Schneider Electric 17S Series manuale d’uso

Modicon Le xium 17S Ser ies SERCOS Ser v o Dr iv e User Gui de 890 USE 121 0 0 Eng[...]

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Preface 890 USE 121 0 0 v Preface The data and illustr ations foun d in this book are not binding. W e reserv e the right to modify our products in line with our poli cy of conti nuous produc t dev elopmen t. The inf orm ation in this d ocument is su bject to cha nge without no tice and shoul d not be construed as a commitmen t by Sch neider Electr[...]

Preface vi 890 USE 121 00[...]

890 USE 121 0 0 vii Contents Chapter 1 I ntroduction At a Glance ................. ...................... ............................. ...................... ............ 1 Document Scope ............. ....................... ..... ...... ...... ...................... ...... ..... . 1 What’s in this Chapter ................ .....................[...]

Contents viii 890 USE 121 00 Chapter 2 Product Overview At a Glance................. ...................... ................. ....................... ...................... . 1 5 Introducti on ........................... ...................... ............................ .................. 15 What’s in this Chapter ................ .............[...]

Contents 890 USE 121 0 0 ix Chapter 3 Mounting and Physical Dimensions At a Glance ................. ...................... ............................. ...................... ............ 33 What’s in this Chapter ................ ............................. ...................... ............ 33 Installa tion Safety Precaution s ............[...]

Contents x 890 USE 121 00 Signal Wiri ng ................... ................ ....................... ............................ ............ 57 Lexium BPH R eso lver Connection (excluded BPH055) ......... .................. 57 Lexium BPH0 55 Resolver Conne ction .. ............................ ...................... . 58 Encoder Inp u t Connecti[...]

Contents 890 USE 121 0 0 xi Chapter 6 Tr oubleshooting At a Glance ................. ...................... ............................. ...................... ............ 75 What’s in this Chapter ................ ............................. ...................... ............ 75 Warning M e ssages ............... ...........................[...]

Contents xii 890 USE 121 00 Auxiliary Incremental Enc oder Input Specifications Table ............ ............ 95 Discrete In put Specificatio ns Table ....... ...................... ....................... ...... 96 Discrete Outp ut Specificatio ns Table ...................... ............................ ...... 96 Fault Relay Output Spec ificati[...]

Contents 890 USE 121 0 0 xiii Wiring the Motor Power Connect or ............. ....................... ....................... 11 2 Motor Power Co nnector (Drive end ) Diagram (excluded BPH055) ........... 113 BPH055 Motor Power Connector (Drive end) Diagra m ................ ............ 114 Serial Commun ic ati on Inte rface Conne cti on (X6) ....[...]

Contents xiv 890 USE 121 00[...]

1 1 Intr oduction At a Glance Document Sc ope This user g uide con tain s complet e inst a llat ion, wir ing interc onnec tion, p ower applicati on, test and maintenance inf orm ation on the Le xium 17S series SER COS driv e. Wha t ’ s in t his Chapter This c hapter provides ge neral inf ormation abou t this us er guide and c ontai ns the followi[...]

2 About thi s User Guide Who Should Use this User G uide T his use r guid e is writt en for an y quali fied pe rson at yo ur sit e who is res ponsi ble for insta lling (mount ing and intercon necting), ope rating, testing a nd mainta ining your Lexium 17S SERCOS driv e and the serv o system equ ipment with whi ch it interfa ces. In ad dition, the f[...]

3 About thi s User Guide , continued How this User Guide Is Organ ized, conti nued C hapter/Ap pendix Description Chapter 4 Wiring and I/O Wiring diagrams for the power connections and wiring diagrams and descriptions for all signal wiring connections — encoder , resolver , analog input, discrete I/O, fiber-opti c and serial communications cable.[...]

4 Related System Component s SERCOS Multi- Axis Motio n Control System The 17S SER COS drive is typ ically onl y one com ponent in a larg er , multi-ax is motion c ontrol syste m . A m ulti-axis sy stem is comprised of o ne motion c ontroll er and (depen ding on the con troller) up to 32 d rives. Each dr ive cont rols one servo motor . UniLink Comm[...]

5 Related Document ation Documents Rela ted documentati on that co vers all these syst em comp onents is il lustr ated below . Y ou will need these: UniLink Online Help (included in software) Depending on which SERCOS motion controller you have, you will also need th ere: Quantum SERCOS Multi-axis Motion Controller Guide 840 USE 1 16 X MMF Programm[...]

6 Hazar ds, W arnings and Guidelines Hazards and W arnings Rea d the followi ng prec autio ns ver y car efull y t o ensu re the s afety of pe rson nel at your si te. F ailure to co mply wi ll resu lt in death , ser ious injur y o r equi pment damage. D AN GER! ELECTRIC SHOCK HAZARDS l Dur ing op erati on, keep al l covers an d c abine t door s clos[...]

7 Hazar ds, W arnings and Guidel ines , continued W ARNING! THERMAL HAZARD During oper ation, the fro nt panel of th e driv e, which is used as a heat sink , can become h o t and ma y reach temper atures abo v e 80°C. Check (meas ure) the heat sink tem perature and wai t until it has cooled bel ow 40°C bef ore touchin g it. Failure to observe thi[...]

8 Hazar ds, W arnings and Guidelines , contin ued CAUTION! SAFETY INTERLOCKS Schneider recommends th e inst allation of a safety interloc k with sep arate cont acts for each m ot or . Suc h a sy st em sh ould be hard w ire d wi th over–trave l l im it s w itc he s and a sui table emerge ncy stop swi tch. Any i nterruption of thi s circuit or faul[...]

9 Hazar ds, W arnings and Guidel ines , continued Additiona l Safety Guidelin es Read this docum entation and adh ere to the saf ety guide lines c ontained h erein bef ore engaging in any a ctivities inv olving the d r iv es. l Ensure that all wiri ng is in a cc ordanc e with the Nati ona l Ele ctr ical Cod e (NEC) or its national equ ivalent ( C S[...]

