IDMA INSTALLATION MANUAL (rev.1)
Contents
1. 0 0073 a DIGITAL OUTPUT A DIG 0074 Fan H COM QUI Mating connector 10 pins PHOENIX type FK MC 0 5 10 ST 2 5 cod 1881406 cod MOOG AK4720 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 21 J3C Connectors Analog Inputs Position Function 15 VDC output power supply Imax 125 mA OV Analog input 1 Analog input 1 Analog input 2 6 Analog input 2 V 07 UU INPUT 7 aE L lt ANL IN ANL_INe Mating connector 6 pins PHOENIX type FK MC 0 5 6 ST 2 5 cod 1881367 cod MOOG AK4716 IDMA INSTALLATION MANUAL rev 1 N 22 SECTION TWO WIRING AND INSTALLATION J4A J4B J4C Connectors Resolver Function Differential COS signal input non inverted Differential COS signal input inverted Shield of twisted cable Differential SIN signal input non inverted Differential SIN signal input inverted 6 Motor winding PTC resistor input carrier frequency for supplying primary resolver winding 8 Motor winding PTC resistor input 9 carrier frequency for supplying primary resolver winding Fh 5 c SHIELD D SIN Li 3 _ 10KHZ Y IK ho PIC PIC Mating connector 9 pins Sub D cup connector AMPHENOL cod 017SDE 9P cod MOOG AK5220 hood AMPHENO2. USO NR 3 PART NR 3 PART Weight approx 32 kg IDMA INSTALLATION MANUAL rev 1 670 00 SECTION ONE DESCRIPTION 1 4 Drill For M5 screws ing Horizontal Mount 390 00 ig ing J d Drill imensions an Fig 1 1A IDMA D 0008 00 0056 00 05 RS NI tit 730 00 NR 3 PART 0 00 201 0009 00 Bcc EE EE ER LAM NR 3 PART 670 00 7 50 1 x45 PART a ka IDMA INSTALLATION MANUAL rev 1 SECTION ONE DESCRIPTION 1 5 1 5 TECHNICAL DATA Nominal input voltage Min max input voltage Axis output current Nominal Output Current DC side Peak Output Current DC side Max peak braking power Braking resistor nominal power Switching frequency Operating temperature Relative humidity Air pressure otorage temperature Transportation temperature Immunity to vibrations Immunity to shocks 3 x 400 to 480 Vac 10 50 60 Hz 360 528 Vac see following chart 25A 100A 72 kW for 2 seconds maximum 4 kW 10 kHz 0 to 40 C exceeding Class 3K3 5 to 85 no condensation formation of ice Cl 3K3 86 kPa to 106 kPa kPa Class 25 to 55 C Class 1K4 25 to 70 Class 2K3 3 0 mm from 2 to 9 Hz 1 g from 9 to 200 Hz Class 3M4 10 g half sine 6 ms
3. X5 o to Motor 5 O jo o X2 to Motor 2 X4 to Motor 4 X1 to Motor 1 J24V 24Vdc Power LINE mu Plant Supply J2 i mi 18 P S Control Signals 3 i i DBU 8 171 External DC il j Short circuit resistor Serial Interface 1 P S 5485 i i 3 I BKE 6 FANS 24Vdc Fan Unit Supply Note Position 1 is marked with the symbol m IDMA INSTALLATION MANUAL rev 1 2 6 SECTION TWO WIRING AND INSTALLATION Fig 2 2 IDMA Power Unit Connectors position Right side view ANA AAA AAA L J a at Note Position 1 is marked with the symbol m IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 7 Fig 2 3 Power Unit Connectors position Left side view IN MI 1TP E Ei tS ESS LSE ANIA Note Position 1 is marked with the symbol IDMA INSTALLATION MANUAL rev 1 2 8 SECTION TWO WIRING AND INSTALLATION 2 10 3 1 IDMA Power Unit Connectors Pin Assignments LINE Terminal Blocks Plant Supply DBU Terminal Blocks External DC Bus short circuit Resistor Position Note Position 1 is marked with the symbol 1m DBU DC Bus short circuit Resistor 2
4. see Section 3 for shielding procedures according to EMC Directive IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 25 J1S Conner Restart Interlock Function See Section 5 Channel 2 door Channel 1 door Module Enable 7 G anne 1 Verftion E Channel 1 Verification 8s Channel 2 Verification ELI MM CHANNEL 2 CHANNEL 1 NODULE ENABLE CHANNEL VERIFICATION CHANNEL 2 VERIFICATION Mating connector 9 pins PHOENIX type FK MCP 1 5 9 STF 3 81 cod 1851300 cod MOOG AK4809 IDMA INSTALLATION MANUAL rev 1 2 26 SECTION TWO WIRING AND INSTALLATION THIS PAGE INTENTIONALLY BLANK IDMA INSTALLATION MANUAL rev 1 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 IDMA drives with FASTACT motors meet the following EMC product standard related to the Directive EN 61800 3 A11 2000 and EN 61800 3 2005 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods oecond environment industrial compatibility levels Remark equipments not intended to be used on a low voltage public network which supplies domestic premises May cause radio frequency interference
5. As3 SyDigtalO 190 Axis 3 3 Analog Inputs er SLAVE Axis Dige 498 2 2 Analog Inputs Axis 2 2 Resolver to Motor2 Axis 1 1 Analog Outputs 42A 1 1 1 1 Inputs Axis 1 1 Resolver to Motor 1 Module Connector Description SAFETY Safety gan gan Han gan pan INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 15 2 10 4 2 IDMA Control Unit Connectors Pin Assignments J1 Connector Ethernet Position Function TX Transmission signal output in differential configuration 2 TX Transmission signal output in differential configuration RD Reception signal input in differential configuration 8 RD Reception signal input in differential configuration ETHERNET TX TX TX NC1 NC RD RD ETHERNET LED YELLOW ACTIVE ACTLED LILED Mating connector 8 pins plug RJ45 type TYCO ELECTRONICS cod 5 569532 3 cod MOOG 4 792 IDMA INSTALLATION MANUAL rev 1 N 16 SECTION TWO WIRING AND INSTALLATION J2 Connector X Bus Drive internal connection Position Function 0 V logic circuit I N 12 O 10 lO 13 14 15 16 N 45103 20 21 0 V logic circuit 0 V logic circuit
6. Output Current Nomina Max Arms Apeak Models can be configured by combining the basic sizes as long as the total power supplied taking into account the non contemporaneity conditions of the axes does not exceed 12 kVA IDMA INSTALLATION MANUAL rev 1 1 6 SECTION ONE DESCRIPTION 1 5 1 MODEL CODES Model UL EE GEJEJEJESQEE 3 G365 0001 30 00 822 35 40 8 22 3 9 Approved 6265 002 sooo ae 35 sso 82 39 Approved 636 012 _ 39 39 Approved 9365 013 3090 39 39 39 39 39 _ Approved 665 04 a9 38 822 Approved L IINE MN NE M Pending 1 6 INTERFACES 1 6 1 AXIS INTERFACES 1 6 1 1 ANALOG e Two analog differential input e Two programmable analog output e resolver signal interface 1 6 1 2 ON OFF opto isolated Four programmable input e Four programmable output 1 6 2 MODULE INTERFACES RS 232 serial link e RS 485 serial link e CanOpen Interface IDMA INSTALLATION MANUAL rev 1 1 7 SECTION ONE DESCRIPTION IDMA Control Unit Fig 1 2 SAFETY MASTER SLAVE IDMA INSTALLATION MANUAL rev 1 1 8 1 7 MARKINGS SECTION ONE DESCRIPTION The following informations are supplied on the front panel of IDMA AXIS 1 SIZE xx yyy A lout nom Arms lout A AXIS 2 SIZE xx yyy A lout nom Arms lout A AXIS SIZE x
7. Restart interlock connections Safety Relays Technical data Sequence and procedure using the restart interlock Anti freewheeling stop function Checking the restart interlock External plausibility tests Application example Installation and routine test RIC label RIC label position IDMA INSTALLATION MANUAL rev 1 1 4 INDEX 1 1 USING THE MANUAL This manual provides the necessary information for a proper installation and use of the IDMA servodrive The IDMA drives are designed to be easily installed it is not necessary any specific skill concerning servodrives to start it Anyway the installer should have basics of electronics electrotechnics of servodrives and of safety The IDMA is a digital servodrive which can be configured via software as a computer according to the application requirements It is recommended to read carefully the manual before the installation After the installation and before starting up the motor it is also recommended to check all the system parameters to ensure a correct system configuration Particular attention must be used to safety instructions IDMA INSTALLATION MANUAL rev 1 INDEX 1 5 1 2 ACCIDENT PROTECTION The safety instructions provided in this Manual are included to prevent injury to personnel WARNINGS or damage to equipment CAUTIONS See Section 5 for safety instructions related to the Restart Interlock Function WARNING High Voltage Device can have voltage 2810Vdc
