Moog MSD C2, MSD C3, MSD C5, MSD C4 Operation Manual
MSD Servo Drive
Operation Manual
moog
Single-Axis Servo Drive Compact
C2 to C5
2.0 A to 16.0 A
moog
C2 C3 C4 C5
ID no.:CA97555-001 Date:04/2018
MSDSingle-Axis Servo Drive Compact Operation Manual
2
MSDSingle-Axis Servo Drive Compact high-performance drives
The modularity of the MSD Single-Axis Servo Drive Compact guarantees you optimum
integration into the machine process. Whether in high-speed eld bus communication
with the central multi-axis machine controller or with distributed programmable Motion
Control intelligence in the servo drive, the MSD Single-Axis Servo Drive Compact is a
master o
f both.
MSDSingle-Axis Servo Drive Compact Operation Manual
ID no.: CA97555-001, Rev. 5.3
Date: 04/2018
Applicable as from firmware version:V1.25-01
The German version is the original of this Operation Manual.
We reserve the right to make technical changes.
This Operation Manual has been prepared based on DIN EN 82079-1. The content
was compiled with the greatest care and attention, and based on the latest information
available to us.
We should nevertheless point out that this document cannot always be updated in line
with ongoing technical developments in our products.
Information and specications may be subject to change at any time. For information on
the latest version please visit drives-support@moog.com
Table of contents
1 General .................................................................................... 5
1.1 Target group ............................................................................................................. 5
1.2 Prerequisites ............................................................................................................. 5
1.3 Reference documents .............................................................................................. 5
1.4 Order code ............................................................................................................... 6
1.5 Production data ........................................................................................................ 6
1.6 Scope of supply........................................................................................................ 6
1.7 Pictograms ............................................................................................................... 7
1.8 Disclaimer ................................................................................................................. 7
1.9 Disposal ................................................................................................................... 7
1.10 Helpline/Support & Ser vice Center ........................................................................... 7
2 Safety ...................................................................................... 9
2.1 O ve r v ie w .................................................................................................................. 9
2.2 For your safety .......................................................................................................... 9
2.3 General safety instructions and warnings ................................................................10
2.4 Intended use ............................................................................................................ 10
2.4.1 Repair ............................................................................................................ 11
2.5 Usage contrar y to intended use...............................................................................11
2.6 Responsibility ..........................................................................................................11
2.7 Relevant laws, standards and directives applied ..................................................... 11
2.8 Declaration of conformity .........................................................................................12
3 Mechanical installation ........................................................... 13
3.1 Notes for operation ..................................................................................................13
3.2 Wall mounting ..........................................................................................................13
3.2.1 Dimensions of the devices .............................................................................14
3.2.2 Mounting clearances .....................................................................................15
4 Electrical installation ............................................................... 17
4.1 Notes for installation ................................................................................................17
4.2 Layout .....................................................................................................................18
4.3 Connection diagram C2 to C4 .................................................................................20
4.4 Connection diagram C5 ..........................................................................................21
4.5 Effective EMC installation ....................................................................................... 22
4.5.1 Interference immunity of Servo Drives .......................................................... 22
4.5.2 Specimen setup ........................................................................................... 22
4.6 Protective earth conductor connection....................................................................25
4.7 Electrical isolation concept ......................................................................................26
4.8 Connection of the supply voltages ..........................................................................27
4.8.1 Connection of control supply (+24VDC) .......................................................27
4.8.2 Connection of mains supply .........................................................................28
4.8.3 Connected load and mains fuse ................................................................... 29
4.9 Control connections ................................................................................................31
4.9.1 Specication of control connections .............................................................31
4.9.2 Connection of motor brake X13 .................................................................... 32
4.10 Specication, Ethernet interface ............................................................................. 33
4.11 Opt i o n 1 .................................................................................................................. 33
4.12 Option 2 .................................................................................................................. 33
4.13 Encoder connection ............................................................................................... 34
4.13.1 Ready made encoder cables ....................................................................... 34
4.13.2 Resolver connection X6 ................................................................................ 35
4.13.3 Connection for high-resolution encoder ....................................................... 36
4.14 Motor connection ....................................................................................................37
4.14.1 Motor temperature sensor .............................................................................37
4.14.2 Connection of the servo motors ................................................................... 38
4.14.3 Switching in the motor cable ........................................................................ 40