10 Standar ds and Compliances Eur opean Directiv es and Standar ds The Le xium 17S SER CO S drives are incor por ated into an ele ctr ica l plant an d into machine r y f or industrial us e. When t he driv es are b ui lt int o mac hines or a plant, do no t oper ate the d riv e until the machine or plant fulfills the requirement s of these Europe an [...]

11 Standar ds and Com pliances, conti n ued SERCOS Sta nd ar d If you want t o reference the internatio nal SERCO S communic ations st andard , get a copy of: Internation al S tandard IE C 1491, Electrical Equipment of Ind ustrial M a chines – Serial Dat a Link for Rea l -Time Commun ication betwe en Contro llers and Drives. SERCOS is an i ndustr[...]

12 Con ventions Acron yms and Abbrev iations The acron yms and abb revia tions used in th is manual a re identified and defined i n the tab le belo w . Continued on next page Acron ym or Abbrevi ation Description CE European Community (EC) CLK Clock signal COM Serial communication interface f or a PC-A T cUL Underwriters Laboratory (C anada) DIN Ge[...]

13 Con ventions , conti n ued Acron yms and Abbr eviati ons , conti nued Acr on ym or Abbreviation Descrip tion PLC Programmable Logic C ontroller SERCOS Serial Realtime Communication System SRAM Static RAM SSI Synchronous S erial Interface UL Underwriters Laborator y V ac V oltage , Alternating Current Vdc V oltage , Direct Current[...]

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15 2 Pr oduct Over view At a Glance Intr oduction This cha pter contains a product o v erview of th e Le xium 17S series SERCO S drives and i ncl ud es: l A vaila ble driv e models an d related syste m components l F eedbac k and p erf ormance inf ormation l P ow er and signal e lectronics l Softw are and axis co nfiguration Wha t ’ s in t his Ch[...]

16 The 17S Series SERCOS Drive Famil y Introducing the 17S SERCOS Drive Family Each member of the Lexiu m 17S series SERC OS drive f amily is compris ed of a three-phas e brushless servo am plifier , power supply , high-perform ance digital controlle r and SERCOS fiber optic interface a ll house d in a single e nclosure. Drives A vailable The 17S d[...]

17 The 17S Series SERCOS Drive Famil y , contin ued Electric al Considerations The Lexi um 17S f amily of ser vo amplifiers is to be u sed on earthed three-pha se industrial mains supply n etworks (TN- system, TT -s ystem with ea r thed neutr al point, not more th an 5000 rms symmet ri cal amperes). The Le xium driv es are inco mpatibl e with the I[...]

18 The 17S Series SERCOS Drive Famil y , contin ued 17S D rive Fa mily Portrait The fol lowing photogr aph show s a repre sentative m ember of th e 17S drive fami ly . The co mplet e fami ly cons ists of fi ve models partitione d into two p hysical size s. Models MHDS1004N0 0, MHDS10 08N00, MHDS10 17N00 and MH DS1028N 00 have dim ensionally id enti[...]

19 The 17S Series SERCOS Drive Famil y , conti nued 17S Drives Front Vi ew The following photograph sh ows a typica l 17S front view with le gends and label s. Continued on next page[...]

20 The 17S Series SERCOS Drive Family , contin ued Equipment Supplied Eac h 17S SERCOS dr ive inc ludes th e f ollowing hardw are. l Mating con nectors X3, X4, X0 A , X0 B , X7 and X 8 l Read me first Note : The mating Sub-D conn ectors and servo motor connecto r X9 are supplied with the ap propriate cable . Equipment A vailab le The f ollo wing it[...]

21 The 17S Series SERCOS Drive Family , continu ed 17S System Configuration Diagram The follow ing illustrati on shows a ty pical 17S sys tem configura tion.[...]

22 Modicon Multi-Axis M otion SERCOS Network Configurat ion Overv iew The 17S drive i s typ icall y conf igured in a SER COS net work cont ainin g man y axes. A Schneide r multi–axis moti on controller configure d with a SERCOS proc essor board t ransmit s motion i nstructions to all the 17S drives th at are p roperly configure d in the fiber –[...]

23 Modicon Multi-Axis M otion SERCOS Network Configu ration, conti nued Example o f a T ypical SERCOS Network Ring Configuration The followi ng figure show s a typical co nfiguratio n of 17S SERCOS ax es with arbitrary no de addresses re ceiving an d transmi tting instructio ns from a mu lti–axis motion c ontroller . Continued on next page[...]

24 Modicon Multi-Axis M otion SERCOS Network Configurat ion, continued Example of a T ypical SERCOS Network Ring Configuration, contin ued As show n in the fig ure, the ring has eigh t axes. Th ese axes ne ed not be c onfigu red sequenti ally . An y axis i n the ring ca n be identified as axis 1, a xis 2, ax is 3, and so on. Howe ver , each addres [...]

25 Overview of Usability Featu res Digital Contr o l The 17S driv e prov ides complete digital con trol of a brushless ser v o system. This includes : l A digital field-oriented curren t controller op erati ng at an u pdate rate o f 62.5 µs l A fully pr ogrammab le digital PI-ty pe speed cont roller operat ing at an update rate of 2 50 µs l Full [...]

26 Overview of Usabili ty Feat ures , continued Usability Enhancem ents The fo llowing f eatures are incorporated i nto the 17S driv e to fa cilitate the set-up and oper ation of the s er v o system: l T wo anal og +/-10 V i nputs can be pro grammed f or a m ultitude of functions dependin g upon the ap plication. Bo th inputs incor por ate automati[...]

27 Overview of 17S Internal Electr onics 17S Interna l Electron ics Block Di agram The follow ing block di agram illustrate s the 17S inte rnal elec tronics and depict s internal i nterfaces for p ower , sign al I/O, and commu nication. Continued on next page ROD SSI ROD SSI Analog1 in+ Analog1 in- Analog2 in+ Analog2 in- +Rb ext +Rb in t X9 X9 X1 [...]

28 Overview of 17S Internal Electroni cs, continued General Charac teristics The L e xiu m 17S SE R COS d r ives ar e av a ilable in five peak outpu t curre nt rati ngs (4.2, 8.4, 16.8, 28 an d 56 A) that a re par titi oned i nto tw o g roups base d on the w idth of the pac kage; the 7 0 mm drives are r ated to han dle currents up to 28 A and the 1[...]

