moog
Programmable
Multi-Axis
Servo Drive
Power Supply Unit (PSU)
Sizes 5 and 6A
Operation Manual
Power Supply Unit
with sinusoidal mains feedback

moog
Size
Device
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Size 5
Size 6A
G396-026
G396-050
G396-075
G396-110
2
MSD Servo Drive high-performance drives
The modular design of Multi-Axis Servo Drive ensures optimal integration into the machine process. Whether in high-speed fieldbus communication with the central multi-axis
machine controller or with distributed programmable Motion Control intelligence in the
servo drive, the Multi-Axis Servo Drive is a master of both.
Picture
Programmable Multi-Axis
Servo Drive Power Supply Unit (PSU)
Operation Manual
We reserve the right to make technical changes.
ID no.: CA97556-001, Rev. 2.0
Nevertheless we would like to point out that this document cannot always be updated
parallel to the technical further development of our products.
Date: 04/2015
Applicable as from firmware version: V220.13-01
The German version is the original of this Operation Manual.
The contents of our documentation have been compiled with greatest care and in
compliance with our present status of information.
Information and specifications may be changed at any time. For information on the
latest version please refer to drives-support@moog.com.
Guide through this document
Dear user,
We are happy that you have made a decision in favour of a product from Moog. In order
to be able to start using your new device quickly and without problems, we ask you
kindly to read this Operation Manual thoroughly beforehand.
1.
This Operation Manual will enable you to install and commission the Power Supply Unit very
quickly and easily.
2.
Simply follow the step-by-step tables in the various chapters. And away you go!
Documentation system for the Programmable Multi-Axis Servo Drive
System (MSD)
Document
Contents
Safety
2
Overview
3
Mechanical installation
4
Electrical installation
5
Commissioning
6
Diagnostics
A
Appendix
Description
Programmable Multi-Axis
Servo Drive Power Supply Unit
(PSU)
Operation Manuall
Mechanical installation, Electrical
installation, Safety, Specification
Hardware and software
Programmable Multi-Axis
Servo Drive Operation Manual
Mechanical installation, Electrical
installation, Safety, Specification
Hardware and software
MSD Servo Drive Device Help
Description of base software
Software
CANopen/EtherCAT User Manual
Description and parameter setting of the MSD Servo Drive on
the CANopen/EtherCAT fieldbus
system
Hardware and software of the
fieldbus option
SERCOS User Manual
Description and parameter setting of the MSD Servo Drive on
the SERCOS II fieldbus system
Hardware and software of the
fieldbus option
PROFIBUS / PROFINET
User Manual
Description and parameter
setting of the MSD Servo Drive
on the PROFIBUS / PROFINET
fieldbus system
Hardware and software of the
fieldbus option
moog
1
Index
Figure 0.1 Guide through this document
ID no.: CA97556-001 Date: 03/2015
Guide through this document
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
3
Guide through this document
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
4
Order code
Production data
The order designation indicates the design variant of the Power Supply Unit supplied
to you. For details on the order code refer to the Programmable Multi-Axis Servo Drive
System (MSD) Ordering Catalog.
On rating plates of the Power Supply Unit you will find the serial number, from which
you can identify the date of manufacture based on the following key. You will find
details of the rating plate’s location on the Power Supply Unit starting on page 13.
G396 -
-
-
Model:
:
G396-040-000-002
S/N : D116605
Rev. A
In:
230 V AC 3ph, 50/60 Hz
4,0 A
MOOG
D-71034 Böblingen
www .moog.com/industrial
Made in Germany
Rated power
Out: 0-230 V AC 3ph, 0-400 Hz
3,0 A
Option 1 (Communication)
ID:
For future use
YYCWxxxxx
Year of production
Housing/cooling method
Week of production
Option 4 (Function package)
Variants
Figure 0.3 Hardware rating plate – Power Supply Unit
Supply package
Figure 0.2 Order code – Power Supply Unit
The supply package includes:
yy
Power Supply Unit (PSU)
yy
Ready made-up DC link cables for size 5 and size 6A
yy
Product DVD
Required mains connection set
The mains connection set is required to ensure compliance with the intended use of the
Power Supply Unit. The supply package includes:
yy
Mains filter
yy
Input choke with membrane capacitor
yy
Step-up choke
yy
Shields and clamps
Pictograms
To provide clear guidance, this Operation Manual uses pictograms. Their meanings are
set out in the following table. The pictograms always have the same meanings, even
where they are placed without text, such as next to a connection diagram.
Warning symbols (see also section 1.1, p. 9)
!
ATTENTION!
Misoperation may result in damage to the drive or malfunctions.
DANGER FROM ELECTRICAL TENSION!
Improper behaviour may endanger human life.
Hints & Tips
NOTE:
Useful information or reference to other documents.
1.
STEP:
Action in a sequence of multiple actions.
moog
ID no.: CA97556-001 Date: 03/2015
Guide through this document
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
5
Table of contents
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Table of contents
3.2
1Safety..............................................................................................9
1.1
2
Effective EMC installation..........................................................................................25
3.2.1
Cable type..................................................................................................25
3.2.2
Cable laying................................................................................................26
3.2.3Earthing......................................................................................................26
Measures for your safety..............................................................................................9
3.2.4Shielding.....................................................................................................27
1.1.1
Read the Operation Manual first!.................................................................9
1.1.2
Warning symbols used................................................................................10
3.3.1
Layout, size 5 (G396-026 and G396-050)...................................................28
1.2
Intended use..............................................................................................................10
3.3.2
Layout, size 6A (G396-075 and G396-110).................................................28
1.3
Usage contrary to intended use..................................................................................10
3.3.3
Overview of connections, size 5 and size 6A...............................................29
1.4Responsibility............................................................................................................. 11
3.3.4
Connection diagram, size 5........................................................................30
Mechanical installation.................................................................. 13
3.3.5
Connection diagram, size 6A......................................................................32
2.1
Notes for mechanical installation............................................................................... 13
2.2
Effective EMC installation.......................................................................................... 14
2.2.1
2.2.2
2.3
2.4
2.6
3.4
Cabinet design............................................................................................ 14
Dimensions, air-cooled housing..................................................................18
2.8
3.7
Installation of input choke with membrane capacitor.................................................23
3.8
Mains filter installation...............................................................................................24
Electrical installation......................................................................25
Before you start.........................................................................................................25
PE conductor (X11) Power Supply Unit size 6A............................................34
PE conductor components..........................................................................35
Connection of supply voltages...................................................................................36
2.8.1Dimensions.................................................................................................24
3.1
3.4.2
3.4.3
3.6
Cooling circuit connection......................................................................................... 21
2.7.1Dimensions.................................................................................................23
PE conductor (X11) Power Supply Unit size 5...............................................33
Electrical isolation method.........................................................................................35
2.6.1Dimensions.................................................................................................22
2.7
Connection of PE conductors.....................................................................................33
3.5
Dimensions, liquid-cooled housing.............................................................20
Step-up choke installation..........................................................................................22
Overview of connections............................................................................................28
3.4.1
Power Supply Unit installation Liquid-cooled housing................................................ 19
2.4.1
2.5
3.3
General notes............................................................................................. 14
Power Supply Unit installation Air-cooled housing..................................................... 17
2.3.1
3
6
3.9
3.6.1
Control supply 24 V DC (X9, X10) for size 5 and size 6A.............................36
3.6.2
Precharge and mains synchronisation (X21) for size 5 and size 6A..............37
3.6.3
Mains connection 400/480 V AC (X12) for size 5 and Size 6A.....................38
DC power supply connection.....................................................................................40
3.7.1
DC power supply connection(X11) size 5..................................................... 41
3.7.2
DC power supply connection (X11) size 6A.................................................42
Control connections (X4)...........................................................................................44
3.8.1
Specification of control connections...........................................................44
3.8.2
Standard terminal assignment.....................................................................45
Functions of the digital inputs....................................................................................46
3.10 Functions of the digital outputs.................................................................................46
3.11 Specification of USB port (X2)....................................................................................47
4.4.2Display........................................................................................................59
3.12 Specification of Ethernet port (X3).............................................................................47
4.4.3
Parameters menu (PA).................................................................................60
3.13 Option 1....................................................................................................................47
4.4.4
Ethernet IP address menu (IP)...................................................................... 61
3.14 Braking resistor (X12/RB)............................................................................................47
4.4.5
Fieldbus address menu (Fb).........................................................................62
4.4.6
Firmware update with MMC card...............................................................63
3.14.1
Connection of the external braking resistor................................................47
3.15 Overview of step-up choke connections....................................................................48
3.16 Overview of input choke connections........................................................................49
5Diagnostics....................................................................................64
5.1
3.17 Overview of mains filter connections..........................................................................50
4Commissioning.............................................................................. 51
Device states..............................................................................................................64
5.1.1Error...........................................................................................................64
5.2
Error list.....................................................................................................................65
4.1
Notes for operation.................................................................................................... 51
5.3Helpline/Service.........................................................................................................65
4.2
Initial commissioning (actuation via terminals)............................................................ 51
AAppendix.......................................................................................66
4.2.1
System requirements..................................................................................52
4.2.2
Wiring of components................................................................................52
4.2.3
Switching on control voltage (24 VDC).......................................................53
4.2.4
Communication with the Moog Drive Administrator 5..................................53
4.2.5
Setting the mains voltage and frequency of the supply system...................54
4.2.6
Automatic identification of DC link capacity and equivalent time
constant of current control.........................................................................55
4.2.7
Setting DC link capacity..............................................................................55
4.2.8
Setting DC link voltage...............................................................................56
4.2.9
Programming monitoring of the braking resistor.........................................56
4.2.10
Connecting the mains supply voltage.........................................................57
4.2.11
Activating closed-loop control....................................................................57
4.3Diagnostics................................................................................................................57
4.3.1
4.4
Faults and warnings in Moog Drive Administrator 5......................................57
Integrated operator control unit and MMC card........................................................58
4.4.1
Functions of buttons T1 and T2..................................................................59
A.1
Technical data of Power Supply Unit..........................................................................66
A.2 Current consumption of control supply......................................................................69
A.3
Ready made-up cables...............................................................................................69
A.4
Hydrological data of liquid cooling.............................................................................70
A.5
Dynamic temperature monitoring..............................................................................70
A.6
Ambient conditions....................................................................................................70
A.7
Technical data of step-up choke.................................................................................72
A.8
Technical data of input choke.....................................................................................72
A.9
Technical data of mains filter......................................................................................73
A.10 Technical data of mains fuse......................................................................................73
A.11 Technical data of mains contactor..............................................................................73
A.12 Technical data of circuit-breaker.................................................................................73
A.13 Measures to attain UL approbation (UL 508C) size 5.................................................. 74
A.14 Measures to attain UL approbation (UL 508C) size 6A............................................... 74
BOverview.......................................................................................75
Index....................................................................................................78
moog
ID no.: CA97556-001 Date: 03/2015
Table of contents
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
7
Table of contents
moog
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
8
1
Safety
1.1
Measures for your safety
Protection against magnetic and/or electromagnetic fields during installation and operation.
• Persons fitted with heart pacemakers, metallic implants and hearing aids etc. must not be
allowed access to the following areas:
− Areas where drive systems are installed, repaired and operated.
− Areas where motors are installed, repaired and operated. Motors with permanent
magnets pose a particular hazard.
NOTE:
If it is necessary to access such areas, suitability to do so must be determined beforehand by a
doctor
The instructions set out below should be read through prior to initial commissioning
in order to prevent injury and/or damage to property. The safety instructions must be
followed at all times.
1.1.1
1.
Your qualification:
• In order to prevent personal injury and damage to property, only personnel with electrical
engineering qualifications may work on the device.
• The said qualified personnel must be familiar with the contents of the Operation Manual
(see IEC 364, DIN VDE 0100).
• Knowledge of the national accident prevention regulations (e.g. BGV A3 in Germany)
Read the Operation Manual first!
Read the Operation Manual and the reference documents first!
• Follow the safety instructions!
• Refer to the user information!
U
V
N
U
V
N
Electric drives are dangerous:
• Electrical voltages 230 V AC / 320 V DC to 480 V AC / 770 V DC
Dangerously high voltages ≥ 50 V (capacitor charge) may still be present 10 minutes after
the power is cut to the size 5 and size 6A. The discharge time depends on the number of
drives connected to the multi-axis system. So check that no voltage is connected!
• Rotating parts
• Hot surfaces
L+
RB
L-
L+
RB
L-
L3
L2
L1
L3
L2
L1
During installation observe the following instructions:
• Always comply with the connection conditions and technical specifications.
• Comply with the standards for electrical installations, such as regarding wire cross-section,
PE conductor and earth connections.
• Do not touch electronic components and contacts (electrostatic discharge may destroy
components).
Table 1.1 Safety precautions
Risk of burning by hot components!
• The heat sink of the inverter, the choke, the transformer, the filters and the fuses become
very hot in operation.
− Make sure the components have cooled down to ambient temperature before carrying
out any work. Or wear protective clothing and gloves when working close to hot
components.
Risk of burning by hot coolant!
• The coolant gets hot during operation. Make sure the coolant has cooled down to ambient
temperature before carrying out any work.
moog
Safety
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
9
Safety
moog
1.1.2
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Warning symbols used
Commissioning (i.e. putting the device to its intended use) is only permitted in
compliance with the EMC Directive (2004/108/EC).
The safety instructions detail the following hazard classes. The hazard class defines the
risk posed by failing to comply with the safety notice.
Warning symbols
!
General explanation
ATTENTION!
Misoperation may result in damage to
the drive or malfunctions.
DANGER FROM ELECTRICAL
TENSION!
Improper behaviour may endanger
human life.
The Power Supply Unit conforms to the Low Voltage Directive 2006/95/EC.
Hazard class to ANSI Z 535
Serious injury or damage to property may
occur.
Death or serious injury will occur.
Table 1.2 Explanations of warning symbols
1.2
10
Intended use
The Power Supply Unit is intended for use in a Multi-Axis Servo Drive System. The multiaxis system comprises a Power Supply Unit with the mains connection set and a number
of Multi-Axis Servo Drives connected to it. In motorised mode, the Power Supply Unit
draws power from the supply system and makes it available to the connected Multi-Axis
Servo Drives via the DC link. In regenerative mode the power is stored in the DC link.
Temporarily surplus energy is fed back into the supply network by the Power Supply Unit
in sinusoidal form.
The Power Supply Unit additionally performs the function of a reactive power
compensator as required. (For details please consult your project engineer.)
The Power Supply Unit is a component intended for installation in stationary electrical
systems or machines.
When installed in machines the commissioning of the servo drive (i.e. start-up of
intended operation) is prohibited, unless it has been ascertained that the machine fully
complies with the provisions of the Machinery Directive 2006/42/EC; compliance with
IEC/EN 60204 is mandatory.
The Power Supply Unit conforms to the requirements of the harmonised product
standard IEC/EN 61800-5-1.
If the Power Supply Unit is used for special applications (e.g. in areas subject to explosion
hazard), the required standards and regulations (e.g. IEC/EN 60079-0: "Explosive
atmospheres - Part 0: Equipment - General requirements" and IEC/EN 60079-1:
"Explosive atmospheres - Part 1: Equipment protection by flameproof enclosures‚d’ “)
must always be observed.
Repairs may only be carried out by authorised repair workshops. Unauthorised opening
and incorrect intervention could lead to death, physical injury or material damage. The
warranty provided by Moog would thereby be rendered void.
NOTE:
Deployment of the Power Supply Unit in non-stationary equipment is classed
as non-standard ambient conditions, and is permissible only by special
agreement.
1.3
Usage contrary to intended use
The Power Supply Unit must not be used:
yy
without the mains connection set (filters, chokes)
yy
outside a switch cabinet
yy
in a photovoltaic system
yy
with a directly connected DC motor
yy
in island mode
1.4
Responsibility
Electronic devices are fundamentally not fail-safe. The company setting up and/or
operating the machine or system is itself responsible for ensuring that the drive is
rendered safe if the device fails.
IEC/EN 60204-1: "Safety of machinery - Electrical equipment of machines - Part 1:
General requirements" in the category "Electrical equipment of machines" sets out
safety requirements for electrical controls. They are intended to protect personnel and
machinery, and to maintain the function capability of the machine or system concerned,
and must be observed.
The function of an emergency stop system does not necessarily have to cut the power
supply to the drive. To protect against danger, it may be more beneficial to maintain
individual drives in operation or to initiate specific safety sequences. Execution of
the emergency off measure is assessed by means of a risk analysis of the machine
or plant, including the electrical equipment to EN ISO 12100: "Safety of machinery General principles for design - Risk assessment and risk reduction", and is determined
with selection of the circuit category in accordance with EN ISO 13849-1: "Safety of
machinery - Safety-related parts of control systems - Part 1: General principles for
design" (formerly DIN EN 954-1).
moog
Safety
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Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
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ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
12
2
2.1
!
!
!
Mechanical installation
The layout and installation of the Power Supply Unit and the Multi-Axis Servo Drives is
subject to the following basic rules:
yy
The backing plate must be well earthed.
yy
To attain the best result for effective EMC installation use a chromated or
galvanised backing plate. If backing plates are varnished, remove the coating
from the contact area. The size 5 and size 6A models have a rear panel made of
aluminised/galvanised sheet steel.
yy
Pollution severity 2 to IEC/EN 60664-1. For more information on environmental
conditions refer to the Table A.11, p. 70 appendix.
yy drill chippings, screws or foreign bodies dropping into the device;
yy
Cooling air must be able to flow through the device without restriction.
yy penetration of damp into the device.
yy
For installation in cabinets with convection (= heat loss is discharged to the
outside via the cabinet walls), always fit an internal air circulation fan.
yy
Devices with different housing variants (air-cooled and liquid-cooled) can be
installed next to each other in any combination.
yy
Devices with liquid-cooled housings have a spacer on the rear in place of the
heat sink. Consequently, it is possible to connect to devices with air-cooled
housings using the ready made-up DC link cables without additional measures
to compensate for differing unit depth.
yy
No minimum clearance between the devices is required. Exceptions to this rule
are the following air-cooled devices:
Notes for mechanical installation
ATTENTION!
During installation, please avoid:
ATTENTION!
The device is solely intended for installation in a stationary cabinet. The
cabinet must as a minimum provide IP4x protection. The servo drives must not
be installed in areas where they would be permanently exposed to vibrations.
For more information refer to the Table A.13, p. 71 appendix.
ATTENTION!
Risk of burning by hot components.
The device heats up in operation and at the heat sink may reach temperatures
of up to +100 °C (+212 °F). The connected chokes get hot during operation,
possibly reaching temperatures of up to +145 °C (+293 °F).
