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AMD2000 Series - Servo Drive

User Manual

DS619-0-00-0019 – Rev 0

Summary of content (189 pages)

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AMD2000 Series - Servo Drive User Manual DS619-0-00-0019 – Rev 0
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AMD2000 Series - Servo Drive - User Manual 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 © ANCA Motion Pty. Ltd.
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AMD2000 Series - Servo Drive - User Manual Chapter Summaries 1 Safety General Product safety information 2 Introduction Target Audience, model applicability, help in reading the manual and related manuals/brochures 3 Product Overview Features, operating principles, labels, connector overview 4 Mechanical Installation 5 Planning the Electrical Installation Motor and drive compatibility, electrical isolation, protection, cable selection and routing 6 Power Wiring Insulation, earthing, power
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AMD2000 Series - Servo Drive - User Manual Contents 1. Safety ............................................................................................................................................................... 10 1.1 General Safety....................................................................................................................................... 10 1.2 Safe Start-Up and Operation ..............................................................................................
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AMD2000 Series - Servo Drive - User Manual 5.4 Emergency Stop Devices ...................................................................................................................... 31 5.5 Thermal Overload and Protection .......................................................................................................... 31 5.6 Power Cable Selection .......................................................................................................................... 32 5.
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AMD2000 Series - Servo Drive - User Manual 7.6 Ethernet Interface .................................................................................................................................. 62 7.6.11 EtherCAT® .......................................................................................................................... 62 7.6.12 EtherCAT topology / Port assignment.................................................................................. 63 7.7 DIP Buttons ..................
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AMD2000 Series - Servo Drive - User Manual 11.1 What this Chapter Contains ................................................................................................................. 144 11.2 Problem Diagnosis............................................................................................................................... 144 11.2.11 11.3 AMD2000 Indicators ..........................................................................................................
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AMD2000 Series - Servo Drive - User Manual 12.7 12.6.14 Physical Characteristics..................................................................................................... 165 12.6.15 Cooling .............................................................................................................................. 165 Dimension Drawings ............................................................................................................................ 166 12.7.
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AMD2000 Series - Servo Drive - User Manual 13.5 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 .............
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AMD2000 Series - Servo Drive - User Manual 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.
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Safety  Never attempt cleaning or inspection during machine operation.  Only suitably qualified personnel should install, operate, repair and/or replace this equipment.  Be aware of the closest First Aid station.  Ensure all external wiring is clearly labelled. This will assist you and your colleagues in identifying possible electrical safety hazards.  Clean or inspect the equipment only after isolating all power sources.
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AMD2000 Series - Servo Drive - User Manual 2. Introduction 2.1.11 What this Chapter Contains This chapter introduces reader to the manual, the target audience and some useful information with regards to comprehending the content. 2.1.12 Purpose This manual provides the required information for planning to install, installation, commissioning, operation and servicing of the AMD2000 Series Servo Drive.
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Introduction 2.1.15 Related Documents AMD2000 Series AC Servo Drive Brochure - DS619-0-01-0008 Alpha Series AC Servo Motor Brochure - DS619-0-01-0007 Digital Servo Drive SoE Parameter Reference – Included with the firmware bundle Digital Servo Drive Error Code Reference - Included with the firmware bundle 2.1.16 2.1.
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AMD2000 Series - Servo Drive - User Manual 3. Product Overview 3.1 What this Chapter Contains This chapter introduces reader to the AMD2000 3A and 9A servo drive by providing the following information  Features,  Operating Principle  Explanation of Labelling and Markings  Connector overview 3.2 Features The AMD2000 is a versatile brushless AC servo drive incorporating a digital signal processor (DSP) for control of rotary and linear motors.
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Product Overview 3.3 Operating Principle The simplified circuit diagram of the drive is shown below. The AC supply voltage is converted to DC, which is then converted into the required AC voltage signal to drive the motor. AMD2000 Servo Drive Single or 3 Phase AC Input AC/DC Converter DC/AC Converter Drive Control Switching Control AC Motor 3.
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AMD2000 Series - Servo Drive - User Manual 3.4.11 AMD2000 Series Drive Catalogue Number Interpretation AMD2000 drives are marked with an identification label.
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Product Overview 3.5 System Overview A digital drive system comprises one or more digital servo drives as shown in the following Figure: 105-255VAC (3-0) Power Supply 105-265VAC (1-0) Power Supply Regeneration resistor Control Master Regeneration resistor DRIVE 1 M DRIVE N M Figure 3-1 1.1 System Overview Above example is of a drive system is supplied from a single phase mains connection with a nominal voltage of 230VAC.
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AMD2000 Series - Servo Drive - User Manual Inductor/ DC link Regeneration resistor 120-240VAC 1Ø-3Ø Power Supply M Soft Starting PWM Control Heatsink Temperature Regeneration Resistor Control Servo Motor 120-240VAC 1Ø Power Supply Position Encoder 1 Position Encoder 2 Analog Inputs Analog Output Controller Standard Digital Outputs 24V Digital Inputs EtherCAT Communications Network Encoder Output Communications Interface EtherCAT Communications Network Figure 3-2 Block Diagram of the Drive Sys
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Product Overview Setup Software Parameter configuration and monitoring is possible via communication with a PC. X1 is connected directly to the configuration PC rather than the host device. Circuit Breaker Cuts off power in the case of an overload, to protect the power line. Noise Filter Attached to prevent external noise from the power source line. Host Device X1 EtherCAT Master capable device. e.g.
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AMD2000 Series - Servo Drive - User Manual 3.6 Connector Overview 3.6.
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Product Overview 3.6.
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AMD2000 Series - Servo Drive - User Manual 3.6.12.2 X3 Serial Communications X3 3.6.12.3 X4 Input / Output X4 3.6.12.4 Connection interface to analogue and digital inputs and outputs X5 Encoder Interface X5 3.6.12.5 The X3 serial port is an RS232 and RS485 communications interface which implements the Modbus protocol. Not enabled on this model Port for an encoder interface. Its purpose is to provide encoder position feedback to axis 1.
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Product Overview 3.6.12.6 Inductor, Brake Resistor Connectors P2 External inductor connection. P1 and P2 are in series with DC BUS+ and might be connected to an external inductor for extra energy storage and reducing voltage ripple. P,C,D Brake resistor connection P1 To be able to use the drive without an external inductor – a link rated at full drive current must be placed across P1 and P2 to avoid E0303 DC bus Voltage low alarm.
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AMD2000 Series - Servo Drive - User Manual Drive Display Indicator 5 x 7-segment LED Operator interfacing 4 DIP buttons The 7 segment LED display on the AMD2000 serves three functions. It is used to report errors, to indicate the state of the EtherCAT communications and to indicate the state of the drive. The dots represent wire saving encoder UVW sensor feedback state on power up. 3.6.12.
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Mechanical Installation 4. Mechanical Installation 4.1 What this Chapter Contains This chapter contains information that is relevant to the mechanical installation of the drives in an electrical cabinet such as  Pre installation checks  Installation site requirements  Tools required  Mounting and cooling  EMC armature cable shield termination 4.
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AMD2000 Series - Servo Drive - User Manual 4.3.12 Tools Required In order to mount the AMD2000 drive, the following tools are required as a minimum.  4mm Hex key with ball end for the M5x0.8P  3mm Hex Key with ball end for the M4x0.7P  M5 x0.8P screws with spring and flat washer for AMD9A only. Screw length 30mm  A small flat blade screw driver for X5 D-Sub 15pin HD connector, and X4 50 way Digital I/O connector.
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Mechanical Installation Figure 4-1 Installation in a single row If multiple rows of drives are required to be installed, follow the layout below for this arrangement. ANCA Motion  If drives are to be mounted in a multiple row arrangement, please ensure that the drives are offset / staggered at least a full drive width apart to maintain effective cooling. For 3A drives at least 43mm apart, 9A drives at least 60mm apart).  Ensure there is a minimum gap between each row of drives.
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AMD2000 Series - Servo Drive - User Manual Figure 4-2 Installation in two rows If armature termination brackets are required to be fitted for EMC compliance, Refer to 6.8.12.1.1 Installation of the EMC Clamp on Shielded Armature Cables, for fitting instructions.  Refer to 12.6 Environmental Specifications for further requirements. 4.4 Installation 4.4.11 Power Isolation DANGER HIGH VOLTAGE - The working DC bus is live at all times when power is on.
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Mechanical Installation Following the appropriate lockout procedure, place a sign over the isolation switch clearly indicating to other personnel that this isolator is not to be touched. 4.4.12 Mounting a Drive Refer to section 12.7 Dimension Drawings for drive dimensions and mounting hole positions. STEP 1 Drill and tap 2 x M5x0.8P holes to suit hole pattern described in section 12.7 Dimension Drawings. Overlap the drive onto the drilled holes to ensure that the hole positions are correct.
