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MicroDS Series High Performance Servo Drives

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1. Drive gt Control loop Parameters parameters I Drive address Drvaddr I PTCNTC Threshold Q ANAL REF ZERO BAND I Recovery resistance if ResRec Q I RR Rated Power W I Tacho Scale V IT Peak IP A IT Cont IC A n IT Protect Time IT L Torque Improv disabled lt gt Torque Improv Enabled I Notch Frequency a Hz I Notch Bandwidth VeFrequency I Notch gain I Drive enable lt gt Drive enable Local Remote l Rotation lt gt Rotation CW CCW I Max speed rpm Max Current A PAGE 5 9 MOOG MicroDS User s Manual SECTION 5 COMMANDS Control Type lt gt Control Type Torque Speed l l Acceleration rpm s l l l l l Deceleration l rpm s Digital lt gt Analog Reference Reference l Max Input Refer l V Analog Limit Disabled lt v Analog I Limit Enabled 5 3 1 Max I Limit Ref V DESCRIPTION OF DRIVE PARAMETERS Drive Address Drvaddr Description Indicates the drive address for serial communication The following values can be set 1 to 62 Note Set a different value for each drive This will ensure that only one serial cable is required to communicate
2. T 2 N AN B aA MOOLS LON 3 E Q o u5 ue RS 485 gt A S OJ Dad Y RESET S VREF 1 VREF J2A Ly D LIM E LIM 15V OUT ov ANL OUT m TCH OUT O RESTART JOR oe id RESTART IN OUT E DRV EN S o DRV EN 0 REF EN REF EN Le DRV OK Vio DRV OK E Joc x AS ENC OUT Bt B Be WARNING AN J4 ENCODER D M i TN 9 ia e Fig 5 1 Drive front panel PAGE 5 3 NACOCOCS MicroDS User s Manual 5 2 MOTOR PARAMETERS MENU First screen at drive start up The first menu level can be accessed by pressing ENTER The first level of menu shows the two arrows which indicate the possibility of scrolling the menus from right to left To access the menu press ENTER When the parameter to be modified is reached press to increase or decrease the variables To go to the following parameter Press ENTER or and keys To exit the menu press ESC Keep on pressing if the displayed parameter is not the first item of the menu In order to save the modified parameters see Save Parameters in the Utility menu NOTES 1 The motor size corresponds to the motor peak current It is generally limited by the drive
3. System and its effectiveness at high frequencies Safety aspects must also be considered and must where appropriate take priority over EMC requirements To reduce the radiated emissions the use of capacitance to earth is very effective These capacitors conduct current from phase to earth Depending on the filter design this current can be in the order of hundreds of milli amps WARNING Appropriate safety measures should be taken to ensure that this potentially dangerous current flows to earth by a low impedance connection These filters should be connected to Earth before being energized filters before carrying out the 50Hz AC voltage test of CEI EN 60204 1 Par 20 4 according to the Machinery Directive 89 392 EEC and to the Low Voltage Directive 73 23 EEC i CAUTION It is recommended to disconnect the drive and the EMC PAGE 2 12 MOOC SECTION 2 INSTALLATION MicroDS User s Manual 2 4 Summary of Connection Instructions Power connections can be divided into a Temporary connections These are made to allow parameter setup with auxiliary power input only and or for testing purposes b Permanent connections These should be made according to guidelines outlined above Signal and motor feedback resolver or encoder connections should always be made according to the guidelines given in this manual to prevent noise affecting drive operation 2 4 1 Feedback connection encoder or resolver Fe
4. 3 11A uDS IT Time Description Indicates the time in seconds for IT which the drive will deliver peak RMS current The following values can be set 0 to 10 seconds in steps of 0 1sec The three IT parameters operate together to provide IT limiting on the wDS This limits the time for which the drive will deliver peak current thereby protecting the drive connectors and internal tracking The algorithm allows IT Peak current to flow for the specified IT Time The algorithm operates using a simple integrator that winds up if the demanded current increases above the IT Cont level The IT integrator winds up according to C brive PK SB cowie time Once the integrator exceeds 42 PK RMS I Cont RMS b Tre the output current is clamped to the IT Cont level Peak current will not be allowed to flow again until the IT integrator resets completely The integrator unwinds according to 42 PKRMS I Cont RMS Ji Trime J21 ContRMS I Drive Pk Thus with the following settings IT Peak 15 6A IT Cont 6A amp IT Time 10sec The drive will allow peak RMS current to flow for 10 seconds If after the 10 seconds the command is reduced to zero peak current will be available again after 16 0sec PAGE 5 12 SECTION 5 COMMANDS MOOC MicroDS User s Manual Torque Improv Description Allows the drive to set cycle by cycle the optimum angle between the output current vector and the magnet positi
5. 5 2 1 2 Description of Encoder Parameter Encoder Description Indicates the number of encoder pulses from the motor feedback Allowed values from 1024 to 8192 in steps of 512 pulses The value can be varied using the lt and gt keys Note For Moog Motors the following values are valid 1024 2048 and 4096 pulses per mechanical revolution PAGE 5 8 SECTION 5 COMMANDS 5 3 DRIVE PARAMETERS MENU Motor Parameters The first menu level can be accessed by pressing ENTER The first level shows the two lt gt arrows which indicate the possibility of scrolling the menu from right to left To access the menu press ENTER When the parameter to be Modified is reached press to increase or decrease the variables To go to the following parameter press ENTER The parameter scanning is recursive To exit the menu press ESC Keep on pressing ESC if the displayed parameter is not the first item of the menu In order to save the modified parameters see Save Parameters in the Utility menu Notes 1 The address for serial communication from 0 to 62 default 1 should be set in drive address 2 PTC intervention 1000 Ohm NTC intervention 6500 Ohms 3 It is possible to limit the current at a value lower than the drive size by setting it to a lower value in max current MOOG MicroDS User s Manual
6. Fault Resolver Description Indicates an error in the resolver feedback signals In the case of a first start up check that the wiring is made correctly For a running system check that no wires are cut and that the resolver is working properly 15V supply fault Description Indicates that the 15 Volt internal logic supply is out of tolerance 15V supply fault Description Indicates that the 15 Volt internal logic supply is out of tolerance Fault Size Description Indicates that the control card has detected that it is connected to a new power stage of different size To remove this fault return the control PAGE 5 33 MOOG MicroDS User s Manual SECTION 5 COMMANDS card to the original power stage or save the new configuration Flash Error Description Indicates an internal memory error Switch off and on the drive to verify the memory has Checksum been read correctly Perform a Save If the problem persists the internal memory is damaged and should be returned for repair PAGE 5 34 MOOC Section 6 CONTROL LOOPS MicroDS User s Manual SECTION 6 CONTROL LOOPS 6 1 INTRODUCTION This section describes the drive control loops and contains instructions on how they can be optimized 6 2 CURRENT LOOP The current control loop is based on a PI structure with additional compensation for motor electromotive force B E M F The control loop automati
7. connected to the housing with a 360 connection at both ends MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 16 CONTROL CARD LINKS AND CONNECTORS The following connectors are common to all drives sizes and are all located on the drive front control card Encoder Input Connector Resolver Connector Reference Connector Drive Enable Connector Encoder Output Connector RS485 Connector These are detailed in the following sections Sufficient depth must be allowed in the cabinet for the resolver and RS485 connectors and their associated cable bend radii The recommended depth for these is shown in Fig 1 9 RADIUS Fig 1 9 Resolver RS485 Bend Radius Requirements PAGE 1 23 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 16 1 Encoder input connector Remark Two sections form the motor control encoder The first UVW signals generates signals used by the drive to power the motor phases The number of motor poles defines this section The second ABC signals generates reference signals which are also available for motion control to an external CNC The number of pulses in this section is defined according to the customer needs as well as the application requirements The connector for these signals is on the control card bottom side The floating encoder connector at the drive side is a Sub D 15 pos and is provided with the drive Sub D 15 pos Code AK5221 conductive shell Code AK
8. 2 to 24 in 2 units FAST FASN 6 poles steps FASK Global 8 poles FC Global 12 poles Note for Moog motors the following values are valid Size Description Indicates the motor peak current value The following values can be set 1 0 A to the peak current supplied by the drive in 100 mA steps Note If this value is not available it is possible to obtain the peak current by means of the following formula Ipeak 1 41 Tm Kt where Tm represents the max torque in Nm the motor can supply and Kt in Nm Arms is the torque constant Voltage Description Indicates the motor winding voltage rating value The following values can be set 230 V for motors powered by 230V drives and 400 V for motors powered by 400 460V drives Note for Moog motors please refer to the table below M and K Motors 230 V power supply V Motors 400 V power supply Speed Description Indicates the nominal motor speed The following values can be set 100 rpm to 9999 rpm in steps of 10 rpm Note Set the value on the motor nameplate The max speed the drive can set is lower than or equal to this value BEMF Description Indicates the motor back EMF voltage per 1000rpm The following values can be set 0 to 750 V in steps of 1 V Note The drive uses this information to optimize the current loop as a function of the motor rotation velocity If this in
9. Internal Shields if Available Shield connected to housing through connector clamp Shield connected to housing through connector shell Fig 1 15 RESOLVER CONNECTIONS G400 G330 motors Terminal N Terminal Motor side Drive 1 1 2 2 3 4 4 3 5 5 6 6 8 7 7 8 9 Tab 1 12 Cross references between color and cables for G400 G330 Terminals are identified on the motor side As G400 and G330 have an NTC for thermal feedback it is necessary to set this in the motor menu of the MicroDS setup If the drive is to be used with a global motor the order code must be specified for a resolver transform ratio of 0 5 PAGE 1 32 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual Note As the resolver is locked mechanically in the motor the customer must perform a PHASING using the drive utilities READY MADE MOTOR RESOLVER CABLES G400 G330 Motors Cable Part No L081 138 A002 L081 138 A003 L081 138 A004 L081 138 A005 Tab 1 13 Ready Made Resolver Cables G400 G330 Motors PAGE 1 33 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 16 3 Input References Connector The analog references speed and current limit references are available on J2A male connector and accessible through a floating 4 pin female connector The conductors are fastened using spring clips within the connector These clips are
10. RESET 5 X VREF i VREF J2A ly 1 LIM T I LIM Re I5V OUT ov ANL OUT TCH OUT RESTART JOR R RESTART M OUT E DRV EN S DRV EN D REF EN REF EN i2 DRV OK V DRV OK r A J2C R ni ENC OUT B B A Be WARNING J N Cc REMOVE ALL INPUT V POWER AND WAIT 5 MINUTES BEFORE SERVICING di J4 ENCODER bum r E ini om is Fig 1 1 MicroDS Front Panel MOOC SECTION 1 DESCRIPTION MicroDS User s Manual Protection motor overtemperature drive overtemperature IGBT module current foldback input voltage out of tolerance bus overvoltage internal recovery resistor power limiting encoder or resolver signal missing encoder or resolver faulty connections axis short circuit motor and recovery resistance output Overspeed in torque mode control if speed is 12 above max set value 1 4 3 Recovery Circuit Dynamic braking unit MicroDS Standard recovery resistance Internal Model code Currents rms pk Resistance and power Max Current T360xx03x xxx xxx 1200 50W int 6 25 T360xx06x xxx xxx 1200 100W int 6 25 Tab 1 1 Recovery resistance data 1 Operating with 600V DC Bus An equivalent resistor of equal resistance and power rating Order code C25722 003 121 can be attached externally to the drive if required For operation at 230V a lower value resistance can be connected externally Consult Moog sales o
11. Set by motor loading LPF filter setting on error and reference Notch filter setting Some of the information may be missing during installation However the installation can be carried out as it is possible to enter the data subsequently using the built in keypad or the MOOG GUI Remark The display indicates drive amp motor status by the switching on or off the display backlight The backlight is lit if no FAULTS are detected refer to Section 5 The display is not lit if no FAULTS are detected refer to Section 5 PAGE 3 2 MOOC SECTION 3 STARTUP MicroDS User s Manual 3 3 First start up on test bench for testing purposes Connect the power supplies 24V backup and AC Mains Connect the motor feedback resolver or encoder and motor power cable Connect an analog reference to Vre and enable signals signal not active to DRIVE ENABLE and REFERENCE ENABLE Power the drive 24V backup amp AC Mains without applying DRIVE ENABLE or REFERENCE ENABLE The display backlight should light if no faults are detected If a fault is detected check faults in the appropriate menu See Section 5 Hand rotate the motor shaft Check the speed reading displayed in the Display Variables menu See Section 5 To power the motor apply DRIVE ENABLE and the REFERENCE ENABLE The motor should rotate correctly if all connections and settings are correct If the motor does not rotate correctly refer to Section 8 Troubleshootin
12. The connector for these signals is J5 J5 is a female Sub D 9 pos and is located on the control card The resolver floating connector is a male Sub D 9 pos and is provided with the drive Depending on the resolver transform ratio 0 5 for Global FASG motors 0 25 for FAS motors a gain setting for the resolver circuit must be set internally during manufacture The ordering information for this is included in the BoxCar The resolver signals should be connected to J5 connector Fig 1 12 shows the resolver wiring lay out with differential inputs It is recommended to use low capacitance multipolar shielded cable 85 min coverage with 22 AWG 0 30 mm or 20 AWG 0 50 mm conductors Order code Bare cable B47885 001 Cable length should not exceed 30 m It is recommended that the resolver cable and the motor power cable be separated through the use of independent ducts and by a distance of 30 cm 1 It is not recommended to make intermediate connections on the resolver cable With the resolver interface it is possible to provide simulated encoder outputs on J2C The maximum number of pulses per mechanical revolution of the simulated encoder is 1024 resolver poles 2 i e for a 6 pole resolver the number of pulses revs is 3072 and the standard width of the marker is 90 width of 180 or 360 is programmable via keypad A lower number of pulses per revolution is programmable via keypad or through the Moog GUI Ready made c
13. The equipment may have a continuous leakage current of more than A C 3 5 mA or D C 10 mA in normal use The MicroDS must be permanently and reliably connected to Earth and all conductive parts in the IP54 rated enclosure or cabinet must be permanently connected to Earth The impedance between the earth terminal and any accessible part of the enclosure or cabinet should be less than or equal to 0 1 0 External DC Supply Voltage Sources All external d c supply voltages used with the T200 Series Controllers must be derived from a Safety Extra Low Voltage SELV supply as defined by standard EN60950 Such SELV voltages do not exceed a value of 60 Vd c or 42 4 Va c peak under normal conditions and are supplied by circuits which are separated from all hazardous voltage conductors by permitted safety methods such as reinforced insulation 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 Installation The MicroDS must be mounted in a vertical orientation
