Moog G393-006, G393-020, G393-008, G393-012, G393-016 Operation Manual

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MSD Servo Drive

Operation Manual

DC-AC Servo Drive

Multi-Axis System with sinusiodal regeneration

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Id. no.: CA97554-001 05/2017

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

MSD Servo drive energy-efficient multi-axis syste

Comprising DC-powered DC-AC Servo Drives and coordinated Power Supply Units with sinusoidal regenerative power supply, the multi-axis system offers a high degree of solutions expertise and flexibilit . Reduction of the wiring and shortening of the installation times are just as easy to achieve as resource-saving, cost-conscious operation.

MSD Servo Drive Operation Manual

Multi-Axis System DC-AC Servo Drive

ID no.: CA97554-001

Date: 06/2017, Rev. 2.1

Applicable as from rmware version: V2.20-01

The German version is the original of this operation manual.

Subject to technical change without notice.

The content of our documentation was complied with the greatest care and attention, and is based on the latest information available to us.

We should nevertheless point out that this document cannot always be updated simultaneously with the ongoing technical development of our products.

Information and specifications may be subject to change at any time. Please obtain information on the latest version at drives-support@moog.com.

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Table of contents

1 General ..........................................................................................7

1.1 Target group ...............................................................................................................7

1.2 Prerequisites ................................................................................................................7

1.3 Reference documents ..................................................................................................7

1.4 Order code .................................................................................................................. 8

1.5 Data on manufacture ..................................................................................................9

1.6 Scope of supply ...........................................................................................................9

1.7 Pic tog ra ms .................................................................................................................. 9

1.8 Disclaimer ...................................................................................................................9

1.9 Disposal .....................................................................................................................9

1.10 Helpline/Support & Service ........................................................................................10

2 Safety ........................................................................................... 11

2.1 Overview ................................................................................................................... 11

2.2 Measures for your safety ........................................................................................... 11

2.3 General safety instructions and warnings .................................................................. 12

2.4 Intended use ............................................................................................................. 12

2.4.1 Repair ........................................................................................................13

2.5 Misuse ...................................................................................................................... 13

2.6 Responsibility ............................................................................................................ 13

2.7 Relevant laws, standards and directives applied ........................................................ 13

2.8 Declaration of conformity .........................................................................................14

2.8.1

MSD Servo Drive DC-AC Size 1 to 7..........................

..................................14

3 Mechanical installation.................................................................. 15

3.1 Notes for mechanical installation............................................................................... 15

3.2 Switch cabinet layout ................................................................................................ 16

3.2.1 Example: .................................................................................................... 17

3.3 Wall mounting (air cooling).........................................................................................18

3.4 Alignment and arrangement in the group ................................................................. 19

3.4.1 Alignment in the group .............................................................................. 19

3.4.2 Arrangement in the group ......................................................................... 20

3.5 Mounting DC-AC Servo Drive air cooling housing variant .......................................... 21

3.5.1 Dimensions and mounting clearances ........................................................22

3.6 Mounting DC-AC Servo Drive liquid cooling housing variant ..................................... 23

3.6.1 Dimensions and mounting clearances ........................................................23

3.7 Cooling circuit connection.........................................................................................26

4 Electrical installation ..................................................................... 27

4.1 Notes for installation ................................................................................................. 27

4.2 Effective EMC installation..........................................................................................28

4.2.1 Cable type ................................................................................................. 28

4.2.2 Routing of cables .......................................................................................28

4.2.3 Earthing measures ..................................................................................... 28

4.2.4 Shielding measures .................................................................................... 29

4.2.5 External components .................................................................................30

4.3 Overview of the connections .....................................................................................30

4.3.1 Layout, G393-004 (Size 1) to G393-032/G397-035 (Size 4) .......................30

4.3.2 Layout, G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A) .....32

4.3.3 Layout, G397-250 to G397-450 (Size 7) .....................................................34

4.4 Protective earth conductor connection......................................................................36

4.5 Electrical isolation concept ........................................................................................36

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4.6 Connection of control supply (+24VDC) ..................................................................38

4.6.1 G393-004 (Size 1) to G393-170/G397-210 (Size 6A) ..................................39

4.6.2 G397-250.1 to G397-450 (Size 7) ..............................................................39

4.7 Connection of DC power supply ...............................................................................40

4.8 Control connections ..................................................................................................42

4.8.1 Speciﬁcation of the control connections ....................................................42

4.8.2 Brake driver ................................................................................................44

4.9 Speciﬁcation, USB interface ....................................................................................... 45

4.10 Speciﬁcation, Ethernet interface ................................................................................45

4.11 Option1 ...................................................................................................................45

4.12 Option2 ...................................................................................................................45

4.13 Encoder connection ..................................................................................................46

4.13.1 Encoder connection for synchonous motors ..............................................46

4.13.2 Allocation of motor/encoder cable to the DC-AC Servo Drive .....................46

4.13.3 Ready made encoder cables .......................................................................46

4.13.4 Resolver connection ...................................................................................47

4.13.5 Connection for high-resolution encoders ...................................................48

4.14 Motor connection .....................................................................................................49

4.14.1 Motor connection for synchronous motors ................................................49

4.14.2 Switching in the motor cable .....................................................................52

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5 Commissioning ............................................................................. 53

5.1 Notes for commissioning ...........................................................................................53

5.2 Initial commissioning ................................................................................................. 53

5.2.1 Switching on control supply .......................................................................54

5.2.2 Connection between PC and DC-AC Servo Drive ....................................... 54

5.2.3 Conﬁguring parameters .............................................................................54

5.2.4 Controlling drive using Moog Dr iveA Dmini strAtor5 ..................................... 55

5.3 Serial commissioning ................................................................................................. 56

MSD Multi-A xis System Operation Manual DC-AC Ser vo Drive

5.4 Integrated control unit ..............................................................................................57

5.4.1 Function of buttons T1 and T2 ...................................................................58

5.4.2 Display ....................................................................................................... 58

5.4.3 Parameter menu (PA) .................................................................................59

5.4.4 Ethernet IP address menu (IP) ..................................................................... 59

5.4.5 Field bus address menu (Fb) .......................................................................60

6 Diagnostics ................................................................................... 63

6.1 Status indication on the device .................................................................................. 63

6.1.1 Device states ..............................................................................................63

6.1.2 Error indication ..........................................................................................63

6.2 Status and error indication in MoogD rive ADmin istr Ator5 ...........................................64

7 Safe Torque Off (STO) ...................................................................67

8 Operation with AC-AC Servo Drive as supply .................................69

8.1 Arrangement of the devices and components ........................................................... 69

8.1.1 Device protection ....................................................................................... 69

8.2 Switch cabinet arrangement with AC-AC Servo Drive as supply .................................74

9 Planning ....................................................................................... 75

9.1 Overview and comparison of the multi-axis systems.................................................. 75

9.2 Application examples ................................................................................................75

9.3 Operation with a Power Supply Unit .........................................................................76

9.4 Operation with AC-AC Servo Drive as supply.............................................................77

9.5 Functional comparison .............................................................................................. 78

9.6 Cost-effectiveness calculation ...................................................................................78

9.7 Dimensioning ............................................................................................................79

9.7.1 Determining the drive power required per axis ..........................................79

9.7.2 Selection of suitable gearboxes and motors ...............................................80

9.7.3 Selection of suitable DC-AC Servo Drives ...................................................80

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9.7.4 Selection of suitable Power Supply Unit ..................................................... 80

9.7.5 External components .................................................................................82

9.7.6 Selection of a suitable AC-AC Servo Drive as supply ...................................82

9.7.7 External components .................................................................................84

10 Application example .....................................................................85

10.1 Interlocking Power Supply Unit and DC-AC Servo Drives ........................................... 85

A Technical data ...............................................................................87

A.1 Current carrying capacity, MSD Servo Drives DC-AC .................................................87

A.1.1 G393-004 to G393-032 (air cooling, 400VAC) ........................................87

A.1.2 G393-004 to G393-032 (air cooling, 460VAC) ........................................88

A.1.3 G393-004 to G393-032 (air cooling, 480VAC) ........................................89

A.1.4 G393-004 to G393-032 (air cooling, 770VDC) ........................................90

A.1.5 G393-045 to G393-170 (air cooling) .......................................................... 91

A.1.6 G397-016 to G397-032 (liquid cooling, 400VAC) ....................................92

A.1.7 G397-016 to G397-032 (liquid cooling, 460VAC) ....................................93

A.1.8 G397-016 to G397-032 (liquid cooling, 480VAC) ....................................93

A.1.9 G397-016 to G397-032 (liquid cooling, 770VDC) ....................................94

A.1.10 G397-045 to G397-170 (liquid cooling) ......................................................94

A.1.11 G397-250 to G397-450 (liquid cooling) .....................................................95

A.2 Technical data, MSD Servo Drive DC-AC ....................................................................96

A.2.1 G393-004 to G393- 020 / G397-020 to G397-025 .....................................96

A.2.2 G393-024 to G393-072 / G397-026 to G397-084 ..................................... 96

A.2.3 G393-090 to G393-170 / G397-110 to G397-210 .......................................97

A.2.4 G397-250 to G397-450 .............................................................................97

A.3 Power connections ....................................................................................................98

A.4 Current required for the control supply .....................................................................99

A.5 Pre-assembled DC link connections .........................................................................100

A.5.1 DC coupling, Power Supply Unit and DC-AC Servo Drive ......................... 101

A.5.2 DC coupling, DC-AC Servo Drive and DC-AC Servo Drive ......................... 101

A.5.3 DC coupling, AC-AC Servo Drive and DC-AC Servo Drive ......................... 102

A.6 Ambient conditions .................................................................................................104

A.7 Hydrological data for the liquid cooling ................................................................... 105

A.8 Dynamic temperature monitoring ...........................................................................106

A.9 UL certiﬁcation (Size 1 to Size 7) .............................................................................10 6

Glossary ............................................................................................. 107

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Table of contents

MSD Multi-A xis System Operation Manual DC-AC Ser vo Drive

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Table of contents

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Id. no.: CA97554-001 05/2017

MSD Multi-A xis System Operation Manual DC-AC Ser vo Drive

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1 General

1.3 Reference documents

The product DVD from Moog contains the complete documentation for the related product series. The documentation for a product series includes the Operation Manual (hardware description), Device Help (software description) as well as further

User Manuals (e.g. field bus description) and Specifications. They are available in the formats PDF, HTML or chm.

1.1 Target group

Dear user,

the documentation forms part of the device and contains important information on operation and service. It is aimed at all persons who undertake mounting, installation, commissioning and servicing work on the product.

1.2 Prerequisites

Prerequisites for the usage of devices from Moog GmbH:

• The documentation on the devices is to be stored so it legible, accessible at all times and for the entire life of the product.

• Read and ensure you understand the documentation on your device.

•

Qualification: to p event injury or damage, personnel may only work on the

device if they have electrical engineering qualifications

• Knowledge required:

− National health and safety regulations (e.g. VSize 4 in Germany)

− Mounting, installation, commissioning and operation of the device

Work in other areas, for example transport, storage and disposal is only allowed to be undertaken by trained personnel.

NOTE

This operation manual only applies to the DC-AC Servo Drive for the MSD Multi-Axis System (referred to in the following as the DC-AC Servo Drive).

Document Contents

MSD Single-Axis Servo Drive CompactOperation Manual MSD Servo Drive AC-AC Servo Drive Single-Axis System Operation Manual

MSD Servo Drive DC-AC Servo Drive Multi-Axis SystemOperation Manual

MSD Power Supply Unit Multi-Axis SystemOperation Manual

MSD Servo Drive Sercos II User Manual

MSD Servo Drive Sercos III User Manual

MSD Servo Drive Field bus systems CANopen/EtherCAT User Manual MSD Servo Drive Field bus systems Probus/Pronet User Manual

Modular Multi-Axis Servo Drive System - MSD Ordering Catalog

MSD Servo Drive - Device Help

Program help

DriveADminsitrAtor 5

Moog PC user software

Safety, mechanical installation, electrical installation, commissioning, diagnostics, specications, certication and applicable standards, technical data

Safety, mechanical installation, electrical installation, commissioning, diagnostics, STO, operation with AC-AC Servo Drive as supply, planning, application example, specications, certication and applicable standards, technical data

Safety, mechanical installation, electrical installation, commissioning, diagnostics, specication, certication and applicable standards, technical data

Safety, commissioning, communication phases, parameter interface, error, warning and status messages, operation modes, weighting, referencing, touchprobe, parameter lists

Safety, installation and connection, commissioning and conguration, parameterisation, data transmission, scaling and weighting, functionality, error message and diagnostics, parameter lists

Safety, commissioning, data transmission, operation modes, referencing, parameters, technical data

Description and conguration of the parameters for the MSD Servo Drive on the PROFIBUS/PROFINET eld bus system

Information, notes on ordering, specications and technical data on: MSD Single-Axis Servo Drive Compact, MSD Single-Axis System, MSD Multi-Axis System, safety technology, communication, technology, function packages, accessories and motors Description of the software functionality MSD Servo Drive, rmware versions:

- MSD Single-Axis Servo Drive Compact from V1.30-xx

- MSD Single-Axis System from V3.25-xx

- MSD Multi-Axis System from V3.25-xx Context-sensitive help for Moog DriveADministrAtor version 5.x graphic PC user software for initial commissioning and serial commissioning, operation, diagnostics and project management

ID no.

Format

CA97555-001

PDF

CA65642-001

PDF

CA97554-001

PDF

CA97556-001

PDF

CA65648-001

PDF

CA97557-001

PDF

CA65647-001

CA65645-001

PDF

CDL 29950-en

PDF

CB40859-001

PDF and

HTML

CB19692-001

moog

Id. no.: CA97554-001 05/2017

1 General

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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1 General

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Id. no.: CA97554-001 05/2017

1.4 Order code

The MSDMulti-Axis System has the article designation G393-xxx-xxxxxxx and G397-xxx-xxxxxxx. This provides information on the related variant of the

MSDServoDrive supplied. The signicance of the individual characters of the article

designation is given in the following order code.

G393 - - -

Rated current

Option 1 (Communication)

Option 2 (Technology)

Option 3 (Safety)

Option 4 (Function package)

Modificatio

Variants

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

G397 - - -

Rated current

Option 1 (Communication)

Option 2 (Technology)

Option 3 (Safety)

Option 4 (Function package)

Modificatio

Variants

Figure 1.2 Order code MSD Servo Drive DC-AC (liquid-cooled)

Figure 1.1 Order code MSD Servo Drive DC-AC (air-cooled)

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1.5 Data on manufacture

1.7 Pictograms

On rating plates for the servo drives you will find the serial number, from which you can identify the date of manufacture based on the following key. For the location of the rating plate on the MSDServoDrive refer to the layouts in chapter4.3, page30 sizes Size 1 to 7.

MOOG

D-71034 Böblingen www .moog.com/industrial Made in Germany

Model:: G393-030-000-002

S/N:D116605 Rev. A

In: 230 V AC 3ph, 50/60 Hz

4,0 A

0-230 V AC 3ph, 0-400 Hz

Out:

3,0 A

Year of production

Week of production

for the related

ID : JJWWxxxxx

Figure 1.3 DC-AC Servo Drive hardware rating plate

1.6 Scope of supply

The scope of supply includes:

MSDServoDrive DC-AC

•

Terminal kit for control and power terminals

•

(depending on device power and variant)

•

Set of grommets (on devices with liquid cooling)

• Pre-assembled DC link connections

• Product DVD with booklet

The pictograms used in this operation manual signify the following for the user:

NOTE

Useful information or reference to other documents.

(digit)

You will find the pictograms used in this operation manual for "safety instructions and warnings" in chapter 2 Safety.

ACTION TO BE TAKEN

Processing step undertaken by the user or the system.

1.8 Disclaimer

Following the documentation on the devices from Moog is a prerequisite:

•

For safe operation.

•

To achieve stated performance features and product characteristics.

Moog does not accept any liability for injuries, damage or financial losses that esult from the failure to follow the documentation.

1.9 Disposal

Follow the applicable national regulations! If necessary, dispose of individual parts, depending on their characteristics and existing national regulations, e.g. as:

• Electrical waste

• Plastic

• Metal

Or engage a certified disposal organisation with scrappin

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1 General

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1.10 Helpline/Support & Service

Our Helpline will help you with fast, specific assistance if you have any technical queries relating to project planning or commissioning your device.

Address: Moog GmbH

Hanns-Klemm Straße 28 D-71034 Böblingen

Phone: +497031622-0 Fax: +497031622-100 E-mail: drives.support@moog.com

If you need service assistance, the Moog specialists will be pleased to be of assistance.

Service - Please contact us:

Phone: +497031622-0 E-mail: info.gemany@moog.com

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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2 Safety

2.1 Overview

Our devices are state-of-the-art and comply with recognised safety regulations, nevertheless hazards can arise. In this chapter:

• We provide information on residual risks and hazards that can emanate from our devices on usage as intended.

• We warn about the foreseeable misuse of our devices.

•

We refer to the necessary care and measures to be taken to prevent risks.

2.2 Measures for your safety

NOTE

Only install and place in operation your device taking into account the documentation for the related device family!

Our devices are quick and safe to operate. For your own safety and for the safe functioning of your device, please be sure to observe the following points:

Protection against magnetic and/or electromagnetic fields during installation and operation.

Persons tted with heart pacemakers, metallic implants and hearing aids etc. must not be allowed access to the following areas:

• Areas in the immediate vicinity of electrical equipment!

• Areas in which electronics components and servo drives are installed, repaired and operated!

• Areas where motors are installed, repaired and operated!

Motors with permanent magnets pose particular hazards.

During installation observe the following:

• Comply with connection conditions and technical data as per the documentation and the rating plate!

• Comply with standards and directives on electrical installation, such as cable cross-section, shielding, etc.!

• Do not touch electronic components and contacts! Electrostatic discharge can harm people and destroy components!

• Take protection measures and use protective devices as per the applicable regulations (e.g. IEC/EN60204 or IEC/EN61800-5-1)!

• Take "device earthing" protection measure!

Ambient conditions

•

Follow the instructions on the transport, storage and correct operation of the devices stated in the Operation Manual in "A Appendix".

moog

Follow safety instructions for the devices: Follow all safety instructions and warnings in the entire documentation related to the device series.

Electric drives are dangerous:

• Due to electrical voltages up to 480V AC and up to 800V DC

• Even 10min. after switching off the mains supply, dangerously high voltages of ≥50V may

still be present (capacitor charge). So check that electrical power is not present! See also the warning label on the front panel on the device.

• Rotating parts

• Automatically starting drives.

• Hot components and surfaces

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2 Safety

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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2 Safety

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2.3 General safety instructions and warnings

Hazards may emanate from our devices. For this reason it is imperative you follow the safety instructions and warnings in this document.

DANGER! Risk of injury due to electrical power!

• Carelessness will result in serious injuries or death.

Follow safety instructions and warnings in this document and on the device.

WARNING! Risk of injury due to electrical power!

• Carelessness may result in serious injuries or death.

Follow safety instructions and warnings in this document and on the device.

CAUTION! Risk of injury or damage to the device due to incorrect operation!

• Carelessness may result in minor injuries or damage.

Follow safety instructions and warnings in this document and on the device.

WARNING! Risk of injury due to hot surfaces and components!

• Carelessness may result in serious burns.

Electronic components may become hot during operation! Follow safety instructions and warnings in this document and on the device!

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Pay attention to special safety instructions and warnings that are given here in the document before a specic action and that warn the user about a specic hazard!

NOTE:

The pictograms may also be used on their own with the signal word, e.g. in the connection diagrams, however they have the same function as in the complete warning.

DANGER WARNING CAUTION

2.4 Intended use

Our devices are components intended for stationary electrical systems and machines in the industrial and commercial sector.

The devices in the product range MSD Multi-Axis System conform to the

Machinery Directive 2006/42/EC (Size 1 to Size 6A) Low Voltage Directive 2014/35/EU (Size 7)

Tested and certied according to applicable standards (see declaration of conformity in chapter 2.8).

Caution! Damage due to electrostatic discharge!

• Electrostatic discharge can destroy components.

Do not touch electronic components and contacts! Follow safety instructions and warnings in this document and on the device!

DANGER! Risk of injury due to rotating parts on the motor!

• Carelessness will result in serious injuries or death.

Follow safety instructions and warnings in this document.

When installed in machines it is prohibited to start-up intended operation until it has been ascertained that the completed machine fully complies with the provisions of the Machinery Directive (2006/42/EC); compliance with IEC/EN60204 is mandatory.

Starting up intended operation is only permitted on compliance with the EMC Directive

2014/30/EU.

The devices fulfil the demands of the harmonised p oduct standard

You will find information on the installation of your device in chapter “3 Mechanical installation”.

IEC/EN 61800-5-1.

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2.4.1 Repair

Only have repairs undertaken by authorised repair shops. Unauthorised opening and incorrect intervention could lead to death, physical injury or material damage. The warranty provided by Moog will be rendered void.

2.5 Misuse

Our devices are:

• Not intended for installation in vehicles. Deployment of the device in mobile equipment is classed as non-standard ambient conditions, and is permissible only by special agreement.

• Not intended for installation in environments with harmful oils, acids, gases, vapours, dusts, radiation etc.

