Modicon Lexium 17D Series Servo Drive User Guide 890 USE 120 00 Eng
Preface Preface The data and illustrations found in this book are not binding. We reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be construed as a commitment by Schneider Electric. Schneider Electric assumes no responsibility for any errors that may appear in this document.
Preface iv 890 USE 120 00
Contents Chapter 1 Introduction 890 USE 120 00 At a Glance...................................................................................................... Document Scope ...................................................................................... What’s in this Chapter................................................................................ 1 1 1 About this User Guide .....................................................................................
Contents Chapter 2 Product Overview At a Glance...................................................................................................... Introduction ............................................................................................... What’s in this Chapter................................................................................ 15 15 15 The 17D Series Servo Drive Family ............................................................... Introducing the 17D Drive Family .......
Contents Earth Connections ..................................................................................... Cable Separation ...................................................................................... Air Flow ..................................................................................................... 34 34 34 Drive Mounting and Physical Dimensions ....................................................... 17D Height, Width and Depth Dimensions ......................................
Contents SSI Encoder Output Functional Description ............................................. Auxiliary Encoder Interface ....................................................................... 58 59 Analog I/O Connection .................................................................................... Analog Inputs ............................................................................................ Servo Motor Rotation Direction .............................................................
Contents Chapter 6 Troubleshooting At a Glance...................................................................................................... What’s in this Chapter................................................................................ 79 79 Warning Messages.......................................................................................... Warning Identification and Description ...................................................... 80 80 Error Messages ...........................
Contents Encoder Output (SSI Format) Specifications Table................................... Encoder Input (Slave) Specifications Table............................................... Discrete Input Specifications Table .......................................................... Discrete Output Specifications Table ........................................................ Fault Relay Output Specifications Table ................................................... Brake Output Specifications Table .............
Contents Wiring a 17D Drive to TSX Premium CAY Motion Modules ............................ 115 TSX Premium CAY Single Axis Drive Option Diagram ............................. 115 TSX Premium CAY Multi-Axis Breakout Module Wiring Diagram ............. 116 TSX Premium CAY Multi-Axis and Breakout Mod. Diag., First of Four Axes 117 Wiring a 17D Drive to a MOT 201 Motion Module........................................... MOT 201 Control Wiring Diagram .............................................................
Contents 17D Analog Input Loop Diagrams .................................................................. Overview ................................................................................................... 17D Analog Input Mode 0 Loop Diagram .................................................. 17D Analog Input Mode 1 Loop Diagram .................................................. 17D Analog Input Mode 2 Loop Diagram .................................................
Contents Example Regen Resistor Power Dissipation Calculation ............................... Example Motor and Drive Specifications .................................................. Example Step 1 ......................................................................................... Example Step 2 ......................................................................................... Example Step 3..........................................................................................
Contents xiv 890 USE 120 00
Introduction 1 At a Glance Document Scope This user guide contains complete installation, wiring interconnection, power application, test and maintenance information on the Lexium 17D series servo drive.
About this User Guide Who Should Use this User Guide This user guide is written for any qualified person at your site who is responsible for installing (mounting and interconnecting), operating, testing and maintaining your Lexium 17D servo drive and the servo system equipment with which it interfaces.
About this User Guide, continued How this User Guide Is Organized, continued Chapter/Appendix Description Chapter 4 Wiring and I/O Wiring diagrams for the power connections and wiring diagrams and descriptions for all signal wiring connections — encoder, resolver, analog I/O, discrete I/O, and serial communications cable. Chapter 5 System Initialization, Commissioning and Operation Detailed procedures and associated descriptions on how to initialize, commission and operate a typical 17D system.
Related System Components Single-Axis Motion Control System The 17D servo drive is typically only one component in a larger, single-axis motion control system. A single axis comprises one motion module, one servo drive, and one motor.
Related Documentation Documents Related documentation that covers all these system components is illustrated below.
Hazards, Warnings and Guidelines Hazards and Warnings Read the following precautions very carefully to ensure the safety of personnel at your site. Failure to comply will result in death, serious injury or equipment damage. DANGER! ELECTRIC SHOCK HAZARDS l During operation, keep all covers and cabinet doors closed. l Do not open the servo drives; depending on degree of enclosure protection, the servo drives may have exposed components.
Hazards, Warnings and Guidelines, continued WARNING! THERMAL HAZARD During operation, the front panel of the servo drive, which is used as a heat sink, can become hot and may reach temperatures above 80°C. Check (measure) the heat sink temperature and wait until it has cooled below 40°C before touching it. Failure to observe this precaution can result in severe injury.
Hazards, Warnings and Guidelines, continued CAUTION! SAFETY INTERLOCKS Schneider recommends the installation of a safety interlock with separate contacts for each motor. Such a system should be hard wired with over–travel limit switches and a suitable emergency stop switch. Any interruption of this circuit or fault indication should: l Open the motor contacts l Shunt dynamic braking resistors across each motor, if they are present. Failure to observe this precaution can result in equipment damage.
Hazards, Warnings and Guidelines, continued Additional Safety Guidelines Qualified Personnel Read this documentation and adhere to the safety guidelines contained herein before engaging in any activities involving the servo drives. l Ensure that all wiring is in accordance with the National Electrical Code (NEC) or its national equivalent (CSA, CENELEC, etc.), as well as in accordance with all prevailing local codes.
Standards and Compliances European Directives and Standards The Lexium 17D servo drives are incorporated into an electrical plant and into machinery for industrial use.
Standards and Compliances, continued UL and cUL Compliance UL Listed (cUL Certified) servo drives (Underwriters Laboratories Inc.) comply with the relevant American and Canadian standards (in this case, UL 840 and UL 508C). This standard describes the minimum requirements for electrically operated power conversion equipment (such as frequency converters and servo drives) and is intended to eliminate the risk of injury to personnel from electric shock or damage to equipment from fire.
Conventions Acronyms and Abbreviations The acronyms and abbreviations used in this manual are identified and defined in the table below.
Conventions, continued Acronyms and Abbreviations, continued .
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Product Overview 2 At a Glance Introduction What’s in this Chapter This chapter contains a product overview of the Lexium 17D series servo drives and includes: l Available drive models and related system components l Feedback and performance information l Power and signal electronics l Software and axis configuration This chapter contains the following topics: Topic Page The 17D series servo drive family 16 Overview of usability features 22 Overview of 17D internal electronics 24 Overvie
The 17D Series Servo Drive Family Introducing the 17D Drive Family Each member of the Lexium 17D series family is comprised of a three-phase brushless servo amplifier, power supply and high-performance digital controller all housed in a single enclosure. Drives Available The 17D drives are available in five models which are correlated to different output current levels as identified in the following table.