8. Tests have been made in an independent test house The installer of the drive is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be used We recommend filtering as per par 3 2 and wiring grounding and screening as per par 3 3 and 3 4 3 2 FILTERING 3 2 1 FILTER TYPES The following filters are recommended Trade mark Rated Current Max Voltage A Vac at 50 C 40 C at 50 C Er ME 2 250 24 input 2070 M Schaffner 30 34 3 x 480 Input Line FN 258 30 33 IDMA INSTALLATION MANUAL rev 1 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 reference to the specific filter attenuation data versus the size 3 2 3 FILTER DIMENSIONS Top View Side View L1 L5 L2 row eae PETET Tugu Tawa kg Schaffner 156 Te P 5 a 5 i 4 Wires Wires 0 73 FN 2070 12 07 140mm 140mm Schaffner 35 305 terminal terminal FN 258 30 33 block block IDMA INSTALLATION MANUAL rev 1 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 3 3 2 4 FILTER INSTALLATION The filter must be moun
9. the standard SW channel Moreover the architecture of all the circuit parts external to the drive which are involved in the safety function must be compliant with category 3 of EN 954 1 EN ISO 13849 1 The Restart Interlock function is included in the drive and allows to not power off the drive and to skip the standard restart procedure The Restart Interlock safety function prevents motor unexpectedly starting from standstill This circuit can be used in the Safe Standstill machine function The Restart Interlock function can be used to provide a controlled stop according to category 1 of EN 60204 1 1997 but the condition of motor stopped must be assured before the IGBT PWM Enable signals are switched off The controlled stop function is not a safety function When the intervention time of the safety devices can be set up appropriate precautions must be adopted to limit the use only to qualified personnel The intervention time of the restart interlock safety function must be higher than the bracking time of the deceleration ramp set by the drive with the maximum speed and the maximum load at the axis When active the restart interlock function does not provide any more an output torque and the motor is free to rotate Adequate protections must be provided when external forces act on the axis e g gravity force on vertical axes as a self locking mechanical system or a weight equalization system The restart interlock function does
10. 1 Module Enable 1 gt 0 Module Enabled after a delay of max 500 ms 0 When monitoring a wrong signal status the line contactor must disconnect the drive supply see par 5 6 An error message must be available to make the malfunction of the safety circuit visible WARNING In case of malfunction the whole safety circuit need to be checked by qualified personnel taking into account the necessary safety procedures IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 7 5 5 RESTART INTERLOCK CONNECTIONS The restart interlock circuit is controlled using the J1S connector on the front panel elelelelelelelelal o O Note pin 1 is marked with the symbol Tab 5 1 Module J1S Connector RIC Restart Interlock Circuit Panel side socket 9 contacts series EMC 1 5 9 GF 3 81 by Phoenix Moog code AK5870 Wiring side cable connector 9 contacts series FK MCP 1 5 9 STF 3 81 by Phoenix Moog code AK4809 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 0V 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 d
11. 24Vdc pos 1 terminal for Channel 2 pos 2 terminal for Channel 1 pos 3 terminal for both Channels When the Channel 2 relays are de energized the 8 9 terminals are closed circuit and the Restart Interlock Channel 2 is activated When the Channel 1 relays are de energized the 6 7 terminals are closed circuit and the Restart Interlock Channel 1 is activated The 4 5 signal contact open actives the Interlock System WARNING this circuit must be protected against overload and short circuit using a fuse rated max 2A 5 6 SAFETY RELAYS TECHNICAL DATA Input coil RL1 and RL2 Pnom 200 mW Inom 8 3 mA Vnom 24 Vdc Pick up voltage 8 4 Vdc Drop out Voltage 1 2 Vdc Resistance 2 880 Q Vmax 36Vdc NO Contact RL1 and RL2 Imax 3 Adc Vmax 30 Vdc NC Contact RL3 and RL4 Rmax 100 24 Imax 3 Adc Vmax 30 IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 9 5 7 SEQUENCE AND PROCEDURE USING THE RESTART INTERLOCK The motor must be stopped before Channel 1 door and or Channel 2 door are inhibited and the Restart Interlock is activated WARNING If a fault occurs when actuating the Restart Interlock then this fault must be removed before the mechanically isolating protective guards to the working zone of the machine or plant are opened After the fault has been removed this procedure must be repeated for the Restart Interlock Under
12. AT DC Bus short circuit Resistor 2 3 4 2 Panel Terminal Blocks 6 x PHOENIX type 16 Notes for Terminal Blocks Tightening torque 2 Nm 18 Ib in Wire stripping length 16 mm 0 63 in Note Consult Moog Service Centers to size and use an external DC BUS short circuit Resistor IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 9 X1 X2 X3 X4 X5 X6 Connectors Motor Power Position Function U2 phase Three phase motor output 2 V2 phase Three phase motor output W2 phase Three phase motor output Ground Note Position 1 is marked with the symbol m Mating connector 4 pins MOLEX type 42816 0412 cod MOOG AK4990 terminals MOLEX type 42815 0031 cod AK9062 terminals MOLEX type 42815 0041 cod MOOG AK9068 Notes on cabling X1 X2 X3 X4 X5 X6 MOLEX Connectors The relevant contacts Molex type 42815 0031 and Molex type 42815 0041 are supplied together with the mating power connectors These contacts are sized for 8 AWG cable with a 10 mm wire stripping terminals MOLEX type 42815 0031 14 to 16 AWG cable with a 10 mm wire stripping terminals MOLEX type 42815 0041 The crimping does not include the insulation sheath It is recommended the use of a Molex crimping tool type 63814 0000 or Molex type 63811 1500 or equivalent As an alternative it is possible to weld the contacts taking c
13. INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 17 5 13 RIC LABEL The restart interlock circuit is identified by a label which indicates the axis or the axes that are protected by this safety circuit The axis or the axes that are protected are identified by a cross in the proper box In case of damage or breakaway the label must be placed again in the position indicated in the following pictures Fig 5 7 RIC label RESTART INTERLOCK CIRCUIT AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6 IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 18 5 14 RIC LABEL POSITION Fig 5 8 RIC label position Pie a FF ifr IDMA INSTALLATION MANUAL rev 1 COMPANY WITH INTEGRATED MANAGEMENT SYSTEM CERTIFIED BY DNV 150 9001 150 14001 Australia Austria Brazil Fi China Finland France Germany India Ireland Italy Japan Korea Luxembourg Norway Russia Singapore South Africa Spain Sw eden United Kingdom USA MOOG Moog Italiana S r l Casella Ste Via Avosso 94 16015 Casella Genova Italy Telephone 39 010 96711 Fax 39 010 9671280 For the location nearest to you contact www moog com worldwide GB 4563 PRINTED IN ITALY MOOG Italiana Srl reserves the right to alter any dimensions or data without prior notice
14. 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 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 4 11 7 4 of EN ISO 12100 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 IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 9 13 5 11 APPLICATION EXAMPLE Fig 5 5 Block Diagram Application Example 22 21 a 22 ma 31 222222 2222277200 200 Ei 4 E24 gt Door Verification Control amp Verification Rear Gate gt Door Verification gt Door Verification Ta ri gt Door Verification E24 gt Door Verification 21 22 X d CAN Bus Module Enabled PEERS Module Enable gt Channel 2 Verification amp iqeu m 5 T ib E 3 Fron
15. cod 17D TZK 9K cod MOOG AK5234 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 19 J1A J1B J1C Connectors Analog Outputs Position Function Analog output 1 referred to ANALOG GND 10 V range Analog output 2 referred to ANALOG GND 10 V range Analog Ground for pin 1 2 Spare 1 Spare 2 Spare 3 Spare 4 OUT A ANL 0070 SPARE SPARE 2 SPARE_3 SPARE_4 2 KT I e Lot Cx LL Era Mating connector 7 pins PHOENIX type FK MC 0 5 7 ST 2 5 cod 1881370 cod MOOG 4 717 IDMA INSTALLATION MANUAL rev 1 2 20 SECTION TWO WIRING AND INSTALLATION J2A J2B J2C Connectors Digital Input Output Position Function Digital input signal 1 opto isolated STATEO OVto 5V 5 STATE 1 11V to 24V 596 Digital input signal 3 opto isolated Digital input signal 4 opto isolated Z input 1 6 kQ Digital input common for DI 1 4 6 Digital output signal 1 opto isolated Digital output signal 2 opto isolated 18 Digital output signal opto isolated dmm V nom 24V V 30V M m 9 Digital output signal 4 opto isolated Z output 1 Digital output common for DO 1 4 ANGIN an l T AIN T No l
