GE Digital VersaMotion Operating Manual

GE

Intelligent Platforms

Programmable Control Products

VersaMotion

Servo Motors and Amplifiers

User’s Manual, GFK-2480A

October 2012

GFL-002

Warnings, Cautions, and Notes

as Used in this Publication

Warning

Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury exist in this
equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment,
a Warning notice is used.

Caution

Caution notices are used where equipment might be damaged if care is not taken.

Note: Notes merely call attention to information that is especially significant to

understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Intelligent Platforms assumes
no obligation of notice to holders of this document with respect to changes subsequently made.

GE Intelligent Platforms makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.

* indicates a trademark of GE Intelligent Platforms, Inc. and/or its affiliates. All other

trademarks are the property of their respective owners.

©Copyright 2011 GE Intelligent Platforms, Inc.

All Rights Reserved

Contact Information

Online technical support and
GlobalCare

http://support.ge-ip.com

Additional information

http://www.ge-ip.com/

Solution Provider

[e-mail]

Online Technical Support

http://support.ge-ip.com

Phone

1-800-433-2682

International Americas Direct Dial

1-780-420-2010 (if toll free 800 option is unavailable)

Technical Support Email

[e-mail]

Customer Care Email

[e-mail]

Primary language of support

English

Online Technical Support

http://support.ge-ip.com

Phone

[phone]

EMEA Direct Dial

[phone] (if toll free 800 option is unavailable or if
dialing from a mobile telephone)

Technical Support Email

[e-mail]

Customer Care Email

[e-mail]

Primary languages of support

English, French, German, Italian, Czech, Spanish

Online Technical Support

http://support.ge-ip.com

Phone
[phone]

[phone] (India, Indonesia, and Pakistan)

Technical Support Email

[e-mail] (China)

[e-mail] (Japan)

[e-mail] (remaining Asia customers)

Customer Care Email

[e-mail]

[e-mail] (China)

If you purchased this product through an Authorized Channel Partner, please contact the seller
directly.

General Contact Information

Technical Support

If you have technical problems that cannot be resolved with the information in this manual, please
contact us by telephone or email, or on the web at http://support.ge-ip.com

Americas

Europe, the Middle East, and Africa

Asia Pacific

iii VersaMotionServo Motors and Amplifiers User’s Manual–October 2012 GFK-2480A

Contents

Introduction .................................................................................................................... 1-1

1.1 Product Overview ....................................................................................................... 1-3

1.2 Servo Drive and Servo Motor Combinations ............................................................ 1-11

1.3 Servo Drive Control Modes ....................................................................................... 1-12

Unpacking and Installation ........................................................................................... 2-1

2.1 Unpacking and Inspection .......................................................................................... 2-2

2.2 Storage Conditions ..................................................................................................... 2-2

2.3 Installation ................................................................................................................... 2-3

2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current ........................................ 2-8

Equipment Connections and Wiring ............................................................................ 3-1

3.1 Equipment Connections .............................................................................................. 3-2

3.2 Basic Wiring ................................................................................................................ 3-9

3.3 Input/Output Interface Connector CN1 ..................................................................... 3-11

3.4 Encoder Connector CN2 ........................................................................................... 3-33

3.5 Serial Communication Connector CN3 ..................................................................... 3-34

3.6 Standard Connection Example ................................................................................. 3-36

Display and Operation ..................................................................................................... 4-1

4.1 Description of the Digital Keypad................................................................................ 4-2

4.2 Display Flowchart ....................................................................................................... 4-3

4.3 Status Display ............................................................................................................. 4-4

4.4 General Function Operation ....................................................................................... 4-8

Trial Run and Tuning Procedure .................................................................................. 5-1

5.1 Trial Run without a Load ............................................................................................. 5-2

5.2 Tuning Procedure ..................................................................................................... 5-15

Control Modes of Operation ................................ ......................................................... 6-1

6.1 Control Mode Summary .............................................................................................. 6-2

6.2 Position Control Mode ................................................................................................ 6-4

