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IDBS USER`S MANUAL (rev.4)

1. INDEX Section 6 Safety requirements Restart Interlock Circuit Restrat interlock function Optional Dual channel restart interlock function Restart interlock connections Sequence and procedure using the restart interlock Anti freewheeling stop function Checking the restart interlock External plausibility tests IDBS USER S MANUAL rev 4 1 4 INDEX 1 1 ACCIDENT PROTECTION The safety instructions provided in this Manual are included to prevent injury to personnel WARNINGS or damage to equipment CAUTIONS WARNING High Voltage Bus Bar s can have voltage 2810Vac even after switching off capacitive voltage Discharge Time approx 6 Minutes WARNING High Voltage The recovery resistor is connected to the Bus Bar s and can have voltage 2810Vac 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 dis connecting the drive and the EMC filters CAUTION when required
2. 403 0 1015 1015 1015 IDBS USER S MANUAL rev 4 1 3 1 4 SECTION ONE DESCRIPTION FIG 1 2 IDBS 100 320 Dimensions and Drilling Jig Drill For M5 Screws i e x lt gt on a e e e eo o eo rt La 460 0 l 8 0 4485 S M a ap D E 108 USER S MANUAL rev 4 SECTION ONE DESCRIPTION FIG 1 3 IDBS 180 320 Dimensions and Drilling Jig Drill For M5 Screws 370 0 MAX 515 0 503 0 IDBS USER S MANUAL rev 4 1 6 SECTION ONE DESCRIPTION FIG 1 4 IDBS W120 240 Dimensions and Drilling Jig Drill For M5 Screws r 325 0 MAX 282 0 WATER IN 2 5 l min at 20 C or 3 5 l min at 25 101 5 450 0 101 5 101 5 WATER OUT IDBS USER S MANUAL rev 4 SECTION ONE DESCRIPTION 1 7 CAUTION the cooling circuit must be kept clean Cooling media must not contain particles that may deposit causing obstruction to cooling circuit We recommend to check periodically cooling flow The cooling circ
3. NMT command NMT command number Node state after execution of command Reset Communication 130 Pre Operational Reset Remote Node 129 Pre Operational Initialization Remote Node 128 Pre Operational Stop Remote Node 2 Prepared Start Remote Node 1 Operational 0 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 0 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 Mode Number Disconnected Connecting Preparing Prepared Operational Pre Operational IDBS USER S MANUAL rev 4 5 6 SECTION FIVE COMMANDS 0 5 Emergency Object Internal error conditions Hardware Software of the device are submitted to the master by the Emergency Telegramm 0 6
4. IDBS USER S MANUAL rev 4 5 32 SECTION FIVE COMMANDS 10 3Digital Inputs MCD_Commander 1 04 004 Wall Thickness mcd xj Edt View Update Erias 2 ea GQ Uk ES D a Save Com Module Axes Record User Send Receive Actualize Transfer Help Digital Inputs 10 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 Outputs Matrix Bit Mask Description Ax 1 enable 0000 0000 0000 0001 Axis 1 Enable for switch axis on Ax 2 enable 0000 0000 0000 0010 Axis 2 Enable for switch axis Ax_3 enable 0000 0000 0000 0100 Axis 3 Enable for switch axis on Ax 1 reference 0000 0000 0000 1000 Axis 1 Reference limit switch signal Ax 2 reference 0000 0000 0001 0000 Axis 2 Reference limit switch signal Ax S3 reference 0000 0000 0010 0000 Axis 3 Reference limit switch signal 10 3 2 IDBx Modules specific definition The following physical digital inputs are exist at different IDBx modules Modul Connecter Description IDBs J1 Pin 16 DIGITAL INP 0 24 VDC J1 Pin 15 DIGITAL INP 1 24 VDC J1 Pin 18 DIGITAL INP 1 24 VDC J3 Pin 1 DIGITAL INP 2 5 J3 Pin 12 DIGITAL INP 3 5 VDC J3 Pin 7 DIGITAL INP 4 5 VDC o
5. 15 VDC output power supply referred to 0 V Imax 30mA Digital input test pin 1 for DSP Processor 5 VDC not opto isolated DIGITAL OUT 1 Digital output signal 1 5 VDC not opto isolated Digital output signal 2 5 VDC not opto isolated Digital output signal 3 5 VDC not opto isolated 15 output power supply referred to 0 V Imax 30mA IDBS USER S MANUAL rev 4 5 28 SECTION FIVE COMMANDS 9 2 6 J8 Connector l O Signals Connector type at panel side WAGO 231 450 Connector type at wiring side WAGO 231 120 026 000 6 ANALOGOUTS Analog output 6 refered to ANALOGGND 10 Voltage rane CS z nogen fogones 000 000 15VDC OUT Output power supply 15 5 Imax 100 mA B PUT COMMON nt power common or DIGITAL PUTO Ess UUU o VDO INPUT Input power supply 24 Voltage to the MODULE OK signal a Digital output signal MODULE OK 24 Voltage opto isolated 24VDC INPUT Input power supply 24 Voltage to drive the DIGITAL OUT 0 signal Digital output signal 0 24 Voltage opto isolated Digital input signal 1 24 Voltage opto isolated Digital input signal 2 24 Voltage opto isolated Digital input signal 3 24 Voltage opto isolated Digital input signal 0 24 Voltage opto isolated Input signal for reset module 24 Voltage opto isolated 9 2 7 J20 Connector O Port LPT Connector type at panel side MINI SUB D 20 contacts female Connector type at wiring side MINI SUB D 20 con
6. 3 3 WIRING AND GROUNDING All the following cables must be shielded with 85 minimum shielding coverage Power Power motor cable see Fig 3 1 and 3 2 External recovery resistor cable DC BUS cable Signal Simulated encoder cable if applicable Resolver cable see Fig 2 5 and 3 2 motor side RS485 cable Reference Enable and OK cable 24V power supply cable Restart Interlock cable 24V fans cable NOTE Connectors at motor side can have a threaded clamp Cable shield must be grounded in the same way as in Fig 3 2 CAUTION the unshielded cable provided with the drive is only for test purposes and not EMC compliant Fig 3 1 Grounding Of Shield Without Connector Fig 3 2 Grounding Of Shield To Connectors At Motor Side tal shell cable shield ame al she EER ERB ERR clean and clamp motor power connector and tightened encoder or resolver connector IDBS USER S MANUAL rev 4 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 5 NOTE If a power terminal board is used at motor side the shield must be RF connected to a metallic PC gland 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 In case of Sub D connector cable shield must be grounded to the metallic hood When there is not metallic connector at drive side a kit with stand off screws and metallic
7. Matrix Inputs Matrix Bit Mask Description Ax 1 disabled 0000 0000 0000 0001 Axis 1 disabled IGBT off Ax 2 disabled 0000 0000 0000 0010 Axis 2 disabled IGBT off Ax 3 disabled 0000 0000 0000 0100 Axis 3 disabled IGBT off Ax 1 ok 0000 0000 0000 1000 Axis 1 No error exist at axis Ax 20k 0000 0000 0001 0000 Axis 2 No error exist at axis Ax ok 0000 0000 0010 0000 Axis 3 No error exist at axis Ax 1 brake 0000 0000 0100 0000 Axis 1 Motor safety brake open signal Ax 2 brake 0000 0000 1000 0000 Axis 2 Motor safety brake open signal brake 0000 0001 0000 0000 Axis 3 Motor safety brake open signal Ax 1 water valve 0000 0010 0000 0000 Axis 1 PWM output for water motor cooling valve Ax 2 water valve 0000 0100 0000 0000 Axis 2 PWM output for water motor cooling valve Ax 3 water valve 0000 1000 0000 0000 Axis 3 PWM output for water motor cooling valve 10 2 2 IDBx Modules specific definition The following physical digital outputs are exist at different IDBx modules Connecter Description IDBs J1 Pin 12 DIGITAL OUT 0 24 VDC optoisolated default AXIS DISABLED J1 Pin 14 DIGITAL OUT 1 24 VDC optoisolated J3 Pin 8 DIGITAL OUT 2 5 VDC not optoisolated IDBm J7 Pin 13 DIGITAL OUT 0 24 VDC optoisolated default AXES DISABLED J7 Pin 31 DIGITAL OUT 1 5 VDC not optoisolated J7 Pin 32 DIGITAL OUT 2 5 VDC not optoisolated J7 Pin 33 DIGITAL OUT 3 5 VDC not optoisolated
8. YES Undersize the duty cycle IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 11 FIG 4 8 WTD red LED on Watch Dog y Red LED WTD Reset via Pushbutton on panel Remote Reset YES pco NE lt Red LED WTD connection OFF NO 386 or DSP IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 12 FIG 4 9 DRV OVT red LED on Drive Overtemperature Red LED DRV OVT ON YES gt e ig Verify the correct m cooling of cabinet a NO NO Fault on fan drive circuit or locked Fans running fans Internal recovery resistor undersized Output current gt nominal current IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 13 FIG 4 10 PWR FAULT red LED on Short Circuit or Locked Rotor Red PWR FAULT ON YES E Motor phases lt short circuited or grounded Change motor NO Change motor or YES eliminate the locked Locked rotor condition rotor NO Fault on power stage on control board IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 14 FIG 4 11 RES FAULT red LED on Resolver Fault Red LED RES FAULT ON NO Is the resolver YES shield connection Random fault OK YES NO Make correct connection NO Vre
9. gt 2 c cC a c g 2 C 2 2 E 2 _ 3 c SS CLA Co d CAUTION make sure that the correct wiring for IDBS 3 9 6 15 8 22 15 42 has been set for recovery resistance on J5 connector check the jumper between P1 and P2 to use the internal recovery resisto standard braking or disconnect the jumper and connect an external recovery resistance to RR pins hard braking Fig 2 2 P1 P2 Jumper jumper factory setting IDBS USER S MANUAL rev 4 2 2 SECTION TWO INSTALLATION 2 1 FUSES 2 1 1 INTERNAL FUSES IDBS drive has the following fuses on the bus bars IDBS 3 9 IDBS 6 15 IDBS 8 22 50A ultrafast cod AM6408 2 1 2 EXTERNAL FUSES 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 manufactured by Bussmann Div Cooper UK Ltd mod No per the following table ac cording to UL508C 1998 IDBS Model 100 320 1542 2570 36 90 35 90 50 140 60 180 50 140 60 180 40 60 180 100040 100040 wizom o 180 320 Input Type 50 FE Type 100 FEE Type 160 FEE Type 280 FM Type 315 FM Type 500 FMM power 50A 660Vac 100A 660Vac 160A 660Vac 280A 660Vac 315 660 500A 660Vac line fuse 2 2 SOFT START The soft start is included in the circuit The sof
10. 8 4 1 8 4 2 SECTION FIVE COMMANDS 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 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 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 Additiona
11. Sub D 15 Pos Simulated Encoder Outputs Panel side female Wiring side male with conductive shell 1 SPARE 3448 15Vdc output I max 30mA 15Vdc output 1 max 30mA E IN OUT 9 encoderouputphaseB __ output inverted phase A encoder output inverted phase C 12 SPARE IN 151 Digital ov IDBS USER S MANUAL rev 4 2 9 2 10 SECTION TWO INSTALLATION Tab 2 7 J24 Connector 24V Optional Panel side male type Wago 231 432 code AK5959 Wiring side female type Wago 231 102 026 000 code AK4967 Pos Name 24 IN_ Inputs for 24 Vdc 4 to retain auxiliary logic suppl 24 IN_ Voltage in case of main supply failure load 1 3A Istdby 0 13A Tab 2 8 Input Output Characteristics OPTOISOLATED INPUTS Drive enable Reference enable Remote reset OPTOISOLATED Analog tacho output Velocity differential Reference Signals Simulated Encoder differential output signals z in 21 2 nom 10 mA 8 to 20 mA Vmin 15Vdc 15 to 25V z out 390 Q nom 10 mA 8 to 20 mA Vnom 15 8 5 to 25V z out 100 Q max 5 Full scale 10V for MV zin gt 20 Full scale see MR command Vmax 12V z out 1000 Full scale 7V RS422 RS485 compatible Note For CAN OPEN and RS232 connectors pinout make reference to the Section 5 IDBS USER S MANUAL rev 4 SECTION TWO INSTALLAT
12. hose clamps is provid The shield of the cable must be uncovered from insulation coating and RF connected to the stand off through the metallic hose clamp as in Fig 3 1 IDBS USER S MANUAL rev 4 3 6 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC Fig 3 3 Grounding At Drive Side Me m INX dam T d d J d J 5 E gt WT em oo LA LLL LAR RR ee 1 Reference Enable OK cable and 24Vdc input optional 2 Recovery resistor cable 3 Motor power cable NOTE Sub D Restart Interlock 24Vdc fans DC BUS and unshielded cables not shown NOTE It is not necessary to shield the input power wires IDBS USER S MANUAL rev 4 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 7 REMARKS e the shields of cables inside the cabinet must be 360 clamped to the cabinet wall see Fig 3 4 e 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 ca bles include analog or digital signal cables resolver cable reference enable and OK cable RS485 serial link simulated encoder wiring e where noisy cables must cross power cables this must be done with angles as near to 90 as possible e The crossing of the cabinet should be accomplished with a low
13. 07 FN 258 55 07 IDBS 100 240 IDBS W120 240 FN 258 100 35 IDBS 100 320 FN 258 180 07 IDBS USER S MANUAL rev 4 3 2 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 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 make refer ence to the specific filter attenuation data versus the size 3 2 3 FILTER DIMENSIONS Top View Side View _ L1 _ L5 L7 L2 L3 L4 L1 L2 L3 L4 L5 L6 17 a ll Dal mm FN 2070 3 06 terminal realest e rper rele FN 250 6 07 AT6009 Schaffner 255 240 50 25 225 0 126 0 8 300 1 1 eee AT6010 Schaffner 305 290 55 30 275 0 142 0 8 300 1 7 e ee pro e 40 FN 258 30 07 FN 258 42 07 258 55 07 S 258 75 34 block AT6015 Schaffner 379 1 5 90 0 8 65 350 1 220 1 5 terminal meow Fw ase oos 00 SG 220 oe Schaffner 438 1 5 90 0 8 350 1 220 1 5 terminal 399 eee 50 Ure the FN2070 3 06 filter have faston at both sides the FN250 6 07 filter have wiring leads length 300mm at both sides IDBS U
