optional - Axor Industries
Contents
1. LI 3 11 HL CN r Projected Produced Assembled 100 Made in Italy NO JOINT CONSTRUCTION External regen resistance dimensions insertion Min Max bus voltage values insertion Regen resistance set point values insertion Corrections 1 rev 02 08 Figure pag 23 corrected Figure pag 29 corrected RS485 connections inserted Corrections ver 1 rev 01 09 All rights reserved Reproduction in whole or in part is prohibited without prior written consent of the copyright owner All specifications are subject to change without prior notification This manual has been carefully checked However Axor does not assume liability for errors or inaccuracies THIS MANUAL CONTAINS A DESCRIPTION OF MiniMagnum AND A GUIDELINES FOR THE DRIVE S INSTALLATION FOR MORE DETAILS SEE ENCLOSURES ON THE CD PROVIDED WITH THE DRIVE USING THE DRIVE INCORRECTLY CAN INJURE PEOPLE OR MANAGE THINGS FULLY RESPECT THE TECHNICAL DATA AND INDICATIONS ON CONNECTION CONDITIONS Summary 1 Description 1 1 Description 1 2 General view MiniMagnum 1 3 Technical Data 1 4 Mechanical Dimension 1 5 Product plate and Ordering Code 2 Installation 2 1 General Advices 2 2 Positioning 2 3 Environmental conditions 4 Cables 5 Connection to ground and earth 6 Note about cable shielding 7 Base installation procedure 8 Example of base connecti2. 15 Shielding 21 Speeder One 7 Storage 14 T Transport 14 AXOR Industries Service Manual MiniMagnum ver 1 rev O1 09 Conformity European directives and norms The servodrives are components that are intended to be incorporated into electrical plant and machines for industrial use When the servodrive is used into machines or plant the electrical plant machine must respect the following directives EC Machinery Directive 98 37 EC EC Directive on EMC 89 336 EC Low Voltage Directive 2006 95 EEC The machine plant manufacturer must examine whether with its machine plant still further or other standards or EEC guidelines are to be used EC Conformity The EC mark that is applied to the drives references to the Low Voltage Directive 2006 95 EC and EC Directive on EMC 89 336 EC The standard EN 61800 5 1 is applied to ensure conformance with the Low Voltage Directive The standard EN 61800 3 is applied to ensure conformance with the EMC Directive In reference to noise immunity and noise emission the converters fulfil the requirement to the category second environment industrial environment If the installation of the drive is carried out differently than described in this manual the user must carry out new measures to satisfy the requisites of law Industries Service Manual MiniMagnum ver 1 rev 01 709 47 since os 5 MOTORS servo DRIVE AXOR INDUSTRIES viale Stazione 5
3. 36054 Montebello Vic Vicenza Italy phone 39 0444 440441 fax 39 0444 440418 info axorindustries com www axorindustries com CERTIFICAZIONE DEI SISTEM DI DELLE AZIENDE UAU EN 60 6001 CERTIFIED N 9135 A UNI EN ISO 9001 CERTIFIED N 9135
4. 5 7 6 12 Dumping size RXX Internal standard resistor RO5 500W 660 External resistor opt R10 1000W 33Q 330 500W External resistors opt Protection S Standard T Tropicalized Feedback RO Resolver SEF Safety Enable Function EC Commutation encoder 1 Present opt ER Commutation encoder or resolver both 0 Not Present std RXDB Black Out Dynamic Brake CBMD CanBus Multidrop Interface 1 Present opt 1 Present opt 0 Not Present std Not Present std R485 RS485 Interface 1 Present opt 0 Not Present std 12 AXOR Industries Service Manual MiniMagnum ver 1 rel O1 09 Chapter 2 Installation 1 General Advices 2 Positioning 3 Environmental conditions 4 Cables 5 Connection to ground and earth 6 Note about cable shielding 7 Base installation procedure 8 Example of base connection 9 Supply connections 10 Motor power connection 11 Regen resistance connections 12 Rel OK connection 13 Digital inputs connection 14 Analog and digital outputs connections 15 Analog inputs connections 16 Emulated encoder outputs connection 17 Pulse Dir inputs connections 18 Feedback signals connections 19 Multidrop connection 20 Canbus connection 21 RS485 connection 22 MiniMagnum power up 23 Motor Test NJ NJ NJ ND IND NJ NO IND NU IND 2 1 General Advices During the transport of the drive respect t
5. clamp to the zinced panel of the electrical box see 2 6 Note about cable shielding 5 If an external braking resistor is used connect it between pins and R by using a cable as short as possible If the cable length is greater than 20 30 cm the cable must be twisted and shielded besides the shield must be connected to ground on both ends utilising u clamps to the zinced panel of the electrical box 6 Connect the motor s feedback cable to the drive s J1 connector 7 Connect the main power supply cable L1 L2 L3 and the earth cable PE Always insert a power relay or a thermal magnet on every phase of the products power supply 8 Connect the auxiliary supply cable 24V Use an external power supply that must be stabilized and galvanically isolated from the main supply 9 Connect the PC to the drive utilising the RS232 cable 10 Supply the drive with the auxiliary supply and then main supply following the procedure illustrated at the end of the chapter 11 Open the Speeder One interface 12 Execute the tests on the drive and the motor In the following page there is an example of a basic connection Industries Service Manual MiniMagnum ver 1 rev O1 09 2 8 Example of base connection Example of BASE connection 5232 Ww 215 2 19 2 20 2 21 an Cap 2 14 Motor B P hi DGT IN1 ENABLE feedback s d
6. devices in order to avoid useless interventions For safety reasons connect the prepared terminal to earth before powering the drive Incorrect con nections make filter operation unreliable 16 Industries Service Manual MiniMagnum ver 1 rev O1 09 2 2 Positioning The MiniMagnum is made to be fixed vertically to the bottom of the electrical box in order to guarantee reliable cooling respecting the following distances Zinced panel Cable duct Cable duc Dimensions in mm Note Arrange the power components converters main s filters resistors terminals in bins of the electrical panel different from those reserved to the command or control systems PLC PC CNC regulators This improves the level of immunity to interference of the system Industries Service Manual MiniMagnum ver 1 rev 01 709 17 2 3 Environmental conditions During the storage and the installation respect the followings environmental conditions Condizioni ambientali From 0 C to 445 C no derating Working environmental temperature From 45 C to 55 C the drive must be derated 2 5 in reference to nominal and peak current Humidity From 10 to 85 Up to 1000m without restriction From 1000 to 2500m of altitude the converter must be derated in the output current of 1 5 every 100m Enclosure protection IP20 LEVEL 2 Norm EN60204 EN5
