ANCA Motion AMD2000 Series Manuale utente

AMD2000 Series - Servo Drive

User Manual

DS619-0-00-0019 –Rev 0

AMD2000 Series - Servo Drive - User Manual

2 DS619-0-00-0019 - Rev 0 ANCA Motion

AMD2000 Series - Servo Drive

User Manual

Related Manuals and brochures Related Documents

Sales and Support Contact Information Product, Sales and Service Enquiries

For the latest copy of the manual visit us online Manuals

For the latest version of the ANCA MotionBench

Software visit Software

Documents reference: DS619-0-00-0019 - Rev 0

Effective: 8-04-2013

AMD2000 Series - Servo Drive - User Manual

ANCA Motion DS619-0-00-0019 - Rev 0 3

Chapter Summaries

Safety General Product safety information

Introduction Target Audience, model applicability, help in reading the

manual and related manuals/brochures

Product Overview Features, operating principles, labels, connector overview

Mechanical Installation Requirements for site, tools, mounting, and cooling

Planning the Electrical Installation Motor and drive compatibility, electrical isolation,

protection, cable selection and routing

Power Wiring Insulation, earthing, power conditioning, brake connection

and regenerative brake

Control Wiring Electrical Interfacing with the I/O connectors, EtherCAT and

motor feedback

Installation Checklist Pre-power-up checks

Start-up Installing and using ANCA Motion Bench to configure and

enable the drive

Feature Configuration Feature description and configuration information

Accessories Selection of accessories including motors, cables, I/O

interface modules, filters, reactors, chokes magnetic cores

Fault Tracing Indicators, drive states and diagnostics

Technical Data Functions, specifications, dimensions, de-rating, brake

resistor calculation, standards compliance

Accessories

Whatthis Chapter Contains

This chapter contains summarized information on accessories options available for this drive

- Ordering Information / Catalogue Number Interpretation

- Details of Accessories

For additional details, please refer to full catalogue and information available via 14.3 Product,

Sales and Service Enquiries

1.1 Motors

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4 DS619-0-00-0019 - Rev 0 ANCA Motion

Contents

1. Safety...............................................................................................................................................................10

1.1 General Safety.......................................................................................................................................10

1.2 Safe Start-Up and Operation.................................................................................................................11

2. Introduction.....................................................................................................................................................12

2.1.11 What this Chapter Contains.................................................................................................12

2.1.12 Purpose...............................................................................................................................12

2.1.13 About the AMD2000 drive....................................................................................................12

2.1.14 Drive Model Applicability......................................................................................................12

2.1.15 Related Documents.............................................................................................................13

2.1.16 Terms and Abbreviations.....................................................................................................13

2.1.17 Trademarks .........................................................................................................................13

3. Product Overview ...........................................................................................................................................14

3.1 What this Chapter Contains...................................................................................................................14

3.2 Features ................................................................................................................................................14

3.3 Operating Principle................................................................................................................................15

3.4 AMD2000 Variant Identification.............................................................................................................15

AMD2000 3A.........................................................................................................................................15

AMD2000 9A.........................................................................................................................................15

3.4.11 AMD2000 Series Drive Catalogue Number Interpretation...................................................16

3.5 System Overview...................................................................................................................................17

3.6 Connector Overview..............................................................................................................................20

3.6.11 AMD2000 3A .......................................................................................................................20

3.6.12 AMD2000 9A .......................................................................................................................21

4. Mechanical Installation...................................................................................................................................25

4.1 What this Chapter Contains...................................................................................................................25

4.2 Pre installation checks...........................................................................................................................25

4.3 Requirements........................................................................................................................................25

4.3.11 Installation Site....................................................................................................................25

4.3.12 Tools Required ....................................................................................................................26

4.3.13 Mounting and Cooling..........................................................................................................26

4.4 Installation .............................................................................................................................................28

4.4.11 Power Isolation....................................................................................................................28

4.4.12 Mounting a Drive .................................................................................................................29

4.4.13 Un-Mounting a Drive............................................................................................................30

5. Planning the Electrical Installation................................................................................................................31

5.1 What this Chapter Contains...................................................................................................................31

5.2 Motor and Drive Compatibility................................................................................................................31

5.3 Power Supply Disconnecting Device.....................................................................................................31

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5.4 Emergency Stop Devices ......................................................................................................................31

5.5 Thermal Overload and Protection..........................................................................................................31

5.6 Power Cable Selection ..........................................................................................................................32

5.7 Control Cable Selection.........................................................................................................................33