Keep a safe distance away from adjacent component assemblies. Make sure
the components have cooled down to ambient temperature before carrying
out any work. Or wear protective clothing and gloves when working close to
hot components.
NOTE:
For installation of the Power Supply Unit within a Multi-Axis Servo Drive
System, be sure also to observe the Operation Manual for the Multi-Axis Servo
Drives.
moog
ID no.: CA97556-001 Date: 03/2015
Mechanical installation
− Multi-Axis Servo Drive size 6A (Figure 2.5, p. 17 and Table 2.1, p. 18)
− Power Supply Unit size 6A (Figure 2.9, p. 19 and Table 2.2, p. 20)
yy
!
The maximum distance between the devices is dictated by the supplied ready
made-up cables, and is 2 mm (0.08 in) (for exceptions see above).
ATTENTION!
Use only the supplied DC link cable for the electrical connections between the
devices. If other cables are used, Moog can provide no guarantee of stable
and safe operation.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
13
Mechanical installation
moog
yy
Servo Drives may only be installed on one side (to the left or right) of larger
sized devices. On the other side a device of equal or smaller size must be
installed.
yy
A vertical offset of 18.5 mm (0.73 in) must be allowed between the top fixing
screws for devices of size 1 to size 5 and devices of size 6A (see Figure 2.5 and
Figure 2.9).
If you need more details on installation please contact the Moog Helpline (see
section 5.3, p. 65).
2.2
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
2.2.2
14
Cabinet design
The placement of components in the switch cabinet is a key factor in operating plant
and machinery without disturbance. Your planning should take account of the following
points:
yy
Assess the assemblies used in terms of their electromagnetic compatibility.
yy
Split the cabinet into zones of different power and interference levels.
yy
Keep units susceptible to interference at a minimum clearance of 200 mm
(7.87 in) from the following components:
− Servo drive
Effective EMC installation
− Input and output chokes, transformers
− Mains, motor, DC power supply and braking resistor cables (even if shielded)
2.2.1
General notes
− Relays and contactors (even if interference-suppressed)
yy
When installing close, use isolating plates mounted directly and conductively on
the backing plate as shielding.
yy
When using a motor contactor or a reactance coil, the respective component
should be directly mounted to the servo drive.
yy
Do not use fluorescent lamps in cabinets, as they emit high-frequency
interference.
NOTE:
yy
The new EMC product standard for variable-speed electric drives is
IEC/EN ­61800-3:2008. The transition period for the old IEC/EN 61800-3:1996
ended on October 1, 2007.
Provide contactors, relays, solenoid valves, switched inductors and capacitors
with suppressors.
yy
The mains filter must be sealed tight as far as possible, and be mounted on
the backing plate across a wide area at the feed-in point. The backing plate
must have a low-resistance connection to the central earthing point. No
unfiltered cables may be routed on the mains input side of the filter, to prevent
interference.
Power Supply Units are components intended for installation in industrial and
commercial plant and machinery. They must only be installed in switch cabinets
providing minimum IP4x protection.
Commissioning (i.e. starting intended operation) is only permitted when strictly
complying with EMC product standard IEC/EN 61800-3.
The installer/operator of a machine and/or item of plant must provide proof of
compliance with the protection targets stipulated in the EMC standard.
The multi-axis system is a special case with regard to EMC installation. The high
DC link voltage (up to 770 V DC) and its routing over long cables between the Power
Supply Unit and Multi-Axis Servo Drives demands great care when implementing EMC
installation.
Timely planning and diligent implementation of the EMC installation measures detailed
here will help avoid complex and costly retooling of plant.
1)
Power cable
2)
Main switch
3)Fuses
4)Mains filter Unfiltered cables must be routed at a distance of least 200 mm (7.87 in) from the mains input side of the filter,
to prevent interference.
5)Circuit-breaker
11
PWR
6)
Mains contactor
7)
Input choke with connected capacitor
8)
Step-up choke
9)
Power Supply Unit
LOCK
CF
14
12
9
10
10) Multi-Axis Servo Drive
Power
COM
Data
Status
RS 232
RJ-45/Line
Reset
10
11) DC power supply via DC link cable
12) Braking resistor
10
13) Motor cables
14)Control
10
Figure 2.1 Example: Cabinet layout
3
5
0
OF
F
1
ON
2
0
6
NOTE:
Arrange the control section separately from the power section, so as to avoid
electromagnetic interference mechanisms.
13
4
8
Control and signal cables and shields have been omitted for the sake of clarity.
< 20
200 mm
1
7
moog
ID no.: CA97556-001 Date: 03/2015
Mechanical installation
yy
Use metallically bright backing plates.
yy
The rear panel of the servo drive must have good contact with the switch
cabinet earth. The contact area must be metallically bright, in order to make a
good earth connection to the cabinet earth. There must be no air gap between
the rear panel of the servo drive and the switch cabinet wall.
yy
The choke bases must have good contact with the cabinet earth. The contact
area must be metallically bright, in order to make a good earth connection to
the cabinet earth.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
15
Mechanical installation
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
1
= 0 mm
2
1) Backing plate metallically bright
2) Wide-area contact
Figure 2.2 Servo drive installation CORRECT
1
> 0 mm
2
1) Varnish
2) Air gap
Figure 2.3 Servo drive installation INCORRECT
16
Multi-Axis Servo Drive size 1
Multi-Axis Servo Drive size 2
Multi-Axis Servo Drive size 3
Multi-Axis Servo Drive
size 6A
Figure 2.4 Butt-mounting, axis array, air-cooled, with Power Supply Unit size 5
Mark out the position of the tapped holes on the backing plate.
Cut a tap for each fixing screw in the backing plate.
Pay attention to the installation clearances. Also take into account the bend radius of the
connecting cables. Dimensional drawings/hole spacing see Figure 2.6 and Table 2.1..
Multi-Axis Servo Drive
size 6A
air-cooled
air-cooled
Figure 2.5 Butt-mounting, axis array, air-cooled, with Power Supply Unit size 6A
moog
ID no.: CA97556-001 Date: 03/2015
Mechanical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
17
Multi-Axis Servo Drive size 1
Power Supply Unit
size 6A
Multi-Axis Servo Drive size 2
Mount the Power Supply Unit vertically and abutting on the backing plate.
The contact area must be metallically bright. For the DC power supply use the supplied ready
made-up cables. The next stage is installation of the mains connection set.
Multi-Axis Servo Drive size 3
18.5 mm (0.73 in)
Multi-Axis Servo Drive size 4
3.
Power Supply Unit
size 6A
Multi-Axis Servo Drive size 5
2.
Arrange the devices starting from the Power Supply Unit to the right or left sorted in descending
order of power output, in order to exclude thermal influences. Before installing the devices and
components in the cabinet refer to the instructions relating to EMC installation.
Align Power Supply Unit size 5 and all Multi-Axis Servo Drives in a line along the top edge of
the unit (see dotted line in Figure 2.4). This is necessary in order to execute the DC power supply
using the ready made-up cables.
Align all Multi-Axis Servo Drives in a line along the top edge of the unit. Align Power Supply Unit
size 6A offset 18.5 mm (0.73 in) down (see Figure 2.5). This is necessary in order to execute
the DC power supply using the ready made-up cables. Be sure to adhere to the mounting
clearances set out in Table 2.1.
18.5 mm (0.73 in)
Multi-Axis Servo Drive size 4
1.
Power Supply Unit installation
Air-cooled housing
Multi-Axis Servo Drive size 5
2.3
Mechanical installation
moog
2.3.1
Dimensions, air-cooled housing
Size
Device
Size 5
G396-026-xxx-xxx
G396-050-xxx-xxx
Size 6A
G396-075-xxx-xxx
G396-110-xxx-xxx
13 kg (28.7 lb)
32 kg (70.6 lb)
190 (7.48)
280 (11.02)
345 (13.58)
540 (21.26)
240 (9.45)
322 (12.68)
Weight
B (width)
H (height)
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
1)
T (depth) 1)
A
150 (5.91)
200 (7.87)
C
407 (16.02)
581 (22.87)
C1
6 (0.24)
10 (0.39)
H1
419 (16.50)
600 (23.62)
H2
15 (0.59)
20 (0.79)
H3
64 (2.52)
166 (6.54)
D
Ø 6 (0.24)
Ø 10 (0.39)
4 x M5
4 x M8
Direct butt-mounted, maximum
2 (0.08)
Direct butt-mounted, maximum
2 (0.08) / 40 2)
Fixing screws
E
D
H1 H
C
H3 H2
C1
A
B
T
Figure 2.6 Dimensional drawing, air-cooled housing, example for size 5
E
F
≥180 (7.09)
F 3)
G
D
≥300 (11.81)
3)
≥500 (19.69)
All Dimensions in mm (in),
1) Without terminals, connectors
2) Mounting distance size 6A to other size 6A
3) Also take into account the bend radius of the connecting cables
Table 2.1 Dimensions, air-cooled housing
NOTE:
Arrange devices with different drive power in descending order of power
output (e.g. viewed from the left size 4-size 3-size 2-size 1). This minimises the
mutual thermal influence. The Power Supply Unit must always be arranged on
the side of the most powerful servo drive. When butt-mounting other devices
with the multi-axis system, you must make sure that the devices do not affect
one another thermally.
F
Figure 2.7 Mounting distance, air-cooled housing, example for size 5
G
18
When fitting the hose connections (not supplied) in the pipe sockets, brace with a 22 mm
(0.87 in) open-ended wrench in order to prevent damage to the device by torsion.
Ensure a perfect liquid-tight connection (e.g. using a Teflon sealing strip).
For more information on liquid cooling refer to section A.4, p. 70.
The next stage is installation of the mains connection set.
Multi-Axis Servo Drive size 1
Multi-Axis Servo Drive size 2
Multi-Axis Servo Drive
size 6A
liquid-cooled
liquid-cooled
Multi-Axis Servo Drive size 1
Power Supply Unit
size 6A
Multi-Axis Servo Drive size 2
Mount the Power Supply Unit vertically and abutting on the backing plate.
The contact area must be metallically bright. For the DC power supply use the supplied ready
made-up cables.
18.5 mm (0.73 in)
Multi-Axis Servo Drive size 3
4.
Figure 2.8 Butt-mounting, axis array, liquid-cooled, Power Supply Unit size 5
Mark out the positions of the tapped holes and the pipe socket on the backing plate.
Drill holes and cut a thread for each fixing screw in the backing plate.
Pay attention to the installation clearances. Also take into account the bend radius of the
connecting cables. Dimensional drawings/hole spacing see Figure 2.8 to Figure 2.10 and
Table 2.2.
Multi-Axis Servo Drive size 4
3.
Power Supply
Unit size 5
Multi-Axis Servo Drive size 5
2.
Arrange the devices starting from the Power Supply Unit to the right or left sorted in descending
order of power output, in order to exclude thermal influences. Before installing the devices and
components in the cabinet refer to the instructions relating to EMC installation.
Align Power Supply Unit size 5 and all Multi-Axis Servo Drives in a line along the top edge of
the unit (see dotted line in Figure 2.8). This is necessary in order to execute the DC power supply
using the ready made-up cables.
Align all Multi-Axis Servo Drives in a line along the top edge of the unit. Align Power Supply Unit
size 6A offset 18.5 mm (0.73 in) down (see Figure 2.9). This is necessary in order to execute
the DC power supply using the ready made-up cables.
Multi-Axis Servo Drive size 3
1.
Power Supply Unit installation
Liquid-cooled housing
Multi-Axis Servo Drive size 4
2.4
Figure 2.9 Butt-mounting, axis array, liquid-cooled, Power Supply Unit size 6A
moog
ID no.: CA97556-001 Date: 03/2015
Mechanical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
19
Mechanical installation
moog
2.4.1
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Dimensions, liquid-cooled housing
Size
Device
Weight
Size 5
G396-026-xxx-xxx
G396-050-xxx-xxx
Size 6A
G396-075-xxx-xxx
G396-110-xxx-xxx
13 kg (28.7 lb)
32 kg (70.6 lb)
190 (7.48)
280 (11.02)
B (width)
345 (13.58)
540 (21.26)
T (depth) 1)
239 (9.41)
285 (11.22)
A
150 (5.91)
200 (7.87)
A1
40 (1.57)
65 (2.56)
H (height)
1)
70 (2.76)
A2
C
407 (16.02)
581 (22.87)
C1
6 (0.24)
10 (0.39)
H1
419 (16.50)
600 (23.62)
H2
15 (0.59)
20 (0.79)
H3
54 (2.13)
57 (2.24)
H4
64 (2.52)
166 (6.54)
74 (2.91)
D1
D
Fixing screws
Ø 7 (0.28)
Ø 10 (0.39)
4 x M6
4 x M8
3/8 inch
S inside thread
Ø 48 (1.89)
D1 Hole for pipe socket
E 2)
Direct butt-mounted, maximum 2 (0.08)
F 2) 3)
≥180 (7.09)
G
2) 3)
≥300 (11.81)
All dimensions in mm (in)
1) Without terminals/connectors
2) See Figure 2.11,
3) Also take into account the bend radius of the connecting cables
Table 2.2 Dimensions, liquid-cooled housing
≥ 500 (19.69)
D
D
H1 H
C
D1
S
A2
H3
H4 H2
C1
A
B
A1
T1
T
Figure 2.10 Dimensional drawing, liquid-cooled housing, example for size 5
20
E
F
G
2.5
Cooling circuit connection
NOTE:
Connect the liquid cooling feed to the connection marked. The cooling circuit
must be vented prior to commissioning. For more information on liquid
cooling refer to section A.4, p. 70.
The device holds approximately 0.5 litres of cooling fluid. When the connections have
been cut, there may still be residual fluid in the device which may spill out if it is tipped.
We recommend using a non-drip fluid coupling (not supplied) to prevent leakage of
cooling fluid and enable connecting and disconnecting the device while filled with fluid.
The connection set cooling circuit can be ordered separately.
F
flow return
Figure 2.11 Mounting distance, liquid-cooled housing, example for size 5
1
NOTE:
2
Arrange devices with different drive power in descending order of power
output (e.g. viewed from the left size 4-size 3-size 2-size 1). This minimises the
mutual thermal influence. The Power Supply Unit must always be arranged on
the side of the most powerful servo drive.
2
3
4
5
When butt-mounting other devices with the multi-axis system, you must make
sure that the devices do not affect one another thermally.
flow
1)
Liquid connection with 3/8 inch inside thread
2)
90° angle connector with 3/8 inch inside and outside thread
3)
Non-drip fluid coupling
4)
Non-drip quick-coupler with hose connection
5)
PUR (polyurethane) hose with clamp
Items 2 to 5 are not included in the supply package.
return
Figure 2.12 Cooling circuit connection
moog
ID no.: CA97556-001 Date: 03/2015
Mechanical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
21
Mechanical installation
moog
2.6
1.
2.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
22
Step-up choke installation
Arrange the components and cables at a distance of >100 mm (3.94 in) from the step-up choke,
so as to minimise influencing of the adjacent components by magnetic leakage flux and ensure
adequate air circulation for cooling. Position the step-up choke as close as possible to the Power
Supply Unit.
Mark out the position of the tapped holes on the mounting rail.
Cut a tap for each fixing screw in the backing plate.
Take into account the bend radius of the connecting cables.
Dimensional drawings/hole spacing see Figure 2.13 and Table 2.3.
H
A
B
Mount the step-up choke on the mounting rail.
The tapping area will provide you with good, full-area contact. The contact area must be
metallically bright, in order to make a good earth connection to the cabinet earth.
A1
D1
T
2.6.1
For size
For model
Dimensions
Size 5
G396-026
G396-050
Size 6A
G396-075
G396-110
Figure 2.13 Dimensional drawing, step-up choke, example for size 5 and size 6A
B (width)
239 (9.41)
299 (11.77)
335 (13.19)
380 (14.96)
H (height)
273 (10.79)
300 (11.81)
344 (13.54)
399 (15.71)
NOTE:
T (depth)
124 (4.88)
135 (5.31)
158 (6.22)
200 (7.87)
A
185 (7.28)
210 (8.27)
248 (9.76)
280 (11.02)
The step-up choke is a primary heat source, and should be treated as a
hotspot component. This component is cooled by natural air convection
(gravity circulation). In order to make effective use of this physical effect, this
component should be installed in the lower plinth area of the switch cabinet
on stable mounting rails (permitting unhindered air flow from below). When
selecting the position, air inlet at the filter mat or – better still – at the input
fan zone is advisable.
A1
75 (2.95)
95 (3.74)
122 (4.80)
127 (5.0)
D1
10 x Ø 18 (0.71)
12 x Ø 20 (0.79)
12 x Ø 20 (0.79)
12 x Ø 20 (0.79)
4 x M10
4 x M10
Fixing screws
Weight
4 x M8
16 kg (35.27 lb)
All dimensions in mm (in) and excluding terminals/connectors
Table 2.3 Step-up choke dimensions
27 kg (59.52 lb) 37.5 kg (82.67 lb)
4 x M10
56 kg (123.46 lb)
2.7
1.
2.
Installation of input choke with membrane
capacitor
H
Arrange the components so as to ensure sufficient air circulation for cooling. As the membrane
capacitor has a viscose filling, the input choke must be installed upright with the membrane
capacitor.
Mark out the position of the tapped holes on the mounting rail.
Cut a tap for each fixing screw in the backing plate.
Take into account the bend radius of the connecting cables.
Dimensional drawings/hole spacing see Figure 2.14 and Table 2.4.
Mount the input choke on the mounting rail.
The tapping area will provide you with good, full-area contact. The contact area must be
metallically bright, in order to make a good earth connection to the cabinet earth.
2.7.1
A1
B
D1
T
Dimensions
Figure 2.14 Dimensional drawing, input choke, example for size 5
For size
For model
Size 5
G396-026
G396-050
Size 6A
G396-075
G396-110
B (width)
289 (11.38)
289 (11.38)
342 (13.47)
348 (13.70)
H (height)
252 (9.92)
268 (10.55)
292 (11.50)
321 (12.64)
T (depth)
119 (4.86)
136 (5.35)
175 (6.89)
175 (6.89)
A
156 (6.14)
156 (6.14)
176 (6.93)
176 (6.93)
A1
63 (2.48)
80 (3.15)
95 (3.74)
95 (3.74)
D1
7 x Ø 13 (0.51)
7 x Ø 13 (0.51)
9 x Ø 13 (0.51)
9 x Ø 13 (0.51)
4 x M6
4 x M6
4 x M8
4 x M8
10.5 kg (23.15 lb)
14 kg (30.86 lb)
20 kg (44.09 lb)
22 kg (48.50 lb)
Fixing screws
Weight
A
All dimensions in mm (in) and excluding terminals/connectors
Table 2.4 Input choke dimensions
moog
ID no.: CA97556-001 Date: 03/2015
Mechanical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
23
Mechanical installation
moog
2.8
1.