14. more than 1296 a motor over speed fault is reported and the drive disables Acceleration Description Allows the user to limit the motor maximum acceleration This function is available in speed control mode only The following values can be set from 0 to 99990 rpm s in steps of 10 Note The function is disabled when set to 0 This feature can be used to prevent excessive acceleration steps being applied to sensitive loads It allows for smooth acceleration of loads and helps eliminate overshoots and control loop saturation Deceleration Description Allows the user to limit the motor maximum deceleration This function is available in speed control mode only The following values can be set from 0 to 99990 rpm s in steps of 10 Note The function is disabled when set to 0 This feature can be used to prevent excessive acceleration steps being applied to sensitive loads It allows for smooth acceleration of loads and helps eliminate overshoots and control loop saturation Reference Description Allows the user to control the motor by an analog signal or through the keypad The following values can be set Digital or Analog Note In analog reference mode the analog reference is directly proportional to the Max speed setting In digital reference mode the reference speed is set in the Control Loop menu using the keypad PAGE 5 14 SECTION 5 COMMANDS MOOC M
15. 12 4300 18 4 69 4 3 9 12 0 G464 817 400 V 12 3300 28 3 86 5 2 3 8 8 G465 417 400 V 12 4000 28 3 88 9 1 6 9 8 Tab B 4 Brushless Motor G400 Note All Global motors use a two pole resolver The resolver is mechanically locked in the rear of the motor Use the Phasing function in the Utility Menu to determine the value of APHAPOS The resolver SIN and SIN minus signals should be swapped for correct operation Resolver wiring is detailed in Section 1 PAGE A 3 MOOG MicroDS User s Manual APPENDICES Appendix C Special Motors The MicroDS drive can directly drive FC series low speed special motors Peak BEFM Current E1000 LL NEC NE 290 12 320 25 3 903 6 5 Tab C 1 Brushless FC 12 motor poles High voltage 400 Volt Inductance mH Resistance Ohm Motor Nom Pole Speed Voltage N RPM Note To increase the effective system resolution at very low speed it is possible to scale some system parameters This is detailed in the following table Condition Resolver Poles Motor Poles Speed a Real Data 6 12 100 a Scaled Value 2 4 300 b Real Data 12 12 100 b Scaled Value 2 2 600 Tab C 2 FC Motor Parameter Scaling The effective speed in the Real and Scaled Data remains the same as the real speed PAGE A 4 MOOC APPENDICES MicroDS User s Manual C27159 001 Revision B June 2012 Any suggestions corrections and c
16. 5 2 Max Recovery Current on MicroDS Drives 3 SECTION 7 TROUBLESHOOTING 1 7 1 INTRODUCTION 1 7 2 Faults on drive power supply circuit 2 7 3 Faults on output section 3 7 4 Faults on feedback section 4 7 5 Control loops trouble 5 Appendix A Warranty 1 Appendix B Motors technical data 2 Appendix Special Motors 4 PAGE I 4 MOOC CONTENTS amp INTRODUCTION MicroDS User s Manual I2 INTRODUCTION Introductory note This manual details the MicroDS This drive is a product line extension of the present DS2000 The Motion Solution drive range Thus functionally these drives are almost identical Some differences exist in the dynamic braking recovery resistor functionality and various other functions which are detailed in the following chapters CAUTION Repairs or modifications to the product by anyone other than a Moog authorized repair facility may create unsafe operating conditions and will invalidate the product warranty PAGE I 5 NACOCOCS MicroDS User s Manual CONTENTS amp INTRODUCTION 12 1 USING THE MANUAL This user s manual is intended to provide sufficient information on how to install wire and tune a Moog brushless electric motor system This user s guide must be read and understood before applying power and operating the equipment described This equipment must be installed and serviced only by duly qualified service personnel All information in this manual is directed towards such
17. PTC NTC input 10 kHz 20Vpk pk Sinusoidal negative output signal to primary V ref resolver winding PTC Motor PTC NTC input V ref 10 kHz 20Vpk pk Sinusoidal output signal to primary resolver winding carrier Tab 1 9 J5 Connector Sub D 9 pos FAST FASK Resolver PAGE 1 29 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION MOTOR RESOLVER CONNECTOR FAST and FASK Signal FAS T FAS N type FAEN FASK Pos C E D B N A G H S shield Tab 1 10 Resolver connections to motor Connettore segnali Signal connector PT 00E 14 19 PC 10 PTO6F 8AG 14 19S Resolver cos Q sin Cos Q sin 9 V ref schermo shield OV PTC PTC MIG PZ vomo READY MADE MOTOR RESOLVER CABLES FAST and FASK Cable Part No L081 136 A001 L081 136 A002 L081 136 A003 L081 136 A004 L081 136 A005 Tab 1 11 Ready Made Resolver Cables FAST amp FASK PAGE 1 30 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual Segnale Signal Standard Standard o Connettore Connector amp IPSO2A 12 12PYC SH Set T 1 coso ee d C08 Q 8 Schermo Shield 7 OV ASN 8 OP TC 10 V ref 11 sing 12 sing Fig 1 14 Resolver connection at motor side for FASN and FASY PAGE 1 31 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 16 2 1 G400 and G330 motors resolver wiring Global Motor Connector J5 Connector 9 Way Sub D
18. The MicroDS can operate from a single phase 230V supply This will result in a DC bus of 320V However it is necessary to power limit the application to an input power of 1 1kW Increasing the power beyond this point will result in the drive reporting an undervoltage due to excessive voltage ripple on the DC bus To avoid this the MicroDS should where possible always be connected to a three phase supply If the MicroDS is connected to a single phase supply an EMC filter must be installed This is detailed in Section 2 PAGE 1 19 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 14 1 4 PARALLEL DC BUS OPERATION The DC bus is available on pins 1 and 2 of J6 Up to four MicroDS units can operate with their DC bus connections shared This feature allows the MicroDS units to share recovered motor power It also increases the effective recovery energy that the drives can dissipate as all recovery resistors will operate in parallel Care should be taken when paralleling the MicroDS units to ensure that the DC bus cables are kept as short as possible See Section 2 Installation The ratings of the DC link current is detailed in Section 6 NOTE To comply with the EMC Directive the DC Bus cable must be shielded and the shield must be connected to the housing with a 360 connection at both ends To further paralleled HDS Max 4 Tie Screen to chassis via EMC bracket See 2 Se
19. The measures needed to ensure this are summarized in the following points a PAGE 2 14 Install the EMC filter on the input line to reduce the conducted emissions on the AC mains supply Provide connections between the filter and drive using minimum cable lengths Use a shielded cable motor power cable Use shielded cable for the feedback signal connection between motor and drive Place motor power and feedback cables in separate ducts or separated by at least 30 cm 1 Use shielded cables for the analog reference cables and digital I O cables Separate them from the motor power cables Use twisted pair shielded cable for the encoder connections between the drive and the controller If termination is not provided terminate the cable at the control side using a 2200 resistor MOOC SECTION 3 STARTUP MicroDS User s Manual SECTION 3 STARTUP 3 1 INTRODUCTION The section outlines a series of simple steps which will allow a user to quickly and easily setup a MicroDS drive for the first time The information is provided in a manner that is simple and descriptive to allow it to be understood by those not familiar with servo drive operation Refer to the previous sections for more detailed information on cable connections Refer to Section 5 for a detailed description of motor and drive parameters 3 2 DRIVE SETTING UP INFORMATION To set up the servo drive and motor the drive must be configured with the correct
20. analog reference mode the window has no functions Motor Parameters RW Description This parameter represents the motor resistance Entered in Motor Menu The parameter cannot be modified here The following values can be set 0 to 30 Ohm in steps of 0 1 Ohm Note Motor Parameters Lw Description This parameter represents the motor inductance Entered in Motor Menu The parameter cannot be modified here The following values can be set 0 to 200 mH in steps of 100 uH Note Current reference Filter Description Allows the user to low pass filter the current reference by means of a low pass digital filter This filter is equivalent to the Speed Error Filter detailed in 5 4 1 1 Allowed values from 0 to 800 Hz in steps of 1 Hz Note Analog Ref Offset Description Allows the user to correct and cancel any analog offsets in current reference input Allowed values from 50 to 50 in steps of 1 unit Note This analog offset compensator is equivalent to that described in 5 4 1 1 PAGE 5 18 SECTION 5 COMMANDS 5 5 Enable menu MOOG MicroDS User s Manual Control Loops lt Drive gt Variables parameters Enabling display I Drive lt l gt Drive off on 5 5 1 Description of Enable Menu Drive Enabling Description With the drive Enable digital input active the drive can be enabled from the keypad Allowed
21. by the two arrows which indicate the possibility of scrolling the menu from right to left To access the menu press ENTER and enter the required password Press to increase or decrease the variables To go to the following parameter press ENTER The parameter scanning is recursive To exit the menu press ESC Keep on pressing ESC if the displayed parameter is not the first item of the menu In order to save the modified parameters see Save Parameters in the Utility menu CAUTION The current offset calibration should only be carried out by skilled personnel CAUTION Moog Variables contains parameters and functions that can be accessed only during system test and set up They are not accessible to the End User OEM PAGE 5 29 MOOG MicroDS User s Manual 5 8 Keyboard Lock Menu Utilities lt Keyboard Lock I Keyboard gt UnLocked 5 8 1 Description of Keyboard Lock Unlock Menu gt Fault Detection lt Keyboard Locked SECTION 5 COMMANDS Keyboard Lock Unlock Description Allows the user to lock or unlock the keypad The keypad is automatically locked when the drive is power up To unlock the keyboard press ENTER at Keyboard Lock and use the lt gt keys to Unlock or Lock the Keyboard as required PAGE 5 30 SECTION 5 COMMANDS 5 9 FAULT MENU 5 9 1 Keyboard lt Lock Keyboard lt Lock Fault Reading Press
22. due to a recovery resistance failure or the resistance value being too high for the application The recovery circuit cannot dissipate the recovered energy from the motor Bus Undervoltage Description Detects a BUS undervoltage condition The drive disables The Bus undervoltage fault occurs if the DC bus falls by 2596 Unstable Bus at Description Detects the DC BUS ripple at drive power on with no power delivered to the motor This DRIVE ON fault could be due to an open fuse on the three phase line No Bus Description Detects the absence of the DC BUS Vbus Fault occurs for a DC bus lower than 70 Volt minimum default factory set value Bus Mot Voltage Incompatible Description Detects incompatible motor voltage setting with respect to the voltage detected on DC bus E g 400V DC bus and motor voltage parameter set to 230V Res Rec Main Incompatible Description Indicates incorrect value for recovery resistance Too low a resistance value lower than the recommended one can cause a recovery IGBT failure due to excessive current A value higher than that recommended can prevent the drive dissipating peak motor recovered power System Error on Vbus Detects Description Indicates an anomaly in the measurement of the DC bus Remove AC input If the fault persists the drive is damaged and should be returned for repair Flash Error D
23. generate a sinusoidal current in the motor thereby generating a smooth torque As the IGBTs always operate in a saturated mode the losses in the amplifier are kept to a minimum The IGBTs are switched with a 10kHz switching frequency This limits the losses in the motor that results from excessive high frequency current ripple in the windings DC DC Fig 4 2 Output section diagram Each IGBT is protected from short circuit and overload The protection is managed directly by the control card 4 2 3 Control section The drive measures the current angular position and maintains an angle of 90 between the magnetic field generated by currents and the field generated by the magnets on the rotor The motor position is determined by the feedback signals derived from the encoder or from the resolver through advance signal processing on the control card PAGE 4 2 MOOC SECTION 4 OPERATION MicroDS User s Manual From the data provided in the drive and motor parameters and the feedback from the motor the drive adjusts the commands to the IGBT appropriately to supply the currents The current feedback is obtained by means of HALL sensors placed on motor phases U and V The position feedback is derived either from a resolver or an encoder Low Pass Filters LPF filters on the reference and on the speed error allow the servo system drive motor response be adapted to the application characteristics The Notc
24. measure the voltage level at all high voltage terminals before commencing any such activities to ensure that no lethal voltages are present PAGE 7 1 MOOG MicroDS User s Manual SECTION 7 TROUBLESHOOTING 7 2 Faults on drive power supply circuit Problem Although the 24 Volt power is supplied fan does not work and the display is not lit Suggestion Check that the 24 Volt power is properly supplied Possible cause The 24 Volt power supply is broken Contact Moog Service Problem Although the 24 Volt power and mains power is applied drive does not softstart Suggestion Check that the mains is connected correctly Check the reported DC bus voltage on the display If the expected voltage is not displayed the drive monitoring circuit is damaged Possible cause Internal monitoring circuit damaged Contact Moog Service Problem The drive indicates a Fault on the 15 V internal power supplies Suggestion Disconnect both the encoder cable and the Enable cable Possible cause If the problem persists a failure is present on the internal power supply section Contact Moog Service Problem Although the 24 Volt power is supplied and the fan operates the display remains blank Suggestion Check the reset digital input Disconnect cable to J2B Possible cause Reset digital input active If problem persists contact Moog Service PAGE 7 2 MOOC Section 7
25. mode the speed command is zero If in torque mode zero torque is commanded This input can be used for emergency braking Drive EA Drive OK output Contact closes if no faults are detected 24V Edd max 100 mA lad Drive OK __ Drive OK return It is recommended to logically connect the DRIVE OK isolated output to the power contactor This ensures that the power supply is disabled in case of a fault Tab 1 15 Drive enable connection PAGE 1 36 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 24V 24V Power Supply MicroDS CNC 24V Reset x Reset ov Reset Drive Enable 7 Drive Enable 8 Drive Enable Ref Enable 9 Reference Enable 10 Reference Enable 11 4 Drive OK Drive OK 2 __ Drive OK Grounding of shield Shield must be RF via hose clamp connected to the housing 24V POWER SUPPLY MicroDS 15V OV Reset Reset Drive Enable Drive Enable Reference Enable Reference Enable J2B 15 V INTERNAL SUPPLY for drive test Fig 1 17 INPUT OUTPUT WIRING PAGE 1 37 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 16 5 Encoder Connector output The drive encoder signals are available on the 6 pin J2C connector and are accessible through a 6 pin floating connector code Moog AK4716 The conductors are fastened using spring clips within the connector These clips are released by depressing the tab w
