Moog L180 User Manual

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User's Manual for L180 digital servo drive

L180 User's Manual

PAGE 2 of 104 Rev. c 05/01

Record of Manual Revision

L180 User's Manual

Revision

Date Author Description Effectivity

Index

a13 b 2nd May 00 Joachim Heinrich Second Release All c4

April. 00 Joachim Heinrich First Release All

May 01 Joachim Heinrich Third Release, i nc l udi ng L180GUI 2.0 and firmware A2 All

The information contained in this document is the property of MOOG GmbH and m ay not be reproduced or transmitted in any form or by any means, e lectronic, mechanical, photocopying, re cording or otherwise, nor stored in any retrieval system of any nature without the express written authority of MOOG GmbH.

This manual is periodically revi ewed and revised. T hese instructions have be en written and check ed to the best of our knowledge and belief. However, M OOG GmbH assumes no responsibility for any errors or omissions in this document. Information in this manual is subject to change without notice and does not repre s ent a commitment on the part the MOOG Corporation.

Microsoft, Windows NT, Windows 95 and Wi ndows 98 are registered tradema rks of Microsoft Corporation.

Critical evaluation of the manual is we lcomed. Your comments will assist us in future product documentation.

Rev. c 05/01 PAGE 3 of 104

L180 User's Manual

TABLE OF CONTENTS

1DESCRIPTION AND TECHNICAL DATA 11

1.1 INTRODUCTION 11

1.1.1 DESCRIPTION 12

1.2 INSTRUCTI O NS TO THE MANUAL 13

1.3 T

1.3.1 DESIGN STANDARDS 14

1.3.2 M

1.3.3 A

1.3.4 G

1.3.5 E

1.3.5.1 D

1.3.5.2 P

1.3.5.3 R

1.3.6 M

1.3.7 D

1.3.8 D

ECHNICAL DATA 14

ODEL NUMBER SELECTION 15

CCESSORIES 16

ENERAL DATA 17

LECTRICAL DATA 18

RIVE RATINGS 18 OWER DISSIPATION 18 EGENERATION POWER 19

ECHANICAL DIMENSIONS 20

RIVE OVERVIEW 21

RIVE NAMEPLATE 22

PAGE 4 of 104 Rev. c 05/01

L180 User's Manual

2SAFETY INSTRUCTIONS 23

2.1 QUALIFIED PERSONNEL 23

2.2 M

2.3 I

AIN SAFETY INSTRUCTIONS 24

NFORMATION ON EMC 25

3SERVOMOTORS 27

3.1 MOUNTI NG AND INSTALLATION 27

3.1.1 MOTOR NAMEPLATE 27

3.1.2 M

3.1.3 B

3.1.4 C

3.1.5 R

OTOR INSTALLATION GUIDELINE 28

EARING LOAD CAPACITY 29

OUPLING 32

UNOUT 33

3.2 TECHNICAL MOTOR DATA 34

3.2.1 STANDARDS FOR MOOG MOTORS 34

3.2.2 M

3.2.3 T

3.2.4 T

3.2.5 M

Rev. c 05/01 PAGE 5 of 104

OTOR PERFORMANCE DATA 37

ORQUE SPEED CHARACTERISTIC G400 SERIES MOTORS 39

ORQUE-SPEED-CHARACTERISTICS G300 SERIES MOTORS 43

OTOR BRAKE DATA 45

L180 User's Manual

4INSTALLATION 47

4.1 WIRING 47

4.2 C

4.2.1 MOTOR AND POWER CONNECTOR TB1 49

4.2.1.1 TB1

4.2.1.2 A

4.2.2 R

4.2.2.1 A

4.2.3 S

4.2.4 A

4.2.5 E

4.2.6 L

ONNECTOR OVERVIEW 48

POWER CONNECTOR PINOUT 52

CCESSORY POWER PART 52

ESOLVER CONNECTOR J1 54

CCESSORY RESOLVER PARTS 55

ERIAL PORT CONNECTOR J2 56

XIS SIGNALS CONNECTOR J3 57

NCODER SIMULATION CONNECTOR J4 60

OGIC POWER CONNECTOR J5 62

5 L180 GRAPHICAL USER INTERFACE 63

5.1 SYSTEM REQUIREMENTS 63

5.2 GUI I

5.3 S

5.4 U

5.4.1 TOOLBAR 65

5.4.2 Q

PAGE 6 of 104 Rev. c 05/01

NSTALLATION 63

YSTEM INFORMATION 64

SING THE L180GUI 64

UICK START 66

L180 User's Manual

5.4.3 GENERAL INSTRUCTIONS 67

5.4.4 S

5.4.5 P

5.4.6 P

5.4.6.1 A

5.4.6.2 E

5.4.6.3 S

5.4.6.4 C

5.4.6.5 M

5.4.7 A

5.4.8 U

5.4.9 S

5.4.10 F

ERIAL LINK 69

ARAMETER FILE DOWNLOAD 69

ARAMETER SETTING 70

DJUST OPTIONS 71 NCODER SIMULATION CONFIGURATION 74 PEED LOOP TUNING 76

URRENT LOOP TUNING 81

OTOR PARAMETERS 83

UTOMATIC COMMAND MODE (FUNCTION GENERATOR)86

PLOAD OF PARAMETER FILES 88

COPE 89

IRMWARE UPGRADE 90

5.4.11 E

5.4.12 P

5.4.13 S

5.4.14 S

5.4.15 D

DIT PARAMETER FILE 91

RIVILEGED ACCESS 92

OFTWARE DRIVE RESET 92

OFTWARE PREFERENCES 92

RIVE AND MOTOR INDICATIONS 93

Rev. c 05/01 PAGE 7 of 104

L180 User's Manual

6SYSTEM DESCRIPTION 95

6.1 SERVO STOP 95

6.2 D

6.2.1 REGULAR INDICATION 96

6.2.2 W

6.2.3 A

6.2.4 A

ISPLAY INDICATION 96

ARNING INDICATION 96

LARM INDICATION 97

LARM HANDLING 97

6.3 TROUBLE SHOOTING GUIDE 98

6.3.1 DRIVE RESET 101

6.3.2 O

THER PROBLEM SOURCES 102

6.4 FAILURE REPORT 103

PAGE 8 of 104 Rev. c 05/01

L180 User's Manual

TABLE OF FIGURES

Figure 1: Maximum Regeneration Capability............................................................................................19

Figure 2: Dimensions front and side.........................................................................................................20

Figure 3: Installation and drill plan ...........................................................................................................20

Figure 4: Drive Overview..........................................................................................................................21

Figure 5: Drive Nameplate .......................................................................................................................22

Figure 6: Motor Nameplate (values merely as example)............................................................................27

Figure 7: Radial Load Capacity Gxx2 ........................................................................................................29

Figure 8: Radial Load Capacity Gxx3 ........................................................................................................30

Figure 9: Radial Load Capacity Gxx4 ........................................................................................................30

Figure 10: Radial Load Capacity G4x5......................................................................................................31

Figure 11: Motor Load Coupling..............................................................................................................32

Figure 12: Runout....................................................................................................................................33

Figure 13: Concentricity Figure 14: Perpendicularity ...............................................................................33

Figure 15: Torque-Speed Char. G2L05 Figure 16: Torque-Speed Char. G2L10.......................................39

Figure 17: Torque-Speed Char. G2L20 Figure 18: Torque-Speed Char. G2L40.......................................39

Figure 19: Torque-Speed Char. G3L05 Figure 20: Torque-Speed Char. G3L15.......................................40

Figure 21: Torque-Speed Char. G3L25 Figure 22: Torque-Speed Char. G3L40.......................................40

Figure 23: Torque-Speed Char. G4L05 Figure 24: Torque-Speed Char. G4L10.......................................41

Figure 25: Torque-Speed Char. G4L20 Figure 26: Torque-Speed Char. G4L40.......................................41

Figure 27: Torque-Speed Char. G4L60.....................................................................................................41

Figure 28: Torque-Speed Char. G5L10 Figure 29: Torque-Speed Char. G5L20.......................................42

Figure 30: Torque-Speed Char. G5L30 Figure 31: Torque-Speed Char. G5L50.......................................42

Figure 32: Torque-Speed Char. L2L10 Figure 33: Torque-Speed Char. L2L20 ........................................43

Figure 34: Torque-Speed Char. L3L15 Figure 35: Torque-Speed Char. L3L25 ........................................43

Figure 36: Torque-Speed Char. L4L10 Figure 37: Torque-Speed Char. L4L20 ........................................44

Figure 38:Current/time and torque/time diagrams....................................................................................45

Figure 39: Wiring Overview .....................................................................................................................48

Figure 40: TB1 Wiring..............................................................................................................................50

Figure 41: Multi Axis Wiring ....................................................................................................................51

Figure 42: Resolver wiring, DSUB 9 male cable to J1................................................................................54

Figure 43: Serial link wiring, DSUB9 female cable to J2 and PC.................................................................56

Figure 44: J3 Axis Signals Wiring, DSUB25 male cable to J3 .....................................................................57

Figure 45: Encoder Output, DSUB15 male cable to J4..............................................................................60

Figure 46: Definition of Encoder Signals, viewed from the shaft side........................................................60

Figure 47: J5 Logic Power Wiring, DSUB15 female cable to J5 .................................................................62

Figure 48: Main Window.........................................................................................................................64

Figure 49: Parameters Setting..................................................................................................................66

Figure 50: Warning for ENTER parameters Figure 51: Warning for SAVE parameters..............................67

Figure 52: GUI dialog box features...........................................................................................................68

Figure 53: Setting Serial Port....................................................................................................................69

Figure 54: Parameter Download ..............................................................................................................70

Figure 55: Setting Adjust Options............................................................................................................71

Figure 56: Command Slope .....................................................................................................................73

Figure 57: Encoder Simulation Configuration...........................................................................................74

Figure 58: Encoder Signals.......................................................................................................................76

Figure 59: Adjust Speed Loop Parameters................................................................................................76

Rev. c 05/01 PAGE 9 of 104

L180 User's Manual

TABLE OF FIGURES

Figure 60: Speed Loop Regulator.............................................................................................................77

Figure 61: Speed Step, proportional gain.................................................................................................80

Figure 62: Speed Step, integral gain.........................................................................................................80

Figure 63: Adjust Current Loop Parameters..............................................................................................81

Figure 64: Current Loop Regulator...........................................................................................................82

Figure 65: Motor Parameters...................................................................................................................84

Figure 66: Warning during automatic command mode start-up...............................................................86

Figure 67: Automatic command mode.....................................................................................................86

Figure 68: Warning after quit of the automatic command mode..............................................................87

Figure 69: Warning analog command applied..........................................................................................87

Figure 70: Parameter Upload...................................................................................................................88

Figure 71: Notes of parameter files..........................................................................................................88

Figure 72: Scope......................................................................................................................................89

Figure 73: Firmware Upgrade ..................................................................................................................90

Figure 74: Parameter File Editor...............................................................................................................91

Figure 75: Preferences.............................................................................................................................92

Figure 76: Drive GUI Indications...............................................................................................................93

Figure 1: End switch Configuration for servo stop, connector J3 ..............................................................95

Figure 2: Definition of sense of rotation, viewed from the shaft...............................................................96

Figure 79: A1 firmware operation power module Figure 80: A1 firmware Monitoring relay ................98

Figure 81: A2 firmware Monitoring relay Figure 82: A2 firmware operation power module ................99

PAGE 10 of 104 Rev. c 05/01

1 Description and Technical Data L180 User's Manual

1 DESCRIPTION AND TECHNICAL DATA

1.1 INTRODUCTION

The L180 servo drive is intended to control MOOG brus hless servo motors. These are 3 phas e motors with 8 or 12 poles (4 or 6 polepairs) equipped w it h a t w o pole resolver.

The L180 servo drive is fully digital. High-performance torque and speed control fulfill all requirements for fast response and high control accuracy.

Digital control allows comprehensive diagnostics, motor parameters tuning, data and fault detection, etc... using a PC based Graphical User Interface (GUI).

Rev. c 05/01 PAGE 11 of 104

L180 User's Manual 1 Description and Technical Data

1.1.1 DESCRIPTION

The features of the L180 servo drive are described below:

Power supply

• Single axis unit incorporating regeneration module minimizing wiring and space requirements.

• 230V three phase or single phase.

• Option: External filters in power source for CE compliance.

• Drive designed according protective extra low voltage standards (PELV). An

autotransformer is sufficient for the main power input.

Power driver

• Galvanic isolation between control and power electronics.

• IGBT output stage.

• Digital PWM current loop providing low ripple motor currents and high motor

efficiency.

Digital controller

• Full-digital servo drive for brushless motor with resolver.

• Easy software download through RS232 serial link.

• Temperature regulated fan-cooling.

• Multi loop control (torque and speed).

• Sinusoidal current output ensures smooth torque and perf or m ance at low speed.

• 7 segment status indicator for diagnostic display.

User's inputs

• ± 10VDC differential analog input for speed or curr ent command.

• RS232 serial port.

• Limit switches for overrun protection in both dire ct ions.

• Optional external 24VDC power supply to the control and interface boards in case of

main power supply interruption.

User's outputs

• Programmable incremental encoder output simulation with resolution from 1 to 2048 ppr (extrapolation), differ ential RS 422 line driver outputs.

• Programmable monitoring relay to indicate ready, alarm or enable status.

Protections

• Power stage protected against short-circuit and over-temperature.

• Motor thermal protection by I²t limitation and thermistor.

• Detection of resolver fault, motor wiring failure.

PAGE 12 of 104

Rev. c 05/01

1 Description and Technical Data L180 User's Manual

1.2 INSTRUCTIONS TO THE MANUAL

CE-COMPLIANCE

The symbol on the left indicates where a particular application-related safety or EMC requirement is driven by the need for CE-Compliance of the L180 when installed in the system. Customers who do not need CE-Compliance on their machinery may choose not to implement these features.

DANGER HIGH VOLTAGE

The symbol on the left indicates high voltages which can be extremely dangerous or lethal if touched and may result in personal injury.

These instructions must be followed.

WARNING

The symbol on the left is used to draw attention to safety instructions concerning potential damage to the servo drive and motor.

These instructions must be followed.

BEWARE OF HOT PARTS

The symbol on the left indicates hot parts which can be dangerous if touched and may result in personal injury. These parts must be protected to prevent contact.

These instructions must be followed.

DELICATE PART

The symbol on the left is used to draw at tention to installation instructions concerning potential damage to the servo drive and motor. These parts must be handled with care.

These instructions must be followed.

This user’s manual is written with the intention to supply all necessary information for servo drive applications. In any case of uncertainty of the drive react ion or m issing inf ormat ion, please do not hesitate to contact your loca l M OOG applic at ion engineer .

Rev. c 05/01 PAGE 13 of 104

L180 User's Manual 1 Description and Technical Data

1.3 TECHNICAL DATA

1.3.1 DESIGN STANDARDS

The low voltage circuits of the L180 drive are designed as protective extra low voltage circuits (PELV) thus an autotransformer can be used for the main line voltage.

Table 1: Drive Design Standards

Code Year Description

89/366/EEC; 98/13/EEC IEC 61800-3 EN 50082-2 IEC 61000-4-2 IEC 61000-4-3 IEC 61000-4-4 IEC 61000-4-5 IEC 61000-4-6 EN 50081-2 EN 50081-2 Group 1, Class A, conductive emission requirements (0.15 to 30 MHz) EN 50081-2 Group 1, Class B, radiated emission requirements (30 to 1000 MHz) EN 50178 73/23/EEC; 93/68/EEC

1998 1996-06 1995-03

1995

1995 1993-08

1997-10 1993-02

EMC Directive

adjustable speed electrical power drive systems EMC product standard

generic immunity standard

electrostatic discharge immunity test

radiated radio-frequency electromagnetic field immunity test

electrical fast transient, burst immunity test

surge iumminity test

iummunity to conducted disturbances, induced by radio-frequency fields

generic emiss i o n requirements

electronic equipment for use in power installations

low voltage directive

PAGE 14 of 104

Rev. c 05/01

1 Description and Technical Data L180 User's Manual

1.3.2 MODEL NUMBER SELECTION

The L180 family uses a 12 character coding system to identify the unique attributes of each model. The coding system is shown Table 2.

