MDP 102-1
29.08.2019 Page 1
Power Supply Module 230 V MDP 102-1
1 Overview
The MDP 102-1 is a supply module that has a 2 kVA rating
with an input voltage of 230 V. The supply module is designed for the 1-phase connection, with an input voltage of
115 V, it can be powered with a 3-phase connection.
It is fully integrated in the Lasal operating system and has 1
to 8 servo axes. The MDP 102 supply module is a 1-phase
system.
Four axis modules are available, two single-axis modules
for 230 V and 400 V and two dual-axes module for 230 V
and 400 V, which have a scalable output current range of
the 2 axes.
The supply module and the axes modules are put on a
module carrier, which is mounted on the mounting plate of
the cabinet.
The current, speed, and position control of the up to 8 axes
work with a cycle time of 62.5 µs. MDD 100 has a high
flexibility in connection of various feedback systems.
VARAN connects the servo drive system to the machine
controller.
Integrated safety functions “Safe Torque off” STO and “Safe Stop 1” SS1 with a high safety
level ease the integration into the safety concept of the machine.
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1 Overview ..................................................................................... 1
1.1 Components of a servo system .................................................... 4
2 General ....................................................................................... 5
2.1 About this manual ........................................................................ 5
2.2 Symbols used in this manual ....................................................... 6
2.3 Safety Instructions ....................................................................... 7
2.4 Prescribed use ........................................................................... 10
2.5 Non-prescribed use .................................................................... 12
2.6 Nameplate ................................................................ ................. 13
2.7 Block Diagram and Concept ...................................................... 14
2.8 Technical Data Power Supply Module 230 V ............................. 19
2.9 Safety conformity ....................................................................... 20
2.10 Ambient conditions, ventilation and mounting ............................ 21
2.11 Auxiliary Power Supply .............................................................. 21
3 Installation ................................................................................ 22
3.1 Important instructions ................................................................. 22
3.2 Important instructions for the Safety Function ............................ 24
3.3 Planning of the switchgear cabinet ............................................. 26
3.3.1 Connection diagram and pin assignment of power supply module ......... 26
3.3.2 Ground ................................................................................................... 29
3.3.3 Mechanical construction and mounting .................................................. 31
3.3.4 Connector properties .............................................................................. 33
3.3.5 Wire sizing .............................................................................................. 33
3.3.6 External Fusing ....................................................................................... 34
3.3.7 MDP 102-1 Mains Supply Options .......................................................... 35
3.3.8 Usage of cooling units ............................................................................ 36
3.3.9 Turn on/off response of the servo amplifier ............................................ 38
3.3.10 Holding brake control .............................................................................. 39
4 Safety Function ........................................................................ 40
4.1 Implementation .......................................................................... 41
4.1.1 Block IN .................................................................................................. 41
4.1.2 Blocks AMV, OPTO 01 and OPTO 02 .................................................... 42
4.1.3 Blocks CONTR 01, CONTR 02, AMP 01, AMP 02 and TR .................... 42
4.1.4 Blocks G01 and REL01 .......................................................................... 42
4.2 Function ..................................................................................... 43
4.3 Function Test ............................................................................. 45
4.3.1 Test conditions ....................................................................................... 45
4.4 Example Connection with Switching Contacts ............................ 46
4.5 Example: Safety PLC Application ............................................... 47
5 Interfaces .................................................................................. 51
5.1 Mains input (X2) ......................................................................... 51
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5.2 Auxiliary 24 V and Holding Brake supply (X2) ............................ 53
5.3 DC-link (X2) ............................................................................... 54
5.4 Motor connector (X11, X21) ....................................................... 55
5.4.1 Standard configuration ............................................................................ 55
4.4.2 Classic emergency stop function (stop category 0) ................................. 56
4.4.3 Personnel safe holding brake control ...................................................... 57
5.5 Feedback (X12, X22) ................................................................. 58
5.5.1 Resolver Feedback ................................................................................. 59
5.5.2 EnDat® Feedback ................................................................................... 60
5.5.3 Hiperface® Feedback .............................................................................. 63
5.5.4 Sine Encoder Feedback .......................................................................... 64
5.5.5 Sanyo Denki Motor ................................................................................. 65
5.5.6 Panasonic Feedback .............................................................................. 66
5.5.7 BiSS C Feedback .................................................................................... 67
6 Maintenance ............................................................................ 68
6.1 Replace and repair .................................................................... 68
7 Appendix .................................................................................. 70
7.1 Transport, storage and disposal................................................. 70
7.2 Troubleshooting and Fault Elimination ....................................... 72
7.2.1 Seven segment display ........................................................................... 72
7.2.2 LED Indication......................................................................................... 72
7.2.3 Malfunction of the drive ........................................................................... 73
7.2.4 Status Register ....................................................................................... 74
8 VARAN Recommended Shielding .......................................... 78
8.1 Wiring from the Control Cabinet to an External VARAN
Component ................................................................................ 79
8.2 Wiring Outside of the Control Cabinet ........................................ 80
8.3 Shielding for Wiring Within the Control Cabinet ......................... 81
8.4 Connecting Noise-Generating Components ............................... 82
8.5 Shielding Between Two Control Cabinets .................................. 83
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1.1 Components of a servo system
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2 General
2.1 About this manual
The manual describes the MDP 102-1 power supply module 230 V.