26. optimal current adjustment This algorithm allows an optimal exploitation of motor characteristics giving good low and high speed operation It is also possible to adjust the motor windings to give a higher torque constant Using this in many applications it is possible to use a drive supplying a lower current to obtain the same peak torque output from the motor 4 3 CONTROL LOOPS OPTIMIZATION The control loops optimization can be carried using the built in keypad or Moog GUI 4 3 1 Current loop optimization The current loop optimization is automatically carried out by entering the motor physical characteristics Resistance Inductance and Back EMF BEMF constant Such data must be entered in physical units resistance in Ohm inductance in mH and the Back EMF in Volt RPM The drive automatically adjusts the current loop gains and carries out the angular correction as a function of the motor rotation speed and the torque command No other customer calibration is needed PAGE 4 4 MOOC SECTION 4 OPERATION MicroDS User s Manual REMARK If the output current at high speed max working speed is greater than expected it is possible to reduce it by reducing the motor inductance value 20 96 and reducing the motor BEMF value This may be necessary because of changes in motor reluctance with motor speed 4 3 2 Speed loop optimization Speed loop optimization is carried out by adjusting the VKI and VKP parameters Thes
27. persons only Individuals responsible for the installation of the equipment described in this user s guide must ensure 1 only technically qualified individuals are employed to work on the installation 2 these qualified individuals must have the accompanying documentation available at all times when working on the installation and are obliged to use this documentation in a consistent manner and 3 work on or close to the installation is prohibited for non technically qualified individuals After installation and before starting up the motor it is also recommended to check all system parameters to ensure correct system configuration Particular attention must be paid to all safety instructions PAGE I 6 MOOC CONTENTS amp INTRODUCTION MicroDS User s Manual NOTES Moog assumes no responsibilities for errors or omissions due to the information in this manual This manual is subject to changes at any time and Moog is not obliged to inform users of manual updates The information in this manual is subject to revision due to product modifications and or improvements The manual can differ from previous manual versions PAGE I 7 NACOCOCS MicroDS User s Manual CONTENTS amp INTRODUCTION 12 2 Safety The safety instructions provided in this Manual are included to prevent injury to personnel WARNINGS or damage to equipment CAUTIONS WARNINGS serve to make personnel aware of potentially hazardous acti
28. quality contact Moog Service PAGE 7 3 MOOG MicroDS User s Manual SECTION 7 TROUBLESHOOTING 7 4 Faults on feedback section Problem The drive indicates an encoder pulses fault Suggestion 1 Check the Encoder Resolver parameters against the settings in the drive 2 Check that the encoder pulses number set in the drive corresponds to the actual encoder pulse count 3 Check the connections between Encoder Resolver and drive 4 Check that the problem is not present on another motor Possible cause If the problem persists there is a fault in the Encoder data acquisition section inside the drive To solve this problem contact Moog Service Problem The drive indicates an encoder PHASES pulses Fault Suggestion 1 Check the Encoder Resolver parameters against the settings in the drive 2 Check that the set motor poles set corresponds to the actual motor poles 3 Check the connections between Encoder Resolver and drive 4 Check that the problem is not present on another motor Possible cause If the problem persists there is a fault in the Encoder data acquisition section inside the drive To solve this problem contact Moog Service Note The encoder has two different sections 1 The first section generates the pulses for the acquisition of motor position and speed i e 1024 2048 etc 2 The second section provides the drive with information regarding the position insid
29. size peak current The formula used to obtain the motor Size from Tm and Kt parameters as indicated on the motors catalogues is as follows Ipeak 1 41 Tm Kt 2 The formula to obtain the E1000 EMF at 1000 rpm from Kt RMS torque constant is as follows E1000 Kt 60 4 3 In the encoder motor parameters the number of pulses per revolution should be set PAGE 5 4 SECTION 5 COMMANDS Moog uDS2000 Size A l Motor Parameters l Motor Parameters Poles l Motor Parameters 2 Size A l Motor Parameters voltage V l Motor Parameters speed rpm l Motor Parameters BEMF V l Motor Parameters Rw Q l Motor Parameters Lw mH l APHAPOS 255 l Motor Parameters ID A l Motor Parameters SG z l INI Phase Shift RPM l Max Phase Shift Deg l PTC NTC SEL 0 PTC 1 NTC Encoder Resolver Motor Parameters Encoder Resolver param Poles lt Zero Length Configuration Enc Out Pulses Configuration gt Zero Length Enc Out Pulses Elect Turn lt gt gt Drive Parameters SECTION 5 COMMANDS MOOC MicroDS User s Manual 5 2 1 DESCRIPTION OF MOTOR PARAMETERS Poles Description Indicates the motor poles number The following values can be set
30. steps of 1 DEG phase shift Encoder Description Indicates that the motor feedback is obtained by means of a digital encoder Resolver Description Indicates that the motor feedback is obtained by means of an analog resolver PAGE 5 7 NACOCOCS MicroDS User s Manual 5 2 1 1 SECTION 5 COMMANDS Description of Resolver parameters Poles Description Indicates the number of resolver poles Allowed values from 2 to 24 in steps of two The parameter can be varied Note For Moog Motors it possible to set the following values FAST FASN 6 poles or 2 poles using the and keys FASK 8 poles 4 poles or 2 poles FC 12 poles 6 poles or 2 poles Global 2 poles Encoder Out Description Indicates the number of encoder output pulses Pulses Allowed values from 64 to 1024 pulses per resolver pole pairs in steps of 2 n n 6 10 The value can be varied using the and keys Note The drive generates output pulses by dividing the input pulses used for motor control For resolvers with greater than 2 poles the encoder output count per mechanical rev will be no of pole pairs x Encoder Out Pulses Zero Length Description Indicates the marker width Allowed values 90 180 and 360 The value can be varied using the lt and gt keys Note The drive generates the pulses by dividing the pulses used for motor control
31. values Drive Off Note For this function to operate the Drive Enable amp Drive On digital input must be active and Drive Enable set to local See 5 3 1 Drive Enable PAGE 5 19 MOOG MicroDS User s Manual 5 6 DISPLAY VARIABLES MENU SECTION 5 COMMANDS gt Utility Drive Enable lt Display Variables l The first menu level can be Firmware accessed pressing ENTER Release The first level is characterized by the two lt gt arrows which indicate Speed Reference the possibility of scrolling the rpm menu from right to left To access the menu press ENTER n x To go to the next parameter press ENTER The parameter scanning is recursive Speed Error To exit the menu press ESC rpm Keep on pressing ESC if the displayed parameter is not the BUS Voltage first item of the menu V It is not possible to modify the 15 Voltage parameters displayed inside this V menu 15 Voltage V Phase Shift R Regen Power W Heatsink Temp deg Current Limit Apk Max RR Duty Checksum flash PAGE 5 20 SECTION 5 COMMANDS MOOC MicroDS User s Manual 5 6 1 Description of Display Variables menu Firmware Description Displays the version of Embedded release software installed on the drive Speed Ref Description Indicates the speed ref
32. 4218 All the motor encoder channels and the PTC NTC for the motor temperature control must be connected to J4 connector located on the bottom side of the drive Incremental encoder signals are available as outputs on J2C connector For the encoder signals It is recommended to use a low capacitance shielded with 85 min coverage multipolar cable with 22 AWG 0 30 mm or 20 AWG 0 50 mm conductors Cable length should not exceed 40 m It is recommended that the encoder and the motor power cable be separated through the use of independent duct by a distance of 30 cm 1 It is not recommended to make intermediate connections on the encoder cable Motor Encoder port for the Motor Encoder Channels and for the Motor Integral NTC PTC Temperature Control PIN 8 15 This Auxiliary connector is referred to Limited Voltage Current circuits rated max 5 5 Vdc 10 400 uA PAGE 1 24 SECTION 1 DESCRIPTION MOOC MicroDS User s Manual Fixed connector Motor Side female Code AK4220 Pos name 1 5V 5 Vdc max 100 mA output 2 GND PTC Encoder ground and motor PTC NTC ground 3 Ww Switching signal W phase compliment 4 W Switching signal W phase 5 V Switching signal V phase 6 V Switching signal V phase compliment 7 A A Channel 8 A A Channel compliment 9 C Marker 10 re Marker compliment 11 U Switching signal U phase 12 U Switching signal U phase compliment 13 B B Channel complime
33. 55 8 FASN1V2030 1 6 3 000 10 5 81 6 13 4 58 9 FASN1V4030 1 6 3 000 16 6 97 3 6 7 35 6 FASN7V2030 7 6 3 000 9 8 104 5 14 6 65 0 FASN7V4030 7 6 3 000 21 7 94 2 3 9 24 5 FASN2V2030 2 6 3 000 21 3 100 0 5 9 27 3 FASN3V1030 3 6 3 000 24 5 114 8 2 1 23 9 Tab B 2 FASN FAEN V Brushless Motors 6 motor poles high voltage PAGE A 2 MOOC APPENDICES MicroDS User s Manual Motor Current BEFM Resistance Inductance ID SG Peak A E1000 Ohm mH A FAsY c2V 9 5 80 348 os 16 FASY 63 F 9 50 8 0 34 8 0 8 16 FASY 80 V 22 56 2 8 9 5 2 6 1 8 FASY 80 F 22 56 2 8 9 5 2 6 1 8 FASY 90 V 22 55 1 3 5 5 4 0 1 7 Tab B 3 Asynchronous Vectorial Motors FASY 4 motor poles high voltage Note For all the FAS Y motors the following characteristics are common 4 motor poles nominal voltage 400 Volt Speed 3000 rpm The BEMF parameter is used to divide the working areas between constant torque and constant power Motor Nom Pole Speed Peak BEFM Resistance Inductance Voltage N RPM Current E1000 Ohm mH A G424 806 220 V 12 3500 28 0 53 8 0 9 3 5 G423 804 220 V 8 3900 16 3 54 4 4 1 8 9 G423 604 220 V 8 4800 12 4 45 3 5 1 10 3 G463 415 400 V 8 6200 11 3 43 0 9 5 16 1 G463 617 400 V 8 4800 11 3 71 8 13 0 24 8 G464 417 400 V 12 5500 18 4 36 1 2 9 7 2 G464 617 400 V
34. Class 3K3 25 55 C Class 1K4 25 70 C Class 2K3 5 to 85 with no condensation and no formation of ice For use in a pollution degree 2 environment 1 every 100 m 86 kPa to 106 kPa MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 4 2 Interfaces Analog Speed or current reference differential input 0 10V adjustable scale Auxiliary input voltage 24Vac 10 1A Output Voltage 15 10 Vac 100mA Analog output configurable Tachometric signal adjustable scale Peak current limit via analog signal Motor temperature through PTC or NTC Resolver interface Digital RS485 full duplex serial link encoder input incremental encoder output incremental reset drive OK output drive enable input reference enable input PAGE 1 5 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION Drive front control panel C xe JU o c E a TES a J ew MOOC UDS P CN gU a Pan Y f J fENTER ESC m uu E d p Ke F N Pai 2 ea 17 M J UDS AE Uns PAGE 1 6 N i Meer lt S A k 3 xd Q u RS 485 S s
35. Enter I lt no FAULT yes gt MOOC MicroDS User s Manual Fault Detection Description of Fault Menu IGBT fault U Phase HS IGBT fault V Phase HS IGBT fault lt IGBT fault U Phase LS W Phase HS IGBT fault V Phase LS IGBT fault W Phase LS Bus Overvoltage B IGBT fault Vbus V Recovery Bus Undervoltage Vbus V Unstable Bus at DriveOn Bus Mot Voltage No Bus Uncompatible VBus V Res Rec Main Uncompatible System error on Vbus Detect Heatsink Fault C 4 Motor Fault Overtemperature Flash Error Default setting Encoder pulses Detection error Overcome Max Speed Fault Resolver UVW Encoder Detection error Fault Size 15 Supply Fault V15 V A Flash error Checksum End of Scanning 15 Supply Fault V15 V PAGE 5 31 MOOG MicroDS User s Manual SECTION 5 COMMANDS The TROUBLESHOOTING Section provides information about Faults IGBT Fault Description Detects excess current or a short circuit condition in each of the 6 IGBTs of the output three phase bridge IGBT Fault Description Detects excess current or short circuit Recovery condition in the recovery circuit IGBT Bus Overvoltage Description Detects a BUS overvoltage condition The drive will disable This can be
36. MOOC MicroDS The motion solution INSTALLATION and USER S GUIDE Revision B June 12 MOOC CONTENTS amp INTRODUCTION MicroDS User s Manual Revision Date Description Updated Pages A June 2003 C27159 001 B June 2012 MicroDS Installation and User s Guide C27159 001 Revision B June 2012 Suggestions corrections and comments should be sent to Moog Italiana S r l Moog Inc Moog GmbH Electric Division East Aurora Hans Klemm Stra e Via Avosso 94 New York 14052 D 71034 Boblingen 16015 Casella Genova USA Germany Italy PAGE I 1 NACOCOCS MicroDS User s Manual CONTENTS amp INTRODUCTION I1 TABLE OF CONTENTS and INTRODUCTION I1 TABLE OF CONTENTS and INTRODUCTION 2 I2 INTRODUCTION 5 12 1 USING THE MANUAL 6 12 2 Safety 8 12 3 Declaration of Conformity EC 10 12 4 CE Requirements 11 12 5 LEGAL ASPECTS 12 SECTION 1 DESCRIPTION 1 1 1 INTRODUCTION 1 1 2 PRODUCT RANGE 1 13 GENERAL FEATURES 2 1 4 TECHNICAL DATA 4 1 4 1 General features 4 1 4 2 Interfaces 5 1 4 8 Recovery Circuit 7 15 CODES 8 1 6 OPTIONS 10 1 7 DIMENSIONS AND DRILLING JIG 11 1 8 CONNECTION CABLES 12 19 EXTERNAL FUSES 13 1 10 POWER DISSIPATION 13 1 11 SOFT START 14 1 12 FANS 14 1 13 RESET BUTTON 14 1 14 POWER LINKS AND CONNECTORS 15 1 14 1 Power input voltage connectors 16 1 14 1 1 24V Auxiliary voltage 17 1 14 1 2 Motor power connector 18 1 14 1 3 Mains Vo
37. Pins 11 and 12 are the 24 Volt auxiliary voltage inputs Pin 12 is connected to drive logic 0 and PE PAGE 1 16 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual Use a 6 AWG or 10 mm cable and lug for M5 PE stud Equipotential protection circuit Remark Tab 1 7 PE Screw iA In electrically noisy environments it can be useful to connect the motor ground to the PE stud and pin 7 of J6 connector to PE 1 14 1 1 24V Auxiliary voltage To further 24V Auxiliary LDS Units Supply Max 4 24V 1 Fairrite Clamp Core e p n 00443164151 GND Q4V 4 Turns of Supply cable Fig 1 4 24V Auxiliary Supply Connection to MicroDS The Auxiliary supply for the MicroDS is connected to pins 11 and 12 of J6 NOTE To comply with the EMC Directive an external filter Schaffner Fairrite ferrite clamp p n 00443164151 is required Four turns of the 24V supply cable are required to pass through the clamp for compliance Upto four MicroDS units can be connected to one filter PAGE 1 17 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 14 1 2 Motor power connector The motor phase connections are made on J6 as detailed in Tab 1 6 The motor phase cable must be shielded to comply with the EMC Directive The connections are shown in Fig 1 5 See also Section 2 Installation PAGE 1 18 Motor uDS rS 7N U H
38. TROUBLESHOOTING MicroDS User s Manual 7 3 Faults on output section Problem The drive signals an IGBT Fault short circuit or overload Suggestion Disconnect the motor power supply cable Possible cause A If the problem persists part of the power section may have failed Unplug the drive from the power line then using a multimeter in ohmmeter mode check whether a short circuit exists in the power section Use the following instructions to check the power stage 1 Place the positive red test probe on the DC terminal Check that there is no short circuit between the motor U V and W phases and this terminal 2 Repeat the same operation Place the positive red test prod on the DC terminal Check that there is no short circuit between the motor U V and W phases and this terminal In case of a short circuit between the terminals the IGBT power module is damaged Return the drive to Moog Service for repair B If the problem does not persist it may be due to the motor cables or to the motor itself 1 Disconnect the cable from the motor and check that the motor cables are not shorted 2 Check that the motor resistance detected between the phases is the same as that indicated in the catalogue Note Shielded motor cables longer than 10 15 meters with high capacitance can cause disturbances that can be read as overload or short circuit by the drive In case of concerns regarding cable
