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1. E 81 570 V DC BUS model R ua SUA iaaea sies 81 400 V Bus models a a 82 Stand Alone Power Supply 83 jo 83 External Logie SUPDIY u uuu uu 84 Optional Position Sensors 85 Measure ConnectiON ME 85 Wo Duss 85 Gl D 85 Environmental TO u ua 85 Ke E e de qha QaqsQuqacas ashqa 86 Start up ANd Commissioning 87 Checks Prior to Initial Power up 87 Before power up the firsts time 87 Before enable the power stage after power 87 Load a new firmware release 87 MOGE COMMANO U EET 88 Lili iu 88 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 Introduction ABOUT DOCUMENTATION This version replaces all previous versions of this document Inmotion Technologies AB has made every effort to insure this document is complete and accurate at the time of printing In accordance with our policy of continuing product improvement all data in this document is subject t
2. 25 Converter SCC HOM u u T 26 Short Circuit DIOLOCHON E 26 Temperature Drive over temperature 26 OVER WOW Ae LGV P 26 LOUIE LCV Cl 26 Step Down DC DC Converter 26 Isolated Seege 27 Current Measuring 27 Dynamic Brake Control Regeneration Bleeder or Shunt Control 27 Dynamic Brake Monitor nnns 27 Selecting for the Application 27 Performance Summary AC supplied DM 27 Performance Summary DC supplied DM 27 Stand alone Power Supplies PS Units 27 Connector Kit for DM 27 lj 28 go 499 M 28 Motor 28 Resolver Cable uu uuu 28 Communication Cable 29 Control Circuit u UU A iii E 29 29 Requirements a 29 ENIG Tc 30 5 _
3. 30 WAC TONS 30 Main Contactor Gelechon 30 Inrush Current Contactor Selection 30 External Dynamic Brake Resistors 31 Example 1 Continuous power 130W and peak power 8kW 31 Example 2 for PS580160 minimum resistans 109 31 jid rS lir T T T 32 Example of System Configurations 32 Drive CombDbIna lion 32 Sizing Components of the System 32 Tables III a aaa 33 Performance Summary AC Supplied DM 33 Performance Summary DC Supplied DM 33 Performance Summary Stand alone Power Supplies PS units 34 Connector Kit for DN 35 Motor cable COMBI 36 High flex motor cable EUROFLEX S 801 C 36 Strain reliefs for motor cable 36 Resolver cables with connectors for EP motors 37 Resolver cables with connectors for SEM motors 37 Resolver cables by the meter 37 High flex resolver cables A 37 User s Manual 5 1 Inmotion Technologies AB z Doc No 9032 0027 01 A R
4. posnit for matar brake 2 Motor brake 1 Mator brake Figure 18 DMC unit connectors on the topside Motor Power Thermistor DC Bus for 50412 P and 50720 P User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS DMC2 51540 DMC2 53080 DMC 51540 P 53080 5 Bus voltage 5 DC Bus voltage DC Bus volage 3 DC Bus voltage 2 1 NC OC Output brake RS 3 i Di Driver Guiput Oynamic brake 2 PE regulator 3 H PE Phase maior Thermistor in Ti y 5 Phase metr u Thermislor eut 1 Phase maior v HC J Phase motor V Connection pont for motor Drake Phase motor Maolor brake L Phase malor brake Figure 19 unit connectors on the topside Motor Power Thermistor DC Bus for 51540 P and 53080 5 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS Power Supply 580160 POWER SUPPLY 580160 DC Bus vokage DC Bus vobasga DC Bus voltage 3 DC PE PF Bus vokage DC Bu DC Bus voltage DC Bus wotaga PE PE 2 Temperature 15v 5 Dynamic Fake Resistor 4 Reserved B Dynamic Resiaglor 2 DG Ingat D yrsamic brake raulator Dri
5. x 93 EP075112 44T3B 1 7 50412P EP115052 66T3B 2 1 50412P EP165090 66T3B 51540P EP165180 66T3B 16 53080 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 EP115105 66T3B 3 8 50720P DMC2 TABLES System configuration DMC2 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 User s Manual 5 1 Doc No 9032 0027 01 A Rev 12 07 2001 DMC Connections GENERAL This section provides details for connecting the to motor connections power dynamic brake thermistor brake DC Bus I O Daisy chain LAN 2 and integral resolver User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 EN DMC2 CONNECTIONS X Connector s X CONNECTOR S Function page S Available only for CAN Sensor Dus X m mam JE Dg ene ow wanri xoxo je DG xax r X35 Thermistor brake X14 X23 67 Temperature switch DSUB CONNECTOR S Connector D Sub miniature in Metal housing Pin male Female x De 8 X _ De emm elo Dm emm nn _ e fs nn E User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS DMC FRONT 1 ID Switch 32 ID Sibh NC CIA L CIA G
6. Figure 23 PNP transistor interface to digital input 1 PNP Transducer 2 24V DC 3 Digital Input 4 GND 5 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X7A B HIGH SPEED INPUT DIGITAL INPUT1 High speed lt 1 micro second pulse Use shielded twisted pair cable Recommended min conductor area 0 5 mm AWG20 15 Figure 24 High speed input interface to digital 1 1 Digital input 2 Shield 3 Puls generator UNIPOLAR ANALOG INPUT Recommended min conductor area 0 5 mm AWG20 Figure 25 Unipolar analog input User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X7A B BIPOLAR ANALOG INPUT Recommended min conductor area 0 5 mm AWG20 Figure 26 Bipolar analog input STANDARD OUTPUT Recommended min conductor area 0 5 mm AWG20 Max 100 m Figure 27 Standard DMC digital output 1 User supplied power 24VDC for higher current output 2 Output current Imax 100mA 3 To other outputs 4 Internal 24 VDC User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X8A ANALOG OUTPUTS Recommended min conductor area 0 5 mm AWG20 Figure 28 Analog output X8A P CAN 50412 50720 51540 DMC CAN 50412 50720 51540 53080 Connector Seepage 46 For location see Figu
7. X21 DMC P 51540 DMC 51540 53080 Connector See page 35 Figure 19 shows the connector X21 Table 41 describes the function The motor connections are the same for AC and DC supplied 5 Use the appropriate threaded strain relief with shield connection listed in Table 9 to secure the motor cable to the motor The cable shield must make secure metallic contact with the strain relief User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X22 DMC X21 Function Table 41 Motor Connection X21 to DMC X22 DMC P 51540 DMC 51540 53080 Connector Seepage ao Make the following dynamic brake circuit connections Table 42 from X22 Figure 19 unit to X34 on PS unit 1 Output dynamic brake regulator driver r Output dynamic brake regulator DC 2 Table 42 Dynamic brake X22 and X34 Connection X23 DMC P 51540 DMC 51540 53080 Connector Seepage 35 Make the following connections Table 43 at the Figure 19 for placement X23 and the terminal block at the motor for thermistor and brake connections DMC Funotion _ Table 43 Thermistor brake X23 Connection to User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X31 X31 PS 580160 Connector See page 35 At the power supply make the following connections to X31 see Figure 20 and Figure 31
8. 9032010352 9032 0104 96 9032 0108 51 20D604B This connector is only for DMC delivered before Feb 2001 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 2 1 DMC2 TABLES MOTOR CABLE COMBI CY Table 7 Order Name No of leads Current rating Voltage Temp Motor leads Bend Strain EN60204 erature area radius reliefs A C mm mm 27M012A MC COMBICY 1 0 4x1 2 2x0 25 9 6 11 7 5 to 70 19N308A 27M010D MC COMBICY 25 4 2 5 2 2 0 75 16 5 21 19N310A Motor cable COMBI CY Diameter DC Capacitance Shield resistance conductor to coverage mm mQ m shield pF m 4x4 2xt 2x0 75 HIGH FLEX MOTOR CABLE EUROFLEX S 801 C Table 8 Order Name No of leads Current rating Voltage Temp Motor leads otrain EN60204 erature area reliefs A C mm 27M720A MC S801C 1 0 4x1 2 2x0 25 9 6 11 7 750 40 to 70 1 19N308A 27 721 801 2 5 4 2 5 2 2 0 75 16 5 21 75 40 10 70 2 5 19 DC Capacitance Shield resistance conductor to coverage mQ m shield 10 9 14 0 27 722 _ 58010 4 0 4x4 2x1 2x0 75 23 28 750 4010 70 19N310A 27 725 5801 2 4 0 8x4 2x 2x1 2x23 2x28 40 to 70 19N310A STRAIN RELIEFS FOR MOTOR CABLE Table 9 19N308A HSK M EMV 13 18 Hmm CS 19N309A HSK M EMV 19 16 Hume Cs 19N310A HSK M EMV 13 20 Hume Cs 19N300A MCC EP PG16 1 0 12 15 Pflitsch 19N301A MCC EP PG16 1 0 14 17
9. Technical Specifications 570 V DC BUS MODEL DMC DMC DMC DMC 50412 50720 51540 53080 o 0 e m qus Cont power GC at 40 C 1 4 13 8 Min motor inductance phase phase 10 mH Efficiency at cont current 95 Torque linearity 1 of full scale plus 2 command value Speed loop bandwidth Depending on motor and load Input voltage 570 VDC 10 20 DC bus voltage 570 VDC 10 20 Shunt regulation On 670 700 VDC Ambient temperature 0 C to 60 otorage temperature 20 to 80 Humidity Height m mE jk Protection User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 EN TECHNICAL SPECIFICATIONS 400 V AC Bus models 400 V AC BUS MODELS 50412P 50720P 51540P 1 9 3 4 7 4 Cont power kW at 40 C Min motor ind phase phase mH Efficiency at cont current Speed linearity Torque linearity 1 of full scale plus 2 of command value Speed loop bandwidth Depending on motor and load Input voltage 3 phase 400 VAC 10 20 DC bus voltage 570 VDC 10 20 Shunt regulation On 675 700 Ambient temperature 0 C to 60 C Storage temperature 20 C to 80 C wmo b EN User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 TECHNICAL
10. When Bus voltage rises to a pre set level due to regeneration by the motor the dynamic brake transistor is turned on allowing excess energy to be dissipated in the dynamic brake resistor User s Manual 5 1 Inmotion Technologies AB E Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS DMC2 unit CONVERTER SECTION Enable Control power stage Temperatur Current Converter regulator faults Control unit 24 V Converter faults Isolated Logic i DC DC voltage unit Dynamic brake monitor converter level X10 or X20 Step Dynamic DC Bus bs down control DC DC converter X13 or X22 Dynam brake control A011 G Figure 13 Converter Section Block diagram SHORT CIRCUIT PROTECTION Detects short circuits between motor windings and shorts to ground Whenever current exceeds 300 of the DMC s peak current rating for 10 ms a short circuit protection fault occurs immediately shutting down the output power stage The short circuit detection is independent of the current measuring circuit TEMPERATURE DRIVE OVER TEMPERATURE PROTECTION Temperature sensor located in the output power stage which sets an internal variable Drive Temp High whenever a drive over temperature condition exists The variable Drive Temp High can in the application program be used to shut down the output power stage OVER VOLTAGE LEVEL Monitors the DC bus voltage level When the DC bus voltage
