Schneider Electric 17S Series manuali

Manuale Utente

Sommario

Modicon
1
- Lexium 17S Series SERCOS Servo Drive
  1
- User Guide
  1
  - 890 USE 121 00 Eng
    1
  - S
    1
    - Preface
      3
    - Introduction
      13
- At a Glance
  13
  - Document Scope
    13
  - What’s in this Chapter
    13
  - Topic
    13
  - Page
    13
About this User Guide
14
- Who Should Use this User Guide
  14
- How this User Guide Is Organized
  14
- Chapter/Appendix
  14
- Description
  14
About this User Guide, continued
15
- How this User Guide Is Organized, continued
  15
- Chapter/Appendix
  15
- Description
  15
Related System Components
16
- SERCOS Multi- Axis Motion Control System
  16
- UniLink Commissioning Software for 17S
  16
Related Documentation
17
- Documents
  17
Hazards, Warnings and Guidelines
18
- Hazards and Warnings
  18
Hazards, Warnings and Guidelines, continued
19
Hazards, Warnings and Guidelines, continued
20
Hazards, Warnings and Guidelines, continued
21
- Additional Safety Guidelines
  21
- Qualified Personnel
  21
Standards and Compliances
22
- European Directives and Standards
  22
- EC Directive Compliance
  22
Standards and Compliances, continued
23
- SERCOS Standard
  23
- UL and cUL Compliance
  23
Conventions
24
- Acronyms and Abbreviations
  24
- Acronym or Abbreviation
  24
- Description
  24
  - CE
    24
  - European Community (EC)
    24
  - CLK
    24
  - Clock signal
    24
  - COM
    24
  - Serial communication interface for a PC-AT
    24
  - cUL
    24
  - Underwriters Laboratory (Canada)
    24
  - DIN
    24
  - German Institute for Norming
    24
  - Disk
    24
  - Magnetic storage (diskette, hard disk)
    24
  - EEPROM
    24
  - Electrically erasable programmable read only memory
    24
  - EMC
    24
  - Electromagnetic compatibility
    24
  - EMI
    24
  - Electromagnetic Interference
    24
  - EN
    24
  - European norm
    24
  - ESD
    24
  - Electrostatic discharge
    24
  - IEC
    24
  - International Electrotechnical Commission
    24
  - IGBT
    24
  - Insulated Gate Bipolar Transistor
    24
  - ISO
    24
  - International Standardization Organization
    24
  - LED
    24
  - Light Emitting Diode
    24
  - MB
    24
  - Megabyte
    24
  - MS-DOS
    24
  - Microsoft Disk Operating System for PC-AT
    24
  - PC-AT
    24
  - Personal computer in AT configuration
    24
  - PELV
    24
  - Protected extra low voltage
    24
  - PWM
    24
  - Pulse-width modulation
    24
  - RAM
    24
  - Random Access Memory (volatile)
    24
  - Regen
    24
  - Regen resistor
    24
  - RBext
    24
  - External Regen resistor
    24
  - RBint
    24
  - Internal Regen resistor
    24
  - RFI
    24
  - Radio Frequency Interference
    24
Conventions, continued
25
- Acronyms and Abbreviations, continued
  25
- Acronym or Abbreviation
  25
- Description
  25
  - PLC
    25
  - Programmable Logic Controller
    25
  - SERCOS
    25
  - Serial Realtime Communication System
    25
  - SRAM
    25
  - Static RAM
    25
  - SSI
    25
  - Synchronous Serial Interface
    25
  - UL
    25
  - Underwriters Laboratory
    25
  - Vac
    25
  - Voltage, Alternating Current
    25
  - Vdc
    25
  - Voltage, Direct Current
    25
  - Product Overview
    27
- At a Glance
  27
The 17S Series SERCOS Drive Family
28
- Introducing the 17S SERCOS Drive Family
  28
- Drives Available
  28
- Output Current (Peak)
  28
- 17S Drive
  28
  - 4.2 A
    28
  - MHDS1004N00
    28
  - 8.4 A
    28
  - MHDS1008N00
    28
  - 16.8 A
    28
  - MHDS1017N00
    28
  - 28 A
    28
  - MHDS1028N00
    28
  - 56 A
    28
  - MHDS1056N00
    28
    - Implementing the Drives
      28
    - Applicable Servo Motor Types
      28
The 17S Series SERCOS Drive Family, continued
29
- Electrical Considerations
  29
The 17S Series SERCOS Drive Family, continued
30
- 17S Drive Family Portrait
  30
The 17S Series SERCOS Drive Family, continued
31
- 17S Drives Front View
  31
The 17S Series SERCOS Drive Family, continued
32
- Equipment Supplied
  32
- Equipment Available
  32
The 17S Series SERCOS Drive Family, continued
33
- 17S System Configuration Diagram
  33
Modicon Multi-Axis Motion SERCOS Network Configuration
34
- Overview
  34
- Which Motion Controllers run a SERCOS Network
  34
- SERCOS Fiber- Optic Transmit and Receive Connectors
  34
Modicon Multi-Axis Motion SERCOS Network Configuration, continued
35
- Example of a Typical SERCOS Network Ring Configuration
  35
Modicon Multi-Axis Motion SERCOS Network Configuration, continued
36
- Example of a Typical SERCOS Network Ring Configuration, continued
  36
- Benefits of Fiber-Optic Communication
  36
- Two Types of Fiber-Optic Communication
  36
Overview of Usability Features
37
- Digital Control
  37
Overview of Usability Features, continued
38
- Usability Enhancements
  38
Overview of 17S Internal Electronics
39
- 17S Internal Electronics Block Diagram
  39
Overview of 17S Internal Electronics, continued
40
- General Characteristics
  40
- Primary Power
  40
- Bias Power
  40
- EMI Suppression
  40
Overview of 17S Internal Electronics, continued
41
- Internal Power Section
  41
- DC Link Capacitor Reconditioning
  41
- Step
  41
- Action
  41
  - Ensure that all electrical connections to the drive are disconnected.