The 17D Series Servo Drive Family, continued Electrical Considerations The Lexium 17D family of servo amplifiers is to be used on earthed three-phase industrial mains supply networks (TN-system, TT-system with earthed neutral point, not more than 5000 rms symmetrical amperes). The Lexium 17 D drives are incompatible with the IT system because interference suppression filters are internal and connected to earth.
The 17D Series Servo Drive Family, continued 17D Drive Family Portrait The following photograph shows a representative member of the 17D drive family. The complete family consists of five models partitioned into two physical sizes. Models MHDA1004N00, MHDA1008N00, MHDA1017N00 and MHDA1028N00 have dimensionally identical physical housings while Model MHDA1056N00 has a wider housing. (See Chapter 3 for detailed dimensional information.
The 17D Series Servo Drive Family, continued 17D Drives Front View The following photograph shows a typical 17D front view with legends and labels.
The 17D Series Servo Drive Family, continued Equipment Supplied Each 17D servo drive includes the following hardware. l Mating connectors X3, X4, X0A, X0B, X7 and X8 l Read me first. Note: The mating Sub-D connectors and servo motor connector X9 are supplied with the appropriate cable.
The 17D Series Servo Drive Family, continued 17D System Configuration Diagram The following illustration shows a typical 17D system configuration.
Overview of Usability Features Digital Control The 17D drive provides complete digital control of a brushless servo system. This includes: l A digital field-oriented current controller operating at an update rate of 62.5 µs l A fully programmable digital PI-type speed controller operating at an update rate of 250 µs l If required by user application, an integrated, digital, position controller with configurable trajectory generation operating at an update rate of 250 µs is also available.
Overview of Usability Features, continued Usability Enhancements The following features are incorporated into the 17D drive to facilitate the set-up and operation of the servo system: l Two analog +/-10 V inputs can be programmed for a multitude of functions depending upon the application. Both inputs incorporate automatic offset compensation, dead-band limitation and slew-rate limitation.
Overview of 17D Internal Electronics 17D Internal Electronics Block Diagram The following block diagram illustrates the 17D internal electronics and depicts internal interfaces for power, signal I/O, and communication.
Overview of 17D Internal Electronics, continued General Characteristics The Lexium 17D servo drives are available in five peak output current ratings (4.2, 8.4, 16.8, 28 and 56 A) that are partitioned into two groups based on the width of the package; the 70 mm drives are rated to handle currents up to 28 A and the 120 mm wide drive is rated to handle currents up to 56 A. All Lexium drives operate with an input voltage which may range from 208 V -10% 60 Hz, 230 V -10% 50 Hz through 480 V +10% 50-60 Hz.
Overview of 17D Internal Electronics, continued Internal Power Section DC Link Capacitor Reconditioning Integrated Safe Electrical Separation The Internal power section of the 17D drive includes the following: l Power input: A rectifier bridge directly connected to the three-phase earthed supply system, integral power input filter and inrush current limiting circuit.
Overview of 17D Internal Electronics, continued LED display A three-character LED display on the front of the 17D drive indicates drive status after the 24 Vdc bias supply is turned on. If applicable during operation, error and/ or warning codes are displayed.
Overview of System Software Setup Configuration software is used for setting up and storing the operating parameters for the Lexium 17D series drives. The drive is commissioned with the assistance of the UniLink software and, during this process, the drive can be controlled directly through this software. Setting Parameters You must adapt the servo drives to the requirements of your installation.
Overview of System Software, continued UniLink Commissioning Software The minimum PC system requirements needed for the UniLink commissioning software are specified in the following table: Item Minimum Requirement Operating System Windows 95 Windows 98 Windows NT 4.
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Mounting and Physical Dimensions 3 At a Glance What’s in this Chapter This chapter provides information on the mounting requirements for, and physical dimensions of, the Lexium 17D series servo drives and includes the following topics: Topic Page Installation safety precautions 32 Installation considerations 34 Drive mounting and physical dimensions 35 External Regen resistor mounting and dimensions 37 Choke mounting and dimensions 38 31
Installation Safety Precautions CAUTION! MECHANICAL STRESS Protect the drive from physical impact during transport and handling. In particular, do not deform any exterior surfaces; doing so may damage internal components or alter critical insulation distances. Failure to observe this precaution can result in injury or equipment damage. CAUTION! ELECTRICAL STRESS At the installation site, ensure the maximum permissible rated voltage at the Mains and bias input connectors on the drive are not exceeded.
Installation Safety Precautions, continued CAUTION! CONTAMINATION AND THERMAL HAZARD Ensure the 17D drive is mounted within an appropriately vented and closed switchgear cabinet that is free of conductive and corrosive contaminants. Ensure the ventilation clearances above and below the drive conform to requirements. (Refer to Chapter 3 for additional information.) Failure to observe this precaution can result in injury or equipment damage.
Installation Considerations Power Supply Overcurrent Protection You are responsible for providing overcurrent protection (via circuit breakers and/or fuses) for the Vac mains supply and the 24 Vdc bias supply that are connected to the drive. Earth Connections Ensure the drive and associated servo motor are properly connected to earth. Cable Separation Route power and control (signal) cables separately. Schneider recommends a separation of at least 20 cm.
Drive Mounting and Physical Dimensions 17D Height, Width and Depth Dimensions The following diagram shows height, width and depth dimensions for the 17D drive.
Drive Mounting and Physical Dimensions, continued 17D Drive and Mounting Area Dimensions 36 The following diagram shows depth dimensions and mounting area requirements for the 17D drive.
External Regen Resistor Mounting and Physical Dimensions External Regen Resistor Assembly Dimensions The following diagram shows the dimensions for all three external Regen resistor assemblies.
Motor Choke Mounting and Dimensions Motor Choke Assembly Dimensions 38 The following diagram shows the dimensions for the motor choke assembly.
Wiring and I/O 4 At a Glance Introduction This chapter describes and illustrates all power wiring connections, all signal wiring connections, and I/O wiring connections on the 17D drive.
At a Glance, continued What’s in this Chapter 40 This chapter contains the following topics.