39. The MicroDS must be panel mounted within an enclosure or cabinet which provides a degree of ingress protection against liquids and objects of at least IP54 Such enclosures or cabinets must be accessible to technically qualified service or maintenance persons only EMC Requirements The installer of the equipment is responsible for ensuring compliance with the EMC standards that apply where the equipment is to be used Product conformity is subjected to filters installation and to recommend procedures detailed in this Manual Second Environment EMC This 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 PAGE I 11 NACOCOCS MicroDS User s Manual CONTENTS amp INTRODUCTION Standards If connected to a low voltage public network that supplies domestic premises first environment this product may cause radio interference in which case supplementary measures may be required e Cable Shielding Shielding of some external cables is necessary to ensure compliance with EMC requirements Details of these requirements are given in Section 1 and Section 2 The Integral Motor Thermal Protection signal shall be connected on the equipment on T360 connectors J4 J5 PIN 2 15 6 8 which accepts signals maximum 5 5 Vdc 10 400 pA The ultimate result of this signal is to Switch OFF the o
40. U 10 v v 9 w W 8 RE j PE XZ NL J6 4 grounding of shield grounding of shield via connector clamp via connector clamp or RF connection to ground screw in case of terminal board Fig 1 5 Motor phases wiring CAUTION U V W sequence at the drive side must match the corresponding U V W sequence at the motor side NOTE To comply with the EMC Directive the motor cable must be shielded and the shield must be connected to the housing with a 360 connection at both ends SECTION 1 DESCRIPTION MOOC MicroDS User s Manual 1 14 1 3 Mains Voltage Supply The mains supply voltage is connected to pins 4 5 and 6 of J6 These lines do not require shielding For EMC compliance they must be connected to the input EMC filter The input PE connection should be tied to the PE stud detailed in Tab 1 7 1 14 1 3 1 a c Mains L1 L2 L3 Protective Earth NOTE To comply with the EMC Directive an input EMC filter is always required Details of the recommended filters are given in Section 2 Installation EMC Filter Fuses etc See Section 2 Installation To further HDS Max 4 and B N o O0 Oo e e 4 5 6 DE 4 5 6 P LI L2 L3 ni LI L2 L3 Sd Connector J6 i Connector J6 MS 531 LDS p MEUM a P4 pM ME 1 Fig 1 6 AC Mains Wiring SINGLE PHASE OPERATION
41. UI communication program Moog code CZ5300 PAGE 1 10 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 7 DIMENSIONS AND DRILLING JIG The following figures show the drives dimensions and details and drilling information for mounting the drive ro TM 184 2 L 180 5 B JL 9 TY d i SS a A i y E B id y E rd KZ eel A Te F 5 5 i o s He Ie o 9 2 S S R n 2 o l t j ire pod a 80 0 41 Fig 1 3 DA Size drive dimensions and drilling jig in mm PAGE 1 11 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 8 CONNECTION CABLES The following table shows the cables specification for each part of the drive Use Class 1 wire only It is recommended to use copper Cu cables 60 75 C UL certified with the cross sections indicated in the table MicroDS Model 3 11 6 22 Line power cable no of 3x14AWG 3x14AWG EMC Filter required See conductors x AWG Section 2 for details Protective bonding cable no of 1x6AWG 1x6AWG conductors x AWG Motor power cable no of 4X14 AWG 4x14 AWG shielded conductors x AWG Recovery resist
42. ables for FAS and G400 G330 motors are available on request Contact Moog sales for further information Motor Resolver port for the Motor Resolver Signals and for the Motor Integral NTC PTC Temperature Control PIN 6 8 This Auxiliary connector is referred to Limited Voltage Current circuits rated max 5 5 Vdc 10 400 uA PAGE 1 28 SECTION 1 DESCRIPTION MOOC MicroDS User s Manual Motor J5 Connector Connector 9 Way Sub D cos 1 gt coso cos niemal 2 gt cosQ l l Shields 3 l if Available v OV sin o 4 gt sino sing 5 gt sino PTC 6 gt PTC PTC 8 gt PTC Vref 7 Vref Vref lt lt 9 Vref Internal lt 4 Shields if Available Shield connected to housing through connector clamp Shield connected to housing through connector shell Fig 1 12 RESOLVER CONNECTIONS FAST FASK motors Fixed connector 9 pin female code AK4220 Floating connector male Sub D 9 pos code AK5220 provided with the drive Name Cos Differential cos signal non inverted input amplifier from resolver windings Cos Differential cos signal inverted input amplifier from resolver windings Shield Shield internally connected to OV Sin Differential sin signal non inverted input amplifier from resolver windings Sin Differential sin signal inverted input amplifier from resolver __ windings PTC Motor
43. ar connection options Fig 1 16 Example for speed and torque reference wiring PAGE 1 35 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 16 4 Drive enable connector Drive enable Drive OK Tacho out Analog out and Reference enable are available on the male J2B connector and are accessible through a floating 12 pin connector The conductors are fastened using spring clips within the connector These clips are released by depressing the tab with a screwdriver Fixed connector 12 pin male MicroCombicon Floating connector insertion type 12 pin code AK4722 Pos Name Description y 15 Vac output max 100 mA 2 OV Logic Zero Configurable output see Analog out configuration Output impedance 2100 Tacho Out Speed signal output 0 10V corresponding to 0 Max speed rpm The scale is adjustable via software from 5 to 10 V in steps of 0 1 V Output impedance 1000 Reset Opto isolated Reset inputs 15 Vac 12 mA Reset Reset inputs return The MicroDS can be reset if a pulse gt 20ms is applied to the reset inputs 7 Drive Enable Opto isolated Drive Enable inputs 15 Vac 12 mA EN dd Enable Drive enable return Power cannot be supplied to the motor bun this enable signal E Ref Enable Opto isolated Ref Enable inputs 15 Vac 12 mA 10 Ref Enable Ref Enable return When this signal is not applied the command to the motor is zero If in speed
44. cable Analog Digital I O cable RS485 serial link where noisy cables must cross sensitive cables the cables should cross at right angles The 24V Backup supply cable should be routed as far from the motor power cables as possible to ensure EMC compliance PAGE 2 10 Backpanel earth Screen is effectively earthed 360 of its radius Fig 2 5 Backpanel connection MOOC SECTION 2 INSTALLATION MicroDS User s Manual c Partition Penetration Hex Head Bolt Fig 2 6 Partition penetration Penetrating cabinet partitions should be accomplished with a RF connection from the cable shield to the enclosure If a connector is not used the connecting copper strap should be kept as short as possible see Fig 2 6 2 3 4 Recovery resistor To meet the EMC Directive the enclosures housing the recovery resistors must be conductive The recovery resistor cable must be shielded and the shield must be 360 clamped at both sides CAUTION Before mounting the recovery resistor enclosure to the panel ensure that any paint or other insulating material is removed 2 3 5 Shielding To effectively shield the system all the single shields CNC cabinet machine motor housing cables should be connected together to form one full shield PAGE 2 11 NACOCOCS MicroDS User s Manual SECTION 2 INSTALLATION 2 3 6 Safety Aspects Noise suppression of motor drive systems requires consideration of the earthing
45. calculated in analytic models and do not depend upon potentiometric calibrations FLEXIBLE Any brushless motor can be controlled by entering a maximum of 8 parameters which adjust the current loop and identify the motor electromechanical characteristics peak current Back EMF inductance resistance number of poles voltage rating speed feedback encoder pulses characteristics resolver poles The drive can control asynchronous motors by means of vector control By entering the additional parameters magnetization current ID and the slip gain frequency it is possible to use asynchronous motors The remaining parameters related to the hardware features remain active The motor position transducer can be either a resolver with 2 to 24 poles or an incremental encoder from 1024 to 8192 pulses For the resolver internal hardware gain adjustment allows maximum resolution be achieved depending on the transform ratio of the resolver The required gain setting should be specified for FAS or Global motor in the drive order code It is possible to program the device in 2 different languages Italian and English the required language should be specified in the order code At any time using the GUI itis possible to load a different language Only one language can be active in the drive PAGE 1 2 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual The input supply voltage can range from 65 VAC to 510 VAC three phase O
46. cally adjusts the proportional and integral gains to set the appropriate frequency response once the motor resistance motor inductance and motor electromotive force E1000 are entered The algorithms allow the integral and proportional gains to be adjusted by entering data via the keypad or the Moog GUI No drive instruments or test bench calibration is required The loop structure compensates the phase shift introduced by the current sensors and interface circuits This allows a zero phase shift and a flat phase response between 0 and approx 800 Hz independent of the motor attached 6 3 SPEED LOOP The speed uses a simple PI structure Through the VKI and VKP gains the servo system speed response can be adapted to suit the motor load The control loop is updated at a frequency of 5 kHz The bandwidth is limited internally via software to 400 Hz Details of how to tune the speed loop are given in Section 4 3 PAGE 6 1 MOOG MicroDS User s Manual SECTION 6 CONTROL LOOPS 6 4 ADDITIONAL CONTROL STRUCTURES 6 4 1 Soft start Control The drive continuously monitors the bus voltage The softstart software controls softstart operation by reading the bus voltage and calculating the derivative When the set threshold is reached or when internal capacitance are charged the circuit closes the soft start relay The relay will remain closed until the DC bus falls by 25 If the bus voltage changes suddenly at drive enab
47. ct wiring etc c The Drive Identification LABEL is not damaged nor counterfeited PAGE A 1 MOOG MicroDS User s Manual APPENDICES Appendix B Motors technical data The following tables provide data for some of the motors that can operate with the MicroDS drives If a motor is not mentioned it is possible to find the relevant data from The relevant Moog Motor Catalogues By Contacting a Moog Service Centers Motor Size No of Speed Peak BEFM Resistance Inductance Poles RPM Current A E1000 Ohm mH FASTOOV2100 00 6 10 000 7 8 17 5 14 6 11 3 FASTOOV4100 00 6 10 000 9 2 27 8 10 4 9 9 FASTOV2060 0 6 6 000 8 3 26 6 18 3 34 5 FASTOV4060 0 6 6 000 11 9 39 3 12 9 31 4 FASTOV8060 0 6 6 000 19 8 38 7 4 9 14 9 FAST1V2030 1 6 3 000 11 3 75 5 13 0 61 6 FAST1V2060 1 6 6 000 22 0 38 7 3 4 16 8 FAST1V4030 1 6 3 000 21 7 70 7 4 0 25 1 FAST1V4045 1 6 4 500 19 6 55 6 2 6 15 8 FAST1V6030 1 6 3 000 24 6 83 4 3 3 23 2 FAST2V2030 2 6 3 000 23 8 89 4 3 4 22 0 Note For the FASTOO motors use the data in this manual rather than the data in the motor Catalogue Tab B 1 FAST V Brushless Motors 6 motor poles high voltage Motor Size No of Speed Peak BEFM Resistance Inductance Poles RPM Current A E1000 Ohm mH FASNov3o30 0 o 6 3000 24 373 189 420 FASNOV6030 6 3 000 62 8 21 2
48. ction 2 DC Installation Connector J6 ee LDS J Nei t oA NN Fig 1 7 DC Bus sharing Wiring 1 15 Recovery circuit Under braking conditions the motor will return energy that cannot be sent to the line as the rectifier circuit formed by a diode bridge is unidirectional The regenerated energy will increase the DC BUS voltage When DC bus voltage reaches the intervention threshold the digital control turns on the recovery power switch thus connecting the recovery resistance across the DC bus and dissipating the motor braking energy as heat PAGE 1 20 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual The correct sizing of the recovery resistance allows motor deceleration within the required times and protects the electrolytic capacitors and drive from overvoltage The MicroDS is equipped with an internal recovery resistor This resistor is protected in software to prevent the power dissipated exceeding the device ratings Size 3 50W 6 25A Size 6 100W 6 25A The regeneration terminals are also available on J6 pins 2 and 3 An equivalent resistor can be connected externally to double the recovery power handling capability of the unit The software model controlling the recovery resistor operation allows increased dynamic braking capability at the start of a dynamic braking cycle This is achieved by modeling the thermal response of the recovery resistor This allows the recov
49. ddy Co Cork Ireland Declare under our sole responsibility that the products MicroDS motor Controller Model T360xx03x xxx xxx MicroDS motor Controller Model T360xx06x xxx xxx To which this declaration relates are in conformity with the following standards or other normative documents EN61800 3 1996 EN61800 3 A11 2000 EMC EN50178 1997 Electrical Safety Following the provisions of the EMC Directive 89 336 EEC and the Low Voltage Directive 73 23 EEC This product is CE marked in 2003 Isued by Patrick Roche Place of Issue Ringaskiddy Co Cork Ireland Date of Issue 8 Mag 2 eo3 Legally Binding Signature This declaration certifies compliance with the indicated directives but implies no warranty of properties The safety instructions of the accompanying product documentation shall be observed Irish Vat No 1E4576325F Incorporated with Limited Liability in Zug Switzerland Number 170 3 000 003 087 Director P Studer Swiss PAGE I 10 MOOC CONTENTS amp INTRODUCTION MicroDS User s Manual 12 4 CE Requirements Protection against electric shock Electronic Equipment intended for installation in closed electrical operating areas should be kept locked Authorized person shall only open the lock and access should only allowed to skilled persons while the drive is energized Where the equipment requires manual intervention 412 2 1 of HD 384 4 41 S2 shall be consulted Fixed connection for protection
50. details the sources of the delays t1 Time delay required for the following operations Switching on of the 24V power supplier and input voltages stabilization Program loading and logic circuits initialization Internal protections check carried out by the internal microprocessor t2 Reset pulse to allow the reading of reference voltages as well as the internal offsets initialization t3 Time needed by the drive to boot up after the reset t4 Charge time of Bus capacitors determined by the soft start circuit and Bus voltage stabilization t5 Time for DRIVE OK acquisition by the control t6 Time to allow the Drive to reach the torque and to check the proper operation of power stages The times indicated in the following table are necessary to avoid FAULT occurring on startup PAGE 1 40 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 24 VDC RESET pulse gt 100ms 230 460 Vac Three phase Drive OK Drive Enable Ref Enable t 2 3 s t2 gt 100 ms t 2 1 s t4 3 s t gt 100 ms tg 100 ms Fig 1 18 STARTING SEQUENCE TIMES Remarks The reset pulse re initializes the card with all internal voltages stabilized This allows a more accurate determination of voltages for compensation of internal offsets The RESET is necessary only on the first drive start up or in the case of a FAULT to reset the drive The DRIVE OK signal requires the line voltage be applied before becomi
51. e and decrease a variable Holding the key down for approx 5 s increases the increments in which the variable is changing e ESC This key allows the user to go backwards inside the menu or terminate a function e By holding down the yellow key it is possible to adjust the display contrast by means of the keys To keep the setting it is necessary to save the parameters before switching off the drive PAGE 5 1 NACOCOCS MicroDS User s Manual SECTION 5 COMMANDS Notes Note 1 At start up the drive is in locked keypad status This prevents accidental Note 2 Note 3 Note 4 Note 5 PAGE 5 2 modifications to parameters and system settings To modify parameters it is necessary to unlock the keypad To unlock the keypad it is necessary to activate the function unlocked keypad inside the Keypad lock menu In order to save the modified parameters the function Save Parameters inside the Utility menu should be used The save will only occur if the drive is not enabled If a FAULT occurs the display backlight will be switched off The DRIVE ENABLE and REFERENCE ENABLE signals are shown in the start up screen on the display by the characters D and R respectively The motor menu in not circular when the bottom is reach press ESC or to go back The Enter button can be used to go forward in the menu MOOC SECTION 5 COMMANDS MicroDS User s Manual