Table 2: Model Number Selection

L180-x10x-xx

PRODUCT

CODE DESCRIPTION

L180 L180 Series

CURRENT RATING

CODE DESCRIPTION

35/10 Arms 4 10/20 Arms 5 15/35 Arms

HARDWARE REVISION

CODE DESCRIPTION

A first release B second release

FIRMWARE

CODE DESCRIPTION

A ± 10VDC Firmware

FIRMWARE REVISION

CODE DESCRIPTION

1 first release 2 second release

Possible drive model numbers are L180-310A-A1, L180-410A-A1, L180-510A-A1, L180-310AA2, L180-410A-A2, L180-510A-A2, L180-310B-A2, L180- 410B- A2 or L180-510B-A2.

Rev. c 05/01 PAGE 15 of 104

L180 User's Manual 1 Description and Technical Data

1.3.3 ACCESSORIES

Table 3: Accessories

Part Part Number Length Motor Description

L180 Manual C08476-001 - - L180 User's Manual, english version L180GUI

Installation Disk

Visual Indication Sticker C08499-001 - - Sticker which explains in short terms the

Raw Power Cable B47890-001 available in

note ➼

Raw Power Cable B47903-001 available in

note ➼

Motor Power Connector A63472-001 - Gxx2, Gxx3, Gxx4 P ower connector for customer

Motor Power Connector C08365-001 - Gxx2, Gxx3, Gxx4 P ower connector for customer

Motor Power Connector B47736-001 - G4x5 Power connec to r for cu sto mer

Motor Power Cable C08336-001-010 10m Gxx2, Gxx3, Gxx4

Motor Power Cable B47915-001-010 10m G4x5

Serial Port RS232 cable C08475-001 5m - Commisioning cable between PC and

Signal Cable C08335-003-010 10m all motors Prefabricated signal cable with mating

Drive matin

Raw signal cable

note ➼

Motor matin

L180 connector kit 1 C53106-001 - - Sol d e r cup kit for use with 10 in

L180 connector kit 2 C53107-001 - - Solder cup kit for use with 12 in

L180 connector kit 3 C53108-001 - - Screw terminal kit for use wi th 12 in

note ➼: consult local sales office

power conn C08474-001 - - Mating power connector for all drives.

signal con

C08478-001 C08478-002

C08336-001-020 20m

B47915-001-020 20m

C08335-003-020 20m

B47885-001

C08485-001 - all motors Signal connector for customer

obsolete - L180 Windows based

Graphical User Interface (L180GUI),

Motor parame te r fi le s

7 segment display indication. Supplied

are part.

drive

customary lengths

available in

customary lengths

with each driv e, s

Gxx2, Gxx3, Gxx4 Shielded cable for customer

configuration

G4x5 Shielded cable for customer

configuration

configuration, smallest version

configuration, easier to assemble

configuration

Prefabricated motor cable with mating

motor connector and ferrule ended leads

Prefabricated motor cable with mating

motor connector and ferrule ended leads

Supplied with each drive, spare part.

all motors Shielded cable for customer

configuration

clearanc e ca b i net, contains J1, J3 , J4 , J5

mating connector

clearance cabinet, contains J1, J3, J4, J5

mating connector

clearance cabinet, contains J1, J3, J4, J5

mating connector

PAGE 16 of 104

Rev. c 05/01

1 Description and Technical Data L180 User's Manual

)

1.3.4 GENERAL DATA

Table 4: General Data

Description Unit L180

Backup Voltage VDC 24 (20 -28) Supply Voltage line to line , three and single phase VAC 230 +10% -20% Supply frequency Hz 45 to 65 Operating temperature range ° C 0 to 60

Operating temperature range at full power (from 50°C, reduce output current b

Storage temperature range °C -20 to +70 PWM chopper frequency kHz 7,5 Differential input reference V + 10 to -10 Continuous regeneration power W 300 Output frequency to motor Hz 0 to 500 Incremental encode r si mulation ppr 1 to 1024 (2048) Theoretical max. speed for motor with resolver "speed one" rpm 7500 ON-Switching threshold of regene rati on resistor VDC 385 OFF-Switching threshold of regeneration resistor VDC 380 ON-Trip threshold of DC-BUS overvoltage VDC 410 OFF-Trip threshold of DC-BUS ov ervoltage VDC 400 OFF-Trip threshold of DC-BUS undervoltage VDC 230 ON-Trip threshold of DC-BUS undervoltage VDC 220 Baud rate, fixed Bd. 9600 Transmission Full duplex

Serial Link Format International Protec ti on IP20

Indicative weight kg 3.2 Dimensions (Width,Depth,Height) mm 76.5, 200, 295

2%/°C to 60°C

° C 0 to 50

1 START bit, 8 DAT A bit,

arity, 1 STOP bit

Units in VAC are root mean square (rms) values.

Rev. c 05/01 PAGE 17 of 104

L180 User's Manual 1 Description and Technical Data

1.3.5 ELECTRICAL DATA

1.3.5.1 DRIVE RATINGS

Table 5: Drive Power Ratings

3~ main line Unit L180-310A L180-410A L180-510A

continuous current Arms 5 10 15

Apeak 7 14 21

maximum current Arms 10 20 36

Apeak142850 continuous power kW 2 4 6 maximum power kW 4 8 14

Single phase operation causes a power reduction to 1/3 of the power rating above

Conversion formula:

I =

rms

peak

VU 230=

rmsrms

1.3.5.2 POWER DISSIPATION

The power dissipation can be computed with the following formula:

[[[[]

]

]]

: total power dissipation in Watt

disp

PIWP ++++++++∗∗∗∗==== 209

brakermsdisp

9: calculation constant in Watt per Arms I

: continuous current to the motor in Arms

rms

20: power dissipation under no load conditions in Watt P

: actual regeneration power of the resistor in Wat t

brake

UIP ⋅⋅= 3

rmsrms

PAGE 18 of 104

Rev. c 05/01

1 Description and Technical Data L180 User's Manual

1.3.5.3 REGENERATION POWER

Table 6: Regeneration Power Rating

Regeneration power Unit for all L180 drives

regeneration Resistor Ω 39 maximum regeneration power W 3800 continuous regeneration power W 300 maximum ON-time at max. regen power ms 60 minimum period at max. ON-time s 1

Pmax

ON-time

Figure 1: Maximum Regeneration Capability

WARNING

The maximum and continuous regeneration power of t he dr ive is limited. An external regeneration resistor or DC-BUS terminal is not available. The regeneration power requirements of the application must meet with the drive capabilities.

If the application regeneration power is above the maximum drive regeneration power an overvoltage alarm will occur immediately. If the application regeneration power is above the continuous drive regeneration power an overheating alarm will occur after a certain period of time. This time depends on the continuous regeneration power.

period

For calculation of regeneration power for your specific application please get in contact with your local MOOG applicat ion engineer.

Rev. c 05/01 PAGE 19 of 104

L180 User's Manual 1 Description and Technical Data

1.3.6 MECHANICAL DIMENSIONS

Dimensions are in millimeter (and inches in br ac ket s ) !

)

( 2

Figure 2: Dimensions front and side

200 (7.88)

38.25 (1.51)

13.25 (0. 52 2)

MOOG

76.5 (3.01)

)

( 5

DRIVE ARRANGEMENT

MOOG MOOGMOOGMOOG

84 (3.31)

10 (0.394)

AIR FLOW

Figure 3: Installation and drill plan

note ➼: 100 mm (3.94 in) top and bottom clearance re qui red!

50 (1.97)

)

(

3 x 5.5 (0.217)

∅

or M5

25 (0.984)

PAGE 20 of 104

Rev. c 05/01

1 Description and Technical Data L180 User's Manual

1.3.7 DRIVE OVERVIEW

J1 RESOLVER

Terminal for resolver

cable

J2 SERIAL PORT

RS 232 Interface

J5 LOGIC POWER

24 VDC Power Supply

Input,

15 VDC Output

TB1 power connector

Terminal for main lines

and motor cable

J3 AXIS SIGNALS

Analog Input ital Input/Output

Status Rela

J4 ESM OUT

Differential encoder

output signals from

RS422 line driver, A, ,

seven segment displa

for status information

Contact

B, , Z,

STATUS

REGEN ACTIVE

PROTECTIVE EARTH

Screw terminal for PE

and grounding

(screw not visible)

Figure 4: Drive Overview

Rev. c 05/01 PAGE 21 of 104

red LED , lights up if

motor rege ne rates

energy to drive

L180 User's Manual 1 Description and Technical Data

1.3.8 DRIVE NAMEPLATE

Please compare received servo drive model listed on nameplate against ordered model. When contacting MOOG please provide nameplate inform ation.

Model No. Serial No.

------------- I n p u t ------------- --- O u t p u t ( M o t o r ) ---

Voltage UN[V Frequency f [Hz] Line [Phase] Protection

Detailed informati on see instruction manual

rms

Made in ITALY

MOOG

MOOGMOOG

DC Bus Udc[Vdc]

230

Con. CurrentIN[A

50/60

Max. CurrentI

3~/1~

Power PN[kW]

IP 20

Servo drive



rms

Figure 5: Drive Nameplate

The barcode above the nameplate in 3 of 9 style (also called barcode 39) contains the model and the serial number segregated by a space bar character.

Performance Data

Con. Current continuous output cur r ent to motor Max. Current maximum output current to motor Power nominal continuous power to motor

General Data

Voltage Line phase to phase voltage Frequency line frequency Line Line number of phases Serial No. Serial number Model No. Model number, see table 2 DC BUS internal DC BUS voltage

Standards

Protection Degree of international protection CE Conformity certificate will be supplied on r eques t

PAGE 22 of 104

Rev. c 05/01

2 SAFETY INSTRUCTIONS L180 User's Manual

2 SAFETY INSTRUCTIONS

2.1 QUALIFIED PERSONNEL

WARNING

The components making up the drive system may only be installed and serviced by qualified personnel. The local regulations for accident prevention, electronic devices, electric installations and machinery must be observed.

Unqualified work on the drive components and failure to comply with the warnings contained in this manual or affixed to the components can be lethal or cause damage t o pr oper t y.

The work permitted within the scope of this manual may consequently only be undertaken by qualified personnel.

This includes the following people:

•

planning and engineering design personnel familiar with the safety guidelines for

measurement, electronic devices, machinery equipment, electric installations and control instrumentation,

•

operating personnel who have been instructed with regard to the handling of electronic

devices, machinery equipment, servo drives and who are familiar with the operating instructions contained in this manual,

•

commissioning and service personnel authorized to start up, ground and mark these

systems in accordance with safety engineering standards. These persons must be qualified service personnel according to the local regulations.

The design standards offer additional information about the safet y of t he L180 ser v o dr ive.

Rev. c 05/01 PAGE 23 of 104

L180 User's Manual 2 SAFETY INSTRUCTIONS

2.2 MAIN SAFETY INSTRUCTIONS

DANGER HIGH VOLTAGE

The servo drives operate with potentially lethal voltages. For this reason:

Disconnect the system from the mains supply.

•

Before starting any work on the drive system, it must be disconnected from the main voltage and secured against inadvertent reconnection by means of the disconnect switch. Do not remove the plugs for the motor and mains supply while the L180 servo drive is connected to mains power.

The servomotor must come to a complete stop.

•

Rotating servomotor can generate potentially lethal volt ages by acting as generator.

• It is

NOT sufficient to simply disable the drive.

DANGER HIGH VOLTAGE

The capacitors in the servo drive may s t ill be c har ged. For this reason:

Note the discharge time of the capacitors.

•

The servo drive contains capacitors which may be charged up to 410 VDC. Wait at least 5 minutes for the capacitors to discharge after disconnecting the main voltage.

WARNING

The servo drive is designed for use in cabinets and has an IP 20 rating. A cabinet is recommended which has an IP rating of at least IP54.

PAGE 24 of 104 Rev. c 05/01

2 SAFETY INSTRUCTIONS L180 User's Manual

WARNING BEWARE OF MECHANICAL HAZARDS!

Servomotors can accelerate highly dynamically. They also have enormous torque. The following points must therefore be observed when starting the system.

The danger zone of the motor must be cordoned off.

•

The system must feature a safety guard to prevent personnel from reaching into or entering the danger zone. If the safety syst em is tripped, the drive system must be disconnected from the main voltage immediately.

Motor may accelerate inadvertently

•

The motor may accelerate inadvertently due to wiring faults or errors in the application software. Appropriate safety precautions must be taken to ensure that neither personnel nor machine components are endangered in any way.

Coast stop

•

Any failure of the servo drive leads to a coast stop of the motor.

2.3 INFORMATION ON EMC

CE-COMPLIANCE

The information on EMC provided here contains general recommendations to assist the machine manufacturer when installing L180 components made by MOOG in finished products which must conform t o the requirements of EC Directive 89/336/EEC (EMC Directive). Although MOOG has exercised utmost care in compiling these recommendations, we cannot accept any liability whatsoever for claims associated with the user's individual applications. This also applies with regard to non-performance, noncompliance, faults, misunderstandings and mistaken interpretation.

Responsibility for ensuring that every finished product cont aining these components conforms to the requirements of the EMC Directive rests entirely with the machine manufacturer of the finished product. MOOG cannot accept any liability what soever for finished products made by other manufacturers and containing L180 component s f r om MOOG.

Rev. c 05/01 PAGE 25 of 104

L180 User's Manual 2 SAFETY INSTRUCTIONS

EMC environment

The L180 components from MOOG are designed for installation in indus trial equipment and for operation in industrial areas. The L180 components from MOOG have ther efore been test ed in accordance with the EMC standards, mentioned in the design standards.

Installation of the components

All ground connections between the servo drive cover and the control cabinet must be securely mounted to guarantee a continuous ground connection. The L180 servo drive is designed for emission minimization to ensure secure connection between the drive and the baseplate in conjunction with EMC requirements. The drive has to be connected with prot ect ive eart h on t he earth stud to ensure proper grounding.

To ensure an optimum EMC shield, the control cabinet should have a continuous ground connection between all metal panels (frame, side panels, top, baseplate, etc.). A control cabinet which has been designed to provide an optimum EMC shield can be used for this purpose.

The machine manufacturer must design the system to prevent interference between subsystems, modules, power supplies, and/or any other component. Furthermore, the complete system must be designed such that there is no interaction between actual and potential sources of interference. The machine manufacturer is responsible for taking suitable precautions to minimize such interference. For example, safe distances must be maintained between potentially interfering components in addition to the use of proper shielding. The machine manufacturer is responsible for the design methods used to integrate all system components together in order to prevent any interference. The machine manufacturer must decide which is the most efficient method for the complete product .

Where possible, shielded cables with fully shielded connector housings should always be used. The cable shield must be connected to the connector shields over t he full 360° circumference in order to ensure a continuous all-round ground connection. All cable connections to the servo drive must be tightly secured. In particular, all screws in the ground connections of the connector shields must be securely tightened. To avoid potential interference, power and signal cables must be routed as far apart as possible in the control cabinet and on the entire finished product. If power and signal cables must be crossed, t he cables should be crossed perpendicular to each other to minimize interference. The machine manufacturer of the complete product must decide which is the most efficient method.

