 Version documentation 3 31 3 30 3 20 3 10 3 08 3 07 RELEASED Docu extended Changes SDO extensions RELEASED Docu extended SDO extensions RELEASED SDO extensions RELEASED Docu extended SDO extensions RELEASED Docu extended SDO extensions RELEASED Jan 2002 Stephan Schwarz ProControl AG Find auto SYNC Period time Set auto micro interpolation time Sep 2001 Stephan Schwarz ProControl AG MCD Mode 3 Trajectory Control 0x20 1 12 June 2001 0x100500 0x100600 0x100700 0x20 0 1D 0x20 1 11 Jan 2001 Trajectory micro interpolation Stephan Schwarz ProControl AG oynchronization COB ID oynchronization cycle period oynchronization window length Anti Take Off current test pulse Roll Over position Stephan Schwarz ProControl AG IDBx Code Box Motor safety brake 0x20 0 1B 0x20 0 1C 0x20 1 0E 0x20 1 0F 0x20 1 10 Feb 2000 KP factor during motor turn off factor during motor turn off Set input filter time constant factor Shape control type Shape switching time period Stephan Schwarz ProControl AG Error Warning Messages 0x2009 01 0x20 1 0E Jan 2000 IDBx Module digital software input param Position interpolation time base Stephan Schwarz ProControl AG V 4 13 02 1 Communication Servic
22. 5 1000 s Axis 2 0 2021 08 Axis 3 0 2031 08 5 1 2 Shape Restriction Type 0 Standard he switching period time is not supported Acceleration and deceleration parameter can be different and are maximum values 5 1 3 Shape Restriction Type 1 3 S Bell Sin Shape e Deceleration parameter is not supported e Acceleration parameter is used also for deceleration and are average values e Switching period time 0 and Acceleration 0 This settings produce no moving and are normally not used e Switching period time 0 and Acceleration gt 0 The system changes the velocity with the acceleration parameter average e Switching period time gt 0 and Acceleration 0 This system changes the velocity in exactly the switch period time Switching period time gt 0 and Acceleration gt 0 The effective switch period time conforms with the set one or a multiple of the switch period time The acceleration parameter average give a maximum limit for the acceleration V 16 13 May 02 5 1 4 Shape comparison table ene re Switch period time Pe P ops que 10 1 S Shape 100 200 2 Bell Shape 113 150 3 123 157 0 Standard 200 150 100 50 0 Amplitude 50 100 acceleration 450 velocity e position 200 0 10 20 30 40 50 60 70 80 90 100 Time 200 150 100 Am
23. 6M front panel connect the jumper on J12 C pe connector to use 110 Vac or J12 disconnect the jumper on J12 AUX PWR mi JUMPER connector to use 230 Vac 110 230V AC l E OVAC Il 1 21 Feb 03 2 1 Fuses 2 1 1 Internal Auxiliary Fuses 2 1 1 1 PS Standard and PS 6M A delayed type fuse rated 4A 250V is provided on the front panel to protect the auxiliary power circuit The following types are approved Mod No SPT 0001 2510 by Schurter AG Mod No ST520240 by Bussmann Div Cooper UK Ltd 2 1 1 2 PS Standalone and PS 120 A delayed type fuse rated 3 15A 250V is provided on the internal base card to protect the auxiliary power circuit The following types are approved Mod No SPT 0001 2509 by Schurter AG Mod No ST520231 by Bussmann Div Cooper UK Ltd 2 1 1 3 PS U A delayed type fuse external rated 10A 250V have to be provided outside the power supply to protect the auxiliary power circuit input 24VoltDC 2 1 2 External Power Fuses one in each phase of the power line 2 1 2 1 PS Standard PS 6M PS U and PS Standalone CAUTION equipment suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical Amperes 460V 10 maximum when protected by semiconductor type fuses mod No 160 FEE manufactured by Bussmann Div Cooper UK Ltd 2 1 2 2 PS 120 Semiconductor type fuses mod No 315 FM 315A 660Vac manufactured by Bussmann Div Cooper UK Ltd are recommended 2 2 Sof
24. J Fig 8 5 Starting Sequence Timing Chart max 100 ms max 50 ms door closed Axis Enable from PLC Module Disabled Channel 1 2 Verification VIII 11 21 Feb 03 9 8 External Plausibility Tests The following tests of plausibility must be made outside of the drive e g by a PLC The external system must be able to detect free wheeling when the axis does not stop within 360 ms after the Module Enable signal goes away The information about the motor velocity is available at J21 connector CAN 1 2 Channel 1 verification The external system must monitor this output signal for plausibility with its input signal see par 8 3 2 and for comparison with the status of Channel 2 and with the status of Module Disabled redundancy verification Channel 2 verification The external system must monitor this output signal for plausibility with its input signal see par 8 3 1 and for comparison with the status of Channel 1 and with the status of Module Disabled redundancy verification Module Disabled The external system must monitor this output signal for plausibility with its input signal see par 8 3 3 and for comparison with the status of Channel 1 and with the status of Channel 2 redundancy verification Monitoring by a standard Programmable Electronic System Minimum functional requirements The automatic monitoring shall at discovered fault disconnect the line contactor and prevent a new start until fault has b
25. J6 Connectors Resolvers Panel side Sub D with 9 female contacts Wiring side Sub D with conductive shell 9 male solder contacts Differential cos signal non inverted input 1 o ow Differential cos signal inverted input COS C Shield Internally connected to OV common Differential sin signal non inverted input 5 Differential sin signal inverted input sin e PIG MobprPTC pd OV common Special for 10kHz carrier Motor PTC input V ref 20 Vpp 10kHz sinusoidal output signal for supplying primary resolver winding carrier I 23 21 Feb 03 2 11 3 Wiring All the signal cables must be separated from power cables by a distance 230 cm oee Section 3 for shielding procedures according to EMC Directive REMARS e DRIVE OK J7 connector it is suggested to connect the isolated output DRIVE OK to a remote control switch so that if a fault occurs the power supply is disconnected to avoid system damages e SIMULATED ENCODER SIGNALS J7 connector in specially noisy environments it is suggested to connect a 220 680 Q resistor between A and A B and B C and C at the receiver input for lengths in excess of 5 m 16 ft the cable must have 3 pairs each pair twisted Fig 2 11 Analog Input Wiring Analog input p OV 17 cable shield must be RF grounding of shield connected to the housing via connector shell DIFFERENTIAL I
26. Resolver not ok Indicated by LED RF1 RF2 RF3 Resolver Fault optoisolated output DRIVE OK Set condition when the resolver is not connected or in short circuit at the power up when the resolver fails or is disconnected during running Effect the drive inhibit torque of fault axis Reset condition if the condition is not present anymore reset button on drive or send reset commands on CAN Network a e using MCD Commander Motor over temperature Indicated by LED LED OT1 OT2 OT3 optoisolated outputs DRIVE OK and MOTOR OK Set condition when a limit temperature is reached inside the motor Effect the drive inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send reset commands on CAN Network a e using MCD Commander Notes the fault information via LEDS and opto is reset when the motor temperature goes down the limit while the drive is disabled until the reset condition has been met Power fault Indicated by LED DRF LED PWRF1 PWRF2 PWREF3 optoisolated output MODULE OK Set conditions 1 When a short circuit is detected between motor phases phase and ground phase and HV 2 When overcurrent is detected in motor phases 3 Overheating of power modules locked rotor condition 4 Undervoltage of internal supply of power modules Effect the drive inhibit torque Reset condition if the condition is not present anymore power o
27. Select Backu IDBxBa IDBxMot ini IDBxDrv ini D Projects ProControl CO_IDBs idbs dre O3S080000 MCD_ appl pri File at progress 0 100 n 500 kBaud on LPT1 NODE 63 Pre Operational 30 08 2000 14 51 Errors 2 Data 2 Upload Backup Start the MCD Commander and select the IDBx Module with the right ID number default 63 Select Transfer Popup Ctrl amp F4 and press Select Backup Directory to select the directory to store the project files e Press IDBx Backup to activate project upload Press Start to start the project upload transferring Download Start the MCD Commander and select the IDBx Module with the right ID number default 63 Select Transfer Popup Ctrl amp F4 and press Select Project to select the project directory where the right project is stored with the existing PRJ file Press Download All to select all project files download Press Start to start the project download transferring e After completely download press Reset for restart the IDBx Module If was t before a MCD Profile compatible project installed press the reset button at IDBx Module V 37 13 May 02 14 Hardware Definition On the MCD Start up side MCD Commander there is the button to define the hardware To change the hardware parameter the Device must be in the Restart Pre Operational or Preparing mode For edit the hardware the password must be set If all hardware paramete
28. V2 W2 pins and closing motor phases to resistors must be preceded by disabling the axis delay time must be at least 30 ms CAUTION in case of repetitive switching on and off wait 1 minute between on and on CAUTION it is recommended to close the WP jumper on the Personality Card at the end of installation and setup CAUTION do not exceed the tightening torque of the table but see proper data sheets for the tightening torque of input capacitors and power modules and see Section 2 of this Manual for the tightening torque of terminal blocks Screw Tightening torque Thread Ll Ib in 26 55 60 _ 53 10 3 21 Feb 03 CENELEC Memorandum N 3 EC DECLARATION OF CONFORMITY The undersigned representing the following manufacturer Moog Italiana S r l Electric Division Via Avosso 94 Casella Genova ITALY herewith declares that the products Complete Drive Modules series BRD 4S DBC IIl DBS 052000 5 Basic Drive Modules series BRM 4S DBM 03 DBM 033 DBM 04 Feeding sections series ADR BRM P1 BRM P2 DBM 03 PS DBM 033 5 DBM 04 PS Motor groups series FAE F K N T W FAS F K N T W FC are in conformity with the provisions of the following EC directives including all applicable amendments ren L O 73 23 EEC Low Voltage Directive 89 336 EEC EMC Directive and that the following harmonized standards or parts thereof have been applied tit
29. after longer production standstills Each individuai module must be checked The check must be made by qualified personnel taking into account the necessary safety measures IGBT drivers must be inhibited by withdrawing the voltage at positions A C Channel 2 door and B C Channel 1 door of JS1 connector Furthermore the acknowledge contacts J H Channel 2 verification and F G Channel 1 verification of J81 connector of the Restart Interlock must close after a delay of 600 100 ms The drive then does not provide output current Disabling the protective devices e g opening the protective doors while the drive is running The motor must be braked in a time 360 ms and then powered down This must not result in a hazardous condition All possible fault situations which could occur must be individually simulated in the signal lines between the verification contacts and the external control as well as the signal plausibility functions of this control e g by disconnecting the Restart Interlock monitoring circuit at positions J H and F G of JS1 connector The timing chart of the antifreewheeling function must be verified see fig 8 4 For all of the simulated fault situations the line contactor must disconnect all of the machine or plant drives from the line supply The correct starting sequence shown in Fig 8 5 must be checked to verify external faults e g wiring short circuit at terminals Channel Verification F G and H
30. and are transmitted from an emergency producer on the device Emergency objects are suitable for interrupt type error alerts An emergency object is transmitted only once per error event As long as no new errors occur on a device no further emergency objects will be transmitted 10 3 1 Transmit PDO structure Error Code Error Register 7 MCD manufacturer specific errorfield 0 10 3 2 Error Code 0000 Generic module error For details see MCD manufacturer specific error field Generic axis 1 error For details see MCD manufacturer specific error field Generic axis 2 error For details see MCD manufacturer specific error field Generic axis 3 error For details see MCD manufacturer specific error field For details see user application manufacturer specific error field documentation For details see user application manufacturer specific error field documentation For details see user application manufacturer specific error field documentation For details see user application manufacturer specific error field documentation 10 3 3 Error Register O Geneicemor 00000000002 6 Reserved always O SS O 10 3 4 MCD manufacturer specific error field MCD error register error additional Index MCD error additional Value 10 3 4 1 MCD error register MCD error register 1000 See Module ErorMessages 000000000 1001 See Axis 1 OO 1002 See Axis 2 Error Messages S OSO
31. faults 21 4 J2lpos 9 pw gu O 1 DBRFAULT Recovery fault or VBUS Not Ok PS U Only 1 0 OVER TEMP Overtemperature Not Used Il 11 21 Feb 03 Tab 2 9 Power Supply J10 Connector RS485 Port to keypad or to converter Panel side Sub D with 9 female contacts Wiring side Sub D with 9 male contacts supplied with the optional 5232 485 converter kit or with the optional keypad Pos Function 5Vdc output referred to logic OV for power supply 6 Rx RS485 serial link Logic OV 8 Tx RS485 serial link 9 NC 2 8 2 Power Wiring 2 8 2 1 PS Standard and PS 6M Tab 2 10 J11 Connector Power Power Terminal Blocks Mod No HDFK 10 by Phoenix Contact Gmbh oee Par 2 for sizing of power wires tightening torque and wire stripping length U1 L1 phase three phase input voltage 400Vac or 460Vac L2 phase three phase input voltage 400Vac or 460Vac L3 phase three phase input voltage 400Vac or 460Vac RR Recovery resistor Recovery resistor Tab 2 11 J12 Connector Aux Power Panel side shrouded open end header with 4 male contacts Wiring side connector Mod No 231 104 026 000 by Wago Gmbh provided in kit oee Par 2 for sizing of power wires tightening torque and wire stripping length AUX PWR Auxiliary power supply 230Vac 110Vac JUMPER Jumper see Fig 2 2 JUMPER Open 230Vac Closed 110Vac AUX P
32. input Para Dswi 127 Characters 1 IDBm 2 IDBs 3kHz 3 IDBs 9kHz 12 sec elapsed since midnight 00 00 00 1 1 1970 HWdefine INI IDBxDrv INI IDBxMot INI 3 h 3 h 3 h 3 h 3 h 3 h 32768 32767 0x00 0x2FF 0 31 A h Bit 0 Bit 0 Bit 0 Bit 0 6 h Bit 0 Bit 0 Bit 0 Bit 0 Bit 0 Bit 0 1 h Bit 0 29 Matrix Bit 30 Inverter Bit 31 Output 29 Matrix Bit 30 Inverter Bit 31 Output 29 Matrix Bit 30 Inverter Bit 31 Output 29 Matrix Bit 30 Inverter Bit 31 Output 29 Matrix Bit 30 Inverter Bit 31 Input RO 29 Matrix Bit 30 Inverter Bit 31 Input RO 29 Matrix Bit 30 Inverter Bit 31 Input RO 29 Matrix Bit 30 Inverter Bit 31 Input RO 29 Matrix Bit 30 Inverter Bit 31 Input RO 29 Matrix Bit 30 Inverter Bit 31 Input RO 29 Matrix Bit 30 Inverter Bit 31 Input RO IDBx Module Actual Parameters Sub h 00 Description IDBx Module actual values Error register Warning register DSP version number Matrix input signals for digital outputs Matrix output signals for digital inputs IDBx Module common values Start up date Customer name Module series number o h Error Messaqes arning Messages 3 h 40 Characters 40 Characters 40 Characters V 11 13 02 Uns8 Visible String Int32 Int32 Int32 Domain Domain Domain Uns8 Uns8 Uns8 Uns8 Uns8 Uns8 Int32 Int32 Int32 Uns8 Uns32 Uns32 Uns32 Un
