Infranor Gem Drive GD1 Series Manual de usuario

GD1

INFRANOR

Gem Drive

Installation Guide

Actuator

GD1 – Installation Guide

GD1

WARNING

This is a general manual describing a series of servo drives having output capability suitable for driving AC

brushless sinusoidal servo motors.

Please see GD1 User Guide for the operation of the drive (commissioning, configuration, …).

For the CANopen communication, see manual GD1 – CANopen Communication Profile.

Instructions for storage, use after storage, commissioning as well as all technical details require the

MANDATORY reading of the manual before getting the drives operational.

Maintenance procedures should be attempted only by highly skilled technicians having good knowledge

of electronics and servo systems with variable speed (EN 60204-1 standard) and using proper test

equipment.

The conformity with the standards and the "CE" approval is only valid if the items are installed according to the

recommendations of the drive manuals. Connections are the user's responsibility if recommendations and

drawings requirements are not met.

INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or

wrong descriptions of the ordered items.

Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty.

INFRANOR reserves the right to change any information contained in this manual without notice.

Issue : 1.1

CAUTION

Any contact with electrical parts, even after power down, may involve physical damage.

Wait for at least 10 minutes after power down before handling the drives (a residual voltage of

several hundreds of volts ma

remain durin

a few minutes

)

ESD INFORMATION (ElectroStatic Discharge)

INFRANOR drives are conceived to be best protected against electrostatic discharges. However,

some components are particularly sensitive and may be damaged if the drives are not properly

stored and handled.

STORAGE

- The drives must be stored in their original package.

- When taken out of their package, they must be stored positioned on one of their flat

metal surfaces and on a dissipating or electrostatically neutral support.

- Avoid any contact between the drive connectors and material with electrostatic potential

(plastic film, polyester, carpet …).

HANDLING

- If no protection equipment is available (dissipating shoes or bracelets), the drives must

be handled via their metal housing.

- Never get in contact with the connectors.

ELIMINATION

In order to comply with the 2002/96/EC directive of the European Parliament and of the Council of

27 January 2003 on waste electrical and electronic equipment (WEEE), all INFRANOR devices

have got a sticker symbolizing a crossed-out wheel dustbin as shown in Appendix IV of the

2002/96/EC Directive.

This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not

with standard waste.

2 General content

GD1 – Installation Guide

General content

Page

CONTENT PART 1 ................................................................................................................................. 5

CHAPTER 1 – GENERAL DESCRIPTION............................................................................................. 7

1.1 -INTRODUCTION......................................................................................................................... 7

1.2 -HARDWARE ARCHITECTURE TYPES...................................................................................... 8

1.2.1 - Single-axis configuration ..................................................................................................... 8

1.2.2 - Multiaxis configuration......................................................................................................... 9

1.3 -COMMUNICATION INTERFACES ........................................................................................... 11

1.4 -PROTECTIONS ........................................................................................................................ 11

1.5 -PROGRAMMABILITY ............................................................................................................... 11

1.6 -COMPLIANCE WITH THE STANDARDS ................................................................................. 11

1.6.1 - General description ........................................................................................................... 11

1.6.2 - Reference to the CE standards ......................................................................................... 12

1.6.3 - Reference to the UL standards.......................................................................................... 12

1.7 -OTHER DOCUMENTSREQUIRED FORTHECOMMISSIONING .......................................... 12

1.8 -OTHER DOCUMENTSREQUIRED FOREXTENSION BOARDS............................................ 12

CHAPTER 2 – SPECIFICATIONS........................................................................................................ 13

2.1 -MAIN TECHNICAL DATA.......................................................................................................... 13

2.1.1 - GD1-230/I single-axis drive............................................................................................... 13

2.1.2 - GD1-400/I single-axis drive............................................................................................... 14

2.1.3 - Technical features ............................................................................................................. 15

2.2 -DIMENSIONS............................................................................................................................ 17

CHAPTER 3 – INPUTS-OUTPUTS ......................................................................................................19

