Modicon Lexium 17S Series SERCOS Servo Drive User Guide 890 USE 121 00 Eng
Preface Preface The data and illustrations found in this book are not binding. We reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be construed as a commitment by Schneider Electric. Schneider Electric assumes no responsibility for any errors that may appear in this document.
Preface vi 890 USE 121 00
Contents Chapter 1 Introduction 890 USE 121 00 At a Glance...................................................................................................... Document Scope ....................................................................................... What’s in this Chapter ............................................................................... 1 1 1 About this User Guide ....................................................................................
Contents Chapter 2 Product Overview viii At a Glance...................................................................................................... Introduction ............................................................................................... What’s in this Chapter ............................................................................... 15 15 15 The 17S Series SERCOS Drive Family .........................................................
Contents Chapter 3 Mounting and Physical Dimensions At a Glance...................................................................................................... What’s in this Chapter ............................................................................... 33 33 Installation Safety Precautions ....................................................................... Power Supply Overcurrent Protection ....................................................... Earth Connections ....................
Contents Signal Wiring .................................................................................................. Lexium BPH Resolver Connection (excluded BPH055) ........................... Lexium BPH055 Resolver Connection ..................................................... Encoder Input Connection ........................................................................ Auxiliary Encoder Interface .......................................................................
Contents Chapter 6 Troubleshooting At a Glance...................................................................................................... What’s in this Chapter ............................................................................... 75 75 Warning Messages ......................................................................................... Warning Identification and Description ...................................................... 76 76 Error Messages ...........................
Contents Auxiliary Incremental Encoder Input Specifications Table ........................ Discrete Input Specifications Table .......................................................... Discrete Output Specifications Table ........................................................ Fault Relay Output Specifications Table ................................................... Brake Output Specifications Table ........................................................... Analog Input Specifications Table ...........
Contents Wiring the Motor Power Connector ........................................................... 112 Motor Power Connector (Drive end) Diagram (excluded BPH055) ........... 113 BPH055 Motor Power Connector (Drive end) Diagram ............................ 114 Serial Communication Interface Connection (X6) .......................................... 115 Serial Communication Interface Cable Connectors .................................. 115 Appendix C Servo Loop Diagrams At a Glance.......................
Contents xiv 890 USE 121 00
Introduction 1 At a Glance Document Scope This user guide contains complete installation, wiring interconnection, power application, test and maintenance information on the Lexium 17S series SERCOS drive.
About this User Guide Who Should Use this User Guide This user guide is written for any qualified person at your site who is responsible for installing (mounting and interconnecting), operating, testing and maintaining your Lexium 17S SERCOS drive and the servo system equipment with which it interfaces.
About this User Guide, continued How this User Guide Is Organized, continued Chapter/Appendix Description Chapter 4 Wiring and I/O Wiring diagrams for the power connections and wiring diagrams and descriptions for all signal wiring connections — encoder, resolver, analog input, discrete I/O, fiber-optic and serial communications cable.
Related System Components SERCOS MultiAxis Motion Control System The 17S SERCOS drive is typically only one component in a larger, multi-axis motion control system. A multi-axis system is comprised of one motion controller and (depending on the controller) up to 32 drives. Each drive controls one servo motor. UniLink Commissioning Software for 17S To configure your multi-axis system, you will be using the UniLink axis commissioning software, which Schneider supplies.
Related Documentation Documents Related documentation that covers all these system components is illustrated below.
Hazards, Warnings and Guidelines Hazards and Warnings Read the following precautions very carefully to ensure the safety of personnel at your site. Failure to comply will result in death, serious injury or equipment damage. DANGER! ELECTRIC SHOCK HAZARDS l During operation, keep all covers and cabinet doors closed. l Do not open the drives; depending on degree of enclosure protection, the drives may have exposed components.
Hazards, Warnings and Guidelines, continued WARNING! THERMAL HAZARD During operation, the front panel of the drive, which is used as a heat sink, can become hot and may reach temperatures above 80°C. Check (measure) the heat sink temperature and wait until it has cooled below 40°C before touching it. Failure to observe this precaution can result in severe injury.
Hazards, Warnings and Guidelines, continued CAUTION! SAFETY INTERLOCKS Schneider recommends the installation of a safety interlock with separate contacts for each motor. Such a system should be hard wired with over–travel limit switches and a suitable emergency stop switch. Any interruption of this circuit or fault indication should: l Open the motor contacts l Shunt dynamic braking resistors across each motor, if they are present. Failure to observe this precaution can result in equipment damage.
Hazards, Warnings and Guidelines, continued Additional Safety Guidelines Qualified Personnel Read this documentation and adhere to the safety guidelines contained herein before engaging in any activities involving the drives. l Ensure that all wiring is in accordance with the National Electrical Code (NEC) or its national equivalent (CSA, CENELEC, and so on), as well as in accordance with all prevailing local codes.
Standards and Compliances European Directives and Standards The Lexium 17S SERCOS drives are incorporated into an electrical plant and into machinery for industrial use.
Standards and Compliances, continued SERCOS Standard If you want to reference the international SERCOS communications standard, get a copy of: International Standard IEC 1491, Electrical Equipment of Industrial Machines – Serial Data Link for Real-Time Communication between Controllers and Drives. SERCOS is an industry standard term that refers to a special type of fiber–optic communication protocol, as defined by the SERCOS Interface, Inc., promotion society.