33. of the MCD Module Byte 3 4 Byte 5 8 Control TrqLim Velocity Position 9 1 1 9 1 4 Control Command Control Bit 0 2 Mode 0 7 Trajectory control mode Bit 3 Micro interpolation enable Bit 4 5 Position reference mode 0 3 0 Position reference cycle disabled 1 Position reference cycle enable 2 Preset the reference position at current position immediately 3 Preset the reference position whit limit switch signal Bit 6 Clear error messages and switch motor on if axis enabled Bit 7 Axis enable if no error exist motor will switch on Torque Limitation TrqLim 0 127 Torque PWM output limitation torque low res Velocity Limitation Velocity 0 32767 Reference position set Set velocity limit min 32767 Reference position not set Set velocity and direction min Position Value Position PosRange Reference position set Set position for trajectory counts PosRange Reference position not set Preset for the reference position counts 9 2 TxPDO Transmit PDO for one axis of the MCD Module Byte 3 4 Byte 5 8 Status Torque Velocity Position 9 2 1 9 2 2 9 2 3 9 2 4 Control Status Status Bit 0 2 Mode 0 7 1 Position control mode Bit 3 Position tolerance window reached Bit 4 Reference limit switch signal Bit 5 Reference cycle done reference position valid Bit 6 Error exist Bit 7 Axis enabled Torque Output Torque 127 Torque PWM output torque low res Actual Velocity Ve
34. the first relay of Channel 1 from door gate With door the door closed this input is high 24Vdc When the door is opened this input changes to low The switch off time delay for the safety relay of Channel 1 is invoked Additionally this opens the module enable contact GND Ground common to the above mentioned bobbins This ground must be referred to OV logic or floating Series of NO contacts of Channel 1 and Channel 2 These contacts Module must be connected in series to the Module Enable input wiring Enable This way when a door is opened also the Interlock System III is activated Channel 1 NC contact of the safety relay of Channel 1 Feedback of RIC Verification When closed high the Restart Interlock function is active The external verification system must monitor this output signal for plausibility with its input signal and for comparison with the status of Channel 2 and Module Disabled signal redundancy verification NC contact of the safety relay of Channel 2 Feedback of RIC When closed high the Restart Interlock function is active The external verification system must monitor this output signal for plausibility with its input signal and for comparison with the status of Channel 1 and Module Disabled signal redundancy verification Note with the single channel RIC only Channel 1 is active The positions related only to Channel 2 are not connected The external cable to J81 connector must b
35. to the Maximum Module Current due to the rated current of the Power Supply and of the Module According to this reason the Drive shall be used with a Duty Cycle as specified in the marking of the equipment Surrounding Air Temperature Maximum Surrounding Air Temperature 40 In the final installation considerations shall be given for the need of repeating Temperature test if the unit is mounted with a different Surrounding Air conditions Pollution degree 2 Installation The drive must be placed in a pollution degree 2 Environment Environmental designation Open Type Equipment Short Circuit Ratings Equipment suitable for use on a circuit capable of delivering not more than 5000 rms Symmetrical Amperes 460 V ac 1096 maximum Branch Circuit Protection The Branch Circuit Protection for Short Circuit shall be provided in the end use applications by external R C Fuses JFHR2 manufactured by Bussmann Div Cooper UK Ltd Semiconductor fuse type Mod No 160 FEE rated 160 A 660 Vac 200 kA A I C 7 21 Feb 03 Overspeed Protection The Power Conversion Equipment is incorporating an Overspeed Protection See MV command in Section 6 of this Manual Overvoltage Control the equipment the Overvoltage is controlled by a Transient Suppressive device with 1500 V Clamping Voltage and min 120 J 10x1000 us or 2 ms Energy Handling Capability See also Bus not normal protection in Section 4 of this Manual Overloa
36. 3 ENABLE J8Pin14 Pin 14 DIGITAL INP 1 24 VDC optoisolated Pin 15 DIGITAL INP 2 24 VDC optoisolated PEE Pin 16 DIGITAL INP 3 24 VDC optoisolated V 36 13 May 02 13 Project Up Download Following the step by step instructions for project up or download 13 1MCD Commander MCD_Commander 1 04 NoName File Edit View Update Extras D Z B 8 New Load Save Prt Com Module HCD Communication Choose a device to communicate with ID 63 Search all devices Offline Standard Profile Master Devices on the CAN Bus 1 eer device list a T T at Axis 1 Tuning 1 Record User Send Receive Actualize Transfer Help Up Download files Device Information Device type Device name Hardware version 00 0 Node ID MCD Standard Profile IDBx 04 Software version 93 08 00 00 Errors Send COB ID values Services Node Guarding Store Bestore Emergency 500 RxPDO repo COB ID Node guarding Transfer Download Z Backup Download Project D Projects ProControl MCD_IDBx Idbx drv 03080000 MCD_appl prj Backup Directory D Transport MCD Test Files in the Project Number of selected files MCD appl prj MCD appl bat MCD appl exe MCD parm ini MCD idbx ini IDBxMot ini IDBxDrv ini 21x 26 Transferstatus EIES oaa EE MED cD appl prj HCD appl hat d wc D app l exe MCD parm ini MCD idbx ini
37. 5 Arms lout 100 A Moog Italiana Electric Division Made in Italy aux pwr Fig 2 3B Power Supply PS 120 Front Panel JO SERIAL UNK RS 4858 4rwwco 3miov Y O DovERTEMP 2 oer aut II 9 21 Feb 03 Fig 2 3C Power Supply PS U and ADR Unit Front Panel r uuco WDmsov rruuco OONO zc m oomzaz DBMO4 PS U DBM 04 ADR UE e u e M T UT 1 eje OJ OL OJ O OJ O 10 10 10 10 110 10 I 10 21 Feb 03 2 8 Power Supply Wiring oee 2 7 for sizing of power wires tightening torque and wire stripping length See Section 3 for shielding procedures according to Directive 2 8 1 Signal Auxiliary Wiring Tab 2 6 Power Supply J1 Conn Auxiliary Power Supply to Modules Panel side shrouded header with 13 male contacts Wiring side connector with 13 female contacts provided in kit with cable Function INC 000000 Tab 2 7 Power Supply J2 Conn RS485 Port Fault signals to Modules Panel side Sub D with 9 male contacts Wiring side Sub D with conductive shell 9 female contacts supplied with cable Pos Function L 6 Rx RS485 serial ink Tx RS485 sriain 9 Power supply binary coded faulis see Tab2 8 Tab 2 8 Power Supply binary coded
38. 9 21 Feb 03 2 11 Module Wiring oee previous paragraph for sizing of power wires tightening torque and wire stripping length oee Section 3 for shielding procedures according to EMC Directive Tab 2 14 Module J1 Connector Auxiliary Power Supply to PS Modules Panel side shrouded header with 13 male contacts Wiring side connector with 13 female contacts supplied in kit with cable Function 2 18VdcreferredtologicOV 18Vdc referred to logic OV 12 Resolver OV 13 10 kHz sinusoidal wave for resolver and synchronism carrier Tab 2 15 Module J2 Connector RS485 Port Fault signals to PS Modules Panel side Sub D with 9 male contacts Wiring side Sub D with conductive shell 9 female contacts supplied by with cable Pos Ae T_T Power supply binary coded faults see Tab 2 16 Rx 5Vdc output referred to logic OV Re 2 I 20 21 Feb 03 Tab 2 16 Module Power supply binary coded faults J2lpos 4 J2lpos 9 OOK O 1 DBR FAULT Recovery fault or Problems in PS U Control 1 0 OVER TEMP Overtemperature 2 11 1 Expansion Wiring The J3 connector allows the connection of an Expansion module Tab 2 18 Module Expansion J3 Connector Expansion Connection Panel side Sub D with 15 female contacts Wiring side Sub D with conductive shell 15 male solder contacts Phase U reference current signal 7
39. 9 grounding of shield grounding of shield via connector clamp or RF connection to PG gland in case of terminal board via connector clamp Note All the motor phases must be connected from J9 connector s to motor connector s Note that M1 always corresponds to the more powerful axis while M3 must not be connected in 2 axis configuration There several motor power connections depending on module configuration see Tab 2 22 oee Section 3 for shielding procedures according to EMC Directive CAUTION the resolver wiring must match the motor wiring i e the resolver cable running from M1 motor must be connected to J4 M1 connector the resolver cable running from M2 motor must be connected to J5 M2 connector the resolver cable running from M3 motor must be connected to J6 M3 connector CAUTION the U V W motor phase sequence of the connector at the drive side must match the U V W motor phase sequence of the connector at the motor side CAUTION do not parallel power connection cables to achieve requested section this will increase the capacitance value at levels that may irreversibly damage the drive If the value of capacitance of motor and cables seen from drive output exceeds 30 nF it is necessary to verify with Moog technicians the need of an adequate choke in series I 29 21 Feb 03 2 22 J9 Connector s Motor Phases 1 2 16 pins connector Mod No Han16E by Harting Kgaa 4 pins connector
40. AME VOLONTARIO VOLUNTARY EXAMINATION CERTIFICATE MOOG Italiana S r l Electric Division Via Avosso 94 16015 CASELLA GE Nome e indirizzo del detentore de certificato Name and address of the holder of the certificate MOOG Italiana S r l Electric Division Via Avosso 94 16015 CASELLA GE Costruttore Manufacturer Genere prodotto oS wo Servoazionamento digitale multiasse Product designation 0 Multiaxis digital servodrive nBMOA pe SRC Series Option 000000 Interblocco al riavvio protezione contro l avvio inaspettato Restart interlock protection against unexpected start Funzione di sicurezza Safety function Direttiva e CE X Norma e armonizzata e EC Directive s X Harmonized standard m 98 Macchine UNI EN 954 1 1998 L esame del Fascicolo Tecnico permette di dichiarare che la funzione di sicurezza interblocco al riavvio dopo un arresto controllato categoria 1 EN 60204 1 1998 del servoazionamento serie IDBMO4 con opzione DRC rispetta i requisiti della categoria 3 definita nella norma armonizzata UNI EN 954 1 1998 SRC rispetta i requisiti della categoria 2 definita nella norma armonizzata UNI EN 954 1 1998 servoazionamenti devono essere installati come descritto nel Manuale Istruzioni condizioni ambientali e interfaccia con il sistema di comando e controllo B Risultato dell esame TN m Examination re
41. Axis 3 motion control parameters 2032 IDBx Axis 3 motion profile table 2100 5 IDBx Module actual values 2101 3 IDBx Module common values 2110 9 IDBx Axis 1 actual values 2111 4 IDBx Axis 1 auto phasing 2120 9 IDBx Axis 2 actual values 2121 4 IDBx Axis 2 auto phasing 2130 9 IDBx Axis 3 actual values 2131 4 IDBx Axis 3 auto phasing V 10 13 May 02 3 3 Index h 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 3 4 Index h 2100 2101 IDBx Module Set Parameters Sub h 00 Description IDBx Module set parameters IDBx Model description IDBx Module type Number of axes at IDBx Module Date and Time Hardware defintion table Drive data base Motor data base IDBx Module IDBx Module analog output IDBx Module nalog output Q IDBx Module Bnaloq output IDBx Module fnalog output analog output Parameter Parameter Parameter Parameter Parameter Parameter IDBx Module Analog output value Analog output address Analog output gain IDBx Module figital output Parameter DoutO IDBm J1pin13 IDBs J1pin14 Dout 1 IDBm J7pin31 IDBs J1pin14 Dout 2 IDBm J7pin32 IDBs J3pin8 Dout3 IDBm J7pin33 IDBx Module figital input Parameter DinpO IDBm J8pin17 IDBs J1pin16 Dinp 1 IDBm J8pin14 IDBs J1pin15 Dinp2 IDBm J8pin15 IDBs J1pin18 Dinp3 IDBm J8pin16 IDBs J3pin1 Dinp 4 IDBs J3pin12 Dinp 5 IDBs J3pin7 IDBx Module qigital software
42. C optoisolated default AXES DISABLED J7Pin31 Pin 31 DIGITAL OUT 1 5 VDC not optoisolated V 35 13 May 02 12 3Digital Inputs MCD Commander 1 04 004 Wall Thickness mcd _ File Edit View Update Extras D Z uam Ww FF Load Save rrt Com Module Axes Record User Send Receive Actualize Transfer Help Digital Inputs Digital Input Digital Input 1 Digital Input 2 Digital Input 3 Digital Input 4 Digital Input 5 Software Input Invet Axis 1 enable Axis 2 enable Axis 3 enable Axis 1 reference Axis 2 reference Axis 3 reference tits 9000000909 12 3 1 Matrix Input Configuration table The physical digital inputs are configured by a matrix table There are internal matrix output signals which can be selected to the matrix inputs If the inverter function is selected the physical input will be inverted written to the matrix table Matrix Bit Mask 12 3 2 IDBx Modules specific definition The following physical digital inputs are exist at different IDBx modules Modul Connecter Description DIGITAL INP 0 24 VDC optoisolated default AXIS 1 ENABLE J1Pin 15 DIGITAL INP 1 24 VDC optoisolated ARR Pin 18 DIGITAL INP 1 24 VDC optoisolated ae Pin 1 DIGITAL INP 2 5 VDC not optoisolated ae Pin 12 DIGITAL INP 3 5 VDC not optoisolated see Pin 7 DIGITAL INP 4 5 VDC not optoisolated r Pin 17 DIGITAL INP 0 24 VDC optoisolated default AXIS 1
43. Current Max Voltage type at 50 C 40 C at 50 C Schaffner 6 250 DBM04 PS Standard PS Standalone FN 250 6 07 PS 6M PS 120 Aux Pwr FN 250 12 07 FN 258 7 07 3 x 480 AT6010 Schaffner 16 19 2 3 x 480 FN 258 16 07 FN 258 30 07 FN 258 42 07 FN 258 55 07 PS Standalone ror l 258 75 34 FN 258 100 35 Ill 1 1 Aug 02 3 2 2 Filter Sizing The filter drive coupling in the previous table is a standard coupling The filter can be undersized according to the rms input current of the actual application This should be done not only because as a matter of fact undersizing the filter means less money but because the undersized filter provides better performance to EMC Example IDBM04 PS Standard IDBM04 6 6 6 IDBM04 6 6 6 and contemporaneity factor of 0 8 For this application it is not necessary to use the 55A filter of the table The reference current is lin 6 6 0 8 28 8 A A 30A filter FN 258 30 7 can safely be used 3 2 3 Filter Dimensions Code Trade mark Dimensions mm L1 L2 L3 L4 L5 L6 I7 e pq FN 250 6 07 TE m sr FN 250 12 07 FN 258 7 07 FN 258 16 07 iw ww eee FN 258 30 07 FN 258 42 07 ee FN 258 55 07 mer 7 ew wp emm FN 258 75 34 block FN 258 100 35 block the FN250 6 07 filter has wiring leads length 300mm at both sides TOP VIEW SIDE VIEW L5 L7 Li dn