    41
  - Provide 230 Vac, single-phase power to connector XOA (terminals L1/L2) on the servo drive for abo...
    41
Overview of System Software
43
- Setup
  43
- Setting Parameters
  43
- Default Settings
  43
Overview of System Software, continued
44
- UniLink Commissioning Software
  44
- Item
  44
- Minimum Requirement
  44
  - Operating System
    44
  - Windows 95
    44
  - Windows 98
    44
  - Hardware:
    44
  - Processor
    44
  - Graphics adapter
    44
  - RAM
    44
  - Hard drive space
    44
  - Communications
    44
  - 486 or higher
    44
  - VGA
    44
  - 8 Mbytes
    44
  - 5 Mbytes available
    44
  - One RS-232 serial port
    44
  - Mounting and Physical Dimensions
    45
- At a Glance
  45
Installation Safety Precautions
46
Installation Safety Precautions, continued
47
Installation Considerations
48
- Power Supply Overcurrent Protection
  48
- Earth Connections
  48
- Cable Separation
  48
- Air Flow
  48
Drive Mounting and Physical Dimensions
49
- 17S Height, Width and Depth Dimensions
  49
Drive Mounting and Physical Dimensions, continued
50
- 17S Drive and Mounting Area Dimensions
  50
Optional External Regen Resistor Mounting and Physical Dimensions
51
- Optional External Regen Resistor Assembly Dimensions
  51
Optional Motor Choke Mounting and Dimensions
52
- Optional Motor Choke Assembly Dimensions
  52
  - Wiring and I/O
    53
- At a Glance
  53
  - Introduction
    53
- At a Glance , continued
  54
  - What’s in this Chapter
    54
  - Topic
    54
  - Page
    54
Wiring and I/O Initial Considerations
55
- Initial Considerations
  55
- Grounding
  55
Wiring Overview
56
- Overview of 17S Wiring Connections
  56
Cable Shield Connections
59
- Connecting Cable Shields to the Front Panel
  59
- Step
  59
- Action
  59
Cable Shield Connections, continued
60
- Cable Shield Connection Diagram
  60
Power Wiring
61
- AC Mains Power Supply Connection
  61
- Bias Supply Connection
  61
Power Wiring, continued
62
- Serial Power Connections
  62
Power Wiring, continued
63
- Optional External Regen Resistor Connection
  63
- Regen Circuit Functional Description
  63
Power Wiring, continued
64
- Lexium BPH Servo Motor Connection (excluded BPH055)
  64
Power Wiring, continued
65
- Lexium BPH 055 Servo Motor Connection
  65
Power Wiring, continued
66
- Servo Motor (with Optional Dynamic Brake Resistors and Contactor) Connection
  66
Power Wiring, continued
67
- Servo Motor Holding-Brake Control Functional Description
  67
Power Wiring, continued
68
Signal Wiring
69
- Lexium BPH Resolver Connection (excluded BPH055)
  69
Signal Wiring, continued
70
- Lexium BPH055 Resolver Connection
  70
Signal Wiring, continued
71
- Encoder Input Connection
  71
Signal Wiring, continued
72
- Auxiliary Encoder Interface
  72
Signal Wiring, continued
73
Signal Wiring, continued
74
Analog Input Connection
75
- Analog Inputs
  75
Fault Relay and Digital I/O Connection
76
- Digital Inputs and Outputs
  76
Fault Relay and Digital I/O Connection, continued
77
- Using Functions Pre-programmed into the Drive
  77
Serial Communications Connection
78
- RS-232 Null Modem Type Communication Connection Diagram
  78
  - System Operation
    79
- At a Glance
  79
Powering Up and Powering Down the System
80
- Power-on and Power-off Characteristics
  80
Powering Up and Powering Down the System
81
- Stop Function
  81
- Emergency Stop strategies
  81
Powering Up and Powering Down the System
82
- Wiring example
  82
Procedure for Verifying System Operation
83
- Overview
  83
- Quick Tuning Procedure
  83
- Step
  83
- Action
  83
Procedure for Verifying System Operation, continued
84
- Quick Tuning Procedure, continued
  84
- Step
  84
- Action
  84
Front Panel Controls and Indicators
85
- Keypad Operation
  85
- Key
  85
- Function
  85
Front Panel Controls and Indicators, continued
86
- SERCOS Communication LED Indicators
  86
  - Troubleshooting
    87
- At a Glance
  87
  - What’s in this Chapter
    87
  - Topic
    87
  - Page
    87
    - Warning messages
      87
    - Error messages
      87
    - Troubleshooting
      87
Warning Messages
88
- Warning Identification and Description
  88
- Warning Code
  88
- Designation
  88
- Explanation
  88
  - n01
    88
  - I·t warning
    88
  - Current threshold set by “I·t Message” parameter was exceeded.