Conventions Acronyms and Abbreviations The acronyms and abbreviations used in this manual are identified and defined in the table below.
Conventions, continued Acronyms and Abbreviations, continued Acronym or Abbreviation Description PLC Programmable Logic Controller SERCOS Serial Realtime Communication System SRAM Static RAM SSI Synchronous Serial Interface UL Underwriters Laboratory Vac Voltage, Alternating Current Vdc Voltage, Direct Current 13
14
Product Overview 2 At a Glance Introduction What’s in this Chapter This chapter contains a product overview of the Lexium 17S series SERCOS drives and includes: l Available drive models and related system components l Feedback and performance information l Power and signal electronics l Software and axis configuration This chapter contains the following topics: Topic Page The 17S series SERCOS drive family 16 Modicon Multi-Axis Motion SERCOS Network Configuration 22 Overview of usability f
The 17S Series SERCOS Drive Family Introducing the 17S SERCOS Drive Family Each member of the Lexium 17S series SERCOS drive family is comprised of a three-phase brushless servo amplifier, power supply, high-performance digital controller and SERCOS fiber optic interface all housed in a single enclosure. Drives Available The 17S drives are available in five models which are correlated to different output current levels as identified in the following table. Output Current (Peak) 17S Drive 4.
The 17S Series SERCOS Drive Family, continued Electrical Considerations The Lexium 17S family of servo amplifiers is to be used on earthed three-phase industrial mains supply networks (TN-system, TT-system with earthed neutral point, not more than 5000 rms symmetrical amperes). The Lexium drives are incompatible with the IT system because interference suppression filters are internal and connected to earth.
The 17S Series SERCOS Drive Family, continued 17S Drive Family Portrait The following photograph shows a representative member of the 17S drive family. The complete family consists of five models partitioned into two physical sizes. Models MHDS1004N00, MHDS1008N00, MHDS1017N00 and MHDS1028N00 have dimensionally identical physical housings while Model MHDS1056N00 has a wider housing. (See Chapter 3 for detailed dimensional information.
The 17S Series SERCOS Drive Family, continued 17S Drives Front View The following photograph shows a typical 17S front view with legends and labels.
The 17S Series SERCOS Drive Family, continued Equipment Supplied Each 17S SERCOS drive includes the following hardware. l Mating connectors X3, X4, X0A, X0B, X7 and X8 l Read me first Note: The mating Sub-D connectors and servo motor connector X9 are supplied with the appropriate cable.
The 17S Series SERCOS Drive Family, continued 17S System Configuration Diagram The following illustration shows a typical 17S system configuration.
Modicon Multi-Axis Motion SERCOS Network Configuration Overview The 17S drive is typically configured in a SERCOS network containing many axes. A Schneider multi–axis motion controller configured with a SERCOS processor board transmits motion instructions to all the 17S drives that are properly configured in the fiber–optic loop.
Modicon Multi-Axis Motion SERCOS Network Configuration, continued Example of a Typical SERCOS Network Ring Configuration The following figure shows a typical configuration of 17S SERCOS axes with arbitrary node addresses receiving and transmitting instructions from a multi–axis motion controller.
Modicon Multi-Axis Motion SERCOS Network Configuration, continued Example of a Typical SERCOS Network Ring Configuration, continued As shown in the figure, the ring has eight axes. These axes need not be configured sequentially. Any axis in the ring can be identified as axis 1, axis 2, axis 3, and so on. However, each address within a ring must be unique.
Overview of Usability Features Digital Control The 17S drive provides complete digital control of a brushless servo system. This includes: l A digital field-oriented current controller operating at an update rate of 62.5 µs l A fully programmable digital PI-type speed controller operating at an update rate of 250 µs l Full digital evaluation of motor position feedback (primary feedback) from either a standard two-poles resolver or a high precision Sin-Cos type encoder (hiperface).
Overview of Usability Features, continued Usability Enhancements 26 The following features are incorporated into the 17S drive to facilitate the set-up and operation of the servo system: l Two analog +/-10 V inputs can be programmed for a multitude of functions depending upon the application. Both inputs incorporate automatic offset compensation, dead-band limitation and slew-rate limitation. l Four fully programmable 24 V discrete inputs; two of which are typically defined as hardware limit switches.
Overview of 17S Internal Electronics 17S Internal Electronics Block Diagram The following block diagram illustrates the 17S internal electronics and depicts internal interfaces for power, signal I/O, and communication.
Overview of 17S Internal Electronics, continued General Characteristics The Lexium 17S SERCOS drives are available in five peak output current ratings (4.2, 8.4, 16.8, 28 and 56 A) that are partitioned into two groups based on the width of the package; the 70 mm drives are rated to handle currents up to 28 A and the 120 mm wide drive is rated to handle currents up to 56 A. All Lexium drives operate with an input voltage which may range from 208 V -10% 60 Hz, 230 V -10% 50 Hz through 480 V +10% 50-60 Hz.
Overview of 17S Internal Electronics, continued Internal Power Section DC Link Capacitor Reconditioning The Internal power section of the 17S drive includes the following: l Power input: A rectifier bridge directly connected to the three-phase earthed supply system, integral power input filter and inrush current limiting circuit.
LED Display and Discrete Indicators A three-character LED display on the front of the 17S drive indicates drive status after the 24 Vdc bias supply is turned on. If applicable during operation, error and/ or warning codes are displayed. In addition, three individual LED indicators (one red and two green) on the SERCOS communication card (at the top of the drive) are used to indicate the status of that communications.