5.7.11 EtherCAT Wiring Details......................................................................................................33

5.8 Cable Routing........................................................................................................................................33

6. Power Wiring...................................................................................................................................................35

6.1 What this Chapter Contains...................................................................................................................35

6.2 Checking the Insulation of the Assembly...............................................................................................35

6.3 Mains Power Supply..............................................................................................................................35

6.3.11 Supply Voltage Ranges.......................................................................................................37

6.3.12 Connection of drives to grounded systems (TN or TT)........................................................37

6.3.13 Connection of drives to non-grounded systems (IT)............................................................37

6.3.14 Harmonics and reactive power compensated supplies........................................................37

6.3.15 Residual current-operated protective (RCD) protection.......................................................38

6.4 Grounding..............................................................................................................................................38

6.5 Input EMC (Electromagnetic Compatibility)...........................................................................................38

6.5.11 EMC Filter Specifications.....................................................................................................39

6.5.12 Installation guidelines of EMC filter......................................................................................40

6.6 Power Supply Filters..............................................................................................................................41

6.6.11 Harmonic Suppression ........................................................................................................41

6.7 Power Disconnect and Protection Devices............................................................................................43

6.8 Motor Connections ................................................................................................................................44

6.8.11 Motor Circuit Contactors......................................................................................................45

6.8.12 Motor Power Cable Installation............................................................................................45

6.9 Drive Output Filters................................................................................................................................50

6.9.11 Sinusoidal Filter...................................................................................................................50

6.9.12 du/dt Filter............................................................................................................................52

6.10 Motor Brake Connection........................................................................................................................52

6.11 Motor Thermal Switch............................................................................................................................52

6.12 Motor Thermal Sensor...........................................................................................................................53

6.13 Brake/Regeneration Resistor.................................................................................................................54

7. Control Wiring.................................................................................................................................................55

7.1 What this Chapter Contains...................................................................................................................55

7.2 Analog I/O..............................................................................................................................................55

7.2.11 Analogue Inputs...................................................................................................................55

7.2.12 Analogue Outputs................................................................................................................57

7.3 Digital I/O...............................................................................................................................................58

7.3.11 24V Control Circuit Supply...................................................................................................59

7.3.12 Digital Inputs........................................................................................................................59

7.4 Motor Brake Control...............................................................................................................................62

7.5 Serial Communication Port....................................................................................................................62

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7.6 Ethernet Interface..................................................................................................................................62

7.6.11 EtherCAT®..........................................................................................................................62

7.6.12 EtherCAT topology / Port assignment..................................................................................63

7.7 DIP Buttons ...........................................................................................................................................65

7.8 Motor Feedback.....................................................................................................................................65

7.8.11 Analog Encoder Interface....................................................................................................66

7.8.12 Analog Encoder Cable.........................................................................................................66

7.8.13 Digital Encoder Interface .....................................................................................................67

7.8.14 Digital Encoder Cable..........................................................................................................67

8. Installation Checklist......................................................................................................................................68

8.1 What this Chapter Contains...................................................................................................................68

8.2 Checklist................................................................................................................................................68

9. Start-up............................................................................................................................................................70

9.1 What this Chapter Contains...................................................................................................................70

9.2 Introduction............................................................................................................................................70

9.3 PC minimum specifications....................................................................................................................70

9.4 Configuring the Network Adapter...........................................................................................................71

9.5 Connecting the AMD2000 to a PC.........................................................................................................71

9.6 Starting the AMD2000 ...........................................................................................................................71

9.6.11 Preliminary Checks..............................................................................................................71

9.6.12 Power-On Checks ...............................................................................................................72

9.7 Installing the ANCA MotionBench..........................................................................................................72

9.8 Configuring the AMD2000 Series Servo Drive.......................................................................................77

9.8.11 ANCA MotionBench.............................................................................................................77

10.Feature Configuration ....................................................................................................................................87

10.1 What this Chapter Contains...................................................................................................................87

10.1.11 Analogue Encoder Compensation.......................................................................................87

10.1.12 Backlash Compensation......................................................................................................90

10.1.13 Configuring Wire-Saving UVW Motors.................................................................................92

10.1.14 Digital Output.......................................................................................................................92

10.1.15 Drive Bypass Mode..............................................................................................................97

10.1.16 Drive Data Logger ...............................................................................................................98

10.1.17 Encoders ...........................................................................................................................103

10.1.18 Field Orientation Initialisation.............................................................................................105

10.1.19 Higher Level Functions......................................................................................................113