7. for external 2 The length of the cable must be equal to or less than 2 5m for the RS232 0 22mm 24AWG or communication 0 34mm 22AWG It must be connected when the main supply and the auxiliary supply are both powered off It must have a capacity less than 160pF m Cable capacitance max 60 nF km Impedance characteristics 100 1200 for the Lead resistance loop 159 8 O km CanBus 0 25mm 0 34mm2 communication The length depends upon the transmission speed e 1000kbit s gt 20m max e 500kbit s gt 70m max e 250kbit s gt 115m max Note Avoid crossing overlapping and twisting cables together If it is absolutely necessary to cross them do so at 90 On request Axor provides motor signal cables series encoder or resolver for motors series Super SAX Industries Service Manual MiniMagnum ver 1 rev 01 09 19 2 5 Connection to ground and earth Make sure that the servodrive and the motor are connected to earth in accordance with the current norms This connection must be done by using a copper bar mounted on insulating supports ny Ground bar PE earth then follow these indications 1 Connect to the ground bar Y the earth power terminal of the drives Y the CHASSIS of all drives Y the DGT IN RTN pin of the digital inputs for each drive Y the OV of the auxiliary supply Y the internal zero voltage of the CNC Y the earth terminals of the PLC CNC frames 2 Con
8. information contact Axor 1 Follow the basic procedure previously described ATTENTION do not apply load to the motor 2 Install Speeder One interface from CD 3 Power up the drive apply the auxiliary supply and then the main supply follow the procedure previously described 4 Open the Speeder One interface clicking on Axormb exe executable file on directory C Pro gramm Axor The main window Axor Servo Drive and the Select Driver windows open simul taneously On the Select Driver window insert the drive s address all drives have 1 set as default value then click OK Axor Servo Drive File Users Drive Tuning About B E Profle Tocl 2 Osciloscope General Set Hide Status E Drive Status Motor Speed 100000 RPM OP MODE Main Voltage Motor Position 010 0 deg 1 Digital Speed ad zov sj Motor Curent 00000 Bus Voltage 103391 V Digital 1 0 o fem Postion 5815849 Pulses Speed Current gt d dt Select Driver X Speed rpm 1700000 Encoder Qut Insert ID Analog Out2 a gt 00000 Homing Off Line Dk Homing Method Sensor Homing z Zero Encoder deg Acceleration Speed Zero Speed Homing Offset me 100 pubes Alarms X Present sene F1 CTRL F1 Normal Port Comi IdDevice 001 Status Online Dev File 5 If the drive is Not configu
9. the overheating of the motor Wait until the motor has cooled off reset the alarm then enable the drive Disable the drive e check the AC power supply input check that the working cycles are not ex cessive e verify if the motor going at half speed shows the same problem Reset the alarm then enable the drive Disable the drive wait until the DC power supply voltage reaches the correct threshold check the AC power supply input then en able the drive Check the AC power supply input and the working cycles This is a visual alarm it an ticipates the intervention of the Maximum recovery alarm ver 1 rel O1 09 3 2 Alarms Resolver alarm Disable the drive control the resolver s contact AL12 Missing resolver power supply signal reset the alarm then enable the drive Following Error The error between the position reference and the position feedback exceeds the Max Position Error parameter because the Max Position Error parameter is too small or the dynamic gains of the veloc ity positioning loop are wrong Limit Switch AL14 AL15 The two fixed limit switches have both been disabled or interrupted AL17 AL18 Overcurrent regen resistance circuit Possible short circuit in the regen resist ance circuit This causes the opening of the Rel OK contact and the disabling of the function ing Mechanical Brake Overcurrent at the internal brake com mand or wrong connectio
10. used to send messages from the pre programmed function of the drive For a detailed description of the pre programmed functions see enclosure Speeder One Interface on the CD provided with the drive If there is the M3 connector OPTIONAL it provides an additional digital output ANALOG OUTPUTS Connections They permit visualisation by oscillo scope of some of the drive s meas urement values MiniMagnum M1 The two outputs furnish 10Volt as the low scale setting refers to They can be set by the Speeder One interface Note We suggest to connect the shield on both sides drive side follow the indications illustrated on paragraph 2 6 Industries Service Manual MiniMagnum ver 1 rev 01 709 29 2 15 Analog inputs connections ANALOG DIFFERENTIAL OR COMMON MODE INPUT Vref and TPRC connection DIFFERENTIAL MODE Vref MiniMagnum The technical characteristics of these inputs are as follows v Voltage 10V Max Y Input impedance 40k ohm To change the sense of rotation apply the positive voltage reference to M1 2 or change the Rotary Direction parameter in the Speed window from Positive to Negative Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 COMMON MODE TPRC CN MiniMagnum TORQUE REFERENCE The technical characteristics of TPRC input are as follows v Voltage 10V Max Y Input imped