11. Disables the power output stage and de energizes the Ready relay upon recognition of a fault signal from the Converter section COMMUTATING LOGIC Turns on and off the switches IGBT s in the output power stage depending on motor angle and magnitude of torque current command LED UNIT A group of ten fronts panel LEDs Power On CPU OK and LED 1 thru LED 8 and associated drive electronics LEDs controlled by hardware Power On Green lit when 5 V are available in controller section CPU OK Green lit wnen CPU has started up and runs LEDs controlled by software LD 1 Green Software defined LD 2 Yellow Software defined LD Yellow Software defined LD 4 Yellow Software defined LD 5 Red Software defined LD 6 Red Software defined User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS DMC2 unit LD 7 Hed Software defined LD 8 Hed Software defined DC DC CONVERTER Reduces the 24VDC to 15VDC 15VDC and 5VDC supply voltage for the logic in the controller section PowER SUPPLY SECTION The power supply section converts three phase AC power to DC power which is used by the Converter section as a source of motor current Figure 11 illustrates the power supply section of a AC supplied DMC and Figure 12 illustrates the power supply section of a stand alone power supply The principal differences between the two configurations are
12. Note that the model PS580160 power supply is for 400 VAC 3 phase applications Use a WAGO 284 10 mm Terminal block for interfacing to X31 Phase L1 400 VAC Phase L2 400 Phase L3 400 VAC Dynamic brake resistor Dynamic brake resistor Table 44 Input Power at PS X31 X32 amp X33 PS 580160 Connector Seepage 35 DMC 50412 50720 DC Bus CONNECTION The following information is applicable to DC supplied DMC s ONLY Make the connections listed in Table 45 below from X32 or X33 Figure 20 on the stand alone PS unit to X10 on the unit see Figure 18 Note that X32 and X33 have a maximum current ration of 20 amps per pin PS unit X32 X33 Function DMC X10 DMC X10 PE PE lj zocos E E Gebees kb BEER Table 45 DC Bus Connection from PS to DMC 50412 and DMC 50720 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X34 DMC 51540 53080 DC Bus CONNECTION Make the connections listed in Table 46 below from X32 or X33 Figure 20 on the stand alone PS unit to X20 on the unit see Figure 19 Note that X32 and X33 have a maximum current rating of 20 amps per pin run omx 9 DC bus voltage 5 6 _______ DC bus voltage 61 Table 46 DC Bus Connection from PS 51540 53080 X34 PS 580160 Connector Seepage do Make the following dy
13. 13 Complete Drive Module 14 Basic Drive Module llu nennen nnn nnns nnns 14 Feeding Section and Auxiliaries 14 u E TO 15 OMIT E 15 Internal Interfaces of the PU 15 Configuring Power Drive Systems 17 ili T TOM EE 17 Power Drive System with the DM 17 DMC unit EE 21 Eel s si 21 done i u u 21 Resolver Measuring BE 21 puts and CC 21 ENADE TANU 22 TOT 22 Position and Speed 23 Positioning Unit Controller u uu u uuu a aeea 23 Uni U u _________6__ ___ 23 Programi 23 MOTOR IADU u u __ 23 Broko ROV A 23 Converter uuu uuu aq EE EE qun 23 Commautlaling lOgi6 uuu uu 23 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CED UOI 23 TT mU EU 24 SOC OMe ua qaya apama 24 Internal e E 25 Inrush Current Protechon nnne nnns 25 25 otorage AD ACO 25 Dynamic brake Regeneration Bleeder or Shunt Circuit
14. 80412 Y AC 20 ALA 3 Hr cf Yi Maru Lei ih BORE UP READ USER Hire de eee _ NEN RES GG User s Manual 5 1 Doc No 9032 0027 01 A Rev 12 07 2001 Inmotion Technologies AB PRS INTRODUCTION Product Identification _ Part Unique part number assigned to DMC with a specific Supply Voltage Edition Indicates the revision level ofthe article 1 the Indicates the revision level ofthe article level of the article Cat No model 5 0 4 1 2 ere Bus voltage Cont current Power supply Options pk P Integral CAN Extended CAN 5 570 0 Q4 4A Omit No integral current power supply 12 2 12 Production lot number assigned by the factory The production lot numbers together with the sequence number yield a unique serial number for each Serial number within a production lot Manufacture date Year month and day of manufacture Table 1 DMC Product expressions TRADEMARK ACKNOWLEDGEMENTS IBM IBM PC AT and PC XT are registered trademarks of International Business Machines Corporation Intel is a registered trademark of Intel Corporation registered in the United States Patent and Trad
15. Bus 66 DMC 51540 or 53080 DC Bus 67 KA 67 bi 67 Input wiring diagram RM RE 68 Single Installation TOT 68 Installation a aaa 69 Power Supply DMC 50412 50720 Installation cene 70 Power Supply DMC 51540 53080 71 Installing the in a cabinet eeseeeesienerineneriereririerarirrernreerern 73 73 Separation of Control and Power Areas 73 Installation example r nnne nnns 74 Cabinet Space Requirements nnne nns 76 Mounting Dimensions and Clearances 76 Electromagnetic Compatibility Considerations 78 BO I ________ 78 79 Grounding for Freouencles 79 Protective Earth Grounding 80 Thermal Considerations ccccccsseeccecceeseceecceseeceeeecueeseceeeeeeeeceeesseaeeeeesaeeeeeeeeas 80
16. Input Drmamic brake gxulator Figure 20 PS 580160 unit connectors on top side Power Dynamic brake and Thermistor X1 DMC P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector Seepage Input power is connected to X1 Figure 18 or Figure 19 on top of the DMC unit as shown in Figure 29 for a Single and Figure 30 for a Master Follower application Connect DMC 5xxxxP models to 400 VAC mains Phase L2 Phase L3 Table 27 Connection Mains to DMC User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X2 X2 P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector Seepage 35 Connections for 24V logic external supply voltage When connected it supplies the internal control circuit feedback sensors communication and I O ports The 24V logic supply shall always be connected before the main supply voltage is connected to the input power port External fuse shall be used rated max 1 5A T slow x2 Function 0 V Supply Internal connected to X7A pin 5 2 24 V Supply Internal connected to 7 pin 20 20 maximum supply 25 current 0 7A not including load on digital outputs Table 28 External 24 V Connection to DMC X4 HOST DMC P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector See page 46 is used for connections between external PC and other units ER The maximum length
17. as well as cables The motor cable resolver cable and the serial communication cable must be screened The screens shall be connected to both ends of the cable with metallic connector housings see Figure 39 The junction box on the motor see Figure 41 must be metallic not plastic User s Manual 5 1 Inmotion Technologies AB Doc 9032 0027 01 A Rev 12 07 2001 INSTALLING THE DMC2 IN A CABINET Cabinet Space Requirements STRAIN RELIEF A complete cable installation Motor cable and Resolver cable Figure 41 require strain relief to fulfil EMC regulations Figure 41 Motor and resolver cable connections at metallic junction box on motor GROUNDING FOR HIGH FREQUENCIES The inner areas of the cabinet and the mounting plate shall be galvanized and without paint If paint is used it must be removed at the component mounting surfaces for good high frequency grounding User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 INSTALLING THE DMC2 IN A CABINET Thermal Considerations The cables shall be mounted along metallic surfaces If possible mount the cabinet and the machine with clean no paint surfaces against each other See Figure 42 All cables entering the cabinet shall be high frequency earth grounded at the point where the cable enters the cabinet There must be good electrical contact between the unit and the shield of the motor cable If the motor cable shield is
18. connected to the protective earth rail the protective earth rail shall be high frequency grounded to the mounting plate at several places See Figure 34 Figure 42 Example of high frequency grounding techniques 1 Cabinet with DMC unit 2 Metal clean surface 3 Servo motor 4 Metal cable rail 5 Machine to be driven PROTECTIVE EARTH GROUNDING Do not daisy chain earth ground connections Run a separate wire between each component to be grounded and the ground point The ground wire protective earth ground in the motor cable shall not be connected to the DMC Connect it directly to the protective earth rail Figure 34 The earth ground for each DMC shall be shall utilize two conductors each having the same wire gauge as the input power cable THERMAL CONSIDERATIONS When DMC units are mounted side by side see Figure 37 the cooling effect is decreased approximately 30 96 Using the cooling effect from the mounting plate on which the DMC units are mounted can compensate this The necessary area for compensation is 0 04 m DMC At temperatures above 40 C a fan is recommended because of the decrease of current rating above this temperature The use of a fan will also compensate for the increased ambient temperature and thus avoid the reduced lifetime of the electronics The fan can be mounted either on the unit or beside it User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001
