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Moog DS2100 User's Manual

1. PAGE 3 7 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 1 6 Brushless Servo motors The DS2100 series Servo drive is compatible with Moog brushless servomotors Normal connection to the motor requires two cables a power and a signal cable The power cable provides three phase stator power protective earth and brake connections The signal cable carries position transducer feedback signals and motor temperature detection connections 3 1 6 1 Brushless Motor Brake 24V Power Supply The motor brake requires a 24 V q supply for release This should be rated to cover at least twice the sums of the rated currents of all brakes connected 3 1 7 Heatsinks and Climatic Control The need for air conditioning will depend on the duty cycle of the system and the surrounding ambient temperature The maximum allowable ambient temperature is 40 C 104 F The humidity range is 5 95 non condensing All DS2100 Servo drives incorporate internal cooling fans and integral heat sinks Other than controlling ambient conditions additional heat sinking is not required PAGE 3 8 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary A EE RB SE PE CSA 3 2 Equipment Mounting This section details the mechanical dimensions of the DS2100 chassis as well as required clearances for cabling etc The DS2100 is designed to be panel or cabinet mounted The DS2100 must be mounted in a ver
2. Encoder Tvpe Pos Analogue SSI Hiperface Endat J4 1 Shield Shield Shield Shield J4 2 Sine Sine Channel B J43 Cosine Cosine Channel A J44 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J45 Clock Clock 4 6 Channel Z Zero Data RS485 Data J4 7 J4 8 NTC PTC NTC PTC NTC PTC NTC PTC J4 9 Sine Sine Channel B J4 10 Cosine Cosine Channel A JA 11 5 V 12V 5 V 12V 5 V 12V 5 V 12V Supply 150 mA Supply 150 mA Supply 150 mA Supply 150 mA max max max max J4 12 Fault Clock Clock J4 13 Channel Z Zero Data RS485 Data 4 14 Gnd Supplv Gnd Supplv Gnd Supplv Gnd Supplv J4 15 NTC PTC NTC PTC NTC PTC NTC PTC PDF created with pdfFactory Pro trial version www pdffactory com PAGE 5 MOOG Errata Sheet DS2100 User s Manual Preliminary 3 13 1 RS232 Serial Communications Interface The pin assignment enables use of a 9 pin Sub D cable with all signals connected straight through f PP E JI Serial Communications RS232 Connector RS232 S210 ja CAN Figure 3 45 RS232 Connector Location Fixed connector 9 pin female Sub D connector Mating connector 9 pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm Pos DS2100 Signal Function PC Signal ma connectedtopin4 DCDinpt 714 J conectdtopinland DTR output 316 pcomectdtopn4 DSR ipu
3. PAGE 3 63 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION PC DS2100 G Rx Rx O O Tx Tx O O Gnd O Figure 3 46 DS2100 s JI RS232 Wire Pin out The RS232 Cable shield should be connected to the metal body of the D Type connector 3 13 2 CAN Cable Wiring The CAN In and CAN Out ports at J3A and J3B of the DS2100 provide the means to daisy chain the CAN cabling between DS2100 units and system controller The CAN interface is equipped with driver and receiver for 24V systems These are optically isolated from the internal drive electronics for noise immunity Internal supply of the isolated side of the CAN is provided No user supplied voltage is required Two daisy chained 9 way D Sub connectors one male one female are also provided for ease of wiring Please refer to CAN Draft Standard 303 Cabling and Connector Pin Assignment for further details of the CAN cabling requirements CAN Connectors WARNING REMOVE ALL INPUT 4 N POW war LA Figure 3 47 CAN Connector Location PAGE 3 64 SECTION 3 WIRING AND INSTALLATION MOOG DS2100 User s Manual Preliminary Fixed connector 9 pin male amp female Sub D connector Mating connector 9 pin male amp female Sub D Wiring cable 28 18AWG 0 14 0 82mm Pos x A B Signal Description J3x 1 not connected J3x 2 CAN_L CAN_L
4. 120 22 5 Figure 3 6 DS2100 C Mechanical amp Mounting Dimensions PAGE 3 14 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 11 516 l 45D Figure 3 7 DS2100 D Mechanical amp Mounting Dimensions PAGE 3 15 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 2 1 CE Items for Mechanical Installation Additional electromagnetic compatibility EMC measures must be installed on equipment associated with the DS2100 Servo drive The following measures must be implemented e All external Regen Regenerative circuit resistors used with the DS2100 must be installed in enclosures which provide a degree of ingress protection against liquids and objects of at least IP22 and which are accessible to technically qualified service or maintenance persons only Protection against electric shock must be maintained when installing these resistors e Use shielded cable to connect the external regen resistor if installed to the DS2100 power supply The length of this cable should be as short as possible The shields of these cables should be earthed to Chassis Earth using the optional EMC Bracket kit or the panel earth bar Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be earthed to the panel by use of a 360 degree metal cable gland e Cables supplying external d c supply voltages to the DS2100 S
5. 2D 2 Brake 2D 3 JBrake J2D 4 24V RET Brake 24V Supplv Return 3 14 5 6 CAN Fixed connector 9 pin male amp female Sub D connector Mating connector 9 pin male amp female Sub D Wiring cable 28 18A WG 0 14 0 82mm Pos x A B Signal Description J3x 1 not connected J3x 2 CAN_L CAN_L bus line dominant low J3x 3 CAN_GND CAN Ground J3x 4 not connected J3x 5 CAN_SHLD Chassis Ground J3x 6 CAN_GND CAN Ground J3x 7 CAN H CAN H bus line dominant high J3x 8 not connected J3x 9 Optional CAN external positive supplv not connected PAGE 3 73 MOOG DS2100 User s Manual Preliminary 3 14 5 7 Encoder Fixed connector 15 pin female Sub D connector Mating connector 15pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm 15 Pin Sub D Connector Plug male on cable 0000000 o o o o o je o o DS2100 Cable End JA PAGE 3 74 SECTION 3 WIRING AND INSTALLATION Encoder Tvpe Pos Analogue SSI Hiperface Endat J4 1 Shield Shield Shield Shield J4 2 Sine Sine Channel A J4 3 Cosine Cosine Channel B J4 4 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 5 Channel Z Zero Data RS485 Data J4 6 Clock Clock J4 7 J4 8 NTC PTC NTC PTC NTC PTC NTC PTC J4 9 Sine Sine Channel A J4 10 Cosine Cosine Channel B J4 11
6. 717 connectedtopin8 RTS output ns connectedtopin7 CTS input n9 fused RI ipu Table 3 29 J1 DS2100 RS232 Serial Interface Connector DS2100 PC Tx 9 Rx O Tx Gnd 6 Figure 3 46 DS2100 s JI RS232 Wire Pin out The RS232 Cable shield should be connected to the metal body of the D Type connector PAGE 7 PDF created with pdfFactory Pro trial version www pdffactory com MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION TABLE OF CONTENTS SECTION 3 WIRING AND INSTALLATION ener nene en ertet nenne teens 3 1 3 1 NA S rsin eene stcaeeynecedssdests Leeseees be steeds dunes NEA EE E AEE EE EErEE 3 4 3 1 1 A C Mains Power Interface rosnrnnrrnvrrnvrrnvrrnnrrnnrrnrrrnnrrnnrnernnernresnesrnrennernsernsrrnnernnrrnnrsnnrsnessneesesnsesnsernn 3 4 3 1 2 A C Input Line Su Ti RM 3 5 3 1 3 Line Filter Requirements sscserreserereserrererererer senere sener erererer senere sener entren trennen rre n rennen tnter nennen 3 5 3 1 4 Serial Set up Terminal User Supplied oonnrnnrnnronnrrnnrnvrrnvernvrrnvrnnvrnsrrnsernnrrnsrrnnrsnnrsnsssnssnnesnersnrsnesnnernn 3 7 3 1 5 Control Backup Power Input User Supplied ooooconccncninonocnnonononcconnonononnnonnnnnnnonn nono no nooo nrnnn enn en nnns 3 7 3 1 6 Brushless Servo motors ccccesccssecsseessesseeeseeeeseeeeecseseceseceseceaeceaecauecaeecaeecaeseaeseseseeeseeeeec
7. Note that m Closed when drive ready and no faults Max voltage 36 V m Max contact current 100 mA PAGE 3 61 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 12 3 Power Sequencing on Startup The timing of the digital inputs ENABLE and PWR RDY must be considered carefully for proper power on sequencing Minimum Time from Logic power to Drive Ready 6 seconds 24Vd c l l l gt l A C Mains to ra Drive Ready lt 4s SP E Logic Power applied l l I l l l l l A C Mains applied to output of DS2100 ENABLE input A AI PA l l I 1 I l l l l l 1 l l I l l l l I l l 1 l 1 l l l I I l l DS2100 gt hl Drive Ready activated to 1 ech Drive Ready Relay ENABLE transition can be lt 6ms I I I I I l I I I I l I I I l I I I I l I I I I l I I I I l H l I I Figure 3 44 Power Sequencing control using Drive Ready Relay and ENABLE WARNING It is UNSAFE to use the Drive Ready output as a direct control for the ENABLE The Drive Ready output will switch off when a fault occurs and will switch on when the fault is cleared This may result in an inadvertent enable of high power to the DS2100 high power amplifier resulting in unexpected high voltage application or motion The System Motion Controller should examine the state of the Drive Ready relay output separately and