Not approved for usage in special applications (e.g. in potentially explosive

•

atmospheres or areas in which there is a risk of fire).

• Not approved for usage outside a switch cabinet

• Not approved for the generation of high-frequency onboard networks for which

the device is not designed

2.6 Responsibility

Pay attention to the topic of “Electrical equipment of machines” in EN60204-1:2006 “Safety of machinery”. The safety requirements on electrical machines defined the e are

intended to protect personnel and machinery or systems.

The emergency stop function (as per IEC/EN60204) shuts down the supply of power to a machine, which results in the drives coasting down in an uncontrolled manner. To avert hazards, check whether it is appropriate:

− To keep individual drives in operation

− To initiate specific safety p ocedures

− To incorporate a Safe Torque Off function (Safe Torque Off: movement stop by "switching off the electrical supply" - STO)

2.7 Relevant laws, standards and directives applied

For information on the laws, standards and directives applied by Moog, refer to the declaration of conformity.

NOTE:

Depending on the specific application for the devices, other laws, standa ds and directives with provisions on "Safety" may apply. If necessary, contact the machine or system manufacturer.

Electronic devices are not fail-safe. The installer and/or operator of a complete machine or system is responsible for ensuring:

• That the drive is rendered safe if the device fails

• The safety of personnel and machinery

• The complete machine is in correct working order

•

For the risk assessment on the complete machine or system according to EN ISO 12100 (formerly EN ISO 14121) and EN ISO 13849-1 (formerly

DIN EN 954-1)

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2 Safety

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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2 Safety

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2.8 Declaration of conformity

2.8.1 MSD Servo Drive DC-AC Size 1 to 7

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 15

3 Mechanical installation

The device is designed only for installation in a stationary switch cabinet. The switch cabinet must as a minimum provide IP4x protection. According to ENISO13849-2 the switch cabinet must have IP54 protection or higher when using the safety function STO (Safe Torque Off).

3.1 Notes for mechanical installation

WARNING! Risk of injury due to hot surfaces on the device (heat sink)!

• Carelessness may result in serious burns.

The device and especially the heat sink heat up signicantly during operation and can reach temperatures of up to +100°C (+212°F). Prior to starting work, make sure the device has cooled down. On touching there is a risk of burns to the skin. For this reason provide protection against touching. During mounting maintain an appropriate distance to neighbouring assemblies.

CAUTION! Damage to the device due to incorrect installation conditions!

The device may suffer irreparable damage.

For this reason

• Moisture must not be allowed to enter the device

• There must not be any aggressive or conductive substances in the ambient air

• Foreign bodies such as drilling chips, screws, washers etc. must not be allowed to fall into

the device

• The ventilation openings must not covered

NOTE:

It is imperative the operation manuals for the DC-AC Servo Drive and the Power Supply Unit or the supplying AC-AC Servo Drive are followed during

installation of a MSDMulti-Axis System.

The following basic guidelines apply to the arrangement and installation of the Power Supply Unit or the DC-AC Servo Drive:

• The backing plate must be well grounded.

• To attain the best result for effective EMC installation you should use a

chromated or galvanised backing plate. If backing plates are varnished, remove the coating from the contact area! The devices Size 1 to Size 4 and Size 7 have a rear wall made of aluminium. The devices Size 5 and Size 6A have a rear wall made of aluminised/galvanised sheet steel.

• Maximum degree pollution degree 2 according to IEC/EN 60664-1. You will find further information on ambient conditions in Table A.29 in the appendix.

• Cooling air must be able to flow th ough the device without restriction.

•

On installation in switch cabinets with convection, i.e. heat loss is dissipated to the outside via the switch cabinet walls, always fit an inte nal air circulation fan.

If you require further detailed information on installation, please contact the MoogHelpline (see chapter1.10, page10).

NOTE:

The DC-AC Servo Drives must not be installed in areas where they would be permanently exposed to vibration.

You will find further information in Table A.27 in the appendix.

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3 Mechanical installation

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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3 Mechanical installation

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3.2 Switch cabinet layout

The positioning of the components in the switch cabinet has a significant e fect on the trouble-free system and machine function. You should take into account the following points in your planning:

•

Evaluate the assemblies used in relation to EMC.

•

Divide the switch cabinet into zones with different power and interference levels.

•

For devices susceptible to interference, maintain a distance of at least 200mm (7.87 in) from the following components:

− DC-AC Servo Drive

− Input and output chokes, transformers

− Mains, motor, DC power supply and braking resistor cables (even if shielded)

− Relay and contactors (even if interference-suppressed)

•

For small distances use separators for shielding; fasten the separators directly and conductively to the backing plate.

•

If a motor contactor or motor choke is used, the component should be directly positioned directly at the DC-AC Servo Drive.

•

Do not use fluo escent lamps in switch cabinets, as they emit high-frequency interference.

•

Fit contactors, relays, solenoid valves, switched inductors and capacitors with suppressors.

•

The mains filter must be mounted on the backing plate as close as possible to the feed point and with large surface area contact. The backing plate must be connected to the central earthing point with a low-impedance connection. No unfilte ed cables are allowed to be laid on the mains input side of the filter so that no interference can be coupled into the cables.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 17

3.2.1 Example:

< 200 mm

< 20

12 9

1) Mains cable

2) Main switch

3) Fuses

4) Mains lter 1)

PWR

LOCK

5) Circuit breaker

6) Mains contactor

7) Input choke with capacitor connected

8) Step-up choke

Power COM Data Status

Reset

RJ-45/Line

RS 232

9) MSD Power Supply Unit

10) MSD Servo Drive DC-AC

11) DC power supply via DC link cable

12) Braking resistor

13) Motor cables

14) Controller 2)

OFF

1) Cables without interference suppression must be laid at a distance of at least 200 mm (7.87 in) from the mains input side of the lter so that no interference can be coupled into the cables.

2) Arrange the controller separated from the power area to prevent EMC coupling mechanisms. Control cables, signal cables and cable shields have been omitted for clarity

Figure 3.1 Example: arrangement in the switch cabinet

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

3 Mechanical installation

Page 18

3 Mechanical installation

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3.3 Wall mounting (air cooling)

•

Use bare metal backing plates.

•

The rear of the DC-AC Servo Drive must have good contact to the switch cabinet ground. The contact area must be bare metal to establish a good ground connection to the switch cabinet ground. There must not be an air gap between the rear wall of the DC-AC Servo Drive and the rear wall of the switch cabinet.

•

The bases of the chokes must have good contact to the switch cabinet ground. The contact area must be bare metal to establish a good ground connection to the switch cabinet ground.

= 0 mm

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

> 0 mm

1) Paint

2) Air gap

Figure 3.3 INCORRECT mounting of DC-AC Servo Drive

1) Bare metal backing plate

2) Large area contact

Figure 3.2 CORRECT mounting of DC-AC Servo Drive

Page 19

18.5 mm (0.73 in)

3.4 Alignment and arrangement in the group

•

Devices with different housing variants, such as air cooling and liquid cooling, can be mounted side-by-side in any combination.

•

Devices with the liquid cooling housing variant have a spacer on the rear in place of the heat sink. As a consequence it is possible to connect devices with the air cooling housing variant using pre-assembled DC link cables without additional compensation measures in relation to the device depth.

• The distance between the devices in a row is defined by the pre-assembled

connection cables supplied and is 2mm (0.08in).

NOTE

Devices of Size 6A in the air cooling housing variant are an exception. The mounting distance between two air-cooled devices of Size 6A is 40mm

(1.57in) (see Figure 3.5).

NOTE

Only use the DC link connections supplied for the electrical coupling of the devices. If extending the DC link coupling is unavoidable, it is imperative you pay attention to the requirements in chapterA.5, page103. On the usage of connection cables that do not meet the requirements, Moog does not provide any guarantee for stable, safe operation.

•

The DC-AC Servo Drives are allowed to be arranged to the left and/or right of a Power Supply Unit. On side by side mounting devices with different drive powers you should arrange the devices in descending order by power rating (e.g., viewed from the left, Size 4-Size3-Size2-Size1). This arrangement will minimise the thermal interaction. The Power Supply Unit must always be fitted beside the DC-AC Servo Drive with the highest power. On side by side mounting other devices to the multi-axis system, attention is to be paid to ensuring there is no thermal interaction between the devices.

•

Align the devices along the top edge (dotted line) to ensure trouble-free wiring.

NOTE

Between the upper fastening screws for devices of Size 1 to Size 5 there is a vertical offset of 18.5mm (0.73in) compared to devices of Size 6A (see Figure 3.5).

3.4.1 Alignment in the group

MSD

Power Supply Unit

Size 5

MSD Servo Drive DC-AC Size 1

MSD Servo Drive DC-AC Size 4

Figure 3.4 Alignment of DC-AC Servo Drives in relation to Power Supply Unit Size 5 (example)

MSD Power Supply Unit

Size 6A

Wall mounting

Figure 3.5 Alignment of DC-AC Servo Drives in relation to Power Supply Unit Size 6A (example)

MSD Servo Drive DC -AC

MSD Servo Drive DC-AC Size 3

Size 6A

Wall mounting

MSD Servo Drive DC-AC Size 2

MSD Servo Drive DC-AC Size 5

MSD Servo Drive DC-AC Size 4

MSD Servo Drive DC-AC Size 2

MSD Servo Drive DC-AC Size 3

MSD Servo Drive DC-AC Size 1

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 20

MSD Servo Drive DC-AC Size 1

MSD Servo Drive DC-AC Size 2

MSD Servo Drive DC-AC Size 3

MSD Servo Drive DC-AC Size 4

MSD Servo Drive DC-AC Size 5

18.5 mm (0.73 in)

MSD Servo Drive DC -AC

Size 6A

with liquid cooling

MSD Power Supply Unit

Size 6A

with liquid cooling

3 Mechanical installation

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Id. no.: CA97554-001 05/2017

Figure 3.6 Alignment of DC-AC Servo Drives in relation to Power Supply Unit Size 7 (example)

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

3.4.2 Arrangement in the group

Permissible arrangements

G396

Figure 3.7 Example permissible arrangement: side by side mounting DC-AC Servo Drive

of the same size on one side of the Power Supply Unit

G396

Figure 3.8 Example permissible arrangement: side by side mounting DC-AC Servo Drive

of the same size or reducing size on both sides of the Power Supply Unit

Page 21

Impermissible arrangements

G396

3.5 Mounting DC-AC Servo Drive air cooling housing variant

Arrange the devices starting from the Power Supply Unit to the right or/and left sorted in descending order by power rating to minimise the thermal effects. Align all devices in a line along the top edge of the devices so that the DC link coupling can be made using the pre-assembled cables. Between the upper fastening screws for devices of Size 1 to Size 5 there is a vertical offset of 18.5mm (0.73in) compared to devices of Size 6A (see Figure 3.5). For information on the mounting clearances see Table 3.1.

Mark out the position of the tapped holes on the backing plate. Drill holes in the backing plate and cut a thread for each xing screw in the backing plate. Pay attention to the bending radius of the connection cables! For hole spacing and dimensional drawings see Table 3.1, Figure 3.11 and Figure 3.12.

Figure 3.9 Example of an impermissible arrangement: side by side mounting DC-AC Servo Drive

of increasing size

G396

Figure 3.10 Example of an impermissible arrangement: side by side mounting DC-AC Servo Drive

of increasing and reducing sizes

Mount the DC-AC Servo Drives vertically and side by side mounted in a row on the backing plate. The contact area must be bare metal. Use the pre-assembled DC link cables supplied for the DC power supply. Continue with the electrical installation in chapter4, page27.

NOTE:

The minimum distance specified in the table applies for devices of the same power. On side by side mounting devices with differ should arrange the devices in descending order by power rating (e.g., viewed from the left, Size 4-Size 3-Size 2-Size 1). This arrangement will minimise the thermal interaction. The Power Supply Unit must always be fitted beside the

DC-ACServo Drive with the highest power. On side by side mounting other devices to the multi-axis system, attention is to be paid to ensuring there is no thermal interaction between the devices.

ent drive powers you

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 22

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3.5.1 Dimensions and mounting clearances

Size Size 1 Size 2 Size 3 Size 4 Size 5 Size 6A

Device

G393-004

G393-006

Weight kg (lb) 3.4 (7.5) 4.9 (10.8) 6.5 (14.3) 7.5 (16.5) 13 (28.7) 32 (70.6)

B (width) 58.5 (2.30) 90 (3.54) 130 (5.12)

H (height)

D (depth)

A 29.25 (1.15) 50 (1.97) 80 (3.15)

C 382 (15.04) 406.5 (16) 581 (22.87)

C1 5 (0.2) 6 (0.24) 10 (0.39)

D (Ø) 4.8 (0.19) 5.6 (0.22) 9.5 (0.37)

E Direct side by side mounting, maximum 2 (0.08) 40 (1.57)

F

G

≥100 (3.94) ≥150 (5.91) ≥180 (7.09)

G393-008

G393-012

G393-016

G393-020

G393-024

171

(6.73)

G393-032

G393-045

G393-060

G393-072

190 (7.48) 280 (11.02)

G393-090

295 (11.61) 345 (13.58) 540 (21.26)

224 (8.82) 240 (9.45) 322 (12.68)

120

(4.72)

150 (5.91) 200 (7.87)

≥270 (10.63) ≥300 (11.81) ≥500 (19.69)

G393-110

G393-143

G393-170

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Size 1

TB D

C1 C1

Figure 3.11 Dimensional drawing, air cooling housing variant

Size 2 ... Size 6

CCH1 H

H1 392 (15.43) 418.5 (16.48) 600 (23.62)

H2 38.5 (1.52) 15 (0.59) 20 (0.79)

Screws 2 x M4 4 x M4 4 x M5 4 x M8

1) Without terminals/connectors 3) The bend radius of the connection cables must be taken into account

2) Mounting distance Size 6A to other Size 6A All dimensions in mm (in)

Table 3.1 Dimensions and mounting clearances, air cooling housing variant

Figure 3.12 Mounting distances, air cooling housing variant

Page 23

3.6 Mounting DC-AC Servo Drive

3.6.1 Dimensions and mounting clearances

liquid cooling housing variant

Arrange the devices starting from the Power Supply Unit to the right and/or left sorted in descending order by power rating to minimise the thermal effects. Align all devices in a line along the top edge of the devices so that the DC link coupling can be made using the pre-assembled cables. Between the upper fastening screws for devices of Size 1 to Size 5 there is a vertical offset of 18.5mm (0.73in) compared to devices of size Size 6A (see Figure 3.5). For information on the mounting clearances see Table 3.2.

Mark out the position of the tapped holes and the pipe ttings on the backing plate. Drill holes and cut a thread for each xing screw in the backing plate. Pay attention to the bending radius of the connection cables! For hole spacing and dimensional drawings see Table 3.2, Figure 3.13 and Figure 3.14.

On screwing the hose connections (not included in the scope of supply) into the pipe ttings, lock the pipe ttings using a 22mm (0.87in)open-ended wrench to prevent damage due to the application of torque to the device. Pay attention to a perfectly sealed connection without leaks (e.g. using Teon sealing tape). Continue with the electrical installation in chapter4, page27.

Size Size 3 Size 4 Size 5 Size 6A Size 7

Device

G397-020

G397-025

Weight kg (lb) 6.5 (14.3) 7.5 (16.5) 13 (28.7) 32 (70.6) 100 (220.5)

B (width) 130 (5.12) 171 (6.73) 190 (7.48) 280 (11.02) 380 (14.96)

H (height)

D (depth)

A 80 (3.15) 120 (4.72) 150 (5.91) 200 (7.87) 150 (5.91)

A1 10 (0.39) 25 (0.98) 40 (1.57) 65 (2.56) 29 (1.14)

A2 60 (2.36) 70 (2.76)

C 382 (15.04) 406.5 (16) 581 (22.87) 952 (37.48)

C1 5 (0.2) 6 (0.24) 10 (0.39) 12 (0.47)

D (Ø) 4.8 (0.19) 6.5 (0.26) 9.5 (0.37) 12 (0.47)

D1 48 (1.89) (Ø hole for pipe socket)

E Direct side by side mounting, maximum 2 (0.08)

H1 392 (15.43) 418.5 (16.48) 600 (23.62) 971 (38.23)

H2 38.5 (1.52) 15 (0.59) 20 (0.79) 60 (2.36)

H3 70 (2.76) 70 (2.76) 54 (2.13) 56.5 (2.22) 124 (4.88)

All dimensions in mm (in)

1) Without terminals/connections

2) Also pay attention to the bending radius of the connection cables

295 (11.61) 346.5 (13.64) 540 (21.26) 952 (37.48)

224 (8.82) 238.5 (9.39) 285 (11.22) 286.5 (11.28)

≥150 (5.91) ≥180 (7.09)

G397-026

G397-035

≥300 (11.81) ≥500 (19.69)

G397-053

G397-070

G397-084

G397-110

G397-130

G397-170

G397-210

G397-250

G397-325

G397-450

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3 Mechanical installation

Table 3.2 Dimensions and mounting clearances, liquid cooling housing variant

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 24

3 Mechanical installation

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Id. no.: CA97554-001 05/2017

Size Size 3 Size 4 Size 5 Size 6A Size 7

Device

G397-020

G397-025

S [inch] 3/8 (female thread)

Screws 4 x M4 4 x M6 4 x M8 6 x M10

T1 73.5 (2.89)

All dimensions in mm (in)

1) Without terminals/connections

2) Also pay attention to the bending radius of the connection cables

Table 3.2 Dimensions and mounting clearances, liquid cooling housing variant

G397-026

G397-035

G397-053

G397-070

G397-084

G397-110

G397-130

G397-170

G397-210

NOTE:

The minimum distance specified in the table applies for devices of the same power. On side by side mounting devices with different drive powers you should arrange the devices in descending order by power rating (e.g., viewed from the left, Size 4-Size 3-Size 2-Size 1). This arrangement will minimise the thermal interaction. The Power Supply Unit must always be fitted beside the DC-AC Servo Drive with the highest power. On side by side mounting other devices to the multi-axis system, attention is to be paid to ensuring there is no thermal interaction between the devices.

G397-250

G397-325

G397-450

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

H1H4H

Figure 3.13 Dimensional drawing, liquid cooling housing variant, based on Size 5 as an example

H1 C

A B

A1A2

Figure 3.14 Dimensional drawing, liquid cooling housing variant, based on Size 7 as an example

Page 25

Figure 3.15 Mounting distance, liquid cooling housing variant, based on Size 5 as an example

Figure 3.16 Mounting distance, liquid cooling housing variant, based on Size 7 as an example

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Page 26

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3.7 Cooling circuit connection

WARNING! Risk of injury due to hot coolant!

• Carelessness may result in serious burns.

In operation the coolant reaches high temperatures. Prior to starting work, make sure the coolant has cooled down.

The devices with liquid cooling have a capacity of up to 0.5l of coolant depending on

the size. After the disconnection of the connections, liquid may be left in the device and escape if the device is tipped. We recommend the usage of a self-sealing liquid coupling (not included in the scope of supply) to prevent the coolant escaping and to make it possible to disconnect and connect in the filled state

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

1) Liquid connection with 3/8inch female thread

2) Self-sealing quick-release connection with 3/8inch male thread

3) Self-sealing liquid coupling

4) Adapter for hose connection

5) PUR (polyurethane) hose with clip

Figure 3.17 Cooling circuit connection, based on Size 6A as an example

NOTE:

Items2 to 5 are not included in the scope of supply and are to be ordered separately.

Page 27

4 Electrical installation

4.1 Notes for installation

It is imperative you pay attention to the following warnings and safety instructions prior to and during installation.

DANGER! Risk of injury due to electrical power!

• Carelessness will result in serious injuries or death.

Never wire or disconnect electrical connections while they are live! Before making any change the device is to be disconnected from the mains. Even 10min. (Size 1 to 4) / 30min. (Size 5 to 7) after mains off, dangerously high voltages of ≥50V may still be present (capacitor charge). So check that electrical power is not present! Work on the device must only be carried out after the DC link voltage has dropped below a residual voltage of 50V (on Size 1 to 6A to be measured on the terminals X11/L+ and L-, on Size 7 on the terminals X11/ ZK- and X11/ZK+). Dangerous voltage may be present at the device, even if the device is not emitting any visual or audible signals/indications (e.g. with mains voltage applied to terminal X11 and missing control supply +24V DC on X9/X10 or X44)!

WARNING! Risk of injury due to hot surfaces on the device (heat sink)!

• Carelessness may result in serious burns.

The device and especially the heat sink heat up signicantly during operation and can reach temperatures of up to +100 °C (+212 °F). Prior to starting work, make sure the device has cooled down. On touching there is a risk of burns to the skin. For this reason provide protection against touching. During mounting maintain an appropriate distance to neighbouring assemblies.

NOTE:

Along with this operation manual, it is imperative the manuals for the Power Supply Unit or the supplying AC-AC Servo Drive are read on installing the complete MSD Multi-Axis System.

WARNING! Risk of injury due to hot coolant!

• Carelessness may result in serious burns.

In operation the coolant reaches high temperatures. Prior to starting work, make sure the coolant has cooled down.