11. 0178 The drives are designed to be utilized in an electrical box protected against the infiltration of polluting agents such as water oil conductive dust and others Pollution level Notes e The electrical box must have suitably filtered air vents Leave the necessary space both above and below the converters e Periodically check drive case and fans for excess dust or dirt that could interfere with the correct dissipation of the drive 18 Industries Service Manual MiniMagnum ver 1 rev O1 09 2 4 Cables The following table illustrates the technical characteristics of all cables Cables as norm EN60204 forthe Always insert a power relay or a thermal a 1 5mm2 15AWG magnet on every phase of the products power Main Supply supply for the Auxiliary 1 5mm2 15AWG Supply for the Motor s Brake 0 75mm It must shielded It must be shielded Connect the OV of the auxiliary supply to the ground bar for the It must have a capacity of lt 150pF m 2 Motor s Power 1 5mm 15AWG In the configuration without filter the cable can reach a maximum length of 20 25m If the length exceeds 20 25m insert an Axor 3x1 2mH filter for the Control signals and 0 5mm 20AWG See 2 6 Note about cable shielding I O signals from PLC CNC for the 0 25 0 35mm 2 Encoder signals 22 24AWG It must be shielded for the 0 25 0 35mm It must have a capacity less than 120pF m Resolver signals 22 24AWG
12. DGT IN2 mm C ETT BL S a ae I3 DGT IN3 Cap 213 ub DGT IN4 DGT IN RTN DGT OUT1 Cap 2 14 DGT OUT1 RTN RELE OK RELE OK i 30Vac Dc 500mA max V Cap 2 12 Holding Brake OPTIONAL M3 PULSE PULSE DIR DIR DGT OUT2 DGT OUT2 RTN DGT IN5 DGT IN6 DGT IN7 DGT IN8 DGT IN9 DGT IN RTN 2 9 2 L3 amp 7 2 11 ap Safety Enable Function OPTIONAL cL ov i Auxiliary 2 voltage Cap 2 9 24VDC PE MAIN EARTH AXOR Industries Service Manual MiniMagnum ver 1 rev 01 709 e3 e4 2 9 Supply connections AUXILIARY SUPPLY 24Vdc a TM External supply MiniMagnum MA 424VDC 3PH 50 60Hz 230 480Vac Note Accepted voltage 24VDC 0 15 current required for the external supply motor with brake current required for the external supply 1A motor without brake we suggest to insert the F 6A T fuse Remember to connect the OV of the external supply to the ground bar POWER SUPPLY MiniMagnum M5 nO Dol 3 PE L qa 50 60 2 110 480Vac T L3 Note Always insert a power relay or a thermal magnet on every phase of the products power supply If a power supply between 380V 480 is utilized and ground protection is not present or there is an asymmetrical grounding system an isolation transformer is required The nominal power of the transformer is calculated by adding the various
13. ODRIVE K C Read the manual and follow the wiring and safety instructions before use Model Power Supply Power 400 T 3x380Vac 10 480 41096 su pply 230 T 3x110Vac 10 230Vac 10 Nominal and peak 230 M 1x110Vac 10 230Vac 10 output current in Size 1 5 3 3 5 7 5 10 6 12 Ampere RMS Logic Supply 24 Voc 0 15 1 Apc 2 Apc with motor holding brake from insulating transformer Environmental A Ambient Temperature Protection Class i temperature Operating 0 45 C at full performance Protection range Maximum 55 C with derating IP20 rating A ELECTRIC SHOCK HAZARDS Disconnect power supply and wait 5 before working inside AXOR INDUSTRIES phone 39 0444 440441 www axorindustries com No joint Construction MADE in TALY The Part No gives others descrip tive codes about the drive and the settings MM 400T 3 5 7 RXX S RO 00000X 0X Sxxx Name Drive Line us Power Supply 400T 380 480Vac 3PH std 230T 110 230Vac 3PH std 230M 110 230Vac 1PH opt Specific number presence opt S Xxx T 001 999 specific number Expansion cards 0X L Not in use HBD Holding Brake Drive eas 1 Present opt Additional features 00000X O Not Present std L Not in use Additional Connector M3 1 Present opt Not Present std Size 1 5 3 3
14. TM MiniMagnum M5 OPTIONAL It is possible to use one external resistance 66 ohm 500W or two external resistances 33 33 ohm 500W The cable must be as short as possible The resistances must be connected to the zinced pannel utilising two screws If the cable length is greater than 20 30cm it must be twisted and shielded The shield must be connected to ground on both ends utilising u clamps to the zinced panel of the electrical box Notes The temperature of the zinced panel of the electrical box can be higher than 200 C Do not mount the resistor on surfaces which can be damaged by heat e If the resistors are mounted externally protect them e Respect the distances and shieldings illustrated in Fig 1 e External regen resistance has dimesions illustrated in Fig 2 260mm 400mm Fig 2 Fig 1 26 Industries Service Manual MiniMagnum ver 1 rev O1 09 2 12 Rele OK connection RELE OK connection MiniMagnum M1 915 PK 916 It is normally open when the drive is not supplied it is normally closed when the drive is supplied and it has not active alarms 30VAC DC 500mA max Industries Service Manual MiniMagnum ver 1 rev 01 709 27 28 2 13 Digital inputs connection DIGITAL INPUTS connection CN M1 MiniMagnum 24VDC refered to I O GND DGT IN2 _ DGT IN3 DGT IN4 1 GND DGT IN RTN Note e T
15. ance 20k ohm Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 30 Industries Service Manual MiniMagnum ver 1 rev O1 09 2 16 Emulated encoder outputs connection EMULATED ENCODER OUTPUTS connection LINE RECEIVER CN inputs MiniMagnum COMMON MODE CN inputs MiniMagnum Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 Industries Service Manual MiniMagnum ver 1 rev 01 709 31 2 17 Pulse Dir inputs connections PULSE DIRECTION MODE connection OPTIONAL Logical signal 0 5V MiniMagnum CN PULSE Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 ELECTRICAL AXIS GEARING Connection OPTIONAL MiniMagnum MiniMagnum Slave M3 M2 Master Note We suggest connecting the shield on both sides drive side follow the indications illustrated on paragraph 2 6 3e Industries Service Manual MiniMagnum ver 1 rev 01 09 2 18 Feedback signals connections ENCODER FEEDBACK connection Motore side _ _ ENCODER Drive side PTC INPUT J1 connector Sub D 25 pole e 2 5 17 pole connector e 15 eis Encoder Motor Cable Note The ground connection of the external shield must be made on the zinc coated