52. e parameters correspond to the speed loop integral and proportional gains respectively It may also be necessary to adjust the various digital filters in the speed loop to account for resonances in the system and to achieve the desired response The optimization is best carried out using an oscilloscope The proportional gain acts on the measured velocity error which is the difference between the requested velocity and the actual velocity High proportional gain gives the system a faster response and tighter speed control but if the gain is set too high the system may become unstable For best velocity tracking results the proportional gain should be set as high as possible without inducing severe overshoot or oscillation The integral gain sets the gain for the integral term in the speed error compensation Integral gain is used to remove any steady state speed error caused by system imperfections or due to disturbance torques from the load Integral gain also provides disturbance rejection or stiffness in the motor s reaction to an external torque load The following describes how to adjust these parameters to achieve an optimum preformance The proportional term is the first term to be adjusted The integral gain is effectively turned off by setting it to zero e The Servo drive should be enabled Increase the gain until the shaft is turning While monitoring the speed response on an oscilloscope increase the gain until a slight
53. e the motor electric loop and is synchronous with the motor pole pairs If a resolver is used for feedback the drive interface converts the information received into the two encoders For the purpose of controling the drive there is no difference between encoder feedback and resolver feedback PAGE 7 4 MOOC Section 7 TROUBLESHOOTING MicroDS User s Manual 7 5 Control loops trouble Problem The motor is excessively noisy when enabled Suggestion 1 Check that motor and drive cables are properly shielded Route the power and feedback cables in different and insulated conduits particularly when cables runs are longer than 15 meters 2 Check that the cables connecting the CNC to the drive are properly shielded Improper shielding can cause noise on these cables when the axis is enabled 3 Check that the noise is not due to Vki and VKP gains Reduce the set values to check their influence If the gains are incorrect this can cause instability in the system a Verify the output encoder pulse number Replace the motor with one having higher encoder pulse count if possible Higher angular position resolution will allow increased gain settings b Reduce the system frequency response by means of the filter on the speed error until noise is reduced Do not reduce the value significantly below 100 Hz to avoid system instability 4 Check that the grounding is as shown in Section 3 Electromagnetic Compatibil
54. edback connection must always be made according to the specification in of Section 1 regardless of whether the drive is being set up with Temporary or Permanent supplies Inadequate shielding can cause feedback errors and may affect motor operation 2 4 2 Temporary test power wiring Unlike the DS2000 the MicroDS must be supplied 24V backup power before the drive will operate and any testing can be carried out Remark it is not possible to enable the output stages when the DC BUS is not powered A DC BUS UNDERVOLTAGE FAULT will be reported If the drive is connected for test purposes only an unshielded motor power cable can be used The cross section of the cable connecting the drive to the AC line supply and to the motor can be lower than that recommended for the drive size if drive peak current will not be supplied and the connection is made for test purposes only The motor should also be used at low speed and reduced torque A soft start circuit is always present and active on each drive The line current drawn by the drive during soft start is limited by an internal 1209 resistor However it is recommended to protect the power input line with fuses or a circuit beaker PAGE 2 13 NACOCOCS MicroDS User s Manual SECTION 2 INSTALLATION 2 4 8 Summary of power wiring To correctly wire and install the drive it is necessary to limit electromagnetic disturbances between the servosystem and other electronic devices
55. erence value rpm Detected speed Description Indicates the motor measured speed rpm The function is also active when the drive is disabled Speed Error Description Indicates the speed error between the rpm reference and the measured speed BUS Voltage Description Indicates the DC BUS voltage detected V by the drive This value is used for the soft start and recovery circuit management 15 Voltage Description Indicates the 15V logic voltage level V detected by the drive 15 Voltage Description Indicates the 15V logic voltage level V detected by the drive Phase Shift Description Indicates the phase shift introduced to compensate the phase lag of the current loops at high motor shaft speed R Regen power W Description Indicates the power being dissipated in the recovery resistors This calculation relies on the correct recovery resistance having been entered Heatsink Temp C Description Indicates the drive heatsink temperature This value is used in the drive thermal management software PAGE 5 21 MOOG MicroDS User s Manual Current Limit Apk SECTION 5 COMMANDS Description Indicates the current limit of the drive Includes the limits introduced in the motor menu drive menu Limit analog input if enabled See 5 3 1 Analog Limit IT Limiting See 5 3 1 IT Protection and thermal protection software of the drive Note The thermal protection softwa
56. ersion 4 2 3 Control section 4 2 4 High Speed operation 4 3 CONTROL LOOPS OPTIMIZATION 4 3 1 Current loop optimization 4 3 2 Speed loop optimization oaFrRBRARDMYODNH HHH SECTION 5 COMMANDS 1 5 1 DESCRIPTION 1 5 2 MOTOR PARAMETERS MENU 4 5 2 1 DESCRIPTION OF MOTOR PARAMETERS 5 5 2 1 1 Description of Resolver parameters 8 9 2 1 2 Description of Encoder Parameter 8 5 3 DRIVE PARAMETERS MENU 9 5 3 4 DESCRIPTION OF DRIVE PARAMETERS 10 5 4 CONTROL LOOPS PARAMETERS MENU 16 5 4 4 DESCRIPTION OF CONTROL LOOPS PARAMETERS 17 5 4 1 1 SPEED LOOP PARAMETERS 17 PAGE I 3 NACOCOCS MicroDS User s Manual CONTENTS amp INTRODUCTION 5 4 1 2 CURRENT LOOP PARAMETERS 18 5 5 Enable menu 19 5 5 1 Description of Enable Menu 19 5 6 DISPLAY VARIABLES MENU 20 5 6 1 Description of Display Variables menu 21 5 7 UTILITY MENU 23 5 7 1 Description of Utility Configuration Analog Out Sub Menu 24 5 7 2 Description of Utility Parameter Sub menus 26 5 7 3 Description of UTILITY Phasing amp Save Program Sub Menu 27 5 7 4 Description of UTILITY OFFSET sub MENU 29 5 8 Keyboard Lock Menu 30 5 8 1 Description of Keyboard Lock Unlock Menu 30 5 9 FAULT MENU 31 5 9 1 Description of Fault Menu 31 SECTION 6 CONTROL LOOPS 1 6 1 INTRODUCTION 1 6 2 CURRENT LOOP 1 6 3 SPEEDLOOP 1 6 4 ADDITIONAL CONTROL STRUCTURES 2 6 4 1 Soft start Control 2 6 4 2 Recovery resistor control circuit 2 6 5 Additional Drive Data 3 6 5 1 Output current from the DC Bus connection 3 6
57. ery circuit to turn on initially for a longer period of time thereby increasing the time for which peak power can be dissipated The software limits the overall power dissipated to the ratings of the resistor Recovery Resistor Tie screen to bracket See panel on Section 2 which resistor Installation is mounted n p Fig 1 8 Recovery Resistor Wiring If the recommended Moog external recovery resistor is used C25722 003 121 it must be provided with suitable heatsinking To achieve the rated power of the resistor a heatsink of 400m x 400mm x 3mm is required WARNING High Voltage The recovery resistance is connected to the DC BUS which can reach a voltage of 790V PAGE 1 21 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION as E c M G d Md amp d C e nnaean A A PAGE 1 22 WARNING Do not touch recovery resistors during operation to avoid burns due to the heat it dissipates CAUTION In applications where the working cycle involves decelerations with high inertial loads from high velocity in very short deceleration time it is necessary to properly size the recovery resistance In these cases please contact Moog Service Centers NOTE To comply with the EMC Directive the recovery resistance cable must be shielded and the shield must be
58. escription Indicates an error in accessing the PAGE 5 32 SECTION 5 COMMANDS Default setting MOOC MicroDS User s Manual parameters saved in the drive This may be due to an access error Reset the drive If the fault persists re enter the parameters and retry If the fault still persists the drive should be returned for repair Heatsink Fault Description Indicates a drive heatsink overtemperature Check the drive cooling and that the fan is operating correctly Motor Fault OverTemperature Description Indicates a motor overtemperature Verify that the motor is sized appropriately for the application Overcome Max Speed Description Indicates that the max speed set has been exceeded by more than 12 Verify the operation of the control loops and that the motor is capable of applying sufficient braking torque to the load UVW Encoder Detection Error Description Indicates an error in the encoder signals for the motor phases In the case of a first start up check that the wiring is made correctly For a running system check that no wires are cut and that the encoder is working properly Encoder pulses detection error Description Indicates an error in the encoder signals for the motor angular position In the case of a first start up check that the wiring is made correctly For a running system check that no wires are cut and that the encoder is working properly
59. ffice for futher details PAGE 1 7 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 5 CODES The MicroDS can be ordered using the boxcar shown in Fig 1 2 PAGE 1 8 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual Numeric Numeric Alpha Numeric Numeric Alpha Alpha Numeric T360 X X XX X XXX XXX Model Series Designator Current Model Design Status Resolver Gain Option Base Model Size E E model No Option Description o Resolver Transform Ratio 0 25 FAS Motors Resolver Transform Ratio 0 5 Global FASG Motors Current Hardware Revision Software Revision MicroDS NTC PTC amp IT Limiting English Menus 311 MicroDS NTC PTC amp IT Limiting Italian Menus Reserved Default drive settings Accessories Graphical User Interface GUI part number is CZ5300 RS232 422 485 Converter part number is CZ5200 Users manual is available www moog com Note 1 Users must be experienced qualified in the use of this product range before building products from this drawing 2 All drive options are provided with a 120Ohm Internal Regen Resistor 3 External regen resistors are to be ordered and supplied seperately Fig 1 2 MicroDS Drive BoxCar PAGE 1 9 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 6 OPTIONS Optional devices separately supplied are RS232 422 485 Converter Moog code CZ5200 Moog G
60. formation is not available it is possible to obtain it by means of the following formula BEMF z Kt 60 4 where Kt in Nm A ms is the motor torque constant PAGE 5 5 NACOCOCS MicroDS User s Manual SECTION 5 COMMANDS RW Description Indicates the motor resistance value measured from phase to phase The following values can be set 0 to 30 Ohm in steps of 0 1 Ohm Note Set the resistance value as indicated in the motor catalogue If it is not available the value can be measured by means of a multimeter used as an Ohmmeter Lw Description Indicates the motor inductance value measured from phase to phase The following values can be set 0 to 200 mH in steps of 100 uH Note Set the inductance value as indicated in the motor catalogue If it is not available the value can be measured by means of a multimeter used as an inductance meter APHAPOS z Description Indicates the phase correction value between the position feedback device resolver or encoder and the motor phases The following values can be set 0 to 255 units Note This parameter can be automatically modified by the PHASING procedure as described in 5 7 3 For Global motors the phasing function must be performed on first startup ID Description Indicates the magnetization current value for an asynchronous motor in vector control mode The following values can be set 0 to t
61. g 3 4 Configuration for installation in the electrical cabinet Additional setting for installation Drive remote enable In order for the CNC to control drive enable the Drive enable setting should be set to remote All test settings used on the test bench which limit performances should be removed PAGE 3 3 MOOC SECTION 4 OPERATION MicroDS User s Manual SECTION 4 OPERATION 4 1 INTRODUCTION This section details the operation of the MicroDS 4 2 GENERAL PRINCIPLES The drive and motor operate as an electro mechanical converter transforming electrical energy drawn from the power line into mechanical energy 4 2 1 Input electric power conversion The three phase supply voltage is converted to DC using a diode rectifier and smoothed by means of capacitors The capacitors charge current is limited using a soft start resistor The operation of the softstart is controlled by software This algorithm used is self adapting to different supply voltages Softstart Circuit DC L1 L2 L3 DC Fig 4 1 Input Rectifier amp Softstart PAGE 4 1 NACOCOCS MicroDS User s Manual SECTION 4 OPERATION 4 2 2 Output electric power conversion The DC bus is connected to a three phase bridge comprised of six IGBTs and six diodes The IGBTs are controlled using a PWM Pulse Width Modulation waveform This applies a pulsed voltage to the motor The widths of the voltage pulses are controlled to
62. h filter allows the affects of resonances in the mechanical system to be reduced or eliminated Resonances can occur due to the limited rigidity of the motor transmission mechanical transmissions belts etc particularly in presence of high inertia ratios between motor and load mismatched load condition Position feedback APHAPOS Current Loop PWM Amplifier Rw LW E1000 limit ID SG Max Current Speed Feedback Speed Loop SENET LPF Filter Max speed Frequency ACC DEC Reference LPF Filter Ref Scale Frequency Notch Filter Frequency Band Gain Current feedback Fig 4 3 Servo system block diagram feedback Motor size voltage rpm encoder Poles pulses zero PAGE 4 3 NACOCOCS MicroDS User s Manual SECTION 4 OPERATION 4 2 4 High Speed operation The current control loop has two different working modes Low speed and High speed The transition is determined by motor voltage compared to the available output voltage on the inverter output At low speed the voltage supplied by the drive is higher than that generated by the motor and the magnetic field generated by current in quadrature with the field generated by magnets At high speed the motor voltage is comparable to the voltage available from the drive The phase between the magnetic fields is automatically changed to keep the motor voltage at a level where the voltage margin is adequate to allow
63. he current and power that the recovery circuit is rated for The recovery voltage is turn on threshold 760 Vpc on the DC Bus Drive Size Recovery Current Apk Recovery Resistor Power W 3 11 6 25 12 5 with additional 50 100W with additional external Resistor external Resistor 6 22 6 25 12 5 with additional 100 200W with additional external Resistor external Resistor Tab 6 2 DC Recovery Resistor Ratings PAGE 6 3 MOOC Section 7 TROUBLESHOOTING MicroDS User s Manual SECTION 7 TROUBLESHOOTING 7 1 INTRODUCTION This section contains instructions on trouble shooting the controller A Caution Repairs or modifications to the product by anyone other than a Moog authorized repair facility may create unsafe operating conditions and will invalidate the product warranty WARNING Do not attempt to repair or make internal adjustments to the controller Lethal voltages are present and changes to factory calibration can result in serious equipment and or personnel risk and void the equipment warranty All faulty items of this equipment must be returned to Moog Service Centres for maintenance and repair WARNING Lethal voltages 2790Vac remain present within this equipment when the mains power is removed It is recommended to refrain from commencing any servicing maintenance repair or upgrading of this equipment until at least five minutes after power shutdown It is further recommended to