3.1 -LOCATION OF THE GD1-UUU/CC CONNECTORS................................................................... 19

3.2 -LEDDISPLAY ........................................................................................................................... 20

3.2.1 - Identification of the LEDs................................................................................................... 20

3.3 -DRIVE ADDRESSING: SELECTION OF THETRANSMISSION SPEED................................. 20

3.4 -X1 CONNECTOR:RESOLVER ................................................................................................ 21

3.5 -X2 CONNECTOR:INPUTS-OUTPUTS .................................................................................... 21

3.5.1 - Specification of the logic inputs INX.................................................................................. 22

3.5.2 - Specification of the AOK logic output on optorelay ........................................................... 22

3.5.3 - Specification of the logic outputs OUTX............................................................................ 23

3.5.4 - Specification of the analog inputs CV1+, CV1-,ILIM+, ILIM- .................................................. 23

3.6 -X3 CONNECTOR:ENCODER.................................................................................................. 24

3.6.1 - X3 Connector for "TTL & HES incremental encoder" input (SUB D 25 pins female)........ 24

3.6.2 -X3 Connector for "SIN/COS & HES incremental encoder" input (SUB D 25 pins female) 25

3.6.3 - X3 Connector for "Absolute single-turn SIN/COS encoder" input (SUB D 25 pins female)

...................................................................................................................................................... 26

3.7 –X4 CONNECTOR ..................................................................................................................... 27

3.8 –X5 CONNECTOR:SERIAL LINK RS-232 /RS-422.................................................................. 27

3.9 –X6 AND X7 CONNECTORS: CAN-OPEN ................................................................................ 27

3.10 –X8 CONNECTOR: AUXILIARY SUPPLY AND BRAKE SUPPLY........................................... 27

3.11 –X9 CONNECTOR: BRAKE ..................................................................................................... 27

3.12 –CONNECTOR X10: POWER –MOTOROUTPUT.................................................................. 28

3.13 –X11 CONNECTOR:POWER –DC BUS................................................................................. 28

3.14 –X12 CONNECTOR:POWER SUPPLY INPUT (INTERNAL SUPPLY)......................................... 28

3.14.1 – Single-phase power input connector for the 230 VAC single-axis configuration ............. 28

3.14.2 – Three-phase power input connector for the 400 VAC single-axis configuration.............. 29

3.14.3 – X13 Connector: additonnal braking resistor ................................................................... 29

GD1 – Installation Guide

General conten

CHAPTER 4 –CONNECTIONS............................................................................................................ 30

4.1 -CONNECTION DIAGRAM OF GD1–STAND-ALONE 230VAC OR 400VAC ............................ 30

4.2 -CONNECTION OF THESERIAL LINKRS-232......................................................................... 31

4.3 -CONNECTION OF ABACKUP BATTERY................................................................................ 31

4.4 -WIRING RECOMMENDATIONS............................................................................................... 31

4.4.1 - Ground connections and grounding .................................................................................. 31

4.4.2 - Shield connection on the connectors ................................................................................ 33

4.5 -MOTOR, RESOLVER AND ENCODERCABLES..................................................................... 34

4.6 -SERIAL LINK AND CAN COMMUNICATIONCABLES............................................................. 35

4.7 -CONNECTION CABLES OF THE BRAKING RESISTOR......................................................... 35

4.8 -FIRST POWERING OF THE DRIVE ......................................................................................... 35

4.8.1 - Very important ................................................................................................................... 35

4.8.2 - Switching on the 24 VDC supply......................................................................................... 35

4.8.3 - Switching on the power supply (230 VAC or 400 VAC according to the drivetype: ............ 35

GD1-uuu/cc-PS-R)........................................................................................................................ 35

4.9 -REQUIREMENTS FORTHE COMPLIANCE WITH THEUL STANDARDS ............................. 36

4.9.1 - 24 V supply........................................................................................................................ 36

4.9.2 - Power supply and UL fuse rating....................................................................................... 36

CHAPTER 5 –APPENDIX.................................................................................................................... 37