Wiring and I/O Initial Considerations Initial Considerations Some descriptions and illustrations contained in this chapter are provided as examples. Actual implementation depends on the application of the equipment; thus, appropriate variations are allowed provided they neither violate any safety precautions nor jeopardize the integrity of the equipment.
Wiring Overview Overview of 17D Wiring Connections The following diagram shows the wiring connections for the 17D drive. CAUTION: Do not connect a Modbus serial port to the X6 connector! Pin1 carries +8 Vdc which would be shorted out by a Modbus cable. Instead, use a standard 3-core null-modem cable (not a null-modem link cable) with only pins 2, 3 and 5 wired. Failure to observe this precaution can result in equipment damage.
Connection diagram for LEXIUM 17 D Reference Safety Instructions and Use As Directed! thermal control included 15 4 X1 Sine-Cosine Encoder Analog 1 in Analog Com Analog 2 in + Analog 2 in - thermal control included X2 Analog Out 1 Analog Com 8 Resolver +/-10V speed setpoint1 referenced to GND Analog 1in + high resolution single / multiturn Resolver Analog Out 2 5 1 GND 6 +/-10V speed setpoint2 referenced to GND 7 8 Analog 1 10 GND 9 Analog 2 GND X3 M U2 6 U V2 5 V W 4 PE
Pin assignments for LEXIUM 17 D 8 Clock 7V 6 N.C. 5 DATA(+485) 4 Up (8V) 3 B+ (COS) 2 0V(GND) 1 A+ (SIN) X1 ENCODER Clock 15 V 14 DATA (-485) 13 Up SENSE 12 B- (REFCOS) 11 0V SENSE 10 A- (REFSIN) 9 5 R1 4 S2 3 S3 2V 1 Shield 1 Pcom 2 M+ 3 M4 A- (CLK) 5 A+ (/CLK) B+ (DATA) 6 B- (/DATA) 7 Reserved 8 N.C. 9 X2 RESOLVER R2 9 S4 8 S1 7 V6 1 Reserved 2 RxD 3 TxD 4 N.C.
Cable Shield Connections Connecting Cable Shields to the Front Panel The following procedure and associated diagram describe how to connect cable shields to the front panel of the 17D drive: Step Action 1 Remove a length of the cable’s outer covering and braided shield sufficient to expose the required length of wires. 2 Secure the exposed wires with a cable tie. 3 Remove approximately 30 mm of the cable’s outer covering while ensuring the braided shield is not damaged during the process.
Cable Shield Connections, continued Cable Shield Connection Diagram 46 The following diagram shows the cable shield connections at the front of the 17D drive.
Power Wiring AC Mains Power Supply Connection The following diagram shows the connections for the AC mains power supply input to the 17D drive. * *3 x 230 V +10% max. with a BPH055 Servo motor Bias Supply Connection The following diagram shows the connections for the bias power supply input to the 17D drive.
Power Wiring, continued Serial Power Connections The following diagram shows the serial connections for the AC mains and bias power among multiple 17D drives.
Power Wiring, continued External Regen Resistor Connection The following diagram shows the connections between the external Regen resistor and the 17D drive. The drive is shipped with a jumper installed on connector X8, terminals RB and RBint. If you are going to use an external Regen resistor, then remove the jumper to disconnect (and thus disable) the internal Regen resistor Fusing of the two lines to external Regen Resistor is mandatory. Use high voltage AC/DC and fast fuses..
Power Wiring, continued Lexium BPH Servo Motor Connection (excluded BPH055) The following diagrams show the connections between a servo motor (excluded BPH055) and the 17D drive. When the interface cable length exceeds 25 m, a motor choke must be installed as shown and at a distance of one meter or less from the drive.
Lexium BPH 055 Servo Motor Connection The following diagrams show the connections between a BPH055 servo motor and the 17D drive. When the interface cable length exceeds 25 m, a motor choke must be installed as shown and at a distance of one meter or less from the drive.
Power Wiring, continued Servo Motor (with Optional Dynamic Brake Resistors and Contactor) Connection The following diagram shows the connections between a servo motor and the 17D drive when the optional dynamic brake rersistors and associated contactor are incorporated.
Power Wiring, continued Servo Motor Holding-Brake Control Functional Description A 24V holding brake in the servo motor is controlled directly by the 17D drive through software-selectable BRAKE parameter settings. The time and functional relationships between the ENABLE signal, speed setpoint, speed and braking force are shown in the following diagram. . During the fixed ENABLE delay time of 100 ms, the speed setpoint of the drive is internally driven down a 10 ms ramp to 0 V.
Power Wiring, continued WARNING! IMPACT HAZARD The off-the-shelf configuration of the holding-brake function does not ensure the safety of personnel. In order to make this function safe for personnel, a normallyopen contact and a user-installed suppressor device (varistor) must be incorporated into the brake circuit as shown in the following diagram. Failure to observe this precaution can result in severe injury or equipment damage. .
Signal Wiring Lexium BPH Resolver Connection (excluded BPH055) The following diagram shows the connections between the resolver and the 17D drive. Note: The standard Lexium BPH series servo motors are equipped with two-pole, integral resolvers. The thermistor contact in the servo motor is connected via the resolver cable to the 17D drive.
Signal Wiring, continued Lexium BPH055 Resolver Connection The following diagram shows the encoder input connections between the encoder and the 17D drive. Note: The BPH055 servo motors are equipped with two-pole, integral resolvers. The thermistor contact in the servo motor is connected via the resolver cable to the 17D drive..
Signal Wiring, continued Encoder Input Connection The following diagram shows the encoder input connections between the encoder and the 17D drive. Note: The BPH series servo motors can be optionally fitted with a single-turn or multi-turn sine-cosine encoder, which is used by the 17D positioning or extremely smooth running. In addition, the thermistor contact in the servo motor is connected via the encoder cable to the 17D drive.
Signal Wiring, continued Incremental Encoder Output Connection The following diagram shows the incremental encoder output connections between the 17D drive and the motion controller. Note: The drivers are supplied from an internal supply voltage. PCom must always be connected to the controller ground. Use a cable with twisted pairs and shield.
Signal Wiring, continued SSI Encoder Output Connection The following diagram shows the connections between a motion controller and the 17D drive. Note: The drivers are supplied from an internal supply voltage. PCom must always be connected to the controller ground. .