8. l DS2100 HA Figure 3 25 DS2100 Size uA External Regeneration Connections Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part GMSTB 2 5 12 ST 7 62 pA size wiring cable 14 AWG 2 1 mm Wire stripping 7 mm Tightening torque 0 5Nm Pos Name Function gt y J6 2 DC DC Bus Table 3 14 J6 Regeneration Resistor connector pA Size 3 10 2 A B Size Regeneration Resistor connection Recoverv Resistor Tie Screen to chassis via EMC Pori bracket See J6 2 J6 3 Section 2 which resistor DC RR Installation is mounted Connector J6 DS2100 A B NS Figure 3 26 DS2100 Size A B External Regeneration Connections PAGE 3 39 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION Fixed connector 10 pins male connector Mating connector 10 pins female supplied with the drive Phoenix Contact Part PC4 HV 10 ST 7 62 A size wiring cable 14AWG 2 1 mm Wire stripping 7 mm B size wiring cable 14AWG 2 1 mm Wire stripping 7 mm Tightening torque 0 5Nm Name Function DC Bus Table 3 15 J6 Regeneration Resistor connector A B Size 3 10 3 C Size Regeneration Resistor connection Recovery Resistor p Tie Screen to i oe chassis via EMC Tie screen to 16 4 6 5 brack
9. Drive Ready Figure 3 40 DS2100 I O Connections PAGE 3 57 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 12 1 General Purpose Description of the Digital Inputs The DS2100 provides 8 digital inputs on connector J2A Fixed connector 9 pins male connector Mating connector 9 pins spring cage female supplied with the drive Phoenix Contact Part FK MC 0 5 9 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm Wire stripping 8 mm Pos Name Function 2A n DigitalInput l DriveFmble 2A2 2 Digital Input 2 User Configurable NAS n Digital Input 3 User Configurable 249 RET JDigitalnputGround o Table 3 26 J2A DS2100 Digital Input connector The following electrical description applies to all the digital inputs of the DS2100 5v Digital Input I 1 18 4K7 3V3 A 4L l y E SIGNAL l e ba RET Optocoupler v Figure 3 41 DS2100 Generic Digital Inputs PAGE 3 58 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Note that Input Impedance gt 5k Q Voltage Range is 12V to 32V from Digital Input to the I COMMON line Inputs are protected for input voltages from 40V to 40V Input voltages whose magnitude is less than 12V with respect to the I COMMON line will not be guaranteed to be recognised as an active signal input Input voltages whose
10. A B C amp D size wiring cable 14 AWG 2 1 mm Stripping Length 8mm Name Function 24V Logic Backup Supply Logic Supply Return Table 3 8 J8 24V Logic Power connector A B C amp D Size PAGE 3 33 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION EA AAA EE EA EA 3 9 Paralleling DS2100 Units through the D C Bus DS2100 units can be paralleled via the D C Bus in order to share regeneration power 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 Required for CE Compliance connection at both ends CAUTION To connect drives through the DC bus please contact Moog application engineering for advice 3 9 1 uA Size DC Bus Inter connection a c Mains Lt f L Protective ji BO EA ERIS I EEE Earth e O Tie screen to chassis via EMC bracket See Section 2 E TITT T NE TN Z DI D o Bi O OD O O by D LI I2 L3 PE DC DC id LI I2 13 PE DC DC 16 4 16 5 16 6 Stud J6 1 J6 2 16 4 16 5 16 6 Stud 16 1 16 2 Connector J6 Connector J6 l DS2100 HA DS2100 HA porc M C A N A Figure 3 21 Size LA DC Bus Inter connection Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part f
11. NC V_EXT Notes ZN CABLE LENGTH NOT TO EXCEED HO METERS FOR iMBAUD OPERATION CABLE SHOULD NOT EXCEED 100 METERS FOR 500KBAUD OPERATION FIND MOOG al NO S R R6 DESCRIPTION QUANTITY 1 MAKE_ITEM CONNECTOR 9 WAY D TYPE MALE USER SPLY 2 MAKE ITEM CONNECTOR 9 WAY D TYPE FEMALE USER SPLY 3 MAKE ITEM CABLE BELDEN 9842 USER SPLY Figure 3 49 CAN L CAN H Connector J3A and J3B Wiring PAGE 3 66 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Es AAA ee c A CL HL EEE ne 3 14 Wiring Summary 3 14 1 uA Size Power Stage fe fel e e e fe e Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part GMSTB 2 5 12 ST 7 62 pA size wiring cable 14 AWG 2 1 mm Wire stripping 7 mm Tightening torque 0 5Nm Function 16 2 DC DC Bus Regeneration Resistance Phase L1 three phase voltage input 230 460Vac 10 Phase L2 three phase voltage input 230 460Vac 10 Phase L3 three phase voltage input 230 460Vac 10 Motor Phase V 6 10 Motor Phase U 6 11 24V Logic Backup Supply Logic Supply Return PE Stud wiring cable 6 AWG 13mm Pos Name JFunetion Protective Earth Stud on Chassis PAGE 3 67 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 14 2 A amp B Size Power
12. WIRING AND INSTALLATION 3 11 Motors Installation Motors should be sized by qualified personnel Improper sizing will directly affect performance and reliability Motor performance data for Moog motors is shown in separate data sheets Contact Moog Applications Engineering for detailed motor technical information and application sizing etc Standard motors should not be mounted directly onto a gearbox with the shaft inside the lubrication chamber Motors may be ordered with an optional shaft seal for these applications When the motor is mounted the lubricant level within the gearbox must be below the shaft seal of the motor in order to avoid long term seepage and motor failure 3 11 1 Assembling Motor Resolver and Power Cables Use of the made up cable sets is recommended for connecting the MOOG brushless servomotors These cable sets are available in standardized lengths If MOOG cables are not used the values specified below with regard to the cable make up must be maintained in all cases Contact your local Moog sales office or authorised distributor for selection of pre made motor cables The following are listed for convenience Europe and Asia North Ameri Italy MOOG GmbH orth America MOOG Italiana S r l Hanns Klemm Strasse 28 ee d Electric Division 71034 Boeblingen Via Avossa 94 GERMANV e NY 14052 16015 Casella Gevova phone 0049 7031 622 0 Italy fax 0049 7031 622 100 phone 001 716 652 200
13. 10 D 6 Phase L3 three phase voltage input 230 460Vac 10 ip Mei Lo n RE 98 V MotorPhaseV Fixed connector 2 pins male connector Mating connector 2 pins female supplied with the drive Wago Part 231 102 026 000 D size wiring cable 14 AWG 2 1 mm Stripping Length 8mm Name JFunction 24V Logic Backup Supply Logic Supply Return PAGE 3 70 SECTION 3 WIRING AND INSTALLATION MOOG DS2100 User s Manual Preliminary 3 14 5 Control Card Motor Resolver Connector Motor Encoder Connector CAN Field Bus Interface A Digital Input Connector Digital Output 4 Connector Drive Readv Relav Connector Motor Brake Connector i PAGE 3 71 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 14 5 1 RS232 PC DS2100 O Gnd Fixed connector 9 pin female Sub D connector Mating connector 9 pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm Pos Name Function PC Signal ni Jconectedtopn4 DCDinpt ______ 714 Jconnctedtopinland DTR output Gnd m6 Jconnectedtopin4 DSR input O 717 comectedtopins RTS output 318 jcomectdtopn7 CTS input 79 jumsd RI imp 3 14 5 2 Digital Inputs Fixed connector 9 pins male connector Mating connector 9 pins spring cage female supplied w
14. 12PVC SH 1 cos l A 1 Bos 2 cos 2 cos 9 V ref 10 V ref 70V x 7 ov 8 PTC ie 6 PTC 9 PTC 4 sin 4 X 12 sin 5 sin I 3 shield 3 shield v Motor Cable End DS2100 Cable End for MOOG motors FASN amp FASY PAGE 3 75
15. 2 provides approximate equipment power dissipation values If the application employs regeneration be sure to add the regen resistor power dissipation to the numbers quoted in Table 3 2 below use the continuous wattage rating of the regen resistor if the actual application regen dissipation is unknown Power Dissipation Watts DS2100 003 006 008 014 025 030 050 060 53 100 110 180 300 400 650 800 Table 3 2 Estimated Power Dissipation for the DS2100 Servo drives PAGE 3 17 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION W Gr O E A A 3 4 DS2100 Connector Terminals Figure 3 8 to Figure 3 12 below detail the connectors on the DS2100 all sizes Serial Communications Connector RS232 Motor Resolver Connector Digital Input Connector Mo Digital Output J2B 01 DIGITAL OUTPUTS 03 Connector Motor Encoder eS ds Connector A RYE Drive Ready Relay ds Connector 24V DC pa Motor Brake NODE ID i Connector WM y WARNING IN REMOVE ALL INPUT 4 4 CAN Field Bus re erre Interface Figure 3 8 DS2100 Control Card Connector Terminals PAGE 3 18 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION O Figure 3 9 DS2100 Size pA Power Connector Terminals Figure 3 10 DS2100 Size A 8 B Power Connector Terminals PAGE