5.1 -ADJUSTMENT TO VARIOUS RESOLVER TYPES .................................................................. 37

5.2 -USE OF THE "AOK" OUTPUT................................................................................................... 37

5.3 -ENERGY RECUPERATION VIA ABRAKING RESISTOR ....................................................... 38

5.4 -MAINTENANCE ........................................................................................................................ 38

5.5 -ORDERCODE .......................................................................................................................... 38

CONTENT PART 2 ............................................................................................................................... 40

CHAPTER 1 - SPECIFICATIONS......................................................................................................... 41

1.1 -INTRODUCTION....................................................................................................................... 41

1.2 -MULTIAXIS POWER SUPPLY UNIT GDPS-400/16-32............................................................ 41

CHAPTER 2 -CONNECTORS ............................................................................................................. 43

2.1 -LOCATION OF THE GDPS CONNECTORS............................................................................. 43

2.2 -J1 CONNECTOR:THREE-PHASE 400 VPOWER INPUT FORTHE CONFIGURATIONWITH

EXTERNAL POWER SUPPLYUNIT (GDPS)................................................................................... 44

2.3 -J2 CONNECTOR:DC BUS FORTHE CONFIGURATIONIN 400 VWITHEXTERNAL POWER

SUPPLY UNIT (GDPS) ..................................................................................................................... 44

2.4 -X6 CONNECTOR:EXTERNAL BRAKING RESISTOR............................................................. 44

CHAPTER 3 –CONNEXIONS.............................................................................................................. 45

3.1 -CONNEXION DIAGRAMOF THE SUPPLIES IN MULTIAXIS CONFIGURATION WITH GDPS

400/XX POWER SUPPLY UNIT......................................................................................................... 45

3.2 -POWER SUPPLY AND UL FUSE RATING............................................................................... 46

CHAPTER 4 –ORDER CODE.............................................................................................................. 47

4.1 -ORDERCODE .......................................................................................................................... 47

4.2 -ACCESSORIES ........................................................................................................................ 47

CONTENT PART 3 ............................................................................................................................... 49

1 - OPERATING ENVIRONMENT CONDITIONS................................................................................. 50

2 - "SAFE TORQUE OFF" OPTION..................................................................................................... 53

2.1 -DESCRIPTION.......................................................................................................................... 53

2.2 -RECOMMENDATIONSFOR THEINTEGRATION................................................................... 53

2.2.1 - SAFETY INSTRUCTIONS................................................................................................. 53

2.2.2 - STO CONNECTION ..........................................................................................................54

2.2.3 - TIMINGS............................................................................................................................ 54

4 Part 1 – GD1 amplifier

GD1 – Installation Guide

PART 1

________ GD1

AMPLIFIER

GD1 – Installation Guide

Part 1 - Content

Content Part 1

Page

CONTENT PART 1 ................................................................................................................................. 5

CHAPTER 1 – GENERAL DESCRIPTION............................................................................................. 7

1.1 -INTRODUCTION......................................................................................................................... 7

1.2 -HARDWARE ARCHITECTURE TYPES...................................................................................... 8

1.2.1 - Single-axis configuration ..................................................................................................... 8

1.2.2 - Multiaxis configuration ......................................................................................................... 9

1.3 -COMMUNICATION INTERFACES ........................................................................................... 11

1.4 -PROTECTIONS ........................................................................................................................ 11

1.5 -PROGRAMMABILITY ............................................................................................................... 11

1.6 -COMPLIANCE WITH THE STANDARDS ................................................................................. 11

1.6.1 - General description ........................................................................................................... 11

1.6.2 - Reference to the CE standards ......................................................................................... 12

1.6.3 - Reference to the UL standards.......................................................................................... 12

1.7 -OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING .......................................... 12

1.8 -OTHER DOCUMENTS REQUIRED FOR EXTENSION BOARDS............................................ 12

CHAPTER 2 – SPECIFICATIONS........................................................................................................ 13

2.1 -MAIN TECHNICAL DATA.......................................................................................................... 13

