Moog DS2020 Instrucciones de montaje

DS2020

MAINTENANCE AND USER MANUAL

SINGLE AXIS DIGITAL SERVO DRIVE

INDEX

1. OVERVIEW 5

1.1. Manual contents

1.2. Utilized symbols

1.3. Package content

1.4. Required qualifications of the users

1.5. Applicable laws 6

2. SYSTEM DESCRIPTION 7

2.1. Product structure

2.1.1. Product description

2.1.2. Storage and working conditions

2.1.3. Standard models of modules

2.1.4. Module codification

2.2 Features and components details

2.2.1 Electrical data

2.2.2 Mechanical data

2.2.3 Trasducers

2.2.4 Connectors

2.2.4.1 Connectors layout

2.2.5 Filters

2.2.6 Braking resistence

2.2.7 Line inductors

2.3 Cables

2.4. Safety and usage guidelines 22

DS2020

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2.4.1. General description of security features

2.4.2. STO safety feature

2.4.2.1. Description

2.4.2.2. Directives on safety

2.4.3. Usage Guidelines of the drivers

3.CERTIFICATIONS25

3.1. CE

3.2. Safety and SafeTorque Off

4. ELECTRICAL AND MECHANICAL INSTALLATION 27

4.1 Tools and equipment

4.2. Mechanical installation

4.2.1. Assembly of the various components

4.3. Electrical Installation and thermal rating

4.3.1 Safety and general instructions

4.3.2. Thermal rating of the electrical panel

4.3.2.1. Drive axis module dissipation

4.3.2.2. Thermal dissipation of the accessories

4.3.3. Auxiliary power characteristics

4.3.4. Grid connection

4.3.4.1. Types of electrical networks

4.3.4.2. Protection components

4.3.4.3. Ground connection

4.3.5. Drive wiring

4.3.5.1. Grounding

4.3.5.2. Connecting the Power cable

4.3.5.3. Braking resistor connection

4.3.5.4. Auxiliary power connection

4.3.5.5. Signal connection

4.3.5.6. Motor cable connection

4.3.5.7. Brake cable connection

4.3.5.8. I / O signal connection

4.3.5.9. STO signal connection

4.3.5.10. Transducer connection

4.3.5.11. Connecting the Fieldbus - X8, X9, X10 connectors

5. COMMISSIONING VIA GUI 39

5.1. Safety

5.2. Dx2020 GUI

5.2.1. Overview

5.2.2. Minimum PC requirements

5.2.3 Dx2020GUI installation

5.2.4 GUI-drive connection

5.2.5 Layout

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5.2.6. Firmware update (BootLoader) 45