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AMD2000 Series - Servo Drive - User Manual C D B B A E STEP2 STEP 3 B STEP 4 Figure 4-4 Mechanical Mounting of AMD2000 D2009 Servo Drive STEP5 Connect appropriate electrical cables to complete installation as per sections 5 Planning the Electrical Installation and 6 Power Wiring. 4.4.13 Un-Mounting a Drive Ensure mains power has been isolated from the drives. (see 4.4.
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Planning the Electrical Installation 5. Planning the Electrical Installation 5.1 What this Chapter Contains This chapter contains information that is useful in planning the electrical installation of the servo drives:  Motor & Drive Compatibility  Electrical Isolation and Protection Devices  Cable Selection and Routing The AMD200 series of drives must be installed by a professional.
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AMD2000 Series - Servo Drive - User Manual local requirements based on cable size. Please refer to the relevant standards or legislation for the region of operation. 5.5.11.4 Motor Thermal Protection The AMD2000 does not contain its own protection for motor thermal overload. If protection against motor thermal overload is necessary, the user must supply a thermal fuse according to the maximum safe operating temperature of the motor being protected. Please refer to 6.
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Planning the Electrical Installation 5 5.7 Control Cable Selection It is strongly recommended that double shielded twisted pair cables (one individual shielded pair per signal) be used for both analogue and digital control signals (but single shielded twisted multi pair cable may be used for low voltage digital signals if desired). Analogue and digital signals must be run in separate cables. A common return path should not be used for different analogue signals.
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AMD2000 Series - Servo Drive - User Manual Care should be taken to avoid electromagnetic interference and coupling between cables. It is recommended that all three categories of cabling be routed separately. Power and motor cables should be separated (as much as practicable) by at least 300 mm, whereas motor and control cables should maintain at least 500 mm separation over the majority of their length. If control and power cables must cross, they should cross perpendicular (at 90 degrees) to one another.
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Power Wiring 6. Power Wiring 6.1 What this Chapter Contains This chapter contains information related to connecting the drive electrically to the incoming mains, motor and brake as well as what to be mindful of such as:  Checking Assembly Insulation  Cable Connection and Earthing  Power Conditioning  Regenerative Brake Selection / Calculation 6.
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AMD2000 Series - Servo Drive - User Manual AMD2000 drives are suitable for use on supplies of installation category III and lower, according to IEC60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation closer to primary distribution supply (overhead cables etc.) additional over-voltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.
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Power Wiring 6.3.11 Supply Voltage Ranges The supply voltage range must be within the limits specified in Section 12.4 Electrical Specifications Mains supply voltage an frequency limits Drive input single phase voltage range UL1-L2 90-265V AC Drive input three phase voltage range UL1-L2-L2 90-265V AC Maximum input voltage to Protective Earth UL1,L2,L3,-PE 265V AC Nominal Input frequency ƒLN 50/60Hz Operation at reduced supply voltage will require power de-rating as discussed in 12.
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AMD2000 Series - Servo Drive - User Manual 6.3.15 Residual current-operated protective (RCD) protection Residual current-operated protective devices (RCD) provide additional protection for detection of insulation faults where current is no longer contained in power conductors.  It is only permissible to use delayed tripping, selective AC/DC-sensitive residual-current circuitbreakers, Type B.
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Power Wiring induce parasitic common mode currents (ILEAK) in the stray capacitance of the motor and cable system. See Figure 6-4. The common mode currents return to the drive inverter by lowest available impedance paths which must be carefully managed to prevent interference voltages being generated to other equipment connected to the same earth system.
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AMD2000 Series - Servo Drive - User Manual LC1 AMD2000 LC2 NC L1 3 phase supply Schaffener FN3270H-10-44 L2 L3 P.E. Figure 6-5: EMC filter installation for 3 or 2 phase supply 1 phase supply Schaffener FN343-1-05 LC1 AMD2000 LC2 NC L1 3 phase supply Schaffener FN3270H-10-44 L2 L3 P.E. Figure 6-6: EMC filter installation for separate control supply 6.5.12 40 Installation guidelines of EMC filter  Install the EMC filter as close as possible to the AMD2000 drive.
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Power Wiring 6.6 Power Supply Filters 6.6.11 Harmonic Suppression IEC 61800-3-2 specifies limits on the amounts of conducted harmonic emissions (current) from electrical equipment connected back into the electricity supply. The drive has two terminals P1 and P2 across which a user may place an inductor (choke) to limit emissions for compliance to the standard above or simply to ensure a cleaner local supply.
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AMD2000 Series - Servo Drive - User Manual Example : Drive harmonics on a AMD2000 3A drive without Inductor 2.5 2.5 Current (A) 22 Simulated Harmonics Simulated Harmonics Simulated Harmonics Harmonic Limits Harmonic Limits Harmonic Limits 1.5 1.5 11 0.5 0.5 00 11 55 9 9 1313 1717 2121 2525 2929 3333 3737 4141 4545 4949 5353 5757 6161 6565 6969 Harmonic Drive harmonics for above drive with inductor 2.5 2.
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Power Wiring 6.7 Power Disconnect and Protection Devices Install a hand-operated mains supply disconnecting device between the AC power source and the drive. The disconnecting device must be of a type that can be locked to the open position for installation and maintenance work, and must comply to Safety of Machinery standard EN 60204-1 and local regulations. The AMD2000 must have suitable input power protection on each phase input. Fast semiconductor fuses are preferable to circuit breakers.
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AMD2000 Series - Servo Drive - User Manual Recommended fuses are based on 25 °C (77 °F) ambient, maximum continuous control output current and input harmonic inductor fitted. Use fast acting fuses with high breaking capacity (200kA), 250V or more rating.  6.
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Power Wiring 6.8.11 Motor Circuit Contactors A motor circuit contactor may be installed if required by local codes or for safety reasons. The motor circuit contactor isolates the motor fully from the drive to allow maintenance and form part of a safety system. Ensure that shielding of the motor cable is continued on both sides of the motor circuit contactor as shown in Figure 6-8. 6.8.12 Motor Power Cable Installation 6.8.12.
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AMD2000 Series - Servo Drive - User Manual Expose approx. 25mm of the cable sheath and feed the armature cable between the holes in the gear tray. Install the saddle clamp so that the exposed braid can be clamped down to the gear tray. Clamp the exposed braid by turning the knurled screw and tighten to 0.5Nm to complete the connection. Fit the armature plug into the armature connector on the drive.
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Power Wiring Protective Earth Wire to the Cabinet Earth Bar Figure 6-10 AMD2000 D2003 Drive Protective Earth Connection ANCA Motion DS619-0-00-0019 - Rev 0 47 6
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AMD2000 Series - Servo Drive - User Manual 6.8.12.1.3 AMD2000 9A Drive Use an Armature Bracket in order to terminate the shielded cable assembly. The Armature Termination Bracket assembly consists of the following parts : 1. Armature Termination Bracket 2. EMC Saddle Clamp 3. 2 x M5 screws Please see accessories section for bracket ordering details. 13.4.13 Armature Shield Clamping Brackets  Clamp the Armature Termination Bracket down as shown below using the 2 x M4 screws. Tightening Torque 2.5Nm max.
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Power Wiring 6.8.12.2 Continuation of Motor Power Cable Shielding  Add a metal P-Clip or equivalent to the armature cable at a location that is close to the motor for earthing the shield.  In order to add this part to the Armature Cable, remove a sufficient amount of outer sheath in order to make direct contact with the exposed metal braid.  Ensure that the metal braid is not damaged in this process.  Remove the painted to expose the bare metal beneath.
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AMD2000 Series - Servo Drive - User Manual 6.8.12.3 Cable routing In a drive system the return common mode currents flow through shields, cabinets, gear tray and earth wiring to create localized parasitic ground potentials, which may affect control signals using the ground as a common voltage reference. Careful planning of cable routing and location of shield grounds must be done to minimise influence of parasitic ground potentials, and ensure compliance with EMC requirements.
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Power Wiring AMD2000, 3A, with DC bus connection Schaffner 3-phase 4A Sinewave and EMC Filter with DC bus link FN 530-4-99 AMD2000, 9A, with no DC bus connection Schaffner 3-phase 12A Sinewave and EMC Filter FN 520-12-29 AMD2000, 9A, with DC bus connection Schaffner 3-phase 12A Sinewave and EMC Filter with DC bus link FN 530-1299 Note: Motor frequency range is from 0-200Hz for these filters Motor Minimise unshielded lengths Sinusoidal Filter AMD2000 U V W P.E.