14. 23169 10 Volts 0x02 16 Value 32767 10 Volts 0x03 17 Value 46339 10 Volts 0x04 10 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 Description IDBs ANALOG OUT 1 2 IDBm bis 02 99 ANALOG OUT 4 5 ab 03 00 ANALOG OUT 1 6 IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 31 10 2Digital Outputs MCD Commander 1 04 File Edit View Update Extras 004 Wall Thickness mcd le x ned Save Com Module g FF Send Receive Actualize Transfer Axes Record User Digital Outputs Digital Output 0 Digital Output 1 Digital Output 2 Digital Output 3 Help Axis 1 disabled IGBT off mid Asis 2 disabled IGBT off _ Axis 3 disabled IGBT off Axis 1 ok error exists iv 4 5 zm a Er a UN zn 10 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
15. Byte 5 8 Control TrqLim ProfScale ProfVel Position 7 1 4 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 7 1 2 Torque Limitation TrqLim 0 127 Torque PWM output limitation 7 1 3 Profile Scale Factor ProfScale 0 100 Set velocity min Profile velocity ProfScale 100 7 1 4 Velocity outside profile range ProfVel 0 255 7 1 5 Position Value Position PosRange PosRange 7 2 TXPDO Transmit PDO for one axis of the MCD Module torque_low_res Velocity command outside profile range min TxPDO Control Bit 3 0 no function TxPDO Control Bit 3 1 Variable profile set position counts Byte 1 Byte 2 Byte 3 4 Byte 5 8 Status Torque Velocity Position 7 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 7 2 2 Torque Output Torque 127 Torque PWM output torque low res 7 2 3 Actual Velocity Velocity 32767 Actuel velocity min 7 2 4 Position PosRange Actual position counts Position Range PosRange 214748
16. Make correct connection YES YES Wrong Baud rate Scan the Baud rate with Communication MCD NO NO P Check if parameters correct YES Adjust Com Settings Internal fault IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 18 FIG 4 15 Motor at zero speed Axis enabled Motor at zero speed with speed reference not zero NO lt REF EN ON Make REF EN on J1 pin 16 YES YES digital reference or position ref not set Check status command Use coherent reference NO YES 0 Set correct value for K NO default value 5 Internal fault IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 19 FIG 4 16 IT red LED on Red LED IT ON NO Internal protection Blinking Ask the Service Center YES Undersize the duty cycle IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 20 FIG 4 17 Runaway or Locked motor 6 pole motor and resolver Runaway or locked motor 6 pole motor and resolver NO oo Correct resolver wiring Resolver wiring see Fig 2 5 OK YES Wrong motor YES connection RS 59000 Exchange V with U Wrong motor YES lt connection S RS 38000 Exchange W with V XU NO Wrong motor YES N connection lt RS 16000 Exc
17. OK LED optoisolated output DRIVE OK Set condition when the bus bar voltage is over under than the fixed thresholds see fig 4 1 and fig 4 2 Effect inhibit torque Reset condition if the condition is not present anymore at analog level with hysteresis reset button on drive send pulse to REMOTE RESET FIG 4 1 Bus Bar Voltage 400V 720 V overvoltage 680 V Recovery circuit enabled Heenctenepenetenesenee te 620 V Reset max voltage 560 V Bus nominal voltage eel 440 V Reset min voltage 410 V Undervoltage IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING FIG 4 2 Bus Bar Voltage 460V 810 V overvoltage 790 V Recovery circuit enabled 690 V Reset max voltage 650 V Bus nominal voltage 495 V Reset min voltage 470 V Undervoltage 4 1 7 DRIVE OVERTEMPERATURE Indicated by DRIVE FAULT LED and DRV OVT LED optoisolated output DRIVE OK Set condition when a limit temperature is reached on the heatsink Effect inhibit torque Reset condition if the condition is not present anymore power off and on the power supply Notes the temperature limit is detected by thermo switch IDBS USER S MANUAL rev 4 4 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 5 4 1 8 IT Indicated by IT LED Set condition when the current exceeds the nominal motor current for a time longer than the time stated by the motor t
18. 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 verti cal inclined axes must be clamped using a mechanical brake IDBS USER S MANUAL rev 4 INDEX 1 13 1 8 LEGAL ASPECTS This manual can be used only by final Customers Users of the Moog product it describes and only for proper installation purposes This manual cannot be reproduced in whole or in part without the prior written consent of Moog No transmission or diffusion of this manual under electronic mechanical or printed form is allowed Moog issued this manual attempting to ensure a complete information anyway Moog shall not be liable for errors or omissions contained herein and for incidental or consequential damages due to the above mentioned errors and omissions Moog reserves the right to change and update this manual without notice This manual has a merely information purpose There is no obligation for Moog as regard the correspondence of the product features described in the manual with the features of the real product purchased by the final Customer User No statement or sentence contained in this manual implies further legal obligations different from the ones contained in each single sale or supply contract concerning Moog products IDBS USER S MANUAL rev 4 1 14 INDEX THIS PAGE INTENTIONALLY BLANK IDBS USER S MANUAL rev 4 SECTION ONE
19. 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 used 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 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 dr
20. contacts female e 3 4 5 Tx 5VDC 0V 5 VDC output power supply referred to 0 V Rx i logic Pin e e e 12 7 0 V logic circuit B or Fauttsignal Bi 0 Power supply binary faut code BRO O S 9 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 Overtemperature jOwertemperaueatepansonmodue LED overtemp _ eurent gain Bit Current contol gainbinaryselecion bt 14 Aux Auxiliary voltage HT at expansion module not OV logic 0 V logic circuit IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 27 9 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 SSCS 8 PTC Motor winding PTC resistor 9 10kHz resover 10 kHz 20 Vpp output sinusoidal wave for supplying primary resolver winding 9 2 5 J7 Connector Encoder Outputs and l O Signals Connector type at panel side SUB D 37 contacts female Connector type at wiring side SUB D 37 contacts male Pin Definition Description b Jose encoder phase B axis ouputsinal e joms encoder phase A b Joss DfeeirenoderpmaseB adsSowpusona DIGITAL Test Pin 2 Digital input test pin 2 for DSP Processor 5 VDC not optoisolated C ee
21. for an emergency stop opening U2 V2 W2 pins and closing motor phases to resistors must be preceded by disabling the axis The 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 the cooling circuit of IDBS W120 240 must be kept clean Cooling media must not contain particles that may deposit causing obstruction to cooling circuit We recommend to check periodically cooling flow 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 Tightening torque Thread Nm Ib in M5 6 00 53 10 70 80 IDBS USER S MANUAL rev 4 INDEX 1 2 EC DECLARATION OF CONFORMITY CENELEC Memorandum N 3 EC DECLARATION OF CONFORMITY The undersigned representing the following manufacturer MOOG ITALIANA S r l Casella Site Via Avosso 94 Casella Genova Ital herewith declares that the products Complete Drive Modules series BRD 4S DBC Ill DBS IDBS DS2000 PDBS Basic Drive Modules series BRM 4S DBM 03 DBM 04 IDBM 04 DBM 033 Feeding sections series ADR BRM P1 BRM P2 DBM 03 PS DBM 04 PS DBM 033 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 fit
22. impedance connection between cable shield and enclosure If a connector is not involved the shortest practi cal lengths of connecting strap should be used see Fig 3 5 FIG 3 4 Backpanel Connection backpanel ground screen is effectively earthed 360 of its radius FIG 3 5 Partition Penetration enclosure qN cable shield ES SIE IEE IIE EEE OLLI LEI IIE IIE mm ORR RISO HA HR M AE PRSE HR AIS SEA 1s note hex head bold IP IDBS USER S MANUAL rev 4 3 8 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 4 RECOVERY RESISTOR MOTOR CHOKE To meet the EMC Directive the enclosures containing dynamic braking resistors must be conductive The cable of recovery resistor must be shielded and the shield must be 360 clamped at both sides In some applications 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 enclo sure of recovery resistor or motor choke 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
23. 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 6 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 6 5 must be checked to verify external faults e g wiring short circuit at terminals Channel Verification F G and H J Fig 6 5 Starting Sequence Timing Chart max 100 ms max 50 ms door closed Axis Enable from PLC Module Disabled Channel 1 2 Verification IDBS USER S MANUAL rev 4 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 9 6 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 plausibi
24. 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 safe condition e Environmental Conditions Equipment intended to operate within the following environmental conditions o Ambient temperature 0 to 40 o Supply voltage interruptions 10 20 500 ms dip time o EMC immunity according to EN 61000 6 2 1999 Generic Standard Immunity for industrial environment o Vibration 5 to 9Hz 3 0 mm amplitude peak 9 to 200Hz 1 g acceleration o Shock 109 half sine 6 ms e Enlosure 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
25. not opto isolated 81 DfeemirenoderpmaseB ads touputsinal IDBS USER S MANUAL rev 4 5 24 SECTION FIVE COMMANDS A1 Differential encoder phase A axis 1 output signal C1 Differential encoder phase C axis 1 output signal DIGITAL INP 3 Digital input signal 3 referred to 0 V logic 5 VDC not opto isolated H3 DIGITAL Test Pin 1 Digital test 1 for DSP Processor 5 VDC not opto isolated DIGITAL Test Pin 2 Digital test pin 2 for DSP Processor 5 VDC not opto isolated OV logic 0 V logic circuit 9 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 p esoiver 10 kHz 20 Vpp output sinusoidal wave for supplying primary resoNerwinding 9 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 Pin Description LPT Connector SUB D 25 contacts pve 2 Bi directional data line 8 LPT Out Strobe foo ies amine VP 3 4 oe Bi directional data line 9 LPT Out Auto Line Feed 6 Bi directional data line 10 LPT Out Initialisation 16 p jo presenting ras Jot Bi directional data line 11 LPT Out Select a Aera 3 HO Volterupt Lira line LPT Inp Acknowled
26. squirrel cage induction motor 1 3 OPTIONS e software programmable from 64 to 16384 pulses per electrical revolution simulated encoder with marker pulse A D 14 bit converter on the analogic input as alternative to the standard 12 bit version 4 arc min R D converter resolution 24 Vdc auxiliary power supply voltage DRC Dual channel Restart interlock Circuit safety function See Section 6 SRC Single channel Restart interlock Circuit safety function See Section 6 1 4 DIMENSIONS AND DRILLING JIG FIG 1 1 to Fig 1 4A dimensions in mm shows the dimensions and the drilling jig of the drive Leave a clear space of at least 50 cm 19 7 in over and under the system for air circulation IDBS USER S MANUAL rev 4 SECTION ONE DESCRIPTION FIG 1 1 IDBS 3 9 to 60 180 Dimensions and Drilling Jig Drill For M5 Screws 310 0 MAX 282 0 3 5 1015 270 0 IDBS 50 140 IDBS 60 180 1 i piim N 5 ti 180 5 101 5 IDBS 25 70 IDBS 35 90 PES nale IDBS 15 42 IDBS 3 9 IDBS 6 15 IDBS 8 22 IDBS USER S MANUAL rev 4 SECTION ONE DESCRIPTION FIG 1 2 IDBS 100 240 Dimensions and Drilling Jig Drill For M5 Screws 370 0 MAX 329 5 460 0 448 5 3 5 co o Y i Hi lt fiid
27. 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 IDBS USER S MANUAL rev 4 6 2 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 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 used 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 5 The marking DRC identifies the dual channel restart interlock circuit A single channel restart interlock
28. 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 The 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 The program shall be in permanent memory protected against electrical interference and shall be equipped with a start up test procedure IDBS USER S MANUAL rev 4 6 10 SECTION SIX RESTART INTERLOCK CIRCUIT Optional THIS PAGE INTENTIONALLY BLANK IDBS USER S MANUAL rev 4 COMPANY WITH INTEGRATED MANAGEMENT SYSTEM CERTIFIED BY DNV 150 9001 1SO 14001 LA 4 Argentina Australia ir Austria Brazil China Finland France Germany India Ireland Italy Japan Korea Luxembourg Norway Russia Singapore South Africa Spain Sweden United Kingdom USA MOOG Moog Italiana 5 1 1 Casella Site Via Avosso 94 16015 Casella Genova Italy Telephone 39 010 96711 Fax 439 010 9671280 For the location nearest to you contact www moog com worldwide GB 4538 PRINTED IN ITALY MOOG Italiana Srl reserves the right to alter any dimensions or data without prior notice
