Moog DR2020 Series Manuale utente
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INDICE
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1. OVERVIEW
1.1. Contents
1.2. Utilized symbols
1.3. Packaging contents
1.4. Qualifications of recipients
1.5. Standards of reference
2. DESCRIPTION OF THE SYSTEM
2.1. Product structure
2.1.1. Product description
2.1.2. Operating and storage conditions
2.1.3. Standard power supply unit models
2.1.4. Power supply unit coding
2.1.5. Standard axis modules
2.1.6 Axis module coding
2.1.7. Capacitor modules models and coding (ABC Auxiliary Bus Capacitor)
2.2. Characteristics and components details
2.2.1. Power supply unit electrical data
2.2.2. Power supply unit mechanical data
2.2.3. Connectors
2.2.3.1. Connectors Layout
2.2.4. Filters
2.2.5. Brake resistors
2.2.6. Line inductors
2.2.7. Cables
2.2.8. Capacitor module (ABC)
2.3. Axis Module
2.3.1. General description of functions
2.3.2. Mechanical dimensions
2.3.3. Position transducers
2.3.4. Interfaces with “field” and other modules
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MAR2-E-191
DR2020
USE AND MAINTENANCE MANUAL
DECENTRALIZED DIGITAL SERVO DRIVE
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2.4. Safety and Usage Instructions
2.4.1.
General safety Description
2.4.2.
STO Safety Function
2.4.2.1.
Description
2.4.2.2.
Safety instructions
2.4.3. Instructions for drive usage
2.4.3.1. Directed use
2.4.3.2.
Distribution board and wiring
2.4.3.3. Power supply
2.4.3.4. Motors
2.4.3.5. Prohibited use
2.4.3.6. In house storage duration
2.4.3.7. Maintenance/cleaning
2.4.3.8. Decommissioning
2.4.3.9. Repair
2.4.3.10 Disposal
3. TYPE APPROVALS
3.1. EC
3.2. Safety and Safe Torque Off (Block on restart)
4.ELECTRICAL AND MECHANICAL INSTALLATION
4.1.
Tools and instruments
4.2. Mechanical installation
4.2.1. Assembling the components
4.2.1.1. Assembling the power supply unit
4.2.1.2. Assembling the axes
4.2.1.3. Assembling the filters
4.2.1.4. Assembling the inductors
4.2.1.5. Brake resistor positioning
4.3. Electrical installation and thermal sizing
4.3.1. Safety and general instructions
4.3.2. Thermal sizing of the board
4.3.2.1. Dissipation of the power supply unit
4.3.2.2. Dissipation of the axes
4.3.2.3. Thermal dissipation of the accessories
4.3.3. Auxiliary power supply characteristics
4.3.4. Connection to the mains
4.3.4.1. Types of mains network
4.3.4.2. Protection components
4.3.4.3. Earth connection
4.3.5. Power supply unit wiring
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4.3.5.1.
Earthing
4.3.5.2.
Power cable connection
4.3.5.3.
Brake resistorconnector
4.3.5.4.
BUS BAR connection
4.3.5.5.
Auxiliary power connection
4.3.6.
Axis module wiring
4.3.6.1.
Earthing
4.3.6.2.
Motor cable connection
4.3.6.3.
Motor brake cable connection
4.3.6.4.
STO signal connectors
4.3.6.5.
Trasducers connection
4.3.6.6.
Connecting Filedbus - connectors X8, X9, X10
5. COMMISIONING USING THE GUI
5.1. Safety
5.2. Dx2020 GUI
5.2.1. General description
5.2.2. Minimum PC requirements
5.2.3 Dx2020GUI Installation
5.2.4 Connection GUI-drive
5.2.5. Layout
5.2.6. Firmware Update (BootLoader)
5.2.7. How to access the Online Help
5.3. System Configuration
5.3.1. Axis module identification
5.3.2. Motor Parameters Configuration
5.3.3. Transducers Configuration
5.3.3.1. Sensorless
5.3.4. I/O Configuration
5.3.5. Control Loops Configuration
5.3.5.1 Control Mode Configuration
5.3.5.2. Torque Loops Parameters Configuration
5.3.5.3. Speed Loops Parameters Configuration
5.3.5.3.1 Filter configuration
5.3.5.4. Position Loops Parameters Configuration
5.3.6. Fault configuration
5.3.7. Application parameters
5.3.8. Configuration of modes and commands
5.4. Power supply
5.5. Enabling the STO
5.5.1 Autophasing
5.6 . Enabling the Axis
5.7. Oscilloscope function and log files (*.UCX) 67
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5.7.1.
