Moog L180 User Manual
MOOG
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
th
April. 00 Joachim Heinrich First Release All
th
May 01 Joachim Heinrich Third Release, i nc l udi ng L180GUI 2.0 and firmware A2 All
Copyright Information
=Copyright 2001 MOOG - All rights reserved
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
1995
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
p
g
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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
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
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
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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,
no
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
I =
rms
peak
VU 230=
2
rmsrms
1.3.5.2 POWER DISSIPATION
The power dissipation can be computed with the following formula:
[[[[]
]
]]
P
: 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
t
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 ) !
)
3
9
.
9
(
2
.
2
5
2
Figure 2: Dimensions front and side
200 (7.88)
38.25 (1.51)
13.25 (0. 52 2)
MOOG
76.5 (3.01)
)
6
.
1
1
(
5
9
2
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)
)
4
)
0
4
.
9
1
.
1
9
(
(
5
5
.
.
0
2
8
5
2
2
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
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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
Di
Status Rela
J4 ESM OUT
Differential encoder
output signals from
RS422 line driver, A, ,
seven segment displa
for status information
Contact
B, , Z,
BZ
STATUS
A
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
x
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
MOOG
MOOGMOOG
DC Bus Udc[Vdc]
230
Con. CurrentIN[A
50/60
Max. CurrentI
3~/1~
Power PN[kW]
IP 20
Servo drive
ma
~]
rms
[A
~]
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)
n
N
: maximum speed
n
max
: nom inal pow er (maximum continuous power)
P
N
: continuous stall torque
M
0
: continuous stall current
I
0
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
0
0
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
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
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
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