29. 2 Int32 Int32 Int32 Int32 Uns8 Uns8 Uns8 Int32 Int32 Int32 Int32 SECTION FIVE COMMANDS 5 13 3 Motion Control Mode 3 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 3 2 Motion Control Mode 1 Position Control The RxPDO contains set speed set position and the torque limit Position control type Standard S 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 3 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 stored 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 I 4 The RxPDO is used to select the Profile Number Velocity Scaling Factor Position and Torque Limit IDBS USER S MANUAL rev 4 5 14 SECTION FIVE COMMANDS 4 Special Function 4 1 Position Control Shape Type In the Motion Control Mode 1 Position Control M
30. 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 1C h 1C h 1C h 127 Characters 20 Characters 20 Characters 30000 1 min MaxVel min 3000 min 111us PFOC 3000 0 0 1s 3000 min 111us PFOC 3000 0 t min 0 15 3 4 4 10 1 12 2 14 3 16Bit 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 1000 ms 0 default value 500ms 0 30 0 30 10 h 10 h 10 h 0 7 PosRange PosRange counts 0 PosRange counts 32767 1 min 15BitDAC 0 127 7BitDAC 0 100 0 10000 min ms 0 10000 min ms 5 1000 1 s 0 1 0 3 0 100 0 255 0 10000 us 0 10000 ms 0 Standard 1 S 2 Bell Sin Shape 0 10000 ms OxSF 0x01 0x0F Profile 1 0x10 0x1F Profile 2 0x20 0x2F Profile 3 0x30 0x3F Profile 4 OxSF 0x01 0x0F Profile 1 0x10 0x1F Profile 2 0x20 0x2F Profile 3 0x30 0x3F Profile 4 OxSF 0x01 0x0F Profile 1 0x10 0x1F Profile 2 0x20 0x2F Profile 3 0x30 0x3F Profile 4 127 Charact
31. 20 0 Power 100W 150W 190W 310W 475W 650W 900 W 1600 W 2700 W Dissipation IDBS USER S MANUAL rev 4 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 1 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 IDBS 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 Second 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 competent body 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 3 2 1 FILTER TYPES The following filters are recommended Code Trade mark Rated Current Max Voltage Drive type at 50 C 40 C at 50 C FN 2070 3 06 FN 258 7 07 IDBS 6 15 IDBS 8 22 FN 258 16 07 30 36 Schaffner IDBS 25 70 FN 258 30 07 FN 258 42
32. 2030 00 2011 00 2021 00 2031 00 2012 00 2022 00 2032 00 SECTION FIVE COMMANDS 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 torque limit Current peak limit Velocity filter KF1 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 I Gain during motor off IDBx Axis 1 motion control parameters IDBx Axis 2 motion control parameters IDBx Axis 3 motion control parameters Motion Control Mode Position Position tolerance window Velocity Torque command Torque limit Acceleration Deceleration Position gain Variable profile set position Profile number Profile velocity scale Profile min velocity outside profile Profile dynamic compensation time Position interpolation time base Shape type Shape switching period time IDBx Axis 1 motion profile tables IDBx Axis
33. 26 000 Pin Definition Description Differential analog input 1 10 Voltage range 5 ANAOGGND JAebggomdfrpna 8 B INPUT COMMON input power supply common for DIGITAL INPUT o 25gnds _ B _ 24VDC INPUT input power supply 24 Vottage to drive the MODULE Digital output signal MODULE OK 24 Voltage optoisolated 12 DIGITAL OUT 0 Digital output signal 0 24 Voltage optoisolated Digital output signal 1 24 Voltage optoisolate Digital input signal 1 24 Voltage optoisolated Digital input signal 0 24 Voltage optoisolated Digital input signal for reset module 24 Voltage optoisolated Digital input signal 2 24 Voltage optoisolated 9 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 e Be e 8 Differential transmit signal 9 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 input signal 2 referred to 0 V logic 5 not opto isolated 15 output power supply referred to 0 V Imax 30mA e 5 15 VDC output power supply referred to 0 V Imax 30mA Digital input signal 4 referred to 0 V logic 5 VDC not opto isolated DIGITALOUT2 Digital output signal 2 referred to 0 V logic 5 VDC
34. 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 Manuale Istruzioni condizioni ambientali interfaccia con il sistema di comando controllo Risultato dell esame W Examination result Following the examination of technical construction file we can declare that the safety function restart interlock after a controlled stop category 1 CEI EN 60204 1 1998 of servodrive IDBS series with option DRC complies with the provisions of category 3 as defined in the harmonized 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 iss 20010 Pontenure PC haly 7501 fax 39 0523 510020 e mail info icepi con web site www ieepi com y 3 0 052 1 1 Istituto Certificazione Europea Prodotti Industriali s r IDBS USER S MANUAL rev 4 1 12 INDEX 1 7 SAFETY RESTART INTERLOCK FUNCTION REQUIREMENTS Controlled Stop Time The final machine must be able to stop the motors in less than 360 ms The hazard risk assessment of the appl
35. 3647 2 Resolver Pools IDBS USER S MANUAL rev 4 5 20 SECTION FIVE COMMANDS 8 Error Warning Messages 8 1 Module Errors Warnings 8 1 1 Error Messages O 1 Recovery resister circuit error S 2 3 Aux low voltage notok 15V GND SSS 4 Aux high voltage not ok 15V AT 5 Over temperature at module pee ET 7 System observation error exist 16 Wrong DSP program version 8 1 2 Warning Messages Index sub index at object dictionar 2100 h O2 h 0 1 Bus voltage out of range A O 8 7 Copyright verification error ee 15 RTC not set 16 RTC Battery low 8 2 Axis Errors Warnings 8 2 1 Error Messages Index sub index at object dictionary 2110 h Oi h Axis 1 Index sub index at object dictionary 2120 h Oi h Axis 2 Index sub index at object dictionar 2130 h Oifh Axis 3 0 t Motorphase IGBTpowerfalue 6 7 Axis input enable interrupted es 14 Axis parameter wrong 12 15 Motor parameter wrong 16 Drive parameter wrong 8 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 0 1 Axisenablenotpresent 7 6__ IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 21 8 3 EMERGENCY Telegram Emergency objects are triggered by the occurrence of a device
36. 9 00 and following Revisions can bear the Listing Mark e These drives shall be used within their ratings as specified in the marking of the equip ment e Cautionary Marking See Accident Protection page e 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 e Pollution degree 2 Installation The drive must be placed in a pollution degree 2 Envi ronment e Environmental designation Open Type Equipment e Short Circuit Ratings 1 IDBS 3 9 6 15 15 42 25 70 35 90 50 140 Equipment suitable for use on a circuit capable of delivering not more than 5000 rms Symmetrical Amperes 460 V ac 41096 maximum 2 IDBS 60 180 100 240 W120 240 100 320 180 320 Equipment suitable for use on a circuit capable of delivering not more than 10000 rms Symmetrical Amperes 460 V ac 10 maximum e Branch Circuit Protection The Branch Circuit Protection for Short Circuit shall be pro vided in the end use applications by external R C Fuses JFHR2 manufactured by Buss mann Div Cooper UK Ltd Semiconductor fuse type rated 660 Vac 200 kA A I C Mod No as follows IDBS 3 9 6 15 8 22 15 42 Mod No 50 FE rated 50 Amps IDBS 25 70 35 90 Mod No 100 FE rated 100 Amps IDBS 50 140 60 180 Mod No 160 FEE rated 160 Amps IDBS 100 240 M
37. CD appl bat MCD appl exe MCD parm ini idbx ini IDBxMot ini IDBxDrv ini IDBxDrv ini JD Projects ProContraKMCD _IDB idbx drv 03080000 MCD _appl pri File at progress ie 100 1500 kBaud on NODE 63 Pre Operational 30 08 2000 14 51 Errors Data J 11 1 1 Upload Backup e Start the MCD Commander and select the IDBx Module with the right ID number default 63 e 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 e Press Start to start the project upload transferring 11 1 2 Download e Start the MCD Commander and select the IDBx Module with the right ID number default 63 e 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 e Press Download All to select all project files download e Press Startto 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 IDBS USER S MANUAL rev 4 5 34 SECTION FIVE COMMANDS 12 Hardware Definition On the MCD Startup 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 F
38. DESCRIPTION 1 1 1 DESCRIPTION 1 1 INTRODUCTION IDBS servodrives position themselves in the range of very high performance converters thanks to optimized design using advanced power and digital electronics The result is true added value for the users who appreciate its unrivaled flexibility and reliability A microprocessor based structure allows high servo performances with FAS T FAS K FAS N and FC servomotors which are all equipped with a resolver feedback Drive tuning and configuration are performed via digital parameters not potentiometers and stored in nonvolatile memory Flash Disk Drive set is possible via PC therefore simplifying installation and providing easy fault diagno sis 1 2 GENERAL FEATURES built in power supply digital speed loop sinusoidal current waveform SMD technology with control 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 rpm 5 10 kHz switching frequency e maximum case depth 310 mm 370 mm for IDBS 100 240 IDBS 100 320 IDBS 180 320 325 mm for IDBS W120 240 programmable gains of the speed and current loops programmable digital filters built in fans built in soft start electronic circuit intelligent IGBT IPM power bridge constant motor torque in the whole speed range thanks to dedicated software algo rithm e indirect field oriented control IFOC for
39. DFK25 External recovery resistor 6 HDFK25 RR HDFK 4 LOW TEMP Thermal switch Normally closed contact max 5A HDFK4 SWITCH Rated to open at 40 3 C heatsink temperature With intermittent water flow It can be used to start the water pump when the heatsink temperature becomes gt 40 With continuous water flow it can be used to check the water temperature the drive overtemperature protection trips at 71 IDBS 100 240 24 Vdc 1 A input voltage for fans 4 24 IDBS W120 240 24 Vdc 0 6 A input voltage for the Pak bs ind 50 UD S Ss TIRE 16 HDFK 50 V2 phase three phase output voltage to motor 45 HDFK 50 W2 phase three phase output voltage to motor HDFK 50 e Motor ground Fig 2 9 J5 and J6 Power Connectors for IDBS 100 240 100 320 W120 240 J6 J5 U2 v2 w2 For AT AT Wi 50 50 505050 50 50 50 50 i O NOTE the Low Temp Switch is mounted only on IDBS W120 240 NOTE the Output Dc Bus AT AT is not mounted on IDBS 100 320 L IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 17 Tab 2 13 J5 and J6 Power Connectors for IDBS 180 320 Terminal blocks by Phoenix type HDFK 4 code AK7418 HDFK 25 code AK7421 HDFK 95 code AK7429 See also par 2 6 1 Terminal Name Function Block Type HDFK 95 a Protect
40. EEN Differential sin signal inverted input in Motor PTC input OV common Special for 10kHz carrier 8 PTC Motor PTC input 20 Vpp 10kHz sinusoidal output signal for supplying primary solver winding carrier id Differential cos signal inverted input cos IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 6 4 POWER WIRING 2 13 External recovery resistor cable if applicable and motor phases cable must be shielded to com ply with EMC Directive Power supply input cable not shielded must be connected to the input filter see Sect 3 See par 2 6 1 for sizing of wires It is recommended to use motor phases wiring with low capacitance max 500 pF m CAUTION do not parallel power connection cables to achieve requested section this will in crease the capacitance value at levels that may irreversibly damage the drive If the value of ca pacitance 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 Fig 2 6 Motor Phases Wiring Motor ground grounding of shield via connector clamp or RF connection to PG gland in case of terminal board grounding of shield via connector clamp IDBS U2 V2 ground J5 CAUTION the U2 V2 W2 motor phase sequence of the connector at the drive side must match the U V W motor phase sequence of the co
41. EMC Equipment 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 recovery resistor cable provided in kit for test purposes is recommended for ensuring compliance with the EMC standards Large Scale Stationary Industrial Tools WEEE RoHS Equipment intended for instal lation as part of large scale stationary industrial tools covered by the exception of Annex IA No 6 of the European Directives 2002 96 EC WEEE and 2002 95 EC RoHS IDBS USER S MANUAL rev 4 INDEX 1 7 1 4 UL AUTHORIZATION page 1 UL International Italia S r l An Affiliate of Via Archimede 2 Underwriters UL Laboratories Inc Tel 39 039 6410 101 Fax 39 039 6410 600 e mail info it it ul com www ul europe com NOTICE OF AUTHORIZATION TO APPLY THE UL LISTING MARK January 09 2006 Attn Ing Daniele Rolla MOOG Italiana S r l Casella Site Via Avosso 94 16015 Casella Genova Italy Fax Number 010 9671283 E mail drolla moog it Reference File 194181 Vol 1 Sec 1 2 3 Project 05CA22929 P O Number 05 T0804 Subject Industrial Control Equipment L