16. 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 after the intervention of the Restart Interlock There is a wrong Module Enabled signal status There is a fault in the external control circuit itself There is a fault in the signal lines of the verification contacts All the drives associated with the machine plant must be disconnected and isolated from the line supply through the line contactor The de energized status of the contactor must be monitored WARNING the line contactor must have a NC contact linked to safety NO contacts If the Restart Interlock control has been correctly integrated into the external safety related drive control and has been checked to ensure correct functioning then the drives in the separate working zone of the machine are protected against undesirable starting and personnel can enter or operate in the hazardous zone which has been defined CAUTION where the equipment requires manual intervention the relevant regulations must be taken into account IDMA INSTALLATION MANUAL rev 1 5 10 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 8 ANTI FREEWHEELING STOP FUNC
17. 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 IDMA INSTALLATION MANUAL rev 1 SECTION ONE DESCRIPTION 1 1 1 DESCRIPTION 1 1 INTRODUCTION IDMA 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 full digital 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 diagnosis 1 2 GENERAL FEATURES built in power supply digital control loops sinusoidal current waveform 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 fro
18. 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 disconnecting device secured on the open position 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 Personnel must be aware that Bus Bar s can have dangerous voltage even after switching off capacitive voltage and the discharge time is approx 6 minutes When correctly used the restart interlock function must be looped in the line contactor circuit in order to switch off the power supply of the axis in case of fault The associated drive must be electrically isolated from the supply if the restart interlock relay function is not plausible input and output not compatible Only after the fault has been removed the restart interlock and the associated operating mode may be used again IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 3 5 3 SAFETY REQUIREMENTS e Controlled Stop Time The final machine must be able to stop the motors in less than 420 ms The hazard risk assessment of the application must demonstrate that within this time persons cannot be injured The drive can provide the Anti Free Wheeling function to perform the controlled stop e Free Wheeling Detection The external system must be able to detect free wh
19. of category 3 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 Installation s Manual Piacenza 01 08 2006 via Paolo Belizzi 29 31 33 29100 Piacenza Italy tel 39 0523 609585 fax 39 0523 591300 e mail info icepi com web site www icepi com IDMA INSTALLATION MANUAL rev 1 INDEX 1 13 8 SAFETY REQUIREMENTS RESTART INTERLOCK FUNCTION Controlled Stop Time The final machine must be able to stop the motors in less than 420 ms The hazard risk assessment of the application must demonstrate that within this time persons cannot be injured The drive can provide the Anti Free Wheeling function to perform the controlled stop Free Wheeling Detection The external system must be able to detect free wheeling when the axis does not stop within 420 ms after the Module Enable signal goes away This system must have the actual 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 measures are needed to achieve a safe condition Environmental Conditions Equipment intended to operate within the following environmental conditions Ambient temperature 0 to 40 C 9 EMC immunity according to EN 6
20. r l Casella Site Via Avosso 94 16015 Casella Genova Italy Fax Number 010 9671283 E mail drolla moog it Reference File E194181 Vol 1 Sec 1 2 4 Project 06 22661 P O Number 06170374 Subject Industrial Control Equipment Listed Power Conversion Equipment NMMS NMMS7 cULus New Report for Open Type Brushless A C Motor Servo Drives IDMA Series Vol 1 Sec 4 Revised Report for Open Type Brushless Motor Servo Drives DS 2000 Series Size A B C D E Vol 1 Sec 1 Revised Report for Open Type Brushless Motor Servo Drives DBS Series IDBS Series with Options PDBS Series PDBS Series with Options PDBS Series 230 Vac Input with or w o Options DBS Series 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 4 This author
21. 1800 3 A11 2000 and to EN 61800 3 2005 Vibration 2 to 9Hz 3 0 mm amplitude peak 9 to 200Hz 1 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 The equipment shall be installed 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 When the Restart Interlock Circuit is activated the motor can no longer generate a torque Motors which are not automatically clamped when powered down e g vertical inclined axes must be clamped using a mechanical brake IDMA INSTALLATION MANUAL rev 1 1 14 INDEX 1 9 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
22. 2 UN 4 a Ge sl ot t 9 M J g t si A S 9 7 2 gt Q t a M 4 i g A V X t amp t B __ q _ 9 25 gi mes P 3 uit X A alaa ie T Se e NG 1 24Vdc power supply cable 2 Motor power cable only axis 1 shown 3 4 cable only axis 1 shown 5 Restart Interlock cable NOTE Sub D 24Vdc fans X Bus Ethernet DC Bus short circuit resistor cable and unshielded cables not shown NOTE It is not necessary to shield the input power wires IDMA INSTALLATION MANUAL rev 1 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 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 cables 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 crossing of the cabinet should be accomplished with low impedance connection between cable shield and enclosure a connector is not involved the shor
23. 7 see Fig 5 6A test the RIC according to Par 5 9 Checking the restart interlock place the RIC label in the position indicated in the following figures and mark with an indelible pen the axis or the axes protected Fig 5 6A RIC installation Sl 2 ASSEMBLY INSTRUCTIONS 1 Verify the proper SAFETY configuration On the R I C label the axes protected by the safety circuit must be cross marked 2 Insert the card in the reserved slot 3 Tighten the screws tightening torque 2Nm 10 4 Connect the appropriate cable to connector JIS IDMA INSTALLATION MANUAL rev 1 5 16 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional There is only one safety board for all axes To protect one axis with the restart interlock circuit the proper JSx jumper must be mounted and the related JRx jumper not mounted If one axis does not need the Restart Interlock function the proper JSx jumper must not be mounted and the related JRx jumper mounted oee the following figure Fig 5 6 RIC jumper selection JRE 156 RESTART INTERLOCK FUNCTION IT T axs IT MOOG API330B JR4 484 JR3 53 IL T JR2 452 451 AKI 401 __ NOT MOUNTED AND MOUNTED JSx IF USED SAFETY INTERLOCK NOT MOUNTED JSx AND MOUNTED IF NOT USED SAFETY INTERLOCK IDMA
24. DEX 1 3 EC DECLARATION OF CONFORMITY CENELEC EC DECLARATION OF CONFORMITY The undersigned representing the following manufacturer MOOG ITALIANA S r l Casella Site Avosso 94 Casella Genova herewith declares that the products Complete Drive Modules series IDMA are in conformity with the provisions of the following EC directives including all applicable amendments ref n title 189 336 Eh 50178 61800 3 1996 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods 61800 3 11 2000 Amendment 11 amm EN 61800 5 1 2003 Adjustable speed electrical power drive systems Part 9 1 Safety requirements Electrical thermal and 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 06 Casella 19 July 2006 heau A Bazurro PRODUCTION MANAGER DEC IDA Casella DOC MDD 299PMATDG IDMA INSTALLATION MANUAL rev 1 INDEX 7 1 4 EC REQUIREMENTS e Cautionary Marking See Accident Protection page e Protection against electric shock