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4.15 Brake chopper connection ..................................................................................... 40
4.15.1 Protection in case of brake chopper fault ..................................................... 40
4.15.2 Design with integrated braking resistor (C3+4+5) ......................................... 40
4.15.3 Connection of an external braking resistor ....................................................42
5 Commissioning ...................................................................... 45
5.1 Notes for operation ................................................................................................. 45
5.2 Initial commissioning .............................................................................................. 45
5.2.1 Switching on control supply ......................................................................... 46
5.2.2 Establishing connection between PC and servo drive .................................... 46
5.2.3 Setting parameters ....................................................................................... 46
5.2.4 Controlling drive using Moog Dri veAD ministr Ator5 ....................................... 46
5.3 Serial commissioning .............................................................................................. 48
5.4 Integrated control unit ............................................................................................. 48
5.4.1 Function of buttons T1 and T2...................................................................... 49
5.4.2 Display .......................................................................................................... 50
5.4.3 Parameter menu (PA).................................................................................... 50
5.4.4 Error numbers .............................................................................................. 50
5.4.5 Ethernet IP address menu (IP) .......................................................................51
5.4.6 Field bus address menu (Fb) .........................................................................52
A Appendix ............................................................................... 59
A.1 Servo drive current loads ........................................................................................ 59
A.2 Technical data MSD Single-Axis Servo Drive Compact .......................................... 62
A.3 Ambient conditions ................................................................................................. 64
A.4 UL certication ....................................................................................................... 65
Glossary ........................................................................................ 67
6 Diagnostics ............................................................................ 55
6.1 Device states .......................................................................................................... 55
6.2 Error indication ....................................................................................................... 55
6.3 Error codes ............................................................................................................. 55
6.4 Helpline/Suppor t&Service .................................................................................... 56
7 Safe Torque Off (STO) ............................................................ 57
MSDSingle-Axis Servo Drive Compact Operation Manual
moog
1 General
1.3 Reference documents
The product CD from Moog contains the complete documentation for the related
product series. The documentation for a product series includes the Operation Manual
(hardware description), Device Help (software description) as well as further User
Manuals (e.g. field bus description) and Specifications. They are available in the formats
PDF, HTML or chm.
1.1 Target group
Dear user,
the documentation forms part of the device and contains important information on
operation and service. It is aimed at all persons who undertake mounting, installation,
commissioning and servicing work on the product.
1.2 Prerequisites
Prerequisites for the usage of devices from Moog:
y The documentation on the devices is to be stored so it legible, accessible at all times and for the
entire life of the product.
y Read and ensure you under Date the documentation on your device.
y Qualication: to prevent injury or damage, personnel may only work on the device if they have
electrical engineering qualications.
y Knowledge required:
− National health and safety regulations (e.g. VBG 4 in Germany)
− Mounting, installation, commissioning and operation of the device
Work in other areas, for example transport, storage and disposal is only allowed to be
undertaken by trained personnel.
NOTE
This Operation Manual applies to the MSD Single-Axis Servo Drive Compact
(referred to in the following as the servo drive). This manual does not replace the
Operation Manuals for the MSD Single- and Multi-Axis Servo Drive.
Document Contents
MSD Servo Drive
Single-Axis Servo Drive
Compact - Operation Manual
MSD Servo Drive
AC-AC Servo Drive
Single-Axis System Operation Manual
MSD Servo Drive
DC-AC Servo Drive
Multi-Axis SystemOperation Manual
MSD Power Supply Unit
Multi-Axis SystemOperation Manual
MSD Servo Drive
SERCOS II User Manual
MSD Servo Drive
SERCOS III User Manual
MSD Servo Drive Field bus
systems CANopen/EtherCAT User Manual
MSD Servo Drive
Field bus systems
Profibus/Profine
User Manual
Modular Multi-Axis Servo
Drive System - MSD Ordering Catalog
MSD Servo Drive - Device
Help
Program help
D
riveADminsitrAtor 5
Moog
PC user software
Safety, mechanical installation, electrical installation,
commissioning, diagnostics, specifications certification and
applicable standards, technical data
Safety, mechanical installation, electrical installation,
commissioning, diagnostics, specifications certification and
applicable standards, technical data
Safety, mechanical installation, electrical installation, commissioning,
diagnostics, STO, operation with AC-AC Servo Drive as supply,
planning, application example, specifications certification and
applicable standards, technical data
Safety, mechanical installation, electrical installation, commissioning,
diagnostics, specification certification and applicable standards
technical data
Safety, commissioning, communication phases, parameter interface,
error, warning and status messages, operation modes, weighting,
referencing, touchprobe, parameter lists
Safety, installation and connection, commissioning and configuration
parameterisation, data transmission, scaling and weighting,
functionality, error message and diagnostics, parameter lists
Safety, commissioning, data transmission, operation modes,
referencing, parameters, technical data
Description and configuration of the parameters for the MSD Se vo
Drive on the PROFIBUS/PROFINET field bus syste
Information, notes on ordering, specifications and
technical data on:
MSD Single-Axis Servo Drive Compact, MSD Single-Axis System,
MSD Multi-Axis System, safety technology, communication,
technology, function packages, accessories and motors
Description of the software functionality MSD Servo Drive,
firmware versions
- MSD Single-Axis Servo Drive Compact from V1.30-xx
- MSD Single-Axis System from V3.25-xx
- MSD Multi-Axis System from V3.25-xx
Context-sensitive help for Moog DriveADministrAtor version 5.x
graphic PC user software for initial commissioning and serial
commissioning, operation, diagnostics and project management
ID no.