Overview of System Software Setup Configuration software is used for setting up and storing the operating parameters for the Lexium 17S series drives. The drive is commissioned with the assistance of the UniLink software and, during this process, the drive can be controlled directly through this software. Setting Parameters You must adapt the SERCOS drives to the requirements of your installation.
Overview of System Software, continued UniLink Commissioning Software The minimum PC system requirements needed for the UniLink commissioning software are specified in the following table: Item Minimum Requirement Operating System Windows 95 Windows 98 Hardware: Processor Graphics adapter RAM Hard drive space Communications 32 486 or higher VGA 8 Mbytes 5 Mbytes available One RS-232 serial port
Mounting and Physical Dimensions 3 At a Glance What’s in this Chapter This chapter provides information on the mounting requirements for, and physical dimensions of, the Lexium 17S series SERCOS drives and includes the following topics: Topic Page Installation safety precautions 34 Installation considerations 36 Drive mounting and physical dimensions 37 Optional external Regen resistor mounting and dimensions 39 Optional choke mounting and dimensions 40 33
Installation Safety Precautions CAUTION! MECHANICAL STRESS Protect the drive from physical impact during transport and handling. In particular, do not deform any exterior surfaces; doing so may damage internal components or alter critical insulation distances. Failure to observe this precaution can result in injury or equipment damage. CAUTION! ELECTRICAL STRESS At the installation site, ensure the maximum permissible rated voltage at the Mains and bias input connectors on the drive are not exceeded.
Installation Safety Precautions, continued CAUTION! CONTAMINATION AND THERMAL HAZARD Ensure the 17S drive is mounted within an appropriately vented and closed switchgear cabinet that is free of conductive and corrosive contaminants. Ensure the ventilation clearances above and below the drive conform to requirements. (Refer to Chapter 3 for additional information.) Failure to observe this precaution can result in injury or equipment damage.
Installation Considerations Power Supply Overcurrent Protection You are responsible for providing overcurrent protection (via circuit breakers and/or fuses) for the Vac mains supply and the 24 Vdc bias supply that are connected to the drive. Earth Connections Ensure the drive and associated servo motor are properly connected to earth. Cable Separation Route power and control (signal) cables separately. Schneider recommends a separation of at least 20 cm.
Drive Mounting and Physical Dimensions 17S Height, Width and Depth Dimensions The following diagram shows height, width and depth dimensions for the 17S drive.
Drive Mounting and Physical Dimensions, continued 17S Drive and Mounting Area Dimensions 38 The following diagram shows depth dimensions and mounting area requirements for the 17S drive.
Optional External Regen Resistor Mounting and Physical Dimensions Optional External Regen Resistor Assembly Dimensions The following diagram shows the dimensions for all three optional external Regen resistor assemblies.
Optional Motor Choke Mounting and Dimensions Optional Motor Choke Assembly Dimensions 40 The following diagram shows the dimensions for the motor choke assembly
Wiring and I/O 4 At a Glance Introduction This chapter describes and illustrates all power wiring connections, all signal wiring connections, and I/O wiring connections on the 17S drive.
At a Glance, continued What’s in this Chapter 42 This chapter contains the following topics.
Wiring and I/O Initial Considerations Initial Considerations Some descriptions and illustrations contained in this chapter are provided as examples. Actual implementation depends on the application of the equipment; thus, appropriate variations are allowed provided they neither violate any safety precautions nor jeopardize the integrity of the equipment.
Wiring Overview Overview of 17S Wiring Connections The following diagram shows the wiring connections for the 17S drive. CAUTION: Do not connect a Modbus serial port to the X6 connector! Pin1 carries +8 Vdc which would be shorted out by a Modbus cable. Instead, use a standard 3-core null-modem cable (not a null-modem link cable) with only pins 2, 3 and 5 wired. Failure to observe this precaution can result in equipment damage.
Connection diagram for Lexium 17S Reference Safety Instructions and Use As Directed! thermal control included 15 X1 Analog 1 in + high resolution single / multiturn Sine-Cosine Encoder Analog 1 in Analog Com thermal control included X2 Resolver 1 6 Analog 2 in - 7 Analog Com 8 Resolver 5 Analog 2 in + Reserved Reserved + +/-10V speed setpoint1 referenced to GND 4 GND + +/-10V speed setpoint2 referenced to GND 8 10 GND 9 X3 M U2 6 U V2 5 V W 4 PE 3 B+ B- 2 1 GND I/O Co
Pin assignments for LEXIUM 17 S 8 Clock 7V 6 N.C. 5 DATA(+485) 4 Up (8V) 3 B+ (COS) 2 0V(GND) 1 A+ (SIN) X1 ENCODER Clock 15 V 14 DATA (-485) 13 Up SENSE 12 B- (REFCOS) 11 0V SENSE 10 A- (REFSIN) 9 5 R1 4 S2 3 S3 2V 1 Shield 1 Pcom 2 M+ 3 M4 A- (CLK) 5 A+ (/CLK) B+ (DATA) 6 B- (/DATA) 7 Reserved 8 N.C. 9 X2 RESOLVER R2 9 S4 8 S1 7 V6 1 Reserved 2 RxD 3 TxD 4 N.C.