29 Overview of 17S Internal Electr onics, continued Internal P ower Section The Int ern al power se ction of the 17S drive in clude s the following : l P ow er input: A rectifier bridge direc tly connected to the three -phase earthed supply system, int egral po wer input filter and inrush current limi ting circ uit. l Motor po wer out put: PWM curr[...]

30 LED Di spla y and Discret e Indicator s A th ree-ch aract er LED di splay on th e front of th e 17S dr ive indi cate s d rive st atus after the 24 Vdc bias supp ly is turned on. If appl icable du r ing ope ration, error and/ or wa rning codes are display ed. In a ddition, t hree individual LED indicators (on e red and tw o green) on the SERCOS c[...]

31 Overvie w of System Sof t ware Setup Confi gura tion softw are is u sed f or setting up and storing th e operating parameters f or th e Le xium 17S s eries d riv es. The d riv e is commiss io ned wi th th e as si sta nc e of the UniL ink softwa re and, dur ing this process , the driv e can be controlled d irectly through thi s sof tware. Setting[...]

32 Overvie w of System Sof t ware , continued UniLink Commissio ning Software The mini mum PC syst em requi rements need ed f or the UniL ink com m iss ioning soft ware ar e speci fied in the f o llowing t able: Item Minimum Requirement Operating System Windows 95 Windows 98 Hardware: Processor Graphics adapter RAM Hard drive space Communications 4[...]

33 3 Mounting an d Ph ysical Dime nsi ons At a Glance Wha t ’ s in t his Chapter This c hapter provides in formation on the mounting re quirements f or , and p hy sical dime nsion s of, the Lexiu m 17S se r ies SERC OS dri ves and inc ludes the follow in g topics: T opic P a ge Installation safety precautions 34 Installation considerations 36 Dri[...]

34 Install ati on Safety Precautions CA UTION! MECHANICAL STRESS Protect the dr ive from phys ical im pact during tran spor t and han dling. In particular , do not de f orm any e xterior su rf aces; doi ng so ma y da ma ge internal componen ts or alter criti cal insu lation dista nces . Failure to observe this preca ution can result in inju ry or e[...]

35 Install a ti on S af e t y Precautions , continued CA UTION! CONT AMINA TION AND THERMAL HAZARD Ensure the 17S drive is m ounted within an appropriately v ented and clos ed sw itchgea r cabinet that is free of conduc tive and c orrosive contaminants . Ensure the v enti latio n clea rances above and be low the dr ive con f o r m to requ irem ents[...]

36 Install ati on Considerations P ower S u pply Overcurre nt Pr otection Y ou ar e re sp onsib le f or providi ng o v ercurrent p rote cti on (vi a c irc ui t br eak ers and /or fuses) f or the V ac mai ns suppl y and the 24 Vdc bias suppl y that are co nnected to the d ri v e. Earth Connections Ens ure the driv e and ass ociated se r v o motor ar[...]

37 Drive Mounti ng and Physical Dim ensions 17S Height, Width and De pth Dimensions The follow i ng d iag ram sh ow s hei ght , width and d epth dimensi ons fo r the 17S d rive. Continued on next page[...]

38 Drive Mounting and Ph ysical Dimensions , continue d 17S D r ive and Mounting Area Dimen sions The follow ing diagram s hows depth di mensions and mounting are a requirement s for the 17S drive.[...]

39 Optional External Regen Resistor Mounti ng and Ph ysical Dimensions Optional External Regen Resist or Assem bly Dimensions The f ollow ing diag ram sho ws the dimens ions f or all three o ptional e xternal Regen resi stor as semblies.[...]

40 Optional Motor Choke Mou nti ng and Dimensions Optional Motor Choke Assembl y Dimen sions The f ollow ing diag ram sho ws the dim ensions for the motor chok e assemb ly[...]

41 4 Wiring and I/O At a Glance Intr oduction This chap ter des cribes an d illu stra tes al l po w er wiring c onnec tions , a ll signal wiring connecti ons, and I/O wir ing c onnections on the 17S driv e. P ow er and signa l wir ing connecti ons are: l A C mains po wer through a four-p osition, plug-in , ter minal b lock c onnector l Bias pow er [...]

42 At a Glanc e, continued What’ s in this Chapter Thi s chapter conta ins the f ollowin g topics. To p i c P a g e Wiring and I/O i nitial considerations 43 Wiring overview 44 Cable shield connections 47 Power wiring 49 Signal wiring 57 Analog input connections 63 Fault Relay and Digit al I/O connections 64 Serial commu nications connections 66[...]

43 Wiring and I/O Initial C onsider ations Initial Considerations Som e descriptions and illustrati ons contain ed in this chapter are provid ed as ex amples. Actual implem entation depe nds on th e applicatio n of the equip ment; thus, appropriate v ar iati ons are allo wed pro vided the y neither vi olate any saf ety precautio ns nor jeopard i ze[...]

44 Wiring Overvie w Overv iew of 1 7S Wirin g Connections The f ollow ing diag ram sho ws the wiring connect ions f or the 17S driv e. Note : The con nectors described abov e appear in many wiring dia grams throughout the remai nder of this docu ment and are ide ntified in those diagrams by th eir alphanum eric designations only (for exam ple, X4);[...]

45 Connect ion diagr am for Le xium 17 S Reference Safety Instructions and Use As Directed! Sine-Cosine Encoder Resolver M thermal control included 15 thermal control included 8 6 5 4 3 Resolver V W P U2 V2 W PE B+ B- 2 1 high resolution single / multiturn Regeneration resistor F B1 F B2 PE-connection (protective earth) earth connection (panel) shi[...]