42. Fig 1 7 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 IDBS drives have Y type capacitors near the input power supply connector and Schaffner fil ters 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 dan gerous 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 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 In sulation Resistance Tests of EN 60204 1 1997 par 19 3 may be carried out without dis connecting the drive and the EMC filters IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 1 4 PROTECTIONS AND TROUBLESHOOTING 4 1 PROTECTIONS Output RES FAULT out of tolerance temperature M OVT MOTOR OK PWR FAULT Flash Disk Error DRIVE FAULT DRIVE OK Button Re
43. G 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 The acknowledgement contacts Channel 1 verification or Channel 2 verification remains open the Restart Interlock is not activated There is a 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 All 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 op
44. HOOTING 4 7 FIG 4 4 AUX PWR green LED off Auxiliary Power Fault Green LED AUX PWR OFF NO Connect power supply Power supply present 4 YES Fault of auxiliary powe circuit IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 8 FIG 4 5 REF EN green LED off Reference Enable Green LED REF EN OFF Verify that 8 5 to 25Vdc NO S voltage with 8 mA min lt Internal 15V used current is applied to J1 pin 7 J1 pin 16 and OV to J1 pin 8 YES J1 pin 6 common connected to J1 pin 8 opto common Make connection YES Fault on input circuit IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 9 FIG 4 6 DRV EN green LED off Drive Enable Green LED DRV EN OFF Verify that 8 5 to 25Vdc NO S voltage with 8 mA min lt Internal 15V used current is applied to J1 pin 7 J1 pin 15 and OV to J1 pin 8 YES NO 1 6 7 connected to J1 pin 8 opto common Make connection YES Fault on input circuit IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 10 FIG 4 7 M OVT red LED on Motor Overtemperature Red LED M OVT ON NO Motor PTC Connect PTC connected to J4 YES NO value at 209 100 to 400 ohm Fault on motor PTC
45. ION 2 6 3 RESOLVER WIRING Fig 2 5 Resolver Wiring 2 11 MOTOR CONNECTOR J4 CONNECTOR twisted pair SUB D 9 CONTACTS Cosp Schield Sing Sing Sing Sing PTC PTC OV V REF grounding of shield via grounding of shield via connector shell connector clamp RESOLVER CONNECTOR MOTOR SIDE Signal FAS T FAS Type FAS K Pos D ov B sing G 3 G IDBS USER S MANUAL rev 4 2 12 SECTION TWO INSTALLATION Each IDBS must be connected to the resolver via the J4 connector Figure 2 5 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 85 min coverage 20 AWG 0 60 or 22 AWG 0 38 wire with low capacitance can be used We suggest to use ground connections as shown in Fig 2 5 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 Tab 2 9 44 Connector Sub D 9 pos Resolver Panel side female Wiring side male with conductive shell Differential cos signal non inverted input 3 Shield Internally connected to OV common pepe Differential sin signal non inverted input 1 2 4 B
46. MOOG IDBS USER S MANUAL rev 4 GB 4538 INDEX INDEX OF REVISIONS Revision Date Description Updated section 1 01 Initial Release All 2 May 02 Ugrade with new drives and new SW release All 3 Feb 03 Add Section 6 correct miscellaneous errors 1 1 2 4 7 to 18 I 5 11 12 VI all 4 Jan 06 New IDBS 100 320 1 2 3 Correct miscellaneous errors All IDBS USER S MANUAL rev 4 INDEX INDEX OF CONTENTS Index Section 1 Description Section 2 Installation Section 3 Electromagnetic compatibility EMC Section 4 Protections and Troubleshooting Section 5 Commands Accident protection EC declaration of conformity EC requirements UL authorization UL requirements ICEPI certificate SAFETY Restart Interlock Function requirements Legal aspects Introduction General features Options Dimensions and drilling jig Technical data Interfaces System grounding Rating plate Fuses Soft start Fans Led s Reset button Wiring Recovery circuit Starting sequence Resolver to encoder option Mechanical brake Sizing of power supply circuit Power dissipation European directive 89 336 EEC Filtering Wiring and grounding Recovery resistor Motor choke Screening Safety aspects Protections Troubleshooting See Contents IDBS USER S MANUAL rev 4 1 1 1 2 1 3 1 4 1 5 1 7 d
47. SER S MANUAL rev 4 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 3 3 2 4 FILTER INSTALLATION The filter must be mounted on the same drive panel CAUTION leave a clear space 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 shielded 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 The maximum torque of mounting screws terminal block is as follows FILTER Max torque FN 258 7 07 0 8 Nm FN 258 16 07 0 8 Nm FN 258 30 07 1 8 Nm FN 258 42 07 1 8 Nm FN 258 55 07 3 0 Nm FN 258 75 34 3 0 Nm FN 258 100 35 4 0 Nm FN 258 180 07 4 0 Nm NOTE The filter can produce high leakage currents see filter manufacturer Catalogue and filter data NOTE if two phases are interrupted worst case leakage current could dangerous levels NOTE The capacitors within the filters have discharge resistors CAUTION the filter must be connected to ground before connecting the supply WARNING HIGH VOLTAGE DISCHARGE TIME APPROX 10 seconds IDBS USER S MANUAL rev 4 3 4 SECTION THREE ELECTROMAGNETIC COMPATIBILITY
48. 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 0 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 0 7 1 Transmission types Type Transmission 0 Synchronous acyclic 252 Synchronous RTR only 253 Asynchronous RTR only 254 Asynchronous IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 7 1 Module Identification Node ID 1 1 Identifier Distribution The CAN Communication Object Identifiers COB ID are usually based on the Node ID of the device 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 Assignment NMT 0x000 SYNC 0x080 EMERGENCY 0x080 Module address module Nodeguard 0x700 Module address 1 TxPDO 0x180 Module address Axis 1 1 RxPDO 0x200 Module address 2 TxPDO 0x280 Module address Axis 2 2 RxPDO 0x300 Module address 3 TxPDO 0x380 Module address Axis 3 3 RxPDO 0x400 M
49. Terminal Blocks HDFK4 HDFK 10 HDFK 16 HDFK 25 HDFK 50 HDFK 95 Ibin 57 1 132 16 133 177 Nm 0608 1518 2 4 8 9 1520 Tab 2 3D Wire stripping length for Terminal Blocks HDFK4 HDFK10 HDFK16 HDFK25 HDFK50 HDFK 95 n 035 043 075 095 1 mm 9 IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 5 2 6 2 WIRING All the signal cables must be separated from power cables by a distance gt 30 cm See Section 3 for shielding procedures according to EMC Directive REMARKs 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 if used in specially noisy environments it is suggested to connect a 220 680 resistor between A and and B C and at the receiver input for lengths in excess of 5 m 16 ft the cable must have 3 pairs each pair twisted IDBS USER S MANUAL rev 4 2 6 SECTION TWO INSTALLATION Fig 2 3 ANALOG INPUT WIRING DIFFERENTIAL INPUT IDBS CNC _ age H REF s 6 0v 2 5 min Ground 19 GND J1 le shiel RF cable shila mST E grounding of shield connected to th
50. VT LED optoisolated outputs DRIVE OK and MOTOR OK Set condition when a limit temperature is reached inside the motor Effect the drive inhibit torque Reset condition if the condition is not present anymore reset button on drive send pulse to REMOTE RESET Note the fault information via LED s and opto is reset when the motor temperature goes down the limit while the drive is disabled until the reset condition has been met 4 1 4 POWER FAULT Indicated by DRIVE FAULT LED PWR FAULT LED optoisolated output DRIVE 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 off and on the power supply In case of condition 3 overheating wait at least 3 minutes before power up the drive IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 3 4 1 5 FLASH DISK ERROR Indicated by DRIVE FAULT LED optoisolated output DRIVE OK Set condition when error in writing data into the flash disk is detected Effect inhibit torque Reset condition if the condition is not present anymore reset button on drive send pulse to REMOTE RESET 4 1 6 BUS NOT NORMAL Indicated by DRIVE FAULT LED POWER
51. ac 50 60 Hz 3 phase source An isolation transformer may still be required to meet local electrical safety regulations It is the user responsibility to determine if an isolation transformer is required to meet these requirements To size the 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 and to multiply the sum by the contemporaneity factor factors often utilized are 0 63 for 2 axes 0 5 for 3 axes 0 38 for 4 axes 0 33 for 5 axes K 0 28 for 6 axes in case of multi axis application to multiply by a correction coefficient 21 2 accounting for the losses of the motor drive system 2 11 2 AUXILIARY POWER For a correct sizing especially for small drives auxiliary power 30 W for each module and fan power Pian 7 W for IDBS 3 6 8 15 25 35 and 15W for IDBS 50 60 must be added Pax 30 Pian IW 2 12 POWER DISSIPATION 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 appli cation recovery dissipation is unknown IDBS Model 3 9 6 15 8 22 15 42 25 70 35 90 50 140 60 180 100 240 180 320 100 3
52. city position position 200 200 0 10 20 30 40 Thee 60 70 80 90 100 0 10 20 30 40 thee 60 70 80 90 100 4 2 Position Referencing Position Referencing is applicable in Motion Control Mode 0 and Motion Control Mode 1 only 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 Mode Description 0 Referencing not active Axis is working in the selected Motion Control Mode 1 Referencing active Axis moves based on set velocity and torque limit Referencing in manual mode is Uses the actual position of the axis as reference position Returns automatically to previously used Motion Control Mode 3 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 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 IDBS USER S MANUAL rev 4 5 16 SECTION FIVE COMMANDS 4 3 Motor safety brake The motor brake signal can be mapped by Matrix Output Configuration table to a external periphery output The following chart shows the MCD Standard Profile motor safety braking sequence over the time 4 3 1 Time chart mot
53. ckness mcd e xj File Edit View Update Extras Dcus s eus SN 5x New Load Save Com Module Axes Record User Send Receive Actualize Transfer Help MCD Module Set Parameters Clock and Date MCD Module type Ibm 3kHz DSP Sampling 7 Time 095255 Date 23 Jun 2000 Setnew MCD Module description IDBx Module Errors Clear Errors j Wamings Startup Date 13 2000 amp nalog Outputs Choose the number of the analog output p Digital In Outputs Digital Inputs Digital Outputs 10 1 1 Configuration table The analog outputs are configured by an address and a gain value The gain value is a power number with the following effect The actual value is multiplied by 29 1 2 and will be written to the specified output Address 0 4 allows to manually write to the outputs Address Gain Description Ox3A 21 Axis 1 Filtered actual velocity Ox3B 21 Axis 2 Filtered actual velocity 0x3C 21 Axis 3 Filtered actual velocity 2pol Resolver 10 Volt 15 910 rpm 4pol Resolver 10 Volt 7 955 rpm Resolver 10 Volt 5 303 rpm 8pol Resolver 10 Volt 3 977 rpm 0x37 16 Axis 1 Output current command 0x38 16 Axis 2 Output current command 0x39 16 Axis 3 Output current command 10 Volt 10096 of maximum drive current 0x00 User output value 0x01 15 Value
54. e Follow Up Services Procedure 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 requests this document An independent organization working for a safer world with integrity precision and knowledge Zo CLOS LET y QS e ag SS Sede legale e aboratorio Z Predda Niedda Nord st 18 1 07100 Sassari Iscritla al Reg Impresa di Sassari al n 8101 98 scritta alla CCIAA REA di Sassari 126205 CF e P 01796660908 IDBS USER S MANUAL rev 4 1 8 INDEX UL AUTHORIZATION page 2 UL International Italia S r l An Affiliate of Via Archimede 42 1 20041 Agrate Brianza MI UL Underwrite rs Laboratories Inc Tel 39 039 6410 101 Fax 39 039 6410 600 e mail info it it ul com www ul europe com 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 Listing Mark shall be identical to thos
55. e evaluated by UL and found to comply with UL s requirements If changes in construction are discovered appropriate action will be taken for products not in conformance with UL s requirements and continued use of the UL Listing Mark may be withdrawn or products that bear the UL Listing Mark may have to be revised in the field or at the manufacturer s facility to bring them into compliance with UL s requirements Any information and documentation provided to you involving UL Mark services are provided on behalf of Underwriters Laboratories Inc incerely Reviewed by Giuseppe Redaelli Matteo Redaelli Senior Project Engineer Engineering Team Leader UL International italia Sir UL international Italia Sir Tel 0039 039 6410101 E mail matteo redaelli it ul com Fax 0039 039 6410600 E mail giuseppe redaelli it ul com An independent organization working for a safer world with integrity precision and knowledge ie Sede legate e laboratorio 71 Predda Niedda Nord st 18 1 07100 Sassari italia Iscritta al Reg Impresa di Sassari al n 8101 98 Iscritta alla CCIAA REA di Sassari al n 126205 C F e P 01796660908 IDBS USER S MANUAL rev 4 INDEX 1 9 1 5 UL REQUIREMENTS e 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 Re port file E194181 Vol 1 Sec 2 Issue date 06 0