6.3 Speed Control Mode ................................................................................................. 6-20

6.4 Torque Control Mode ................................................................................................ 6-38

6.5 Control Mode Selection ............................................................................................ 6-43

6.6 Others ....................................................................................................................... 6-46

Parameters ...................................................................................................................... 7-1

7.1 Definitions ................................................................................................................... 7-2

7.2 Parameter Summary ................................................................................................... 7-3

7.3 Detailed Parameter Listings ...................................................................................... 7-20

7.4 Input Function Definitions ......................................................................................... 7-92

7.5 Output Function Definitions ...................................................................................... 7-97

GFK-2480A v

Contents

MODBUS Communications .......................................................................................... 8-1

8.1 Communication Hardware Interface ........................................................................... 8-2

8.2 Communication Parameter Settings ........................................................................... 8-6

8.3 MODBUS Communication Protocol .......................................................................... 8-10

8.4 Communication Parameter Write-in and Read-out ................................................... 8-19

Maintenance and Inspection ........................................................................................ 9-1

9.1 Basic Inspection .......................................................................................................... 9-2

9.2 Maintenance ............................................................................................................... 9-3

9.3 Life of Replacement Components .............................................................................. 9-4

Diagnostics .................................................................................................................... 10-1

10.1 Fault Messages Table ............................................................................................ 10-2

10.2 Potential Causes and Corrective Actions ............................................................... 10-4

10.3 Clearing Faults ...................................................................................................... 10-10

Specifications .............................................................................................................. 11-1

11.1 Servo Drive AC Input Current Ratings .................................................................... 11-2

11.2 Servo Drive Specifications ...................................................................................... 11-3

11.3 Servo Motor Specifications ..................................................................................... 11-5

11.4 Servo Motor Speed-Torque Curves ........................................................................ 11-8

11.5 Overload Characteristics ...................................................................................... 11-10

11.6 Dimensions of Servo Drives ................................................................................. 11-12

11.7 Dimensions of Servo Motors ................................................................................. 11-14

11.8 EMI Filters Selection ............................................................................................. 11-16

Application Examples ................................................................................................. 12-1

12.1 Position Control with Homing Function ................................................................... 12-2

12.2 Roller Feeding......................................................................................................... 12-4

12.3 Connecting to a PLC ............................................................................................... 12-6

12.4 Connecting to an Operator Interface .................................................................... 12-11

12.5 Position Control Mode (Pr Mode) ......................................................................... 12-12

12.6 Feed Step Control ................................................................................................. 12-15

12.7 Internal Auto Running Mode ................................................................................. 12-26

12.8 Homing Function ................................................................................................... 12-30

DSM314 Connections ................................................................................................... A-1

Equipment Needed for One-Axis Connection to DSM314................................................ A-1

Avoiding Electrical Noise in the Installation ...................................................................... A-1

Connection Diagram ......................................................................................................... A-2

VersaMotion Start-up (Do This First) ................................................................................ A-3

DSM314 Start-Up .............................................................................................................. A-3

vi VersaMotion Servo Motors and Amplifiers User’s Manual–October 2012 GFK-2480A

Contents

Accessories ..................................................................................................................... B-1

B.1 Power Connectors ...................................................................................................... B-2

B.2 Power Cables ............................................................................................................. B-3

B.3 Encoder Connectors ................................................................................................... B-5

B.4 Encoder Cables .......................................................................................................... B-6

B.5 I/O Signal Connector .................................................................................................. B-7

B.6 Drive- to-Computer Communication Cable ................................................................ B-7

B.7 Terminal Block ............................................................................................................ B-8

GFK-2480A Contents vii

Chapter

1

Introduction

This chapter provides an overview of VersaMotion servo drives and motors.

Page

1.1 Product Overview 1-3

1.2 Servo Drive and Servo Motor Combinations 1-11

1.3 Servo Drive Control Modes 1-12

The rest of the manual describes VersaMotion products in detail, and explains how to install, operate
and maintain the servo drives and motors.

Chapter 2, Unpacking and Installation. Includes procedures for unpacking, initial inspection and
installation of a VersaMotion system.