44. FAS size 3 and size 4 Make reference to the MCD Manual for the Internal module brake control sequence T T2 13 T4 ON OFF DRIVE ENABLE ON OFF BRAKE 24V POWER SUPPLY RELEASE CLAMP BRAKE oV REFERENCE ENABLE 0 rpm bt MOTOR SPEED II 39 21 Feb 03 SECTION 3 ELECTROMAGNETIC COMPATIBILITY EMC 3 1 European Directive 89 336 EEC Compliance with the European Directive 89 336 EEC is required for all electric and electronic products brought onto the European market after December 31st 1995 DBMOA drives with FASTACT motors meet the following EMC product standard related to the Directive EN 61800 3 1996 and EN 61800 3 A11 2000 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods oecond environment industrial compatibility levels Remark equipments not intended to be used on a low voltage public network which supplies domestic premises May cause radio frequency interference Tests have been made in an independent test house The installer of the drive is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be used We recommend filtering as per par 3 2 and wiring grounding and screening as per par 3 3 and 3 4 3 2 Filtering The following filters are recommended 3 2 1 Filter Types Code Trade mark Rated
45. I 7 1 Aug 02 FIG 6 8 IDBM Module DR OVT red LED on IDBM Overtemperature Power the fan Red LED DR OVT ON NO Verify the correct cooling of cabinet Fan powered YES YES Ambient temperature gt 40 Undersize the duty cycle s VI 8 1 Aug 02 FIG 6 9 IDBM Module PWRF1 PWRF2 PWRF3 red LED on Power Circuit Fault Axis 1 Axis 2 Axis 3 Change motor Change DBM PS power supply YES Red LED PWRF Motor phases short circuited or NO grounded Auxiliary Change flat cable NO voltages on J1 connector OK YES Flat cable on J1 OK YES Fault on power stage VI 9 1 Aug 02 FIG 6 10 IDBM Module OT1 OT2 OT3 red LED on Motor Overtemperature Axis 1 Axis 2 Axis 3 Red LED ON NO Motor PTC lt connected to J4 Connect PTC 15 J6 YES V NO value at 20 correct 100 to 400 ohm Fault on motor PIC f lt YES Undersize the duty cycle VI 10 1 Aug 02 FIG 6 11 IDBM Module RF1 RF2 RF3 red LED on Resolver Fault Axis 1 Axis 2 Axis 3 NO Is the resolver YES shield connection OK Red LED RF ON Random fault YES NO Make correct connection NO Faul
46. MOOG IDBM 04 User s and Installation Manual IDBM 04 USER S MANUAL Rev Date Description Updated Pages 0 Jan01 lFirst Release p 1 Mar01 Upgrade Section 5 correct pictures Section 5 Various July 02 Add Section 8 correct miscellaneous errors all 1 5 7 8 16 17 18 19 22 28 29 34 35 36 39 III 1 2 3 7 IV 1 VI 4 8 VIII all 3 Feb03 Add PS U with oversized DBU upgrade Section 3 4 6 9 11 13 19 20 II 5 7 14 35 VIII 8 according to the requests of the Competent 1 2 4 to 14 Body correct miscellaneous errors SECTION 1 Description SECTION 2 Installation SECTION 3 EMC TABLE OF CONTENTS description electrical data dimensions component identification system grounding options rating plate fuses soft start transformers thermal sizing of cabinet recovery circuit fan assembly wire type power supply wiring power supply led s power supply internal card jumpers module wiring resolver wiring motor phases wiring module leds potemtiometer button input output characteristics serial link connection starting sequence resolver to encoder option mechanical brake module replacement European Directive filtering wiring and grounding recovery resistor screening safety aspects 1 21 03 SECTION 4 power supply IV 1 Protections drive module 2 SECTION 5 general features V 1 Commands descripti
47. Mod No HanK 4 0 by Harting Kgaa See 2 7 for sizing of power wires tightening torque and wire stripping length Wiring side connector view and IDBm Configurations J9 J9 J9A J9B J9A J9B w w i 3 6 x 5 J 8 2 j 39 a j 25 70 39 25 675 25 78 22 25 705 48 25 70 25 70 2570 esm 2 35136 ens 379 8722 3 5 154213917 COCHE reefers HS e 8 22 8 22 5 4218 22 15 42 5 42 I 30 21 Feb 03 Tab 2 22B J9 Connector s Motor Phases 2 2 16 pins connector Mod No Han16E by Harting Kgaa 4 pins connector Mod No HanK 4 0 by Harting Kgaa See 2 7 for sizing of power wires tightening torque and wire stripping length Wiring side connector view and IDBm Configurations JIA JIB IFA JIB 9 35 90 23 70 35 90 35 90 90 140 35 90 03 70 60 180 35 90 25 70 E 39 90 05 70 I 31 21 Feb 03 2 12 Module Led s Tab 2 23 Module Led s Red LED generic fault the fault can correspond according to the DRF type to a LED on the front end if other red LED s are not on out of the considered one it is necessary to interrogate the module via MCD Commander to know the fault reason Red LED Watch dog signal microprocessor circuit faults thi
48. Module Axes Record User Load Save Prt Digital Outputs Digital Output 0 Digital Output 1 Digital Output 2 Digital Output 3 dS jt Send Receive Actualize Transfer Help Invert Force gt Axis 1 disabled IGBT off 97 Axis 2 disabled IGBT off Qo I Axis 3 disabled IGBT off Axis 1 ok no error exists Axis 2 ok no error exists Axis 3 ok no error exists Axis 1 brake release Axis 2 brake release Axis 3 brake release Axis 1 water PWM valve Axis 2 water PWM valve Axis 3 water PWM valve munana TTT ee 12 2 1 Matrix Output Configuration table The physical digital outputs are configured by a matrix table There are internal matrix input signals which can be selected to the matrix outputs If the inverter function is selected the matrix output will be inverted written to the physical output If no matrix mask for a digital output selected it is allows to manually write to the output 12 2 2 IDBx Modules specific definition The following physical digital outputs are exist at different IDBx modules Connecter Description S J1 Pin 12 DIGITAL OUTO 24 VDC optoisolated default AXIS DISABLED J1Pin 4 Pin 14 DIGITAL OUT 1 24 VDC optoisolated J3 Pin 8 DIGITAL OUT 2 5 VDC not optoisolated ee Pin 32 DIGITAL OUT 2 5 VDC not optoisolated aa Pin 33 DIGITAL OUT 3 5 VDC not optoisolated J7 Pin 13 DIGITAL OUT 0 24 VD
49. NO gt 40 C NO Fans powered YES Output current gt nominal current VI 1 1 Aug 02 FIG 6 2 IDBM PS Power Supply DBR FAULT red LED on Recovery Fault Connect the recovery resistance NO Red LED DBR FAULT ON Recovery Replace the recovery resistance YES resistance connected Recovery Correctly tighten at 3 Nm 26 Lb in the Bus Bars NO resistance open or short circuited NO VI 2 1 Aug 02 Bus Bars tightening OK Too much recovery energy Undersize the duty cycle or oversize the recovery resistance With the PS Wide Range check the proper Starting Sequence and Control signals FIG 6 3 IDBM PS Power Supply PWR BUS yellow LED off Connect 3 phase 400 or 460 Vac Fault of 3 phase input rectifier circuit NO NO Yellow LED PWR BUS OFF Is three phase ac line connected to DBM PS YES Voltage of Fig 4 1 present on Bus Bars YES Fault of detecting fault circuit VI 3 1 Aug 02 FIG 6 4 IDBM PS Standard and PS 6M Power Supply AUX PWR green LED off Green LED AUX PWR OFF Connect single phase NO 1 230 Vac 110 Vac supply on ui 10 Standard present Or 24Vdc 10 for the WR YES Oversize the auxiliary NO Aux Input Power
50. NPUT CNC IDBm m E x Analog input OV en J7 cable shield must be RF grounding of shield connected to the housing via connector shell UNIPOLAR INPUT I 24 21 Feb 03 Tab 2 20 J7 Connector Commands Signals and Encoder Outputs Panel side Sub D with 37 female contacts Wiring side Sub D with conductive shell 37 male solder contacts Logic OV it can be used as common for analog output supplies 15V TP2 12 ILIMIT3 Analog input input axis 3 OV zero current 10V or not connected max current 13 ILIMIT2 Analog input input axis 2 to 10V ILIMIT1 Analog input input axis 1 to 10V 15 REF3 Differential inverting analog input for the analog input signal OV 1 1 1 A2 B2 B3 Pos _ 6 8 9 axis 3 max range 10V see related command See Fig 2 11 REF2 Differential inverting analog input for the analog input signal axis 2 max range 10V see related command See Fig 2 11 18 REF1 Differential inverting analog input for the analog input signal axis 1 max range 10V see related command See Fig 2 11 15Vdc output 1 max 30mA Encoder output phase A motor 1 Encoder output phase B motor 1 Bt C1 Encoder output phase C motor B2 EncoderouputphaseB motor2 C2 Encoder output phase C motr2 B3 EncoderouputphaseB motor3 C3
51. RIBUTION MODULE ADDRESS NODE ID MODULE BAUD RATE IDBX CODE BOX OBJECT DICTIONARY COMMUNICATION ENTRIES MANUFACTURER SPECIFIC PROFILE DEFINITIONS IDBX MODULE SET PARAMETERS IDBX MODULE ACTUAL PARAMETERS IDBX AXES SET PARAMETERS IDBX AXES ACTUAL PARAMETERS MOTION CONTROL MODE MOTION CONTROL MODE 0 VELOCITY TORQUE CONTROL MOTION CONTROL MODE 1 POSITION CONTROL MOTION CONTROL MODE 2 PROFILE CONTROL MOTION CONTROL MODE 3 TRAJECTORY CONTROL SPECIAL FUNCTION POSITION CONTROL SHAPE TYPE Shape Parameter Shape Restriction Type 0 Standard Shape Restriction Type 1 3 S Bell Sin Shape Shape comparison table POSITION REFERENCING MOTOR SAFETY BRAKE Time chart Time setting parameters AUTOPHASING MOTION CONTROL MODE 0 VELOCITY TORQUE MODE RXPDO RECEIVE PDO FOR ONE AXIS OF THE MCD MODULE Control Command Control Torque Limitation TrqLim Velocity Torque Command Vel Trq Position Value Position TXPDO TRANSMIT PDO FOR ONE AXIS OF THE MCD MODULE Control Status Status Torque Output Torque Actual Velocity Velocity Position V 1 13 May 02 CO O O 0 O O1 7 1 7 1 1 7 1 2 7 1 3 7 1 4 7 2 7 2 1 7 2 2 7 2 3 7 2 4 8 1 8 1 1 8 1 2 8 1 3 8 1 4 8 1 5 8 2 8 2 1 8 2 2 8 2 3 8 2 4 9 1 9 1 1 9 1 2 9 1 3 9 1 4 9 2 9 2 1 9 2 2 9 2 3 9 2 4 10 10 1 10 1 1 10 1 2 10 2 10 2 1 10 2 2 10 3 10 3 1 10 3 2 10 3 3 10 3 4 10 4
52. Safety Panel side shrouded open end header with 6 male contacts Wiring side connector Mod No 231 106 026 000 by Wago Gmbh provided in kit Output signal for safety When the opto is OFF ce Q the DC Bus is over 48V When the opto is ON 2 7kQ the DC Bus is under 48V See Fig 2 4 Input signal for safety Normally connected to 24 Vdc When not CONTACT connected to 24 Vdc the DC Bus is discharged via the recovery resistor See Fig 2 4 Fig 2 4 J12 Connector Internal Circuit euu 18L pa h J12 Zs La OUTPUT SAFE 24 10 aus SIGNAL DC BUS LOM i E er CONTACT K3 4 Il 14 21 Feb 03 2 9 Power Supply Led s Tab 2 16 Power Supply Led s Yellow LED PWR BUS BUS BAR voltage 40Vdc WARNING with PS Standard and PS 6M active only if the aux power supply is ON 2 10 Power Supply Internal Card Jumpers JP1 closed default connects 120 Q resistor between RX and RX of serial link JP2 closed default connects TX of RS485 serial link to OV via pull down resistor JP3 closed default connects TX of RS485 serial link to 5V via pull up resistor Fig 2 4 Power Supply Card Jumpers J1 9M J2 SF In case of multidrop the following configuration must be used JP1 JP2 JP3 JP1 JP2 JP3 JP1 JP2 JP3 JP1 JP2 JP3 open open open closed deu NI MITIS 2 Supply Supply Supply Supply
53. String Visible String Visible String Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Uns8 Uns8 Uns8 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 2012 00 2022 00 2032 00 IDBx Axis 1 motion profile tables IDBx Axis 2 motion profile tables IDBx Axis 3 motion profile tables Profile description Profile size Profile move direction Profile move time Profile position gain Profile stroke Profile start position Profile end position Profile table Ox3F 0x01 0x10 0x20 0x30 Ox3F 0x01 0x10 0x20 0x30 Ox3F 0x01 0x10 0x20 0x30 OxOF Profile 1 0x1F Profile 2 Ox2F Profile 3 Ox3F Profile 4 OxOF Profile 1 Ox1F Profile 2 Ox2F Profile 3 Ox3F Profile 4 OxOF Profile 1 Ox1F Profile 2 Ox2F Profile 3 Ox3F Profile 4 127 Characters 0 not exist 1 1 negative 1 positive ms 1 s counts counts counts V 13 13 May 02 Uns8 Uns8 Uns8 Visible String Int32 Int32 Int32 Int32 Int32 Int32 Int32 Domain 3 6 Index h 2110 2120 2130 2111 2121 2131 IDBx Axes Actual Parameters Sub h 00 Description IDBx Axis 1 actual values IDBx Axis 2 actual values IDBx Axis 3 actual values Erro
54. VI 14 1 Aug 02 FIG 6 15 MCD Commander Fault NO a MCD Com m ander does not work CAN cable and or ake the correct connecton YES 110 cable OK YES Set Proper Baud Rate NO W rong CAN baud rate MCD Can Baud Rats and other SET ght param eters param eters correct YES Intemal fault VI 15 1 Aug 02 FIG 6 16 Motor at zero speed ET Axis enabled Motor at zero speed with speed reference not zero NO Make Mod EN ON on J8 pin 17 YES Check il Axis enable Check viaMCD command Use coherent reference YES Gains are right Set correct value for NO Internal fault VI 16 1 Aug 02 SECTION 7 APPLICATION NOTES 7 1 PS U Auxiliary Functions Descriptions 7 1 1 DC BUS Discharge As safety function it is possible to have a controlled discharge of the DC Bus using as inputs the K3 and common With the internal jumper J4 it is possible to select between a delay of 300ms opened or 1 s closed from the opening of the Aux Contact For the connection make reference to the next page diagrams 7 1 2 DC BUS LOW It is available on contact an output on pins DC Bus Low 50 ma and 30 Vdc max If the voltage value of the DC Bus is lower than 50 Vdc the contact is closed to allow the operations insid
55. WR Auxiliary power supply 230Vac 110Vac II 12 21 Feb 03 2 8 2 2 PS Standalone Tab 2 12 J11 Connector Power Aux Power Terminal Blocks Mod No HDFK 4 by Phoenix Contact Gmbh Power Terminal Blocks Mod No HDFK 10 by Phoenix Contact Gmbh oee Par 2 for sizing of power wires tightening torque and wire stripping length Name Function 00 co Ground RR Recovery resistor RR Recovery resistor 2 8 2 3 PS 120 Tab 2 13 J11 Connector Power Aux Power Terminal Blocks Mod No HDFK 4 by Phoenix Contact Gmbh Power Terminal Blocks Mod No HDFK 25 by Phoenix Contact Gmbh oee Par 2 for sizing of power wires tightening torque and wire stripping length Name Function 000 Ground RR Recovery resistor RR Recovery resistor I 13 21 Feb 03 2 8 2 4 PS U Tab 2 14 J11 Connector Power Aux Power Terminal Blocks Mod No HDFK 4 by Phoenix Contact Gmbh Power Terminal Blocks Mod No HDFK 10 by Phoenix Contact Gmbh See 2 7 for sizing of power wires tightening torque and wire stripping length Auxiliary power supply 24Vdc input terminal 24 Vdc Auxiliary power supply 24Vdc input terminal L1 phase three phase input voltage 400Vac or 460Vac L2 phase three phase input voltage 400Vac or 460Vac L3 phase three phase input voltage 400Vac or 460Vac Recovery resistor ORR Recovery resistor Tab 2 15 J12 Connector
56. a 18 07 100 Sassari Halla kurita Reg Impresa di Sassari 8103 98 alla CCAAREA di Sassari ain 126006 C F e P 01706860008 6 21 03 UL Requirements These Brushless Servo Drives shall be assembled with the guidelines specified in this Manual Only the configurations with the components tested and described in the UL Report file E194181 Vol 2 Sec 1 Issue date 03 28 01 and following Revisions can bear the Recognized Component R C Mark Each assembled configuration shall be evaluated in the UL Listed end use application The Component Power Conversion Equipment DBM 04 Series is considered UL Recognized in the complete configurations after the assembly of the three main parts of the Drive that is the Power Supply the Modules and the Fan Assembly The Marking including the R C Mark and the Drive Model No shall consider the equipment in its complete configuration These drives shall be used within their ratings as specified in the marking of the equipment In particular rated input voltage input current system duty cycle auxiliary input voltage auxiliary input power fan input voltage fan input power on the label affixed on the fan assembly rated axis continuous output current axis max output current module duty cycle on the label affixed on the module Cautionary Marking See Accident Protection page Duty Cycle The maximum continuous Drive output current shall be limited to 65 A and