46 Pin assi gnments f or LEXIUM 17 S Continued on next page X 0 B 1 Reserved 2 RxD 3 TxD 4 N.C. 5 PGND Reserved 6 7 8 Reserved 9 1 Pcom 2 M+ 3 M- 4 A- (CLK) 5 A+ (/CLK) B+ (DA T A) 6 B- (/DA T A) 7 Reserved 8 N.C. 9 5 R1 4 S2 3 S3 2 1 Shield R2 9 S4 8 S1 7 V 6 8 Clock 7 6 N.C. 5 DA T A(+485) 4 Up (8V) 3 B+ (COS) 2 0V(GND) 1 A+ (SIN) Clock 15 14 DA [...]

47 Cable Shi eld Connections Connecting Cable Sh ields to the Fr ont P anel The f ollowing procedure and a s soc i ated diagra m describe how t o connect cab le shields to the front panel of t he 17S driv e: Continued on next page Step Action 1 Remov e a length of the cab le’s outer cov ering and braided shield sufficient to ex pose the required [...]

48 Cable Shiel d Connecti ons , continued Cable Sh ield Connection Diagram The f ollow ing diag ram sho ws the cab le shield connections at the front of the 17S driv e.[...]

49 P ower Wi ri n g A C Mains P ower Supply Connection The foll owing dia gram shows the co nnecti ons for the AC mains p ower supply in put to the 17S d r iv e. *3 x 230 V +1 0% max. with a BPH055 Servo mo tor Bias Suppl y Connection The followin g diagra m shows th e conn ectio ns for the b ias powe r supp ly inp ut to th e 17S drive . Continued [...]

50 P ower Wi ri n g , continued Serial P o wer Connections The follo wing diag ram sho ws the serial con nections f or the A C mains an d bias pow er among multi ple 17S driv es. A C supply DC supply Notes : -Inrush c urrent must be limited to 20 A b etween po wer supply an d dr iv es. - Driv es hav e to be con figured (see Un ilink co mmands) to s[...]

51 P ower Wi ri n g , continued Optional External Regen Resist or Connection The f o llo wing d iag ra m sh ows the conne ctions betw ee n the optio nal e xternal Rege n resistor a nd the 17S driv e. The dr iv e is shippe d with a jumpe r insta lled on connecto r X8, terminals R B and R Bin t . If yo u are going to use an op tional e xter nal Regen[...]

52 P ower Wi ri n g , continued Lexium BPH Serv o Motor Connection (exc luded BPH055) The f ollowin g diagrams show the con nections betw een a s er vo motor (e xcluded BPH055) an d the 17S d r iv e. When the interf ace cable length ex ceeds 25 m, a motor ch oke must b e instal led as s how n and at a distan ce of one meter or less from the d ri v [...]

53 P ower Wi ri n g , continued Lexium BPH 0 5 5 Servo M otor Connection The f ollow ing d iag r ams sho w the connecti on s b etw een a BPH05 5 s ervo m oto r an d the 17S driv e. Whe n the interf ace cab le length e xceeds 25 m, a motor ch oke m ust be instal led as sho wn an d at a distance of one meter o r less from the d r ive. W ARNING! With [...]

54 P ower Wi ri n g , continued Serv o Motor (with Option al Dynamic Brake Resistor s and Contactor) Connection The f ollow ing diag ram sho ws the con nections betwe en a servo mo tor and the 17S drive w hen the option al dynamic br ake rers istors and ass ociated contactor are incorporate d. Continued on next page 10[...]

55 P ower Wi ri n g , continued Servo M otor Holding-Brake Cont rol Functional Description A 24V holdi ng brak e in the ser v o motor is contr olled directly by the 17S driv e through so ftware-sele ctable BRAKE parameter sett ings. The tim e and functiona l relations hips betw een th e ENABLE signa l, speed setpoi nt, speed and bra king f orce are[...]

56 P ower Wi ri n g , continued W ARNING! IMP A CT HAZARD The off -the-she lf configur ation of the h olding-br ake fu nction does no t ensure the saf ety of perso nnel. In o rder to make this function s afe f or personn el, a normally- open con tact and a user-i nstalled suppre ssor dev i ce (varisto r) must be inco r porated into the brake c ircu[...]

57 Signal Wiring Lexium BPH Resolver Connection (exc luded BPH055) The f ollow ing diag ram sho ws the conn ections between the resolver a nd the 17S driv e. Note : The standard Le xium BPH se r ies servo motors are equip ped with two-p ole, integ ral resolv ers. Th e thermistor contact in the s er v o motor is conn ected via th e resolv er cable t[...]

58 Signal Wiring , continued Le xium BPH 055 Resolver Connection The f ollow ing diag ram sho ws the con nections betwe en the resolv er and the 17S driv e. Note : The BPH055 servo motors are equip ped with two-p ole, integ ral resolv ers. The ther mi stor co ntact in th e ser vo mot or i s conn ected via th e res olver ca ble to th e 17S drive . C[...]

59 Signal Wiring , continued Encoder Inpu t Connection The follo wing diag ram show s the encode r input conne c tions betw een the en coder and the 17 S dr iv e. Note : The BPH series servo motors can be optiona lly fitted with a single-turn or multi-tu r n sine-c osine enco der , whic h is use d by the 17S drive as t he primar y f eedbac k de vic[...]

60 Signal Wiring , continued A uxiliary Encoder Interface l Master -slave Opera tion of Drives Dia gram. The enco der interf ace can be u s ed to link one or more dr iv es together in a master-s lav e oper ation, as sho wn in the f ollow ing diag ram. Up to 1 6 slav e drives can be con trolled b y a desi gnated master d r iv e via the e ncoder outp[...]

61 Signal Wiring , continued l Incremental- Encoder Input Connect ion. The f ollow ing diag ram sho ws the incr emental encode r input conne ctions betw een the 17 driv e and an e xternal inc rement al encod er . Note : The r eceivers are supplied fro m an internal supp ly voltag e. P Com must a lways be conne cted t o the e ncode r ground . Inc re[...]

62 Signal Wiring , continued l SSI Encoder Inp ut Connection: The f ollow ing diag ram sho ws the con nections betwe en an e xter nal SSI encoder and the driv e. Note : The driv ers are supp lied from an inte r nal supp ly volta ge. P Com must alw ays be connecte d to the en coder groun d. SSI encoder is powe red by an e xternal P ower Supply = = L[...]