16. drives are piloted with the duplication of commands using the CanBus interface MULTIDROP RS232 It is possible to communicate with two or more drives by RS485 INTERFACE using the RS485 interface It can be configured and controlled using CanBus It supports the following Can Open protocols e part of the DS301 V4 02 e part of the DSP402 V2 0 Notes e The current controller is vectorial with sampling time of 62 5us The velocity and position loop both work with sampling time of 250us e The current commutation is sinusoidal FEEDBACK ENCODER incremental encoder signals plus hall signals RESOLVER AXOR Industries Service Manual MiniMagnum ver 1 rel O1 09 1 1 Description DIGITAL INPUTS OUTPUTS They are programmable for the limit switch the holding 4 standard 9 DIGITAL INPUTS brake the homing and positioning procedures the emer t gency stop the reset alarm etc 5 optional 1 standard T 1 optional There are 6 pins dedicated to emulated encoder with EMULATED ENCODER different programmed ratios 1 2 1 4 1 8 1 16 1 32 standard OUTPUTS 1 64 1 128 between output pulse rev and encoder 2 programmable They can be used to send messages from pre programmed DIGITAL OUTPUTS functions of the drive resolver ones ANALOG INPUTS OUTPUTS 1 ANALOG COMMON MODE It is used for controlling the current from the drive standard INPUT TPRC 1 ANALOG DIFFERENTIAL or It is used for
17. e the digital input set with the Ref on function is disabled The digital input ENABLE is disa bled while the digital input set with the Ref on function is enabled The digital input ENABLE and the digital input set with the Ref on function are both enabled the mo tor does not move The rotor is turning in a clockwise or counter clockwise direction segment appears rotating in a clockwise or counter clockwise direction This appears when the negative lim it switch NSTOP is interrupted This appears when the positive limit switch PSTOP is interrupted This appears when the converter is correctly powered on the digital input ENABLE is disabled and there are no alarms This appears when there is the 24VDC auxiliary supply but not the main supply ALxx 42 Industries Service Manual MiniMagnum M ver 1 rel 01 09 3 2 Alarms The table below illustrates all the message errors SOLUTION EEPROM alarm Error while memorising parameter to the drive s EEPROM Overcurrent alarm Short circuit between U V W or towards earth Drive Temperature alarm Heat sink temperature too high gt 75 Hall alarm This alarm comes on if one or more of the hall cell s wires are disconnected Encoder alarm This alarm comes on if one or more of the encoder channels are interrupted Drive alarm The internal Pt function has reached the maximum permitted The cause could be one of the followi
18. e the voltage at the intermediate circuit AT AT and wait until it is below 15V The command and power connections can still hold current even when the motor has stopped The MiniMagnum is equipped with electronic protections that deactivate it in case of irregularities The motor as a result is not controlled and can stop or go into neutral for a time determined by the type of system e During installation avoid letting any residue with metallic components fall inside the drive Industries Service Manual MiniMagnum ver 1 rev 01 709 15 2 1 General Advices e Protect the converter from excessive mechanical vibrations in the electrical box e Check that the main supply and the nominal current are coherent with the rating of the drive Be sure that the voltage between the connectors L1 L2 L3 is not greater than 10 of the nominal values An excessively high voltage causes the breakdown of the load circuitry and of the drive The MiniMagnum is equipped with an integrated EMI anti disturbance filter at the 3 phase power supply input and with another EMI anti disturbance filter at the auxiliary 24V power supply input Being implicit to filter operation the deviation towards earth or mass of the undesired frequencies ensure that these devices can produce leakage currents towards earth which are measurable in mil liAmpers Please remember that leakage currents must be considered when settings differential
19. fferential or common input 5 Vref 10V max 40kOhm input resistance Pulse Dir digital inputs T5V EMI max DUM 250kHz o 7 2 5V min 20 0 5V T 20mA Emulated encoder outputs Braking Resistance Internal Resistance 100W 66 ohm 500W 66 ohm External Resistance 1000W 33 ohm 33 ohm 500W 110Vac 230Vac 380Vac 480Vac Set point values 385Vdc min 385Vdc min 695Vdc 815Vdc min 400Vdc max 400Vdc max 735Vdc max 845Vdc max External Protections fuses or similar mm aoor MM230T MM230M ME Power supply 4A 6A 10A 3A 8A 5A 8A F 500V 500V 500V 250V 250V 250V 250V 250V 250V TL TL TL TL TL TL TL TL TL Ext brak resistor F c 9r oar r one Aux pow 6A Time La supply F 10 AXOR Industries Service Manual MiniMagnum ver 1 rel O1 09 1 4 Mechanical Dimension Dimension in mm SO Industries Service Manual MiniMagnum ver 1 rel 01 09 11 1 5 Product plate and Ordering Code On the side of each MiniMagnum there is a product plate like the follow yi MINI MAGNUM AC BRUSHLESS SERV
20. he enable signal should be 24VDC 7mA PLC compatible The enable range is between 14V Min and 30V Max e The M1 8 terminal DGT IN1 ENABLE is used only as the drive s enable If M1 8 is HIGH 24VDC the drive is enabled without active alarms and if start up sequence illustrated on para graph 2 21 is respected if M1 8 is LOW OV the motor is without torque ATTENTION THE DRIVE S ENABLE DISABLE BY USING THE ENABLE INPUT IS NOT CONSIDERED A SECURITY FUNCTION The M1 9 M1 10 M1 11 programmable inputs can be used to activate pre programmed functions of the drive for example limit switch electromechanical brake homing and positioning procedures emergency stop etc For a detailed description of the pre programmed functions see enclosure Speeder One Interface Additional Features Manual and Positioner Manual on the CD provided with the drive If there is the M3 connector OPTIONAL it provides five additional digital inputs and one of them is programmable M3 7 Connect pin M1 12 DGT IN RTN to the ground bar of the system Industries Service Manual MiniMagnum ver 1 rev O1 09 2 14 Analog and digital outputs connections DIGITAL OUTPUT Connection example 24VDC refered to I O GND Max load for each output 50 mA Always use a relay with a diode in parallel I O GND 24VDC refered to I O GND 24VDC refered to I O GND IN1 DIGITAL O This digital output can be