25. Electronic Equipment intended for installation in closed electrical operating areas kept locked The lock shall be only opened by authorized person and the access only allowed to skilled persons whilst energized Where the equipment requires manual intervention 412 2 1 of HD 384 4 41 S2 shall be consulted e Fixed connection for protection The equipment may have a continuous leakage current of more than a c 3 5 mA or d c 10 mA in normal use and a fixed ground connection is required for protection e RCD When the protection in installations with regard to indirect contact is achieved by means of an RCD their appropriate function combination shall be verified In any case only a residual current operated protective device RCD of Type B is allowed In fact a d c component can occur in the fault current in the event of a fault connection to earth e 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 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 EMC Requirements The installer of the equipment is responsible for ensuring compliance
26. IO 0 IO 1 0 IU 3 104 IO 6 0 7 8 1049 IO 10 ID 11 00 JE l E no e IQ 12 13 14 10_15 IO 16 10_17 10_18 19 IO IRQI ID BUSY C LI 2 2 C ea x N re Mating connector 26 pins MINI D type HARTING cod 60 13 026 5200 cod MOOG AK5831 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 17 J5 Connector Dual CAN Bus 2 low differential 2 signal 6 OViogiccircuit 0 8 CAN 2 high differential CAN 2 signal 0 9 Not Connected S O CANHIZTXDI U 7 aa a lt L CI DUAL Mating connector 9 pins Sub D cup connector HARTING cod 09670094704 cod MOOG AK4751 hood AMPHENOL cod 17D TZK 9K cod MOOG AK5234 IDMA INSTALLATION MANUAL rev 1 N 18 SECTION TWO WIRING AND INSTALLATION J6 Connector Serial Interface RS232 RS485 Position Function Not Connected RXD data receive input T XD data transmit output DTR data terminal ready 0 V logic circuit DSR data set ready Not Connected Not Connected 9 NotConnected a 485 4 RIDUT TxD ese ReOUT 4 RIOUT b ese Roce too TEIN ReouT UCE GND SERIAL Mating connector 9 pins Sub D cup connector HARTING cod 09670094704 cod MOOG AK4751 hood AMPHENOL
27. L cod 17D TZK 9K cod MOOG AK5234 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 23 Fig 2 6 Resolver Wiring MOTOR CONNECTOR J4A J4B JAC CONNECTORS pair SUB D 9 CONTACTS PTC vat PTC 10kHz AA ra A 10kHz 10kHz lt 2 lt 2 lt 2 b dr de d 10kHz Shield grounding of shield via grounding of shield via connector shell connector clamp RESOLVER CONNECTOR DRIVE SIDE MOTOR SIDE FAS T FAS FAS W FAS N optional 10kHz gt 7 Tab 2 6 Resolver Connector IDMA INSTALLATION MANUAL rev 1 2 24 SECTION TWO WIRING AND INSTALLATION Note For other motors connectors make reference to the motor catalogue too Each IDMA module Master Slave can be connected up to 3 resolvers IDMA Slave Module see Fig 2 5 and Tab 2 5 IDMA Master Module see Fig 2 5 and Tab 2 5 Figure 2 6 shows the wiring lay out of the resolver with differential output We recommend to use 4 pair cables each pair twisted and individually shielded with an independent overall shield 20 AWG 0 60 or 22 AWG 0 38 wire with low Capacitance can be used We suggest to use ground connections as shown in Fig 2 6 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
28. MOOC IDMA INSTALLATION MANUAL rev 1 GB 4563 INDEX 1 INDEX OF REVISIONS O Jul06 Preliminary Release UL approval 6 axes standard 1 5 1 6 1 7 1 8 correct miscellaneous errors 1 9 1 5 1 7 1 7 1 2 10 1 2 10 3 2 10 3 1 2 10 4 2 10 4 1 2 10 4 2 5 9 5 12 5 14 Fig 1 1 1 1A 1 2 1 3 2 1 2 2 2 5 2 6 3 3 5 6 5 8 IDMA INSTALLATION MANUAL rev 1 2 INDEX INDEX OF CONTENTS INDEX Using the manual Accident protection EC declaration of conformity EC requirements UL authorization UL requirements SAFETY certificate SAFETY requirements Restart Interlock Function Legal aspects SECTION 1 Introduction Description General features Options Dimensions and drilling jig Technical data Interfaces Markings SECTION 2 Fuses Wiring and installation ooft start Hecovery circuit Dynamic braking circuit Fans Display Led s Reset button Rotary switches Axis identifier Wiring SECTION 3 European directive 89 336 EEC Electromagnetic compatibility Filtering EMC Wiring and grounding External DC Bus short circuit resistor Motor choke ocreening oafety aspects SECTION 4 Fault Related To Input Power Supply Section Protections Fault Related To Drive Module Section IDMA INSTALLATION MANUAL rev 1 4 1 4 2 SECTION 5 Restart Interlock Circuit RIC INDEX Intended application Restart interlock function Safety requirements Restart interlock circuit
29. ON MANUAL rev 1 5 4 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 4 RESTART INTERLOCK CIRCUIT The Restart Interlock Function is provided by three redundant interlocking devices with mutual observation acting on the input power as well as on the signal path to the power control systems 5 4 1 INTERLOCKING SYSTEM I AND Il Interlocking System and Interlocking System are 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 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 max 700 ms 1 The same applies to Channel 2 When monitoring a wrong signal status the line contactor must disconnect the drive supply see par 5 6 An error message must be available to make the malfunction of the safety circuit visible WARNING In case of malfunction the whole safety circuit need to be checked by qualified personnel taking into account the necessary safety procedures IDMA INS
30. Restart Interlock function operates via hardware with two relays with forcibly guided contacts approved by TUV according to EN 50205 which interrupt the auxiliary power supply to the IGBT drivers and via software by blocking the generation of PWM pulses As a result of a risk analysis and evaluation which must be carried out according to the Machinery Directive 98 37 EC modified and referring to standards EN ISO 12100 1 EN ISO 12100 2 EN 954 1 EN ISO 13849 1 and EN 1050 and if it exists the product standard e g EN 775 safety requirements for robots the machinery manufacturer must configure the safety circuit for the complete machine taking into account all of the integrated components of the safety chain including the electric drives The principle to achieve category 3 safety is mainly characterized by structure which is strictly connected to the consequences of the loss of the safety function and to the risk of a specific application The greater the reduction of risk is dependent on the circuit parts then the performance level of these parts is required to be higher IDMA INSTALLATION MANUAL rev 1 5 2 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional For example the product standard EN201 A2 2005 related to injection moulding machines with electrical axes specifies for the axis for the horizontal movement of the platen fig G3 the use of both the relays in order to have two independent hardware channels in addition to
31. TALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 5 Fig 5 1 Restart Interlock Circuit TO MOTHERBOARD 151 _ 1 2 3 5 6 ETHER KRA NOT NOUNTED JRx AND MOUNTED JSx IF USED SAFETY INTERLOCK STANDARD NOT MOUNTED JSx AND MOUNTED JRx IF NOT USED SAFETY INTERLOCK 16 JUR FINDER SERIES 30 24U IDMA INSTALLATION MANUAL rev 1 5 6 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 4 2 INTERLOCKING SYSTEM Iil 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 Enabled becomes low The Module Enabled signal feedback is available over the CAN Bus J5 connector Fig 5 2 Interlocking System Module Enable Micro Processor rpm stop Axis 1 6 IGBT PWM enable logic DC BUS PWM Logic for Axis 1 6 HOO 2 DOL Module Enabled CAN For observing Interlocking System the input signal Module Enable and the output signal Module Enabled must be checked to have the appropriate status under the following conditions Module Enable 0 Module Enabled 0 Module Enable 0 gt 1 Module Enabled after a delay of max 50 ms 1 Module Enable 1 Module Enabled