Chapter 3, Equipment Connections and Wiring. Provides cable connection and wiring
procedures. Also provides detailed information on I/O signals.

Chapter 4, Display and Operation. Explains how to use the VersaMotion drive’s digital keypad.
Chapter 5, Trial Run and Tuning Procedure. Explains how to perform a trial run without a load

and how to tune the servo system with a load.
Chapter 6, Control Modes of Operation. Explains how to operate the VersaMotion drive in each

control mode. (The VersaMotion drive provides provide six single and five dual control modes,
which are summarized on page 1-12.)

Chapter 7, Parameters. Describes how to use the drive’s operating parameters, which can be
configured using the VersaMotion Configuration software.

Chapter 8, MODBUS Communications. Describes connections and parameter settings for RS­232, RS-485 and RS-422 communications.

Chapter 9, Maintenance and Inspection. Explains how to perform preventive maintenance and
inspection of the servo drive.

Chapter 10, Diagnostics. Provides definitions and corrective actions for fault messages.
Chapter 11, Specifications. Provides physical and electrical characteristics of the VersaMotion

drives and servo motors.
Chapter 12, Application Examples. Provides sample applications using VersaMotion drives and

servo motors.
Appendix A, Accessories. Provides a reference to connectors, cables and terminal blocks used

with VersaMotion products.

GFK-2480A 1-1

1

VersaMotion Servo Drive and Motor

For additional information about VersaMotion and related products, refer to the following manuals:

VersaMax Micro and Nano PLCs User’s Manual, GFK-1645

VersaMax Micro Two-Axis Servo Motion Expansion Modules User’s Manual, GFK-2471
DSM314 Motion Controller for PACSystems RX3i and Series 90-30 User's Manual, GFK-1742

User manuals, module datasheets, and other product documents are available online at

http://support.ge-ip.com.

1-2 VersaMotion User’s Manual – October 2012 GFK-2480A

1

1.1 Product Overview

The VersaMotion family of servo motors offers high servo performance in a compact package. The
range of torque and motor power allows you to optimize performance, size and cost for your
application.

The motors range from 100 W to 3 kW with continuous torque ratings from 0.3 Nm to 19.1-Nm. Most
models are rated for 3000 RPM continuous with an intermittent rating of 5000 RPM. Motor feedback is
provided by a 2500 PPR encoder (10,000 quadrature counts per revolution) for a resolution of 0.036
degrees of a motor revolution. All motors have metric mounting configurations and include a straight
shaft with key and oil seal.

Motors are matched with VersaMotion amplifiers, which support a variety of configurable command
interface and operational modes. They provide simple stand-alone positioning capability using up to
eight stored motion profiles or can be connected to a motion controller using an analog velocity, analog
torque or pulse command interface.

The drives, motors, and accessories that make up the VersaMotion product family are listed on page
1-6.).

VersaMotion servo/amplifier products provide the following features:

 Power range: 100 Watt to 3 kW (7 models)
 Torque range: Continuous: 0.32-19.1 Nm, Peak: 0.96 – 57.3 Nm
 Single and dual control modes: Position, Speed, Torque, Speed/Position, Speed/Torque and

Torque/Position

 The RS-232/485/422 serial communications interface supports multi-drop system

configurations and Modbus ASCII or RTU communication protocol.

 Encoder position output: A/B/Z with scalable resolution
 Homing and jogging functions
 Speed and torque limiting functions
 Autotuning function
 On-the-fly gain switching
 Electronic gearing (pulse follower)
 Configurable digital I/O: 8 Inputs and 5 Outputs
 Analog inputs: 1 Speed or 2 Torque
 Built-in touch pad and display provides convenient access to configuration parameters and

system information.

 Resonance suppression using notch and low pass filters
 Motors with 24 VDC holding brakes are available (except 100 Watt motor) for vertical axes or

applications that need to hold position during power loss.