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4 Electrical installation

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 28

4 Electrical installation

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Id. no.: CA97554-001 05/2017

4.2 Effective EMC installation

4.2.1 Cable type

•

Use only shielded mains, motor and signal cables as shown in Figure 4.1. For all

shielded connections use cables with double copper braiding with 60 to 70%

coverage.

•

If it is necessary to lay very large cable cross-sections, instead of shielded cables it is also possible to use separate individually shielded wires.

NOTE

4.2.2 Routing of cables

You should take into account the following points on laying the cables:

•

Route mains, motor and signal cables separated from one another. Maintain a

distance of at least 200mm (7.87in).

•

For smaller distances use separators for shielding; fasten the separators directly and conductively to the backing plate.

•

Route the cables close to ground potential. On the usage of cable ducts made of plastic, the cable ducts must be fastened directly to the backing plates or the frame. Open space must not be spanned, as otherwise the cables could act like antennae.

•

Route motor cables without interruptions (e.g. not via terminals) and lay them by the shortest route out of the switch cabinet.

•

If a motor contactor or a motor choke is used, the component should be positioned directly at the DC-AC Servo Drive and the shielding on the motor cable should not be stripped back too far.

•

Avoid unnecessary cable lengths and "loops of spare cable".

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

•

Route long cables in places not be susceptible to interference. Otherwise coupling points may be created.

•

Twist wires for the same electrical circuit.

•

Ideally, route the signal cables separated from encoder cables.

•

All signal cables should be combined and routed away upward.

•

Avoid extending cables via terminals.

4.2.3 Earthing measures

All earthed points and components must be routed directly to the central earthing point (e.g. PE rail, main earth) with as low an impedance as possible and with good conductivity. In this way an earthing system is produced that connects all connections to the earthing point in a star topology. This central earthing point is to be clearly defined. This earthing point can be extended to the entire backing plate with an effective EMC connection.

You should take into account the following points for the earthing:

•

Earthed surfaces act as shielding measures and reduce electromagnetic fields in the surrounding area. For this reason metal surfaces should be connected to ground with low-impedance HF connections. In terms of EMC it is not the cross-section of the cable that is definitive, but the surface over which high frequency currents caused by the skin effect can flow awa .

•

Connect the protective earth conductors for the components in the switch cabinet using a star topology.

•

Avoid the use of connectors.

•

Also connect the walls and doors of the switch cabinet to ground.

•

Larger openings in the switch cabinet (window, fan, display) degrade the shielding effect of the cabinet and must be protected with additional shielding measures for the HF range.

•

Earth unused cores at one end as a minimum so that there is no electrostatic charging.

•

Free contact areas of paint and corrosion and make large area connections.

Page 29

•

The usage of tinned, galvanised, aluminised or cadmium-plated elements is to be preferred over painted components; it will then not be necessary to remove the paint. Connectors are to be avoided, or several contacts are to be used for the shield connection in the connector.

For further information on the cross-section of the protective earth conductor see chapter4.4, page36.

4.2.4 Shielding measures

You should take into account the following points for the shielding measures:

•

Use only shielded mains, motor and signal cables as shown in Figure 4.1,

page29. For all shielded connections use cables with double copper braiding with 60 to 70% coverage.

•

Connect the shield at both ends using a large area connection. Extending the shield to the earthing point using a wire (pigtail) reduces the shielding effect by

up to 90%.

Figure 4.1 CORRECT shield connection

Figure 4.3 Shield connection

•

Do not strip back too far the shield.

•

Shields are not allowed to be used to carry power, e.g. as a substitute for the N or PE conductor.

•

The shielding effect can be improved by laying in metal ducts/tubes.

•

If it is necessary to lay very large cable cross-sections, instead of shielded cables it is also possible to lay separate individually shielded wires.

•

Shields must be connected at one end as a minimum. Connection at multiple points is recommended, otherwise potential equalisation currents may flow in physically extensive installations. If the e is interference with long ground connections, these can be connected using coupling capacitors. These capacitors will provides a high-frequency connection for suppressing interference without transmitting the 50-Hz components.

Figure 4.2 INCORRECT shield connection - do not extend to the earthing point (pigtail)

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Page 30

(Size 3 + 4)

(Size 1+2) SW

4 Electrical installation

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4.2.5 External components

•

Place larger loads near the supply.

•

Contactors, relays, solenoid valves (switched inductances) must be wired with suppressors. The wiring must be directly connected to the respective coil.

•

Any switched inductance should be at least 200mm (7.87in) away from the process controlled assemblies.

If you require further detailed information on installation, please contact the Moog Helpline.

4.3 Overview of the connections

Determine the terminal assignment that applies to your device. For G393-004 (Size 1) to G393-032/G397-035 (Size 4) in chapter4.3.1, page30 For G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A) in chapter4.3.2, page32 For G397-250 to G397-450 (Size 7) in chapter4.3.3, page34

Connect all necessary input and output units to the control connections (chapter4.6, page38), the optional interfaces (chapter4.11, page45) and/or (chapter4.12, page45) and the DC link if necessary.

Connect encoder (chapter4.13, page46) and motor (chapter4.14, page49).

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

4.3.1 Layout, G393-004 (Size 1) to G393-032/G397-035 (Size 4)

In the following you will find the layout with the corresponding positions of the connectors and terminals. For improved clarity we have added an abbreviation to the designation for the connectors and terminals.

X11

X9, X10

D1, D2

T1, T2

With the aid of the pre-assembled connection cables (DC-L), connect the protective earth conductor (chapter4.4, page36) and the supply voltages (chapter4.7, page40).

Continue with commissioning in chapter5, page53.

Option 1

HW: Hardware rating plate SW: Software rating plate

Figure 4.4 Layout, G393-004 (Size 1) to G393-032/G397-035 (Size 4)

(based on G393-004 Size 1 as an example)

X12

X13

Page 31

Service

Top side

interface

Service interface

Control

Analog setpoint 1

Analog setpoint 2

+24 V DC against E/A-GND

Diagnosis

STO

Relay

Digital0

Digital1

Digital2

E/A-GND

Communication Field buses

D1, D2 T1, T2

ISA00+

ISA00-

ISA01+

ISA01-

15 16 17

ISD03

ISD04

ISD05

ISD0621

22 12

OSD00

OSD01

DGND

2,14

DGND

USB 1.1

Ethernet

ISD00 ISD01 ISD02

ENPO (STO)

ISDSH (STO)

RSH

Relay OSD04

OSD02

+24 V (U

Option 1

Abbreviation Designation Details

Encoder

Resolver

DC-L

DC + DC -

D1, D2 7-segment display chapter 5.4.2

T1, T2 Button chapter 5.4.1

X2 USB 1.1 interface chapter 4.9

)

X3 Ethernet interface chapter 4.10

X4 Control connections chapter 4.8

Option1 Communication chapter 4.11

X11 Connection for DC supply chapter 4.7

DC-L DC link cables chapter A.5

X11

Danger!

X10

DC + DC -

Option 2

54321

15 14 13 12 11

10 9876

4321

9876

DC-link

24 V DC Power supply for control electronic (U

Technology

PE Connection for PE conductor chapter 4.4

Front

X9, X10 Connection for control supply chapter 4.6

X8 (Option2) Technology chapter 4.12

Triggering of motorbrake 1

X13/1 do not connect!

GND

U V

L-

L+

2 3 4

X13/4 do not connect!

DC-link (Connect nothing!)

Motor 3

X13

X12

)

Danger!

X7 Connection for high-resolution encoder chapter 4.13

X6 Connection for resolver chapter 4.13.4

X5 Connection for motor temperature sensor chapter 4.14

X13 Connection for motor brake chapter 4.8.2

X12 Connection for motor chapter 4.14

Table 4.1 Key to layout and connection diagram, G393-004 (Size 1) to G393-032/G397-035

(Size 4)

Bottom side

Figure 4.5 Connection diagram, G393-004 (Size 1) to G393-032/G397-035 (Size 4)

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 32

4 Electrical installation

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4.3.2 Layout, G393-045/G397-053 (Size 5) to G393-170/ G397-210 (Size 6A)

X11

X20

X9, X10

X7 X6

D1, D2

T1, T2

X11

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

X20

X9, X10

X8 X7

X6 D1, D2 T1, T2

Figure 4.6 Layout, G393-045/G397-053 to G393-072/G397-084 (Size 5, without shield plates)

Option 1

X12

Figure 4.7 Layout, G393-090/G397-110 to G393-170/G397-210 (Size 6A, without shield plates)

Page 33

Top side

DC-L

Front

X11

only BG 6a

X10 X9

X20

X12

Danger!

DC +

DC -

DC + DC -

+24 V

OSD03

Option 2

54321

15 14 13 12 11

10 9876

4321

9876

GND

ZK+ ZK-

1 2 1 2

DC-link

only BG5:

DC link (Connect nothing!)

24 V DC Power supply for control electronic (U

24 V DC Power supply for brake (I

= 2.0 A)

Triggering for motor brake

Technology

Encoder

Resolver

Motor 3

DC + DC -

)

Service interface

Control

Analog setpoint 1

Analog setpoint 2

+24 V DC against DGND

Diagnosis

Digital0

Digital1

Digital2

E/A-GND

Communication Field buses

Relay

STO

D1, D2

T1, T2

USB 1.1

Ethernet

ISA00+

ISA00-

ISA01+

ISA01-

ISD00

ISD01

ISD02

ISD03

ISD04

ISD05

ISD0621

ENPO(STO)

ISDSH(STO)

RSH

Relay

OSD04

OSD00

OSD01

OSD02

DGND

+24 V (U

DGND

Option 1

)

Danger!

Bottom side

Figure 4.8 Connection diagram, G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A)

Abbreviation Designation Details

D1, D2 7-segment display chapter 5.4.2

T1, T2 Button chapter 5.4.1

X2 USB 1.1 interface chapter 4.9

X3 Ethernet interface chapter 4.10

X4 Control connections chapter 4.8

Option1 Communication chapter 4.11

X11 Connection for DC supply chapter 4.7

DC-L DC link cables chapter A.5

PE Connection for PE conductor chapter 4.4

X9, X10 Connection for control supply chapter 4.6

X8 (Option2) Technology chapter 4.12

X7 Connection for high-resolution encoder chapter 4.13

X6 Connection for resolver chapter 4.13.4

X5 Connection for motor temperature sensor chapter 4.14

X20 Connection for motor brake chapter 4.8.2

X12 Connection for motor chapter 4.14

HW Hardware rating plate Figure 4.6

SW Software rating plate Figure 4.7

Table 4.2 Key to connection diagram, G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A)

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 34

Brake (+)

Top side

ZK−

4 Electrical installation

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

4.3.3 Layout, G397-250 to G397-450 (Size 7)

In the following you will find the layout with the corresponding positions of the

connectors and terminals. For improved clarity we have added an abbreviation to the designation for the connectors and terminals.

ZK−

ZK+

X11

X45

X44

D1, D2

1, T2

Option 1

RB−

RB+

X12

Service interface

Control

ENPO

Communication Field buses

USB 1.1

Ether net

ISA00+

ISA00-

ISA01+

ISA01-

ISD00

ISD01

ISD02

ISD03

ISD04

ISD05

ISD0621

ENPO

ISDSH

RSH

Relay

OSD04

OSD00

OSD01

OSD02

DGND

+24V(U

)

DGND

Option 1

X11

Danger!

X45

Danger!

X44

Front

X12

Danger!

Bottom side

Option 2

5 4321

15 14 13 12 11

10 9876

4321

9876

ZK− ZK− ZK+ ZK+

PE PE

1 2

3 4

Dc link via DC-Link cables

Reserved

+ –

Reserved

+24 V

OSD03

GND

5 9

Reserved

24 V Power supply for control electronic (UV)

24 V DC Power supply for brake (IIN = 2.0 A)

Triggering for mitir brake

e. g. add. encoder

Encoder

Resolver

Motor

(+)

Brake (-)

Figure 4.9 Layout, G397-250 to G397-450 (Size 7, without shield plates)

Figure 4.10 Connection diagram, G397-250 to G397-450 (Size 7)

Page 35

Abbreviation Designation Details

D1, D2 7-segment display chapter 5.4.2

T1, T2 Button chapter 5.4.1

X2 USB 1.1 interface chapter 4.9

X3 Ethernet interface chapter 4.10

X4 Control connections chapter 4.8

Option1 Communication chapter 4.11

X11 Connection for DC supply chapter 4.7

DC-L DC link cables chapter A.5

PE Connection for PE conductor chapter 4.4

Connection for control supply chapter 4.6

X44

Connection for motor brake chapter 4.8.2

X8 (Option2) Technology chapter 4.12

X7 Connection for high-resolution encoder chapter 4.13

X6 Connection for resolver chapter 4.13.4

X5 Connection for motor temperature sensor chapter 4.14

X12 Connection for motor chapter 4.14

HW Hardware rating plate Figure 4.9

SW Software rating plate Figure 4.9

Table 4.3 Key to connection diagram (Size 7)

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 36

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4.4 Protective earth conductor connection

Earth each of the DC-AC Servo Drives! The following applies for the PE connection according to IEC/EN61800-5-1 (as leakage current >3.5mA):

• Use a protective earth conductor with the same cross-section as the mains cables, however at least 10mm² (0.016 in²) copper.

Also take into account the local and national regulations and conditions. On operation with a Power Supply Unit:

• G393-004 (Size 1) to G393-072/G397-084 (Size 5)

− Connect the PE connections on the DC-AC Servo Drives and the Power Supply Unit together

using the pre-assembled cables.

− Connect the Power Supply Unit to the PE rail (main earth) in the switch cabinet.

• G393-090/G397-110 (Size 6A) to G397-450 (Size 7)

− Connect each DC-AC Servo Drive directly to the PE rail (main earth) in the switch cabinet.

− Connect the Power Supply Unit directly to the PE rail (main earth) in the switch cabinet.

On operation with an AC-AC Servo Drive as the supply:

• G393-004 (Size 1) to G393-072/G397-084 (Size 5)

− Connect the PE connections on the DC-AC Servo Drives together using the pre-assembled

cables. Do NOT connect the PE connection on a DC-AC Servo Drive to the PE connection on the supplying AC-AC Servo Drive, instead directly to the PE rail (main earth) in the switch cabinet.

− Connect the AC-AC Servo Drive directly to the PE rail (main earth) in the switch cabinet.

• G393-090/G397-110 (Size 6A) to G397-450 (Size 7)

− Connect each DC-AC Servo Drive directly to the PE rail (main earth) in the switch cabinet.

− Connect the AC-AC Servo Drive directly to the PE rail (main earth) in the switch cabinet.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

4.5 Electrical isolation concept

The control electronics, with their logic (µP), the encoder terminals and the inputs and outputs, are electrically isolated from the power section (power supply/DC link). All control terminals are designed as safety extra low voltage/protective extra low voltage (SELV/PELV) circuits and must only be operated with such SELV/PELV voltages, as per the relevant specification. This p ovides reliable protection against electric shock on the control side.

The control electronics therefore require a separate control supply that corresponds to the requirements of a SELV/PELV.

The overview opposite shows the potential references for the individual connections in detail.

This concept also delivers higher operational safety and reliability of the DC-AC Servo Drive.

NOTE

The terminal X5 (terminal assignment) represents a special case in relation to insulation and isolation. On this topic follow the instructions in chapter4.14, page49 .

SELV = Safety Extra Low Voltage

Also connect the protective earth conductor connections on all other components, such as mains lter1) etc. in a star topology to the PE rail (main earth) in the switch cabinet.

1) The components are only required for the Power Supply Unit.

You will find an example for the p otective earth conductor connections in Figure 4.17, page41.

PELV = Protective Extra Low Voltage

Page 37

24V DC

OSD03

Motorbrake

GND

X20/1

X20/2

X20/3

#) only for hardware versions 0 and 1

Up to hardware version 2 replaced by 0 Ω each.

PE GNDµP

DGND

complexe, impedance in part non lineare

RC element

Polyswitch

GNDµP

X4/15

ISD00 ISD01

LIM

X4/21

ISD06

X4/10

ENPO

LIM

X4/22

ISDSH

LIM

X4/7

OSD00

X4/3

ISA00+

PTC of the motor

X4/4

ISA00-

ISD02 ISD03 ISD04 ISD05

A/D

ISA01+

X4/5

X4/6

ISA01-

X4/14

GNDµP

DGND

X4/2

X4/13

DGND

X4/1

GNDµP

µP

X4/8

OSD01

X4/9

OSD02

321

54321

10 9876

15 14

13 12

X5/ϑ +

X5/ϑ −

RS H

X4/12

X4/11

OSD0 4

X4/23

X4/24

USB1.1

Ethernet X3

Resolver X6

Encoder/SSI X7

GNDµP

µP

X9/+

X9/-

X10/+

X10/-

Control

supply

+24 V DC

X13/1

X13/2

X13/3

X13/4

Motorbrake

PE GNDµP

DGND

complexe, impedance in part non lineare

RC element

Polyswitch

GNDµP

X4/15

ISD00 ISD01

LIM

X4/21

ISD06

X4/10

ENPO

LIM

X4/22

ISDSH

LIM

X4/7

OSD00

X4/3

ISA00+

PTC of the motor

X4/4

ISA00-

ISD02 ISD03 ISD04 ISD05

A/D

ISA01+

X4/5

X4/6

ISA01-

X4/14

GNDµP

DGND

X4/2

X4/13

DGND

X4/1

GNDµP

µP

X4/8

OSD01

X4/9

OSD02

321

54321

10 9876

15 14

13 12

X5/ϑ +

X5/ϑ −

RSH

X4/12

X4/11

OSD04

X4/23

X4/24

USB1.1

Ethernet

#) only for hardware versions 0 and 1

Up to hardware version 2 replaced by 0 Ω each.

Resolver X6

Encoder/SSI X7

GNDµP

µP

X9/+

X9/-

X10/+

X10/-

Control

supply

+24 V DC

Id. no.: CA97554-001 05/2017

Figure 4.11 Electrical isolation concept, Size 1 to Size 4

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4 Electrical installation

Figure 4.12 Electrical isolation concept, Size 5 and Size 6A

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 38

24V DC

+24V DC

GND

OSD03

Motorbrake

GND

X44/5

X44/6

X44/7

#) only for hardware versions 0 and 1

Up to hardware version 2 replaced by 0 Ω each.

PE GNDµP

DGND

complexe, impedance in part non lineare

RC element

Polyswitch

GNDµP

X4/15

ISD00 ISD01

LIM

X4/21

ISD06

X4/10

ENPO

LIM

X4/22

ISDSH

LIM

X4/7

OSD00

X4/3

ISA00+

PTC of the motor

X4/4

ISA00-

ISD02 ISD03 ISD04 ISD05

A/D

ISA01+

X4/5

X4/6

ISA01-

X4/14

GNDµP

DGND

X4/2

X4/13

DGND

X4/1

GNDµP

µP

X4/8

OSD01

X4/9

OSD02

321

54321

10 9876

15 14

13 12

X5/ϑ +

X5/ϑ −

RSH

X4/12

X4/11

OSD04

X4/23

X4/24

USB1.1

Ethernet X3

Resolver X6

Encoder/SSI X7

GNDµP

µP

X44/1

X44/2

Control

supply

24 V DC

4 Electrical installation

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Id. no.: CA97554-001 05/2017

Figure 4.13 Electrical isolation concept, Size 7

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

4.6 Connection of control supply (+24VDC)

The supply of power to the DC-AC Servo Drive is separate for the control section and power section. The control supply is always to be connected rst in the sequence so that the operation of the DC-AC Servo Drive can be checked first and the device parameters configu ed for the planned application.

NOTE:

Dimension the control supply to suit the maximum current required. Pay attention to the general wiring rules on the topic of cable protection.

NOTE:

On the sizes Size 1 to Size 4, along with the control section the external power supply also supplies the output for the motor holding brake. If this output is active, the current for the control section plus the current for the motor holding brake, in addition to any current required for digital inputs and outputs, flows via terminal X9. Pay attention to this issue on dimensioning the power supply for the control section and on looping through to other devices. You will find the current required by the individual devices in chapter A.4.

NOTE:

Do not use the connector as a "switch" for a reset.

Page 39

4.6.1 G393-004 (Size 1) to G393-170/G397-210 (Size 6A)

Top side

Device 1

Device 2

D1 D2

X11

X10

DC power supply DC power suppl

DC +

DC -

1 2

maximum 10 A gG

+24 V DC ± 20 % external voltage supply

Looping only possible for Size 1 to Size 4

Figure 4.14 Connection for control supply

Terminal/pin Specication

• U

=+24VDC -20% +10%, stabilised and smoothed

• For maximum starting and continuous currents see chap.A.4

X9/1 = +

X9/2 = -

• Fuse protection for the terminal maximum10A

• Internal polarity reversal protection

• The Power Supply Unit used must have safe and reliable isolation in relation to the mains

as per EN50178 or IEC/EN61800-5-1.

• Connected internally to X10

X10/1 = +

X10/2 = -

• Connected internally to X9

Table 4.4 Specication, control supply Size 1 to Size 6A

D1 D2

X11

X10

DC +

DC -

next servo drive

4.6.2 G397-250

to G397-450 (Size 7)

Terminal/pin Specication

=+24VDC -20% +10%, stabilised and smoothed

• U

• For max. starting and continuous currents see chap.A.4

X44/1 = +

X44/2 = -

• Fuse protection for the terminal max.10A

• Internal polarity reversal protection

• The Power Supply Unit used must have safe and reliable isolation in relation to the mains

as per EN50178 or IEC/EN61800-5-1.