57. afe condition e Environmental Conditions Equipment intended to operate within the following environmental conditions 9 Ambient temperature 0 to 40 9 Supply voltage interruptions 10 20 500 ms dip time 9 EMC immunity according to EN 61000 6 2 1999 Generic Standard Immunity for industrial environment 9 Vibration 5 to 9Hz 3 0 mm amplitude peak 9 to 200Hz 1 g acceleration Shock 10 g half sine 6 ms e Enclosure Electronic Equipment intended for installation in an enclosure providing at least IP54 protection e Pollution Degree 2 Installation The equipment shall be placed in a pollution degree 2 environment where normally only non conductive pollution occurs Occasionally however a temporary conductivity caused by condensation is to be expected when the electronic equipment is out of operation e WARNING When the Restart Interlock Circuit is activated the motor can no longer generate a torque Motors which are not automatically clamped when powered down e g vertical inclined axes must be clamped using a mechanical brake VIII 1 21 Feb 03 8 2 Restart Interlock Function The Restart Interlock function is included in the drive modules as an option The power feed from the converter to the motor is interrupted with the restart interlock motor rotation This is based on standard EN 60204 1 1997 The restart interlock prevents motor unexpectedly starting from standstill This circuit macro can be us
58. allation the Dynamic Brake Unit Recovery Resistor shall have the connection wiring made with R C AVLV2 or insulated with R C YDPU2 or R C UZCW2 I 5 21 Feb 03 2 6 Fan Assembly The ventilation is provided by fans mounted under the modules The size and the number of fans are according to the system configuration Selection of the correct Fan Assembly is due by matching Fan Assembly width to the total of the IDBm drives package i e Fan Power Supply and IDBm module s and IDBm expansion module s Fan input voltage is 230 Vac or 115 Vac TAB 2 1 FAN ASSEMBLY Fan Assembly Input Input Model Code Width Voltage mm V W 4300 4318 4359 4360 520 4301 4323 4337 4338 4302 4319 4339 4340 1040 CY4303 CY4341 4342 1040 CY4304 4320 4334 4343 CY4344 1200 4305 4321 4331 4335 4345 4346 480 24Vdc 69 1560 4306 4316 4347 4348 510 24Vdc 69 1560 4307 4311 4349 4350 540 24Vdc 69 1560 4308 4351 4352 570 24Vdc 69 1560 4309 4312 4324 4336 4353 4354 600 24Vdc 92 2080 CY4310 CY4355 4356 2080 CY4315 CY4357 CY4358 660 24Vdc 92 2080 4100 4118 4159 4160 485 4101 4123 4137 4138 970 4102 4119 4139 4140 970 4103 4141 4142 970
59. ase of failure of the drive Other protective measure are needed to achieve a safe condition Integrated in the Restart Interlock function the Anti Freewheeling Stop Sequence is The closed safety gate is opened while the motor is stili moving The Module Enable signal is then switched off via the axis enable signals D E contacts of connector JS1 The microprocessor latches the stop request and performs a controlled antifreewheeling Stop Aiso the hardware timer starts to provide the extra min 500 ms to allow the braking The IGBT are turned off via software Interlocking System when the motion has stopped but at the latest within 360 ms to allow the switching off of PWM logic for the IGBTs The output signal Module Disabled switches on The hardware timer elapses and the power supply to the IGBT is turned off on both the Channel 1 and Channel 2 Interlocking System and II The outputs Channel 2 verification and Channel 1 verification switch on VIII 9 21 Feb 03 Fig 8 4 Anti Freewheeling Timing Chart min 500 ms max 400 ms off door opened 1 n off 2 IGBT power supply A h off Anti Freewheeling Control module disabled VIII 10 21 Feb 03 8 7 Checking the Restart Interlock The following checks must always be made at the first start up and when possible must be repeated at certain intervals during the operating lifetime A check should also be made
60. assessment even in case of failure The machine can present a dangerous overrun in case of failure of the drive Other protective measure are needed to achieve a safe condition e Environmental Conditions Equipment intended to operate within the following environmental conditions 9 Ambient temperature to 40 9 Supply voltage interruptions 10 20 500 ms dip time 9 EMC immunity according to EN 61000 6 2 1999 Generic Standard Immunity for industrial environment Q Vibration 2 to 9Hz 3 0 mm amplitude peak 9 to 200Hz 1 g acceleration 9 Shock 10 g half sine 6 ms e Enclosure Electronic Equipment intended for installation in an enclosure providing at least IP54 protection e Pollution Degree 2 Installation The equipment shall be placed in a pollution degree 2 environment where normally only non conductive pollution occurs Occasionally however a temporary conductivity caused by condensation is to be expected when the electronic equipment is out of operation e WARNING When the Restart Interlock Circuit is activated the motor can no longer generate a torque Motors which are not automatically clamped when powered down e g vertical inclined axes must be clamped using a mechanical brake 10 21 Feb 03 SECTION 1 DESCRIPTION 1 1 Description IDBm four quadrant servodrives provide unrivaled compactness and flexibility through the integration of three axes in a single module A power supply is con
61. at motor side can have a threaded clamp Cable shield must be grounded in the same way as in Fig 3 2 resolver cable see Fig 2 11 and Fig 3 2 motor side Fig 3 1 Grounding Of Shield To Motor Connector At Drive Side recovery resistor cable CAUTION the recovery resistor cable provided in kit is only for test purposes and not EMC compliant Reference Enable and OK cable RS485 cable flat cable between modules excluded simulated encoder cable if applicable The shields of the cables must be connected at both ends to the proper housing via full circumferential bond to metallic connectors or hose clamps Fig 3 2 Grounding Of Shield To Connectors At Motor Side Cable shield Metal shell ul s om oM Shield must be clean and clamp tightened Motor and resolver connector In case of Sub D connector cable shield must be grounded to the metallic hood When there is not connector at drive side a kit with stand off screws and hose clamps is provided The shield of the cable must be uncovered from insulation coating and RF connected to the stand off through the hose clamp as in Fig 3 3 Fig 3 3 Grounding Of Shield Without Connector xm BU pe VV u PERS 1 r C Ill 4 1 Aug 02 Fig 3 4 Cable Grounding At Drive Side VARTTA L M
62. can be mapped by Matrix Output Configuration table a external periphery output The following chart shows the MCD Standard Profile motor safety braking sequence over the time 5 3 1 Time chart motor enable torque P command velocity enable dome L E brake signal tanom lama w m m aum 5 3 22 Time setting parameters Legend Description oDO index sub index Axis 1 0x2010 18 Brake release open time Axis2 0 2020 18 Axis 3 0 2030 18 Axis 1 0x2010 19 Axis 3 0 2030 19 Axis 1 0x2010 1A Axis 3 0x2030 1A 5 4 Autophasing When Autophasing is being activated Motion Control Mode 0 5 selected automatically While Autophasing is active TXPDO Control Bit 3 is set After completion TXPDO Control Bit 3 is cleared and the previously used Motion Control Mode is activated again V 18 13 May 02 6 Motion Control Mode 0 Velocity Torque Mode 6 1 RxPDO Receive PDO for one axis of the MCD Module Byte 3 4 Byte 5 8 Control TrqLim Vel Trq Position 6 1 1 Control Command Control Bit 0 2 Mode 0 7 Velocity Torque mode Bit 3 Input velocity or torque command filter enable Bit 4 5 Position reference mode 0 3 0 Position reference cycle disabled 1 Position reference cycle enable 2 Preset the reference position at current position immediately 3 Preset the reference position whit limit switch
63. d the restart interlock function must be looped in in the line contactor circuit or EMERGENCY STOP circuit The associated drive must be electrically isolated from the supply if the restart interlock relay function is not plausible referred to the machine operating mode The restart interlock and the associated operating mode may only be used again after the fault has been removed As a result of a hazard analysis risk analysis which must be carried out according to the Machinery Directive 98 37 EC modified and referring to standards EN 292 1 2 EN 954 1 and EN 1050 the machinery manufacturer must configure the safety circuit for the complete machine taking into account all of the integrated components for his machine types and versions of them This also includes the electric drives VIII 2 21 Feb 03 8 3 Dual Channel Restart Interlock Circuit WARNING When the Dual Channel Restart Interlock Circuit is activated the motor can no longer generate a torque Motors which are not automatically clamped when powered down e g vertical inclined axes must be clamped using a mechanical brake Three redundant interlocking devices with mutual observation acting on the input power as well as on the signal path to the power control devices Fig 8 1 Block Diagram of Dual Channel Restart Interlock Circuit Interlocking System I Interlocking System II Interlocking System lli Channel 2 Channel 1 IGBT upper Arm IGBT lower Arm Module Enable Enab
64. d Protection The equipment does not incorporate internal overload protection for the motor load The drive is intended to be used with motors that must have integral thermal protection through a PTC The overtemperature fault of the drive will trip when the reaches 1 2 See J4 J5 J6 connectors in Section 2 of this Manual for wiring Over Current Protection The drive is provided with a current limiting circuitry See IL and IT commands in Section 6 of this Manual Factory Wiring These equipments are suitable only for Factory Wiring only that is the Terminal Blocks and the Connectors for Power Connection Wiring are not suitable for Field Wiring In particular the DC Bus Terminal Blocks for the Power Supply and Modules Interconnection shall be usable only with the DC Bus Interconnection Cables provided by the manufacturer Wiring Wiring shall be made by stranded and or solid copper Cu 60 75 C 140 167 F conductor only for terminal blocks the tightening torque values specified in Section 2 of this Manual shall be applied These requirements do not pertain to control circuit terminals Wiring of Recovery Resistor The Dynamic Brake Unit Recovery Resistor shall have the connection wiring made with R C AVLV2 or insulated with R C YDPU2 or R C UZCW2 in the end use installation 8 21 Feb 03 e e ui a 1 9 p I Istituto Certificazione Europea Prodotti Industriali s r ATTESTATO DI ES
65. e fail safe according to prEN 954 2 The Restart Interlock relays are controlled using the external 24Vdc pos A terminal for Channel 2 pos B terminal for Channel 1 pos C terminal for both Channels When the Channel 2 relays are de energized the H J terminals are closed circuit and the Restart Interlock Channel 2 is activated When the Channel 1 relays are de energized the F G terminals are closed circuit and the Restart Interlock Channel 1 is activated The D E signal contact actives the Interlock System III WARNING this circuit must be protected against overload and short circuit using a fuse rated max 2A VIII 7 21 Feb 03 8 5 Sequence and Procedure using the Restart Interlock The motor must be stopped before Channel 1 door and or Channel 2 door are inhibited and the Restart Interlock is activated WARNING If a fault occurs when actuating the Restart Interlock then this fault must be removed before the mechanically isolating protective guards to the working zone of the machine or plant are opened After the fault has been removed this procedure must be repeated for the Restart Interlock Under fault conditions all of the drives machine and plant must be shut down If one of the following faults should occur with Channel 1 door or Channel 2 door de energized and the protective guards withdrawn then the EMERGENCY STOP must be immediately initiated acknowledgement contacts Channe
66. e than machine in safe conditions For the connection make reference to the next page diagrams VII 1 13 May 02 Wide Range Power Supply DC bus discharge function 5 400 V AC DC h us bw siznal Auxilliary Contactor of Main Contactor ka common Out 24 WDC Di Bus low Dic Bus low Connector J11 Connector J12 Fig 1 Wiring Sample to discharge the DC bus when powercontactor is disengaged 3 x 400 VAC L1 gt C DC Bus low DC Bus low ka common Connector J11 Connector J12 Fig 2 Wiring Sample if no DC hus discharge function is required VII 2 13 May 02 SECTION 8 RESTART INTERLOCK CIRCUIT Optional 8 1 Safety Requirements e Controlled Stop Time The final machine must be able to stop the motors in less than 360 ms The hazard risk assessment of the application must demonstrate that within this time persons cannot be injured The drive can provide the Anti Free Wheeling function to perform the controlled stop e Free Wheeling Detection The external system must be able to detect free wheeling when the axis does not stop within 360 ms after the Module Enable signal goes away This system must have the motor velocity available WARNING The designer must evaluate the machine stopping time during the risk assessment even in case of failure The machine can present a dangerous overrun in case of failure of the drive Other protective measure are needed to achieve a s
67. e the equipment requires manual intervention 412 2 1 of HD 384 4 41 S2 shall be consulted Fixed connection for protection The equipment may have a continuous leakage current of more than a c 3 5 mA or d c 10 mA in normal use and a fixed ground connection is required for protection RCD When the protection in installations with regard to indirect contact is achieved by means of an RCD their appropriate function combination shall be verified In any case only a residual current operated protective device RCD of Type B is allowed In fact a d c component can occur in the fault current in the event of a fault connection to earth Climatic Conditions Equipment intended to operate within its performance specification over the range of Class 3K3 as defined in table 1 of EN 60721 3 1 EN 60721 3 2 EN 60721 3 3 EN 60721 3 4 partly modified Pollution Degree 2 Installation The equipment shall be placed in a pollution degree 2 environment where normally only non conductive pollution occurs Occasionally however a temporary conductivity caused by condensation is to be expected when the electronic equipment is out of operation EMC Requirements The installer of the equipment is responsible for ensuring compliance with the EMC standards that apply where the equipment is to be used Product conformity is subjected to filters installation and to recommended procedures as from Section 3 of this Manual Second Environment EMC Equipme