GFK-2480A Chapter 1 Introduction 1-3

1

LED Display

The 5 digit, 7 segment LED displays

the servo status or

fault codes

Heatsink

Used to secure servo drive and for

heat dissipation

Charge LED

A lit LED indicates that either power is

connected to the servo drive OR a

residual charge is present in the drive's

internal power components.

DO NOT TOUCH ANY ELECTRICAL

CONNECTIONS WHILE THIS LED IS LIT.

(Please refer to the Safety Precautions on

page i).

Control Circuit Terminal (L1, L2)

Used to connect

single-phase VAC supply.

50/60Hz

200~230Vac,

Main Circuit Terminal (R, S, T)

Used to connect

commercial power supply

50/60Hz

200~230V,

Ground Terminal

Servo Motor Output (U, V, W)

Used to connect servo motor. Never

connect the output terminal to main

circuit power.

The AC servo drive

may be destroyed beyond repair if

incorrect cables are connected to

the output terminals.

Internal / External Regenerative

Resistor Terminal

1)

resistor, connect P and C to the

regenerative resistor and ensure that

the circuit between P and D

is open.

2) When using the internal regenerative

resistor, ensure that the circuit

between P and D is closed and the

circuit between P and C is open.

When using an external regenerative

Operation Panel

Used function keys to perform status

display, monitor and diagnostic, function

and parameter setting.

Function Keys:

MODE : Press this key to select/change

mode

SHIFT :

Press this key to shift

left

UP : Press this key to increase values

on the display

DOWN :

Press this key to decrease

values on the display

SET : Press this key to store data

Shift Key has several functions:

moving the cursor and indexing

through the parameter groups

cursor to

the

I/O Interface

Used to connect Host Controller (PLC)

or control I/O signal

Encoder Interface

Used to connect Encoder of

Servo Motor

Serial Communication Interface

For RS-485 / 232 / 422 serial

communication

Used to connect personal computer

or other controllers

1.1.1 Servo Drive Features

1-4 VersaMotion User’s Manual – October 2012 GFK-2480A

1

1.1.2 VersaMotion System Architectures

The VersaMotion servos can be used in the following types of system architectures:

 As a standalone simple position indexer using up to eight stored positions that are selected and

triggered using discrete inputs or the serial communication interface. Positions can be
configured or changed using a teach function or over the serial communication interface.
Simple electronic gearing (pulse follower) using a configurable fixed gear ratio is also
supported.

 With the VersaMax Micro 20/40/64 built-in CPU motion functions.
 With the VersaMax Micro two-axis motion expansion module using the 500 KHz pulse

command interface for application that require more complex motion sequences, such as basic
positioning with registration control.

 With Quick Panel Control and the VersaMax Micro two-axis motion expansion module using

the 500 KHz pulse command interface to provide an integrated motion, logic and view solution.

 With a DSM314 Motion Controller using either an analog velocity or analog torque command.

1.1.3 VersaMotion System Components

A complete and workable VersaMotion servo system includes the following parts:

1) Servo amplifier

2) Servo motor

3) One operating lever (for wire to terminal block insertion)

4) One power cable, which is used to connect the servo motor and the servo drive’s U, V,
and W terminals.

5) One encoder cable, which is used to connect the encoder of servo motor and CN2
terminal of servo drive.

6) CN1 I/O connector: 50 pin Connector (IC800VMACONCN1), Breakout Terminal Board
and Cable Kit (IC800VMTBC005), or Flying Lead I/O Cable (IC800VMCI010 — 1
meter) or IC800VMCI030 — 3meter)

7) CN3 serial communication cable (IC800VMCS030)

For 100W — 1KW models:

8) Five-pin Terminal Block for L1, L2, R, S, T (Included with amplifier.)

9) Three-pin Terminal Block for U, V, W (Included with amplifier.)

10) Three-pin Terminal Block for P, D, C (Included with amplifier.

Note: The 2kW and 3kW amplifiers have built-in terminal blocks.