Further details on filtering, grounding and shielding can be f ound in t his m anual.

PAGE 26 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3 SERVOMOTORS

A Moog L180 servo drive system consists of a L180 and a Global series servomotor. The Global series motor nameplate (see Figure 6) lists both the motor model and the motor's electrical type. The motor electrical type can be used to configure the L180 with the appropriate motor parameters.

3.1 MOUNTING AND INSTALLATION

3.1.1 MOTOR NAMEPLATE

Please compare received servo motor model listed on nameplate against ordered model. When contacting MOOG please provide nameplate inform ation.

Figure 6: Motor Nameplate (values merely as example)

General Data

S/N: serial number Date: production quart er and year Model: motor model number Type: electric model, descr iption opt ional br ake J: rotor inertia Rtt: terminal to terminal resistance Ud: bus voltage

Performance Data

: nominal speed (speed at PN)

: maximum speed

max

: nom inal pow er (maximum continuous power)

: continuous stall torque

: continuous stall current

Additional motor data can be found in the motor catalog. Devices without nameplate are not covered by the manufacturer's warranty and m ust not be put int o operat ion.

Rev. c 05/01 PAGE 27 of 104

L180 User's Manual 3 SERVOMOTORS

3.1.2 MOTOR INSTALLATION GUIDELINE

MOOG recommends that hexagon socket head scre ws to DIN 912 8.8 be used to secure the motor. Assembly is made very much easier by using an Allen key with ball head, particularly in the cases of motor sizes 2 and 3. The screws used to install these motor sizes must not be more than 40 mm long.

MOOG motors can become very hot (up to 155°C winding temperature) in operation. Good heat dissipation must therefore be ensured when installing the motor, i.e. it should be flanged onto a suitably solid metal part of the machine. Adequat e convection must also be ensured. In individual cases, the motor must furthermore be protected against contact due to the risk of burns. Forced cooling (e.g. with fans ) will increase the continuous pow er, while bad convection may decrease the continuous performance.

Before connecting a coupling to the motor shaft, the shaft must be thoroughly degreased. When using a degreasing agent, care must be taken to prevent it entering the bearing. Otherwise the bearings permanent lubrication can no longer be guaranteed. MOOG recommends the use of a clamp coupling or shrink connection to ensure reliable torque transmission. An inexpensive and service friendly connection is possible with the slot and key option (ensure tight slot tolerances).

Impermissibly high axial and radial forces on the shaft can result in motor damage during installation. The service life of the motor is impaired if the bearing is damaged in any way. Adjusting the rotor shaft by force can impair the correct functioning of the optional brake to such an extent that it has little or no braking effect. Excessive pr essure and impact s on the front end of the shaft and rear housing cover must therefore be avoided under all cir c um st ances.

BEWARE OF HOT PARTS (sticker on servo motor)

In extreme applications, the surface of the servomotor may heat up to more than 100 °C and can cause skin burns if touched. The servomotor must therefore be protected to prevent contact.

DELICATE PART (sticker on servo motor)

A hammer must not be used to force the gearing or gearwheel onto the shaft when installing such parts. The screw thread in the center of the shaft must be used for this purpose. An extractor supported on the center of the shaft must be used when dismantling the parts. The permissible axial and radial forces are in all cases exceeded by the impulses due to hammering.

PAGE 28 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3.1.3 BEARING LOAD CAPACITY

Radial load capacity, shown in Figure 7 to Figure 10, are for a B10 life of 20,000 hours. The load is applied at shaft extension midpoint. Curves are based on minor axial shaft loads. Consult factory for other loading conditions. Maximum perm issible axial and radial forces for brushless MOOG servomotors during inst allat ion r efer to Table 7.

Table 7: Installation Loads

Motor size Gxx2 Gxx3 Gxx4 G4x5

Axial force 150N 150N 300N 400N Radial force 500N 500N 1000N 1600N

note ➼: During installa ti on. Lower loads apply for the rotating m otor, see catalog.

note ➼ note ➼

Motor Series Gxx2

Speed [rpm]

12000

10000

8000

6000

4000

2000

G4x2-2xx

Gxx2-4xx

Gxx2-6xx

G4x2-8xx

100 200 300 400 500

Radial Load Capacity [N]

Figure 7: Radial Load Capacity Gxx2

Rev. c 05/01 PAGE 29 of 104

L180 User's Manual 3 SERVOMOTORS

Motor Series Gxx3

Speed [rpm]

12000

10000

8000

6000

4000

2000

0 100 200 300 400 500

Figure 8: Radial Load Capacity Gxx3

Speed [rpm]

12000

G4x3-2xx

Gxx3-4xx

Gxx3-6xx

G4x3-8xx

Radial Load Capacity [N]

Motor Series Gxx4

10000

8000

6000

4000

2000

0 100 200 300 400 500 600 700 800 900 1000

Figure 9: Radial Load Capacity Gxx4

G4x4-2xx

Gxx4-4xx

Gxx4-6xx

G4x4-8xx

Radial Load Capacity [N]

PAGE 30 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

Motor Series G4x5

Speed [rpm]

8000

7000

6000

5000

4000

3000

2000

1000

0 200 400 600 800 1000 1200 1400 1600

Figure 10: Radial Load Capacity G4x5

G4x5-2xx

G4x5-4xx

G4x5-6xx

G4x5-8xx

Radial Load Capacity [N]

Rev. c 05/01 PAGE 31 of 104

L180 User's Manual 3 SERVOMOTORS

3.1.4 COUPLING

A flexible coupling offers the advantages of economy, allowance for misalignment, and reduction of backlash. Flexible disc or bellows style couplings are recomme nded. The couplings are available for both plain shaft as well as for slot and key configurations. The shaft key should then be a close clearance or light press fit into the coupling key-way. Refer to Figure 11, for flexible coupling detail.

WARNING

A rigid coupling should not be used. Normal runouts and eccentricities will result in damage to motor and/or load shaft and bearings.

Load Shaft

Key

Motor Shaft

Flexible Coupling

Figure 11: Motor Load Coupling

Key

Double Flexible Coupling Detail

PAGE 32 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3.1.5 RUNOUT

The reduced runout provided by MOOG motors allows the attachment of various gear heads. The precision manufacturing of the motor avoids loads caused by misalignments between motor and gear heads.

Table 8: Shaft Runout

Diameter of the

Maximum Runout Tolerance

Shaft Extension øU [mm]

to 10 0.015 0.030 over 10 to 18 0.018 0.035 over 18 to 30 0.021 0.040 over 30 to 50 0.025 0.050

Figure 13: Concentricity Figure 14: Perpendicularity

Class R [mm] Class N [mm]

Figure 12: Runout

Table 9: Flange Concentricity/Perpendicularity

Pilot Diameter of Mounting Flange øAK [mm]

to 22 0.025 0.050 over 22 to <40 0.030 0.060 40 to 100 0.040 0.080 over 100 to 230 0.050 0.100 over 230 to 450 0.063 0.125

Rev. c 05/01 PAGE 33 of 104

Maximum Concentricity and

Perpendicularity Tolerance

Class R [mm] Class N [mm]

L180 User's Manual 3 SERVOMOTORS

3.2 TECHNICAL MOTOR DATA

3.2.1 STANDARDS FOR MOOG MOTORS

The brushless MOOG Global series servomot ors have been designed, assembled and tested in conformity with the following standards:

Table 10: Motor design standards

Standard International Europe

Deutschland USA

English

Certified company ISO 9001 EN ISO 9001

Quality systems - model for quality assurance in design / deve lop m en t , production, installation and servicing

Machine guidelines (CE Machine safety directive)

EMC guidelines (CE-EMC direct i ve) 89/336/EWG,

Low voltage guidelines (CE-Low voltage directive)

Standard for safety of ele c tri c m otors UL 1004 (1994)

Safety of machinery, electrical equipment of mach ine s , par t 1: general requirements

IEC International Electrotechnical Commission

ISO 9001 EN ISO 9001 DIN ISO 9001 ISO 9001

89/392/EWG, 91/368/EWG, 93/44/EWG

93/68/EWG, 93/44/EWG

73/23/EWG, 93/68/EWG, 93/44/EWG

IEC 204-1 EN 60204-1 DIN EN 60204-1

EN CENELEC

Europäisches Komitee für

Elektrotechnische Normung

89/392/EWG, 91/368/EWG, 93/44/EWG

89/336/EWG, 93/68/EWG, 93/44/EWG

73/23/EWG, 93/68/EWG, 93/44/EWG

DIN / VDE Deutsche Industrie Norm / Verband Deutscher Elektrotechniker

DIN ISO 9001 ISO 9001

89/392/EWG, 91/368/EWG, 93/44/EWG

89/336/EWG, 93/68/EWG, 93/44/EWG

73/23/EWG, 93/68/EWG, 93/44/EWG

VDE 0113-1

NEMA / NEC

National Electric Code MG.-...

PAGE 34 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

Table 11: Electrical Design Standards

Standard International Europe

English

Rotating electrical machines, Rating and performance

Rotating electrical machines, Methods for determing lo sses and efficiency and performance

Rotating electrical machines, Classificati on of degrees of protection

rovided by enclosure Rotating electrical machines, Methods of cooling (IC-Code)

Rotating electrical machines, Classifica tion of ty pe s of const ruc tion and mounting arrangem e nt s (I M Code)

Rotating electrical machines, Terminal markings and directions of rotation

Rotating electrical machines, Noise limits

Insulation coordination for equipment with low-voltage systems. Part 1: Principles, requirements and tests

Deutschland USA

IEC I

nternational

lectrotechnical

ommission

IEC 34-1 IEC 2/915/CDV: 1995

IEC 2G/73/FDIS EN 60034-2 DIN EN 60034-2

IEC 34-5 EN 60034-5 DIN EN 60034-5

IEC 34-6 EN 60034-6 DIN EN 60034-6

IEC 34-7 EN 60034-7 DIN EN 60034-7

IEC 34-8 EN 60034-8 DIN EN 60034-8

IEC 34-9 EN 60034-9 DIN EN 60034-9

IEC 664-1 VDE 0110-1

EN CENELEC

Europäisches Komitee für Elektrotechnische

ormung

EN 60034-1 D I N EN 60034- 1

DIN / VDE D I

ndustrie Norm /

erband Deutscher

lektrotechniker

VDE 0530-1

VDE 0530-2

VDE 0530-5

VDE 0530-6

VDE 0530-7

VDE 0530-8

VDE 0530-9

eutsche

NEMA / NEC

Electric Code MG.-...

MG 1-1.65

MG 1-1.25 MG 1-1.26

MG 1-4.03

MG 1-2.61

N/A.

National

Insulation coordina te s f or e qui pm e nt with low-voltage systems. Part 2: Partial discharge tests, application guide

Connectors and plug-a nd- soc k e tdevices, for rate d v o l t ages up to 100 0 V AC, up to 1200 V DC and rated currents up to 500 A for each pole

IEC 664-2 VDE 0110-2

DIN VDE 0627

Rev. c 05/01 PAGE 35 of 104

L180 User's Manual 3 SERVOMOTORS

Table 12: Motor mechanical standards

Standard International Europe

English IEC International

Electrotechnical Commission

Degrees of protection provided by enclosure (IP code)

Cylindrical shaft ends for electrical machines

Mounting flanges for rotati ng electrical machinery

Dimensions, tolerances and mounting NEMA MG-7

Tolerances of sha f t ext e ns ion run-out and of mounting flanges for rotat in g electrical machinery

Mechanical v i bra ti on, ba lance quality requirements of rigid rot ors, determination of pe rmi ssible residual unbalance

Mechanical v i bra ti on, ba lance quality requirements of rigid rot ors, Ba l a nce errors

Ball bearings, conr a d typ e , f or electrical machines, tolerances and radial clearance

Drive type faste nings without taper action, parallel keys, keyways, deep pattern ISO general purpose metric screw threads. Part 1 coarse pitch threads in diameter range 1 mm to 68 mm, nominal sizes

General tolerances, tolerances for linear and angula r dim ensions without individual tole ra nce indications

IEC 529 EN 60529 DIN EN 60529

IEC 72 ISO/R 775-1969

DIN 42948

IEC 72 DIN 42955

ISO 1940-1 DIN ISO 1940-1

ISO 1940-2 DIN ISO 1940-2

DIN 42966

DIN 6885-1

ISO 724 DIN 13-1

ISO 2768-1 EN 22768 DIN ISO 2768-1

EN CENELEC Europäisches Komitee für Elektrotechnische Normung

DIN 748-1 & 3 MG-11...

Deutschland USA

DIN / VDE Deutsche Industrie Norm / Verband Deutscher Elektrotechniker

VDE 0470-1

NEMA / NEC National Electric Code MG.-...

PAGE 36 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3.2.2 MOTOR PERFORMANCE DATA

Operating and ambient conditions for G4xx and G33x motor series:

Temperature for Transport -40 °C to 120°C note Ê and Storage: -25 °C to 120 °C

Degree of Protection: IP 67 with optional shaft seal or gearbox attached note Ë

(DIN VDE 0470-1, EN 60529, IEC 529)

Ambient temperature in Operation: -25 °C to 50 °C Runout: Class R (DIN 42955-R, IEC72)

Class N (DIN 42955-N, IEC72)

note Ê: G4xx motor series onl y note Ë: G33x motor series m ating connector must be attached

Legend:

 Motor flanged mounted onto a steel pla te 300 x 300 x 12 mm with the maximum permissible temperature rise of the

winding at 100 K over a still air environment (max. 50 °C)

Á Speed at which the EMF of the motor is equal to the DC-bus voltage

k =

² = 8.85x10

-4

lb-in-sec

1 kg = 2.2 lb 1 kW = 1.341 hp

conversions:

1 Nm = 8.85 lb-in 1 kgcm

note Ê

Table 13: Motor Performance Stall Data G400 series

Motor type

Continuous stall tor que

Model Type Mo [Nm] Mo [lb-in] Io [Arms] Mmax [Nm] Mmax [lb-in] Imax [Arms]

note G4y2-2xx G4y2-4xx G4y2-6xx G4y2-8xx G4y3-2xx G4y3-4xx G4y3-6xx G4y3-8xx G4y4-2xx G4y4-4xx G4y4-6xx G4y4-8xx G4y4-9xx G4y5-2xx G4y5-4xx G4y5-6xx G4y5-8xx note: y = 1 U S versio n ; y = 2 Europe v ersion

G2L05 0.25 2.21 0.65 0.5 4.43 1.9 G2L10 0.50 4.43 1.2 1.4 12.39 3.7 G2L20 0.95 8.41 2.15 2.6 23.01 6.4 G2L40 1.7 15.05 2.85 5 44.25 8.3 G3L05 0.6 5.31 1.6 1.5 13.28 4.6 G3L15 1.65 14.60 3.2 4.7 41.60 10.6 G3L25 2.55 22.57 3.4 8.5 75.23 12.4 G3L40 3.7 32.75 4.2 13 115.05 16.3 G4L05 1.3 11.51 3.1 3.2 28.32 9 G4L10 2.6 23.01 4.8 6.5 57.53 15 G4L20 4.7 41.60 6.7 12.5 110.63 20 G4L40 8.2 72.57 9.2 22 194.70 28 G4L60 11 97.35 9.5 31 274.35 30 G5L10 5.8 51.33 9.5 12.2 107.97 24 G5L20 11.2 99.12 11 25.8 228.33 33 G5L30 16.6 146.91 12.9 40 354.00 38 G5L50 25 221.25 14.8 60 531.00 43