64. he max peak current supplied by the drive in steps of 100 mA Note Set magnetization current value as indicated in the motor catalogue SG Description Indicates the slip frequency gain value for asynchronous motor control operating in vector control mode The following values can be set 0 to 100 in steps of 0 1 Note Set the value as indicated in the motor catalogue If it is not available it is possible to measure the optimal value by analyzing the response to transients PTC NTC Sel Description Indicates that the motor thermal feedback is obtained by means of a PTC FASN FAST FASK etc or by means of an NTC Global The NTC or PTC can be selected using the amp keys INI PHASE SHIFT Description Indicates the shaft speed where additional phase shift is added to the current command The following values can be set 100RPM to 9999RPM in steps of 10RPM Note The phase shift compensates for the phase lag in the current loop response at high motor speed Below this speed the phase shift is zero Above it the phase shift increases linearly with the speed PAGE 5 6 MOOC SECTION 5 COMMANDS MicroDS User s Manual MAX PHASE Description Indicates the phase shift at Motor Max Speed SHIFT The following values can Note This parameter operates in association with the INI be set 0 to 100 DEG in PHASE SHIFT parameter to set the rate of change of
65. icroDS User s Manual Max Input Refer Description Allows the user to select the input reference voltage that sets the max speed The following values can be set 3 2 V to 10 0V in steps of 0 1V Analog I Limit Description Allows the user to limit the current supplied by the drive independent of speed until the max set value is achieved The max set current value is controlled using limit reference The following values can be set Enabled or Disabled Note This function can be used each time it is necessary to limit the max torque supplied by the motor during machine cycles Max I Limit Ref Description Allows the user to select the input reference voltage on Limit reference input which allows the max set current to be supplied to the motor The following values can be set 3 2 V to 10 0V in steps of 0 1V Note Set the selected value on the numeric control to obtain a direct correspondence PAGE 5 15 MOOG MicroDS User s Manual 5 4 CONTROL LOOPS PARAMETERS MENU The first menu level can be accessed by pressing ENTER The first level is characterized by the two lt gt arrows which indicate the possibility of scrolling the menu from right to left To access the menu press ENTER When the parameter to be modified is reached press to increase or decrease the variables To go to the next parameter press ENTER The parameter scanning is recu
66. icroDS drives Care is necessary to ensure the power requirements of the application do not exceed the filter ratings 2 3 2 2 Filter Sizing In standard applications the filter can be chosen from Tab 2 1 The filters can be sized more accurately if the effective current rms the drive absorbed in the application is known If this information is not available the filter can be sized according to the motor nominal current PAGE 2 4 MOOC SECTION 2 INSTALLATION MicroDS User s Manual 2 3 2 2 FILTERS MECHANICAL DIMENSIONS The following table details the mechanical dimensions of the suggested filters Code Trade mark Dimensions Weig mm ht L1 L2 L3 L4 L7 kg AT6009 Schaffner 255 240 50 25 300 1 1 FN 258 7 07 Schaffner 99 5 51 105 95 Se oa 0 9 FN350 12 29 TOP VIEW SIDE VIEW C E L3 4l E Tab 2 2 Filters mechanical dimensions PAGE 2 5 MOOC MicroDS User s Manual SECTION 2 INSTALLATION 2 3 2 3 Filter installation The filter must be mounted on the same panel as the drive CAUTION A space of at least 60mm 2 4 must be left around the filter for air circulation when the cabinet does not have forced ventilation The filter must be located as close as possible to the drive input If the separation between filter and drive exceeds 30 cm 17 then a flat cable multi thread copper flat cable should be used for the RF connection between f
67. ilter and drive NOTE Before mounting the drive and the filter to the cabinet check that the panel surface is conductive If not remove any paint and or other insulating material before mounting the drive and filter The max tightening torque of mounting screws are as follows FILTER MAX TORQUE FN 258 7 07 FN350 12 29 0 5Nm Tab 2 3 Mounting screws torque table PAGE 2 6 MOOC SECTION 2 INSTALLATION MicroDS User s Manual EMC filter can produce high leakage currents to ground Protective Earth The current levels associated with individual filters are detailed in the associated filter datasheet Note1 if two phases are interrupted leakage current can reach six times the default level Note2 The capacitors within the filters have discharge resistors CAUTION The filter must be connected to earth before connecting the supply WARNING High voltage Internal filter capacitors discharge time approx 10 seconds PAGE 2 7 MOOC MicroDS User s Manual SECTION 2 INSTALLATION 2 3 3 Wiring and shielding The following cables must be shielded with 8596 minimum shielding coverage Motor power cable see Fig 2 2 amp Fig 2 3 NOTE if a power terminal board is used at motor side the shield must be RF connected to the ground screw by a metal clip External recovery resistor cable DC Bus Cable Cable shield Metal shell Shield must be clean and clam
68. it Note Integral gain Description Allows the user to set the speed loop Integral gain Allowed values 0 to 32767 in steps of 1 unit Note Speed Ref Filter Description Allows the user to low pass filter the speed reference by means of a low pass digital filter Allowed values 1Hz to 800Hz in steps of 1 Hz Note The filter limits speed overshoots due to sudden variations of the reference signal Speed Error Filter Description Allows the user to limit the speed loop bandwidth by means of a low pass digital filter on the compensated speed error Speed loop output to torque loop Allowed values 20Hz to 800Hz in steps of 1 Hz Note This filter can reduce high frequency oscillations due to high gain conditions High controller gains can be required when high inertia load are present on the shaft Analog Offset ref Description Allows the user to correct for and cancel any analog offset at the speed reference input Allowed values 50 to 50 in steps of 1 unit Note PAGE 5 17 MOOG MicroDS User s Manual 5 4 1 2 SECTION 5 COMMANDS CURRENT LOOP PARAMETERS Refer current Description Setting the drive to torque control mode it is possible to set a digital current reference The reference can be varied using the and keys of the front panel Allowed values 0 to the max current value set in steps of 0 1 A Note For
69. ith a screwdriver Fixed connector 6 pin male MicroCombicon Floating connector 6 pin code AK4716 Name Description A Encoder output A channel A Encoder output A channel negative B Encoder output B channel B Encoder output B channel negative C Encoder output marker C Encoder output marker negative Tab 1 16 Encoder output connections PAGE 1 38 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 16 6 RS485 Serial link RS485 serial interface signals are available on the Sub D 9 pos J1 connector The corresponding floating connector is a female 9 pin connector code Moog AK5220 Up to 62 drives can be connected through the RS 485 serial link Fixed connector male 9 pin Sub D Floating connector female Sub D 9 pos code AK5220 Pos Name 1 RX Rx RS485 2 N C Not Connected 3 TX Tx RS485 4 N C 5 N C 6 RX Rx RS485 7 OV Digital OV 8 TX Tx RS485 9 N C Tab 1 17 J1 connector Sub D 9 pos RS485 serial link PAGE 1 39 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 17 Drive Starting Sequence In order to correctly power and enable the MicroDS it is necessary to follow a start up sequence The minimum delay times in order to allow the internal circuits to reach the operating voltage levels and to make the internal devices ready for enabling are indicated The chart below summarizes the start up sequence and
70. ity Possible cause If the problem persists Contact Moog Service Problem The motor oscillates at high frequencies or hums Suggestion 1 Check that mechanical transmission is rigid that belts are not slack and there are no other mechanical parts which can cause oscillation 2 Check that VKI and VKP gains are properly set Increasing these values should modify the oscillation frequency If this does not Work try to identify the oscillation frequency with an oscilloscope and reduce it with a Notch filter Possible cause If the problem persists it could be due to a fault in the internal control section or in the feedback section Contact Moog Service Problem The motor oscillates at low frequency less than 10 Hz Suggestion Check the speed loop and CNC position loop gains Possible cause If the problem persists it could be due to a fault in the internal control section in the feedback section or in the CNC Contact Moog Service PAGE 7 5 MOOC APPENDICES MicroDS User s Manual Appendix A Warranty MicroDS Drives together with all options and accessories are covered under warranty for a period of 12 months Conditions for Warranty validity are the following a The device has been installed according to the instructions provided in this manual b The device has not been tampered with or operated improperly traces of water humidity incorre
71. le it is possible that a fault exists on the three phase power supply blown fuse missing connection or inadequate power supply In this condition an error will be reported by the drive and it will not enable 6 4 2 Recovery resistor control circuit The MicroDS is equipped with an internal recovery resistor of 1200 100W An additional external resistor with the same characteristics can be attached externally if required By directly monitoring the DC bus the drive can control the recovery circuit thresholds for different power supply voltages No hardware calibration or setting is necessary The braking circuit control controls the recovery transistor gate drive signals to ensure the ratings of the recovery resistor are not exceeded while providing the maximum instantaneous recovery capability This is achieved by allowing a longer on time when the recovery first turns on and then reducing the on time over time so as to maintain the continuous power rating of the resistor This functionality is detailed in Section 5 PAGE 6 2 MOOC Section 6 CONTROL LOOPS MicroDS User s Manual 6 5 Additional Drive Data 6 5 1 Output current from the DC Bus connection Drive Sizes RMS Current RMS Peak Current 3 11 3A 6A 6 22 6A 12A Note The Drive motor current is included in this current Tab 6 1 DC Bus Output Current Ratings 6 5 2 Max Recovery Current on MicroDS Drives The following table lists the maximum value of t
72. ltage Supply 19 1 14 1 3 1 SINGLE PHASE OPERATION 19 1 14 1 4 PARALLEL DC BUS OPERATION 20 1 15 Recovery circuit 20 1 16 CONTROL CARD LINKS AND CONNECTORS 23 1 16 1 Encoder input connector 24 1 16 2 Resolver input connector 28 1 16 2 1 G400 and G330 motors resolver wiring 32 1 16 3 Input References Connector 34 1 16 4 Drive enable connector 36 1 16 5 Encoder Connector output 38 1 16 6 RS485 Serial link 39 1 17 Drive Starting Sequence 40 1 18 Dynamic Braking 42 1 19 MECHANICAL BRAKING 43 PAGE I 2 MOOC CONTENTS amp INTRODUCTION MicroDS User s Manual SECTION 2 INSTALLATION 2 1 INTRODUCTION 2 2 INSTALLATION REQUIREMENTS 2 3 ELECTROMAGNETIC COMPATIBILITY 2 3 4 EUROPEAN DIRECTIVE EMC 89 336 EEC 2 3 2 FILTERING 2 3 2 1 Filter types 2 3 2 2 FILTERS MECHANICAL DIMENSIONS 2 3 2 3 Filter installation 2 3 3 Wiring and shielding 2 3 4 Recovery resistor 11 2 3 5 Shielding 11 2 3 6 Safety Aspects 12 2 4 Summary of Connection Instructions 13 2 4 1 Feedback connection encoder or resolver 13 2 4 2 Temporary test power wiring 13 2 4 3 Summary of power wiring 14 anrarRWW SECTION 3 STARTUP 3 1 INTRODUCTION 3 2 DRIVE SETTING UP INFORMATION 3 3 First start up on test bench for testing purposes 3 4 Configuration for installation in the electrical cabinet wow SECTION 4 OPERATION 4 1 INTRODUCTION 4 2 GENERAL PRINCIPLES 4 2 1 Input electric power conversion 4 2 2 Output electric power conv
73. motor and drive parameters unless configured by Moog at the customer s request The necessary parameters are detailed below Motor settings Number of motor poles 2 Motor max current 3 Motor voltage rating 4 Motor nominal speed 5 Motor BEFM at 1000 rpm 6 Motor resistance 7 Motor inductance 8 ID magnetization current for asynchronous motors only 9 SG slip for asynchronous motors only 10 Resolver or Encoder feedback 11 Resolver Encoder phase Can be determined using the Phasing function 12 Number of encoder pulses number of resolver poles 13 Number of pulses per electrical revolution needed by the CNC resolver interface only 14 Zero marker width resolver interface only PAGE 3 1 NACOCOCS MicroDS User s Manual SECTION 3 STARTUP Remark It is not possible to modify the number of output pulses and the zero marker width when operating with encoder feedback This function is available only with resolver feedback Drive settings 15 16 17 18 19 20 21 22 23 Remote Local drive enable Max motor speed command Max drive current Speed or torque control Set to speed control when drive is used for testing ACC DEC value only in speed control mode Function is disabled when set to 0 Analogue Digital reference control Digital set by drive or analog set by control current torque limit Speed loop VKI and VKP speed integral and speed proportional gain
74. motor rotation direction to be reversed for the same applied reference signal The following values can be set CW Clockwise or CCW Counter Clockwise Note The default setting is CW a clockwise motor rotation when view looking in at the shaft is obtained with a positive reference signal Max speed Description It allows the user to limit the motor max rotation speed at a lower value than that set in the motor parameters The following values can be set 100 rpm to motor max speed in steps of 1 rpm Note The input analog reference scales to the Max speed setting 10V will be mapped to Max speed Max current Description Allows the user to limit the max supplied current to a lower value than that set in the PAGE 5 13 MOOG MicroDS User s Manual SECTION 5 COMMANDS motor parameters The following values can be set 0 to max current in steps of 100 mA Note The input analog reference scales to the Max current setting 10V will be mapped to Max current Control types Description Allows the user to set the motor to torque control or speed control The following values can be set Torque or Speed Note In speed mode the drive regulates motor speed The load on the motor shaft governs the applied torque In torque control mode the set torque is supplied Motor speed is dependent on the motor load If the max speed is exceeded in torque control mode by
75. mply with the EMC Directive the drive must be installed with the appropriate EMC filters The installation must adhere to the recommendation given in the following sections NOTE This equipment is not intended to be used on a low voltage public network which supply domestic premises If connected to such a supply this product may cause radio interference in which case supplementary mitigation measures may be required Testing has been carried out at an independent test house to the above directive The drive installer is responsible for ensuring compliance with the EMC regulations that apply where the drive is to be installed Recommended filtering wiring grounding and screening is detailed in this section PAGE 2 3 MOOC MicroDS User s Manual SECTION 2 INSTALLATION 2 3 2 FILTERING 2 3 2 1 Filter types The following filters are recommended for EMC Compliance Code Trade mark Rated current Max Voltage Drive type input A Vac A 50 C 40 C A 50 C Schaffner Fairite 24 Vac input Clamp Part 00443164151 AT6009 Schaffner 7 8 4 3x480 MicroDS 3 11 FN 258 7 07 MicroDS 6 22 Schaffner 13 8 12 1x250 MicroDS 3 11 FN 350 12 29 Single Phase Operation only Tab 2 1 Recommended filter types The Fairite clamp should be placed on the 24V input lines with 4 turns wrapped in a common mode fashion both lines wrapped in filter in same direction The FN258 7 07 can be used with up to four M