56. e housing via hose clamp UNIPOLAR INPUT CNC IDBS 1 1 REF ov 2 REF Ng 6 OV 2 Ground 19 GND J1 le shiel RF 3 cable shield must be grounding of shield connected to the housing vi p IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION Tab 2 4 J1 Connector Commands And Signals Panel side male type Wago 231 450 code AK5953 Wiring side female type Wago 231 120 026 000 code AK4960 Differential non inverting analog input max range 10V ig 2 3 for connection Differential inverting analog input max range 10 See Fig 2 3 for connection ILIMIT Analog input 0 to 10V single ended TACHO TEST Programmable analog output Full scale 10V 6 15Vdc output Imax 30mA 8 INP COMMON optoisolated OV 9 DRIVEOK Collector of Drive OK optoisolator 10 Emitter of Drive OK optoisolator DRIVE OK MOTOR OK Collector of Motor OK optoisolator 12 _ of Motor OK optoisolator MOTOR OK SPARE OUT Collector of SPARE OUT optoisolator SPARE OUT Emitter of SPARE OUT optoisolator 15 DRIVE EN Drive enable optoisolated input referred to common OV J1 8 See Fig 2 4 16 REF EN Reference enable optoisolated input for the confirmation of the reference to the axis REF EN not active means no speed reference or zero torque referred to common OV J1 8 17 REMOTE RE Remote reset opt
57. erate in the hazardous zone which has been defined CAUTION where the equipment requires manual intervention the relevant regulations must be taken into account IDBS USER S MANUAL rev 4 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 7 6 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 according to Category 1 of EN60204 1 1997 9 2 2 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 case 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 e The closed safety gate is opened while the motor is stili moving e The Module Enable signal is then switched off via the axis enable signals D E contacts of connector JS1 e The microprocessor latches the stop request and performs a controlled antifreewheeling stop e Aiso the hardware timer starts to provide the extra min 500 ms to allow the braking e The IGBT are turned off via software Interlocking System III when the motion has stopped but at the latest within 360 ms to allow the switching off of PWM logic for the IGBTs e The outpu
58. ers 0 not exist 1 1 negative 1 positive ms 1 s counts counts counts IDBS USER S MANUAL rev 4 Uns8 Uns8 Uns8 Visible 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 Uns8 Uns8 Uns8 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Int32 Uns8 Uns8 Uns8 Visible String Int32 Int32 Int32 Int32 Int32 Int32 Int32 Domain 5 11 5 12 SECTION FIVE COMMANDS 2 6 IDBx Axes Actual Parameters Index h 2110 2120 2130 2111 2121 2131 Sub h 00 00 Description IDBx Axis 1 actual values IDBx Axis 2 actual values IDBx Axis 3 actual values Error register Warning register Position Velocity Torque Motor load level Drive section load level PWM Water valve output Torque resolution IDBx Axis 1 Autophasing IDBx Axis 2 Autophasing IDBx Axis 3 Autophasing Start Finish Abort sequence State Error Resolver offset 9 h 9 h 9 h Error Messages Warning Messages counts 1 min 0 1 Nm 0 1 0 1 0 1 0 1 Nm max Irms 4 h 4 h 4 h Start 1 Finish 2 Abort 0 0 8 0 3 32768 32767 180 180 electric angle IDBS USER S MANUAL rev 4 Uns8 Uns8 Uns8 Uns32 Uns32 Int32 Int32 Int3
59. etween P1 and P2 on J5 CAUTION an unusual application with motor driven by the load a large portion of the time could result in overheating of the recovery resistor If the application requires frequent decelerations with high inertia starting from high speed and in short times it may be necessary to use a non standard external recovery resistor It is suggested contacting our Customer Service CAUTION the recovery resistor cable provided in kit is only for test purposes It must be shielded to comply with the EMC Directive 89 336 EEC CAUTION for UL approval in the end use installation the Dynamic Brake Unit Recovery Re sistor when external shall have the connection wiring made with R C AVLV2 or insulated with R C YDPU2 or R C UZCW2 IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 19 2 8 STARTING SEQUENCE e Check the correct setting of the switch 400V 460V on the top of the drive e Switch on 400 Vac or 460Vac three phase power supply e Wait for Drive OK optoisolated output e Check if systems parameters and application data are OK for the application WARNING High Voltage Discharge Time Approx 6 Minutes CAUTION in case of repetitive switching off and on wait 1 minute between off and on 2 8 1 AUTOPHASING Check that the motor is free to rotate in both directions Check that no fault condition occurs red drive fault leds off Check that the analog drive enable is on via positive logic and digi
60. f carrier present on J4 20 Vpp 10 kHz Fault on oscillator lt circuit NO Resolver fault or connection not OK motor side Sin and cos signals present on J4 6 5 Vpp max 10 kHz for Moog resolver YES Internal fault IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 15 FIG 4 12 DRIVE FAULT red LED on Red LED DRIVE FAULT ON NO Check via command the fault not reported by LEDs It can be Velocity error see EV command Flash disk error Bus Bars overvoltage YES undervoltage See the figure with the proper LED fault IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 16 FIG 4 13 Motor vibrates Axis enabled Motor with overspeed or running at a speed not related to the reference or vibrates NO _ 6 resolver motor poles or 8 resolver motor poles 2 pole resolver with 6 pole motor YES YES Check via RS ph E command RS NO NO Check via RS command approx 6000 or RS approx 48000 YES resolver connections Remake Autophasing Internal fault IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 17 FIG 4 14 Communication fault Serial Link does not work NO S Serial cable and or J10 cable OK
61. ge mpo aami oea 8 12 Bi directional data line 16 LPT Inp Error 7 Bi directional data line 12 LPT Inp On line 13 Bi directional data line 13 LPT Inp Paper empty 12 Bi directional data line 14 LPT Inp Acknowledge 10 0 V logic circuit LPT Ground 18 25 Bi directional data line 15 LPT Inp Busy 11 IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 25 9 1 6 J21 Connector 1 2 Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female be LLL E ne SS e viso pvbdedek SSCS 8 can 2 Differential can 2 signal e bhe o f Ek 9 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 Pin Definition Description e 9 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 IDBS USER S MANUAL rev 4 5 26 SECTION FIVE COMMANDS 9 2 IDBm Module 9 2 1 J1 Connector Auxiliary Power Suppl Pin 0 12 9 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
62. ge must be available to make the malfunction of the safety circuit visible IDBS USER S MANUAL rev 4 6 4 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 3 2 INTERLOCKING SYSTEM III Interlocking System 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 J7 connector Fig 6 1 INTERLOCKING SYSTEM III Module Enable Micro Processor Logc for Axis 1 3 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 6 5 An error message must be available to make the malfunction of the safety circuit visible IDBS USER S MANUAL rev 4 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 5 6 4 RESTART INTERLOCK CONNECTIONS The restart interlock circuit is contr
63. h 3 h 3 h 3276 8 32767 0x00 0x2FF 0 31 4 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 29 Matrix Bit 30 Inverter Bit 31 Input 29 Matrix Bit 30 Inverter Bit 31 Input 29 Matrix Bit 30 Inverter Bit 31 Input 29 Matrix Bit 30 Inverter Bit 31 Input 29 Matrix Bit 30 Inverter Bit 31 Input 29 Matrix Bit 30 Inverter Bit 31 Input RO IDBx Module Actual Parameters 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 S h Error Messages Warning Messages 3 h 40 Characters 40 Characters 40 Characters IDBS USER S MANUAL rev 4 Uns8 Visible String Int32 Int32 Int32 Domain Domain Domain Uns8 Uns8 Uns8 Uns8 Uns8 Uns8 Int32 Int32 Int32 Uns8 Uns32 Uns32 Uns32 Uns32 Uns8 Uns32 Uns32 Uns32 Uns32 Uns32 Uns32 Uns8 Uns32 Uns8 Uns32 Uns32 Uns32 Uns32 Uns32 Uns8 Visible String Visible String Visible String 2 5 IDBx Axes Set Parameters Index Sub h h 2010 00 2020 00
64. hange U with W Ask the Service Center IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 COMMANDS CONTENTS 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 DISTRIBUTION 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 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 IDBS USER S MANUAL rev 4 CI TM oM M ML 0M 5 1 5 2 5 1 5 1 1 5 1 2 5 1 3 5 1 4 5 2 1 5 2 2 5 2 3 5 2 4 6 1 1 6 1 2 6 1 3 61 4 6 2 1 6 2 2 6 2 3 6 2 4 7 1 1 7 1 2 7 1 3 7 1 4 7 1 5 7 2 1 7 2 2 7 2 3 7 2 4 8 1 1 8 1 2 8 2 1 8 2 2 8 3 1 8 3 2 8 3 3 8 3 4
65. hen Channel A and Channel B are high like Siemens ex change Channel A with Channel A and Channel B with Channel B IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 21 2 10 MECHANICAL BRAKE FASTACT servomotors have as option a 24 Vdc 24 to 26 Vdc electromagnetic safety brake CAUTION safety brake must be clamped and released with motor at standstill Dynamic brakes can seriously damage the brake and reduce the braking torque The release of the brake from OV to 24V and the clamp from 24V to OV must follow the sequence in Fig 2 12 FIG 2 12 Braking Sequence Timing Chart Note 1 T1 gt 300 ms T2 application dependent T3 100 ms T4 gt 200 ms Note 2 for FASTACT size 3 and size 4 T1 gt 1000 ms Ti T2 T4 E gt 1 1 E GN ON DRIVE ENABLE 1 1 ON EE 1 1 OFF BRAKE 24V POWER SUPPLY RELEASE CLAMP 1 1 ov ENABLE rpm P MOTOR SPEED Note as the motor could have different brake models please make the reference for the right timimg and supply to the motors catalogue too IDBS USER S MANUAL rev 4 2 22 SECTION TWO INSTALLATION 2 11 SIZING OF POWER SUPPLY CIRCUIT 2 11 1 SIZING OF POWER TRANSFORMER IDBS drive is designed to allow direct operation from a 400 460 V
66. hermal model Effect when the fault is going on the current limit is reduced to the level of the motor rated current Reset condition when the set condition is not present anymore Power OFF and ON the drive to reset the protection REMARK when the IT LED becomes blinking it indicates the activation of the IT protection when the IT LED becomes steady illuminated it indicates the activation of an internal overload protection In this case please ask the Service Centers 4 1 9 WATCHDOG Indicated by DRIVE FAULT LED WTD LED optoisolated output DRIVE OK Set condition when the micro controller or DSP fails Effect inhibit torque Reset condition if the condition is not present anymore reset button on drive send pulse to REMOTE RESET 4 1 10 OVERSPEED Indicated by DRIVE FAULT LED optoisolated output DRIVE OK Set condition when an error between set speed and actual speed bigger than the programmed Effect inhibit torque Reset condition if the condition is not present anymore reset button on drive send pulse to REMOTE RESET IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 6 4 2 TROUBLESHOOTING FIG 4 3 POWER OK green LED off Green LED POWER OK OFF NO 2 15 3 phase 400 Vac m lt er 460 Vac 10 connected to IDBS Connect 3 phase 400 or 460 Vac YES Internal fault IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLES
67. ication must demonstrate that within this time persons cannot be injured The drive can provide the Anti Free Wheeling function to perform the controlled stop 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 as sessment 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 Environmental Conditions Equipment intended to operate within the following environ mental conditions o Ambient temperature 0 to 40 C o Supply voltage interruptions 10 20 500 ms dip time o EMC immunity according to EN 61000 6 2 1999 Generic Standard Immunity for in dustrial environment Vibration 2 to 9Hz 3 0 mm amplitude peak 9 to 200Hz 1 g acceleration o Shock 10 g half sine 6 ms Enclosure Electronic Equipment intended for installation in an enclosure providing at least IP54 protection 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 WARNING
68. internal error situation 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 8 3 1 Transmit PDO structure Byte 1 2 Byte 3 Byte 4 8 Error Code Error Register MCD manufacturer specific error field 8 3 2 Error Code 0000 For details see MCD manufacturer specific error field For details see MCD manufacturer specific error field 1002 Generic axis 2 error For details see MCD manufacturer specific error field Generic axis 3 error For details see manufacturer specific error field Eor details see user application manufacturer specific error field documentation E 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 8 3 3 Error Register 0 OOOO 6 Reserved aways OOOO 8 3 4 manufacturer specific error field Byte 4 5 Byte 6 Byte 7 8 MCD error register MCD error additional Index MCD error additional Value 8 3 4 1 MCD error register MCD error register 1000 See Module Error Messages 1001 See Axis 1 Error Messages 1002 See Axis 2 Er