➲

Stall data

Continuous

stall current ➲

Peak stall torque

Peak stall

current

Rev. c 05/01 PAGE 37 of 104

L180 User's Manual 3 SERVOMOTORS

Table 14: Motor Performance Miscellaneous Data G400 series

Motor type

Theoret. no

load speed ➳

Model

note G4y2-2xx G2L05 10200 0.37 3.27 0.09 0.00008 1.0 2.20 8 (4) G4y2-4xx G2L10 9000 0.42 3.72 0.13 0.00012 1.2 2.64 8 (4) G4y2-6xx G2L20 7900 0.46 4.07 0.22 0.00019 1.5 3.30 8 (4) G4y2-8xx G2L40 6300 0.60 5.31 0.41 0.00036 2.3 5.06 8 (4) G4y3-2xx G3L05 9600 0.40 3.54 0.16 0.00014 1.4 3.08 8 (4) G4y3-4xx G3L15 7200 0.53 4.69 0.39 0.00035 2.0 4.40 8 (4) G4y3-6xx G3L25 4900 0.75 6.64 0.62 0.00055 2.6 5.72 8 (4) G4y3-8xx G3L40 4100 0.90 7.97 0.97 0.00086 3.5 7.70 8 (4) G4y4-2xx G4L05 8800 0.42 3.72 1.05 0.00093 3.0 6.60 12 (6) G4y4-4xx G4L10 6900 0.54 4.78 1.55 0.00137 3.6 7.92 12 (6) G4y4-6xx G4L20 5200 0.70 6.20 2.60 0.00230 4.7 10.34 12 (6) G4y4-8xx G4L40 4200 0.89 7.88 4.70 0.00416 6.9 15.18 12 (6) G4y4-9xx G4L60 3300 1.16 10.27 6.80 0.00602 9.1 20.02 12 (6) G4y5-2xx G5L10 6100 0.61 5.40 4.60 0.00407 7.7 16.94 12 (6) G4y5-4xx G5L20 3800 1.02 9.03 8.00 0.00708 9.9 21.78 12 (6) G4y5-6xx G5L30 3000 1.29 11.42 11.50 0.01018 12.1 26.62 12 (6) G4y5-8xx G5L50 2200 1.69 14.96 18.40 0.01628 16.6 36.52 12 (6) note: y = 1 US version; y = 2 Europe version

Type Ntheo [rpm] kt [Nm/Arms] kt [lb-in/Arms] J [kgcm²]J [lb-in-sec²] m [kg] m [lb]

Torque constant  rotor inertia without brake

Miscellaneous data

Mass without

brake

Poles

(polepairs)

Table 15: Motor Performance Stall Data G300 series

Motor type

Continuo us stall torq ue ➲ Peak stall torque

Model Type Mo [Nm] Mo [lb-in] Io [Arms] Mmax [Nm] Mmax [lb-in] Imax [Arms]

G332-4xx G332-6xx G333-4xx G333-6xx G334-4xx G334-6xx

L2L10 0.5 4.43 1.15 1 8.85 2.3 L2L20 0.95 8.41 2 1.9 16.82 4 L3L15 1.6 14.16 3 3.2 28.32 6 L3L25 2.6 23.01 3.3 5.2 46.02 6.6 L4L10 2.5 22.13 4.5 4.7 41.60 9 L4L20 5 44.25 7 9.4 83.19 14

Continuous stall

current ➲

Stall data

Peak stall current

Table 16: Motor Performance Miscellaneous Data G300 series

Motor type

Theoret. no

load speed ➳

Model Type Ntheo [rpm] kt [Nm/Arms] kt [lb-in/Arms] J [kgcm²]J [lb-in-sec²] m [kg] m [lb]

G332-4xx G332-6xx G333-4xx G333-6xx G334-4xx G334-6xx

L2L10 9000 0.44 3.89 0.13 0.00012 1.2 2.64 8 (4) L2L20 7900 0.49 4.34 0.22 0.00019 1.5 3.30 8 (4) L3L15 7200 0.55 4.87 0.37 0.00033 2 4.40 8 (4) L3L25 4900 0.8 7.08 0.59 0.00052 2.6 5.72 8 (4) L4L10 6900 0.58 5.13 1.5 0.00133 3.6 7.92 12 (6) L4L20 5200 0.76 6.73 2.5 0.00221 4.7 10.34 12 (6)

Torque constant

Miscellaneous data

➴

rotor inertia without brake

Mass without

brake

Poles

(polepairs)

PAGE 38 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3.2.3 TORQUE SPEED CHARACTERISTIC G400 SERIES MOTORS

Legend:



 torque limit for continuous ope rati on (windi ng 100 K abov e a mbie nt, wi th motor mounte d to 300mm x 300m m x 12mm





 peak torque at approx. three times continuous stall current with L180 controller (hi gher torque at higher current lev els





 kt-line give s torque at current level (top axis)



Drive System L180 - Servomotor G4x2

steel plate)

possible)

G4x2-2xx (G2L05)

0.0 0.5 1.0 1.5 2.0 2.5 3.0

1.0

0.9

0.8

0.7

0.6

0.5

0.4

Torque (Nm)

0.3

0.2

0.1

0.0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 100001100012000

speed (rpm)

Current (Arms)

8.85

7.96

7.08

6.19

5.31

4.42

3.54

2.65

1.77

0.88

0.00

Torque (lb-in)

G4x2-4xx (G2L10)

012345678910

2.4

2.2

2.0

1.8

1.6

1.4

1.2

1.0

Torque ( Nm)

0.8

0.6

0.4

0.2

0.0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

Current (Arms)

speed (rpm)

Figure 15: Torque-Speed Char. G2L05 Figure 16: Torque-Speed Char. G2L10

G4x2-6xx (G2L20)

012345678910

5.0

4.5

4.0

3.5

3.0

2.5

2.0

Torque (Nm)

1.5

1.0

0.5

0.0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

speed (rpm)

Current (Arms)

41.7

37.5

33.3

29.2

25.0

20.8

16.7

12.5

8.3

4.2

0.0

G4x2-8xx (G2L40)

0 2 4 6 8 10 12 14 16

Torque (lb-in)

Torque (Nm)

0 1000 2000 3000 4000 5000 6000 7000 8000

Current (Arms)

speed (rpm)

20.0

18.3

16.7

15.0

13.3

11.7

10.0

8.3

6.7

5.0

3.3

1.7

0.0

66.7

58.3

50.0

41.7

33.3

25.0

16.7

8.3

0.0

Torque (lb-in)

Figure 17: Torque-Speed Char. G2L20 Figure 18: Torque-Speed Char. G2L40

Rev. c 05/01 PAGE 39 of 104

L180 User's Manual 3 SERVOMOTORS

Drive System L180 - Servomotor G4x3

G4x3-2xx (G3L05)

01234567891011

2.4

2.2

2.0

1.8

1.6

1.4

1.2

1.0

Torque (Nm)

0.8

0.6

0.4

0.2

0.0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 11000

Current (Arms)

speed (rpm)

20.0

18.3

16.7

15.0

13.3

11.7

10.0

8.3

6.7

5.0

3.3

1.7

0.0

G4x3-4xx (G3L15)

0 3 6 9 12 15 18 21 24

Torque (lb-in)

Torque (Nm)

0 10002000300040005000600070008000

speed (rpm)

Current (Arms)

Figure 19: Torque-Speed Char. G3L05 Figure 20: Torque-Speed Char. G3L15

G4x3-6xx (G3L25)

0 5 10 15 20 25 30

13 12 11 10

9 8 7 6 5

Torque (Nm)

4 3 2 1 0

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000

Current (Arms)

speed (rpm)

115.0

106.2

97.3

88.5

79.6

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0.0

Torque (lb-in)

G4x3-8xx (G3L40)

0 5 10 15 20 25 30 35 40 45 50

18 16 14

12 10

Torque (Nm)

6 4 2

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

Current (A rms)

speed (rpm)

66.7

58.3

50.0

41.7

33.3

25.0

16.7

8.3

0.0

167

150 133 117

100 83

67 50 33

17 0

Torque (lb-in)

Figure 21: Torque-Speed Char. G3L25 Figure 22: Torque-Speed Char. G3L40

PAGE 40 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

Drive System L180 - Servomotor G4x4

G4x4-2xx (G4L05)

0 2 4 6 8 1012141618202224

5.0

4.5

4.0

3.5

3.0

2.5

2.0

Torque (Nm)

1.5

1.0

0.5

0.0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000

Current (Arms)

speed (rpm)

G4x4-4xx (G4L10)

0 5 10 15 20 25 30

42 38 33 29

Torque (lb-in)

25 21 17 13 8 4 0

9 8

5 4

Torque (Nm)

3 2

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000

speed (rpm)

Current (Arms)

Figure 23: Torque-Speed Char. G4L05 Figure 24: Torque-Speed Char. G4L10

G4x4-6xx (G4L20)

0 5 10 15 20 25 30 35 40 45 50 55 60

20 18 16 14 12

Torque (Nm)

6 4 2

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000

speed (rpm)

Current (Arms)

G4x4-8xx (G4L40)

167 150 133 117

Torque (lb-in)

100

83 67 50 33 17

0 102030405060708090100

Torque (Nm)

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

Current (Arms)

speed (rpm)

75 67

Torque (lb-in)

42 33

17 8

333

292

250

208

Torque (lb-in)

167

125

Figure 25: Torque-Speed Char. G4L20 Figure 26: Torque-Speed Char. G4L40

G4x4-9xx (G4L60)

0 1020304050607080

60 55 50 45 40 35 30 25

Torque (Nm)

20 15 10

5 0

0 500 1000 1500 2000 2500 3000 3500 4000

speed (rpm)

Current (Arms)

531 487 442 398 354

Torque (lb-in)

310 265 221 177 133 88 44 0

Figure 27: Torque-Speed Char. G4L60

Rev. c 05/01 PAGE 41 of 104

L180 User's Manual 3 SERVOMOTORS

Drive System L180 - Servomotor G4x5

G4x5-2xx (G5L10)

0 10203040506070

20 18 16 14 12 10

Torque (Nm)

6 4 2 0

0 1000 2000 3000 4000 5000 6000 7000

Current (Arms)

speed (rpm)

G4x5-4xx (G5L20)

0 102030405060708090

177 159 142 124

Torque (lb-in)

106 88 71 53 35 18 0

Torque (Nm)

0 500 1000 1500 2000 2500 3000 3500 4000 4500

speed (rpm)

Current (Arms)

Figure 28: Torque-Speed Char. G5L10 Figure 29: Torque-Speed Char. G5L20

G4x5 -6xx (G5L30)

0 1020304050607080

60 55 50 45 40 35 30 25

Torque (Nm)

20 15 10

5 0

0 500 1000 1500 2000 2500 3000 3500 4000

Current (Arms)

speed (rpm)

531 487 442 398 354 310 265 221 177 133 88 44 0

G4x5-8xx (G5L50)

0 102030405060708090100110120

100

90 80 70

Torque (lb-in)

60 50 40

Torqu e (N m)

30 20 10

0 200 400 600 800 1000 1200 1400 16001800 2000 2200 2400

speed (rpm)

Current (Arms)

310

265

221

177

133

885 796 708 619 531 442 354 265 177 88 0

Torque (lb-in)

Torqu e (lb -in )

Figure 30: Torque-Speed Char. G5L30 Figure 31: Torque-Speed Char. G5L50

PAGE 42 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3.2.4 TORQUE-SPEED-CHARACTERISTICS G300 SERIES MOTORS

Legend:



 torque limit for continuous ope rati on (windi ng 100 K abov e a mbie nt, wi th motor mounte d to 300mm x 300m m x 12mm





 peak torque at approx. two times continuous stall current with L180 controller





 kt-line give s torque at current level (top axis)



Drive System L180 - Servomotor G332

steel plate)

G332-4xx (L2L10)

012345

2.0

1.8

1.6

1.4

1.2

1.0

0.8

Torque (Nm)

0.6

0.4

0.2

0.0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

Current (Arms)

speed (rpm)

2.0

1.8

1.6

1.4

Torque (lb-in)

1.2

1.0

0.8

0.6

0.4

0.2

0.0

G332-6xx (L2L20)

012345678910

3,0

2,5

2,0

1,5

Torque (Nm)

1,0

0,5

0,0

0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

Current (Arms)

speed (rpm)

Figure 32: Torque-Speed Char. L2L10 Figure 33: Torque-Speed Char. L2L20

Drive System L180 - Servomotor G333

G333-4xx (L3L15)

03691215182124

5,0 4,5 4,0

3,5 3,0 2,5 2,0

Torque (Nm)

1,5 1,0 0,5 0,0

0 1000 2000 3000 4000 5000 6000 7000 8000

Current (Arms)

speed (rpm)

44,2 39,8 35,4 31,0 26,5 22,1 17,7 13,3 8,8 4,4 0,0

Torque (lb-in)

G333-6xx (L3L25)

0123456789101112

Torque (Nm)

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000

Current (Arms)

speed (rpm)

26,5

22,1

17,7

Torque (lb-in)

13,3

8,8

4,4

0,0

79.6

70.8

61.9

53.1

Torque (lb-in)

44.2

35.4

26.5

17.7

8.8

0.0

Figure 34: Torque-Speed Char. L3L15 Figure 35: Torque-Speed Char. L3L25

Rev. c 05/01 PAGE 43 of 104

L180 User's Manual 3 SERVOMOTORS

Drive System L180 - Servomotor G334

G334-4xx (L4L10)

0 5 10 15 20 25 30

Torque (Nm)

0 1000 2000 3000 4000 5000 6000

Current (Arms)

speed (rpm)

Torque (lb-in)

G334-6xx (L4L20)

0 5 10 15 20 25 30

14 13 12 11 10

9 8 7 6 5

Torque (Nm)

4 3 2 1 0

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000

Current (Arms)

speed (rpm)

Figure 36: Torque-Speed Char. L4L10 Figure 37: Torque-Speed Char. L4L20

124 115 106 97 88 80

Torque (lb-in)

71 62 53 44 35 27 18 9 0

PAGE 44 of 104 Rev. c 05/01

3 SERVOMOTORS L180 User's Manual

3.2.5 MOTOR BRAKE DATA

The following is the specification data for the G4xx motor brakes. Options are specified in the motor box-car drawing. A regulated DC power supply is recommended.

Table 17: G4xx Motor Brake Data

G4x2

Parameter

Series

Brake

Rated Braking Holding Torque

Inertia

Rated Voltage [V] 24 +/-15% 24 +/-15% 2 4 +/- 15% 24 +/-15% 24 +/-15% 24 +/-15% 24 +/-15% Power Consumption

at 20 °C (68 F) Time to Disengage,

t1 Time to Engage, t 2 [ms] 15 15 15 25 35 35 40 Current at 24 VDC

to release

[Nm] 0.9 1.5 3.0 6.0 15.0 15.0 25.0

[lb-in] 7.97 13.28 26.55 53.10 132.75 132.75 221.25

[kg cm2] 0.02 0.07 0.18 0.54 1.00 1.00 3.6

[lb-in-sec²] 0.00002 0.00006 0.00016 0.00048 0.00089 0.00089 0.00319

[W]11111013191924

[ms] 20 20 20 30 50 50 80

[A] 0.46 0.46 0.42 0.54 0.79 0.79 1.0

G4x3 Series

Brakes

Option 1 Option 2 Option 1 Opti on 2 Opt i on 1 Opt ion 2

G4x4 Series

Brakes

G4x5 Series

Brakes

Figure 38:Current/time and torque/time diagrams

Rev. c 05/01 PAGE 45 of 104

L180 User's Manual 3 SERVOMOTORS

PAGE 46 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

4 INSTALLATION

This chapter on installation refers to L180 servo drives series. The w iring of the L180 servo dr ive must be carried out according to the schematics in these instructions. Local wiring regulation must be observed. Special attention should be paid with respect to wiring rules regarding ground, earth and neutral. The earth wire to t he drive, motor and housing must be as short as possible and connected to a common earth point.