21. he following indications the transport must be made by qualified personnel e avoid shocks the temperature range must be between 20 C and 55 C the max humidity must be 95 without condensation e The converters contains elements which are sensitive to electrostatic discharges These elements can be damaged by careless manipulation Discharge static electricity from your body before touching the converter Avoid contact with material that insulates well synthetic fibres films of plastic material and so forth we suggest to check the motor condition at its arrival to survey eventual damages The unused drives must be storage in an environment having the following characteristics e temperature from 20 C to 55 max relative humidity 95 without condensation max time with the drive powered off without supply connections Y drive having a power supply gt 220VAC gt 1 year Y drive having a power supply lt 145VAC 200VDC gt 2 years After this time before enable the drive it is necessary activate the capacitors following this procedure remove all electrical connections then supply the input terminals of the supply with the main voltage three phase or single phase for 30 minutes In details for the drive having a power supply equal to 380VAC power it by using a single phase or three phase supply equal to 220VAC for the drive having a power supply equal to 220VAC power it by using a si
22. icon instructions see http www modicon com techpubs For more information see enclosure Modbus Manual and CanOpen Reference Manual on the CD provided with the drive Industries Service Manual MiniMagnum ver 1 rev 01 709 35 2 20 Canbus connection CANBUS connection OPTIONAL MiniMagnum 1 CAN Server dc dc Converter MiniMagnum 2 dc dc Converter Note Connect a RESISTOR 120 Ohm 1 4W between pins 1 and 2 of the J2 or J3 connector of the last MiniMagnum 36 Industries Service Manual MiniMagnum ver 1 rev 01 09 2 21 RS485 connection RS485 connection OPTIONAL MiniMagnum 1 Master MiniMagnum 2 Note Connect a RESISTOR 120 Ohm 1 4W between pins 1 and 2 of the J2 or J3 connector of the last MiniMagnum dc dc Converter Industries Service Manual MiniMagnum ver 1 rev 01 709 37 38 2 22 MiniMagnum power up The power up of the MiniMagnum must be done following this diagram in order to save the drive and the electrical box 1 Power the drive utilising the auxiliary supply 24VDC 2 After 1sec power the main supply 3 the Rel Ok contact closes 4 After 100ms it is possible to enable the drive utilising the Enable key or the DGT IN1 digital input AUXILIARY SUPPLY MAIN SUPPLY RELE OK 24V DGT IN1 HARDWARE ENABLE gy It is possible to close the contact after auxiliary supply i
23. ive side 20 50cm gt remove the outside sheath and fix shield to the zinced pannel by using a u clamp B POWER CABLE e motor side gt The shield is internally connected to the metal ring of the motor connector thus to earth through the motor s carcass Industries Service Manual MiniMagnum ver 1 rev 01 709 21 ee 2 7 Base installation procedure This procedure must be done only by qualified personel which are familiar with drives If you need more information contact Axor a Power off all the supplies of the electrical box b Verify the drive motor coupling the stall current of the motor should be equal to or greater than the nominal output current of the drive the positioning of the drive into the electrical box Y the pollution level and the ventilation the connection to earth of the electrical box where the drive is installed see 2 5 Connection to ground and earth C Execute the wiring following this order avoiding that wiring s pieces cables wires screws conduc tive objects etc do not enter into the drive through its slits 1 First connect earth 2 Connect the cables for the motor s power U V W and the filter 3x1 2mH if the cable length is greater than 20 25m 3 Connect the earth of the motor s power PE and if necessary connect the cables of the electromechanical brake 4 Connect the external shield of the motor s cable it must be shielded utilising a u
24. llowing this procedure a set the 10 Square wave operating mode b Set the Speed RPM parameter on the Analog OUT1 menu c Connect the probe of the oscilloscope on pins AN OUT1 speed signal and AGND zero sig nal d enable the drive e Adjust the KP and KI gains in a way that you obtain a stable step response in both directions Increasing KP decreases the system s response time however the system gets closer to becoming unstable therefore during adjustment increase the KP to the oscillation limit and then reduce until secure oscillation stoppage Increasing KI the steady state diminishes however increasing the overshoot therefore after adjust ing KP increase KI keeping the overshoot within authorized limits 410 The figure below illustrates some typical oscilloscope tracks A Proportional and integral gains too low Increase the numerical values of KP and KI B and C Good proportional and integral gains Speed 9 At this point it is possible to set other parameters in reference to the desired operative mode see enclosures Operative Modes Manual Additional Features Manual Speeder One Interface available on the CD provided with the drive 40 Industries Service Manual MiniMagnum ver 1 rev O1 09 Chapter 3 Diagnostic 3 1 Display 3 2 Alarms 42 43 3 1 Display A display LED visualises the drive s status the inserted values the alarms The digital input ENABLE is enabled whil
25. nect the ground bar to the zinced panel of the drive by using a screw then connect that screw to earth 3 Connect earth to the motor s carcass EUST It suggests a conductive connection as much as possible to the chassis or the heat sink or the mounting panel of the electrical box It refers to the earth connection It refers to the connection of the shield to the drive s carcass as illustrated on page 21 It refers to the connection of the shield to the connector s metal ring 20 Industries Service Manual MiniMagnum ver 1 rev O1 09 2 6 Note about cable shielding Control signal cables The conductor of the analogic signal must be twisted and shielded and the shield must be connected to ground as illustrated below gt SOS KOCK 6 Remove the outside sheath and affix the shield to the dedi cated retainer rings by using plastic clamps QS amp MANAHI Note To reduce the capacitive and inductive coupling these cables must be run keeping a distance of more than 30cm from the power cables 10 cm if they are shielded e If it is absolutely necessary to cross the control cables with the I O s do so at 90 in order to reduce the effect of the magnetic fields Motor cables The shield of the motor cable power and signal cables are connected as follows e dr