2.
2.8.1
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Mains filter installation
Arrange the components so as to ensure sufficient air circulation and cooling.
Mark out the position of the tapped holes on the backing plate.
Cut a tap for each fixing screw in the backing plate.
Take into account the bend radius of the connecting cables.
Dimensional drawings/hole spacing see Figure 2.15 and Table 2.5.
C
H
Mount the mains filter on the backing plate.
The tapping area will provide you with good, full-area contact. The contact area must be
metallically bright.
Dimensions
ØG
PE
A
For size
For model
Size 5
G396-026
G396-050
Size 6A
G396-075
G396-110
Type
FFU 3 x 56 K
FFU 3 x 80 K
FFU 3 x 130 K
FFU 3 x 180 K
B (width)
85 (3.35)
80 (3.15)
90 (3.54)
130 (5.12)
H (height)
250 (9.84)
270 (10.63)
270 (10.63)
380 (14.96)
T (depth)
90 (3.54)
135 (5.31)
150 (5.91)
180 (7.09)
A
60 (2.36)
60 (2.36)
65 (2.56)
102 (4.02)
C
235 (9.25)
225 (8.86)
255 (10.04)
365 (14.37)
GØ
5.4 (0.21)
6.5 (0.26)
6.5 (0.26)
6.5 (0.26)
Mounting screws
Weight
M5
M6
M6
M6
1.9 kg (4.19 lb)
2.6 kg (5.73 lb)
4.2 kg (9.26 lb)
6.0 kg (13.23 lb)
All dimensions in mm (in) and excluding terminals/connectors
Table 2.5 Mains filter dimensions
B
T
Figure 2.15 Dimensional drawing, mains filter, example for size 5 and size 6A
24
3
3.1
Electrical installation
!
!
!
During installation, please avoid:
yy screws or cable residues dropping into the device;
yy penetration of damp into the device.
Before you start
NOTE:
For installation of the Power Supply Unit within a Multi-Axis Servo Drive
System, be sure also to observe the Operation Manual for the Multi-Axis Servo
Drives.
Please be sure to observe the following notices and warnings before and during
electrical installation.
!
ATTENTION!
DANGER FROM ELECTRICAL TENSION!
Danger to life! Never wire or disconnect electrical connections while they are
live. Always disconnect the power before working on the device. Dangerously
high voltages ≥50 V (capacitor charge) may still be present 10 minutes after
the power is cut to the size 5 and size 6A. The discharge time depends on
the number of drives connected to the multi-axis system. So check that the
power has been cut! Hazardous voltage may be applied to the device, even if
the device does not show any visual signs or emit any audible signals. On the
size 5 and size 6A for example: with mains voltage applied to terminal X12 or
X21 and missing control voltage +24 V on X9, X10. So check that no voltage is
connected!
3.2
Effective EMC installation
3.2.1
Cable type
yy
Use shielded mains power, motor and signal cables as set out in Figure 3.7,
p. 30. Use a cable type with double copper braiding, with 60 - 70 %
coverage, for all shielded connections.
yy
If very large cable cross-sections have to be installed, shielded single wires may
also be used instead of shielded cables.
ATTENTION!
Installation must only be carried out by qualified electricians who have
undergone instruction in the necessary accident prevention measures.
ATTENTION!
!
ATTENTION!
Use only the supplied DC link cable for the electrical connections between the
devices. If other cables are used, Moog can provide no guarantee of stable
and safe operation.
The device heats up in operation and at the heat sink may reach temperatures
of up to +100 °C (+212 °F). The connected chokes heat up in operation and
may reach temperatures of up to +145 °C (+293 °F). Keep a safe distance from
adjacent assemblies.
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25
Electrical installation
moog
3.2.2
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Cable laying
Pay attention to the following points when laying cables:
yy
Lay mains, motor and signal cables isolated from each other. Observe a
minimum clearance of 200 mm (7.87 in).
yy
When installing close, use isolating plates mounted directly and conductively on
the backing plate as shielding.
yy
Lay the conductors tight to the earth potential. When using plastic cable ducts,
they must be mounted directly on the backing plates or the frame. Cables must
not be spanned over free space, otherwise they might act as antennas.
yy
Avoid unnecessary cable lengths and “spare loops”.
yy
Lay long cables at locations not susceptible to interference. Otherwise
additional coupling points may be created.
yy
Lay motor cables without interruptions (e.g. not via terminals) and by the
shortest route out of the cabinet.
yy
Twist cables of the same circuit.
yy
Ideally, lay the signal cables isolated from the encoder cables.
yy
All signal cables should be grouped together and routed away upwards.
yy
Avoid extending cables by way of terminals.
yy
Earth residual wires on at least one side, so as to prevent static.
3.2.3
26
Earthing
All earthed points and components must, as far as possible, be routed by low-resistance,
highly conductive means directly to the central earthing point (e.g. PE rail, main earth).
This creates an earthing system which connects all connection locations in a star
configuration to the earthing point. This central earthing point must be unambiguously
defined. This earthing point can be expanded across the entire backing plate with an
EMC connection.
Pay attention to the following points in relation to earthing:
yy
Earthed surfaces act as shields and reduced electromagnetic fields in the
surrounding area. Consequently, metallic surfaces should be connected to earth
via low-resistance HF connections. In EMC terms, it is not the cross-section of
the cable which is decisive, but the surface on which high-frequency currents
(caused by the skin effect) can discharge.
yy
Connect the PE conductors of the components in a star configuration inside the
cabinet.
yy
Avoid plug-in connections.
yy
Also connect the walls and doors of the cabinet to earth.
yy
Large openings in the cabinet (windows, fans, display) will impede the shielding
effect of the cabinet and must be protected by additional shielding for the HF
area.
yy
Earth residual wires on at least one side, so as to prevent static.
yy
Remove paint and corrosion from contact points and connect them across a
wide area.
yy
Tin-plated, galvanised, aluminised or cadmium-plated elements should be
preferred to painted components. This will also avoid having to scratch off
varnish layers. Avoid plug-in connections, or use multiple contacts for the shield
connection in the connector. The Power Supply Units have a rear panel made of
aluminised and galvanised sheet steel.
yy
For more information on the PE conductor cross-section see Table 3.2, p. 33.
3.2.4
Shielding
Shielding should take account of the following points:
yy
Use shielded mains power, motor and signal cables as set out in Figure 3.7,
p. 30. Use a cable type with double copper braiding, with 60 - 70 %
coverage, for all shielded connections.
yy
Apply the shield on both sides, across a wide area. Extending the shield to the
earthing point by a wire (pigtail) will reduce the shielding effect by as much as
90 %.
Figure 3.3 Power Supply Unit shield connection
Figure 3.1 Shield connection CORRECT
Figure 3.2 S hield connection INCORRECT - do not use an extension wire to the earthing point
(pigtail)
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
yy
Do not strip the shield too early.
yy
Shields must not be used for current carrying, such as replacing the N or PE
conductor.
yy
The shielding effect can be improved by laying in metal ducts/pipes.
yy
If very large cable cross-sections have to be installed, shielded single wires may
also be laid instead of shielded cables.
yy
Shields must be applied on at least one side. Multi-layer application is
recommended, otherwise equipotential bonding currents may flow through
widespread systems. If long earth connections are subject to interference, they
can be made by way of coupling capacitors. This enables a high-frequency
connection to discharge interference, without transmitting the 50 Hz
component.
yy
The choke bases must have good contact with the cabinet earth. The contact
area must be metallically bright, in order to make a good earth connection to
the cabinet earth.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
27
Electrical installation
moog
3.3
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Overview of connections
3.3.2
Layout, size 6A (G396-075 and G396-110)
The following shows the layout with the corresponding positions of connectors and
terminals. To aid orientation, the connectors and terminals are labelled by abbreviations.
3.3.1
PE
Layout, size 5 (G396-026 and G396-050)
X21
X11
X9/X10
X11
PE
X21
D1/D2
T1/T2
X9/X10
X1
X2
X3
D1/D2
T1/T2
X4
X1
X5
X2
X3
Option 1
X4
SW
HW
X5
Option 1
SW
HW
X12
Figure 3.4 Layout, size 5
X12
Figure 3.5 Layout, size 6A
28
3.3.3
Overview of connections, size 5 and size 6A
X 11
INSER
T
D 1, D 2
MMC
MultiMediaCar
d
X1
MMC-Slo t
Ser vice
interface
USB 1. 1
Ser vice
interface
Ether net
X
+
1
2 –
+
1
2 –
X 10
2
X9
Control
X3
X 21
L1
L2
L3
N
X4
3
4
5
6
ISA00+
ISA00ISA01+
ISA01-
HREL
24 V DC supply for
control electronics (UV)
Mains synchronisation
and precharge
Mains contactor
Front
18 ISD03
19 ISD04
20 ISD05
21 ISD06
Bottom
23
24
X 12
Relai s
OSD04
7 OSD00
8 OSD01
9 OSD02
T1, T2
Pushbuttons
Service functions
p. 59
Communications
Optional module for fieldbusses, e.g. SERCOS,
PROFIBUS-DP, EtherCAT or CANopen
p. 47
X1
Slot for MMC removable
storage device
Enables firmware download without PC for example
p. 63
X2
USB 1.1 port
Service interface, Plug & Play connection to PC
p. 47
X3
Ethernet port
Service interface, fast TCP/IP port (RJ45)
p. 47
X4
Control connections
8 digital inputs, 3 digital outputs, 1 additional relay
output
p. 44
X5
Temperature monitor
connection
KTY temperature sensor of step-up choke
p. 48
Connection of control supply
UV
Supply voltage for control electronics of servo drive,
24 V DC
p. 36
X11
DC power supply
Connection of DC power supply (size 6A protected),
PE connection
p. 40
p. 41
X12
Power connection
AC power connection (supply and mains feedback),
PE connection with shield, braking resistor,
(DC power supply connection, Power Supply Unit
size 6A to Multi-Axis Servo Drive size 6A)
p. 38
p. 38
p. 47
p. 43
X21
Connection of mains
synchronisation/DC link
precharge; auxiliary relay
Mains synchronisation, DC link precharge, mains
connection after precharge
p. 37
Rating plates
Software and Hardware rating plates
p. 4
Shield connection to earth
Possible via shield (optional)
-
Option 1
DC link
SW, HW
Table 3.1 Key to overview of connections, size 5 and size 6A
L3
L2
L1
1 DGND
2
Braking resistor
Page
p. 64
RB+
RB �
ZK �
ZK+
Function
Device status display
10 ENPO
22 ISDSH
12
RSH
11
Designation
7-segment display
X10, X9
Top
15 ISD00
16 ISD01
17 ISD02
ENPO
DC link cables
(Size 6A protected)
+
�
T 1, T 2
No.
D1, D2
+24V( U H )
Power connection
14
13 DGND
KTY temp. sensor
of step-up choke
Communication
fieldbuses
X5
Option 1
Figure 3.6 Overview of connections, size 5 and size 6A
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
29
Electrical installation
moog
3.3.4
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
30
Connection diagram, size 5
8
9
L1
L1.1
L2
L2.1
L3
L3.1
Key
10
L1
L1.1
1)
Mains fuses
L2
L2.1
2)
Mains supply/emergency stop
L3
L3.1
3)
Shield plates (grey)
4)
Step-up choke with KTY temperature sensor
11
PE
24 V DC
7
12
L3
L2
L1
13
maximum 8 A
6
L3.1
Mains filter
9)
Short-circuit-proof cables
X21
13) Auxiliary contactor (precharge/synchronisation)
+ �
+ �
+ � + �
X11
+ � + �
X9/10
+ �
X9/10
3
Multi-Axis
Servo Drive
19
X12
U V W
2
X12
ZK
+ �
L1 L2 L3
EtherCAT
Power Supply Unit
+ � + �
X9/10
X11
L3
X11
16
L3.1
L2.1
L1 L2 L3 N
EtherCAT
L1.1
L2.1
L2
L1
X5
L1.1
Mains contactor (after precharge by HREL)
8)
12) External 24 V DC control supply
15
1
Input choke with membrane capacitor
7)
11) Multi-axis system On/Off
nc
HREL
4
6)
10)Circuit-breaker
14
5
5)Above a cable length of >500 mm (19.69 in)
shielded cables should be used
Multi-Axis
Servo Drive
14)Connection of DC link precharge and mains
synchronisation
15)Floating contact:250 V AC/5 A or 30 V DC/6 A
(active when precharge complete)
16) Power Supply Unit size 5
17) AC power connection
18) Braking resistor with temperature sensor
19
X12
U V W
19) Multi-Axis Servo Drive
20)Cabinet
21)Field
RB
� +
17
20
L1 L2 L3 PE
Figure 3.7 Power Supply Unit connection diagram (schematic view)
18
�
Motor
3~
Motor
3~
!
NOTE:
Risk of Power Supply Unit destruction by incorrect wiring. Figure 3.7 shows
only a schematic view of the connection layout. The positions of the terminals
may vary according to device.
NOTE:
You will find a selection of potential mains contactors, circuit-breakers and
fuses in section A, p. 66.
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
31
Electrical installation
moog
3.3.5
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
32
Connection diagram, size 6A
8
9
L1
L1.1
L2
L2.1
L3
L3.1
Key
10
L1
L1.1
1)
Mains fuses
L2
L2.1
2)
Mains supply/emergency stop
L3
L3.1
3)
Shield plates (grey)
4)
Step-up choke with KTY temperature sensor
11
PE
24 V DC
7
12
L3
L2
L1
13
+ �
+ � + �
X21
+ � + �
X9/10
X9/10
X11
X11
Power Supply Unit
3
Multi-Axis
Servo Drive
19
X12
U V W
2
X12
ZK
+ �
L1 L2 L3
+ �
+ � + �
X9/10
X11
EtherCAT
+ �
16
L3.1
L2.1
L1 L2 L3 N
EtherCAT
X5
L1.1
Mains filter
9)
Short-circuit-proof cables
13) Auxiliary contactor (precharge/synchronisation)
L3
L2
L1
15
1
Mains contactor (after precharge by HREL)
8)
12) External 24 V DC control supply
nc
HREL
4
Input choke with membrane capacitor
7)
11) Multi-axis system On/Off
L3.1
L2.1
L1.1
14
5
6)
10)Circuit-breaker
maximum 8 A
6
5)Above a cable length of >500 mm (19.69 in)
shielded cables should be used
Multi-Axis
Servo Drive
19
X12
U V W
14)Connection of DC link precharge and mains
synchronisation
15)Floating contact:250 V AC/5 A or 30 V DC/6 A
(active when precharge complete)
16) Power Supply Unit size 6A
17) AC power connection
18) Braking resistor with temperature sensor
19) Multi-Axis Servo Drive
20)Cabinet
21)Field
RB
� +
17
20
21
L1 L2 L3 PE
Figure 3.8 Power Supply Unit connection diagram (schematic view)
18
�
Motor
3~
Motor
3~
!
NOTE:
Risk of Power Supply Unit destruction by incorrect wiring. Figure 3.8 shows
only a schematic view of the connection layout. The positions of the terminals
may vary according to device.
NOTE:
You will find a selection of potential mains contactors, circuit-breakers and
fuses in section A, p. 66.
3.4
Connection of PE conductors
The PE conductor cross-section depends on the cross-section of the outer conductor,
and is defined as follows in IEC/EN 61800-5-1. The leakage current is > 3.5 mA. Use PE
conductors with a cross-sectional area of ≥10 mm2 (0.02 in2) (Cu).
Cross-sectional area of outer conductors
[mm2 (in2)]
Minimum cross-sectional area
of corresponding PE conductor [mm2 (in2)]
Q ≤ 16 (0.03)
Q
16 (0.03) < Q ≤ 35 (0.05)
16 (0.03)
35 (0.05) < Q
Q/2
Table 3.2 PE conductor cross-section
3.4.1
1.
2.
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
PE conductor (X11) Power Supply Unit size 5
Earth each Power Supply Unit and Multi-Axis Servo Drive!
Connect the PE terminal X11/PE of the Power Supply Unit directly to the PE rail (main earth) in
the cabinet.
Select the PE conductor cross-section as per Table 3.2.
Use a suitable PE conductor for the purpose (screw M5). Also comply with local and national
regulations and conditions.
Connect the PE terminal X11/PE of the Power Supply Unit to the PE terminals X11/PE of the buttmounted Multi-Axis Servo Drives in series.
Use the ready made-up PE conductors.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
33
Electrical installation
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
X12
PE
Figure 3.9 Schematic: Connection of the PE conductor
Figure 3.10 Detail: Connection of the PE conductor
PE
X11
Multi-Axis Servo Drive size 2
Power Supply Unit
size 5
PE
X11
Multi-Axis Servo Drive size 3
PE
X11
Multi-Axis Servo Drive size 4
PE
X11
Multi-Axis Servo Drive size 1
3.4.2
PE
X11
1.
2.
34
PE conductor (X11) Power Supply Unit size 6A
Earth each size 6A supply unit and each size 6A Multi-Axis Servo Drive separately.
Connect the PE terminal X11/PE of the Power Supply Unit directly to the PE rail (main earth) in
the cabinet.
Use a suitable PE conductor for the purpose (screw M8). Also comply with local and national
regulations and conditions.
Select the PE conductor cross-section as per Table 3.2, p. 33.
Earth all other Multi-Axis Servo Drives size 5 to size 1 via a common PE conductor! Connect all
other PE terminals X11/PE of the butt-mounted Multi-Axis Servo Drives in series.
Connect the PE terminal X11/PE of the first butt-mounted Multi-Axis Servo Drive to the PE rail
(main earth) in the cabinet.
Use a suitable PE conductor for the purpose. Also comply with local and national regulations and
conditions.
Use the ready made-up PE conductors.
PE
X11
Multi-Axis Servo Drive size 2
PE
X11
Multi-Axis Servo Drive size 3
Power Supply Unit
size 6A
PE
X11
Multi-Axis Servo Drive size 4
PE
X11
Multi-Axis Servo Drive size 5
PE
X11
Multi-Axis Servo Drive size 1
3.4.3
PE
X11
1.
Figure 3.11 Schematic: Connection of the PE conductor
Connect the PE terminals of all other components, such as mains filters etc., in star configuration to the PE rail (main earth) in the cabinet. See Figure 3.7, p. 30.