16. 5 V 12V 5 V 12V 5 V 12V 5 V 12V Supply 150 mA Supply 150 mA Supply 150 mA Supply 150 mA max max max max J4 12 Channel Z Zero Data RS485 Data J4 13 Fault Clock Clock J4 14 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 15 NTC PTC NTC PTC NTC PTC NTC PTC MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary ERREUR LL ELI HA KA A AA 3 14 5 8 Resolver Fixed connector 9 pin female Sub D connector Mating connector 9 pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm Type FAS K FAS Y FASG C E 9 Pin Sub D Top view of signal connector on motor connector Plug male on cable Cobles in twisted palrs 4 S1 5 83 L y 1 81 2 S3 1 2 4 3 2 2 S4 4 S4 6 NTC 5 NTC 8 NTC 6 NTC 7 Rt 9 R1 8 R2 7 R2 i l PE W DS2100 Cable End Motor Cable End for MOOG motors G4xx Pin gt ey T PE 9 Pin Sub D op view of signal connector on motor connector a Connector Plug male on cable Cables in twisted pairs PT 00E 14 19 PC 10 PTO6F 8AG 14 195 1 cos os C cos 2 cos f E cos 9 V ref D V ref 7 ov B OV 8 PTC N PTC 6 PTC l A PTC G sin 4 sin H sin 5 sin t 1 en 3 shield y S shield Motor Cable End DS2100 Cable End for MOOG motors FAST 8 FASK 9 Pin Sub D Top view of signal connector on motor connector onnector Plug male on cab Cobles in twisted palrs IPSO2A 12
17. 9 3 C Size DC Bus Inter COMNECtION oooooccnocnnoncnonconnconccnncon nono nono nono non non entente en nennen enne nnn neret 3 36 3 9 4 D Size DC Bus Inter cOMNECtION oooooccnocnoonconnconnconccononnnonn nono nono non retn renerne EA EEA enne entere rennen nnne 3 37 3 10 Internal External Regeneration Regen Resistors Configurations sese 3 38 3 10 1 uA Size Regeneration Resistor Connection ener 3 39 3 10 2 A B Size Regeneration Resistor connection ss sseesennenzzznnznnzznnznnnzznninnninniznnzznnzznzzznzzznzrrntrnzzzazzzazi 3 39 3 10 3 C Size Regeneration Resistor connection ccccecceesseeseeesceeeesecaecsaecseecseeeseeeseseeeeeeeseeeeeensesesecsenaeeates 3 40 3 10 4 D Size Regeneration Resistor connection eere enne nennen nnne nnne nnne 3 41 3 11 Motors Installation iicet iii ee ide t Re e Te eer an edad 3 42 3 11 1 Assembling Motor Resolver and Power Cables cre nennen 3 42 3 11 22 Motor Power Cable ote fera a a a n TR E ER ETE THEO ER ERR TREE LERRA 3 43 3 11 3 Motor Brake Connections iiec nei ren pee E ir PEE ERE Fe UH LR RE E RES 3 48 3 11 4 Motor Resolver Connection reete nere err PE Pe RR a eh d dd 3 51 3 11 5 Motor Encoder Connection crei tiere rene eee eei e ee eL d e re RE Ee dd dd 3 54 3 11 60 Motor Rotation Direction ice eet ie e irt eir RE E Pe e e a Ee He d ad 3 56 3 12 D 2100 Control Input and Outputs ee eee eret ete rerit n e o ESEE s
18. GMSTB 2 5 12 ST 7 62 HA size wiring cable 14 AWG 2 1 mm Wire stripping 7 mm PE Stud wiring cable 6 AWG 13mm Tightening torque 0 5Nm PAGE 3 34 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Pos Name Function S y DC Bus DC Bus Table 3 9 J6 DC Bus connector uA Size 3 9 2 A amp B Size DC Bus Inter connection a c Mains LI LZ L3 Protective Earth Tie screen to chassis via EMC bracket See Section 2 LI 12 16 4 16 5 16 6 LI L2 L3 DC DC 16 4 16 5 16 6 Stud 16 1 16 2 Connector J6 DS2100 A B Connector J6 e e m m DS2100 A B J Figure 3 22 Size A B DC Bus Inter connection Fixed connector 10 pins male connector Mating connector 10 pins female supplied with the drive Phoenix Contact Part PC4 HV 10 ST 7 62 A size wiring cable 14AWG 2 1 mm Wire stripping 7 mm B size wiring cable 14AWG 2 1 mm Wire stripping 7 mm PE Stud wiring cable 6 AWG 13mm Tightening torque 0 5Nm Name Function Pos DC Bus c DC Bus Table 3 10 J6 DC Bus connector A B Size PAGE 3 35 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 9 3 C Size DC Bus Inter connection a c Mains L Fu 007 L2 L3 Protective Earth Tie screen to chassis via EMC bracket S
19. J2 and connect other end to user I O equipment O Plug in resolver cable at J5 or Encoder Cable to J4 Q Connect appropriate communications cabling RS232 at JI and or Field Bus c Motor Wiring O Repeat the steps listed in this Section for each motor in the system O Plugin and screw tight resolver encoder cable to motor position connector O Plug in and screw tight motor power cable to motor power connector Also connect the brake terminations at J2D if provided O Connect motor power cable to appropriate drive power terminals PAGE 3 25 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION W Gr O E A A 3 7 Three Phase A C Mains Power Source Configuration The DS2100 may be supplied from a three phase a c mains input In this case the following user supplied options are required 1 Three Phase Mains Fusing Mains Line Filter 24Vd c Power Source amp Fuse 24V d c EMC Filter me 98 Note that for DS2100 sizes A B C amp D if the a c mains is still applied and the control backup power is removed then the DS2100 control section will still operate correctly Control power can still be generated from the high voltage D C Bus Figure 3 14 below outlines typical interconnect in a multi axis DS2100 system which is powered by 3 phase a c mains supply PAGE 3 26 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 1 Mounting Back
20. Manual Preliminary CABLE AND CONNECTOR USER SUPPLIED TO CONTROLLER J5 9 Pin Sub D connector Plug male on cable Cables in twisted pairs 4 1 MOTOR RESOLVER Top view of signal connector on motor 5 S3 1 S1 HOM HA 2 S3 o 1 82 3 s2 99 2 S4 X 4 84 o 90 6 NTC 5 NTC 5 8 NTC X 8 NTC O 9 Ri _ in 7 R2 L pe W DS2100 Cable End 9 Pin Sub D connector Plug male on cable 9 L 0000 00000 Motor Cable End for MOOG motors G4xx Top view of signal connector on motor Connector Cables in twisted pairs PT 00E 14 19 PC 10 PTO6F 8AG 14 19S 1 cos C cos 2 cos f X E cos 9 V ref D V ref 7 ov X B OV 8 PTC N PTC 6 PTC A PTC i G sin 4 sin t pan 5 sin py X H sin a Eq S shield DS2100 Cable End 9 Pin Sub D connector Plug male on cab MOR 0000 00000 shield x Motor Cable End for MOOG motors FAST amp FASK Top view of signal connector on motor Connector Cables in twisted pairs IPS02A 12 12PYC SH DS2100 Cable End 1 cos s y 1 cos 2 cos fi 2 Tos 9 V ref 10 V ref 7 OV 7 OV 8 PTC ale 6 PTC 9 PIG k 1T Sin 4 sin 12 sin 5 sm X 3 shield 3 shield dy Motor Cable End for MOOG motors FASN amp FASY Figure 3 37 DS2100 Resolver Cables PAGE 3 53 MOOG DS2100 User s Manual Preliminary 3 11 5 Mo
21. PAGE 3 22 SECTION 3 WIRING AND INSTALLATION MOOG DS2100 User s Manual Preliminary Required for CE Compliance 3 5 1 Drive Contactor User Su CAUTION All external electrical wiring connected to this equipment must be color coded in accordance with European Standard EN 60204 1 requirements CAUTION Additional electromagnetic compatibility EMC measures which must be installed on equipment cables associated with the DS2100 Servo drive are given in Section 2 of this User s Guide CAUTION All wires and cables entering and leaving the IP54 rated enclosures or cabinets containing the DS2100 Servo drive and the Regen resistor s must be protected and anchored in accordance with the requirements of EN 60204 1 A contactor suitably rated for the particular DS2100 should be installed just before the AC input line filter of the DS2100 The contactor acts as a remote switch that may cut off the AC mains supply in the event of an emergency shutdown This contactor should be sized based on the continuous power of the system PAGE 3 23 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 5 2 Wiring notes for J6 J7 J9 connectors Size C The connectors used on the DS2100 Size C are are formed using crimp terminals The appropriate crimps Molex type 42815 0031 are supplied together the floating connectors for J6 J7 and J9 These crimps are sized for a 8 AWG 8 4 mm cable with
22. should be attached on both sides of encoder cable 1 NOTE Avoid running the encoder cable near other high power wiring especially the motor power cable if possible mie NOTE Cable Length should not exceed 30m 100 feet PAGE 3 55 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 11 6 Motor Rotation Direction The positive direction of rotation is clockwise when the motor is viewed from the shaft end as shown in the diagram below v n Motor Front Clockwise is Positive Direction of Rotation Figure 3 39 Rotational Convention for Mechanical Process Variables NOTE For operation with the encoder positive rotation as mie defined here corresponds to Channel A leading Channel B PAGE 3 56 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Es ee ee c PS ee 3 12 DS2100 Control Input and Outputs The following section contains a description of the control related Input Output I O available to the user Functionality of this I O is detailed later in this manual B NOTE An external 12Vd c to 32Vd c power source user supplied is required for the I O A functions The amperage rating of this power source will depend on the number of I O functions used Supply currents can be calculated as a function of this number and the input and output impedances quoted below Digital Inputs Digital Outputs