69. isabled 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 JS1 connector must be 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 open actives the Interlock System WARNING this circuit must be protected against overload and short circuit using a fuse rated max 2A IDBS USER S MANUAL rev 4 6 6 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 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 WARNIN
70. isted Power Conversion Equipment NMMS NMMS7 cULus Revised Report for Open Type Brushless Motor Servo Drives DS 2000 Series Size E Vol 1 Sec 1 Revised Report for Open Type Brushless Motor Servo Drives DS 2100 Series Size E Vol 1 Sec 3 Revised Report for Open Type Brushless Motor Servo Drives DBS Series 100 320 Vol 1 Sec 2 Dear Ing Daniele Rolla UL s investigation of your product has been completed under the above project number and the subject product was determined to 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 Listing Mark cULus only at the factories under UL s Follow Up Service Program to the above products which are constructed as described below Identical to the subject model which was submitted to UL for this investigation The UL Records covering the product will be in the Follow Up Services Procedure File E194181 Volume 1 Section 1 2 3 To provide the manufacturer with the intended authorization to use the UL and C UL Listing Mark cULus 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 from the date of this Notice and only for products at the indicated manufacturing locations Records in th
71. ive bonding J6 LINE HDFK 95 L1 phase three phase input voltage 400Vac or 460Vac HDFK 95 L2 phase three phase input voltage 400Vac or 460Vac HDFK 95 L3 phase three phase input voltage 400Vac or 460Vac HDFK 95 U2 phase three phase output voltage to motor J5 MOTOR HDFK 95 V2 phase three phase output voltage to motor HDFK 95 W2 phase three phase output voltage to motor HDFK 95 Motor ground HDFK 25 Pe QR External recovery resistor popka pR HDFK 25 Output This optional output can be used to supply J6 HDFK 25 the Dc Bus of another IDBS drive max IDBS 60 180 HDFK 4 24 Vdc 55 W input to supply the fans HDFK 4 24VDC Fig 2 10 45 and 46 Power Connectors for IDBS 180 320 V1 w1 U2 v2 w2 O O O O 95 95 95 95 95 95 M NM m a L4 12525 25 25 d OL LI LI LI HH O O O O O J6 LINE un J5 MOTOR IDBS USER S MANUAL rev 4 2 18 SECTION TWO INSTALLATION 2 7 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 Dc Bus voltage When HV reaches 680V 790V for 460 Vac the switching regulator brings the recovery tran sistor into conduction thus connecting the recovery resis
72. ives IDBS USER S MANUAL rev 4 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 3 6 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 6 3 1 INTERLOCKING SYSTEM AND II Interlocking System and Interlocking System II in series Each of the two Channels disconnects the auxiliary power supply for all the IGBT A self contained auxiliary contactor disconnects the Module Enable signal when Interlocking System or Interlocking System 11 becomes active For observing Interlocking System the input signal Channel 1 door and the output signal Channel 1 verification 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 The same applies to Channel 2 When monitoring a wrong signal status the line contactor must disconnect the drive supply see par 6 5 An error messa
73. l error information field IDBS USER S MANUAL rev 4 O O O O cO CO cO O 10 10 1 1 10 1 2 10 2 10 2 1 10 2 2 10 3 10 3 1 10 3 2 11 11 1 11 1 1 11 1 2 12 SECTION FIVE COMMANDS IDBX MODULE CONNECTORS IDBS MODULE J1 Connector I 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 J21 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 IDBS USER S MANUAL rev 4 5 3 5 4 SECTION FIVE COMMANDS VERSION DOCUMENTATION 3 11 3 10 3 08 3 07 3 06 3 05 3 04 3 03 NOT RELEASED Docu extended SDO extensions RELEASED Docu extended SDO exten
74. le 73 23 EEC 73 23 EEC Low Voltage Directive 89 336 EEC EMC Directive and that the following harmonized standards or parts thereof have been applied nn j issue itle 1 performance 1993 Rotating electrical machines Part6 IC code EN 60034 7 1993 Rotating electrical machines Part7 IMcode Part 1 General requirements 20 3 20 4 EN 60529 1991 IP CEI EN 61800 3 1996 Adjustable speed electrical power drive systems 1 2 3 Part 3 EMC product standard including specific test 4 5 3 2 methods 6 3 2 7 Amendment A11 61800 3 11 2000 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 EMC responsibility in following the recommendations of the manufacturer Last two digits of the year in which the CE marking was affixed 97 Casella 12 July 2005 A Bazurro PRODUCTION MANAGER DEC CEME Casella DOC MOD 176 PMA 9 96 IDBS USER S MANUAL rev 4 INDEX 1 3 EC REQUIREMENTS Cautionary Marking See previous 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 pe
75. lity with its input signal see par 6 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 6 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 6 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 been removed The change of the monitoring signal shall be checked automatically at the start up and during each stopping Fig 6 4 and starting Fig 6 5 sequence Wiring requirements to avoid common mode failures Each signal shall be connected to its own input module or If a single input module is used the signals of antivalent logic from different position switches shall be inputted as well Software verification Following safety related principles it is necessary to verify the software and give instructions on periodic maintenance Modification of software The manufacturer shall write a
76. mote Reset DRIVE FAULT DRIVE OK Button Remote Reset Drive DRIVE FAULT DRIVE OK OFF ON overtemperature DRV OVT Watchdog DRIVE FAULT DRIVE OK Button Remote Reset WTD when the IT LED becomes blinking it indicates the activation of the IT protection when the IT LED becomes steady illuminated it indicates the activation of an internal IT protection for IGBT In this case please ask the Service Centers REMARK the reset via Remote Reset can be used only in fault conditions This reset is carried out by sending a pulse 15V for a time t 2 200 ms on J1 connector pos 17 4 1 1 RESOLVER NOT OK Indicated by DRIVE FAULT LED RES FAULT Resolver Fault LED 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 Reset condition if the condition is not present anymore reset button on drive send pulse to REMOTE RESET IDBS USER S MANUAL rev 4 SECTION FOUR PROTECTIONS AND TROUBLESHOOTING 4 2 4 1 2 AUXILIARY VOLTAGES OUT OF TOLERANCE Indicated by DRIVE FAULT LED optoisolated output DRIVE OK Set condition when the level of 15V or 5V becomes out of tolerance Effect inhibit torque Reset condition if the condition is not present anymore reset button on drive send pulse to REMOTE RESET 4 1 3 MOTOR OVER TEMPERATURE Indicated by DRIVE FAULT LED M O
77. nal blocks type Phoenix HDFK 16 code AK7427 See also par 2 6 1 Terminal Name Function Block HDFK 16 the Dc Bus of another IDBS drive e g IDBS of same size with a 50 contemporaneity factor L1 phase three phase input voltage 400Vac or 460Vac L2 phase three phase input voltage 400Vac or 460Vac HDFK 16 L3 phase three phase input voltage 400Vac or 460Vac E HDFK 16 Output Dc Bus This optional output can be used to supply HDFK 16 Protective bonding HDFK 16 External recovery resistor HDFK 16 HDFK 16 U2 phase three phase output voltage to motor V2 phase three phase output voltage to motor HDFK 16 W2 phase three phase output voltage to motor HDFK 16 Motor ground Fig 2 8 J5 and J6 Power Connectors for IDBS 25 70 35 90 50 140 60 180 IDBS USER S MANUAL rev 4 2 16 SECTION TWO INSTALLATION Tab 2 12 J5 and J6 Power Connector for IDBS 100 240 100 320 W120 240 Terminal blocks by Phoenix type HDFK 50 code AK7428 HDFK 25 code AK7421 HDFK 4 code AK7418 See also par 2 6 1 EI Bondi cca NN Block Type Output Dc Bus This optional output can be used to supply HDFK 50 AT the Dc Bus of another IDBS drive e g IDBS of same size with a 5096 contemporaneity factor 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 HDFK 50 Protective bonding H
78. nnector at the motor side IDBS USER S MANUAL rev 4 2 14 SECTION TWO INSTALLATION Tab 2 10 45 Power Connector for IDBS 3 9 6 15 8 22 15 42 Panel side male type Harting 09 06 015 2912 code AK5955 Wiring side female type Harting 09 06 215 2871 code AK4961 Function U1 Internal recovery resistance See P2 V1 L2 phase three phase input voltage 400Vac or 460Vac Internal recovery resistance The female connector has a jumper between P1 and P2 factory setting which connects a 56Q 240W internal resistor to HV To use an external resistor this jumper must be disconnected See Fig 2 2 W1 L3 phase three phase input voltage 400Vac or 460Vac Protective bonding _________ O U2 U2 phase three phase output voltage to motor V2 V2 phase three phase output voltage to motor W2 We phase three phase output voltage to motor RR External recovery resistor if applicable In this case the R R jumper between P1 and P2 must be disconnected only one wire and one pin per phase shall be used Fig 2 7 45 Power Connector for IDBS 3 9 6 15 8 22 15 42 5 5 CAUTION the jumper between 1 and P2 must be disconnected before connecting external recovery resistance on small IDBS drives see Fig 2 2 IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 15 Tab 2 11 J5 and J6 Power Connectors for IDBS 25 70 35 90 50 140 60 180 Termi
79. od No 280 FM rated 280 Amps IDBS W120 240 Mod No 315 FM rated 315 Amps IDBS 100 320 180 320 Mod No 500 FMM rated 500 Amps e Overspeed Protection The Power Conversion Equipment is incorporating Overspeed Protection See MV command in Section 5 of this Manual e Overvoltage Control In the equipment the Overvoltage is controlled by a Transient Sup pressive device with 1500 V Clamping Voltage and min 120 J 10x1000 us or 2 ms En ergy Handling Capability See also Bus not normal protection in Section 4 of this Manual IDBS USER S MANUAL rev 4 1 10 INDEX e Overload 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 ther mal protection through a PTC The overtemperature fault of the drive will trip when the PTC reaches 1 2 See J4 connector in Section 2 of this Manual for wiring e Over Current Protection The drive is provided with a current limiting circuitry See IL and IT commands in Section 5 of this Manual e Wiring Wiring shall be made by stranded and or solid copper Cu 60 75 C 140 167 F conductor only and 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 e Wiring of Recovery Resistor The Dynamic Brake Unit Recovery Resistor when ex
80. ode are different selectable position control shape types available The shape type for each axis is set by SDO communication 0x20 1 0F 4 1 1 Shape Parameter Parameters Shape Type support Limits Units SDO index sub index Axis 1 0x2011 02 Position 0 3 PosRange PosRange counts Axis 2 0 2021 02 Axis3 0x2031 02 Axis 1 0x2011 04 Velocity 0 3 32768 32767 min Axis2 0 2021 04 Axis _ 0 2031 04 1 0 2011 06 Acceleration 0 3 0 10000 min ms Axis2 0 2021 06 0x2031 06 Axis 1 0x2011 07 Deceleration 0 0 10000 min ms Axis2 0 2021 07 Axis3 0 2031 07 Axis 1 0x2011 10 Switching period time 1 3 0 10000 ms Axis 2 0x2021 10 Axis3 0x2031 10 Axis 1 0x2011 08 Position gain 0 3 5 1000 s Axis2 0 2021 08 Axis 3 0x20831 08 4 1 2 Shape Restriction Type 0 Standard e The switching period time is not supported e Acceleration and deceleration parameter can be different and are maximum values 4 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 Accelerati
81. odule address 4 TxPDO 0x480 Module address 4 RXPDO 0x500 Module address 1 TxSDO 0x580 Module address 1 RxSDO 0x600 Module address 1S0 Cannel tonihe moduls 2 TxSDO 0 680 Module address 2 RxSDO 0x780 Module address ae adus 1 2 Module Address Node ID The MCD device node ID is to be set using the Code Box MCD Commander or Term RS232 terminal program The Node ID value must be between 1 and 127 it set to 63 by default 1 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 CANopen Index Baud rate kBit s Max Bus Length m Bit Time us 0 1000 25 1 00 1 800 50 1 25 2 500 100 2 00 3 250 250 4 00 4 125 500 8 00 5 50 1000 20 00 6 20 2500 50 00 7 10 5000 100 00 1 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 button and wait for flashing the green state LED Label Assignment Description IDH Node ID selector To select the node ID 63 set the IDH Switch to 3 IDL HEX switch and the IDL Switch to F 63a 3Fh