10.1.20 Modulo Operation..............................................................................................................121

10.1.21 Motion Constraints and Limits ...........................................................................................121

10.1.22 Motor Control.....................................................................................................................129

10.1.23 Operating Modes...............................................................................................................139

10.1.24 Temperature Monitoring ....................................................................................................141

10.1.25 Torque Command Filters...................................................................................................143

11.Fault Tracing .................................................................................................................................................144

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11.1 What this Chapter Contains.................................................................................................................144

11.2 Problem Diagnosis...............................................................................................................................144

11.2.11 AMD2000 Indicators..........................................................................................................144

11.3 Supported Error Codes........................................................................................................................145

11.3.11 Error Code Prefixes...........................................................................................................145

11.3.12 Error / Warning Codes Detailed Descriptions....................................................................148

11.3.13 Firmware Upgrade Errors..................................................................................................156

12.Technical Data...............................................................................................................................................158

12.1 What this Chapter Contains.................................................................................................................158

12.2 Control Functions ................................................................................................................................158

12.2.11 Control Modes...................................................................................................................158

12.2.12 Thermal and over-current protection..................................................................................158

12.2.13 Self-Protection features.....................................................................................................158

12.2.14 DC bus voltage control ......................................................................................................158

12.2.15 Advanced control functions................................................................................................159

12.3 Interface Specifications........................................................................................................................160

12.3.11 Digital I/O Supply...............................................................................................................160

12.3.12 24V Digital Inputs ..............................................................................................................160

12.3.13 24V Digital Outputs............................................................................................................160

12.3.14 5V RS422 Differential Digital Inputs...................................................................................160

12.3.15 Differential Digital Outputs.................................................................................................160

12.3.16 Analogue Inputs.................................................................................................................161

12.3.17 Analogue Outputs..............................................................................................................161

12.3.18 Motor Position Feedback...................................................................................................161

12.3.19 Encoder Channel 1............................................................................................................161

12.3.20 Encoder Channel 2............................................................................................................162

12.3.21 Encoder Supply .................................................................................................................162

12.3.22 Ethernet Interface..............................................................................................................162

12.3.23 Modbus Interface...............................................................................................................162

12.3.24 Drive Display .....................................................................................................................162

12.3.25 Digital I/O Supply...............................................................................................................162

12.4 Electrical Specifications.......................................................................................................................163

12.4.11 Power supply section.........................................................................................................163

12.4.12 Digital servo drive..............................................................................................................163

12.5 Performance Specifications.................................................................................................................164

12.5.11 Resolution..........................................................................................................................164

12.5.12 Steady State Performance.................................................................................................164

12.5.13 Dynamic Performance.......................................................................................................164

12.5.14 Regenerative Braking........................................................................................................164

12.6 Environmental Specifications...............................................................................................................165

12.6.11 Storage..............................................................................................................................165

12.6.12 Transport...........................................................................................................................165

12.6.13 Installation and Operation..................................................................................................165

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12.6.14 Physical Characteristics.....................................................................................................165

12.6.15 Cooling ..............................................................................................................................165

12.7 Dimension Drawings............................................................................................................................166

12.7.11 AMD2000 3A drive mounting hole positions and physical dimensions..............................166

12.7.12 AMD2000 9A drive mounting hole positions and physical dimensions..............................167

12.8 24V Control Circuit Supply...................................................................................................................167

12.9 Effect of AC Input Voltage on DC Bus Ripple......................................................................................167

12.9.11 Effect of AC Input Voltage on DC Bus Voltage..................................................................169

12.9.12 Effect of Bus Capacitance on DC Bus Ripple....................................................................169

12.9.13 Effect of Output Current on DC Bus Ripple Voltage ..........................................................169

12.10 Temperature De-rating ........................................................................................................................169

12.10.11 De-rating Characteristics...................................................................................................170

12.11 Input Power-cycling and Inrush ...........................................................................................................170

12.12 Discharge Period.................................................................................................................................171

12.13 Motor Output Power.............................................................................................................................171

12.14 Brake/Regeneration Resistor...............................................................................................................172

12.14.11 Brake Resistor Selection, Braking Energy and Power.......................................................172

12.15 Materials..............................................................................................................................................174

12.16 Standards Conformity..........................................................................................................................175

Marking & Applicable Regulations ..................................................................................................................175

Standard.........................................................................................................................................................175

Certification Organisation................................................................................................................................175

12.17 EtherCAT® Conformance Marking......................................................................................................176

12.18 CE Marking..........................................................................................................................................176