23. transistor The software will clamp the regen duty cycle at this level If the drive tries to regen at a greater level an overvoltage error will occur WARNING External regen resistors are connected to the DS2100 D C Bus voltage that can reach 800 V d c Exposed metallic mounting parts of external regen resistors must be connected to protective earth and the electrically conducting parts mechanically shielded for safety High voltage warning stickers are also recommended DS2100 Regeneration Resistor Options Model Size Internal Regen External Regen Resistance Continuous Peak Power Resistance Continuous Peak Power Q Power W 400Vac KW 9 Power W 400V ac kW G361 x003 uA 120 50 4 8 120 50 4 8 G361 x006 uA 120 100 4 8 120 100 4 8 G361 x008 A 51 200 12 5 G361 x014 B 33 250 19 4 G361 x020 C Internal Regen is available only on the DS2100 uA 12 370 53 3 G361 x025 C Size 12 370 53 3 G361 x030 C 12 370 53 3 G361 x050 D 10 750 64 G361 x060 D 10 750 64 Table 3 13 Recommended Regeneration Resistors PAGE 3 38 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 10 1 uA Size Regeneration Resistor Connection Recovery Resistor Tie S t LEE Tie screen to bracket See panel on Section 2 which resistor Installation is mounted Connector J6
24. 0 phone 0039 010 96711 fax 001 716 687 4870 fax 0039 010 9671280 PAGE 3 42 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 11 2 Motor Power Cable Wire the motor power connector in accordance with Figure 3 29 to Figure 3 35 Use wire sizes based on the motor s continuous stall current r m s and wire length requirements Wiring must be in accordance with standard EN 60204 1 See Section 2 of this Users Manual Required for CE Compliance For proper drive commutation of motors it is required that the motor phase conductors Phase U Phase V and Phase W be wired exactly PAGE 3 43 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 11 2 1 Size uA Motor DS2100 HA SN ZN UH ED U 46 10 V EE V 46 9 w W J6 8 PE d t PE J6 7 N NA J6 grounding of shield grounding of shield via connector clamp via connector clamp or RF connection to ground screw in case of terminal board Figure 3 29 DS2100 uA Motor Power Connection Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part GMSTB 2 5 12 ST 7 62 pA size wiring cable 14 AWG 2 1 mm Wire stripping 7 mm Tightening torque 0 5Nm Pos Name Ene o y Motor Protective Earth Motor Phase W Motor Phase V J6 10 Motor Phase U Table 3 18 J6
25. 180 Stripping Length 16mm Tightening Torque 2 2 3Nm Name Function Pos J9 11 DC Bus J9 12 DC Bus Table 3 12 J9 DC Bus connector D Size PAGE 3 37 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 10 Internal External Regeneration Regen Resistors Configurations Regeneration resistors can be fitted to all DS2100 servo drives All external Regen resistors should be mounted to allow adequate heat dissipation and such that heat from the Regen resistor is not directed to air intakes of other equipment The HA size DS2100 is the only size with internal regen All other drive sizes use external regen only Required for CE Compliance For EMC purposes use shielded cable to connect the external Regen resistor to the DS2100 The length of this cable should be as short as possible The shields of these cables should be connected to Chassis Earth using the optional EMC kit or the panel earth bar Alternatively if the cable is required to pass through an enclosure panel earthed to Chassis Earth the shield may be earthed to the panel by use of a 360 degree metal cable gland Refer to Section 2 for further safety and EMC requirements for cable installation NOTE The regeneration resistor internal and external are protected by software Setting the regen power and resistance parameters allows the drive to calculate the maximum allowable duty cycle for the regen
26. 3 19 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION SS EE EE SR JO J8 Figure 3 11 DS2100 Size C Power Connector Terminals PAGE 3 20 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary EN SS SR Je J WOTOR BRAKE jja COIE NA E Figure 3 12 DS2100 Size D Power Connector Terminals PAGE 3 21 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION W Gr O E A A 3 5 General System Wiring Guidelines The following is a general reminder of the cable requirements for the DS2100 Series Servo drives and related equipment NOTE Cabling and component wiring is critical in obtaining successful operation of the 1 system Pay close attention to specified wiring practice cabling information earthing and shielding requirements Improper wiring can result in electrical noise generation and unstable motor performance Size wire in accordance with standard wiring practice and local codes for amperage and wire length requirements Recommended wire sizes are given in Section 2 Avoid close parallel routing of signal wires and power wires both inside and outside of the control cabinet High voltage bus wires should be shielded and their length should be minimised Ensure proper chassis earths on all equipment Terminate all individual chassis earths from power supply and servo drives to a single tie point i e cabinet e
27. Motor Encoder Connector Location Fixed connector 15 pin female Sub D connector Mating connector 15pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm Encoder Type Pos Analogue SSI Hiperface Endat J4 1 Shield Shield Shield Shield J4 2 Sine Sine Channel B J4 3 Cosine Cosine Channel A J44 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 5 Clock Clock J4 6 Channel Z Zero Data RS485 Data J4 7 J4 8 NTC PTC NTC PTC NTC PTC NTC PTC J4 9 Sine Sine Channel B J4 10 Cosine Cosine Channel A 34 11 5 V 12V 5 V 12V 5 V 12V 5 V 12V Supply 150 mA Supply 150 mA Supply 150 mA Supply 150 mA max max max max J4 12 Fault Clock Clock J4 13 Channel Z Zero Data RS485 Data J4 14 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 15 NTC PTC NTC PTC NTC PTC NTC PTC Table 3 25 Encoder Cable Input Connections PAGE 4 PDF created with pdfFactory Pro trial version www pdffactorv com Errata Sheet MOOG DS2100 User s Manual Preliminary 3 14 5 7 Encoder Fixed connector 15 pin female Sub D connector Mating connector 15pin male Sub D Wiring cable 28 18 AWG 0 14 0 82mm 15 Pin Sub D Connector Plug male on cable 6 l 00000000 o o o o 0 o o DS2100 Cable End JA
28. Motor connector pA Size PAGE 3 44 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 1122 Size A B DS2100 A B Motor AS y e u H U 46 10 vt V J6 9 W 46 8 PE 40 DO GND 46 7 N P4 No J6 grounding of shield grounding of shield via connector clamp via connector clamp or RF connection to ground screw in case of terminal board Figure 3 30 DS2100 A B Motor Power Connection Fixed connector 10 pins male connector Mating connector 10 pins female supplied with the drive Phoenix Contact Part f PC4 HV 10 ST 7 62 Asize wiring cable 14AWG 2 1 mm Wire stripping 7 mm B size wiring cable 12AWG 3 3 mm Wire stripping 7 mm Tightening torque 0 5Nm Pos Name Function y y Motor Phase W Motor Phase V J6 10 Motor Phase U Table 3 19 J6 Motor connector A B Size PAGE 3 45 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 11 2 3 SizeC DS2100 C Motor J CN N U U 37 1 V 1 V 47 2 w T W J7 3 PE i t J PE J7 4 ye J7 grounding of shield grounding of shield via connector clamp via connector clamp or RF connection to ground screw in case of terminal board Figure 3 31 DS2100 C Motor Power Connection Fixed connector 4 pins male connector Mating connector 4 pi
29. OG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION DS2100 G4x2 3 4 G4x5 G4x6 PTOOE 16 97B3100R 97B3102R PTOOE 14 97B3102R 8 PC2 S 24 10P 36 SP 5 PC S 24 22P D D D D D D D D D U 2 U U A A A A A V 4 V V B B B B B W 1 W W C C C C C Brake 5 E E Brake 6 F F PAGE 3 50 Table 3 23 Motor Power Connections MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 11 4 Motor Resolver Connection Wire the DS2100 resolver cable in accordance with Figure 3 37 and Table 3 24 For CE compliance shield should be attached on both sides of resolver Required for CE Compliance cable NOTE Avoid running the resolver cable near other high 1 power wiring especially the motor power cable if possible NOTE Cable Length should not exceed 30m 100 feet mit PAGE 3 51 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION Resolver Connector Figure 3 36 Motor Resolver Connector Location Fixed connector 9 pin female Sub D connector Mating connector 9 pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm MOTOR RESOLVER CONNECTOR ME ALLA Tvpe FASK FASV FASG J5 1 Coso S2 C 1 3 E OV R2 PTC NTC Table 3 24 Resolver connections to motor PAGE 3 52 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s