Format
CA97555-001
PDF
CA65642-001
PDF
CA97554-001
PDF
CA97556-001
PDF
CA65648-001
PDF
CA97557-001
PDF
CA65647-001
CA65645-001
PDF
CDL 29950-en
PDF
CB40859-001
PDF and
HTML
CB19692-001
ID no.:CA97555-001 Date:04/2018
5
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1.4 Order code
The MSD Single-Axis Servo Drive Compact has the article designation
G394-xxx-xxx-xxx. The provides information on the related variant of the supplied
MSD Servo Drive. The signicance of the individual characters of the article designation
is given in the following order code.
You will nd the complete order code with all values in the MSD Ordering Catalog.
G394 -
Rated current
Option 1 (Communication)
Option 2 (Technology)
Option 3 (Safety)
Option 4 (Function package)
Modificatio
Variants
- -
1.5 Production data
On rating plates for the MSD Single-Axis Servo Drive Compact you will nd the serial
number, from which you can identify the date of manufacture based on the following
key. For the location of the rating plate on the servo drive refer to "Figure 4.1 Layout
MSD Single-Axis Servo Drive Compact C2 to C4" and "Figure 4.2 Layout MSD SingleAxis Servo Drive Compact C5".
MOOG
D-71034 Böblingen
www .moog.com/industrial
Made in Germany
Model:: G394-030-210-001
S/N:D116605 Rev. A
In: 230 V AC 3ph, 50/60 Hz
4,0 A
0-230 V AC 3ph, 0-400 Hz
Out:
3,0 A
Year of production
Week of production
ID : JJWWxxxxx
Fig. 1.1 MSD Single-Axis Servo Drive Compact hardware rating plate
1.6 Scope of supply
The scope of supply includes:
y MSD Single-Axis Servo Drive Compact
y Terminal kit for control and power terminals
(depending on device power and variant)
Set with shield connecting plates and xing material
y
Product CD with booklet
y
MSDSingle-Axis Servo Drive Compact Operation Manual
moog
1.7 Pictograms
1.10 Helpline/Support & Service Center
The pictograms used in this Operation Manual signify the following for the user:
NOTE
Useful information or reference to other documents.
1.
(digit)
You will nd the pictogram used in this Operation Manual for "General safety instructions and warnings" in chapter "2 Safety".
ACTION TO BE TAKEN
Processing step undertaken by the user or the system.
1.8 Disclaimer
Following the documentation on the devices from Moog GmbH is a prerequisite:
y For safe operation.
y To achieve stated performance features and product characteristics.
Moog GmbH does not accept any liability for injuries, damage or nancial losses that
result from the failure to follow the documentation.
1.9 Disposal
Follow the applicable national regulations! If necessary, dispose of individual parts,
depending on their characteristics and existing national regulations, e.g. as:
y Electrical waste
y Plastic
y Metal
Or engage a certied disposal organisation with scrapping
Our Helpline will help you with fast, specic assistance if you have any technical queries
relating to project planning or commissioning your device.
Address: Moog GmbH
Hanns-Klemm Straße 28
D-71034 Böblingen
The Helpline is available by e-mail, telephone or telefax:
E-Mail: drives-support@moog.com
Phone: +49 7031 622 0
Telefax: +49 7031 622 100
If you need further assistance, our specialists at the Service & Support Center will be
happy to help.
E-Mail: info.germany@moog.com
Phone: +49 7031 622 0
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2 Safety
2.1 Overview
Our devices are state-of-the-art and comply with recognised safety regulations,
nevertheless hazards can arise. In this chapter:
y We provide information on residual risks and hazards that can emanate from
our devices on usage as intended.
y We warn about the foreseeable misuse of our devices.
y We refer to the necessary care and measures to be taken to prevent risks.