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AMD2000 Series - Servo Drive - User Manual 6.9.12 du/dt Filter The du/dt filters consist of inductors and capacitors in a low pass filter arrangement and their cut off frequency is above the nominal switching frequency of the drive. Compared to Sine-wave filters they have lower L and C values, thus they are cheaper and smaller, and have less voltage drop (approximately 0.5%). With a du/dt filter the voltage wave form is still PWM shaped but the current is sinusoidal.
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Power Wiring AMD2000 CN4/X4 20 or 21 7 24V Relay: Normally Open Separate Customer 24V DC supply 24V 0V Motor DI-01 Figure 6-17: Motor Thermal Switch interface circuit The 24V DC power supply for the thermal switch must be a separate supply as it can often carry noise that could cause erratic drive operation, and may not provide sufficient isolation. Do not use the AMD2000 24V supply from X4 to power the thermal switch.
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AMD2000 Series - Servo Drive - User Manual 24V (e.g. Pin 20, X4) 3.9k KTY84 Ain+ AinKTY84 AGND (e.g. Pin 3, X4) 3.9k 0V (e.g. Pin 46, X4) 6.13 Brake/Regeneration Resistor The AMD2000 3A and AMD2000 9A drives feature an inbuilt regeneration resistor.
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Control Wiring 7. Control Wiring DANGER - 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.
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AMD2000 Series - Servo Drive - User Manual 7.2.11.1 Idealised drawing of Analog Input Circuit AMD2000 AI_ AI+ + ADC 7.2.11.2 DSP Typical Connection Examples of Analog Input Single Ended (Ground Referenced) Connection. AMD2000 1 AI-01+ X4 26 3 AGND Figure 7-1 Typical Example of Single Ended Connection For differential inputs connect lines to AIN+ and AIN-. Leave AGND unconnected. AMD2000 1 AI-01+ AI-01- X4 26 3 Figure 7-2 Typical Example of Differential Connection 24V DC 1.5kΩ, 0.
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Control Wiring 7.2.12 Analogue Outputs A0 -1 can be used to output converted analog values of digital measurements recorded in the drive. It is recommended that shielded twisted pair cable is used for interfacing. The shield connection should be made at one end only. 7.2.12.
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AMD2000 Series - Servo Drive - User Manual 7.3 Digital I/O All digital Input and Output signals are available via connector X5. The AMD2000 provides:  8 x General Purpose Inputs  2 x additional General Purpose Inputs can be configured if required  6 x General Purpose Outputs Please find details specifications in section 12.
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Control Wiring 7.3.11 24V Control Circuit Supply The maximum current that can be drawn from this supply is 500mA total. Note that if a motor with a brake is required this may be insufficient current to release the brake, so an external power supply will be required. Also note that if overloaded the polyfuse in the drive will present a high resistance and there will no longer be 500mA available until the load is removed. 7.3.
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AMD2000 Series - Servo Drive - User Manual 7.3.12.1.2 Typical Connection Example Control +24 V AMD2000 DI-XX DSP Control GND 7.3.12.2 Differential Inputs DI-09 & DI-10 Section 12.3 Interface Specifications provides detailed information on these two RS 422 inputs. If 2 additional digital inputs are required this may be done safely via optional I/O interface Module accessory listed in 13.4.11 I/O Interface Accessories 7.3.12.2.1 Idealized Drawing Of Differential Input Circuit AMD2000 DSP 7.3.12.2.
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Control Wiring 24V 10k AMD2000 10k DI+ DI>0.7V 10k <0.3V Figure 7-5 - NPN Based Sensor 7.3.12.3 Digital Outputs The digital outputs can be used to output pre-programmed functions stored in the drive. Programmable function of the digital outputs includes:  Relay Control Digital Output Overview    7.3.12.3.1 Outputs are current sinking Refer to Section 12.
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AMD2000 Series - Servo Drive - User Manual 7.3.12.3.2 Typical Connection Examples AMD2000 DSP Example - PLC 24V (X4 Pin 20) DO-XX DI-XX 24 V (External) AMD2000 24V Relay (e.g. X4 Pin 20) DO-XX Load 7.4 Motor Brake Control A motor brake can be connected to any of the digital outputs as previously described. The maximum current allowable is 500mA sink between all 6 digital outputs. Failure to observe this rating will result in damage to the drive. See section 7.
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Control Wiring AMD2000 functions as an EtherCAT slave controller, providing two ports (IN/OUT) for connection to other EtherCAT compliant equipment. This allows nodes to be connected in many configurations such as a ring, star, or tree, with EtherCAT’s self-terminating technology automatically detecting breaks or an intended end of line. If only one port is used for EtherCAT operation, it must be the X1 (IN) port. 7.6.
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AMD2000 Series - Servo Drive - User Manual OUT 19 IN 18 IN OUT 17 OUT IN IN External Switch 9 OUT OUT IN 16 OUT 8 IN OUT 15 IN 7 IN OUT IN 14 OUT IN OUT OUT 13 6 IN IN OUT IN OUT 12 5 OUT IN OUT IN 11 4 OUT IN 3 IN OUT OUT 2 10 IN IN OUT 1 7.6.12.2 OUT IN EtherCAt Master Multi-Branch EtherCAT network: 20 EtherCAT Configuration EtherCAT configuration is usually performed using EtherCAT manager software.
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Control Wiring 7.7 DIP Buttons Button Label Function SW4 MODE Holding during power up will force the device into bootstrap mode SW3 UP Reserved SW2 DOWN Reserved SW1 SET Holding during power up will force the device into bootstrap mode 7.
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AMD2000 Series - Servo Drive - User Manual 7.8.11 Analog Encoder Interface 7.8.11.1 Idealized Drawing of the Analog Encoder Circuit AMD2000 A/B + DSP A/B X5 Z+ Z- 7.8.
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Control Wiring 7.8.13 Digital Encoder Interface 7.8.13.1 Idealized Drawing of the Digital Encoder Circuit AMD2000 A/B/Z + X5 RS485 /RS422 Receiver DSP A/B/Z - 7.8.14 Digital Encoder Cable TO ENCODER PLUG TO SERVO DRIVE A+ A+ A- A- B+ B+ B- B- Z+ Z+ Z- Z- 5V 5V 0V 0V BACKSHELL BACKSHELL Figure 7-7 Typical Wiring Example of Digital Incremental Encoder Wiring Recommended cables are listed in the accessories section 13.3.
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AMD2000 Series - Servo Drive - User Manual 8. Installation Checklist 8.1 What this Chapter Contains This chapter contains a pre power up checklist aimed at ensuring safe and successful initial power up of the drive. 8.2 Checklist The installation location satisfies the requirements in 12.6.
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Installation Checklist Regeneration energy and power has been assessed and external resistor has been connected if required There are no shorts between encoder power supplies and encoder GND Possible load for all digital outputs does not exceed 300mA combined current sinking Input voltage does not exceed 265V rms between L1, L2 and L3 ANCA Motion DS619-0-00-0019 - Rev 0 69 8
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AMD2000 Series - Servo Drive - User Manual Start-up 9. 9.1 What this Chapter Contains This chapter contains information related to the ANCA MotionBench that will guide the user in setting up and configuring the AMD2000 Series Servo Drive:  ANCA MotionBench Software and Installation and requirements  Starting the drive using ANCA MotionBench  Configuring and Commissioning of the drive  Additional information on the ANCA MotionBench 9.
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Start-up Most other wired network adaptors should be reliable but those listed are known to work. At this stage there are no wired network adapters which are known to be unreliable. 9.4 Configuring the Network Adapter Warning: To connect the AMD2000 to a Laptop or PC requires the alteration of the Ethernet adapter configuration. This may affect the computer’s office Ethernet connection. Installing a second Ethernet adaptor which is dedicated for use with the AMD2000 will prevent this possible limitation.
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AMD2000 Series - Servo Drive - User Manual 9.6.12 Power-On Checks DANGER - 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.
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Start-up 4. ANCA Motion Click Next.
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AMD2000 Series - Servo Drive - User Manual 5. Please read the License Agreement and tick the “I accept the terms in the License Agreement” check box. Click Next. You will then be presented with the Destination Folder dialogue shown below: 6. If you are happy with the default destination folder, simply click Next. Alternatively use the Change button to navigate to an alternative location. By default, a shortcut icon for launching MotionBench will be added to the Desktop.
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Start-up 9. Click Yes. MotionBench will then start installing on your PC. The dialogue shown below you indicate the status of the installation process. 10. When the installation process has completed the following dialogue will be shown.
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AMD2000 Series - Servo Drive - User Manual 11. By default the MotionBench application will launch immediately after you click the Finish button. If you do not wish for the application to launch immediately, untick the “Launch MotionBench when setup exits” check box. Click Finish.