63 Analog Input Connecti on Analog Inputs T he following diagram shows the co nnect ions be tween t he two ful ly progra mmable, diff erential ana log inputs on th e 17S drive and a user de vice. (Re f er to the l ist of pre-prog ram med func tions contain ed in the UniLi nk online h elp .) Note : The Analog Com m ust alw ays be connect ed to the u[...]

64 F ault Rel ay and Digital I/ O Connection Digital Inpu ts and Outputs The f ol lowi ng di agr am sh ows the conne ction s betw een th e f ault re la y , the fo ur ful ly- progra mmabl e, digital inputs, dedicated enab le inp ut and two digital ou tputs on the 17S drive an d typical user de vices . (A list of pre-pr ogramme d functions is conta i[...]

65 F aul t Relay and Digital I/ O Connection , c ontinued Using Funct ions Pre-pr ogrammed into the Drive Fault Re lay - The i s olated f ault rela y contacts are closed during normal ope ration and o pen w hen a fault co ndit ion exists. T he relay sta te is n ot affecte d by the en able signal, I 2 t limit or w ar nings . All f aults cause the F [...]

66 Serial Comm unications Connection RS-232 Null Modem T ype Comm unication Connection Diagram The f ollow ing diag ram dep icts the RS-232 commun icatio n connec tion betwee n the Le xium 17S and a PC . See wiri ng in A ppend ix C The settin g of the oper ating, posi tion control, and motion-b lock par ameters ca n be carried out w ith an ord inar[...]

67 5 System Operation At a Glance Wha t ’ s in t his Chapter This ch ap ter pro vides inf ormation on oper ating the Le xium 17S seri es s ervo driv es and inclu des the f ollowi ng topics: T opic P age Powering up and powering down the system 6 8 Procedure for verifying system operation 71 Front panel controls and indicators 73[...]

68 P owering Up and P oweri ng Down the System P ower -on and P ower-o ff Charac teristics The f ollowin g diagram illustra tes the fun ctional seq uence tha t occurs when the drive i s tur ned on and off . 5 min.[...]

69 P owering Up and P owering Do wn the System Stop Functio n If a f ault occurs th e output stage of the servo ampli fier is s witched off an d the F aul t RA/RB contac t is opened. In ad dition, a glo bal error sign al can be giv en out at one of the digital outputs (ter minals X3 /16 and X3/17). These si gnals can be u sed by th e higher-le vel [...]

70 P owering Up and P oweri ng Down the System Wiring exa mple Stop and Emergenc y Stop function ( Category 0) L1 L2 L3 PE K10 XOA 3 2 1 K20 K30 +24Vdc F K20 K10 K30 K30 K1 1 K1 1 K10 K10 Emergency- Off OFF ON K1 1 K10 X3 15 2 3 Fault RA/RB R B R B Serv o Motor 24 Vdc Enable 24 Vdc Com LEXIUM 17S X9 1 2 3 4 5 6 Brake- Brake+ Gnd (Gree n) W2 V2 U2 K[...]

71 Proc edure for V erifyi ng S ystem Operati on Over view The f ollo wing procedure and ass ociated inf ormation v er ifies operation of the system w itho u t creating a haz ard to personnel or jeopardizing the equi pment. Note : Def ault par ameters f or each Le xium BPH se r ies moto r are loaded into your drive a t the fa ctory and contain v al[...]

72 Pr ocedure for V erifyi ng System O perati on , continued Quic k T uning Pr ocedure , conti nued Note : The hardware en able is powered up upon detecti on of state se nse vers us trans ition se nsitivity . Step Action 6 Use the UniLink softw are to check/establish the following: l Drive P arame ters - Set/restore the driv e parameters to the f a[...]

73 Fr ont Panel Contr ols and Indicator s Keyp ad Oper ation The operati on of the ke ypad on the front p anel of the 17S dri ve i s described in the followin g table. The two keys can be used (as an al t er native to using t he PC) to specif y and en ter the SERCOS a ddress f or the driv e. Note : The dr iv e must be powered down then p owered u p[...]

74 Fr ont Panel Contr ols and Indicator s , continued SERCOS Comm unication LED Indicato rs The f ollowin g illustration shows the locatio n of the three SERCOS c ommunication LED indi cators on the SERCOS comm unication c ard at the t op of the drive . The Rec_T and T ra_T LEDs are g reen and (when illuminated) res pectivel y ind icate inf or mati[...]

75 6 T r oubl eshoo ting At a Glance Wha t ’ s in t his Chapter This c hapter provides in formation on correcting pr oblems w ith the 17 S dr ive and contains the fo llowing to pics: T opic P age Warning messages 76 Error messages 77 Troubleshooting 81[...]

76 W arning Messages W arning Identifica tion and Descrip tion A warning i s genera ted when a non-f atal f ault occurs . Non-f atal fa ults allow the drive t o remain enab led and the fa ult rela y contact to re main clo sed. Either of th e progra mmabl e digital out puts can be progra mmed to indica te that a w ar ning con d ition has be en det e[...]

77 Err or Messages Error Identificat ion and Descrip tion Errors are ge nerated when a fata l f ault occurs. F atal faul ts cause the driv e to be disab led, th e br ak e (if inst alled ) to be activ ated and the f ault rela y cont acts to op en. Either of t he prog ram mab le digita l outpu ts can also b e prog r ammed to i ndica te th at an error[...]

78 Err or Messages , continue d Error Identifica tion and Descrip tion , conti nued Continued on next page Error Code Error (Fault) Possible Cause/Corrective Action F06 Motor ov er temperature. - I rms or I peak set too high. - Defectiv e m otor - If motor is not hot, check f eedback cables and connectors. - Reduce motion profile duty cycle - Impro[...]

79 Err or Messages , continued Error Identificat ion and Descrip tion , conti nued Error Cod e E rror (Fault) Possible Cause/Corrective Action F14 Drive output stage f ault. - Check motor cab le for damage or s hor ts. - Output module is overheated; improv e vent ilation. - Shor t-circuit or sh ort to gr ound in the e xternal Regen re sistor . - Mo[...]

