AC Servo System Quick Set_up Guide
Contents
1. n C2 MDR 36 Plug RS232 Daisy Chain 1 Return user supplied 24 VDC C7 4p4c C8 10 PIN 19 User supplied 24V Te 0 1 IDC Female 2 OUT1 NELTRON 4401 10SR OR 20 IN2 2 GND ISO COXOC 304A 10PSAAA03 3 IN4 3 TX STX PN CONr00000010 67 21 4 18 36 4 Equivalent encoder output A 22 Equivalent encoder output At 5 Equivalent encoder output B 23 Equivalent encoder output B ia 6 Equivalent encoder output Z ex 24 Equivalent encoder output Z f 7 25 Ground 8 ANIN 1 26 ANIN 1 9 Direction input I E ee 27 Direction input aAA an 10 Ground me si 28 Pulse input 11 Pulse input 29 Ground ola 12 STO 30 Safe Torque OFF 13 Ground P1 Molex 31 IN3 4 JMP to 1 s 14 IN4 Q 3 JMP to 2 N 2 24V RTN 33 cut 1 24V STO 16 OUT3 Mating Connector type Crimp 0 34 AX4 Housing PN 436450400 17 AX4 STX PN CONr1000004 09 35 ANIN2 4x Crimp PN 0430300001 18 ANIN2 STX PN PINr43030000 00 j 36 ANOUT Mating Connector type Solder 3M solder Plug connector PN 10136 3000PE Motor STX PN CONr00000362. Regeneration P3 JST J300 1 B4 DC BUS 2 B2 Regen BUS Mating Connector type Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 2x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring Not Available Machine I F AC Input USB Feedback C4 MDR 26 Plug m 1 Incremental encoder A 14 Incremental encoder A N P4 JST J300 2 Incremental encoder B L1 AC Phase 1 15 Incremental encoder B L2 AC Phase 2 3 Incremental encoder Z ri fr W A L3 AC Phase 3 16 Incremental encoder Z KJO D Logic AC Phase 1 4 Hall U Logic AC Phase 2 Mating Connector type Crimp Housing PN F32FSS 05V KX STX PN CONr10000005 03 5x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 05JFAT SBXGF I STX PN CONr10000005 04 17 Hall V Feedback 5 Hall Wt 11 5V supply 24 Ground 12 Motor Temperature sensor 25 Motor Temperature sensor 13 5V supply 26 Shield Optional check ordering information Manufacturing setting STX MOONS Protective Ground Terminal M4 13 26 Mating Connector type Solder 3M solder Plug connector PN 10126 3000PE STX PN CONr0000026 31
3. AC Servo System 2 Controller I F Controller VF a gt et J hr Machine VF Kk m j Machine I F n a a 4 da j Feedback Feedback Quick Set up Guide AMP amp MOONS Automation MSHD Quick Set up Guide Important Notice All rights reserved No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Disclaimer The information in this manual was accurate and reliable at the time of its release MOONS re serves the right to change the specifications of the product described in this manual without notice at any time Trademarks All marks in this manual are the property of their respective owners Customer Service is committed to delivering quality customer service and support for all our products Our goal is to provide our customers with the information and resources so that they are available without delay if and when they are needed In order to serve in the most effective way we recommend that you contact your local sales repre sentative for order status and delivery information product information and literature and applica tion and field technical assistance If you are unable to contact your local sales representative for any reason please use the most relevant of the contact details below For technical support contact info moons com cn Part Number For ordering the MSHD refer to the following diagram MSHD 0
4. High side of the direction signal Low side of the up count signal mable digital output Read using OUT3 N O Analo Low side of the differential input p analog command input a 10 VDC Low side of the direction signal RS422 or Low side of the master encoder signal B or Low side of the down count signal High side of the pulse signal RS422 or High side of the Pulse input master encoder signal A or High side of the up count signal i Digital input 3 Direction input NO N QD NO NO 00 QD Digital ground Reserved for future use Opto isolated programmable digital input Read using IN3 31 Fast opto isolated programmable digital input Read using IN5 QD NO Opto isolated programmable digital output Read using OUT2 Digital output 2 QD QD QD K Reserved for future use Anal Low side of the second 35 nai A differential analog input P 10 VDC Analog output referenced der to digital ground 0 10 p VDC h O 14 MSHD Quick Set up Guide Controller Interface Wiring EQUIVALENT ENCODER OUTPUT PULSE amp DIRECTION OR SECONDARY ENCODER Step 7 Connect Machine I Os Machine I Os uses interface C3 on all MSHD models Wire the machine inputs and outputs according to the requirements of your application Unused pins must remain unwired To preserve isolation of the digital I Os connect a 24 VDC source to pin 9 Connect the return of
5. Mating Connector type Solder Mating Connector type Solder PN 06JFAT SBXGF Protective Ground 3M solder Plug connector 3M solder Plug connector Terminal M4 PN 10126 3000PE PN 10120 3000PE STX PN CONr0000026 31 STX PN CONr0000020 28 3M solder plug Junction shell 3M solder plug Junction shell PN 10326 52F0 008 PN 10320 52F0 008 14 96 STX PN HODr00000026 00 STX PN HODr00000020 00 7 ae Optional check ordering information Mating Cable Mating Cable Manufacturing setting STX PN CBLrxM900026 00 STX PN CBLrxM900020 00 STX MOONS x 1 2 3 meter x 1 2 3 meter Pin Assignments on MSHD 1D5 MSHD 003 Rev 1 0 4 10 2012 a STO Safe Torque OFF P1 Molex JMP to 1 JMP to 2 NIUA 24V RTN 1 24V STO Mating Connector type Crimp Housing PN 436450400 STX PN CONr1000004 09 4x Crimp PN 0430300001 STX PN PINr43030000 00 MSHD Quick Set up Guide RS232 Daisy Chain C7 4p4c C8 10 PIN 0 1 IDC Female 1 Rx NELTRON 4401 10SR OR 2 GND ISO COXOC 304A 10PSAAA03 a ax STX PN CONr00000010 67 4 Motor P2 JST J300 1 PE Protective Earth 2 U U Phase 3 vV V Phase 4 W W Phase Mating Connector type Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 4x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 04JFAT SBXGF I STX PN CONr10000004 19