4.1 WIRING

The following is a general reminder of the cable requirements for the L180 servo drive series and related equipment.

Cabling and component wiring is critical in obtaining successful operation of the system. Pay close attention to specified wiring practice, cabling information, earth and shielding requirements. Improper wiring can result in electrical noise generation and unstable motor performance.

Size wire in accordance with standard wiring practice and local codes for amperage and wire length.

Particular care should be taken when layout of a cabinet is designed. Efforts to separate routing of signal and power wires should be taken. The following guidelines should be taken into account:

• Separate signal and power cable for low noise emission

• Minimize of radiated interference by using of shielded signal cables

• Signal cable should cross power cable at an angle of 90°. This reduces field coupling which

causes noise.

All electrical supply wires and cables to this equipment must be installed in conduits (cable routings) which are smooth and free from sharp edges.

Rev. c 05/01 PAGE 47 of 104

L180 User's Manual 4 INSTALLATION

4.2 CONNECTOR OVERVIEW

J1 RESOLVER

Terminal for resolver

cable

J2 SERIAL PORT

RS 232 Interface

J5 LOGIC POWER

24 VDC Power Supply

Input,

15 VDC Output

TB1 power connector

Terminal for main lines

and motor cable

J3 AXIS SIGNALS

Analog Input ital Input/Output

Status Rela

J4 ESM OUT

Differential encoder

output signals from

RS422 line driver, A, ,

seven segment displa

for status information

Contact

B, , Z,

STATUS

REGEN ACTIVE

PROTECTIVE EARTH

Screw terminal for PE

and grounding

(screw not visible)

Figure 39: Wiring Overview

red LED , lights up if

motor rege ne rates

energy to drive

WARNING

The PE terminal of the drive must be permanently connected to the earth potential. The cross-section of the protective conductor must be at least

4mm² (AWG 10) copper (Cu).

PAGE 48 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

4.2.1 MOTOR AND POWER CONNECTOR TB1

The servo drive unit can be operated with either a single-phase or three-phase AC voltage.

Table 18: Main line voltage

Unit Minimum Regular Maximum

Mains frequency Supply Voltage

Hz 45 50/60 65

VAC 184 230 253

WARNING

A three phase automatic circuit breaker must be used for three phase operation in order to ensure that all phases are tripped at the same time in the event of a fault! The wire protection must be taken into account. This depends on the cross-section of the main line wires. Please refer to your local regulations for detailed information.

Single phase operation

TB1:L1 TB1:L2

In single phase operation, the voltage between live and neutral is 230 VAC. The phase line should be connected to TB1:L1 and the neutral line to TB1:L2. The protective earth conductor must also be connected to the earth stud on the drive.

Three phase operation

TB1:L1 TB1:L2 TB1:L3

The nominal voltage between the servo drive unit terminals must be equal to 230 VAC. The phase-to-phase voltage of a normal 3-phase 400 VAC (440 VAC) mains supply must be stepped down to 230 VAC by means of an auto or isolation transformer connected to terminal TB1. The protective earth conductor must be connected to the earth stud on the drive.

Transformer

The selection of the transformer size depends on the ambient conditions, duty cycle and power requirements of the application. Two or more drives can be connected to one transformer. The transformer must deliver the maximum current. In any case of uncertainty do not hesitate to contact your local application engineer.

Additional Parts for the drive system

Additional fuses for transformer and wiring protection have to be installed according to the local regulations. The transformer protection should be clarified with the transformer supplier. Contactors are to be used where necessary. Examples of contactor use include: emergency stop and on/off circuits. A main power switch may also be necessary because of local regulations.

Rev. c 05/01 PAGE 49 of 104

L180 User's Manual 4 INSTALLATION

L1 L2 L3 S W V U

SEPARATE

CONTACTOR

RELAY

24VDC POWER SUPPLY

E’

L1’

LINE FILTER

SCHAFFNER

L2’

L3’

SHIELD WWW

FN 258

black black black white black

yello w / green

3~ 230 VAC

50/60 Hz

3~ 400 VAC/3~440 VAC

G4x5

G4x2 G4x3 G4x4

PROTECTIVE EARTH

Customer Supplied

50/60Hz

ELECTROMAGNETIC BRAKE NORMALLY CLOSED

MOOG MOTOR

Figure 40: TB1 Wiring

Brake

The brake is released with 24 VDC. This voltage must be provided and controlled by an auxiliary power supply. The L180 servo drive does not support any brake control. The brake is designed for static holding applications where the shaft is held during disabling of the drive. If the brake is used for dynamic braking several times, it will become worn and the braking effect will deteriorate. The brake is not designed to replace safety functions.

Customer supplied parts

MOOG can not accept any warranty of custom er supplied components even when they are necessary for the operating system.

Maximum Cable length

The maximum cable length from servo drive to motor is 100 m (328 ft).

PAGE 50 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

WARNING

The motor must be wired and tested consistent to this manual.

• Power cable

An incorrect phase sequence can cause the motor to accelerate in an uncontrolled manner upon enabling the drive.

Sufficient line filter for a single axis application is shown in the table below.

Table 19: EMC Filter

L180-310A L180-410A L180-510A

line filters FN 258-7 FN 258-16 FN 258-16

CE-COMPLIANCE EMC-FILTER

A line filter must be installed between the drive and the main transformer otherwise CE conformity is not guaranteed. The table above shows appropriate line filters manufactured by Schaffner, Switzerland. All EMC measurements were done with these filters. Only one line filter need be used if more than one drive is connected to the transformer. The current of the filter has to meet the overall current of the drive arrangement.

Customer Supplied

Additional Drives

Figure 41: Multi Axis Wiring

E’

L1’

LINE FILTER

SCHAFFNER

L2’

L3’

FN 258

50/60Hz

3~ 230 VAC

3~ 400 VAC/3~440 VAC

50/60 Hz

Rev. c 05/01 PAGE 51 of 104

L180 User's Manual 4 INSTALLATION

4.2.1.1 TB1 POWER CONNECTOR PINOUT

Table 20: TB1 power connector pinout

TB1 power connector

pin number pin name function pin type

L1,L2,L3 L1,L2,L3

S Shield PE motor cable shield PE potential shield shield

W W motor phase W (C) power output 1 W

V V motor phase V (B) power output 4 V U U motor phase U (A) power output 2 U

main line terminal

3~ 230 VAC

power input - -

4.2.1.2 ACCESSORY POWER PART General Cable Specification

Designed for use in cable tracks, as tailing cable and oil environment, temperature range: -50 °C to 90 °C continuous operation (-58 °F to 194 °F), 150 °C (302 °F) maximum temperature, bending cycles > 1 million, bend radius for cable chain > 12 x outer diameter

MOOG motors pin number

Gxx2, Gxx3,

Gxx4

G4x5

PAGE 52 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

Table 21: Accessory parts power connector

Part Part Number Motor

Drive mating power connector

Raw Power Cable B47890-001

note ➼

Raw Power Cable B47903-001 G4x5 Shielded cable for customer

note ➼

Motor Power Connector C08365-001 Gxx2, Gxx3, Gxx4 Power connector for customer

Motor Power Connector B47736-001 G4x5 Power connector for customer

Motor Power Cable C08336-001-xxx Gxx2, Gxx3, Gxx4 Prefabricated motor cable with

C08474-001 a ll drives Mating power connector for all

L1L2L3SWVU

Gxx2, Gxx3, Gxx4

note ➽

Description

VIEW

drives. Supplied with each dr ive,

spare part. T

0.5 - 4 mm², 20 - 12 AWG.

Shielded cable for customer

configuration, 4 x 1.5 mm² power

leads, 2 x 1 mm² brake leads,

configuration, 4 x 2.5 mm² power

leads, 2 x 1 mm² brake leads,

matin

pe Weidmueller STVS

7 SB, cro ss-sectional area

outer shield

configuration

motor connector and

ferrule ended leads,

4 x 1.5 mm² power leads,

2 x 1 mm² brake leads,

outer shield

Motor Power Cable B47915-001-xxx G4x5 Prefabricated motor cable with

note ➼: consult local sales office note ➽: xxx length in meter

note ➽

VIEW

motor connector and

matin

ferrule ended leads,

4 x 2.5 mm² power leads,

2 x 1 mm² brake leads,

outer shield

Rev. c 05/01 PAGE 53 of 104

L180 User's Manual 4 INSTALLATION

4.2.2 RESOLVER CONNECTOR J1

Correct wiring of the resolver is necessary for reliable operation of the L180 servo drive. Noncompliance with the instructions in this manual will cause a deterioration of specified performance.

Shield Connector housing

DSUB9 MALE

Standard

colors

8 4 3 7 9 5

2 6

green yellow grey pink

blue red

white brown

Alternative

colors

black / green green

black / red red black / white white

black / bl ue blue

1 2 3 4 7 8

Shield Connector housing

5 6

MOTOR SIDE

DRIVE SIDE

Figure 42: Resolver wiring, DSUB 9 male cable to J1

The overall shield must be connected to both the motor and the servo drive. The proper bonding of shielded cables is imperative for minimizing noise emissions and increasing immunity levels of the drive system. It should be noted that the contact from the overall shield to servo drive and motor must be made by using as much contact area as possible. It is recommended to follow the convention (signal / conductor color) used in this manual.

Table 22: J1 Resolver connector pinout

J1 RESOLVER MOO G mo to rs

pin number pin name functio n pin type pin num ber

1 do not connect not connected 2 TH.MOT1 NTC NTC motor thermistor input 5 3 SIN S2 resolver feedback sine input 3 4 COS S3 resolver feedback cosine input 2 5 REFOUT R2 resolver reference, negativ e output 8 6 TH.MOT2 NTC NTC motor thermistor input 6 7 SIN2V 5 S4 resolver feed back sine input 4 8 COS2V5 S1 resolver feedback cosine input 1 9 REFOUT R1 resolver reference, positive output 7

PAGE 54 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

WARNING

The motor must be wired and tested consistent to this manual.

• Signal cable

Incorrect connection of the leads can cause the motor to accelerate in an

uncontrolled manner when the drive is enabled. Any broken wire of the NTC connection means a loss of the thermal motor protection. The drive monitors the NTC resistor value and determines if it is above or below 4.2 kΩ. The resistor value is interpreted as motor temperature below or above 155°C (insulation class F). A secure connection must be ensured.

4.2.2.1 ACCESSORY RESOLVER PARTS

Table 23: Resolver parts

Part Part Number Motor

Raw signal cable B47885-001 all motors Shielded cable for customer

➼

note

Motor mating signal connector

Signal Cable C08335-003-xxx all motors Prefabr icated signal cable with

note ➼: consult local sales office note ➽: xxx length in meter

C08309-001 all motors Signal connector for customer

note ➽

7.0 mm

Description

configuration, 4 x 2 x 0.25 mm²

leads,stranded wires,

twisted paired, outer shield

configuration

drive and motor connectors.

matin

Mating connector in angular style with orientation to the top of the

drive, 4 x 2 x 0.25 mm² leads,

stranded wires,

twisted paired, outer shield

General Cable Specification

Maximum Cable length

The maximum cable length from servo drive to motor is 100 m (328 ft).

Rev. c 05/01 PAGE 55 of 104

L180 User's Manual 4 INSTALLATION

4.2.3 SERIAL PORT CONNECTOR J2

The serial link is used to set or monitor drive parameters stored in non-volatile memory using the configuration program. The serial link can also be used to perform f irm ware revisions.

DSUB9

FEMALE

RXD 2 TXD 3

GND 5 Shield

Connector housing

white brown

yellow

2 RXD 3 TXD

5 GND Shield

Connector housing

DSUB9

FEMALE

Figure 43: Serial link wiring, DSUB9 female cable to J2 and PC

Table 24: Wiring

J2 SERIAL PORT

pin number pin name function pin type pin number

1,4,6,7,8,9 do not connect

2 RX232 receive data line input 3 3 TX232 transmit data line output 2 5 GND common ground 5

The serial port is operating in full duplex mode at a fixed baud rate of 9600 bit/ sec. with the format listed below.

Table 25: Serial Protocol

Start bit Data bit Parity Stop bit

18no1

A ready-to-connect cable is available with the following configuration.

Table 26: Serial Cable

Part Part Number Length

Serial Port RS232 cable C08475-001 5m Prefabricated Commisioning cable

Description

between PC and each drive,

4 x 2 x 0.25 mm² leads,

stranded wires, twisted paired,

outer shield

PAGE 56 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

4.2.4 AXIS SIGNALS CONNECTOR J3

10 VDC

variable

Voltage

Source

Host

computer

PLC

24VDC Power Supply

Input

AUTO/M ANUAL

Enable Switch

ANALOG INANALOG IN+

GND

Switch

AUTO/M ANUAL ALARM

ALARM COM

ENABLE COM GND

2 3

7 8

12 13

DSUB25 MALE

Figure 44: J3 Axis Signals Wiring, DSUB25 male cable to J3 Table 27: J3 Pin out

J3 Axis Signals

number

pin name function specification pin type

1 14

15 16

4 17

18 6 19

20 21

9 22

23 11 24

25 13

GND GND24V

ENABLE24V

END-SW1

END-SW2

GND

GND GND

Enable Switch

Standard

Endswitch

Alternative

Endswitch

MINIMUM WIRING

24VDC

Power

Supply

Standard

Endswitch

Alternative

Endswitch

4, 6, 9, 16, 17, 18, 21,

do not connect

22, 23, 24

1, 5, 11, 13,

GND

2 ANALOG IN - negative differential input command

3 ANALOG IN + positive differential input command

8, 10

AUTO/

MANUAL

ALARM,

ALARM COM

12 ENABLE C OM

general purpose ground for digital input,

output and reference for analog in

digital input for current limitation to the

adjusted value

potetial free n. o. contact for the

adjustable alarm, ready relay

passive enable, connecting to ground via

any contact enables the drive.

max. differential input voltage +- 10 VDC,

differential input impedance 8k

max. differential input voltage +- 10 VDC,

differential input impedance 8k

internal pull-up resistor 4.7 kτ to 5 VDC

24 VDC, 0.5 A, 10VA relay contact

internal pull-up resistor 4.7 kτ=to 5 VDC

14 GND 24V ground of the active optocoupled ENABLE potential free, max. 50 VD C to GND

max. input voltage 30 VDC to GND 24V

15 ENABLE 24V active optocoupled ENABLE

potential free, max. 50 VDC to GND

active level 20 - 30 VDC / 5kΩ

19 END-SW1

20 END-SW2

limit switch input affecting the positive

analog command

limit switch input affecting the negative

analog command

internal pull-up resistor 4.7 kτ=to 5 VDC

internal pull-up resistor 4.7 kτ to 5 VDC

ground

analog input

digital inpu t

external

ground

input

digital inpu t

Rev. c 05/01 PAGE 57 of 104

L180 User's Manual 4 INSTALLATION

ANALOG IN

J3:2 ANALOG IN -

J3:3 ANALOG IN +

AUTO/MANUAL

This function has to be wired. Common mode voltage range (CMVR) +/-10V if common on ANALOG IN. The scaling of the analog input is programmable in speed mode. Drives with firmware revision A1 (firmwar e C08500-001) are fixed in current mode to the maximum drive current, e.g. 10VDC input on a L180-310A drive corresponds with 10 Arms.

motor

max,

drive

⋅±=

VDC

If a motor is used with less than the maximum drive current the available voltage range of the analog input is reduced, e.g. 15 Arms maximum motor current leads to an analog input voltage range of ± 7.5 V at a drive with 20 Arms maximum drive current. The drive is not delivering more current than programmed. Drives with firmware revision A2 (firmware C08500-002) are scaled to the maximum motor current (parameter 3) on the analog input. A positive command leads to a clockwise rotation when viewed from the shaft side. A negative command leads to a counter-clockwise rotation when viewed from the shaft side( Definition of sense of rota t ion see Figure 78) .