80 F26 Reser v e d Reserved F27 Reser v e d Reserved F28 Reser v e d Reserved F29 SERCOS error SERCOS systems only F30 SERCOS time out SERCOS systems only F31 Reser v e d Reserved F32 System error System software not responding correctly , retur n drive to manufacturer . Error Code Error (Fault) Possible Cause/Corrective Action[...]

81 T r oubleshooti ng Pr oblems, P ossible C a uses and Corrective Actions The foll owing table id entif ies som e commo n syste m p roblems, th eir poss ible causes a nd recommende d correctiv e actions . Howe v er , the con figuration of your installa tion may create other reas ons, and co nsequently other correc tions , for t he probl em. Contin[...]

82 T r oubleshoot ing , contin ued Pr oblems, P ossib le Causes and C or rect ive Actions , conti nued Problem Possible Causes Corrective Actions Motor oscillates - Gain too high (speed controller). - Shielding in f eedback cable has a break. - Reduce K p (speed controller). - Replace f ee dback c able . P oor dr ive performance (dr ive too soft) -[...]

83 A Specifications At a Glance What’ s in this Appendix This ap pend ix conta ins the f ollow ing to pics. To p i c P a g e Performance s pecifications 84 Environmental and mechanical specifications 85 Electrical specifications 87 Wire specifications (recommended) 99[...]

84 P erformance Speci fi cations P erfor man ce Specifica tions Ta b l e The foll owing table lists 17S pe rf o r mance specif icat ions. PERFORMANCE Ser v o updates T orque 62.5 µ s V eloci ty 250 µ s P o sition 250 µ s T uning procedure Un iLink application* * Included in AM0C SW001V•00 (CD-ROM)[...]

85 En vironmental and Mechanical Speci fications En vironme ntal Specif ications Ta b l e The foll owing ta ble provid es 17S env ir onme ntal s pecif icati ons. Continued on next page ENVIR ONMENT AL Storage High temperature , non–operating +70 ° C maximum Low temperature , non–operating –25 ° C mini mum Humidity Non–operating 95% RH max[...]

86 En vironmental and Mechanical Speci fications, conti nued Mech anical Specifica tions Ta b l e The foll owing table provide s 17S m ec hani cal spe cific ation s. Drive Model Number Height Width Depth W eight MHDS1004N00 325 mm 70 mm 265 m m 2.5 kg MHDS1008N00 MHDS1017N00 MHDS1028N00 MHDS1056N00 325 mm 120 mm 265 mm 3.0 kg[...]

87 Electrica l Specifications Wha t ’ s in t his Section This se ction pr ovides tables for t he f o llowin g topic s. To p i c P a g e Electrical S pecifications - P o wer 88 Electrical S pecifications - Regen resisto r 92 Electrical S pecifications - Signal 93[...]

88 Electri cal Speci fications - P ower Line Input Specifica tions Ta b l e The foll owing table provide s 17S li ne inp ut spe cific ation s. Continued on next page LINE INPUT V oltage 208 V ac -10% 60 Hz, 230 V ac -10% 50 Hz. 480 V ac +10%, 50 - 60 Hz, three-phase* Current MHDS1004N00 1.8 A RMS** MHDS1008N00 3.6 A RM S MHDS1017N00 7.2 A RM S MHDS[...]

89 Electrica l Specifications - P ower , continued Bias Input Specif ications Ta b l e The foll owing ta ble provid es 17S bi as inp ut spe cific ation s. Note : The bi as inpu t also prov ides po wer to the opt ional motor b rake. External Fus e Specif ications Ta b l e The foll owing ta ble provid es 17S exter na l fuse sp ecifi cati ons. Continu[...]

90 Electri cal Speci fications - P ower , continued Motor Output Specifica tions Ta b l e The f ollowi ng table pro vides 17S m o tor output spec ifications. Note: Motor s must be co mpati ble with following table: Continued on next page Parameter T ype Model Number Current Output current (RMS) Continuous MHDS1004N00* 1.5 A MHDS1008N00 3 A MHDS1017[...]

91 Electrica l Specifications - P ower , continued Internal P ower Dissipation Specif ications Ta b l e The foll owing table pr ovides 17S int ern al power dis sipat ion at ma ximum con tinuous output po wer . This i nformation m ay be u seful to siz e the thermal capa bility of the mou n ting c abine t. Note: T hese pow er dissipation s are measu [...]

92 Electri cal Speci fications - Regen Resist or Regen Circuit Specifica tions T he following table provi des te chnic al dat a on th e Regen circui t. Parameter Rated dat a Unit s Model Number (prefix with MHDS10) 04N00 08N00 17N00 28N00 56N00 Supply V oltage 3 phase , 230 V Upper switch-on le vel of Regen circuit V 400 - 430 Switch-off le vel of [...]

93 Electrica l Specifications - Signal Motor Over temp eratur e Input Specif icati ons Ta b l e The f ollowing table pr ovide s 17S motor o ver temper ature input s pecific ations . Resolver In put Specif ications Ta b l e The f ollow ing tab le prov ides resolv er input s pecifications . MOT OR O VERTEMPERA TURE INPUT Therm istor PTC will generate[...]

94 Electri cal Speci fications - Signal, contin ued Encoder Inp ut Specifica tions Ta b l e The foll owing table provide s 17S en coder input speci ficat i ons Emu lated Encoder Output (Increment al Format) Specifica tions Ta b l e The foll owing table provide s 17S em ul ated encod er outp ut (i n i ncrem enta l forma t ) specific ations. Continue[...]

95 Electrica l Specifications - Signal, contin ued Encoder O utput (Incrementa l Format) Timing Diagram The f ollowing diagram sho ws the timing for the encoder output (incremental f or m at). A uxiliary Increm ental Encoder Inpu t Specif ications Ta b l e The foll owing ta ble provid es 17D en coder inpu t (slave) spec ifica tion s. Continued on n[...]

96 Electri cal Speci fications - Signal, contin ued Discret e Input Specifica tions T able The followi ng t ab le prov id es 17S dis cre te inp ut spe ci fic ati ons . Discret e Output Specifica tions Ta b l e The foll owing table provide s 17S di scret e out pu t spec ifica tion s. Continued on next page DISCRETE I NPUT Channels F ive (four progra[...]