6. 9 User supplied 24V 19 Return user supplied 24 VDC 10 Fault Relay 1 20 Fault Relay 2 Mating Connector type Solder 3M solder Plug connector PN 10120 3000PE STX PN CONr0000020 28 3M solder plug Junction shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBLrxM900020 00 x 1 2 3 meter Rev 1 0 4 10 2012 MSHD Quick Set up Guide Controller I F RS232 Daisy Chain C2 MDR 36 Plug C7 4p4c ee 2p yee 1 Return user supplied 24 VDC f emale F L RE NELTRON 4401 10SR OR 19 User supplied 24V 2 GNDISO COXOC 304A 10PSAAA03 2__ OUT 1 3 TX STX PN CONr00000010 67 20 IN2 4 3 IN1 21 36 4 Equivalent encoder output A 22 Equivalent encoder output A 5 Equivalent encoder output B 23 Equivalent encoder output B 6 Equivalent encoder output Z 24 Equivalent encoder output Z STO 7 Safe Torque OFF 25 Ground P1 Molex NN i 2 Ee 9 Direction input UMP 27 Direction input 2 EN 10 Ground 1 24V STO 28 Pulse input Mating Connector type Crimp 77 11 Pulse input Housing PN 436450400 Pi ay STX PN CONr1000004 09 tg 5 K i RA 29 Ground 4x Crimp PN 0430300001 i rye Ao MLE R pemeg 12 STX PN PINr43030000
7. DD Voltage reference input Pulse amp Direction input 6x digital inputs 3x digital outputs 1x analog output O Magnetic DO 2 Contactor 2 E ADAM DS Connection to Additional IOs 9 5 5x digital inputs 2 3x digital outputs 1x fault relay Secondary feedback Brake output Motor brake optional Ground Protective Earth 24VDC power supply Motor Feedback Motor Power Note Refer to section EMI Suppression in MSHD User Manual To be supplied by customer AC supply for the main power input L1 L2 and for the logic power input L1C L2C must be from the same AC phase input as show in the diagram MSHD 1D5 MSHD 003 Servo System Wiring Single Phase 230 VAC Rev 1 0 6 4 10 2012 MSHD Quick Set up Guide Daisy Chain RS232 Connection optional connection to PC D 5 D Single Phase p Rotary switches Drive addressing Circuit Breaker N oo S gt O L2 L3 Lic L2C aj Gig 5 Ground Protective Earth I STO or Fuses Safe Torque Off Connect to 24VDC power supply OR use bypass plug Line Filter dugog optional p p Connection to Host Controller 5 5 s Voltage reference input D g a Pulse amp Direction input g S 6x digital inputs o 3x digital outputs 29 1x analog output Magnetic ggg EG O Contactor PE Ps re Connection to Additional IOs 5x digital inputs 3x digital ou
8. a short circuit at the encoder Check if the encoder is drawing more than the current limit Check whether the drive is con figured for working with the index signal on the secondary encoder and check if the index signal is connected Check that all signals from the secondary encoder are properly connected to the drive The MSHD can source a maxi mum current of 250 mA to the secondary encoder Check for a short circuit at the encoder Check if the encoder is drawing more than the current limit Check that the feedback device is wired correctly Check that the correct encoder type MENCTYPE is selected Check that the feedback device is wired correctly Check that the correct encoder type MENCTYPE is selected Check whether the motor feed back type and the phase finding parameters are set correctly for the application Check that the wiring to the en coder is correct Check that all signals to the P amp D inputs are properly connected to the drive Rev 1 0 4 10 2012 MSHD Quick Set up Guide No Check the battery voltage and feedback wiring Make sure the motor did not move at a high velocity during encoder initializa tion r26 Tamagawa Abs Several faults are indicated by the Operational Fault feedback device and include one or more of the following battery low error over speed counting error multi turn error r27 Motor Phases Dis One of the motor phases is Yes Chec
9. e Connector C4 Motor Feedback Plug 3M 10126 3000PE and shell 3M 10326 52F0 008 e Wires for connectors e Connector P1 26 28 AWG for all models e Connectors P2 P3 and P4 18 AWG for MSHD 1D5 and MSHD 003 16 AWG for MSHD 4D5 and MSHD 006 14 AWG for MSHD 008 MSHD 010 and MSHD 013 e Connector P5 only for MSHD 008 MSHD 010 and MSHD 013 16 AWG e Connectors C2 Controller I O C3 Machine I O and C4 Motor Feedback 24 28 AWG e Crimping tools if you are not using ready made cable assemblies e Connector P1 Molex crimper 0638190000 e Connectors P2 P3 P4 P5 JST crimper YRF 1070 If a crimp pin extraction tool is needed use JST extraction tool EJ JFAJ3 e M4 ring or spade terminal e A small slotted screwdriver for setting the drive address switches e For connection to the host computer use one of the following e USB 2 0 Ato Mini B cable USB interface e 4p4c plug and cable RS232 interface Rev 1 0 4 10 2012 4 MSHD Quick Set up Guide Computer System The following computer system and software are required e 2 GHz CPU e 1 MB RAM e 1000 MB available on hard drive after net 4 is installed e USB port for connecting to the drive e Operating system Windows XP SP3 or Windows 7 e ServoStudio the graphical software interface for configuring and testing the drive Download from the MSHD product page on the Servotronix website e Net4 for details refer to NET Framework System Requir