Signal Wiring, continued Auxiliary Encoder Interface l Master-slave Operation of Drives Diagram: The encoder interface can be used to link one or more 17D drives together in a master-slave operation, as shown in the following diagram. Up to 16 slave drives can be controlled by a designated master drive via the encoder output. The UniLink software allows you to setup the parameters for the slave drive(s) and to adjust the gear ratio (number of pulses/turn).
l Incremental-Encoder Input Connection. The following diagram shows the incremental encoder input connections between the 17 drive and an external incremental encoder. Note: The receivers are supplied from an internal supply voltage. PCom must always be connected to the encoder ground. Incremental encoder is powered by an external Power Supply.
l SSI Encoder Input Connection: The following diagram shows the connections between an external SSI encoder and the 17 drive. Note: The drivers are supplied from an internal supply voltage. PCom must always be connected to the encoder ground.
Analog I/O Connection Analog Inputs The following diagram shows the connections between the two fully programmable, differential analog inputs on the 17D drive and a user device. (Refer to the list of pre-programmed functions contained in the UniLink online help.) Note: The Analog Com must always be connected to the user device Com as a ground reference.
Analog I/O Connection, continued Analog Outputs The following diagram shows the connections between the two programmable, analog outputs on the 17D drive and a typical user device. (Refer to the list of preprogrammed functions in the UniLink online help.) . The outputs (+/-10V with 10-bit resolution) can be configured for various monitoring functions such as current or actual speed. The default settings are: 64 l Analog Out 1: Tachometer voltage (speed).
Fault Relay and Digital I/O Connection Digital Inputs and Outputs The following diagram shows the connections between the fault relay, the four fullyprogrammable, digital inputs, dedicated enable input and two digital outputs on the 17D drive and typical user devices. (A list of pre-programmed functions is contained in the UniLink online help.
Fault Relay and Digital I/O Connection, continued Using Functions Pre-programmed into the Drive Fault Relay- The isolated fault relay contacts are closed during normal operation and open when a fault condition exists. The relay state is not affected by the enable signal, I2t limit or warnings. All faults cause the Fault RA/RB contact to open and the switch-off of the output stage. A list of error messages can be found in chapter Troubleshooting.
Serial Communications Connection Serial Communications Connection Diagram The following diagram depicts the RS-232 communication connection between the Lexium 17D and a PC. Pcom See wiring in Appendix D The setting of the operating, position control, and motion-block parameters can be carried out with an ordinary commercial PC. Connect the PC interface (X6) of the servo amplifier while the supply to the equipment is switched off via a normal commercial 3-core cable to a serial interface on the PC.
CANopen Interface The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the communication profile CANopen DS301 and the drive profile DSP402. The following functions are available in connection with the integrated position controller: Jogging with variable speed, reference traverse (zeroing), start motion task, start direct task, digital setpoint provision, data transmission functions and many others. Detailed information can be found in the CANopen manual.
CAN bus cable To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 Ω. The maximum usable cable length for reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which we have measured, but they are not to be taken as assured limits: Cable data: Characteristic impedance Cable capacitance Lead resistance (loop) 100-120Ω max. 60 nF/km 159.
Stepper Motor Control Interface Connection Stepper-Motor Control Interface Connection Functional Description This interface can be used to connect the servo drive to a third-party stepper motor controller. The parameters for the drive are set using the UniLink software and the number of steps are adjustable to allow the drive to correlate to the step-direction signals of any stepper-motor controller.
Stepper Motor Control Interface Connection, continued Stepper-Motor Speed Profile and Signal Diagram The following is the speed profile and signal diagram of the stepper-motor configuration.
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System Operation 5 At a Glance What’s in this Chapter 890 USE 120 00 This chapter provides information on operating the Lexium 17D series servo drives and includes the following topics: Topic Page Powering up and powering down the system 72 Procedure for verifying system operation 75 Front panel controls and indicators 78 71
Chapter 5 System Operation Powering Up and Powering Down the System Power-on and Power-off Characteristics 72 The following diagram illustrates the functional sequence that occurs when the drive is turned on and off.
Chapter 5 System Operation Powering Up and Powering Down the System, continued Stop Function If a fault occurs the output stage of the servo amplifier is switched off and the Fault RA/RB contact is opened. In addition, a global error signal can be given out at one of the digital outputs (terminals X3/16 and X3/17). These signals can be used by the higher-level control to finish the current PLC cycle or to shut down the drive (with additional brake or similar.).
Chapter 5 System Operation Powering Up and Powering Down the System, continued Wiring example Stop and Emergency Stop function (Category 0) L1 L2 L3 PE K10 XOA K20 3 2 1 LEXIUM 17 X9 24 Vdc Com 1 Brake- 2 Brake+ 3 Gnd (Green) 4 W2 5 V2 6 U2 Servo Motor Enable 24 Vdc X3 15 2 K10 3 RB RB Fault RA/RB K11 +24Vdc K30 F Emergency-Off ON OFF K10 K10 K11 K30 K10 +24Vdc Com 74 K30 K11 K20 K11 is normally closed (no fault of equipement) 890 USE 120 00
Chapter 5 System Operation Procedure for Verifying System Operation Overview The following procedure and associated information verifies operation of the system without creating a hazard to personnel or jeopardizing the equipment. This procedure presumes the drive has been configured with UniLink software in OpMode 1 as a speed controller with analog input command.
Chapter 5 System Operation Procedure for Verifying System Operation, continued Quick Tuning Procedure, continued Step Activity 6 Use the UniLink software to check/establish the following: 7 l Drive Parameters - Set/restore the drive parameters to the factory default values l Supply voltage - Set the supply voltage to the actual mains supply voltage l l Servo Motor - Select the applicable BPH servo motor.
Chapter 5 System Operation Procedure for Verifying System Operation, continued Parameter setting A default parameter set is loaded into your servo amplifier by the manufacturer. This contains valid and safe parameters for the current and speed controllers. A database for motor parameters is stored in the servo amplifier. During commissioning you must select the data set for the motor that is connected and store it in the servo amplifier.
Chapter 5 System Operation Front Panel Controls and Indicators Keypad Operation The keypad is reserved for use with the factory-installed SERCOS expansion card. LED Display The alphanumeric display indicates drive power status conditions, error codes and warning codes. The power status conditions are shown below; error and warning codes are described in the pages that follow.
