DS2110 DIGITAL CONTROLLER INSTALLATION & USER’S MANUAL Document No.
TABLE OF CONTENTS T/C -1 TABLE OF CONTENTS CHAPTER 1.0 OVERVIEW............................................................................................................. 1.1 Introduction ...................................................................................................................... 1.2 DS2110 Models................................................................................................................. 1.3 Environmental Specifications .....................................
TABLE OF CONTENTS T/C -2 TABLE OF CONTENTS CDS7324 REV. A CHAPTER 5.0 FUNCTIONAL OVERVIEW..................................................................................... 5.1 Introduction ...................................................................................................................... 5.2 DS2110 Conventions........................................................................................................ 5.3 Power Interface Section...........................................
TABLE OF CONTENTS T/C -3 TABLE OF CONTENTS CDS7324 REV. A APPENDIX F – DEVICENET™ MEZZANINE CARD...................................................................... F.1 Connector ......................................................................................................................... F.2 Network Status................................................................................................................. F.3 Available Objects ...................................................
CHAPTER 1.0 Overview 1-1 1.1 Introduction This section gives an overview of the available DS2110 models, ratings and general specifications. Detailed outlines of installation and wiring, functionality, user interfaces and other technical data are given in subsequent sections. CAUTION: Repairs or modifications to the product by anyone other than a Moog authorized repair facility may create unsafe operating conditions and will invalidate the product warranty. CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 1.0 Overview 1-2 1.2 DS2110 Models The DS2110 family is available in twelve base models, which cover a range of output current ratings. DS2110 Base Model Amplifier Current Rating Code Size Continuous (Arms) Maximum (Arms) Peak (A) G362-x03 µA or A 3 6.4 9 G362-x04 A 4 8.5 12 G362-x06 µA or A 6 16 22 G362-x08 A 8 16 22 G362-010 B 10 29.7 42 G362-014 B 14 29.7 42 G362-020 C 20 31.8 45 G362-025 C 25 49.5 70 G362-030 C 30 63.6 90 G362-050 D 50 99.
CHAPTER 1.0 Overview 1-3 Page Intentionally Blank CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 1.0 Overview 1-4 1.3 Environmental Specifications DS2110 Electronics Maximum temperature Storage: Transport: Surrounding air -25 C to 55 C (Class 1K4) -25 C to 70 C (Class 2K3) 0 C to 40 C Relative humidity: 5 % to 85 %, non-condensing, 1 g/m3 to 25 g/m3, in accordance with EN50178 class 3k3 Elevation: 1000m (3,300 feet); derate output 2% per 300m (1000 ft) above 1000m (3300 ft) Air pressure: 86 kPa to 106 kPa Type of protection: Components must be installed into an enclosure.
CHAPTER 1.0 Overview 1-5 1.4 Design Standards The DS2110 is CE-Marked under the EU's Low Voltage Directive. It has been designed to allow easy compliance of customer's machines under the EU's EMC Directive (measures as directed in this manual have to be taken to ensure EMC compliance). It is designed to the UL508C standard. The A size DS2110 units are UL recognized. The DS2110 A-D sizes are UL listed.
CHAPTER 1.0 Overview 1-6 1.5 Power Ratings Specifications Model : G362-x 3Amp 6Amp 8Amp 10Amp 14Amp 20Amp 25Amp 30Amp 50Amp 60Amp 100Amp A.C. Mains Input Range Minimum 65Vac (110Vac -40%) Maximum 506Vac (440Vac +10%) Frequency Range 50 - 60Hz Internal Regeneration Power 150W Continuous Dissipation 50W 100W 2.6kW Peak Dissipation @ 230Vac 1.3Kw 1.3kW Peak Dissipation @ 400Vac 4.8kW 4.8kW 10.
CHAPTER 1.0 Overview 1.5.1 1-7 Optional Control Logic Backup Power D.C. Bus Minimum Voltage (below which 24Vd.c. Control Logic Backup supply is needed) 24V Input 170Vd.c. (Generated from rectified 120Va.c.) 24Vd.c.± 10% 2.0A steady state Table 1.4 DS2110 Control Logic Backup Power Ratings An auxiliary 24V d.c. control logic backup supply is MANDATORY for the –x003 & -x006 variants of the DS2110 product family. The 24V Backup supply input is intended for use in the secondary of a Class 2 supply.
CHAPTER 1.0 Overview 1.5.4.1 1-8 RMS Protection The RMS protection acts to limit the current provided to the rated continuous current of the drive. Thus, a G362-x006 cannot supply, on average, greater than 6Acontinuous RMS to the motor. The current to the motor is averaged and if it exceeds the RMS rating, the drive limits the current command. If the controller continuously demands current greater than the drive capability, the RMS protection will limit the actual current supplied to the drive rating.
CHAPTER 1.0 Overview 1-9 1.6 General Functional Specifications 1.6.1 • • • • Digital Inputs (J2A) 8 Digital Inputs, user configurable Digital Input 1 Dedicated to High Power Enable All Optically Isolated, 12…36V Input Range. 5k input impedance. STANDARD FUNCTION FIELDBUS OR INTERFACE SPECIFIC High Power Enable Input High Power Enable Input Auto / Manual Mode See Section 5.9 Torque / Velocity Mode Switch See Section 5.9 Brake Control See Section 5.9 CW Limit Switch See Section 5.
CHAPTER 1.0 Overview 1.6.3 1-10 Standard I/O Relay output, contact ratings: 36V, 100mA max. Closed when drive is ready and has no faults. 2A, 24Vd.c. solid-state high-side drive for motor brake control. Switched under user control or DS2110 software control Resolver Encoder Types • SSI • Hiperface • Analogue encoders • Endat • NRZ serial RS232 Interface at 19200Baud Drive Ready (J2C) Brake Control (J2D) Motor Position Feedback Type (J3/J4) Communications Interfaces (J1) Table 1.
CHAPTER 1.0 Overview 1-11 Page Intentionally Blank CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 2.0 Safety & EMC Instructions 2-1 2.1 General This user’s manual is intended to provide sufficient information on how to install Moog DS2110 electric motor systems. Section 2.2 covers Safety and System Safeguards. Section 2.3 covers Electromagnetic Compatibility (EMC). This user’s guide must be read and understood before applying power and operating the equipment described. This equipment must be installed and serviced only by duly qualified service personnel.
CHAPTER 2.0 Safety & EMC Instructions 2-2 2.2 Safety Regulations 1. The DS2110 controller must be disconnected from all power if repair work is to be carried out. Check that the mains supply has been disconnected and that at least 5 minutes has passed for the A size (6 minutes for AE sizes), to allow for D.C. bus capacitors to discharge, before removing motor and mains connections. 2.
CHAPTER 2.0 Safety & EMC Instructions 2.2.1 2-3 System Safeguards a) General Safety Requirements Users are required to implement safety measures with all equipment, systems and installations into which the DS2110 Servo-drive are installed. In addition, safeguards must be an integral part of workcell design, installation, operator training and operator procedures where this equipment is used.
CHAPTER 2.0 Safety & EMC Instructions 2-4 All external d.c. supply voltages used with the DS2110 Series Controllers must be derived from a Safety Extra Low Voltage (SELV) supply as defined by standard EN60950. Such SELV voltages do not exceed a value of 60 Vd.c. or 42.4 Va.c. peak under normal conditions and are supplied by circuits which are separated from all hazardous voltage conductors by permitted safety methods such as reinforced insulation.
CHAPTER 2.0 Safety & EMC Instructions 2.2.2 2-5 Equipment Safety All persons must observe sound safety practices during the operation and testing of all electrically powered equipment. Prior to first use, power should not be applied to the DS2110 Servo-drive until all instructions in the Wiring and Installation section of this User’s manual have been carried out.
CHAPTER 2.0 Safety & EMC Instructions 2-6 Safeguards should be an integral part of a work cell design, installation, operator training, and operator procedures. A computer-controlled system may activate remote devices under program control at times not anticipated by personnel. It is critical that safeguards be in place to prevent personnel from entering the work cell whenever equipment power is present.
CHAPTER 2.0 Safety & EMC Instructions 2-7 The following table details the recommended cable dimensions for all DS2110 models DS2110 Models µA Cable A B 3/9 6/22 8/22 AWG (mm2) AWG (mm2) AWG (mm2) Line Power Notes 10/42 AWG (mm2) 3x14 (2.1) 14/42 AWG (mm2) 3x12 (3.3) Protective Bonding Cable 1x 6 (13) Motor Power Cable 4x14 (2.1) 4x12 (3.31) Shielded Regen Resistor Cable 2x14 (2.1) Shielded DC Bus Cable 2x14 (2.1) Shielded 2x22 (0.3) Shielded 2x14 (2.
CHAPTER 2.0 Safety & EMC Instructions 2-8 Wherever possible, insulated conductors and cables that have flame-retardant properties shall be used. Where insulated conductors and cables can constitute a fire hazard due to the propagation of a fire or the emission of toxic or corrosive fumes (e.g. PVC), guidance from the cable supplier should be sought. In particular it is important to maintain the integrity of circuits having a safety function (e.g.
CHAPTER 2.0 Safety & EMC Instructions 2-9 f) Wiring Practices - Identification of the protective conductor The protective conductor shall be readily distinguishable by shape, location, marking or color. When identification is by color alone, the bicolor combination GREEN-AND-YELLOW shall be used throughout the length of the conductor. This color identification is strictly reserved for the protective conductor.
CHAPTER 2.0 Safety & EMC Instructions 2-10 Flexible conduit or flexible multi-conductor cable shall be used where it is necessary to employ flexible connections to pendant push-button stations. The weight of pendant stations shall be supported by means other than the flexible conduit or the flexible multi-conductor cable, except where the conduit or cable is specifically designed for that purpose.
CHAPTER 2.0 Safety & EMC Instructions 2.2.4 2-11 EMC requirements for cables User's whose machine installations require for CE-Compliance should read this Section. Required for CE-Compliance Avoid close parallel routing of signal cables and necessary and install all cables in a fixed routing. power cables. Always use the minimum length of cable Data signal cables, motor power and resolver/signal cables, regen resistor cables and power input cables shall have segregated routings.
CHAPTER 2.0 Safety & EMC Instructions 2-12 2.3 Electromagnetic Compatibility (EMC) Required for CE-Compliance User's whose machine installations are intended for CE-Compliance should read this Section. The DS2110 Servo-drive are system components which must be installed in a correct manner to ensure that all electromagnetic compatibility (EMC) requirements are met.
CHAPTER 2.0 Safety & EMC Instructions 2-13 Shielded cable is required to be installed by the user for many external user cable connections to the DS2110. Details of areas where shielded cable must be installed and details of earthing arrangements which must be implemented for the shields of such cables are given throughout Section 3 of this User’s Guide.
CHAPTER 2.0 Safety & EMC Instructions 2-14 The following table details the mechanical dimensions of the recommended filters. Moog Order Code AT6017 AT6009 AT6010 AT6011 AT6012 AT6013 AT6015 Manufacturer Schaffner FN2070-3-06 Schaffner FN 258-7/07 Schaffner FN350-12/29 Schaffner FN258-16/07 Schaffner FN258-30/07 Schaffner FN258-42/07 Schaffner FN258-55/07 Schaffner FN258-100/35 Dimensions [mm] L4 L5 L1 L2 L3 85 75 54 0 255 240 50 99.5 51 3.5 Weight L6 L7 [kg] 65 40.3 Fast-on 0.
CHAPTER 2.0 Safety & EMC Instructions 2-15 EMC filter can produce high leakage currents to ground (Protective Earth). The current levels associated with individual filters are detailed in the associated filter datasheet. CAUTION: The filter must be connected to earth before connecting the supply. 2.3.3 EMC requirements for cables Required for CE-Compliance User's whose machine installations require for CECompliance should read this Section .
CHAPTER 2.0 Safety & EMC Instructions 2-16 Motor power cables MUST be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable. At the DS2110 end of the cable, the shield shall be earthed to Chassis Earth using the EMC kit or the panel earth bar. The correct method to earth the shield is shown in Figure 2 Correct Cable Preparation Grounding of Shield to Chassis.
CHAPTER 2.0 Safety & EMC Instructions 2-17 Figure 3 - DS2110 µA Cable Shield Terminations CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 2.0 Safety & EMC Instructions 2-18 Figure 4 - DS2110 A & B Cable Shield Terminations CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 2.0 Safety & EMC Instructions 2-19 Figure 5 - DS2110 C Cable Shield Terminations CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 2.0 Safety & EMC Instructions 2-20 Figure 6 - DS2110 D Cable Shield Terminations CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 2.0 Safety & EMC Instructions 2-21 Figure 7 - DS2110 E Cable Shield Terminations CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 2.0 Safety & EMC Instructions 2-22 2.4 UL Requirements Detailed below are the specific UL requirements for the DS2110. 2.4.1 Specific UL Requirements • • Usage: The DS2110 shall be used according to the guidelines given in this manual. Ratings: The DS2110 shall be used within the ratings specified in the markings on the equipment. • 24V Logic Supply: The 24V supply is intended for use in the secondary of a Class 2 supply.
CHAPTER 2.0 Safety & EMC Instructions 2-23 Page Intentionally Blank CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-1 This chapter covers the installation, wiring and cabling of the Moog DS2110 Servo-drive series. A pictorial diagram of a single-axis system, with typical components included, is shown in Figure 3.1. Users are directed to read Chapter 2, Safety Instructions, before proceeding with wiring and installation.
CHAPTER 3.0 Wiring and Installation 3-2 Figure 3.1Typical DS2110 System Components (µA Size) CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-3 3.1.4 Serial Set-up Terminal (User-Supplied) An RS-232 interface should be established for individual servo-drive communications, using a PC. The PC can run Moog's WinDrive Windows-based user-interface program.
CHAPTER 3.0 Wiring and Installation 3.1.6.1 3-4 Brushless Motor Brake 24V Power Supply The motor brake requires a 24Vdc supply for release. This should be rated to cover at least twice the sums of the rated currents of all brakes connected. 3.1.7 Heatsinks and Climatic Control The need for air conditioning will depend on the duty cycle of the system and the surrounding ambient temperature. The maximum allowable ambient temperature is 40°C (104°F). The humidity range is 5-95% noncondensing.
CHAPTER 3.0 Wiring and Installation 3-5 3.2 Equipment Mounting This section details the mechanical dimensions of the DS2110 chassis, as well as required clearances for cabling etc. The DS2110 is designed to be panel or cabinet mounted. The DS2110 must be mounted in a vertical orientation. The DS2110 must be panel mounted within an enclosure or cabinet that provides a degree of ingress protection against liquids and objects of at least IP54.