2.2 For your safety
NOTE
Only install and place in operation your device taking into account the
documentation for the related device family!
Our devices are quick and safe to operate. For your own safety and for the safe
functioning of your device, please be sure to observe the following points:
3.
4.
5.
Protection against magnetic and/or electromagnetic fi lds during
installation and operation.
Persons t ted with heart pacemakers, metallic implants and hearing aids etc. must not be allowed
access to the following areas:
• Areas in the immediate vicinity of electrical equipment!
• Areas in which electronics components and Ser vo Drives are installed,
repaired and operated!
• Areas where motors are installed, repaired and operated!
Motors with permanent magnets pose particular hazards.
During installation observe the following:
• Comply with connection conditions and technical data as per the documentation and the
rating plate!
• Comply with standards and directives on electrical installation, such as cable cross-section,
shielding, etc.!
• Do not touch electronic components and contacts!
Electrostatic discharge can harm people and destroy components!
• Take protection measures and use protective devices as per the applicable regulations
(e.g. IEC/EN60204 or IEC/EN 61800-5-1)!
• Take "device earthing" protection measure!
Ambient conditions
Follow the instructions on the transport, storage and correct operation of the devices stated in
•
the Operation Manual in "A Appendix".
1.
2.
Follow safety instructions for the devices:
Follow all safety instructions and warnings in the entire documentation related to the device series.
Electric drives are dangerous:
• Due to electrical voltages up to 480V AC and up to 800 V DC
• Dangerously high voltages of ≥50V may still be present 10min. after the power is cut
(capacitor charge). So check that electrical power is not present! See also the warning label on
the front panel on the device.
• Rotating parts
• Automatically starting drives.
• Hot components and surfaces
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2.3 General safety instructions and warnings
Hazards may emanate from our devices. For this reason it is imperative you follow the
safety instructions and warnings in this document.
DANGER! Risk of injury due to electrical power!
• Carelessness will result in serious injuries or death.
Follow safety instructions and warnings in this document and on the device.
WARNING! Risk of injury due to electrical power!
• Carelessness may result in serious injuries or death.
Follow safety instructions and warnings in this document and on the device.
CAUTION! Risk of injury or damage to the device due to incorrect operation!
• Carelessness may result in minor injuries or
damage.
Follow safety instructions and warnings in this document and on the device.
WARNING! Risk of injury due to hot surfaces and components!
• Carelessness may result in serious burns.
Electronic components may become hot during operation!
Follow safety instructions and warnings in this document and on the device!
Caution! Damage due to electrostatic discharge!
• Electrostatic discharge can destroy components.
Do not touch electronic components and contacts!
Follow safety instructions and warnings in this document and on the device!
DANGER! Risk of injury due to rotating par ts on the motor!
• Carelessness will result in serious injuries or death.
Follow safety instructions and warnings in this document.
Pay attention to special safety instructions and warnings that are given here in the document
before a specic action and that warn the user about a specic hazard!
NOTE:
The pictograms may also be used on their own with the signal word, e.g.
in the connection diagrams, however they have the same function as in the
complete warning.
DANGER WARNING CAUTION
2.4 Intended use
Our devices are components intended for stationary electrical systems and machines in
the industrial and commercial sector.
The devices in the product range MSD Single-Axis Servo Drive Compact conform to the
Machinery Directive 2006/42/EC
Tested and certied in accordance with applicable standards (see declaration of conformity
in chap. 2.8).
When installed in machines it is prohibited to start-up intended operation until it has
been ascertained that the completed machine fully complies with the provisions of
the Machinery Directive (2006/42/EC); compliance with IEC/EN60204 is mandatory.
Starting up intended operation is only permitted on compliance with the EMC Directive
2014/30/EU.
The devices full the demands of the harmonised product standard IEC/EN61800-5-1.
You will find information on the installation of your device in chapter "3 Mechanical
installation".
2.4 .1 Repair
Only have repairs undertaken by authorised repair shops. Unauthorised opening and
incorrect intervention could lead to death, physical injury or material damage. The
warranty provided by Moog would thereby be rendered void.