J3:7 AUTO/MANUAL

GND

Monitoring Relay

J3:8 ALARM J3:10 ALARM COM

This function is programmable in the L180GUI and need not be wired. The AUTO/MANUAL mode selection with pin 7 is a protection designed for the commissioning phase of the drive. An open contact selects the MANUAL mode. Drives with firmware revision A1 (firmware C08500- 001) limit s the cur rent of the drive to the preconfigured value, therefore only limited motor torque is available. This feature offers no speed limitation. Drives with firmware revision A2 (firmware C08500-002) limits the current and speed of the drive to the preconfigured value, therefore only limited motor torque and speed is available. A closed contact to ground selects the AUTO mode with full drive capability. The MANUAL limit values are programmable and could also be set to the maximum motor curre nt and s peed, thus the AUTO/MANUAL mode selection is superfluous.

This function is programmable in the L180GUI. The monitoring re lay can be used to supply drive status information to other devices such as a host computer, PLC, etc.

PAGE 58 of 104 Rev. c 05/01

4 INSTALLATION L180 User's Manual

Enable Options

J3:12 ENABLE COM GND

J3:14 GND 24V J3:15 ENABLE 24V

Endswitch

J3:19 END-SW1

J3:20 END-SW2 GND

Minimum Wiring

Ground

One of the following two cases must be used. The drive can be enabled either with a 24VDC differential between pins 14 and 15 (optical isolated) or with a relay contact (switch) on pin 12 to ground (GND). Both options are connected in OR function, if one of them is activated the drive is enabled. The power stage is enabled within two sample periods (< 300 µs) after enable transition.

This function is programmable in the L180GU. Each combination (n. c., n.o.) of the Endswitch contacts could be used as shown in Figure 44 J3 Axis Signals Wiring. Close end switch to GND to inhibit or allow motor movement (dependent upon configuration).

Only the ANALOG IN input and one of the Enable options have to be connected to operate the drive, other functions are programmable in the L180 GUI and can be set to values which make wiring unnecessary.

All pin ground’s are connected together with protective earth. The grounds in Figure 44 J3 axis wiring are interchangeable and connected only to simplify the drawing layout.

Galvanic isolation

The power module itself is isolated from the cont r ol cir c uit s .

Rev. c 05/01 PAGE 59 of 104

L180 User's Manual 4 INSTALLATION

4.2.5 ENCODER SIMULATION CONNECTOR J4

The Encoder simulation offers differential signals f r om a RS422 line driver which can be used for positioning purposes. The lines are driven with the internal power supply, thus no external voltage supply is necessary for the Encoder simulation. The figure below shows suf f icient wiring. These signals are always present. A 120 Ω= termination on the line receiver (motion controller) is recommended.

J4 ESM OUT DSUB15 MA LE

GND A

9 2

GND B

10 3 11

GND

12 5 13 6

Z 14 7

Z 15

Shield Connect or housing

Figure 45: Encoder Output, DSUB15 male cable to J4

Positioning Controller / PLC

A B B

Z A

Shield Connect or housing

clockwise rotation

counterclockwis e rotation

Figure 46: Definition of Encoder Signals, viewed from the shaft side

Cable

The maximum cable length is 20m (66 ft). The exact cable length is dependent on cable routing and system noise. A shielded cable with twisted pair is recommended to lower the signal distor tion. Twist ing Invert ed and non invert ed lines improves the robustness against noise sensitivity.

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4 INSTALLATION L180 User's Manual

Encoder Resolution

The resolution of the Encoder signals is programmable up to 2048 pulses per revolution (ppr). An extrapolated mode is used between 1025ppr and 2048ppr. The resolution up to 2048 is only available up to 6000rpm. At programmed speeds above 6000rpm only 1024ppr is accepted.

Table 28: J4 ESM out pinout

J4 ESM OUT

pin number pin name function pin type

3,4,5,13,14,15 do not connect

1,2,12 GND common ground ground

6 inverted zero marker output 7 Z zero marker Z output 8 A impulse A output

9 inverted impulse output 10 B impulse B output 11 inverted impulse output

A A

B B

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L180 User's Manual 4 INSTALLATION

4.2.6 LOGIC POWER CONNECTOR J5

24V BACKUP

24V GND

24V BACKUP

24V GND

10 3 11 4 12 5

-15V OUT

13 6

GND

14 7

+15V OUT

15 8

DSUB15 FEMALE

24 VDC Power Supply

Reference Voltage could be used for ANALOG IN

Figure 47: J5 Logic Power Wiring, DSUB15 female cable to J5

Table 29: J5 Logic Power pinout

J5 LOGIC POWER

pin number pin name function pin type

3,4,5,6,7,8,11,12 do not connect

1 24 V BACKUP +24 VDC backup supply input 2 24 V BACKUP +24 VDC backup supply input

9 24V GND 24 VDC ba ckup ground input 10 24V GND 24 VDC ba ckup ground input 13 -15V OUT -15 VDC supply output 14 GND 15 VDC ground output 15 +15 OUT +15 VDC supply output

24V BACKUP

J5:1 24V Backup J5:2 24V Backup

J5:9 24V GND J5:10 24V GND

This voltage supply is optional and not required for the function of the servo drive. Serial port communication, parameter setting and drive configur ation can be done with a backup voltage supply present, the main voltage is not necessary. In this case the drive shows an undervoltage indication on the seven segment display. The continuous input current is 0.5 Arms. The Input voltage range is 20-30VDC. An unregulated power supply is recomm ended.

± 15VDC Supply

J5:13 –15V Out J5:14 GND J5:15 +15V Out

The ± 15VDC output voltage is only available if 24VDC backup voltage is applied. This output voltage can be used to generate an input command for the analog input. The continuous output current is 0.2 Arms. This output is protected against short circuit.

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5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

5 L180 GRAPHICAL USER INTERFACE

This section of the manual describes the use of L180 Graphical User Interf ace ( L 180GUI) .

5.1 SYSTEM REQUIREMENTS

Minimum PC requirements 486 DX/2-66 processor

8MB RAM 6MB free on hard disk

Operating System Windows 95, 98 or Window s NT Ver s ion 4. 0 or later

Windows 3.1 or later, with MS-DOS 3.1 or later (consult factory)

Video requirements 640x480 display

A VGA resolution video adapter

5.2 GUI INSTALLATION

Like many Windows applications, this software must be installed by using the SETUP.EXE file, on the distribution disk. The SETUP can be executed from the file menu, file manager or from the Windows Explorer. This operation installs all libraries needed and the application icons. The distribution disk contains the L180GUI and motor parameter files. Please refer to the README file on the distribution disk for the latest information. The general procedure is as follows:

1. Start Windows.

2. Insert Disk 1 into PC disk drive A.

3. From the START or FILE MENU, choose RUN or double click on the SETUP.EXE in the FILE MANAGER or EXPLORER.

4. From the START or FILE MENU type A:\SETUP and press ENTER.

5. Follow the instructions on the screen.

A new program group and icons will be created. The group will be added to the program task bar under Windows 95/98/NT, or will be added as a group icon under Windows 3.1. Remove the L180GUI distribution disk. The L180GUI can be started by double clicking on the L180GUI icon. Please note that the full GUI functionality is only available with a serial link to the L180 servo drive.

The L180 GUI is also available for Windows 3.1(1) systems. An installation disk is provided on request. Please feel free to contact your local MOOG sales engineer, if required. The regular installation disk supports only Windows 95, 98, NT.

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5.3 SYSTEM INFORMATION

Before getting started with the L180GUI the following information should be available or clarified:

1. Electrical model of the motor, displayed on the motor nameplate as Typ

2. Drive Size

3. Configuration of the end switch (End switches wired?)

4. Configuration of AUTO/MANUAL mode (AUTO/M ANUAL wired?)

5. Configuration of the encoder simulation (Encoder Simulation w ire d?)

5.4 USING THE L180GUI

The L180GUI is a handy tool for parameter setting, control loop tuning and obtaining status drive information. The main window offer s m a ny f eat ur es including usef ul t oolbar buttons.

Double Click on the right corner

Figure 48: Main Window

The right hand corner of the main window shows the servo drive number (e.g. L180-510A-A1) , the Firmware version (e.g. C08500 001), the electrical model of the motor (Motor Type) and the current heatsink temperature in degrees centigrade.

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5.4.1 TOOLBAR

ICON DESCRIPTION SHOTRCUT

DOWNLOAD

Download of parameter file from disk to L180

UPLOAD

Store parameters from L180 onto disk

PARAMETER LIST

Access to the entire parameter list only possible in privileged mode (password required)

SAVE

Save parameters into drive

RESET

Software drive reset

SCOPE

Scope function

UPGRADE

Firmware upgrade with compare function

ALARM, STATUS

One click activates the alarm window, two clicks activates the status window

CTRL+R

CTRL+S

CTRL+P

SHIFT+F7

CTRL+O

CTRL+M

CTRL+A

only Alarm

Window

AUTOMATIC COMMAND MODE

Automatic command mode, firmware A1 only accessible in privileged mode (password required), firmware A2 with L180GUI 2.0 no password required.

PARAMETER SETTING

CTRL+L

Access to all customer accessible parameters

HELP

Description of the GUI features

DRIVE ENABLE

Software enable if hardware enable is present

DRIVE DISABLE

Software disable

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5.4.2 QUICK START

The following section describes a quick start method for the MOOG L180 servo drive. This allows a quick and easy set up of the L180 motor drive system and permit s motor operation. It is recommended to be familiar w ith the local safet y regulations, the ins tallation routine and t he warning notes of the manual.

If the drive is correctly installed according to t he installation sec tion, the L1 80GUI completes t he drive set up and allows adjustment of all applicat ion related parameters. The L180GUI come s with parameter files for eac h MOOG motor. Thus a minimum amount of paramet ers must be set. The major steps are as follows:

1. Disable the drive.

2. Check serial communication, if necessary. The serial l ink configuration is available in the CONFIGURATION menu (see section 5.4.4).

3. Download of the appropriate parameter file with the DOWNLOAD button (see section 5.4.5).

4. To set application specific parameters, use the PARAMETER SETTING button (see section 5.4.6). Drive tuning for your specific application required.

Figure 49: Parameters Setting

In the ADJUST OPTIONS box, pay particular attention t o the end switch (P24), digital/analog (P27) and external I-limit (P10) parameters. Motor, current and speed loop parameters are preconfigured and should meet with a wide range of applications.

5. Save all parameters into the drive, using the SAVE button.

6. To save this new application specific file to disk use the UPLOAD button (see section 5.4.7). Make sure to use a new file name to avoid confusion with the standard parameter files.

7. Enable the drive

The motor drive system will operat e using the analog command input.

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5.4.3 GENERAL INSTRUCTIONS

The parameters of the L180 servo drive are divided into two groups. Some parameters will become valid by pressing ENTER, others only by clicking the SAVE button. The parameters are marked with SAVE and ENTER in the appropriate table.

The L180GUI version 2.0 offers an appropriate featur e to identify the save or ent er stat us of t he parameter. The SAVE button is blinking if any parameter change is made and two different warnings occur. If parameters marked for ENTER are changed, the warning in Figure 50 appears every time . If parameters marked for SAVE are changed, the warning in Figure 51 appears once.

Figure 50: Warning for ENTER parameters Figure 51: Warning for SAVE parameters

The parameters are also divided into two groups regarding read and write ability. The appropriate table will highlight the status of the parameter with r/w for read and write parameters and r for read only parameters.

WARNING

Because of safety issues, SAVE will only operate when the drive is dis abled. Different parameter settings can cause uncontrolled behavior of the servomotor which could lead to mechanical damage or per s onnel injur y .

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Input the value directly with the Keyboard

and press ENTER

Use the up and down arrows to increase or

decrease the paramete rs in steps.

Figure 52: GUI dialog box features

Double click on the entry fi eld

opens the Bit Editor

Additional information is included in the help file, it can be accessed either by clicking on the HELP button or the HELP menu. To obtain help on the active dialog box press key F1.

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5.4.4 SERIAL LINK

The L180GUI uses the serial port of a PC to communicate with the L180 servo drive, using the RS232 serial standards. The L180GUI software and the physical link between the PC and the L180 servo drive must be configured correctly. The configur ation of the serial link can be done by selecting the SERIAL LINK menu item in the CONFIGURATION menu.

Figure 53: Setting Serial Port

If the serial port configuration is correct, the communication w ill be established automatically when the PC and the L180 servo drive are physically connected. If the L180 servo drive is offline, an indication will appear in the upper right corner. If communica tion is established, the drive size, firmware version, motor type and the heat sink temperature will be displayed. All other configuration of the serial port is fixed.

5.4.5 PARAMETER FILE DOWNLOAD

Parameters can be downloaded by using the toolbar button or with the DOWNLOAD item in the FILE menu. The drive must be disabled to download a parameter file. The window illustrated in Figure 54 opens and allows a parameter file search. The parameter files are organized in three different directories which relate to the three different servo drive sizes.

The L180GUI 2.0 is delivered with a new set of motor parameters for appropriate setting of additional parameters. These can be found in the folder PAR_A2.

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Figure 54: Parameter Download

The default files (e.g. default3.par) are fact or y set t ings and can be re covere d, if necessar y.

WARNING

Parameter files are motor AND drive specific; separate files have to be used for each motor/drive combination. In the file name G4L20_04.PAR there exists the motor type G4L20 (found on the motor nameplate) and the drive size 04 which represents an L180-410x-xx (found on the drive nameplat e) .

5.4.6 PARAMETER SETTING

Parameter setting can be done by clicking on the PARAMETERS SETTING button or on the PARAMETERS SETTING item in the UTILITIES menu. The shortcut for this function is CTRL+L.

The PARAMETERS SETTING window opens and application specific parameters can be adjusted. These must then be saved into the drive.

Current loop

Motor current/torque is regulated. The speed of the motor in current (torque) mode is monitored. If the motor speed is 20% above the maximum motor speed an over speed alarm will occur. The over speed failure is permanently latched and results in a coast stop of the mot or .

Speed loop

Motor speed is regulated. The speed control closure around the current loop. Proper tuning for your specific application is requir e d.

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5.4.6.1 ADJUST OPTIONS

The ADJUST OPTIONS dialog box is only available by clicking on the ADJUST OPTIONS button in the PARAMETERS SETTING window.

Figure 55: Setting Adjust Options Table 30: Adjust Options

Address Save R / W Unit Range Description

27 ENTER r,w - 0,1 Selection of analog command = 1 or digital command = 0

Confi

24 SAVE r,w - 0...3 28 ENTER r,w mV -197...197 Programmable AN A LOG IN offset

29 ENTER r,w

30 SAVE r,w - 0...2 Programmable monitoring rela y 32 ENTER r,w ms 0...32767 Programmable time of the serial communication watchdog

50 ENTER r,w

10 ENTER r,w Arms 0...Imax, drive Limitation of the motor current, if selected 13 ENTER r,w rpm 0...FFFFh Limitation of the motor speed, if selected

rpm/s 0. . . 1769418 Progra mm able ramp of the analog input in speed mode

A/s 0...3394 Programmable ramp of the anal og input in current mode

rpm -7578...7577 Digital comma nd if drive is in digita l a nd spee d mode

Apeak ± Imax, drive Digital command if drive is in digital and current mode

uration of the end switches, 0 = both are normally open,

3 = both are normally closed

The parameter 13 is only accessible with L180GUI 2.0 and firmware A2. If the A1 firmware is in use the parameter has no meaning and is inaccessible.