Also comply with local and national regulations and conditions.
WARNING!
The chokes have no PE connection. They are intended solely for installation in
a cabinet, as with IP00 protection they offer no protection against direct or
indirect touch contact.
3.5
X12
PE
PE conductor components
Electrical isolation method
The control electronics, with its logic (µP), the inputs and outputs, are electrically
isolated from the power section (mains supply/DC link). All control terminals are
designed as safety extra-low voltage/protective extra-low voltage (SELV/PELV) circuits
and must only be operated with voltages from 5 V to 50 V, as per the relevant
specification. This provides reliable protection against electric shock on the control side.
The control electronics therefore need a separate control supply, compliant with the
requirements of a SELV/PELV.
The opposite overview shows the potential supplies for the individual terminals in detail.
This concept also delivers higher operational safety and reliability of the Power Supply
Unit.
SELV = Safety Extra Low Voltage
PELV = Protective Extra Low Voltage
Figure 3.12 Detail: Connection of the PE conductor
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
35
Electrical installation
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
VµP
USB1.1
X2
3.6
Ethernet
X3
ILIM
PE
Mains synchronisation
X21
DGND
X4/21
ISD06
VµP
ILIM
3.6.1
DGND
X4/10
ENPO
KTY temp. sensor
X5/ϑ − of step-up choke
X4/3
DGND
ISDSH
X4/14
UH X4/2
ILIM
DGND
F1
X4/13
DGND X4/1
A/D
X4/4
GNDµP
X4/5
A/D
X4/6
ISA01+
HREL
F4
X21
X10/+
Supply for
control electronics
24 V DC
!
X4/12
X4/11
GNDµP
X4/9
ϑ
DGND
Complex, in RC element Polyswitch
part nonlinear,
impedance
Figure 3.13 Electrical isolation method, size 5 and size 6A
GNDµP
RSH
+ −
X11
+ − + −
X9/10
ATTENTION!
Take suitable measures to provide adequate cable protection (e.g. fusing
10 A gG). If the permissible current capacity is exceeded, an additional
separate control supply must be connected.
NOTE:
X4/23
X4/24
F3
GNDµP
X9/10
Hazardous voltage may be applied to the device, even if the device does not
show any visual signs or emit any audible signals (e.g. with mains voltage
applied to terminal X12) and missing control voltage (+24 V on X9, X10)!
X10/-
X4/8
PE
+ − + −
WARNING!
X4/7
DGND
+ −
X9/10
Figure 3.14 Connection of control supply
UV
GNDµP
DGND
OSD02
+ − + −
UV
DGND
OSD01
X11
X11
X9/-
µP
DGND
+ −
X9/+
VµP
ϑ
L1 L2 L3 N
ISA01-
ϑ
OSD00
maxiumum 10 A
ISA00-
F2
F3
24 V DC
ISA00+
GNDµP
ϑ
ϑ
Control supply 24 V DC (X9, X10) for size 5 and size 6A
X5/ϑ +
GNDµP
ILIM
X4/22
Connection of supply voltages
The power supply for the Power Supply Unit is separated into the supplies for
control and power sections. The control supply must always be connected first, so
that activation of the Power Supply Unit can first be checked and the device can be
parameterised for the planned application.
GNDµP
X4/15
ISD00
ISD01
ISD02
ISD03
ISD04
ISD05
36
OSD04
The external control supply also supplies the digital inputs and outputs as well
as the control section (ICONTROLSECTION + II/O). Also pay attention to the current
demand on start-up and in operation. See section A.2, p. 6969.
3.6.2
NOTE:
Do not use the plug as a "switch" for a reset.
Specification of control supply
Control
supply
X9
•
•
•
•
•
UV = 24 V DC -20 % +10 %, stabilised and smoothed.
Max. Start-up/continuous current see Table A.7, p. 69
Back-up fuse rating for terminal maximum 10 A
Internal polarity reversal protection
The power supply unit used must have a safe and reliable isolation against
the mains system according to EN 50178 or IEC/EN 61800-5-1.
• Internally wired with X10
1/+
2/−
X10
1/+
2/−
• Internally wired with X9
Precharge and mains synchronisation (X21) for size 5 and
size 6A
The DC link is precharged via terminal X21/L1,L2,L3 (Figure 3.15, p. 38). At a defined
DC link voltage the contact of the internal relay on terminal X21/HREL is closed. The
mains contactor closes and switches the supply system to terminal X12/ L1,L2,L3. The
Power Supply Unit is synchronised with the mains via terminal X21/L1,L2,L3. Technical
data of mains contactor see section A.11, p. 73.
!
ATTENTION!
The cable must be protected by a circuit-breaker. Ensure the correct phase
angle of the conductors during installation (Figure 3.15, p. 38). Technical
data of circuit-breaker see A.12, p. 73.
Specification of precharge and mains synchronisation X21
Table 3.3 Specification of control supply
Precharge and
mains synchronisation
(L1, L2, L3)
L1
L2
L3
N
X21
Auxiliary relay
(HREL)
HREL
•
•
•
•
•
U = 400/460/480 V AC
IPrecharge = 20 A (falling over a period of < 1.5 s)
ISynchronisation < 100 mA
Cable cross-section = 1.0 ... 1.5 mm2 (0.002 ... 0.0023 in2)
(N: Not used)
• Max values of connection
• UMax = 30 V DC / IMax = 6 A
Table 3.4 Specification of precharge and mains synchronisation X21
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
37
Electrical installation
moog
Mains connection 400/480 V AC (X12) for size 5 and
Size 6A
8
9
L1
L1. 1
L2
L2. 1
L3
L3. 1
10
L1
L1. 1
L2
L2. 1
L3
L3. 1
11
24 V DC
L3. 1
L2. 1
L1. 1
14
L1 L2 L3 N
X21
+ �
+ � + �
X11
X9/10
L3
L2
15
L1
12) External 24 V DC control supply
3)
Shield plates (grey)
13) Auxiliary contactor (precharge/synchronisation)
4)
Step-up choke with KTY temperature sensor
14)Connection of DC link precharge and mains synchronisation
6)
Input choke with membrane capacitor
15)Floating contact:250 V AC/5 A or 30 V DC/6 A (active
when precharge complete)
7)
Mains contactor (after precharge by HREL)
16) Power Supply Unit size 6A
8)
Mains filter
17) AC power connection
9)
Short-circuit-proof cables
18) Braking resistor
10)Circuit-breaker
!
nc
HREL
5
X5
Power Supply Unit
16
L3. 1
4
L2. 1
11) Multi-axis system On/Off
Mains supply/emergency stop
L3
L2
L1
6
3
2
X12
ZK
+ �
L1 L2 L3
L1 L2 L3 PE
Mains fuses
2)
Figure 3.15 Connection of mains supply (schematic view)
13
1
12
38
1)
5)Above a cable length of >500 mm shielded cables should
be used
7
L1. 1
3.6.3
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
17
18
�
RB
� +
ATTENTION!
Danger to life! Never wire or disconnect electrical connections while they are
live. Always disconnect the power before working on the device. Dangerously
high voltages ≥50 V (capacitor charge) may still be present 10 minutes after
the power is cut to the size 5 and size 6A. The discharge time depends on the
number of drives connected to the multi-axis system. So check that no voltage
is connected!
Procedure:
1.
2.
!
Mains connection conditions
Define the cable cross-section depending on the maximum current and ambient temperature.
Cable cross-section according to local regulations and conditions.
Use shielded cables, as shown in Figure 3.15.
Wire the Power Supply Unit with the mains supply as shown in Figure 3.15.
Do not switch on the power!
For more information on connection of the terminal X21 precharge see section 3.6.2, p. 37.
For more information on connection of the components see section 3.15, p. 48 ff.
Technical data of components see section A.7, p. 72 ff.
If local regulations require the installation of a residual current operated
protective device, the following applies: In case of a fault the Power Supply
Unit is able to generate DC fault currents without zero crossing. The Power
Supply Unit therefore must only be operated with RCDs1) of type B for AC
fault currents, pulsating and smooth DC fault currents which are suitable for
servo drive operation - see IEC 60755. RCMs2) can additionally be used for
monitoring purposes.
1) Residual Current Protective Device
2) Residual Current Monitor
Short-circuit
ratio Rsc 1)
G396-026
(Sn = Pn = 26 kW)
G396-050
(Sn = Pn = 50 kW)
G396-075
(Sn = Pn = 75 kW)
Minimum requirements for the short-circuit
power at the mains connection for undisturbed
operation
800 kVA ... 1300 kVA
1500 kVA ... 2500 kVA
30 ... 50
G396-110
(Sn = Pn = 110 kW)
2250 kVA ... 3750 kVA
3300 kVA ... 5500 kVA
Table 3.5 Mains connection conditions
Size 5
G396-026
Size 6A
G396-050
0.5 ... 25 mm2 (0.0008 ... 0.04 in2)
(AWG 20...AWG 4) 1)
2.5 ... 4.5 Nm
Tightening torque
1)
Flexible cable with ferrule
2)
Flexible cable with or without ferrule
3)
With optional inserts for G396-075-xxx-xxx to reduce the diameter
moog
The term “short-circuit power” is a theoretical value of an apparent power occurring in a
current network when a short-circuit is caused at a transfer point.
1)Rsc is defined as the short-circuit ratio of the short-circuit power (Sk) at the mains connection to the rated power (Sn) of
the Power Supply Unit (Rsc = Sk/Sn).
Terminal X12/L1,L2,L3
Cable connection capacity
The requirement must be met in order to avoid impairment at the Power Supply Unit
and interference with other devices connected in parallel to this mains connection, and
to enable a reliable operating state.
MSD Power Supply
ATTENTION!
Size
Device
To ensure undisturbed operation on the supply system with a Power Supply Unit, a
minimum requirement for the short-circuit power at the mains connection applies. The
transition at the mains filter is defined as the mains connection.
ID no.: CA97556-001 Date: 03/2015
Electrical installation
G396-075
G396-110
50 ... 150 mm2
(0.08 ... 0.23 in2)
(10 ... 95 mm2
(0.02 ... 0.15 in2))3)
(AWG 0...
AWG 5/0) 2)
50 ... 150 mm2
(0.08 ... 0.23 in2)
(AWG 0...
AWG 5/0) 2)
25 ... 30 Nm
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
39
Electrical installation
moog
Note the following points:
yy
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Switching the mains power:
3.7
− In case of too frequent switching of the precharge, the unit protects itself
by high-resistance isolation from the system. After a rest phase of a few
minutes the device is ready to start once again.
yy
TN network and TT network: Permitted without restriction.
yy
IT network (isolated neutral point): Not permitted!
!
!
− In case of an earth fault the electrical stress is approximately twice as high.
Clearances and creepages to IEC/EN 61800-5-1 are no longer maintained.
yy
For more information on permissible current loads, technical data and ambient
conditions refer to the appendix.
DC power supply connection
ATTENTION!
Use only the supplied DC link cable for the electrical connections between the
devices. If other cables are used, Moog can provide no guarantee of stable
and safe operation.
ATTENTION!
The cover over terminal X11 (DC connection) on size 1 to size 5 must be closed
after installing the ready made-up cables. Operation without the cover is not
permitted.
NOTE:
NOTE:
Please be aware that the Power Supply Unit is not rated for electromagnetic
environment class 3 (IEC/EN 61000-2-4). Further measures are essential in
order for that environment class to be attained! For further information please
consult your project engineer.
40
Prior to commissioning, the value of the connected supply voltage must be set
in the servo drive. For more details see section 4.2.10, p. 57.
Terminal X11
Size
Device
Cable connection capacity
Size 5
G396-026
Size 6A
G396-075
G396-110
Use only the preassembled connecting
cables supplied.
(Hole diameter 5.5 mm (0.22 in))
Use the ready made-up cables supplied or 35 ... 95 mm2
(0.05 ... 0.15 in2)
(AWG 2...AWG 3/0) 1)
2.5 ... 4.5 Nm
25 ... 30 Nm
Tightening torque
1)
G396-050
Flexible cable with or without ferrule
3.7.1
1.
2.
3.
DC power supply connection(X11) size 5
Connect terminal X11/+ of the Power Supply Unit to terminal X11/+ of the next butt-mounted
Multi-Axis Servo Drive.
On the Multi-Axis Servo Drive connect the DC power supply conductor to the next butt-mounted
Multi-Axis Servo Drive.
Use the ready made-up DC power supply cables.
Connect terminal X11/- of the Power Supply Unit to terminal X11/- of the next butt-mounted
Multi-Axis Servo Drive.
On the Multi-Axis Servo Drive connect the DC power supply conductor to the next butt-mounted
Multi-Axis Servo Drive.
Use the ready made-up DC power supply cables.
Connect the touch protection to DC link terminals X11.
For more information refer to the Multi-Axis Servo Drive Operation Manual.
Figure 3.17 Detail: DC power supply connection, size 5
X11
X11
X11
+
–
X11
Multi-Axis Servo Drice size 1
+
–
Multi-Axis Servo Drice size 2
Power Supply Unit
size 5
+
–
Multi-Axis Servo Drice size 3
X11
+
–
Multi-Axis Servo Drice size 4
+
–
Figure 3.16 Schematic: DC power supply connection, size 5
moog
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Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
41
Electrical installation
moog
DC power supply connection (X11) size 6A
3.
Power Supply Unit
size 6A
+
– –
X11
X11
+
+
–
X11
X11
+
–
X11
Multi-Axis Servo Drice size 1
X11
+
–
Multi-Axis Servo Drice size 2
2.
Connect terminal X11/+ of the Power Supply Unit to terminal X11/+ of the next butt-mounted
Multi-Axis Servo Drive.
Use the ready made-up DC power supply cables.
Take off the shrink tubing on the round end.
Use the longer conductor for servo drives butt-mounted on the right.
Use the shorter conductor for servo drives butt-mounted on the left.
On the Multi-Axis Servo Drive connect the DC power supply conductor to the next butt-mounted
Multi-Axis Servo Drive.
–
Multi-Axis Servo Drice size 3
1.
+
Multi-Axis Servo Drice size 4
Size 6A connection to smaller Multi-Axis Servo Drives
Multi-Axis Servo Drice size 5
3.7.2
42
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Connect terminal X11/- of the Power Supply Unit to terminal X11/- of the next butt-mounted
Multi-Axis Servo Drive.
Use the ready made-up DC power supply cables.
Take off the shrink tubing on the round end.
Use the shorter conductor for servo drives butt-mounted on the right.
Use the longer conductor for servo drives butt-mounted on the left.
On the Multi-Axis Servo Drive connect the DC power supply conductor to the next butt-mounted
Multi-Axis Servo Drive.
Connect the touch protection to DC link terminals X11.
For more information refer to the Multi-Axis Servo Drive Operation Manual.
Figure 3.18 Schematic: Size 6A DC power supply connection to smaller Multi-Axis Servo Drives
+
–
X11
Power Supply Unit
size 6A
Multi-Axis Servo Drive size 6A
Figure 3.19 Detail: Size 6A DC power supply connection to smaller Multi-Axis Servo Drives
+
–
+
––
X11
X11
Size 6A connection to size 6A Multi-Axis Servo Drives
1.
2.
3.
Connect terminal X12/ZK+ of the Power Supply Unit to terminal X11/ZK+ of the next buttmounted Multi-Axis Servo Drive size 6A.
Use dedicated cables for the purpose.
The connection of the DC link must be made with parallel cables. The conductor cross-section
must be at least 50 mm2 (0.08 in2) (CU). The cables must be short-circuit and earth fault
proof, and shielded. Twist the cables or use a shield tube. A length of 2 m (6.56 ft) must not
be exceeded. If other cables are used, Moog can provide no guarantee of stable and safe
operation.
On the Multi-Axis Servo Drive connect the DC power supply conductor to the next butt-mounted
Multi-Axis Servo Drive.
X12
ZK
PE L1 L2 L3 + –
RB
- +
Figure 3.20 Schematic: DC power supply connection size 6A to size 6A
Connect terminal X12/ZK- of the Power Supply Unit to terminal X11/ZK- of the next buttmounted Multi-Axis Servo Drive size 6A.
On the Multi-Axis Servo Drive connect the DC power supply conductor to the next butt-mounted
Multi-Axis Servo Drive.
Use dedicated cables for the purpose.
Connect the touch protection to DC link terminals X11.
For more information refer to the Multi-Axis Servo Drive Operation Manual.
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
+
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
X11
43
Multi-Axis Servo Drive size 3
–
Multi-Axis Servo Drive size 4
+
Multi-Axis Servo Drive size 5
+ –
X11
Electrical installation
moog
3.8
1.
2.
3.
4.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Control connections (X4)
3.8.1
Des.
Check whether a complete device setup is already available, i.e. whether the drive has already
been configured.
If this is the case, a special control terminal assignment applies.
Please contact your project engineer to obtain the terminal assignment!
Choose a terminal assignment.
Wire the control terminals with shielded cables.
The following is strictly required: 24 VDC on X4/22 and ENPO X4/10 as start signal.
Earth the cable shields over a wide area at both ends.
Conductor sizes fixed: 0.2 to 1.5 mm2 (0.0003 to 0.0023 in2)
Flexible conductor sizes with ferrule: 0.2 to 1.5 mm2 (0.0003 to 0.0023 in2)
5.
Keep all contacts open
(inputs inactive).
6.
Check all connections again!
Continue with commissioning in section 4.2.10, p. 57.
ISA0+
ISA0ISA1+
ISA1-
Always wire the control terminals with shielded cables.
yy
Lay mains, motor, signal, DC power supply and braking resistor cables isolated
from each other. Observe a minimum clearance of 200 mm (7.87 in).
yy
A cable type with double copper braiding, with 60 - 70 % coverage, must be
used for all shielded connections.
Term.