30. Section 2 Installation D 4 5 6 PE Ll L2 L3 Std Connector J6 Figure 3 16 A amp B AC Mains Input Connection Fixed connector 10 pins male connector Mating connector 10 pins female supplied with the drive Phoenix Contact Part PC4 HV 10 ST 7 62 A size wiring cable 14AWG 2 1 mm Wire stripping 7 mm B size wiring cable 12AWG 3 3 mm Wire stripping 7 mm PE Stud wiring cable 6 AWG 13mm Tightening torque 0 5Nm Pos Name Function ________________________ Phase L1 three phase voltage input 230 460Vac 10 Phase L2 three phase voltage input 230 460Vac 10 Phase L3 three phase voltage input 230 460Vac 10 Protective Earth Stud on Chassis Table 3 4 J6 AC Mains Power connector A amp B Size PAGE 3 29 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 7 1 3 SizeC EMC Filter Fuses etc Protective See Earth Section 2 gt Installation Figure 3 17 Size C AC Mains Input Connection Fixed connector 5 pins male connector Mating connector 5 pins female crimped supplied with the drive Molex 42816 0512 C size wiring cable 8 AWG 8 4 mm PE Stud wiring cable 6 AWG 13mm Pos Name Funetion Phase L1 three phase voltage input 230 460Vac 10 10 Table 3 5 J6 AC Mains Power connector C Size PAGE 3 30 MOOG SEC
31. Section 3 Wiring and Installation MOOG DS2100 Digital Controller PRELIMINARY INSTALLATION amp USER s MANUAL C7750 001 Rev A 04 04 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary ES AAA AAA SE SE ES SPSS SECTION 3 WIRING AND INSTALLATION PAGE 3 1 MOOG Errata Sheet DS2100 User s Manual Preliminary ERRATA E PAGE 1 PDF created with pdfFactory Pro trial version www pdffactory com MOOG DS2100 User s Manual Preliminary Errata E 1 Introduction This Errata sheet details changes to the preliminary release of the DS2100 Manual The corrected information for the manual is detailed below E 2 Changes Page Description Change Update to DS2100 Boxcar Reference to Form 757 added to Boxcar for valid Cu numbers Line fuses specified in manual for Size Changed line fuse requirements for Size C drives from C drives incorrect 160 FEE 690V to 100 FE 690V Bussmann Fuses 1 5 354374 2 7 3 64 354374 pne 9 PAGE2 PDF created with pdfFactory Pro trial version www pdffactory com MOOG DS2100 User s Manual Preliminary Errata 3 11 5 Motor Encoder Connection The DS2100 encoder input supports a variety of encoders These include Analogue SSI Hiperface and Endat The connections to the drive for each of these encoder types are given in Table 3 25 JS RESOLVER Encoder Connector Figure 3 38
32. Stage Fixed connector 10 pins male connector Mating connector 10 pins female supplied with the drive Phoenix Contact Part 4 PC4 HV 10 ST 7 62 A size wiring cable 14AWG 2 1 mm Wire stripping 7 mm B size wiring cable 12AWG 3 3 mm Wire stripping 7 mm Tightening torque 0 5Nm Pos Name jFuntion _____________________ Phase L1 three phase voltage input 230 460Vac 10 Phase L2 three phase voltage input 230 460Vac 10 Phase L3 three phase voltage input 230 460Vac 10 Motor Protective Earth J6 8 W Motor Phase W Fixed connector 2 pins male connector Mating connector 2 pins female supplied with the drive Wago Part f 231 102 026 000 CAD size wiring cable 14 AWG 2 1 mm Stripping Length 8mm 24V Logic Backup Supply Logic Supply Return PE Stud wiring cable 6 AWG 13mm Pos Name Funtion Protective Berit Stud as PAGE 3 68 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 14 3 C Size Power Stage JO aa LAICA CA CNE EU T penw J8 ies RAE ET ika A L U HD ONNNANANNNNANNNANO ni Fixed connector 5 pins male connector Mating connector 5 pins female crimped supplied with the drive Molex 42816 0512 C size wiring cable 8 AWG 8 4 mm Function Phase L3 three phase voltage input 230 460Vac 10 Phase L2 three phas
33. TION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 7 1 4 Size D a c Mains LI EMC Filter 12 Fuses etc L3 Protective See Earth Section 2 Installation Figure 3 18 Size D AC Mains Input Connection Fixed connector 4 pole screw terminal D size wiring cable 6 AWG 13 mm for 50 140 D size wiring cable 4 AWG 21 mm for 60 180 PE Terminal wiring cable 6 AWG 13 mm for 50 140 PE Terminal wiring cable 4 AWG 21 mm for 60 180 Stripping Length 16mm Tightening Torque 2 2 3Nm Pos Name Function _________________________ Protective Earth Screw Terminal Phase L1 three phase voltage input 230 460Vac 10 Phase L2 three phase voltage input 230 460Vac 10 Phase L3 three phase voltage input 230 460Vac 10 Table 3 6 J9 AC Mains Power connector D Size 3 7 2 Softstart amp Power Cycling Frequency Limits The DS2100 contain an internal soft start function The soft start function limits the inrush current into the DS2100 s D C Bus smoothing capacitors after the a c mains has been switched on If the frequency of power cycling becomes too high then the power dissipation in the soft start resistor can be excessive In this case the softstart circuitry may become damaged CAUTION The internal softstart resistors are designed to allow an AC application of once every 60 seconds If this rate is exceeded then the internal softstart re
34. a 10 mm wire stripping It is recommended to use the appropriate Molex crimping tool 63814 0000 or 63811 1500 or equivalent After crimping the contact must be inserted into the floating connector with the correct orientation and should be held in position by the TPA Terminal Position Assurance jumper as shown in Figure 3 13 TPA TPA Windows Figure 3 13 DS2100 Size C Crimp Assembly PAGE 3 24 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary A EE RB SE PE CSA 3 6 Sequence of Component Wiring Recommendations The following sequence for wiring is a recommendation Individual wiring steps are denoted by a box character which can be used as an installation check off list The terminal block layout on all power supplies and servo drives has been designed to isolate low voltage from high voltage circuits Cabinet conduits should be arranged to maintain this physical separation a Power Circuit Wiring O Wire a 24V Logic Supply to the drive Required on uA size drives Fit a suitable EMC filter on the 24V logic Supply and fuse O Wire a c mains input to a user supplied fuses Make a secure and reliable connection between the chassis of the equipment and Earth Fit a suitable EMC Mains Line Filter after the User supplied fuses and contactor Wire a c mains from the user supplied contactor to the power input poles of the DS2100 b Servo drive Wiring O Plug in Axis I O cable to
35. arth bus Keep the distance from earth bus to earth ground as short as possible Similarly keep distance from servo drive and power supply chassis earths to the tie point as short as possible Chassis earth should be run close to D C Bus wires to minimise EMI The impedance between the earth terminal and any accessible part of the equipment enclosure or cabinet should be less than or equal to 0 12 Tighten all terminal screws securely to avoid faulty operation Torque screws to the specified values All power connections to the DS2100 A A B amp C Series Servo drives are through removable plug in mating connectors Do not solder the ends of the cables to be inserted into screw clamp terminals All power connections to the DS2100 D are via screw terminal connections WARNING The removable plug in mating connectors are for ease of wiring and are not suitable for connection or dis connection when power is applied All dis connections must be made with power removed WARNING All electrical supply wires and cables to this equipment must be installed in conduits cable routings which are smooth and free from sharp edges CAUTION Shielded cable is required to be installed by the user for many external user cable connections to the DS2100 Servo drive Details of areas where shielded cable must be installed and details of earthing arrangements which must be implemented for the shields of such cables are given in the relevant sections