5.2.7. How to access to Online Help

5.3. System configuration 45

5.3.1. Identifying an axis module 46

5.3.2. Motor parameters configuration 46

5.3.3. Trasducers 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 loop parameters configuration

5.3.5.3 Speed loop parameters configuration

5.3.5.3.1 Filter configuration

5.3.5.4 Configuration of the position loop parameters

5.3.6. Fault configuration

5.3.7. Application parameters

5.3.8. Commands and modes configuration

5.4. Power Supply

5.5 STOactivation

5.5.1 Autophasing

5.6 Axis enablement

5.7. Oscilloscope function and log files (*.UCX)

5.7.1 Log configuration

5.7.2 Start logging

5.7.3 View logs

5.7.4 UCX file management

5.8 Using the GUI in OFFLINE mode

5.9 Contextual help menus for parameter management

6. TROUBLESHOOTING 63

6.1. Introduction

6.2. Power section anomalies

6.3. Drive anomalies

6.3.1. Alarms on the power section

6.3.2. Alarm for out of tolerance VBUS voltage

6.3.3. Drive or motor overtemperature

6.3.4. Removal of STO signal

6.3.5. Errors on memory devices

6.3.6. Corrupted Data Fault

6.3.7. Brake Chopper Fault

6.3.8. Errors on feedback devices

6.3.9. Synchronization, Interrupt Time and Task Time Error

6.3.10. EtherCAT Faults

6.3.11. Alarms related to the control loops

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6.3.12. CAN Bus alarms

6.4. Alarm display in 'Analog' operating mode

6.5. Faults during the GUI-drive connection

7. SAFE TORQUE OFF SAFETY FEATURE 73

7.1. Application

7.2. Installation risk assessment

7.3. Safe Torque Off

7.3.1. Characteristic values according to UNI ENISO 13849-1

7.3.2. Characteristic values according to CEI EN62061

7.4. Safety requirements

7.5. Safe Torque Off circuit

7.6. Safe Torque Off connections

7.7. Example of an application

7.8. Installation and maintenance procedure Safe Torqueo

Off 7.9. Assembly and serial tests

7.10. Identification of the STO function on the plate

8 Annexes

8.1 Glossary

8.2 Conversion Table Metric / AWG 84

DS2020

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1. OVERVIEW

1.1. Manual contents

This manual provides information to the user to ensure proper installation and optimal functioning of the

digital servo drives, DS2020 series.

All information contained herein, including methods, techniques and concepts are the exclusive property

of Moog Casella and may be neither copied nor used without specific authorization. Moog reserves the

right to modify products, and related documentation, at any time, without notice.

The following materials are also available:

•QUICK GUIDE - INSTRUCTIONS AND GUIDELINES FOR FIRST START

•MAINTENANCE AND USER MANUAL (this document)

•FIELDBUS MANUAL

•SOFTWARE Dx2020 GUI

1.2. Utilized symbols

Danger that can result in death or serious injury

Notification of an important information

Danger that can result in minor injury and / or property damage

1.3. Package contents

The complete supply of DS2020 drives includes:

•One DS2020 drive module

•Anchoring support for the screens

Note: a possible connector kits must be ordered

individually and is supplied separately.

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1.4. Required qualifications of the users

This manual is intended for qualified personnel, that is having the following skills, depending on the tasks performed:

Transport: The staff must have notions of handling components sensitive to electrostatic charges

Unpacking: The staff must have knowledge of handling of components sensitive to shock and electrostatic discharge

Installation: The staff must have notions of installation of electrical equipment

Startup: The staff must have extensive technical knowledge of electrical drives and their technology.

Info

The qualified personnel must know and observe the following standards: IEC 60364, IEC

60664, and all relevant national accident prevention regulations.

ATTENTION

When the drive is in operation there is a risk of death, serious injury or serious damage to property.

Therefore, the installer is required to ensure that the safety instructions detailed in this manual are read,

understood and observed by all personnel responsible for the operation of the drive.

1.5. Applicable laws

The DS2020 drives meet the Low Voltage Directive (2006/95 / EC) and EMC Directive (2004/108 / EC).

The safety function "Safe Torque Off" (STO) integrated in the drive complies with the Machinery Directive

(2006/42 / EC).

To comply with the European Directives, the drive meets the requirements of the relevant harmonized

installation standards EN 50178 (LVD), EN61800-3 (EMC) and EN 61800-5-2 (Safety of machinery).

The DS2020 drives are CE certified.

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2. SYSTEM OVERVIEW

2.1. Product structure

2.1.1. Product description

The DS2020 drive represents Moog Casella's new generation of digital servo drives for the control of brushless

synchronous or asynchronous motors. It is constituted by a single stand alone module powered directly by an

AC network and by an auxiliary voltage of 24 Vdc

The digital control system of the motors and the diagnosis functions of the DS2020 series, are realized using a

microprocessor.

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Control functions Implementation of the Torque, Speed and Position loops

Command protocols EtherCAT, CANopen and “Analog”

Configuration/

Commissioning

Via GUI : Dx2020GUI, allows to configure, calibrate and

control the drive.

Diagnostic Via GUI

Positioning transducers • Resolver standard

• Encoder Incremental TTL

• Encoder Stegmann Sinusoidal Absolute Single/Multi-Turn with

HYPERFACE communication

• Encoder Hedenhain Sinusoidal Absolute Single/Multi-Turn with

ENDAT communication

Sensorless mode

User Interface

Dx2020GUI

Data logging

From GUI

AC/DC conversion Three-phase input bridge with soft start

Power range From 120 Vac to 480 Vac +/- 10 %

PWM frequency 8 kHz (from 2 to 16 kHz configurable by Software)