Table 4.5 Specication, control supply Size 7

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 40

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4.7 Connection of DC power supply

Make sure all DC-AC Servo Drives are arranged in a row and side by side mounted. See installation instructions in chapter 3

Use the pre-assembled connection cables supplied for the DC power supply to the DC-AC Servo Drives. Via the terminals X11 connect together all (+) connections and all (−) connections. The pre-assembled connection cables supplied are as long as the related device is wide.

You will nd more detailed information on the mains connection for the Power Supply Unit in the Operation Manual MSD Power Supply Unit.

NOTE:

Only use the DC link connections supplied for the electrical coupling of the devices. If extending the DC link coupling is unavoidable, it is imperative you pay attention to the requirements in chapter A.5. On the usage of connection cables that do not meet the requirements, Moog does not provide any guarantee for stable, safe operation.

NOTE:

Before commissioning, set the value for the supply voltage connected in the DC-AC Servo Drive.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Figure 4.15 Detail: connection, DC power supply Size 5

Figure 4.16 Detail: connection, DC power supply Size 6A or Size 7 to smaller DC-AC Servo Drives

Page 41

8 9 10

L1.1

L2.1

L3.1

L2.1

L1.1

L2.1

L1.1

L3.1

Key

L1.1

L2.1

L3.1

24 V DC

max. 8 A

HREL

L1 L2

X21

L3 N

+ −

X11

− +− +

X9/10

+ − − +− +− +− +

+ −

X11X11

X9/10X9/10

16 19 19

L1 L2

X12

ZK RB

+ −− +

EtherCAT

UVW

EtherCAT

X12X12

UVW

1) Mains fuses

2) Mains supply/emergency stop

3) Shield plates (grey)

4) Step-up choke with KTY temperature sensor

5) Shielded cables should be used from >500mm cable length

6) Input choke with lm capacitor

7) Mains contactor (after precharging via HREL)

8) Mains lter

9) Short circuit proof cables

10) Circuit breaker

11) Multi-axis system on/off

12) External +24VDC control supply

13) Auxiliary contactor (precharging/ synchronisation)

14) Connection, DC link precharging and mains synchronisation

15) Floating contact: 250VAC/5A or 30VDC/6A (active, once precharging complete)

16) MSD Power Supply Unit Size 6A

17) AC mains connection

18) Braking resistor

19) MSD Servo Drive DC-AC

20) Switch cabinet

21) Field

L1 L2 L3 PE

Figure 4.17 Connection of power supply and control supply as well as protective earth conductor in the axis group (example)

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4 Electrical installation

Motor

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 42

Des.

Term.

Specication

Electrical isolation

REL

ISDSH

ISD06

ISD05

ISD04

ISD03

ISD02

ISD01

ISD00

+24V

DGND

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24V

DGND

4 Electrical installation

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Id. no.: CA97554-001 05/2017

4.8 Control connections

Check whether a complete device setup is already available, i.e. whether the drive has already been congured.

If this is the case, a special control terminal assignment applies. Please contact your project engineer to obtain the terminal assignment!

Choose a terminal assignment.

Wire the control terminals using shielded cables. The following are imperative: request STO X4/22, ENPO X4/10 and a start signal (with control via terminal). Ground the cable shields over a wide area at both ends. Cable cross-sections 0.2 to 1.5mm² (0.0003 to 0.002 in²), with ferrules with plastic sleeve max.0.75mm² (0.001 in²)

Keep all contacts open (inputs inactive).

Check all connections again!

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

4.8.1 Specification of the cont ol connections

Analog inputs

ISA0+ ISA0− ISA1+ ISA1−

Digital inputs

ISD00 ISD01 ISD02 ISD03 ISD04

ISD05 ISD06

Table 4.6 Specication of the control connections X4

X4/3 X4/4 X4/5 X4/6

X4/15 X4/16 X4/17 X4/18 X4/19

X4/20 X4/21

• U

• Resolution 12bits; R

• Terminal scan cycle in the "IP mode" 125µs, otherwise

1ms

• Tolerance: U±1% of the measuring range end value

• Standard input

• Frequency range <500Hz

• Sampling cycle: 1ms

• Switching level low/high: ≤4.8V/≥18V

• I

MAX

Touchprobe or standard input

• Input for touchprobe for quickly saving process data (e.g.actual position)

− Internal signal delay

− Activation via ISD05/ISD06 = 15(PROBE)

• Standard input

− Frequency range ≤500Hz

− Sampling cycle: 1ms

• U

• I

IN max

• Switching level low/high: ≤4.8V/≥18V

=±10VDC

IN

at+24V = 3mA typ.

Hardware version 0..1 Min. Max. Typ.

ISD05 3µs 16µs 8µs ISD05 ISD06

From hardware version 2 Min. Max. Typ.

ISD05 +

ISD06

= +24VDC +20%

IN max

at+24VDC =10mA, RIN=approx. 3kΩ

approx.101kΩ

4µs 27µs 15µs

2µs

Yes

Page 43

X4/23

REL

ISDSH

ISD06

ISD05

ISD04

ISD03

ISD02

ISD01

ISD00

+24V

DGND

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24V

DGND

X4/12

Des. Term. Specication Electrical isolation

ENPO X4/10 • Disable the restart inhibit (STO) and enable the power

Yes

stage = high level

Digital outputs

OSD00 OSD01 OSD02

X4/7 X4/8 X4/9

• OSSD support (from hardware version 2)

• Response time approx. 10ms

• Switching level low/high: ≤4.8V / ≥18V

• U

= +24VDC +20%

IN max

• I

at +24VDC = typ. 3mA

• No irreparable damage in the event of a short circuit (+24V -> GND), however, device may briey shut down

• I

=50mA, PLC-compatible

MAX

• Terminal scan cycle in=1ms

Yes

• High-side driver

STO ("Safe Torque Off") *)

ISDSH (STO)

X4/22 • Input "Request STO" = low level

• OSSD support (from hardware version 2)

Yes

• Switching level low/high: ≤4.8V / ≥18V

• U

= +24VDC +20%

IN max

• I

at +24VDC = typ. 3mA

RSH RSH

X4/11 X4/12

Diagnostics STO, both shut-off channels active, one NO contact with automatically

X4/11

Yes

resetting circuit breaker (polyswitch)

• 25V/200mAAC, cosϕ=1

• 30V/200mADC, cosϕ=1

*) STO certification applies for DC-AC Servo Drives of size Size 1 to Size 7

Table 4.6 Specication of the control connections X4

Des. Term. Specication Electrical isolation

Relay outputs

REL X4/23

Auxiliary voltage

+24V X4/2

X4/24

X4/14

Relay, 1 NO contact

• 25V/1.0AAC, cosϕ=1

• 30V/1.0ADC, cosϕ=1

• Switching delay approx.10ms

• Cycle time1ms

• Auxiliary voltage for supplying the digital control inputs

= UV-∆U (∆U typically approx.1.2V), no irreparable

• U

damage in event of short circuit (+24V -> GND), but device may briey shut down.

• I

=80mA (per pin) with self-resetting circuit breaker

MAX

(polyswitch)

X4/24

Yes

Digital ground

DGND X4/1

Reference ground for +24V, I

X4/13

versions 0..1 with self-resetting circuit breaker (polyswitch)

=80mA (per pin), hardware

MAX

Yes

Table 4.6 Specication of the control connections X4

NOTE

High-impedance isolation in the relation to device ground

If excessively high currents flow via the earth terminals, high-impedance isolation from the device ground is possible. In some circumstances this can result in the malfunction of the drive. To prevent this situation arising, avoid currents circulating in the wiring.

NOTE:

Take into account that in the event of a fault, the Power Supply Unit may no longer be able to feed regenerative energy from the DC-AC Servo Drive to the mains. To prevent irreparable damage to the Power Supply Unit's braking resistor on extended regenerative operation, the DC-AC Servo Drives and the Power Supply Unit can be mutually interlocked via terminal X4. You will find further information and an example circuit in chapter10.1, page85.

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 44

X20

+24

X44

+24 V DC

BR+

BR-

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4.8.2 Brake driver

G393-004 (Size 1) to G393-032/G397-035 (Size 4)

The connector X13 is intended to be used to connect a motor brake.

Des. Term. Specication Connection

• Short circuit proof

• Power is supplied via the control supply U

X9 or X10

• U

=UV-∆U`(∆U`typically approx.1.4V)

+24V

BR+ BR− GND

X13/1 X13/2 X13/3 X13/4

• For operating a motor holding brake up to I

=2.0Amaximum, for brakes with a

higher current requirement a relay must be connected in between.

• Overcurrent causes shutdown

• Can also be used as congurable digital

output.

• Congurable cable break monitoring <500mA in state "1" (up to the relay)

Table 4.7 Specication of the terminal connections X13

X13

Brake (+)

Brake (-)

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A)

The connector X20 is intended to be used to connect a motor brake.

Des. Term. Specication Connection

+24 V DC power supply for brake (I

+24 V DC

+24V

OSD03

GND

X20/1 X20/2 X20/3

• Short circuit proof

• External power supply

24VDC (IIN=2.1A) required

• For operating a motor holding brake up to I

=2.0Amaximum, for brakes with a

higher current requirement a relay must be connected in between

• Overcurrent causes shutdown

V DC 1

OSD03 2

GND 3

• Congurable cable break monitoring <200mA in state "1" (up to the relay)

Table 4.8 Specication of the terminal connections X20

G397-250 to G393-450 (Size 7)

The connector X44 is intended to be used to connect a motor brake.

= 2.1 A)

Brake (-) Brake (+)

Des. Term. Specication Connection

+24V

OSD03

GND

• Short circuit proof

• External power supply

X44/5

• For operating a motor holding brake up to

X44/6 X44/7

+24VDC (IIN=2.1A) required

=2.0Amaximum, for brakes with a higher

current requirement a relay must be connected in between

OSD03 2

GND 3

• Overcurrent causes shutdown

• Congurable cable break monitoring <200mA

in state "1" (up to the relay)

Table 4.9 Specication of the terminal connections X44

+24 V DC power supply for brake (IIN = 2.1 A)

+24 V DC

Brake (-) Brake (+)

Page 45

4.9 Specification, USB interface

4.12 Option2

The service and diagnostics interface X2 is designed as a USB V1.1 interface. It is only suitable for connecting a PC for commissioning, service and diagnostics using the software Moog

Technical specification

•

DriveADministrAtor5.

USB1.1standard - full speed device interface

Connection via commercially available USB interface cable typeA to typeB

4.10 Specification, Ethernet interface

The service and diagnostic interface X3 is designed as an Ethernet interface. It is only suitable for connecting a PC for commissioning, service and diagnostics using the software Moog

Technical specification

•

DriveADministrAtor5.

Transfer rate 10/100 Mbits/s BASE-T

Transmission profile IEEE802.3 complian Connection via commercially available crosslink cable CAT5

4.11 Option1

Depending on the DC-AC Servo Drive variant, Option1 is factory-congured with various options. Field bus options such as EtherCAT or SERCOS are available.

Option2 can be factory-congured with various technology options. Additional or special encoders can be evaluated here for example.

You will find all available options in the MSD Ordering Catalog. The User Manuals for the respective options provide detailed information on commissioning.

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4.13 Encoder connection

All encoder connections are located on the top of the unit.

4.13.1 Encoder connection for synchonous motors

Please use the ready made motor and encoder cables from Moog to connect the synchronous motors.

4.13.2 Allocation of motor/encoder cable to the DC-AC Servo Drive

Compare the rating plates of the components. Make absolutely sure you are using the correct components according to variant A, B or C!

Variant

X7 (optional X8 )

Variant

Variante

high-resolution encoder with HIPERFACE® interface

high-resolution encoder with SSI-/EnDat interface

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Motor (with encoder installed) Encoder cable

Variant A

Variant B

Variant C

Table 4.10 Variants of motors, encoder type and encoder cable

With resolver without further options

Sin/Cos multi-turn encoder with SSI/EnDat interface

Sin/Cos multi-turn encoder with HIPERFACE® interface

C08335-013-yyy X6

CA58876-002-yyy X7

CA58877-002-yyy X7

Connection on the

DC-AC Servo Drive

NOTE:

Do not cut the encoder cable, for example to route the signals via terminals in the switch cabinet. The knurled screws on the D-Sub connector housing must be tightly locked!

4.13.3 Ready made encoder cables

The specications can only be assured when using the Moog system cables.

Encoder cable

Ready made-up cable

Resolver cable Encoder cable SSI, EnDat CA58876 Encoder cable Hiperface

Encoder system

Version

Cable length (m)

1) yyy stands for length in meters; standard length: 1 m (3.28 ft), 5 m (16.40 ft), 10 m (32.80 ft), 15 m (49 ft), 20 m (65 ft), 50 m

(164 ft). Further length on request

Encoder cable CO8335-013-yyy

CO8335 - 013 - yyy

® CA58877

Order code

002 002

Resolver

Figure 4.18 Motor/encoder cable assignment

Page 47

Technical data

Technical data CO8335-013-yyy

Motors with encoder system

Controller-end assignment (sub-D connector)

Capable for energy chains

Minimum bend radius

Resolver

1 = S3 2 = S1 3 = S2 4 = n.c. 5 = PTC+ 6 = R1 7 = R2 8 = S4 9 = PTC-

90mm (3.54 in) 100mm (3.93 in) 90mm (3.54 in)

CA58876-002-yyy

G3, G5, G12.x

(single-turn / multi-turn

encoder with

SSI/EnDat interface)

1 = A2 = A+ 3 = VCC (+5V) 4 = DATA+ 5 = DATA6 = B8 = GND 11 = B+ 12 = VCC (Sense) 13 = GND (Sense) 14 = CLK+ 15 = CLK7, 9, 10 = n.c.

yes

CA58877-002-yyy

G6, G6.x

(single-turn / multi-turn

encoder with

HIPERFACE® interface)

1 = REFCOS 2 = +COS

7-12V

3 = U

4 = Data+ EIA485 5 = Data- EIA485 6 = REFSIN 7 = Jumper to PIN12 8 = GND 11 = +SIN 12 = Jumper to PIN7 9, 10, 13, 14, 15 = n.c.

4.13.4 Resolver connection

A resolver is connected to slot X6 (9-pin D-Sub socket).

Figure X6/pin

Resolver S3 differential input (reference to Pin X6-2)

Resolver S1 differential input (reference to Pin X6-1)

Resolver

9 8 7 6

5 4 3 2 1

1) It is imperative attention is paid to the warning

Resolver S2 differnetial input (reference to Pin X6-8)

Supply voltage 5..12V, connected internally to X7/3

ϑ+ (PTC, NTC, KTY Klixon)

Ref+ analog excitation

Ref- analog excitation (ground reference point to pin6)

Resolver S4 differntial input (reference to Pin X6-3)

ϑ− (PTC, NTC, KTY Klixon)

Table 4.12 Pin assignment X6

Function

Temperature range

Cable diameter approx.

Material of outer sheath

-40 to +85°C

(-40 to +185°F)

-35 to +80°C

(-31 to +176°F)

8.8mm (0.34 in)

PUR

-40 to +85°C

(-40 to +185°F)

Resistance Resistant to oil, hydrolysis and microbic attack (VDE0472)

Approvals

UL-Style 20233, +80°C (+176°F)-300V,

CSA-C22.2N.210-M90, +75°C (+167°F)-300VFT1

Table 4.11 Technical data encoder cable

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CAUTION! Damage to the device due to incorrect insulation of the motor winding!

• Carelessness can cause damage to the motor/device

The motor temperature sensor (PTC, also NTC, KTY and Klixon) must be provided with basic insulation in relation to the motor winding on connection to X5, on connection to X6 with reinforced insulation as per IEC/EN 61800-5-1.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 48

Encoder/ SSI

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4.13.5 Connection for high-resolution encoders

The interface X7 makes possible the evaluation of the following encoder types.

Figure Function

Sin/Cos encoder with zero pulse

Encoder/ SSI

Table 4.13 Suitable encoder types on X7

NOTE:

• The usage of encoders not included in the range supplied by Moog

• The maximum signal input frequency is 500kHz.

• Encoders with a power supply of 5V ±5% must have a separate sensor

Select the cable type specified by the motor or encoder manufactu er. During this process bear in mind the following boundary conditions:

•

Always used shielded cables. Connect the shield at both ends.

•

Connect the differential track signals A/B, R or CLK, DATA using twisted pair cable cores.

e.g. Heidenhain ERN1381, ROD486

Heidenhain Sin/Cos encoder with EnDat interface e.g. 13 bit single-turn encoder (ECN1313.EnDat01) and 25 bit multi-turn encoder (EQN1325-EnDat01)

Heidenhain encoder with digital EnDat interface Single- or multi-turn encoder

Sin/Cos encoder with SSI interface e.g. 13 bit single-turn and 25 bit multi-turn encoder (ECN413-SSI, EQN425-SSI)

Sick-Stegmann Sin/Cos encoder with HIPERFACE® interface Single- and multi-turn encoder, e.g. SRS50, SRM50

requires special approval by Moog.

cable connection. The sensor cable detects the actual supply voltage at the encoder; it is then possible to compensate for the voltage drop on the cable. Only by use of the sensor cable is it ensured that the encoder is supplied with the correct voltage. The sensor cable must always be connected.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

 Do not cut the encoder cable, for example to route the signals via terminals in

the switch cabinet.

Sin/Cos

absolute

value

encoder

Fig. X7 pin

Sin/Cos and TTL

SSI/EnDat

1 A- A- - REFCOS

2 A+ A+ - +COS

+5VDC ±5%, I

(150mA for hardware versions 0..1), monitoring

4 - Data + Data + Data +

5 - Data - Data - Data -

6 B- B- - REFSIN

54321

Table 4.14 Pin assignment for the connector X7

7 - - - U

15 14 13 12 11

10 9876

8 GND GND GND GND

9 R- - - -

10 R+ - - -

11 B+ B+ - +SIN

12 Sense + Sense + Sense + U

13 Sense - Sense - Sense - -

14 - CLK+ CLK+ -

15 - CLK - CLK - -

OUTmax

via sensor cable

Absolute

value

encoder

EnDat

(digital)

=250mA

Absolute

value

encoder

HIPERFACE®

7 to 12V

(typ. 11V)

max. 100mA

- switch

The sum of the

currents drawn at X7/3 and X6/4 must not exceed the value

given!

After connecting pin 7

to pin 12, a voltage of

11.8V is set on X7, pin3!

Page 49

NOTE:

The encoder supply on X7/3 is short circuit proof on both 5V and 11V operation. The controller remains in operation enabling the generation of a corresponding error message on evaluating the encoder signals.

4.14 Motor connection

Dene the cable cross-section according to local and national regulations and conditions. It is dependent on the rated current, the type of cable laying and the ambient temperature.

4.14.1 Motor connection for synchronous motors

NOTE:

To connect the servomotors in the product range please use a ready made motor cable from Moog.

G393-004 (Size 1) to G393-032/G397-035 (Size 4)

NOTE

Recommended connection option for a motor brake with a motor brake current of maximum2A see Figure 4.19.

Connect the shielded motor cable to terminals X12/ U, V, W and connect the motor to earth at . Connect the shield at both ends to prevent interference emissions. Fasten shield connection plate for the motor connection X12 using both screws.

Wire the temperature sensor, if tted, to terminal X5 using separate shielded cables and activate the temperature evaluation using Moog DriveADministrAtor5. Connect the shield at both ends to prevent interference emissions.

CAUTION! Damage to the device due to incorrect insulation of the motor winding!

• Carelessness can cause damage to the motor/device

The motor temperature sensor must, in relation to the motor winding, on connection to X5 be provided with basic insulation as per IEC/EN 61800-5-1.

NOTE:

In the event of a short circuit or earth fault in the motor cable, the power stage is disabled and an error message is issued.

GND

U V

1 2 3 4

Triggering of motor brake

(maximum 2 A)

Motor 3

Figure 4.19 Connection of the motor for Size 1 to Size 4 (motor brake to2A)

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NOTE:

Connection option for a motor brake with a motor brake current of maximum2A see Figure 4.20. Cable break detection is not possible.