GFK-2480A Chapter 1 Introduction 1-5

1

IC800VMA 30 2

VersaMotion Amplifier
Power Rating

01 = 100 Watt 10 = 1000 Watt
02 = 200 Watt 20 = 2000 Watt
04 = 400 Watt 30 = 3000 Watt
07 = 750 Watt

Voltage

2 = 200–230 VAC, 1 or 3 phase (100-750W)
2 = 200–230 VAC, 3 phase (2kW & 3kW)

Part Number

Power Rating (Watts)

IC800VMA012

100

IC800VMA022

200

IC800VMA042

400

IC800VMA072

750

IC800VMA102

1000

IC800VMA202

2000

IC800VMA302

3000

IC800VMM 30 L N KS E25

VersaMotion Motor
Power Rating

01 = 100 Watt
02 = 200 Watt
04 = 400 Watt
07 = 750 Watt
10 = 1000 Watt
20 = 2000 Watt
30 = 3000 Watt

Feedback

E25 = 2500 PPR Encoder

Shaft Configuration

KS= Straight Shaft, Key & Oil Seal

Inertia Type

L = Low Inertia

Brake

N = No Brake
B = 24 VDC Holding Brake

Part Number

Power Rating (Watts)

IC800VMM01LNKSE25

100

IC800VMM02LNKSE25

200

IC800VMM04LNKSE25

400

IC800VMM07LNKSE25

700

IC800VMM10LNKSE25

1000

IC800VMM20LNKSE25

2000

IC800VMM30LNKSE25

3000

Amplifiers

Motors

Without brake

1-6 VersaMotion User’s Manual – October 2012 GFK-2480A

1

Part Number

Power Rating (Watts)

IC800VMM01LBKSE25

100

IC800VMM02LBKSE25

200

IC800VMM04LBKSE25

400

IC800VMM07LBKSE25

700

IC800VMM10LBKSE25

1000

IC800VMM20LBKSE25

2000

IC800VMM30LBKSE25

3000

Part Number

Description

IC800VMCExxx

Encoder Cable (100W to 750W)

IC800VMCE1xxx

Encoder Cable (1000W & larger)

Part Number

Description

IC800VMCPxxx

Motor Power Cable (100W to 750W)

IC800VMCP1xxx

Motor Power Cable (1kW)

IC800VMCP2xxx

Motor Power Cable (2kW & 3kW)

Part Number

Description

IC800VMCBxxx

Motor Power & Brake Cable (200W to 750W)

IC800VMCB1xxx

Motor Power & Brake Cable (1kW)

IC800VMCB2xxx

Motor Power & Brake Cable (2kW & 3kW)

With Brake

Accessories

Cables

Note: xxx = length in 0.1 meter increments.
Standard lengths (other lengths available):

xxx=030 3 meters
xxx=050 5 meters
xxx=100 10 meters
xxx=200 20 meters

Encoder Cables

Motor Power Cables

Motor Power & Brake Cables

Note: The 100 Watt motor does not have a brake option.

GFK-2480A Chapter 1 Introduction 1-7

1

Part Number

Description

IC800VMCS030

Serial Cable, 3 meter

Part Number

Description

IC800VMBR040

40 ohm 400 watt

IC800VMBR020

20 ohm 1000 watt

Part Number

Description

IC800VMACONCN1

Amplifier CN1 Serial Communication Connector

IC800VMACONCN2

Amplifier CN2 Encoder Connector

IC800VMACONCN3

Amplifier CN3 Serial Communications Connector

IC800VMTBC005

Breakout Terminal Board with 0.5 m Cable

IC800VMMCONE001

Motor Encoder Connector (100W-750W)

IC800VMMCONE002

Motor Encoder Connector (1000W & larger)

IC800VMMCONP002

Motor Power Connector (100-750W, With Brake)

IC800VMMCONP001

Motor Power Connector (100-750W, No Brake)

IC800VMMCONP003

Motor Power Connector (1kW-3kW)

Part Number

Description

IC800VMACONMTRP

Amplifier Motor Power Connector

IC800VMADBR001

Amplifier External Braking Resistor Connector

Serial Cable

Regeneration Resistors

Amplifier Connectors

Amplifier Terminal Blocks

1-8 VersaMotion User’s Manual – October 2012 GFK-2480A

1

1.1.4 VersaMotion Configuration Software

The VersaMotion servo configuration tool is provided with Proficy Machine Edition version 5.70, SIM 1.
To access the configuration tool, select it on the Utilities tab in the Machine Edition Navigator window.