76. n Description Allows the user to configure the analog output with the required parameter When this menu is accessed By pressing Enter the preset value is shown Use the and keys to scroll through the menu Press ENTER to select the required parameter and to exit the menu Zero Setting Analog Out Description Allows the user to set the Analog Out to zero The output is kept to zero Speed Reference 10V Velmax Description Configures the Analog Out with the Speed Reference Speed Error 10V Velmax Description Configure the Analog Out with the Speed Error Current Ref Description Configures the Analog Out with the Current reference The information can be useful to 1 0V Imax check the actual load applied to the drive and the motor Limit Description Configures the drive with Limit Limi 10V 100 Current Limit U Phase El Pos 20V p p Description Configures the Analog Out with phase U electric position 10 Volt output corresponds to phase U angular position between 0 and 360 electrical degrees If a two pole resolver is used it is possible to determine the motor position directly through the analog output V Phase El Pos 20V p p Description Configures the Analog Out with phase V electric position 10 Volt output corresponds to phase V angular position between 0 and 360 electrical degrees If a two pole resolver is used it i
77. ng active Once DRIVE OK is active the drive can be enabled immediately PAGE 1 41 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 18 Dynamic Braking It is possible to perform dynamic braking of a load using the motor torque in an emergency condition provided that the drive or motor is not in a FAULT condition To achieve this the drive command sequence detailed below should be followed When dynamic braking of the motor is required the REFERENCE ENABLE is removed and the motor will brake with the available torque t1 after 100ms this time can be increased in cases where load inertia is much larger than motor inertia the DRIVE ENABLE can be removed t2 The three phase input voltage removal is delayed with respect to DRIVE ENABLE in order to avoid drive FAULTS due to an undervoltage condition being detected t3 DC BUS discharge time ty l te ts Reference Enable Drive Enable 230 460 Vac Three phase t 100m s t 15 ms ts 6 min before accessing the drive Fig 1 19 SWITCH OFF SEQUENCE TIMES PAGE 1 42 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 19 MECHANICAL BRAKING The FAST ACT series motors have an optional electromagnetic brake This brake requires an external supply of 24V This brake can be used to hold the motor CAUTION The brake must be used only when the motor has come to a standstill The use of this brake for dynamic braking will seri
78. nt 14 B B Channel 15 PTC Motor PTC NTC Note Signals A B and C are available on the connector J2C Encoder Output after a buffer circuit which is provided to protect encoder devices from incorrect wiring Tab 1 8 J4 Connector Sub D 15 pos Encoder inputs PAGE 1 25 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION Motor m zr Re zv rom u OU uL DS Shield connected to the housing by connector clamp Shield connected to the housing by connector shell 45V GND PTC NTC PTC A Channel A Channel compliment B Channel B Channel compliment Marker Marker compliment U Phase U Phase compliment V Phase V Phase compliment W Phase W Phase compliment J4 PAGE 1 26 Fig 1 10 ENCODER CONNECTIONS SECTION 1 DESCRIPTION MOOC MicroDS User s Manual Standard Standard Connettore Connector L FAE UJrzaAomzP gucom e o PT 00E 14 19 PC10 Fase Phase U Fase Phase V Fase Phase W Fase Phase C Fase Phase B Fase Phase A 5V S Fase Phase U Fase Phase V Fase Phase W ILAcan DHhAc B Pasot rilas ec Fase Phase B Fase Phase A PTC Terra Ground PTC Terra Ground Fig 1 11 Encoder connection at motor side for FAEN PAGE 1 27 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 16 2 Resolver input connector
79. omments should be sent to Moog Italiana S r l Moog Inc Moog GmbH Electric Division East Aurora Hans Klemm Strape 28 Via Avosso 94 New York 14052 D 71034 Boblingen 16015 Casella Genova USA Germany Italy Moog reserves the right to alter any data or technical feature without prior notice PAGE A 5
80. on in order to increase the peak torque at high speeds The following values can be set Enabled or Disabled Note It is possible to set Torque Improv to enabled as the default setting It is recommended to leave this function enabled to ensure that at higher speeds lower motor temperatures and higher torque is achieved Notch Frequency Description Allows a programmable Notch filter to be inserted in the speed loop This filter acts on the compensated error from the speed loop The following values can be set 50 to 1500 Hz Note Sets the filter center frequency in Hz Notch Bandwidth Description Sets the Notch filter bandwidth The following values can be set 1 to 25 Hz Note Sets directly in Hz the filter bandwidth Notch Gain Description Sets the Notch filter attenuation The following values can be set 0 1 to 1 00 Note Allows entry in percent the Notch filter signal width 1 00 100 Drive enable Description Allows the drive to be enabled torque supplied to motor using the keypad or using the Enable digital input The following values can be set local or remote Note The default setting is local enable The drive enable input must be active for local enable to operate Setting Drive enable to remote enable allows the drive to be enabled on a positive transition of the Drive Enable input Rotation Direction Description Allows the
81. ons that may result in personal injury or death CAUTIONS are to alert personnel to actions that could cause equipment damage resulting in the equipment becoming unsafe CE Compliance indicates where a particular application related safety or EMC requirement is driven by the need for CE Compliance of the MicroDS when installed in the system Customers who do not need CE Compliance on their machinery may choose not to implement these features Required for CE Compliance WARNING DO NOT remove or replace any assemblies subassemblies or components with primary power present WARNING Lethal voltages 2790Vac remain present within this equipment when the mains power is removed It is recommended to refrain from commencing any servicing maintenance repair or upgrading of this equipment until at least five minutes after power shutdown It is further recommended to measure the voltage level at all high voltage terminals before commencing any such activities to ensure that no lethal voltages are present WARNING The removable plug in connectors of the MicroDS Drives are for ease of wiring installation These removable plug in connectors are not suitable for connection or disconnection under power All connections must be made with power removed WARNING Repair or internal adjustments to the MicroDS Series Controllers must not be attempted All faulty items must be returned to Moog Service Centres for maintenance and repai
82. or cable 2x14 AWG 2x14 AWG shielded no of conductors x AWG 24V power cable no of 2x14 AWG 4 Turns on Fairrite core conductors x AWG Motor encoder cable no of conductors x AWG Motor resolver cable no of conductors x AWG 16 x 22 20 AWG 8 x 22 20 AWG Schaffner p n 00443164151 shielded shielded Tab 1 2 Dimensions of connection cables Note The DC Bus connection between drives has the same wire size as the Recovery resistor It must also be shielded Tab 1 3 Conversion from AWG to mm PAGE 1 12 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 9 EXTERNAL FUSES CAUTION Equipment suitable for use on a supply capable of delivering not more than 5000RMS Symmetrical Amperes 460V 10 maximum No fuses are provided inside the drive It is recommended to use UL certified fuses and fuse blocks as manufactured by BUSSMAN Div Cooper LTD UK MicroDS Model JA size Notes 311 6 22 Short Circuit Rating 5000 rms Amps Power line fuse 32A 550 Volt Type HRC Recovery Resistor 1000Vpc 3A Semiconductor fuse Ferraz Shawmut A120X range 24 Vdc auxiliary power 3A Delayed supply fuse 250V Tab 1 4 Recommended fuses 1 10 POWER DISSIPATION To determine the thermal requirements of the cabinet in which the drive is to be installed it is necessary to refer to Tab 1 5 The power dissipation referred to in the table assumes the drive is operating at continuous ra
83. ously damage the brake and reduce the braking torque Note T1 gt 300 ms T2 application depending T3 100 ms T4 gt 200 ms DRIVE ENABLE 24 V BRAKE POWER SUPPLY CLAMP f i RELEASE ov REFERENCE ENABLE opm DA MOTOR SPEED Fig 1 20 MECHANICAL BRAKING SEQUENCE Note 1 The time for brake ON and OFF is different for different brakes models Please refer to the motor catalogue for updated data 2 Brake voltage should be 24 volt 0 10 measured at the motor PAGE 1 43 MOOC SECTION 2 INSTALLATION MicroDS User s Manual SECTION 2 INSTALLATION 2 1 INTRODUCTION This section provides the necessary information for drive installation Dimensions and the required connections are also detailed 2 2 INSTALLATION REQUIREMENTS For correct installation it is necessary to e Prepare a metal support on which to mount the drive Leave at least 20mm 0 8 of space around the drive e Provide adequate ventilation to dissipate the heat produced by the drive and the recovery resistance if the drive is installed in a cabinet e Provide shielded power connection cables having an appropriate cross section for the motor e Provide a cable run for the resolver or encoder cables which is separated from the power cables by at least 30cm 1 is a separate cable duct e Provide grounding to PE using short cables having an appropriate cross section to increase immunity from radio disturbance e Install
84. overshoot occurs in the speed response Fig 4 4 below Decrease the gain until the overshoot just disappears Fig 4 5 below PAGE 4 5 NACOCOCS MicroDS User s Manual SECTION 4 OPERATION ACTUAL VELOCITY E m VELOCITY Dad COMMAND Fig 4 4 Speed Loop Response proportional gain only slight overshoot NO aaa I VELOCITY COMMAND a 7 ACTUAL VELOCITY Fig 4 5 Speed Loop Response proportional gain only no overshoot e Increase the integral gain until a slight overshoot occurs e Adjust the proportional gain to improve the slope of the step response Fig 4 6 illustrates the velocity wave form for a properly tuned loop WELL ADJUSTED SYSTEM l VELOCITY COMMAND ACTUAL VELOCITY Fig 4 6 Speed Loop Response correct response PAGE 4 6 MOOC SECTION 5 COMMANDS MicroDS User s Manual SECTION 5 COMMANDS 5 1 DESCRIPTION The six keys on the drive front panel allow all menus as well as the relevant drive configuration to be displayed An additional key allows display contrast adjustment e ENTER This key allows the user to enter a menu and browse it The variables scanning inside a menu is recursive In some cases this key activates a routine function i e inside the Utility menu e lt gt These keys allow the user to move horizontally in the menu structure scrolling from right to left and viceversa e These keys allow the user to increas
85. owing values can be set OW to 200W for 6 22A uDS and OW to 100W for 3 11A uDS Note Using the Recovery resistor power resistance and motor voltage parameters the drive will calculate the maximum allowed regeneration duty cycle This duty cycle and actual recovery resistor power are displayed in the Display Variable Menu under MaxRRDuty and R Regen Power parameters respectively The recovery resistor will operate with an on time of 200uS and variable off time For high dynamic braking conditions the recovery resistor control allows an initial on time which exceeds the 200uS Tacho Scale Description Indicates the Tacho signal value obtained at max speed The following values can be set 5 to 10V in steps of 100 mV Note setting 10 Volts for the max speed value gives a simple and direct ratio between Tacho output and actual speed PAGE 5 11 MOOG MicroDS User s Manual SECTION 5 COMMANDS IT Peak IP A Description Indicates the peak RMS current that the drive is allowed to supply The following values can be set OA to 15 6A for 6 22A uDS and 0A to 7 8A Note Clamped at minimum of Motor Parameters Size V2 and Drive Parameters Max Current V2 for 3 11A uDS IT Cont Description Indicates the continuous RMS current ive is all y IC A that the drive is allowed to supply The following values can be set 0A to 6A for 6 22A uDS and OA to 3A for
86. p Motor and tightened resolver connector Fig 2 2 Grounding of shield To connectors at motor side Encoder cable see Fig 2 2 Analog Digital I O cable RS485 cable Resolver cable see Fig 2 2 PAGE 2 8 The shield of the cables must be connected at both ends with a 360 connection to a metal connector or with metal hose clamps For Sub D connectors the cable shield must be connected to the metal case of the connector When there is no connector at the drive an EMC connector kit is provided The insulation on the shield of the cable must be stripped back and the shield RF connected to the stand off through the hose clamp as in Fig 2 3 Fig 2 3 Grounding of shield to housing MOOC MicroDS User s Manual INSTALLATION SECTION 2 DIGITAL ANALOG 1 0 ERY RESISTOR RECOV MOTOR POW ER Fig 2 4 Connection at Drive Side uA Size D cables are not shown and Sub Note Unshielded three phase power supply in Fig 2 4 PAGE 2 9 MOOC MicroDS User s Manual SECTION 2 INSTALLATION Required for CE Compliance NOTE The shields of cables inside the cabinet must be 360 clamped to the cabinet wall see Fig 2 5 noisy cables must be kept away from sensitive cables by at least 30 cm 1 Noisy cables include input power wires motor power and brake wiring Sensitive cables include analog or digital signal cables encoder
87. p p I U Phase Det Cur 10 V Imax I V Phase Det Cur 10 V Imax I U Phase B E M F 10V 500V V Phase B E M F 10V 500V U Phase Voltage 10V 500V l V Phase Voltage 10V 500V l Bus Voltage 10V 1000V l Tacho Maxspeed Scale The first menu level can be accessed pressing ENTER The first and second levels are characterized by the two lt gt arrows which indicate the possibility of scrolling the menu from right to left To access the menu press ENTER When the parameter to be modified is reached press to increase or decrease the variables To go to the following parameter press ENTER The parameter scanning is recursive To exit the menu press ESC Keep on pressing ESC if the displayed parameter is not the first item of the menu In order to save the modified parameters see Save Parameters inside this menu NOTE To access the Analog out configuration press enter select the required variable using the lt gt keys and confirm by pressing ENTER This variable is available on the analog output with the scaling indicated in the Configuration Analog Ou menu The configuration can be saved using the Save parameters menu PAGE 5 23 NACOCOCS MicroDS User s Manual 5 7 1 SECTION 5 COMMANDS Description of Utility Configuration Analog Out Sub Menu Analog Out Configuratio
88. peration with a single phase power supply is also possible with appropriate de rating Unlike the DS2000 models it is necessary to supply 24V backup power at all times ADVANCED PERFORMANCE The current loop based on a traditional PI structure is provided with automatic compensation algorithms for the Back EMF and of the KP KI ratio as a function of the motor characteristics Hardware calibration is not necessary for the current loop Current loop update rate 10kHz Speed Loop Update rate 5kHz PAGE 1 3 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 4 TECHNICAL DATA 1 4 1 General features Three phase input voltage rating Single phase Input voltage rating Min max Three phase input voltage Auxiliary voltage required Configurable analog references Recovery Resistor Max dynamic with encoder Switching frequency Speed adjustment Anti resonance low pass filter Filter on reference Notch filter programmable Ambient temperature Storage temperature Transport temperature Relative humidity Environment Derating for altitude gt 1000 m Air Pressure PAGE 1 4 from 230Vac to 460Vac 10 50 60 Hz 230Vac Input Power limited to 1 1kW 65 510 Vac DC Bus 80 720 Vac 24 Va 10 1A SELV from 3 2 to 10 Vac 1200 100W 6 Arms Drive 1200 50W 3 Arms Drive 200 Hz 10 kHz 0 9999 rpm 20 800 Hz 1 800 Hz 50 1500 Hz 0 40 C exceeding