Cable Shield Connections Connecting Cable Shields to the Front Panel The following procedure and associated diagram describe how to connect cable shields to the front panel of the 17S drive: Step Action 1 Remove a length of the cable’s outer covering and braided shield sufficient to expose the required length of wires. 2 Secure the exposed wires with a cable tie. 3 Remove approximately 30 mm of the cable’s outer covering while ensuring the braided shield is not damaged during the process.
Cable Shield Connections, continued Cable Shield Connection Diagram 48 The following diagram shows the cable shield connections at the front of the 17S drive.
Power Wiring AC Mains Power Supply Connection The following diagram shows the connections for the AC mains power supply input to the 17S drive. * *3 x 230 V +10% max. with a BPH055 Servo motor Bias Supply Connection The following diagram shows the connections for the bias power supply input to the 17S drive.
Power Wiring, continued Serial Power Connections The following diagram shows the serial connections for the AC mains and bias power among multiple 17S drives.
Power Wiring, continued Optional External Regen Resistor Connection The following diagram shows the connections between the optional external Regen resistor and the 17S drive. The drive is shipped with a jumper installed on connector X8, terminals RB and RBint. If you are going to use an optional external Regen resistor, then remove the jumper to disconnect (and thus disable) the internal Regen resistor. Fusing of the two lines to external Regen Resistor is mandatory.
Power Wiring, continued Lexium BPH Servo Motor Connection (excluded BPH055) The following diagrams show the connections between a servo motor (excluded BPH055) and the 17S drive. When the interface cable length exceeds 25 m, a motor choke must be installed as shown and at a distance of one meter or less from the drive.
Power Wiring, continued Lexium BPH 055 Servo Motor Connection The following diagrams show the connections between a BPH055 servo motor and the 17S drive. When the interface cable length exceeds 25 m, a motor choke must be installed as shown and at a distance of one meter or less from the drive.
Power Wiring, continued Servo Motor (with Optional Dynamic Brake Resistors and Contactor) Connection The following diagram shows the connections between a servo motor and the 17S drive when the optional dynamic brake rersistors and associated contactor are incorporated.
Power Wiring, continued Servo Motor Holding-Brake Control Functional Description A 24V holding brake in the servo motor is controlled directly by the 17S drive through software-selectable BRAKE parameter settings. The time and functional relationships between the ENABLE signal, speed setpoint, speed and braking force are shown in the following diagram. During the fixed ENABLE delay time of 100 ms, the speed setpoint of the drive is internally driven down a 10 ms ramp to 0V.
Power Wiring, continued WARNING! IMPACT HAZARD The off-the-shelf configuration of the holding-brake function does not ensure the safety of personnel. In order to make this function safe for personnel, a normallyopen contact and a user-installed suppressor device (varistor) must be incorporated into the brake circuit as shown in the following diagram. Failure to observe this precaution can result in severe injury or equipment damage.
Signal Wiring Lexium BPH Resolver Connection (excluded BPH055) The following diagram shows the connections between the resolver and the 17S drive. Note: The standard Lexium BPH series servo motors are equipped with two-pole, integral resolvers. The thermistor contact in the servo motor is connected via the resolver cable to the 17S drive.
Signal Wiring, continued Lexium BPH055 Resolver Connection The following diagram shows the connections between the resolver and the 17S drive. Note: The BPH055 servo motors are equipped with two-pole, integral resolvers. The thermistor contact in the servo motor is connected via the resolver cable to the 17S drive.
Signal Wiring, continued Encoder Input Connection The following diagram shows the encoder input connections between the encoder and the 17S drive. Note: The BPH series servo motors can be optionally fitted with a single-turn or multi-turn sine-cosine encoder, which is used by the 17S drive as the primary feedback device for operations requiring highly precise positioning or extremely smooth running. In addition, the thermistor contact in the servo motor is connected via the encoder cable to the 17S drive.
Signal Wiring, continued Auxiliary Encoder Interface l Master-slave Operation of Drives Diagram. The encoder interface can be used to link one or more drives together in a master-slave operation, as shown in the following diagram. Up to 16 slave drives can be controlled by a designated master drive via the encoder output. The UniLink software allows you to setup the parameters for the slave drive(s) and to adjust the gear ratio (number of pulses/turn).
Signal Wiring, continued l Incremental-Encoder Input Connection. The following diagram shows the incremental encoder input connections between the 17 drive and an external incremental encoder. Note: The receivers are supplied from an internal supply voltage. PCom must always be connected to the encoder ground. Incremental encoder is powered by an external Power Supply.
Signal Wiring, continued l SSI Encoder Input Connection: The following diagram shows the connections between an external SSI encoder and the drive. Note: The drivers are supplied from an internal supply voltage. PCom must always be connected to the encoder ground.
Analog Input Connection Analog Inputs The following diagram shows the connections between the two fully programmable, differential analog inputs on the 17S drive and a user device. (Refer to the list of pre-programmed functions contained in the UniLink online help.) Note: The Analog Com must always be connected to the user device Com as a ground reference.
Fault Relay and Digital I/O Connection Digital Inputs and Outputs The following diagram shows the connections between the fault relay, the four fullyprogrammable, digital inputs, dedicated enable input and two digital outputs on the 17S drive and typical user devices. (A list of pre-programmed functions is contained in the UniLink online help.
Fault Relay and Digital I/O Connection, continued Using Functions Pre-programmed into the Drive Fault Relay- The isolated fault relay contacts are closed during normal operation and open when a fault condition exists. The relay state is not affected by the enable signal, I2t limit or warnings. All faults cause the Fault RA/RB contact to open and the switch-off of the output stage. A list of error messages can be found in chapter Troubleshooting.