10. n anakan Kanan Kanan naaa anna anna aaa 20 Step 13 Configure the Drive arrarnnnrnarnnnnnnrnannnnrnarnannnnnnernasnnernuennenneeneee 21 Drive Status 2 cccccc ccc eec eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeegeeneaneaeeaeeeeges 22 MSHD System Wiring Pin AssignmentS ekar naaa 28 RS OMAGH MOONS na a EA cua 31 7 Rev 1 0 4 10 2012 MSHD Quick Set up Guide Safety Only qualified persons may perform the installation procedures You do not need to be an expert In motion control to install and operate the drive system However you must have a basic under standing of electronics computers mechanics and safety practices ij The MSHD utilizes hazardous voltages Be sure the drive is properly grounded Before you install the MSHD review the safety instructions in this manual The manual is available as a PDF file that can be downloaded from the MOONS website Failure to follow the safety instructions may result in personal injury or equipment damage Preparation Hardware The following hardware is required for installation e Mating connectors and the associated crimp pins for interfaces P1 P2 P3 and P4 all mod els and P5 only for MSHD 008 MSHD 010 and MSHD 013 e Mating connectors for interfaces C2 C3 and C4 e Connector C2 Controller I O Plug 3M 10136 3000PE and shell 3M 10336 52F0 008 e Connector C3 Machine I O Plug 3M 10120 3000PE and shell 3M 10320 52F0 008
11. the 24 VDC supply to pin 19 which functions as the ground path for the outputs Note The 24 VDC supply and return can be connected on either the Controllerinterface C2 or the Machine interface C3 but it is not necessary to connect it to both C3 Machine I F 20 Machine I O Interface 15 Rev 1 0 4 10 2012 MSHD Quick Set up Guide Pin Function Description Pin Function Description gt Secondary High side of the secondary en Secondary Low side of the secondary en 1 encoder coder input signal A RS422 or 11 coder input signal A RS422 A High side of the pulse signal encoder A or Low side of the pulse signal Secondary High side of the Secondary en Secondary SON Sag p ne serangan ar coder input signal B RS422 encoder coder input signal B RS422 or encoder sae or Low side of the direction B High side of the direction signal B signal Secondary 4 3 acoder High side of the secondary en Ja coder input index RS422 7 12 1 Secondary Low side of the secondary en encoder Z coder input index RS422 encoder 14 encoder supply for the secondary 5V ground encoder 5 Digital Opto isolated programmable 15 Digital Opto isolated programmable input 7 digital input Read using IN7 input 8 digital input Read using IN8 Digital Opto isolated programmable 16 Digital Opto isolated programmable input 9 digital input Read using IN9 input 10 digital input Read using IN10 programmable dig
12. the motor temperature sensor Actual velocity exceeded 1 2 times the velocity limit The veloc ity limit is set using VLIM The position error PE has exceeded the position error limit PEMAX Reset faults If the fault persists the drive probably needs repair Contact technical support Reset faults If the fault persists the drive probably needs repair Contact technical support Check motor drive sizing This warning can occur if the drive is under sized under powered for the application Check that the commutation angle is correct i e commutation is balanced Check the drive motor sizing This warning can occur if the motor is under sized under pow ered for the application Check that the drive is config ured properly using THER MODE THERMTYPE THER MTHRESH and THERMTIME and that the motor temperature sensor is properly connected to the drive if needed If the drive is configured and wired prop erly check whether the motor is under sized for the application Check that VLIM is set to match the application requirements Us ing velocity loop tuning check for excessive overshoot Change drive tuning to improve position tracking or increase PEMAX to allow a greater posi tion error Check that the STO connector P1 is wired correctly Regen Over Cur The preset current limit for regen Yes Increase the value of the regen rent current has been exceeded resistor n2 Brake F
13. to bypass the STO JAY GND STO Interface Pin Label Function O O O O O O O OO O OOS OO 24V STO Enable STO Return 24V Supply provided by the drive for use with emer gency stop circuit 24V Return provided by the drive for use with emer gency stop circuit Rev 1 0 i 4 10 2012 MSHD Quick Set up Guide Step 4 Connect Regen Regen uses interface P3 on all MSHD models Note On models MSHD 1D5 and MSHD 003 Regen and AC Input Voltage are combined on one connector If the application requires a regeneration regen resistor use the P3 interface Connect the regen resistor between terminals B1 and B2 Table 3 5 Regen Interface Pin Pin Label Function gt Step 5 Connect Motor Feedback Motor Feedback uses interface C4 on all MSHD models Wire the motor feedback interface according to the type of feedback device to be used in your ap plication Refer to the guidelines following the pinout table below Pins 1 2 14 and 15 have dual functionality Pin 25 for the motor temperature sensor is connected internally in the drive to MSHD ground Unused pins must remain unwired Vv 2 ge ev QU 13 26 Rev 1 0 4 10 2012 i MSHD Quick Set up Guide Motor Feedback Interface 1 Incremental encoder A 14 BV suppl or SSI encoder data PPY 2 MOTE ONA TE 12 Motor temperature sensor or SSI encoder clock Incremental Encoder Z 5V supply Incremental encoder A ee
14. 00 ie _ JE I P 30 3 J hala mr 4 13 Ground Ee o g 31 IN 3 Motor 14 IN4 32 IN5 P2 JST J400 TING 1 PE Protective Earth C2 33 OUT 2 2 U U Phase 16 OUT 3 3 vV V Phase 34 AX4 4 W W Phase z i kann Mating Connector type Crimp 18 ANIN2 Housing PN J43FSS 04V KX a El ee A D Ne 0 T Mating Connector type Solder STX a CRPrSJ4F71GF 00 g 3M solder Plug connector r 00 he PN 10136 3000PE STX PN CONr0000036 01 3M solder plug Junction shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBLrxM900036 00 x 1 2 3 meter Regeneration P3 JST J400 1 Bi DC BUS 2 B2 Regen BUS Mating Connector type Crimp Housing PN J42FSC 02V KX STX PN CONr10000002 14 2x Crimp PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 Machine I F 1 11 C3 MDR 20 Plug Secondary encoder At 11 Secondary encoder A 2 Secondary encoder B 10 20 12 Secondary encoder B 3 Secondary encoder Z Feedback C4 MDR 26 Plug 13 Secondary encoder Z 4 Secondary encoder 5V Main AC Input P4 JST J400 1 L1 AC Phase 1 2 L2 AC Phase 2 3 L3 AC Phase 3 Mating Connector type Crimp Housing PN J43FSS 03V KX STX PN CONr10000003 19 3x Crimp PN SJ4F 71GF M3 0 Incremental encoder A Incremental encoder A 14 Secondary encoder GND Incremental encoder B 5 IN