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Start-up 9.8 Configuring the AMD2000 Series Servo Drive 9.8.11 ANCA MotionBench 1. Ensure the previous sections in 9 Start-up have been completed. 2. Ensure the drive is powered-on. 3. Launch Motion Bench via the start menu or desktop icon. 4. You will be presented with the Add a device wizard. a. Select the network adaptor connected to the device. This is the adapter that was configured in 9.4 Configuring the Network Adapter. b.
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AMD2000 Series - Servo Drive - User Manual e. 78 If the device is not listed, there are a few possible things to check: I. Incorrect network adaptor selected in the previous dialogue. Use the back button to confirm this setting. II. AMD2000 is not powered on. Power-on the AMD2000. Refer to section 9.6 Starting the AMD2000 for details. III. Ethernet cable between the AMD2000 and the PC is not connected. Refer to section 9.5 Connecting the AMD2000 to a PC for details. IV.
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Start-up j. If MotionBench fails to connect the following screen will be shown. k. If the device does not connect, there are a few possible things to check: l. ANCA Motion I. AMD2000 is not powered on. Power-on the AMD2000. Refer to Section 9.6 Starting the AMD2000 for details. II. Ethernet cable between the AMD2000 and the PC is not connected. Refer to Section 9.5 Connecting the AMD2000 to a PC for details. III. Network adaptor configuration is incorrect. Refer to Section 9.
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AMD2000 Series - Servo Drive - User Manual 5. Quick Start wizard a.
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Start-up b. ANCA Motion Quick Start will allow you to select a standard motor from the ANCA Motion range and get the motor turning with minimum effort.
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AMD2000 Series - Servo Drive - User Manual c. 82 Standard Configuration will take you to the functional overview of the drive, where you can drill down into specific function modules.
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Start-up d. ANCA Motion Advanced Parameter Configuration will take you to a table where all variables in the drive profile can be accessed.
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AMD2000 Series - Servo Drive - User Manual 6. 84 Connection Status Window a. Clicking on the Device icon in the Status Bar of MotionBench will open the dialogue shown below. This interface shows the status of the devices connected to MotionBench. b. Clicking on Open Connection Status will open the dialogue shown below. Here addition information regarding the status of the device can be viewed. As well, it provides an interface to update the device firmware via the Update Device button.
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Start-up 7. ANCA Motion Update Device Firmware wizard a. Select Update Device button as part of the Add a device wizard (see point 4), or from the Connection Status window. (see point 6). b. The Update a device dialogue shown below will open. c. Browse to the amf file. Note that the Update button will only become available if a valid firmware file is selected. Click Update. d. Firmware can be downloaded from the ANCA Motion website, under Product  AMD2000  Resources. e.
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AMD2000 Series - Servo Drive - User Manual m. If the firmware fails to update, there are a few possible things to check: 86 I. AMD2000 is not powered on. Power-on the AMD2000. Refer to Section 9.6 for details. II. Ethernet cable between the AMD2000 and the PC is not connected. Refer to Section 9.5 for details. III. Network adaptor configuration is incorrect. Refer to Section 9.4 for details. IV. Try closing the MotionBench application and then restarting. V. Try power cycling the AMD2000. VI.
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Feature Configuration 10. Feature Configuration 10.1 What this Chapter Contains The following sections illustrate the use of the AMD2000 series drives in standalone mode for configuration or execution of a variety of common tasks. 10.1.
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AMD2000 Series - Servo Drive - User Manual If the user prefers to see all the encoder signals rendered individually in the time domain (rather than sine versus cosine), then they can choose instead to examine the Tab labelled “Time Domain” rather than the default Tab “Circle Graph.” The same operations can be performed when viewing the time domain data, and in addition the user can choose to zoom in on both horizontal and vertical data simultaneously using the ZXY button (see Figure 10-2).
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Feature Configuration Figure 10-1 Circle Graph Tab Figure 10-2 Time Domain Tab ANCA Motion DS619-0-00-0019 - Rev 0 89 10
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AMD2000 Series - Servo Drive - User Manual 10.1.12 Backlash Compensation Description The ‘end effector’ or ‘working position’ of a machine may have any number of backlash or tolerance stacks located in the drivetrain between itself and the driving torque of a motor (e.g. gaps in mating gear teeth, splines etc.). Consequently the position of the end effector is not always directly proportional to motor position.
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Feature Configuration Signal: Encoder Feedback Algorithm: Gearbox Algorithm: Feed Ratio Signal: Reference Velocity Backlash Compensation + - Signal: Estimated Position Figure 10-4 Illustrating where backlash compensation fits into the motor feedback path Procedure for Testing and Setting Up Backlash Compensation Make sure the motor and its associated motor encoder are setup and enabled and your personal computer is linked to the drive (see Section 9.5 Connecting the AMD2000 to a PC).
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AMD2000 Series - Servo Drive - User Manual 10.1.13 Configuring Wire-Saving UVW Motors Warning: This feature is recommended to be used only on braked axes, or axes that are unable to move. Description This document describes how to use UVW wire-saving encoders with AMD2000 drives to perform Field Orientation Initialisation (FOI). It is important to note that the FOI alignment angle is latched during power-up.
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Feature Configuration The AMD2000’s compliance requirements for EtherCAT marking requires the drive to ensure that the 6 digital outputs are set to a user defined safe state whenever the drive is in SAFEOP, while the drive itself simultaneously and automatically removes torque from the motor. In the AMD2000 this is achieved by requiring the digital outputs to enter their safe state settings whenever the drive leaves OP state.
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AMD2000 Series - Servo Drive - User Manual     is a 32 bit variable that can be used to apply further logic to the bit setting originating from either 33353 (when in a safe state) or 33350 (when in OP). The logic comparing 33351 to either of these IDN’s is an XOR. Digital Output Source Bitmask (33352)  has a similar role to 33351, except this IDN is compared to the output of 33351’s XOR by using AND logic as shown in Figure 10-5 .
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Feature Configuration KEY Test For each bit ‘i’ (0 to 5) of IDN33350 Data IDN Yes Bit ‘i’ > 0? No Process Digital Output Source IDN List IDN 33350 bit ‘i’ General Purpose Digital Output Yes Digital Output Source IDN List.
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AMD2000 Series - Servo Drive - User Manual Equivalent Pseudo Code for Figure 10-5 for i = 0 TO 31 if ( 33350[i] NOT EQUAL 0 ) AND ( *33350[i] IS U16 ) if EtherCAT EQUAL OP if ( ( *33350[i] BITWISE XOR 33351[i] ) BITWISE AND 33352[i] ) NOT EQUAL 0 33345(bit i) = 1; else 33345(bit i) = 0; end else // eg. SAFEOP, Pre-OP or INIT if ( ( 33353[i] BITWISE XOR 33351[i] ) BITWISE AND 33352[i] ) NOT EQUAL 0 33345(bit i) = 1; else 33345(bit i) = 0; end end else if EtherCAT NOT EQUAL OP // eg.
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Feature Configuration 10.1.15 Drive Bypass Mode Description The drive supports a feature to set its Drive Status Word (IDN 135 / S-0-0135) as if the drive were enabled. This allows a drive to appear to be operational when in fact it is NOT.
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AMD2000 Series - Servo Drive - User Manual 10.1.16 Drive Data Logger Description The drive data logger can be used to synchronously sample data from the drives. Four variables can be logged simultaneously, each with up to 2048 data points.
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Feature Configuration 2. Specify the period between samples. The period must be a whole multiple of the fundamental sample period of the drive (62.5µs). The factor is configured using P-0-1294 / 34062. Specifically: For example, to log at: a. b. c. 3. Task0: IDN 34062 Task1: IDN 34062 Task3: IDN 34062 = 62.5µs / 62.5µs = 1 = 250µs / 62.5µs = 4 = 4000µs / 62.
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AMD2000 Series - Servo Drive - User Manual Less Than (*34064 & 34065) < 34066 only U16 & U32 Finally, if the variable pointed to by the trigger (IDN 34064) is an array, then the index of the element that should be used from this array can be specified via bits 8-11 of the Data Logger Control Word (P-01299 / 34067). Values up to array index of 15 are supported. For non-array variables, bits 8-11 should be set to 0.