Serial Communications Connection RS-232 Null Modem Type Communication Connection Diagram The following diagram depicts the RS-232 communication connection between the Lexium 17S and a PC. See wiring in Appendix C The setting of the operating, position control, and motion-block parameters can be carried out with an ordinary commercial PC.
System Operation 5 At a Glance What’s in this Chapter This chapter provides information on operating the Lexium 17S series servo drives and includes the following topics: Topic Page Powering up and powering down the system 68 Procedure for verifying system operation 71 Front panel controls and indicators 73 67
Powering Up and Powering Down the System Power-on and Power-off Characteristics The following diagram illustrates the functional sequence that occurs when the drive is turned on and off. 5 min.
Powering Up and Powering Down the System Stop Function If a fault occurs the output stage of the servo amplifier is switched off and the Fault RA/RB contact is opened. In addition, a global error signal can be given out at one of the digital outputs (terminals X3/16 and X3/17). These signals can be used by the higher-level control to finish the current PLC cycle or to shut down the drive (with additional brake or similar.).
Powering Up and Powering Down the System Wiring example Stop and Emergency Stop function (Category 0) L1 L2 L3 PE K10 XOA K20 3 2 1 LEXIUM 17S X9 24 Vdc Com 1 Brake- 2 Brake+ 3 Gnd (Green) 4 W2 5 V2 6 U2 Enable 24 Vdc X3 15 2 K10 3 R B RB Fault RA/RB K11 +24Vdc K30 F Emergency-Off ON OFF K10 K10 K11 K30 K10 +24Vdc Com 70 K30 K11 K20 K11 is normally closed (no fault of equipement) Servo Motor
Procedure for Verifying System Operation Overview The following procedure and associated information verifies operation of the system without creating a hazard to personnel or jeopardizing the equipment. Note: Default parameters for each Lexium BPH series motor are loaded into your drive at the factory and contain valid and safe values for the current and speed controllers. A database for the servo motor parameters is stored in the drive.
Procedure for Verifying System Operation, continued Quick Tuning Procedure, continued Step Action 6 Use the UniLink software to check/establish the following: 7 l Drive Parameters - Set/restore the drive parameters to the factory default values. l Supply voltage - Set the supply voltage to the actual mains supply voltage. l l Servo Motor - Select the applicable BPH servo motor. Feedback - Ensure the feedback matches the feedback unit in the servo motor.
Front Panel Controls and Indicators Keypad Operation The operation of the keypad on the front panel of the 17S drive is described in the following table. The two keys can be used (as an alternative to using the PC) to specify and enter the SERCOS address for the drive.
Front Panel Controls and Indicators, continued SERCOS Communication LED Indicators 74 The following illustration shows the location of the three SERCOS communication LED indicators on the SERCOS communication card at the top of the drive. The Rec_T and Tra_T LEDs are green and (when illuminated) respectively indicate information is being received or transmitted. The Error LED is red and illuminates when a SERCOS communication error occurs.
Troubleshooting 6 At a Glance What’s in this Chapter This chapter provides information on correcting problems with the 17S drive and contains the following topics: Topic Page Warning messages 76 Error messages 77 Troubleshooting 81 75
Warning Messages Warning Identification and Description A warning is generated when a non-fatal fault occurs. Non-fatal faults allow the drive to remain enabled and the fault relay contact to remain closed. Either of the programmable digital outputs can be programmed to indicate that a warning condition has been detected. The cause of the warning is presented as an alphanumeric code on the drive’s front panel LED display; these warning codes are identified and described in the following table.
Error Messages Error Identification and Description Errors are generated when a fatal fault occurs. Fatal faults cause the drive to be disabled, the brake (if installed) to be activated and the fault relay contacts to open. Either of the programmable digital outputs can also be programmed to indicate that an error has been detected. The cause of the error is presented as an alphanumeric code on the drive’s front panel LED display; these error codes are identified and described in the following table.
Error Messages, continued Error Identification and Description, continued Error Code Error (Fault) Possible Cause/Corrective Action F06 Motor overtemperature. - Irms or Ipeak set too high. - Defective motor - If motor is not hot, check feedback cables and connectors. - Reduce motion profile duty cycle - Improve ventilation of the motor F07 Internal 24 Vdc fault. Return drive to manufacturer F08 Motor speed limit exceeded. - Feedback parameters not set correctly. - Incorrect feedback wiring.
Error Messages, continued Error Identification and Description, continued Error Code Error (Fault) Possible Cause/Corrective Action F14 Drive output stage fault. - Check motor cable for damage or shorts. - Output module is overheated; improve ventilation. - Short-circuit or short to ground in the external Regen resistor. - Motor has short-circuit/ground short; replace motor. - Output stage is faulty; return drive to manufacturer. F15 I²t maximum value exceeded.
80 Error Code Error (Fault) Possible Cause/Corrective Action F26 Reserved Reserved F27 Reserved Reserved F28 Reserved Reserved F29 SERCOS error SERCOS systems only F30 SERCOS time out SERCOS systems only F31 Reserved Reserved F32 System error System software not responding correctly, return drive to manufacturer.
Troubleshooting Problems, Possible Causes and Corrective Actions The following table identifies some common system problems, their possible causes and recommended corrective actions. However, the configuration of your installation may create other reasons, and consequently other corrections, for the problem. Problem Possible Causes Corrective Actions No communication with PC - Wrong cable used. - Check cable. - Cable plugged into wrong position in drive or PC.