The information provided is:
• Technical Data for the power supply module 230 V
• Description of the safety function
• Assembly and Installation
• Interface description
• Setup of the servo drive
• Accessories
• Transport, storage, maintenance, disposal
Abbreviations used in this manual
Abbreviation
Meaning
AWG
American Wire Gauge
BGND
Earth of 24V help and break supply voltage
CE
Communité Européenne
CLOCK
Clock pulse signal
EMV
Electromagnetic compatibility
EN
European standard
IGBT
Insulated Gate Bipolar Transistor
LED
Light Emitting Diode
PELV
Protected extra low voltage
RES
Resolver
V AC
AC voltage
V DC
DC voltage
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2.2 Symbols used in this manual
Danger! Shock current Danger to personnel from electricity
Caution! General General warning, see document
Caution! Hot surface Hot surface more than 80 °C (176 °F)
Important note See document
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2.3 Safety Instructions
The safety instructions must be read before installation and set-up of
the servo drive system, to prevent injury or material damage. It is fundamental that the technical data and information for connection requirements be followed (on the nameplate and in the documentation).
Only qualified personnel are permitted to perform activities such as
transport, installation, setup and maintenance. Properly qualified persons are those who are familiar with the transport, assembly, installation, setup and operation of the product.
The manufacturer of the machine must generate a safety analysis for
the entire machine. The manufacturer has to take appropriate measures
to ensure that unforeseen movements cannot cause injury or equipment damage.
Inappropriate handling of the servo drive system or ignoring the warnings below and inappropriate engagement in the safety arrangement
can result in equipment damage, personal injury, electric shock or
death in an extreme situation.
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Annotations
Danger! Shock current
Wait at least 7 minutes after disconnecting the servo drive system from the
mains supply voltage before touching live sections of the equipment (e.g.
contacts) or undoing connections. Capacitors can still have dangerous voltages levels for up to 7 minutes after switching off the supply voltages. To be
sure, measure the voltage in the DC-link circuit and wait until it has fallen below 40 V.
Never remove the electrical connections to the servo drive system while it is
under voltage.
There is a danger of electrical arcing with damage to contacts and danger to
personnel.
If a leakage current sensor is used in the mains supply of the servo drive system, a leakage current sensor RCD type B must be used.
If a RCD type A or AC is used, there is a risk, that the DC ground current of
the servo drive will inhibit the leakage current sensor.
Failure to follow any one of these instructions will result in death, serious injury or equipment damage.
Caution General
The availability of the servo drive system is limited according to EN61800-3.
This product can cause radio interference problems in living quarters. In this
case, it may be necessary for the operator to take adequate measures.
The servo drive system contains components that are sensitive to electro
static, which can be damaged by incorrect handling. Ground yourself before
touching the servo drive system by touching any grounded unpainted metal
surface. Avoid contact with highly insulating materials (artificial fabrics, plastic
film etc.). Place the servo drive on a conductive surface.
Do not open the units. Keep all covers and switchgear cabinet doors closed
during operation. Otherwise there are deadly hazards that pose a severe
danger to health or could cause material damage.
During operation, servo amplifiers may have uncovered live components, depending on their degree of enclosure protection. Control and power connections may be live, even if the motor is not rotating.
The leakage current of the servo drive system is higher than 3.5 mA. Therefore particular attention has to be taken on the grounding of the servo drive
system. See technical data of the power supply modules.
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The +24 V auxiliary power supply and also the power supply for the +24 VBR holding brake supply must be galvanically isolated with SELV output voltage according to EN 60950.
Failure to observe these precautions can result in severe injury and
equipment damage.
Caution! Hot surface
During operation, the housing of the servo drive can become hot and may
reach temperatures above 80 °C (176 °F).