97 Electrica l Specifications - Signal, contin ued Fa u lt Re l ay Output Specif ications Ta b l e The foll owing ta ble provid es 17S fault relay out put spec ifica tion s. Brake Output Specif ications Ta b l e The foll owing ta ble provid es 17S bra ke outpu t spec ifica tion s. Note : An ex ternal brake rel ay is requ ired for cable le ngths gre[...]

98 Electri cal Speci fications - Signal, contin ued Analog Inpu t Specifica tions Ta b l e The foll owing table lists the an alog i nputs sp eci fi cati ons. Serial Comm unications Specifica tions Ta b l e The foll owing table lists the ser ia l c ommun icati ons spe cifi catio ns. ANA LOG IN P UTS Channels T wo Ty p e Diff e rential, non–isolate[...]

99 Wire Spec ificatio ns (Recommended) Wire Specif ications The follow ing table list s the recom mende d wire speci fica tions. U se on ly cop per wi re with insul ation rated at 75 ° C or g reater , unless otherw ise specifi ed. Item Drive Model No. W ire Size Notes AC mains M HDS1004N00 MHDS1008N00 MHDS1017N00 MHDS1028N00 1.5 mm 2 (14 A WG) MHD[...]

100[...]

101 B P ar ts List At a Glance What’ s in this Appendix Thi s appendix con tains in formation about t he following L exium 17S p art s and assembl ies. T opic P age Lexium 17S drives 102 External 24Vdc supply 103 Drive cables 104 Optional external Regen resistor as semblies 106 Optional motor choke 107 Spare parts 108[...]

102 Lexi um 17S Drives Drives A vailable The Lexium 17S drives are avai lable in fiv e models acco rding to dif ferent output current levels as identifie d in the fo llowing tab le. Model Intermittent (Peak) Output Current Continuous (R MS ) Output Current MHDS1004N00 4.2 A 1.5 A MHDS1008N00 8.4 A 3.0 A MHDS1017N00 16.8 A 6.0 A MHDS1028N00 28.0 A 1[...]

103 External 24Vdc suppl y External 24 Vdc suppl y A reminder of the a 24 V compsu mption for the Le xium MHDA/MH DS servodri ves with BHP motors is given b elow . Lexium servodrive MH D•1004/ 1008N00 MHD•1017N00 MHD •1028N00 MHD•1056N00 Associated BPH motor 075• 095• 095• 1 15• 095• 1 15• 142• 142• 190• Current without br[...]

104 Drive Cables Drive to Moto r Cables Cons ult the BPH motors manual for drive -to-motor cable p art numbers a nd motor par t numb ers. RS-232 Serial Communica tions Cable Part T able T o connect the drive’s serial i nterface port to your PC, use th e following c able. Encoder Output Cable Parts T able The followi ng table lists encoder output [...]

105 Drive Cables , continued Fiber Opti c Cab les P arts Ta b l e The f ollowing table lis ts par t num bers f or SMA 1000 mi cron plastic SERC OS fiber opt ic cables. These cables range in len gth fr om 0. 3...3 8 m. E ach c ab le t er mina tes with an S M A type connector . CA UTION! The minim um bend ra dius for these fiber optic cables i s 25 m[...]

106 Optional Exter nal Regen Resistor Assemblies Optional Regen Resistor Assembly Part T able The follow ing table identifies th e optional exte rnal Regen resi stor assemb lies availabl e for the Lexium 17S drive. Part Number Description AM0RFE001V025 33 Ω , 250 W, Regen resistor AM0RFE001V050 33 Ω , 500 W, Regen resistor AM0RFE001V150 33 Ω [...]

107 Optional Motor Choke Optional Motor Choke Part T able These followi ng t able identi fies th e servo motor c hoke av ailabl e for th e Lex ium 17S drive. Part Number Description AM0FIL001V056 M otor choke[...]

108 Sp are Part s Sp are Parts T able These field-r eplaceable sp are part s are av ailable from Sc hneider . Part Number Description AM0SP A001V000 17S Connector Kit: I/O connector 24 V connector DC Bus c onnector Regen resistor con nector Mains supply connector[...]

109 C Cable Connection Wiring Dia grams At a Glance What’ s in this Appendix Thi s appendix prov ides proced ures and d iagrams that sh ow you how to wire certai n cable connec tors that are use d with the Lexium 17S drive. This appe ndix presen ts the following topi cs. T opic Page Wiring a Sub-D connector with shielding 1 10 Wiring up the m oto[...]

110 Wiring a Sub-D Connector with Shi elding Wiring the Sub-D Connector If y ou construct y our own Sub-D con nector with shi elding, plea se do so according to the followin g procedure wh ich correlates t o the eight s tep s in the d iagram that follows th is procedure. Continued on next page Step Action 1 Carefully remov e about 25mm of the outer[...]

111 Wiring a Sub-D Connector with Shielding , continu ed Sub-D Connector Diagram The f ollo wing diagr am sho ws th e eight s teps required to wi re a Sub-D conne ctor with shiel din g.[...]

112 Wiring t he Motor P ower Conn ector (Drive end) Wiring the Motor P ower Connector If you co nstruct your own m otor power connec tor , please do s o according to the followi ng pro cedure which correl ates to the 13 st ep s i n the diagra m tha t follo ws this procedure . Continued on next page Step Action 1 Carefully remov e about 70 mm of the[...]

113 Wiring t he Motor P ower Connector (Drive end) , cont inued Motor P ower Connector (Drive end) Dia gram (exc luded BPH055) The f ollowing diagram s hows the 13 s teps required to w ire a motor po wer connecto r (exc luded BPH 055). *number s of wires are printed e v ery 10 cm. U V W PE Br + Br -[...]

114 Wiring t he Motor P ower Conn ector (Drive end) , continued BPH055 Motor P ower Connector (Drive end) Diagram The f ollowin g diagr am sho ws the 13 steps req uired to wire a BPH055 motor po wer conne ctor . 1 2 3 4 5 *number s of wires are printed e v ery 10 cm. U V W (1) U (3) V (2) W U V W PE Br + Br -[...]