15. 01 3M solder plug Junction shell P2 JST J300 PN 10336 52F0 008 1 PE Protective Earth P F I STX PN HODr00000036 00 2E 4 Phase Mating Cable 3 V V Phase STX PN CBLrxM900036 00 4 W W Phase x 1 2 3 meter Mating Connector type Crimp gg Housing PN F32FSS 04V KX STX PN CONr10000004 13 Machine I F 4x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 C3 MDR 20 Plug 1 Secondary encoder A Mating Connector type Spring P PN 04JFAT SBXGF 11 Secondary encoder A 2 Secondary encoder B 12 Secondary encoder B Feedback 3 Secondary encoder Z R C4 MDR 26 Plug 13 Secondary encoder Z AC Input and 1 Incremental encoder A 4 Secondary encoder SV Regeneration 14 Incremental encoder A 14 Secondary encoder GND 2 Incremental encoder B 5 IN7 P3 JST J300 15 Incremental encoder B 15 IN8 1 B1 DC BUS 3 Incremental encoder Z 6 INQ 2 B2 Regen BUS 16 Incremental encoder Z 161 IN 10 3 L1 AC Phase 1 4 Hall U 7 IN 11 4 L2 AC Phase 2 17 Hall V 5 L1C Logic AC Phase 1 5 Hall W 17 OUT4 6 L2C Logic AC Phase 2 11 5V supply 8 OUT 5 Mating Connector type Crimp pp 24 Ground 18 OUT 6 Housing PN F32FSS 06V KX Sp SA 12 Motor Temperature sensor 9 User supplied 24V Sea it eee de 25 Motor Temperature sensor 19 Return user supplied 24 VDC x Crimp P2 10 Fault Relay 1 STX PN PINrSF3F71GF 00 18 SN Supp y PE 26 Shield 20 Fault Relay 2 Mating Connector type Spring 1 14
16. 06 2A AF 1 XX Custom specifications If applicable Analog Input 1 One Analog input 16bit 2 Two Analog 14bit Benes Interface Options AP Analog Pulse RS 232 Rating AF Analog Pulse Rs 232 CANopen USB Cont Peak A EC EtherCAT 1D5 1 5 4 5 003 3 0 9 0 AC Power 200V 4D5 4 5 18 0 Single Phase 115VAC 15 10 50 60Hz 006 6 0 18 0 Single Phase 230VAC 15 10 50 60Hz 008 8 0 28 0 Three Phase 120 240 L L VAC 10 15 50 60 Hz 010 10 0 28 0 013 13 0 28 0 Rev 1 0 4 10 2012 MSHD Quick Set up Guide Step 1 Mount the MSHD reearvnrnnernenevnrvnrvnerneneenevnnnnennernenennsnnsnnerneneensenen 9 Step 2 Connect Motor r rrnnrnnnnnnnnennnnavnnnnnnnereenennnnnnnnereeneenennannenuenenneenen 10 Step 3 Connect KO EEE NE 11 Step 4 Connect Regen rrarnnnrnarnannnernarnnnnnernusnnnnnernannnnnnnrnnsnnernusnnsnnennere 12 Step 5 Connect Motor Feedback rrrrnnnnnnvnnnnnnnnnavnnvnnvnereenennennennenneneenen 12 Step 6 Connect Controller VOS rrrnnunnrnnrvnrrnerennvnnnvnernerennnnnannenserneneenen 13 Step 7 Connect Machine l OS rrnnrnnrnnrnnnnnnrnerennennnvnernereenennnnnennereeneenen 15 Step 8 Connect AC Input Voltage reen anna naaa anakan 17 Step 9 Set the Drive Address rrrrrnnrnnrnurvnnrnerennnnnnvnernerennennennennernenennen 19 Step 10 Connect to PO ven 19 Step 11 Install ServoStudio Software rrarnnrrnnnnnnnnnnnnnvnnrnernnnnvnnnnernereenen 20 Step 12 Power 0 6 0 ee r aan nana
17. 3M solder plug Junction shell PN 10326 52F0 008 STX PN HODr00000026 00 Mating Cable STX PN CBLrxM900026 00 x 1 2 3 meter Pin Assignments on MSHD 4D5 MSHD 006 29 Controller I F C2 MDR 36 Plug 1 Return user supplied 24 VDC 19 User supplied 24V 2 OUT 1 20 IN2 IN 1 Equivalent encoder output A Equivalent encoder output A Equivalent encoder output B Equivalent encoder output B Equivalent encoder output Z Equivalent encoder output Z Ground ANIN 1 ANIN 1 Direction input Direction input Ground Pulse input Pulse input Ground Ground IN 3 IN 4 IN 5 IN 6 OUT 2 Mating Connector type Solder 3M solder Plug connector PN 10136 3000PE STX PN CONr0000036 01 3M solder plug Junction shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBLrxM900036 00 x 1 2 3 meter Machine I F C3 MDR 20 Plug Secondary encoder At 11 Secondary encoder A 2 Secondary encoder B 12 Secondary encoder B 3 Secondary encoder Z 13 Secondary encoder Z 4 Secondary encoder 5V 14 Secondary encoder GND 5 IN7 15 IN8 6 IN9 16 IN 10 7 IN 11 17 OUT 4 8 OUT 5 18 OUT 6
18. 7 Incremental encoder B 15 IN8 Incremental encoder Z 6 INQ Incremental encoder Z 16 IN 10 STX PN CRPrSJ4F71GF 00 Hall U 7 IN11 HALVE 17 OUT 4 Hall W BV suppl 8 OUT 5 18 OUT 6 Ground Motor Temperature sensor Motor Temperature sensor 13 5V supply 26 Shield Mating Connector type Solder 3M solder Plug connector Logic powerAC Input P5 JST J300 1 L1C Logic AC Phase 1 2 L2C Logic AC Phase 2 Mating Connector type Crimp Housing PN F32FSS 02V KX 9 User supplied 24V 19 Return user supplied 24 VDC 10 Fault Relay 1 20 Fault Relay 2 Mating Connector type Solder 3M solder Plug connector Sb eee Bun a pene 28 2x Crimp PN SF3F 71GF P2 STX PN CONr0000026 31 5 STX PN PINrSF3F71GF 00 Protective Ground 9 solder plug Junction 3M solder plug Junction shell Terminal M4 PN 10326 52F0 008 ET NA st ar f STX PN HODr00000026 00 r Optional check ordering information ka Mating Cable In Mating Cable ee dd STX PN CBLxM900026 00 STX PN CBLrxM900020 00 STX MOONS x 1 2 3 meter x 1 2 3 meter Pin Assignments on MSHD 008 MSHD 010 MSHD 013 Rev 1 0 4 10 2012 MSHD Quick Set up Guide Contacting MOONS Service Center 86 400 820 9661 Headquarters No 168 Mingjia Road Industrial Park North Minhang Dist
19. ault ep Over Voltage The bus voltage exceeded the No Check whether a regen resistor maximum value is required for the application 015 Plus 15V Out of The internal 15 V supply is out Yes The drive probably needs repair Range of range Contact technical support Minus 15V Out of The internal 15 V supply is out of Yes The drive probably needs repair Range range Contact technical support Over Current Over current at the drive output Check for a short circuit on the has been detected The drive allows this fault to occur up to 3 times in succession After 3 faults the drive forces a delay of 1 min ute before it can be reenabled motor connection Check for excessive overshoot in Rev 1 0 4 10 2012 the current loop 24 MSHD Quick Set up Guide r10 r14 r15 r16 r17 r18 r19 r20 r21 r23 r24 r25 Sine Feedback Communication Fail Sine Encoder Quadrature Fault Sin Cos Calibration Invalid Feedback 5V Over Current Secondary Feed back Index Break Secondary Feed back A B Line Break Secondary Feed back 5V Over Current Feedback Commu nication Error Sanyo Encoder Operational Fault Phase Find Failed Tamagawa Init Failed Pulse amp Direction Input Line Break Z O Communication problem between the drive and the EnDat encoder Z O Mismatch between calculated and actual encoder quadrature information The sine cosine calibration pa ra