CHAPTER 3.0 Wiring and Installation 3-6 Figure 3.2 Typical DS2110 Cable Bend Radius Requirements The DS2110 must be permanently and reliably connected to Earth and all conductive parts in the IP54 rated enclosure or cabinet must be permanently connected to Earth. The impedance between the earth terminal and any accessible part of the enclosure or cabinet should be less than or equal to 0.1 ohm.
CHAPTER 3.0 Wiring and Installation 3-7 Figure 3.3 DS2110 µA Mechanical & Mounting Dimensions CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-8 Figure 3.4 DS2110 A Mechanical & Mounting Dimensions CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-9 Figure 3.5 DS2110 B Mechanical & Mounting Dimensions CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-10 Figure 3.6 DS2110 C Mechanical & Mounting Dimensions CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-11 Figure 3.7 DS2110 D Mechanical & Mounting Dimensions CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-12 Figure 3.8 DS2110 E Mechanical & Mounting Dimensions CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-13 Page Intentionally Blank CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-14 3.2.1 CE Items for Mechanical Installation Additional electromagnetic compatibility (EMC) measures must be installed on equipment associated with the DS2110 Servo-drive.
CHAPTER 3.0 Wiring and Installation 3-15 3.3 Dissipation To calculate cabinet cooling requirements, Table 3. - 2 provides approximate equipment power dissipation values. If the application employs regeneration, be sure to add the regen resistor power dissipation to the numbers quoted in Table 3. - 2, (use the continuous wattage rating of the regen resistor if the actual application regen dissipation is unknown). Power Dissipation (@ nom.
CHAPTER 3.0 Wiring and Installation 3-16 3.4 DS2110 Connector Terminals Figures 3.9 through 3.14 detail the connectors on the DS2110 (all sizes). Figure 3.9 DS2110 Control Card Connector Terminals CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-17 Figure 3.10 DS2110 Size µA Power Connector Terminals Figure 3.11 DS2110 Size A & B Power Connector Terminals CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-18 Figure 3.12 DS2110 Size C Power Connector Terminals Figure 3.13 DS2110 Size D Power Connector Terminals CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-19 Figure 3.14 DS2110 Size E Power Connector Terminals CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-20 3.5 General System Wiring Guidelines The following is a general reminder of the cable requirements for the DS2110 Series Servo-drives and related equipment. Size wire in accordance with standard wiring practice and local codes for amperage and wire length requirements. Recommended wire sizes are given in Chapter 2. NOTE - Cabling and component wiring is critical in obtaining successful operation of the system.
CHAPTER 3.0 Wiring and Installation 3-21 CAUTION - All external electrical wiring connected to this equipment must be color coded in accordance with European Standard EN 60204-1 requirements. CAUTION - Additional electromagnetic compatibility (EMC) measures which must be installed on equipment cables associated with the DS2110 Servo-drive are given in Chapter 2 of this User’s Guide.
CHAPTER 3.0 Wiring and Installation 3-22 3.6 Sequence of Component Wiring Recommendations The following sequence for wiring is a recommendation. Individual wiring steps are denoted by a box character, which can be used as an installation check off list. The terminal block layout on all power supplies and servo-drives has been designed to isolate low voltage from high voltage circuits. Cabinet conduits should be arranged to maintain this physical separation.
CHAPTER 3.0 Wiring and Installation 3-23 3.7 Three-Phase A.C. Mains Power Source Configuration The DS2110 may be supplied from a three-phase a.c. mains input. In this case the following user supplied options are required:1. Three-Phase Mains Fusing 2. Mains Line Filter 3. 24Vd.c. Power Source & Fuse 4. 24V d.c. EMC Filter Note that for DS2110 sizes A, B, C, D, & E, if the a.c. mains is still applied, and the control-backup power is removed, then the DS2110 control section will still operate correctly.
CHAPTER 3.0 Wiring and Installation 3-24 3.7.1 AC Mains Power Source Connection 3.7.1.1 Size µA a.c. Mains L1 EMC Filter, Fuses etc. L2 L3 Protective Earth See Section 2 Installation 4 5 6 L1 L2 L3 PE Stud Connector J6 4 5 6 L1 L2 L3 PE Stud Connector J6 μA μA Figure 3.17 µA AC Mains Input Connection - Fixed connector: 12 pins, male connector - Mating connector, 12 pins, female, supplied with the drive. Phoenix Combicon (Part # GMSTB 2.5/12-ST7.
CHAPTER 3.0 Wiring and Installation 3.7.1.2 3-25 Size A & B a.c. Mains L1 EMC Filter, Fuses etc. L2 L3 Protective Earth See Section 2 Installation 4 5 U1 V1 W1 6 PE Stud Connector J6 Α&Β Figure 3.18 A & B AC Mains Input Connection - Fixed connector: 12 pins, male connector - Mating connector, 12 pins, female, supplied with the drive. Phoenix Contact (Part # 1767106) - A size wiring: cable 14AWG (2.1 mm2). Wire stripping: 7 mm - B size wiring: cable 12AWG (3.3 mm2).
CHAPTER 3.0 Wiring and Installation 3.7.1.3 3-26 Size C a.c. Mains L1 EMC Filter, Fuses etc. L2 L3 Protective Earth See Section 2 Installation 3 2 U1 V1 W1 1 PE Stud Connector J6 C Figure 3.19 Size C AC Mains Input Connection - Fixed connector: 5 pins, male connector - Mating connector, 5 pins, female, crimped supplied with the drive. (Molex 42816-0512) - C size wiring: cable 8 AWG (8.4 mm2). - PE Stud wiring: cable 6 AWG (13mm2) Pos. Name Function J6.
CHAPTER 3.0 Wiring and Installation 3.7.1.4 3-27 Size D a.c. Mains L1 EMC Filter, Fuses etc. L2 L3 Protective Earth See Section 2 Installation 4 5 U1 V1 W1 6 3 PE Connector J9 D Figure 3.
CHAPTER 3.0 Wiring and Installation 3.7.1.5 3-28 Size E a.c. Mains L1 EMC Filter, Fuses etc. L2 L3 Protective Earth See Section 2 Installation 4 5 U1 V1 W1 6 3 PE Connector J9 E Figure 3.21 Size E AC Mains Input Connection - Fixed connector: 4 pole, screw terminal - E size wiring: cable 1 AWG (42 mm2) for 310/300 - PE Terminal wiring: cable 1 AWG (42 mm2) for 100/300 - Stripping Length 16mm - Tightening Torque: 2-2.3Nm Pos. Name Function J9.
CHAPTER 3.0 Wiring and Installation 3-29 3.8 24V Backup Connection The DS2110 is equipped with a 24V logic supply backup. This backup supply provides logic power to the drive when AC mains power is removed. For the µA size, this backup is mandatory for drive operation. 3.8.1 Size µA 24V Input Connection 24V Auxiliary Supply Fuse Fairrite Clamp Core p/n # 00443164151 (4-Turns of Supply cable) +24V GND (0V) 11 12 11 12 Connector J6 Connector J6 μDS μDS Figure 3.
CHAPTER 3.0 Wiring and Installation 3-30 3.8.2 Size A,B,C, D & E 24V Input Connection 24V Auxiliary Supply Fuse +24V Schaffner FN2070-3-06 Filter GND (0V) 1 2 Connector J8 A,B,C, D & E Figure 3.23 Size A,B, C, D & E 24V DC Input Connection - Fixed connector: 2 pins, male connector - Mating connector, 2 pins, female, supplied with the drive. Wago (Part # 231-102/026-000) - A,B,C & D size wiring: cable 14 AWG (2.1 mm2). - Stripping Length 8mm Pos. Name Function J8.
CHAPTER 3.0 Wiring and Installation 3-31 3.8.3 Auxiliary 24V Fan connection (Size E) 24V Auxiliary Supply +24V GND (0V) 1 2 Connector J8 Size E Figure 3.24 Size E auxiliary 24V fan supply - Fixed connector: 2 pole, screw terminal - Cable 14 AWG (2.1 mm2) - Stripping 9mm - Torque 0.7Nm CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-32 3.9 Internal/External Regeneration (Regen) Resistors – Configurations Regeneration resistors can be fitted to all DS2110 servo-drives. All external Regen resistors should be mounted to allow adequate heat dissipation and such that heat from the Regen resistor is not directed to air intakes of other equipment. The µA and A size DS2110 are the only sizes with internal regen options. All other drive sizes use external regen only.
CHAPTER 3.0 Wiring and Installation 3-33 3.9.1 μA Size Regeneration Resistor Connection Recovery Resistor J6.2 J6.3 DC+ RR Tie Screen to chassis via EMC bracket. See Section 2 Installation Tie screen to panel on which resistor is mounted. Connector J6 DS2110 μA Figure 3.25 DS2110 Size µA External Regeneration Connections J6 - Fixed connector: 12 pins, male connector - Mating connector, 12 pins, female, supplied with drive. Phoenix Combicon (Part # GMSTB 2.5/12-ST-7.62) A size wiring: cable 14 AWG (2.
CHAPTER 3.0 Wiring and Installation 3-34 3.9.3 C Size Regeneration Resistor connection Recovery Resistor J6.4 J6.5 +ATP RR Tie Screen to chassis via EMC bracket. See Section 2 Installation Tie screen to panel on which resistor is mounted. Connector J6 DS2110 C Figure 3.27 DS2110 Size C External Regeneration Connections J6 - Fixed connector: 5 pins, male connector - Mating connector, 5 pins, female, crimped supplied with the drive. (Molex 42816-0512) - C size wiring: cable 8 AWG (8.4 mm2). Pos. J6.
CHAPTER 3.0 Wiring and Installation 3-35 3.9.5 E Size Regeneration Resistor connection Recovery Resistor J9.4 J9.3 +ATP RR Tie Screen to chassis via EMC bracket. See Section 2 Installation Tie screen to panel on which resistor is mounted. Connector J9 DS2110 E Figure 3.29 DS2110 Size E External Regeneration Connections J9 - Fixed connector: 2 pole, screw terminal - E size wiring: cable 2 AWG (34 mm2) - Stripping Length 19mm - Tightening Torque: 4Nm Pos. J9.3 J9.
CHAPTER 3.0 Wiring and Installation 3-36 3.10 Motors - Installation Motors should be sized by qualified personnel. Improper sizing will directly affect performance and reliability. Motor performance data for Moog motors is shown in separate data sheets. Contact Moog Applications Engineering for detailed motor technical information and application sizing, etc. Standard motors should not be mounted directly onto a gearbox with the shaft inside the lubrication chamber.
CHAPTER 3.0 Wiring and Installation 3.10.2.1 3-37 Size µA DS2110 μA Motor U U (J6.10) V V (J6.9) W W (J6.8) PE PE (J6.7) J6 grounding of shield via connector clamp (or RF connection to ground screw in case of terminal board) grounding of shield via connector clamp Figure 3.30 DS2110 µA Motor Power Connection - Fixed connector: 12 pins, male connector - Mating connector, 12 pins, female, supplied with the drive. Phoenix Combicon (Part # GMSTB 2.5/12-ST7.
CHAPTER 3.0 Wiring and Installation 3.10.2.2 3-38 Size A & B DS2110 A, B Motor U U2 (J6.10) V V2 (J6.9) W W2 (J6.8) PE GND (J6.7) J6 grounding of shield via connector clamp (or RF connection to ground screw in case of terminal board) grounding of shield via connector clamp Figure 3.31 DS2110 A & B Motor Power Connection - Fixed connector: 10 pins, male connector - Mating connector, 10 pins, female, supplied with the drive. Phoenix Contact (Part # PC4 HV/10-ST-7.
CHAPTER 3.0 Wiring and Installation 3.10.2.3 3-39 Size C DS2110 C Motor U U2 (J7.1) V V2 (J7.2) W W2 (J7.3) PE PE (J7.4) J7 grounding of shield via connector clamp (or RF connection to ground screw in case of terminal board) grounding of shield via connector clamp Figure 3.32 DS2110 C Motor Power Connection - Fixed connector: 4 pins, male connector - Mating connector, 4 pins, female, crimped supplied with the drive. (Molex 42816-0412) - C size wiring: cable 8 AWG (8.4 mm2). Pos. J7.
CHAPTER 3.0 Wiring and Installation 3.10.2.4 3-40 Size D DS2110 D Motor U U2 (J9.1) V V2 (J9.2) W W2 (J9.3) PE PE (J9.4) J9 grounding of shield via connector clamp (or RF connection to ground screw in case of terminal board) grounding of shield via connector clamp Figure 3.
CHAPTER 3.0 Wiring and Installation 3.10.2.5 3-41 Size E DS2110 E Motor U U2 (J9.10) V V2 (J9.11) W W2 (J9.12) PE PE (J9.9) J9 grounding of shield via connector clamp (or RF connection to ground screw in case of terminal board) grounding of shield via connector clamp Figure 3.34 DS2110 E Motor Power Connection J9 - Fixed connector: 4 pole, screw terminal - E size wiring: cable 1 AWG (42 mm2) - Stripping Length 24mm - Tightening Torque: 8Nm Pos. J9.9 J9.12 J9.11 J9.
CHAPTER 3.0 Wiring and Installation 3-42 3.10.3 Motor Brake Connection The DS2110 provides a motor break relay at connector J2D (on Control Card Interface). The user supplies a 24Vd.c., Power Supply Unit for the brake connections. Details of the motor brake current requirements are available from the relevant motor datasheet. Motor Brake Connector Figure 3.35 Motor Brake Connector Location User Supplied 24V PSU Motor * Power Cable Figure 3.
CHAPTER 3.0 Wiring and Installation 3-43 DS2110 J6 (μA, A,B), J7 (C), J9 (D,E) EMC Bracket J2D.2 J2D.3 A G H F E F B C G E D D PT00E16-8PC2 A A D B C C 97B 3100 RS 24-10P 97B 3102R 36-5P A E B A B B C D D C PT0014-5PC 97B 3102R 24-22P Figure 3.37 Motor Power and Brake Connectors CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation DS2110 G4x2/3/4 G4x5 G4x6 3-44 PT00E 16-8-PC2 97B3100 RS 2410P 97B3102 R 36-SP PT00E 14-5 PC 97B3102 RS 2422P D D D D D U2 2 U U A A A A A V2 4 V V B B B B B W2 1 W W C C C C C Brake+ 5 + + E E - - - Brake- 6 - - F F - - - Table 3. -21 Motor Power Connections 3.10.4 Motor Resolver Connection Wire the DS2110 resolver cable in accordance with Figure 3.39 and Table 3. -22.