Troubleshooting, continued Problems, Possible Causes and Corrective Actions, continued Problem Possible Causes Corrective Actions Motor oscillates - Gain too high (speed controller). - Reduce Kp (speed controller). - Shielding in feedback cable has a break. - Replace feedback cable. - Kp (speed controller) too low. - Increase Kp (speed controller). - Tn (speed controller) too high. - Use motor default value for Tn (speed controller). - PID-T2 too high. - Reduce PID-T2. - T-Tacho too high.
Specifications A At a Glance What’s in this Appendix This appendix contains the following topics.
Performance Specifications Performance Specifications Table The following table lists 17S performance specifications. PERFORMANCE Servo updates Tuning procedure Torque 62.
Environmental and Mechanical Specifications Environmental Specifications Table The following table provides 17S environmental specifications. ENVIRONMENTAL Storage Humidity Operating temperature (ambient measured at fan inlet) High temperature, non–operating +70°C maximum Low temperature, non–operating –25°C minimum Non–operating 95% RH maximum, non-condensing Operating 85% RH maximum, non-condensing Full power 0 ... 45°C With linear derating 2,5% / °C 45 ...
Environmental and Mechanical Specifications, continued Mechanical Specifications Table The following table provides 17S mechanical specifications. Drive Model Number Height Width Depth Weight MHDS1004N00 325 mm 70 mm 265 mm 2.5 kg 325 mm 120 mm 265 mm 3.
Electrical Specifications What’s in this Section This section provides tables for the following topics.
Electrical Specifications - Power Line Input Specifications Table The following table provides 17S line input specifications. LINE INPUT Voltage 208 Vac -10% 60 Hz, 230 Vac -10% 50 Hz. 480 Vac +10%, 50 - 60 Hz, three-phase* Current MHDS1004N00 1.8 A RMS** MHDS1008N00 3.6 A RMS MHDS1017N00 7.2 A RMS MHDS1028N00 12 A RMS MHDS1056N00 24 A RMS Inrush current Internally limited Efficiency Greater than 98% * Read carefully “Electrical considerations” ** Single-phase operation permitted.
Electrical Specifications - Power, continued Bias Input Specifications Table The following table provides 17S bias input specifications. Motor Brake Present Bias Input Value No Voltage 20 ... 30 Vdc Yes Current 0.75 A to 1.2 A Voltage 24 Vdc -10%, +5% Current 3 A max. Note: The bias input also provides power to the optional motor brake. External Fuse Specifications Table The following table provides 17S external fuse specifications.
Electrical Specifications - Power, continued Motor Output Specifications Table The following table provides 17S motor output specifications. Parameter Type Model Number Current Output current (RMS) Continuous MHDS1004N00* 1.5 A MHDS1008N00 3A MHDS1017N00 6A MHDS1028N00 10 A MHDS1056N00 20 A MHDS1004N00 3A MHDS1008N00 6A MHDS1017N00 12 A MHDS1028N00 20 A MHDS1056N00 40 A Intermittent** Switching frequency 8 kHz ± 0.
Electrical Specifications - Power, continued Internal Power Dissipation Specifications Table The following table provides 17S internal power dissipation at maximum continuous output power. This information may be useful to size the thermal capability of the mounting cabinet. Model Number Power MHDS1004N00 30 W MHDS1008N00 40 W MHDS1017N00 60 W MHDS1028N00 90 W MHDS1056N00 200 W Note: These power dissipations are measured at maximum continuous power and should be considered worst case.
Electrical Specifications - Regen Resistor Regen Circuit Specifications The following table provides technical data on the Regen circuit. Parameter Rated data Units Model Number (prefix with MHDS10) 04N00 08N00 Supply Voltage 3 phase, 230 V 3 phase, 400 V 3 phase, 480 V 17N00 28N00 56N00 Upper switch-on level of Regen circuit V 400 - 430 Switch-off level of Regen circuit V 380 - 410 Continuous power of Regen circuit (RBint) W 80 200 Continuous power of Regen circuit (RBext) maximum.
Electrical Specifications - Signal Motor Overtemperature Input Specifications Table The following table provides 17S motor overtemperature input specifications. MOTOR OVERTEMPERATURE INPUT Thermistor PTC will generate fault when resistance exceeds 290Ω ± 10%* (default value) Thermostat Closed for normal operation * The value of the threshold is adjustable by the parameter MAXTEMPM (see Unilink commands) Resolver Input Specifications Table The following table provides resolver input specifications.
Electrical Specifications - Signal, continued Encoder Input Specifications Table The following table provides 17S encoder input specifications ENCODER INPUT Internal power supply Voltage 9V ± 5% Current (maximum) 200 ma Input Signal Sin-Cos encoder (cyclic absolute) Absolute accuracy 15 bits (39 arc-seconds or 0.01°) Resolution 20 bits (1.2 arc-seconds or 0.0003°) Turn counter 12 bits Absolute accuracy within one turn 15 bits (39 arc-seconds or 0.01°) Resolution within one turn 20 bits (1.
Electrical Specifications - Signal, continued Encoder Output (Incremental Format) Timing Diagram The following diagram shows the timing for the encoder output (incremental format). Auxiliary Incremental Encoder Input Specifications Table The following table provides 17D encoder input (slave) specifications. ENCODER INPUT (SLAVE) Channels A and B Type Differential, RS-485 compliant Voltage 8 V nominal Current 200 mA (maximum) Maximum frequency 500 kHz Rise time < 0.1 µs Fall time < 0.