Troubleshooting 6 At a Glance What’s in this Chapter This chapter provides information on correcting problems with the drive and contains the following topics: Topic Page Warning messages 80 Error messages 81 Troubleshooting 85 79
Warning Messages Warning Identification and Description 80 A warning is generated when a non-fatal fault occurs. Non-fatal faults allow the drive to remain enabled and the fault relay contact to remain closed. Either of the programmable digital outputs can be programmed to indicate that a warning condition has been detected. The cause of the warning is presented as an alphanumeric code on the drive’s front panel LED display; these warning codes are identified and described in the following table.
Error Messages Error Identification and Description Errors are generated when a fatal fault occurs. Fatal faults cause the drive to be disabled, the brake (if installed) to be activated and the fault relay contacts to open. Either of the programmable digital outputs can also be programmed to indicate that an error has been detected. The cause of the error is presented as an alphanumeric code on the drive’s front panel LED display; these error codes are identified and described in the following table.
Error Messages, continued Error Identification and Description, continued Error Code Error (Fault) Possible Cause/Corrective Action F06 Motor overtemperature. - Irms or Ipeak set too high. - Defective motor - If motor is not hot, check feedback cables and connectors. - Reduce motion profile duty cycle - Improve ventilation of the motor F07 Internal 24 Vdc fault. Return drive to manufacturer F08 Motor speed limit exceeded. - Feedback parameters not set correctly. - Incorrect feedback wiring.
Error Messages, continued Error Identification and Description, continued Error Code Error (Fault) Possible Cause/Corrective Action F14 Drive output stage fault. - Check motor cable for damage or shorts. - Output module is overheated; improve ventilation. - Short-circuit or short to ground in the external Regen resistor. - Motor has short-circuit/ground short; replace motor. - Output stage is faulty; return drive to manufacturer. F15 I²t maximum value exceeded.
84 Error Code Error (Fault) Possible Cause/Corrective Action F26 Reserved Reserved F27 Reserved Reserved F28 Reserved Reserved F29 Reserved Reserved F30 Reserved Reserved F31 Reserved Reserved F32 System error System software not responding correctly, return drive to manufacturer.
Troubleshooting Problems, Possible Causes and Corrective Actions The following table identifies some common system problems, their possible causes and recommended corrective actions. However, the configuration of your installation may create other reasons, and consequently other corrections, for the problem. Problem Possible Causes Corrective Actions No communication with PC - Wrong cable used. - Check cable. - Cable plugged into wrong position in drive or PC.
Troubleshooting, continued Problems, Possible Causes and Corrective Actions, continued Problem Possible Causes Corrective Actions Motor oscillates - Gain too high (speed controller). - Reduce Kp (speed controller). - Shielding in feedback cable has a break. - Replace feedback cable. - Analog Com not connected. - Connect Analog Com to controller common. - Kp (speed controller) too low. - Increase Kp (speed controller). - Tn (speed controller) too high.
Specifications A At a Glance What’s in this Appendix This appendix contains the following topics.
Performance Specifications Performance Specifications Table The following table lists 17D performance specifications. PERFORMANCE Servo updates Tuning procedure Torque 62.
Environmental and Mechanical Specifications Environmental Specifications Table The following table provides 17D environmental specifications. ENVIRONMENTAL Storage Humidity Operating temperature (ambient measured at fan inlet) High temperature, non–operating +70°C maximum Low temperature, non–operating –25°C minimum Non–operating 95% RH maximum, non-condensing Operating 85% RH maximum, non-condensing Full power 0 ... 45°C With linear derating 2,5% / °C 45 ...
Environmental and Mechanical Specifications, continued Mechanical Specifications Table The following table provides 17D mechanical specifications. Drive Model Number Height Width Depth Weight MHDA1004N00 325 mm 70 mm 265 mm 2.5 kg 325 mm 120 mm 265 mm 3.
Electrical Specifications What’s in this Section This section provides tables for the following topics.
Electrical Specifications - Power Line Input Specifications Table The following table provides 17D line input specifications. LINE INPUT Voltage 208 Vac -10% 60 Hz, 230 Vac -10% 50 Hz. 480 Vac +10%, 50 - 60 Hz, three-phase* Current MHDA1004N00 1.8 A RMS** MHDA1008N00 3.6 A RMS MHDA1017N00 7.2 A RMS MHDA1028N00 12 A RMS MHDA1056N00 24 A RMS Inrush current Internally limited Efficiency Greater than 98% * Read carefully “Electrical considerations” ** Single-phase operation permitted.
Electrical Specifications - Power, continued Bias Input Specifications Table The following table provides 17D bias input specifications. Motor Brake Present Bias Input Value No Voltage 20 ... 30 Vdc Yes Current 0.75 A to 1.2 A Voltage 24 Vdc -10%, +5% Current 3 A max. Note: The bias input also provides power to the optional motor brake. External Fuse Specifications Table The following table provides 17D external fuse specifications.
Electrical Specifications - Power, continued Motor Output Specifications Table The following table provides 17D motor output specifications. Parameter Type Model Number Current Output current (RMS) Continuous MHDA1004N00* 1.5 A MHDA1008N00 3A MHDA1017N00 6A MHDA1028N00 10 A MHDA1056N00 20 A MHDA1004N00 3A MHDA1008N00 6A MHDA1017N00 12 A MHDA1028N00 20 A MHDA1056N00 40 A Intermittent** Switching frequency 8 kHz ± 0.
Electrical Specifications - Power, continued Internal Power Dissipation Specifications Table The following table provides 17D internal power dissipation at maximum continuous output power. This information may be useful to size the thermal capability of the mounting cabinet. Model Number Power MHDA1004N00 30 W MHDA1008N00 40 W MHDA1017N00 60 W MHDA1028N00 90 W MHDA1056N00 200 W Note: These power dissipations are measured at maximum continuous power and should be considered worst case.
Electrical Specifications - Regen Resistor Regen Circuit Specifications The following table provides technical data on the Regen circuit. Parameter Rated data Units Model Number (prefix with MHDA10) 04N00 08N00 Supply Voltage 3 phase, 230 V 3 phase, 400 V 3 phase, 480 V Upper switch-on level of Regen circuit V 400 - 430 Switch-off level of Regen circuit V 380 - 410 Continuous power of Regen circuit (RBint) W 80 200 Continuous power of Regen circuit (RBext) maximum. kW 0.25 0.