CHAPTER 3.0 Wiring and Installation 3-45 Resolver Connector J1 RS232 J3 Figure 3.38 Motor Resolver Connector Location - Fixed connector: 9 pin, female Sub-D connector - Mating connector, 9 pin male Sub-D - Wiring: cable. 28-18AWG (0.14-0.82mm2) MOTOR RESOLVER CONNECTOR Pos Signal Type FAS T/ FAS K FAS N/ FAS Y G4xx J5.1 Cosϕ (S2) C 1 3 J5.2 Cos ϕ (S4) E 2 4 J5.9 V-Ref (R1) D 10 7 J5.7 0V (R2) B 7 8 J5.8 PTC\NTC N 8 6 J5.6 PTC\NTC A 9 5 J5.
CHAPTER 3.
CHAPTER 3.0 Wiring and Installation 3-47 3.10.5 Motor Encoder Connection The DS2110 encoder input supports a variety of encoders. These include Analogue, SSI, Hiperface and Endat. The connections to the drive for each of these encoder types are given in Table 3-28. Encoder Connector Figure 3.40 Motor Encoder Connector Location - Fixed connector: 15 pin, female Sub-D connector Mating connector, 15pin male Sub-D Wiring: cable. 28-18AWG (0.14-0.82mm2) Encoder Type Hiperface Pos Analogue SSI J4.1 J4.
CHAPTER 3.0 Wiring and Installation 3-48 3.10.6 Motor Rotation Direction The positive direction of rotation is clockwise, when the motor is viewed from the shaft end, as shown in the diagram below. M otor Front Clockwise is Positive Direction of Rotation Figure 3.41 Rotational Convention for Mechanical Process Variables NOTE:-. For operation with the encoder, positive rotation as defined here corresponds to Channel A leading Channel B. CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3-49 3.11 DS2110 Control Input and Outputs The following section contains a description of the control related Input/Output (I/O) available to the user. Functionality of this I/O is detailed later in this manual. NOTE - An external 12Vd.c. to 32Vd.c. power source (user supplied) is required for the I/O functions. The amperage rating of this power source will depend on the number of I/O functions used.
CHAPTER 3.0 Wiring and Installation 3-50 3.11.1 General Purpose Description of the Digital Inputs The DS2110 provides 8 digital inputs on connector J2A. - Fixed connector: 9 pins, male connector Mating connector, 9 pins spring cage, female, supplied with the drive. Phoenix Contact (Part # FK-MC 0.5/9ST-2.5) Wiring: cable. 28-20AWG (0.14-0.5mm2) Wire stripping: 8 mm Pos. Name Function J2A.1 I1 Digital Input # 1 Drive Enable J2A.2 I2 Digital Input # 2 User Configurable J2A.
CHAPTER 3.0 Wiring and Installation 3-51 3.11.2 General Purpose Description of the Digital Outputs The DS2110 provides 4 digital outputs on connector J2B & J2C. Only the digital outputs on J2B are detailed here. - Fixed connector: 5 pins, male connector Mating connector, 5 pins spring cage, female, supplied with the drive. Phoenix Contact (Part # FK-MC 0.5/5ST-2.5) Wiring: cable. 28-20AWG (0.14-0.5mm2) Wire stripping: 8 mm Pos. J2B.1 J2B.2 J2B.3 J2B.4 J2B.
CHAPTER 3.0 Wiring and Installation 3-52 3.11.2.1 Drive Ready Relay The DS2110 provides 1 relay output on connector J2C. This relay closes when the drive is ready and no faults are present. - Fixed connector: 2 pins, male connector - Mating connector, 2 pins spring cage, female, supplied with the drive. Phoenix Contact (Part # FK-MC 0.5/2ST-2.5) - Wiring: cable. 28-20AWG (0.14-0.5mm2) - Wire stripping: 8 mm Pos. Name Function J2C.
CHAPTER 3.0 Wiring and Installation 3-53 3.11.3 Power Sequencing on Startup The timing of the digital inputs ENABLE and PWR_RDY must be considered carefully for proper power-on sequencing. Minimum Time from Logic power to Drive Ready 6 seconds A.C. Mains to Drive Ready < 4s Logic Power applied 24Vd.c. A.C. A.C.Mains Mains applied applied to toDS2100 DS2110 Drive Ready activated to ENABLE transition can be < 6ms Drive Ready Relay output of DS2110 ENABLE input Figure 3.
CHAPTER 3.0 Wiring and Installation 3-54 3.12 Communications Interface Wiring and Configuration The DS2110 provides one serial interface (RS232) for communication between the drive and the Windrive graphical user interface (GUI). 3.12.1 RS232 Serial Communications Interface The pin assignment requires use of a 9-pin Sub-D null modem type cable. Figure 3.47 RS232 Connector Location - Fixed connector: 9 pin, female Sub-D connector - Mating connector, 9 pin male Sub-D - Wiring: cable. 28-18AWG (0.
CHAPTER 3.0 Wiring and Installation 3-55 3.13 Wiring Summary 3.13.1 µA Size Power Stage - Fixed connector: 12 pins, male connector - Mating connector, 12 pins, female, supplied with the drive. Phoenix Combicon (Part # GMSTB 2.5/12-ST7.62) - µA size wiring: cable 14 AWG (2.1 mm2). Wire stripping: 7 mm. - Tightening torque: 0.5Nm. Pos. J6.1 J6.2 J6.3 J6.4 J6.5 J6.6 J6.7 J6.8 J6.9 J6.10 J6.11 J6.
CHAPTER 3.0 Wiring and Installation 3-56 3.13.2 A & B Size Power Stage - Fixed connector: 12 pins, male connector - Mating connector, 12 pins, female, supplied with the drive. Phoenix Contact (Part # 1767106) - A size wiring: cable 14AWG (2.1 mm2). Wire stripping: 7 mm - B size wiring: cable 12AWG (3.3 mm2). Wire stripping: 7 mm - Tightening torque: 0.5Nm. Pos. J6.1 J6.2 J6.3 J6.4 J6.5 J6.6 J6.7 J6.8 J6.9 J6.10 J6.11 J6.
CHAPTER 3.0 Wiring and Installation 3-57 3.13.3 C Size Power Stage - Fixed connector: 5 pins, male connector Mating connector, 5 pins, female, crimped supplied with the drive. (Molex 42816-0512) C size wiring: cable 8 AWG (8.4 mm2). Pos. Name Function J6.1 W1 Phase "L3", ", three-phase voltage input 230/460Vac ±10% J6.2 V1 Phase "L2", ", three-phase voltage input 230/460Vac ±10% J6.3 U1 Phase "L1", three-phase voltage input 230/460Vac ±10% J6.4 +ATP DC Bus (+) (Regeneration Resistor connection) J6.
CHAPTER 3.0 Wiring and Installation 3-58 3.13.4 D Size Power Stage - Fixed connector: 12 pole, screw terminal D size wiring: cable 6 AWG (13 mm2) for 50/140 D size wiring: cable 4 AWG ( 21mm2) for 60/180 PE Terminal wiring: cable 6 AWG (13 mm2) for 50/140 PE Terminal wiring: cable 4 AWG (21 mm2) for 60/180 Stripping Length 16mm Tightening Torque: 2-2.3Nm Pos. Name Function J9.1 RR Regeneration Resistance J9.2 +ATP DC Bus (+) J9.3 PE Protective Earth Screw Terminal J9.
CHAPTER 3.0 Wiring and Installation 3-59 3.13.5 E Size Power Stage - Fixed connector: 14 pole, screw terminal Pos 1,2: Cable 14 AWG (2.1 mm2) , Stripping 9mm , Torque 0.7Nm Pos 3,4: Cable 2 AWG (34 mm2) , Stripping 19mm , Torque 4Nm Pos 5-14: Cable 1 AWG (42 mm2) , Stripping 24mm , Torque 8Nm Pos. J9.1 J9.2 J9.3 J9.4 J9.5 J9.6 J9.7 J9.8 J9.9 J9.10 J9.11 J9.12 J9.13 J9.
CHAPTER 3.0 Wiring and Installation 3-60 3.13.6 Control Card CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 3.0 Wiring and Installation 3.13.6.1 3-61 RS232 DS2110 2 PC Rx Rx Tx Tx 2 3 3 Gnd 5 - Fixed connector: 9 pin, female Sub-D connector - Mating connector, 9 pin male Sub-D - Wiring: cable. 28-18AWG (0.14-0.82mm2) Pos. J1.1 J1.2 J1.3 J1.4 J1.5 J1.6 J1.7 J1.8 J1.
CHAPTER 3.0 Wiring and Installation 3-62 3.13.6.3 Digital Outputs - Fixed connector: 5 pins, male connector - Mating connector, 5 pins spring cage, female, supplied with the drive. Phoenix Contact (Part # FK-MC 0.5/5ST-2.5) - Wiring: cable. 28-20AWG (0.14-0.5mm2) - Wire stripping: 8 mm Pos. J2B.1 J2B.2 J2B.3 J2B.4 J2B.
CHAPTER 3.0 Wiring and Installation 3-63 3.13.6.7 Encoder - Fixed connector: 15 pin, female Sub-D connector - Mating connector, 15 pin male Sub-D - Wiring: cable. 28-18AWG (0.14-0.82mm2) Encoder Type 15-Pin Sub-D Connector Plug (male) on cable DS2110 Cable End J4 Pos Analogue SSI Hiperface Endat J4.1 Shield Shield Shield Shield J4.2 - Sine - - Sine - Channel B J4.3 - Cosine - - Cosine - Channel A J4.4 Gnd Supply Gnd Supply Gnd Supply Gnd Supply J4.
CHAPTER 3.0 Wiring and Installation 3-64 3.13.6.8 Resolver - Fixed connector: 9 pin, female Sub-D connector - Mating connector, 9 pin male Sub-D - Wiring: cable. 28-18AWG (0.14-0.82mm2) Pos J3.1 J3.2 J3.9 J3.7 J3.8 J3.6 J3.4 J3.5 MOTOR RESOLVER CONNECTOR Signal FAS T/ FAS N/ Type FAS K FAS Y C 1 Cosϕ (S2) E 2 Cos ϕ (S4) V-Ref (R1) D 10 0V (R2) B 7 PTC\NTC N 8 PTC\NTC A 9 G 11 Sinϕ (S1) H 12 Sin ϕ (S3) J3.
CHAPTER 4.0 Getting Started 4.1 4-1 Introduction The getting started guide will provide you with the information needed to get a DS2110 configured and operational. The guide will show the typical steps required to operate a DS2110 controller using the Windrive Software. Before starting this section, the user should become familiar with Sections 1 - Sections 3 of this manual, in particular safety notices and hazard warnings.
CHAPTER 4.0 Getting Started 4.4 4-2 Installing Windrive WinDrive should be installed by running setup.exe from the File Manager or from the Program Manager. The installation program will take the user through all the necessary installation steps. Any necessary folders to launch WinDrive will automatically be created in the Start menu. For a more detailed account of setting up and installing the Windrive software refer to the “Readme” file which accompanies the GUI software.
CHAPTER 4.0 Getting Started 4.5 4-3 Controller Access At this stage the Windrive software should be able to communicate with the DS2110 controller and the Status bar in the upper right hand corner should be green and read “Read Successful (Controller ACK)” If the status bar is red and reads “Serial Port Timeout Error”, ensure power is applied and check all serial connections and Port settings. Figure 4.
CHAPTER 4.0 Getting Started 4.6 4-4 Motor Selection The user may select to download the appropriate motor settings using one of the supplied Moog Motor libraries Moog Standard library “Motor Setup → Moog Standard Motors (Full Database)” Moog Non-standard Motor Library “Motor Setup → Moog Nonstandard Motors”. The motor may be selected by the model (Gxxx-xxx) from the scrollable motor list.
CHAPTER 4.0 Getting Started 4-5 Open the parameter database DS2110 → Parameter Database. Click on the “Name” column header and all parameters will be sorted alphabetically. Ensure the commutation feedback parameter “comfbk” is set to 1 (resolver feedback), DS2110 → Parameter Database → comfbk Ensure the Position feedback parameter “posfbk” is set to 1 (resolver feedback),, DS2110 → Parameter Database → posfbk Figure 4.4 Parameter Database CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 4.0 Getting Started 4.7 4-6 Regen Resistor Configuration µA size and select A and B size DS2110 are equipped with an internal regeneration resistor. All other A to E size drives will require an external resistor to be attached. The recommended regeneration resistors are detailed in Section 5.3.5. The Regen-on/ Regen-off voltages should be set in accordance with the DC Bus voltage, Table 5.4 Typical Regeneration Turn-on & Turn-off Voltage Levels.
CHAPTER 4.0 Getting Started 4-7 For drives equipped with an internal Regeneration resistor, the parameters associated with that resistor must be set. If the drive has external regeneration capability, all regeneration resistor parameters are set to zero. The drive will display a fault (F3) and will not enable until suitable parameters for regeneration resistors are entered and saved.
CHAPTER 4.0 Getting Started 4.8 4-8 Acceleration Limits The acceleration limiting is performed on the velocity command. The deceleration limits can be set separately from the acceleration limit, but writing to the acceleration limit will always set all of the deceleration limits to the same value as the acceleration limit. Set the Acceleration limits accordingly using the Drive Set-up panel “Drive Setup → Limits → Acceleration Limits” E.g. Set the Acceleration limits to “10,000” rad/s2 Figure 4.
CHAPTER 4.0 Getting Started 4.9 4-9 Parameter Utilities The user’s parameters should now be saved to the non-volatile memory, such that when the drive is power cycled, the DS2110 is initialized with the user’s parameters and not the default parameters. Open “Parameter Utilities Drive Parameter Load/Save” and left click “Save All Parameters” to save all parameters to the non-volatile memory. Figure 4.8 Parameter Utilities CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 4.0 Getting Started 4-10 4.10 Status & Faults Before high power can be applied all faults must be cleared from the DS2110. The prefix “U” indicates a warning and an “F” indicates an error on the DS2110’s 7-segment display. Refer to Section 5.11 Drive Monitoring and Fault Detection. After the motor and regeneration parameters have been entered as detailed in the previous sections, all faults should be cleared as follows: “Status and Faults → Clear Faults → Clear Faults”.
CHAPTER 4.0 Getting Started 4-11 4.11 High Power Application Apply the appropriate 3-phase voltage (230Vac/400Vac) to the DS2110 controller and allow approximately 1.3 seconds for the softstart sequence to complete. If the drive has been set up correctly and all errors removed, the softstart relay should close to indicate a successful soft start-up.