Specification
Electrical isolation
X4/3
X4/4
X4/5
X4/6
No function
No
Digital inputs
ISD00
ISD01
ISD02
ISD03
ISD04
ISD05
ISDSH
ISD06
X4/15
X4/16
X4/17
X4/18
X4/19
X4/20
X4/22
X4/21
X4/10
X4
•
•
•
•
Frequency range < 500 Hz
Terminal scanning cycle = 1 ms
Switching level Low/High: ≤ 4.8 V / ≥ 18 V
at 24 V typ. 3 mA
•
•
•
•
Frequency range ≤500 Hz
Switching level Low/High: ≤ 4.8 V / ≥ 18 V
Imax at 24 V = 10 mA, RIN approx. 3 kΩ
Internal signal delay time < 2 μs suitable as trigger
input for quick saving of actual position
•
•
•
•
Frequency range < 500 Hz
Reaction time approx. 10 ms
Switching level Low/High: ≤ 4.8 V / ≥ 18 V
at 24 V typ. 3 mA
Yes
•
•
•
•
Short-circuit proof
Imax = 50 mA, PLC-compatible
Terminal scanning cycle = 1 ms
High-side driver
Yes
Yes
Yes
Digital outputs
OSD00
OSD01
OSD02
yy
Specification of control connections
Analog inputs
ENPO
Note the following points:
44
X4/7
X4/8
X4/9
Table 3.6 Specification of control connections
REL
24 12
REL
23 11
RSH
RSH
ISDSH
22 10
ENPO
ISD06
21 9
OSD02
ISD05
20 8
OSD01
ISD04
19 7
OSD00
ISD03
18 6
ISA1-
ISD02
17 5
ISA1+
ISD01
16 4
ISA0-
ISD00
15 3
ISA0+
+24V
14 2
+24V
DGND
13 1
DGND
Des.
Term.
Specification
Electrical isolation
Relay outputs
REL
RSH
RSH
X4/23
X4/24
X4/11
X4/12
• Relay, 1 NO contact
• Functions selectable as in case of
digital outputs
• 25 V / 1.0 A AC, cos ϕ = 1
• 30 V / 1.0 A DC, cos ϕ = 1
• Switching delay approx. 10 ms
• Cycle time 1 ms
+ 24 V
Standard terminal assignment
Terminal assignment with factory setting
X4
X4:23
X4:24
No function
Yes
• Auxiliary supply to feed the digital control inputs
• UH = UV-∆U (∆U typically approx. 1.2 V), no
destruction in case of short-circuit
• (+24 V -> GND), but device may briefly shut down.
• Imax = 80 mA (per pin) with self-resetting circuitbreaker (polyswitch)
X4
REL
Yes
Auxiliary voltage
X4/2
X4/14
3.8.2
Yes
24 12
RSH
DGND
• Reference earth for 24 V, with automatically resetting circuit-breaker (polyswitch)
X4
Description
REL
12
RSH
23
REL
11
RSH
ISDSH
10
ENPO
REL
23 11
RSH
22
ISDSH
22 10
ENPO
21
ISD06
9
ISD06
21 9
OSD02
OSD02
ISD05
20 8
OSD01
20
ISD05
8
OSD01
ISD04
19 7
OSD00
19
ISD04
7
OSD00
ISD03
18 6
ISA1-
ISD02
17 5
ISA1+
18
ISD03
6
ISA1-
17
ISD02
5
ISA1+
16
ISD01
4
ISA0-
15
ISD00
3
ISA0+
14
+24 V
2
+24 V
13
DGND
1
DGND
ISD01
16 4
ISA0-
ISD00
15 3
ISA0+
+24V
14 2
+24V
DGND
13 1
DGND
Digital ground (earth)
X4/1
X4/13
Description
24
Yes
ENPO
Figure 3.21 Control terminals default assignment (initial commissioning)
Table 3.6 Specification of control connections
NOTE:
NOTE:
With high currents flowing through the earth terminals a high resistance
isolation from the device earth is required. This may cause incorrect response
of the drive (avoid ring currents in the wiring).
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
The STO (Safe Torque Off) safety function is not required for the
Power Supply Unit, as no motors are connected. In order to start the Power
Supply Unit, a jumper must be placed between X4/14 and X4/22. The STO
safety function is used in conjunction with a Multi-Axis Servo Drive.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
45
Electrical installation
moog
3.9
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Functions of the digital inputs
The following functions can be selected for digital inputs ISD00 to ISD06:
Value
Value name
Description
0
MPRO_INPUT_FS_OFF
No function
1
MPRO_INPUT_FS_START
Start loop control
2
MPRO_INPUT_FS_E_EXT
External error on another device
3
MPRO_INPUT_FS_WARN
External warning on another device
4
MPRO_INPUT_FS_RSERR
Reset an error message
Table 3.7 Selectable functions of digital inputs ISD00 to OSD06
3.10 Functions of the digital outputs
Value
Value name
Value name
Description
Description
12
OUTPUT_FS_I_LIM_ACTIV
No function
13
OUTPUT_FS_ENMO
No function
14
OUTPUT_FS_PLC
No function
15
OUTPUT_FS_WARN
General warning
16
OUTPUT_FS_WUV
Warning: undervoltage in DC link (defined in P-0730[0,1])
17
OUTPUT_FS_WOV
Warning: overvoltage in DC link (defined in P-0730[2,3])
18
OUTPUT_FS_WIIT
Warning: I2t-power stage protection threshold reached
(defined in P-0730[6,7])
19
OUTPUT_FS_WOT_PTC
Warning: KTY sensor of step-up choke (defined in
P-0730[12,13])
20
OUTPUT_FS_WOTI
Warning: heat sink temperature of Power Supply Unit
(defined in P-0730[08,9])
21
OUTPUT_FS_WOTD
Warning: internal temperature in Power Supply Unit (defined
in P-0730[10,11])
22
OUTPUT_FS_WLIS
Warning: apparent current limit value exceeded (defined in
P-0730[4,5])
23
OUTPUT_FS_WLVOLT
Warning: DC link voltage limit value exceeded (defined in
P-0730[14,15])
The following functions can be selected for digital outputs OSD00 to OSD02:
Value
46
0
OUTPUT_FS_OFF
No function
24
OUTPUT_FS_COM_1MS
Setting outputs via COM Option in 1 ms cycle
1
OUTPUT_FS_ERR
General error
25
OUTPUT_FS_COM_NC
Setting outputs via COM Option in NC cycle
OUTPUT_FS_SH_S
No function
2
OUTPUT_FS_ACTIV
Control in function
26
3
OUTPUT_FS_S_RDY
Device initialised
27
OUTPUT_FS_BC_FAIL
Brake chopper fail error (Error = LOW)
OUTPUT_FS_WLPOW
Effective power limit exceeded (defined in P-0730[16,17])
OUTPUT_FS_GRID_OK
Mains OK (frequency AND voltage within tolerance window
= high)
4
OUTPUT_FS_PRECHARGE_RDY
Device precharged
28
5
OUTPUT_FS_C_RDY
Device ready (DC link voltage present)
29
6
OUTPUT_FS_REF
DC link voltage reference (setpoint) reached
7
OUTPUT_FS_E_FLW
No function
8
OUTPUT_FS_LIMIT
DC link voltage reference limitation active (the voltage is
outside the defined range.)
9
OUTPUT_FS_UDC_GT_UDCX
Actual DC link voltage higher than defined in parameter
P-0740 Voltage threshold
10
OUTPUT_FS_P_LIM_ACTIV
No function
11
OUTPUT_FS_UDC_LIM_ACTIV
DC link voltage reference limitation active (the voltage is
outside the defined range.)
Table 3.8 Selectable functions of digital outputs OSD00 to OSD02
3.11 Specification of USB port (X2)
3.14 Braking resistor (X12/RB)
The service and diagnostic interface X2 is executed as a USB V1.1 port. It is suitable only
for connection of a PC for commissioning, service and diagnosis purposes using the
Moog DriveAdministrator 5 software.
In regenerative operation, e.g. when braking the motor, power is routed into the DC
link of the multi-axis system and fed back via the Power Supply Unit to the mains.
If feedback to the mains is not possible (such as in the event of a power failure), the
internal braking transistor is activated and the regenerated power is converted into heat
by way of a braking resistor.
Technical specification:
yy
USB 1.1 standard - full speed device port
yy
Connection via standard commercially available USB interface cable type A to
type B (see also Programmable Multi-Axis Servo Drive System (MSD) Ordering
Catalog)
3.14.1 Connection of the external braking resistor
DANGER!
The service and diagnostic interface X3 is executed as an Ethernet port. It is suitable
only for connection of a PC for commissioning, service and diagnosis purposes using the
Moog DriveAdministrator 5 software.
Terminal RB+ is permanently switched to DC link potential (>300 V DC).
The connection is not protected inside the device. Never wire or disconnect
electrical connections while they are live. Always disconnect the power
before working on the device. Dangerously high voltages ≥50 V (capacitor
charge) may still be present 10 minutes after the power is cut to the size 5 and
size 6A. The discharge time depends on the number of drives connected to
the multi-axis system. So check that no voltage is connected!
Technical specification:
ATTENTION!
3.12 Specification of Ethernet port (X3)
yy
Transfer rate 10/100 MBits/s BASE-T
yy
Transfer profile conforming to IEEE802.3
yy
Connection via standard commercially available crosslink cable (see also
Programmable Multi-Axis Servo Drive System (MSD) Ordering Catalog)
!
The external braking resistor must be monitored by the control. The
temperature of the braking resistor is monitored by a temperature watchdog
(Klixon). In the event of overheating the Power Supply Unit must be
disconnected from the mains supply.
3.13 Option 1
Depending on the Power Supply Unit variant, option 1 is factory-configured with various
options. Field bus options such as EtherCAT or SERCOS are available.
You will find all available options in the Programmable Multi-Axis Servo Drive System
(MSD) Ordering Catalog. The user manuals for the respective options provide detailed
information on commissioning.
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
47
Electrical installation
moog
!
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
ATTENTION!
yy The external braking resistor can only be installed in conjunction with a
Power Supply Unit without an internal braking resistor.
yy Be sure to follow the installation instructions for the external braking
resistor.
yy The minimum permissible connection resistance of the Power Supply Unit
must not be infringed. Technical specifications for braking resistors see
Table A.2, p. 66, Table A.5, p. 68 and Table A.8, p. 69.
3.15 Overview of step-up choke connections
The following shows the layout with the respective positions and labelling of the
terminals. The temperature is evaluated with a KTY sensor via terminal X5. At +145 °C
(+293 °F) the Power Supply Unit is switched off. Technical data of step-up choke see
section A.7, p. 72.
WARNING!
yy The cable cross-section depends on the performance of the braking
resistor.
The choke has no PE connection. It is intended solely for installation in a
cabinet, as with IP00 protection they offer no protection against direct or
indirect touch contact.
yy The braking resistor may radiate intensive heat. So be sure to keep the
braking resistor an adequate distance from adjacent assemblies, or install it
outside the cabinet.
DANGER!
Terminal X12/RB
Size
Device
Cable connection capacity
Size 5
G396-026
Size 6A
G396-075
G396-110
G396-050
0.5 ... 25 mm2 (0.0008 ... 0.04 in2)
(AWG 20...AWG 4) 1)
25 ... 50 mm2 (0.04 ... 0.08 in2)
(AWG 4...AWG 0) 2)
2.5 ... 4.5 Nm
6 ... 8 Nm
Tightening torque
1)
Flexible cable with ferrule
2)
Flexible cable with or without ferrule
X12
L1 L2 L3
ZK
+ −
RB
− +
ϑ
Figure 3.22 Connection of external braking resistor (example: size 6A)
48
!
The choke will reach temperatures of up to +145 °C (+293 °F) when in
continuous operation! Touching may cause serious burns. Touch the choke
only wearing protective gloves, or after allowing it to cool for a lengthy period
of time.
3.16 Overview of input choke connections
L1 L1.1 L2 L2.1 L3 L3.1
ϑ
+−
L1 L1.1 L2 L2.1 L3 L3.1 ϑ
The following shows the layout with the respective positions and labelling of the
terminals. Technical data of input choke see section A.8, p. 7272.
+−
L1 L1.1 L2 L2.1 L3 L3.1
L1.1 L2.1 L3.1
L1.1 L2.1 L3.1
+ϑ
L1
L2
L3
−ϑ
L1
L2
L3
Figure 3.24 Input choke connections for size 5 and size 6A
For size
For model
Figure 3.23 Step-up choke connections for size 5 and size 6A
For size
For model
Size 5
G396-026
Power connections
Cable connection capacity (flexible without/
with ferrule)
1.5 .. 16 mm2
2.5 ... 35 mm2
(0.0023 ... 0.025 in2) (0.004 ... 0.05 in2)
1.5 .. 16 mm2
2.5 ... 35 mm2
(0.0023 ... 0.025 in2) (0.004 ... 0.05 in2)
(AWG 18...AWG 6) (AWG 12...AWG 0)
1.5 ... 2.4 Nm
(13.2...21.2 lb-in)
Tightening torque
4 ... 5 Nm
(35.4...44.2 lb-in)
G396-050
Size 6A
G396-075
G396-110
Power connections
Size 6A
G396-075
G396-110
G396-050
Size 5
G396-026
2.5 ... 35 mm2
(0.004 ... 0.05 in2)
2.5 ... 35 mm2
(0.004 ... 0.05 in2)
(AWG 12...AWG 0)
16 ... 120 mm
(0.025 ... 0.19 in2)
16 ... 90 mm2
(0.025 ... 0.15 in2)
(AWG 4...
kcmil 250)
4 ... 5 Nm
(35.4...44.2 lb-in)
12 ... 20 Nm
(106.2...177 lb-in)
2
Cable connection capacity
(flexible without/
with ferrule)
Tightening torque
16 ... 120 mm2
1.5 .. 16 mm2
2.5 ... 35 mm2
2.5 ... 35 mm2
(0.025 ... 0.19 in2)
2
2
2
(0.0023 ... 0.025 in ) (0.004 ... 0.05 in ) (0.004 ... 0.05 in )
16 ... 90 mm2
1.5 .. 16 mm2
2.5 ... 35 mm2
2.5 ... 35 mm2
(0.025 ... 0.15 in2)
2
2
2
(0.0023 ... 0.025 in ) (0.004 ... 0.05 in ) (0.004 ... 0.05 in )
(AWG 4...
(AWG 18...AWG 6) (AWG 12...AWG 0) (AWG 12...AWG 0)
kcmil 250)
1.5 ... 2.4 Nm
(13.2...21.2 lb-in)
4 ... 5 Nm
(35.4...44.2 lb-in)
4 ... 5 Nm
(35.4...44.2 lb-in)
12 ... 20 Nm
(106.2...177 lb-in)
Table 3.10 Input choke connections
WARNING!
KTY sensor
Cable connection capacity (flexible, with ferrule)
0.5 ... 2.5 mm (0.0008 ... 0.004 in )
(AWG 30...AWG 12)
2
0.4 ... 0.8 Nm (3.5 ... 7.0 lb-in)
Tightening torque
2
The choke has no PE connection. It is intended solely for installation in a
cabinet, as with IP00 protection they offer no protection against direct or
indirect touch contact.
Table 3.9 Step-up choke connections
moog
ID no.: CA97556-001 Date: 03/2015
Electrical installation
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
49
Electrical installation
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
3.17 Overview of mains filter connections
The following shows the layout with the respective positions and labelling of the
terminals. Technical data of mains filter see section A.9, p. 7373.
L1.1 L2.1 L3.1
PE
PE
L1.1 L2.1 L3.1
L1 L2 L3
PE
L1
L2
L3
PE
Figure 3.25 Mains filter connections for size 5 and size 6A
For size
For model
G396-026
Size 5
G396-050
Size 6A
G396-075
G396-110
Type
FFU 3 x 56 K
FFU 3 x 80 K
FFU 3 x 130 K
FFU 3 x 180 K
16 mm2 (0.025 in2)
25 mm2 (0.04 in2)
50 mm2 (0.08 in2)
95 mm2 (0.15 in2)
2 Nm
4 Nm
6 Nm
15 Nm
Power connections (L1,L2,L3)
Max. cable cross-section of
terminals
Tightening torque
PE conductor connections
Thread
Tightening torque
M6
M10
6 ... 8 Nm
15 ... 20 Nm
Table 3.11 Mains filter connections for size 5 and size 6A
50
4
Commissioning
1.
4.1
Notes for operation
2.
Switching on control voltage
External 24 V supply voltage
See section 3.6.1, p. 36 size 5 and size 6A.
3.
Communication setup with Moog Drive Administrator 5
For installation instructions refer to the Moog Drive Administrator 5 installation manual and
the Online Help.
!
ATTENTION!
yy Cooling air must be able to flow through the device and the mains
connection components without restriction.
yy Max. Pollution severity 2 to IEC/EN 60664-1.
Please be sure to avoid:
yy penetration of damp into the device;
yy aggressive or conductive substances in the immediate vicinity;
yy screws or cable residues dropping into the device;
yy ventilation openings being covered over, as otherwise the device may be
damaged.
Further information on environmental conditions can be found in the appendix.
4.2
Initial commissioning
(actuation via terminals)
The following details commissioning of the Power Supply Unit. The device is controlled
via control terminal X4. The reference (setpoint) for the DC link voltage is set internally as
a fixed value. Commissioning is divided into the following steps:
DANGER FROM ELECTRICAL TENSION!
Never wire or disconnect electrical connections while they are live. Disconnect
the device from the mains supply (400/460/480 VAC) before working on it.
Work on the device only once the DC link voltage has fallen below 50 V
residual voltage (measured at terminals X12/ZK+ and X12/ZK–).
moog
ID no.: CA97556-001 Date: 03/2015
Commissioning
4.
Wiring of components
See section 3.4, p. 33 ff.
Adaptation to the parameters of the supply system
5.
Automatic identification of DC link capacity and equivalent time constant of current
control
6.
Parameter setting of the drive for the DC link capacity
See section 4.2.7, p. 55.
7.
Parameter setting of the drive for the DC link voltage
See section 4.2.8, p. 56.
8.
Programming monitoring of the braking resistor
See section 4.2.9, p. 56.
9.
10.
Connecting mains supply voltage via main switch
Activating closed-loop control
Start with ENPO high.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
51
Commissioning
moog
4.2.1
yy
System requirements
Section 2, "Installation", and section 3, "Starting Moog DriveAdministrator 5", of
the Moog DriveAdministrator 5 Installation Manual worked through
yy
Connection between PC and Power Supply Unit (Ethernet or USB)
4.2.2
1.
ATTENTION!
During commissioning strictly comply with the safety regulations specified in
section 1, p. 9.
Wiring of components
For complete wiring all power supply, communication and service connections must be connected to the appropriate terminals, using the cables and leads provided for this purpose. Ensure
adequate shielding - see section 3.2, p. 25.
52
= selected setting/component
Installed Power Supply Unit (see section 3, p. 25) Details on initial
commissioning can be found in the following section 4.2.2, p. 52
yy
!