26. ng e the working cycle could be too heavy e a possible mechanical block e motor phase inversion e the electronic brake is not unblocked e the amplifier s dynamic costants KP KI and KD could create useless cur rent oscillation Motor Temperature alarm Heat sink temperature too high This causes the opening of the Ok Rel con tact and the disabling of the functioning Regenerative Resistance alarm The value Pt energy recovery has reached the maximum allowed Min Max Voltage alarm Minimum or maximum converter voltage Pre Alarm Recovery alarm 80 of the Pt energy recovery value has been reached Industries Service Manual MiniMagnum Disable the drive try to memorise the pa rameter then re enable Disconnect the power verify the wiring then power up again Disable the drive verify the forced ventilation functioning the ambient temperature wait until the radiator has cooled off reset the alarm then enable the drive Disable the drive verify the cell s wire con nection reset the alarm then enable the drive Disable the drive control the connections reset the alarm then enable the drive If the alarm persists contact Axor This does not cause the disabling of the drive s functioning Disable the drive control the heat sink temperature e decrease the dynamic constant if the motor is vibrating This situation causes current oscillation and consequently
27. ngle phase or three phase supply equal to 110 130VAC In order to avoid this procedure we suggest to power on the drive with its rated voltage for 30 minutes before the max time is reached Maintenance The drives does not need maintenance Otherwise e if the casing is dirty clean it with isopropanol or similar e if the drive is dirty the cleaning is reserved to the producer e if the fans are dirty clean them by using a dry brush The disposal should be carried out by a certified company 14 Industries Service Manual MiniMagnum ver 1 rev O1 09 2 1 General Advices Security standard e This manual is exclusively addressed to technical personnel with the following require ments Technician with knowledge on movimentation of elements sensitive to electrostatic discharges for the transport Technician with appropriate technical training and with vast knowledge on electrotech nics drive technical field for the installation and operation of servodrives Using the drive incorrectly can injure people or damage things Fully respect the technical data and indications on connection conditions e As well as the points described in this manual current regulations regarding safety and accident prevention must be followed in order to prevent accidents and residual risks The installer must be familiar with and observe the following norms and directives IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC Repor
28. ns In rush Bus This is not an alarm Indication of the drive s in rush phase or the lack of the main power supply AL20 AL23 Auxiliary Voltage Presence of the main supply L1 L2 L3 but the auxiliary 24Vdc voltage is miss ing Flash Alarm Errors in reading writing parameters on the Flash memory or Flash memory is empty Disable the drive check the Max Position Error parameter check the dynamic gains reset the alarm then enable the drive Disable the drive check the limit limit switches and external connections then enable the drive Power off the drive control the short circuit then power on the drive Disconnect the power e control the external connections e control the current absorption of the motor brake e verify the settings of the Holding Brake pa rameter on the Motor window then power up again Disable the drive connect the Auxiliary Voltage and then re enable Disable the drive save new values then re enable If the problem persists contact Axor AL24 Can Bus Alarm Disable the drive check the cabling and Error during communication on CANBus re enable If the problem persists contact Axor Homing Error Position error too high during the homing procedure The motor stops but it is not disabled AL26 Check the homing setup then reset the alarm using the Start Homing function You can find more information in enclosure Alarm Manual available in the CD p
29. nsertion setting the Closed when ready function in the General Settings window of the Speeder One interface Attention If the DGT IN1 ENABLE digital input is enabled by the CN before powering the drive A after powering the drive utilising the auxiliary supply and the main supply it is necessary disable and enable the DGT IN1 input B in order to enable the INTERNAL ENABLE If the DGT IN1 is not disabled then re enabled the INTERNAL ENABLE remains disabled and the user cannot execute any movement Attention If the digital input DGT IN1 ENABLE is enabled by the CN after powering the drive utilising the auxiliary supply but before powering the drive utilising the main supply C it is necessary to disable and then re enable DGT IN1 input D in order to enable the INTERNAL ENABLE also If the DGT IN1 is not disabled then re enabled the INTERNAL ENABLE remains disabled and the user cannot execute any movement DGT IN1 HARDWARE ENABLE INTERNAL ENABLE AUXILIARY SUPPLY MAIN SUPPLY DGT IN1 HARDWARE ENABLE INTERNAL ENABLE AUXILIARY SUPPLY MAIN SUPPLY Industries Service Manual MiniMagnum 24V 0v ON 24V ov T ON OFF T 24V ov T ON OFF ver 1 rev 01 09 2 23 Motor Test This procedure is a guide line for the first power up of the drive motor system It must only be exe cuted by technically qualified personnel If you need more
30. on 9 Supply connections 10 Motor power connection 11 Regen resistance connections 12 Rel OK connection 13 Digital inputs connection 14 Analog and digital outputs connections 15 Analog inputs connections 16 Emulated encoder outputs connection 17 Pulse Dir inputs connections 18 Feedback signals connections 19 Multidrop connection 20 Canbus connection 21 RS485 connection 22 MiniMagnum power up 23 Motor Test 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 Diagnostic 3 1 Display 3 2 Alarms Index Conformity AXOR Industries Service Manual MiniMagnum ver 1 01 09 42 43 45 47 Enclosures to the manual On the CD provided with the drive there are the following enclosures in pdf Operative Modes Manual e Additional Features Manual e Speeder One Interface Positioner Manual Display and Keypad Manual Alarms Manual ModBus Manual CanOpen Reference Manual Cables Manual e Oscilloscope Manual e Procedures Manual available only on request 4 Industries Service Manual MiniMagnum ver 1 rev 01 09 Chapter 1 Description 1 1 Description 1 2 General view MiniMagnum 1 3 Technical Data 1 4 Mechanical Dimension 1 5 Product plate and Ordering Code 10 12 6 1 1 Description The MiniMagnum is a digital drive capable of piloting both rotary AC brushless motors and linear motors up to 7 5Nm It can be sup