Electrical Specifications - Signal Motor Overtemperature Input Specifications Table The following table provides 17D motor overtemperature input specifications. MOTOR OVERTEMPERATURE INPUT Thermistor PTC, will generate fault when resistance exceeds 290Ω ± 10% (default value)* Thermostat Closed for normal operation *The value of the threshold is adjustable by the parameter MAXTEMPM (see Unilink commands) Resolver Input Specifications Table The following table provides resolver input specifications.
Electrical Specifications - Signal, continued Encoder Input Specifications Table The following table provides 17D encoder input specifications ENCODER INPUT Internal power supply Voltage 9V ± 5% Current (maximum) 200 ma Input Signal Sin-Cos encoder (cyclic absolute) Absolute accuracy 15 bits (39 arc-seconds or 0.01°) Resolution 20 bits (1.2 arc-seconds or 0.0003°) Turn counter 12 bits Absolute accuracy within one turn 15 bits (39 arc-seconds or 0.01°) Resolution within one turn 20 bits (1.
Electrical Specifications - Signal, continued Encoder Output (Incremental Format) Timing Diagram The following diagram shows the timing for the encoder output (incremental format).
Electrical Specifications - Signal, continued Encoder Input (Slave) Specifications Table Discrete Input Specifications Table The following table provides 17D encoder input (slave) specifications. ENCODER INPUT (SLAVE) Channels A and B Type Differential, RS-485 compliant Voltage 8 V nominal Current 200 mA (maximum) Maximum frequency 500 kHz Rise time < 0.1 µs Fall time < 0.1 µs The following table provides 17D discrete input specifications.
Electrical Specifications - Signal, continued Discrete Output Specifications Table The following table provides 17D discrete output specifications. DISCRETE OUTPUT Channels Fault Relay Output Specifications Table Brake Output Specifications Table Two Type Solid state: open collector 30 Vdc max.
Electrical Specifications - Signal, continued Analog Input Specifications Table The following table lists the analog inputs specifications.
Electrical Specifications - Signal, continued Serial Communications Specifications Table The following table lists the serial communications specifications.
Wire Specifications (Recommended) Wire Specifications 104 The following table lists the recommended wire specifications. Use only copper wire with insulation rated at 75°C or greater, unless otherwise specified. Item Drive Model No. Wire Size Notes AC mains MHDA1004N00 MHDA1008N00 MHDA1017N00 MHDA1028N00 1.5 mm2 (14 AWG) MHDA1056N00 4.0 mm2 (12 AWG) Protective earth All 4.0 mm2 (12 AWG) DC Link MHDA1004N00 MHDA1008N00 MHDA1017N00 MHDA1028N00 1.
Parts List B At a Glance What’s in this Appendix This appendix contains information about the following Lexium 17D parts and assemblies.
Lexium 17D Drives Drives Available 106 The Lexium 17D drives are available in five models according to different output current levels as identified in the following table. Model Intermittent (Peak) Output Current Continuous (RMS) Output Current MHDA1004N00 4.2 A 1.5 A MHDA1008N00 8.4 A 3.0 A MHDA1017N00 16.8 A 6.0 A MHDA1028N00 28.0 A 10.0 A MHDA1056N00 56.0 A 20.
Lexium 17D Drives, continued External 24Vdc supply A reminder of the a 24 V consumption for the Lexium MHDA/MHDS servodrives with BHP motors is given below. Lexium servodrive MHD•1004/ 1008N00 Associated BPH motor MHD•1017N00 MHD•1028N00 MHD•1056N00 075• 095• 095• 115• 095• 115• 142• 142• 190• Current without brake (A) 0.75 0.75 0.75 0.75 0.75 0.75 0.75 1.2 1.2 Current with brake (A) 1.45 1.45 1.55 1.45 1.55 1.75 2.2 2.7 Description 1.
Drive Cables Drive to Motor Cables Consult the BPH motors manual for drive-to-motor cable part numbers and motor part numbers. RS-232 Serial Communications Cable Part Table To connect the drive’s serial interface port to your PC, use the following cable. Encoder Output Cables Parts Table 108 Part Number Description AM0CAV001V003 3 m cable The following table lists encoder output cables for the Lexium 17D drive.
Regen Resistor Assemblies Regen Resistor Assembly Part Table The following table identifies the external Regen resistor assemblies available for the Lexium 17D drive.
Servo Motor Choke Servo Motor Choke Part Table 110 These following table identifies the servo motor choke available for the Lexium 17D drive.
Spare Parts Spare Parts Table These field-replaceable spare parts are available from Schneider.
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Drive-to-Controller Wiring Diagrams C At a Glance What’s in this Appendix This appendix provides diagrams that show you how to wire the signal connections between the Lexium 17D drive and all the Schneider closed-loop positioning modules that support it: l Typical motion controller interface connections l Modicon MOT 201 compact motion module l Modicon Quantum Automation Series 140 MSx 101 00 motion modules l Modicon B885-11x motion modules l TSX Premium CAY motion modules This appendix presen
Typical Motion Controller Interface Connections Motion Controller Interface Diagram The following diagram shows the connections between the 17D drive and a typical motion controller. (Refer to the list of pre-programmed functions contained in the UniLink online help.) Note: The Analog Com must always be connected to the Controller Com as a ground reference.
Wiring a 17D Drive to TSX Premium CAY Motion Modules TSX Premium CAY Single Axis Drive Option Diagram The following diagram shows wiring between a TSX Premium CAY motion module and the X3 connector on a single Lexium 17D axis.
Wiring a 17D Drive to TSX Premium CAY Motion Modules, continued TSX Premium CAY Multi-Axis Breakout Module Wiring Diagram The following diagram shows how the TAP MAS breakout module facilitates wiring between a TSX Premium CAY multi-axis motion module and the Lexium 17D Analog I/O connector. This represents the first of four axes. It also shows wiring from the motion module to the Lexium 17D auxiliary encoder command interface connectors (X5) for four axes.
Wiring a 17D Drive to TSX Premium CAY Motion Modules, continued TSX Premium CAY Multi-Axis and Breakout Module Diagram, First of Four Axes The following diagram shows how breakout module ABE-7H16R20 facilitates wiring from the TSX Premium CAY multi-axis motion module and the Lexium 17D X3 connector. This represents the first of four axes.
Wiring a 17D Drive to a MOT 201 Motion Module MOT 201 Control Wiring Diagram The following diagram shows the wiring between the MOT 201 connectors J3 and J1 and the Lexium 17D drive X3 connector as well as the 24 Vdc bias field power connection.