68. ed in the Safe stand still machine function However beforehand a complete standstill must be achieved and ensured using the external machine control This is especially valid for vertical axes without any self locking mechanical system or without weight equalization The dual channel restart interlock circuit has been validated by demonstrating that a single fault does not lead to the loss of the safety function Category 3 according to EN 954 1 1996 The remaining risk is in this case if two errors faults occur simultaneously in the power section the motor briefly rotates through a small angle Fastact motors 6 pole 60 8 pole 45 12 pole 30 16 pole 22 57 The marking DRC identifies the dual channel restart interlock circuit A single channel restart interlock circuit is also available as an option when only Category 2 according to EN 954 1 1996 is required With this circuit a single fault can lead to the loss of the safety function The marking SRC identifies the single channel restart interlock circuit The restart interlock function does not provide electrical isolation It does not provide protection against electric shock The complete machine or system must always be electrically isolated from the line supply through the main disconnection device main switch before any work is carried out on the machine or system e g maintenance service or cleaning work refer to EN 60204 1 1997 par 5 3 When correctly use
69. een removed change of the monitoring signal shall be checked automatically at the start up and during each stopping Fig 8 4 and starting Fig 8 5 sequence Wiring requirements to avoid common mode failures Each signal shall be connected to its own input module or f a single input module is used the signals of antivalent logic from different position switches shall be inputted as well ooftware verification Following safety related principles it is necessary to verify the software and give instructions on periodic maintenance Modification of software manufacturer shall write a warning in the software close to the part of program concerning the monitoring that this part must not be deactivated or modified for safety reasons see also clause 3 7 7 of EN 292 2 Other requirements output of the PLC to the line contactor shall be periodically tested by monitoring the plausibility of the NC contact of the line contactor Protection of program The program shall be monitored by e g a watchdog program shall be in permanent memory protected against electrical interference and shall be equipped with a start up test procedure VIII 12 21 Feb 03 8 9 Application Example Fig 8 5 Block Diagram Application Example jq b i Clamping system c 2 Ind ILLAE NE wm EE EON NE rr IE m Axis Actual Position
70. eive PDO communication parameter I Transmit PDO communication parameter Transmit PDO communication parameter Transmit PDO communication parameter Transmit PDO communication parameter Jc N Download program data table V 9 13 May 02 Pre defined Error Field Error Histo 3 2 Manufacturer Specific Profile Definitions 2000 6 IDBx Module set parameters 2001 3 IDBx Module analog output 1 configuration parameter structure 2002 3 IDBx Module analog output 2 configuration parameter structure 2003 3 IDBx Module analog output 3 configuration parameter structure 2004 3 IDBx Module analog output 4 configuration parameter structure 2005 3 IDBx Module analog output 5 configuration parameter structure 2006 3 IDBx Module analog output 6 configuration parameter structure 2007 4 IDBx Module digital output configuration parameter structure 2008 6 IDBx Module digital input configuration parameter structure 2009 1 IDBx Module digital software input configuration parameter structure 2010 1D IDBx Axis 1 set parameters e g resolver poles speed gain KP 2011 12 IDBx Axis 1 motion control parameters MotionCtriMode SetPos Accel Posgain prof 2012 IDBx Axis 1 motion profile table velocty profile tables motor angle SetRPM Acceleration 2020 1D IDBx Axis 2 set parameters 2021 12 IDBx Axis 2 motion control parameters 2022 IDBx Axis 2 motion profile table 2030 1D IDBx Axis 3 set parameters 2031 12 IDBx
71. elf contained auxiliary contactor disconnects the Module Enable signal when Interlocking System becomes active Fig 8 3 Interlocking System ll IGBT Power Module Upper Arm Channel 1 Interlocking Sysyem 15VDC PWM Signal OV DC BUS For observing Interlocking System II the input signal Channel 1 door Lower Arm IGBT Enable and the output signal Channel 1 verification Lower Arm IGBT disabled must be checked to have the appropriate status under the following conditions Channel 1 door 0 Channel 1 verification 1 Channel 1 door 0 gt 1 Channel 1 verification after a delay of max 100 ms 0 Channel 1 door 1 Channel 1 verification 0 Channel 1 door 1 gt 0 Channel 1 verification after a delay of 600 ms 100 ms 1 When monitoring a wrong signal status the line contactor must disconnect the drive supply see par 8 5 An error message must be available to make the malfunction of the safety circuit visible VIII 5 21 Feb 03 8 3 3 Interlocking System lli Interlocking System lll interrupts the signal path based on the Module Enable signal The control changes automatically to velocity control whereas the set velocity becomes zero As soon that all axes are at complete stop and all IGBT PWM Enable signals are switched off the signal Module Disabled becomes active The Module Disabled signal is available at pos 13 of J connector Fig 8 4 Interlocking System lli Module Enable Micro P
72. es 1 1 General The MCD profile provides the following communication services according to CANopen Some of these services are available in particular device operation modes After power on and startup of the application program the device is in mode Pre Operational Services supported by the MCD devices Node state Communication service provided by the IDBx devices Node Guarding 1 2 Network Management NMT The MCD device is supporting the following NMT commands After execution of the commands the application remains in the node state as defined to wait for other NMT commands NMT command NMT command number Node state after execution of command Reset Communication Pre Operational Reset Remote Node Pre Operational Initialization Remote Node Pre Operational Stop Remote Node Start Remote Node Operational 1 3 Synchronization Object SYNC The MCD device is supporting synchronization object The synchronization object is broadcasted periodically by the SYNC producer This SYNC provides the basic network clock The time period between the SYNCs is specified by the standard parameter communication cycle period see Object 1006h Communication Cycle Period which may be written by a configuration tool to the application devices during the boot up process If the cycle period is set to zero the module will try to find the cycle period automatically after 5 received SYNC messages The cycle period must by between 1 30ms A node g
73. et position Profile number Profile velocity scale Profile min velocity outside profile Profile dynamic compensation time Input command filter time constant for MCD mode 0 and 1 Shape type for MCD mode 1 Shape switching period time for MCD mode 1 Roll Over position Trajectory micro interpolation linear square for MCD mode 3 1D h 1D h 1D h 127 Characters 20 Characters 20 Characters 30000 min MaxVel min 3000 min 111us PFOC 3000 0 0 15 3000 min 111us 3000 0 0 1s 100 96 100 96 OoOoooooooooo 32768 32767 2 4 6 8 12 1 4 0 10 1 12 2 14 3 16Bit 0 7 128 256 16384 counts U 0 clockwise 1 counter clockwise 0 Velocity 1 Torque 600 2000 0 1 default 1000 600 2000 0 1 default 1000 0 1000 ms 0 default value 200ms 0 1000 ms 0 default value 200ms 0 2000 ms 0 default value 500ms 0 30 0 30 100 100 95 0 Disabled 11 h 11 h 11 h 0 7 PosRange PosRange counts 0 PosRange counts 32767 1 min 15BitDAC 0 127 7BitDAC 0 100 0 10000 ms 0 10000 min ms 5 1000 1 s 0 1 NC 100 96 255 min 10000 us 14 2 ms O OOOO 0 Standard 1 S 2 Bell 3 Sin Shape 10000 ms PosRange counts 0 32767 ms linear square V 12 13 May 02 Uns8 Uns8 Uns8 Visible
74. f wires x AWG AT 8 AWG ANN in kit 4 pair each Resolver wiring ai piss and No of wires x AWG individually 4 x 2 x 22 20 AWG shielded with an independent overall shield Tab 2 3 AWGImm Conversion Table AWG 22 20 18 16 14 12 10 8 6 4 3 2 1 10 mm 03 05 08 13 21 33 53 84 13 21 27 34 42 54 Tab 2 4 Tightening torque of Power Connectors Terminal Blocks _ PhoenixContact Gmbh Harting Wago Gmbh Moog HDFK4 HDFK10 HDFK25 16 HanK4 0 2314044 DCBUS bim 57 13246 35 44 7 5 0608 1518 4 05 08 6 Tab 2 5 Wire stripping length for Power Connectors Terminal Blocks as Phoenix Contact Gmbh Harting Kgaa Wago Gmbh HDFK4 HDFK10 HDFK25 16 Hank 4 0 231 104 in 035 043 075 02 05 09 mm 1 J 19 J 7 4 8 amp 9 2 I 7 21 Feb 03 Fig 2 3A Power Supply Front Panels PS Standalone ruuco Jmito Code CY2000 SIN 1234567890 Vin 400 460 V 5o 60Hz 3 phase lin 65 Arrns ioutnom 65 Arms lout max 100 A enw Moog kalilana Electric Division Made in A I 8 21 Feb 03 PS Standard and PS 6M MOOG Code CY2000 S N 1234567890 Vin 400 460 V 50 60Hz 3 phase 65 Arms loutnom 6
75. ff and on the power supply In case of condition 3 overheating wait at least 3 minutes before power up the drive IV 2 1 Aug 02 Auxiliary voltages not normal Indicated by LED DRF optoisolated output DRIVE OK Set condition when the level of 15V or becomes out of tolerance Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore reset button on drive or send reset commands on CAN Network a e using MCD Commander IV 3 1 Aug 02 Bus not normal Indicated by LED DRF LED POWER optoisolated output DRIVE OK Set condition See figure 4 1 Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore at analog level with hysteresis reset button on drive or send reset commands on CAN Network a e using MCD Commander FIG 4 1 Bus Bar Voltage 810 V overvoltage 790 V Recovery circuit enabled 690 V Reset max voltage 540 V Bus nominal voltage 440 V Reset min voltage 410 V Undervoltage IV 4 1 Aug 02 Auxiliary HV referred voltages not norm Indicated by LED DRF optoisolated output MODULE OK Set condition when the level of auxiliary voltages referred to power stage HV becomes out of tolerance Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore at analog level with hysteresis reset butt
76. hield must be 360 clamped at both sides In some applications e g some size 3 FAS T motors a choke in series for each motor phase has to be added This choke must be shielded REMARK when mounting the enclosure of recovery resistor or motor choke to the panel it is essential that any paint or other covering material be removed before mounting the enclosure of recovery resistor or motor choke III 6 1 Aug 02 3 5 Screening To effectively screening the system all the single screens CNC electronic cabinet machine motor housing cables must be connected together to effectively form one screen see Fig 1 4 3 6 Safety Aspects Noise suppression of Motor and Drive systems involves consideration of the earthing system and its effectiveness at high frequencies It should not be forgotten that is the safety system too and that the safety must take priority over EMC To reduce the radiated emissions the use of capacitance to earth is very effective In fact DBM 04 drives have Y type capacitors near the input power supply connector and Schaffner filters also include them These capacitors conduct current from phase to earth this can be in the order of hundreds of milliamperes WARNING appropriate safety measures should be taken to ensure that this potentially dangerous current flows to earth CAUTION it is recommended to disconnect the drive and the EMC filters to carry out the AC Voltage Tests of EN 60204 1 1997 par 19 4
77. in Bit Current control gainbinary setor S S me V 29 13 May 02 11 2 4 J4 5 6 Connector Resolver Connector type at panel side SUB D 9 contacts female Connector type at wiring side SUB D 9 contacts male e PTC S 10 kHz 20 Vpp output sinusoidal wave for supplying primary resoherwindng U U l V 30 13 May 02 11 2 5 J7 Connector Encoder Outputs and l O Signals Connector type at panel side SUB D 3 contacts female Connector type at wiring side SUB D 37 contacts male G 082 Diferential encoder phase B axis 2oulputsignal B DAS Diterential encoder phase A ans 3oulputsignal TT T S Joss encoder phase axis 3oulputsignal _ 0 LL C V 31 13 May 02 11 2 6 J8 Connector I O Signals Connector type at panel side WAGO 231 450 Connector type at wiring side WAGO 231 120 026 000 6 ANALOG OUT6 _ output 6 referred to ANALOGGND _ 8 M5VDCOUT Output power supply 15 Voltage Imax 100 mA S NPUTCOMMON nputbowersubpycommonforDIGITALINPUTO 2 9sgnds _ 11 2 7 J20 Connector l O Port LPT Connector type at panel side MINI SUB D 20 contacts female Connector type at wiring side MINI SUB D 20 contacts male Description LPT Connector SUB D 25 contacts 0 V logic circuit LPT Ground 18 25 6 o
78. ion per mechanical revolution it is necessary to multiply the pole pairs by the electrical resolution Example if a FAS T motor with 6 pole resolver is used 1024 pulses per electrical revolution mean 1024 3 3072 pulses per mechanical revolution 2 18 2 R D Resolution The resolution of Resolver to Digital converter will automatically be switched according to actual speed for optimum system performance between minimum and maximum resolution using MCD Commander The speed range of R D resolution is included in the following table Tab 2 26 Max speed and max ppr versus R D resolution Resolution bit Max number of pulses per 256 1024 4096 16384 electrical revolution Max speed with 2 pole 24000 12000 3510 877 resolver rpm Max speed with 6 pole 8000 4600 1170 292 resolver rpm Max speed with 8 pole 6000 3510 977 219 resolver rpm I 38 21 Feb 03 2 19 Mechanical Brake FASTACT servomotors have as option a 24 Vdc 24 to 26Vdc electromagnetic safety brake CAUTION safety brake must be clamped and released with motor at standstill Premature failure of the brake will result if brake is used for dynamic stopping of the motor The release of the brake from OV to 24V and the clamp from 24V to OV must follow the sequence in Fig 2 17 FIG 2 17 BRAKING SEQUENCE TIMING CHART for external brake control Notes 1 T12 300 ms T2 application depending T3 100 ms T4 gt 200 ms 2 T12 1000 ms for
79. l 1 verification or Channel 2 verification remains open the Restart Interlock is not activated There is wrong Module Disabled signal status There is a fault in the external control circuit itself There is a fault in the signal lines of the acknowledge contacts of the drives associated with the machine plant must be disconnected and isolated from the line supply through the line contactor The de energized status of the contactor must be monitored WARNING the line contactor must have a NC contact linked to safety NO contacts If the Restart Interlock control has been correctly integrated into the external safety related drive control and has been checked to ensure correct functioning then the drives in the separate working zone of the machine are protected against undesirable starting and personnel can enter or operate in the hazardous zone which has been defined CAUTION where the equipment requires manual intervention the relevant regulations must be taken into account VIII 8 21 Feb 03 8 6 Anti Freewheeling Stop Function The Anti Freewheeling Stop Function is integrated in the RIC function This means that when this function is activated a motor in movement performs a controlled stop This function is still alive also in case of power shut down WARNING The designer must evaluate the machine stopping time during the risk assessment even in case of failure The machine can present a dangerous overrun in c