    88
  - n02
    88
  - Regen power
    88
  - Power threshold set by “Max Regen Power” parameter was exceeded.
    88
  - n03
    88
  - Following Fault
    88
  - Following error threshold set by “Following Error” parameter was exceeded.
    88
  - n04
    88
  - Response monitoring
    88
  - Response monitoring (fieldbus)is active.
    88
  - n05
    88
  - Mains phase
    88
  - Mains phase missing. Can be disabled for single phase operation with the “Mains Phase Missing” pa...
    88
  - n06
    88
  - Sw limit-switch 1
    88
  - Passed software limit-switch 1.
    88
  - n07
    88
  - Sw limit-switch 2
    88
  - Passed software limit-switch 2.
    88
  - n08
    88
  - Motion task error
    88
  - A faulty motion task was started.
    88
  - n09
    88
  - No “Home” reference point
    88
  - Motion task started with no “Home” reference point set.
    88
  - n10
    88
  - Positive Limit
    88
  - Positive limit-switch activated.
    88
  - n11
    88
  - Negative Limit
    88
  - Negative limit-switch activated.
    88
  - n12
    88
  - Default values
    88
  - Only HIPERFACE®: motor default values loaded.
    88
  - n13
    88
  - SERCOS interface
    88
  - SERCOS interface not functioning correctly.
    88
  - n14
    88
  - HIPERFACE®-reference mode
    88
  - Attempt to reset while HIPERFACE®-reference mode was active.
    88
  - n15
    88
  - Table error
    88
  - Velocity current table INXMODE 35 error
    88
  - n16 ... n31
    88
  - Reserved
    88
  - reserved
    88
  - n32
    88
  - Firmware beta version
    88
  - The firmware is not a released beta version
    88
  - A
    88
  - Reset
    88
  - RESET is active at DIGITAL IN x
    88
Error Messages
89
- Error Identification and Description
  89
- Error Code
  89
- Error (Fault)
  89
- Possible Cause/Corrective Action
  89
Error Messages, continued
90
- Error Identification and Description, continued
  90
- Error Code
  90
- Error (Fault)
  90
- Possible Cause/Corrective Action
  90
Error Messages, continued
91
- Error Identification and Description, continued
  91
- Error Code
  91
- Error (Fault)
  91
- Possible Cause/Corrective Action
  91
  - F14
    91
  - Drive output stage fault.
    91
  - - Check motor cable for damage or shorts.
    91
  - - Output module is overheated; improve ventilation.
    91
  - - Short-circuit or short to ground in the external Regen resistor.
    91
  - - Motor has short-circuit/ground short; replace motor.
    91
  - - Output stage is faulty; return drive to manufacturer.
    91
  - F15
    91
  - I·t maximum value exceeded.
    91
  - - Irms or Ipeak set incorrectly.
    91
  - - Reduce motion profile duty cycle.
    91
  - F16
    91
  - Mains supply missing two or three phases.
    91
  - - Check mains fuses.
    91
  - - Check mains wiring and connections on drive.
    91
  - F17
    91
  - A/D converter error.
    91
  - Return drive to manufacturer
    91
  - F18
    91
  - Regen circuit faulty or incorrect setting.
    91
  - - Check jumper on X8 if using internal regen resitor.
    91
  - - Check wiring of external regen resistor if used.
    91
  - - Check fuses of external regen resistor.
    91
  - F19
    91
  - Mains supply missing one phase.
    91
  - - For single phase operation, set “Phase Missing” parameter to “no message”.
    91
  - - Check mains supply fuses.
    91
  - - Check mains connector on drive.
    91
  - - Check mains supply wiring.
    91
  - F20
    91
  - Slot fault
    91
  - Hardware fault of the expansion card
    91
  - F21
    91
  - Handling fault
    91
  - Software fault of the expansion card
    91
  - F22
    91
  - Reserved
    91
  - Reserved
    91
  - F23
    91
  - Reserved
    91
  - Reserved
    91
  - F24
    91
  - Reserved
    91
  - Reserved
    91
  - F25
    91
  - Commutation error
    91
  - Encoder system only
    91
  - F26
    92
  - Reserved
    92
  - Reserved
    92
  - F27
    92
  - Reserved
    92
  - Reserved
    92
  - F28
    92
  - Reserved
    92
  - Reserved
    92
  - F29
    92
  - SERCOS error
    92
  - SERCOS systems only
    92
  - F30
    92
  - SERCOS time out
    92
  - SERCOS systems only
    92
  - F31
    92
  - Reserved
    92
  - Reserved
    92
  - F32
    92
  - System error
    92
  - System software not responding correctly, return drive to manufacturer.