GND

U V W

1 2 3 4

Triggering of motor brake

24 V DC

Motor 3

+24 V DC Power supply for brake

Brake (−)

Brake (+)

Figure 4.20 Connection of the motor for Size 1 to Size 4 (motor brake from2A)

G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A)

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

G397-250 to G397-450 (Size 7)

+24 V

OSD03

GND

U V

Triggering of motor brake

5 6 7

− +

24 V DC

Brake (+)

Brake (−)

Motor 3

+24 V DC Power supply for brake (I

= 2.1 A)

Figure 4.22 Connection of the motor for G397-250 to G397-450 (Size 7)

Ready made motor cable

+24 V

OSD03

GND

U V

Triggering of motor brake

1 2 3

−

24 V DC

Brake (+) Brake (−)

Motor 3

+24 V DC Power supply for brake (IIN = 2.1 A)

Figure 4.21 Connection of the motor for G393-045/G397-053 (Size 5) to G393-170/G397-210

(Size 6A)

CO8336 - xxx yyy

Ready made-up motor cable

Conguration option

Cable l ength (m)

1) yyy stands for length in meters; standard length: 1 m (3.28 ft), 5 m (16.40 ft), 10 m (32.80 ft), 15 m (49 ft), 20 m (65 ft), 50 m

(164 ft). Further length on request

Motor cable CO8336-xxx-yyy Order code

Page 51

Technical data

Technical data C08336-xxx-yyy

Continuous rated current

Cable cross-section

Temperature range

Wiring

Connector type Size 1 Size 1 Size 1

1) yyy stands for length in meters; standard length: 1 m (3.28 ft), 5 m (16.40 ft), 10 m (32.80 ft), 15 m (49 ft), 20 m (65 ft), 50 m (164 ft). Further length on request

2) xxx-001 for standard configuration option, further options on equest

Table 4.15 Technical data motor cab

4 x 1,5mm² + 2 x 1mm²

(4 x 0.0024 in² + 2 x 0.0016 in²)

Connector pin Wiring Connector pin Wiring Connector pin Wiring Connector pin Wiring Connector pin Wiring

Connector

housing

10A TBD 44A 61A 82A

-40bis +125°C

(-40 to +275 °F)

2 U 2 U U U U U U U

4 VV 4 VV V VV V VV V VV

1 WWW 1 WWW W WWW W WWW W WWW

PE yellow / green PE yellow / green PE yellow / green PE yellow / green PE yellow / green

5 Brake + / white 5 Brake + / white + Brake - / white + Brake + / white + Brake + / white

6 Brake - / black 6 Brake - / black - Brake - / black - Brake - / black - Brake - / black

1),2)

Monitor

CB05708-xxx-yyy

4 x 4mm² + 2 x 1,5mm²

(4 x 0.0062 in² + 2 x 0.0023 in²)

TBD

Connector

housing

1),2)

Monitor

CA44958-xxx-yyy

4 x 6mm² + 2 x 1,5mm²

(4 x 0.0093 in² + 2 x 0.0023 in²)

-50bis +90°C

(-58 to +194 °F)

Connector

housing

1),2)

Monitor

CB00076-xxx-yyy

4 x 10mm² + 2 x 1,5mm²

(4 x 0.00155 in² + 2 x 0.0023 in²)

TBD TBD

Connector

housing

Size 1 Size 1

1),2)

Monitor

CA98676-xxx-yyy

4 x 16mm² + 2 x 1,5mm²

(4 x 0.0248 in² + 2 x 0.0023 in²)

Connector

housing

1),2)

Monitor

NOTE:

Cores 5 and 6 (PTC) are required only for motors in which the motor PTC cannot be connected via the encoder cable. In the case of servomotors with resolver, the PTC is connected via the resolver cable.

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4.14.2 Switching in the motor cable

CAUTION! Damage to the device due to switching in the motor cable!

• Carelessness can cause damage to the device

Motor cable switching must take place with the power switched off and the power stage disabled, as otherwise problems such as burnt contactor contacts or damage to the power stage may occur.

To ensure unpowered switch-on, you must make sure that the contacts on the motor contactor are closed before the DC-AC Servo Drive power stage is enabled. At the moment when the contactor is switched off it is necessary for the contact to remain closed until the DC-AC Servo Drive's power stage is shut down and the motor current is 0. This is achieved by using appropriate safety delays for the switching of the motor contactor in the control sequence for your machine.

Despite these measures, the possibility cannot be ruled out that the DC-AC Servo Drive may malfunction during switching in the motor cable.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 53

5 Commissioning

5.1 Notes for commissioning

5.2 Initial commissioning

Once the DC-AC Servo Drive has been installed as described in chap. 3 and wired with all required power supplies and external components as described in chap. 4, initial commissioning can performed in the following sequence:

It is imperative you pay attention to the following warnings and safety instructions prior to and during installation.

WARNING! Risk of injury due to hot surfaces on the device (heat sink)!

• Carelessness may result in serious burns.

WARNING! Risk of injury due to hot coolant!

• Carelessness may result in serious burns.

In operation the coolant reaches high temperatures. Prior to starting work, make sure the coolant has cooled down.

CAUTION! Damage to the device due to incorrect installation conditions!

The device may suffer irreparable damage.

Therefore during operation

• Moisture must not be allowed to enter the device

• There must not be any aggressive or conductive substances in the ambient air

• Foreign bodies such as drilling chips, screws, washers etc. must not be allowed to fall into

the device

• The ventilation openings must not covered

Install and start the PC software Moog DriveADministrAtor5. You will nd more detailed information in the Installation Manual Moog DriveADministrAtor 5.

Switch on the control supply (chapter5.2.1).

Connect the DC-AC Servo Drive to the PC (chapter5.2.2).

Congure the parameters (chapter5.2.3).

Test the drive using Moog DriveADministrAtor5 (chapter5.2.4).

NOTE:

Details in relation to "STO" (Safe Torque Off) do not need to be taken into account for initial commissioning. You will find all information on the STO" function in the 24-language document "Description of the STO Safety Function" (ID no. CB19388).

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5 Commissioning

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5.2.1 Switching on control supply

To initialise and congure parameters, initially only switch on the +24V control supply. Do not yet switch on the power supply.

Display indication after switching on the control supply

D1 D2 Action Explanation

Switching on the ext. +24V control supply Initialisation in progress

Initialisation completed Not ready to switch on

Table 5.1 Switch-on status of the DC-AC Servo Drive on connection of the +24VDC control

supply

NOTE:

You will find details on the control supply in chapter4.6. You will find details on the display indication in chapter5.4.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

5.2.2 Connection between PC and DC-AC Servo Drive

The PC can be connected to the DC-AC Servo Drive via USB or Ethernet (TCP/IP). Connect PC and DC-AC Servo Drive using the related connection cable.

NOTE:

• Initialisation The communication link between PC and DC-AC Servo Drive can only be set up after the servo drive has completed its initialisation.

• USB driver and TCP/IP configuration If the PC does not recognise the DC-AC Servo Drive connected, please check the driver and the settings for the related interface (see Installation Manual Moog

DriveADministrAtor 5).

5.2.3 Configuring parameter

The commissioning wizard in Moog DriveADministrAtor 5 is provided for making the settings for the drive system. Start the wizard.

NOTE:

• Online help You will find a detailed description of Moog commissioning wizard in the online help for Moog DriveADministrAtor5.

• Motor data set On using Moog Synchronous Motors of type the latest version of the motor data set required can be obtained from http://www. moogsoftwaredownload.com/msd.html “Motor Configuration files".

DriveADministrAtor5 and the

Page 55

5.2.4 Controlling drive using Moog DriveADministrAtor5

Display indication after switching on the power supply

Switch on the power supply. Then enable the power stage and activate the control. The drive should be tested without the coupled mechanism.

DANGER! Risk of injury due to rotating parts on the motor!

• Carelessness may result in serious injuries or death.

Before commissioning motors with feather keys in the shaft end, these keys must be reliably secured against throwing out, if this is not already prevented by drive elements such as belt pulleys, couplings or similar.

CAUTION! Damage to the motor due to incorrect operation during motor test run!

• Carelessness can result in signicant damage to the motor or machine.

• It is imperative the safety instructions and warnings from chapter 2 are followed during commissioning. Please note that you yourself are responsible for safe operation.

• Before you start commissioning it must be ensured that the machine will not be damaged by the test! Pay particular attention to the limitations of the positioning range.

• Certain motors are only intended for operation on the servo drive. Direct connection to the mains supply can cause irreparable damage to the motor.

• The motor surfaces may become extremely hot. No temperature sensitive parts may touch or be fastened to these areas, appropriate measures to prevent contact must be applied wherever necessary.

• To avoid overheating of the motor, the temperature sensor installed must be connected to the terminals of the temperature monitoring system for the servo drive also during the test run.

• The motor holding brake (if installed) should be checked for correct function before commissioning the motor. Motor holding brakes are only designed for a limited number of emergency braking operations. Use as working brake is not allowed.

D1 D2 Action Reaction Explanation

Switching on the

power supply

Table 5.2 Display D1, D2 after switching on the power supply

NOTE:

• Inputs "ISDSH" and "ENPO"

For step1 in Table 5.1 at least the two inputs"ISDSH" and "ENPO on terminal X4 must be connected.

• Ready to operate On operation with an AC-AC Servo Drive as the supply, all DC-AC Servo Drives in the system must be in state 2 (ready to operate) before the first axis starts.

• Manual mode window Step2 in Table 5.1 is best undertaken via the "Manual mode" window in

DriveADministrAtor5. You will find details in the Online Help

Moog

• Configuration of the inputs/output If step2 is to be implemented via the inputs on terminal X4, the sources for "START CONTROL" and speed setpoint must be configu ed accordingly in "Inputs/Outputs" in Moog

Controller ready, power stage ready, control deactivated

DriveADministrAtor5.

Device is ready for switching

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Page 56

1 0

˜2 ms

DRIVE READY

1 0

5 Commissioning

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Power-up sequence for starting the drive

1. Deactivate the safety function "STO" by setting the inputs "ISDSH" and "ENPO"

2. Activate “START CONTROL” at the earliest 2ms after step1 and specify the speed setpoint

3. Monitor your system or plant and check the drive behaviour.

t = motor dependent delay

ISDSH (STO)

ENPO (STO)

START

(STATE 5)

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Display reading after starting the drive

D1 D2 Action Reaction Explanation

"STO" and power stage

"ENPO" enabled

PAY ATTENTION TO WARNING PRIOR TO THE "START" STEP!

"Start" enabled Drive ready

Table 5.4 D1, D2 indication during activation of motor

CAUTION!

Damage to your system/machine due to uncontrolled or inappropriate commissioning.

• Carelessness may result in damage to your system/ machine.

Before the next step, "Enable start", it is imperative you specify a plausible setpoint via the analog input! The setpoint set is transferred to the drive immediately after the motor control has started.

For details on adjusting the drive to your application, please refer to the Online Help for

DriveADministrAtor5 and the Device Help.

Moog

Ready to switch on Power stage ready

Motor energised,

control active

Table 5.3 Power-up sequence

5.3 Serial commissioning

An existing parameter data set can be transferred to other DC-AC Servo Drives using

DriveADministrAtor5. You will find details on this topic in the Online Help for Moog

Moog DriveADministrAtor5 and in chapter5.4.

NOTE:

MSD PLC programs can only be loaded into an DC-AC Servo Drive using the programming system CODESYS.

Page 57

5.4 Integrated control unit

The integrated control unit permits diagnostics on the DC-AC Servo Drive. The control unit comprises the following elements, all located on the front of the device:

•

2-digit 7-segment display (D1, D2)

•

Two buttons (T1, T2)

The following functions and displays are available:

•

Indication of the device status (see chapter6.1.1) The device status is indicated after switching on the control supply. If no input

is made via the keypad for 60seconds, the display switches back to the

indication of the device status.

•

Indication of the device error status (see chapter6.1.2) On the occurrence of an error in the device, the display is immediately switched to the indication of the error code.

•

Parameter setting (indication "PA") (see chapter5.4.3) The device parameter configuration can be eset to the factory settings.

•

Ethernet IP address setting (indication "IP") (see chapter5.4.4) Ethernet IP address and subnet mask setting

•

Field bus settings (indication "Fb") (see chapter5.4.5) E.g. field bus add ess setting

Figure 5.1 Integrated control unit

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5.4.1 Function of buttons T1 and T2

These buttons are used to activate the different menus and to control the corresponding functions.

Button Function Comment

• Activate the menu (exit the device

T1 (left)

T2 (right)

T1 and T2 together

General

Table 5.5 Function of buttons T1 and T2

status display)

• Scroll through the menus/sub-menus

• Set values - left segment display (D1)

• Selection of chosen menu

• Set values - right segment display (D2)

• Menu level up

• Accept selection

• Acknowledge

The button T1 can be held pressed for any length of time because the display will only scroll through the menu commands available at the corresponding level. No settings will be changed.

The button T2 must not be held pressed for any length of time because the display will change from one menu level to the next within the menu structure and then change the parameter that is reached at the end. You should therefore always release the button T2 after each change in display.

After pressing T1 and T2 at the same time, the value applied ashes for ve seconds. During this time the save procedure can still be aborted by pressing any button, without applying the value set. Otherwise the new value will be saved after ve seconds.

• The time the button needs to be held depressed until an action is executed, is approx. 1 second.

• If there is no action by the user for a period of 60seconds, the display returns to the indication of the device status.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

5.4.2 Display

The following table defines various indications and items of status information p ovided via the display.

Display Meaning

Menu entries ("PA" in this case serves as an example, for further possible entries see chapter5.4.4 and chapter5.4.5)

[Flashing decimal points] Selected function in progress

[Two dashes] Entry/function not available

[OK] Action executed successfully, no errors

[Error]

• Action via control unit not executed successfully, "Er" ashes alternately with the error number (see chap.chapter5.4.3)

• Device error indication, "Er" ashes alternately with error number and error location (see "MSD Servo Drive Device Help")

Numerical values ("10" in this case serves as an example)

• Data set and error numbers are shown in decimal on the Parameter menu (PA).

• All other values are displayed in hexadecimal. In these cases the 10 displayed would represent the decimal value 16.

Table 5.6 Meaning of display

NOTE:

If no input is made via the keyboard for a period of 60s, the display returns to the indication of the device status.

Page 59

5.4.3 Parameter menu (PA)

5.4.4 Ethernet IP address menu (IP)

The following functions are available on the Parameter menu:

•

Reset device to factory settings

Menu level Pa-

1 2

PA Pr - - Parameter reset Reset device settings to factory settings.

Table 5.7 Parameter menu

rame-

ter

Value range

Meaning Explanation

Error messages displayed during user data entry

A failed user action is indicated by an error message. The message consists of the alternating display of "Er" and the error number.

NOTE:

The error messages displayed during user data entry should not be confused with drive error messages. You will find detailed information on the er or codes and on error management in the Device Help.

Error number Meaning

17 Parameter reset to factory settings failed

18 Parameter write access failed

19 Save parameter data set non volatile failed

20 Not all parameters written

21 Error while reset to factory settings

Table 5.8 Error messages displayed during user data entry

An Ethernet TCP/IP interface is available as a service and diagnostics interface. The IP address is set in the factory to 192.168.39.5. It can be changed using the PC software

DriveADministrAtor5 or via the display.

Moog

Menu level Pa-

1 2

IP Iu b0 00..FF

Table 5.9 IP address menu

rame-

Ir - -

Su b0 00..FF

Sr - -

Value

range

ter

b1 00..FF

b2 00..FF

b3 00..FF

b1 00..FF

b2 00..FF

b3 00..FF

Meaning Explanation

IP address

update byte0

IP address

update byte1

IP address

update byte2

IP address

update byte3

IP reset to

factory setting

Subnet mask

update byte0

Subnet mask

update byte1

Subnet mask

update byte2

Subnet mask

update byte3

Subnet mask

reset to

factory setting

Setting for byte0 of the IP address in hexadecimal format (e.g. "5" in 192.168.39.5)

Setting for byte1 of the IP address in hexadecimal format (e.g. "27" for 192.168.39.5)

Setting for byte2 of the IP address in hexadecimal format (e.g. "A8" for 192.168.39.5)

Setting for byte 3 of the IP address in hexadecimal format (e.g. "C0" at 192.168.39.5)

Reset IP address to factory setting (192.168.39.5)

Setting for byte0 of the subnet mask in hexadecimal format (e.g. "0" in 255.255.255.0)

Setting for byte1 of the subnet mask in hexadecimal format (e.g. "FF" in 255.255.255.0)

Setting for byte2 of the subnet mask in hexadecimal format (e.g. "FF" in 255.255.255.0)

Setting for byte3 of the subnet mask in hexadecimal format (e.g. "FF" in 255.255.255.0)

Reset subnet mask to factory setting (255.255.255.0)

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Example configuration of the subnet mask

In this example the subnet mask is changed from 255.255.255.0 to 122.255.255.0.

of buttonTx (X = 1, 2)

until the desired menu appears in the display

single actuation

of button Tx (X = 1, 2)

Actuation of any button

simultaneous actuation

T1 T2

of both buttons T1 and T2

T1 T2

back

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

NOTE:

• During the flashing phase after step7 the save procedure can still be

aborted by pressing any button, without applying the value set. Otherwise the new value will be saved after five seconds

• The modified IP add ess is only effective after restarting the control electronics (24-V reset).

5.4.5 Field bus address menu (Fb)

The functions available on this menu item depend on the device's communication option. For detailed information refer to the relevant specification

Menu level Pa-

1 2

rame-

Fb Ad -

Po -

Table 5.10 Field bus address menu

ter

Value

range

00..xx or

- -

0..3 or

- -

Meaning Explanation

Setting for eld bus address (only if eld bus option used), otherwise indication

Field bus address

"- -" (The maximum value that can be programmed depends on the option)

Setting for bre-optic power output

Transmit power

(only with SERCOS II option), otherwise indication "- -"

T1 T2

Value NOT

saved

<5 s

back

Figure 5.2 Example conguration of the subnet mask

T1 T2

<5 s

Value saved

>5 s>5 s

Page 61

Example configuration of the field bus ad ess

In this example the field bus add ess is changed from 1 to 23.

several actuations of buttonTx (X = 1, 2)

until the desired menu appears in the display

single actuation

of button Tx (X = 1, 2)

Actuation of any button

simultaneous actuation

T1 T2

of both buttons T1 and T2

T1 T2

back

T1 T2

Value NOT

saved

<5 s

back

<5 s

Figure 5.3 Example conguration of the eld bus address

T1 T2

>5 s>5 s

T1 T2

Value

saved

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 63

6 Diagnostics

6.1.2 Error indication

The specific er or codes are indicated via the 7-segment display. Each error code comprises the alternating sequence → "Er" → error number→ error location.

6.1 Status indication on the device

The device states are shown on the device using the 7-segment display.

6.1.1 Device states

Display System status

Device in reset state

Self-initialisation on device startup

Not ready to switch on (no DC link voltage)

Start inhibit (DC link OK, power stage not ready

Ready to switch on (power stage ready)

Switched on (power applied to drive)

Drive ready (power applied to drive and drive ready for setpoint input)

Quick-stop

Display Meaning

Device error

↓ Display changes after approx.1s

Error number (decimal) Example: 05 = Overcurrent

↓ Display changes after approx.1s

Error location (decimal) Example: 01 = Hardware monitoring

↑ After approx.1s the display changes back to ER

Table 6.2 Display of the error code

NOTE:

• Acknowledge error The errors can be acknowledged according to their programmed reaction (ER) or only by means of a 24V reset (ER.). Errors marked with a point can only be reset once the cause of the error has been rectified

• Error code You will find detailed information on the er or codes and on error management in the MSD Servo Drive Device Help.

Error response active

1) This not a "safe indication" in the context of IEC/EN61800-5-2.

2) S. ashes if the function STO (Safe Torque Off) is active, indication extinguishes if function is inactive.

3) The point ashes if the power stage is active.

Table 6.1 Device states

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6 Diagnostics

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6.2 Status and error indication in

Moog

Click the "Device status" button in the header in the Moog DriveADministrAtor5 to open the "Device status" window.

Figure 6.1 "Device status" button in the header

Use the "Error historyto" button to retrieve information on the last 20 errors that have occurred.

DriveADministrAtor5

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

On the occurrence of an error, a "pop-up" window appears immediately with more detailed information on the actual error.

Figure 6.2 "Device status" window

Figure 6.3 Error message

Page 65

“Alarms & Warnings (Details)” contains detailed information on an error or warning that has occurred.

1. Double-click in the project tree “Alarms & Warnings (Details)”.

NOTE:

You will find further information in the program help for

DriveADministrAtor 5.

Moog

Figure 6.4 “Alarm & Warnings (Details)”

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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6 Diagnostics

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Page 67

7 Safe Torque Off (STO)

NOTE:

You will find all information on the STO" function in the 24-language document "Description of the STO Safety Function" (ID no. CB19388).

NOTE:

STO certification applies for DC-AC Servo Drives of Size 1 to 7

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7 Safe Torque Off (STO)

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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7 Safe Torque Off (STO)

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 69

8 Operation with AC-AC Servo Drive

as supply

8.1.1 Device protection

During the installation of a multi-axis system with AC-AC Servo Drive as the supply, pay attention to the following information on device protection:

NOTE

Planning You will find help with the selection of the optimal operation mode (with Power Supply Unit or with AC-AC Servo Drive) in chapter9, page75.

NOTE

Pay attention to Operation Manual for AC-AC Servo Drive! On setting up a multi-axis system with AC-AC Servo Drives as the supply, it is imperative the "MSD Servo Drive AC-AC Operation Manual"

(ID no.CA65642-001) is followed.

8.1 Arrangement of the devices and components

The positioning of the components in the switch cabinet has a significant e fect on the trouble-free system and machine function using the multi-axis system. It is therefore imperative you pay attention to the points in chapter 3 on mounting and in chapter 4.2 on the installation of a multi-axis system.