19. e The stand alone power supply does not include integral inrush current protection components e regeneration resistor is integral to the AC supplied A separate external regeneration resistor must be provided for the stand alone power supply X1 A009 p Figure 11 Block diagram of power supply section of AC supplied DMC 1 Internal EMC filter 2 Inrush current protection 3 Rectifier 4 Storage capacitator 5 Dynamic brake resistance 6 Dynamic brake switch 7 Internal connection to converter section 8 DC Bus 9 To dynamic brake control EN User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS DMC2 unit A010 L Figure 12 Block diagram of power supply section of stand alone power supply 1 Internal EMC filter 2 Rectifier 3 Storage capacitator 4 Dynamic brake switch 5 Dynamic brake resistance 6 DC Bus 7 From dynamic brake control INTERNAL EMC FILTER Attenuates conducted electrical noise into and out of power supply section INRUSH CURRENT PROTECTION Limits the inrush current for protection of the rectifier diodes internally This includes Contactors and switches externally RECTIFIER Six pulse rectification of the three phase input power STORAGE CAPACITOR Storages energy and filters the six pulse rectified voltage on the DC bus DYNAMIC BRAKE REGENERATION BLEEDER OR SHUNT CIRCUIT
20. level is too high a over voltage level fault occurs immediately shutting down the power stage LoGic VOLTAGE LEVEL Monitors the logic supply voltage level When the logic voltage level is too low a logic voltage level fault occurs immediately shutting down the power stage STEP DowN DC DC CONVERTER Reduces the DC bus voltage to 24 V DC supply voltage for the logic User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS Selecting a DMC2 for the Application ISOLATED DC DC CONVERTER Transform the 24 V DC supply voltage in the converter section to 24 V DC supply voltage in the controller section with safe isolation CURRENT MEASURING The current measurements are done in two motor phases with isolated current sensors able to measure AC DC and impulse currents DYNAMIC BRAKE CONTROL REGENERATION BLEEDER OR SHUNT CONTROL Controls the dynamic brake in the power supply section When the DC bus voltage rises too high it will turn on the dynamic brake and turn it off when the voltage has reduced DYNAMIC BRAKE MONITOR Measure the time the dynamic brake have been active and present it as a analog voltage that can be read from the software and used for overload detection SELECTING FOR THE APPLICATION PERFORMANCE SUMMARY AC SUPPLIED DMC Table 3 summarizes the principal performance characteristics of the available DMC models with an integra
21. program that sets up motor parameters regulator parameters protection functions and the functionality of the application e Set current limit to a low value so that the motor could handle the current without getting overheated Check that the resolver feedback and I O functions in the application programs working correctly LOAD A NEW FIRMWARE RELEASE The PL command BOOT be used to enter boot mode when an existing copy of firmware already resides in the flash User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 START UP AND COMMISSIONING Load a new firmware release 1 Turn power to the drive off 2 Short pin 2 and pin3 on connector X5 or X4 serial communication This will echo content sent by the drive back to the drive Apply power to the drive Remove short applied at step 2 Without removing power to the drive connect to the ECT terminal emulator Warning Make sure that both the and the PC are earth grounded failure to do so may result in damage the unit the PC 6 The BOOT monitor should have been entered First the current program must be erased to do that type gt EA or gt EF EA Erase all EF Erase firmware currently same as EA H Help When command has finished then next step 7 Select CONTROLLER DOWNLOAD from the menu and select the new firmware file firmware extension is hex Wait for download to fini
22. uuu SS Aus 54 S SD 54 Resolver and external resolver connection 55 Resolver Connection from motor 55 External resohver ere iere 55 ne d 55 Po u TROMPE 56 ee u OEN u 57 PINOUTS USEF WEE 57 m T 58 NPN Transducer Open Collector Type 58 O COS pu u Ten 58 High speed input digital inputl 59 Bil ig Analog ig o UNE 59 Bipolar Analog sje uc 60 Standard Output tnter tette tnter tenni 60 Analog EE ISI RE 61 po Q O 61 p sia 62 KA 62 pun m 62 pac 63 Da s 63 pon E 64 pons 64 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 C EENEN S E SS E 65 i SU 66 PP m co M 66 DMC 50412 50720 DC
23. 3 AB termination with external x termination d 5 NEXT HORS y ip eas D Figure 21 Typicaly LAN connection X6A DMC P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector Seepage 46 This connector is used for resolver and external resolver connection For location see Figure 17 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X6A RESOLVER AND EXTERNAL RESOLVER CONNECTION RESOLVER CONNECTION FROM MOTOR On the end connect the resolver cable to X6A Use our connection set 19N117K The connection on motor side is depending on the manufacturer of motor It s therefore important to check the motor wiring diagram EXTERNAL RESOLVER For input from an external resolver is Rd2 used and is connected to X6A on the See Table 31 C ev PTC Supply PTC Return Table 31 External Resolver Connection SYNCBOX At applications with more than one resolver is a syncbox necessary to use Use a Syncbox cable to connect the DMC with the Syncbox at X6A User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X6B X6B DMC P CAM 50412 50720 51540 DMC CAM 50412 50720 51540 53080 Connector Seepage 46 This connector could be used for the following sensors Seen interface DMC 51 52 53
24. 3 A Calculate resitance value 700V 14 3A 49 2 another way to calculate the external dynamic brake resistor is to go the opposite way First select the resistance as close as possible to the minimum resistans that is allowed for the shunt regulator This will give the maximum dynamic brake peak power for the dynamic brake in the PS unit e Calculate the max peak current for 700 V at the DC bus e Calculate the peak power for 1 second e Calculate the power rating for the resistor that could handle the peak power e Calculate the minimum continuous power that could be handled by the resistors e Check that the continuous power is sufficient for the application If the calculated continuous power is much larger then what is needed in the application try to reduce the peak power it will save cost on the power resistors EXAMPLE 2 FOR PS580160 MINIMUM RESISTANS 100 Calculate the max peak current for 700 V at the DC bus 700V 10 Q 70 Calculate the peak power for 1 second 700V x 70A 49 kW Calculate the power rating for the resistor that could handle the peak power 49 kW 50 980 W Calculate the minimum continuous power that could be handle by the resistor 980W 1 5 653W User s Manual 5 1 Inmotion Technologies AB 3 Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS Transformer Selection Peak power for 1 second in Watt is the same as pulse energy in Joule J W S TRANSFORMER SE
25. 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 Configuring Power Drive Systems INTRODUCTION This chapter discusses configuring power drive systems and presents information on selection of system components including the cables protective devices and others PowER DRIVE SYSTEM WITH THE The is available in two configurations AC Supply models which contain an integral DC power supply input converter section and DC Supply models which have no integral DC power supply A stand alone PS power supply unit is available for powering DC Supply models of the A Power Drive System PDS utilizing may be configured in several ways depending on the number of motion axes and the requirements for each axis e One or more AC supplied unit s See Figure 6 e One AC supplied unit supplying one more DC supplied DMC unit s with a DC bus interface See Figure 7 stand alone PS power supply unit supplying one or more DC supplied DMC unit s with a DC bus interface See Figure 8 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS Power Drive System with the DMC2 DMC2 Ge Product name POWER CPU 2 n 4 5 De 07 m N A196 p Figure 6 Example of PDS with an AC supplied DMC unit Motor power conne
26. 54 Function Remark X6B X X Endat Clock ENDAT RS485 2 X X EndatData 85485 X X X Endat 0 V 0 V supply ENDAT or Encoder eV 12 V Supply 150 mA not standard 5 j j j JN 6 X X EmcCos X ENDAT Vpp or Encoder 5V TTL 120 ohm 7 X X EncSin ENDAT 1 Vpp Encoder 5V TTL 120 ohm 8 X X EncRe ENDAT 1 Vpp or Encoder 5V TTL 120 ohm 9 X Rd fCo Internal connected to XGA 10 X __ 5 Intemalconnectedto 11 x Excitation Supply Internal connected to X6A 9 NC 14 x X EndatClock ENDAT 5485 15 X X EndatDataw 5485 X X EndatSenceov ENDAT Voltage drop detection X X jEndaSenee5V Voltage drop detection X X 5 Supply X X ___ EncCos ENDAT 1 pp Encoder 5V TTL 120 ohm X X EncSins ENDAT 1 Encoder 5V TTL 120 ohm 21 X X X EncRefe ENDAT 1 or Encoder 5V TTL 120 ohm X Internal connected to X Internal connected to 24 Excitation Ground Internal connected to X6A7 25 j j _ 227 24 Supply 150 mA not standard opt Table 32 Connection on X6B X i
27. GULATIONS e The system is driven by high voltage level of 3 phase 400 VAC Make sure that the system is not connected to mains when installation service or repair is done e The system must be turned off before changing cables or accessories e Non Compliance with the installation instructions in this manual can either damage the system or cause an electrical shock e The system can start automatically when mains are turned on depending on how the hardware and software configuration is defined e When a computer is connected to the unit make sure that both the and the computer are connected to earth ground for avoidance of unpredictable voltage swing MECHANICAL REGULATIONS e servo motor connected to the unit consists of moving parts and can perform high torque s and or speed in short time within a few ms e Some parts of the unit can be very warm up to 90 C e system shall be installed in a cabinet that gives Pollution Degree 2 EMC e The unit is designed to fulfill European EMC directive 89 336 EEC referring to EN50081 2 Generic emission standard Part 2 Industrial environment and EN50082 2 Generic immunity standard Part 2 Industrial environment The unit is designed to fulfill FCC Federal Communications Commission rules referring to Part 15 e Proper installation and use according to this manual must be performed if the EMC requirements are to be fu