The VersaMotion Settings dialog box appears. To work in offline mode, click OK. To configure a
communications port for the software tool, select On-Line and click OK.

GFK-2480A Chapter 1 Introduction 1-9

1

Settings

Allows you to go online with the VersaMotion drive

Scope

Opens the oscilloscope view

Auto Gain Tuning

Opens tool for calculating servo gain values

Digital IO/Jog Control

Allows you to view and change the digital IO functions in the
servo drive

Status Monitor

Allows you to monitor the servo motor status.

Model Information

Lists communications port information, drive model information,
and motor specifications.

Alarm Information

Displays information for current alarms and alarm history.

Parameter Editor

Allows you to view the values of all servo drive parameters.
Some parameters can be set while online with the servo drive.

Parameter Wizard

Allows you to read the current parameter settings, select the
control mode, edit selected parameter values, or save a set of
parameter values to a file.

User Manual

Online help for the VersaMotion software.

Parameter Manual

Provides a summary of servo drive parameters.

VersaMotion Information

Provides version information for the VersaMotion software.

VersaMotion Software provides the following tools:

1-10 VersaMotion User’s Manual – October 2012 GFK-2480A

1

Power
Rating

Servo Drives

Servo Motors

Without Brake

With Brake

100W

IC800VMA012

IC800VMM01LNKSE25

IC800VMM01LBKSE25

200W

IC800VMA022

IC800VMM02LNKSE25

IC800VMM02LBKSE25

400W

IC800VMA042

IC800VMM04LNKSE25

IC800VMM04LBKSE25

750W

IC800VMA072

IC800VMM07LNKSE25

IC800VMM07LBKSE25

1000W

IC800VMA102

IC800VMM10LNKSE25

IC800VMM10LBKSE25

2000W

IC800VMA202

IC800VMM20LNKSE25

IC800VMM20LBKSE25

3000W

IC800VMA302

IC800VMM30LNKSE25

IC800VMM30LBKSE25

1.2 Servo Drive and Servo Motor Combinations

The servo drives are designed for use in combination with specific servo motors. The table below
shows the possible combinations of VersaMotion servo drives and motors.

The servo drive and motor must be correctly matched for size (power rating). If the power of motor and
drive is not within the specifications, the drive and motor may overheat and servo alarm would be
activated. For detailed specifications of servo drives and motors, please refer to Chapter 11
“Specifications”.

GFK-2480A Chapter 1 Introduction 1-11

1

Single Modes

Code

Description

External Position Control

Pt

Position control for the servo motor is achieved via an external
pulse command.

Internal Position Control

Pr

Position control for the servo motor is achieved via by eight
commands stored in the servo controller. Digital Inputs (DI)
control execution of the position commands.

Speed Control

S

Speed control for the servo motor is provided by either Internal
Preset Speed Parameters or External analog -10 to +10VDC
command. If using the Internal Preset Speed Parameters, the
three individual speeds are selected via digital inputs.

Note: S mode is a dual mode. The Internal Preset Speeds have
priority over the analog input. At any point when an Internal
Preset Speed is selected via a digital input, it will take priority
over the incoming External analog command.

Internal Speed Control

Sz

Speed control for the servo motor is provided by Internal Preset
Speed Parameters only. The individual speed commands are
selected via digital inputs. (A maximum of three speeds can be
stored internally).

Torque Control

T

Torque control for the servo motor is provided by either Internal
Preset Torque Parameters or External analog -10 to +10VDC
command. If using the Internal Preset Torque Parameters, the
three individual torques are selected via digital inputs.

Note: T mode is a dual mode. The Internal Preset Torque has
priority over the analog input. At any point when an Internal
Preset Torque command is selected via a digital input, it will
take priority over the incoming External analog command.