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Digital or Analog Command

J3:2 ANALOG IN -

J3:3 ANALOG IN +

Endswitch

J3:19 END-SW1

J3:20 END-SW2

GND

0 = Digital Command 1 = Analog Command The default value is Analog Command (1). Digital command :

Digital command (parameter 50) is read to set the command value.

Analog command :

Input voltage ANALOG IN is converted to s et the command value.

End switches 1 and 2 can be configured normally open or normally closed. End switch 1 affects the clockwise rotation, end switch 2 affects the counterclockwise rotation when viewed from the shaft side. The default value is end switches 1 and 2 normally closed (3).

Table 31: End-switch Configuration

0123

end switch 1 n. o.

n.c.

end switch 2 n. o.

n.c.

✳✳

If a end switch is activated when the L180 is in speed mode, the motor is brought to a stop by the servo drive, and further m ovement in the direct ion of that end switch is not allowed. If no ramp is programm ed the s top w ill be the maximum system deceleration possible, otherwise the motor ramps down as adjusted. If the end switch is activated when the L180 is in current mode, then the torque command will be clamped to zero in that direction. If no ramp is programmed the current will be clamped in one step to z ero, otherwise the current ramps down as adjusted. Torque and speed command in the other direct ion is s till possible.

Analog Command Offset

When analog command is selected, the input offset voltage can be adjusted with this parameter. The default value is zero (0).

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Command Slope

Command ramp generator, when this parameter is zero, no ramp is performed. When a value different of zero is programmed, the command edges are limited (for digital and for analog command). The default value is zero (0).

Speed Current

Command

Actual Drive Reaction

Command not achieved

Figure 56: Command Slope

WARNING

The command slope also affects the functionality of the end switches. If a ramp is programmed, the speed or current will ramp down when an end switch is activated. This functionality must be reviewed with your application.

Monitoring Relay

J3:8 ALARM

This parameter adjusts the functionality of the monitoring relay. The default value is zero (0). Please consult section 6.2.5 for detailed information.

J3:10 ALARM COM

Table 32: Monitoring Relay Configuration

Status Value Description

System Ready 0 Alarm 1 The relay contact will be closed only when a fault occu rs

Enabled 2 The relay contact will be closed when the drive is enabled

Watchdog Software Communication

Watchdog for the serial link. If the drive does not receive any serial data within the defined time (in ms), software watchdog alarm is set. If the value is zero (0) watchdog is disabled. The default value is zero (0) .

Digital Command (Speed or Current)

When the drive is set into digital mode this value defines the command value. The digital command is sent to the drive via the serial link.

The realy contact will be closed after the power up procedure and it will open

if the drive faults

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External I-Limit, I-limit for Manual mode, Speed limit in Manual mode

J3:7 AUTO/MANUAL

The L180 provides a reduced power mode for possible user safety requirements. This mode is called MANUAL mode. When the

GND

AUTO/MANUAL digital input is disconnected the drive is in MANUAL m ode; when connected to GND the drive is in AUTO mode. The firmware A1 (C08500-001) provides current limitation only (no speed limitation) in both speed and current loops. The parameter 10 defines the maximum current provided of t he dr iv e in M ANUAL m ode. The default value is 10% of the maximum motor current. The firmware version A2 (C08500-002) together with L180GUI version 2.0 provides speed and current limitation in speed and current mode. In curre nt mode the drive will be disabled and display over speed warning b if the motor speed is 20% above the manual speed limit. In speed mode the drive will regulate the motor speed and not exceed t he manual speed limit. The parameter 13 defines the maximum speed provided of the dr ive in MANUAL mode The default values are 10% of the maximum motor current or speed. The MANUAL mode limits have no influence on the analog input scaling. These values can be set to the maximum drive current or speed if not required, thus wiring of the digital input becomes unnecessar y. In AUTO mode the drive provides the maximum motor current and speed.

5.4.6.2 ENCODER SIMULATION CONFIGURATION

The Encoder Simulation generates incremental encoder formatted output signals developed from a resolver position transducer.

Figure 57: Encoder Simulation Configuration

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Table 33: Encoder Configuration

Address Save R / W Unit Range Descr ipti on

17 SAVE r,w ppr 1...1024 (2048) Encoder resolution in pulses per revolution 18 SAVE r,w - 0...6 Configuration of the zero marker channel and width 19 ENTER r,w deg (°) -180...180 Configuration of the zero marker position

34 ENTER r,w - 0...256 Encoder dead window

Encoder Resolution

J4:8 A J4:9 J4:10 B J4:11

A B

The line count of the encoder signals is programmable up to 2048 pulses per revolution (ppr). This is 8192 in quadrature. An extrapolated mode is used from 1025ppr to 2048ppr. A resolution up to 2048 is available up to 6000rpm. At programmed speeds above 6000rpm only 1024ppr accepted. The default value is 1024 ppr.

Encoder Marker Pulse Width

J4:6 J4:7 Z

Configuration of the encoder zero marker channel and width. The default value is zero (0).

Table 34: Encoder Marker Configuration

Value Description Gated

Encoder Marker Pulse Position

Defines the offset of the zero marker on the encoder simulation output, with respect to the motor’s resolver zero position, in mechanical motor shaft degrees. The resolution of the ±180° angle is 15 bit (32767). The default value is zero (0).

0 ¼ period of Encoder output channel A A 1 ½ period of Encoder output channel A A 2 1 period of Encoder output channel A A 4 ¼ period of Encoder output channel A B 5 ½ period of Encoder output channel A B 6 1 period of Encoder output channel A B

Encoder Dead Window

The encoder simulation may oscillate approx. ± 1 increment because of the motor position jitter. This oscillation can be s tabilized with t he encoder dead window. Encoder signals will only be simulated if the resolver position changes more than the adjusted value, with respect to the resolver demodulation which is 12 bit (4096). This feature provides st eady encoder simulation at standstill of the motor. The position error is not cumulative. The position precision is also reduced and the time delay incr eases with the width of the dead window. A value of zero disables this function. The default value is zero(0).

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Example of the encoder output signals, with encoder marker pulse width of 5 and the encoder marker pulse position of 0. The motor is turning clockwise when viewed from the shaft side.

Figure 58: Encoder Signals

5.4.6.3 SPEED LOOP TUNING

The SPEED TUNING button in the parameter setting window calls up the ADJUST SPEED LOOP PARAMETERS dialog box.

Figure 59: Adjust Speed Loop Parameters

The motor parameter files are supplied with proportional and integral gains. These preconfigured parameters should be reviewed f or your par t icular applicat ion.

Table 35: Speed Loop Configuration

Address Save R / W Unit Range Descr iption

20 ENTER r,w As/rad 1...32767 Speed loop proportional gain 21 ENTER r,w A/rad 0...250 Speed loop Integral gain 22 ENTER r,w A/rad s 0...32767 Speed loop differential gain 23 SAVE r,w rpm/10V 0...32767 Velocity scaling of the analog input at 10V

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PID Speed Control l er

Speed Command [rad/s]

Figure 60: Speed Loop Regulator

Real Speed [rad/s]

() ()()

()

∆ Sampling time

Speed Loop Proportional Gain

present sample

:1−n

sample one sampling period before

The proportional gain is without any unit and represents the internal number in decimal format. The actual P-gain can be calculated with the following expression:

KTiKnKi

ωω

EiEpC

=10

−

max,

⋅⋅⋅=

+∆⋅⋅+⋅=

peakSpeeddrivep

() ( ){}

]/[1092,4

radsAPIK

ωω

∆

Current Command [Apeak]

−−

P Speed Loop Proportional Gain

Speed

Speed Loop Integral Gain

The integral gain is without any unit and represents the int ernal number in decimal format. The actual I-gain can be calculated with the following expression:

I Speed Loop Integral Gain

Speed

The actual integral time can be calculated with the following expression:

T =

Thus the I-gain adjustment is inversely proportional to the integral time, an increasing I-gain means a decreasing integral time.

−

max,

⋅⋅⋅=

peakSpeeddrivei

]/[1073,3

radAIIK

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Speed Loop Differential Gain

The differential gain is without any unit and represents t he internal number in decimal format. The default value is zero (0). The actual D-gain can be calculated with the following expression:

−

max,

()

peakSpeeddrivep

]/[105,6

sradADIK

⋅⋅⋅⋅=

Speed

D Speed Loop Differential Gain

Maximum Speed (for 10V input)

J3:2 ANALOG IN –

This parameter sets the analog input scaling of the drive. The default value is the theoretical maximum speed of the motor when being driven by the

J3:3 ANALOG IN +

L180. The parameter can be set to any lower value. The over speed alarm is activated when the instantaneous motor speed value is 20% above the maximum speed value.

WARNING

Servomotors can accelerate highly dynamically. They also have enormous torque. The following points must therefore be observed when starting the system.

• The danger zone around the motor must be cordoned off.

The system must feature a safety guard to prevent personnel from

reaching into or entering the danger zone. If the safety system is tripped, the drive system must be disconnected from the main voltage immediately.

• The control parameters determine the dynamic and static

behavior of the servomotor.

Incorrectly set parameters can cause the servomotor to run at an excessive speed (instable controller settings).

• Mechanical Damage could occur.

Ensure that the application allows the use of this speed and torque amplitude and length of travel, (period, duty cycle), without damage to the machine before proceeding with the tuning procedure. If the mechanical part of the application is not designed for a step response with full motor torque, the procedure described hereafter could cause mechanical damage.

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The speed loop adjustment procedure is a step response which is monitored w ith the built-in scope function. The following procedure is recommended:

1. Disable the drive.

2. Set drive into Analog Mode, if necessary.

3. Speed Loop.

Set servo drive into speed mode, default mode.

4. Speed tuning.

Click on the Speed tuning button and set integral and differential gain to 0 and proportional gain to 500.

5. Scope (see section 5.4.9 Scope).

Click on the SCOPE button and select:

• for Channel 1 instant speed (P 68)

• for Channel 2 instant current (P 67)

• The time scaling depends on the application, but a default value of 16ms/div

meets a wide range of applications.

• The vertical scaling depends on the speed amplitude.

• Select a trigger value for the instantaneous speed and click on

CONTINUOUS recording.

6. Function Generator.

The use of an external function generator on the analog input is recommended with the firmware A1 (C08500-001). If you would like to use the built-in AUTOMATI C COMMAND MODE (Function generator), please get in contact with your local applicat ion engineer .

The firmware A2 (C08500-002) together with t he L180GUI version 2.0 provides a properly operating built-in function generator for the opt imization procedure.

The function generator should produce a single-shot square wave step whose duration is greater than the system acceleration time to the application speed but within the mechanical constraints of the application itself. The amplitude of the speed step can be adjusted by the scaling factor in the adjust speed loop par ameter s screen. If the curr ent is in saturation during the acceleration period the speed amplitude should be reduced.

7. Enable.

Enable the drive and switch the function generator on. The motor will run accor ding to the analog input.

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8. Optimize the Speed Loop Proportional Gain (P20).

A typical start value is 500. A step response looks as follows:

current speed

maximum

motor

current

time time

Figure 61: Speed Step, proportional gain

9. Optimize the Speed Loop Integral Gain (P21).

A typical start value is 10. A step response looks as follows:

speed

time

Figure 62: Speed Step, integral gain

10. The speed loop differential gain (P22) remains at zero (0) in most applications.

11. Disable Drive.

12. Save all parameters into the drive, using the SAVE button.

13. To save this new application specific file to disk use the UPLOAD button (see section 5.4.8). Make sure to use a new file name to avoid confusion with the standard parameter files.

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5.4.6.4 CURRENT LOOP TUNING

There should be no need to adjust the current tuning parameters given the appropriate f ile for the motor/drive combination has been selected.

WARNING

Improper current loop adjustment can cause motor instability. The servo motor will act in an uncontrolled manner and mechanical damage can occur. The current loop parameters are preconfigured and only influenced by the electrical model of the motor. If you feel the necessity to change the current loop parameters please get in contact with your local application engineer.

The CURRENT TUNING button in the parameter setting window calls up the ADJUST CURRENT LOOP PARAMETERS dialog box.

Figure 63: Adjust Current Loop Parameters

Table 36: Current Loop Configuration

Address Save R / W Unit Range Description

6 ENTER r,w V/A 1...1000 Current loop proportional gain 7 ENTER r,w V/As 0...100 Current loop integral gain 8 ENTER r,w Vs/A 0...32767 Current loop differential gain 3 SAVE r,w Arms 0...32767 Maximum motor current

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PID Current Contro ll er

Current Command [Apeak]

Figure 64: Current Loop Regulator

Real Current [Apeak]

() ()()

()

:ni

()

∆ Sampling time

Current Loop Proportional Gain

present sample

:1−ni

sample one sampling period before

The proportional gain is without any unit and represents the internal number in decimal format. The actual P-gain can be calculated with the following expression:

KTiiKniKU

+∆⋅⋅+⋅=

=10

EiEpCM

() ( ){}

∆

PWM

Value

nini

−−

Current

max,

K /

P Current Loop Proportional Gain

Current Loop Integral Gain

The integral gain is without any unit and represents the int ernal number in decimal format. The actual I-gain can be calculated with the following expression:

7500

I Cur rent Loop Integral Gain

Current

The actual Integral time can be calculated with the following expression:

T =

Thus the I-gain adjustment is inversely proportional to the integral time, an increasing I-gain means a decreasing Integral time.

[]

drive

max,

⋅

drive

peak

Current

[]

peak

sAV

PAGE 82 of 104 Rev. c 05/01

5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

Current Loop Differential Gain

The differential gain is without any unit and represents t he internal number in decimal format. The default value is zero (0). The actual D-gain can be calculated with the following expression:

−

max,

⋅⋅

drive

Current

[]

AVs

peak

K /

10133

Current

D Current Loop Differential Gain

Maximum Motor Current

This parameter defines the maximum current to the servomotor, and is supplied with each motor parameter file. The default value is the maximum motor current value on the servomotor nameplate or the maximum current the L180 can deliver. If motor torque should be reduced in general, this parameter should be decreased. In general no adjustments are necessar y.

5.4.6.5 MOTOR PARAMETERS

There should be no need to adjust the motor parameters given the appropriate file for the motor/drive combination has been selected.

WARNING

Improper motor parameter adjustment can cause motor instability or damage. The servo motor will act in an uncontrolled manner and mechanical damage can occur. The parameters are preconf igured and only influenced by the electrical model of the motor. If you feel the necessity to change these parameters please get in contact with your local application engineer.

The MOTOR button in the parameter setting window calls up the MOTOR PARAMETERS dialog box.

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L180 User's Manual 5 L180 GRAPHICAL USER INTERFACE

Figure 65: Motor Parameters

Table 37: Motor Configuration

Address Save R / W Unit Range Descr ipt i on

0 ENTER r,w - 1...6

4 ENTER r,w Arms 0...16383 Nominal motor current is the continuous stall current of the motor

Pair of motor pole s, MOOG motors are 8 and 12 pole motors, thus

4 and 6

ole pairs.

3 ENTER r,w Arms 0...32767 Maximum motor current 23 Save r,w rpm/10V -12973...12973 Velocity scaling of the analog input for 10V 5 Sa ve r,w ms 0...10000 Time of I²t motor protection 2 Save r,w - 0,1 Motor thermostat n.o or n.c

Pair of Motor Poles

This parameter defines the number of motor pole pairs, and is supplied with each motor parameter file. No adjustments are necessary.

Nominal Motor Current

This parameter defines the nominal current to the servomotor, and is supplied with each motor parameter file. The default value is the nominal motor current value on the servomotor nameplate or the nominal current the L180 can deliver. This parameter influences the I²t protection of the motor. No adjustments are necessary.