CHAPTER 4.0 Getting Started 4-12 4.12 Autophasing Once the high power has been applied, the user can then perform an Autophasing operation. For all commutation types, the parameter “comofs” contains the mechanical offset angle between the commutation feedback and the motor stator. 16-bit full scale corresponds to one full mechanical revolution. In certain cases the motor has a resolver or encoder built in that has been adjusted in the factory, this angle can then be obtained from the motor datasheet.
CHAPTER 4.0 Getting Started 4-13 4.13 Torque Mode Enable Figure 4.12 Torque Mode Drive Enable Open “Function Generator”, and select ”Trq”. Click “Read All” to confirm the “Drive Mode Status” reads “Trq”, Give the drive an offset by typing “0.5” in the “Offset” textbox and click “Write All”, Click enable button ( The Drive will start to accelerate in a clockwise direction until it reaches maximum velocity. Disable drive using disable button ( ). CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 4.0 Getting Started 4-14 4.14 Velocity Mode Enable Figure 4.13 Velocity Mode Drive Enable Open “Function Generator”, and select “Vel”. Click “Read All” to confirm the “Drive Mode Status” reads “Vel”.
CHAPTER 4.0 Getting Started 4-15 4.15 Oscilloscope 4.15.1 Oscilloscope Set-up Open the oscilloscope, “DS2110 → Oscilloscope” The Status prompt in the lower right hand corner should be yellow and read “initializing” Set-up Channels 1-3, Timebase and Trigger as per the table 1 below, Figure 4.
CHAPTER 4.0 Getting Started 4-16 4.15.2 Setting the Velocity Loop Gains Open the Velocity Loop Panel, “Drive Setup → Compensators → Velocity Loop Compensators”. Set the p-gain to an initially low value and the I-gain to ‘0’ and click “Write” “p-gain = 0.01” “i-gain = “0” Figure 4.15 Velocity Loop Gains CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 4.0 Getting Started 4-17 4.15.3 Step Response With Velocity p-gain = 0.01 & i-gain = 0.0 The following step responses were obtained using a G464-804 Global motor with resolver feedback and under no-load conditions. ( ) Click enable button The Oscilloscope should trigger and the status prompt should turn red and read “Stopped” Disable drive using disable button ( ). Figure 4.16 Step Response With Velocity p-gain = 0.01 & i-gain = 0.0 CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 4.0 Getting Started 4-18 4.15.4 Step Response With Velocity p-gain = 0.075 & i-gain = 0.0 Change the Velocity Loop gains “Drive Setup → Compensators → Velocity Loop Compensators” to: “p-gain = 0.075” “i-gain = “0” Reset the trigger mode to Normal Click enable button ( The Oscilloscope should trigger and the status prompt should turn red and read “Stopped” Disable drive using disable button ( ) ). Figure 4.17 Step Response With Velocity p-gain = 0.075 & i-gain = 0.
CHAPTER 4.0 Getting Started 4-19 4.15.5 Step Response With Velocity p-gain = 0.075 & i-gain = 5.0 Change the Velocity Loop gains “Drive Setup → Compensators → Velocity Loop Compensators” to: “p-gain = 0.075” “i-gain = “5” Reset the trigger mode to Normal Click enable button ( The Oscilloscope should trigger and the status prompt should turn red and read “Stopped” Disable drive using disable button ( ). ). Figure 4.18 Step Response With Velocity p-gain = 0.
CHAPTER 4.0 Getting Started 4-20 4.16 Power-Down Sequence Ensure the drive is disabled and remove Hi Power (AC mains) from the DS2110 controller. Wait until the DC Bus Voltage has decreased to below 50VDC before servicing the controller, “DS2110 → DC Bus Monitoring → Detected DC Bus Voltage”. Close the Oscilloscope and the Windrive GUI and remove the 24V DC Logic Back up from the DS2110.
CHAPTER 5.0 Functional Overview 5.1 5-1 Introduction This section describes the functionality of the DS2110. It details the various modes of operation of the drive. The DS2110 controller supports communications between drives and to a controller over various fieldbus networks. Details of the fieldbus interfaces are given in the appendices of this manual. 5.2 DS2110 Conventions This section deals with commonly understood conventions for DS2110 operation. 5.2.
CHAPTER 5.0 Functional Overview 5.3 5-2 Power Interface Section 5.3.1 High Power Section Description The high power supply section has the following features: Three Phase a.c Operation Direct Off-Line 230 V r.m.s to 460V r.m.s. +10% Operation Soft Start (a.c.
CHAPTER 5.0 Functional Overview 5-3 5.3.2 High Voltage Rectification and Filtering The a.c. mains input is rectified by a three phase diode bridge and filtered by a bank of electrolytic capacitors to generate the internal DC Bus. This high power d.c. supply is unregulated and will vary in direct proportion with the a.c. mains input voltage magnitude. The dc bus voltage is monitored continuously and is available for user display, parameter bus_voltage_actual (Field Number 1232).
CHAPTER 5.0 Functional Overview 5-4 5.3.4 Low Voltage Control Power Supply Control power for the logic circuits is generated by a DC/DC converter, which provides control-circuitry power that is isolated from the mains input. This control voltage also powers the cooling fans on size A-D. Size E Drives require separately supplied 24Vdc to power the cooling fans. The DC/DC can generate control power from two sources 1. D.C. Bus if it is greater than 120Vd.c. (Not available on the DS2110 µA size drives) 2.
CHAPTER 5.0 Functional Overview 5-5 5.3.5 Regeneration Control Rapid motor deceleration or an overhauling load creates a situation in which energy is returned back into the D.C. Bus. The regeneration energy will charge up the power supply bus capacitors, causing their voltage to increase. To prevent capacitor over voltage, a shunt regulator circuit senses when the bus voltage exceeds the Regeneration cut-in voltage and switches a Regeneration resistor across the D.C..
CHAPTER 5.0 Functional Overview 5-6 The parameters associated with the regeneration control are given below.
CHAPTER 5.0 Functional Overview 5-7 5.3.6 Power Interface Parameters Parameter Name Field Number Data Type Access Default Value Min. Value HIGH VOLTAGE bus_voltage_actual 1232 f32 r bus_voltage_nominal 1229 f32 r bus_under_voltage_limit 1234 f32 r bus_under_voltage_limit_percentage 1235 f32 r/w 75 0 bus_over_voltage_limit 1233 f32 r/w 800 0 LOW VOLTAGE supply_+24V 1441 f32 r supply_+3V3 1421 f32 r supply_-15V 1426 f32 r supply_+15V 1431 f32 r supply_+2V_ref.
CHAPTER 5.0 Functional Overview 5.4 5-8 Motor Configuration There are a number of parameters that are required when configuring a specific motor for a drive. For standard motors, these parameters will be held in a database on the PC, and downloaded by the GUI. For non-standard motors, the user must enter these parameters. In addition to the typical electrical motor parameters which are downloaded (e.g. Number of Motor Poles, Resistance, Inductance, etc...
CHAPTER 5.0 Functional Overview 5-9 5.4.4 Feedback and Commutation Parameters Different sources for the feedback of motor position to the controller are available. The following table lists these options. In the case where no encoder is used (i.e. comfbk = 1), then the encoder parameters may not need to be set. The resolver reference amplitude is in units of 32768/2V, Typically the default value for the resolver’s reference amplitude is used.
CHAPTER 5.0 Functional Overview 5-10 5.4.7 Motor Rating Parameters The following parameters for speed and current ratings for the motor must also be set. Field Number Type Units Motor Database Name Name 1078 F32 A Imax motor_max_current_ 1082 F32 rad/s Nmax motor_max_velocity 1087 F32 Arms In motor_max_continuous_rms_current 4226 U32 mNm Mn motor_rated_torque Table 5.11 List of motor (ratings) parameters CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 5.0 Functional Overview 5-11 Data Group Storage Units Maximum Value Minimum Value Default Value Access Data Type Field Number Parameter Name 5.4.8 Motor Configuration Parameters NAME motor_name 1074 str r/w - - None C A 1072 1073 1075 1076 1077 U16 F32 F32 F32 F32 r/w r/w r/w r/w r/w 12 2.4 5.180e-3 4.920e-3 1.16 2 1.0e-9 1.0e-9 1.0e-9 1.
CHAPTER 5.0 Functional Overview 5-12 FEEDBACK AND COMMUTATION resolver_reference_amplitude 1042 U16 r/w 30000 10000 65535 C A 2 12 12 5 32 1 - Vrms/3861.
CHAPTER 5.0 Functional Overview 5.5 5-13 Resolver Input The resolver input allows the connection of various resolvers for drive position feedback, velocity feedback or for motor commutation (rotor angle feedback). The drive supplies the resolver with a sinusoidal reference signal (R1 - R2). The resolver output signals have the same frequency as the reference but the amplitude changes depending on the rotational angle. The output signals are normally referred to as Sine (S1 - S3) and Cosine (S2 - S4).
CHAPTER 5.0 Functional Overview 5.5.1.2 5-14 Resolver transformer turns ratio The resolver transformer turns ratio determines the required amplitude for the resolver reference output from the DS2110. This figure is normally quoted in the resolver data sheet. For standard motors in the motor database this parameter is configured as part of the motor parameter download. Failure to set the parameter resolver_transformer_ratio (Field Number 1024) correctly may result in a resolver fault being detected. 5.
CHAPTER 5.0 Functional Overview 5-15 Data Group Storage T Units Maximum Value Minimum Value Default Value Access Data Type Field Number Parameter Name 5.5.2 Resolver Parameters RESOLVER resolver_poles 1037 u16 r/w 2 2 - none C A resolver_transformer_ratio 1024 u16 r/w 0.5 0.22 1.
CHAPTER 5.0 Functional Overview 5.6 5-16 Encoder Input The encoder input allows the connection of various absolute and incremental encoders for drive position feedback, velocity feedback or for motor commutation (rotor angle feedback). The encoder signals of an encoder with analogue sinusoidal output signals can be used for increased resolution through angle interpolation within one optical increment.
CHAPTER 5.0 Functional Overview 5.6.1.2 5-17 Encoder types There are various encoder types supported. They are selected with the parameter encoder_type (Field Number 1705). It can have the following values: 0 1 2 - 3 4 5 6 - no encoder connected Digital incremental encoder Analogue incremental encoder with two analogue sinusoidal quadrature output signals with 1 Vpp amplitude SSI interface absolute singleturn or multiturn encoder Stegmann Hiperface interface absolute encoder Heidenhain EnDat 2.
CHAPTER 5.0 Functional Overview 5.6.1.7 5-18 Direction of rotation The direction of rotation can be reversed with the parameter encoder_direction_of_rotation (Field Number 1707). Normally positive direction is clockwise rotation when looking onto the encoder shaft. In this case, channel A is leading the channel B signals. If the direction has to be changed because of different encoder signals or mounting of the encoder on the motor or machine, encoder_direction_of_rotation can be set to 1.
CHAPTER 5.0 Functional Overview 5-19 5.6.1.13 Encoder EEPROM Enable Encoders with a Hiperface or EnDat digital interface provide onboard EEPROM for parameter storage. This can be used by the DS2110 to store motor related parameters so that a drive can be replaced while retaining the motor setup. The EEPROM parameter storage is enabled by setting the parameter encoder_eeprom_enable to 1. This parameter is set to 0 by default.
CHAPTER 5.0 Functional Overview 5-20 Data Group Storage Units Maximum Value Minimum Value Default Value Access Data Type Field Number Parameter Name 5.6.
CHAPTER 5.0 Functional Overview 5-21 5.7 Commutation Module The commutation module allows the selection of various commutation methods for the motor phase currents. It is possible to use a resolver, an encoder, or a fixed value for the rotor feedback position. 5.7.1 Commutation Configuration 5.7.1.1 Commutation feedback The selection of the rotor position feedback is done through parameter commutation_feedback (Field Number 1035). It can have the following values: 0 1 2 5.7.1.
CHAPTER 5.0 Functional Overview 5-22 5.7.2 Commutation offset adjustment To adjust the offset between the commutation feedback and the phase currents the parameter commutation_offset_adjustment can be used. The following steps have to be followed: 1. Make sure the rotor can turn freely. 2. Initialize correct motor parameters. 3. Set commutation_feedback (resolver or encoder). 4. Set the drive to torque mode. (set parameter control_loop_mode_requested (Field Number 1330) to 1301) 5.
CHAPTER 5.0 Functional Overview 5-23 Data Group Storage Units Maximum Value Minimum Value Default Value Access Data Type Field Number Parameter Name 5.7.
CHAPTER 5.0 Functional Overview 5.8 5-24 Position Feedback The feedback signal for the position loop closure can be derived from the resolver input or the encoder input. 5.8.1 Position Feedback Configuration 5.8.1.1 Position feedback The selection of the position feedback is done through parameter position_feedback (Field Number 1168).
CHAPTER 5.0 Functional Overview 5.9 5-25 Velocity Feedback The feedback signal for the velocity loop closure can be derived from the resolver input or the encoder input. 5.9.1 Velocity Feedback Configuration 5.9.1.1 Velocity feedback The selection of the velocity feedback is done through parameter velocity_feedback (Field Number 1169).
CHAPTER 5.0 Functional Overview 5-26 5.10 Digital Input and Output Functional Description 5.10.1 Digital Input Functionality There are 8 digital inputs on the DS2110, numbered I1 to I8 on the DS2110 front-panel. The first digital input is hardwired to always be used for drive enable, the drive can be enabled when this input is high, and the drive is always disabled when this input is low.
CHAPTER 5.0 Functional Overview 5-27 5.10.1.1 Digital Input Function Assignment Setting the digital input configuration entry for the digital input, to the appropriate handler function number, configures the functionality of each input. The table below lists the functions that can be assigned. Only the NULL function can be assigned to more than one digital input. If an attempt is made to map a function twice a mapping error is indicated.
CHAPTER 5.0 Functional Overview 5.10.1.1.2 5-28 Positive Limit Switch This handler function is used to configure the input as a positive limit switch. The default operation is that when the input is set the limit switch is inactive. If the input is cleared, and the drive is not performing a homing cycle, the drive will stop. For torque mode operation, torque reference is reduced to zero. For velocity mode operation, the motor is decelerated to zero.
CHAPTER 5.0 Functional Overview 5.10.1.1.4 5-29 Homing Switch This handler function is used to configure the input as a homing switch. The homing switch is used when certain homing methods are configured. The default operation is that the homing switch is inactive when the input is cleared, and active when the input is set. 5.10.1.1.5 Quickstop CAUTION:- the user can program the MANUAL_MODE torque and velocity limits to be higher than the same limits in the AUTOMATIC_MODE.