Internal Torque Control

Tz

Torque control for the servo motor is provided by Internal Preset
Torque Parameters only. The individual torque commands are
selected via digital inputs. (A maximum of three torque levels
can be stored internally).

1.3 Servo Drive Control Modes

The VersaMotion servo can be programmed to provide six single and five dual modes of operation,
which are described in the following table. For information on operating in each control mode, refer to
chapter 6.

1-12 VersaMotion User’s Manual – October 2012 GFK-2480A

1

Dual Modes

Code

Description

Position (pulse train) ­Speed

Pt-S

Either Pt or S control mode can be selected via the Digital Inputs
(DI)

When switched to Speed mode the user has the option to use
Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.

Position (pulse train) ­Torque

Pt-T

Either Pt or T control mode can be selected via the Digital Inputs
(DI).

When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.

Position (internal register) ­Speed

Pr-S

Either Pr or S control mode can be selected via the Digital
Inputs (DI)

When switched to Speed mode the user has the option to use
Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.

Position (internal register) ­Torque

Pr-T

Either Pr or T control mode can be selected via the Digital Inputs
(DI).

When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.

Speed - Torque

S-T

Either S or T control mode can be selected via the Digital Inputs
(DI).

When switched to Speed mode the user than has the option to
use Internal Preset Speed commands or External analog -10 to
+10VDC command as described in the Speed Mode details.
When switched to Torque mode the user than has the option to
use Internal Preset Torque commands or External analog -10 to
+10VDC command as described in the Torque Mode details.

GFK-2480A Chapter 1 Introduction 1-13

Chapter

2

Unpacking and Installation

This chapter provides the following information:

Page

2.1 Unpacking and Inspection 2-2

2.2 Storage Conditions 2-2

2.3 Installation 2-3

2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current 2-8

Note: In this manual, actual measured values are in metric units. Dimensions in SI units are for
reference only. Please use metric units for precise measurements.

GFK-2480A 2-1

2

2.1 Unpacking and Inspection

Warning

Ensure that both the servo drive and motor are correctly matched for size (power
rating). Failure to observe this precaution may cause fire, seriously damage the
drive or motor, or cause personal injury.

After receiving the AC servo drive, please check for the following:

 Ensure that the product is what you have ordered.

Verify the part number indicated on the nameplate corresponds with the part number of your order.

 Ensure that the servo motor shaft rotates freely.

Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a servo
motor with an electromagnetic brake cannot be rotated manually.

 Check for damage.

Inspect the unit to insure it was not damaged during shipment.

 Check for loose screws.

Ensure that all necessary screws are tight and secure.

If any items are damaged or incorrect, contact the distributor from whom you purchased the product.

2.2 Storage Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty
coverage, the servo drive should be stored properly when it is not to be used for an extended period of
time. Some storage suggestions are:

 Store in a clean and dry location free from direct sunlight.
 Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
 Store within a non-condensing relative humidity range of 0% to 90%.
 Do not store in a place subjected to corrosive gases and liquids.
 The product should be correctly packaged and placed on a solid surface.

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2.3 Installation

2.3.1 Installation Notes

 Do not bend or strain the cables between the servo drive and the motor.
 When mounting the servo drive, tighten screws to secure the drive in place.
 If the servo motor shaft is coupled directly to a rotating device, ensure that the alignment

specifications of the servo motor, coupling, and device are followed. Failure to do so may
cause unexpected loads or premature failure of the servo motor.

 If the length of cable connected between servo drive and motor is more than 20m, the wire

gauge of the encoder and motor connection cables (connected to U, V, W terminals) should be
increased. For wire gauge recommendations, refer to chapter 3.

 Make sure to properly tighten the motor mounting bolts.

2.3.2 Installation Conditions

Warning

Do not install the product in a location that is outside the stated specification for
the drive and motor. Failure to observe this caution may result in electric shock,
fire, or personal injury.