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Feature Configuration Trigger from Class 1 Diagnostic Fault Capture data should a sporadic Class 1 Diagnostic (C1D) fault occur Step 1: Specify the IDNs and IDN indexes to log, for example: IDN 34061 [0] = 32961 Position Command (IDN 32961) IDN 34061 [1] = 33625 Position Feedback (IDN 33625) IDN 34061 [2] = 32962 Velocity Command (IDN 32962) IDN 34061 [3] = 33626 Velocity Feedback (IDN 33626) IDN 34068 [0] = 0 IDN 34068 [1] = 0 IDN 34068 [2] = 0 IDN 34068 [3] = 0 Element 0 (not an array) Element 0 (not an
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AMD2000 Series - Servo Drive - User Manual Figure 10-6 ANCA MotionBench Drive Data Logger Interface 102 DS619-0-00-0019 - Rev 0 ANCA Motion
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Feature Configuration 10.1.17 Encoders Description The drive can be connected to up to two encoders, one on Channel 1, and a further encoder on Channel 2. Each channel supports connection to either of two encoder types, both of which are incremental, these are: o Quadrature, or o Analogue SINCOS The encoders provide feedback information to the drive for closed-loop position or speed control and are also employed to some degree in current control.
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AMD2000 Series - Servo Drive - User Manual For analogue (SINCOS) encoders further information is required regarding the Sine and Cosine information in the channel. The two IDN’s listed in the following table are each an array containing two elements.
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Feature Configuration 10.1.18 Field Orientation Initialisation Description A motor rotates due to the forces of attraction/repulsion between magnetic fields situated on the rotor and the stator where these fields can be generated in a number of different ways. The torque applied to the rotor is a resolved component of these forces acting around the motor shaft. It is proportional to the flux density of the magnetic fields, as well as a number of other parameters.
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AMD2000 Series - Servo Drive - User Manual The following table shows the list of IDN’s relevant to FOI configuration and described in further detail below.
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Feature Configuration Warning: Care should be taken to ensure that the resulting test move will not result in a mechanical collision. Table 10-2 below lists the DQ Alignment configuration parameters.
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AMD2000 Series - Servo Drive - User Manual Figure 10-7 ThetaFb follows ThetaCmd correctly Figure 10-8 ThetaFb does not correctly follow ThetaCmd. Likely cause: incorrect number of motor poles (IDN 32774) and/or incorrect encoder resolution (IDN 116).
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Feature Configuration Figure 10-9 ThetaFb moves in opposite direction to ThetaCmd. Likely cause: incorrect motor phase sequence or inverted encoder feedback. Step3. If the DQ Alignment fails due to Error 405 (DQ Alignment Current Control Error), check following logged data:  idCmd_1.dat and  idFb_1.dat Otherwise go to Step 4. Note that  idCmd_1.dat in [mA] is the d-axis current command (IDN 33069), and  idFb_1.dat in [mA] is the d-axis current feedback Figure 4 below shows a plot of idCmd_1.
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AMD2000 Series - Servo Drive - User Manual Figure 10-10 idCmd_a.dat and idFb_1.dat during a successful DQA Alignment Off the Index Pulse For motors with an incremental encoder, it is possible to align the electrical angle off the index pulse in order to improve the accuracy of electrical angle. To this end, the index pulse offset (namely the distance between the index pulse and zero degree of electrical angle) needs to be commissioned for each individual motor and encoder assembly.
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Feature Configuration 3. 4. Set Alignment Off Index Pulse to Enable (IDN 33062 = 2). Set FOI Control to Once (IDN 33060 = 1). Once this procedure is complete, on subsequent power cycles of the drive the alignment angle will automatically be corrected once the index pulse is located. Error messages E403: Alignment Off Index Pulse Error The commissioned index pulse offset value (IDN 33064) is determined by a machine commissioner.
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AMD2000 Series - Servo Drive - User Manual The general idea of this technique is to inject d-axis current and repeatedly sweep the commutation angle through 360 degrees. The frequency of the commutation angle must be fast enough so that the motor does not begin tracking the rotating magnet field, but slow enough to ensure acceptable convergence of the algorithm. Given this, the algorithm consists of the following major components: 1.
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Feature Configuration The fundamental frequency component of the torque response is below the minimum amplitude threshold (0.1 Nm). The system may not have been stimulated correctly and hence the alignment estimate may not be accurate. E415: Acceleration Observer Torque Response Amplitude High The fundamental frequency component of the torque response is above the maximum amplitude threshold (2 Nm). The system may not have been stimulated correctly and hence the alignment estimate may not be accurate.
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AMD2000 Series - Servo Drive - User Manual Procedure command set and enabled Procedure command change bit (Bit 5 status word) a Home switch (IDN 00400) Latch reference marker pulse Position feedback marker pulse Position feedback value status (IDN 00403) Figure 10-11: Drive-controlled homing 114 DS619-0-00-0019 - Rev 0 ANCA Motion
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Feature Configuration DCH is managed through various settings of the following IDN’s: IDN Label S-0-0041 / 41 Homing Speed – to Home Switch S-0-0042 / 42 Homing Max Acceleration S-0-0052 / 52 Reference Distance 1 S-0-0054 / 54 Reference Distance 2 S-0-0147 / 147 Homing Parameter S-0-0148 / 148 Drive Controlled Homing Procedure Command S-0-0150 / 150 Reference Offset 1 S-0-0151 / 151 Reference Offset 2 S-0-0403 / 403 Position Feedback Value Status P-0-0432 / 33200 Extended Homing Paramete
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AMD2000 Series - Servo Drive - User Manual 6. 7. 8. The drive then sets its reported position at this point as relative to machine zero by the amount set in either of IDN’s S-0-0052/52 and S-0-0054/54.
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Feature Configuration Procedure command set and enabled Procedure command change bit (Bit 5 status word) Homing enable (IDN 00407) Home switch (IDN 00400) Not significant in case 1 Latch reference marker pulse Position feedback marker pulse Figure 10-12: CUCH case 1 Case 2.1: the home switch - is connected to the drive, but the control unit makes calculations.
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AMD2000 Series - Servo Drive - User Manual Procedure command set and enabled Procedure command change bit (Bit 5 status word) Homing enable (IDN 00407) Home switch (IDN 00400) Latch reference marker pulse Position feedback marker pulse Reference marker pulse registered (IDN 00408) Figure 10-14: CUCH case 2.2 The CUCH function is as follows; 1. Configure reference distance 1 and 2 (S-0-0052/52 and S-0-0054/54), and reference offset 1 and 2 (S6 0-0150/150 or S-0-0151/151).
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Feature Configuration IDN Label P-0-0256 / 33024 DCM Procedure Command P-0-0257 / 33025 DCM Status Word P-0-0260 / 33028 DCM Target Position P-0-0261 / 33029 DCM Maximum Velocity P-0-0262 / 33030 DCM Acceleration P-0-0263 / 33031 DCM Deceleration P-0-0264 / 33032 DCM Delay Time P-0-0265 / 33033 DCM Next Move P-0-0266 / 33034 DCM First Move ID To use DCMs: Program set of desired move segments Manage execution of DCM’s via the DCM procedure command P-0-0256 / 33024 Monitor status of DCM v
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AMD2000 Series - Servo Drive - User Manual P-0-0261 / 33029 = 1000000,2000000,5000000,10000000,1000000 Program desired DCM velocities (units are 1µm/min) P-0-0262 / 33030 = 100000,200000,300000,400000,500000 2 Program acceleration rates (units are 1µm/sec ) P-0-0263 / 33031 = 500000,400000,300000,200000,100000 2 Program deceleration rates (units are 1µm/sec ) P-0-0264 / 33032 = 1000,2000,0,0,0 Program 1 second (1000msec) delay for DCM 1 and 2 seconds for DCM 2 P-0-0265 / 33033 = 2,3,0,0,0 Chain DCM 1, 2 an
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Feature Configuration 10.1.20 Modulo Operation Description The ‘modulo’ operation is a feature that can be applied only to position feedback. Internally the drive represents variables relating to “joint” motion as distinct from “motor” motion.
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AMD2000 Series - Servo Drive - User Manual Demands Constraints - position - velocity - acceleration - torque/force Servo Controller Feedback/Estimates - position - velocity - acceleration - torque/force Limits C1D Errors Figure 10-15 Overview of Motion Constraints and Limits Global Constraints Global constraints specify the minimum and maximum values associated with demands issued to the servo control loops.
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Feature Configuration P-0-0107 / 32875 Global Deceleration Constraint (negative velocity) P-0-0108 / 32876 Global Maximum Force Constraint P-0-0109 / 32877 Global Minimum Force Constraint Each bit of the Global Constraints Enable Flag (IDN P-0-0099) and its associated constraint is listed below; Bit ANCA Motion 0 Label Position Minimum 1 Velocity Minimum 2 Deceleration (positive velocity) 3 Acceleration (negative velocity) 4 Not used 5 Force/Torque Minimum 6 Not used 7 Not used 8 P
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AMD2000 Series - Servo Drive - User Manual Example of Usage Figure 10-16 shows an example of configuring the global constraints. the allowable region of operation. The grey region “inside the onion” shows The parameters settings are for position, velocity and acceleration, BUT not force, so only the 4 LSB and the midbits need to be activated. The following is applied: P-0-0099 = 3855 [binary: 0000 1111 0000 1111 (<--these last are the 4 LSB)] P-0-0100 = 0.4 [m] P-0-0101 = -0.