32. TION 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 must be still alive also in case of power shut down Therefore an UPS system is required to provide the 24Vdc auxiliary power supply to the drive for at least 1 s WARNING the Anti Freewheeling Stop Function is not a safety function 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 measures are needed to achieve a safe condition Integrated in the Restart Interlock function the Anti Freewheeling Stop Sequence is e closed safety gate is opened while the motor is still moving e he Module Enable signal is then switched off via the axis enable signals 4 5 contacts of connector J1S e he microprocessor latches the stop request and performs a controlled antifreewheeling Stop e Also the hardware timer starts to provide the extra min 500 ms to allow the braking e he IGBT are turned off via software Interlocking System III when the motion has stopped but at the latest within 420 ms to allow the switching off of PWM logic for the IGBTs e The output signal Module Enabled switches off e he hardware timer elapses and the power supply to the IGBT is tur
33. able Serial DC BUS low and Aux External Contact K3 4 cable I O 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 Fig 3 1 Grounding Of Shield Without Connector IDMA INSTALLATION MANUAL rev 1 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 5 Fig 3 2 Grounding Of Shield To Connectors At Motor Side cable shield metal shell RRA 4 GIDL 522 KANGA shield must be clean and clamp motor power connector and tightened encoder or resolver connector 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 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 IDMA INSTALLATION MANUAL rev 1 3 6 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC Fig 3 3 Example Grounding At Drive Side
34. ance with translations or in determining which markings are appropriate for your product Products produced which bear the UL Listing Mark shall be identical to those 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 UL or any authorized licensee of UL Sincerely 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 organizalion working for a safer world with integrily precision and knowledge Sede legale e laboratorio 2 1 Predda Niedda Nord st 18 l 07100 Sassari Italia lscritta al Reg Impresa di Sassari n 8101 98 Iscritta alla CCIAA REA di Sassari al n 126205 C F e P IVA 01796660908 IDMA INSTALLATION MANUAL rev 1 1 10 INDEX 1 6 UL REQUIREMENTS e These Brushless Servo Drives shall be assemble
35. are of folding the contact wirings After the crimping or welding the contact must be inserted into the mating connector following the proper direction and must be kept in position by the TPA Terminal Position Assurance jumper as shown in following figure Fig 2 4 Molex connector fixing IDMA INSTALLATION MANUAL rev 1 2 10 SECTION TWO WIRING AND INSTALLATION FANS Connector 24 Fan Unit Supply 1 24 Power Supply Input Mating connector 2 pins PHOENIX type FK MCP 1 5 2 STF 3 81 cod 1851232 cod MOOG AK4810 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 11 J24V Connector 24V Power Supply Position Function 24 Vac Power Supply Input deu to FRUM PS AUX Mating connector 2 pins PHOENIX type 2 5 2 ST 5 08 cod 1873058 cod AK4808 J2 Connector Power Supply Control Signals Function Output Common 24 VDC Output DC Bus low signal Input DC Bus keep charged 24 VDC Input Common 0 V lt 5UC AT SIGNAL DC BUS LON En 4 CONTACT K3 AT REC C Ce c co c Ce CL 5 Dr Ci cC Mating connector 4 pins PHOENIX type FK MC 0 5 4 ST 2 5 cod 1881341 cod MOOG AK4714 IDMA INSTALLATION MANUAL rev 1 2 12 SECTION TWO WIRING AND INSTALLATION J6 Connector Serial In
36. ation 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 IDMA drives have these capacitors and Schaffner filters also include them These capacitors conduct current from phase to earth this can be in the order of hundreds of milliamperes WARNING appropriate safety measures should be taken to ensure that this potentially dangerous current flows to earth CAUTION it is recommended to disconnect the drive and the EMC filters to carry out the AC Voltage Tests of EN 60204 1 1997 par 19 4 in order to not damage the Y type capacitors between phases and ground Moreover the DC voltage dielectric test required by EN 50178 1997 product family standard has been carried out in factory as a routine test The DC Insulation Resistance Tests of EN 60204 1 1997 par 19 3 may be carried out without disconnecting the drive and the EMC filters IDMA INSTALLATION MANUAL rev 1 SECTION FOUR PROTECTIONS 4 1 4 PROTECTIONS 4 1 FAULT RELATED TO INPUT POWER SUPPLY SECTION Recovery not ok or wrong input sequence in the IDMA Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition when recovery circuit is active for longer than 2 s or recovery resistor is brok
37. button on the CPU card re initializes the system oee Fig 2 5 2 9 ROTARY SWITCHES AXIS IDENTIFIER The rotary switches identify the first axis of the module The switch of the master module must be set to 4 and the switch of the slave module to 1 oee also IDMA User s Manual and fig 2 5 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 3 2 10 WIRING 2 10 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 IDMA Power Unit Mod 1 Connector Cable AWG Section Notes LINE Line Power 10AWG DBU DC Bus short circuit Resistor IDMA Control Unit Connector Cable AWG Section Notes Ethernet 26 AWG shielded J2 X Bus 28 AWG shielded Dual CAN Bus 20 22 AWG _ shielded Serial Interface RS232 RS485 20 22 AWG shielded Restart Interlock Function 16 AWG shielded Tab 2 3 Sizing of Wires shielded with each pair twisted and individually shielded with an independent overall shield IDMA INSTALLATION MANUAL rev 1 2 4 SECTION TWO WIRING AND INSTALLATION 2 10 2 AWG mm CONVERSION AWG 28 0 08 Tab 2 4 bed conversion IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 5 2 10 3 IDMA POWER UNIT CONNECTORS Fig 2 1 IDMA Power Unit Connectors position Front view X6 to Motor 6 X3 to Motor 3 e
38. cate Costrilibre MOOG Italiana S r l sede di Casella Via Avosso 94 16015 CASELLA GE Servoazionamento digitale circuito di interblocco al riavvio Genere prodotto Product designation Digital servodrive restart interlock circuit Servoazionamento serie IDMA scheda opzionale Restart Interlock Circuit Serie Opzione Series Y Option Servodrive series IDMA optional board Restart Interlock Circuit Interblocco riavvio protezione contro l avvio Funzione di sicurezza inaspettato Safety function Restart interlock protection against unexpected start Direttiva e CE Norma e armonizzata e 3 EC Directive s Harmonized standard 98 37 CE Macchine UNI EN 954 1 1998 L esame del Fascicolo Tecnico permette di dichiarare che la funzione di sicurezza interblocco al riavvio del servoazionamento serie IDMA con scheda opzionale Restart Interlock Circuit rispetta i requisiti della categoria 3 definita nella norma armonizzata UNI EN 954 1 1998 servoazionamenti devono essere installati come descritto nel Manuale di Installazione condizioni ambientali e interfaccia con il sistema di controllo W Risultato dell esame Examination result Following the examination of technical construction file we can declare that the safety function restart interlock of servodrive IDMA series with optional board Restart Interlock Circuit complies with the provisions
39. d with the guidelines specified in this Manual Only the configurations with the components tested and described in the UL Report file E194181 Vol 1 Sec 4 can bear the Listing Mark e These drives shall be used within their ratings as specified in the marking of the equipment e Cautionary Marking See Accident Protection page e Duty Cycle The maximum continuous Drive output Power shall be limited to 12kVA According to this reason the Drive shall be used with a Duty Cycle as specified in the marking of the equipment Surrounding Air Temperature Maximum Surrounding Air Temperature 40 C 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 Environment e Environmental designation Open Type Equipment e Short Circuit Ratings Equipment suitable for use on a circuit capable of delivering not more than 5000 rms Symmetrical Amperes 480 Vac 10 maximum e Branch Circuit Protection The Branch Circuit Protection for Short Circuit shall be provided in the end use applications by external R C Fuses JFHR2 manufactured by Bussman Div Cooper UK Ltd Semiconductor fuse type rated 660 Vac 200 A I C 160A 4600 A sec Mod 160 FEE Fuses by other manufacturers can also be used provided that fuses are UL Listed or Rec