2.5 Usage contrary to intended use
Our devices are:
y Not intended for installation in vehicles. Deployment of the device in non-
stationary equipment is classed as non-standard ambient conditions, and is
permissible only by special agreement.
y Not intended for installation in environments with harmful oils, acids, gases,
vapours, dusts, radiation etc.
y Not approved for usage in special applications (e.g. in potentially explosive
atmospheres or areas in which there is a risk of re).
y Not approved for usage outside a cabinet
y Not approved for the generation of high-frequency onboard
networks for which the device is not designed
2.6 Responsibility
Pay attention to the topic of “Electrical equipment of machines” in IEC/EN60204-1:
2006 “Safety of machinery”. The safety requirements on electrical machines dened
there are intended to protect personnel and machinery or systems.
The emergency stop function (as per IEC/EN 60204) shuts down the supply of power
to a machine, which results in the drives coasting down in an uncontrolled manner. To
avert hazards, check whether it is appropriate:
− To keep individual drives in operation
− To initiate specic safety procedures
− To incorporate a Safe Torque Off function (Safe Torque Off: movement stop
by "switching off the electrical supply" - STO)
2.7 Relevant laws, standards and directives applied
For information on the laws, Dateards and directives applied by Moog, refer to the
declaration of conformity.
NOTE:
Depending on the specic application for the devices, other laws, standards
and directives with provisions on "Safety" may apply. If necessary, contact
the machine or system manufacturer.
Electronic devices are fundamentally not fail-safe. The installer and/or operator of a
complete machine or system is responsible for ensuring:
y That the drive is rendered safe if the device fails
y The safety of personnel and machinery
y The complete machine is in correct working order
For the risk assessment on the complete machine or system according to
y
EN ISO 12100 (formerly EN ISO 14121) and EN ISO 13849-1
(formerly DIN EN 954-1)
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2.8 Declaration of conformity
MSDSingle-Axis Servo Drive Compact Operation Manual
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3 Mechanical installation
3.2 Wall mounting
Step Action Comment
3.1 Notes for operation
CAUTION Damage to the device due to incorrect installation conditions!
The device may be destroyed
For this reason
• Moisture must not be allowed to enter the device
• There must not be any aggressive or conductive substances in the ambient air
• Foreign bodies such as drilling chips, screws, washers etc. must not be allowed to enter
the device
• The ventilation openings must not covered
Note the following points:
y Cooling air must be able to ow through the device without restriction.
y For mounting in switch cabinets with convection (= heat loss is discharged to the outside via the
cabinet walls), always t an internal air circulation fan.
y The backing plate must be well-earthed.
y The device is designed only for vertical installation in switch cabinets. The switch cabinet must
as a minimum provide IP4x protection.
y To attain the best result for EMC-compatible installation you should use a chromated or
galvanized backing plate. If backing plates are varnished, remove the coating from the contact
area! The devices themselves have an aluminium back panel.
y Maximum pollution degree 2
NOTE
According to ENISO13849-2 the switch cabinet must have IP54 protection
or higher on using the STO (Safe Torque OFF) safety function.
Further information on environmental conditions can be found in the appendix.
Mark out the position of the tapped holes on the
backing plate.
1.
Cut a thread for each xing screw in the backing plate.
Mount the servo drive vertically on the backing
2.
3.
4.
Table 3.1 Mechanical installation
.
plate
Mount the other components, suchas the mains lter,
mains choke etc., on the backing plate.
Continue with the electrical installation in chapter 3.
NOTE
Forced cooling by external air ow is necessary
for all sizes of the MSD Single-Axis Servo
Drive Compact. The air must be able to ow
unhindered through the device. If a temperature
cut-out occurs, the cooling conditions must be
improved.
Air ow: minimum 1.2 m/s (3.93 ft/s)
Dimensional drawings/hole spacing see
Figure 3.1, Figure 3.2
The thread sur face area will provide you
with good, full-area contact.
Observe the mounting clearances! The
contact area must be bare metal.
The cable between mains lter and servo
drive may be 300mm (11.81in) long.