20. cos2 1 and cosine signals Encoder Simulation The computed equivalent encod Yes Check the parameters used for Freq Too High er output frequency exceeds the setting up the equivalent encoder upper limit for this signal which is output 4 MHz If using a sine encoder check the ENCOUTRES parameter settings ge 9 Power Stage Over The temperature on the power Check if the ambient tempera Temperature board has exceeded the preset ture exceeds the drive specifica limit tion Otherwise contact technical support Rev 1 0 4 10 2012 MSHD Quick Set up Guide Power Module The temperature inside the inte Check if the ambient tempera Over Temperature grated power module has exceed ture exceeds the drive specifica ed the preset limit tion Otherwise contact technical support Control Board The temperature on the control Check if the ambient tempera Over Temperature board has exceeded the preset ture exceeds the drive specifica limit tion Otherwise contact technical support Under Voltage The bus voltage is below the mini Check that the main AC voltage mum value supply is connected to the drive and is switched on The under voltage limit can be read with the UVTHRESH com mand Note Fault if flashing warning only if lit steadily Rev 1 0 a 4 10 2012 MSHD Quick Set up Guide MSHD System Wiring Pin Assignments Controller I F
21. e or SSI encoder data Incremental encoder B D or SSI encoder clock 1 iG _ Incremental encoder Z 1 117 Hav 1 124 Ground gt 125 Motortemperature sensor a f26 sa gt Wiring Guidelines e For incremental encoder with Halls use pins 1 14 2 15 3 16 4 17 5 11 12 24 25 26 Step 6 Connect Controller I Os Controller I Os uses interface C2 on all MSHD models Wire the digital and analog inputs and outputs according to the requirements of your application Wire the digital and analog inputs and outputs according to the requirements of your application Unused pins must remain unwired To preserve isolation of the digital I Os connect a 24 VDC source to pin 19 Connect the return of the 24 VDC supply to pin 1 which functions as the ground path for the outputs Note The 24 VDC supply and return can be connected on either the Controller interface C2 or the Machine interface C3 but it is not necessary to connect it on both A N n Controller I F P re 2i en S P Controller I O Interface Rev 1 0 4 10 2012 MSHD Quick Set up Guide Pin Function Description Pin Function Description gt 4 24 VDC Return of the user supplied return 24 VDC 24 VDC User supplied 24V for I O biasing 2 Digital Opto isolated programmable 20 Digital Opto isolated programmable output 1 digital output Read using OUT1 input 2 digital input Read using IN2 3 Digital Opto isolat
22. ed programmable 21 input 1 digital input Read using IN1 Equivalent ALow side of the equivalent encoder output A Low side of the equivalent Low side of the equivalent encoder output index RS422 Channel Z out encoder output signal R8422 Channel B out encoder output signal B RS422 Reserved for future use Equivalent High side of the equivalent encoder encoder output signal A output A R8422 High side of the equivalent encoder output signal B RS422 Channel High side of the equivalent Z out encoder output index R8422 NO NO Channel B out NO N 7 Reserved for future use 25 Digital ground High side of the differential analog command input 10 VDC Analog input 1 RS422 or High side of the master encoder signal B or High side of the down count signal Direction input Pulse input Ground Digital ground Low side of the pulse signal RS422 or Low side of the master encoder signal A or Reserved for future use Digital ground Digital input 4 Opto isolated programmable digital input Read using IN4 Fast opto isolated program mable digital input Read using IN6 Digital input 6 GT Digital Fast opto isolated program output 3 O OT IN N D wW IN Reserved for future use High side of the second differential analog input 10 VDC Analog 16 input 2 Rev 1 0 4 10 2012
23. ements If NET 4 is not installed on the computer ServoStudio will guide you through the installation but will not install it auto matically Installation Overview Perform the following steps to install and setup a MSHD system The steps are described in detail in the following pages See figure below Mount the MSHD Connect the motor to P2 3 Connect safe torque off STO to P1 or use jumpers to bypass Refer to Step 3 Connect STO 4 Connect regen resistor to pins B1 and B2 on P3 if required 5 Connect motor feedback to C4 6 Connect machine I Os to C3 and or controller I Os at C2 7 Connect AC input voltage Note This interface varies among models Refer to Step 8 Connect AC Input Voltage 8 Set the drive address using the rotary switches 9 Connect the drive to the PC 10 Power up the drive and the PC 11 Install ServoStudio software 12 Using ServoStudio configure and test the drive Rev 1 0 4 10 2012 MSHD Quick Set up Guide MSHD Servo System Wiring Using single phase 230 VAC _Daisy Chain RS232 Connection Mains optional connection to PC Single Phase N ex i gt O Rotary switches Drive addressing Circuit Breaker A I STO Moana or Fuses il Safe Torque Off AO o Connect to 24VDC Rimes lel ele power supply OR use ya Zz bypass plug Line Filter got optional ial p Connection to Host Controller