40. devices e g by opening the protective doors while the drive is running Check that the motor is braked in a time lt 420 ms and that the Restart Interlock function will be activated after the stops 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 8 9 and 6 7 of J1S connector The timing chart of the antifreewheeling function must be verified see Fig 5 3 For all of the simulated fault situations the line contactor must disconnect all the machine or plant drives from the line supply The correct starting sequence shown in Fig 5 4 must be checked to verify external faults e g wiring short circuit at terminals Channel Verification 6 7 and 8 9 Fig 5 4 Starting Sequence Timing Chart max 100 ms max 50 ms door closed Axis Enable from PLC Module Enabled CAN Channel 1 2 Verification IDMA INSTALLATION MANUAL rev 1 9 12 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 10 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 420 ms after the Module Enable signal
41. ect see the IDMA User s Manual Reset condition see the IDMA User s Manual IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 1 5 RESTART INTERLOCK CIRCUIT Optional 5 1 INTENDED APPLICATION The safety function Restart Interlock is made by the internal board Restart Interlock Circuit RIC and can be requested as an option The RIC optional card can be installed only on Moog drives IDMA series The installation of the card on other drives or the use not according to this Manual is regarded as inappropriate use 5 2 RESTART INTERLOCK FUNCTION The restart interlock safety function by Moog has been validated compliant with the provisions of category 3 as defined in the harmonized standard EN 954 1 1996 by demonstrating that asingle fault does not lead to the loss of the safety function e some but not all possible faults can be detected e the accumulation of undetected faults can lead to the loss of the safety function The remaining risk is in this case when two errors faults occur simultaneously in the power section the motor briefly rotates through a small angle 6 pole motor 60 8 pole motor 45 12 pole motor 30 16 pole motor 22 5 The drive controls the movements of an AC three phase motor via the generation of a rotating magnetic field To do this the microprocessor generates a complex model of pulses which are amplified and used to drive the power semiconductors The
42. eeling when the axis does not stop within 420 ms after the Module Enable signal goes away This system must have the actual 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 measures are needed to achieve a safe condition e Response time The maximum response time of the Restart Interlock function is 700 ms e Environmental Conditions Equipment intended to operate within the following environmental conditions Ambient temperature 0 to 40 C 9 EMC immunity according to EN 61800 3 A11 2000 and to EN 61800 3 2005 9 Vibration 2 to 9Hz 3 0 mm amplitude peak 9 to 200Hz 1 g acceleration 9 Shock 10 g half sine 6 ms e Enlosure Electronic Equipment intended for installation in an enclosure providing at least IP54 protection e Pollution Degree 2 The equipment shall be installed in a pollution degree 2 environment where normally only non conductive pollution occurs Occasionally however a temporary conductivity caused by condensation is to be expected when the electronic equipment is out of operation e WARNING When the Restart Interlock Circuit is activated the motor can no longer generate a torque Motors which are not automatically clamped when powered down e g vertical inclined axes must be clamped using a mechanical brake IDMA INSTALLATI
43. elay 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 oeries 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 Disabled signal redundancy verification NC contact of the safety relay of Channel 2 Feedback of RIC Verification When closed high the Restart Interlock function is active The external verification system must monitor this output signal for plausibility with its input signal and for comparison with the status of Channel 1 and Module Disabled signal redundancy verification IDMA INSTALLATION MANUAL rev 1 5 8 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional Wiring practice The external cable to RESTART INTERLOCK connector must be protected against mechanical damages according to the safety requirements of EN ISO 13849 2 2003 tab D 4 prEN 954 2 in order to prevent short circuits The Restart Interlock relays are controlled using the external
44. en Effect see the IDMA User s Manual Reset condition see the IDMA User s Manual Power supply overtemperature Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition when a limit temperature is reached Effect see the IDMA User s Manual Reset condition see the IDMA User s Manual IDMA INSTALLATION MANUAL rev 1 4 2 SECTION FOUR PROTECTIONS 4 2 FAULT RELATED TO DRIVE MODULE SECTION Resolver not ok Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual 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 see the IDMA User s Manual Reset condition see the IDMA User s Manual Motor over temperature Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition when a limit temperature is reached inside the motor Effect see the IDMA User s Manual Reset condition see the IDMA User s Manual Notes the fault information is resetted when the motor temperature goes down the limit while the drive is disabled Power fault Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition 1 When a short circuit is detected be
45. equal or lower IDMA drive model Fuse type _ note 160FEE Tab 2 1 Three phase recommended fuses 2 1 2 24Vac POWER SUPPLY It is recommended the Short Circuit protection in the final application using external delayed fuses IDMA drive model Fusetype note 10 A Delayed Tab 2 2 24 recommended fuses 2 2 SOFT START The soft start circuit current limit at start up is included in the drive input stage 2 3 RECOVERY CIRCUIT IDMA drive has internal recovery resistor 2 4 DYNAMIC BRAKING CIRCUIT It is recommended to size the resistor of the dynamic braking circuit according to the application the standard value for most applications is 10 100W IDMA INSTALLATION MANUAL rev 1 2 2 SECTION TWO WIRING AND INSTALLATION 2 5 FANS 2 5 1 POWER UNIT Two built in fans powered by an external 24V supply mounted under the drive provide IDMA drive ventilation CAUTION A free air circulation must be ensured for a proper operation 2 5 2 CONTROL UNIT Two built in fans powered by an internal 24V supply mounted over the drive provide IDMA drive ventilation CAUTION A free air circulation must be ensured for a proper operation 2 6 DISPLAY The display output is application software specific For the definition see IDMA User s Manual See Fig 2 5 2 7 LED S The Led s are application software specific For the definition see IDMA User s Manual See Fig 2 5 2 8 RESET BUTTON The RESET RST
46. 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 connect CAUTION it is recommended to disconnect the drive and the EMC filters to carry out the AC Voltage Tests of EN 60204 1 1997 par 19 4 in order to not damage the Y type capacitors between phases and ground Moreover the DC voltage dielectric test required by EN 50178 1997 product family standard has been carried out in factory as a routine test The DC Insulation Resistance Tests of EN 60204 1 1997 par 19 3 may be carried out without disconnecting the drive and the EMC filters CAUTION when required for an emergency stop opening U2 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 do not exceed the tightening torque of the table but see proper data sheets for the tightening torque of input capacitors and power modules and see Section 2 of this Manual for the tightening torque of terminal blocks Screw Tightening torque Thread Nm Ibin _ M5 600 5310 IDMA INSTALLATION MANUAL rev 1 6 IN