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Feature Configuration Note that the acceleration/deceleration constraints are enforced anywhere within the working envelope (position vs. velocity space), not just those points dictated by the position constraints. Safety Constraints Safety constraints are intended to be dynamically enabled and disabled while the drive is operating. Setting the Master Enable IDN P-0-120 / 32882 to the value of 1 will result in the safety constraints being applied.
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AMD2000 Series - Servo Drive - User Manual Error Limits Error limits are applied similarly to the above constraints, but they influence the performance in an entirely different fashion. Error limits are applied to monitored feedback variables, and so do NOT limit the demands going to the servo controller. They operate via a combination of applied hard and soft limits (see Figure 10-18 and Figure 10-19 and the description below).
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Feature Configuration If the drive is enabled specifically for a Rotary Joint with the Limited Stroke Enable (P-0-0131 / 32899 where 1=ON) then the axis error limits are governed by the rotational limits specified in the Array for Location of End Stops on a Rotary Joint [CCW ,CW] (see P-0-0132 / 32900). Such rotations are constrained to within less than one full revolution (see Figure 10-17).
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AMD2000 Series - Servo Drive - User Manual Figure 10-18 Position Soft (left) and Hard (right) Error Limits – IDN P-0-128 = IDN P-0-129 = [-0.1, 0.4] metres Figure 10-19 Velocity Hard Error Limit – IDN P-0-133 = [-900, 1200] mm/min Configuring Maximum Velocity In order to achieve high precision calculations in the drives control system, fixed-point scaling is utilised. However, this puts an upper restriction on the maximum representable velocity.
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Feature Configuration 10.1.22 Motor Control Description The AMD2000 control loops utilise the architecture for position, velocity and torque/current control displayed by 8 Figure 10-20. At ANCA Motion the term Motor Control refers to the current control loop, the torque gain scheduler, and all of the appropriate switches to toggle between a variety of magnetic field alignment methods.
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AMD2000 Series - Servo Drive - User Manual Warning: Care must be exercised so that configuration changes to the type of motor under control are made to both the Torque Controller AND the Current Controller subsystems in the Motor Control. Failure to do this can cause unexpected behaviour.
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Feature Configuration P-0-228 / 32996 Torque Setpoint Switch – Secondary 1 Mode P-0-503 / 33271 Current Setpoint Switch – Primary Mode P-0-506 / 33274 Commutation Angle Switch P-0-507 / 33275 Current Setpoint Switch – Secondary 1 mode P-0-510 / 33278 Motor Control Tuning Procedure Command Current Loop Integral Gain Scheduler IDN Label P-0-239 / 33007 Current Control Q axis Low Current Boost Enable P-0-240 / 33008 Current Control Q axis Low Current Boost Threshold P-0-241 / 33009 Current Co
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AMD2000 Series - Servo Drive - User Manual P-0-1232 / 34000 Motor Thermal Rise Time P-0-1233 / 34001 Power Stage Thermal Rise Time P-0-1234 / 34002 Motor I2R Overload Warn Level P-0-1235 / 34003 Power Stage I2R Overload Warn Level AMD2000 Drive Amplifier Master Control Word (S-0-0137) Primary Operating Mode (S-0-0032) Secondary1 Operating Mode (S-0-0033) Secondary2 Operating Mode (S-0-0034) Secondary3 Operating Mode (S-0-0035) Secondary4 Operating Mode (S-0-0284) Secondary5 Operating Mode (S-0-0285
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Feature Configuration And finally, the type of voltage control must be selected by setting IDN P-0-041 / 32809. A value of 0 corresponds to separate (quadrature-direct) current controllers suitable for PMSM Motor control, and a value of 1 in the IDN corresponds to a single current controller suitable for Induction Motor control. A summary of the above settings for the two different types of supported motor is as follows; Motor Type User/external entity must set the...
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AMD2000 Series - Servo Drive - User Manual If Motor Type =IM V/F When the user has selected to pair the drive with an induction motor, there are other options available for the motor control. The AMD2000 gives the user the ability to control the speed of induction motors using Voltage over Frequency (V/F).
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Feature Configuration Current loop integral gain scheduler A current loop integral gain scheduler is provided in the AMD2000 to allow increased controller gain during periods of small current command, where the gain characteristic decays drastically as signal frequency increases. The current loop integral gain scheduler is enabled by setting IDN P-0-239 / 33007 to a value of 1.
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AMD2000 Series - Servo Drive - User Manual     Amplifier Temperature Current Limiting can be configured to adaptively reduce the current limit in response to a rising drive amplifier temperature. This feature enables the drive to continue operating in a reduced capacity as temperature increases as measured by its own internal sensors. This is achieved using the Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit0 to enable (ie. enable = 1) the amplifier temperature.
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Feature Configuration Figure 10-25 Variable Torque Control Specifying Amplifier / Motor Temperature Current Limits The first thing that needs to be done to enable temperature based current limiting is to enable temperature monitoring as described above. Then for each of amplifier and motor there are two variables to define the imposed current limit. They are: Temperature Threshold (amplifier: P-0-1243 / 34011, motor: P-0-1244 / 34012) and Decay Rate (amplifier: P-01245 / 34013, motor: P-0-1246 / 34014).
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AMD2000 Series - Servo Drive - User Manual Figure 10-26 Amplifier / Motor Temperature Based Current Limiting 138 DS619-0-00-0019 - Rev 0 ANCA Motion
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Feature Configuration 10.1.23 Operating Modes Description The AMD2000 supports the SoE profile for Numerical Control (NC) of a drive. The profile allows for the presetting of up to 8 operation modes for the drive. Each of these 8 modes, or ‘mode slots’, can be configured for a particular drive mode of operation (e.g. position control).
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AMD2000 Series - Servo Drive - User Manual 4: Position control using feedback 2 (external encoder). The list of operating modes supported by the drive can also be accessed via IDN S-0-0292 / 292 (List of Supported Operation Modes). Pre-assigning “setpoint sources” Each ‘mode slot’ of the drive can be assigned a value for its associated setpoint source, which is the data supplied to the controller for subsequent servo-control tracking.
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Feature Configuration 10.1.24 Temperature Monitoring Description This document outlines how the drive can be configured to use temperature sensors that are located physically in the motor (if applicable) and the amplifier (drive power stage). Temperature monitoring is essential in machine operation, as excessive heat can damage components. Enabling temperature monitoring o O The user can select what temperature units (0.1 C or 0.
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AMD2000 Series - Servo Drive - User Manual feature’s application may be to utilise this error to indicate that an external cooling system needs to be enabled to lower the temperature prior to the drive enabling the power module. The temperature limits for the PWM-On thresholds are set for both the drive amplifier and the motor as shown in the table below.
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Feature Configuration 10.1.25 Torque Command Filters Description This document outlines the usage of torque command low-pass and notch filters applicable to the AMD2000 drive. These filters are used to remove unwanted high frequency signals or defined frequency bands (such as regions of mechanical resonance) in the torque used to drive the machine.
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AMD2000 Series - Servo Drive - User Manual 11. Fault Tracing 11.1 What this Chapter Contains This chapter contains information related to the ANCA MotionBench that will guide the user in trouble shooting AMD2000 Series Servo Drive:  Diagnostic Indicators on the drive  Communications Status  Base Firmware Error Codes and Possible Causes  Firmware Upgrade Errors 11.2 Problem Diagnosis 11.2.11 AMD2000 Indicators The 7 segment LED display on the AMD2000 serves three functions.
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Fault Tracing 11.2.11.3 Drive state To indicate the state of the drive, the rightmost digits of the display will read d#, where # refers to the current drive condition as shown in the following table: d# Drive State d0 Off d2 Ready to operate d3 Enabling d4 Enabled 11.3 Supported Error Codes Error codes are displayed on the seven segment display in the format of a prefix followed by a number 11.3.
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AMD2000 Series - Servo Drive - User Manual 11.3.12 Error / Warning Codes A quick summary of the error codes are attached. Please note that Error codes are firmware dependent. A complete and up-to-date error listing will be delivered together with the firmware.