31. panel using a u clamp near the drive 20 50cm Motor side the shield is connected to connector s metal ring 20 50cm Max 25m otor Industries Service Manual MiniMagnum ver 1 rev 01 709 33 2 18 Feedback signals connections RESOLVER FEEDBACK connection OPTIONAL Motor side RESOLVER SIN INPUT COS INPUT Sub D 25 pole 12 pole connector Resolver Motor Cable Note The ground connection of the external shield must be made on the zinc coated panel using a u clamp near the drive 20 50cm Motor side the shield is connected to connector s metal ring 20 50cm Max 25m Drive A m 267 34 Industries Service Manual MiniMagnum ver 1 rev 01 09 2 19 Multidrop connection MULTIDROP connection OPTIONAL MiniMagnum 1 MASTER MODBUS a 4 M u ui PGND J4 2 TXD Qui DI 5 I MiniMagnum 2 dc dc Converter Note Connect the first MiniMagnum to the Master using the RS232 cable J4 connector connect each additional drive with to the drive preceeding it using the Can Bus cables and the J2 and J3 connec tors connect a RESISTOR 120 Ohm 1 4W between pins 1 and 2 of the J2 or J3 connector of the first MiniMagnum and another resistor between pins 1 and 2 of the J2 or J3 connector of the last drive e Axor drives use MODBUS communication protocol specified in the Mod
32. piloting the drive with an analogue speed t ndard COMMON MODE reference from an external controller sancar INPUTS Vref They allow you to visualise by the oscilloscope some of the 2 programmable ep drive s measurement values for example the velocity the standard ANALOG OUTPUTS Iq current etc GENERAL FEATURES Four buttons UP DW MODE SET allow the manual KEYPAD insertion of data without using a PC A display with 3 characters visualises the inserted DISPLAY values the drive s status the alarms The Axor Speeder One interface allows you to set and man age all drive s parameters It uses a PC connected to the drive and the communication SPEEDER ONE between the drive and PC is done by a RS232 cable using SOFTWARE the ModBUS protocol standard INTERFACE p The software works on the following operating systems Windows 98 Windows 2000 Windows XP Industries Service Manual MiniMagnum ver 1 rel 01 09 7 8 1 1 Description The drive has circuitry that allows the control of the elec tromechanical brake integrated in the motor which can HOLDING BRAKE eee with motor not running for blocking the motor s optional The drive supplies the brake with 24Vdc It can be exter nally managed by the user or automatically by the drive The drive is equipped with an integrated EMI anti distur EMI bance filter at the 3 phase power supply input and with Seanad FILTER another EMI anti disturbance filter a
33. plied by a 3 phase voltage equal to 110 480Vac or by a single phase voltage equal to 110 230Vac The power supply has to be specified in the ordering code see 1 5 Product Plate and Ordering code OPERATIVE MODES SPEED CONTROL It is speed piloting utilising a digital reference or an standard analogue reference differential or common mode It is torque piloting utilising a digital reference or an TORQUE CONTROL analogue reference This function allows you to control the current from the drive The positioner can be managed via hardware by using the digital inputs or via RS232 by using the Axor s Speeder One interface or another ModBus Master It supports 32 programmable position profiles a single task or a sequence POSITION CONTROL of tasks are permitted The Homing Procedure is implemented It uses the signal coming from the homing sensor and eventually the zero signal of the encoder It is possible to pilot the drive with the quadrature signals ELECTRICAL AXIS of an emulated encoder from a Master drive or with the GEARING quadrature signals of an incremental encoder from a Master motor Electrical Axis or Gearing It is possible to connect the drive to a stepper motor PULSE DIRECTION controller piloting it with the Pulse and Dir signals Pulse Dir Mode It can work in Multidrop where the first drive connected via RS232 to the Master PC is piloted with ModBus communication while the other
34. red it is necessary to open a pre set connfiguration file following this procedure in the main window select the File menu and then Open in the directory Axor Data Devices select a file reference to the coupling drive motor then click on Open save load parameters by using Save Data To EEPROM icon If the drive is configured for a specified motor it is sufficient to check these parameters v Main voltage Main Voltage menu in the main window of the interface Y Number of motor poles Motor window Y Feedback type Motor window Y Encoder impulse rev or resolver n of poles Motor window Y Irms current Current window Y Ipk current Current window Y Speed Limit Speed window Industries Service Manual MiniMagnum ver 1 rev 01 09 2 23 Motor Test 6 If alarms should appear resolve them before going forward see chapter 3 7 Set the operative mode 1 Digital Speed set a speed reference equal to 100rpm enable the drive with the Enable button If shaft turns correctly at teh set speed without alarms it is possible to connect the load and cable the machine possibile procedere con il collegamento del carico e con il cablaggio della macchina at teh contrary if alarms should be compare or if the behavior should not be as set we suggest to control te connections and the settings eventually contact Axor 8 Connecting the load to the motor it shoul be necessary to connect gains of speed loop fo