47. goes away The information about the motor velocity is available via the CAN Bus J5 connector Channel 1 verification The external system must monitor this output signal for plausibility with its input signal see par 5 4 1 and for comparison with the status of Channel 2 and with the status of Module Enabled redundancy verification Channel 2 verification The external system must monitor this output signal for plausibility with its input signal see par 5 4 1 and for comparison with the status of Channel 1 and with the status of Module Enabled redundancy verification Module Enabled The external system must monitor this output signal for plausibility with its input signal see par 5 4 2 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 he 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 5 3 and starting Fig 5 4 sequence Wiring requirements to avoid common mode failures The external cable to RESTART INTERLOCK connector must be protected against mechanical damages according to the safety requirements of EN ISO 13849 2 2003 tab D 4 prEN 954 2 in order to prevent short circuits
48. has stopped after max 420 ms the IGBT are turned off This must be cyclically monitored Refer to par 5 8 and 5 9 for the detailed timing chart second shutdown path the energy from to the motors is disconnected via Channel 1 Shutdown is realized via REL2 2 3 pos of J1S connector and REL4 The contact of the Restart Interlock relay via 4 5 pos of J1S switches off the Module Enable input signal The antifreewheeling stop function is activated and both the software Interlock System 111 and hardware Interlock System timer start When the motion has stopped after max 420 ms the IGBT are turned off This must be cyclically monitored Refer to par 5 8 and 5 9 for the detailed timing chart The drive is shutdown e g when stopping in an emergency as a result of fault messages signals from the drive system or the Restart Interlock monitoring when a fault condition develops For an EMERGENCY STOP the drives are stopped in Stop Category 1 according to EN 60204 1 1997 9 2 2 Controlled stopping the energy feed is interrupted when the drive has come to a standstill IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 15 5 12 INSTALLATION AND ROUTINE TEST The restart interlock circuit RIC is installed and tested in Moog when ordered with the drive When the restart interlock circuit is ordered as separate item the user has to install the RIC according to the Moog drawing CA4373
49. ization applies only to the address on this letter An independent organizalion working for a safer world with integrity precision and knowledge re Sede legale e laboratorio 2 1 Predda Niedda Nord st 18 07100 Sassari Italia Iscritta al Reg Impresa di Sassari 8101 98 Iscritta alla CCIAA REA di Sassari al n 126205 e P IVA 01796660908 IDMA INSTALLATION MANUAL rev 1 INDEX 1 9 UL AUTHORIZATION page 2 UL International Italia S r l An Affiliate of Via Archimede 42 7 I 20041 Agrate Brianza MI 7 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 This authorization is effective from the date of this Notice and only for products at the indicated manufacturing locations Records in the 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 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 assist
50. m 0 to 10000 rpm 5 10 kHz switching frequency Compact unit maximum case depth 320 mm programmable setup of the control loops programmable digital filters built in fans built in soft start electronic circuit intelligent IGBT IPM power bridge built in recovery resistor constant motor torque in the whole speed range thanks to dedicated software algorithm e indirect field oriented control IFOC for squirrel cage induction motor IDMA INSTALLATION MANUAL rev 1 1 2 SECTION ONE DESCRIPTION 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 Restart Interlock Circuit safety function See Section 5 IDMA INSTALLATION MANUAL rev 1 SECTION ONE DESCRIPTION 1 4 DIMENSIONS AND DRILLING JIG Fig 1 1 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 1 3 Fig 1 1 Dimensions and Drilling Jig Vertical Mounting For 5 screws 145 00 103 00 91 00 240 00 90 00 24000 MT
51. ned 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 5 3 Anti Freewheeling and Restart Interlock Timing Chart ga opened max 420 ms Motor stopped LM anti freewheeling min 420 ms max 500 ms software delay Module Enable Module Enabled PWM OFF PWM min 500 ms max 700 ms hardware delay 7 Channel 1 2 door Channel 1 2 verification 2 Aux Pwr IGBT OFF Aux Pwr IGBT IDMA INSTALLATION MANUAL rev 1 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 11 5 9 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 individual axis must be checked The check must be made by qualified personnel taking into account the necessary safety measures Check that the motor is at standstill Inhibit the IGBT drivers by withdrawing the voltage at positions 1 3 Channel 2 door and 2 3 Channel 1 door of J1S connector Furthermore the acknowledge contacts 8 9 Channel 2 verification and 6 7 Channel 1 verification of J1S connector of the Restart Interlock must close after a delay of 600 100 ms The drive then does not provide output current Disable the protective
52. ognized and with the same ratings e Overspeed Protection The Power Conversion Equipment is incorporating an Overspeed Protection See IDMA User s Manual e Overvoltage Control The Transient Overvoltage in the Power Supply Primary Circuit of the end use applications is controlled by the following devices Internal provided R C Transient Voltage Surge Suppressors devices XUHT2 and CSA Certified according to the United States Standard UL508C The Marking may indicate the maximum value of Clamping Voltage and the Category Permanently Connected Cat PC Surge Current 10kA 6kV of these Overvoltage Protection devices External recommended R C Electromagnetic Interference Filters FOKY2 and CSA Certified according to the Canadian Standard C22 4 No 14 05 Mod No Schaffner EMV AG FN 258 30 followed by 07 or 29 or 33 or 34 IDMA INSTALLATION MANUAL rev 1 INDEX 1 11 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 thermal protection through a PTC or NTC Over Current Protection The drive is provided with a current limiting circuitry See IDMA User s Manual Wiring The Wire Connectors shall be any Listed ZMVV or R C Wire Connectors and Soldering Lugs ZMVV2 used with 60 C 75 C copper CU conductor only within electrical ratings and used with its appropriately evaluated crimping to
53. ol The Field Wiring Terminals shall be used with the tightening torque values specified in the Table of the corresponding section of this Manual The Terminal Blocks ad Connectors for Field Power Connection Wiring and constituted of two components male female shall be used only with the combination of components specified in the Tables of the Section two of this Manual The Auxiliary Restart Interlock Function PWB Connector provided for end use installation are intended and shall be connected and used only with a limited de rated circuitry max Voltage 30 Vdc max Current 3 Adc The Auxiliary Connectors provided for field connection during the end use installation connection with external devices are intended and therefore shall be used for the connection with a Class 2 Power Supply or a Low Voltage Limited Energy source of supply with Class 2 characteristics Any Auxiliary Wiring Terminal Blacks if provided for end use installation connection with external devices shall be used within the ratings specified by the manufacturer IDMA INSTALLATION MANUAL rev 1 112 INDEX 7 SAFETY CERTIFICATE lt 1 pl Istituto Certificazione Europea Prodotti Industriali S p A ATTESTATO DI ESAME VOLONTARIO VOLUNTARY EXAMINATION CERTIFICATE MOOG Italiana S r l sede di Casella Via Avosso 94 16015 CASELLA GE Nome e indirizzo del detentore del certificato Name and address of the holder of the certifi