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Terminals
Terminal designation
Cable type
X9/10
+24 V DC / pin 1 = + , pin 2 = –
Standard
Precharge/mains synchronisation, auxiliary relay
X21
L1/L2/L3 (400/460/480 VAC)
HREL
Default
shielded
Mains supply
X12
L1/L2/L3/PE (400/460/480 VAC)
Default
shielded
Socket
Designation
Cable type
USB
X2
USB A
CC-USB 03
TCP / IP (Ethernet)
X3
RJ45
CC_ECL 03
Connections
Control supply
See section 3.3, p. 28
Table 4.1 Voltage supply
Connection
Table 4.2 Communication with PC using Moog DriveAdministrator 5 user software
DANGER FROM ELECTRICAL TENSION!
Never wire or disconnect electrical connections while they are live. Disconnect
the device from the mains supply (400/460/480 VAC) before working on it.
Work on the device only once the DC link voltage has fallen below 50 V
residual voltage (measured at terminals X12/ZK+ and X12/ZK–).
Terminals
Terminal designation
Cable type
+24 V DC
X4/22
ISDSH
Default
shielded
ENPO (Start)
X4/10
ENPO
Default
shielded
Connection
See section 3.8, p. 44
Table 4.3 Communication via terminals
4.2.3
2.
Switching on control voltage (24 VDC)
4.2.4
In order to initialise and parameterise the Power Supply Unit, only the 24 DC control voltage
supply needs first to be connected to X2 or X10. Ensure correct polarity.
After successful switching on you will be able to read two conditions in the 7-segment
display.
D1
D2
Action
Reaction
Explanation
Switch-on of ext. 24 V
control voltage
Initialisation OK
Initialisation time < 5 s
Not ready for start
No DC link voltage
Device is initialised
Table 4.4 Switch-on status of the Power Supply Unit (after connection of the 24 V control
supply)
3.
Communication with the Moog DriveAdministrator 5
The Moog Drive Administrator 5 user software must be installed on a PC. The PC can be
connected to the servo drive via USB or Ethernet (TCP/IP).
For a detailed description of Moog DriveAdministrator 5 refer to the
Moog DriveAdministrator 5 Online Help.
!
ATTENTION!
Communication between the PC and the servo drive may only be established
once the servo drive has completed its initialisation. The display D1/D2 no
longer indicates "88" or "0".
NOTE:
The Power Supply Unit is factory pre-configured and adapted to the mains
connection set. The factory parameter setting may only be changed by trained
specialist personnel. The parameter changes described in the following are
used to adapt the Power Supply Unit to the parameters of the supply system
and to the number and type of Multi-Axis Servo Drives connected to the DC
terminals X11.
NOTE:
The firmware of the Power Supply Unit must be compatible with the
Moog DriveAdministrator 5 version. If communication fails, the compatibility
must be checked.
moog
ID no.: CA97556-001 Date: 03/2015
Commissioning
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
53
Commissioning
moog
4.2.5
4.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Setting the mains voltage and frequency of the supply
system
yy
54
Set the mains frequency P-0452.
The Power Supply Unit is factory-configured to a 3 x 400 V AC (50 Hz) system. If the Power
Supply Unit is to be operated on such a system, continue with step 5. If the Power Supply Unit
is to be operated on a different system, parameters P-0307 Mains voltage and P-0452 Mains
frequency must be set to the corresponding values.
NOTE:
Only the fixed mains voltages 400 V, 460 V and 480 V and the mains
frequencies 50 Hz and 60 Hz can be set.
The Power Supply Unit regulates the DC link voltage to an internally preset fixed value.
At an input voltage of 400 VAC the DC link voltages 650 and 770 VDC are possible. At an
input voltage of 460 and 480 VAC the DC link voltage 770 VDC is possible.
yy
Figure 4.2 Parameter editor - parameter P-0452
NOTE:
Set the mains voltage P-0307.
For the parameters to take effect even after a restart, the changed settings
must be permanently saved to the device and a 24 V reset performed.
Save setting
1.
To save the parameter setting on the device click the "Save setting permanently
to device" button.
2.
It is also possible to save the parameter data set to the connected PC as a
file. To do so, click the "Save current device setting to file" button, select the
desired directory and click "Save" to confirm.
2
Figure 4.1 Parameter editor - parameter P-0307
Figure 4.3 Save setting
1
4.2.6
5.
!
Automatic identification of DC link capacity and equivalent
time constant of current control
The DC voltage controller of the Power Supply Unit regulates DC link voltage to an internally
preset fixed value. Control depends on the DC link capacity of the multi-axis system and the
equivalent time constant of current control. Both values can and should be determined by
automatic identification first.
ATTENTION!
The maximum overall capacity of the multi-axis system DC link for a
Power Supply Unit size 5 (incl.) must not exceed 10,000 µF,
for size 6A (incl.) 20,000 µF.
yy
Before starting automatic identification, set the specified value for DC link
voltage to 700 VDC under parameter P-0410 "CON_VCON_VdcRef".
yy
Start automatic identification by setting parameter P-1501
"SCD_AT_VdcCAP_Con" to START(2).
As soon as the parameter switches to the value READY(0), the identification process is
complete.
The values determined for total DC link capacity (P-1500) and the equivalent time
constant for current control (P-0406) are now available for designing the DC voltage
controller.
4.2.7
6.
Setting DC link capacity
The settings of the DC voltage controller depend on the DC link capacity of the complete multiaxis system. You will find the DC link capacities under "Technical data" in the appendix to the
operation manuals of the Power Supply Unit and the Multi-Axis Servo Drives.
yy
Add together the DC link capacities of all the drives connected to the multi-axis
system.
yy
Set the overall value of DC link capacity P-1500 (in µF).
!
yy
ATTENTION!
The maximum overall capacity of the multi-axis system DC link for a
Power Supply Unit size 5 (incl.) must not exceed 10,000 µF,
for size 6A (incl.) 20,000 µF.
Set the relative controller dynamics P-0405 of the voltage controller.
Recommended value: 100 %.
NOTE:
Parameter P-0405 must in all cases be activated by double-clicking in the
"Value" field and confirming by pressing "Enter", even if you do not make any
changes. Otherwise the voltage controller will not be designed automatically.
NOTE:
In the next step, the value determined for total DC link capacity (P-1500)
section 4.2.7, p. 55 should be checked for plausibility and, if necessary,
replaced with the known value. The specified value for DC link voltage
(P-0410) section 4.2.8, p. 56 should likewise be set.
Figure 4.4 Parameter editor - parameters P-0405 and P-1500
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55
Commissioning
moog
NOTE:
For the parameters to take effect even after a restart, the changed settings
must be permanently saved to the device and a 24 V reset performed.
This completes all necessary parameter settings.
4.2.8
7.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Setting DC link voltage
4.2.9
8.
yy
The Power Supply Unit regulates the DC link voltage to an internally preset fixed value. At an
input voltage of 400 VAC the DC link voltages 650 and 770 VDC are possible. At an input voltage
of 460 and 480 VAC the DC link voltage 770 VDC is possible.
Programming monitoring of the braking resistor
Braking resistor setting.
Set the braking resistor:
− P-0741 Resistance
− P-0742 Rated power
− P-0743 Maximum energy
yy
Set the DC link voltage to 650 or 770 VDC P-0410.
Figure 4.5 Parameter editor - parameter P-0410
− P-0745 Threshold value for warning
yy
Set parameter P-0740 to 1 in order to activate the braking resistor.
Figure 4.6 Parameter editor - parameter P-0740
56
If the brake chopper is actuated (DC link voltage ≥ 820V), the power converted in the
braking resistor is up-integrated.
(820 V)2
P=
MON_BrcR
If the brake chopper is not actuated, the power is down-integrated with the
parameterised value for the brake chopper rated power (MON_BrcPnom).
4.2.11 Activating closed-loop control
10.
After DC link precharging, closed-loop control can be activated by enabling the ENPO input
(X4/10). The Power Supply Unit then synchronises the control to the mains voltage. In this phase
the display indicates the value 4. When up-synchronisation has completed successfully, closedloop control is activated and the pre-specified reference setpoint for the DC link voltage is set.
The display indicates the value 5.
The current measured DC link voltage is indicated via parameter P-0332 in the “Parameter list >
PSU status > Actual values > DC Voltage” subject area of the parameter tree. If the mean of this
value corresponds to the pre-specified reference, the Power Supply Unit has been successfully
commissioned into operation.
4.3
Diagnostics
4.3.1
Faults and warnings in Moog DriveAdministrator 5
When the shut-off threshold MON_BrcQmax is reached, a device error (ErrID=>24,
Location=>01) is triggered and actuation of the brake chopper is disabled.
NOTE:
Any pre-heating of the braking resistor is not taken into account!
4.2.10 Connecting the mains supply voltage
!
9.
ATTENTION!
Before connecting, check that the wiring phase is correct.
Parameters P-0031 ErrorStack and P-0033 ActualError contain additional information on
an error or warning. This information is retrieved by way of the "Device State monitor"
in Moog DriveAdministrator 5.
NOTE:
The mains power can now be connected via the main switch. When the DC link precharge is
complete, the Power Supply Unit display changes from value 1 to value 2.
moog
ID no.: CA97556-001 Date: 03/2015
Commissioning
For more information refer to the Multi-Axis Servo Drive Operation Manual.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
57
Commissioning
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4.4
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Integrated operator control unit and MMC
card
The built-in operator control unit permits diagnosis of the servo drive. In addition, use
of the MMC card aids serial commissioning without a PC. The operator control unit
comprises the following elements, all located on the front of the device:
58
The following functions and displays are available:
yy
Display of device state (see section 5.1, p. 64) The device state is displayed
when the control supply is switched on. If no input is made via the keypad for
60 seconds, the display switches back to the device state.
yy
Display of device error state (see section 5.1.1, p. 64) If a device error occurs the
display immediately switches to show the error code.
yy
Parameter setting (display "PA") (see section 4.4.3, p. 60) Reset device
parameters to factory defaults and data set handling by way of the MMC card
yy
2-digit 7-segment display (D1, D2)
yy
Two pushbuttons (T1, T2)
yy
yy
MMC slot (X1)MMCplus cards of type SC-MMC128 (128 MB memory capacity
and 3.3 V supply voltage) can be inserted. For more details see Programmable
Multi-Axis Servo Drive System (MSD) Ordering Catalog).
Ethernet IP address setting (display "IP") (see section 4.4.4, p. 61) Set
Ethernet IP address and subnet mask
yy
Field bus settings (display "Fb") (see section 4.4.5, p. 62) Set fieldbus address
for example
yy
Firmware update with MMC card (see section 4.4.6, p. 63)
D1
D2
T2
T1
X1
Figure 4.7 Integrated operator control unit
4.4.1
Functions of buttons T1 and T2
4.4.2
By way of the keypad the different menus are activated and the relevant functions
controlled.
Button
T1 (left)
T2 (right)
T1 and T2
simultaneously
Function
The following table defines various readouts and items of status information shown on
the display.
Display
Meaning
• Activate menu (quit device state
display)
• Scroll through menus/submenus
• Set values - left-hand segment
display (D1)
Button T1 can be held down for any
length of time, as the display merely
scrolls through the available menu
items at the respective level. No
settings are changed.
Menu entries
("PA" is given as an example here; for other possible entries see section 4.4.4, p. 61
section 4.4.5, p. 62)
[two lines]
Entry/function not available
• Select the highlighted menu
• Set values - right-hand segment
display (D2)
Button T2 must not be held down
for any length of time, as the display
would then immediately move up in
the menu structure from one level
to the next and alter the parameter
ultimately reached. So be sure to
release button T2 every time the
display changes.
• Menu level up
• Apply selection
• Acknowledgement
Table 4.5 Functions of buttons T1 and T2
ID no.: CA97556-001 Date: 03/2015
Commissioning
[flashing decimal points]
Selected function in action (e.g. write to/read from MMC card)
[OK]
Action completed successfully, no errors
[Error]
• Action via operator control unit not completed successfully, "Er" flashes alternately
with error number (see section 4.4.3, p. 60)
• Device error display, "Er" flashes alternately with error number and error location
(see "MSD Servo Drive Application Manual")
After simultaneously pressing T1 and
T2 the applied value flashes for five
seconds. During this time the save
operation can be aborted by pressing
any button without the setting being
applied. Otherwise the new value is
saved after five seconds.
• The button press time until an
action is executed is around
1 second.
• If no user action occurs for
60 seconds, the display switches
back to the device status.
General
moog
Comments
Display
Numerical values ("10" is by way of example in this case)
• On the Parameters menu (PA) data set and error numbers are displayed in decimal
format.
• All other values are displayed in hexadecimal format. In those cases the displayed
"10" would represent the decimal value 16.
Table 4.6 Meaning of display
NOTE:
If no input is made via the keypad for 60 seconds, the display switches back to
the device state.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
59
Commissioning
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4.4.3
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Parameters menu (PA)
Error number
On the Parameters menu the following functions are available:
yy
Reset device settings to factory defaults
yy
Data set handling with MMC card
File System Any file system error
02
File System command rejected
File System function parameter invalid
NOTE:
yy It is only possible to operate the MMC if the power stage is not active.
04
File System create file error
05
File System open file error
yy Accessing the MMC may as long as 2 minutes. During this time both
decimal points flash.
06
MMC create directory failed
07
MMC mounting error
Pd
Pu
Pr
Pc
1)
File System No Error
01
03
Menu level
1
2
PA
Meaning
00
Parameter
Value
range
Meaning
-
00..99
Parameter
download 1)
100 data sets (0..99) can be read from the
Path: \PARA\TRANSFER\PDSxx.dmd
(xx = 00.99) by the MMC.
00..99
Parameter
upload 1)
100 data sets (0..99) can be stored on the MMC
in the directory \PARA\TRANSFER\PDSxx.dmd. The
directory is generated automatically. Existing data
sets may be overwritten.
-
-
-
Parameter
reset
-
Parameter
clear
Explanation
Reset device settings to factory defaults.
Clear all data sets on the MMC card.
It is only possible to operate the MMC if the power stage is not active. Accessing the MMC may as long as 2 minutes.
Table 4.7 Parameters menu
Error messages displayed during user input
A failed user action is indicated by an error message. The message consists of an
alternating display of "Er" and the error number.
NOTE:
The error messages displayed during user input should not be confused with
drive error messages. For detailed information on the error codes and on error
management refer to the Device Help.
08
MMC unmounting error
09
MMC using not allowed with current technology option card
10
MMC error uninstall X12 card
11
MMC not inserted
12
MMC mounting, create node
13
MMC not supported by hardware (not NSP 257)
14
MMC device in control enabled
15
MMC load parameter data set to device failed
16
MMC save parameter data set failed
17
Parameter reset to factory settings failed
18
Parameter write access failed
19
Save parameter data set non volatile failed
20
Not all parameters written
21
Error while reset to factory settings
Table 4.8 Error messages displayed during user input
60
4.4.4
Ethernet IP address menu (IP)
Example configuration of subnet mask
An Ethernet TCP/IP port is available as a service and diagnostics interface. The IP address
is factory set to 192.168.39.5. It can be changed using the Moog DriveAdministrator 5 PC
software or by way of the display.
Menu level
1
2
IP
Iu
Parameter
Value
range
Meaning
b0
00..FF
IP address
udate Byte 0
Setting of byte 0 of the IP address in hexadecimal
format (e.g. “05” for 192.168.39.5)
Explanation
b1
00..FF
IP address
udate Byte 1
Setting of byte 1 of the IP address in hexadecimal
format (e.g. “27” for 192.168.39.5)
b2
00..FF
IP address
udate Byte 2
Setting of byte 2 of the IP address in hexadecimal
format (e.g. “A8” for 192.168.39.5)
b3
00..FF
IP address
udate Byte 3
Setting of byte 3 of the IP address in hexadecimal
format (e.g. “C0” for 192.168.39.5)
Ir
-
-
IP reset to
factory setting
Reset IP address to factory default (192.168.39.5)
Su
b0
00..FF
Subnet mask
update byte 0
Setting of byte 0 of the subnet mask in hexadecimal
format (e.g. "00" for 255.255.255.0)
b1
00..FF
Subnet mask
update byte 1
Setting of byte 1 of the subnet mask in hexadecimal
format (e.g. "FF" for 255.255.255.0)
b2
00..FF
Subnet mask
update byte 2
Setting of byte 2 of the subnet mask in hexadecimal
format (e.g. "FF" for 255.255.255.0)
b3
00..FF
Subnet mask
update byte 3
Setting of byte 3 of the subnet mask in hexadecimal
format (e.g. "FF" for 255.255.255.0)
-
-
Subnet mask
reset to
factory setting
Reset subnet mask to factory default setting
(255.255.255.0)
Sr
In this example the subnet mask is changed from 255.255.255.0 to 122.255.255.0.
Tx
Press button Tx
(X = 1, 2) repeatedly
until desired menu
appears on display
Tx
Press button Tx
(X = 1, 2) once
T1 T2
T1
Back
Press any button
T1 T2
Press button T1 and T2
simultaneously
T1 T2
T2
Back
T1 T2
T1
Back
T1 T2
T2
Back
T1 T2
T1
Back
T2
T1 T2
T1 T2
Back
Value NOT
saved
T1
<5 s
T2
T1 T2
Table 4.9 IP address menu
Apply
<5 s
>5 s
Value
saved
>5 s
Figure 4.8 Example configuration of subnet mask
moog
ID no.: CA97556-001 Date: 03/2015
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Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
61
Commissioning
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Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
NOTE:
yy During the flash phase after step 7 the save operation can be aborted by
pressing any button without the setting being applied. Otherwise the new
value is saved after five seconds.
yy The changed IP address is only applied once the control electronics have
been restarted (24 V reset).
4.4.5
In this example the fieldbus address is changed from 1 to 23.
Tx
Press button Tx
(X = 1, 2) repeatedly
until desired menu
appears on display
Tx
Press button Tx
(X = 1, 2) once
Fieldbus address menu (Fb)
Menu level
1
2
Ad
Po
T1
Press any button
Parameter
Value
range
Meaning
Explanation
-
00..xx
or
--
Fieldbus
address
Setting of fieldbus address (only when fieldbus option
used), otherwise display "- -“
(The maximum programmable value depends on the
option)
0..3
or
--
Transmit
power
Setting of fibre-optic power output
(only with SERCOS II option), otherwise display "- -"
-
T1 T2
Back
The functions available under this menu item depend on the device's communication
option. For detailed information refer to the relevant specification.
Fb
Example configuration of fieldbus address
T1 T2
Press button T1 and T2
simultaneously
T1 T2
T2
Back
T2
T1 T2
T1 T2
Back
Value NOT
saved
T1
<5 s
T2
T1 T2
Table 4.10 Fieldbus address menu
Apply
<5 s
>5 s
Figure 4.9 Example configuration of fieldbus address
Value
saved
>5 s
62
4.4.6
Firmware update with MMC card
The MMC card can be used to perform a firmware update for the servo drive. For this,
the HEX file of the update firmware must be copied under the name “main.hex” to the
“\Firmware\” folder in the root directory of the MMC card.