Encoder simulation Simulated encoder output with programmable number of pulses

Auxiliary power supply voltage

+ 24 Vac +/- 10 %

Rated current From 2 to 48 Arms

Peak current From 4 to 96 Arms

Analog inputs 2 inputs +/- 10 volt differential

Analog outputs 2 output +/- 10 volt single ended

Digital inputs 2 digital inputs opto isolated

Digital outputs 1 Digital output opto isolated

Communication interface for

set-up

• RS422 PC

• USB PC

• EtherNET or CANopen PC (option)

Motor brake control Integrated

Braking resistor Integrated (Esternal optional)

Electromagnetic compatibility EMC filters

Cooling

Forced air, with integrated fans in each module

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2.1.2. Storage and working conditions

Operating environment

temperature

from 0 °C to 40 °C

up to55 °C with current derating

Storage temperature

from -25 °C to 55 °C

Transport temperature

from -25 °C to 70 °C

Motor overheating protection PTC or NTC

Relative humidity

5...95 %

without condensation

Mounting altitude

Up to 1000 m, up to 2000 m with output current derating

Certification

Protection

IP20

Pollution rating

Resistenza meccanica

conforme a EN 60721-3-3

Vibration: 3 mm for frequencies between 2 and 9 Hz

Vibration: 1 g for frequencies between 9 and 200 Hz

Shock: 98 m/s2 (10 g) for 11 ms

Machine safety

STO (Safe Torque Off) SIL3 PLe

2.1.3. Standard models of modules

L50A L50A L75A L75A L75B

Dimensions [mm]

50 50 75 75 75

Rated current [Arms]

2 4 6 8 12

Peak current [Arms] 4

8 12 16 22

The module code is found on a plate on the side of the module.

To request any kind of information about a specific module it is essential to communicate to Moog Casella all the

data indicated on the plate, which identifies each individual module.

The year and week of construction are identified by the field 'Date' The first two digits of the number are for the year

the second two indicate the week (example DATE 1607: 2016, week 7).

L85A L85A L125A L125A

85 85 125 125

16 24 32 48

32 48 64 96

Example of a drive plate

Model code

Rated data

STO function

Date

Serial Number

Moog Italiana S.r.l. - CASELLA SITE - Via Avosso 94, 16015 Casella (GE) - Italy

2 or less (normally allowed only non-conductive pollution. However, occasionally we

can expect a temporary conductivity caused by the condensation only when the drive

is idle or powered)

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2.1.4 Module codification

To identify the different models it is necessary to refer to the following codification

The first two characters are "CH" and are used to identify the DS2020 family

Version

1Standard model

ESpecial model

Mechanical configuration - Hardware

ValueType /

Width

Rated

Current

Peak

Current

02 Single / 50 mm

L50A 2 Arms 4 Arms

04 Single / 50 mm

L50A 4 Arms 8 Arms

06 Single / 75 mm

L75A 6 Arms 12 Arms

08 Single / 75 mm

L75A 8 Arms 16 Arms

12 Single / 75 mm

L75B 12 Arms 22 Arms

(1) Standard version

(2) Values attributed by Moog

X2 / X3 - Transducer type and Serial link type

RS422

ValueType

R (1)RESOLVER SERIAL

TRESOLVER USB

EENCODER SINCOS SERIAL

UENCODER SINCOS USB

G TTL SINGLE ENDED SERIAL

HTTL FULL DIFFERENTIAL SERIAL

L TTL SINGLE ENDED USB

MTTL FULL DIFFERENTIAL USB

Fieldbus configuration

ValueType

0Analog references (1)

1 CanBus configuration

(option)

2 EtherCAT configuration

(option)

Hardware Revision

Value - Internal coding (2)

Special configurations

00 Standard

Special variation

Value - Internal coding (2)

CH-

To order a connector kit

Connector kit code Transducer type and Serial link type

BC8901-R RESOLVER SERIAL

RESOLVER USB

BC8902-R

ENCODER SINCOS SERIAL

ENCODER SINCOS USB

TTL SINGLE ENDED SERIAL

TTL FULL DIFFERENTIAL SERIAL

TTL SINGLE ENDED USB

TTL FULL DIFFERENTIAL USB

16 Single / 85mm

L85A16 Arms 32 Arms

24 Single /85mm

L85A 24 Arms 48 Arms

32 Single / 125mm

L125A 32 Arms 64 Arms

48 Single / 125mm

L125A48 Arms 96 Arms

Value - Internal coding (2)

DS2020

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