Electrical Specifications - Signal, continued Discrete Input Specifications Table The following table provides 17S discrete input specifications.
Electrical Specifications - Signal, continued Fault Relay Output Specifications Table Brake Output Specifications Table The following table provides 17S fault relay output specifications. FAULT RELAY OUTPUT Type Relay contact Sense True (open) VMAX 30 Vdc; 42 Vac IOUT 500 mA resistive The following table provides 17S brake output specifications.
Electrical Specifications - Signal, continued Analog Input Specifications Table The following table lists the analog inputs specifications.
Wire Specifications (Recommended) Wire Specifications The following table lists the recommended wire specifications. Use only copper wire with insulation rated at 75°C or greater, unless otherwise specified. Item Drive Model No. Wire Size Notes AC mains MHDS1004N00 MHDS1008N00 MHDS1017N00 MHDS1028N00 1.5 mm2 (14 AWG) MHDS1056N00 4.0 mm2 (12 AWG) Protective earth All 4.0 mm2 (12 AWG) DC Link MHDS1004N00 MHDS1008N00 MHDS1017N00 MHDS1028N00 1.
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Parts List B At a Glance What’s in this Appendix This appendix contains information about the following Lexium 17S parts and assemblies.
Lexium 17S Drives Drives Available 102 The Lexium 17S drives are available in five models according to different output current levels as identified in the following table. Model Intermittent (Peak) Output Current Continuous (RMS) Output Current MHDS1004N00 4.2 A 1.5 A MHDS1008N00 8.4 A 3.0 A MHDS1017N00 16.8 A 6.0 A MHDS1028N00 28.0 A 10.0 A MHDS1056N00 56.0 A 20.
External 24Vdc supply External 24Vdc supply A reminder of the a 24 V compsumption for the Lexium MHDA/MHDS servodrives with BHP motors is given below. Lexium servodrive MHD•1004/ 1008N00 Associated BPH motor MHD•1017N00 MHD•1028N00 MHD•1056N00 075• 095• 095• 115• 095• 115• 142• 142• 190• Current without brake (A) 0.75 0.75 0.75 0.75 0.75 0.75 0.75 1.2 1.2 Current with brake (A) 1.45 1.45 1.55 1.45 1.55 1.75 2.2 2.7 Description 1.
Drive Cables Drive to Motor Cables Consult the BPH motors manual for drive-to-motor cable part numbers and motor part numbers. RS-232 Serial Communications Cable Part Table To connect the drive’s serial interface port to your PC, use the following cable. Encoder Output Cable Parts Table Part Number Description AM0CAV001V003 3 m cable The following table lists encoder output cable for the Lexium 17S drive.
Drive Cables, continued Fiber Optic Cables Parts Table The following table lists part numbers for SMA 1000 micron plastic SERCOS fiber optic cables. These cables range in length from 0.3...38 m. Each cable terminates with an SMA type connector. CAUTION! The minimum bend radius for these fiber optic cables is 25 mm (1 inch). Do NOT exceed this bend radius. Failure to stay within the 25 mm (1 inch) bend radius can result in damaged cables. The maximum tensile load during installation is 25 Kg/cable.
Optional External Regen Resistor Assemblies Optional Regen Resistor Assembly Part Table 106 The following table identifies the optional external Regen resistor assemblies available for the Lexium 17S drive.
Optional Motor Choke Optional Motor Choke Part Table These following table identifies the servo motor choke available for the Lexium 17S drive.
Spare Parts Spare Parts Table 108 These field-replaceable spare parts are available from Schneider.
Cable Connection Wiring Diagrams C At a Glance What’s in this Appendix This appendix provides procedures and diagrams that show you how to wire certain cable connectors that are used with the Lexium 17S drive. This appendix presents the following topics.
Wiring a Sub-D Connector with Shielding Wiring the Sub-D Connector If you construct your own Sub-D connector with shielding, please do so according to the following procedure which correlates to the eight steps in the diagram that follows this procedure. Step Action 1 Carefully remove about 25mm of the outer covering while taking care not to damage the braided shield. 2 Push the exposed braided shield back over the outer covering.
Wiring a Sub-D Connector with Shielding, continued Sub-D Connector Diagram The following diagram shows the eight steps required to wire a Sub-D connector with shielding.
Wiring the Motor Power Connector (Drive end) Wiring the Motor Power Connector If you construct your own motor power connector, please do so according to the following procedure which correlates to the 13 steps in the diagram that follows this procedure. Step Action 1 Carefully remove about 70 mm of the outer jacket while taking care not to damage the braided shield. 2 Push the grommet over the cable until the end is flush with the jacket. 3 Push the outer braided shield back over the grommet.
Wiring the Motor Power Connector (Drive end), continued U V W PE Br + Br - The following diagram shows the 13 steps required to wire a motor power connector (excluded BPH055). *numbers of wires are printed every 10 cm.
Wiring the Motor Power Connector (Drive end), continued The following diagram shows the 13 steps required to wire a BPH055 motor power connector. 2 1 5 4 3 *numbers of wires are printed every 10 cm.
Serial Communication Interface Connection (X6) Serial Communication Interface Cable Connectors The following diagram details the null modem connection between the drive and a PC.