Connect the preconfigured MMC card to the servo drive. Then perform a reset of the
24 V DC control supply by pressing both buttons (T1 and T2) simultaneously. When the
display shows the code “c1” you can release the buttons.
The progress of the firmware update is indicated on the display by a flashing dot after
D2 and consecutively by "c1" ... "c4". When the update has been completed successfully
the new firmware starts up as normal. In the event of an error the code “cE” is
displayed. In this case a reset of the 24 V DC control supply must be performed and the
download repeated.
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Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
63
Diagnostics
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Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
5
Diagnostics
5.1
Device states
NOTE:
The STO (Safe Torque Off) safety function is not required for the Power Supply
Unit, as no motors are connected. In order to start the Power Supply Unit, a
jumper must be placed between X4/14 and X4/22. If this jumper is forgotten,
the fact is indicated by a flashing dot on the device display. The STO safety
function is used in conjunction with a Multi-Axis Servo Drive.
5.1.1
The device states can be read from the 7-segment display (D1, D2).
Display
Meaning
Parameter
System states
1)
Error
In event of error alternating display: ER > 02 > 05 * ER > 02 > 05 ...
Display
Device in reset state
1)
Self-initialisation on device start up
(Start)
Not ready (no DC link voltage)
(NotReadyToSwitchOn)
Starting lockout (ENPO not set)(DC link precharged to ideal voltage,
power stage not ready)
(SwitchOnDisabled)
READY (ENPO set)(power stage ready)
(ReadyToSwitchOn)
On (DC link voltage is increased to reference setpoint / soft-start
active)
(SwitchedOn)
Power Supply Unit ready (DC link voltage setpoint reached)
(OperationEnabled)
Error reaction active
(FaultReactionActiv)
Error (for error list see section 5.2, p. 65)
(Fault)
1) Not a “Safe” display under the terms of IEC/EN 61800-5-2.
Table 5.1 Device states
64
Meaning
Explanation
Error
ER = Error
Error name:
02 = Error in parameter list
Description of error:
05 = Function to check current parameter list
Table 5.2 Display in case of error
NOTE:
Errors can be reset in accordance with their programmed reaction (ER) or only
via a 24 V reset (X9/10) (ER.).
!
ATTENTION!
Errors marked with a dot can only be reset when the cause of the fault has
been eliminated.
5.2
Error list
Error
Error
number location
The following table lists the error messages (error number, error location, error text) of
the Power Supply Unit. In the event of an error the Power Supply Unit display alternates
cyclically between “Er”, “>error number<“, “>error location<“. The error messages can
be reset by switching the ENPO input (X4/10).
Error
Error
number location
01
06
Error text
Runtime error
00
02
Unknown runtime error
00
Unknown runtime error
01
Parameter initialisation failed
02
Parameter virgin initialisation failed
03
Error in parameter saving routine
04
Error in paralist while adding a new parameter
05
Parameter check failed
06
Parameter ID is multiply defined
07
PowerStage data are corrupt
08
03
00
Unknown error
01
Undervoltage detected
Unknown error
01
PTC temp. too high
02
PTC DIN2 error detected (shortcut, resistance smaller 50 Ohm)
03
PTC DIN3 error detected (overtemperature, resistance higher than 3500 Ohm)
04
PTC DIN1 error detected (hysteresis after over temperature, resistance higher than
1650 Ohm)
Overtemperature powerstage cooler
00
Unknown error
01
Overtemperature inverter detected
08
Overtemperature PSU interior
00
Unknown error
01
Overtemperature PSU interior detected
09
Device cannot be used in this voltage level
Under voltage
Overtemperature PTC
00
07
Error in parameter list
Error grid
00
Unknown grid error
01
Grid frequency out of range
02
Grid voltage out of range
03
Timeout during synchronization
10
Error I2t power amplifier
00
Unknown error
01
I2t power amplifier detected
11
04
00
01
05
Unknown error
Overvoltage detected
Over current
00
Unknown error
01
Overcurrent (hardware) detected
02
Overcurrent (software) detected
03
Overcurrent (software) detected
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ID no.: CA97556-001 Date: 03/2015
Diagnostics
Error text
External error at digital input detected
00
Unknown external error
01
External error triggering at digital input
12
Error in CAN option
00
Unknown CAN option error
01
CAN option: BusOff error
02
CAN option: Guarding error
Table 5.3 Error list
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
65
Diagnostics
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Error
Error
number location
Error text
03
CAN option: Message transmit failed
04
CAN option: Heartbeat error
Error
Error
number location
04
16
Error text
Drive initialization: Unexpected error during drive initialization
DC voltage tracking error
05
CAN option: Illegal address
00
Unknown VoltageDiff error
06
CAN option: mapping error
01
Max. voltage difference detected
07
CAN option: Sync / RxPDO timeout error
02
reserved
13
Error in SERCOS option
17
Fatal error
00
Unknown SERCOS error
00
Unknown fatal error error
01
SERCOS option: Error while hardware initialisation
01
Error while power stage initialisation
02
SERCOS option: Illegal communication phase
02
Error while power stage initialisation
03
SERCOS option: Optical fiber break
03
Error while power stage initialisation
04
SERCOS option: Receive data disturbed
04
Error while power stage initialisation
05
SERCOS option: MST failure
05
Error while power stage initialisation
06
SERCOS option: MDT failure
06
Error while power stage initialisation
07
SERCOS option: 2 devices with same address in the ring
07
Cannot switch off brake transistor. Disconnect power supply immediately!
08
Hardware identification failed
08
SERCOS option: Phase upshift failure
09
SERCOS option: Phase downshift failure
10
SERCOS option: Phase switching without ready acknowledge
00
Unknown TC error
11
SERCOS option: Error while parameter initialisation
01
reserved
18
CPU error
12
SERCOS option: Run time error
02
reserved
13
SERCOS option: Watchdog failure
03
FPU, Error in floating point unit
14
SERCOS option: Error in parameter data
04
FPU, Error in floating point unit
14
Error in EtherCAT option
19
Control initialisation error
00
Unknown EtherCat-option error
00
Unknown error during Initialisation of Control
01
Sync manager 0 watchdog error
01
Invalid calibration Value (Division by Zero)
15
Parameter error
02
reserved
00
Unknown Parameter error
03
reserved
04
reserved
01
Error while init current monitoring
02
Error while initializing control
03
Drive commissioning: Watchdog failure via service tool access
20
Table 5.3 Error list
PLC error
64
Error
Error
number location
00
21
Error text
User defined error in the PLC program detected.
Error in PROFIBUS option
00
PROFIBUS option: Unknown error
01
PROFIBUS option: process data timeout
22
5.3
If you have any technical questions concerning project planning or commissioning of the
servo drive, please feel free to contact our helpline.
yy
Task overload
00
Internal timing error
01
Internal timing error
02
Internal timing error
23
Power fail detected
00
24
Power fail detected
Error brake chopper
00
Unknown brake chopper error
01
P*t-integrator value exceeds maximum
Helpline/Service
Helpline - Please contact us:
Moog GmbH
Hanns-Klemm-Straße 28
D-71034 Böblingen
Phone: +49 7031 622 0
Telefax: +49 7031 622 100
E-Mail: drives-support@moog.com
If you need further assistance, our specialists at the Moog Service Center will be
happy to help.
yy
Service - Please contact us:
Phone: +49 7031 622 0
E-Mail:info.germany@moog.com
Table 5.3 Error list
For detailed information on error management refer to the MSD Servo Drive Device
Help.
moog
ID no.: CA97556-001 Date: 03/2015
Diagnostics
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
65
Appendix
moog
A
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Appendix
Size
Device
Size 5
G396-026-xxx-xxx
G396-050-xxx-xxx
Brake chopper power electronics 1)
A.1
Technical data of Power Supply Unit
Size
Device
Mains supply voltage (±10 %)
Controlled DC link voltage
Size 5
G396-026-xxx-xxx
460 /
400 VAC
480 VAC
650 VDC 770 VDC 770 VDC
G396-050-xxx-xxx
460 /
400 VAC
480 VAC
650 VDC 770 VDC 770 VDC
Input, mains side
Continuous current [A AC eff]
40
40
34
76
76
64
Peak current 1) [A AC]
80
80
68
144
144
120
Switching frequency [kHz]
12
4
Continuous power [kVA]
27.5
52.5
Power loss 2) [W]
Asymmetry of mains voltage
±3 % maximum
Frequency
50/60 Hz
DC link output
Continuous current [ADC]
40
34
34
76
64
64
Peak current 1) [ADC]
80
68
68
144
122
122
Continuous power [kW]
26
50
Peak power 1) [kW]
52
94
DC link capacitance [µF]
900
Technical data applies to air-cooled and liquid-cooled housing variants
1)
For 10 s
2)
Approximation values
Software response threshold 2) [VDC]
820
Hardware response threshold [VDC]
on/off
860/840
Peak braking power [kW] on software/
hardware side
90/99
Minimum ohmic resistance of an externally installed braking resistor
7.5 Ω
Continuous chopper power [kW]
Table A.1 Size 5 technical data dependent on mains input voltage and controlled DC link voltage
2
1)
Optionally with liquid cooling: Internal braking resistor (mounted on cooler floor) on request
2)
Minimum on-time 250 µs
Table A.2 Brake chopper power electronics size 5
!
1010
66
ATTENTION!
The maximum overall capacity of the multi-axis system DC link for a
Power Supply Unit size 5 (incl.) must not exceed 10,000 μF.
Size
Device
Size 5
G396-026
G396-050
X11/L+, LM5
Use only the ready made-up cables supplied.
Screw size
Tightening torque
2.5 ... 4.5 Nm (22 ... 39.8 lb-in)
X11/PE
M5
Use only the ready made-up cables supplied.
Screw size
Tightening torque
2.5 ... 4.5 Nm (22 ... 39.8 lb-in)
X12/L1,L2,L3
Size
Device
Mains supply voltage (±10 %)
Controlled DC link voltage
Size 6A
G396-075-xxx-xxx
G396-110-xxx-xxx
460 /
460 /
400 VAC
400 VAC
480 VAC
480 VAC
650 VDC 770 VDC 770 VDC 650 VDC 770 VDC 770 VDC
Input, mains side
Continuous current [A AC eff]
115
115
96
170
170
142
Peak current [A AC]
195
195
163
245
245
204
1)
Switching frequency [kHz]
8
Continuous power [kVA]
80
4
118
Power loss 2) [W]
0.5 ... 25 mm2 (0.0008 … 0.04 in2)
(AWG 20...AWG 4) 1)
Cable connection capacity
Tightening torque
2.5 ... 4.5 Nm (22 ... 39.8 lb-in)
X12/PE
Cable connection capacity
25 mm2
Tightening torque
2) 3)
(0.04 in2
2) 3)
)
2.5 ... 4.5 Nm (22 ... 39.8 lb-in)
X12/RB+, RBCable connection capacity
0.5 ... 25 mm2 (0.0008 … 0.04 inm2)
(AWG 20...AWG 4) 1)
Tightening torque
2.5 Nm (22 lb-in)
X12/ZK+, ZK-
2500
Asymmetry of mains voltage
±3 % maximum
Frequency
50/60 Hz
DC link output
Continuous current [ADC]
115
97
97
170
144
144
Peak current [ADC]
195
165
165
246
207
207
1)
Continuous power [kW]
75
Peak power 1) [kW]
127
DC link capacitance [µF]
Internal fuse (X11)
110
160
4240
125 A
200 A
Technical data applies to air-cooled and liquid-cooled housing variants
Cable connection capacity
Tightening torque
25 mm2 (0.04 in2)
2.5 ... 4.5 Nm (22 ... 39.8 lb-in)
1)
Flexible cable with ferrule
2)
Flexible cable with/without ferrule
3)
The PE conductor cross-section depends on the cross-section of the outer conductor (see section 3.4, p. 33)
1)
For 10 s
2)
Approximation values
Table A.4 S ize 6A technical data dependent on mains input voltage and controlled DC link
voltage
The minimum cross-section of the cables depends on the local regulations and conditions, as well as on the rated current
of the Power Supply Unit.
Table A.3 Connections
moog
Appendix
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
67
Appendix
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Size
Device
Size 6A
G396-075-xxx-xxx
G396-110-xxx-xxx
Brake chopper power electronics 1)
Software response threshold 2) [VDC]
820
860/840
Peak braking power [kW] on software/
hardware side
143/157
Minimum ohmic resistance of an externally installed braking resistor
4.7 Ω
G396-110
Cable connection capacity
Use the ready made-up connecting cables supplied or
35 ... 95 mm2 (0.05 … 0.15 in2)
(AWG 2...AWG 3/0) 1)
Tightening torque
25 ... 30 Nm (221... 265 lb-in)
X11/PE
10
1)
Optionally with liquid cooling: Internal braking resistor (mounted on cooler floor) on request
2)
Minimum on-time 250 µs
Table A.5 Brake chopper power electronics size 6A
!
Size 6A
G396-075
X11/L+, L-
Hardware response threshold [VDC] on/off
Continuous chopper power [kW]
Size
Device
68
ATTENTION!
The maximum overall capacity of the multi-axis system DC link for a Power
Supply Unit size 6A (incl.) must not exceed 20,000 μF.
Screw size for ring terminal
M8
Tightening torque
2.5 ... 4.5 Nm (22 ... 39.8 lb-in)
X12/L1,L2,L3
Cable connection capacity
50...150 mm2
(0.08 ... 0.23 in2)
(10...95 mm2
(0.02 … 0.15 in2)) 2)
(AWG 0...AWG 5/0) 2)
Tightening torque
50 ... 150 mm2
(0.08 ... 0.23 in2)
(AWG 0...AWG 5/0) 1)
25 ... 30 Nm (221... 265 lb-in)
X12/PE
Cable connection capacity
35 ... 95 mm2 (0.05 … 0.15 in2)
(AWG 2...AWG 3/0) 1) 3)
Tightening torque
25 ... 30 Nm (221... 265 lb-in)
X12/RB+, RBCable connection capacity
Tightening torque
25 ... 50 mm2 (0.04 … 0.08 in2)
(AWG 4...AWG 0) 1)
6 ... 8 Nm (53 ... 70 lb-in)
X12/ZK+, ZKCable connection capacity
Tightening torque
50 ... 150 mm2 (0.08 ... 0.23 in2)
(AWG 0...AWG 5/0) 1)
25 ... 30 Nm (221... 265 lb-in)
1)
Flexible cable with/without ferrule
2)
With optional inserts for G396-075 to reduce the diameter
3)
The PE conductor cross-section depends on the cross-section of the outer conductor (see section 3.4, p. 33)
The minimum cross-section of the cables depends on the local regulations and conditions, as well as on the rated current
of the Power Supply Unit.
Table A.6 Connections
A.2
Current consumption of control supply
Size
Size 5
G396-026
G396-050
Device
Terminal
Size 6A
G396-075
G396-110
A.3
Ready made-up cables
Ready made-up cables are available for DC linking of size 5 and size 6A models. Specify
the cable cross-section in accordance with local regulations and conditions. This depends
on the cable protection, the installation method and the ambient temperature.
X9, X10
L
Crosssection
Variant
Connection
193 mm
(7.6 in)
42 mm²
(0.07 in2)
Flat copper braiding with
double shrink-fit tube
covering
Flat sheath on both
sides with hole Ø 5.5 mm
(0.22 in)
Type
Air cooling
Maximum start-up current
Continuous current
7 A
10 A
2.5 A
8 A
DC link size 5
Liquid cooling
4
Maximum start-up current
7 A
8 A
Continuous current
2 A
2 A
15
Sketch
L
Table A.7 Current consumption of control supply
DC link
size 6A
L1 = 35 mm
(1.38 in)
L2 = 345 mm
(13.58 in)
29.4 mm²
(0.05 in2)
Round stranded copper
with double shrink-fit tube
covering
One side flat sheath with
hole Ø 5.5 mm (0.22 in),
second side stripped
strand
5
16
L1
Sketch
5
16
L2
Table A.8 Technical data – ready made-up encoder cables
moog
Appendix
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
69
Appendix
moog
A.4
!
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Hydrological data of liquid cooling
ATTENTION!
The temperature of the cooling plate must not be more than +10 °C (+50 °F)
below the ambient temperature. Condensation will result in destruction of the
device.
NOTE:
Customers must provide adequate heat dissipation for the cooling medium.
The coolant should be approved by Moog if it deviates from the details below.
Size
Size 5
G396-026
G396-050
Device
Size 6A
G396-075
G396-110
Coolant quality
Recommended: Drinking water + corrosion inhibitor
(e.g. ethylene glycol) Not permitted:
Chloride ions (Cl- >100 ppm),
Calcium carbonate (CaCO3 >160 ppm)
Pollution
The coolant must be as pure as possible so as not to clog
the ducts. At a suspension concentration above 15 mg/dm³
continuous cleaning is recommended.
Coolant temperature
The coolant temperature may be between +5 °C and +40 °C
(+41 °F and +104 °F). However, the coolant temperature must
not be more than +10 °C (+50 °F) below the ambient temperature, so as to prevent condensation on the heat sink.
Cooler material
Aluminised/galvanised steel sheet
Material of cooler connections
Aluminium
Coolant mean pressure (nominal/maximum value)
1 bar / 2 bar
Coolant flow rate 1) (nominal/maximum
value approx. )
8 l per min /
11 l per min
1)
Rating for devices without internal braking resistor
Table A.9 Hydrological data of liquid cooling
11 l per min /
13 l per min
A.5
70
Dynamic temperature monitoring
If the coolant flow breaks down or is not generated, the power stage may overheat.
For this reason size 5 and size 6A servo drives feature dynamic monitoring of the heat
sink temperature which shuts down the servo drive in case of overheating. The servo
drive shuts down at the following heat sink temperature regardless of the temperature
gradient:
Size
Size 5
G396-026
G396-050
Device
Device shutdown at heat sink temperature
Size 6A
G396-075
G396-110
+65 °C (+149 °F)
Table A.10 Dynamic monitoring of heat sink temperature
A.6
Ambient conditions
Ambient conditions
Power Supply Unit
Protection
IP20 except terminals (IP00)
Accident prevention regulations
According to local regulations(in Germany e.g. BGV A3)
Mounting height
Up to 1.000 m (3,280 ft) above MSL, over 1.000 m (3,280
ft) above MSL with power reduction (1 % per 100 m (328 ft),
maximum 2.000 m (6,561 ft) above MSL)
Pollution severity
2
Type of installation
Built-in unit, only for vertical installation in a cabinet with
minimum IP4x protection, when using STO safety function
minimum IP54.