Mains fuses

•

G392-004 (Size 1) to G392-072/G395-084 (Size 5) In all circumstances the mains fuses are to be installed in addition to the motor protection switch and will prevent irreparable damage to the device (e.g. if there is a component fault or overload). Use mains fuses (utilisation class gG) to isolate all poles of the DC-AC Servo Drive from the mains. You will find mo e detailed information in the Operation Manual MSD Servo Drive AC-AC (IDno.CA65642-001) in the chapter "Electrical installation".

•

G392-090/G395-110 (Size 6) to G395-450 (Size 7) Instead of mains fuses of utilisation class gG, semiconductor fuses of utilisation class gRL(gS) are to be used. As this type of fuse is a full-range fuse it offers protection for the devices and the cabling. As a result the motor protection switch is not required.

AC-AC Servo Drive SIBA article number Rated current Height

Table 8.1 Recommended mains fuses from the manufacturer SIBA

G392-090 G395-110

G392-110 G395-143

G392-143 G395-170

G392-170 G395-210

G395-250 2021234.315 315A NH2

G395-325 2021234.400 400A NH2

G395-450 2021234.500 500A NH2

(www.siba-fuses.com)

2020934.125 125A NH00

2021134.160 160A NH1

2021134.200 200A NH1

2021134.250 250A NH1

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8 Operation with AC-AC Servo Drive as supply

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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8 Operation with AC-AC Servo Drive as supply

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Motor protection switch

•

G392-004 (Size 1) to G392-072/G395-084 (Size 5) In all circumstances the motor protection switch is to be installed in addition to the mains fuses. It provides overload protection for the device, mains choke and mains filter in the range up to the permissible overload range. The rated cur ent of the motor protection switch ("circuit breaker for system and motor protection" of CLASS10, SIEMENS product range SIRIUS 3RV10 or SIRIUS 3RV20) is to be selected to suit the lowest rated current I used (mains choke, mains filte , AC-AC Servo Drive).

•

G392-090/G395-110 (Size 6) to G395-450 (Size 7) The motor protection switch is not required if semiconductor fuses of utilisation class gRL(gS) are used instead of mains fuses of utilisation class gG (see Table 8.1).

•

Braking resistor The AC-AC Servo Drive's braking resistor is to be dimensioned such that the total regenerative power from the multi-axis system can be dissipated. On dimensioning the connection cables for the braking resistor, it is to be noted that if there is a fault the mains side protection devices will trigger safely. It is to be taken into account that the ratio of currents is I

Rated (f_sw and U_Mains)

/I

DC buseff

of the components

Mains sideeff

=√(3/2).

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 71

L1.1

L2.1

L3.1

L1.1

L2.1

L3.1

L1.1

L2.1

L3.1

24 V DC

Key

1. Mains fuses

2. Mains supply/emergency stop

3. Short circuit proof cables

4. Motor protection switch

5. Mains choke

6. Mains filte

7. AC mains connection

max. 8 A

8. Shield plates (grey)

9. External +24VDC control supply (protected)

MSD Servo Drive AC-AC

10.

L1 L2

L3 − +− +

X11 X9/10

+ − − +− +− +− +

+ −

X11X11

X9/10X9/10

10 11 11

X12X12

UVW

X12

RB ZK

+ −

UVW

(Size 1 to 4)

11. MSD Servo Drive DC-AC

12. DC link coupling

13. Switch cabinet

14. Field

15. Braking resistor

1) NOTE:

Pay attention to the requirements on device protection, chapter 8.1.1!

L1 L2 L3 PE

Motor

Figure 8.1 Overview, connection diagram for operation with supply by an AC-AC Servo Drive (Size 1 to 4)

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8 Operation with AC-AC Servo Drive as supply

Motor

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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8 Operation with AC-AC Servo Drive as supply

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L1.1

L2.1

L3.1

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

L1.1

L2.1

L3.1

L1.1

L2.1

L3.1

24 V DC

Key

1. Mains fuses

2. Mains supply/emergency stop

3. Short circuit proof cables

4. For Size 5: motor protection switch

5. Mains choke

6. Mains filte

max. 8 A

7. AC mains connection

8. Shield plates (grey)

9. External +24VDC control supply (protected)

L1 L2

L3 − +− +

X11 X9/10

+ − − +− +− +− +

+ −

X11X11

MSD Servo Drive AC-AC

10.

X9/10X9/10

(Size 5 to 6A)

11. MSD Servo Drive DC-AC

12. DC link coupling

13. Switch cabinet

14. Field

15. Braking resistor

1) NOTE:

Pay attention to the requirements on device

UVW

10 11 11

UVW

X12

RB ZK

+ − − +

X12X12

UVW

protection, chapter 8.1.1!

L1 L2 L3 PE

Motor

Figure 8.2 Overview, connection diagram for operation with supply by an AC-AC Servo Drive (Size 5 to 6A)

Motor

Page 73

L1.1

L2.1

L3.1

L1.1

L2.1

L3.1

24 V DC

Key

1. Mains fuses

2. Mains supply/emergency stop

3. Short circuit proof cables

4. Does not exist

5. Mains choke

6. Mains filte

7. AC mains connection

8. Shield plates (grey)

9. External +24VDC control supply (protected)

10. MSD Servo Drive AC-AC

L1 L2

L3 − +

+ −

X11 X44

UVW

10 11 11

X12

+ −

+ − − +− +− +− +

UVW

+ −

X11X11

X9/10X9/10

X12X12

UVW

(Size 7)

11. MSD Servo Drive DC-AC

12. DC link coupling

13. Switch cabinet

14. Field

15. Braking resistor

1) NOTE:

Pay attention to the requirements on device protection, chapter

8.1.1!

L1 L2 L3 PE

Motor

Figure 8.3 Overview, connection diagram for operation with supply by an AC-AC Servo Drive (Size 7)

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8 Operation with AC-AC Servo Drive as supply

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8 Operation with AC-AC Servo Drive as supply

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8.2 Switch cabinet arrangement with AC-AC Servo Drive as supply

The switch cabinet arrangement shown here is for illustration. It does not guarantee general suitability for a specific application or compliance with the applicable egulations. In each case check and evaluate the layout planned in relation to the specific application as well as the regulations applicable in the installation location for the system. Moog does not accept any liability for the applicability of the switch cabinet arrangement shown in the following.

Item Meaning

1 Mains cable

2 Main switch

3 Fuse

4 Mains lter

5 Does not exist

6 Mains contactor

7 Does not exist

8 Does not exist

9 AC-AC Servo Drive for supplying the DC-AC Servo Drives

10 DC-AC Servo Drive

11 DC link power supply for the DC-AC Servo Drives

12 Ext. braking resistor for the AC-AC Servo Drive

13 Motor cables

14 Controller (higher level)

Table 8.2 Key to switch cabinet arrangement

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

12 9

OFF

PWR

LOCK

Po w er COM Data S tatus

R e se t

RJ-45/Line

RS 232

<200 mm

Figure 8.4 Switch cabinet arrangement, multi-axis system with supply by AC-AC Servo Drive

(from Size 5)

Page 75

9 Planning

9.1 Overview and comparison of the multi-axis systems

This overview presents two possible system variants for MSD Multi-Axis Systems: "operation with a Power Supply Unit" and "operation with an AC-AC Servo Drive as the supply". It will help you to identify the optimal variant for your application. Aspects such as installation space, installation effort, procurement and operating costs are considered.

•

The information in this chapter relates only to the devices and components in the product family MSD Servo Drive (not including MSD Single Axis Servo Drive Compact) from Moog. Operation with devices or components from other manufacturers or product families is not allowed!

•

For each application several factors, e.g. total power and simultaneity factor, are to be taken into account to ensure safe operation of the system.

•

In any case, during the planning of your application consult Moogplanning support who will take into account all parameters using a powerful software application for planning.

•

It is only allowed to commission a MSD Multi-Axis System after the dimensioning has been checked by Moogplanning support!

9.2 Application examples

The MSD Multi-Axis System can demonstrate its advantages over a classic system comprising several AC-AC Servo Drives in applications that often operate regeneratively. Depending on the length of the regenerative phases and whether other axes of the system are operating as motors during these phases, operation with a Power Supply Unit or with an AC-AC Servo Drive can be more appropriate.

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Page 76

AC mains supply

9 Planning

moog

9.3 Operation with a Power Supply Unit

In this system variant the DC-supplied DC-AC Servo Drives are connected to a central Power Supply Unit.

Advantages

•

Regenerative power from one axis is available to the other axes via the central DC link

•

Surplus energy in the DC link is fed back to the supply system centrally via the Power Supply Unit

•

Sinusoidal mains current with very low harmonics during motor and regenerative operation

•

The power factor can be controlled at cosϕ=1 (reactive power compensation)

•

Same power ratings for motor operation and regenerative operation

•

The system can have more axes than on supply using one AC-AC Servo Drive

•

Depending on the planning for the Power Supply Unit, all axes can be operated simultaneously at rated power

•

The installation of the supply cables between the Power Supply Unit and the DC-AC Servo Drives is convenient and space saving via a continuous busbar system (Size 1 to 5)

•

The operating costs are lower than for a system comprising AC-AC Servo Drives or with an AC-AC Servo Drive as the supply

•

Higher DC link voltage than on corresponding AC supply, as a consequence it is possible to use smaller motors

•

Regulated DC link voltage, therefore it is no longer necessary to take in account mains voltage fluctuations as a eserve in the system

•

Due to higher DC link voltage, poor supply networks can be compensated and maximum motor torques achieved in the field-weakening rang

•

Complete compensation of mains voltage dips due to the ability to increase the voltage

•

High dynamic performance due to fast changes in the energy flow on the load side

•

If there is a power failure, it is possible to brake via integrated brake choppers

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Disadvantages

•

The space required due to the Power Supply Unit and its external circuit can, in some circumstance, be greater than on operation with AC-AC Servo Drive as the supply or a system comprising AC-AC Servo Drives.

•

The investment costs are higher than for a system comprising AC-AC Servo Drives or with an AC-AC Servo Drive as the supply.

Power

Braking

sitance

Figure 9.1 Block diagram of a multi-axis system with Power Supply Unit and regeneration

Supply

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

with regeneration

central DC link

DC-AC

Servo Drive

DC-AC

Servo Drive

Unit

Motor

DC-AC

Servo Drive

Motor

Page 77

AC mains connection

9.4 Operation with AC-AC Servo Drive as supply

Advantages

•

The investment costs are lower than on operation with a Power Supply Unit

•

As an additional Power Supply Unit is not required, in general the space required is less than on operation with a Power Supply Unit

•

Regenerative power is available to the other axes via the central DC link

•

Surplus energy is dissipated centrally via the AC-AC Servo Drive's braking resistor

Disadvantages

•

In this system variant, in general it is not possible to operate all axes at full rated power, as otherwise the DC link on the AC-supplied AC-AC Servo Drive may be overloaded

•

It may be necessary to oversize the supplying AC-AC Servo Drive

•

Regenerative power cannot be fed back to the supply system, instead it can only be converted into heat via a braking resistor

•

Similar to the AC-AC Servo Drive, it may be necessary to oversize the braking resistor, as a consequence the heat produced causes additional effort for installation and temperature control

•

The operating costs are higher than for a system comprising AC-AC Servo Drives or with a Power Supply Unit

•

Lower DC link voltage than on operation with a Power Supply Unit

•

Due to the total DC link capacitance, fewer DC-AC Servo Drives can be connected than to the Power Supply Unit

central DC link

Braking resitance

AC-AC

Servo Drive

Figure 9.2 Block diagram of a multi-axis system with AC-AC Servo Drive as supply

DC-AC

Servo Drive

Motor

DC-AC

Servo Drive

MotorMotor

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9.5 Functional comparison

As a selection aid, the technical and functional differences between operation with an AC-AC Servo Drive as the supply and operation with a Power Supply Unit are compared.

Feature

Operation on different mains voltages around the world possible

Regeneration possible (sinusoidal)

Operation with any simultaneity factor possible

DC link coupling via busbar system (Size 1toSize 5)

Energy equalisation by central DC link

Controlled stop on power failure

Requires external step-up choke and input choke

Requires external braking resistor

Air cooling

Liquid cooling

Higher DC link voltage (650V/770V)

Reactive power compensation

EtherCAT, SERCOS II & III, PROFINETIRT, VARAN, CANopen, PROFIBUS-DPV1

Sin/Cos encoder, TTL encoder simulation/encoder

 = applicable,  = partially applicable

1) With autotransformer

2) Possibly for emergency operation on power failure

Table 9.1 Functional comparison

AC-AC Servo

Drive as supply



 

 

 

 

Power Supply

Unit





MSD Multi-Axis System Operation Manual DC-AC Servo Drive

9.6 Cost-effectiveness calculation

Along with the functional advantages, a multi-axis system also offers ecological and financial advantages due to the energy saving. Depending on the application, higher investment costs are quickly compensated by the reduced power consumption.

Example with three axes

Individual

AC-AC axes

Components

Investment costs 100% 108% 163%

Energy saving

Electricity price 0.1264€/kWh

Operating time 16hours/day, 20 days/month

Amortisation of the additional costs after

1) Compared to individual AC axes, this value is to be determined individually for each application

2) Bundesverband der Energie-Abnehmer e.V., German electricity price comparison I/2011 for medium-sized industrial customers, average electricity price in former West German states

Table 9.2 Cost-effectiveness calculation for three axes

3x G392-024/G395-024 3x mains choke 3x braking resistor

- 5% 10%

- 6months 23months

AC-AC Servo Drive as

supply

2x G393-024/G397-026 1x G392-060/G395-070 with

- Mains choke

- Braking resistor

Power Supply Unit

3x G393-024/G397-026 1x G396-050 1x LCL set

Page 79

√

)

Example with six axes

9.7.1 Determining the drive power required per axis

Individual

AC-AC axes

Components

Investment costs 100% 115% 142%

Energy saving

Electricity price 0.1264€/kWh

Operating time 16hours/day, 20 days/month

Amortisation of the additional costs after

1) Compared to individual AC axes, this value is to be determined individually for each application

2) Bundesverband der Energie-Abnehmer e.V., German electricity price comparison I/2011 for medium-sized industrial custom-

Table 9.3 Cost-effectiveness calculation for six axes

ers, average electricity price in former West German states

6x G392-024/G395-024 6x mains choke 6x braking resistor

- 5% 10%

- 11months 16months

AC-AC Servo Drive

as supply

5x G393-024/G397-026 1x G392-143/G395-170 with

- Mains choke

- Mains lter

- Braking resistor

Power Supply Unit

6x G393-024/G397-026 1x G396-110 1x LCL set

9.7 Dimensioning

This section provides you with an overview on how you can design the MSD Multi-Axis System to suit your application. A large number of parameters need to be taken into account during the design of a multi-axis system. You can compile all relevant data for dimensioning your application using the instructions in this chapter.

To determine the drive power per rotary axis the following information is required:

•

Maximum torque

Effective torque

•

Maximum speed

•

Gear ratio

•

− Formula for effective torque (for torque curves with constant sections):

∑Mi²

eff

− Formula for maximum torque:

max

accel

To determine the drive power for linear motors, the following information is required per axis:

•

Maximum thrust

•

Effective thrust

•

Maximum feed velocity

accel

= 2 · °

˜n

gear

Motor

˜t

load

NOTE

Based on these data, the specialists in Moog planning support will prepare a detailed dimensioning calculation. You can contact planning support via drives-support@moog.com.

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i =

load

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9.7.2 Selection of suitable gearboxes and motors

The gearbox is selected depending on the application, either to obtain the maximum dynamic performance, of the most efficient continuous operation possible

− Formula for gear ratio (for optimal dynamic performance):

load

Motor

− Formula for gear ratio (for good utilisation during continuous operation):

Motors are selected based on the following criteria:

•

max

•

max

•

> M

Rated

Define the encoder system depending on the equirement in your application in relation to absolute accuracy, reproducible accuracy, robustness and determination of the machine zero point:

•

Resolver

•

Sin/Cos encoder, single-turn

•

Sin/Cos encoder, multi-turn

eff

9.7.3 Selection of suitable DC-AC Servo Drives

After the motors have been selected, matching DC-AC Servo Drives are selected based on the following criteria:

•

Maximum current

•

Rated current

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

9.7.4 Selection of suitable Power Supply Unit

NOTE

During all the following dimensioning calculations, always pay attention to the

Operation Manual MSD Power Supply Unit (ID no.CA97556-001).

To identify a suitable Power Supply Unit, a power/time diagram for a complete machine cycle must be available for all axes. Figure 9.1, page76 contains an example.

The power required by each individual axis at each point in time is added together to produce the power/time diagram for the Power Supply Unit. The following characteristic data for the Power Supply Unit can be derived from this diagram:

•

Nominal supply power

•

Maximum supply power

•

Nominal regenerative power

•

Maximum regenerative power

With a low simultaneity factor in the axis group, it may be possible to select the largest axis as an AC-AC Servo Drive that can take over the supply for the entire axis group. However, it is then not possible to feed power back to the supply system. Regenerative power produced must be dissipated via a braking resistor and converted into heat.

NOTE

If the supply system fails, due to the principle of operation the Power Supply Unit can no longer feed back power. For this special situation, we therefore recommend you to use a braking resistor with a power rating that should be designed for this braking process.

Page 81

The precharging circuit and DC link on the Power Supply Unit must not be overloaded.

[

1023456789

t [s]

[

Axis 1

For this reason the total power consumption and total DC link capacitance for all DC-AC Servo Drives must not exceed the limits for the Power Supply Unit. On this topic pay attention to Table A.4 and Table A.5:

P1 ]

Power Supply Unit

G396-026 26 52

Axis 2

P2 ]

G396-050 50 94

G396-075 75 127

G396-110 110 160

1) For 10s

Table 9.4 Power output and capacitances for the Power Supply Units

DC-AC Servo Drive

Axis 3

P3 ]

Resulting total power consumption for Power Supply Unit

res 1...3

]

res

23456789

Figure 9.3 Time/power diagram with Power Supply Unit

t [s]

Table 9.5 DC link capacitances for the DC-AC Servo Drives

G393-004 60 -

G393-006 60 -

G393-008 105 -

G393-012 105 -

G393-016 / G397-020 288 288

G393-020 / G397-025 288 288

G393-024 / G397-026 504 504

G393-032 / G397-035 504 504

G393-045 / G397-053 430 900

G393-060 / G397-070 900 900

G393-072 / G397-084 900 900

G393-090 / G397-110 1060 2120

G393-110 / G397-130 2120 2120

G393-143 / G397-170 3180 4240

G393-170 / G397-210 4240 4240

Power output [kW]

Continuous Peak

Air cooling Liquid cooling

DC link

capacitance [µF]

900 10000

4240 20000

DC link capacitance [µF]

Max. total

DC link capacitance

[µF]

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Example calculation: supply with Power Supply Unit

Two DC-AC Servo Drives G393-024/G397-026, two DC-AC Servo Drives G393-060/ G397-070 and one DC-AC Servo Drive G393-090 are to be connected to one Power Supply Unit G396-075.

Calculation: 1 x 4240µF + 2 x 504µF + 2 x 900µF + 1 x 1060µF = 8108µF

Result: The Power Supply Unit is adequately dimensioned with a max. total

DC link capacitance of 9200µF.

NOTE:

Note that it is necessary to take into account not only the DC link capacitance of the DC-AC Servo Drives, but also the capacitance of the Power Supply Unit.

9.7.5 External components

On the usage of a Power Supply Unit you need additional components:

•

Mains connection set comprising mains filte , input choke incl. capacitor, stepup choke, EMC fastening material)

On this topic see MSD Ordering Catalog (ID no.: CDL29950-en).

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

However, it is then not possible to feed power back to the supply system. Regenerative power produced must be dissipated via a braking resistor and converted into heat.

NOTE:

You will find details on dimensioning the braking esistor in chapter8.1.1, page69.

DC link power and total DC link capacitance of the AC-AC Servo Drive

For an initial estimation as to whether an AC-AC Servo Drive is adequate for supplying other DC-AC Servo Drives, the power available from the AC-AC Servo Drive DC link can be calculated approximately using the following formulae:

= √3 . U

rated

= √3 . U

Max

Here I

Rated (fsw and U_Mains)

the AC-AC Servo Drive corresponding to the switching frequency of the power stage and the mains voltage.

. I

Mains

rated (fSW and U

. I

Mains

Max (fSW and U

is the rated current and I

mains

)

. 0.8

)

MAX (fsw and U_Mains)

the maximum current from

9.7.6 Selection of a suitable AC-AC Servo Drive as supply

With a low simultaneity factor in the axis group, it may be possible to select the largest axis as an AC-AC Servo Drive that can take over the supply for the entire axis group. To identify a suitable AC-AC Servo Drive, a power/time diagram over a complete load cycle must be available for all axes. Figure 9.4, page83 contains an example.

The power required by each individual axis (incl. the AC-AC Servo Drive axis) at each point in time is added together to produce the overall power/time diagram. The following characteristic data can be derived from this diagram:

•

Nominal power consumption of the AC-AC Servo Drive axis

•

Maximum power consumption of the AC-AC Servo Drive axis

•

Nominal regenerative power

•

Maximum regenerative power

CAUTION! Damage to the device due to exceeding the maximum power.

• The device may suffer irreparable damage.