2.1.1 - GD1-230/I single-axis drive ............................................................................................... 13

2.1.2 - GD1-400/I single-axis drive ............................................................................................... 14

2.1.3 - Technical features ............................................................................................................. 15

2.2 -DIMENSIONS............................................................................................................................ 17

CHAPTER 3 – INPUTS-OUTPUTS ......................................................................................................19

3.1 -LOCATION OF THE GD1-UUU/CC CONNECTORS................................................................... 19

3.2 -LED DISPLAY ........................................................................................................................... 20

3.2.1 - Identification of the LEDs................................................................................................... 20

3.3 -DRIVE ADDRESSING: SELECTION OF THE TRANSMISSION SPEED ................................. 20

3.4 -X1 CONNECTOR: RESOLVER ................................................................................................ 21

3.5 -X2 CONNECTOR: INPUTS-OUTPUTS .................................................................................... 21

3.5.1 - Specification of the logic inputs INX .................................................................................. 22

3.5.2 - Specification of the AOK logic output on optorelay ........................................................... 22

3.5.3 - Specification of the logic outputs OUTX............................................................................ 23

3.5.4 - Specification of the analog inputs CV1+, CV1-, ILIM+, ILIM- .................................................. 23

3.6 -X3 CONNECTOR: ENCODER .................................................................................................. 24

3.6.1 - X3 Connector for "TTL & HES incremental encoder" input (SUB D 25 pins female)........ 24

3.6.2 - X3 Connector for "SIN/COS & HES incremental encoder" input (SUB D 25 pins female) 25

3.6.3 - X3 Connector for "Absolute single-turn SIN/COS encoder" input (SUB D 25 pins female)

...................................................................................................................................................... 26

3.7 -X4 CONNECTOR ...................................................................................................................... 27

3.8 -X5 CONNECTOR: SERIAL LINK RS-232 /RS-422................................................................... 27

3.9 -X6 AND X7 CONNECTORS: CAN-OPEN ................................................................................. 27

3.10 -X8 CONNECTOR: AUXILIARY SUPPLY AND BRAKE SUPPLY............................................ 27

3.11 -X9 CONNECTOR: BRAKE...................................................................................................... 27

3.12 -CONNECTOR X10: POWER –MOTOR OUTPUT.................................................................. 28

3.13 -X11 CONNECTOR: POWER –DC BUS ................................................................................. 28

3.14 -X12 CONNECTOR: POWER SUPPLY INPUT (INTERNAL SUPPLY) .......................................... 28

3.14.1 - Single-phase power input connector for the 230 VAC single-axis configuration .............. 28

3.14.2 - Three-phase power input connector for the 400 VAC single-axis configuration............... 29

3.14.3 - X13 Connector: additonnal braking resistor .................................................................... 29

6 Part 1 – Content

GD1 – Installation Guide

CHAPTER 4 - CONNECTIONS ............................................................................................................ 30

4.1 -CONNECTION DIAGRAM OF GD1 –STAND-ALONE 230 VAC OR 400 VAC ............................ 30

4.2 -CONNECTION OF THE SERIAL LINK RS-232......................................................................... 31

4.3 -CONNECTION OF ABACKUP BATTERY ................................................................................ 31

4.4 -WIRING RECOMMENDATIONS............................................................................................... 31

4.4.1 - Ground connections and grounding .................................................................................. 31

4.4.2 - Shield connection on the connectors ................................................................................ 33

4.5 -MOTOR, RESOLVER AND ENCODER CABLES ..................................................................... 34

4.6 -SERIAL LINK AND CAN COMMUNICATION CABLES............................................................. 35

4.7 -CONNECTION CABLES OF THE BRAKING RESISTOR......................................................... 35

4.8 -FIRST POWERING OF THE DRIVE ......................................................................................... 35

4.8.1 - Very important ................................................................................................................... 35

4.8.2 - Switching on the 24 VDC supply......................................................................................... 35

4.8.3 - Switching on the power supply (230 VAC or 400 VAC according to the drive type: ............ 35