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Fault Tracing W0321 Warning Amplifier I2R Warning W0322 Warning Motor I2T Warning W0324 Warning Motor I2R Warning E0325 Error Motor I2R Overload E0330 Error Positive Position Hard Limit E0331 Error Negative Position Hard Limit E0332 Error Positive Velocity Hard Limit E0333 Error Negative Velocity Hard Limit E0340 Error Invalid Command Reference Frame E0380 Error Event Detection Error E0402 Error DQA Invalid Movement Detected E0403 Error Alignment Off Index Pulse Error E0
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AMD2000 Series - Servo Drive - User Manual 11.3.13 Error / Warning Codes Detailed Descriptions Current Offset Adapt Error Description Severity E0007 Calibrated current offset value has exceeded the specified tolerance. Possible causes for this error are: 1. Fault in the current measurement system. 2. Incorrect current scaling parameters configured. Error Encoder Amplitude Low - Motor Description Severity The magnitude of the signals coming from the motor analogue encoder is too low.
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Fault Tracing Severity 2. Encoder cable is disconnected. 3. Encoder cable is wired incorrectly. 4. Encoder is not analogue. 5. Encoder is not outputting the correct voltage. 6. Encoder is faulty. 7. Drive is faulty. Please contact ANCA Motion for support. Error Encoder Amplitude High - External Description Severity The magnitude of the signals coming from the external analogue encoder is too high. Possible causes for this error are: 1. Encoder cable is wired incorrectly. 2. Encoder is not analogue. 3.
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AMD2000 Series - Servo Drive - User Manual Severity 3. Application is too demanding. 4. Cooling fan is faulty. Please contact ANCA Motion for support. Warning Amplifier Temperature High Error Description Severity The drive amplifier (power stage) temperature exceeds the hardware's physical operating threshold. Possible causes for this error are: 1. Operating environment is outside specification. 2. Drive ventilation is insufficient. 3. Application is too demanding. 4. Cooling fan is faulty.
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Fault Tracing Encoder Adjusted Amplitude Low - Motor Description Severity The magnitude of the adjusted signals for the motor analogue encoder is too low. Incorrect gain and/or offset values have been configured. Error Encoder Adjusted Amplitude High - Motor Description Severity Severity Severity E0221 This error indicates a problem with communications between the EtherCAT Master (eg. CNC) and the drive. Please contact ANCA Motion for support.
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AMD2000 Series - Servo Drive - User Manual Positive Position Soft Limit Description Severity E0304 Position soft limit in the positive direction has been exceeded. Possible causes for this error are: 1. Error limit is enabled before the axis has been successfully homed. 2. Master or other High Level Function have commanded the drive to a state (position & velocity) where it will be unable to decelerate before exceeding the positive position limit. 3.
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Fault Tracing Amplifier I2R Warning Description Severity W0321 Residual heat within the drive power stage (amplifier) exceeds the warning level. Possible causes for this error are: 1. Application is outside the specification for the drive: too demanding. 2. Current controller is poorly tuned. 3. Field orientation alignment is inaccurate (possible encoder fault). 4. Drive is faulty. Please contact ANCA Motion for support.
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AMD2000 Series - Servo Drive - User Manual Severity 1. Master or other High Level Function has commanded the drive to a velocity that exceeds the positive velocity limit. 2. Drive has experienced a fault which has resulted in a runaway event. Error Negative Velocity Hard Limit Description Severity Negative velocity hard limit has been exceeded. Possible causes for this error are: 1. Master or other High Level Function have commanded the drive to a velocity that exceeds the negative velocity limit. 2.
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Fault Tracing Severity Error Absolute Encoder Alignment Error Description Severity E0406 Absolute encoder used for field orientation initialisation has failed to latch an alignment angle. Possible causes for this error are: 1. Encoder is faulty. Power cycling the drive/encoder may resolve the issue. 2. Drive is faulty. Please contact ANCA Motion for support.
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AMD2000 Series - Servo Drive - User Manual Severity Error Acceleration Observer Validation Failed Description Severity The axis moved in the wrong direction after Acceleration Observer completed. Possible causes for this error are: 1. Incorrect motor poles configured. 2. Incorrect motor phase sequence. 3. Incorrect motor encoder line count configured. 4. Incorrect motor encoder polarity configured. 5. The configured stimulus current is too low. 6. The configured stimulus frequency is too high.
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Fault Tracing E0008 EFW Streaming error: unexpected flash erasing or writing in progress while receiving the image block header E0009 EFW Streaming error: software image size is larger than the allocated receiving buffer E0010 EFW Streaming error in receiving the software image header E0011 EFW Streaming error in decrypting the software image header E0012 EFW Streaming error in validating the software image header (CRC) E0013 EFW Streaming error: unexpected flash erasing or writing in progress w
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AMD2000 Series - Servo Drive - User Manual 12. Technical Data 12.1 What this Chapter Contains This chapter contains information related to detailed specifications of the drive:  Control Functions  Interface Specifications  Electrical Specifications  Performance Specifications  Environmental Specifications  Mechanical Dimensions and details  Standards Compliance 12.2 Control Functions Attribute 12.2.
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Technical Data Bus regeneration brake chopper Yes Bus over/under voltage adjustable limits Yes 12.2.
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AMD2000 Series - Servo Drive - User Manual 12.3 Interface Specifications Attribute 12.3.11 Qualification Digital I/O Supply Nominal Operating Voltage 24 VDC ±10% Maximum Current 500 mA Short Circuit Protected 12.3.12 Yes (resettable fuse) 24V Digital Inputs Number of Inputs 8 Nominal Operating Voltage 24 V Maximum Voltage 30 V Minimum Input Must Detect Voltage 18 V Maximum Must Not Detect Input Voltage 5V Input Current 16 mA Input Impedance 1 kΩ Isolated Yes 12.3.
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Technical Data GND Maximum Output Low Voltage single ended W.R.T GND 0.5 V @ -20 mA Maximum Current ±20 mA Isolated No Short Circuit Protected No 12.3.16 Analogue Inputs Number of Inputs 2 Input impedance 5.9 kΩ Input Voltage (Nominal Range) ±10 V Input Voltage (Absolute Maximum Range) ±12.64 V Bandwidth 318 Hz Isolated 12.3.17 No Analogue Outputs Number of Outputs 1 Output Voltage (Nominal Range) ±10 V Output Voltage (Absolute Maximum Range) ±12.
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AMD2000 Series - Servo Drive - User Manual RS485 Hysteresis 50 mV RS485 Common Mode Range 12.3.20 -0.7 V to +5.6 V Encoder Channel 2 Interface Type RS422 Line Receiver Number of Inputs 3 (6 wires) Maximum Voltage on Any Line W.R.T. 0V +12/-7 V 120 Ω in series with 1 nF capacitance Terminating Resistance Turn On Differential Threshold +200 mV Turn Off Differential Threshold -200 mV Hysteresis 45 mV Isolated 12.3.
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Technical Data 1 Exceeding these written values may damage the drive and will cause unexpected operation of the digital outputs. These outputs are ‘open collector’ type and have no current limiting or diagnostic features. It is up to the customer to ensure compatibility of the external circuitry with this limit. 12.4 Electrical Specifications Catalogue Number D2003-2S1-A Attribute 12.4.
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AMD2000 Series - Servo Drive - User Manual 12.5 Performance Specifications Catalogue Number D2003-2S1-A Attribute 12.5.11 Qualification Resolution Analogue to Digital 12.5.12 12 Bits Steady State Performance Accuracy at recommended operating conditions 12.5.13 D2009-2S1-A ±2 encoder counts Dynamic Performance Max. settling time 13 Current loop response 14 12.5.
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Technical Data 12.6 Environmental Specifications Catalogue Number D2003-2S1-A Attribute 12.6.11 Qualification Storage Ambient Temperature -20 to +65° C Relative Humidity 12.6.12 D2009-2S1 5 to 90% Transport Ambient Temperature -20 to +65° C Relative Humidity 90% at 40° C 2 Mechanical vibration 12.6.13 5.
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AMD2000 Series - Servo Drive - User Manual † Note: Degree of Protection Both 3A and 9A AMD2000 drives comply with EN 60529, IP20. NOTE: The top surface of cabinets/enclosures which are accessible when the equipment is energized shall meet at the requirement of protective type IP3X with regard to vertical access only. 12.7 Dimension Drawings 12.7.
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Technical Data 12.7.12 AMD2000 9A drive mounting hole positions and physical dimensions 12.8 24V Control Circuit Supply The maximum current that can be drawn from this supply is 500mA total. Note that if a motor with a brake is required this may be insufficient current to release the brake, so an external power supply will be required. Also note that if overloaded the poly-fuse in the drive will present a high resistance and there will no longer be 500mA available until the load is removed. 12.