CHAPTER 5.0 Functional Overview 5-30 5.10.1.2 Digital Input Debounce Count The count for all digital input is by default set to 1. The digital inputs are checked at a fixed rate (every 2ms). By setting the count to a higher value, the handler function will only be called, when the input is seen to have settled at a level, for the defined number of counts, each time it is checked. 5.10.1.3 Digital Input Invert Input This parameter invert the logic associated with a digital input handler function.
CHAPTER 5.0 Functional Overview 5-31 5.10.2.1 Digital Output Field and Mask The user must define specific bits within a specific parameter, which is to be associated with a digital output. The Field value of the parameter (i.e. a unique number identifying a specific parameter) must be entered into the digital output field number parameter, to specify the parameter of interest. This field number is listed in the parameter database, in the utilities panel of the GUI.
CHAPTER 5.0 Functional Overview 5-32 digital_input_4_configuration digital_input_4_debounce_count digital_input_4_invert digital_input_4_control digital_input_5_configuration digital_input_5_debounce_count digital_input_5_invert digital_input_5_control digital_input_6_configuration digital_input_6_debounce_count digital_input_6_invert digital_input_6_control CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 5.
CHAPTER 5.0 Functional Overview 5-34 5.11 Control Loops There are three loops that can be closed by DS2110, depending on the mode of operation of the drive. These torque, velocity and position loops are nested inside each other, with the output of each compensator, being the reference for the next inner loop. • In torque mode only the torque/current loop is closed, with a torque set-point or demand selected by the user.
CHAPTER 5.0 Functional Overview 5-35 5.11.1 Position Loop Compensator 5.11.1.1 PI Compensator The outer most loop is the position loop. Two options exist for the position compensator. These are a PI compensator; or a Time-optimal compensator. The PI compensator has a structure as shown in the diagram below: Anti-Windup 1 s Ki motvelliminc + demand vcmd Kp -motvelliminc pos Figure 5.
CHAPTER 5.0 Functional Overview 5-36 In addition, if the absolute value of the position error of the axis is smaller than a programmable limit (position_TO_enable_velocity_integrator), then the I part of the velocity compensator, used when in position mode, must be enabled to overcome friction i.e.: Abs(position error) <= limit => Activate the I-Term in the velocity compensator. The compensator has a structure as shown below.
CHAPTER 5.0 Functional Overview 5-37 Anti-Windup 1 s Ki imax + iqdv Kp vcmdsav - -imax velf Figure 5.7 : Velocity Loop (When in position mode) Compensator Structure The output of this compensator is limited to ± current_max (1093), since it is used subsequently as a demand for the current loop. The compensator has parameters are listed below: Field Number Name Type Units 1305 position_mode_velocity_loop_p-gain f32 Nm/rad/s 1306 position_mode_velocity_loop_i-gain f32 Nm/rad Table 5.
CHAPTER 5.0 Functional Overview 5-38 5.11.2 Velocity Loop compensator In velocity mode, the velocity compensator is an I-PI configuration, and has the structure as shown below: Anti-windup vcmdsav Anti-windup 1 s Ki motvelliminc + - 1 s Kie imax + + + + iqdv Kp -imax -motvelliminc velf Figure 5.
CHAPTER 5.0 Functional Overview 5-39 5.11.2.2 Acceleration/Deceleration limiting The acceleration/deceleration limiting is performed on the velocity command. In position control mode this is the output of the position compensator. The acceleration limiting parameter is acceleration_limit (1335 ), and has units of rad/s2. The deceleration limit can be set separately from the acceleration limit. The deceleration limiting parameter is deceleration_limit (1668 ), and has units of rad/s2.
CHAPTER 5.0 Functional Overview 5-40 torque 100% Automatic or Manual Mode Limit 5% Velocity Limit 1.05 * Velocity Limit actual velocity Figure 5.9 : Velocity limiting when in Torque Mode 5.11.2.4 Velocity Loop Filter The generic filter has 9 programmable parameters. Therefore, it may be configured as hi-pass, low-pass, bandpass or band-stop, to allow for maximum flexibility.
CHAPTER 5.0 Functional Overview 5-41 The mode parameter determines the number of multiplications used to compute the filter output. If velocity_loop_filter_mode is set to 1, then only parameters b0, b1, b2, a1, a2 are used to compute the filter output. This configuration is consistent with a second order low-pass or high-pass butterworth digital filter. If velocity_loop_filter_mode is set to 2, then all 9 parameters are used to compute the filter output.
CHAPTER 5.0 Functional Overview 5-42 5.11.2.5 Velocity feedback filter A low-pass first order filter is also included on the motor feedback velocity. The feedback velocity is held in the parameter velocity_actual (1151), with the low-pass filtered velocity held in a parameter called velocity_filtered (1165). It is this filtered velocity variable that is used to close the velocity loop.
CHAPTER 5.0 Functional Overview 5-43 5.11.3 Current / Torque Loop Compensator The inner most loop is the current or torque loop. The current loop tuning gains are computed from a Matlab simulation. This uses time domain continuous time analysis to compute the Laplace domain gains for the current controller. These are then mapped to the discrete domain using a standard pole placement algorithm. A default set of current loop parameters will be held in the GUI motor database for all standard motors.
CHAPTER 5.0 Functional Overview 5-44 For close inspection of torque, the observer predicted current_q-axis_observer, or the actual q-axis feedback, current_actual, can be monitored using the GUI’s oscilloscope, as can any of the parameters listed below. 1 s qcomp.igain + + qcomp.pgain iqd vdc + - vcq -vdc iq 1 s dcomp.igain idd (generally = 0) + + dcomp.pgain vdc + - vcd -vdc id Figure 5.
CHAPTER 5.0 Functional Overview 5-45 The table below lists parameter or signals that can be monitored by the GUI, and can be useful during loop tuning.
CHAPTER 5.0 Functional Overview 5-46 5.11.3.4 Motor Velocity Limiting The motor_max_velocity (1082) is set as one of the motor parameters, when a drive is configured for use with a particular motor. A linear de-rating of the torque applied to the motor is implemented when the velocity of the drive exceeds the motor max velocity. The de-rating is such that the demand torque is applied when at the velocity limit, but that torque is reduced to zero, when at 5% above the velocity limit.
CHAPTER 5.0 Functional Overview 5-47 5.11.4 Control Loop Configuration The control loops are configured by setting/unsetting bits in an internal mode request to switch in/out the various control loop elements. The mode request can be configured for each of the modes of operation: position, velocity and torque, by setting the appropriate mode preset parameter.
CHAPTER 5.0 Functional Overview 5-48 5.11.4.2 Velocity Mode Preset The parameter control_loop_velocity_mode_preset (1333) sets the mode request when a velocity control mode is requested. The default value for this parameter is 34586 (871A hex) indicating that bits 1, 3, 4, 8, 9, 10 and 15 are set. Note that the bit 1 must always be set in this parameter, bits 0 and 6 must never be set and bit 7 has no meaning in velocity mode. 5.11.4.
CHAPTER 5.0 Functional Overview 5-49 CDS7324 (FORMERLY LSF-0819) Rev. A Storage T Data Group POSITION PI COMPENSATOR position_PI_loop_p-gain 1326 f32 r/w 2.0 0 position_PI_loop_i-gain 1327 f32 r/w 0 0 position_PI_loop_error 1328 f32 r internal_loop_demand 1034 f32 r velocity_command_acceleration_limited 1157 f32 r POSITION TO COMPENSATOR position_TO_loop_a-gain 1340 f32 r/w 1000 0 position_TO_loop_p-gain 1342 f32 r/w 20 0 position_TO_loop_enable_velocity_integrat 1350 f32 r/w 6.28 0 6.
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CHAPTER 5.
CHAPTER 5.0 Functional Overview 5-52 5.12 Drive Monitoring & Fault Detection 5.12.1 Drive Monitoring The DS2110 monitors a range on internal and external drive voltages, temperatures, times and powers to ensure that the drive is operating correctly. Depending on the state of these feedback signals, the drive will react appropriately to ensure safe and reliable operation. The parameters monitored are listed below.
CHAPTER 5.0 Functional Overview 5-53 5.12.2 Faults and User Indication in the DS2110 This section outlines the user indication that is present on the DS2110. The drive will, depending on its state, indicate via the 7-segment display, various messages to the user. These messages generally reflect the state of operation of the drive and any faults that may be present. The DS2110 distinguishes between faults and warnings.
CHAPTER 5.0 Functional Overview 5-54 A list of warnings and faults that should be indicated are detailed in Tables 5.42 and 5.43. Display . U1 U2 U3 U4 U5 U6 U7 U8 U9 U10 U11 U12 U13 U14 U15 U16 U17 Warning Description Current limiting Active : Due to: Thermal Foldback, Manual Mode or I2t limiting High Power Not Ready – softstart mode. Motor Thermal Warning : This warning indicates that the motor winding temperature is within 10% of the motor max temperature.
CHAPTER 5.0 Functional Overview U18 5-55 IT Limit Warning: Set if the IT limit integral current demand (Field 1130) is greater. than the IT limit max IT product (Field 1129). Table 5.42 7-Segment Warning Idication CDS7324 (FORMERLY LSF-0819) Rev.
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CHAPTER 5.0 Functional Overview 5.12.2.
CHAPTER 5.0 Functional Overview 5-58 5.12.3.1 Fatal Fault If the drive detects a fatal fault, it immediately disables the power stage of the drive. If the drive is set to internal brake control, brake_control_fault (Field Number 1505) = 1 (default setting), the drive will also apply the brake immediately. If it is set to 0, then the drive will disable the power stage but application of the brake is left to the user. Typically, the user would in this case, control the brake with a digital input.
CHAPTER 5.0 Functional Overview 5-59 Fault Group Descriptions The following table lists the errors, and the groups to which they will belong. It also lists the faults as either being fatal or non-fatal and the status code for the fault in the error log.
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CHAPTER 5.0 Functional Overview 5-62 5.12.4 Fault Clearing It is possible to clear all faults except for those faults that occur during the initialization process and faults due to microprocessor exceptions. It is possible to determine whether one of these non-clearable faults has occurred by reading the status_controller parameter (1522). If bit 6 of this parameter is 1, then a non-clearable fault has occurred. (where bit 0 is LSB).
CHAPTER 5.0 Functional Overview 5-63 In order to read the data from the event log, it is first necessary to find out the current position in the event log by reading event_log_current_position. This indicates the address at which the next event log entry will be written. The read pointer must then be set to a multiple of the event log increment less than the current position. Then the event log data may be read.
CHAPTER 5.0 Functional Overview 5-64 Data Group Storage Type Units Maximum Value Minimum Value Default Value Access Data Type Field Number Parameter Name 5.12.6 Drive Monitoring & Fault Detection Parameters DRIVE MONITORING bridge_temperature motor_temperature ambient_temperature 1368 1373 1378 f32 f32 f32 r r r - - -- °C °C °C N N N A A A supply_+24V supply_+3V3 supply_-15V supply_+15V supply_+2V_ref.
CHAPTER 5.0 Functional Overview 5-65 FAULT REACTION brake_fault_control 1505 u16 r/w 1 - - none C A acceleration_limit 1335 f32 r/w 1000 0 - rad/s2 C A fault_reaction_velocity 1141 f32 r/w 0.5 0.05 1000 rad/s C A brake_lock_to_disable_timeout 1004 f32 r/w 0.
CHAPTER 5.0 Functional Overview 5-66 5.13 Self Protection 5.13.1 Power Amplifier Thermal Protection Mechanism The power amplifier is protected by using a scheme called Thermal-Foldback. The DS2110 is rated to operate at an ambient temperature of up to 40°C. The Foldback scheme is designed to ensure a very conservative temperature margin is maintained between power device manufacturer's rated maximum temperatures (semiconductor junction temperature) and the actual semiconductor junction temperature.
CHAPTER 5.0 Functional Overview 5-67 5.14 Parameter Storage 5.14.1 Command Parameters The saving and loading of parameters to the Non-Volatile Memory (NVM) of the drive is implemented using three parameters, and a number of bit fields. The three relevant parameters are listed below: Field Number 10000 10001 10002 Type Name U08 U08 U08 nvm_load_parameters nvm_save_parameters load_default_parameters Table 5 5.48 List of NVM related parameters 5.14.
CHAPTER 5.0 Functional Overview • • • • • 5-68 If the user wishes to save all parameters, (i.e.
CHAPTER 5.0 Functional Overview 5-69 Data Group u08 r/w 0 - - none N A nvm_save_parameters 10001 u08 r/w 0 - - none N A load_default_parameters 10002 u08 r/w 0 - - none N A Units Minimum Value Default Value Storage 10000 Maximum Value Data Type nvm_load_parameters Access Field Number Parameter Name 5.14.4 Parameter Storage Parameters PARAMETER STORAGE Table 5.49 Parameter Storage Parameter Access Data CDS7324 (FORMERLY LSF-0819) Rev.
CHAPTER 5.0 Functional Overview 5-70 Page Intentionally Blank CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX A - DATA LOGGER A-1 A.1 Data Logger The data logger is an internal storage oscilloscope with up to four input channels, trigger function and time base. It can be used to store fast events or to store information that caused fault conditions. The sampled data can be downloaded from the embedded controller onto a computer and analyzed. Normally the data logger functions should be used from within the Moog graphical user interface.
APPENDIX A - DATA LOGGER A-2 A.1.2 Time base The data logger normally runs at the main interrupt frequency of the controller (PWM frequency) or a fraction of this. The main interrupt frequency can be read with the parameter data_logger_sample_frequency (field number 1751). The divider ratio can be set with the parameter data_logger_divider_factor (field number 1750). The resulting sample frequency is then data_logger_sample_frequency / data_logger_divider_factor. A.1.
APPENDIX A - DATA LOGGER A.1.3.3 A-3 Trigger input The trigger input is selected by setting the trigger channel parameter trigger_field_number (field number 1756) to the field number of the parameter that is used for triggering the sampling process. The coupling is selected by setting the trigger_coupling (field number 1757) parameter: 0x00 0x01 0x02 - ac coupled trigger input dc coupled trigger input bitmask trigger The trigger level can be set with the trigger_level_xxxxx parameters.
APPENDIX A - DATA LOGGER A-4 A.1.5 Example 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16.