The power gures are a root-mean-square value over one load cycle. The maximum power is not allowed to be exceeded at any time and is only allowed to be drawn for the stated time, as otherwise the AC-AC Servo Drive will be irreparably damaged.

Page 83

Along with the total power consumption, the total DC link capacitance for the axis group

[

102345678 9

t [s]

[

Axis 1

(AC supply

axis)

must be considered. The maximum total DC link capacitance of the AC-AC Servo Drive is not allowed to be exceeded. On this topic pay attention to Table 9.6 as well as Table

9.5.

P1 ]

AC-AC-Servo Drive

Air cooling Liquid cooling

Axis 2

P2 ]

Axis 3

P3 ]

Resulting total power consumption for AC supply axis

res 1...3

]

res

G393-004 400 - 800 800

G393-006 400 - 800 800

G393-008 725 - 1355 1355

G393-012 725 - 1355 1355

G393-016 / G397-020 1230 1230 2460 1734

G393-020 / G397-025 1230 1230 2460 1734

G393-024 / G397-026 2000 2000 2504 2000

G393-032 / G397-035 2000 2000 2504 2000

G393-045 / G397-053 430 430 5100 5100

G393-060 / G397-070 900 900 5100 5100

G393-072 / G397-084 900 900 5100 5100

G393-090 / G397-110 1060 2120 9200 9200

G393-110 / G397-143 2120 2120 9200 9200

G393-143 / G397-170 3180 4240 9200 9200

G393-170 / G397-210 4240 4240 9200 9200

G393-250.0 - 3600 60000 60000

G393-325.0 - 5400 60000 60000

G393-450.0 - 7200 60000 60000

Table 9.6 DC link capacitance and maximum total DC link capacitance for the AC-AC Servo

Drive

Internal

DC link capacitance [µF]

Maximum total

DC link capacitance [µF]

Mains voltage

400VAC

Mains voltage

460VAC or

480VAC

23456789

Figure 9.4 Time/power diagram with AC-AC Servo Drive as supply

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CAUTION!

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Damage to your system/machine due to uncontrolled or inappropriate commissioning.

The device may suffer irreparable damage.

• Pay attention to switch-on sequence The mains voltage is only allowed to be switched on after switching on the +24VDC supply voltage for the control electronics and conclusion of the initialisation phase.

• Pay attention to power classes It is only allowed to connect DC-AC Servo Drives of lower or the same power class to an AC-AC Servo Drive.

• Pay attention to maximum number of axes It is allowed to operate a maximum of six DC-AC Servo Drives on one supplying AC-AC Servo Drive. If your requirements are higher, please consult your project engineer.

Example calculation: supply from an AC-AC Servo Drive

Two DC-AC Servo Drives G393-024/G397-026, two DC-AC Servo Drives G393-060/ G397-070 and one DC-AC Servo Drive G393-090 are to be connected to one AC-AC Servo Drive G392-170/G395-210.

Calculation: 1 x 4240µF + 2 x 504µF + 2 x 900µF + 1 x 1060µF = 8108µF

Result: The AC-AC Servo Drive is adequately dimensioned with a maximum total

DC link capacitance of 9200µF.

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

NOTE:

Note that it is necessary to take into account not only the DC link capacitance of the DC-AC Servo Drives, but also the capacitance of the supplying AC-AC Servo Drive.

9.7.7 External components

On the usage of an AC-AC Servo Drive as the supply you need additional components:

Mains filter

•

Mains choke

•

Braking resistor

•

EMC fastening material

•

Possibly ferrite toroidal cores over the motor cable

On this topic see MSD Ordering Catalog (ID no.: CDL 29950-en).

Page 85

10 Application example

10.1 Interlocking Power Supply Unit and DC-AC Servo Drives

The following example shows how the Power Supply Unit can be connected to the DC-AC Servo Drives used in the multi-axis system such that the entire multi-axis system is shut down in the event of a fault.

In the normal case the DC-AC Servo Drives feed power back to the mains via the Power Supply Unit in regenerative operation. On the failure of the Power Supply Unit or the mains, the energy is fed to the braking resistor. To protect against overloading the Power Supply Unit's brake chopper, the Power Supply Unit can be connected to the DC-AC Servo Drives and configu ed as follows. As soon as the Power Supply Unit is no longer actively regulated, the enable for the power stage (ENPO) is withdrawn from the DC-AC Servo Drives.

Connect the Power Supply Unit to the DC-AC Servo Drives connected as shown in Figure 10.1.

Assign the output REL (X4/23,24) on the Power Supply Unit the function "Regulation in operation" (value 2, OUTPUT_FS_ACTIV). You will nd further functions in the Operation Manual MSD Power Supply Unit.

MSD PSU MSD Servo Drive DC-AC

Des.

REL

ISDSH

ISD06

ISD05

ISD04

ISD03

ISD02

ISD01

ISD00

+24 V

DGND

Des.X4 X4

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24 V

DGND

ENPO

Request

STO

Start

Figure 10.1 Interlocking MSD Multi-axis system

Des. Des.X4 X4

REL

ISDSH

ISD06

ISD05

ISD04

ISD03

ISD02

ISD01

ISD00

+24 V

DGND

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24 V

DGND

Diagnostic STO

Request STO

ISA0-

ISA0+

+10 V

ISA0-

ISA0+

CNC

PLC

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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10 Application example

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Page 87

A Technical data

Peak current

A.1 Current carrying capacity,

MSD Servo Drives DC-AC

The maximum permissible DC-AC Servo Drive output current and the peak current are dependent on the DC supply voltage, the motor cable length, the power stage switching frequency, the design of the cooling and the ambient temperature. If the conditions change, the maximum permissible current carrying capacity of the DC-AC Servo Drives also changes.

A.1.1 G393-004 to G393-032 (air cooling, 400VAC)

2MAX

≥5Hz

] [s]

eff

11.9 0.5

Peak current

Device

G393-004 (Size 1)

Switching

frequency

[kHz] [°C (°F)] [A

8 4.0 8.4 8.4 - -

12 3.7 6.6 6.6 - -

Ambient

temperature

of the power stage

+40

(+104)

Rated current

] [A

eff

MAX

0Hz

eff

≥5Hz

] [A

1MAX

5.3 8.4 8.4

] [s] [A

eff

16 2.7 5.2 5.2 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.1 Rated and peak current, G393-004 to G393-032 (air cooling, 400VAC)

Device

G393-006 (Size 1)

Switching

frequency

[kHz] [°C (°F)] [A

8 6.0 12.7 12.7 - -

12 5.5 9.9 9.9 - -

Ambient

temperature

of the power stage

+40

(+104)

Rated current

] [A

eff

MAX

0Hz

eff

≥5Hz

] [A

1MAX

8.0 12.7 12.7

] [s] [A

eff

16 4.0 7.7 7.7 - -

G393-008 (Size 2)

8 9.3 15.9 15.9 - -

12 6.7 9.4 9.4 - -

+40

(+104)

9.3 15.9 15.9

16 5.5 7.7 7.7 - -

G393-012 (Size 2)

8 14.0 24.0 24.0 - -

12 10.0 14.1 14.1 - -

+40

(+104)

14.0 24.0 24.0

16 8.2 11.5 11.5 - -

33.6

G393-016 (Size 3)

8 16.0 33.6 33.6 - -

12 11.0 23.6 23.6 - -

+40

(+104)

20.0 33.6

16 8.5 19.4 19.4 - -

G393-020 (Size 3)

8 20.0 42.0 42.0 - -

12 13.8 29.6 29.6 - -

+40

(+104)

25.0 42.0 42.0

16 10.0 22.8 22.8 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.1 Rated and peak current, G393-004 to G393-032 (air cooling, 400VAC)

2MAX

≥5Hz

] [s]

eff

18.0 0.5

23.9 0.5

36.0 0.5

48.0 0.5

60.0 0.5

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A Technical data

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 88

A Technical data

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Peak current

Device

G393-024 (Size 4)

Switching

frequency

[kHz] [°C (°F)] [A

8 24.0 48.0 48.0 - -

12 15.8 31.6 31.6 - -

Ambient

temperature

of the power stage

+40

(+104)

Rated current

] [A

eff

MAX

0Hz

eff

≥5Hz

] [A

1MAX

30.0 48.0 48.0

] [s] [A

eff

16 11.3 22.6 22.6 - -

G393-032 (Size 4)

8 32.0 64.0 64.0 - -

12 21.0 42.0 42.0 - -

+40

(+104)

40.0 64.0 64.0

16 15.0 30.0 30.0 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.1 Rated and peak current, G393-004 to G393-032 (air cooling, 400VAC)

2MAX

≥5Hz

] [s]

eff

72.0 0.5

96.0 0.5

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

A.1.2 G393-004 to G393-032 (air cooling, 460VAC)

2MAX

≥5Hz

] [s]

eff

11.9 0.5

18.0 0.5

21.8 0.5

30.3 0.5

Peak current

Device

G393-004 (Size 1)

Switching

frequency

Ambient

temperature

of the power stage

[kHz] [°C (°F)] [A

8 3.4 7.2 7.2 - -

12 2.8 5.0 5.0 - -

+40

(+104)

eff

5.3 8.4 8.4

Rated current

] [A

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 1.9 3.6 3.6 - -

G393-006 (Size 1)

8 5.1 10.8 10.8 - -

12 4.2 7.5 7.5 - -

+40

(+104)

8.0 12.7 12.7

16 2.9 5.6 5.6 - -

G393-008 (Size 2)

8 6.7 11.5 11.5 - -

12 5.6 7.9 7.9 - -

+40

(+104)

8.5 14.6 14.6

16 4.1 5.8 5.8 - -

20.2

G393-012 (Size 2)

8 10.0 17.1 17.1 - -

12 8.4 11.8 11.8 - -

+40

(+104)

11.8 20.2

16 6.2 8.7 8.7 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.2 Rated and peak current, G393-004 to G393-032 (air cooling, 460VAC)

Page 89

Peak current

A.1.3 G393-004 to G393-032 (air cooling, 480VAC)

Device

G393-016 (Size 3)

Switching

frequency

[kHz] [°C (°F)] [A

8 13.9 29.1 29.1 - -

12 8.8 18.9 18.9 - -

Ambient

temperature

of the power stage

+40

(+104)

Rated current

] [A

eff

MAX

0Hz

eff

≥5Hz

] [A

1MAX

20.0 33.6 33.6

] [s] [A

eff

16 6.5 14.8 14.8 - -

G393-020 (Size 3)

8 17.4 36.5 36.5 - -

12 11.0 23.6 23.6 - -

+40

(+104)

25.0 42.0 42.0

16 7.4 16.8 16.8 - -

G393-024 (Size 4)

8 21.0 42.0 42.0 - -

12 12.4 24.8 24.8 - -

+40

(+104)

26.0 41.6 41.6

16 8.9 17.8 17.8 - -

53.9

G393-032 (Size 4)

8 28.0 56.0 56.0 - -

12 16.5 33.0 33.0 - -

+40

(+104)

33.7 53.9

16 11.9 23.8 23.8 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.2 Rated and peak current, G393-004 to G393-032 (air cooling, 460VAC)

2MAX

≥5Hz

] [s]

eff

48.0 0.5

60.0 0.5

62.4 0.5

80.9 0.5

2MAX

≥5Hz

] [s]

eff

11.9 0.5

Peak current

Device

G393-004 (Size 1)

Switching

frequency of the

[kHz] [°C (°F)] [A

8 3.3 7.0 7.0 - -

12 2.7 4.8 4.8 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

5.3 8.4 8.4

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 1.8 3.4 3.4 - -

G393-006 (Size 1)

8 5.0 10.6 10.6 - -

12 4.0 7.2 7.2 - -

+40

(+104)

8.0 12.7 12.7

18.0 0.5

16 2.7 5.2 5.2 - -

G393-008 (Size 2)

8 6.1 10.4 10.4 - -

12 5.4 7.6 7.6 - -

+40

(+104)

8.5 14.6 14.6

21.8 0.5

16 3.9 5.5 5.5 - -

G393-012 (Size 2)

8 9.2 15.8

12 8.1 11.4 11.4 - -

+40

(+104)

11.4 19.5 19.5

15.8 - -

29.3 0.5

16 5.8 8.2 8.2 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.3 Rated and peak current, G393-004 to G393-032 (air cooling, 480VAC)

moog

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A Technical data

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 90

A Technical data

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Peak current

Device

G393-016 (Size 3)

Switching

frequency of the

[kHz] [°C (°F)] [A

8 13.3 27.9 27.9 - -

12 8.5 18.3 18.3 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

20.0 33.6 33.6

MAX

0Hz

] [A

eff

1MAX

≥5Hz

] [s] [A

eff

16 6.0 13.7 13.7 - -

G393-020 (Size 3)

8 16.6 34.8 34.8 - -

12 10.0 21.5 21.5 - -

+40

(+104)

25.0 42.0 42.0

16 6.5 14.8 14.8 - -

G393-024 (Size 4)

8 20.0 40.0 40.0 - -

12 11.3 22.6 22.6 - -

+40

(+104)

26.0 41.6 41.6

16 8.4 16.8 16.8 - -

G393-032 (Size 4)

8 26.7 53.4

12 15.0 30.0 30.0 - -

+40

(+104)

32.5 52.0 52.0

53.4 - 10

16 11.2 22.4 22.4 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.3 Rated and peak current, G393-004 to G393-032 (air cooling, 480VAC)

2MAX

≥5Hz

] [s]

eff

48.0 0.5

60.0 0.5

62.4 0.5

78.0 0.5

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

A.1.4 G393-004 to G393-032 (air cooling, 770VDC)

2MAX

≥5Hz

] [s]

eff

11.5 0.5

17.1 0.5

20.6 0.5

28.8 0.5

Peak current

Device

G393-004 (Size 1)

Switching

frequency of the

[kHz] [°C (°F)] [A

8 3.2 6.8 6.8 - -

12 2.1 3.8 3.8 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

5.1 8.1 8.1

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 1.1 2.1 2.1 - -

G393-006 (Size 1)

8 4.8 10.2 10.2 - -

12 3.2 5.7 5.7 - -

+40

(+104)

7.6 12.1 12.1

16 1.6 3.1 3.1 - -

G393-008 (Size 2)

8 5.9 10.1 10.1 - -

12 5.3 7.4 7.4 - -

+40

(+104)

8.0 13.7 13.7

16 3.7 5.2 5.2 - -

G393-012 (Size 2)

8 8.8 15.1

12 7.9 11.1 11.1 - -

+40

(+104)

11.2 19.2 19.2

15.1 - -

16 5.5 7.7 7.7 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.4 Rated and peak current, G393-004 to G393-032 (air cooling, 770VDC)

Page 91

Peak current

Device

G393-016 (Size 3)

Switching

frequency of the

[kHz] [°C (°F)] [A

8 11.2 23.5 23.5 - -

12 7.0 15.0 15.0 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

20.0 33.6 33.6

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 4.5 10.2 10.2 - -

G393-020 (Size 3)

8 14.0 29.4 29.4 - -

12 7.5 16.1 16.1 - -

+40

(+104)

25.0 42.0 42.0

16 5.0 11.4 11.4 - -

G393-024 (Size 4)

8 18.9 37.8 37.8 - -

12 10.5 21.0 21.0 - -

+40

(+104)

26.0 41.6 41.6

16 7.9 15.8 15.8 - -

G393-032 (Size 4)

8 25.2 50.4

12 14.0 28.0 28.0 - -

+40

(+104)

32.0 51.2 51.2

50.4 - 10

16 10.5 21.0 21.0 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.4 Rated and peak current, G393-004 to G393-032 (air cooling, 770VDC)

2MAX

≥5Hz

] [s]

eff

48.0 0.5

60.0 0.5

62.4 0.5

76.8 0.5

A.1.5 G393-045 to G393-170 (air cooling)

Rated current Peak current [A

Device

Switching frequency

Ambient

of the power stage

temperature

[kHz] [°C (°F)] [A

G393-045

(Size 5)

8 45 42 41 41 90 90 90

12 45 42 41 37 90 90 90

+40

(+104)

)

(400V

At 565V

(460V

At 650V

(480V

At 678V

At 770V

rotating eld

increasing

0 to 5Hz

frequency linearly

] [A

eff

] 0Hz 5Hz >5Hz [s]

eff

45 42 41 41 90 90 90

16 42 39 38 34 84 84 84

G393-060

(Size 5)

G393-072

(Size 5)

8 60 56 54 54 120 120 120

12 58 54 52 48 116 116 116

+40

(+104)

16 42 39

8 72 67 65 65 144 144 144

12 58 54 52 48 116 116 116

+40

(+104)

60 56 54 54 120 120 120

38 34 84 84 84

72 67 65 65 144 144 144

16 42 39 38 34 84 84 84

G393-090

(Size 6A)

8 90 83 81 73 134 180 180

12 90 83 81 73 107 144 144

+40

(+104)

90 83 81 73 170 180 180

16 72 67 65 59 86 115 115

1) When supplied with 565VDC (corresponding to 400VAC) at maximum 70% pre-load

2) Shutdown as per I²t characteristic

3) When supplied with AC-AC Servo Drive

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.5 Rated and peak current, G393-045 to G393-170 (air cooling)

]

eff

For

For time

intermittent operation

moog

Id. no.: CA97554-001 05/2017

A Technical data

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 92

A Technical data

moog

Id. no.: CA97554-001 05/2017

Rated current Peak current [A

)

(460V

)

(480V

At 678V

] [A

eff

At 770V

] 0Hz 5Hz >5Hz [s]

eff

Device

G393-110

(Size 6A)

)

Ambient

temperature

of the power stage

Switching frequency

[kHz] [°C (°F)] [A

8 110 102 99 90 134 165 165

12 90 83 81 73 107 144 144

+40

(+104)

(400V

At 565V

At 650V

] [A

eff

] [A

eff

110 102 99 90 170 220 220

16 72 67 65 59 86 115 115

G393-143

(Size 6A)

8 143 132 129 116 151 215 215

12 115 106 104 94 121 172 172

+40

(+104)

143 132 129 116 190 286 286

16 92 85 83 75

G393-170

(Size 6A)

8 170 157 153 138 151 220 220

12 136 126 122 110 121 164 164

+40

(+104)

170 157 153 138 190 315 315

16 109 101 98 88 97 131 131

1) When supplied with 565VDC (corresponding to 400VAC) at maximum 70% pre-load

2) Shutdown as per I²t characteristic

3) When supplied with AC-AC Servo Drive

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.5 Rated and peak current, G393-045 to G393-170 (air cooling)

rotating eld

0 to 5Hz

increasing

For

frequency linearly

97 138 138

]

eff

For time

intermittent operation

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

A.1.6 G397-016 to G397-032 (liquid cooling, 400VAC)

Peak current

Device

G397-020

(Size 3)

Switching

frequency of the

[kHz] [°C (°F)] [A

8 20.0 33.6 33.6 - -

12 17.4 26.4 26.4 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

20.0 33.6 33.6

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 12.0 18.2 18.2 - -

G397-025

(Size 3)

8 25.0 42.0 42.0 - -

12 21.8 33.1 33.1 - -

+40

(+104)

25.0 42.0 42.0

16 15.0 22.8 22.8 - -

G397-026

(Size 4)

8 26.3 48.1 48.1 - -

12 22.5 31.5 31.5 - -

+40

(+104)

30.0 48.0 48.0

16 16.1 22.5 22.5 - -

G397-035

(Size 4)

8 35.0 64.0 64.0 - -

12 30.0 42.0 42.0 - -

+40

(+104)

40.0 64.0 64.0

16 21.4 29.9 29.9 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.6 Rated and peak current, G397-016 to G397-032 (liquid cooling, 400VAC)

2MAX

≥5Hz

] [s]

eff

48.0 0.5

60.0 0.5

72.0 0.5

96.0 0.5

Page 93

A.1.7 G397-016 to G397-032 (liquid cooling, 460VAC)

A.1.8 G397-016 to G397-032 (liquid cooling, 480VAC)

Device

G397-020 (Size 3)

Peak current

Switching

frequency of the

[kHz] [°C (°F)] [A

8 17.4 29.2 29.2 - -

12 12.5 19.0 19.0 - -

Ambient

power stage

+40

(+104)

temperature

eff

20.0 33.6 33.6

] [A

MAX

0Hz

eff

Rated current

≥5Hz

] [A

1MAX

] [s] [A

eff

16 9.1 13.8 13.8 - -

G397-025 (Size 3)

8 21.8 36.6 36.6 - -

12 15.6 23.7 23.7 - -

+40

(+104)

25.0 42.0 42.0

16 11.4 17.3 17.3 - -

G397-026 (Size 4)

8 23.0 42.0 42.0 - -

12 17.7 24.8 24.8 - -

+40

(+104)

26.0 41.6 41.6

16 12.8 17.9 17.9 - -

G397-035 (Size 4)

8 30.6 55.9 55.9 - -

12 23.6 33.0 33.0 - -

+40

(+104)

33.7 53.9 53.9

16 17.0 23.8 23.8 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.7 Rated and peak current, G397-016 to G397-032 (liquid cooling, 460VAC)

2MAX

≥5Hz

] [s]

eff

48.0 0.5

60.0 0.5

62.4 0.5

80.9 0.5

2MAX

≥5Hz

] [s]

eff

48.0 0.5

Peak current

Device

Switching

frequency of the

[kHz] [°C (°F)] [A

G397-020 (Size 3)