    92
Troubleshooting
93
- Problems, Possible Causes and Corrective Actions
  93
- Problem
  93
- Possible Causes
  93
- Corrective Actions
  93
Troubleshooting, continued
94
- Problems, Possible Causes and Corrective Actions, continued
  94
- Problem
  94
- Possible Causes
  94
- Corrective Actions
  94
- A
  95
  - Specifications
    95
- At a Glance
  95
Performance Specifications
96
- Performance Specifications Table
  96
- PERFORMANCE
  96
  - Servo updates
    96
  - Torque
    96
  - 62.5 ms
    96
  - Velocity
    96
  - 250 ms
    96
  - Position
    96
  - 250 ms
    96
  - Tuning procedure
    96
  - UniLink application*
    96
  - * Included in AM0CSW001V•00 (CD-ROM)
    96
Environmental and Mechanical Specifications
97
- Environmental Specifications Table
  97
- ENVIRONMENTAL
  97
  - Storage
    97
  - High temperature, non–operating
    97
  - +70C maximum
    97
  - Low temperature, non–operating
    97
  - –25C minimum
    97
  - Humidity
    97
  - Non–operating
    97
  - 95% RH maximum, non-condensing
    97
  - Operating
    97
  - 85% RH maximum, non-condensing
    97
  - Operating temperature (ambient measured at fan inlet)
    97
  - Full power
    97
  - With linear derating
    97
  - 2,5% / C
    97
  - (available power: 75% of rated output at 55C)
    97
  - 0 ... 45C
    97
  - 45 ... 55C max
    97
  - Vibration (operational)
    97
  - 10 ... 57 Hz
    97
  - Sinusoidal, 0.75 mm amplitude
    97
  - 57 ... 150 Hz
    97
  - 1.0 g
    97
  - Air pressure
    97
  - Operating:
    97
  - Full power
    97
  - With linear derating
    97
  - 1,5% / 100m
    97
  - (available power: 75% of rated output at 2500m)
    97
  - 1000 m (90 kPa)
    97
  - 1000 ... 2500m (73kPa) max
    97
  - Transport
    97
  - 57 kPa (4540 m)
    97
  - Contaminants
    97
  - Pollution degree 2, as defined in EN60204/EN50178
    97
  - Cooling
    97
  - Models:
    97
  - MHDS1004N00
    97
  - MHDS1008N00
    97
  - MHDS1017N00
    97
  - MHDS1028N00
    97
  - MHDS1056N00
    97
  - Integrated heatsink with internal fan.
    97
Environmental and Mechanical Specifications, continued
98
- Mechanical Specifications Table
  98
- Drive Model Number
  98
- Height
  98
- Width
  98
- Depth
  98
- Weight
  98
  - MHDS1004N00
    98
  - 325 mm
    98
  - 70 mm
    98
  - 265 mm
    98
  - 2.5 kg
    98
  - MHDS1008N00
    98
  - MHDS1017N00
    98
  - MHDS1028N00
    98
  - MHDS1056N00
    98
  - 325 mm
    98
  - 120 mm
    98
  - 265 mm
    98
  - 3.0 kg
    98
Electrical Specifications
99
- What’s in this Section
  99
- Topic
  99
- Page
  99
Electrical Specifications - Power
100
- Line Input Specifications Table
  100
- LINE INPUT
  100
  - Voltage
    100
  - 208 Vac -10% 60 Hz, 230 Vac -10% 50 Hz.
    100
  - 480 Vac +10%, 50 - 60 Hz, three-phase*
    100
  - Current
    100
  - MHDS1004N00
    100
  - 1.8 A RMS**
    100
  - MHDS1008N00
    100
  - 3.6 A RMS
    100
  - MHDS1017N00
    100
  - 7.2 A RMS
    100
  - MHDS1028N00
    100
  - 12 A RMS
    100
  - MHDS1056N00
    100
  - 24 A RMS
    100
  - Inrush current
    100
  - Internally limited
    100
  - Efficiency
    100
  - Greater than 98%
    100
  - * Read carefully “Electrical considerations”
    100
  - ** Single-phase operation permitted.
    100
Electrical Specifications - Power, continued
101
- Bias Input Specifications Table
  101
- Motor Brake Present
  101
- Bias Input
  101
- Value
  101
  - No
    101
  - Voltage
    101
  - 20 ... 30 Vdc
    101
  - Current
    101
  - 0.75 A to 1.2 A
    101
  - Yes
    101
  - Voltage
    101
  - 24 Vdc -10%, +5%
    101
  - Current
    101
  - 3 A max.
    101
    - External Fuse Specifications Table
      101
- Input Type
  101
- Model Number
  101
- Fuse
  101
  - Line
    101
  - MHDS1004N00
    101
  - 6 A, time delay
    101
  - MHDS1008N00
    101
  - MHDS1017N00
    101
  - 10 A, time delay
    101
  - MHDS1028N00
    101
  - MHDS1056N00
    101
  - 20 A, time delay
    101
  - Optional external Regen
    101
  - MHDS1004N00
    101
  - 4 A, fast acting*
    101
  - MHDS1008N00
    101
  - MHDS1017N00
    101
  - 6 A, fast acting*
    101
  - MHDS1028N00
    101
  - MHDS1056N00
    101
  - *Two fuses in series, >= 500 V, dimensions: 10 x 38.