82. oisolated input for logic section reset SET equivalent to push button on the front panel referred to common OV J1 8 The width of the pulse must be gt 200 ms SPARE IN Spare optoisolated input referred to common 0V J1 8 19 OV Ground It must be connected to CNC ground with 2 5 mm wire as short as possible IDBS USER S MANUAL rev 4 2 7 2 8 SECTION TWO INSTALLATION Fig 2 4 Input Output Wiring CNC 24V 24V OV Drive Enable Ref Enable Drive OK Motor OK 24V Power Supply ov IDBS N i 8 Optoisolated input common 15 Drive Enable 16 Reference Enable 9 7 Drive OK 10 Optoisolated Output 11 7 1 _ 12 lt Optoisolated Output cable shield must be RF grounding of shield J1 connected to the housing via hose clamp POWER SUPPLY IDBS 4 24V 6 7 8 ee 15 16 OV Common 15V dc output Optoisolated input common Drive Enable Reference Enable J1 15V INTERNAL SUPPLY for drive test IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION Tab 2 5 J2 Connector Sub D 9 pos RS485 Port Signal Panel side female Wiring side male with conductive shell S O Rx RS485 serial link Tx RS485 serial link N C INC 0 0 0 0 0 0 0 0 0 0 0 6 Rx RS485serallin Cd 8 Tx RS485seriallink Cid Tab 2 6 Connector
83. olled using the JS1 connector on the front panel Tab 6 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 Input to bobbin of the first relay of Channel 2 from door gate With the door closed this input is high 24Vdc When the door is opened this input changes to low OV The switch off time delay for the safety relay of Channel 2 is invoked Additionally this opens the module enable contact Input to bobbin of the first relay of Channel 1 from door gate With the door closed this input is high 24Vdc When the door is opened this input changes to low OV The switch off time delay for the safety relay of Channel 1 is invoked Additionally this opens the module enable contact 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 must be connected in series to the Module Enable input wiring This way when a door is opened also the Interlock System III is activated NC contact of the safety relay of Channel 1 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 2 and Module D
84. on 0 This system changes the velocity in exactly the switch period time e 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 IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 15 4 1 4 Shape comparison table Shape Type Switch period time Maximum Jerk Maximum Torque 0 Standard No oo 100 1 S Shape Yes 100 200 2 Bell Shape Yes 113 150 3 Sin Shape Yes 123 157 Type 0 Standard Type 1 S Shape 200 200 T NN M i 100 E 100 Ja H T 50 T 50 2 o amp 50 E s5oL 7100 acceleration 190 em acceleration 150 eeeevelocty 150 velocity position je position 200 pm IiIaaiIIaaaaauaaIaai iIiIIIIeeIIIsasIMs 200 j 0 10 20 30 40 Thee 60 70 80 90 100 0 10 20 30 40 thee 60 70 80 90 100 Type 2 Bell Shape Type 3 Sin Shape 200 200 150 1 Ll o oclo 150 100 R07 m 100 T 50 T 50 8 0 0 E LE CE ur 100 F amme acceleration 100 Fa acceleration Ho velocity __________ 150 velo
85. on code 00 standard 02 resolver interface Vin V nominal three phase input voltage 3 phase 50 60 Hz lin XXX Arms nominal rms input current lout nom Arms nominal rms output current lout Apeak peak output current BBB gt BBB Channels of the optional RIC SRC Single channel Restart interlock Circuit DRC Dual channel Restart interlock Circuit May not be typed C pulses per electrical revolution C264 D 128 256 F 512 G 1024 H 2048 4096 L 8192 M 16384 C2 motor poles 2 B 4 C26 D 8 E 10 F 12 poles A 2 B 4 C 6 D 8 E 10 F 12 C4 marker width A21 1 2 C 1 4 D no marker IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 1 2 INSTALLATION CAUTION make sure that the correct input voltage has been set on the top panel Fig 2 1 400 460V Setting fhanannannnnnnannannnnof Il Ili A UU JU li JUL UU 400V lt gt 460V C c gt lt gt EE C oo j 2 0E CL gt co P z c 2 lt gt SS J 7 5 c 4 y oo gt gt c sO gt Co 3
86. or enable torque command velocity enable brake signal 4 3 2 Time setting parameters Legen Description SDO index sub index d Axis 1 0x2010 18 tr Brake release open time Axis2 0 2020 18 Axis 3 0x2030 18 Axis 1 0x2010 19 Brake nominal activation time Axis 2 0x2020 19 Axis 3 0x2030 19 Axis 1 0x2010 1A Tamax Brake maximal activation time Axis 2 0x2020 1A Axis 3 0x2030 1A 4 4 Autophasing When Autophasing is being activated Motion Control Mode 0 is 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 IDBS USER S MANUAL rev 4 5 Motion Control Mode 0 SECTION FIVE COMMANDS 5 17 Velocity Torque Mode 5 1 RxPDO Receive PDO for one axis of the MCD Module Byte 1 Byte 2 Byte 3 4 Byte 5 8 Control TrqLim Vel Trq Position 5 1 1 Control Command Control Bit 0 2 Mode 0 7 Velocity Torque mode Bit 3 Set command input 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 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 5 1 2 Torque Limitation Tr
87. or edit the hardware the password must be set If all hardware parameter defined press the button send for download the new definition The new definition will be valid after a IDBx Module reset 5 MCD Commander 1 03 NoName 8 x File Edit View Update Extras xL 3L s x Ws New Load Save Frnt Com Module Axes User Send Receive Actualize Transfer Help RON MCD Startup 21x Start Stop Init Axis 1 On Axis 2 On Axis 3 Load Level Protection Cop Torque Limit Module Type IDBm 7 Key 2156507251 Torque ee Weekoiyes 5 Yea 2000 Velocity Made Customer P 8 Step Response Stey Serie 3947251800 Baudrate 500k Stel IDBx Stey Number of axes 7 51 Step Drive Type Motor Type 55 80 Ej eal 1 Phangeable 0 fe a n ot m Velocity rprr Dive Motor Load Le 3 ranas 10 Avis enabled z ETC Enter Password foredit Password ON Send 500 kBaud on NODE 63 Restat 11 02 2000 13 28 Errors Data 2 IDBS USER S MANUAL rev 4 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 1 6 RESTART INTERLOCK CIRCUIT Optional 6 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
88. ptoisolated default AXIS 1 ENABLE optoisolated optoisolated not optoisolated not optoisolated not optoisolated IDBm J8 Pin 17 DIGITAL INP 0 24 VDC J8 Pin 14 DIGITAL INP 1 24 VDC J8 Pin 15 DIGITAL INP 2 24 VDC J8 Pin 16 DIGITAL INP 3 24 VDC optoisolated default AXIS 1 3 ENABLE optoisolated optoisolated optoisolated e IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 33 11 Project Up Download Following the step by step instructions for project up or download 11 1 MCD Commander MCD_Commander 1 04 NoName Fie Edi View Update Extras 2 20 mW s fd x New Load Save Com Module Axis 1 Tuning Record User Send MCD Communication Choose a device to communicate with Device Information i i Device type 0 0 NodesD ID 63 Search all devices Offline Device name cae Joes MCD Standard Profile Master Hardware version DBx 04 Software version 08 00 00 Devices on the CAN Bus 11 Gleardevice lish Errors p Services Node Guarding Store Bestore Emergency s00 Send COB1D values Node guarding Transfer Download Backup D Projects ProContral MCD_IDBx Idbx drv 03080000 MCD_appl prj D Transport MCD T est T Number of selected files ransferstatus Download PC MCD Module HCD appl prj M
89. put 0 10V One Single ended input One tacho signal programmable resolver signal interface output current signal programmable 1 6 2 DIGITAL RS 232 serial link RS 485 serial link CanOpen Interface Simulated encoder output Programmable LPT1 port 1 6 3 ON OFF opto isolated drive OK motor OK drive enable motor enable IDBS USER S MANUAL rev 4 SECTION ONE DESCRIPTION FIG 1 6 IDBS Common Control Panel LJ 1 2 3 4 5 7 8 9 ul 12 13 6 LJ 20 8 i IDBS USER S MANUAL rev 4 1 11 SECTION ONE DESCRIPTION 1 7 SYSTEM GROUNDING FIG 1 7 EMC Equipotential Bonding 1 eAnoejo1g eUI 4 4 euu uognoeuuco OWS jug ages yey juu He On fCovo gt rouw mfp ueis s Jojonpuo sanaq Jeuo wu sr reuondo er ver 190591 61 AND sr er er if 39114 ona TTT eua 3d ieus sindino ejqeu3 62u819J8H uonoeuuoo uels sS ANIHOVIN BuunseeyN l3NIg8VO SOINOHLO3 l3 IDBS USER S MANUAL rev 4 1 12 SECTION ONE DESCRIPTION 1 8 RATING PLATE The following informations are supplied on the rating plate of IDBS CODE model code S N AASSNNNNYY serial number where AA year SS week NNNN progressive number YY opti
90. qLim 0 127 Torque PWM output limitation torque_low_res 5 1 3 Velocity Torque Command Vel Trq 32767 Velocity mode min Torque mode torque_high_res 5 1 4 Position Value Position PosRange Preset for the reference position counts 5 2 TxPDO Transmit PDO for one axis of the MCD Module Byte 1 Byte 2 Byte 3 4 Byte 5 8 Status Torque Velocity Position 5 2 1 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 5 2 2 Torque Output Torque 127 Torque PWM output torque_low_res 5 2 3 Actual Velocity Velocity 32767 Actuel velocity min 5 2 4 Position PosRange Actual position counts Position Range PosRange 2147483647 2 Resolver Pools IDBS USER S MANUAL rev 4 5 18 SECTION FIVE COMMANDS 6 Motion Control Mode 1 Position Control Mode 6 1 RxPDO Receive for one axis of the MCD Module Byte 1 Byte 2 Byte 3 4 Byte 5 8 Control TrqLim Velocity Position 6 1 1 Control Command Control Bit 0 2 Mode 0 7 1 Position control mode Bit 3 Set position input 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 whi
91. rake open time 0x20 0 19 Brake nominal activation time 0x20 0 1A Brake maximal activation time 0x20 0 06 DSP command ramp up 0x20 0 07 DSP command ramp down 07 Oktober 1999 Stephan Schwarz ProControl AG SDO Obj 0x1003 Pre defined error field SDO Obj 0x1001 Error register 27 September 1999 Stephan Schwarz ProControl AG redefined SDO object dictionary for motion profile 28 Juli 1999 Stephan Schwarz ProControl AG 0x2000 04 Read Write RTC date time IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 5 0 Communication Services 0 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 Disconnected None Connecting Node Guarding Preparing Node Guarding NMT 1 SDO 2 SDO Prepared Node Guarding 1 500 2 8DO EMERENCY Pre Operational Node Guarding NMT 1 SDO 2 500 EMERENCY SYNC Operational Node Guarding NMT 1 SDO 2 8DO EMERENCY SYNC TxPDO RxPDO 0 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
92. ror Messages 1003 See Axis Error Messages 8 3 4 2 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 IDBS USER S MANUAL rev 4 5 22 SECTION FIVE COMMANDS 8 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 3 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 8 4 1 16 bit Error Code See Error Code 8 4 2 16 bit Additional error information field See MCD error register IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 23 9 IDBx Module Connectors 9 1 IDBs Module 9 1 1 J1 Connector l O Signals Connector type at panel side WAGO 231 450 Connector type at wiring side WAGO 231 120 0
93. rsons whilst energized Where the equip ment 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 re quired for protection RCD A d c component can occur in the fault current in the event of a fault connection to earth Only a residual current operated protective device RCD of Type B is allowed When the protection in installations with regard to indirect contact is achieved by means of an RCD their appropriate function combination shall be verified 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 compli ance with the EMC standards that apply where the equipment is to be used Product con formity is subjected to filters installation and to recommended procedures as from Section 3 of this Manual Second Environment
94. s 2 actual values 2121 4 IDBx Axis 2 auto phasing 2130 9 IDBx Axis 3 actual values 2131 4 IDBx Axis 3 auto phasing IDBS USER S MANUAL rev 4 5 10 2 3 Index h 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2 4 Index h 2100 2101 SECTION FIVE COMMANDS 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 analog output 1 Parameter IDBx Module analog output 2 Parameter IDBx Module analog output 3 Parameter IDBx Module analog output 4 Parameter IDBx Module analog output 5 Parameter IDBx Module analog output 6 Parameter Analog output value Analog output address Analog output gain IDBx Module digital output Parameter DoutO IDBm J1pin13 IDBs J1pin14 Dout1 IDBm J7pin31 IDBs 1 14 Dout2 IDBm J7pin32 IDBs J3pin8 Dout3 IDBm J7pin33 IDBx Module digital input Parameter DinpO IDBm J8pin17 IDBs J1pin16 Dinp 1 IDBm J8pin14 IDBs J1pin15 Dinp 2 IDBm J8pin15 IDBs J1pin18 Dinp3 IDBm 8 16 IDBs J3pin1 Dinp 4 IDBs J3pin12 Dinp 5 IDBs J3pin7 IDBx Module digital software input Para Dswi 7 h 127 Characters 1 IDBm 2 IDBs 3kHz 3 IDBs 9kHz 1 3 sec elapsed since midnight 00 00 00 1 1 1970 HWdefine INI IDBxDrv INI IDBxMot INI 3 h 3 h 3 h 3
95. selector 1 2 Module Address Node ID Red Error exist wrong ID BR or com STATE Three color LED Yellow Wait for reposing Green ID and BR accepted and initialized Baud rate selector To select the baud rate 500 kBit s set the BR BR HEX switch Switch to number 2 selector 1 3 Module Baud Rate IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 7 1 Module Identification Node ID 1 1 Identifier Distribution The CAN Communication Object Identifiers COB ID are usually based on the Node ID of the device 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 Assignment NMT 0x000 SYNC 0x080 EMERGENCY 0x080 Module address module Nodeguard 0x700 Module address 1 TxPDO 0x180 Module address Axis 1 1 RxPDO 0x200 Module address 2 TxPDO 0x280 Module address Axis 2 2 RxPDO 0x300 Module address 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 1S0 Cannel tonihe moduls 2 TxSDO 0 680 Module address 2 RxSDO 0x780 Module address ae adus 1 2 Module Address Node ID The MCD device node ID is