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A1
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3. 2.1 Dimensions of the devices
MSDSingle-Axis Servo Drive Compact Operation Manual
14
Size C2 C3 C4 C5
MSD Single-Axis Servo
Drive Compact
Weight 1.0 kg (2.2 lb) 1.5 kg (3.3 lb) 2.8 kg (6.2 lb) 5.9 kg (13 lb)
B (width) 55 ( 2.17 ) 90 (3.54)
1)
H (height)
1)
T (depth)
A 27.5 (1. 0 8) 20 (0.79)
A1 - - 40 (1.57) 50 (1. 97)
C 225 (8.86) 30 5 (12.01) 313 (12.32)
C1 5 (0.20) 6 (0. 24)
DØ 4. 8 (0.19)
H1 235 (9.25) 315 (12.40) 324 (12 .76)
Screws 2 x M4 4 x M4
All dimensions in mm (in)
1) without terminals/connections
Table 3.2 MSD Single-A xis Ser vo Drive Compact dimensions - see Figure 3.1 and Figure 3.2
G394-030
G394-020
210 (8.27) 29 0 (11.42 ) 29 1 (11.47)
142 (5.59) 18 9 ( 7. 4 4) 235.5 (9.27)
G394-059
G394-035
G394-080
G394-065
G394-120
G3 9 4 -16 0
C
H1
C
C2 + C3
C4
D
A
B
C1
A
B
Figure 3.1 Dimensional drawing C2, C3, C4
T
H
H1
C2 + C3 + C4
D
NOTE
A1A
C
D
T
If MSD Single-Axis Servo Drive Compact devices are attached to other
product ranges, corresponding measures must be taken to prevent the
devices affecting each other thermally.
Size C2 C3 C4 C5
H1
MSD Single-Axis Servo
Drive Compact
E Direct butt mounting
1)
F
1)
G
H
Drawing:
Dimensions in mm (in)
G394-030
G394-020
≥100 (3.94) ≥150 ( 5.9 0 )
≥235 (9.25) ≥2 8 0 (11. 0 2)
G394-059
G394-035
G394-080
G394-065
F
E
G394-120
G3 9 4 -16 0
G
C1
Figure 3.2 Dimensional drawing C5
B
H2
F
3.2.2 Mounting clearances
The minimum distances specied in the table apply for devices of the same power.
1) The bend radius of the c onnecti ng cables must be take n into acco unt
Table 3.3 MSD Single-A xis Servo Drive Compact mounting clearances
When butt mounting devices with different drive power you should arrange the devices
according to their power (e.g., viewed from the left, C5-C4-C3-C2). This arrangement
will minimise the thermal interaction.
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4 Electrical installation
4.1 Notes for installation
DANGER Risk of injury due to electrical power!
• Carelessness will result in serious injuries or death.
Never wire or disconnect electrical connections while these are live! Always disconnect the power
before working on the device. Dangerously high voltages of ≥50V may still be present 10min.
after the power is cut (capacitor charge). So check that electrical power is not present!
Work on the device must only be carried out after the DC link voltage has dropped below a
residual voltage of 50V (indicated by monitoring LED H1 and to be measured on terminals X1/Land L+).
A dangerous voltage may be present at the device, even if the device does not emit any visual
or audible signals/indications (e.g. with mains voltage applied to terminal X3 and missing control
supply +24 V on X2)!
The following general guidelines apply for the installation of Servo Drives:
y Compliance with the EMC product standard
− Commissioning (i.e. starting intended operation) is only permitted on compliance with the
EMC product standard IEC/EN61800-3. The installer/operator of a machine and/or system
must provide proof of compliance with the protection targets stipulated in the standard.
y Cable type
− Use only shielded mains, motor and signal lines with double copper braiding with 60 to 70%
coverage.
y Cable laying
− Route mains, motor and signal cables separated from one another. If possible, keep a
distance of at least 0.2 m (0.66 ft), otherwise use separators. They should not run in parallel.
If crossovers are unavoidable, they should wherever possible be configured perpendicular (at
a 90° angle).
− Always route the motor cable without interruptions and the shortest way out of the control
cabinet. When using a motor contactor for example, the component should be directly
mounted to the servo drive and the shielding of the motor cable should not be stripped back
too far.
− If possible signal lines should only enter from one side into the switch cabinet.
− Lines of the same electric circuit must be twisted.
− Avoid unnecessary cable lengths and loops.
Earthing measures
y
− Earthing measures of relevance for the servo drive are described in section “4.6 Protective
earth conductor connection”.
y Shielding measures
− Do not strip the cable shields back too far, and lay them with large area connections both on
the component and on the backing plate or on the PE rail (main earth) for the backing plate.
y External components
− Place larger loads near the supply.
− Contactors, relays, solenoid valves (switched inductances) must be wired with suppressors.
The wiring must be directly connected to the respective coil.
− Any switched inductance should be at least 0.2 m (0.66 ft) away from the process controlled
assemblies.
y Additional information can be found in the corresponding connection description.
If you require further detailed information on installation you should consult the Moog Helpline
(see “Commissioning” on page 45).
moog
ID no.:CA97555-001 Date:04/2018
MSDSingle-Axis Servo Drive Compact Operation Manual
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MSDSingle-Axis Servo Drive Compact Operation Manual
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4.2 Layout
The following shows the layout with the corresponding positions of plugs and terminals.