    101
Electrical Specifications - Power, continued
102
- Motor Output Specifications Table
  102
- Parameter
  102
  - Output current (RMS)
    102
  - Continuous
    102
  - MHDS1004N00*
    102
  - 1.5 A
    102
  - MHDS1008N00
    102
  - 3 A
    102
  - MHDS1017N00
    102
  - 6 A
    102
  - MHDS1028N00
    102
  - 10 A
    102
  - MHDS1056N00
    102
  - 20 A
    102
  - Intermittent**
    102
  - MHDS1004N00
    102
  - 3 A
    102
  - MHDS1008N00
    102
  - 6 A
    102
  - MHDS1017N00
    102
  - 12 A
    102
  - MHDS1028N00
    102
  - 20 A
    102
  - MHDS1056N00
    102
  - 40 A
    102
  - Switching frequency
    102
  - 8 kHz ± 0.1%
    102
  - Cable length***
    102
  - 75 m (maximum)
    102
  - Maximum cable capacitance (motor phase to ground or shield)
    102
  - 150 pF/m
    102
  - * For single phase main connection, the output current is limited to the output current specifed ...
    102
  - ** Duration depends on settings in Unilink.
    102
  - *** Cable lengths exceeding 25 m require the use of motor choke AM0FIL001V056
    102
- Motor Inductance:
  102
  - Model
    102
  - Min (mH)
    102
  - Max (mH)
    102
  - MHDS1004N00
    102
  - MHDS1008N00
    102
  - MHDS1017N00
    102
  - MHDS1028N00
    102
  - 3.5
    102
  - MHDS1056N00
    102
  - 1.5
    102
Electrical Specifications - Power, continued
103
- Internal Power Dissipation Specifications Table
  103
- Model Number
  103
  - MHDS1004N00
    103
  - 30 W
    103
  - MHDS1008N00
    103
  - 40 W
    103
  - MHDS1017N00
    103
  - 60 W
    103
  - MHDS1028N00
    103
  - 90 W
    103
  - MHDS1056N00
    103
  - 200 W
    103
Electrical Specifications - Regen Resistor
104
- Regen Circuit Specifications
  104
- Parameter
  104
- Rated data
  104
- Units
  104
- Model Number
  104
- (prefix with MHDS10)
  104
- 04N00 08N00
  104
- 17N00 28N00 56N00
  104
  - Supply Voltage
    104
  - 3 phase, 230 V
    104
  - Upper switch-on level of Regen circuit
    104
  - V
    104
- 400 - 430
  104
  - Switch-off level of Regen circuit
    104
  - V
    104
- 380 - 410
  104
  - Continuous power of Regen circuit (RBint)
    104
  - W
    104
  - Continuous power of Regen circuit (RBext) maximum.
    104
  - kW
    104
- 0.25
  104
- 0.75
  104
  - Pulse power, internal (RBint max. 1s)
    104
  - kW
    104
- 2.5
  104
  - Pulse power, external (RBext max. 1s)
    104
  - kW
    104
  - 3 phase, 400 V
    104
  - Upper switch-on level of Regen circuit
    104
  - V
    104
- 720 - 750
  104
  - Switch-off level of Regen circuit
    104
  - V
    104
- 680 - 710
  104
  - Continuous power of Regen circuit (RBint)
    104
  - W
    104
  - Continuous power of Regen circuit (RBext) max.
    104
  - kW
    104
- 0.4
  104
- 1.2
  104
  - Pulse power, internal (RBint max. 1s)
    104
  - kW
    104
  - Pulse power, external (RBext max. 1s)
    104
  - kW
    104
  - 3 phase, 480 V
    104
  - Upper switch-on level of Regen circuit
    104
  - V
    104
- 840 - 870
  104
  - Switch-off level of Regen circuit
    104
  - V
    104
- 800 - 830
  104
  - Continuous power of Regen circuit (RBint)
    104
  - W
    104
  - Continuous power of Regen circuit (RBext) maximum.