12.18.11 Compliance with the European EMC Directive is achieved via EN 61800-3 .....................176

12.18.12 Compliance with the European Low Voltage Directive is achieved via EN 61800-5-1 ......176

12.18.13 CE Declaration of Conformity............................................................................................178

13.Accessories...................................................................................................................................................180

13.1 What this Chapter Contains.................................................................................................................180

13.2 Motors..................................................................................................................................................180

13.2.11 Motor Catalogue Number Interpretation ............................................................................180

13.2.12 Motor Electrical Information Summary...............................................................................181

13.2.13 Brake Motor Specific Information.......................................................................................181

13.2.14 Motor Mechanical Information Summary ...........................................................................182

13.3 Cables .................................................................................................................................................183

13.3.11 Cable Catalogue Number Interpretation............................................................................183

13.3.12 Encoder Cables.................................................................................................................183

13.3.13 Armature Cables................................................................................................................184

13.4 Other Accessories ...............................................................................................................................184

13.4.11 I/O Interface Accessories...................................................................................................184

13.4.12 EtherCAT Cables...............................................................................................................185

13.4.13 Armature Shield Clamping Brackets..................................................................................185

13.4.14 AMD2000 3A EMC Kit.......................................................................................................185

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13.4.15 AMD2000 9A EMC Kit.......................................................................................................185

13.4.16 EMI Filters .........................................................................................................................186

13.4.17 Line Reactors ....................................................................................................................186

13.4.18 DC Chokes........................................................................................................................186

13.4.19 Magnetic Cores .................................................................................................................186

13.5 Starter Kits...........................................................................................................................................186

13.5.11 AMD2000 3A Starter Kit ....................................................................................................186

13.5.12 AMD2000 9A Starter Kit ....................................................................................................187

14.Additional Information..................................................................................................................................188

14.1 What this Chapter Contains.................................................................................................................188

14.2 Maintenance and Repairs....................................................................................................................188

14.3 Product, Sales and Service Enquiries..................................................................................................188

14.4 Feedback.............................................................................................................................................189

AMD2000 Series - Servo Drive - User Manual

10 DS619-0-00-0019 - Rev 0 ANCA Motion

1. Safety

Warning: To prevent possible accidents or injury, ensure you read and understand this manual before

commencing installation or service work on the AMD2000 drives.

DANGER HIGH VOLTAGE - The working DC bus is live at all times when power is on. The Main Isolator feeding

the drive must be switched to the Off position at least 15 minutes before any work is commenced on the unit. The

operator must check the bus voltage with a tested working voltage measuring instrument prior to disconnecting

any connectors or opening the DC Bus terminal cover. The red LED indicator on the front of the drive which

indicates that there is charge remaining in the drive is only to be used as an aid to visual troubleshooting. It shall

not be relied on as a means of safety.

This manual and the warnings attached to the AMD2000 only highlight hazards that can be predicted by ANCA

Motion. Be aware they do not cover all possible hazards.

ANCA Motion shall not be responsible for any accidents caused by the misuse or abuse of the device by the

operator.

Safe operation of these devices is your own responsibility. By taking note of the safety precautions, tips and

warnings in this manual you can help to ensure your own safety and the safety of those around you.

The AMD2000 is equipped with safety features to protect the operator and equipment. Never operate the

equipment if you are in doubt about how these safety features work.

1.1 General Safety

The following points must be understood and adhered to at all times:

Equipment operators must read the user manual carefully and make sure of the correct

procedure before operating the AMD2000.

Memorize the locations of the power and drive isolator switches so that you can activate them

immediately at any time if required.

If two or more persons are working together, establish signals so that they can communicate to

confirm safety before proceeding to another step.

Always make sure there are no obstacles or people near the devices during installation and or

operation. Be aware of your environment and what is around you.

Take precautions to ensure that your clothing, hair or personal effects (such as jewelry) cannot

become entangled in the equipment.

Do not remove the covers to access the inside of the AMD2000 unless authorized

Do not turn on any of the equipment without all safety features in place and known to be

functioning correctly. Never remove any covers or guards unless instructed by the procedures

described in this manual.

Never touch any exposed wiring, connections or fittings while the equipment is in operation.

Visually check all switches on the operator panel before operating them.

Do not apply any mechanical force to the AMD2000, which may cause malfunction or failure.

Before removing equipment covers, be sure to turn OFF the power supply at the isolator. (Refer

to 4.4.11 Power Isolation. ) Never remove the equipment covers during operation.

Keep the vicinity of the AMD2000 clean and tidy.

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