24. he Setup Wizard option from the navigation menu 2 Follow the prompts to configure the MSHD for your particular motor and application Note The wizard performs a basic drive configuration For more advanced configuration options and procedures refer to the MSHD User Manual 24 Rev 1 0 4 10 2012 MSHD Quick Set up Guide Drive Status The 7 segment display provides various indications of drive status such as operation modes drive enable status and fault conditions The display uses the following conventions e Decimal point Enable Disable status if displayed the drive is enabled e Steadily lit digit Operation mode OPMODE e Steadily lit letter Warning e Sequential display of letters and digits Fault Other Status Indications e During the motor setup At1 and current loop tuning At2 procedures three characters are displayed in sequence e During the encoder initialization a digit flashing at half second intervals indicates the opera tion mode OPMODE currently in effect Normal Operation Codes After the drive is configured and ready for operation the display shows a steadily lit single digit indicating the operation mode Drive enabled 0 JOPMODEO l Serialvelocitycontol gt 2 JOPMODE2 l Serialcurrentcontrl gt 3 2 3 OPMODE 3 Analog current control OPMODE 4 Master slave gearing control B8 OPMODE 8 Position control E Ember Mode Drive is in Ember mode firmware is being dow
25. ication For Ethernet based motion buses the switch has no functional use for either the drive or the network It can be used at the application level to identify specific drives on a network Each switch has 10 positions e The upper switch positions are set as tens 10 20 30 90 e The lower switch positions are set as ones 0 1 2 9 Note If two or more drives are connected to the network address 0 cannot be used A singular drive may have the address 0 Step 10 Connect to PC To connect the drive to the host computer use either one of the following interfaces e USB port The interface is labeled C1 on all MSHD models Use a USB 2 0 A to Mini B cable Rev 1 0 i 4 10 2012 MSHD Quick Set up Guide e RS232 port The interface is labeled C7 on all MSHD models Use a 4p4c plug PinLabel Function Transmit pf Unused Step 11 Install ServoStudio Software 1 Install ServoStudio software on the host computer 2 When installation is complete start ServoStudio from the Windows Start menu or the shortcut on your desktop MOONS Servo Studio Task Sceen Setup Wizard Drive Information Tuning Wizard Drive Configuration Drive Name Connection Drive Details Drive Settings Drive Information Power Rating Drive Model Drive Peak Current Motor Feedback Motion Units j i Feedback Type Drive Continuous Current Limits Current Foldback Digital Os Analog Os Disable Mode Enable amp Fault
26. is inoperable until power is cycled Not Configured Drive configuration required NA Set drive parameters and ex ecute CONFIG Motor Setup Failed Motor Setup procedure failed Check phase and motor wiring si will show the Make sure to choose the correct reason feedback type And follow the clues given in MOTORSETUPST Current Loop Auto One of the steps in the Current Check CLTUNEST for the failed tune Failed Loop Autotune process has failed step CAN Supply Fault A problem with the internal volt The drive probably needs repair age supply for the CANbus Contact technical support Drive Locked Security code and key do not NA Contact technical support match Fatal fault drive cannot be operated PLL phase locked Controller synchronization signal Check if controller provide syn loop Synchroniza is missing or not stable The fault chronization signal Check the tion Failed is detected only when synchro cable connection and wiring nization is enabled by SYNC SOURCE command C1 CAN Heartbeat Drive identified a disconnection in Yes Reconnect master slave connec Lost CAN master drive connection tion and power cycle the drive Parameter Memory The non volatile memory used to NA Reconfigure the drive or down Checksum Failure store drive parameters is empty load the parameter set and save or the data is corrupted the parameters Failure Writing to An internal prob
27. ital Fast opto isolated Opto isolated programmable 1 pe de input Read using IN11 on programmable digital Secondary 5 VDC supply for the secondary Secondary Ground of the 5 VDC encoder Fast opto isolated Digital Digital output 4 Digital digital output Read using Digital Opto isolated programmable digital output Read using OUT5 output 6 output Read using OUT6 OUT4 User supplied 24V for I O 24 VDC Return of the usersupplied 3 7 8 Fault relay Terminal 1 of the dry contact Fault relay Terminal 2 of the dry 10 20 1 fault relay 2 contact fault relay Machine Interface Wiring ne FLT ALY1 Ed Fault Relay ve 5 kl gt AL ALY Ea RS422 RECEIVER ae A PULSE QO pr P 6 DIREC TION ours lt a oe ikk SECONDARY ENCODER X _ Z 3 ad ke OR PULSE amp DIRECTION OUT 6 4 sv oO d 24 RTN si Rev 1 0 16 4 10 2012 MSHD Quick Set up Guide Step 8 Connect AC Input Voltage Note The AC Input interfaces and connectors vary among MSHD models e MSHD 1D5 and MSHD 003 One connector for bus power and logic power uses interface P3 e MSHD 006 One connector for bus power and logic power uses interface P4 e MSHD 013 Two connectors a connector for bus power uses interface P4 and another con nector for logic power uses interface P5 Make the following connections 1 Connect L1 L2 and L3 for bus power e Ifthe main voltage is from a single phase source connect line and