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Servo Loop Diagrams D At a Glance What’s in this Appendix This appendix illustrates several servo loops within a 17S SERCOS drive system.
17S Current Controller Overview 17S Current Controller Diagram 118 The following diagram shows an overview of the 17S current controller servo loop.
17S Velocity Controller Loop 17S Velocity Controller Loop Diagram The following diagram shows a 17S velocity controller servo loop.
17S Position Controller Loop 17S Position Controller Loop Diagram 120 The following diagram shows a 17S position controller servo loop.
Optional External Regen Resistor Sizing E At a Glance What’s in this Appendix This appendix contains descriptions and procedures for calculating the power dissipation requirements for the optional external Regen resistor. This appendix presents the following topics.
At a Glance, continued Overview When the drive is braking or decelerating a moving load, the kinetic energy of the load must be absorbed by the drive. As the drive decelerates the load, this energy charges the DC link capacitors to successively higher voltages. To prevent damage to the internal electronics, a shunt regulator circuit will apply the Regen resistor across the capacitors when the voltage rises to a set voltage level (determined by the “Mains Voltage” parameter).
Determining Optional External Regen Resistor Size Power Dissipation Calculation Procedure The following is the procedure for calculating the power dissipated by the Regen resistor in a simple system wherein friction is negligible. Ignoring friction in the following calculations gives worst case results since friction will absorb a portion of the energy during deceleration. An example of each step in this procedure is provided later in this chapter.
Determining External Regen Resistor Size, continued Power Dissipation Calculation Procedure, continued Drive Energy Absorption Capability Step Action 8 Compare the pulse power and the continuous power calculated with the ratings of the internal Regen resistor in the drive. If either one is greater then an optional external Regen resistor must be chosen and installed. (See the Parts List appendix for a list of the available optional external Regen resistors.
Example Regen Resistor Power Dissipation Calculation Example Motor and Drive Specifications The following is an example application of each step in the power dissipation calculation procedure using the motor, drive and input power specifications identified below. Refer to the power dissipation calculation procedure presented earlier in this chapter. l Motor = BPH1423N with brake Total Inertia (JT) = JM + JB + JL = 0.002 + 0.001 + 0.007 = 0.01 kgm2 where: Motor inertia (JM) = 0.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 1 Plot speed versus time and torque versus time for the entire move cycle.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 2 Identify each deceleration of the plot where the drive is decelerating the load. Example Step 3 Calculate the energy returned to the drive in each deceleration as follows: Deceleration 1 ω = 2 π 3000RPM / 60 = 314 radians/sec E = ½ 0.01kgm2 (314 radians/sec) 2 = 493 joules Deceleration 2 ω = 2 π 600RPM / 60 = 63 radians/sec E = ½ 0.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 4 Compare the energy in each deceleration with the energy required to turn on the Regen circuit (that is, the energy absorbed by the internal capacitors). As specified in the Drive Energy Absorption Capability table, the MHDS1028N00 drive at 480 Vac can absorb 23 joules without turning on the Regen resistor circuit.
Example Regen Resistor Power Dissipation Calculation, continued Example Step 8 Compare the ratings as follows: Internal Regen resistor ratings of the MHDS1028N00: Ppulse = 21 kW Pcontinuous = 200W Deceleration 1: Ppulse = 940W < 21 kW rating Deceleration 2: Ppulse = 1258W < 21 kW rating Pcontinuous = 231W > 200W Requires an optional external Regen resistor be used. Select the 250W optional external Regen resistor or modify the profile to reduce the continuous power dissipated.
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B AC Index A D AC mains power supply, connection, 49 acronyms and abbreviations, 12 additional safety guidelines, 9 air flow, 36 analog input connection, 63 input specifications, 98 auxiliary encoder interface, 60 DC Link capacitor reconditioning, 29 default settings, 31 determining external regen resistor size, 123 digital control, 25 digital inputs and outputs connection, 64 dimensions, physical, 44, 48, 55 discrete input specifications, 96 output specifications, 96 document scope, 1 drive dimensions
Index electrostatic components precaution, 8 emergency stop strategies, 69 EMI suppression, 28 encoder input connection, 59 input specifications, 94 output cables, 104 output specifications, 94, 95 environmental and mechanical specifications, 85 environmental specifications, 85 equipment available, 20 equipment supplied, 20 error identification and description, 77 error messages, 77 European directives and standards, 10 example motor and drive specifications, 125 External 24Vdc supply, 103 external fuse sp
Index P S parts list cables, 104 overview, 101 regen resistor assemblies, 106 spare parts, 107, 108 performance specifications table, 84 physical dimensions, 37 pin assignments, 46 position servo loop, 120 power dissipation calculation, 123 electrical specifications, 88 supply overcurrent protection, 36 wiring, 49 power-on and power-off characteristics, 68 pre-programmed functions, use, 65 primary power, 28 problems, possible causes and corrective actions, 81 products, introduction, 15 safe electrical s
Index specifications analog input, 98 bias input, 89 brake output, 97 discrete input, 96 discrete output, 96 electrical, 87 encoder input, 94 encoder output, 94, 95 environmental, 85 external fuse, 89 fault relay output, 97 internal power dissipation, 91 line input, 88 mechanical, 86 motor output, 90 motor overtemperature, 93 power electrical, 88 resolver input, 93 stop function, 69 Sub-D connector wiring diagram, 111 warning messages, 76 who should use this guide, 2 wire specifications, 99 wiring connect