GD1-uuu/cc-PS-R)........................................................................................................................ 35

4.9 -REQUIREMENTS FOR THE COMPLIANCE WITH THE UL STANDARDS ............................. 36

4.9.1 - 24 V supply ........................................................................................................................ 36

4.9.2 - Power supply and UL fuse rating....................................................................................... 36

CHAPTER 5 – APPENDIX.................................................................................................................... 37

5.1 -ADJUSTMENT TO VARIOUS RESOLVER TYPES .................................................................. 37

5.2 -USE OF THE "AOK" OUTPUT................................................................................................... 37

5.3 -ENERGY RECUPERATION VIA ABRAKING RESISTOR ....................................................... 38

5.4 -MAINTENANCE ........................................................................................................................ 38

5.5 -ORDER CODE .......................................................................................................................... 38

CONTENT PART 2 ............................................................................................................................... 40

GD1 – Installation Guide

Part 1

–

Cha

ter 1

–

General descri

tion

Chapter 1 – General description

1.1 – INTRODUCTION

GD1 all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless AC

motors with a sensor (resolver, encoder or, as an option, second encoder sensor on the load).

Several versions are available:

♦with integrated power supply unit: 230 VAC single-phase or 230 to 480 VAC three-phase or

♦with external 230 to 480 VAC three-phase power supply unit (GDPS) – See Part 2.

The very small dimensions allow an easy mounting in low depth cabinets.

Height (235 mm) and depth (224 mm) are the same for all voltage and current ratings.

The drives with current rating ≤45 A have a single width with 74.5 mm pitch whereas drives with 60 A and 90 A

ratings have a double width with 145 mm pitch.

The drives with current ratings smaller than 8 A in 230 V have reduced 175 mm depth. The angle brackets can be

reverse side mounted in order to allow a wall-crossing fastening. This solution offers the advantage to separate

the part of the drive which requires heat dissipation.

8 Part 1 – Chapter 1 – General description

GD1 – Installation Guide

1.2 – HARDWARE ARCHITECTURE TYPES

1.2.1 –SINGLE-AXIS CONFIGURATION

INTEGRATED 230 VAC SINGLE-PHASE POWER SUPPLY UNIT

RATED POWER < 4 kW

* GD1-230/05 and 08 without braking resistor.

INTEGRATED 400/480 VAC THREE-PHASE POWER SUPPLY UNIT

RATED POWER < 7 kW

EXTERNAL POWER SUPPLY UNIT GDPS-400/xx

RATED POWER > 4 kW IN 230 VAC

RATED POWER > 7 kW IN 400 VAC

Power supply

filtre

braking

resistor

GD1- 230/05 to 30 - PS-R

Power supply

filtre

braking

resistor

GD1- 400/05 to 20 - PS-R

GDPS- 400/xx GD1- 400/30 to 90

230 VAC three-phase

400 VAC three-phase

Power supply

filtre

See Part 2

Bus DC

X4 cable

GD1 – Installation Guide

Part 1

–

Cha

ter 1

–

General descri

tion

1.2.2 –MULTIAXIS CONFIGURATION

MULTIAXIS CONFIGURATION WITH INTEGRATED 230 VAC SINGLE-PHASE POWER SUPPLY UP

TO A RATED POWER < 4 kW

MULTIAXIS CONFIGURATION WITH INTEGRATED 400/480 VAC THREE-PHASE POWER SUPPLY

UP TO A RATED POWER < 7 kW

GD1- 230/05 to 30 - PS-R

Power supply

filtre

braking

resistor

A1 A2 A3 An

(n max

GD1- 230/05 to 20 - 00-0

DC bus 320 VDC

Connect the actuators from A1 to An in the

decreasing order of their current ratings

GD1- 400/05 to 20 - PS-R

Power supply

filtre

braking

resistor

A1 A2 A3 An

(n max

GD1- 400/05 to 20 - 00-0

DC bus 600 VDC

Connect the actuators from A1 to An in the

decreasing order of their current ratings

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