80. le EN 60034 1 1998 Rotating electrical machines Part 1 Rating and performance EN 60034 6 Rotating electrical machines Part 6 IC Code EN 60034 7 1993 Rotating electrical machines Part 7 IM code PC RENI CEI EN 60204 1 1993 Safety of Machinery Electrical Equipment of machines par 6 2 3 Part 1 General requirements 20 3 20 4 MEME EN 60529 1991 IP code LA A CEI EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test we NON EN 61800 3 11 2000 Amendment 11 Other references or information required by the applicable EC directives The conformity of products is subjected to the installation of filters and to the procedures included in the proper Installation Manual The user has the primary responsibility in following the recommendations of the manufacturer Last two digits of the year in which the CE marking was affixed 97 lla 2 Nov 2000 Walter Tettamanti GENERAL MANAGER DEC SALE DOC MOD 176 PMA 4 96 1 4 21 Feb 03 CE Requirements Cautionary Marking See Accident Protection page Protection against electric shock Electronic Equipment intended for installation in closed electrical operating areas kept locked The lock shall be only opened by authorized person and the access only allowed to skilled persons whilst energized Wher
81. le Enable DC BU wu w ee dia min mm Q x uum w s w x s s CUR s CUm w s s cum cum um DC BU Micro Processor nisel O rpm stop Disabled MC EE ree VIII 3 21 Feb 03 8 3 1 Interlocking System Interlocking System disconnects the power supply for Channel 2 Upper Arm IGBT A self contained auxiliary contactor disconnects the Module Enable signal when Interlocking system becomes active Fig 8 2 Interlocking System IGBT Power Module Upper Arm PWM Signal OV Motor Phase Lower Arm For observing Interlocking System the input signal Channel 2 door Upper Arm IGBT Enable and the output signal Channel 2 verification Upper Arm IGBT disabled must be checked to have the appropriate status under the following conditions Channel 2 door 0 Channel 2 verification 1 Channel 2 door 0 gt 1 Channel 2 verification after a delay of max 100 ms 0 Channel 2 door 1 Channel 2 verification 0 Channel 2 door 1 50 Channel 2 verification after a delay of 600 ms 100 ms 1 When monitoring a wrong signal status the line contactor must disconnect the drive supply see par 8 5 An error message must be available to make the malfunction of the safety circuit visible VIII 4 21 Feb 03 8 3 2 Interlocking System ll Interlocking System Il disconnects the power supply for Channel 1 Lower Arm IGBT A s
82. llowing informations are supplied on the rating plate of IDBm 1 7 1 Power Supply CODE CY2ZZZXX where CY2ZZZ model code XX option code S N AASS NNNNZZ where AA year 55 NNNNZZ serial number ZZ may not be typed Vin xxx V nominal three phase input voltage 50 60 Hz 3 phase lin XXX Arms nominal rms input current lout nom XXX Arms nominal rms output current lout max xxx A peak output current 19 21 Feb 03 1 7 2 Module Code CY1ZZZ XX S N AASS NNNNZZ 3 phase D C Axis 1 C C gt Cs C4 lout nom XX Ams lout max YYY A Axis 2 BBB C4C2C5 C4 lout nom XX Ams lout max YYY A Axis 3 BBB C4C2C5 C4 lout nom XX Ams lout max YYY A Note BBB where 1ZZZ model code XX option code where SS week NNNNZZ serial number ZZ may not be typed where Duty Cycle code for RIC motor resolver simulated encoder see note below BBB may not be typed nominal rms output current peak output current code for RIC motor resolver simulated encoder see note below BBB may not be typed nominal rms output current peak output current code for RIC motor resolver simulated encoder see note below BBB may not be typed nominal rms output current peak output current Channels of the optional RIC SRC Single channel Restart interlock Circuit DRC Dual channel Restart interlock Circuit C4C2C5 C4 C47pulses per electrical revolution C264 D2128 256
83. locity 32767 Actuel velocity min Position PosRange Actual position counts Position Range PosRange 2147483647 2 Resolver Pools V 22 13 May 02 10 Error Warning Messages 10 1 Module Errors Warnings 10 1 1 Error Messages Index sub index at object dictionary 2100 h Ol h O0 1 Recoveryresistercircuiterror 5 Over temperature at module pap 8 7 System observation error exist 9 14 16 Wrong DSP program version 10 1 2 Warning Messages Index sub index at object dictionary 2100 h O2 h 0 f Busvoltageoutofrange S KE S S C 8 7 Copyright verification eror 2 313 _____ 10 2 Axis Errors Warnings 10 2 1 Error Messages Index sub index at object dictionary 2110 h O1 h Axis 1 Index sub index at object dictionary 2120 h Ol1 h Axis 2 Index sub index at object dictionary 2130 h Ol1 h Axis 0 1 Motor phase IGBT power failure 2 7 8 12 13 14 Axis parameter wrong 14 15 Motor parameter wrong 15 16 Drive parameter wrong 10 2 2 Warning Messages Index subindex at object dictionary 2110 h O2 h Axis 1 Index subindex at object dictionary 2120 h O2 h Axis 2 Index subindex at object dictionary 2130 h O2 h Axis 3 6 Drive load level warning 7 Reference position not set ELE E V 23 13 May 02 10 3 EMERGENCY Telegram Emergency objects are triggered by the occurrence of a device internal error situation
84. max 30mA V 26 13 May 02 G 57550 HS VOC output power supply refered 10 0V DIGITAL OUT Digta output signal 2 refered to OV egi SVDC notoptoisolaed S jos encoder phase B axis Toulputsignal _ 11 1 4 J4 Connector Resolver Connector type at panel side SUB D 9 contacts female Connector type at wiring side SUB D 9 contacts male e s pre 9 resolver 10 kHz 20 Vpp output sinusoidal wave for supplying primary esolverwinding 11 1 5 J20 Connector I O Port LPT Connector type at panel side MINI SUB D 20 contacts female Connector type at wiring side MINI SUB D 20 contacts male 0 V logic circuit LPT Ground 18 25 6 ot Ri directional data line 10 LPT Out Initialisation 16 p po 4 8 on Bi directional data line 11 LPT Out Select B jos Bmenddiainei rw 8 Interrupt line LPT Inp Acknowledge 10 42 O16 Bidirectional data line 16 LPT Inp Error ida 44 2 Bi directional data line 12 LPT Inp On line 148 BdmdendsaineG a s Bi directional data line 14 LPT Inp JAcknowledge 10 0 V logic circuit LPT Ground 18 25 Bi directional data line 15 LPT Inp Busy 11 V 27 13 May 02 11 1 6 J21 Connector CAN 1 2 Connector type at panel side SUB D 9 contacts male Connector type at U5 1 9 c
85. n and wait for flashing the green state LED Node ID selector To select the node ID 634 set the IDH Switch to HEX switch and the IDL Switch to F 63d selector odule Address Node ID Red Error exist wrong ID BR or com Three color LED Yellow Wait for reposing Green D and BR accepted and initialized Baud rate selector To select the baud ra Q O kBi et th HEX switch witch to numbe Jodule Baud Rate selector odule Baud Rate V 8 13 May 02 3 Object dictionary 3 1 Communication Entries Index h 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 100A 100B 100C 100D 100E 100F 1010 1011 1014 1020 1021 1022 1200 1201 1400 1401 1402 1403 1800 1801 1802 1803 1F50 Nr of Sub h N N N N N N Deskription Device type Error register Manufacturer status register Pre defined error field Number of PDOs supported COB ID SYNC message Communication cycle period Synchronous window length Manufacturer device name Manufacturer hardware version Manufacturer software version Node ID Guard time Life time factor COB ID Node guarding Number of SDOs supported Store parameters Restore default parameters COB ID Emergency message Verify configuration Store EDS Storage EDS format 1 Server SDO parameter 2 Server SDO parameter 1 Receive PDO communication parameter 2 Receive PDO communication parameter Receive PDO communication Parameter Rec
86. nected directly to the power distribution line at 400 or 460 480V and can supply up to 4 modules 12 axes The result is a very suitable solution for all multi axis applications like machine tools robotics packaging special material working wood plastics glass rubber leather paper A microprocessor based structure allows high servo performances with FASTACT servomotors all equipped with a resolver feedback Drive tuning and configuration are performed via digital parameters not potentiometers and stored in non volatile memory Flash Disk Drive set up is possible via a PC therefore simplifying installation and providing easy fault diagnosis General features e digital speed loop sinusoidal current waveform SMD technology with boards automatically assembled and tested automatic Resolver to Digital R D resolution switching from 16 to 10 bit to achieve high motion accuracy in the whole speed range from 0 to 10000 maximum case depth of 310 mm 10 kHz switching frequency operating temperature 0 to 40 C exceeding Class 3K3 relative humidity 596 to 85 no condensation no formation of ice Class 3K3 air pressure 86 kPa to 106 kPa Class 3K3 storage temperature 25 to 55 C Class 1 4 transportation temperature 25 to 70 Class 2K3 immunity to vibrations 3 0 mm peak from 5 to 9 Hz 1 g from 9 to 200 Hz Class 3M4 immunity to shocks 10 g half sine 6 ms Class 3M4 e Fieldbus CAN OPEN
87. nt intended to be connected to an industrial low voltage power supply network or public network which does not supply buildings used for domestic purposes second environment according to EMC Standards It is not intended to be used on a low voltage public network which supplies domestic premises first environment Radio frequency interference is expected if used on such a network Recovery Resistor Cable Shielding of the external recovery resistor cable provided in kit for test purposes is recommended for ensuring compliance with the EMC standards 5 21 Feb 03 Via Archimede 42 Underwriters P 20041 Agrate Brianza MI Zr Italy Laboratories Inc Tel 39 039 6410 101 Fax 39 038 6410 600 info tit ul com www ul 6urope com Agrate Brianza February 5 2003 UL international italia S r l B 7 An Affiliate of T o Italiana 5 1 Electric Division Via Avosso 94 I 16015 Casella Genova Italy Attn Mr Daniele Rolla NOTICE AUTHORIZATION TO APPLY THE UL RECOGNITION MARK Our Reference File E194181 Vol 2 Sec 1 Project 22M E19547 02171420 Subject Industrial Control Equipment Component Power Conversion Equipment NMMS2 NMMS8 Open Type Brushless Motor Servo Drives DBM 04 Series and 04 Series Report Revision for New alternate IPM Power IGBT new alternate Dynamic Brake Unit Recovery IGBT new Restart Interlock board
88. nt position immediately 3 Preset the reference position whit limit switch signal Bit 6 Clear error messages and switch motor on if axis enabled Bit 7 Axis enable if no error exist motor will switch on Torque Limitation TrqLim 0 127 Torque PWM output limitation torque low res Velocity Command Velocity 0 32767 Reference position set oet velocity for position control min 32767 Reference position not set Set velocity and direction min Position Value Position PosRange Reference position set Set position for position control counts PosRange Reference position not set Preset for the reference position counts 7 2 TxPDO Transmit PDO for one axis of the MCD Module Byte 3 4 Byte 5 8 otatus Torque Velocity Position 7 2 1 7 2 2 7 2 3 7 2 4 Control Status Status Bit 0 2 Mode 0 7 1 Position control mode Bit 3 Position tolerance window reached Bit 4 Reference limit switch signal Bit 5 Reference cycle done reference position valid Bit 6 Error exist Bit 7 Axis enabled Torque Output Torque 127 Torque PWM output torque low res Actual Velocity Velocity 32767 Actuel velocity min Position PosRange Actual position counts Position Range PosRange 2147483647 2 Resolver Pools V 20 13 May 02 8 Motion Control Mode 2 Profile Control Mode 8 1 RxPDO Receive PDO for one axis of the MCD Module Byte 5 8 Control TrqLim ProfScale ProfVel Position 8
89. on in the sections SECTION 6 IDBm PS troubleshooting VI 1 Troubleshooting DBm module troubleshooting 4 SECTION 7 IDBm PS U auxiliary functions VII 1 Application Notes SECTION 8 Restart Interlock Function VIII RIC 1 2 21 Feb 03 Accident Protection The safety instructions provided in this Manual are included to prevent injury to personnel WARNINGS or damage to equipment CAUTIONS oee Section 8 for safety instructions related to the Restart Interlock Function WARNING L L pins and Bus Bar s can have voltage 2810Vdc even after switching off capacitive voltage High Voltage Discharge Time approx 6 Minutes WARNING High Voltage The recovery resistor is connected to the Bus Bar s and can have voltage 810Vdc WARNING do not touch recovery resistor during operation to avoid scalds CAUTION make sure that the correct input voltage 400V or 460V has been set CAUTION it is recommended to disconnect the drive and the EMC filters to carry out the AC Voltage Tests of EN 60204 1 1997 par 19 4 in order to not damage the Y type capacitors between phases and ground Moreover the DC voltage dielectric test required by EN 50178 1997 product family standard has been carried out in factory as a routine test The DC Insulation Resistance Tests of EN 60204 1 1997 par 19 3 may be carried out without disconnecting the drive and the EMC filters CAUTION when required for an emergency stop opening U2
90. on on drive or send reset commands on CAN Bus Network a e using MCD Commander Module overtemperature Indicated by LED s DRF and DR OVT optoisolated output Module OK oet condition when a limit temperature is reached on the heatsink Effect inhibit torque of all axes of the module Reset condition if the condition is not present anymore power off and on monophase voltage Notes the temperature limit is detected by thermo switch Overload Check on MCD Commander specifications how could be managed this condition Watchdog Indicated by LED DRF LED WTD optoisolated output DRIVE OK Set condition when the micro controller or DSP fails Effect inhibit torque or all axes of the module Reset condition if the condition is not present anymore reset button on drive or send reset commands on CAN Network a e using MCD Commander IV 5 1 Aug 02 Section 5 MCD Commander commands and functions Table of Contents 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 7 1 2 1 2 2 2 3 2 4 3 1 3 2 3 3 3 4 3 5 3 6 4 1 4 2 4 3 4 4 5 1 5 1 1 5 1 2 5 1 3 5 1 4 5 2 5 3 5 3 1 5 3 2 5 4 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 2 6 2 1 6 2 2 6 2 3 6 2 4 VERSION DOCUMENTATION COMMUNICATION SERVICES GENERAL NETWORK MANAGEMENT NMT SYNCHRONIZATION OBJECT SYNC NODE GUARDING OBJECT EMERGENCY OBJECT SERVICE DATA OBJECT SDO PROCESS DATA OBJECT PDO Transmission types MODULE IDENTIFICATION NODE ID IDENTIFIER DIST