    104
  - kW
    104
- 0.5
  104
- 1.5
  104
  - Pulse power, internal (RBint maximum 1s)
    104
  - kW
    104
- 10.5
  104
  - Pulse power, external (RBext maximum 1s)
    104
  - kW
    104
  - External Regen resistor
    104
  - W
    104
  - Internal Regen resistor
    104
  - W
    104
Electrical Specifications - Signal
105
- Motor Overtemperature Input Specifications Table
  105
- MOTOR OVERTEMPERATURE INPUT
  105
- RESOLVER
  105
  - Reference
    105
  - 8kHz ± 0.1%
    105
  - Drive capability
    105
  - 35 mA RMS
    105
  - Amplitude
    105
  - 4.75V RMS
    105
  - Pair of poles
    105
  - 1 (default)
    105
  - Resolution
    105
  - 14 bits (0.02)
    105
  - Accuracy
    105
  - 12 bits (0.09)
    105
  - Conversion method
    105
  - Tracking
    105
  - Resolver type
    105
  - Transmit mode
    105
  - Resolver transformation ratio
    105
  - 0.5
    105
  - Loss of feedback
    105
  - Detection circuit included
    105
  - Maximum cable length
    105
  - 75 m
    105
  - Maximum cable capacitance (signal connector to shield)
    105
  - 120 pF/m
    105
Electrical Specifications - Signal, continued
106
- Encoder Input Specifications Table
  106
- ENCODER INPUT
  106
  - Internal power supply
    106
  - Voltage
    106
  - 9V ± 5%
    106
  - Current (maximum)
    106
  - 200 ma
    106
  - Input Signal
    106
  - Sin-Cos encoder (cyclic absolute)
    106
  - Absolute accuracy
    106
  - 15 bits (39 arc-seconds or 0.01)
    106
  - Resolution
    106
  - 20 bits (1.2 arc-seconds or 0.0003)
    106
  - Sin-Cos encoder (multi-turn absolute)
    106
  - Turn counter
    106
  - 12 bits
    106
  - Absolute accuracy within one turn
    106
  - 15 bits (39 arc-seconds or 0.01)
    106
  - Resolution within one turn
    106
  - 20 bits (1.2 arc-seconds or 0.0003)
    106
    - Emulated Encoder Output (Incremental Format) Specifications Table
      106
- EMULATED ENCODER OUTPUT (INCREMENTAL FORMAT)
  106
  - Channels
    106
  - A, B, and Marker
    106
  - Type
    106
  - Differential, RS-485 compliant
    106
  - Resolution with:
    106
  - Resolver feedback
    106
  - Sin-Cos Encoder feedback
    106
  - 512, 1024 line count; 1024/2048/4096 edges
    106
  - 512/1024/2048/4096/8192/16384 line count
    106
Electrical Specifications - Signal, continued
107
- Encoder Output (Incremental Format) Timing Diagram
  107
- Auxiliary Incremental Encoder Input Specifications Table
  107
- ENCODER INPUT (SLAVE)
  107
  - Channels
    107
  - A and B
    107
  - Type
    107
  - Differential, RS-485 compliant
    107
  - Voltage
    107
  - 8 V nominal
    107
  - Current
    107
  - 200 mA (maximum)
    107
  - Maximum frequency
    107
  - 500 kHz
    107
  - Rise time
    107
  - < 0.1 ms
    107
  - Fall time
    107
  - < 0.1 ms
    107
Electrical Specifications - Signal, continued
108
- Discrete Input Specifications Table
  108
- DISCRETE INPUT
  108
  - Channels
    108
  - Five (four programmable and one dedicated for enable)
    108
  - Type
    108
  - Solid state, optically isolated, compatible IEC 1131-2 type 1
    108
  - Transient
    108
  - isolation voltage
    108
  - 250 Vac (channel to chassis)
    108
  - VIN maximum
    108
  - 30 Vdc
    108
  - IIN @ VIN = 24 V
    108
  - 5 mA
    108
  - VIH minimum
    108
  - 12 V (minimum input voltage to be recognized as high – true)
    108
  - VIL maximum
    108
  - 7 V (maximum input voltage to be recognized as low – false)
    108
  - Scan time:
    108
  - Normal
    108
  - High speed
    108
  - 1 ms
    108
  - < 50 ms
    108
    - Discrete Output Specifications Table
      108
- DISCRETE OUTPUT
  108
  - Channels
    108
  - Two
    108
  - Type
    108
  - Solid state: open collector 30 Vdc max., optically isolated
    108
  - Transient
    108
  - isolation voltage
    108
  - 250 Vac (channel to chassis)
    108
  - Sense
    108
  - True low, sinking
    108
  - IOUT
    108
  - 10 mA maximum
    108
  - Protection
    108
  - Yes (PTC resistor: 25 W)
    108
  - Scan time
    108
  - 1 ms
    108
Electrical Specifications - Signal, continued
109
- Fault Relay Output Specifications Table
  109
- FAULT RELAY OUTPUT
  109
  - Type
    109
  - Relay contact
    109
  - Sense
    109
  - True (open)
    109
  - VMAX
    109
  - 30 Vdc; 42 Vac
    109
  - IOUT
    109
  - 500 mA resistive
    109
    - Brake Output Specifications Table
      109
- BRAKE OUTPUT
  109
  - VOUT
    109
  - Internally connected to bias supply
    109
  - IOUT
    109
  - 2 A (maximum)
    109
Electrical Specifications - Signal, continued
110
- Analog Input Specifications Table
  110
- ANALOG INPUTS
  110
  - Serial Communications Specifications Table
    110
- SERIAL I/O
  110
  - Data bits
    110
  - Eight
    110
  - Stop bits
    110
  - One
    110
  - Parity
    110
  - None
    110
  - Baud rate
    110
Wire Specifications (Recommended)
111
- Wire Specifications
  111
- Item
  111
- Drive Model No.