54. sella Site Made in Italy IDMA INSTALLATION MANUAL rev 1 1 10 SECTION ONE DESCRIPTION 1 7 1 Rating Plate Fig 1 3 Rating Plate O POWER UNIT a X1 AXIS 1 X2 AXIS 2 AXIS 3 SIZE 812 SIZE Ewa we vauz we ue X9 1 X10 1 xn 1 AXIS 1 AXIS 2 AXIS 3 9 2 X10 2 X11 2 AXIS 4 AXIS 5 AXIS 6 V2 W2 U2 V2 W2 V2 W2 2 AXIS 4 X5 AXIS 5 X6 AXIS 6 SIZE SIZE SIZE __ ___ 7f A 810VDC ATTENZIONE TEMPO DI SCARICA DOPO SPEGNIMENTO INTERRUTTORE NENNEN gt 5 Code S N 06 100 SUITABLE FOR USE ON A SUPPLY CAPABLE OF DELIVERING NOT MORE THAN 5000 RMS SYMMETRICAL AMPERES 480 10 VOLTS MAX Moog Italiana S r l Casella Site Made in Italy IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 1 2 WIRING AND INSTALLATION 2 1 FUSES 2 1 1 THREE PHASE POWER SUPPLY It is recommended to use the Short Circuit protection in the final application with UL certified external fuses cat JFHR2 manufactured by Bussmann Div Cooper UK Ltd semiconductor type 660Va 200 kA A I C As alternate fuses by different manufacturers can be used but UL approved cat JFHR2 with the same data of the fuses shown in table taking care that the Peack let trough current and clearing 121 are
55. t Gate Restart Interlock Circuit m JiS Channel 2 i l Module Enable E Module Enable 2 E E 6 1 5 J15 6 24V L sse Channel 25 8 Channel 1 verification RELA 1 m E 5 5 Os Channel 2 verification Drive Axis 1 6 724 Base Supply 24V DC 24 Actuator Supply 24V DC 0 Common GND Module Enable Safety LEGEND Motor UV ELS Signal Line E24 Input Supply 24V DC 5 Resolver 5 24 trom 224 Secure Supply 24V DC E Zn Enable 5 9 lt Digital Output SM 46 Digital Output Power 3 6 gt Digital Input E24 0 EN Ref Ent im Power Supplies IDMA INSTALLATION MANUAL rev 1 5 14 SECTION FIVE RESTART INTERLOCK CIRCUIT Optional 5 11 1 Description of Application Example Referring to the circuit of Fig 5 5 the redundant system structure is achieved First shutdown path the energy from the drive to the motors is disconnected via Channel 2 Shutdown is realized via REL1 1 3 pos of J1S connector and REL3 The contact of the Restart Interlock relay via 4 5 pos of J1S switches off the Module Enable input signal The antifreewheeling stop function is activated and both the software Interlock System and hardware Interlock System 1 timer start When the motion
56. ted 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 30 33 NOTE if two phases are interrupted worst case leakage current could reach 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 WARNING the filter can produce high leakage currents see Filter Data Sheets IDMA INSTALLATION MANUAL rev 1 3 4 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 3 WIRING AND GROUNDING All the following cables must be shielded with 85 minimum shielding coverage Power Signal Power motor cable see Fig 3 1 and 3 2 External DC Bus short circuit resistor cable Resolver cable see Fig 3 2 motor side Serial line cable Dual Can cable X Bus cable Ethernet c
57. terface Power Supply RS485 Position Function 1 RAT data receive input RX data receive input TX data transmit output TX data transmit output V logic circuit un 0 T 14 i 14 LJ EXTERNAL WIRE TO DIGITAL BOARDS Mating connector 5 pins PHOENIX type FK MC 0 5 5 ST 2 5 cod 1881354 cod MOOG AK4715 IDMA INSTALLATION MANUAL rev 1 SECTION TWO WIRING AND INSTALLATION 2 13 2 10 4 IDMA CONTROL UNIT CONNECTORS Fig 2 5 IDMA Control Unit Connectors position Reset Display Rotary Switches Axis Identifier Led s for each Axis duda Axis 6 Axis 2 Axis 5 Axis 1 Axis 4 Note Position 1 is marked with the symbol m IDMA INSTALLATION MANUAL rev 1 2 14 SECTION TWO WIRING AND INSTALLATION 2 10 4 1 IDMA Control Unit Connectors description Tab 2 5 CONTROL UNIT Connectors description Module Connector Description Ethernet X Bus Drive internal connection os CAN 1 Bus to Master CPU J5 CAN 2 Bus to Master CPU and DSP of each axis 00 7 7130 Ais 3 6 Analog Inputs MASTER J4C Axis 3 6 Resolver to Motor6 JB DE 2 5 Digita I O Axis2 5 Analog Inputs Axis 1 4 Resolver to Motor 4 Drive connection 48 CaN 2Bus to DSP ofeach _ CAN 2 Bus to DSP of each axis
58. test practical lengths of connecting strap should be used see Fig 3 5 Fig 3 4 Backpanel Connection backpanel ground screen is effectively earthed 360 of ifs radius Fig 3 5 Partition Penetration cable shield FO NN NS NS SNe SS RARE N 7 gt lt 7 N AN ESS SE LEE LEGER ERE PRC A mmm RARE hex head bold w IDMA INSTALLATION MANUAL rev 1 3 8 SECTION THREE ELECTROMAGNETIC COMPATIBILITY EMC 3 4 EXTERNAL DC BUS SHORT CIRCUIT RESISTOR MOTOR CHOKE To meet the EMC Directive the enclosures containing DC Bus short circuit resistor must be conductive The cable of DC Bus short circuit resistor must be shielded and the shield must be 360 clamped at both sides If a choke in series for each motor phase has to be added This choke must be shielded REMARK when mounting the enclosure of DC Bus short circuit resistor or motor choke to the panel it is essential that any paint or other covering material be removed before mounting the enclosure of DC Bus short circuit 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 3 6 SAFETY ASPECTS Noise suppression of Motor and Drive systems involves consider
59. tween motor phases phase and ground phase and HV 2 Overheating of power modules locked rotor condition Effect see the IDMA User s Manual Reset condition see the IDMA User s Manual IDMA INSTALLATION MANUAL rev 1 SECTION FOUR PROTECTIONS Bus not normal Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition see figure 4 1 Effect see the IDMA User s Manual Reset condition see the IDMA User s Manual Fig 4 1 Bus Bar Voltage 810 V overvoltage 790 V Recovery circuit enabled 690 V Reset max voltage 540 V Bus nominal voltage 440 V Reset min voltage 410 V Undervoltage IDMA INSTALLATION MANUAL rev 1 4 4 SECTION FOUR PROTECTIONS Module overtemperature Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition when a limit temperature is reached on the heatsink Effect see the IDMA User s Manual Reset condition see the IDMA User s Manual Notes the temperature limit is detected by NTC placed in each IGBT power module Overload Check on MCD Commander specifications how could be managed this condition Watchdog Indicated by the DISPLAY and LED s are application software specific For the error code see the IDMA User s Manual Set condition when the micro processor or DSP fails Eff
60. with the EMC standards that apply where the equipment is to be used Product conformity is subjected to filters installation and to recommended procedures as from Section 3 of this Manual e Second Environment 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 e Optional external DC Bus short circuit Resistor Cable Shielding of the resistor cable is recommended for ensuring compliance with the EMC standards e Large Scale Stationary Industrial Tools WEEE RoHS Equipment intended for installation 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 IDMA INSTALLATION MANUAL rev 1 8 INDEX 1 5 UL AUTHORIZATION page 1 UL International Italia S r l An Affiliate of Via Archimede 42 M I 20041 Agrate Brianza MI 7 Underwrite rs italy Laboratories 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 December 4 2006 Attn Ing Daniele Rolla MOOG Italiana S
61. x yyy A lout nom Arms lout A AXIS 4 SIZE xx yyy A lout nom Arms lout A AXIS 5 SIZE xx yyy A lout nom Arms lout A AXIS 6 SIZE xx yyy A lout nom Arms lout A Nominal rms Output Current Peak Output Current Nominal rms Output Current Peak Output Current Nominal rms Output Current Peak Output Current Nominal rms Output Current Peak Output Current Nominal rms Output Current Peak Output Current Nominal rms Output Current Peak Output Current IDMA INSTALLATION MANUAL rev 1 SECTION ONE DESCRIPTION 1 9 The following informations are supplied on the rating plate of IDMA MODEL IDMA CODE G365 XXX Model Code where G365 model code or E XXX model type Final Production Designation E Pre Production Designation S N AAMMMGXXX Serial Number where AA year MM month MG MOOG number Vin xxx Vac Nominal Input Voltage Duty Cycle xx 96 Duty Cycle Auxiliary Input Vin xx Vdc Nominal Input Voltage Pin xx W Nominal Input Power Fan Assembly Vin xx Vdc Nominal Input Voltage Pin xx W Nominal Input Power MOOG s m on STED Model IDMA Code G365 001 V 480 V Auxiliary Vi 24 Vac Fan Assembly Vi 24 Pin SUITABLE FOR USE ON A SUPPLV CAPABLE OF DELIVERING NOT MORE THAN 5000 RMS SYMMETRICAL AMPERES 480 10 VOLTS MAX Moog Italiana S r l Ca
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