91. only for data saving CAUTION do not connect directly the auxiliary line but only through a dedicated isolation transformer with 230Vac 10 50 60 Hz secondary voltage Rated power must be 60VA for each module e g 240VA for 4 modules I 21 Feb 03 2 4 Electrical cabinet thermal sizing To calculate cabinet cooling requirements table below provides estimated equipment power dissipation values If the application employs continuous braking it is necessary to include the recovery resistor power dissipation use the nominal power of recovery resistor if actual application recovery dissipation is unknown Power Dissipation PS Standard IGBT s Input PS 6M and PS Bridge Standalone 16 W A 1W A Example with one PS Standard two modules a total output current of 60 Arms and continuous unknown braking the dissipated power is as follows Pd 25 2 50 16 60 A 1 60 750 recovery resistor power 1895 W Fan dissipation is not included in this table Il 4 21 Feb 03 2 5 Recovery Circuit The recovery circuit is formed by a switching regulator a recovery transistor and a recovery resistance While braking the motor returns energy which cannot be sent to the line since the rectifier circuit is not regenerative Returned energy tends to increase the BUS BAR DC voltage When HV reaches 680V for 400Vac version or 790V for 460 480Vac version the switching regulator brings the recovery t
92. ontacts terete side SUB D 9 contacts female Description LL 2 ape OCOCOCOOCCCCOCSCSCSCSCSCSCSCSCSCSCSCSSS B pe OO G Qvid B Be LE 11 1 7 J22 Connector RS232 Port Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female e asas B fes aos OO e n 7 S 11 1 8 J24 Connector 24VDC Auxiliary Power Supply Connector type at panel side WAGO 231 432 Connector type at wiring side WAGO 231 102 026 000 24 VDC Input power supply 24 Voltage for drive internal auxiliary power supplies 24 VDC V 28 13 May 02 11 21DBm Module 11 2 1 J1 Connector Auxiliary Power Supply LLL B _ LLL B n LL 1evocpv 18 VDC input power supplyreferedtOOV OSS e 8 VOCinputpower supply 11 2 2 J2 Connector RS485 Port Fault Signals Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female 1 Differential receive single pope _ 7 3 5 7 B Fauttsigna 60 Powersupply binary faut code OC o 11 2 3 J3 Connector Expansion Module Connector type at panel side SUB D 15 contacts female Connector type at wiring side SUB D 15 contacts male 6 _ Overtemperature Ovrtempeaueatexansonmodde I 8 LED overtemp jOvertmperauelEDsgnd OOS Current ga
93. phase 400 460 Vac 3 phase Drive Enable Remote Reset Motor OK Drive OK 2 PS Standalone and PS 120 t gt 20 ms t gt 1 s t gt 20 ms t 3s t gt 0 5s 400 460 3 phase 230 Vac 1 phase if applicable Drive Enable Remote Reset Motor OK Drive OK Vy CAUTION the Remote Reset must be a single no repetitive signal Otherwise it must be filtered with 500 Hz cutoff frequency I 34 21 Feb 03 3 PS U t 6s t 21045 4 5 CAUTION make sure that the AUX EXT CONTACT pos 5 and 6 of J12 connector is connected to 24Vdc before starting 400 480 Vac 3 phase Drive Enable Motor OK Drive OK II 35 21 Feb 03 2 17 Starting Sequence The starting sequence depends on the type of Power Supply See Fig 2 15 for the Timing chart PS Standalone and PS 120 1 Apply the 400Vac or 460Vac three phase power voltage 2 Apply if applicable the 230 Vac single phase auxiliary voltage via dedicated transformer PS Standard and PS 6M 1 Apply the 230 Vac or 110Vac single phase auxiliary voltage 2 Apply the 400Vac or 460Vac three phase power voltage PS U 1 Apply the 24 Vdc auxiliary voltage 2 Apply the 400Vac or 460Vac three phase power voltage WARNING High Voltage Discharge time approx 6 minutes 2 17 1 Autophasing Check that the motor is free to rotate in both directions e Check that no fault condition occurs red drive fault leds off
94. plitude ler kc acceleration s yelocity position 0 10 20 30 40 50 60 70 80 90 100 5 2 Position Referencing Type 1 S Shape 200 Amplitude acceleration velocity position 0 10 20 30 40 50 60 70 80 90 100 Time 200 Amplitude acceleration s velocity position 0 10 20 30 40 50 60 70 80 90 100 Time Position Referencing is applicable in Motion Control Mode 0 land Motion Control Mode 1 The direction of the movement is determined by the sign of the set speed and set torque Based on the Referencing Mode the following actions are possible Description Referencing not active Axis is working in the selected Motion Control Mode Referencing active Axis moves based on set velocity and torque limit Uses the actual position of the axis as reference position Returns automatically to previously used Motion Control Mode Referencing using Limit Switch Signal A limit switch signal is used to define the reference position Returns to previously used Motion Control Mode after completion Referencing in manual mode As soon as Position Referencing is selected the internal reference position is being erased Therefore when activating the axis afterwards the Referencing Mode immediately becomes active V 17 13 May 02 5 3 Motor safety brake The motor brake signal
95. quests this document Please note Within Canada there are federal and local statutes and regulations requiring the use of bilingual product markings It is the responsibility of the manufacturer or distributor to comply with this law As such the markings provided in the UL Follow Up Service Procedure may include only the English version Please contact us if you need assistance with translations or in determining which markings are appropriate for your product Products produced which bear the UL Recognition Mark shall be identical to those evaluated by and found to comply with UL s requirements If changes in construction are discovered authorization to use the UL Recognition Mark may be withdrawn and products that bear the UL Recognition Mark may have to be revised in the field or at the manufacturer s facility to bring them into compliance with UL s requirements This letter is sent on behalf of Underwriters Laboratories Inc pursuant to the Corporate Services Agreement between UL International talia S r l and UL Respect REVIEWED BY Mites eL Redaelli Matteo Redaelli Project Engineer Project Engineer Conformity Assessment Services 3000X mE Conformity Assessment Services 3000X E mail giuseppe redaelli it ul com E mail matteo redacthi it ul cam AO independent organization wnrkin fore 4 Sater world wilh integrity Greciaton and knowisdga Sede legale a laparstoris 21 Pred a Nord u
96. r Supply PS 120 is 180 mm Contact our Sales Locations or Service Centers for the available configurations and dimensions with this Power Supply 15 21 Feb 03 Fig 1 2 Side View Drill For 5 Screws MAX 310 282 00 415 00 MAX 475 16 21 Feb 03 1 4 Component Identification Fig 1 3 Component Identification IDBm 15 8 8 Housing Heatsink Power section axis 3 Removable Control Boards Power section axis 2 Te SUITS aa FEE z f Power section axis 1 W AXE NW LE LE L 17 21 Feb 03 1 5 System Grounding Fig 1 4 EMC Equipotential Bonding Jojonpuoo 8Ag2910Jd BUJ9 X3 juu SZ peua 3d juu 9 uogoeuuco o qe2 ueis g Buunse N 3NIHOVN JOIONPUOD 21 OLrf ef C o O O gt QO sieg sng 6 uider 191114 OWS OWS uu gui jeuiuua 3d eubis sindino lqeu3 9 8ou8J9JeH Uonoeuuoo ulejs gs Buunseey JNO LANIGVD SOINOHIO313 18 21 Feb 03 1 6 Options ADR function external 24 Vdc UPS with added capacitance to recover braking energy See Application Note GB 4528 DRC Dual channel Restart interlock Circuit safety function See Section 8 SRC Single channel Restart interlock Circuit safety function See Section 8 1 7 Rating Plate The fo
97. r defined press the button send for download the new definition The new definition will be valid after a IDBx Module reset w MUD _Commander 1 03 HoHame Edit View Update Mew Load Save 5 MED Startup Module Hardware definition Extras 7 amp amp V bo N Prt Com Module Axes Llser Send Heceive Actualize Transfer Help MCO Device Mode Restart Start Stop Reset Awe 1 On Axis 2 On Axis 3 THPO0 On Hardware Definition 21 Load Level Protection Torque Limit Torque Mode Set Velocity Mode Step Response Stel Shey Shey Shey Stel Shey Tim Position counts Taorque Mm Yelocity rprr Drivel Motor Load Les Asis enabled Errors E Common Module Type IDBm Week of year rm Year 2000 Customer Serie 3947251800 Baudiate 500k IDBx Humber of axes 3 Drive Type Matar Type 1 1 Changeable a pa ad 2 Changeable Em D 3 pao t 3 Changeable Elia nter Password for edit assward E 1500 kBaud on LPT1 NODE 63 Restart reset 11 02 2000 13 28 Errors 3 Data V 38 13 May 02 SECTION 6 TROUBLESHOOTING FIG 6 1 IDBM PS Power Supply OVER TEMP red LED on Overtemperature Verify the correct cooling of cabinet YES Red LED OVERTEMP ON Ambient temperature Power the fans
98. r register Warning register Position Velocity Torque Motor load level Drive section load level PWM Water valve output Torque resolution IDBx Axis 1 IDB x Axis 2 Autop IDBx Axis 3 Autophasing Start Finish Abort sequence State Error Resolver offset 9 h 9 h 9 h counts 1 min 0 1 Nm 0 1 96 0 1 96 0 1 96 0 1 Nm max Irms A h A h A h Start 1 Finish 2 Abort 0 0 8 0 3 32768 32767 180 180 electric angle V 14 13 May 02 Uns8 Uns8 Uns8 Uns32 Uns32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Uns8 Uns8 Uns8 Int32 Int32 Int32 Int32 4 Motion Control Mode 4 1 Motion Control Mode 0 Velocity Torque Control The RxPDO contains the set speed and the set torque of the axis With the axis in torque mode only Motion Control Mode 0 is allowed 4 2 Motion Control Mode 1 Position Control The RxPDO contains set speed set position and the torque limit Position control type Standard 5 Bell Sin Shape acceleration deceleration and position gain are to be set by SDO communication All parameters for the position control algorithm v s a kp may modified any time even during movement 4 3 Motion Control Mode 2 Profile Control This operation mode allows to choose from four different velocity profiles for each axis The profile data are generated from the ProControl Motion Control Analysis Program BAP The profile data are sto
99. ransistor into conduction thus connecting the recovery resistance in parallel with filter capacitors The recovery resistance is formed by enameled wire fixed resistor s If the recovery resistance works for intervals shorter than the time necessary to reach thermal equilibrium the resistor can temporarily handle power levels up to 10 times the nominal power rating of the resistor short time overload If not specifically requested PS Standard PS 6M PS Standalone are provided with 8 2 750W recovery resistor while PS U is provided with 12 750W recovery resistor and PS 120 with 3 9 1000W recovery resistor A special version PS U with oversized Dynamic Brake Unit is provided with 8 9 0 50W recovery resistor WARNING High Voltage The recovery resistor is connected to the Bus Bar s and can have voltage 2810Vdc WARNING do not touch recovery resistor during operation to avoid scalds CAUTION an unusual application with motor driven by the load a large portion of the time could result in overheating of the recovery resistor An unusual application with motor driven by high inertial load from high velocity in very short deceleration time could require a non standard recovery resistor It is suggested contacting our Service Centers CAUTION shielding of the recovery resistor cable provided in kit for test purposes is recommended for ensuring compliance with the EMC standards CAUTION for UL approval in the end use inst
100. red on the Flash disk using the following file names 1 Motion Profile AX1 PROF 1 AX2 PROF 1 AX3 PROF 1 2 Motion Profile AX1 PROF 2 AX2 PROF 2 AX3 PROF 2 3 Motion Profile AX1 PROF 3 AX2 PROF 3 AX3 PROF 3 4 Motion Profile AX1 PROF 4 AX2 PROF 4 AX3 PROF 4 The RxPDO is used to select the Profile Number Velocity Scaling Factor Position and Torque Limit 4 4 Motion Control Mode 3 Trajectory Control A master PLC must send periodical together with the SYNC Message a new position Trajectory Control To get a smooth velocity between tow SYNC Message it is possible to activate a linear or square position interpolation V 15 13 May 02 5 Special Function 5 1 Position Control Shape Type In the Motion Control Mode 1 Position Control Mode are different selectable position control shape types available The shape type for each axis is set by SDO communication 0x20 1 0F 5 1 1 Shape Parameter Shape Type support Limits Units SDO index sub index Axis 1 0x201 1 02 Position PosRange PosRange counts Axis 2 0x2021 02 Axis3 0 2031 02 Axis 1 0x201 1 04 Velocity 32768 32767 min Axis 2 0 2021 04 Axis3 0 2031 04 Axis 1 0x201 1 06 Acceleration 0 3 0 10000 min ms Axis2 0 2021 06 Axis 3 0 2031 06 Deceleration 0 10000 min ms Axis2 0 2021 07 Axis 3 0 2031 07 Axis 1 0x2011 10 Switching period time 1 3 0 10000 ms Axis 2 0x2021 10 Axis3 0 2031 10 Axis 1 0x2011 08 Position gain 0 3
101. res well tried safety principles but a single fault can lead to the loss of the safety function The PLC Control amp Verification in Fig 8 5 handles the coordinated drive control using logical interlocking functions 8 9 2 Functions of Application Example Referring to dual channel circuit of Fig 8 5 the two channel system structure is achieved First shutdown path the energy from the drive to the motors is disconnected via Channel 2 Shutdown is realized via REL 1 A C pos of JS1 connector REL3 The contact of the Restart Interlock relay via D E pos of JS1 switches off the Module Enable input signal The antifreewheeling stop function is activated and both the software Interlock System III and hardware Interlock System 1 timer start When the motion has stopped after max 360 ms the IGBT are turned off This must be cyclically monitored Refer to par 8 6 and 8 7 for the detailed timing chart Second shutdown path the energy from to the motors is disconnected via Channel 1 Shutdown is realized via REL2 B C pos of JS1 connector and REL4 The contact of the Restart Interlock relay via D E pos of JS1 switches off the Module Enable input signal The antifreewheeling stop function is activated and both the software Interlock System III and hardware Interlock System II timer start When the motion has stopped after max 360 ms the IGBT are turned off This must be cyclically monitored Refer to par 8 6 and 8 7 for the de
102. rocessor Sea zT 0 66 2 Logic for Axis 1 3 LYN LYN 199 Axis 1 3 IGBT PWM enable logic Module Disabled For observing Interlocking System III the input signal Module Enable and the output signal Module Disabled must be checked to have the appropriate status under the following conditions Module Enable 0 Module Disabled 1 Module Enable 0 gt 1 Module Disabled after a delay of max 50 ms 0 Module Enable 1 Module Disabled 0 Module Enable 1 20 Module Disabled after a delay of 380 20 ms 1 When monitoring a wrong signal status the line contactor must disconnect the drive supply see par 8 5 An error message must be available to make the malfunction of the safety circuit visible VIII 6 21 Feb 03 8 4 Restart Interlock Connections The restart interlock circuit is controlled using the JS1 connector on the front panel Tab 8 1 Module JS1 Connector RIC Restart Interlock Circuit Panel side male socket 12 contacts series 581 by Binder Moog code AK5500 Wiring side female cable connector 12 contacts series 680 by Binder Moog code AK4500 Channel2 Input to bobbin of the first relay of Channel 2 from door gate With door the door closed this input is high 24Vdc When the door is opened this input changes to low The switch off time delay for the safety relay of Channel 2 is invoked Additionally this opens the module enable contact Channel 1 Input to bobbin of