  111
- Wire Size
  111
- Notes
  111
  - AC mains
    111
  - MHDS1004N00
    111
  - MHDS1008N00
    111
  - MHDS1017N00
    111
  - MHDS1028N00
    111
  - 1.5 mm2 (14 AWG)
    111
  - MHDS1056N00
    111
  - 4.0 mm2 (12 AWG)
    111
  - Protective earth
    111
  - All
    111
  - 4.0 mm2 (12 AWG)
    111
  - DC Link
    111
  - MHDS1004N00
    111
  - MHDS1008N00
    111
  - MHDS1017N00
    111
  - MHDS1028N00
    111
  - 1.5 mm2 (14 AWG)
    111
  - Shielded for lengths greater than 20cm
    111
  - MHDS1056N00
    111
  - 4.0 mm2 (12 AWG)
    111
  - Shielded for lengths greater than 20cm
    111
  - Analog signals
    111
  - All
    111
  - 0.25 mm2 (22 AWG) minimum
    111
  - Twisted pairs, shielded
    111
  - Digital I/O and Fault Relay
    111
  - All
    111
  - 0.5 mm2 (20 AWG) minimum
    111
  - Brake
    111
  - All
    111
  - 1.0 mm2 (18 AWG) minimum
    111
  - Shielded
    111
  - Bias power
    111
  - All
    111
  - 2.5 mm2 (14 AWG) maximum
    111
  - Optional external Regen resistor
    111
  - All
    111
  - 1.5 mm2 (14 AWG)
    111
  - High temperature insulation (155C or greater)
    111
- B
  113
  - Parts List
    113
- At a Glance
  113
  - What’s in this Appendix
    113
  - Topic
    113
  - Page
    113
    - Lexium 17S drives
      113
    - External 24Vdc supply
      113
    - Drive cables
      113
    - Optional external Regen resistor assemblies
      113
    - Optional motor choke
      113
    - Spare parts
      113
Lexium 17S Drives
114
- Drives Available
  114
- Model
  114
- Intermittent (Peak) Output Current
  114
- Continuous (RMS) Output Current
  114
  - MHDS1004N00
    114
  - 4.2 A
    114
  - 1.5 A
    114
  - MHDS1008N00
    114
  - 8.4 A
    114
  - 3.0 A
    114
  - MHDS1017N00
    114
  - 16.8 A
    114
  - 6.0 A
    114
  - MHDS1028N00
    114
  - 28.0 A
    114
  - 10.0 A
    114
  - MHDS1056N00
    114
  - 56.0 A
    114
  - 20.0 A
    114
External 24Vdc supply
115
- External 24Vdc supply
  115
- Lexium servodrive
  115
- MHD•1004/ 1008N00
  115
- MHD•1017N00
  115
- MHD•1028N00
  115
- MHD•1056N00
  115
- Associated BPH motor
  115
- 075•
  115
- 095•
  115
- 095•
  115
- 115•
  115
- 095•
  115
- 115•
  115
- 142•
  115
- 142•
  115
- 190•
  115
- Current without brake (A)
  115
- 0.75
  115
- 0.75
  115
- 0.75
  115
- 0.75
  115
- 0.75
  115
- 0.75
  115
- 0.75
  115
- 1.2
  115
- 1.2
  115
- Current with brake (A)
  115
- 1.25
  115
- 1.45
  115
- 1.45
  115
- 1.55
  115
- 1.45
  115
- 1.55
  115
- 1.75
  115
- 2.2
  115
- 2.7
  115
- Description
  115
- Output voltage
  115
- Rating
  115
- Parallel connection
  115
- Ref.
  115
- Weight
  115
  - V
    115
  - A
    115
  - Kg
    115
  - Module ~ 100...240 V 50/60 - 400 Hz
    115
  - and 125 Vdc
    115
  - 24 Vdc
    115
  - SELV
    115
  - 1.1
    115
  - Yes
    115
  - TSX SUP 1011
    115
  - (1) (2)
    115
  - Module ~ 100...120 V and ~ 200...240V,
    115
  - 50/60 - 400 Hz
    115
  - 24 Vdc
    115
  - SELV
    115
  - 2.2
    115
  - Yes
    115
  - TSX SUP 1021
    115
  - (1) (2)
    115
  - Yes
    115
  - TSX SUP 1051
    115
  - (1) (2)
    115
  - Unit ~ 100...120V and ~ 200...240V,
    115
  - 50/60 - 400 Hz
    115
  - 24 Vdc
    115
  - SELV
    115
  - Yes
    115
  - TSX SUP 1101
    115
  - (1)
    115
Drive Cables
116
- Drive to Motor Cables
  116
- RS-232 Serial Communications Cable Part Table
  116
- Part Number
  116
- Description
  116
  - AM0CAV001V003
    116
  - 3 m cable
    116
    - Encoder Output Cable Parts Table
      116
- Part Number
  116
- Description
  116
  - 690MCI00206
    116
  - 6 m 17S to tinned leads
    116
Drive Cables, continued
117
- Fiber Optic Cables Parts Table
  117
- Part Number
  117
- Description
  117
- Length (m)
  117
  - 990MCO00001
    117
  - 1 ft cable
    117
  - 0.3
    117
  - 990MCO00003
    117
  - 3 ft cable
    117
  - 0.9
    117
  - 990MCO00005
    117
  - 5 ft cable
    117
  - 1.5
    117
  - 990MCO00015
    117
  - 15 ft cable
    117
  - 4.6
    117
  - 990MCO00025
    117
  - 25 ft cable
    117
  - 7.6
    117
  - 990MCO00035
    117
  - 35 ft cable
    117
  - 10.7
    117
  - 990MCO00045
    117
  - 45 ft cable
    117
  - 13.7
    117
  - 990MCO00055
    117
  - 55 ft cable