28. HEAD OFFICE INMOTION TECHNOLOGIES AB Solkraftsv gen 13 SE 135 70 Stockholm SWEDEN Telephone 46 0 8 682 64 00 Telefax 46 0 8 682 65 80 Info inmotech com http www inmotech com APPLICATIONS CENTERS GREAT BRITAIN Inmotion Technologies Danaher Motion Bridge Mills Holmfirth Huddersfield HD9 3TW Telephone 44 0 1484 68 83 25 Telefax 44 0 1484 68 83 26 GERMANY ACC Motion GmbH Zahringerstrasse 23 DE 77654 Offenburg Telephone 49 0 781 919 08 0 Telefax 49 0 781 919 08 29 ITALY Danaher Motion Srl Via Brughetti Z I IT 20030 Bovisio Masciago MI Telephone 39 0362 594 260 Telefax 39 0362 594 263 SWEDEN Inmotion Technologies AB Solkraftsvagen 13 SE 135 70 Stockholm Telephone 46 0 8 682 64 00 Telefax 46 0 8 682 65 80 Inmotion Technologies AB Box 195 SE 234 23 Lomma Telephone 46 0 40 41 48 50 Telefax 46 0 40 41 48 55 SWITZERLAND ACC Motion SA Wehntalerstrasse 6 CH 8154 Oberglatt Telephone 41 0 1 851 5010 Telefax 41 0 1 851 5020 ACC Motion SA La Pierreire CH 1029 Villars Ste Croix Telephone 41 0 21 863 6464 Telefax 41 0 21 863 6479 U S A Inmotion Technologies 211 Overlock Drive Sewickley PA 15143 2305 Telephone 1 412 749 0710 Telefax 1 412 749 0705 DMC Digital Motion Control Sysytem Part A User s Manual 5 1 Art No 9032 0027 01 A 12 07 2001 Inmotion Technologies AB Stockholm Sweden Inmotion Te
29. IIII I KI I IIIIIIIIQI W IOI IW I IIIIIIQIIN IIIIIIISI ee uz 4 Power Drive System System Controller Complete Drive module Basic drive Module Feeding Section x Figure 3 Power Drive System PDS User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 EN OVERVIEW OF DRIVE SYSTEM System Definitions based on IEC Standards COMPLETE DRIVE MODULE The Complete Drive Module CDM consists of a Basic Drive Module BDM and its possible extensions or auxiliaries such as the Feeding Section Basic DRIVE MODULE The BDM in Figure 4 is comprised of a Converter Section and Control Section The Converter Section changes voltage current and or frequency of the power distribution network to voltage current and or frequency of the feeding network for the motor The Converter Section can be divided into Input Converter and Output Converter The Input Converter can be a rectifier The Control Section monitors and controls the Converter Section It also handles communication l O signals and feedback devices Basic Drive Module Control Section Input Output Converter Converter Section Section Figure 4 Basic Drive Module BDM FEEDING SECTION AND AUXILIARIES The Feeding Section consists of all parts between the mains and the input to the converter section including e Main switch e Input short circuit protective devices e Transf
30. INSTALLING THE DMC2 IN A CABINET Cabinet Space Requirements Control area Power area HF Control area HF Power area L LF Control area LF Power area A030_E Figure 36 General cabinet layout recommendation CABINET SPACE REQUIREMENTS MOUNTING DIMENSIONS AND CLEARANCES Figure 37 shows recommended minimum clearances for air flow cable bends etc when mounting the unit Mounting dimensions for various models shown in Figure 38 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 INSTALLING THE DMC2 IN A CABINET Cabinet Space Requirements 150 A104 Figure 37 Minumum clearances when mounting DMC 1 Cabinet wall 2 Cabinet door User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 INSTALLING THE DMC2 IN A CABINET Cabinet Space Requirements 285 Figure 38 DMC mounting dimensions in mm Depth for all units is 223 mm 50412 50412P 53080 50720 50720P PS580160 ELECTROMAGNETIC COMPATIBILITY CONSIDERATIONS The and other PDS components must be installed and operated in accordance with the instructions in this manual to fulfill the EMC Electromagnetic Compatibility requirements SCREENING The purpose of screening shielding is to prevent unwanted electromagnetic radiation from entering or escaping the system This means that screening applies to cabinets
31. LECTION In some application it is a need for transformer to convert the input voltage or for safety reasons Requirements on the transformer for a typical servo application with acceleration and deceleration peak torque of 2 3 times the continues torque e The output voltage should be 400 V The transformers that have a continuous power rating equal our higher than the total continuous output power needed for the application e The transformer shall have a maximum of 5 96 voltage drop at two times the continuous output power needed for the application EXAMPLE OF SYSTEM CONFIGURATIONS DRIVE COMBINATION To give good performance in dynamic applications should the drive motor combination be able to give 2 to 3 times the rated torque at rated speed The drive applications that are listed in Table 25 and Table 26 shows the components that are essential for an application They are optimized to take out the maximum of performance of drive and motor in a dynamic application SIZING COMPONENTS OF THE DMC SYSTEM e Calculate torque power requirement and regeneration power requirement for the application e Choose motor which satisfies torque peak torque and speed requirements e Choose unit with required continuous current peak current and regeneration energy dissipation capacity e Choose cables and accessories which satisfy voltage and current requirements and national electrical regulations e Overload Protectio
32. M Mode EEProm 7 and 15 COMM TLines EEProm 7 gt gt 8 BaudTable is a table of 8 baudrate values 50 9600 If there appears to be a problem communicating with the then check the startup message first to verify that the initial settings are correct User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001
33. ND GND GIA H CiA V 47 265 V 1 2 3 4 5 8 3 CO D CH de te FQ Chain TX 10 Daisy Gham TX Inv 11 Daisy Chain Rx 12 Daisy Ghain RX Ins 13 4 LAN 1 15 15 Figure 16 DMC Front and Connections User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 Front Pawer 5 V an controller section CPU OK CFU started up and running LED 1 Sofas Defined LED 2 Sofware Defined LED 3 Sofware Defined LED 4 Software Defined LED 5 Software Defined LED 6 Sofware Defined LED 7 Software Defined LED Software Defined Sean tn qe d hg Sync Gne NC GND 16 Daisy Chain Daley Chain FX inv Chain TX Daisy Chain TX Inv LAH 1 LAN 1 16 DMC2 I O Connections DMC I O CONNECTIONS Figure 17 Connections for all units bottom view Analog Input 2 Analog Input 1 Analog Input 1 Daal Ground Input Enable Digtal input Di 10 Digital Di amp Digtal Input IO Dora Input Di 7 11 Digital Di Dugital Input Gi lnpul Di Digital input Gi 5 Digital Input Di i Digtal Input Di KE Ja he cn l IM S US Transducer Input Transducer Input arauri 5 v Supoly Se T
34. O d Co BS 5 V Supply mu HEHEHEH a d DLE n 1 Shield 2 Rd Sin S 1 3 Ad t Sin CS d Cops 5 Ad TCs B 15 V Exiaton B B Exitalion Supply 10 Rag Sin 11 Rd 2 Sin 12 Rd 2 13 2 Cos 14 Suppl User s Manual 5 1 Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS 21 Analog Ground 22 Analog 1 Analog Kap 2 23 24 DV 25 24 V Input 28 24 V Op 27 15 V Output 15 V Output Digital QutputDi Digital GutnutDi Digital Digital Digital QubputDi Digital 3 Ready Relay Number Ready Relay Murriber 111 Suaply 24 V Supply 1 Clock z Endat Dois Erdal OV 4 12 E NC B EncCos T Eng San E Ene Ret Cos 10 San 11 Supply 12 MC 13 NC 14 Endat Chock Ergat Dats Endal Seres D V Senes 5 V Endal 5 V Supply Enc Cos Enc Sint Enc Rel bell Sm Exitalion Ground eed Inmotion Technologies AB DMC2 CONNECTIONS DMC2 50412 P DMC2 50720 P DMC 50412 P 50720 P 3 NC 2 Qutput Dynamec brake regulator DC 1 Output D ynamsc brake regulator driver 3 DC Bus Voltage 2 DC Bus Voltage 1 PE Power eg My 1 PE hd e aan y x 211 Motor Phase 3 LZ FE 4 L3 Shield X d rhermistor in Thermistor out 3 NC
35. Pflitsch 19N302A MCC EP PG16 1 0 16 21 16 20 Pflitsch 19N303A MCC EP PG16 1 0 16 20 Pflitsch User s Manual 5 1 Doc No 9032 0027 01 A Rev 12 07 2001 Inmotion Technologies AB EN DMC2 TABLES Resolver cables with connectors for EP motors RESOLVER CABLES WITH CONNECTORS FOR EP MOTORS Table 10 mm reg 27M017B RC DMC EP 5 510 470 19N117K 27M017C 7 5 510 470 19N117K Shielded with three twisted and shielded pairs 19N117R 19N304A 27M017D RC DMC EP 10 510 70 19N117K 27M017E RC DMC EP 15 510 70 19N117K RESOLVER CABLES WITH CONNECTORS FOR SEM MOTORS Table 11 mm E 27 0308 RC DMC AHD 5 sea 19N117K 27M030C RC DMC AHD 7 5 0 25 5 to 70 19N117K 19N410A 20B231A 7 5x2 Shielded with three twisted and shielded pairs oss ses ewe RESOLVER CABLES BY THE METER Table 12 Order No Name Type of cable Cable area rating Bend Diameter mm radius mm mr z7MO 3A 0 25 Shielded with three twisted and shielded pairs _ 0 25 __ Bythe meter aw 70 _ HIGH FLEX RESOLVER CABLES Table 13 Order No Name Type of cable Cable area Pas rating Bend Diameter mm radius 2 M015A RC LY12Y11Y 0 25 Shielded with three twisted and shielded pairs 025 By the meter 40 to 70 User s Manual 5 1 Inmotion Technologies AB 37 Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 TABLES Strain re
36. SPECIFICATIONS Stand Alone Power Supply STAND ALONE SUPPLY Input Cont current RMS A at 40 C Cont power KW at 40 C Efficiency at cont current x Input voltage 3 phase 400 VAC 20 10 DC bus Cont current CC A at 40 C DC bus voltage 570VDC 10 20 Ambient temperature 0 C to 60 C Storage temperature 20 C to 80 C Humidity Height mm Depth mm Width mm Protection Dynamic brake max energy on pulse Depends on rating for the external dynamic brake resistor Dynamic brake cont power Depends on rating for the external dynamic brake resistor UO Digital inputs Input high gt 12 9 V typical 10 V Input impedance to ground User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 TECHNICAL SPECIFICATIONS External Logic Supply Digital outputs Number of outputs Max voltage 30 V DC Max current 100 mA short circuits proof Analog inputs Number of inputs 10 V 10 V Max 14 bit 8 bit 40 kQ Voltage range Common mode voltage Resolution Linearity Input impedance Number of inputs JP Filter time 0 1 ms Analog outputs Number of outputs Resolution Voltage swing Max current Dedicated output for READY signal Controlled by Software and hardware Relay normally open Max voltage 24V DC Motor brake relay output Rating AC 250 VAC 2A Rating DC 24 VDC 2A External freewheeling d