Table A.11 Ambient conditions
Climatic conditions
Power Supply Unit
Mechanical conditions
as per IEC/EN 61800-2, IEC/EN 60721-3-2 class 2K31)
in transit
Temperature
-25 °C to +70 °C (-13 °F to +158 °F)
Relative humidity
95 % at maximum +40 °C (+104 °F)
as per IEC/EN 61800-2, IEC/EN 60721-3-2 class 2M1
Vibration limit in transit
as per IEC/EN 61800-2, IEC/EN 60721-3-1 classes 1K3 and 1K4
2)
in storage
Temperature
-25 °C to +55 °C (-13 °F to +131 °F)
Relative humidity
5 to 95 %
as per IEC/EN 61800-2, IEC/EN 60721-3-3 class 3K33)
in operation
Temperature
-10 °C (+14 °F) to +40 °C (+104 °F), to +55 °C
(+131 °F) with power reduction (2 % per °C/°F)
Relative humidity
5 to 85 % without condensation
Shock limit in transit
2)The absolute humidity is limited to maximum 29 g/m³. So the maximum values for temperature and relative humidity
stipulated in the table must not occur simultaneously.
3)The absolute humidity is limited to maximum 25 g/m³. That means that the maximum values for temperature and relative
humidity stipulated in the table must not occur simultaneously.
Vibration limits of the system 1)
Appendix
ID no.: CA97556-001 Date: 03/2015
Amplitude [mm (in)]
Acceleration [m/s²]
2 ≤ f < 9
3.5 (0.14)
Not applicable
9 ≤ f < 200
Not applicable
10
200 ≤ f < 500
Not applicable
15
as per IEC/EN 61800-2, IEC/EN 60721-2-2 class 2M1
Drop height of packed device maximum 0.25 m (0.82 ft)
1)
Frequency [Hz]
Amplitude [mm (in)]
Acceleration [m/s²]
2 ≤ f < 9
0.3 (0.01)
Not applicable
9 ≤ f < 200
Not applicable
1
Note: The devices are only designed for stationary use.
Table A.13 Mechanical conditions – Power Supply Unit
!
!
moog
Frequency [Hz]
as per IEC/EN 61800-2, IEC/EN 60721-3-3 class 3M1
1)The absolute humidity is limited to maximum 60 g/m³. This means, at +70 °C (+158 °F) for example, that the relative
humidity may only be maximum 40 %.
Table A.12 Climatic conditions – Power Supply Unit
Power Supply Unit
ATTENTION!
According to EN ISO 13849-2 the cabinet must have IP54 protection or higher
when using the STO (Safe Torque OFF) safety function.
ATTENTION!
The Power Supply Unit and the Multi-Axis Servo Drives must not be installed
in areas where they are exposed to continuous shaking.
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
71
Appendix
moog
A.7
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Technical data of step-up choke
For size
For model
Rated alternating
current
Size 5
G396-026
G396-050
G396-075
3 x 40 A
3 x 76 A
3 x 115 A
System voltage
A.8
Size 6A
G396-110
3 x 170 A
3 x 400 VAC ... 3 x 480 VAC
26 kW
50 kW
75 kW
110 kW
Power loss at 100 %
ED
225 W
440 W
400 W
930 W
Frequency
50/60 Hz
Protection
IP00, cabinet installation required
Temperature sensor
Tightening torque
1.5 ... 16 mm2
(0.0023 ... 0.025 in2)
1.5 ... 16 mm2
(0.0023 ... 0.025 in2)
(AWG 18...AWG 6)
2.5 ... 35 mm2
(0.004 ... 0.05 in2)
2.5 ... 35 mm2
(0.004 ... 0.05 in2)
(AWG 12...AWG 0)
16 ...120 mm2
(0.025 ... 0.19 in2)
16 ... 95 mm2
(0.025 ... 0.15 in2)
(AWG 4...
kcmil 250)
1.5 ... 2.4 Nm
(13.2 ... 21.2 lb-in)
4 ... 5 Nm (35.4 ... 44.2 lb-in)
12 ... 20 Nm
(106.2 ... 177 lb-in)
Cable connection
capacity (flexible,
with ferrule)
0.5 ... 2.5 mm2 (0.0008 ... 0.004 in2)
(AWG 30...AWG 12)
Tightening torque
0.4 ... 0.8 Nm (3.5 ... 7.0 lb-in)
Table A.14 Technical data of step-up choke
Rated alternating
current
Size 5
G396-026
G396-050
G396-075
3 x 40 A
3 x 76 A
3 x 115 A
Power loss at 100 %
ED
Size 6A
G396-110
3 x 170 A
3 x 400 VAC ... 3 x 480 VAC
120 W
144 W
180 W
Frequency
50/60 Hz
Protection
IP00, cabinet installation required
174 W
Condensers with liquid or viscous fillings must be installed upright, with the terminals
up.
Power connections
KTY84-130
KTY sensor
For size
For model
Fitting position
Power connections
Cable connection
capacity (flexible
without/with ferrule)
Technical data of input choke
System voltage
Rated for effective
power(step-up mode
650 VDC/770 VDC)
72
Cable connection
capacity (flexible
without/with
ferrule)
1.5 ... 16 mm2
(0.0023 ... 0.025 in2)
1.5 ... 16 mm2
(0.0023 ... 0.025 in2)
(AWG 18...AWG 6)
2.5 ... 35 mm2
(0.004 ... 0.05 in2)
2.5 ... 35 mm2
(0.004 ... 0.05 in2)
(AWG 12...AWG 0)
16 ...120 mm2
(0.025 ... 0.19 in2)
16 ... 95 mm2
(0.025 ... 0.15 in2)
(AWG 4...kcmil 250)
Tightening torque
1.5 ... 2.4 Nm
(13.2 ... 21.2 lb-in)
4 ... 5 Nm (35.4 ... 44.2 lb-in)
12 ... 20 Nm
(106.2 ... 177 lb-in)
Table A.15 Technical data of input choke
A.9
Technical data of mains filter
Size 5
A.11 Technical data of mains contactor
For size
For model
G396-026
G396-050
Type
FFU 3 x 56 K
FFU 3 x 80 K
FFU 3 x 130 K
FFU 3 x 180 K
3 x 56 Aeff
3 x 80 Aeff
3 x 130 Aeff
3 x 180 Aeff
Rated alternating current 1)
System voltage
3 x 400 VAC ... 3 x 480 VAC
Max. cable cross-section of
terminals
16 mm2
(0.025 in2)
25 mm2
(0.04 in2)
Protection
1)
Size 6A
G396-075
G396-110
50 mm2
(0.08 in2)
95 mm2
(0.15 in2)
IP 20
We suggest the following mains contactors:
For size
For model
Size 5
Type
Coil voltage
Rated current AC-3
to 500 V
Size 6A
G396-026
G396-050
G396-075
G396-110
Siemens 3RT10351BB40
Siemens 3RT10451BB40
Siemens 3RT10541NB36
Siemens 3RT10566NB36
24 VDC
24 VDC
24 VDC
24 VDC
40 A
80 A
115 A
185 A
Table A.18 Technical data of mains filter
Rated alternating current at +40 °C (+104 °F) ambient temperature
Table A.16 Technical data of mains filter
A.12 Technical data of circuit-breaker
A.10 Technical data of mains fuse
For size
For model
Specified mains
fuse, duty class
gG
Size 5
G396-026
3 x maximum
63 A
We suggest the following circuit-breakers in the mains synchronisation line:
Size 6A
G396-050
3 x maximum
100 A
Table A.17 Technical data of mains fuse
G396-075
3 x maximum
150 A
G396-110
3 x maximum
200 A
For size
For model
Size 5
G396-026
Type
Rated current to
AC 500 V +10%
Size 6A
G396-050
G396-075
G396-110
Siemens 3RV1721-1ED10
Siemens 3RV1721-1GD10
4 A
6.3 A
No back-up fuse required, as short-circuit proof to 100 kA
Table A.19 Technical data of circuit-breaker
moog
Appendix
ID no.: CA97556-001 Date: 03/2015
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73
Appendix
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
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A.13 Measures to attain UL approbation
(UL 508C) size 5
74
A.14 Measures to attain UL approbation
(UL 508C) size 6A
1.
Maximum temperature of ambient air: +40 °C (+104 °F) complete.
1.
Maximum temperature of ambient air: +40 °C (+104 °F) complete.
2.
The devices are usable in systems with a maximum current capacity of 5 kA
(G396-026) and 10 kA (G396-050), with phase-symmetrical current and
maximum voltage of 480 V, with system-side protection with RK 1 class, 600 V
and maximum 100 A.
2.
The devices are usable in systems with a maximum current capacity of 10 kA,
with phase-symmetrical current and maximum voltage of 480 V, with systemside protection with RK 1 class, 600 V and maximum 200 A.
3.
Only UL-approved device connection cables (mains and DC cables) may be used:
3.
Only UL-approved device connection cables (mains and DC cables) may be used:
− Use copper conductor with permissible temperature range +75 °C (+167 °F).
− Use copper conductor with permissible temperature range +60 - +75 °C
(+140 - +167 °F).
− For the tightening torques of the Power Supply Unit terminals see Table A.6,
p. 68.
− For the tightening torques of the Power Supply Unit terminals see Table A.3,
p. 67.
− For the tightening torques of the choke terminals see Table A.14, p. 72
and Table A.15, p. 72.
− For the tightening torques of the choke terminals see Table A.14, p. 72
and Table A.15, p. 72.
4.
The supplied chokes must be used.
5.
The devices are rated for installation in an environment of pollution severity 2 to
IEC/EN 60664-1.
4.
The supplied chokes must be used.
5.
The devices are rated for installation in an environment of pollution severity 2 to
IEC/EN 60664-1.
B
Overview
The Power Supply Unit is intended for use in a Multi-Axis Servo Drive System. The multiaxis system comprises a Power Supply Unit with the mains connection set and a number
of Multi-Axis Servo Drive connected to it. In motorised mode, the Power Supply Unit
draws power from the supply system and makes it available to the connected Multi-Axis
Servo Drive via the DC link. In regenerative mode the power is stored in the DC link.
Temporarily surplus energy is fed back into the supply network by the Power Supply Unit
in sinusoidal form.
1)
Power cable
2)
Mains connection set comprising mains filter, input choke with membrane capacitor and step-up choke
3)
Braking resistor
4)
Power Supply Unit
5)
Multi-Axis Servo Drive
6)
DC power supply via ready made-up DC link cables
7)
Motor cables
Figure B.1 Multi-Axis Servo Drive System
The Power Supply Unit series comprises the following models:
Size
Size 5
Size 6A
G396-026
G396-050
G396-075
G396-110
PWR
LOCK
CF
Device
Power
COM
Data
Status
RJ-45/Line
Reset
3
RS 232
6
4
5
5
5
Picture
5
0
OF
F
1
ON
0
7
2
1
moog
Overview
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
75
Overview
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
The Power Supply Unit and the Multi-Axis Servo Drive feature special DC connections
(terminal X11) for electrical coupling of the DC links. Each unit is supplied with ready
made-up DC link cables to make the connection.
+
–
Power Supply Unit
size 6A
+
–
+
–
+
–
Figure B.2 Multi-Axis Servo Drive System with Power Supply Unit size 5
Figure B.3 M
ulti-Axis Servo Drive System with Power Supply Unit size 6A and
Multi-Axis Servo Drive size 5
Multi-Axis Servo Drive size 3
–
Multi-Axis Servo Drive size 4
+
Multi-Axis Servo Drive size 5
+
–
Multi-Axis Servo Drive size 1
+
–
Multi-Axis Servo Drive size 2
Power Supply
Unit size 5
+
–
Multi-Axis Servo Drive size 4
+
–
Multi-Axis Servo Drive size 3
The DC connections of the Power Supply Unit size 6A and of the
Multi-Axis Servo Drives are protected by internal fuses.
76
In the case of a Power Supply Unit size 6A and a Multi-Axis Servo Drive size 6,
DC terminal X12/ZK must be used for the Power Supply Unit. This is not internally
protected, and permits higher power outputs.
Lower-power Multi-Axis Servo Drive (size 5 or smaller) should be connected to DC
terminal X11.
+ –
ZK
Multi-Axis Servo Drive size 5
Multi-Axis Servo Drive size 3
+
–
Multi-Axis Servo Drive size 4
+
–
+
–
+ –
ZK
Power Supply Unit
size 6A
X12
ZK
PE L1 L2 L3 + –
+ –
ZK
Multi-Axis Servo Drive size 6A
RB
- +
Figure B.4 M
ulti-Axis Servo Drive System with Power Supply Unit size 6A and Multi-Axis Servo
Drive size 6
moog
Overview
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
77
Index
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
Index
78
D
Symbole
2004/108/EC............................................................................................................... 10
2006/95/EC................................................................................................................. 10
A
Ambient conditions..................................................................................................... 70
Ambient temperature.................................................................................................. 71
ANSI Z 535.................................................................................................................. 10
B
DC power supply
Size 5 X11.............................................................................................................. 41
Size 6A X11............................................................................................................ 42
Size 6A X12............................................................................................................ 41
Dimensional drawings
Input choke with membrane capacitor................................................................... 23
Mains filter............................................................................................................. 24
Power Supply Unit
Air-cooled housing................................................................................................. 17
Power Supply Unit
Liquid-cooled housing............................................................................................ 19
Step-up choke........................................................................................................ 22
DIN EN 954-1.............................................................................................................. 11
DIN VDE 0100............................................................................................................... 9
Braking resistor............................................................................................................ 47
E
C
Earthing....................................................................................................................... 26
Effective EMC installation...................................................................................... 14, 25
Electrical isolation method........................................................................................... 35
EN 50178..................................................................................................................... 37
EN ISO 12100.............................................................................................................. 11
EN ISO 13849-1........................................................................................................... 11
EN ISO 13849-2........................................................................................................... 71
EtherCAT..................................................................................................................... 47
Ethernet port X3.......................................................................................................... 47
Cabinet design............................................................................................................
Cable laying.................................................................................................................
Circuit-breaker.............................................................................................................
Climatic conditions......................................................................................................
Condensation..............................................................................................................
Connection diagram
Size 5.....................................................................................................................
Size 6A..................................................................................................................
Control connections X4..............................................................................................
Control supply
Size 5 and size 6A..................................................................................................
Cooling
Liquid cooling........................................................................................................
14
26
73
70
71
30
32
44
F
36
Firmware..................................................................................................................... 53
70
H
Helpline/Service........................................................................................................... 65
How to use this Manual................................................................................................. 3
Hydrological data of liquid cooling............................................................................... 70
I
IEC 364......................................................................................................................... 9
IEC 60755.................................................................................................................... 39
IEC/EN 60079-0.......................................................................................................... 10
IEC/EN 60079-1........................................................................................................... 10
IEC/EN 60204.............................................................................................................. 10
IEC/EN 60204-1........................................................................................................... 11
IEC/EN 60664-1................................................................................................ 13, 51, 74
IEC/EN 60721-2-2........................................................................................................ 71
IEC/EN 60721-3-1........................................................................................................ 71
IEC/EN 60721-3-2........................................................................................................ 71
IEC/EN 60721-3-3........................................................................................................ 71
IEC/EN 61000-2-4........................................................................................................ 40
IEC/EN 61800-2........................................................................................................... 71
IEC/EN 61800-3........................................................................................................... 14
IEC/EN 61800-5-1...................................................................................... 10, 33, 37, 40
IEC/EN 61800-5-2........................................................................................................ 64
Initial commissioning................................................................................................... 51
Input choke
Connections........................................................................................................... 49
Dimensions............................................................................................................ 23
Technical data........................................................................................................ 72
Intended use................................................................................................................ 10
L
Liquid cooling.............................................................................................................. 70
M
Index
73
37
37
71
17
19
O
Option 1...................................................................................................................... 47
Order code.................................................................................................................... 4
Overview of connections
Size 5 and size 6A.................................................................................................. 29
P
Parameter setting........................................................................................................ 51
PE conductor............................................................................................................... 33
Pictograms..................................................................................................................... 5
Pollution severity......................................................................................................... 70
Precharging
Size 5 and size 6A.................................................................................................. 37
Q
Quick start..................................................................................................................... 3
Mains connection conditions
Size 5 and size 6A..................................................................................................
Mains contactor...........................................................................................................
Mains filter
Connections...........................................................................................................
Dimensions............................................................................................................
Technical data........................................................................................................
moog
Mains fuse...................................................................................................................
Mains precharge
Size 5 and size 6A..................................................................................................
Mains synchronisation
Size 5 and size 6A..................................................................................................
Mechanical conditions.................................................................................................
Mounting pitch
Power Supply Unit
Air-cooled housing.................................................................................................
Power Supply Unit
Liquid-cooled housing............................................................................................
ID no.: CA97556-001 Date: 03/2015
39
73
50
24
73
R
Ready made-up cables................................................................................................. 69
Residual current operated device (RCD)........................................................................ 39
Responsibility............................................................................................................... 11
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
79
Index
moog
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
ID no.: CA97556-001 Date: 03/2015
S
Safety............................................................................................................................ 9
Save setting................................................................................................................. 54
Service/Helpline........................................................................................................... 65
Shielding..................................................................................................................... 27
Step-up choke
Connections........................................................................................................... 48
Dimensions............................................................................................................ 22
Technical data........................................................................................................ 72
T
Technical data
Circuit-breaker.......................................................................................................
Input choke............................................................................................................
Mains contactor.....................................................................................................
Mains filter.............................................................................................................
Mains fuse.............................................................................................................
Size 5.....................................................................................................................
Size 6A..................................................................................................................
Step-up choke........................................................................................................
73
72
73
73
73
66
67
72
U
Usage contrary to intended use................................................................................... 10
USB port X2................................................................................................................ 47
X
X2............................................................................................................................... 47
X3............................................................................................................................... 47
X4.............................................................................................................................. 44
X9............................................................................................................................... 36
X10.............................................................................................................................. 36
X11............................................................................................................ 33, 34, 41, 42
X21............................................................................................................................. 37
80
moog

ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
81

moog
ID no.: CA97556-001 Date: 03/2015
Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual
82
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© 2015 Moog GmbH
Technical alterations reserved.
The contents of our documentation have been compiled with greatest
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Nevertheless we would like to point out that this document cannot
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ID no.: CA97556-001, Rev. 2.0
Date: 04/2015
Applicable as from firmware version: V220.13-01
The German version is the original of this Operation Manual.