    117
  - 16.8
    117
  - 990MCO00065
    117
  - 65 ft cable
    117
  - 19.8
    117
  - 990MCO00075
    117
  - 75 ft cable
    117
  - 22.9
    117
  - 990MCO00085
    117
  - 85 ft cable
    117
  - 25.9
    117
  - 990MCO00095
    117
  - 95 ft cable
    117
  - 990MCO00105
    117
  - 105 ft cable
    117
  - 990MCO00115
    117
  - 115 ft cable
    117
  - 990MCO00125
    117
  - 125 ft cable
    117
  - 37.5
    117
  - 990MCI00008
    117
  - Bulk head connector
    117
Optional External Regen Resistor Assemblies
118
- Optional Regen Resistor Assembly Part Table
  118
- Part Number
  118
- Description
  118
  - AM0RFE001V025
    118
  - 33W, 250 W, Regen resistor
    118
  - AM0RFE001V050
    118
  - 33W, 500 W, Regen resistor
    118
  - AM0RFE001V150
    118
  - 33W, 1,500 W, Regen resistor
    118
Optional Motor Choke
119
- Optional Motor Choke Part Table
  119
- Part Number
  119
- Description
  119
  - AM0FIL001V056
    119
  - Motor choke
    119
Spare Parts
120
- Spare Parts Table
  120
- Part Number
  120
- Description
  120
  - AM0SPA001V000
    120
  - 17S Connector Kit:
    120
  - I/O connector
    120
  - 24 V connector
    120
  - DC Bus connector
    120
  - Regen resistor connector
    120
  - Mains supply connector
    120
- C
  121
  - Cable Connection Wiring Diagrams
    121
- At a Glance
  121
Wiring a Sub-D Connector with Shielding
122
- Wiring the Sub-D Connector
  122
- Step
  122
- Action
  122
Wiring a Sub-D Connector with Shielding, continued
123
- Sub-D Connector Diagram
  123
Wiring the Motor Power Connector (Drive end)
124
- Wiring the Motor Power Connector
  124
- Step
  124
- Action
  124
Wiring the Motor Power Connector (Drive end), continued
125
- Motor Power Connector (Drive end) Diagram (excluded BPH055)
  125
Wiring the Motor Power Connector (Drive end), continued
126
- BPH055 Motor Power Connector (Drive end) Diagram
  126
Serial Communication Interface Connection (X6)
127
- Serial Communication Interface Cable Connectors
  127
- D
  129
  - Servo Loop Diagrams
    129
- At a Glance
  129
  - What’s in this Appendix
    129
  - Topic
    129
  - Page
    129
17S Current Controller Overview
130
- 17S Current Controller Diagram
  130
17S Velocity Controller Loop
131
- 17S Velocity Controller Loop Diagram
  131
17S Position Controller Loop
132
- 17S Position Controller Loop Diagram
  132
- E
  133
  - Optional External Regen Resistor Sizing
    133
- At a Glance
  133
  - What’s in this Appendix
    133
  - Topic
    133
  - Page
    133
    - Determining external Regen resistor size
      133
    - Example Regen resistor power dissipation calculation
      133
At a Glance, continued
134
- Overview
  134
- Determining When Energy Is Absorbed
  134
Determining Optional External Regen Resistor Size
135
- Power Dissipation Calculation Procedure
  135
- Step
  135
- Action
  135
Determining External Regen Resistor Size, continued
136
- Power Dissipation Calculation Procedure, continued
  136
- Step
  136
- Action
  136
  - Compare the pulse power and the continuous power calculated with the ratings of the internal Rege...
    136
    - Drive Energy Absorption Capability
      136
- Drive Energy Absorption Capability (joules)
  136
- Line Voltage
  136
- 230 VAC
  136
  - 400 VAC
    136
  - 480 VAC
    136
- Drive Model Number
  136
- MHDS1004N00
  136
- MHDS1008N00
  136
- MHDS1017N00
  136
- MHDS1028N00
  136
- MHDS1056N00
  136
Example Regen Resistor Power Dissipation Calculation
137
- Example Motor and Drive Specifications
  137
Example Regen Resistor Power Dissipation Calculation, continued
138
- Example Step 1
  138
Example Regen Resistor Power Dissipation Calculation, continued
139
- Example Step 2
  139
- Example Step 3
  139
Example Regen Resistor Power Dissipation Calculation, continued
140
- Example Step 4
  140
- Example Step 5
  140
- Example Step 6
  140
- Example Step 7
  140
Example Regen Resistor Power Dissipation Calculation, continued
141
- Example Step 8
  141
A
143
B
143
C
143
D
143
E
143
F
144
G
144
H
144
I
144
K
144
L
144
M
144
O
144
P
145
Q
145
R
145
S
145
T
146
U
146
V
146
W
146
- Index
  143

Dimensioni:

6,11 MB
Pagine:

146
Language:

English

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