96. sions RELEASED SDO extensions RELEASED RELEASED Docu extended SDO extensions Error corrections RELEASED SDO extensions RELEASED RELEASED SDO extensions February 2001 Stephan Schwarz ProControl AG IDBx Code Box Motor safety brake 0x100500 Synchronization COB ID 0x100600 Synchronization cycle period 0x100700 Synchronization window length January 2001 Stephan Schwarz ProControl AG IDBx Code Box Motor safety brake 0x20 0 1B KP factor during motor turn off 0x2070 1C KI factor during motor turn off 0x20 1 0E Set input filter time constant factor 0x20 1 0F Shape control type Standard S Bell Sin Shape 0x20 1 10 Shape switching time period February 2000 Stephan Schwarz ProControl AG 0x2009 01 IDBx Module digital software input param 0x20 1 0E Position interpolation time base Error Warning Messages 31 January 2000 Stephan Schwarz ProControl AG 31 Januar 2000 Stephan Schwarz ProControl AG IDBx module connector pin assignment IDBx module configurations 0x2000 05 Hardware definition table access 0x2000 06 Drive data base access 0x2000 07 Motor data base access 0x2007 IDBx Module digital output parameter 0x2008 IDBx Module digital input parameter 0x2100 04 Matrix input signals for digital outputs 0x2100 05 Matrix output signals for digital inputs 0x20 0 16 Drive load level scale factor 0x20 0 17 Motor load level scale factor 0x20 0 18 B
97. son WTD reset Resolver fault signal resolver fault sin cos signals interrupted short RES FAULT circuit between signals or 10kHz carrier abnormal Motor overtemperature DRV OVT PWR FAULT REF EN IT 2 5 RESET BUTTON Tab 2 2 Reset Button RESET Digital control card reinitialization and reset of some protections BUTTON IDBS USER S MANUAL rev 4 2 4 SECTION TWO INSTALLATION 2 6 WIRING 2 6 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 Note that this sizing of wires is referred to new UL version of connectors Tab 2 3A Sizing of Wires IDBS Model 50 140 60 180 100 240 100 320 180 320 W120 240 Emm pea ofa n cn ain No of wires x AWG 14 AWG 10 AWG 8 AWG 4AWG 1 0 AWG 4 O AWG No of wires x AWG 14 AWG 10 AWG 8 AWG 4AWG 1 0 AWG 4 O AWG No of wires x AWG 14 AWG 10 AWG 8 AWG 8AWG 8 AWG 2 AWG Optional Dc Bus AT 2x 2x 2x 2x 2x 2x shielded wiring No of wires 14 AWG 10 AWG 8AWG 4AWG 1 0 AWG 2 AWG AWG Optional 24V Power shielded Supply wiring No of 2 14 AWG wires x AWG with 4 pair Resolver wiring each pair No of wires x AWG 4x2x 22 AWG twisted and individually shielded with an independ ent overall shield Tab 2 3B AWG mm Conversion Table ete 0 3 05 0 8 13 21 Tab 2 3C Tightening torque of
98. t 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 6 1 2 Torque Limitation TrqLim 0 127 Torque PWM output limitation torque_low_res 6 1 3 Velocity Command Velocity 0 32767 Reference position set Set velocity for position control min 32767 Reference position not set Set velocity and direction min 6 1 4 Position Value Position PosRange Reference position set Set position for position control counts PosRange Reference position not set Preset for the reference position counts 6 2 TxPDO Transmit PDO for one axis of the MCD Module Byte 1 Byte 2 Byte 3 4 Byte 5 8 Status Torque Velocity Position 6 2 1 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 6 2 2 Torque Output Torque 127 Torque PWM output torque_low_res 6 2 3 Actual Velocity Velocity 32767 Actuel velocity min 6 2 4 Position PosRange Actual position counts Position Range PosRange 2147483647 2 Resolver Pools IDBS USER S MANUAL rev 4 7 Motion Control Mode 2 7 1 RxPDO Receive PDO for one axis of the MCD Module SECTION FIVE COMMANDS Profile Control Mode Byte 1 Byte 2 Byte 3 Byte 4
99. t signal Module Disabled switches on e 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 e The outputs Channel 2 verification and Channel 1 verification switch on Fig 6 4 Anti Freewheeling Timing Chart min 500ms 400 ms Sn off door opened ed i n off IGBT power supply on aff Anti Freewheeling Control module disabled IDBS USER S MANUAL rev 4 6 8 SECTION SIX RESTART INTERLOCK CIRCUIT Optional 6 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 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 The 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 JS1 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 lt 360
100. t start resistors are short circuited after 250ms 2 3 FANS CAUTION a free circulation must be guaranteed for the air flow 2 3 1 IDBS 3 9 to 60 180 FANS The ventilation is provided by fans mounted under the modules The input power is provided with an external DC 24 Volt connector for standard IDBS models 2 3 2 IDBS 100 240 100 320 180 320 FANS The ventilation is provided by three 24 Vdc fans for IDBS 100 240 100 320 and five 24 Vdc fans for IDBS 180 320 mounted under the modules They must be powered by the user in the 24 Vdc input connector Total power rating is 33 W for IDBS 100 240 100 320 and 55 W for IDBS 180 320 2 3 3 IDBS W120 240 FANS The card ventilation is provided by one fan mounted under the drive The other four fans under the drive are anti condensation devices and must be powered by the user via 24 Vdc 12 W inputs on J6 connector 5 minutes before start up After start up these fans can be powered off CAUTION the anti condensation fans of the IDBS W120 240 must be powered on 5 min be fore start up IDBS USER S MANUAL rev 4 SECTION TWO INSTALLATION 2 3 2 4 LED S Tab 2 1 Module Led s Name Function 0 generic fault the fault can correspond according to the type to a LED DRIVE FAULT the front end if other red LED s are not on out of the considered one it is necessary to interrogate the drive via serial link to know the fault rea
101. tacts male Pin men Description LPT Connector SUB D 25 contacts logic OV logic circuit LPT Ground 18 25 2 Bi directional data line 8 LPT Out Strobe essei roo 3 4 woo o Bi directional data line 9 LPT Out Auto Line Feed 6 vO10 Bi directional data line 10 LPT Out Initialisation 16 z hoz Jot Bi directional data line 11 LPT Out Select B jer HO O Interrupt line LPT Inp Acknowledge a E 8 12 wot Bi directional data line 16 LPT Inp Error jos ftom tress 3 14 012 Bi directional data line 12 LPT Inp On line 5 9 Bi directional data line 13 LPT Inp Paper empty 12 Bi directional data line 14 LPT Inp Acknowledge 10 0 V logic circuit LPT Ground 18 25 Bi directional data line 15 LPT Inp Busy 11 IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 5 29 9 2 8 J21 Connector CAN 1 2 Connector type at panel side SUB D 9 contacts male Connector type at wiring side SUB D 9 contacts female nc NENNEN OOS 9 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 Pin Definition Description e s IDBS USER S MANUAL rev 4 5 30 SECTION FIVE COMMANDS 10 IDBx Module Configuration 10 1 Analog Outputs MCD_Commander 1 04 004 Wall Thi
102. tal drive enable off 2 8 2 WIRING CHECK Axis being phased it is possible to check the wiring by rotating the motor with no load via its digital reference e Set Kl 2 and KP 5 to avoid motor vibrations Set DF 0 digital filter disabled e Enable analog drive enable and reference enable via positive logic e Send the ON command to enable digital drive enable using the CAN interface and send Velocity commands to the motor IDBS USER S MANUAL rev 4 2 20 SECTION TWO INSTALLATION 2 9 RESOLVER TO ENCODER OPTION For position sensing a resolver to encoder option simulated encoder is available Encoder signals are 7V 100 impedance as follows e 2 channels of square wave output with a resolution from 64 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 revolu tion with a 6 pole resolver _ e complementary outputs A B and p The simulated encoder resolution can be modified with proper command see section 5 Fig 2 11 Simulated Encoder CW Rotation When Viewed From Shaft End T Pe LI LI LI C Marker Channel A Channel B C Marker Note to make C marker high w
103. tance in parallel with filter capacitors The recovery resistance is formed by enameled wire fixed resistor s If the recovery resis tance works for intervals shorter than the time necessary to reach thermal equilibrium the re sistor can temporarily handle power levels up to 10 times the nominal power rating of the re sistor short time overload If not specifically requested systems are provided with IDBS 3 9 IDBS 6 15 IDBS 8 22 56Q 250W internal IDBS 15 42 47 Q 250W internal IDBS 25 70 and IDBS 35 90 12Q 370W external IDBS 50 140 and IDBS 60 180 with mains at 400V 8 2 750W external IDBS 50 140 and IDBS 60 180 with mains at 460V 10 750W external IDBS 100 240 W120 240 100 320 180 320 3 90 1000W external For UL purposes the following recovery resistors have been tested The UL mark on the drive covers applications up to these ratings IDBS 25 70 and IDBS 35 90 12Q 750W 1 6 duty cycle IDBS 50 140 and IDBS 60 180 8 2 2000W 2 9 duty cycle IDBS 100 240 W120 240 100 320 180 320 3 90 3000W 2 1 duty cycle WARNING do not touch recovery resistor during operation to avoid scalds WARNING High Voltage The recovery resistor is connected to the internal Dc Bus and can reach a value of 810 Vdc CAUTION IDBS 3 9 IDBS 6 15 IDBS 8 22 and IDBS 15 42 have internal recovery resistor To disable the internal resistor and connect an external resistor it is necessary to disconnect the jumper b
104. ter nal 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 IDBS USER S MANUAL rev 4 INDEX 1 6 ICEPI CERTIFICATE 1 11 ATTESTATO DI ESAME VOLONTARIO VOLUNTARY EXAMINATION CERTIFICATE m Nome indirizzo del detentore del certificato Q Name and address of the holder of the certificate Italiana S r l Electric Division Via Avosso 94 16015 CASELLA GE Italiana S r l Electric Division W Costruttore Via Avosso 94 in 16015 CASELLA GE m Genere prodotto E oe be Servoazionamento digitale monoasse Product designation et sv vd Single axis digital servodrive Serie Opzi he gt l UM Series Option ii o IDBS DRG SRC in A r Funzione diarea Interblocco al riavvio protezione contro l avvio MIS inaspettato m Safety functi Mid coca Restart interlock protection against unexpected start tNorma e armonizzata e SA EC Directive s Harmonized standard 98 37ICE Macchine Y UNI EN 954 1 1998 L esame del Fascicolo Tecnico permette di dichiarare che funzione di sicurezza interblocco al riavvio dopo arresto controllato categoria 1 EN 60204 1 1998 del servoazionamento serie IDBS con opzione DRC rispetta i requisiti della categoria
105. to be set using the Code Box MCD Commander or Term RS232 terminal program The Node ID value must be between 1 and 127 it set to 63 by default 1 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 CANopen Index Baud rate kBit s Max Bus Length m Bit Time us 0 1000 25 1 00 1 800 50 1 25 2 500 100 2 00 3 250 250 4 00 4 125 500 8 00 5 50 1000 20 00 6 20 2500 50 00 7 10 5000 100 00 1 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 button and wait for flashing the green state LED Label Assignment Description IDH Node ID selector To select the node ID 63 set the IDH Switch to 3 IDL HEX switch and the IDL Switch to F 63a 3Fh selector 1 2 Module Address Node ID Red Error exist wrong ID BR or com STATE Three color LED Yellow Wait for reposing Green ID and BR accepted and initialized Baud rate selector To select the baud rate 500 kBit s set the BR BR HEX switch Switch to number 2 selector 1 3 Module Ba
106. ud Rate IDBS USER S MANUAL rev 4 SECTION FIVE COMMANDS 2 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 1C IDBx Axis 1 set parameters e g resolver poles speed gain KP 2011 10 IDBx Axis 1 motion control parameters MotionCtrlMode SetPos Accel Posgain profit 2012 IDBx Axis 1 motion profile table velocty profile tables motor angle SetRPM Acceleration 2020 1C IDBx Axis 2 set parameters 2021 10 IDBx Axis 2 motion control parameters 2022 IDBx Axis 2 motion profile table 2030 1C IDBx Axis 3 set parameters 2031 10 IDBx Axis 3 motion control parameters 2032 3F 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 Axi
107. uit must be kept clean gt ty A f fMi IDBS USER S MANUAL rev 4 1 8 1 5 TECHNICAL DATA Nominal input voltage Min max input voltage Three phase output voltage Output current Switching frequency Operating temperature Relative humidity Air pressure Storage temperature Transportation temperature Immunity to vibrations Immunity to shocks IDBS W120 240 Min water flow rate Max water pressure SECTION ONE DESCRIPTION 400 or 460 Vac 10 50 60 Hz selectable via switch 360 506 Vac 325 with 400Vac or 375 V with 460Vac see following chart 10 kHz 5 kHz over 60 180 A size 0 to 40 C exceeding Class 3K3 5 to 85 no condensation formation of ice Cl 3K3 86 kPa to 106 kPa kPa Class 3K3 25 to 55 C Class 1K4 25 to 70 C Class 2K3 3 0 mm from 5 to 9 Hz 1 g from 9 to 200 Hz Class 3M4 10 g half sine 6 ms Class 3M4 2 5 min 20 or 3 5 l min 25 10 Pa 1 bar mia Current X Weight Ame Ame T eaa ko IDBS 3 9 3 65 9 10 IDBS 6 15 L E 105 5 10 IDBS 8 22 155 22 10 IDBS 15 42 IDBS 25 70 IDBS 35 90 35 64 90 14 IDBS 50 140 DBS 60 180 60 5 kHz switching frequency IDBS USER S MANUAL rev 4 SECTION ONE DESCRIPTION 1 9 1 6 INTERFACES 1 6 1 ANALOG One Analog differential in

IDBS USER`S MANUAL (rev.4)

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