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AMD2000 Series - Servo Drive - User Manual Load will also affect ripple and droop. If the load is decreased the ripple will decrease, but the relationship is not linear. Either simulation, testing or solution of non-linear equations is required to find the droop that will result in a changed load with fixed AC input voltage and capacitance.
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Technical Data 12.9.11 Effect of AC Input Voltage on DC Bus Voltage For a delta connected supply or a single phase supply the input voltage will be approximately ( 12.9.12 Ripple ) ( ) Effect of Bus Capacitance on DC Bus The selection of bus capacitance required for a user application is based on the amount of power required and the amount of ripple desired. Increasing the bus capacitance can result in more power output (higher rms output voltage as ripple reduces) and lower voltage ripple.
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AMD2000 Series - Servo Drive - User Manual 12.10.11 De-rating Characteristics AMD2000 3A drive de-rating Curves The AMD 9 has no thermal ratings curves, as the full 9A rms output may be used up to 55 °C ambient temperature and maximum voltage rating of the drive. Note that these curves are for a single drive only. Where multiple drives are used in close proximity further derating may be necessary. Please see mechanical drawings below that show spacing required. 12.
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Technical Data Discharge Period 12.12 If additional capacitance is added to the bus the discharge period for the bus capacitance to drain to 40V can be calculated by: ( Where ( C0 is 12.13 ) ) for AMD2000 3A drive and for AMD2000 9A Drive Motor Output Power See ratings table below: This is dependent on motor input voltage, optional harmonic suppression inductor if used and optional additional bus capacitance, and if a single or three phase supply is used.
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AMD2000 Series - Servo Drive - User Manual 12.14 Brake/Regeneration Resistor The AMD2000 3A and AMD2000 9A drives have an inbuilt regeneration resistor. Regeneration refers to the process whereby when the motor is actively providing energy to the drive and then stops, the kinetic energy in the entire mechanical system connected to the shaft of the motor gets transferred to the bus capacitance in the drive, which increases the voltage. This happens because of the motor inductance.
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Technical Data Once the kinetic energy in the system is found, the voltage rise due to the energy on the bus capacitance can be found: ( ) Where V = voltage in V, E = Energy in Joules, C = Capacitance in Farads The power dissipated in the regeneration resistor(s) additionally depends on how often the user is stopping the torque output of the motor.
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AMD2000 Series - Servo Drive - User Manual 12.15 174 Materials Drive enclosure: The AMD2000 Drive chassis (main, sub, and fan) are stainless steel 304 with a silver paint finish. The AMD2000 Drive heat-sink is aluminium 6063 T5. The AMD2000 face cover main and PN panels are SABIC Resin 221R with a print finish on the main panel. Packaging: Cardboard Disposal: The drive contains raw materials that should be recycled to preserve energy and natural resources.
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Technical Data 12.16 Standards Conformity CAT. NO. Marking & Applicable Regulations Standard LVD 2006/95/EC (Low Voltage Directive) EN 61800-5-1: 2007 (Class I) EMC 2004/108/EC (Electromagnetic Compatibility) EN 61800-3:2004 (Category C3) Emissions: Certification Organisation D2003-2S1A/ D2009-2S1A/ AM619-0-030003 AM619-0-030009 Integrity EnE Lab Inc, Taiwan Report No. IL110705800 Report No. IL100812800 Electronics Testing Center, Taiwan Report No. 13-01-MAS116-R Report No.
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AMD2000 Series - Servo Drive - User Manual 12.17 EtherCAT®17 Conformance Marking An EtherCAT device conformance mark is attached to each drive in order to verify that the unit has been tested for compliance with the EtherCAT marking, indicator and performance guidelines covered by the ETG standards listed in section 12.16. Future drive revisions intend to achieve “Conformance tested” marking by independent verification through an externally registered body. 12.
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Technical Data 3A and 9A) are considered to be protective Class I PDS, and comply with the standard with the following provisions: 1. The drives are installed and maintained according to the instructions given in this manual. 12.18.12.
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AMD2000 Series - Servo Drive - User Manual 12.18.
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Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 179 12
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AMD2000 Series - Servo Drive - User Manual 13. Accessories 13.1 What this 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 13.2 Motors 13.2.
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13 Accessories 1.8 MA60-630-AB 0.64 3000 200 1.8 MA60-1330-A 1.27 3000 400 2.5 MA60-1330-AB 1.27 3000 400 MA86-2430-A 2.39 3000 MA86-2430-AB 2.39 MA130-5310-A MA130-5310-AB 5.4 7000 0.17 7.5 16.2 8 0.39 33 5.4 7000 0.22 7.5 16.2 8 0.51 49.89 7.5 5000 0.28 5.6 14.5 8 AMD2000 D2003 2.5 0.51 49.89 7.5 5000 0.33 5.6 14.5 8 750 3.4 0.78 54.3 10.2 5000 2.45 2.18 7.7 8 3000 750 3.4 0.78 54.3 10.2 5000 2.58 2.18 7.7 8 5.25 1000 550 3.
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AMD2000 Series - Servo Drive - User Manual 13.2.14 Motor Mechanical Information Summary H G G B C D F B E B (mm) C (mm) D (mm) E (mm) F (mm) G (mm) H (mm) Weight (kg) IP Rating*18 Insulation Grade Connector Style MA60-0630-A 112.8 60 50 14 30 27 70 5.5 1.03 IP67 F (155℃) AMP MA60-0630-AB 147.3 60 50 14 30 27 70 5.5 1.43 IP67 F (155℃) AMP MA60-1330-A 132.8 60 50 14 30 27 70 5.5 1.37 IP67 F (155℃) AMP AMD2000 MA60-1330-AB 167.
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Accessories 13.3 Cables 13.3.11 Cable Catalogue Number Interpretation K2A - FSPD - 020 Product K: Cable Servo Drive Series 2: AMD2000 5: AMD5000 Cable Type F: Feedback A: Armature B: Armature with Brake Motor Type A: Alpha Series B: Beta Series Specials D: Default Connector Type P: Plastic M: Metal Shielding S: Shielded U: Unshielded 13.3.12 Encoder Cables 13.3.12.1 Encoder Cables (Plastic/AMP) Catalogue Number Length K2A-FSPD-020 2m K2A-FSPD-030 3m K2A-FSPD-050 5m K2A-FSPD-100 10m 13.
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AMD2000 Series - Servo Drive - User Manual 13.3.13 Armature Cables 13.3.13.1 Shielded Armature Cables (Plastic/AMP) Catalogue Number Length K2A-ASPD-020 2m K2A-ASPD-030 3m K2A-ASPD-050 5m K2A-ASPD-100 10m 13.3.13.2 Shielded Armature Cables (Metal/MS) Catalogue Number Length K2A-ASMD-020 2m K2A-ASMD-030 3m K2A-ASMD-050 5m K2A-ASMD-100 10m 13.3.13.
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Accessories 13.4.12 EtherCAT Cables Part Number Description ICN-1026-1233 Ethernet Cable, Cat 5e, SF/UTP, 200mm ICN-1026-1097 Ethernet Cable, Cat 5e, SF/UTP, 1m ICN-1026-1098 Ethernet Cable, Cat 5e, SF/UTP, 3m ICN-1026-1099 Ethernet Cable, Cat 5e, SF/UTP, 5m 13.4.13 Armature Shield Clamping Brackets Part Number Description 619-0-00-0957 AM2000 9A Armature Bracket Kit 13.4.
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AMD2000 Series - Servo Drive - User Manual ICN-3096-1664 King Core K5B T 29x7.7x19 ICN-3096-0049 JFE R-60/40/25B MA055-C 13.4.16 EMI Filters Part Number Description ICN-3096-1665 Schaffner FN 3270H-10-44 ICN-3096-0048 Schaffner FN 343-3-05 13.4.17 Line Reactors Part Number Description ICN-3096-1662 13.4.18 DC Chokes Part Number Description ICN-3096-1661 13.4.
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Accessories D2003-2S1-A AMD2000 Series Servo Drive MA60-0630-A Alpha Series Servo Motor K2A-FSPD-020 Alpha Motor Cable K2A-ASPD-020 Alpha Motor Cable ICN-1026-1097 Ethernet Cable, Cat 5e, SF/UTP, 1m 13.5.
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AMD2000 Series - Servo Drive - User Manual 14. Additional Information 14.1 What this Chapter Contains This chapter contains information on product support and feedback: - Contact Information - Feedback on the manual 14.2 Maintenance and Repairs 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.
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Additional Information 14.4 Feedback This Manual is based on information available at the time of publication. Reasonable precautions have been taken in the preparation of this Manual, but the information contained herein does not purport to cover all details or variations in hardware and software configuration. Features may be described herein which are not present in all hardware and software systems. We would like to hear your feedback via our website: www.ancamotion.