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 ID no.: CA97556-001 Date: 03/2015 Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual 11 moog 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. moog ID no.: CA97556-001 Date: 03/2015 Electrical installation Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual 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 ID no.: CA97556-001 Date: 03/2015 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 moog ID no.: CA97556-001 Date: 03/2015 Commissioning Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual 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 moog 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 moog 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 Commissioning Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual 61 Commissioning moog 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. moog ID no.: CA97556-001 Date: 03/2015 Commissioning Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual 63 Diagnostics moog 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 moog 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 Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual 73 Appendix moog Programmable Multi-Axis Servo Drive Power Supply Unit Operation Manual ID no.: CA97556-001 Date: 03/2015 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 TAKE A CLOSER LOOK. 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All quoted trademarks are property of Moog, Inc. and its subsidiaries. All rights reserved. © 2015 Moog GmbH Technical alterations reserved. The contents of our documentation have been compiled with greatest care and in compliance with our present status of information. Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products. Information and specifications may be changed at any time. For information on the latest version please refer to drives-support@moog. com. 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.