36. bus line dominant low J3x 3 CAN_GND CAN Ground J3x 4 not connected J3x 5 CAN SHLD Chassis Ground J3x 6 CAN_GND CAN Ground J3x 7 CAN H CAN H bus line dominant high J3x 8 not connected J3x 9 Optional CAN external positive supply not connected Table 3 30 CAN Connector Pin Description Note e CAN lines must be terminated in a 1200hm resistance between the positive and negative terminals CAN High and CAN Low at both ends of the CAN network for correct operation e All pins of J3A and J3B are wired straight through the connectors of the DS2100 NY Connect Cable Shields to Metallic D Sub Shell jurc f 7 P old Terminate CAN lines in D Shell with 1200hms at both ends of network Y Connector J3A Connector J3B DS2100 je i td Ga a i 1 H 7 CAN H CAN H 7 7 CAN H CANH7 amp zM 92 CAN L CAN L 2 22 CAN L CANL 2 amp H3 CAN GND CAN GND 3 3 CAN GND CAN GND 38 Connector J3A Connector J3B DS2100 d Figure 3 48 DS2100 CAN Wiring and Termination PAGE 3 65 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION To Controller Controller J3A ED Controller J3B CAN IN CAN OUT NC 12 1 CAN L gt 2 gt 52 CAN H l 7 37 3 NC Ni gt gt CAN_SHLD i 5 5 CAN GND 8 8 CAN GND 333 I NC V 8 8 26
37. e Bend Radius Requirements NOTE The DS2100 Series Servo drives are system components that must be installed in the correct manner to ensure that all electromagnetic compatibility EMC requirements are met Refer to Section 2 of this User s Guide The DS2100 must be mounted on a panel with a flat solid surface in a manner that ensures that EMC earthing requirements are met Required for CE Compliance There must be a clean flat conductive surface at all of the mounting points Remove paint or other insulating materials and provide conductive corrosion protection at the mounting points It is important that there is good high frequency bonding between the panel and the DS2100 Servo drive Conductive hex socket head bolts with conductive locking washers should be used PAGE 3 10 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary lii M 11 5 TYP 230 6 xl 245 5 1 Cc net nm om 255 1 1 LIL 85 1 1 Figure 3 3 DS2100 uA Mechanical amp Mounting Dimensions PAGE 3 11 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 6 TYP Figure 3 4 DS2100 A Mechanical amp Mounting Dimensions PAGE 3 12 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Figure 3 5 DS2100 B Mechanical amp Mounting Dimensions PAGE 3 13 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION
38. e voltage input 230 460Vac 10 Phase L1 three phase voltage input 230 460 Vac 10 DC RR DC Bus Regeneration Resistor connection Fixed connector 4 pins male connector Mating connector 4 pins female crimped supplied with the drive Molex 42816 0412 Csize wiring cable 8 AWG 8 4 mm Pos Name jFuntin 00000 Fixed connector 2 pins male connector Mating connector 2 pins female supplied with the drive Wago Part f 231 102 026 000 C amp D size wiring cable 14 AWG 2 1 mm Stripping Length 8mm Pos Name Function ____________________________ Fixed connector 2 pins male connector Mating connector 2 pins female crimped supplied with the drive Molex 42816 0212 C size wiring cable 8 AWG 8 4 mm Function PE Stud wiring cable 6 AWG 13mm Pos Name Function PAGE 3 69 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 14 4D Size Power Stage Fixed connector 4 pole screw terminal Dsize wiring cable 6 AWG 13 mm for 50 140 D size wiring cable 4 AWG 21mm for 60 180 PE Terminal wiring cable 6 AWG 13 mm for 50 140 PE Terminal wiring cable 4 AWG 21 mm for 60 180 Stripping Length 16mm Tightening Torque 2 2 3Nm Pos Name Function _______________________ Phase L1 three phase voltage input 230 460Vac 10 Phase L2 three phase voltage input 230 460Vac
39. ee Section 2 Y LI L2 L3 36 3 J6 2 J6 1 Connector J6 J9 Connector J6 J9 l DS2100 C DS2100 C EEE e e L NE f Figure 3 23 Size C DC Bus Inter connection Fixed connector 5 pins male connector Mating connector 5 pins female crimped supplied with the drive Molex 42816 0512 C size wiring cable 8 AWG 8 4 mm PE Stud wiring cable 6 AWG 13mm Fixed connector 2 pins male connector Mating connector 2 pins female crimped supplied with the drive Molex 42816 0212 C size wiring cable 8 AWG 8 4 mm Pos Name Funetion S y y DC Bus DC Bus Table 3 11 J9 DC Bus connector C Size PAGE 3 36 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 9 4 D Size DC Bus Inter connection a c Mains LI LZ L3 Protective Earth Tie screen to chassis via EMC bracket See Section 2 J9 4 J9 5 J9 6 J9 3 J9 11 79 12 LI I2 L3 19 4 19 5 9 6 19 3 Connector J9 DS2100 D Y LI L2 L3 DC Connector J9 DS2100 D J Figure 3 24 Size D DC Bus Inter connection Fixed connector 2 pole screw terminal D size wiring cable 6 AWG 13 mm for 50 140 D size wiring cable 4 AWG 21mm for 60 180 PE Terminal wiring cable 6 AWG 13mm for 50 140 PE Terminal wiring cable 4 AWG 21 mm for 60
40. eries Servo drives for example the 24 Vd c supply must be as short as possible The supply wires should be twisted together or alternatively shielded cable should be used e Cables connecting the D C Bus from the DS2100 Power Supply to other DS2100 Servo drives must be as short as possible The supply cables should be shielded Required for CE Compliance e Motor power cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable At the DS2100 Servo drive end of the cable the shield should be earthed using the EMC Bracket e Motor feedback amp signal cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable e Signal cables must be shielded with the cable shield securely connected to make a good HF earth bond to Chassis Earth at both ends of the cable Further details for the correct installation and shielding of cables and conductors are given in Section 2 CAUTION Enclosure or cabinet temperature control is critical for performance reliability and life of electrical components Maintaining a uniform temperature check for hot spots within the specified values for the equipment will prevent premature failure due to temperature stress PAGE 3 16 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 3 Power Dissipation To calculate cabinet cooling requirements Table 3
41. es which allow control of the machine functions is accessible to authorised qualified service personnel only All such service set up computers must be CE marked as compliant with the EU EMC Directive Required for CE Compliance 3 1 5 Control Backup Power Input User Supplied The DS2100 requires a control power source to supply backup power for the control electronics This control backup power is useful where the user requires that the DS2100 does not loose absolute position data or status information when AC mains power is removed from the DS2100 The user is directed to the local Moog sales office or authorised distributor for a recommended list of these control power source devices The G361 x003 amp x006 MUST have a 24V logic backup supply 1 connected for the drive to operate No internal high voltage backup is provided on these smaller models The 24V control power option allows high voltage motor power to be removed from a DS2100 Series Servo drive without losing control power The acceptable voltage range for this supply is 24V 10 with a minimum current rating of 2A4 per DS2100 Series Servo drive connected A low cost unregulated DC supply is adequate NOTE The 24V power supply must be compliant with the requirements of the EU EMC Directive The 24V a output from the power supply must be Safety Extra Low Voltage SELV as defined by European standard EN 60950 Required for CE Compliance
42. et See panel on Section 2 which resistor DC RR RR Installation is mounted Connector J6 DS2100 C J Ne mi 4 Figure 3 27 DS2100 Size C External Regeneration Connections Fixed connector 5 pins male connector Mating connector 5 pins female crimped supplied with the drive Molex 42816 0512 C size wiring cable 8 AWG 8 4 mm Name Function DC RR DC Bus Table 3 16 J6 Regeneration Resistor connector C Size PAGE 3 40 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 10 4 D Size Regeneration Resistor connection Recovery Resistor r Tie Screen to chassis via EMC Tie eor to bracket See pane on Section 2 which resistor Installation is mounted Connector J9 DS2100 D gt Figure 3 28 DS2100 Size D External Regeneration Connections Fixed connector 2 pole screw terminal D size wiring cable 6 AWG 13 mm for 50 140 D size wiring cable 4 AWG 21 mm for 60 180 Stripping Length 16mm Tightening Torque 2 2 3Nm Pos Name Funcion o y DC RR DC Bus Table 3 17 J9 Regeneration Resistor connector D Size WARNING When performing any changes to the regen resistor configuration a c input power must be removed from the DS2100 Wait 5 minutes upon removal of all power to allow for D C Bus capacitors to discharge PAGE 3 41 MOOG DS2100 User s Manual Preliminary SECTION 3