37. Vibration IEC 68 2 6 10 55 Hz 0 15mm 55 150 Hz 20 m s s RESOLVER SPECIFICATION Operating Frequency 4 kHz Output Voltage V ms 3 8 Vims depends on Transformation Ratio Phase Shift 45 Input Current Max 150 mA preferable max 75 mA Electrical Error 25 arc minute DMC resolver output are able to drive 150 mA If two resolvers are driven from one then each resolvers input current should be max 75 mA EN User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 Start up and Commissioning CHECKS PRIOR TO INITIAL POWER UP BEFORE POWER UP THE FIRSTS TIME e Check the wiring of the installation e Check ground and shields connections of the installation e Check that the voltage for mains is correct e Make sure that there is fast way to disconnect the main power to the with an emergency stop e The should have a BRAM or EPROM with application program that sets up motor parameters regulator parameters protection functions and the functionality of the application e Make sure that the enable signal to the is disabled until the installation have been completely power up and are ready to be used e sure that the motor shaft can run freely and that the temperature protection in the motor is connected to the DMC BEFORE ENABLE THE POWER STAGE AFTER POWER UP If BRAM are used down load an application
38. able Motor cable 10 Feeding section 11 Filter 12 Contactor 13 Fuse 14 Power cable 15 PC 16 Terminal PC 17 Resolver connection 18 Motor connection 19 Dynamic brake control 20 Contactor for inruch protection 21 connector User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS DMC2 unit DMC UNIT The is the Basic Drive Module a Power Drive System illustrated in Figure 9 It consists of a control section converter section and for AC supplied models part of the feeding section Control section Power supply section Converter section Temperature lt EE EE Resolver Figure 9 Block diagram of CONTROL SECTION Figure 10 presents a block diagram of the Control Section of a Functions assigned to the blocks are described below CONTROL UNIT The control unit handles the firmware flow for each servo cycle administrates the serial communication and executes the application code The control unit apportions CPU time among the firmware communications and the application RESOLVER MEASURING Handles excitation and feedback signals from the resolver for control of rotor position and axis speed and position This function also supports a second resolver for master slave tracking applications INPUTS AND OUTPUTS Fille
39. chnologies AB 2001 All rights reserved User s Manual 5 1 Inmotion Technologies AB EJ Doc No 9032 0027 01 A Rev 12 07 2001 Table of Contents IER ge 3 EO CUCT O 7 About Documentation 7 7 Scope of User s Manual 7 Related u u UU u 7 Warning Caution and Information Notices 7 About the Products 8 Personal 8 Intended Use of the DM 8 OEM S Responsibility a 8 Product Identification 9 Trademark Acknowledgements 10 Proprietary Gtatement nennen 10 Warranty Gtatement r a aa aaa nnns nnns 10 Regulations and UDrechves 11 qi s l I I n swan 11 Electrical Regulations a 11 Mechanical Hegulatons 11 zum 11 European 12 Maintenance Notice eee ternera 12 Overview of Power Drive System 13 13 System Definitions based on IEC Standards 13 Power Drive System a enn nnn nn
40. ction Communication cable connector Resolver connection Thermistor and brake relay connector Motor power connector Power connector Resolver cable Motor cable 10 Feeding section 11 Filter 12 Contactor 13 Fuse 14 Power cable 15 PC 16 Terminal PC User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS Power Drive System with the DMC2 Figure 7 Example of PDS with an AC supplied unit and a DC supplied unit Daisy chain cable Communication cable connector DC bus cable Thermistor and brake relay connector Motor power connector Power connector Resolver cable Motor cable 10 Feeding section 11 Filter 12 Contactor 13 Fuse 14 Power cable 15 PC 16 Terminal PC 17 Resolver connection 18 Motor connection User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS Power Drive System with the DMC2 PS580160 Figure 8 Example of PDS with DC supplied DMC unit s driven by stand alone PS power supply unit Daisy chain cabel Communication cable Dynamic brake resistance Temperature switch connector Thermistor and brake relay Motor power connector DC bus cable Resolver c
41. ction box at the motor The cable shield must make secure metallic contact with the strain relief Table 37 Motor Connection X11 to DMC X13 P 50412 50720 DMC 50412 50720 Connector Seepage 35 Make the following dynamic brake circuit connections Table 38 from X13 Figure 18 unit to X34 on PS unit Figure 20 Output dynamic brake regulator driver Output dynamic brake regulator DC Table 38 Dynamic brake X13 and X34 Connection X14 DMC P 50412 50720 DMC 50412 50720 Connector Seepage d Make the following connections Table 39 at the DMC X14 Figure 18 for placement and the terminal block at the motor for thermistor and brake connections See motor documentation for correct wiring User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X20 DMC X14 Function Motor brake Contact NO Motor brake Contact NO NC used as connection point Thermistor out 15 VDC Thermistor return Table 39 Thermisto brake X14 Connection to X20 P 51540 DMC 51540 53080 Connector Seepage 35 Table 40 illustrates the input power connections to a DC supplied unit from an AC P version supplied unit Connect the DC bus voltage from X20 P Figure 19 for placement to X20 Figure 32 show how X20 is connected DC bus voltage 570 VDC 3 Table 40 DC Bus Connection X20 between AC and DC
42. dels EMC FILTERS REQUIREMENTS EMC filters shall be chosen so that national electrical regulations are fulfilled in the country where the system is to be used The filters used shall be tested to comply with the EMC regulations We recommend the filters listed in Table 21 which have been tested together with the unit For filter dimensions see part C CONTACTORS One or two different types of contactors may be required depending on the system configuration All system configurations use a main contactor Paragraph Main contactor selection provides guidelines for main contactor selection Table 22 e Systems utilizing a stand alone power supply require an additional contactor which inserts inrush current limiting resistance into the in feed circuit for the first 50 ms after power up Paragraph Inrush current contactor selection provides guidelines for inrush current contactor selection Table 23 e For Inrush Resistor See Table 24 MAIN CONTACTOR SELECTION e Use 4 pole contactors e The contactor s working current for AC1 operation at 40 C ambient temperature shall be equal or greater than 125 of rated rms current for the input power fuses e The make current shall be lower than the contactors rated make current Capacity e Operating rated voltage shall be 24 V DC or the voltage that are used for the auxiliaries circuit INRUSH CURRENT CONTACTOR SELECTION e contactor shall have a ti
43. e LP1 D25004BD RECOMMENDED INRUSH CURRENT CONTACTORS Table 23 Name Current rating Supply voltage Recommended for application with maximum Recommended inrush AC1 operating V AC rated cont output power resistor A kW sl 8 8 4 Type Telemecanique LC1 D1200405 4 7O 50W Type Telemecanique LC1 D2500405 400 4 7 2 50W User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 TABLES Recommended inrush resistors RECOMMENDED INRUSH RESISTORS Table 24 Type example DALE HL 50 4 7Q 50W 120 A SYSTEM CONFIGURATION SYSTEM CONFIGURATIONS 400 VAC Table 25 Motor Drive Power Motor Cable Motor Resolver Filter Fuse Power Cable rating Main Cont Inrush Curr Inrush Dynamic brake combination Supply Cable strain Cable with curr rating cont resistor resistor relief conn 15m 50412 wun 27 012 19N300A 27 017 S6S117A 6 DMC 50412 imbuit 27 012 19N300A 27 017 569117 e DMC 50720 wun 27MO10D 19N301A 27 017 569117 e DMC251540P imbuit 27 0100 19N301A 27 017 5651178 16 16 53080 PS580160 27 014 19N303A 27 017 565117 40 4 70 50W RATING FOR SYSTEM CONFIGURATIONS 400 Table 26 Motor Drive Rated torque Peak torque at Max peak torque Dynamic brake Rotor inertia combination Nm rated speed at 150 rpm cont power
44. eld COMMUNICATION CABLE Cable assemblies for to PC DMC to DMC interconnection are listed in Table 15 and Table 16 The to PC cables use a F 9 pin DSUB and 9 pol metal housing on the PC end Cable assemblies for DMC to Terminal PC are listed in Table 17 CONTROL CIRCUIT CABLE Shall be chosen so that national electrical regulations are fulfilled in the country where the system is to be used We recommend that the control circuit cable having a cross section of at least 0 5 AWG20 FUSES REQUIREMENTS Fuses shall be chosen so that national electrical regulations are fulfilled in the country where the system is to be used We recommend time delay fuse with a delayed opening of approximately 1 min total delay for 1 5 to 2 times rated current Table 2 below lists the fuse ratings for the various DMC models If a circuit breaker is used it must have a current interrupting capacity 6000 A and a delayed opening of approximately 1 min total delay for 1 5 to 2 times rated current of the If a circuit breaker is used it should be used in conjunction with 100 amp fuses User s Manual 5 1 Inmotion Technologies AB EI Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS EMC filters DMC Type Time Delay Fuse Rating Circuit Breaker Rating DMC 51540P 10 16 10 16A PS380160 10 50 A 10 50 A PS580160 10 50 A 10 50 A Table 2 Fuse circuit breaker ratings for DMC mo