For better orientation we have identified the designations of plugs and terminals with an
abbreviation.
H1
X1
X8
X7
X6
D1, D2
T1, T2
X9
X2
X5
X13
X3
X4
TS-Software
Number Designation
D1, D2 7-segment display
H1 DC link voltage indicator LED (only size C2 to C4)
OP1 Installation space for option 1 (Communication)
T1, T2 Button
X1 Power connections (only size C2 to C4)
X2 Connection for control supply U
X3 AC power connection
PE (bottom) Device protective earth conductor connection
X4 Control terminals
X5 Motor temperature monitoring
X6 Resolver connection
X7 Connection for high-resolution encoder
X8 Option 2 (Technology)
X9 Ethernet interface
X13 Connection for motor brake
Table 4.1 Key to layout MSD Single-Axis Servo Drive Compact C2 to C4
V
PE
TS-Hardware
OP1
Figure 4.1 Layout MSD Single-Axis Servo Drive Compact C2 to C4
PE
X1.c
X1.b
X1.a
S
Number Designation
D1, D2 7-segment display
OP1 Installation space for option 1 (Communication)
T1, T2 Button
PE (top) Motor PE connection
X8
X7
X6
D1, D2
T1, T2
X9
X2
X5
X13
X3
X4
T. Software
T. Hardware
PE
OP1
X1.a Motor connection (only size C5)
X1.b Measurement of DC link voltage (only size C5)
X1.c Connection for braking resistor (only size C5)
X2 Connection for control supply U
V
X3 AC power connection
PE (bottom) Device protective earth conductor connection
X4 Control terminals
X5 Motor temperature monitoring
X6 Resolver connection
X7 Connection for high-resolution encoder
X8 Option 2 (Technology)
X9 Ethernet interface
X13 Connection for motor brake
S Receptacle for shield plate (see “Detail1: Motor cable C5” on page 23)
T. Software Software rating plate
T. Hardware Hardware rating plate
Table 4.2 Key to layout MSD Single-Axis Servo Drive Compact C5
Figure 4.2 Layout MSD Single-Axis Servo Drive Compact C5
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ID no.:CA97555-001 Date:04/2018
MSDSingle-Axis Servo Drive Compact Operation Manual
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moog
Top view
Bottom view
ID no.:CA97555-001 Date:04/2018
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4.3 Connection diagram C2 to C4
1)
Option 2
54321
15 14 13 12 11
10 9876
4321
9876
GND
OSD03
GND
U
V
W
Brake (+)
Brake (-)
Mains 3-phase
FN
DC-link
Braking
resistor
n
n
6
+24 V DC supply for
brake
+24 V DC supply for
control electronic (U
L-
L+
RB
1+
10
9
1-
5
1+
9
1-
+/1
-/2
4
V+
3
2
1
PE
L3
L2
L1
+
+
-
–
D1, D2
T1, T2
Service
interface
Control
Analog set point 1
Analog set point 2
+24 V DC against
E/A-GND
Diagnosis
Relay
Digital0
Digital1
Digital2
E/A-GND
Communication
field buses
STO
Ethernet
3
ISA00+
4
ISA00-
5
ISA01+
6
ISA01-
ISD00
15
ISD01
16
ISD02
17
ISD03
18
ISD04
19
ISD05
20
ISD0621
10
ENPO (STO)
22
ISDSH (STO)
12
RSH
11
23
Relay
24
OSD04
7
OSD00
8
OSD01
9
OSD02
1
DGND
2,14
+24 V (U
13
DGND
Option 1
X9
X4
Front
)
H
1)
Figure 4.3 Connection diagram C2 to C4
X1
Danger!
X8
X7
X6
X5
X13
X3
Danger!
X2
Motor
3
~
Encoder
Resolver
K1
Number Designation Details
D1, D2 7-segment display Page 48
T1, T2 Button Page 48
X1
Connection for motor, braking resistor
and measurement of DC link voltage
Page 38
X2 Connection for control supply Page 27
X3 Connection for AC power supply Page 29
X4 Control terminals Page 31
(-)(+)
X5 Connection for motor temperature monitoring
X6 Connection for resolver
1)
X7 Connection for high-resolution encoder
1)
Page 37
Page 35
1)
Page 36
Option 1 Communication Page 33
PE PE connection Page 25
X8 (Option 2) Technology Page 33
X9 Ethernet interface Page 33
L3
L2
L1
PE
V)
X13 Connection for motor brake
1) Screen connections via separate shield plates
Connection for housing PE conductor
Page 32
Page 23
Page 25
1) NOTE: The temperature sensor for the motor winding can be connected either via the encoder cables (X6 or X7) or to terminal X5.