CHAPTER 3.0 WIRING AND INSTALLATION A-5 Default Value R R/W R/W R/W R/W 9920 1 500 0,0,0,0 1000,1000, 1000,1000 Storage T Data Group Access u32 u16 s16 u08 u16 Units Data Type 1751 1750 1752 1753 1754 Maximum Value Field Number data_logger_sample_frequency data_logger_divider_factor data_logger_memory_size data_logger_enable data_logger_channel Minimum Value Parameter Name A.1.6 Data logger parameters 1 500 - 8000 - Freq.
CHAPTER 3.0 WIRING AND INSTALLATION A-6 CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B-1 B.1 Introduction This manual describes the installation and operation of the Moog WinDrive application. B.1.1 System Requirements Minimum PC requirement 586 / Pentium processor 16MB RAM (128MB recommended) 30MB free space on hard disk Operating System Windows 98, Windows ME, Windows NT 4.0 (Service Pack 6 or later), Windows 2000, Windows XP Minimum Screen Size 800x600, 1024x768 recommended B.1.2 Installation WinDrive should be installed by running setup.
APPENDIX B – GUI B-2 B.2 Getting Started / Common Features B.2.1 Introduction Moog WinDrive is a graphical user interface (GUI) application that is used to configure Moog Servo-Drives. It has been developed to provide a common “look and feel” for configuring a wide range of Moog controllers. For each controller or controller family there is a corresponding configuration within WinDrive. A particular configuration is chosen on startup of WinDrive.
APPENDIX B – GUI B.2.4 B-3 Main Window The Main Window is displayed after selecting a controller configuration and clicking Open in the Launcher dialog box. The Main Window consists of a number of components described below. B.2.5 Main Menu The Main Menu is located at the top of the Main Window. B.2.6 Toolbar The Toolbar is located directly under the Main Menu. The toolbar is used to perform common tasks in the application.
APPENDIX B – GUI B.2.8 B-4 Navigator The Navigator is one of the four large panels in the Main Window. It is located at the top left of the Main Window, directly under the Toolbar. The Navigator panel contains one or more navigator tabbed panels. These panels display a tree. The tree is the principal method of navigating around WinDrive. The tree is configuration specific and thus may differ between different configurations. To open a panel in the panel view, click on the corresponding node in the tree.
APPENDIX B – GUI B.2.9 B-5 Panel View The Panel View is one of the four large panels in the Main Window. It is located at the top right of the Main Window, directly under the Status Bar. The Panel View can be empty, or contain one or more configuration specific panels. Clicking on nodes within the Navigator tree typically opens these panels. The panels displayed in the Panel View are the main area of interaction between the user and the controller.
APPENDIX B – GUI B-6 B.2.11 Event Logger The Event Logger is one of the four large panels in the Main Window. It is located at the bottom left of the Main Window, directly under the Navigator. The purpose of the Event Logger is to allow the user to record any parameter read and / or parameters write events. Logging events can be useful in order to see what is being read from or written to the controller at the lowest level.
APPENDIX B – GUI B-7 B.2.13 Macro Player The Macro Player is one of the four large panels in the Main Window. It is located at the bottom right of the Main Window, directly under the Panel View. B.2.14 Macro Player Toolbar The Macro Player toolbar consists of the following buttons. Start Recording If the Start Recording toggle button is depressed, the Macro Player records those events whose filter toggle buttons (i.e. Record Read Parameter or Record Write Parameter) also are depressed.
APPENDIX B – GUI B-8 Record Write Parameter The Record Write Parameter toggle button needs to be depressed if any parameters write events are to be recorded. Save Macro Clicking the Save Macro button displays a file save dialog box which allows the user to save the current macro. Load Macro Clicking the Load Macro button displays a file open dialog box which allows the user to load a previously saved macro.
APPENDIX B – GUI B-9 B.2.15 Driver The Moog WinDrive Driver runs as a separate process from the WinDrive GUI. It is started automatically when WinDrive is opened. To display the driver dialog box, click on the driver’s icon on the Windows Task bar. The driver performs all communication with the controller. Its purpose is to implement various protocols that are used to communicate with various controllers. Depending on which protocol is used, the protocol name is displayed in the title bar of the dialog.
APPENDIX B – GUI B-10 B.2.16.2 Controller Access Level The Controller Access Level dialog allows the user to set the controller access level. The default access level is 4, but entering a password may set higher levels. Full configuration of a drive and motor is possible at access level 4. Consult Moog Application Engineering if a higher access level is required. B.2.16.
APPENDIX B – GUI B-11 B.2.16.4 Function Generator Jog Parameter 2003, function generator offset. The User enters a value in the Extend Position and the actuator will jog to that new position. Then the User enters a value in the Retract Position and the actuator jogs to that position. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B.2.16.5 B-12 Position Mode Preset The Position Mode Preset panel allows the user to set the mode request when a position control mode is requested. The default value for this parameter is 34776 (87D8 hex) indicating that bits 3, 4, 6, 7, 8, 9, 10 and 15 are set. Note that bit 6 must always be set in this parameter; bits 0 and 1 must never be set in position mode.
APPENDIX B – GUI B.2.16.6 B-13 Velocity Mode Preset The Velocity Mode Preset panel allows the user to set the mode request when a velocity control mode is requested. The default value for this parameter is 34586 (871A hex) indicating that bits 1, 3, 4, 8, 9, 10 and 15 are set. Note that bit 1 must always be set in this parameter, bits 0 and 6 must never be set and bit 7 has no meaning in velocity mode.
APPENDIX B – GUI B.2.16.7 B-14 Torque Mode Preset The Torque Mode Preset panel allows the user to set the mode request when a torque control mode is requested. The default value for this parameter is 33041 (8111 hex) indicating that bits 0, 4, 8 and 15 are set. Note that bit 0 must always be set in this parameter, bits 1 and 6 must never be set and bits 3, 7 and 10 have no meaning in torque mode.
APPENDIX B – GUI B.2.16.9 B-15 Limiting Configuration The Limiting Configuration panel allows the user to set the limits using the following commands: • Thermal Limiting Bridge → Thermal limit of the power amplifier bridge (ON/OFF). • Thermal Limiting Motor → Thermal winding limit of the motor (ON/OFF). • Thermal Limiting Ambient → Thermal limit of the control electronics ambient (ON/OFF). • Manual Mode Limiting → Enables the manual mode limiting (ON/OFF).
APPENDIX B – GUI B-16 B.2.16.11 Thermal Limiting The Thermal Limiting panel allows the user to set the motor, bridge and ambient thermal limiting parameters. For the motor the parameters are: • End Motor temp. → read only value, calculated from start + span. At this temperature the current is reduced to 0. • Max. Motor temp. → the temperature at which an over-temperature fault is indicated • Start Motor temp. → the temperature at which thermal limiting starts to act • Span Motor temp.
APPENDIX B – GUI B-17 For the bridge the parameters are: • End Bridge temp. → read only value, calculated from start + span. At this temperature the current is reduced to 0. • Max. Bridge temp. → the temperature at which an over-temperature fault is indicated • Start Bridge temp. → read only value, which takes the value of ‘Start Bridge temp. STALL’ if the motor speed is less than 50RPM and otherwise takes the value of Start Bridge temp. RUN • Span Bridge temp.
APPENDIX B – GUI B-18 B.2.16.13 Limiting Status The Limiting Status panel allows the user to see whether any limiting is active • Thermal Limiting → (ON/OFF) • Manual Mode Limiting → (ON/OFF) • I2T Limiting → (ON/OFF) B.2.16.14 Current Loop The Current Loop panel allows the user to set/read the current loop compensator configuration and to monitor some internal loop variables.
APPENDIX B – GUI B-19 CONFIGURATION: • d-axis p-gain (Kp) → The p-gain of the d-axis compensator (Volts/Amp). • d-axis i-gain (Ki) → The i-gain of the d-axis compensator (Volts/Amp/Tsamp). • q-axis p-gain (Kp) → The p-gain of the q-axis compensator (Volts/Amp). • q-axis i-gain (Ki) → The i-gain of the q-axis compensator (Volts/Amp/Tsamp). • observer alpha comp. p-gain (Kp) → The p-gain of the observer alpha compensator (Volts/Amp). • observer alpha comp.
APPENDIX B – GUI B-20 FEEDBACK • velocity command → velocity command prior to acceleration limiting • velocity command (previous) → velocity command after acceleration limiting • actual velocity (filtered) (rad/s) → low pass filtered velocity • extd vel. comp.
APPENDIX B – GUI B-21 B.2.16.17 Position TO Loop Compensators The Position TO Loop Compensators panel allows the user to set the configuration of the TO loop gains and to see the feedback values. The time-optimal compensator is a non-linear compensator that uses a square root function of the position error, to give optimal deceleration performance. CONFIGURATION • Ka-gain (rad/s^2) → The a-gain of the TO compensator (rad/s^2). • Kp-gain (Ki) → The p-gain of the TO compensator (1/s).
APPENDIX B – GUI B-22 B.2.16.18 Nominal Bus Voltage The Nominal Bus Voltage panel allows the user see the nominal value of the DC bus voltage. NOMINAL BUS VOLTAGE: Bus Voltage (nominal) (V) → The nominal value of the bus voltage. If measured bus voltage is selected then this value is measured once the bus voltage is stable, otherwise this is the default bus voltage B.2.16.
APPENDIX B – GUI B-23 B.2.16.20 Continuous Bus Voltage The Continuous Bus Voltage panel shows the bus voltage status and allows the voltage limits to be set. • Detected Bus Voltage (V) → The actual value of the bus voltage. • Over Voltage Limit (V) → The bus voltage at which a bus over-voltage fault is indicated. • Under Voltage Limit (V) → The bus voltage at which a bus under-voltage fault is indicated. This is read only, the value being set by the percentage parameter. • Under Volt. Limit % of Vdc Nom.
APPENDIX B – GUI B-24 B.2.16.21 Generic Filters The Generic Filters panel allows the user to set the 9 programmable parameters of the filter on the output of the velocity compensator. It may be configured as hi-pass, low-pass, band-pass or band-stop, to allow for maximum flexibility. The filter is used in the velocity loop and the output of the velocity compensator becomes the input to the generic filter.
APPENDIX B – GUI B-25 B.2.16.22 Velocity Feedback Filters The Velocity Feedback Filters panel allows the user to set the cut-off factor of this filter. This is a low-pass filter included on the motor feedback velocity. It’s a simple Euler approximation filter characterised by two filter coefficients (a1 and b0 ). VELOCITY FEEDBACK FILTER PARAMETERS : • Cutoff → The cutoff frequency as a fraction of the velocity loop sample rate. Setting this factor to 0.
APPENDIX B – GUI B-26 B.2.16.24 Current Limits The Current Limits panel allows the user to see and set the current limit parameters. CURRENT LIMIT PARAMETERS : • Max. Current (combined) (A) → This is the minimum of all of the maximum currents set for the application. This is the current used as the maximum current demand for the current loop. • Nominal Sensed Current (A) → This is the maximum current that can be sensed by the drive – this is set automatically at power up for the power stage being used.
APPENDIX B – GUI B-27 B.2.16.25 Velocity Limits The Velocity Limits panel allows the user to set the velocity limit parameters. VELOCITY LIMIT PARAMETERS: • Maximum Velocity (rad/s) → Allows the user to set the maximum velocity value. This is the maximum velocity command and therefore defines the scaling of the internal velocity command. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B-28 B.2.16.26 Acceleration Limits The Acceleration Limits panel allows the user to set the acceleration limit parameters. The acceleration limiting is performed on the velocity command and has units of rad/s2. ACCELERATION LIMIT PARAMETERS : • Max Acceleration → The max acceleration value for the velocity loop input. • Max Deceleration → The max deceleration value.
APPENDIX B – GUI B-29 B.2.16.27 Regen Parameters The Regen Parameters panel allows the user to see and set the regeneration parameters. The regeneration control is implemented to prevent the capacitor over voltage caused by the energy that returns back into the D.C. Bus during a rapid motor deceleration or an overhauling load. To prevent it, a shunt regulator circuit senses when the bus voltage exceeds the Regeneration cut-in voltage and switches a Regeneration resistor across the D.C.
APPENDIX B – GUI B-30 B.2.16.28 Internal Regen The Internal Regen panel allows the user to see the internal regeneration resistor parameters. The internal regeneration resistor is effectively connected in parallel with the external one (if connected) because the same transistor controls them. INTERNAL REGENERATION RESISTOR PARAMETERS : • Resistance (Ohm) → The internal regeneration resistor value. • Power (W) → The internal regeneration resistor power.
APPENDIX B – GUI B-31 B.2.16.30 Digital Input Configuration The Digital Input Configuration panel allows the user to set digital input parameters. There are eight digital inputs on the DS2110. The first digital input is hardwired to always be used for drive enable, the drive can be enabled when this input is high, and the drive is always disabled when the input is low. This digital input can additionally be configured with a function, but it retains its hardware enable function as well.
APPENDIX B – GUI B-32 B.2.16.31 Digital Output Configuration The Digital Output Configuration panel allows the user to set digital output parameters. There are 3 digital outputs on the DS2110. All 3 outputs are user-configurable. DIGITAL OUTPUT CONFIGURATION : DIGITAL OUTPUT (1, 2, 3) • Parameter Number → The specific parameter to be associated with the digital output. The field value of the parameter must be entered into the digital output field number parameter, to specify the parameter of interest.
APPENDIX B – GUI B-33 B.2.16.32 Motor Parameters The Motor Parameters panel allows the user to set/read the electrical parameters of the motor. A number of parameters are required when configuring a specific motor drive. For standard motors, these parameters are implemented in the GUI’s database. For non-standard motors, the user must enter these parameters.
APPENDIX B – GUI B-34 B.2.16.33 Resolver Parameters The Resolver Parameters panel allows the user to set the parameters of this motor position feedback sensor. • Resolver Poles → The number of resolver poles. • Resolver Transformer Turns Ratio → A physical characteristic of the resolver, which determines the amplitude of the resolver reference. • Resolver reference amplitude → This is the voltage output from the DS2110 to drive the resolver.
APPENDIX B – GUI B-35 B.2.16.34 Encoder Parameters The Encoder Parameters panel allows the user to set the parameters of this motor position feedback sensor. ENCODER PARAMETERS : • Encoder Type → Select the encoder type from a list of various types: 9 No Encoder 9 Digital Incremental 9 Analog Incremental 9 SSI Interface 9 Stegmann Hiperface 9 Heidenhain EnDat • Encoder Supply Voltage → Choose the encoder supply voltage. There are 3 options: +5, +8, +12 Volts. • No.