VersaMotion drives are open type servo drives and must be installed in a NEMA enclosure, such as a
protected control panel, during operation to comply with the requirements of international safety
standards. They provide precise feedback control and high-speed calculation functions incorporating
DSP (Digital Signal Processor) technology, and are intended to drive three-phase permanent magnet
synchronous motors (PMSM) to achieve precise positioning by means of accurate current output
generated by IGBT (Insulated Gate Bipolar Transistor).

VersaMotion drives can be used in industrial applications and for installation in an end-use enclosure
that conforms to the specifications provided in this manual (Drives, cables and motors are for use in a
suitable enclosure with a minimum of a UL Type 1 rating).

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Operating Temperature

VersaMotion Servo Drives: 0°C to 55°C (32°F to 131°F)

VersaMotion Servo Motors: 0°C to 40°C (32°F to 104°F)
For long-term reliability, the ambient temperature of the servo drive should be less than 45°C (113°F).
If the ambient temperature of servo drive is greater than 45°C (113°F), install the drive in a well-

ventilated location and do not obstruct the airflow of the cooling fan.

Caution

The servo drive and motor will generate heat. If they are installed in a control
panel, allow sufficient space around the units for heat dissipation.

Observe the following precautions when selecting a mounting location.

 Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.

 Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or

airborne dust or metallic particles.

 Do not mount the servo drive or motor in a location where temperature and humidity will

exceed the specifications.

 Do not mount the servo drive or motor in a location where vibration and shock will exceed the

specifications.

 Do not mount the servo drive or motor in a location where it will be subjected to high levels of

electromagnetic radiation.

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Correct

Incorrect

2.3.4 Installation Procedure and Minimum Clearances

Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor.
Please follow the guidelines in this manual when installing the servo drive and motor.

The VersaMotion servo drive should be mounted perpendicular to the wall or in the control panel. In
order to ensure the drive is well ventilated, allow sufficient free space surrounding the servo drive and
do not obstruct the ventilation holes. Do not install the drive in a horizontal position or malfunction and
damage will occur.

Drive Mounting

The servo drives must be back-mounted vertically on a dry and solid surface such as a NEMA
enclosure. A minimum spacing of two inches must be maintained above and below the drive for
ventilation and heat dissipation. Additional space may be necessary for wiring and cable connections.
Also, the mounting surface should be able to conduct heat away from the mounting plate and not
conduct into the drive from external sources.

Motor Mounting

The servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum
heat transfer for maximum power output and to provide a good ground.

For dimensions and weight specifications of the servo drives and motors, refer to Chapter 11,
“Specifications".

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20mm

(0.8in)

min.

20mm
(0.8in)

min.

50mm
(2.0in)

min.

50mm
(2.0in)

min.

Minimum Clearances

Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When
installing two or more drives adjacent to each other, allow clearances as shown in the following
diagram.

Minimum Clearances

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40mm

(1.16 in)

min.

40mm

(1.16 in)

min.

10mm

(0.4 in)

min.

10mm

(0.4 in)

min.

10mm

(0.4 in)

min.

100mm
(4.0 in)

min.

100mm
(4.0 in)

min.

100mm
(4.0 in)

min.

100mm
(4.0 in)

min.

Air flow

Air flow

Fan

Fan

Side by Side Installation

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Drive Part No.

Output Short

Circuit

Breaker

Fuse

3-Phase

Operation

Leakage Current

1-Phase

Operation

Leakage Current

IC800VMA012

8.4A (peak)

5A

5A

0.06mA

0.16mA

IC800VMA022

8.4A (peak)

5A

5A

0.06mA

0.16mA

IC800VMA042

25A (peak)

10A

20A

0.08mA

0.2mA

IC800VMA072

42A (peak)

10A

20A

0.08mA

0.2mA

IC800VMA102

60A (peak)

15A

25A

0.08mA

0.2mA

IC800VMA202

73A (peak)

30A

60A

0.12mA

-

IC800VMA302

107A (peak)

30A

80A

0.13mA

-

2.4 Molded-Case Circuit Breaker, Fuse and Leakage Current

2-8 VersaMotionServo Motors and Amplifiers User’s Manual – October 2012 GFK-2480A