Table 4.3 Key to connection diagram C2 to C4
4.4 Connection diagram C5
Top view
U
V
1)
1)
Option 2
54321
15 14 13 12 11
10 9876
4321
9876
1)
GND
OSD03
GND
W
L-
L+
L+
RB
1+
10
9
1-
5
1+
9
1-
+/1
-/2
4
V+
3
2
1
L3
L2
L1
+
+
-
–
Service
interface
Control
Analog set point 1
Analog set point 2
+24 V DC against
E/A-GND
Diagnosis
Relay
Digital0
Digital1
Digital2
E/A-GND
Communication
field buses
STO
D1, D2
T1, T2
Ethernet
1)
3
ISA00+
4
ISA00-
5
ISA01+
6
ISA01-
ISD00
15
ISD01
16
ISD02
17
ISD03
18
ISD04
19
ISD05
20
ISD0621
10
ENPO (STO)
22
ISDSH (STO)
12
RSH
11
23
Relay
24
OSD04
7
OSD00
8
OSD01
9
OSD02
1
DGND
2,14
+24 V (U
13
DGND
Option 1
Danger
X1.b
X1.a
X9
X1.c
X8
X4
X7
X6
X5
Front
X13
X3
Danger
)
H
X2
DC-link
Brake (+)
Brake (-)
Braking
resistor
n
n
6
Mains 3-phase
FN
+24 V DC supply for
control electronic (U
Motor
3
~
Encoder
Resolver
+24 V DC supply for
brake
K1
Number Designation Details
D1, D2 7-segment display Page 48
T1, T2 Button Page 48
X1.a Motor connection Page 37
X1.b Measurement of DC link voltage -
X1.c Connection for braking resistor Page 37
X2 Connection for control supply Page 27
X3 Connection for AC power supply Page 29
(-)(+)
X4 Control terminals Page 31
X5 Connection for motor temperature monitoring
X6 Connection for resolver
1)
X7 Connection for high-resolution encoder
1)
Page 37
Page 35
1)
Page 36
Option 1 Communication Page 33
PE Connection for PE conductor Page 25
X8 (Option 2) Technology Page 33
X9 Ethernet interface Page 33
X13 Connection for motor brake
L3
L2
L1
1) NOTE: The temperature sensor for the motor winding can be connected either via the encoder cables (X6 or X7) or to terminal X5.
1) Screen connections via separate shield plates
Page 32
Page 23
Table 4.4 Key to connection diagram
V)
Bottom view
Figure 4.4 Connection diagram MSD Single-Axis Servo Drive Compact C5
moog
ID no.:CA97555-001 Date:04/2018
MSDSingle-Axis Servo Drive Compact Operation Manual
21
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ID no.:CA97555-001 Date:04/2018
4.5 Effective EMC installation
MSDSingle-Axis Servo Drive Compact Operation Manual
22
4.5.1 Interference immunity of Servo Drives
NOTE
This is a restricted availability product in accordance with IEC/EN 61800-3.
This product may cause radio interference in domestic environments; in such
cases the operator may need to take appropriate countermeasures.
External radio frequency interference suppression filters (CB09937-001 to CB09940
001, CB09942-00, for C5 provisional CA71185-001) are available for the Servo Drives.
With the measurement method specified and the exte nal mains filte , these Servo
Drives conform to the EMC product standard IEC/EN 61800-3 for "First environment"
(residential C2) and "Second environment" (industrial C3).
4.5.2 Specimen setup
The specimen setup presented on the following pages is intended to illustrate the key
measures necessary to ensure an effective EMC installation.
NOTE
The specimen setup merely presents a recommendation, and does not
automatically guarantee compliance with applicable EMC directives.
The installer/operator of a machine and/or system must provide proof of
compliance with the protection targets stipulated in the standard.
Overview
A
Detail 1
Detail 2
B
Detail 3
Detail 4
C
D
Figure 4.5 presents an overview of the minimum components required:
Backing plate with cable ducts
A.
B.
MSD Single-Axis Servo Drive Compact
Mains filter
C.
D.
Mains choke
E.
Distributor rail for AC power supply and control supply (+24VDC)
The layout and cabling are based on the requirements in section4.1 The numbered red
arrows refer to four very important detailed notes presented on the following pages.
E
Figure 4.5 Specimen setup - Overview
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