35. rovided with the drive AXOR Industries Service Manual MiniMagnum ver 1 rel 01 09 Index A Alarms 43 analog common mode input TPRC 7 10 30 analog differential or common mode inputs Vref 7 10 30 Analog outputs 7 10 29 Auxiliary supply 24Vdc 24 B Braking Resistance 10 Cables 19 Canbus connection 36 Conformity 47 Connection to earth 20 Connection to ground 20 D Digital inputs 7 10 28 Digital output 7 10 29 Display 7 42 Disposal 14 E EMI filter 8 emulated encoder outputs 7 31 encoder connection 33 Environmental conditions 18 equipment 8 Example of base connection 23 Expansion cards 8 External Protections 10 G General view 9 H Holding brake 8 I installation procedure 22 K KeyPad 7 Industries Service Manual MiniMagnum ver 1 rev 01 09 45 46 Index M Maintenance 14 Mechanical Dimension 11 Mechanical specifications 11 Motor holding brake 25 Motor power 25 Multidrop connection 35 N Nominal Data 10 Operative Modes 6 CanBus 6 electrical axis 6 multidrop RS232 6 position control 6 pulse direction mode 6 RS485 interface 6 speed control 6 Torque control 6 Ordering code 12 P Positioning 17 Power supply 24 Product plate 12 Pulse Dir digital inputs 10 32 R Regen resistance 26 Rele 27 resolver connection 34 S Safety 8 black out dynamic brake function 8 safety enable function 8 Security standard 14
36. t 664 or DIN VDE 0110 national accident prevention dispositions or BGV A2 e The user must analyse possible machine risks and take the necessary measures to avoid injuries to people and damage to things because of unpredictable movements The converters contains elements which are sensitive to electrostatic discharges These elements can be damaged by careless manipulation Discharge static electricity from your body before touching the converter Avoid contact with material that insulates well synthetic fibres films of plastic material and so forth e During operation the converter surface can become hot Protect the user from accidental contact and keep the indicated distances from all objects e Never loosen electrical connections while the servoamplifiers are being powered The appropriate terminals of the drive must always be connected to earth as instructed in this manual After having disconnected the converters from the supply current always wait at least 5 minutes before touching the powered components e g contacts or loosening connections Switch off the converter and wait at least 5 minutes before opening it Remove the fuses or switch off the main switch before removing the drive When opening place the converter on a surface that does not belong to the electrical panel The residual charges the capacitors can remain at a dangerous level for up to 5 minutes after dis connection from the mains Measur
37. t the auxiliary 24V power supply input REGENCIRCUIT standard EXPANSION CARDS me a slot for expansion card to implement additional SAFETY The converter is protected from short circuitry the Max Min Voltage the drive I t the Motor Pt etc SAFETY When there is an alarm the Rel OK contact opens and the standard motor is stopped or a message is visualised on the display without compromising the system s functioning optional AVAILABLE SOON BLACK OUT optional DYNAMIC BRAKE It stops the motor when there is a black out AVAILABLE FUNCTION SOON SAFETY ENABLE It is a safety function which avoids the accidental startup of FUNCTION the motor in the absence of 24Vdc on indicated pin EQUIPMENT a drive serie MiniMagnum terminals M1 M2 M4 M5 M6 Service Manual standard a CD ROM with Speeder One software interface and all enclosures to service manual terminals M3 M7 Motor inductance 3x1 2mH for cables over 20 25 meters in length an external braking resistor optional CBLS cable for motor feedback signal encoder resolver meter multiple CBLS power cable for motors series SuperSAX motors series SuperSAX All optional features have to be requested by using the proper ordering code see 1 5 Product plate and Ordering code AXOR Industries Service Manual MiniMagnum ver 1 rel 01 09 1 2 General view MiniMagnum M5 connector Power supply Regen resistance M6 connector Mo
38. tor supply M7 connector OPTIONAL Holding brake drive connector OPTIONAL Analog and Digital Inputs Outputs M1 connector Analog and Digital Inputs Outputs Rel OK 34 connector RS232 comunication M2 connector Emulated encoder outputs 31 connector 32 J3 connectors OPTIONAL Feedback motor signals CanBus RS485 encoder resolver comunication M4 connector Auxiliary supply 24Vdc Safety Enable Function Industries Service Manual MiniMagnum ver 1 rel 01 09 9 1 3 Technical Data Nominal Data Three phase 3x480Vac 10 max 3x380Vac 10 50 60Hz Three phase 3x230Vac 10 max 3x110Vac 10 50 60Hz Nominal Voltage Single phase 1x230Vac 10 max 1x110Vac 10 50 60Hz SINGLE PHASE DOES NOT ALLOW TO OBTAIN THE RATED TORQUE AND SPEED CONTACT AXOR S TECHNICAL DEPARTMENT FOR DETAILS 110Vac 230Vac 380Vac 480Vac 100Vdc min 415Vdc 220Vdcmin 0008 min soovdc min max 415Vdc max 870Vdc max max Auxiliary power supply 24Vdc 096 15 1Adc 3Adc with brake for back up Mix Max bus voltage MM 4007 s eee elt tet 5 sec PWM output frequency Control signals Optoisolated digital inputs 24Vdc 7mA PLC compatible Optoisolated digital outputs 24Vdc 50mA PLC compatible Analog programmable outputs 10V 45 Analog common mode input TPRC 10V max 20kOhm input resistance Analog di
39. wattage of each mo tor Pt Pt nominal power of the transformer VA Pn nominal power of each motor VA which can be calculated in this way 9 55 Pn nominal motor power W n motor speed rpm Cn motor nominal torque Nm Industries Service Manual MiniMagnum ver 1 rev O1 09 2 10 Motor power connection MOTOR POWER MOTOR HOLDING BRAKE WITHOUT brake MiniMagnum M6 see note b M7 Q 1 NC O 2 NC 3 NC WITH brake MiniMagnum 6 OPTIONAL see note a T L L 1 1 L 1 LU I Technical characteristics of brake outputs Y Output Voltage 24VDC 0 15 ui Y Maximum available current 3A see note b Note a Use 3x1 2mH 20Arms filter series for connections with cables longer than 20 25 meters b The earth connection of the power cable s shield must be made on B POWER CABLE the zinc coated panel using a u clamp near the drive 20 50cm Motor side the shield is connected to connector s metal ring so it is connected to ground through motor s carcass Industries Service Manual MiniMagnum ver 1 rev 01 709 25 2 11 Regen resistance connections REGEN RESISTANCE connection INTERNAL resistance ini T MiniMagnum M5 The value of internal resistance is 66 ohm 100W It is not necessary any connection EXTERNAL resistance s
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