43. i pps 3 57 3 12 1 General Purpose Description of the Digital Inputs 1 ss sse nennen 3 58 3 122 General Purpose Description of the Digital Outputs essen 3 60 3 12 3 Power Sequencing on Startup 1 e roi te eer He e iH re D ERR Free ep 3 62 3 13 Communications Interface Wiring and Configuration eene nnne 3 63 3 13 1 RS232 Serial Communications Interface esses eene enne enne enne enne nnns 3 63 3 13 27 CAN Cable Wirin ata A AAA l deerit e dura 3 64 3 14 Witing SU A ti 3 67 3 14 A Size POWer SAgE Lassa 3 67 3 142 A amp B Size Power Stage mm mrrrrvrrrnerevivimsernsvnsnsnsnsnsnreeerisersersersirsersrrsrrsinse 3 68 PAGE 3 2 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 14 3 C Size Power Stage rrrnrrornrrrvrrverrvvrnvernvrrnvrnvennvennrrnnrennernnernnennrsnssnnssnvssnessnesnnesnnesnnesnasenersnersnesnnesnnssneennr 3 69 3 14 4 D Size Power Stages ccsiccccccscscscsssescsasesescssanscscesstsesseesetgssascenededetssea SEES SENDE EISE r SAE En ESEE RRE Lea AERE ASe 3 70 3 71 3145 Control Card ee ert tata PAGE 3 3 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION This section covers the installation wiring and cabling of the Moog DS2100 Servo drive series A pictorial diagram of a single axis system with typical components included is shown in Figure 3 1 Users are directed to read Section 2 Safety Inst
44. ith the drive Phoenix Contact Part f FK MC 0 5 9 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm Wire stripping 8 mm Gnd Digital Input Ground 3 14 5 3 Digital Outputs Fixed connector 5 pins male connector Mating connector 5 pins spring cage female supplied with the drive Phoenix Contact Part f FK MC 0 5 5 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm Wire stripping 8 mm Pos Name Funtion 1 1 1 J2B 1 Ext 24V DC 24V Digital Output Supply J2B 3 J2B 4 Digital Output 3 User Configurable J2B 5 Ext 24V Ret Digital Output Return p PAGE 3 72 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 14 5 4 Drive Ready Fixed connector 2 pins male connector Mating connector 2 pins spring cage female supplied with the drive Phoenix Contact Part f FK MC 0 5 2 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm Wire stripping 8 mm Name Function J2C 1 Drive Ready 1 Drive ready relay contact pin 1 Drive Ready Relay Contact J2C 2 Drive Ready 2 Drive ready relay contact pin 1 Drive Ready Relay Contact 3 14 5 5 Motor Brake Fixed connector 4 pins male connector Mating connector 4 pins spring cage female supplied with the drive Phoenix Contact Part f FK MCP 1 5 4 ST 3 81 Wiring cable 28 16AWG 0 14 1 5mm Wire stripping 9 mm Pos Name Function S O J2D 1 24V DC Brake 24V Supply
45. magnitude is more than 5V with respect to the I COMMON line will not be guaranteed to be recognised as an inactive signal input All digital inputs are optically isolated for noise immunity purposes All DS2100 digital inputs are isolated from high voltage circuitry internally Current flowing in the digital input implies the safer of the corresponding active inactive functions For example when current flows in the clockwise limit switch input then the limit is NOT active PAGE 3 59 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 12 2 General Purpose Description of the Digital Outputs The DS2100 provides 4 digital outputs on connector J2B amp J2C Only the digital outputs on J2B are detailed here Fixed connector 5 pins male connector Mating connector 5 pins spring cage female supplied with the drive Phoenix Contact Part FK MC 0 5 5 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm Wire stripping 8 mm Name jFuntin O Z 1 1 J2B 1 Ext 24V DC 24V Digital Output Supply J2B 4 Digital Output 3 User Configurable J2B 5 Ext 24V Ret Digital Output Return AA Table 3 27 J2B DS2100 Digital Output connector The following electrical description applies to all except one of the digital outputs of the DS2100 One digital output Drive Ready uses a relay rather than an opto coupler Ext 24V DC DGND Optocoupler Isolation Ext 24VRet Figure 3 42 DS2100 Generic Digital Outp
46. naeseecneeeeeeneesss 3 8 3 1 7 Heatsinks and Climatic Control eene non rro renerne 3 8 32 SIA 3 9 3 2 1 CE Items for Mechanical Installation ss sse mennennnnnnznnzznnzznnzonzzznznzninnnanarannrnnnrinnrzntrtnn rna znnzznzza 3 16 3 3 Power Dissipation ii sider e o e ote aae tese Spin Pura nn 3 17 3 4 DS2100 Connector Terminals rice erre rr rr 3 18 3 5 General System Wiring Guidelines esses eene enne nnne nnne eren rn enn ener nnns 3 22 3 5 1 Drive Contactor User Supplied sss enne ennt nnne nennen 3 23 3 5 2 Wiring notes for J6 J7 J9 connectors Size C sess ener 3 24 3 6 Sequence of Component Wiring Recommendations essssssesseeeeeeeene ener enne enne 3 25 3 7 Three Phase A C Mains Power Source Configuration ene enn eene ennt nennen 3 26 3 7 1 AC Mains Power Source Connection eiie trier redeo oret decidi 3 28 3 7 2 Softstart amp Power Cycling Frequency Limits sese eren enne enne 3 31 3 8 24V Backup Connecti n e cnc ts ia he o eH ree Fee ELE Ka pa 3 32 3 8 1 Size LA 24V Input Connection einen e iia 3 32 3 8 2 Size ABC amp D 24V Input Connection A ai 3 33 3 9 Paralleling DS2100 Units through the D C Bus eren ener ennt nenne nnne 3 34 3 9 1 ILA Size DC Bus Inter connections iaa ive tete d ainekkuatiteiv 3 34 3 9 2 A amp B Size DC Bus Inter connection essere enne enne nennen rennen enne nnns 3 35 3
47. nded fuses After a power loss to the servo drive the motor will continue running until its stored energv is dissipated through friction alone or will be stopped by a motor equipped brake if a brake is available It is also recommended to install a contactor rated for the DS2100 input between the line fuses and the EMC filter at the input of the DS2100 refer to Figure 3 1 This contactor should be controlled directly by user supplied Emergency Stop Buttons and other series connected safety switches to remove AC input power in any situation affecting personnel safety WARNING The supply disconnecting device circuit breaker must be switched to the OFF position before any service or maintenance activity is commenced 3 1 3 Line Filter Requirements Details of the recommended line filters for each of the DS2100 variants are given in Section 2 of this manual PAGE 3 5 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Figure 3 1 Typical DS2100 System Components UA Size PAGE 3 6 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 1 4 Serial Set up Terminal User Supplied An RS 232 interface should be established for individual servo drive communications using a PC The PC can run Moog s WinDrive Windows based user interface program The personal computer using Windrive is a service engineering tool only and must be installed so that use of the key sequenc
48. ns female crimped supplied with the drive Molex 42816 0412 C size wiring cable 8 AWG 8 4 mm Pos Ss Name Function 000 Motor Phase W Motor Phase V Motor Phase U Table 3 20 J7 Motor connector C Size PAGE 3 46 SECTION 3 WIRING AND INSTALLATION MOOG DS2100 User s Manual Preliminary 3 11 2 4 Size D grounding of shield via connector clamp or RF connection to ground screw in case of terminal board grounding of shield via connector clamp DS2100 D U 99 1 V 49 2 W 49 3 PE J9 4 J9 Figure 3 32 DS2100 D Motor Power Connection Fixed connector 4 pole screw terminal D size wiring cable 6 AWG 13 mm for 50 140 D size wiring cable 4 AWG 21 mm for 60 180 Stripping Length 16mm Tightening Torque 2 2 3Nm Pos Name Function 0000 J9 10 Motor Protective Earth Motor Phase W Motor Phase V Motor Phase U Table 3 21 J9 Motor connector D Size PAGE 3 47 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 11 3 Motor Brake Connection The DS2100 provides a motor break relay at connector J2D on Control Card Interface The user supplies a 24Vd c Power Supply Unit for the brake connections Details of the motor brake current requirements are available from the relevant motor datasheet Motor Brake Connector G A ur JAN AT Figure 3 33 Motor Brake Connector Loca
49. plane eg AC Mains Suppl Contactor Line Filter 3 Phase Supply 8 Protective Earth 24V 24V EMC Filter Svstem Controller DC Bus Sharing DS2100 DS2100 A Notes l 1 Keep all cables as short as Regeneration possible esistor 2 Use Shielded armourd cables 3 Ensure good HF bond to earth or chassis Motor Position Feedback Cable Motor Position Feedback Cable Figure 3 14 DS2100 Multi Axis system with 3 Phase A C Mains Inputs PAGE 3 27 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION 3 7 1 AC Mains Power Source Connection 3 7 1 1 Size pA a c Mains LI EMC Filter L2 Fuses etc L3 Protective Earth Section 2 Installation Connector J6 Figure 3 15 pA AC Mains Input Connection Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part f GMSTB 2 5 12 ST 7 62 pA size wiring cable 14 AWG 2 1 mm Wire stripping 7 mm PE Stud wiring cable 6 AWG 13mm Tightening torque 0 5Nm Pos Name Function 1 1 1 1 1 1 1 1 1 Table 3 3 J6 AC Mains Power connector UA Size PAGE 3 28 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 7 1 2 Size A amp B a c Mains LI EMC Filter L2 Fuses etc L3 Protective See Earth