Wiring a 17D Drive to a MOT 201 Motion Module, continued MOT 201 Encoder Wiring Diagram: Option 1 The following diagram shows the wiring between the MOT 201 connector J4 and the Lexium 17D drive and the auxiliary encoder command Interface connector (X5).
Wiring a 17D Drive to a MOT 201 Motion Module, continued MOT 201 Encoder Wiring Diagram: Option 2 120 The following diagram shows how the AS-BR85-110 breakout module facilitates encoder wiring between a MOT 201 motion module and an Lexium 17D drive. At one end, the MOT J5 and J4 connectors are plugged into the breakout module P3 connector. At the other end, the breakout module P1 connector is wired to the drive’s auxiliary encoder command Interface connector.
Wiring a 17D Drive to Quantum 140 MSx Motion Modules Quantum 140 MSx Control and Encoder Wiring Diagram The following diagram shows how a Quantum 140 MSx breakout module facilitates control and encoder wiring between a Quantum 140 MSx 101 00 motion module and an Lexium 17D drive.
Wiring a 17D Drive to B885-11x Motion Modules B885-11x Control Wiring Diagram The following diagram shows the wiring between a B885-11x motion module connectors TB1 and TB3 to the Lexium 17D drive X3 connector.
Wiring a 17D Drive to B885-11x Motion Modules, continued B885-11x Encoder Wiring Diagram: Option 1 The following diagram shows the encoder wiring between the B885-11x motion module DB-25 connector and the Lexium 17D drive auxiliary encoder command interface connector (X5).
Wiring a 17D Drive to B885-11x Motion Modules, continued B885-11x Encoder Wiring Diagram: Option 2 124 The following diagram shows how the AS-BR85-110 breakout module facilitates encoder wiring between a B885-11x motion module and an Lexium 17D drive.
Cable Connection Wiring Diagrams D At a Glance What’s in this Appendix This appendix provides procedures and diagrams that show you how to wire certain cable connectors that are used with the Lexium 17D drive. This appendix presents the following topics.
Wiring a Sub-D Connector with Shielding Wiring the Sub-D Connector If you construct your own Sub-D connector with shielding, please do so according to the following procedure which correlates to the eight steps in the diagram that follows this procedure. Step Action 1 Carefully remove about 25mm of the outer covering while taking care not to damage the braided shield. 2 Push the exposed braided shield back over the outer covering.
Wiring a Sub-D Connector with Shielding, continued Sub-D Connector Diagram The following diagram shows the eight steps required to wire a Sub-D connector with shielding.
Wiring the Motor Power Connector (Drive end) Wiring the Motor Power Connector If you construct your own motor power connector, please do so according to the following procedure which correlates to the 13 steps in the diagram that follows this procedure. Step Action 1 Carefully remove about 70 mm of the outer jacket while taking care not to damage the braided shield. 2 Push the grommet over the cable until the end is flush with the jacket. 3 Push the outer braided shield back over the grommet.
Wiring the Motor Power Connector (Drive end), continued The following diagram shows the 13 steps required to wire a motor power connector (excluded BPH055). PE Br + Br - *number of wires are printed every 10 cm.
Wiring the Motor Power Connector (Drive end), continued The following diagram shows the 13 steps required to wire a BPH055 motor power connector. 2 1 5 4 3 *number is printed each 10 cm.
Serial Communication Interface Connection (X6) Serial Communication Interface Cable Connectors The following diagram details the null modem connection between the drive and a PC.
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Servo Loop Diagrams E At a Glance What’s in this Appendix This appendix illustrates several servo loops within a 17D single-axis system.
17D Current Controller Overview 17D Current Controller Diagram 134 The following diagram shows an overview of the 17D current controller servo loop.
17D Velocity Controller Loop 17D Velocity Controller Loop Diagram The following diagram shows a 17D velocity controller servo loop.
17D Analog Input Loop Diagrams Overview The following illustrations show simplified servo loops for analog input Modes 0, 1, 2, 3 and 4. 17D Analog Input Mode 0 Loop Diagram The following diagram shows an 17D analog input Mode 0 servo loop.
17D Analog Input Loop Diagrams, continued 17D Analog Input Mode 1 Loop Diagram The following diagram shows an analog input Mode 1 servo loop.
17D Analog Input Loop Diagrams, continued 17D Analog Input Mode 2 Loop Diagram The following diagram shows an analog input Mode 2 servo loop.
17D Analog Input Loop Diagrams, continued 17D Analog Input Mode 3 Loop Diagram The following diagram shows an analog input Mode 3 servo loop.
17D Analog Input Loop Diagrams, continued 17D Analog Input Mode 4 Loop Diagram 140 The following diagram shows an analog input Mode 4 servo loop.
Expansion Options F At a Glance What’s in this Appendix This appendix contains the following topics.
Expansion Cards Overview The Lexium 17 drive includes a standard expansion slot which can be used to increase the functionality of the drive. This slot can accommodate one expansion card. Available expansion cards are a 24 Vdc discrete I/O expansion card and a Modbus+ communication card. Fitting expansion card If you want to fit an expansion card into the Lexium 17 D, please observe the followin: 142 l Unscrew the two relevant bolts and detach the cover from the expansion/option slot.
Modbus Plus Communication Card Modbus Plus Communication Card The Modbus Plus AM0MBP001V000 communication card is used to connect a Lexium analog Drive to Modbus Plus networks. The Lexium 17D drive can receive and respond to periodic data and messaging when functioning as a network node.
I/O Expansion Cards 24 Vdc Discrete I/O Expansion Card The 24 Vdc discrete I/O Expansion Card (I/O Card) increases the available I/O to the drive. With the I/O Card installed, the drive can accommodate an additional 14 discrete inputs and 8 discrete outputs which are fully compatible with Modicon/Telemecanique family of PLCs. The drive must be powered off (both the AC Mains and the 24 Vdc Bias Supply) when the I/O Card is installed. The card is automatically recognized upon power-up of the drive.
I/O Expansion Cards, continued Light-Emitting Diodes (LEDs) As shown in the diagram above, the two LEDs are mounted next to the terminals on the expansion card. The green LED signals that the 24 Vdc bias supply is available for the expansion card. The red LED signals faults in the outputs from the expansion card (overload of the switching elements, short-circuit). Terminal Assignments The terminal assignments for I/O connector X11A are provided in the following table.