45. emark Office Microsoft MS DOS Excel and Windows are registered trademarks of Microsoft Corporation registered in the United States and Trademark Office Novell and NetWare are registered trademarks of Novell Inc registered in the United States Patent and Trademark Office PROPRIETARY STATEMENT The digitally encoded software included in the is copyrighted 2001 by Inmotion Technologies AB All rights reserved This software may not be reproduced modified displayed transferred or copied in any form or in any media in whole or in part without the express written from us WARRANTY STATEMENT We make no warranty of any kind including but not limited to any implied warranties of merchantability and fitness for a particular purpose with regard to this manual We assumes no responsibility or liability for errors contained in this manual or for incidental special or consequential damages arising out of the furnishing of this manual or the use of this manual in operating the equipment or in connection with the performance of the equipment when operated Eg User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 INTRODUCTION Regulations and Directives REGULATIONS AND DIRECTIVES CERTIFICATION The shall be put into operation and be used only by authorized personnel e Localor national safety regulations in the field of electrical installation shall be followed ELECTRICAL RE
46. ev 12 07 2001 Strain reliefs for resolver 38 Communications cables BC 38 Communications cables DN 38 Communications cables Terminal BC 38 EE mo C 39 Klee 39 39 Recommended 40 Recommended main 5 40 Recommended inrush current contactors 40 Recommended resisiore 41 System configuration DM 41 System Configurations 400 VAN 41 Rating for System Configurations 400 VAC 41 Connections 45 uuu 45 ACO ss s sss 46 DUE x iln __ 46 Front 47 Connections III aaa 48 50412 P POZ20p 49 51540 P b ngn n tnter 50 Power Supply 580160 nennen nnns nnns 51 RE 51 52 P C AVVO SU EE 52 uuu a 9 53 DX le AS en d e u L 53 j ______ _ _ 53 Communication between DN 53 LAN T GSOIImIfiliiiIGBIIOp k u a
47. for this cable is 15 m Fux _ Shield Sync Nr 15 S NC 52 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X5 next X5 NEXT P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector See page 46 X5 is used for communication between two or more and for LAN communication Function Shield NC NC X4 AND X5 CONNECTION RS 232 INTERFACE The RS 232 interface is used when connecting a PC to the DMC Connect the serial communication cable from the computer to X4 Figure 16 DMC X4 Function PC 9 Pin PC 25 Pin 3 2 Table 29 Host 4 Connection to RS 232 Interface COMMUNICATION BETWEEN Connect the Daisy Chain cable from X5 Figure 16 on the first unit to X4 on the second DMC unit Table 30 User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X6A DMC X4 Function DMC X5 13 LAN 1 High 13 LAN 1 Low Table 30 Next X5 Connection to Host X4 LAN 1 COMMUNICATION Connect the Daisy Chain cable from X5 on the first unit to X4 on the second unit Figure 16 Use the CAN termination 9032 0103 14 at the first DMC in the application and a CAN termination with possibility to measure data 9032 0103 15 at the last in the application DMC1 DMC2 DMC
48. ication User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 Overview of Power Drive System GENERAL The is an intelligent motion controller which together with motor and cables is used for control of speed position acceleration and torque of a motor driven axis in a machine or process The is also able to process control and coordinate a number of inputs and outputs both digital and analog The strength of its motion and capabilities make the well suited for handling complex machine or process control applications The remainder of this chapter is devoted to defining a machine process controller using standard terminology established by the IEC International Electro technical Commission SYSTEM DEFINITIONS BASED ON IEC STANDARDS In this section the definitions of a Power Drive System as described by IEC will be stated This is to clarity how the products are to be used in systems for machine or process and which functional parts it is covering POWER DRIVE SYSTEM A Power Drive System PDS is comprised of a Complete Drive Module System Controller and motor with its included sensors Figure 3 shows the boundary between the PDS and the process If the PDS has its own dedicated transformer this transformer is included as a part of the Complete Drive Module Machine or Process K OOIIcI I I IIIIIIIIIII II IIII IIIWXIII I I II I I
49. internal current to output power PERFORMANCE SUMMARY DC SupPLIED DMC Table 4 Order No Ce SE Models Input voltage Cont current eee current Geen current ae output power loss Width Weight 0121 20 50412 0121 34 50412 CAN 0121 22 50720 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 TABLES Performance Summary Stand alone Power Supplies PS units PERFORMANCE SUMMARY STAND ALONE POWER SUPPLIES PS UNITS Table 5 Order No Input Output Output peak Output cont Dynamic Dynamic Dynamic brake max Dynamic brake Width Weight 9032 current cont current power brake peak brake cont energy one pulse cont power mm kg 50 60 Hz Aims current ADC kW P dion d kJ W ADC TT Depends on rating for the external dynamic brake resistor User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 TABLES Connector Kit for DMC2 CONNECTOR KIT FOR DMC Table 6 DMC connector 50412 DMC 50412P 50412 DMC 51540P DMC 51540P DMC 51540 designation 50720P 50720P 50720 Order No ue 5 580160 Phoenix Connection function mE SSES ULL ES ULL T J TT Connector Kit No 9032 0119 70 9032010494 9032 0103 53 9032010495
50. iode required EXTERNAL LOGIC SUPPLY Type Specification Voltage 24 V 20 External fuse 1 5 Slow User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 TECHNICAL SPECIFICATIONS Optional Position Sensors OPTIONAL POSITION SENSORS Encoder Function Specification Remark Incremental External movement 5 V 85422 Encoder sensor Only one could be used at same SinCos Encoder Motor shaft or external 1Vpp time movement sensor MEASURE CONNECTION Function Specification Low level differential analog input for Input 50mV measurement bridge 5 V DC supply available LAN2 Function Specification Second LAN interface in accordance Isolated with CANopen standard CiA 301 7 26 5 VDC external supply ENVIRONMENTAL DATA Environment Specification Pollution degree IEC 664 Degree 2 Protection class ENVIRONMENTAL TESTS Operating on average load Operating on reduced load Cold IEC 68 2 1 090 2h Heat IEC 68 2 2 60 C 2 h User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 TECHNICAL SPECIFICATIONS Resolver Specification Power turned off storage Cold IEC 68 2 1 40 C 16h Heat IEC 68 2 2 85 C 16h Change IEC 68 2 14 40 C to 85 C 2 cycle Humidity IEC 68 2 30 95 25 C 40 C 6 cycle Bumps IEC 68 2 29 100 m s s 4 7 ms 3x1000 cycle
51. l AC power supply PERFORMANCE SUMMARY DC SUPPLIED DMC Table 4 summarizes the principal performance characteristics of the available DMC models without an integral AC power supply STAND ALONE POWER SUPPLIES PS UNITS When configuring a PDS with multiple DMC s the optimum configuration is frequently a stand alone power supply with DC supplied Table 5 summarizes the principal performance characteristics for the available models of stand alone power supply CONNECTOR KiT FoR DMC Input power DC Bus power motor Dynamoc brake Termistor brake Temperature switch 24 V DC and I O connections to the are made using transition connectors who mate with header type connectors on the Table 6 lists part numbers for these transition connectors along with mating connector kit designed for each model of the DMC User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS Cabling CABLING CABLE Power cables shall be chosen so that national electrical regulations are fulfilled in the country where the system is to be used We recommend that the power cable be sized for 2 times the fused current or at least 1 5 MOTOR CABLE Motor cables shall be chosen so that national electrical and EMC regulations are fulfilled in the country where the system is to be used We recommend that the motor cable be sized for 2 times the conti
52. lfilled The unit complies with the limits for a Class A digital device pursuant to CISPR11 International special committee on radio interference This equipment generates uses and radiate radio frequency energy and if not installed and used in accordance with this manual may cause harmful interference to radio communications Operation of the equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference using own expertise A shielded cable is required to comply with the limits for a Class A digital device pursuant to CISPR11 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 EUN INTRODUCTION DMC2 Maintenance Notice EUROPEAN DIRECTIVES The unit fulfills the EC requirements and carries the European CE sign However they will be declared as components for building up machines They will therefore not be powered as long as the machine itself does not comply with the European Directives MAINTENANCE NOTICE The contains no internal adjustments no fuses and no user servable maintenance parts requiring removal of its protective covers Software programs developed and maintained by DMC users customize the unit for each application Maintenance personnel must be aware that a DMC swap may also require configuring the replacement unit to be configured with the correct software for the appl