Configure recording
5.7.2.
Launch recording
5.7.3.
View the record
5.7.4.
UCX file management
5.8.
Use of the GUI in OFF LINE mode
5.9.
Parameter management menu
6. TROUBLESHOOTING
6.1. Introduction
6.2. Power supply unit anomalies
6.3. Axis module anomalies
6.3.1. Power section Alarms
6.3.2. Alarm due to VBUS voltage not within tolerance limits
6.3.3. Drive or motor overtemperature
6.3.4. STO signal removal
6.3.5. Memory device errors
6.3.6. Data Corrupted Fault
6.3.7. Brake Chopper Fault
6.3.8. Feedback device errors
6.3.9. Synchronization, Interrupt Time and Task Time Error
6.3.10. EtherCAT Faults
6.3.11. Internal Communication Fault
6.3.12. Control loop Alarms
6.3.13. CAN Bus Alarms
6.4. Alarms Identification
6.5. Anomalies during GUI-Drive connection
7. SAFE TORQUE OFF SAFETY FUNCTION
7.1.
Application
7.2.
Risk assessment of the installation
7.3.
Safe Torque Off function
7.3.1.
Characteristic values according to
UNI EN ISO 13849-1
7.3.2.
Characteristic values according to
CEI EN 62061
7.4.
Safety requirements
7.5.
Safe Torque Off Circuit
7.6.
Safe Torque Off Connections
7.7.
Application example
7.8.
Safe Torque Off installation and and maintenance procedure
7.9.
Assembly and production tests
7.10.
Identification of Safe Torque Off function on the drive plate
8 Annexes
8.1.
Glossary
8.2.
Metric/AWG cinversion table 93
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1. OVERVIEW
Contents
This manual provides information on the correct installation and optimal operation of the DR2020 series of digital multi-axis
servo drives.
All information in this manual, including methods, technologies and concepts is the exclusive property of Moog-Casella, and may
not be copied or reused without specific authorisation.
Moog-Casella reserves the right to make changes to the product and relative documentation, at any time, without notice.
The following documents are available on the Website:
•QUICK GUIDE - INSTRUCTIONS AND GUIDELINES FOR INITIAL START-UP
•USER AND INSTALLATION MANUAL (this document)
•FIELDBUS MANUAL
•CONFIGURATION SOFTWARE Dx2020 GUI
WARNING
When the drive is operating, there is a risk of death, serious injury or serious material damage.
The installer shall therefore make sure that the safety instructions in this manual are read, understood
and observed by all personnel responsible for operating the drive.
AVERTISSEMENT
Lorsque l'entrainement est en marche, il existe un risque de mort, blessures graves ou dommages
matériels importants. L'installateur doit donc veiller à ce que les consignes de sécurité dans ce manuel
sont lues, comprises et respectées par tout les le personnel responsable de commander l'entraînement.
1.2.
S
ymbols used
WARNING: Hazard that may result in death or serious injury
Hazard that may result in minor injury and/or material damage
Important information
1.3. Contents
A DR2020 includes:
•
A DR2020 module
Note: a connectors' kit (see page 6) or a connection cable between DR2020 modules, must be ordered
separately, specifying the needed length.
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1.4. Qualifications of recipients
This manual is intended for qualified personnel, i.e. with the following skills, depending on their functions:
Transport: personnel shall have knowledge of handling electrostatically sensitive components
Unpacking: personnel shall have knowledge of handling electrostatically sensitive components that are sensitive to impact
Installation: personnel shall have knowledge of installing electrical equipment
Start-up: personnel shall have extensive technical knowledge of electrical drive technology.
INFORMATION
Qualified personnel shall be familiar with and observe the following standards:
IEC 60364, IEC 60664 and national accident prevention regulations.
WARNING
When the drive is operating, there is a risk of death, serious injury or serious material damage.
The installer shall therefore make sure that the safety instructions in this manual are read, understood
and observed by all personnel responsible for operating the drive.
AVERTISSEMENT
Lorsque l'entrainement est en marche, il existe un risque de mort, blessures graves ou dommages
matériels importants.
L'installateur doit donc veiller à ce que les consignes de sécurité dans ce manuel sont lues, comprises et
respectées par tout le personnel responsable de commander l'entraînement.
1.5. Reference standards
The DR2020 drives conform to the Low Voltage Directive (2014/35/EC) and EMC Directive (2014/30/EC).