APPENDIX B – GUI B-36 B.2.16.35 Commutation Parameters The Commutation Parameters panel allows the user to set the commutation parameters. The commutation module allows the selection of various commutation methods for the motor phase currents. It is possible to use a resolver, an encoder or a fixed value for the rotor feedback position. COMMUTATION PARAMETERS : • Commutation Type → Select the commutation type from: 9 Angle Zero: the feedback angle for the rotor position is fixed at zero.
APPENDIX B – GUI B.2.16.36 B-37 Moog Standard Motors: Full Database Select a motor by double-clicking on the appropriate motor name. Use the scrollbars to view the database or enter the motor required in the search textbox. Once a motor is selected the motor parameters are shown: Use the scrollbars to view all the parameters. Select “Download Parameters to Controller…” to configure the drive with the motor parameters.
APPENDIX B – GUI B.2.16.37 B-38 Moog Nonstandard Motors The ‘Create Entry’ button allows the user to create a new non-standard motor entry. It opens a panel providing tools for creation of the motor database parameters. Select a motor by double-clicking on the appropriate motor name. Alternatively, if a standard motor is similar to the motor required, then the standard motor parameters can be altered and saved as a Non-standard motor: Select the similar motor e.g.
APPENDIX B – GUI B-39 Click “Save Parameters As…” and save the new motor to the DatabaseMotorParametersNonstandard.mot file. On selecting the Moog Nonstandard Motors tab again, the new non-standard motor is included: CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B-40 B.2.16.38 Status The Status panel allows the user to see the state of all status bytes. Opening the status description panel for the appropriate status byte shows the definition of the status bits for each of the bytes. B.2.16.39 General Status Byte GENERAL STATUS BYTE : • Shared Resources Status → Shows the shared resources state. Shared resources are those that would be common to all axes in a multi-axis drive.
APPENDIX B – GUI B.2.16.40 B-41 Board Status Byte 1 DIGITAL BOARD STATUS BYTE 1 : • FPGA Configuration Transmission → Indicates if there is a fault in FPGA configuration transmission. • DSP Programming → Indicates there is a DSP programming fault. • QSPI Loopback → Indicates there is a QSPI loopback fault. • Ambient over temperature → Indicates that the ambient temperature is greater than the programmed limit.
APPENDIX B – GUI B.2.16.42 B-42 Board Status Byte 3 DIGITAL BOARD STATUS BYTE 3 : • COM2 loopback → The result of the loop back test performed during initialisation of the drive. • COM2 initialisation → The result of the COM port initialisation • QSPI Initialisation → The result of the QSPI initialisation B.2.16.43 Board Status Byte 4 DIGITAL BOARD STATUS BYTE 4 : • TPU Initialisation → The result of the TPU initialisation. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B.2.16.44 B-43 Exception Status Byte 1 The processor exceptions indicate serious internal faults in the drive. B.2.16.45 Exception Status Byte 2 The processor exceptions indicate serious internal faults in the drive. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B.2.16.46 B-44 Exception Status Byte 3 The processor exceptions indicate serious internal faults in the drive. B.2.16.47 Memory Status Byte 1 MEMORY STATUS BYTE 1 : • NVM Write → Indicates a problem writing to the drive internal NVM • Application NVM Checksum → Indicates that the checksum for the data in the drive internal parameter NVM is incorrect • FPGA Test RAM → Indicates that the FPGA test RAM contains an incorrect value CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B.2.16.48 B-45 Memory Status Byte 2 MEMORY STATUS BYTE 2 : • Power Save NVM Checksum → Indicates that the checksum for the data in the drive internal power save NVM is incorrect. This is for information only, it does not cause a fault condition on the drive. • Error log NVM Checksum → Indicates that the checksum for the data in the drive internal error log NVM is incorrect. This is for information only, it does not cause a fault condition on the drive. B.2.16.
APPENDIX B – GUI B.2.16.50 B-46 Power Status Byte 2 POWER STATUS BYTE 2 : • 3.3 V Supply → Indicates whether the 3.3 V supply is OK. • 24 V Supply → Indicates whether the 24 V supply is OK. • +15 V Supply → Indicates whether the +15 V supply is OK. • -15 V Supply → Indicates whether the -15 V supply is OK. • Power Down Interrupt → Indicates whether the power goes down (low VDC). • Bus Voltage Unstable → Indicates whether the bus voltage is unstable. • Regen Max.
APPENDIX B – GUI B.2.16.
APPENDIX B – GUI B.2.16.
APPENDIX B – GUI B.2.16.54 B-49 Fieldbus Status Byte 1 FIELDBUS STATUS BYTE 1: • Generic fault → Indicates communications failed to initialize, Asynchronous transmissions could not be sent or a Keylock loop error. • Sync fault → Indicates erroneous bus activity. B.2.16.55 Input Monitor Status Byte INPUT MONITOR STATUS BYTE: • Fault Override → Indicates faults have been overidden. • Safety Circuit monitor → Indicates the status of the safety circuit monitor.
APPENDIX B – GUI B.2.16.56 B-50 Drive Status Byte 1 DRIVE STATUS BYTE 1 : • Loss of Encoder Fault → Indicates that the encoder is disconnected, but has been selected as a feedback source. • Short Circuit Top → Indicates a short circuit fault • Loss of Resolver Fault → Indicates that the resolver is disconnected, but has been selected as a feedback source. • Bridge Over Temperature → Indicates that the bridge temperature has exceeded the upper limit.
APPENDIX B – GUI B.2.16.57 B-51 Drive Status Byte 2 DRIVE STATUS BYTE 2 : • Enable Attempted → Indicates that an attempt was made to enable the drive when the conditions for enabling were not valid (e.g. hardware enable false). • Encoder Supply → Indicates an encoder supply fault.
APPENDIX B – GUI B.2.16.59 B-52 Drive Status Byte 4 DRIVE STATUS BYTE 4 : • Phase A Current Offset → Indicates if the DSP phase A current offset is greater than a programmable limit. • Phase B Current Offset → Indicates if the DSP phase B current offset is greater than a programmable limit. • Motor Thermal Warning → indicates that the motor winding temperature is within 10% of the motor max temperature.
APPENDIX B – GUI B.2.16.61 B-53 Diagnostic Information DIAGNOSTIC INFORMATION PARAMETERS : • Digital Input Status → Shows the state of the digital inputs. This is a single byte where bit 0 (LSB) corresponds to the hardware enable digital input, bit 1 corresponds to digital input 1,…….., bit 7 corresponds to digital input 7. • Card ID → It shows the ID value of the power stage. • Drive Status → Shows the state of selected drive status bits. o Bit 7 (MSB) = enable state.
APPENDIX B – GUI B.2.16.63 B-54 Temperatures The Temperature panel allows the user to see the values of motor, bridge and ambient temperature. TEMPERATURE STATUS : • Bridge Temperature (°C) → The power amplifier bridge temperature. • Motor Temperature (°C) → The motor winding temperature. • Ambient Temperature (°C) → The control electronics ambient temperature. B.2.16.64 Voltages The Voltages panel displays the actual voltage. VOLTAGE STATUS : • DC Bus (V) → The actual value of the DC bus voltage.
APPENDIX B – GUI B.2.16.65 B-55 ETI’s The ETI panel allows the user to see the Elapsed Time Indicators. ELAPSED TIME INDICATORS : System-On Time: • Time Since Last Power-on (s) → The elapsed time since power up. • Total System-On Time (s) → The total powered up time. • Total No. of Power downs → The number of power downs. Drive Enabled Time: • Current Enabled Time (s) → The enabled time since enable. • Enabled Time since Power-on (s) → The enabled time since power up.
APPENDIX B – GUI B.2.16.66 B-56 Drive Parameter Load/Save The Drive Parameter Load/Save panel allows the user to load/save the drive configuration parameters implemented in the software. PARAMETER LOAD/SAVE : • Load Default Parameter Values → This allows the user to load the default values of each drive configuration parameter. • Save all Parameters → This allows the user to save drive configuration parameters to non-volatile memory.
APPENDIX B – GUI B.2.16.67 B-57 Encoder Parameter Load/Save The Encoder Parameter Load/Save panel allows the user to load/save the motor configuration parameters implemented in the software to the encoder EEPROM. PARAMETER LOAD/SAVE : • Load Default Parameter Values → This allows the user to load the default values of the motor configuration parameters to the drive. • Save Parameters → This allows the user to save drive configuration parameters to the encoder EEPROM.
APPENDIX B – GUI B.2.16.68 B-58 Parameter Database This is the database of all parameters implemented in the software. Entry of parameters in to the database requires at minimum, application engineer access. It is possible to sort the database in various ways by right-clicking on the database and selecting the required sort method.
APPENDIX B – GUI B.2.16.69 B-59 Oscilloscope The DS2110 configuration of WinDrive contains the above Oscilloscope Panel. The oscilloscope is an internal storage oscilloscope with up to four input channels, trigger function, and time base. It can be used to store fast events or to store information that caused fault conditions. Up to four input channels can be used to sample any of the controller’s internal parameters.
APPENDIX B – GUI B-60 B.2.16.70.3 Channel Panels Status: Sets the channel to visible, hidden, or off. Source: Represents which parameter is logged. Scaling: Represents the vertical scaling for this channel. Offset: Represents the vertical offset for this channel. B.2.16.70.4 Cursor Panel Allows 2 cursors to measure on the vertical axis, horizontal axis or a combination of both. Also automatically displays the difference between the cursors in time and frequency. B.2.16.70.
APPENDIX B – GUI B.2.16.70 B-61 Firmware Upgrade The firmware upgrade panel provides access to functions that reside in the bootloader for the drive software. Therefore, all of these functions will cause the drive to shut down and reset. The ‘choose file’ and ‘download file’ buttons are used to change the application firmware in the drive. The ‘system command’ button provides some NVM erase functions and a system reset.
APPENDIX B – GUI B.2.16.71 B-62 Parameter Database Upload The parameter database used in the GUI is synchronised with the embedded version by uploading the database information from the drive. This upload function allows the user to ensure that the database held by the GUI is consistent with the database in the drive. B.2.16.
APPENDIX B – GUI CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B.2.16.73 B-64 Configuration Download This function allows the user to download a configuration that has previously been uploaded with the configuration upload function. Note: For safety reasons the drive must be disabled when downloading a new configuration file and a warning message will appear explaining this. If the drive is enabled it will automatically be disabled if you select Yes.
APPENDIX B – GUI B.2.16.74 B-65 Unit Selection This panel allows the user to select the units to be used for each physical attribute. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B.2.16.75 B-66 Fault History This panel allows the user to examine the internal event log of the drive. Bytes Used Since Controller Reset - this is the number of bytes used since last reset. Event Log Current Position – the next byte position that will be written in the event log. Event Log Read Position – the first byte position that will be read from the event log when the refresh button is selected. This number will be automatically re-adjusted to the start of a record.
APPENDIX B – GUI B.2.16.76 B-67 Device Information This panel displays useful information: Device Name – Moog DS2110 CANopen Servodrive Hardware version – contains the revision of the CAN digital control card Software version – contains the name of the embedded firmware on the drive. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX B – GUI B-68 Page Intentionally Blank CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-1 C.1 INTENDED APPLICATION The safety function Restart Interlock is achieved using an internal Restart Interlock Circuit (RIC) option card and can be requested as an option for 10/42 and 100/240 size drives. This will, in the future, be made available as an option for all other drive sizes. The installation of the card on other drives, or use which is not in accordance with this Manual, is regarded as inappropriate use. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-2 C.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-3 When a controlled stop of category 1, according to EN 60204-1:1997, is requested, the condition of stopped motor must be assured. The external machine control must be able to stop the motor. When the intervention time of the safety devices can be set up, appropriate precautions must be adopted to limit the use only to qualified personnel.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-4 C.3 SAFETY REQUIREMENTS • Complete Standstill. The Restart Interlock safety function prevents the motor unexpectedly starting from standstill. This circuit can be used in the “Safe Standstill” machine function. When the motor is rotating, the switching-on of the Restart Interlock provides an uncontrolled stop (category 0 according to EN 602041:1997).
APPENDIX C – RESTART INTERLOCK CIRCUITS C-5 C.4 RESTART INTERLOCK CIRCUIT The restart interlock is provided by redundant interlocking devices acting independently on power control devices. C.4.1 HARDWARE CHANNELS The hardware channels (channel 1 and channel 2) interrupt the auxiliary power supply to the IGBT drivers via two relays with forcibly guided contacts. C.4.1.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-6 Figure C.1 RESTART INTERLOCK CIRCUIT CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-7 C.5 RESTART INTERLOCK CONNECTIONS The hardware channels of the restart interlock circuit are controlled using the RESTART INTERLOCK connector. Note: pin 1 is marked with the symbol “■” Figure C.2 RESTART INTERLOCK CONNECTOR Mating connector: 10 contacts, series MC 1,5/10-STF-3,81 by Phoenix Pin Name Function 1 - “Channel 1” 0V input to coil of RL1 Safety Relay Channel 1. 2 + “Channel 1” Input to coil of RL1 Safety Relay Channel 1.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-8 C.5.1 Wiring practice The external cable to RESTART INTERLOCK connector must be protected against mechanical damages according to the safety requirements of EN ISO 13849-2:2003, tab. D.4 (prEN 954-2) in order to prevent short circuits. The Restart Interlock relay of Channel 1 is controlled using the external +24Vdc (pin2 positive terminal, pin1 0V terminal). When the RL1 relay is de-energized, pins 5-6 are closed and the Restart Interlock Channel 1 is activated.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-9 C.6 SAFETY RELAYS - TECHNICAL DATA Input coil Pnom = 500 mW Inom = 20.8 mA (±10%) Vnom = 24 Vdc Pick-up voltage = 14.4 Vdc Drop-out Voltage = 2.4 Vdc Resistance = 1.152 Ω Vmax = 28.8 Vdc Contact Rmax = 30 mΩ @ 6 Vdc, 1 A Imax = 3 Adc Vmax = 30 Vdc Table C-2 Safety relays specifications CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-10 C.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-11 C.7.1 Description of the RESTART INTERLOCK FUNCTION To achieve a controlled stop it is necessary to stop the motor before the activation of the HW and SW safety channels. Configure digital input 1 as a Quickstop function; see DS2110_Sec_05 Functionality Overview.doc - PanelT361DigInp. Ensure that the quickstop mode (parameter: qstmod) is set to 1 i.e. the drive disables once the quickstop is applied.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-12 Requirements • The delayed output of the control module which drives the hardware channels (safety relays) and the PLC output which drives the SW channel must be set ensuring that the intervention of the safety function should occur only with the motor at standstill.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-13 C.8 CHECKING THE RESTART INTERLOCK The following checks must always be made at commissioning and when possible must be repeated at defined intervals during the operating lifetime. A check should also be made after extended production shutdowns. Each individual drive must be checked. Only qualified personnel, taking into account the necessary safety procedures, must make the following checks: • • • • • • Check that the motor is at standstill.