53. liefs for resolver cable STRAIN RELIEFS FOR RESOLVER CABLE Table 14 19N305A HSKMEMV _ i Hmm 19N304A MCC EP PG1 Fisch COMMUNICATIONS CABLES PC Table 15 Order No Name Length No of leads Cable area Shield m mm2 27 117 CC DMC RS232 2 27M117B CC DMC RS232 4 COMMUNICATIONS CABLES DMC Table 16 Order No Name Length No of leads Cable area Shield m mm 27M217A __ 27M2178 os 0 Yes COMMUNICATIONS CABLES TERMINAL PC Table 17 mm 27M127A CC PC DMC 3 EE 27M127B CC PC DMC 5 Yes 27M127D CC PC DMC 1 5 Angle o IM H User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 TABLES Sync cable SYNC CABLE Table 18 Order No Name Length No of leads Cable area Shield m mm2 sYNCBOX Table 19 27M425B DMC Syncbox External resolver EP MOTOR w 27M425C DMC Syncbox Master Slave EP MOTOR x 27M425D DMC Syncbox Master Slave S EP MOTOR D 27M425E DMC Syncbox External resolver EP MOTOR 9032 0108 80 DMC Syncbox External resolver SEM MOTOR 2 pol resolver 3 CONNECTOR Table 20 O en em ege _ 9032 0103 17 D SUBind hood 9 For external rotary _ 9032 0103 18 D SUBind hood 9 For external rotary 9032 0103 14 CAN termination EB and communication _ X4 X5 9032 0103 15 CAN ter
54. me delay on make of at least 10 ms e contactor s working current for AC1 operation at 40 C ambient temperature shall be equal or greater than 125 of rated rms current for the input power fuses User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS External Dynamic Brake Resistors e The make current shall be lower than the contactor s rated make current Capacity e Operating rated voltage 50 or 60 Hz shall be not less than the line to line voltage of the AC input voltage EXTERNAL DYNAMIC BRAKE RESISTORS Select a power wire wound resistor type Dale HL or similar that are rated 1 5 TIMES the continuous dynamic brake power that are needed This type of resistor is enabling to handle a peak power 50 TIMES its rated power in 1 second e Calculate needed power rating on the resistor e Calculate the peak power for 1 second e Calculate the max peak current for 700 V at the DC bus e Calculate the resistance value e Check that maximum peak current and continuous current for the dynamic brake in the PS unit not are exceed e fthe peak current is to low select a resistor with higher power rating and calculate again EXAMPLE 1 CONTINUOUS POWER 130W AND PEAK POWER 8KW Calculate needed power rating on the power resistor 1 5x130W 200 W Calculate peak power for 1 second 200x50 10 kW Calculate max peak current for 400 V DC bus 10 kW 700V 14
55. mination 4 With external connection FBU and CAN communication X4 X5 X6A Conneconmae D SUBind hood 15 ForresovercabeatDMC o ___ 19NH7R ComeconBumdy amp ForrsovercabeatEP moor ___ NOA ConnectoAMP Contact 20B231A 8pos 8 ForresovercableatSEM motor x 19NH7A Conmecorkt 410Aind D subs Lane NB Conmecorkt 1520Amo Dsus User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 TABLES Recommended filters RECOMMENDED EMC FILTERS Table 21 Order No Name Rated current Leakage current Power loss Weight Input connection Output connection Recommended for 50_C 230V 50Hz W Kg Arms mA 4 56S117A FN251 8 07 9032 0118 31 FN258 7 07 56S117B FN251 16 07 ia 7 075 CabeAWG 6 CabeAWGi6 ____50412 50720P_ _ 9032 011832 258 16 07 16 17 CabeAWGi6 Cableawaie 51540P 56S117C 56S117F 5651176 FN2587534 z ___ 20 4 CabeAwG Cableawas Psssoreo 7 5681174 56S117B is second hand choice l y RECOMMENDED MAIN CONTACTORS Table 22 Name Current rating Supply voltage Recommended for 400 V AC application AC1 operating VDC with maximum rated cont output power A Type Telemecanique LP1 D25004BD Type Telemecaniqu
56. n User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS Input wiring diagram POWER 51540 53080 INSTALLATION Figure 32 Input power connection to a Power Supply application User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 Installing the in a cabinet GENERAL During mounting and installation of a unit in a cabinet beware of the following e Sufficient protective earth grounding Thermal dimensioning of the cabinet and cooling of the unit e Placement of the unit in relation with other components in the cabinet e Installation performed in accordance with applicable regulations SEPARATION OF CONTROL AND POWER AREAS The cabinet should be separated into different zones with high power high voltage components separated from low power low voltage components where possible Figure 33 shows an example of a typical installation in a cabinet Note the separation of the input power section with dangerous voltages on the right and the terminal PC on the left The units have been mounted in the upper half of the cabinet This placement is suitable from several points of view It prevents heat from the from heating other components in the cabinet This arrangement also permits motor power and ground cabling to be separated from other low level signal cabling see Figu
57. n of the DMC System e Use a motor that can handle a specified overload current and an overload protection device that activates before the specified overload is exceeded e Use motor cable that can handle a current higher than the specified overload current for the motor e Connect the over temperature protection device in the motor to the motor temperature input on the DMC unit e Set the current limiting parameter Reg TorgLim in the unit to the specified overload current for the motor Use the internal variable for Current Regulator fault to shut down power stage in the unit if actual current measured in motor phases differs from command current e Use the internal variable for Motor TempHigh to shut down the power stage in the unit if the motor overload protection device is activated KA User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC Tables PERFORMANCE SUMMARY SUPPLIED Table 3 Order Input Output cont DC Dynamic Dynamic brake max Dynamic brake Width Weight current cont bus current brake energy one pulse cont power mm kg d ies current A 1 2 current A kJ W Arms 0121 28 50412P 3x400 3 12 1 9 7 18 7 10 40 0121 42 50412P CAN 0121 30 50720P 3x400 5 20 3 4 7 012144 50720P CAN 0121 32 51540P 3x400 11 40 7 4 155 14 18 7 20 160 0121 46 S1540P CAN Not including dynamic breaking power loss Including
58. namic brake circuit connections from X34 Figure 20 on PS unit to X13 Figure 18 or X22 Figure 19 on DMC unit Output dynamic brake regulator driver Output dynamic brake regulator DC Table 47 Dynamic brake connection X34 X35 PS 580160 Connector Seepage Make the following thermistor connections from X35 Figure 20 on PS unit to X14 Figure 18 or X23 Figure 19 unit User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS Input wiring diagram PS unit X35 Function DMC X14 23 Temperature switch out 15 VDC 2 Temperature switch return used as connection point Table 48 Thermistor connection X35 INPUT WIRING DIAGRAM SINGLE INSTALLATION Ws Man Main Figure 29 Input power connection to single application User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS Input wiring diagram DMC P DMC INSTALLATION Figure 30 Input power connection to a Master Follower application User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS Input wiring diagram POWER SUPPLY DMC 50412 50720 INSTALLATION DMC RE 2 i HIER Ae E L LE ia ek E m L Qi vti qpav4RID T LEER Figure 31 Input power connection to a Power Supply applicatio
59. ndicates used pin User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X7A B X7A B P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector Seepage 35 All user connections to the DMC I O are made at X7A and X7B and Figure 17 illustrates the location PINOUTS USER I O All user inputs and outputs are brought out to connectors X7A and 7 and listed in Table 33 below Analog input 2 Analog GND Analog input 2 Analog output 1 Analog input 1 Analog output 2 24 4 Analog Input 1 Digital GND Digital input HW enable 6 24 VDC out 7 6 Digital input 10 27 15 VDC 8 Digitalinput 9 15 VDC out 9 Digital input 8 Digital output 6 Digital input 7 Digital output 5 16 Digital input 1 Used as other 36 Ready relay output N O inputs and as HSI High Speed Input Table 33 Connection X7A and X7B at DMC User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X7A B CONNECTION EXAMPLES NPN TRANSDUCER OPEN COLLECTOR TYPE Recommended min conductor area 0 5 mm AWG20 7 DNC Lo o Figure 22 NPN open collector transistor interface to Digital input 1 NPN Transducer 2 Pull up resistor 3 24V DC 4 Digital input 5 GND PNP TRANSDUCER Recommended min conductor area 0 5 mm AWG20 A047 P K m w
60. nuos motor current or at least 1mm Table 7 and Table 8 lists some motor cables available from us A complete motor cable installation requires a threaded strain relief to be mounted on the motor junction box Table 9 lists strain relief s for the motor cable types listed in Table 7 and Table 8 RESOLVER CABLE Hesolver cables shall be chosen so that national electrical and EMC regulations are fulfilled in the country where the system is to be used We recommend resolver cables with shielded pair twisted conductors with an external common shield and an area of at least 0 25 mm If cables recommended by us are used electrical and EMC regulations within EC and USA are fulfilled We supplies completed resolver cable assemblies in various lengths as well as un terminated cable which may be ordered in custom lengths Table 10 Table 13 lists available resolver cable selections Table 14 and Table 20 lists available resolver cable accessories Figure 14 EMC shield with Hummel strain relief 1 Cap 2 Insert O Ring 4 Connecting nut 5 Sealing 6 EMC shield 7 Shield User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS Fuses 8 PU135 525 k A Wo amp 75 x A d 77 Figure 15 EMC shield with Pflitsch strain reliet 1 Cap 2 Insert 3 Clamping sleev 4 Connecting nut 5 Sealing 6 EMC shield 7 Shi