89. r WARNING High Voltage The recovery resistor is connected to the Drive DC Bus and can have voltage 790Vdc gt gt gt SeS gt Q m T MOOC CONTENTS amp INTRODUCTION MicroDS User s Manual gt gt ope gt WARNING Do not touch recovery resistor during operation to avoid burns CAUTION Ensure that the correct input voltage 230V or 400V has been set CAUTION If an emergency stop is required opening U V W 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 repeated on off switching wait 1 minute between power removal and subsequent reapplication CAUTION Cooling air to the MicroDS must be kept clean The air supply must not contain particles that may deposit causing obstruction to airflow It is recommend to periodically check the airflow CAUTION Do not exceed the tightening torque values given in the following table See Section 2 of this Manual for the recommended tightening torque of the terminal blocks Screw Tightening torque Thread Nm Ib in M3 M4 M5 M6 M8 PAGE I 9 NACOCOCS MicroDS User s Manual CONTENTS amp INTRODUCTION 12 3 Declaration of Conformity EC Moog lid Ringaskiddy County Cork Ireland Telephone 353 21 4519000 Telefax 353 21 4519001 EC Declaration of Conformity Low Voltage Directive 73 23 EEC EMC Directive 89 336 EEC Moog Ltd Ringaski
90. re operates based on a thermal model of the drive It accounts for the mode of operation Stalled lt 50rpm running gt 50rpm heatsink and drive losses This software prevents the junctions of the power switches exceeding their maximum ratings MaxRR Duty 76 Description Indicates the maximum continuous duty cycle 96 that the drive will allow the recovery resistor to operate This is based on the entered recovery resistor power and resistance parameters and the motor voltage Checksum flash Description Indicates the checksum calculated by the drive embedded software If a discrepancy exists between the calculated and stored value it may indicate that the embedded software has been corrupted In this case it is necessary to reload the embedded software PAGE 5 22 SECTION 5 COMMANDS 5 7 UTILITY MENU MOOC MicroDS User s Manual Variables lt Utility gt Keyboard Display Lock I Configuration gt Save lt gt Reset lt Parameters Set gt Analog Out Parameters Parameters Default lt Zero setting gt Clear Flash Analog Out in progress I I lt Speed Reference gt Erase Flash 10 V Velmax in progress I I lt Speed Error gt Parameters 100 V Velmax saved I lt Current Ref gt 10 V Imax I lt limit 10V 100 I U Phase El Pos gt 20V p p VPhase El Pos 20V
91. recommended EMC components for electromagnetic compatibility Detailed information is available in the following paragraphs PAGE 2 1 MOOC MicroDS User s Manual SECTION 2 INSTALLATION UP TO 4 uDS s WITH DC BUS PARALLEL NOTE HIGHTER CURRENT RATING OR ADDITIONAL MAINS FILTER REQUIRED 1F 1 P CURRENT EXCEEDS FILTER RATING A 3 SUPPLY OPT EXT REGEN JOOW 120 OHM SINGLE PHASE SCHAFFNER FN350 12 29 THREE PHASE FN258 7 07 32A_ HRC FUSES CONTACTOR SCHAFFNER FA RRITE 0443184151 d OR EQUIVALENT Pd 4 TURNS REOUIRED QUU Pd T d d SUPPLY Fig 2 1 Typical Drive Installation PAGE 2 2 MOOC SECTION 2 INSTALLATION MicroDS User s Manual 2 3 ELECTROMAGNETIC COMPATIBILITY 2 3 1 EUROPEAN DIRECTIVE EMC 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 31 1995 MicroDS drives with FASTACT and Global 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 NOTE To co
92. released by depressing the tab with a screwdriver Fixed connector 4 pins male MicroCombicon Floating connector insertion type 4 pin code AK4714 provided with drive Pos Name Description Differential non inverted input of speed or torque reference V Ref signal 0 10V corresponding to 0 Max input reference The scale is adjustable via software from 3 2 to 10V in steps of 0 1 V Input impedance is 10k Differential inverted input of speed or torque reference signal 2 V Ref limit Differential non inverted input of analog current limit 0 3 10V corresponding to 0 100 max set current The scale is adjustable via software from 3 2 to 10V in steps of 0 1 V Input impedance is 10k Differential inverted input of analog current limit 4 limit Tab 1 14 Speed and Torque References connection PAGE 1 34 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual Example for speed and torque reference wiring CNC HDS i l rT E REF P as He REF ov T 2 ov J2B Grounding of shield J2 Shield must be RF via hose clamp connected to the housing DIFFERENTIAL INPUT CNC res a TT Wr a BER 12A Tov y i REF B 2 ov J2B Shield must be RF m connected to the housing Grounding of shield via hose clamp J2 UNIPOLAR INPUT Note J2A and J2B with differential and unipol
93. rsive To exit the menu press ESC Keep on pressing ESC if the displayed parameter is not the first item of the menu In order to save the modified parameter See Save Parameters in the Utility Menu PAGE 5 16 SECTION 5 COMMANDS Drive Parameters lt Control Loops gt Drive Parameters Enable I Speed loop lt gt Current Loop I Reference Speed Refer current rpm Al I Proport gain Motor parameters VKP Rw Q I I Integral gain Motor parameters VKI Lw mH I I Speed ref filter l Hz I I I Speed err filter Curr ref filter Hz z Hz I I Anal ref offset Anal ref offset Refofs Refofs SECTION 5 COMMANDS 5 4 1 5 4 1 1 MOOC MicroDS User s Manual DESCRIPTION OF CONTROL LOOPS PARAMETERS SPEED LOOP PARAMETERS Reference speed Description it is possible to modify the motor speed by means of and keys The drive must be in digital reference mode Allowed values 0 to the minimum of motor max speed Motor menu and Max speed Drive menu in steps of 1 rpm Note For analog reference this window has no functions The value set is saved when a Parameter Save is performed Proportional gain Description Allows the user to set the speed loop proportional gain Allowed values 0 to 32767 in steps of 1 un
94. s possible to determine the motor position directly through the analog output U Phase Det Cur 10V Imax Description Configures the Analog Out to the instant value of the current supplied by phase U V Phase Det Cur 10V Imax Description Configures the Analog Out to the instant value of the current supplied by phase V PAGE 5 24 SECTION 5 COMMANDS MOOC MicroDS User s Manual U Phase B E M F 10V 500V Description Configures the Analog Out to the instant value of the B E M F on the motor phase U V Phase B E M F 10V 500V Description Configures the Analog Out to the instant value of the B E M F on the motor phase V U Phase Voltage 10V 500V Description Configure the Analog Out to the instant value of the voltage on Phase U sum of B E M F and resistive drop V Phase Voltage Description Configure the Analog Out to the instant value of the voltage on Phase V sum of B E M F 10V S00V and resistive drop BUS Voltage Description Configure the Analog Out to the DC Bus voltage 10V 1000V Tachometric Description Configures the Analog Out to the i lue of th l Maxspeed Scale instantaneous value of the motor speed PAGE 5 25 MOOG MicroDS User s Manual SECTION 5 COMMANDS T 5 7 2 Description of Utility Parameter Sub menus Save Description Allows the user to save drive configura
95. section describes MicroDS drive features and also refers to the ordering system 1 2 PRODUCT RANGE MicroDS is a digital drive for permanent magnet synchronous servomotors hereafter brushless Vector control of asynchronous servomotors hereinafter asynchronous is also possible The range is made up of 2 models corresponding to 3 Arms and 6 Arms nominal currents The transducers available with the motor are either an incremental encoder or a resolver An internal recovery resistor is provided in the drive An optional second external recovery resistor is also available The Moog GUI software pack is available to manage by means of a PC both the drive configuration and the display of all internal values The manual together with the notes in the Appendices provides a complete description of the drive PAGE 1 1 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 3 GENERAL FEATURES The MicroDS features provide the automation industry with the best response to the most difficult requirements of motion control FULL DIGITAL Speed and current control loops and many other functions such as the DC BUS status monitoring soft start and recovery circuit management and protection are implemented digitally to ensure reliable and flexible operation The digital operation ensures maximum system stability and reliability over time temperature and varying application conditions Settings are carried out through values
96. sition used by the current control software may be incorrect Operation 1 Set the drive to local Enable and apply the external drive enable signal 2 Press ENTER in the Phasing menu 3 Wait for Positioned Motor to appear on the display 4 Once the drive has determined the offset between resolver encoder and motor it will be displayed in the Zero Search 15 window Note For global motors the value displayed will be outside the 15 range indicated 5 Press ENTER Phasing End Push Enter will be displayed The value indicated will be written to the APHAPOS parameter of the Motor Menu 6 Press ENTER again and the drive will return to the Utility Sub Menu Note the APHAPOS parameter can be used to manually correct the motor phasing Save Description Allows the user to save the drive control program after the file has been downloaded Program through the Moog GUI Press ENTER to enable this function Drive should be disabled Once the save is complete the drive is reset PAGE 5 28 MOOC SECTION 5 COMMANDS MicroDS User s Manual TE 5 7 4 Description of UTILITY OFFSET sub MENU Save gt Current Offset gt Moog Variables Program Calibration I Insert Password I lofsU lofsV Enter Calibration End The first menu level can be accessed by pressing ENTER The first level is characterized
97. ted current If the application employs continuous braking it is necessary to add the recovery resistor power dissipation use the nominal recovery power if that required by the application is unknown MicroDS Model 3 11 6 22 Power 53W 98 8W Tab 1 5 Power dissipation The fuse specified is for operation with a nominal DC bus of 600V For operation at lower DC bus voltages 300V a lower voltage and current fuse can be specified PAGE 1 13 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 11 SOFT START The soft start circuit current limit at start up is included in the drive input stage 1 12 FANS The MicroDS ventilation is provided by one fan mounted over the drive Fan power is generated internally A CAUTION Free air circulation must be ensured for correct fan operation 1 13 RESET BUTTON A reset button is available on the drive front panel It allows the digital control card to be reset It can also be used during start up to access the download data mode PAGE 1 14 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual 1 14 POWER LINKS AND CONNECTORS Remark Moog MicroDS drives include all necessary connectors for correct operation All the drives are equipped with plug in connectors to ensure quick and easy connection of the drive in the control cabinet These connectors also facilitate service and repair activities The MicroDS connectors allow for easy mounting of the drive inside
98. the control cabinet providing the customers with the option of separating the cabinet assembly from system completion with servo systems The following sections detail the connectors and their specifications for each function of the drive and their associated accessories PAGE 1 15 NACOCOCS MicroDS User s Manual SECTION 1 DESCRIPTION 1 14 1 Power input voltage connectors OA SIZE Power supply recovery resistance motor output connections and 24V supply are grouped together on connector J6 on the drive s lower side The conductors are fastened by means of screw terminals Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive UA size wiring cable 14AWG 2 1 mm Wire stripping 7 mm Tightening torque 0 5Nm Pos Name Function 1 DC DC Bus Voltage minus connection 2 DC External recovery resistance and DC Plus of DC Bus plus connection 3 RR External recovery resistance 4 L1 Phase L1 three phase voltage input 230 460Vac 10 5 L2 Phase L2 three phase voltage input 230 460Vac 10 6 L3 Phase L3 three phase voltage input 230 460Vac 10 7 PE Protective Earth 8 W Phase W motor three phase output 9 V Phase V motor three phase output 10 U Phase U motor three phase output 11 24V Auxiliary voltage inputs 24 Vdc 10 1A 12 GND 24V Auxiliary voltage inputs return Tab 1 6 J6 Power connector A Size Remark
99. tion parameters to flash memory Press Parameters ENTER to enable this function A Save cannot be carried out if the drive is enabled Once the Saving is complete the drive is reset Reset Description Allows the user to restore all drive configuration parameters saved previously in the Parameters drive flash memory Press ENTER to enable this function Drive should be disabled Once the restore is complete the drive is reset Parameters Description Allows a default parameters set to be restored All drives have the same default Set Default configuration Press ENTER to enable this function Drive should be disabled Once the restore is complete the drive is reset PAGE 5 26 MOOC SECTION 5 COMMANDS MicroDS User s Manual TE T l T USES 5 7 3 Description of UTILITY Phasing amp Save Program Sub Menu CAUTION In this mode the motor can rotate a fraction of a revolution The motor must be free to rotate to ensure phasing accuracy Parameter Phasing lt gt Save Program gt Offset Calibration Set Default l Waiting for positioned rotor l Zero research 15 l Phasing end Push Enter PAGE 5 27 MOOG MicroDS User s Manual SECTION 5 COMMANDS E Phasing Description Allows the user to compensate any offset between the motor position and the feedback device resolver or encoder position on the motor shaft If this is not completed the rotor po
100. utput of the Solid State Motor Controller and thereby No Power is transmitted to the Motor connected to the Motor Drive 12 5 LEGAL ASPECTS This manual can only be used by final Customers Users of the Moog product it describes This manual cannot be reproduced in whole or in part without prior written consent from Moog No distribution of this manual by electronic mechanical or printed means is allowed This manual has been issued with the intention of providing all information necessary to perform a complete installation of the MicroDS Moog assumes no responsibility 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 is for information purposes only Moog assumes no responsibility with regard to the correspondence of the product features described in the manual and the features on the actual product purchased by the final Customer User No statement or sentence contained in this manual implies further legal obligations different from those contained in each sale or supply contract regarding Moog products PAGE I 12 MOOC SECTION 1 DESCRIPTION MicroDS User s Manual SECTION 1 DESCRIPTION 1 1 INTRODUCTION This manual describes the MicroDS drive series and provides information about the installation and the functional characteristics of the product This
101. with all drive on a machine PTCNTC Threshold Description Indicates the PTC or NTC threshold value used to protect motor from overtemperature If the resistor transitions over this threshold an overtemperature fault is triggered The following values can be set 100 to 10000 Q in steps of 100 Note Set to 1000 Q for standard Moog PTC FAS motors Set to 6500 O for standard Moog NTC Global motors Anal Ref Zero Band Description Indicates the dead band on the analog inputs in which these inputs are ignored The following values can be set 0 to 128 Note This feature allows to user to set a deadband around the analog inputs Allows minor offsets in the input to be disregarded PAGE 5 10 SECTION 5 COMMANDS MOOC MicroDS User s Manual Recovery resist ResRec Description Indicates the recovery resistance value The following values can be set 60Q to 12090 in steps of 10 Note The internal recovery resistance of the MicroDS is 1200 This is the default setting If an external recovery resistance is connected it should be the same resistance and power rating as the internal device The parallel resistance value should be entered when an external resistor is employed e g 60Q if an external resistor of 1200 is connected RR Rated Power W Description Sets the rated power of the combined internal and external recovery resistors The foll

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