I/O Expansion Cards, continued Terminal Assignments, continued The terminal assignments for I/O connector X11B are provided in the following table.
I/O Expansion Card, continued Controlling Preprogrammed Motion Tasks The additional I/O points provided by the expansion card are used for controlling the execution of pre-programmed, independent motion tasks which can be stored in the drive via the Unilink configuration software. The I/O is used to provide the address of the next internally stored motion task to be executed by the drive and to synchronize the start and finish of these tasks.
I/O Expansion Card, continued Motion Task Application Examples, continued l If the application under consideration requires only 4 separate motion tasks in the drive, then only 2 discrete inputs to the drive need be reserved to uniquely address the stored motion tasks along with the dedicated "In position" and "Start next motion task" bits. Note: A complete description of the operation of the drive’s internal positioner and stored motion tasks can be found in the Unilink online help.
I/O Expansion Card, continued Connection Diagram The I/O expansion card connections are presented in the following diagram.
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External Regen Resistor Sizing G At a Glance What’s in this Appendix This appendix contains descriptions and procedures for calculating the power dissipation requirements for the external Regen resistor. This appendix presents the following topics.
At a Glance, continued Overview When the drive is braking or decelerating a moving load, the kinetic energy of the load must be absorbed by the drive. As the drive decelerates the load, this energy charges the DC link capacitors to successively higher voltages. To prevent damage to the internal electronics, a shunt regulator circuit will apply the Regen resistor across the capacitors when the voltage rises to a set voltage level (determined by the “Mains Voltage” parameter).
Determining External Regen Resistor Size Power Dissipation Calculation Procedure The following is the procedure for calculating the power dissipated by the Regen resistor in a simple system wherein friction is negligible. Ignoring friction in the following calculations gives worst case results since friction will absorb a portion of the energy during deceleration. An example of each step in this procedure is provided later in this chapter.
Determining External Regen Resistor Size, continued Power Dissipation Calculation Procedure, continued Drive Energy Absorption Capability Step Action 8 Compare the pulse power and the continuous power calculated with the ratings of the internal Regen resistor in the drive. If either one is greater then an external Regen resistor must be chosen and installed. (See the Parts List appendix for a list of the available external Regen resistors.
Example Regen Resistor Power Dissipation Calculation Example Motor and Drive Specifications The following is an example application of each step in the power dissipation calculation procedure using the motor, drive and input power specifications identified below. Refer to the power dissipation calculation procedure presented earlier in this chapter. l Motor = BPH1423N with brake Total Inertia (JT) = JM + JB + JL = 0.002 + 0.001 + 0.007 = 0.01 kgm2 where: Motor inertia (JM) = 0.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 1 Plot speed versus time and torque versus time for the entire move cycle.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 2 Identify each deceleration of the plot where the drive is decelerating the load. Example Step 3 Calculate the energy returned to the drive in each deceleration as follows: Deceleration 1 ω = 2 π 3000RPM / 60 = 314 radians/sec E = ½ 0.01kgm2 (314 radians/sec) 2 = 493 joules Deceleration 2 ω = 2 π 600RPM / 60 = 63 radians/sec E = ½ 0.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 4 Compare the energy in each deceleration with the energy required to turn on the Regen circuit (that is, the energy absorbed by the internal capacitors). As specified in the Drive Energy Absorption Capability table, the MHDA1028N00 drive at 480 Vac can absorb 23 joules without turning on the Regen resistor circuit.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 8 Compare the ratings as follows: Internal Regen resistor ratings of the MHDA1028N00: Ppulse = 21 kW Pcontinuous = 200W Deceleration 1: Ppulse = 940W < 21 kW rating Deceleration 2: Ppulse = 1258W < 21 kW rating Pcontinuous = 231W > 200W Requires an external Regen resistor be used. Select the 250W external Regen resistor or modify the profile to reduce the continuous power dissipated.
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B AC Index A C AC mains power supply connection, 47 acronyms and abbreviations, 12 additional safety guidelines, 9 air flow, 34 analog I/O connection, 62 input mode 0 servo loop, 136 input specifications, 102 output specifications, 102 automatic card recognition, 28 auxiliary encoder interface, 59 cable separation, 34 shield connections, 45 cables drive to motor, 108 parts list, 108 CAN bus cable, 68 CANopen Interface, 67 connection diagram for LEXIUM 17 D, 43 control wiring B885-11x, 122 MOT 201, 118
Index document scope, 1 drive and mounting area dimensions, 36 drive dimensions, 35 drive energy absorption capability, 154 drive implementation, 16 drive models, 16, 106 drive mounting and physical dimensions, 35 drive to motor cables, 108 drives, family, 18 drives, front view, 19 drive-to-motor cables, 108 expansion card, 142 external 24Vdc supply, 107 external fuse specifications, 93 external regen resistor mounting and physical dimensions, 37 external regen resistor, connection, 48 F fault relay and
Index Lexium 17D drives, 106 Lexium BPH resolver connection (excluded BPH055), 54 Lexium BPH055 resolver connection, 55 line input specifications, 92 M master-slave operation, 59 mechanical specifications, 90 Modbus Plus communication card, 143 models, drive, 16, 106 MOT 201 control wiring, 118 MOT 20x encoder wiring, 119, 120 signal wiring, 118 motion controller interface, typical connections, 114 motion task applications, 147 motion task coordination, 147 motion task number, 148 motor output specificati
Index servo loops analog input mode 0, 136 analog input mode 1, 137 analog input mode 2, 138 analog input mode 3, 139 analog input mode 4, 140 current controller, 134 velocity controller, 135 servo motor (excluded BPH055), connection, 49 servo motor (with options), connection, 51 servo motor BPH 055, connection, 50 servo motor holding-brake control, 52 servo motor, rotation direction, 62 servo motors, types, 16 setting parameters, 28 signal wiring, 54 single-axis motion control system, 4 software setup, 28
Index module, 118 and I/O, initial considerations, 41 connections, 42 drive to B885-11x, 122 drive to MOT 20x, 118 drive to Quantum 140 MSx, 121 drive to TSX Premium CAY, 115 overview, 42 wiring a Sub-D connector with shielding, 126 wiring the motor power connector, 128 wiring the Sub-D connector, 126 890 USE 120 00 165
Index 166 890 USE 120 00