28. k the wiring of the motor connected disconnected The current of one phases of the motor phases is effectively zero for more than 160 electrical degrees while the current com mand is greater than 100 Resolver Initializa The drive could not detect the No tion Failed proper gain setting or sampling point for the sine cosine signals NO OO Check resolver wiring and gain value No Check whether all signals from the primary feedback device are properly connected to the drive A B Line Break One of the primary feedback sig nals is not connected This fault occurs in incremental encoder resolver and sine encoder feed back types Index Line Break Encoder index line is not con Check that the drive is config nected ured for working with the index signal using MENCTYPE and check if the index signal is con nected Illegal Halls The drive has detected either 000 Check that the Hall signals are or 111 state on the Hall feedback all properly connected While signals turning the motor read the Halls state using HALLS to see which signal is not connected If the feedback type is Tamaga wa check that the feedback wiring is correct A B Out of Range Feedback analog signal is out No Check the amplitudes of the sine of range This fault is related to resolver and sine encoder feed back The drive checks that the amplitudes of the sine and cosine signals are correct based on the calculation sin2
29. lem accessing the NA Contact technical support Flash Memory flash memory Fatal fault drive cannot be operated e101 FPGA Config Fail The code for the FPGA did not NA Contact technical support load Fatal fault drive cannot be operated e105 Self Test Fail The power up self test failed Fa NA Contact technical support tal fault drive cannot be operated e106 Digital EEPROM A problem accessing the EE NA Contact technical support Fault PROM on the digital board Fatal fault drive cannot be operated e107 Power EEPROM A problem accessing the EE NA Contact technical support Fault PROM on the power board Fatal fault drive cannot be operated Rev 1 0 es 4 10 2012 MSHD Quick Set up Guide e108 Vbus Measure Circuit Fail e109 Current Sensors Offset Out of Range Drive Foldback I 7 NO Motor Foldback Motor Over Tem perature Velocity Over Speed Exceeded Exceeded Maxi mum Position Error da STO Fault The STO signal is not connected A failure occurred in the circuit that measures bus voltage The calculated offsets for the cur rent sensors are out of range Drive average current exceeds rated drive continuous current It occurs after the Foldback warning has occurred Motor average current exceeds rated motor continuous current It occurs after the Foldback warning has occurred Either the motor has overheated or the drive is not set up correctly for
30. meters are out of range This fault is related to resolver and sine encoder feedback Zz O O The current supplied by the drive on the 5V primary encoder supply has exceeded the preset current limit The drive allows this fault to oc cur up to 3 times in succession After 3 faults the drive forces a delay of 1 minute before it can be reenabled P oP Secondary encoder index line not connected One of the secondary feedback Yes signals is not connected The preset current limit for current No supplied by the drive on the 5 V secondary encoder supply has been exceeded Communication with the feedback Yes device did not initialize correctly Z Communication with the Sanyo Denki feedback device did not initialize correctly Commutation initialization has failed This fault occurs in systems that do not have commutation information e g Hall signals in the motor feedback device Zz O O O The initialization process with the Tamagawa feedback device has failed One of the Pulse amp Direction signals is not connected No 25 Check that the data and clock signals to the EnDat encoder are connected properly The cable must be shielded Check the feedback device wir ing Check that the correct encoder type MENCTYPE is selected Re execute the sine cosine cali bration process The MSHD can source a maxi mum current of 250 mA to the primary encoder Check for
31. neutral to L1 and L2 e If the main voltage is from a three phase source connect the phases to L1 L2 and L3 2 Connect the AC input voltage ground wire to the PE terminal located on the MSHD front panel Use an M4 ring or spade terminal 3 Connect L1C and L2C for logic power e If the main voltage is from a single phase source connect line and neutral to L1C and L2C e Ifthe main voltage is from a three phase source connect any two phases to L1C and L2C Make sure the main voltage rating matches the drive specification Applying incorrect voltage may cause drive failure Make sure that the AC supply for the main power input L1 and L2 and the logic power input L1C and L2C are from the same AC phase input as shown in Figure 3 2 Do not apply power until all hardware connections are complete 17 Rev 1 0 4 10 2012 MSHD Quick Set up Guide AC Input Voltage Interface Note On models MSHD 1D5 and MSHD 003 Regen and AC Input Voltage are combined on one connector Since these models support only singlephase AC they do not have a L3 terminal for bus power MHo o0s Pin PinLabet Function i 6 cz Logic AC Neutral ed e fpo men P4 MSHD 008 MSHD 010 Pin Label MSHD 013 P4 3 fb3 ACPhase3 m rr LC2 Logic AC Neutral Rev 1 0 4 10 2012 i MSHD Quick Set up Guide Step 9 Set the Drive Address Use the two rotary switches to set the drive address for both CAN and serial commun