50. ructions before proceeding with wiring and installation WARNING This equipment must be permanently and reliably connected to Earth and all conductive parts in the IP54 rated enclosure in which the DS2100 Series Servo drive is installed must be reliably connected to Protective Earth A Protective Earth connection must come directly from an approved AC mains network Stranded copper wire is recommended to carry the earth FAILURE TO PROVIDE AN ADEQUATE EARTH MAY CAUSE SERIOUS PERSONAL INJURY AND EQUIPMENT MALFUNCTION 3 1 System Components The following components are required to build a Moog brushless motor digital control system refer to Figure 3 1 The user supplies all components besides the DS2100 EMC Brackets motor and other accessory cabling 3 1 1 A C Mains Power Interface The DS2100 should be connected to a three phase AC supply Operation with a single phase supply is only allowed with the G361 x003 and G361 x006 variants of the drive For single phase operation the phase supply voltage must be limited to 230V and the input power to the drive limited to 1 1kW PAGE 3 4 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 1 2 A C Input Line Protection Details of the recommended Line fuses are given in Section 2 of this manual Alternativelv an AC mains Circuit Breaker Instantaneous Trip Type can be used as a protective device provide its ratings are equivalent to the recomme
51. sistors may be damaged PAGE 3 31 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION EEE E A E gt gt gt se se st ss tel 3 8 24V Backup Connection The DS2100 is equipped with a 24V logic supply backup This backup supply provides logic power to the drive when AC mains power is removed For the pA size this backup is mandatory for drive operation 3 8 1 Size uA 24V Input Connection 24V Auxiliary Supply Fuse 424V Fairrite Clamp Core p n 4 00443164151 GND 0V 4 Turns of Supply cable Figure 3 19 Size pA 24V DC Input Connection Fixed connector 12 pins male connector Mating connector 12 pins female supplied with the drive Phoenix Combicon Part f GMSTB 2 5 12 ST 7 62 pA size wiring cable 14 AWG 2 1 mm Stripping Length 7mm Tightening torque 0 5Nm Pos Name Function o y J6 11 24V Logic Backup Supply J6 12 Logic Supply Return Tied Internally to PE Table 3 7 J6 24V Logic Power connector uA Size PAGE 3 32 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 8 2 Size A B C amp D 24V Input Connection 24V Auxiliary Supply 24V Schaffner GND 0V FN2070 3 06 Filter A B C amp D Figure 3 20 Size A B C amp D 24V DC Input Connection Fixed connector 2 pins male connector Mating connector 2 pins female supplied with the drive Wago Part f 231 102 026 000
52. then enable the DS2100 high power amplifier if appropriate PAGE 3 62 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary EPE c A A ep ne SE SEE 3 13 Communications Interface Wiring and Configuration The DS2100 provides one serial interface RS232 for communication between the drive and the Windrive graphical user interface GUI The drive also provides a CAN High speed ISO11898 2 hardware interface for higher bandwidth communications between one System Motion Controller and many DS2100 s which can handle motion commands between the System Motion Controller and DS2100 s 3 13 1 RS232 Serial Communications Interface The pin assignment enables use of a 9 pin Sub D cable with all signals connected straight through Serial Communications Connector RS232 Figure 3 45 RS232 Connector Location Fixed connector 9 pin female Sub D connector Mating connector 9 pin male Sub D Wiring cable 28 18A WG 0 14 0 82mm Pos Name Function sd PC Signal ont Jconnectedtopin4 DCDinpt 73 RxD_ jReciveDaa TD output 34 Jconnectedtopinland6 DTR output Gnd Ms Gnd Gnd JGnd 716 jconnctedtopin4 DSR inut 77 Joonnectedtopin8 RTS output ns I comectedtopin7 CTS input p n9 gt Junused JRI inpt Table 3 29 J1 DS2100 RS232 Serial Interface Connector
53. tical orientation The DS2100 must be panel mounted within an enclosure or cabinet that 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 It is recommended that the cabinet be ventilated using filtered or conditioned air free of corrosive or electrically conductive contaminants The accumulation of dust dirt etc on the equipment must be avoided A minimum clearance above and below each of the DS2100 drive sizes is required These distances are detailed in Table 3 1 DS2100 Size Minimum Clearance Top Minimum Clearance Bottom mm mm HA amp A 60 100 B 60 100 C 80 160 D 100 200 Table 3 1 Minimum Clearance around DS2100 Drives If any of the DS2100 units are mounted in a closed cabinet allow 80mm clearance at the front for cable bends PAGE 3 9 MOOG DS2100 User s Manual Preliminary SECTION 3 WIRING AND INSTALLATION The DS2100 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 Q S mm TYP ENCODER CABLE CAN CABLE 40mm BEND RADIUS 40mm BEND RADIUS Figure 3 2 Typical DS2100 Cabl
54. tion User Supplied __ 24V PSU 9 Motor Power Cable Figure 3 34 Motor Brake Cabling Fixed connector 4 pins male connector Mating connector 4 pins spring cage female supplied with the drive Phoenix Contact Part FK MCP 1 5 4 ST 3 81 Wiring cable 28 16AWG 0 14 1 5mm Wire stripping 9 mm Pos Name Function O J2D 1 24V DC Brake 24V Supply J2D 2 J2D 3 Brake gt J2D 4 24V RET Brake 24V Supplv Return Table 3 22 J2D DS2100 Brake connector The pins of the brake terminals at the motor cable connector end depend upon the cable size Refer to Figure 3 35 for details PAGE 3 48 SECTION 3 WIRING AND INSTALLATION MOOG DS2100 User s Manual Preliminary POWER MATING CONNECTOR CONTROLLER TERMINAL MATI MN ME BLOCK CONNECTION ka O MOTOR GROUND N AE reg El Era i OD PROTECTIVE EARTH oA U L I r pil ome 28 V p I liv O I pa oC W LI MW N DS2100 Sc y J6 uA A B Fi TITTI oc m ES f ELECTROMACNETIC BRAKE J7 C J9 D rea A m NORMALLY CLOSED EMC SHIELD TET Bracket J2D 2 O J2D 3 O m BRAKE CONTROLLE PTOOE16 8 PC2 lt CO PT0014 5PC 97B 3100 RS 24 10P G4x6 97B 3102R 36 5P 97B 3102R 24 22P Figure 3 35 Motor Power and Brake Connectors PAGE 3 49 MO
55. tor Encoder Connection The DS2100 encoder input supports a variety of encoders These include Analogue SSI Hiperface and Endat The connections to the drive for each of these encoder types are given in Table 3 25 Encoder Connector J2B DIGITAL OUTP Figure 3 38 Motor Encoder Connector Location Fixed connector 15 pin female Sub D connector Mating connector 15pin male Sub D Wiring cable 28 18AWG 0 14 0 82mm SECTION 3 WIRING AND INSTALLATION Encoder Type Pos Analogue SSI Hiperface Endat J4 1 Shield Shield Shield Shield J4 2 Sine Sine Channel A J4 3 Cosine Cosine Channel B J4 4 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 5 Channel Z Zero Data RS485 Data J4 6 Clock Clock J4 7 J4 8 NTC PTC NTC PTC NTC PTC NTC PTC J4 9 Sine Sine Channel A J4 10 Cosine Cosine Channel B J4 11 5 V 12V 5 V 12V 5 V 12V 5 V 12V Supply 150 mA Supply 150 mA Supply 150 mA Supply 150 mA max max max max J4 12 Channel Z Zero Data RS485 Data J4 13 Fault Clock Clock J4 14 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4 15 NTC PTC NTC PTC NTC PTC NTC PTC PAGE 3 54 Table 3 25 Encoder Cable Input Connections MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary Required for CE Compliance For CE compliance shield
56. uts Note that Voltage Range is 6V to 32V from Digital Output to the O COMMON line Digital outputs switch only DC voltages Output current gt 250 mA off state leakage current lt 100 uA at 0 V Short circuit protected inductive load driving capability reverse polarity protected Protected for supply voltage range of 40 V to 40 V All digital outputs are optically isolated for noise immunity purposes All DS2100 digital outputs are isolated from high voltage circuitry Current flowing in the digital output implies the function is active PAGE 3 60 MOOG SECTION 3 WIRING AND INSTALLATION DS2100 User s Manual Preliminary 3 12 2 1 Drive Ready Relay The DS2100 provides 1 relay outputs on connector J2C This relay closes when the drive is ready and no faults are present Fixed connector 2 pins male connector Mating connector 2 pins spring cage female supplied with the drive Phoenix Contact Part f FK MC 0 5 2 ST 2 5 Wiring cable 28 20AWG 0 14 0 5mm Wire stripping 8 mm Function J2C 1 Drive Readv 1 Drive ready relay contact pin I Drive Ready Relay Contact J2C 2 Drive Ready 2 Drive ready relay contact pin 1 Drive Ready Relay Contact Table 3 28 J2B DS2100 Digital Output connector The following electrical description applies to the Drive ready relay of the DS2100 5V J2C 1 Drive Ready 1 Drive Ready Relay J2C 2 Drive Ready 2 Figure 3 43 Drive Ready Relay Output

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