8 16.6 27.9 27.9 - -

12 11.4 17.3 17.3 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

20.0 33.6 33.6

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 8.5 12.9 12.9 - -

G397-025 (Size 3)

8 20.8 34.9 34.9 - -

12 14.3 21.7 21.7 - -

+40

(+104)

25.0 42.0 42.0

60.0 0.5

16 10.6 16.1 16.1 - -

G397-026 (Size 4)

8 21.9 40.0 40.0 - -

12 16.1 22.5 22.5 - -

+40

(+104)

26.0 41.6 41.6

62.4 0.5

16 12.0 16.8 16.8 - -

G397-035 (Size 4)

8 29.2 53.4 53.4 - -

12 21.4 30.0 30.0 - -

+40

(+104)

32.5 52.0 52.0

78.0 0.5

16 16.0 22.4 22.4 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.8 Rated and peak current, G397-016 to G397-032 (liquid cooling, 480VAC)

moog

Id. no.: CA97554-001 05/2017

A Technical data

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

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A Technical data

moog

Id. no.: CA97554-001 05/2017

A.1.9 G397-016 to G397-032 (liquid cooling, 770VDC)

Peak current

Device

G397-020 (Size 3)

Switching

frequency of the

[kHz] [°C (°F)] [A

8 15.8 26.5 26.5 - -

12 10.7 16.2 16.2 - -

Ambient

power stage

+40

(+104)

temperature

Rated current

] [A

eff

20.0 33.6 33.6

MAX

0Hz

eff

≥5Hz

] [A

1MAX

] [s] [A

eff

16 8.1 12.3 12.3 - -

G397-025 (Size 3)

8 19.8 33.2 33.2 - -

12 13.4 20.3 20.3 - -

+40

(+104)

25.0 42.0 42.0

16 10.1 15.3 15.3 - -

G397-026 (Size 4)

8 20.7 37.8 37.8 - -

12 15.4 21.5 21.5 - -

+40

(+104)

26.0 41.6 41.6

16 11.3 15.8 15.8 - -

G397-035 (Size 4)

8 27.6 50.5 50.5 - -

12 20.5 28.7 28.7 - -

+40

(+104)

32.0 51.2 51.2

16 15.0 21.0 21.0 - -

1) At maximum 70% pre-load

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.9 Rated and peak current, G397-016 to G397-032 (liquid cooling, 770VDC)

≥5Hz

2MAX

] [s]

eff

48.0 0.5

60.0 0.5

62.4 0.5

76.8 0.5

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

A.1.10 G397-045 to G397-170 (liquid cooling)

Rated current Peak current [A

)

Device

of the power stage

Switching frequency

Ambient

temperature

[kHz] [°C (°F)] [A

G397-053

(Size 5)

8 53 49 48 48 90 90 90

12 53 49 48 42 90 90 90

+40

(+104)

(400V

At 565V

At 650V

] [A

eff

] [A

eff

53 49 48 48 90 90 90

)

(460V

)

(480V

At 678V

] [A

eff

At 770V

] 0Hz 5Hz >5Hz [s]

eff

rotating eld

linearly 0 to 5Hz

frequency increasing

16 49 45 44 39 84 84 84

G397-070

(Size 5)

G397-084

(Size 5)

8 70 65 63 63 120 120 120

12 68 63 61 55 116 116 116

+40

(+104)

16 49 45 44 39 84

8 84 78 76 76 144 144 144

12 68 63 61 55 116 116 116

+40

(+104)

70 65 63 63 120 120 120

84 84

84 78 76 76 144 144 144

16 49 45 44 39 84 84 84

G397-110

(Size 6A)

8 110 102 99 90 165 187 187

12 110 102 99 90 132 165 165

+40

(+104)

110 102 99 90 205 220 220

16 90 83 81 73 106 135 135

1) When supplied with 565VDC (corresponding to 400VAC) at maximum 70% pre-load

2) Shutdown as per I²t characteristic

3) When supplied with AC-AC Servo Drive

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.10 Rated and peak current, G397-045 to G397-170 (liquid cooling)

]

eff

For

For time

intermittent operation

Page 95

Rated current Peak current [A

]

eff

A.1.11 G397-250 to G397-450 (liquid cooling)

)

(460V

)

(480V

At 678V

] [A

eff

At 770V

] 0Hz 5Hz >5Hz [s]

eff

Device

G397-130

(Size 6A)

)

Ambient

temperature

of the power stage

Switching frequency

[kHz] [°C (°F)] [A

8 143 132 129 116 190 215 215

12 114 105 103 93 152 172 172

+40

(+104)

(400V

At 565V

At 650V

] [A

eff

] [A

eff

143 132 129 116 230 286 286

16 91 84 82 74 122 138 138

G397-170

(Size 6A)

8 170 157 153 138 190 255 255

12 136 126 122 110 152 204 204

+40

(+104)

170 157 153 138 230 340 340

16 109 101 98 88 122 163

G397-210

(Size 6A)

8 210 194 189 170 190 255 255

12 168 155 151 136 152 204 204

+40

(+104)

210 194 189 170 230 340 340

16 134 124 121 109 122 163 163

1) When supplied with 565VDC (corresponding to 400VAC) at maximum 70% pre-load

2) Shutdown as per I²t characteristic

3) When supplied with AC-AC Servo Drive

All data apply for a motor cable length ≤10m (32.80 ft)

Table A.10 Rated and peak current, G397-045 to G397-170 (liquid cooling)

rotating eld

linearly 0 to 5Hz

frequency increasing

For

For time

intermittent operation

163

NOTE:

The shutdown temperature for liquid-cooled devices is +90°C (+194°F) internally at the heat sink. The device is shut down and is only ready for operation again after a short cooling phase.

Rated current Peak current [A

Device

Switching frequency

[kHz] [°C (°F)] [A

G397-250

(Size 7)

G397-325

(Size 7)

G397-450

(Size 7)

1) When supplied with AC-AC Servo Drive

2) Shutdown as per I²t characteristic

All data apply for a motor cable length ≤10m (32.80 ft)

4 375

4 485

4 675

Ambient

of the power stage

+40

(+104)

+40

(+104)

+40

(+104)

temperature

At 565V

eff

250 231 225 208

325 300 292 270

450 416 405 375

)

(400V

] [A

At 650V

] [A

eff

)

(460V

)

At 678V

(480V

] [A

eff

At 770V

] 0Hz 5Hz >5Hz [s]

eff

rotating eld

linearly 0 to 5Hz

frequency increasing

425

552

765

Table A.11 Rated and peak current, G397-250 to G397-450 (liquid cooling) 2 to 4kHz

]

eff

For

For time

intermittent operation

moog

Id. no.: CA97554-001 05/2017

A Technical data

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

Page 96

A Technical data

moog

Id. no.: CA97554-001 05/2017

A.2 Technical data, MSD Servo Drive DC-AC

A.2.1 G393-004 to G393-020 / G397-020 to G397-025

Size Size 1 Size 2 Size 3

Device

G393-004

Output motor side

Voltage 3-phase UZK/√2

Rated current, effective (l

Peak current

Air cooling 4A 6A 8A 12A 16A 20A

Liquid cooling - - - - 20A 25A

)

Air cooling See Table A.1 to Table A.4

Liquid cooling - - - - Table A.6 to Table A.9

Rotating eld frequency 0 to 400Hz

Switching frequency of the power stage

DC input

DC voltage (U

) nominal

Current (approximate RMS value) 1.7·I

Device connected load

Power dissipation at IN and 8kHz/

565VDC

Air cooling 110W 140W 185W 255W 320W 390W

Liquid cooling - - - - 390W 480W

DC link

Capacitance 60µF 105µF 288µF

1) All data referred to output voltage 400V

2) Generated from rectied TN system with earthed star point and phase conductor voltages 3x400VAC, 3x460VAC or 3x480VAC using the approved devices from Moog (MSD Servo Drive AC-AC or MSD Power Supply Unit). Insulation voltage as per IEC/EN61800-5-1, system voltage 277V, overvoltage category III.

3) Approximate values

and switching frequency 8kHz

eff

Table A.12 Technical data, G393-004 to G393-020 / G397-025

G393-006

G393-008

G393-012

4, 8, 12, 16kHz

565VDC / 650VDC / 680VDC / 770V

Motor

UZK·1.7·I

Motor

G393-016/

G397-020

G397-025

G393-020/

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

A.2.2 G393-024 to G393-072 / G397-026 to G397-084

Size Size 4 Size 5

Device

G397-026

G393-024/

Output motor side

Voltage 3-phase UZK/√2

Rated current, effective (l

)

Peak current

Air cooling 24A 32A 45A 60A 72A

Liquid cooling 26A 35A 53A 70A 84A

Air cooling

Liquid cooling

See Table A.1 to

Table A.4

See Table A.6 to

Table A.9

Rotating eld frequency 0 to 400Hz

Switching frequency of the power stage 4, 8, 12, 16kHz

DC input

DC voltage (U

) nominal

Current (approximate RMS value) 1.7·I

Device connected load

Power dissipation at IN and 8kHz/

565VDC

Air cooling 420W 545W 519W 706W 859W

Liquid cooling 455W 595W 587W 791W 961W

DC link

Capacitance

1) All data referred to output voltage 400V

3) Approximate values

Air cooling

Liquid cooling 900µF

and switching frequency 8kHz

eff

504µF

Table A.13 Technical data, G393-024 to G393-072 / G397-026 to G397-084

G393-032/

G397-035

G397-053

G393-045/

G397-070

G393-060/

See Table A.5

See Table A.10

565VDC / 650VDC / 680VDC / 770V

Motor

UZK·1.7·I

Motor

430µF

1.2·I

UZK·1.2·I

900µF

G397-084

G393-072/

Motor

Page 97

A.2.3 G393-090 to G393-170 / G397-110 to G397-210

A.2.4 G397-250 to G397-450

Size Size 6A

Device

Output motor side

G393-090/

G397-110

G393-110/

G397-130

G393-143/

G397-170

G393-170/

G397-210

Voltage 3-phase UZK/√2

Rated current, effective (l

)

Peak current

Air cooling 90A 110A 143A 170A

Liquid cooling 110A 143A 170A 210A

Air cooling See Table A.5

Liquid cooling See Table A.10

Rotating eld frequency 0 to 400Hz

Switching frequency of the power stage 4, 8, 12, 16kHz

DC input

DC voltage (U

Current (approximate RMS value) 1.2·I

Device connected load

Power dissipation at IN and 8kHz/

565VDC

) nominal

565VDC / 650VDC / 680VDC / 770V

Motor

UZK·1.2·I

Motor

Air cooling 1105W 1360W 1785W 2125W

Liquid cooling 1275W 1649W 2023W 2253W

DC link

Capacitance

1) All data referred to output voltage 400V

3) Approximate values

Air cooling 1060µF 2120µF 3180µF

Liquid cooling 2120µF 3180µF 4240µF

and switching frequency 8kHz

eff

4240µF

Table A.14 Technical data, G393-090 to G393-170 / G397-110 to G397-210

Size Size 7

Device G397-250 G397-325 G397-450

Output, motor side

Voltage 3-phase U

Rated current, effective (I

Motor

)

250A 325A 450A

/√2

Peak current See Table A.11

Rotating eld frequency 0 to 400Hz

Switching frequency of the power stage 2kHz, 4kHz

DC input

DC voltage (U

Current (RMS approximate value)

Device connected load

Power dissipation at IN and 4kHz/ 565V

) nominal

3) 4)

565VDC / 650VDC / 680VDC / 770V

1.2·I

Motor

UZK·1.2·I

Motor

3200W 3800W 5400W

DC link

Capacitance 3600µF 5400µF 7200µF

1) All data referred to output voltage 400V

2) Generated from rectied TN system with earthed star point and phase conductor voltages 3x400VAC, 3x460VAC or 3x480VAC using the approved devices from Moog (MSD Power Supply Unit or MSD Servo Drive AC-AC). Insulation voltage as per IEC/EN61800-5-1, system voltage 277V, overvoltage category III.

3) All data referred to DC voltage (UZK) 565V

4) Approximate values

and switching frequency 4kHz

eff

Table A.15 Technical data, G393-250 to G393-450 (liquid cooling)

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Page 98

A Technical data

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Id. no.: CA97554-001 05/2017

A.3 Power connections

Size Size 1 Size 2 Size 3 Size 4 Size 5

Device

G393-004

G393-006

X11/L+, L-

Screw size

Tightening torque 2.5 to 4.5 Nm (22 to 39.8 lb-in) (22 to 39.8lb-in)

X11/PE

Screw size

Tightening torque 2.5 to 4.5 Nm (22 to 39.8 lb-in) (22 to 39.8lb-in)

X12/U, V, W, PE

Cable cross-section

0.25 to 4 mm² (0.0004 to 0.006 in²) (AWG24 to AWG10)

Tightening torque

1) Flexible cable with ferrule

The protective earth conductor cross-section depends on the cross-section of the phase conductor. See chapter4.4, page36.

The minimum cross-section of the connection cables depends on the local regulations, conditions as well as on the rated current of the Power Supply Unit.

0.7 to 0.8Nm

(6.2 to 7lb-in)

Table A.16 Terminals

G393-008

G393-012

G393-016/G397-020

G303-020/G397-025

G393-024/G397-026

Only use the connection cables supplied.

0.75 to 16 mm² (0.001 to 0.025 in²) (AWG18 to AWG6)

1.7 to 1.8Nm

(15 to 15.9lb-in)

G393-032/G397-035

G393-045/G397-053

G393-060/G397-070

Maximum

35 mm²

(0.054 in²)

(AWG2)

2.5 to 4.5 Nm (22 to 39.8

lb-in)

(22 to 39.8lb-

in)

Size Size 6A

Device

X11/ZK+, ZK-

Cable cross-section

Tightening torque 25 to 30Nm (221 to 265 lb-in)

X11/PE

G303-072/G307-084

Screw size for ring cable lug

Tightening torque 2.5 to 4.5 Nm (22 to 39.8 lb-in) (22 to 39.8lb-in)

X12/U, V, W, PE

Cable cross-section

Tightening torque 15 to 20Nm (132.7 to 177lb-in) 25 to 30Nm (221 to 265lb-in)

1) Flexible cable with/without ferrule

2) Flexible cable with ferrule

The protective earth conductor cross-section depends on the cross-section of the phase conductor. See chapter4.4, page36.

The minimum cross-section of the connection cables depends on the local regulations, conditions as well as on the rated current of the Power Supply Unit.

Table A.17 Terminals

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

G393-090/G397-110 G393-110/G397-143

Use the pre-assembled connection cables supplied or 35 to 95mm

(AWG 2 to AWG 3/0)

G393-143/G397-170 G393-170/G397-210

35 to 95 mm² (0.054 to 0.15 in²)

(AWG2 to AWG4/0)

50 to 150 mm² (0.078 to 0.23 in²)

(AWG3 to AWG5/0)

Page 99

Size Size 7

G397-250

Device

G397-325 G397-450

X11/ZK+, ZK-

Screw size for ring cable lug M12

Tightening torque 25 to 30Nm (221 to 265 lb-in)

X11/PE

Screw size for ring cable lug M10

Tightening torque 20 to 25Nm (177 to 221 lb-in)

X12/L1, L2, L3

Screw size for ring cable lug M12

Tightening torque 25 to 30Nm (221 to 265 lb-in)

X12/PE

Screw size for ring cable lug M12

Tightening torque 25 to 30Nm (221 to 265 lb-in)

X12/RB+, RB-

Screw size for ring cable lug M10

Tightening torque 20 to 25Nm (177 to 221 lb-in)

1) The protective earth conductor cross-section depends on the cross-section of the phase conductor. See chapter4.4, page36.

The minimum cross-section of the connection cables depends on the local regulations, conditions as well as on the rated current of the Power Supply Unit.

A.4 Current required for the control supply

Size Size 1 Size 2 Size 3 Size 4 Size 5 Size 6A

Device

G393-004

G393-006

G393-008

G393-012

G393-016

G393-020

G393-024

G393-032

G393-045

G393-060

G393-072

G393-090

G393-110

Air cooling

Maximum starting current

Rated current 2A 2.5A 8A

Table A.19 Current required for the control supply

Size Size 3 Size 4 Size 5 Size 6A Size 7

Device

G397-020

G397-025

Liquid cooling

Maximum starting current

Rated current 2A 2A 2A 4A

Table A.20 Current required for the control supply

6A 7A 8A 5A

6A 7A 10A

G397-026

G397-035

G397-053

G397-070

G397-084

G397-110

G397-143

G397-170

G397-210

G397-250

G393-143

G397-325

G393-170

G397-450

Table A.18 Busbar connections

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Page 100

A Technical data

Id. no.: CA97554-001 05/2017

moog

A.5 Pre-assembled DC link connections

Type L Cross-section Model Connection

DC link Size 1

DC link Size 2

DC link Size 3

DC link Size 4

DC link Size 5

Sketch

DC link

Size 6A

61.5mm (2.42 in)

93mm

(3.66 in)

133mm

(5.24 in)

174mm

(6.85 in)

193mm

(7.6 in)

L1 = 385mm

(15.16 in)

L2 = 345mm

(13.58 in)

42mm²

(0.065 in²)

42mm²

(0.065 in²)

42mm²

(0.065 in²)

42mm²

(0.065 in²)

42mm²

(0.065 in²)

30mm²

(0.047 in²)

Flat copper braid covered

with double heatshrink

sleeve

Round copper litz wire

covered with double

heatshrink sleeve

Flat lug with hole

Ø5.5mm (0.22 in) on

Flat lug with hole

Ø5.5mm (0.22 in) on one

end, insulation stripped on

litz wire on other end

both ends

MSD Multi-Axis System Operation Manual DC-AC Servo Drive

100

NOTE

Requirements for longer cables

• Only the pre-assembled cables supplied are to be used for the electrical DC coupling of the devices.

• If extension of the cables is unavoidable (e.g. to bridge a switch cabinet panel or for a second group of DC-AC Servo Drives), the DC link must be connected as follows:

− Cable cross-section >30mm² (0.047 in²) (copper)

− A PE conductor of the same cross-section is to be laid alongside and

connected to the PE terminals on the two devices connected.

− The three conductors (DC+, DC-, PE) are to be bundled and shielded.

− A length of 2m (6.56 ft) is not allowed to be exceeded.

− Per multi-axis system there is only allowed to be one extension.

Sketch

Table A.21 Technical data, pre-assembled connection cables

Moog G393-006, G393-020, G393-008, G393-012, G393-016 Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 General

1.3 Reference documents

1.1 Target group

1.2 Prerequisites

1.4 Order code

1.5 Data on manufacture

1.7 Pictograms

1.6 Scope of supply

1.8 Disclaimer

1.9 Disposal

1.10 Helpline/Support & Service

2 Safety

2.1 Overview

2.2 Measures for your safety

2.3 General safety instructions and warnings

2.4 Intended use

2.4.1 Repair

2.5 Misuse

2.6 Responsibility

2.7 Relevant laws, standards and directives applied

2.8 Declaration of conformity

3 Mechanical installation

3.1 Notes for mechanical installation

3.2 Switch cabinet layout

3.2.1 Example:

3.3 Wall mounting (air cooling)

3.4 Alignment and arrangement in the group

3.4.1 Alignment in the group

3.4.2 Arrangement in the group

3.5 Mounting DC-AC Servo Drive air cooling housing variant

3.5.1 Dimensions and mounting clearances

3.6.1 Dimensions and mounting clearances

3.7 Cooling circuit connection

4 Electrical installation

4.1 Notes for installation

4.2 Effective EMC installation

4.2.1 Cable type

4.2.2 Routing of cables

4.2.3 Earthing measures

4.2.4 Shielding measures

4.2.5 External components

4.3 Overview of the connections

4.3.1 Layout, G393-004 (Size 1) to G393-032/G397-035 (Size 4)

4.3.2 Layout, G393-045/G397-053 (Size 5) to G393-170/ G397-210 (Size 6A)

4.3.3 Layout, G397-250 to G397-450 (Size 7)

4.4 Protective earth conductor connection

4.5 Electrical isolation concept

4.7 Connection of DC power supply

4.8 Control connections

4.8.2 Brake driver

4.9 Specification, USB interface

4.10 Specification, Ethernet interface

4.13 Encoder connection

4.13.1 Encoder connection for synchonous motors

4.13.2 Allocation of motor/encoder cable to the DC-AC Servo Drive

4.13.3 Ready made encoder cables

4.13.4 Resolver connection

4.13.5 Connection for high-resolution encoders

4.14 Motor connection

4.14.1 Motor connection for synchronous motors

4.14.2 Switching in the motor cable

5 Commissioning

5.1 Notes for commissioning

5.2 Initial commissioning

5.2.1 Switching on control supply

5.2.2 Connection between PC and DC-AC Servo Drive

5.3 Serial commissioning

5.4 Integrated control unit

5.4.1 Function of buttons T1 and T2

5.4.2 Display

5.4.3 Parameter menu (PA)

5.4.4 Ethernet IP address menu (IP)

5.4.5 Field bus address menu (Fb)

6 Diagnostics

6.1.2 Error indication

6.1 Status indication on the device