61. o change or correction without prior notice COPYRIGHT NOTICE This manual is copyrighted 2001 by Inmotion Technologies AB All rights reserved This manual may not be copied in whole or in part nor transferred to any other media or language without the express written permission of Inmotion Technologies AB UsER s MANUAL This manual is intended for users of the Digital Motion Controller who will be designing integrating and installing motion control systems based on the The manual presents requirements guidelines and examples for utilizing the DMC along with other motion system components RELATED DOCUMENTATION For comprehensive information on details on the programming language and programming tools and controller firmware refer to the User s Manual 5 x Part B WARNING CAUTION AND INFORMATION NOTICES opecial attention must be paid to the information presented in Warning Caution and information notices when they appear in this manual Examples of Caution Warning and information notices along with an explanation of their purposes follow An Information Box contains supplemental information or references to supplemental information on a topic User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 INTRODUCTION About the DMC2 Products ABOUT THE PRODUCTS PERSONAL SAFETY e We provide this and other manuals to assist man
62. ormer e Filter e Inrush protection e Earth fault detection e Disconnecting means for auxiliary circuit e Drive overloads protection e Auxiliaries start stop and emergency stop circuits Parts of the feeding section may be physically located within the BDM User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 OVERVIEW OF PowER DRIVE SYSTEM System Controller MOTOR AND SENSORS The motor see Figure 5 converts electrical energy to mechanical energy By definition the motor includes those sensors which are relevant to motor operation and interact with the CDM The motor illustrated in Figure 5 includes the motor windings temperature sensor feedback device and brake include 4 o 4 Figure 5 Motor with sensors A003 1 Motor winding 2 Temperature sensor 3 Fedeback devise 4 Brake SYSTEM CONTROLLER The System Controller includes all the accessories needed for the PDS to perform its required functions The system controller could include devices such as a e Man machine interface e Single or multi axis motion controller e PC e PLC e Terminal e Motion control unit e Multiaxis controller This function may be located external to the remainder of the PDS INTERNAL INTERFACES OF THE PDS The PDS can have a signal interface for connection to a PC terminal or PLC It can also have a signal interface to other CDMs or PDSes User s Manual
63. re 17 1 GND Measure bridge Input Measure bridge input 50mV NC NC Measure bridge Input Measure bridge input 50mV NC 7 5V Supply Output Supply to measure bridge Max 10mA 5V Supply Output Supply to measure bridge Max 10mA Table 34 Measure Connection X8 User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X9A X9A P 50412 50720 51540 DMC 50412 50720 51540 53080 Connector See page 46 The CAN Bus is used for an external network For location see Figure 17 DMC X9A Function Comment jo o cA p sy Table 35 LAN2 X9 Connection X10 P 50412 50720 DMC 50412 50720 Connector See page 35 Table 36 illustrates the input power connections to a DC supplied unit from an AC P version supplied unit Connect the DC bus voltage from X10 to X10 Figure 30 shows this application Table 36 DC Bus Connection X11 DMC P 50412 50720 DMC 50412 50720 Connector See page 35 User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 DMC2 CONNECTIONS X13 Figure 18 shows the connector X11 Table 37 describes the function The motor connections are the same for AC and DC supplied 5 Use the appropriate threaded strain relief with shield connection listed in Table 9 to secure the motor cable to the jun
64. re 34 and Figure 35 Figure 36 illustrates the recommended general cabinet arrangement in which four different zones are created HF Control area e HF Power area e LF Control area e LF Power area Between cables and components in the HF and LF zones there should be at least a 200 mm separation Cables from LF zones which pass through the HF zones shall be shielded Cables and components in power areas shall be separated from components in control areas User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 Installation example INSTALLATION EXANPLE A201 Figure 33 Example of installation in a cabinet 1 To resolver 4 Filter 7 Transformer 10 Power cable 13 Earth wire 16 Protective earth rail User s Manual 5 1 2 To motor 5 Terminale PC 8 Fuses 11 comunication 14 Cable channel Doc No 9032 0027 01 A Rev 12 07 2001 INSTALLING THE DMC2 IN A CABINET 3 Good electrical contact 6 PLC 9 Main switch 12 Mounting plate 15 Contactor Inmotion Technologies AB INSTALLING THE DMC2 IN A CABINET Installation example A 20 mm 7 Sek o o Figure 34 Motor power and ground connections 1 Good electrical contact here Figure 35 resolver and communications connections User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001
65. relay contact will open e Short circuit protection active in converter section e Over voltage level in converter section e Too low logic voltage level in converter section e Too low logic voltage level in control section e OUT Fault have been set from the software Any software fault can be programmed to set OUT Fault and open the read relay contact User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING DRIVE SYSTEMS DMC2 unit POSITION AND SPEED REGULATOR Combined position and speed PID regulator with different feed forward functions and programmable limit settings POSITIONING UNIT CONTROLLER Includes Profile Generator Electronic Gear Box Pdata Array Position Counter and Timers COMMUNICATION UNIT Contains serial communication interface for RS 232 RS 422 Daisy chain Sync signal and CAN bus connection PROGRAM MEMORY Contains memory for Firmware and application program and a non volatile EEProm memory for parameter storage MOTOR TEMP INPUT For connection of the temperature sensor device in the motor When the motor temperature input is active open or high impedance an internal variable Motor Temp High 15 set The variable Motor Temp High the application program is used for shutting down the power output stage BRAKE RELAY Software controlled relay that could be used for control of a brake in the motor CONVERTER FAULTS
66. rs and processes analog and digital inputs and outputs such that external signals complying with international requirements and standards for programmable controllers are properly interpreted There is also a High Speed Input HSI for fast indication User s Manual 5 1 Inmotion Technologies AB EN Doc No 9032 0027 01 A Rev 12 07 2001 CONFIGURING POWER DRIVE SYSTEMS DMC2 unit ENABLE INPUT Hardware input that must be high before the firmware can enable the power output stage of the Converter When this input is low the power output stage is disabled X14 or X23 X14 or X23 Com unit E X7b Output X4 5 V 5 XA X5 15 X7b DC DC X4 X5 15 V X7b X4 5 unication Temp Control unit Position unit Positioning and Phase speed regulator split X7a X6 Resolver input Current Commutating X7b yv regulator Current measuring Enable Enable Power X7a de gt Stage ON OFF HE E N 008 Logic Short circuit voltage Overvol protection level tage level Figure 10 Control Section Block diagram Shaded blocks handled by software READY RELAY A relay contact set that closes when no converter faults are indicated and the is ready for use The ready relay will be open after power up until a reset pulse has been sent to the power stage in the converter section If one of these faults is indicated the ready
67. sh The new firmware should now be stored into the flash unless reported otherwise turn the power off or type gt RF RF Run firmware 10 Download the application program again Note Any stored PL program will have been erased from the flash In a future release the EF command will erase only the firmware parts BOOT MODE COMMAND With the addition of the boot command a user can enter the boot mode from the terminal This simplifies the above procedure to 1 Turn power to the drive on 2 Type boot when the gt prompt is seen gt boot lt ENTER gt 3 The unit has entered BOOT MODE Continue from step 6 in the above list STARTUP MESSAGE When power is applied to the the following startup message is displayed ACC DMC Inmotion Technology AB v05 00 00 Node 1 Baud 9600 Mode 0 This line is always sent using 9600 baud independent of the settings in the eeprom related to the COMM group or any programming of the COMM group The line gives information about the content of the EEProm used for initialization of the serial communication COMM group The assignments made to the COMM group by the firmware at startup are User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 START UP AND COMMISSIONING Load a new firmware release Node COMM Node 6 and 15 If EEProm 4 0 then COMM BaudTable EEProm 6 gt gt 8 else COMM Baud EEProm 4 COM
68. ufacturers in using the in a correct efficient and safe manner Manufacturers must insure that all persons responsible for the design and use of equipment employing the have the proper professional skill and apparatus knowledge and follow the instructions in this manual INTENDED USE OF THE The Digital Motion Controller is intended for precise torque speed and position control applications in different industrial equipment OEM S RESPONSIBILITY OEM s are responsible for ensuring that are used for their intended purpose only safe function of the system and for compliance with all applicable regulations Responsibility for the safe functioning of the system reverts to the owner or user in all cases in which a non professional has done installation service or repair and when the system is used for other than its intended purpose User s Manual 5 1 Inmotion Technologies AB Doc No 9032 0027 01 A Rev 12 07 2001 INTRODUCTION PRODUCT IDENTIFICATION Product Identification A label see Figure 1 for location and Figure 2 for containing pertinent product identification information is affixed to the DMC2 unit The product label fields relevant to product identification are described below Table 1 Product 2 Label Figure 1 Product Label location A131 Figure 2 DMC Product Identification Label motion Part No 8032 0121 42 Cat No BMG

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