103. s LED WTD is on during reset Resolver 1 fault signal resolver M1 fault sin cos signals interrupted short circuit between signals or 10kHz carrier abnormal Red LED RF1 Red LED RF2 Resolver 2 fault signal resolver M2 fault sin cos signals interrupted short circuit between signals or 10kHz carrier abnormal Resolver 3 fault signal resolver M3 fault sin cos signals interrupted short circuit between signals or 10kHz carrier Red LED RF3 abnormal OT3 DR OVT PWRF1 PWRF2 PWRF3 Green LED Reference enable REF EN DR EN 1 DR EN 2 DR EN 3 PWR OK NO I 32 21 Feb 03 2 14 Button Tab 2 24 Button RESET Digital control card reinitialization and reset BUTTON of protections 2 15 Input Output Characteristics Tab 2 25 Input Output Characteristics OPTOISOLATED z in 21 2 INPUTS 03 nom 10 mA 8 to 20 mA Module Reset Vmin 15Vdc Vmax 25V OPTOISOLATED z out 1 2 OUTPUTS 0 max 20 mA Motor OK Vnom 25 Vdc Analog z out 100 Q Outputs 1 2 3 5 mA Full Scale 10 Volt Analog z out 100 Q Outputs 4 5 6 max 10 mA Full scale 10V Input 1 2 3 4 5 6 Full scale 10V Simulated Encoder z out 100 Q differential output Full scale 7V RS422 RS485 compatible signals I 33 21 Feb 03 Fig 2 15 STARTING SEQUENCE TIMING CHART 1 PS Standard and PS 6M t 28t010s t 215s t 220ms t 23s t520 5s 110 230 Vac 1
104. s as optional and alternate Connection PWB s alternative components materials a revision of some illustrations and new drive model number to identify only accessories expansions with Limited Voltage Current circuitry for special customized end use applications Dear Mr Daniele Rolla We have completed our engineering investigation under the above project number and find the products comply with the applicable requirements This letter temporarily supplements the UL Follow Up Services Inspection Procedure and serves as authorization to apply the UL and C UL Recognition Mark only at the factory under UL s Follow Up Service Program to the above products which are constructed as described below Similar to products covered in the UL Follow Up Services Inspection Procedure File E194181 Volume 2 Section 1 To provide the manufacturer with the intended authorization to use the UL Recognition Mark the addressee must send a copy of this Notice and all attached material to each manufacturing location as currently authorized in the appropriate UL File Procedure This authorization is effective for 90 days only trom the date of this Notice and only for products at the indicated manufacturing locations Records covering the product are now being prepared and will be sent to the indicated manufacturing locations in the near future Please note that Follow Up Services Procedures are sent to the manufacturers only unless the Applicant specifically re
105. s32 Uns8 Uns32 Uns32 Uns32 Uns32 Uns32 Uns32 Uns8 Uns32 Uns8 Uns32 Uns32 Uns32 Uns32 Uns32 Uns8 Visible String Visible String Visible String 3 5 Index h 2010 2020 2030 2011 2021 2031 IDBx Axes Set Parameters Sub h 00 OF 10 11 12 Description IDBx Axis 1 set parameters IDBx Axis 2 set parameters IDBx Axis 3 set parameters Axis description Drive type 3 9 Motor type FASW2 K8 031 Max Motor velocity Error motor velocity DSP command ramp up DSP command ramp down Motor current peak limit Drive current peak limit Velocity filter KF 1 Velocity filter KF2 Velocity control P Gain during motor on Velocity control I Gain during motor on Current control Gain Resolver angle offset Resolver poles Motor poles to Resolver poles Max Resolver resolution Simulated Encoder output Motor turn direction Velocity Torque Mode Drive load level scale factor Motor load level scale factor Brake release open time Brake nominal activation time Brake maximal activation time Velocity control P Gain during motor off Velocity control 1 during motor off Anti Take Off current test pulse IDBx Axis 1 motion control parameters IDBx Axis 2 motion control parameters IDBx Axis 3 motion control parameters otion Control Mode Position Position tolerance window Velocity Torque command Torque limit Acceleration Deceleration Position gain Variable profile s
106. signal Bit 6 Clear error messages and switch motor on if axis enabled Bit 7 Axis enable if no error exist motor will switch on Torque Limitation TrqLim 0 127 Torque PWM output limitation torque low res Velocity Torque Command Vel Trq 32767 Velocity mode min Torque mode torque high res Position Value Position PosRange Preset for the reference position counts 6 2 TxPDO Transmit PDO for one axis of the MCD Module Byte 3 4 Byte 5 8 otatus Torque Velocity Position 6 2 1 6 2 2 6 2 3 6 2 4 Control Status Status Bit 0 2 Mode 0 7 Velocity Torque mode Bit 3 Autophasing selected Bit 4 Reference limit switch signal Bit 5 Reference cycle done reference position valid Bit 6 Error exist Bit 7 Axis enabled Torque Output Torque 127 Torque PWM output torque low res Actual Velocity Velocity 32767 Actuel velocity min Position PosRange Actual position counts Position Range PosRange 2147483647 2 Resolver Pools V 19 13 May 02 7 Motion Control Mode 1 Position Control Mode 7 1 RxPDO Receive PDO for one axis of the MCD Module Byte 3 4 Byte 5 8 Control TrqLim Velocity Position T 1 1 Control Command Control Bit 0 2 Mode O 7 1 Position control mode Bit 3 Input velocity command filter enable Bit 4 5 Position reference mode 0 3 0 Position reference cycle disabled 1 Position reference cycle enable 2 Preset the reference position at curre
107. sult Following the examination of technical construction file we can declare that the safety function restart interlock after a controlled stop category 1 CE EN 60204 1 1998 of servodrive IDBM04 series with option DRC complies with the provisions of category 3 as defined in the h rmonized standard UNI EN 954 1 1998 SRC complies with the provisions of category 2 as defined in the harmonized standard UNI EN 954 1 1998 Servodrives must be installed according to the instructions environmental and interface with control and verification circuit of the User s Manual Pontenure 12 02 2003 via Parinkase 29010 Pontenure PC MITES teh 39 0523 517501 fax 439 0523 510020 e mail info icepi com web site www icepicomn 9 21 Feb 03 Safety Restart Interlock Function Requirements e Controlled Stop Time The final machine must be able to stop the motors in less 360 ms The hazard risk assessment of the application must demonstrate that within this time persons cannot be injured The drive can provide the Anti Free Wheeling function to perform the controlled stop e Free Wheeling Detection The external system must be able to detect free wheeling when the axis does not stop within 360 ms after the Module Enable signal goes away This system must have the motor velocity available WARNING The designer must evaluate the machine stopping time during the risk
108. t Start The soft start circuit inrush current limiting is built in II 2 21 Feb 03 2 3 Transformers 2 3 1 Power Transformer The system is designed to allow direct operation from a 400 460 Vac three phase power line without isolation transformer An isolation transformer may still be required to meet local safety regulations It is the user responsibility to determine if an isolation transformer is required to meet these requirements To size the power transformer It is necessary to refer to the rated output power of the motors the output power with 65K winding overtemperature is included in the Technical Data table of catalogs of servomotors to sum the power of single axes to multiply the sum by the contemporaneity factor factors often utilized are 0 63 for 2 axes 0 5 for axes 0 38 for 4 axes 0 33 for 5 axes K 0 28 for 6 axes and by a correction coefficient 71 2 accounting for the losses of the motor drive system Pim 1 2 W 2 3 2 Auxiliary Power Transformer PS Standard and PS 6M A transformer for the auxiliary line is not necessary No transformer is required for the PS U 2 3 3 Auxiliary Power Transformer PS Standalone and PS 120 If data need to be saved in case of three phase power line failure a 230 Vac single phase auxiliary line must be connected via isolation transformer to the PS Standalone and PS 120 versions of Power Supply This is not necessary for normal duty but
109. t on oscillator circuit NO Resolver fault or connection not OK at motor side VI 11 1 Aug 02 NO Other resolver connection OK YES Vref carrier present on J4 J5 J6 20 Vpp 10 kHz YES Sin and cos signals present on J4 J5 J6 6 5 Vpp max 10 kHz for resolver YES Internal fault FIG 6 12 IDBM Module WTD red LED on Watch Dog gt Red LED W TD ON V Reset via Pushbutton on fron panel YES Red LED W TD OFF Fault caused by noise 2 386 orDSP fault VI 12 1 Aug 02 FIG 6 13 IDBM Module DRF red LED on Module Fault a Red LED DRF ON NO lt Other red LEDs lit Check viaMCD commander the fault not reported by LEDs It can be CAN Bus communic YES problems Bus Bars overvoltage undervoltage V oee the figure with the proper LED fault VI 13 1 Aug 02 FIG 6 14 Motor vibrates Axis enabled M otorw ith overspeed orrunnmg ata speed not related to the reference or vibrates 6 resolver m NO poles or 8 resolver m otor poles 2 pole resolver m otor V Check via M CD NO NO eck via M CD com mander com m and er The otorphasmg The M otor Phasmg YES gt YES V Check power and resolver connections Intemal fault Rem ake Autophasmg
110. tailed timing chart The drive is shutdown e g when stopping in an emergency as a result of fault messages signals from the drive system or the Restart Interlock monitoring when a fault condition develops For an EMERGENCY STOP the drives are stopped in Stop Category 1 according to EN 60204 1 1997 9 2 2 Controlled stopping the energy feed is interrupted when the drive has come to a standstill VIII 14 21 Feb 03 MOOG Moog Italiana S r l Electric Division Via Avosso 94 16015 Casella GE Italy Phone 39 010 9671 Fax 39 010 9671 280 GB 4537 Rev 3 Feb 03 Moog Italiana S r l reserves the right to alter any dimensions or data without prior notice Printed in Italy
111. ted Max Braking Voltage mm kg PS Standard Power pose 110 230 Vac Vac itis not necessary for normal operations but only for data saving 145A with the DBMO4 PS U special version with oversized Dynamic Brake Unit EXPANSIONS An external expansion module should be used for some configurations including an axis rated over 35A This is due to thermal constrictions Available expansions modules are shown in the table To specify an expansion module please replace the third axis rating number with E this ensures that the drive is configured for use with an expansion module e g IDBm 15 15 E Output Currents Width Weight oe mm kg EBM 0450 40 50 9 140 _ EBM 04 60 180 60 17 180 X 270 18 13 21 Feb 03 1 3 Dimensions Fig 1 1 and 1 2 dimensions in mm show the drilling jig between power supply and drive module The modules must be mounted vertically with the fan housing at the bottom Leave a clear space of at least 50 cm 19 7 in over and under the system for air circulation Fig 1 1 Front View Drill For M5 Screws 1 00 100 1 00 120 00 120 00 180 50 2 rm I T 419 60 50 6050 180 101 50 8 00 IDBm 322 00 270 mm Module 180 mm Module 120 mm Module 70 00 DE 7 Bio H L1 14 21 Feb 03 Summary Table of drive dimensions Configuration Note the width of the Powe
112. uarding will be active if the cycle period is set by manually or automatically 1 4 Node Guarding Object The CAN bus master uses the node guard telegram to determine the current node state of the IDBx device This is done by a periodical transmission of the Request Telegramm to the device Based on this telegram a network timeout control for both master and slave may be implemented The IDBx device returns the following node state indications 2 3 Connecting 2 O Preparing 137 j V 5 13 May 02 1 5 Emergency Object Internal error conditions Hardware Software of the device are submitted to the master by the Emergency Telegramm 1 6 Service Data Object SDO The Service Data Object SDO provides access to the device s object dictionary using index and sub index The MCD device supports two SDO channels 1 7 Process Data Object PDO With the MCD device in the state Operational up to 4 Receive PDO and 4 Transmit PDO are active These telegrams provide the exchange of process data usually at high priority as a non confirmed service The data structure within these PDO may vary based on the current device node state 1 7 1 Transmission types 0 Synchronous acyclic 1 24 0 Synchronous cyclic V 6 13 May 02 2 Module Identification Node ID 2 1 Identifier Distribution The CAN Communication Object Identifiers COB ID are usually based on the Node ID of the de
113. ule Axes Number 3 Beeing Parameters Series DSP version number C C C Customer ProControl AG El Clear Errors Startup Date f 3 2000 Wadi Digital Inputs Digital Outputs 12 1 1 Configuration table The analog outputs are configured by an address and a gain value The gan value is a power number with the following effect The actual value is multiplied by 24980492 will be written to the specified output Address O 4 allows to manually write to the outputs Ox3A 21 Axis 1 Filtered actual velocity Ox3B 21 Axis 2 Filtered actual velocity Ox3C 21 Axis 3 Filtered actual velocity 2pol Resolver 10 Volt 15 910 rpm 4pol Resolver 10 Volt 7 955 rpm Resolver 10 Volt 5303 rpm 8pol Resolver 10 Volt 3 977 rpm Axis 1 Output current command Axis 2 Output current command Axis 3 Output current command 10 Volt 100 of maximum drive current User output value Value 23169 10 Volts Value 32767 10 Volts Value 46339 10 Volts 12 1 2 IDBx Modules and DSP Versions specific definition The following analog outputs are exist at different IDBx modules and will be supported at different DSP Versions Modul DSP Version bis 02 99 ANALOG OUT 4 5 ab 03 00 ANALOG OUT 1 6 V 34 13 May 02 12 2Digital Outputs MCD_Commander 1 04 004 Wall Thickness mcd File Edit View Update Extras ea 6 Ld k Com
114. vice However the COB IDs may still be modified after device startup by SDO access As soon as the Node ID of a IDBx device is changed the COB IDs are initialized as follows Communication Objects COB ID j Module 3 TXPDO 0x380 Module address Axis 3 3 RxPDO 0x400 Module address 4 TxPDO 0x480 Module address 4 RXPDO 0x500 Module address 1 TxSDO 0x580 Module address 1 RxSDO 0x600 Module address Toe Hg Or NE GAE 2 TxSDO 0x680 Module address 2 RxSDO 0 780 Module address 2 SDO Cannel for the module 2 2 Module Address Node ID The MCD device node ID is to be set using the IDBx Code Box MCD Commander or Term RS232 terminal program The Node ID value must be between 1 and 127 The default value is between 57 39 and 63 3Fh 2 3 Module Baud Rate Communication speed can be selected within the IDBx Code Box MCD Commander or Term RS232 terminal program The maximum baud rate is determined by the actual CAN bus length The baud rate is initially set to 500 kBit s The following speed settings are supported by CANopen index 0 0 Index Baud rate kBit s Max Seng im m Bit Time 1000 V 7 13 02 2 4 IDBx Code Box The node ID and communication baud rate will be selected by the IDH IDL and BR Switch Selector Connect the IDBx Code Box to the RS485 connector J2 and restart the MCD module by pressing the reset butto

IDBM 04 User`s and Installation Manual

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