32. nloaded to the drive Warning Codes Warning conditions are indicated by one steadily lit character Display Action Required F Foldback Drive average current Check the drive motor sizing This exceeds rated drive con warning can occur if the drive is tinuous current Current under sized under powered for foldback is active the application t Over Temperature The temperature on the Check if the ambient temperature power board and or on exceeds the drive specification the control board has ex Otherwise contact technical sup ceeded the preset limit port u Under Voltage The bus voltage is below Check that the main AC voltage the minimum value supply is connected to the drive and is switched on Verify that the setting of UVMODE is correct Rev 1 0 4 10 2012 MSHD Quick Set up Guide Fault Codes Fault conditions are indicated by one flashing character or a sequential display of multiple charac ters The following table will help you interpret the fault codes and respond appropriately e Display is the code that appears on the drive s 7 segment display e Fault Name is the text message displayed in ServoStudio e AD indicates whether the Active Disable controlled stop function can be triggered by the fault NA indicates Not Applicable Display Fault Name Action Required Watchdog Fault Generally occurs due to an un Contact technical support foreseen circumstance The drive
33. o be supplied by customer AC supply for the main power input L1 L2 and for the logic power input L1C L2C must be from the same AC phase input as show in the diagram MSHD 008 MSHD 010 MSHD 013 Servo System Wiring Rev 1 0 4 10 2012 Three Phase 230 VAC MSHD Quick Set up Guide Step 1 Mount the MSHD Using the bracket on the back of the MSHD mount the MSHD on a grounded conductive metal panel 2 Holes for M4 of 8 Screws 143 7 MSHD 1D5 MSHD 003 Dimensions in mm Note MSHD 1D5 does not have fan M4 2p1s for screws M4 UN 8 150 167 5 MSHD 4D5 MSHD 006 Dimensions in mm Rev 1 0 4 10 2012 MSHD Quick Set up Guide 182 MSHD 008 MSHD 10 MSHD 013 Dimensions in mm Step 2 Connect Motor Motor uses interface P2 on all MSHD models Connect the motor interface Motor Interface Pin Pin Label Function gt Protective ground motor housing Motor Phase U Motor Phase V Motor Phase W Rev 1 0 4 10 2012 i MSHD Quick Set up Guide Step 3 Connect STO STO uses interface P1 on all MSHD models Safe torque off STO is a safety function that prevents the drive from delivering power to the mo tor which can generate torque STO Enable and STO Return must be connected to enable MSHD operation The STO Enable signal voltage must be 24 VDC Connect the STO interface Note If the application does not require STO control jumper pin 4 to pin 1 and pin 3 to pin 2
34. rict Shanghai 201107 P R China Tel 86 0 21 52634688 Fax 86 0 21 62968682 E mail info moons com cn MOONS Industries Europe S r l Via Torri Bianche n 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 Fax 39 039 96 31 409 MOONS Industries South East Asia Pte Ltd 33 Ubi Avenue 3 08 23 Vertex Singapore 408868 Tel 65 6634 1198 Fax 65 6634 1138 Shenzhen Branch Office Room 2209 22 F Kerry Center No 2008 Renminnan Road Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science amp Technology Industry Park No 99 Kechuang 14th Street Beijing 101111 P R China Tel 86 0 10 59755578 Fax 86 0 10 59755579 Qingdao Branch Office Room 10E No 73 Wangjiao Mansion mid Hongkong Road Qingdao 266071 P R China Tel 86 0 532 85879625 Fax 86 0 532 85879512 Wuhan Branch Office Room 3001 World Trade Tower No 686 Jiefang Avenue Jianghan District Wuhan 430022 P R China Tel 86 0 27 85448742 Fax 86 0 27 85448355 Nanjing Branch Office Room 302 Building A Tengfei Creation Center 55 Jiangjun Avenue Jiangning District Nanjing 211100 P R China Tel 86 0 25 52785841 Fax 86 0 25 52785485 Rev 1 0 A 4 10 2012
35. s Tuning Current Loop Velocity Loop Position Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore Step 12 Power Up 1 After completing the hardware connections turn on power to the drive Note If logic and bus AC supplies are separate it is recommended that logic AC be turned on before bus AC 2 The first time the drive is connected to the host computer on the USB port Windows detects the device and displays a Found New Hardware wizard Browse to and select the Drivers folder The path will vary depending on the computer s operating Rev 1 0 4 10 2012 a MSHD Quick Set up Guide system and the location selected for software installation for example Program Files x86 ServoStudio Drivers Program Files ServoStudio Drivers The wizard will automatically select and install the driver file STX MSHD inf from the folder 3 Look at the 7 segment display on the MSHD front panel Upon initial power up the status display shows a flashing e indicating a Parameter Memory Checksum Failure This fault will be cleared once the drive is configured and the parameters are saved in the drive s non volatile memory The digital display provides various indications of drive operation such as operation modes drive enable status and fault conditions For more information refer to the section Drive Status 7 Segment Display Step 13 Configure the Drive 1 In ServoStudio select t
36. tputs ty 1x fault relay L1 Secondary feedback Pi 1 nm p Feedback Brake output Motor brake optional 24VDC power supply Motor Power Motor Feedback Note Refer to section EMI Suppression in MSHD User Manual To be supplied by customer AC supply for the main power input L1 L2 and for the logic power input L1C L2C must be from the same AC phase input as show in the diagram MSHD 4D5 MSHD 006 Servo System Wiring Single Phase 230 VAC Rev 1 0 4 10 2012 MSHD Quick Set up Guide Mains Single Phase Circuit Breaker or Fuses Line Filter optional Magnetic Contactor m ER A Daisy Chain RS232 Connection optional connection to PC p Rotary switches D peus wll Pan STO Safe Torque Off Connect to 24VDC power supply OR use P1 a bypass plug m PK H j rk ond F a A N p Connection to Host Controller Voltage reference input Pulse amp Direction input 6x digital inputs 3x digital outputs 1x analog output Controller VF er Regenerative resistor Connection to Additional IOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Machine UF da Brake output Ground Protective Earth Motor brake optional 24VDC power supply Motor Feedback Motor Power Note Refer to section EMI Suppression in MSHD User Manual T
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