115 Serial Commun icat ion Interface Connection (X6) Serial Comm unication Interfac e Cable Connector s The f ollow ing diag ram detai ls the null m odem connecti on between t he drive a nd a PC .[...]

116[...]

117 D Servo Loop Dia gra ms At a Glance What’ s in this Appendix Thi s appendix ill ustrates several s ervo loops w ithin a 17S SERCOS drive sy stem. T opic Page 17S current c ontroller overview 1 18 17S velocity co ntroller loop 1 19 17S p osition controller loop 120[...]

118 17S Current Control l er Overview 17S C ur rent Controller Diagram The follow ing diagram s hows an overv iew of the 17S current contro ller servo loop.[...]

119 17S V elocit y Controlle r Loop 17S V eloc ity Controller Loop Diagram The followi ng diagram show s a 17S velocity contr oller servo loop .[...]

120 17S Positi on Controller Loop 17S Positio n Controller Loop Diagram The follow ing diagram s hows a 17S position controller s ervo loop.[...]

121 E Optional Extern al Rege n Resistor Sizing At a Glance What’ s in this Appendix Thi s appendix con tains de scriptions and procedures for c alculating t he power diss ipatio n requ ireme n ts for the opti onal e xterna l Reg en resis tor . This appe ndix presen ts the following topi cs. Continued on next page To p i c P a g e Determining ext[...]

122 At a Glanc e , continued Over view When th e drive is braki ng or deceler ating a mo ving load, th e kinetic energ y of t he load m ust be absor bed by t he driv e. As the d r iv e deceler ates the load, t his energ y charges t he DC link ca pacit ors to succe ssiv e ly hi gher v ol tages . T o pre ven t da mage to the internal electron ics, a [...]

123 Determining Opti onal External Regen Resistor Size Pow e r Dissipation Calculation Pr ocedure The f ollow ing is th e procedure f or calc ulating the pow er dissipated by the Re gen resi stor in a sim ple sys tem whe rein fri c tion i s negl igible. Ig nor i ng fr ict ion in th e f ollo wing calcul ations giv es wors t case resul ts since frict[...]

124 Determining External Regen Resistor Size , conti nued Pow e r Dissip ation Calculation Pr ocedure , conti nued Drive Ener gy Absorption Capability The driv e energ y abso rption capabi lity v alues (in joul es) tha t are neede d during t he siz ing ca lc ula ti ons ar e provi d ed in t he following table. Note : Mul tiple driv es can be interco[...]

125 Example Regen Resistor P ower Dissipati on Calculation Example M otor and Drive Specif ications The f ollow ing is an exampl e applicati on of each step in the pow er dissipa tion cal culat i on pr ocedu re usi ng the mo tor, drive and i nput power spec ifica tions identified below . Ref er to the p ower dis sipation ca lculation pr ocedure p r[...]

126 Example Regen Resisto r Po wer Dissipation Cal culation , contin ued Example Step 1 Plot speed v ersus tim e and torque v ersus time f or the enti re mov e cycle. Continued on next page[...]

127 Example Regen Resistor P ower Dissipati on Calculation , continu ed Example St ep 2 Identify eac h deceleratio n of the plot wh ere the drive i s deceleratin g the load. Example St ep 3 Calculate the energy retur ned to the drive in each decel eration as follo ws: Deceler ation 1 ω = 2 π 3000RPM / 60 = 314 radians /sec E = ½ 0.01k gm 2 (3 14[...]

128 Example Regen Resisto r Po wer Dissipation Cal culation , contin ued Example Step 4 Compare the en ergy in e ach decelera tion with th e energ y require d to turn on the Regen circ uit (that is, the energ y abso rbed by the inter nal c apacitor s ). As speci fied in th e Drive Energ y Absorption Capab ility table , the MHDS 1028N0 0 drive a t 4[...]

129 Example Regen Resistor P ower Dissipati on Calculation , continu ed Example St ep 8 Compare the ratings as f ollo ws: Internal Rege n resistor r atings of the MHDS1028N00: P puls e = 21 kW P cont inuou s = 200W Decel eration 1: P pulse = 940W < 21 kW rati ng Decel eration 2: P pulse = 1258W < 21 kW rat ing P continuous = 23 1W > 200W R[...]

130[...]

C B A 890 USE 121 0 0 131 A AC m ai ns powe r supp l y, conn ection , 49 acronyms and abbrev iations, 1 2 additiona l safety gui delines, 9 air flow, 36 analog inpu t conn ecti on, 63 inpu t spec ifica tion s, 98 auxiliary encoder interfa c e, 60 B bias inpu t spec ifica tion s, 89 power, 28 supply, c onnection, 49 BPH055 Motor Power C onnector (Dr[...]

Index 132 890 USE 121 00 electrost atic compon ents precaut ion, 8 emergenc y stop strate gies, 69 EMI suppr ession , 28 encoder inpu t conn ecti on, 59 inpu t spec ifica tion s, 94 out put ca bles, 104 out put sp ecifi catio ns, 94 , 95 environm ental and me chanical spe c ific a tions , 85 environm ental specific ations, 85 equipmen t available ,[...]

Index 890 USE 121 0 0 133 P parts lis t ca bl es, 10 4 overvi ew, 101 regen re sistor asse mblies, 106 spare p arts, 107, 108 performanc e specifications table, 84 physica l dimensio ns, 37 pin assi gnments, 46 position servo loop, 120 power dissipat ion calcula tion, 123 elec tric al spec ifica tion s, 88 supply o vercurrent protection , 36 wir i [...]

Index 134 890 USE 121 00 spe cifi cations analog in put, 98 bias inpu t, 89 brake outp ut, 97 discrete input, 96 discrete outp ut, 96 elec tric al, 87 encoder in put, 94 encoder ou tput, 94, 95 environm enta l, 85 externa l fuse, 89 fault relay output, 97 int ernal power dissip atio n, 91 line inpu t, 88 mecha nical, 86 motor outp ut, 90 moto r ove[...]