Maximum Motor Current

This parameter defines the maximum current to the servomotor, and is supplied with each Motor parameter file. The default value is the maximum motor current value on the servomotor nameplate or the maximum current the L180 can deliver. If motor torque should be reduced in general, this parameter should be decreased. Typically no adjustments are necessary.

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5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

Maximum Speed (for 10V input)

J3:2 ANALOG IN –

This parameter sets the analog input scaling of the drive. The default value is the theoretical maximum speed of the motor when being driven by the

J3:3 ANALOG IN +

L180. The parameter can be set to any lower value. The over speed alarm is activated when the instantaneous motor speed value is 20% above the maximum speed value.

I²t Motor

This parameter defines the calculation time of the I²t protection, and is supplied with each motor parameter file. The parameter is set to values which avoid damage to the servomotor or servo drive. The I²t threshold is calculated by the nominal motor current. The calculation time influences the calculation of the instantaneous I²t value. The instantaneous I²t value will be set to zero only by the software r eset of the drive. Hardware enable will not set the instantaneous I²t value to zero. When the I²t limit is achieved and the I²t alarm is not latched the drive will display warning 2 and the motor current is limited to the nominal motor current. This is the default setting. When the I²t threshold is achieved and the I²t alarm is latched the drive will be disabled and the alarm 2 is displayed. In general no adjustments are necessary.

Motor Thermostat n/o or n/c

This parameter defines the type of thermal switch included in the servomotor, and is supplied with each Motor parameter file. A normally open contact can be set with zero (0) and a normally closed contact can be set with one (1). The default value is zero (0).The motor is supplied with a thermistor of type NTC 220 kΩ=at 25 degrees C. The drive identifies only if the resistor value is above or below 4.2 kΩ. No adjustments are necessary.

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L180 User's Manual 5 L180 GRAPHICAL USER INTERFACE

5.4.7 AUTOMATIC COMMAND MODE (FUNCTION GENERATOR)

The firmware A2 together with L180GUI version 2. 0 provides a built-in function generator for drive commissioning and system tuning. If COMMAND M ODE is chosen in the UTILITY menu a warning window appears. If YES is chosen the drive is prepared for the AUTOMATIC COMMAND MODE, if NO is chosen the drive operates accor ding to t he analog input .

Figure 66: Warning during automatic command mode start-up

The window in Figure 67 appears if the choice is made on the warning window, doesn’t matter what was chosen.

Setting of the speed or current amplitude and

timing conditions

Choice of different

operation modes,

single-shot,

pulse train in one

direction,

pulse train which

alternates dir ec t io n

If the drive is enabled the motor runs according to the

automatic command settings, if the drive is disabled the

function generator is initialized and the motor runs according

to the settings with the ne xt enable transition.

Choice of the ramp

feature, enter an

appropriate acceleration

Figure 67: Automatic command mode

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5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

If the automatic command mode is quit and the drive was in analog mode previously the window in Figure 68 prompts to reset the drive in analog m ode.

Figure 68: Warning after quit of the automatic command mode

WARNING

If the drive is reset in analog mode and an analog com mand is applied, the warning in Figure 69 appears. The window appears if the analog command is higher than ± 80 mV.

Figure 69: Warning analog command applied

If yes is chosen the motor accelerates and runs according to the analog command.

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L180 User's Manual 5 L180 GRAPHICAL USER INTERFACE

5.4.8 UPLOAD OF PARAMETER FILES

The parameter file can be saved to disk with the UPLOAD button or the menu item in the FILE menu. Create an appropriate file and folder if necessar y.

Figure 70: Parameter Upload

WARNING

MOOG standard parameter files are read only files and should not be overwritten. It is recommended to save your modified parameter set into a file that has an application specific name.

Figure 71: Notes of parameter files

Enter your notes to the parameter file. Including the electrical model of the motor is recommended.

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5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

5.4.9 SCOPE

The scope measures 80 values per channel for its display and will only update after a complete measurement. Be cautious of unrealistic scaling on measurement channels as this may lead to erroneous scope traces. A large time s c ale w ill c aus e a gr eat er delay in t he s cope update.

The scope is a convenient tool and operates like a common two channel oscilloscope with similar features. These features include trigger level and position sett ing, time scaling, channel selection and vertical scaling with additional measurement by setting cursor location. Operat ion is possible in single shot or continuous run mode. The sampled traces can be stored and recalled for comparison of different control loop adjustments. The print feature is a useful tool for permanent documentation of drive performance.

Select the requ ired

parameter for each

channel and set the

vertical scaling

Figure 72: Scope

Set the trigger level and position by the

pointer

Double Click at Zero, segregates the traces

Cursor location is the green bar which can be

located at any point on the trace. Click on

the MEASURES button below to view values

at cursor position.

Plot feature of the scope

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L180 User's Manual 5 L180 GRAPHICAL USER INTERFACE

5.4.10 FIRMWARE UPGRADE

WARNING

A Firmware Upgrade is only necessary on demand.

If necessary, a firmware upgrade can be perfor med either by clicking on the t oolbar button or by selecting the menu item UPGRADE O F PROGRAMS in the UTILITIES menu. The procedure is described in the Figure 73 below. A firmwar e upgrade will not change parameter settings, but could change their meanings due to the introduction of new functionality.

1. Search for th e appropriate drive and/or directory which

contains the latest firmware. The

selected HEX file will be displayed

to the left.

3. If you feel that the

firmware transfer failed

or want to compare the

drive firmware with the

selected firmware, click

this button. This is a very

stable procedure and

upgrade failure is

uncommon.

2. Start transfer of the

choosen file, and wait till

the transfer is finished.

Transfer status and finish

indication will be

displayed.

4. Exit the monitor program and start the normal operation.

Figure 73: Firmware Upgrade

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5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

5.4.11 EDIT PARAMETER FILE

The parameter file edit feature is accessible in the FILE menu.

WARNING

Use the edit feature only for entry of additional notes or information. The parameter values represent the internal values of t he ser vo dr ive without any unit. Arbitrary adjustments may lead to an uncontrolled servomotor with the potential of mechanical damage and personal injury.

Declaration of the parameter address

Entire list of

parameters

without any unit,

represent the

internal values in

decimal format

Semicolon indicates Notes and information not transferred to servo drive

Figure 74: Parameter File Editor

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L180 User's Manual 5 L180 GRAPHICAL USER INTERFACE

5.4.12 PRIVILEGED ACCESS

For drives with firmware A1 (C08500-001) the PRIVILEGED PARAMETERS list and the AUTOMATIC COMMAND MODE (Function Generator) are only accessible with a password

and intended to be used by application engineers only. The L180GUI version 2.0 when used together with firmware A2 (C08500-002) the AUTOMATIC COMMAND MODE is accessible and the PRIVILEGED PARAMETERS remain password protected.

5.4.13 SOFTWARE DRIVE RESET

The drive can be reset by the RESET button or the menu it em RESET DRIVE in the UTILITIES menu. The shortcut for this function is SHIFT+F7.

5.4.14 SOFTWARE PREFERENCES

The SOFTWARE PREFERENCES dialog box is accessible with its menu item on the CONFIGURATION menu. The limited parameter set uploads only parameters which are motor

specific. The full list uploads all read/write parameters and important drive informations.

Choice of limited or full parameter set

upload, the full list includes all read/write

parameter’s (parameter 0-63) and additional

information about the drive configuration

(parameter 72-73, 86,87,90-95). The limited

list includes only motor and tuning specific

parameter’s (parameter 0, 2-11, 13, 17-24,

26-30, 32-34, 50)

Default adjustments for scope, parameter list

affects the possible channel selection which

can be monitored on the scope

Figure 75: Preferences

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5 L180 GRAPHICAL USER INTERFACE L180 User's Manual

5.4.15 DRIVE AND MOTOR INDICATIONS

The MOTOR STATUS indication is accessible as a menu item of t he VIEW menu. Servo Drive ALARM and STATUS indication is accessible using the toolbar button or with the menu item

on the VIEW menu. A green zero indicates regular oper ation or digital input not activated. One click activates the alarm window, two clicks activates the status window.

Figure 76: Drive GUI Indications

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L180 User's Manual 5 L180 GRAPHICAL USER INTERFACE

PAGE 94 of 104 Rev. c 05/01

6 SYSTEM DESCRIPTION L180 User's Manual

6 SYSTEM DESCRIPTION

6.1 SERVO STOP

WARNING

The L180 drive does not provide an emergency stop feature. This case must be controlled by higher host computer or PLC. Disabling or disconnecting the drive from the mains causes a free wheeling motor.

If the motor has to be servo-stopped, use the end switches to accomplish this task. This principle is illustrated in Figure 77, below .

6 19

20 21

9 22

11 24

25 13

DSUB25 FEMALE

END-SW1 END-SW2

GND

servo stop

end switch 2

end switch 1

DSUB25 FEMALE

6 19

20 21

9 22

11 24

25 13

END-SW1 END-SW2

GND

servo stop

end switch 2

end switch 1

Figure 77: End switch Configuration for servo stop, connector J3

In case of a servo stop the internal command is set to zero or ramped down to zero as programmed.

WARNING

The command slope also affects the functionality of the servo stop. If a ramp is programmed, the speed or current will ramp down when a servo stop is activated. This functionality must be reviewed with your applicat ion.

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L180 User's Manual 6 SYSTEM DESCRIPTION

6.2 DISPLAY INDICATION

6.2.1 REGULAR INDICATION

The display shows the status of the drive and of the motor in regular oper at ion.

Drive is ready, drive disabled Drive is ready, drive disabled,

motor/resolver in zero position

Drive enabled Drive enabled, motor/resolver in zero

position

The decimal point is « ON » when the motor turns clockwise, rotation viewed facing the shaft

Figure 78: Definition of sense of rotation, viewed from the shaft

If the decimal point is on during counterclockwise rotation, check the resolver wiring (see section 4.2.2).

The decimal point is « OFF » when the motor turns counterclockwise, rotation viewed facing the shaft

6.2.2 WARNING INDICATION

Over current, appears within 1 sec when 120% of maximum drive current is reached (improper tuning parameters).

If a warning occurs the drive will keep operating and t he m onit or ing r elay will remain closed.

PAGE 96 of 104 Rev. c 05/01

If I2t is not latched the Warning occurs and reduces the current to the continuous motor current, till the instantaneous I²t value is below the limit.

6 SYSTEM DESCRIPTION L180 User's Manual

6.2.3 ALARM INDICATION

If two or more alarms occ ur at the same time, only t he alarm with the highest priority will be shown on the seven segment display. The alarm Indication in decreasing order is as follows, H, F, E, d, C, b, 9, 7, 6, 5, 4, 3, 2. If one of the following failures occur during operation, the L180 drive will be disabled and the motor will c oas t t o a s top.

I²t

I²t limit achieved, if this failure is latched.

Motor temperature

Motor temperature is over 155°C, NTC resistor value is below 4.2 kΩ.

Internal Overtemperature

The internal heatsink temperature is above 80°C.

Resolver fault

Resolver signals lost, due to broken wire or disconnection.

Power module fault

The power module fault occurs in any case of short circuit.

Over-, Undervoltage

The DC-BUS voltage is above or below the limits.

Over speed

When 120% of maximum programmed motor speed is achieved. This failure is latched.

Motor connection

Motor wiring is broken or disconnected.

Overvoltage

The DC-BUS voltage is above the limits. The alarm occurs when over-, undervoltage alarm is unlatched.

Parameter

Insufficient Parameters, wrong checksum of stored parameter.

Firmware

Firmware is incomplete, only after an update of the firmware.

Hardware (blinking)

Firmware is incompatible with the hardware.

Watchdog

Serial communication is out of time. Occurs only if watchdog time is adjusted different than 0.

6.2.4 ALARM HANDLING

If an alarm is unlatched and the failure occ urs the monitoring relay will open.

WARNING

The drive will return to operation immediately upon removal the failure without resetting the drive. Special care must be taken in this situation.

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L180 User's Manual 6 SYSTEM DESCRIPTION

In speed mode the drive performs a servo stop if I²t, motor overtemperature, internal overtemperature, or watchdog alarm occur. In all other cases the drive perf orm a coast stop. In speed mode the internal command is set to zero and if speed is below 20 rpm the drive is disabled.

In current mode the drive is disabled and the motor performs a coast stop in all cases.

6.2.5 MONITORING RELAY – ENABLE TIMING

The following plots show some detailed information about the timing of the monitoring relay and the operation of the power module. The status of t he relay is valid 2.5 s after pow er up of the servo drive.

The drive when used together with the A1 (C08500-001) firmw are behaves like the following Figure 79 - Figure 80.

Channel 1: drive enable on pin J3:12 – 13, Channel 1: drive enable on pin J3:12 – 13

Channel 2: motor phase current Channel 2: monitoring relay

Figure 79: A1 firmware operation power module Figure 80: A1 firmware Monitoring relay

high(5VDC) = disable, low (0VDC) = enable high(5VDC) = disable, low (0VDC) = enable

In Figure 79 the drive is ready to be enabled and no fault has occurred the power module is set into operation within 300µs. The time is constant and no time jitter m ust be expect ed.

In Figure 80 a fault has occurred and shows the time requir ed to reset the dr ive and close the monitoring relay. The time is constant 1.5 s and no time jitter must be expected.

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6 SYSTEM DESCRIPTION L180 User's Manual

The drive when used together with the A2 (C08500-002) firmw are behaves like the following Figure 81 – Figure 82.

Channel 1: drive enable on pin J3:12 – 13, Channel 1: motor phase current

Channel 2: monitoring relay Channel 2: monitoring relay

high(5VDC) = disable, low (0VDC) = enable

Figure 81: A2 firmware Monitoring relay Figure 82: A2 firmware operation power module

In Figure 81 a fault has occurred and shows the time (500µs to 3ms) required to reset the drive and close the monitoring relay. The timing is not constant and a time jitter must be expected from 500µs to 3ms.

In Figure 82 a fault has occurred and shows the time required to set the power module in operation after closing the monitoring relay. The time is constant 2.5 ms and no time jitter must be expected.

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L180 User's Manual 6 SYSTEM DESCRIPTION

6.3 TROUBLE SHOOTING GUIDE

Indication Check, Correcti on

I2t alarm

• I²t time is insufficient or motor is overloaded.

• Resolver wiring is incorrect.

• Motor wiring U(A), V(B), W(C) on term inal TB1 is in incorr e ct or der .

• Motor brake is not released.

Motor temperature alarm

• Motor is overloaded.

• Short circuit on motor temperature sensor or wiring.

• Wrong adjustment of the motor thermostat parameter.

Internal Overtemperature

• Drive is overloaded.

• Drive cooling deficient.

• Continuous regeneration power is to high.

Resolver fault.

• Resolver wiring or connection failure.

• Resolver failure.

Power module fault

• Short circuit between motor phases.

Over-, Undervoltage

• Main supply input voltage L1, L2 and L3 is to low.

• Maximum regeneration power is to high.

Watchdog

• Serial communication is out of time.

• Serial communication is broken.

Over current fault

• Current regulation parameters are deficient.

• Main supply input voltage L1, L2 and L3 is to low.

PAGE 100 of 104 Rev. c 05/01

Moog L180 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Regeneration power Unit for all L180 drives

The ADJUST OPTIONS dialog box is only available by clicking on the ADJUST OPTIONS button in the PARAMETERS SETTING window.

The MOTOR button in the parameter setting window calls up the MOTOR PARAMETERS dialog box.

The SOFTWARE PREFERENCES dialog box is accessible with its menu item on the CONFIGURATION menu. The limited parameter set uploads only parameters which are motor

servo stop