APPENDIX C – RESTART INTERLOCK CIRCUITS C-14 C.9 EXTERNAL CONSISTENCY CHECKS The following consistency checks must be made outside of the drive (e.g. by a PLC). • “Channel 1 verification” The external system must monitor this output signal for consistency with its input signal Channel 1 (C.4.1.1). • “Channel 2 verification” (if used) The external system must monitor this output signal for consistency with its input signal Channel 2 (C.4.1.2).
APPENDIX C – RESTART INTERLOCK CIRCUITS C-15 C.10 INSTALLATION AND ROUTINE TEST The restart interlock circuit (RIC) is installed and tested at Moog. Please consult Moog ICD Sales or a Moog Distributor for application specific ordering information. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX D – MEZZANINE CARD INSTALLATION D-1 Introduction To expand the functionality of the DS2110, various fieldbus options are available on mezzanine cards. This document covers the installation of the mezzanine cards in the DS2110. Installation WARNING – If the installation is being carried out in the field then power down and disconnect the DS2110 from the supply voltage and wait 5 minutes before installing the mezzanine card. The mezzanine card is sensitive to damage from static electricity.
APPENDIX E – ANALOG I/O MEZZANINE CARD E.1 E-1 Introduction An Analog Input and Output option of the DS2110 Control Stage is available. This section will cover the connector details and basic functionality. E.2 Overview The Analog I/O option has two analog inputs and outputs available for motion control signals and feedback. The Analog I/O port allows for 2 configurable analog input channels and 2 analog output channels for external control system integration.
APPENDIX E – ANALOG I/O MEZZANINE CARD E.4 E-2 Analog I/O E.4.1 Interface The interface to the Analog I/O is a 9 pin D-sub female connector (J5A). The pinouts are illustrated in Figure E3. 1 Pin Function 1 Analog Output 1 (+) 2 Analog Output 1 (-) 3 Analog Output 2 (+) 4 Analog Output 2 (-) 5 Chassis GND 6 Analog Input 1 (+) 7 Analog Input 1 (-) 8 Analog Input 2 (+) 9 Analog Input 2 (-) 5 Analog Input and Analog Output Pin Configuration 6 9 Figure E3 J5A Pin Configuration E.4.
APPENDIX E – ANALOG I/O MEZZANINE CARD E.4.3 E-3 Differential Inputs Differential inputs measure the voltage between two distinct input signals. Within a certain range - called the common mode range - measurement is almost independent of signal source to board ground variations. A differential input is also more immune to EMI than a single-ended input. Most EMI noise induced in one lead is also induced in the other.
APPENDIX E – ANALOG I/O MEZZANINE CARD E.5 E-4 SSI Interface The SSI (Synchronous Serial Interface) protocol is a point to point configuration with only transmission capabilities. Its output is configurable via Moog GUI software only. Refer to specific application manual for more details on this topic. The SSI protocol is asynchronous and stateless.
APPENDIX E – ANALOG I/O MEZZANINE CARD E-5 E.5.2 Assigning SSI In the following parameter, a number may be entered that will output any internal variable through the SSI interface: mezssivarfld 1894 UNSIGN16 SSI variables field number For example, the SSI parameter, mezssivarfld, for the Maxforce Application is entered as 64078. This represents the SSIPOS model parameter.
APPENDIX E – ANALOG I/O MEZZANINE CARD Default Value Paramete r Number Parameter Name 2030 2031 inc_Enc_Config enc_sim_enable Configuratio n (stored) or Realtime Parameter Realtime Configuration 2032 enc_sim_reset Realtime FALSE 2033 enc_sim_index_typ Configuration FALSE 2034 fpga_update_freq Configuration 20 2035 2036 2037 2038 2039 2040 fpga_counter_mod encoder_ppr drv_resol delta_Pos_mult enccnt_k enccnt_k1 Configuration Configuration Configuration Realtime Realtime Realtime 5368709
APPENDIX E – ANALOG I/O MEZZANINE CARD E.7 E-7 PLC Master – DS2110 Slave Arrangement DS2110 Master Data (+) Data (-) Sine (+) Sine (-) Cosine (+) Cosine (-) Encoder PLC 13 6 9 J4 2 10 3 Analog Input 1(+) Analog Input 1(-) Analog Output 1(+) Analog Output 1(-) 6 7 1 2 J5A J5B 59387261 Clock In (+) Clock In (-) Data Out(+) Data Out (-) Figure E9 Block Diagram Refer to the PLC/Controller manual for descriptions of connectivity as it will vary between devices. E.
APPENDIX F – DEVICENETTM MEZZANINE CARD F-1 This appendix gives an overview of the capabilities of the DeviceNetTM Mezzanine board for the DS2110 Servo Drive running the MaxForce application. NOTE: Wiring a DeviceNetTM Network correctly is not a trivial matter. All DeviceNetTM wiring must be performed according to ODVA specifications to insure functionality and is the responsibility of the installer.
APPENDIX F – DEVICENETTM MEZZANINE CARD F.4 F-2 MacID & Baud rate MacID and Baud rate are software settable through the standard DeviceNet object. Default MacID is 63. Supported MacID’s are 0-63. Default Baud rate is 125. Supported Baud rates are 125, 250 and 500. F.
APPENDIX F – DEVICENETTM MEZZANINE CARD F.7 F-3 Units The drive parameters are in engineering units. Based on the value of the UNITS parameter, the values are either interpreted as METRIC (0) or ENGLISH (1). Hence parameters written over the fieldbus must be written in the correct units. F.
APPENDIX F – DEVICENETTM MEZZANINE CARD F-4 F.10 Parameter List Parameter Name MODEL_REVISION_out Number 64001 Type u32 Default 0 Minimum 0 Maximum ULONG_MAX Class ID 0x71 Attr. 0x02 PARAM_UPDATE_in 64002 u16 0 0 1 0x71 0x03 STATE_IDB_out DRV_FFDTRQ_par DRV_GRVTRQ_par 64003 64005 64006 f32 f32 f32 0 0 0 0 0 0 FLT_MAX 60 60 0x71 0x71 0x71 0x04 0x06 0x07 DRV_KAFF_par DRV_KVFF_par DRV_PLPGAIN_par DRV_VLTI_par 64008 64009 64011 64015 f32 f32 f32 f32 0 0 3 0.02 0 0 0 0.
APPENDIX F – DEVICENETTM MEZZANINE CARD F-5 MDL_APP_FLT_1_out MDL_APP_FLT_2_out MDL_APP_WARN_1_out MDL_APP_WARN_2_out 64071 64072 64073 64074 u08 u08 u08 u08 0 0 0 0 0 0 0 0 1 1 1 1 0x71 0x71 0x71 0x71 0x75 0x76 0x77 0x78 MDL_PAR_READ_COUNT 64075 u32 0 0 ULONG_MAX 0x71 0x79 MDL_PAR_WRITE_COUNT STATE_IDM 64077 64500 u32 u16 0 0 0 0 ULONG_MAX UINT_MAX 0x71 0x76 0x7A 0x65 STATUS_WORD 64501 u32 0 0 ULONG_MAX 0x76 0x66 FAULT_WORD 64502 u32 0 0 ULONG_MAX 0x76 0x67 DIO_STA
APPENDIX F – DEVICENETTM MEZZANINE CARD F-6 DO_3 64602 u16 0 0 UINT_MAX 0x77 0x03 GEAR_RATIO LEAD KT EFFICIENCY MONITOR_1_out MONITOR_ LOSS_OF_CMND_ACTIVE MONITOR_ FOLLOWING_ERROR_ACTIVE 64700 64701 64702 64703 64801 f32 f32 f32 f32 f32 1 5 0.75 0.
APPENDIX F – DEVICENETTM MEZZANINE CARD F-7 END_STROKE_DEC_LIM 64903 f32 0.05 0.
APPENDIX F – DEVICENETTM MEZZANINE CARD F-8 FAULT_RESET_DI_SELECT 65105 u16 0 0 4 0x73 0x06 START_CMND_DI_SELECT 65106 u16 0 0 4 0x73 0x07 LUBRICATION_DI_SELECT 65107 u16 0 0 4 0x73 0x08 DRIVE_ENABLED_DO_SELECT 65120 u16 0 0 3 0x73 0x15 DRIVE_FAULTED_DO_SELECT 65121 u16 0 0 3 0x73 0x16 IN_POSITION_DO_SELECT 65122 u16 0 0 3 0x73 0x17 IN_MOTION_DO_SELECT 65123 u16 0 0 3 0x73 0x18 STOPPED_DO_SELECT 65124 u16 0 0 3 0x73 0x19 FOLLOWING_ERROR_ DO_S
APPENDIX F – DEVICENETTM MEZZANINE CARD F-9 MOVE_TYPE_1 65201 u16 0 0 2 0x74 0x02 MOVE_TARGET_1 MOVE_SPEED_1 65202 65203 f32 f32 0 0 - FLT_MAX - FLT_MAX FLT_MAX FLT_MAX 0x74 0x74 0x03 0x04 MOVE_ACC_1 65204 f32 0 0 FLT_MAX 0x74 0x05 MOVE_DEC_1 65205 f32 0 0 FLT_MAX 0x74 0x06 ANALOG_INPUT_SELECTOR 65206 u16 1 0 1 0x74 0x07 COMMAND_DIRECTION 65207 u16 0 0 1 0x74 0x08 NEUTRAL_ POSITION_SELECTOR 65208 u16 0 0 6 0x74 0x09 ANALOG_ COMMAND_DEADBAND 65209 f
APPENDIX F – DEVICENETTM MEZZANINE CARD F-10 MOVE_TYPE_4 65231 u16 0 0 2 0x74 0x20 MOVE_TARGET_4 MOVE_SPEED_4 65232 65233 f32 f32 0 0 - FLT_MAX - FLT_MAX FLT_MAX FLT_MAX 0x74 0x74 0x21 0x22 MOVE_ACC_4 65234 f32 0 0 FLT_MAX 0x74 0x23 MOVE_DEC_4 65235 f32 0 0 FLT_MAX 0x74 0x24 MOVE_TYPE_5 65241 u16 0 0 2 0x74 0x2A MOVE_TARGET_5 MOVE_SPEED_5 65242 65243 f32 f32 0 0 - FLT_MAX - FLT_MAX FLT_MAX FLT_MAX 0x74 0x74 0x2B 0x2C MOVE_ACC_5 65244 f32 0 0 FLT_MAX 0x
APPENDIX F – DEVICENETTM MEZZANINE CARD F-11 jogging JOG_SPEED JOG_ACC JOG_DEC ACT_POS ACT_VEL ACT_FORCE FAULT_STATUS GUI_DRIVE_ENABLE GUI_JOG_EXTEND_CMND GUI_JOG_RETRACT_CMND GUI_PROFILE_SELECT GUI_START_CMND GUI_STOP_CMND GUI_FAULT_RESET_CMND ANALOG_INPUT1_OFFSET ANALOG_INPUT1_FULLSCALE 65273 65274 65275 65300 65301 65302 65303 65304 65305 65306 65307 65308 65309 65310 65311 65312 f32 f32 f32 f32 f32 f32 u32 u16 u16 u16 u16 u16 u16 u16 s16 f32 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 32768 - FLT_MAX 0 0 - FLT_
APPENDIX F – DEVICENETTM MEZZANINE CARD F-12 ACC_SCALE_FACTOR FIELDBUS_ DEC_SCALE_FACTOR 65524 CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD G.1 G-1 Introduction The DS2110 Servo-drive is available with an Ethernet interface supporting ETHERNET/IP and MODBUS/TCP. This interface can be used to perform the following functions: • Parameterization and configuration. • Low frequency, acyclic, control and status monitoring. Parameterization and configuration is performed by reading or writing drive parameters individually via a request/response type mechanism.
APPENDIX G – ETHERNET MEZZANINE CARD G-2 2. IO Mode. A subset of the drive parameter set is mapped directly to registers in the interface. A client can read or write this parameter set directly via reads and writes. A client performs a single read or write to access a parameter or parameters mapped to the interface. G.3 Changing IP Address for Ethernet Device The default IP address is 192.168.0.100 when shipped from the factory unless otherwise stated in paperwork accompanying the drive.
APPENDIX G – ETHERNET MEZZANINE CARD G-3 The IP Configuration shows up: Change the IP Address to the desired value, then press the ‘Save Settings’ button. The unit will automatically reset to the new IP Address. Configuration is complete. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD G.4 G-4 Changing Command and Status Registers The EMA GUI will setup a default configuration with 4 Commands (inputs) and 4 Status words (outputs). A Maximum of 20 Commands and 20 Status words can be configured. Access to the parameters is through the Ethernet Mapping page found on the Advanced Diagnostics page: CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD G-5 If you are sending back a floating point value, for example the actual position (ACT_POS - IDN 65300), then the parameter needs to be scaled to fit within the 16-bit boundary of a register. The scaling parameter is an exponent, so the resulting scaling factor will become 10 to the power of the value. A value of 2 for example will multiply the floating point value with 10^2 (=100). In other words an actual position of 1.23 would become 123 when sent.
APPENDIX G – ETHERNET MEZZANINE CARD G-6 Follow the same recipe for setting or changing the Commands. Once configuration is complete the changes must be committed to NVM (Non-Volatile Memory) on the drive. The easiest thing to do is to close out the Ethernet Mapping and Advanced Diagnostics pages and press the configuration download button (Green Arrow pointing DOWN) in top-left corner of the GUI. This will download parameter values and perform a NVM save to the drive. G.
APPENDIX G – ETHERNET MEZZANINE CARD G-7 Right click on the Ethernet icon and select new module. CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD G-8 Select Generic Ethernet Module. Set properties exactly as shown, using the actual IP Address of the Ethernet device: CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD G-10 Double click on controller tags CDS7324 (FORMERLY LSF-0819) Rev.
APPENDIX G – ETHERNET MEZZANINE CARD G-11 You can now see live Ethernet IO data in the tag database as shown: In this example, you can write data to the “Exlink:O:Data” tags to send data to the “Exlink”. For a simple example program which is configured to send commands to 3 DS2110 drives with Ethernet devices, see the MOOG_DS2110_3_ETHERNET.ACD Logix program enclosed on the MOOG Maxforce Documentation and Software CD. For specific implementation, contact Moog Application Engineering.