The “Safe Torque Off” (STO) safety function built into the drive conforms to the Machinery Directive (2006/42/EC).
To conform to European Directives, the product meets the requirements of the relevant harmonised installation standards
EN61800-5-1 (LVD), EN61800-3 (EMC) and EN 61800-5-2 (Safety of machinery), EN60034-1, EN60034-5 (Electric Rotary
Machines).
The DR2020 drives are CE certified.
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2. DESCRIPTION OF THE SYSTEM
2.1. Product structure
2.1.1.
Product description
The DR2020 drive is the new generation of digital servo drives manufatured by Moog-Casella for controlling brushless
synchronous or asynchronous motors. It's a decentralized servo drive that can be positioned directly on the machinery with a DC power
supply module.
•The power supply of the DM2020 supplies the "power" in direct current (+ AT and -AT) to the different DR2020 through the
connection cable applied on the terminal board
•The first two upper connectors of the power supply terminal board carry the auxiliary power supply + 24Vdc
•The second two connectors at the bottom carry the power supply +/- AT (ATTENTION HIGH VOLTAGE 560VDC or higher)
•There are two standard power supply models (those of the DM2020 multi-axis drive)
•Each DR2020 axis module is only available in the single axis version
•The current flows of the various DR2020 axes range from 2 Arms to 8 Continuous Arms and 4 Arms to 16 Peak Arms
•Sizes are 4
•The control modes are 3
ModeNote
Analog input Opzional (*)
Can Bus Fieldbus Opzional (*)
EtherCat Fieldbus Standard version
(*) under development
•The DR2020 is equipped with the circuit for controlling a stationary brake integrated in the motor.
Size Rated Current
Arms Peak Current
Arms
2/4 2,0 4.0
4/8 4,0 8.0
6/15 6,0 12.0
8/16 8,0 16,0
•Compatable feedback devices (to be specified on the order)
−Serial RESOLVER
−USB RESOLVER
−Sincos Serial ENCODER
−Sincos USB ENCODER
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2.1.2.
Operating and storage conditions
Ambient operating
temperature
from 0 °C to 40 °C
Storage temperature from -25 °C to 55 °C
Transport temperature from -25 °C to 70 °C
Humidity permitted
during operation
5…95 %
condensation not allowed
Humidity permitted
for storage 5…95 %
Humidity permitted for transport
transportnsport 95 % a 40 °C
Operating height Up to 1000 m above AMSL, over 1000 m above AMSL with reduced
current (-2%/100 m) max. 2000 m above AMSL
Certification CE, UL (pending)
IP Protection rating IP65
Tab 2.1 Environmental conditions
•The modules can be cooled by natural convention or by a radiating back surface
•Ethernet interface on which the EtherCAT Real Time protocol is implemented with the DS402 profile (standard)
•Standard CANOpen interface (under development) on which the CANOpen protocol is implemented with the DS402
profile
•“Safe Torque Off” (STO) (protection against accidental start-up) incorporated into each DR2020 module
•Configuration/commissioning via GUI: Dx2020GUI, with USB interface (X6 connector), located at the side of the
Fieldbus connectors allows users to configure, calibrate and control the drive
•Alarm diagnostics: Via GUI or Field Bus
•Accessories:
oEMC filters (supplied with the power supply)
oPower and signal cables
oBrake resistor (supplied with the power supply)
Note: High voltage power can be obtained from the DM2020 Power Supply.
Mechanical resistance in
compliance with EN 60721-3-3
CLASS 3M7
Vibration: stat/sinusoidal:
•10mm for frequences between 2…9
•30 m/s2 for non-stationary vibration
Non-stationary vibration and Type II impacts:
•250 m/s2 (25 g) for 6
ms
Machine Safety STO (Safe Torque Off) SILCL 3 PL “e” (pending)
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Drive Dimensions
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BR8904-R
BR8905-R
BR8907-R
BR8903-R
CVAMM
CVDMM
CVMMM
BR8901-R
BR8902-R
BR8900-R
Connectors and Cable coding
Connerctors' coding
X1 input connector with terminals (to the power
supply) X2 output connector (to the next DR2020
module) X3 motor connector
X4 e X5 EtherCat connectors
Connertors Kit:
it includes 4 connectors: X1, X2, X4 e X5 Cables
Coding *)
To the Power Supply
To the DR2020
To the Motor
Nota: “MM”
refers to the cables length in meters
Wire Terminal Code
X2 Connector ended for STO Feedback
Cap X5 ended for EtherCat
Cap for X2 not ended
(*) under development
BR8906-R
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