Especially the rear side of the module carrier will get hot, if the system is not
mounted on a mounting plate in the cabinet. This is due to the related dissipated breaking energy in the ballast resistor. See technical data of module
carrier.
Check (measure) the housing and the module rack temperature and wait until
it has cooled down below 40 °C (104 °F) before touching it.
Failure to observe this precaution can result in severe injury
Caution! Electromagnetic Fields (EMF)
Mortal danger!
Due to the electromagnetic fields generated during operation of the servo
drive system, people with pacemakers or implants are particularly at risk if
they are in the immediate vicinity of the device.
Caution must therefore be take to ensure that such persons maintain
the necessary safety distance of at least 2 m.
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2.4 Prescribed use
The safety module "Safe Restart Lock" in an integral component of the DIAS Drive MDP
102-1 and is already installed with delivery; it meets the conditions required for safe operation according to SIL 3 in compliance with IEC 62061 and according to PL e in compliance
with EN 13849-1.
Safety modules can only be powered by supplies that meet the requirements for
PELV in compliance with EN60294.
Installation, mounting, programming, initial start-up, operation, maintenance and
discarding of safety modules can only be performed by qualified personnel.
Qualified personnel in this context are people, who have completed training or
have trained under supervision of qualified personnel and have been authorized
to operate and maintain safety-related equipment, systems and facilities in compliance with the strict guidelines and standards of safety technology.
For your own safety and the safety of others, use safety modules for their
designated purpose.
Designated use also applies to correct EMV installation.
Non-designated use in this context applies to
• Any changes made to the Safety modules or the use of damaged mod-
ules
• The use of the Safety modules outside of technical framework described
in these operating instructions
• The use of the Safety modules outside of the technical data described in
these operating instructions (see the "Technical data" sections of the respective production).
In addition, observe the warnings in the other sections of these instruc-
tions. These instructions are visibly emphasized with a symbol.
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The servo amplifier from SIGMATEK GmbH & Co KG was designed and produced with
state of the art technology. Before delivery, the products are completely tested for reliability.
It is a built-in component for electrical systems, which can only be operated as an integral
part of such systems. Before the products are installed, the following requirements must be
fulfilled to meet the prescribed use.
• Anyone who works with the products in any way has to read and understand the
safety instructions, the prescribed use and the non-prescribed use.
• The machine builder has to generate a safety analysis for the machine to ensure
that unforeseen movements cannot cause injury or damage to personnel or
property.
• The servo drive has to operate under the mounting and installation conditions
described in this documentation, especially the environmental conditions (temperature, protection class, humidity, mains input, EMC and the mounting position)
• It must be mounted in a closed switchgear cabinet with minimum IP54.
• The servo drive has to be used in the way in which they are delivered (without
any mechanical or electrical modification).
• Do not mount or start-up mechanically or electrically damaged or faulty compo-
nents.
• The servo drive is intended to control synchronous servo, linear, torque and
asynchronous motors in closed loop control of torque, speed or position.
• The rated voltage of the motor must be at least as high as the setting of the
mains input voltage (230 V) of the servo drive system.
• Only motors with star-connection may be used.
• The servo drive is developed for usage in an industrial environment. If it is used
in residential areas, then an additional filter must be installed in the mains input
line
• Power supply modules MDP101-1 and MDP 102-1 are to be used with axis
modules MDD111-1 and MDD121-1 only.
• Drives must to be used with motors provided with over temperature sensing.
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2.5 Non-prescribed use
“Prescribed use” means, that the servo drive system is used according to the environmental
conditions described in this documentation.
• It must not be used in electrical equipment on ships (service afloat) or in offshore
applications because of the conductive pollution.
• It must not be used in environmental conditions that do not meet the conditions
described in this documentation (too hot, without closed switchgear cabinet,
wrong mounting position, etc.)
Be very careful in plants, were conductive material (carbon fiber, graphite with machining of
graphite cast iron or similar) is easily purgeable in the factory floor. In this case, the switchgear cabinet has to be sealed very carefully (no forced ventilation with blower filter) or be
placed outside the factory floor. Especially during start-up of the machine, the risk is high
because of open switchgear cabinet doors. Servo drives, which become contaminated,
cannot be used anymore.
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2.6 Nameplate
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2.7 Block Diagram and Concept
Block diagram of the Power Supply Module
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MC – system real
-time control
Internal Bus Interface
Control and Communication Unit
Axis ModuleModule
Carrier
DC-link
Internal
Bus
+24V-BR
Internal
Supply
U_Treiber
Feedback – Converter
Res
En-
coder
X12, X22
Feedback
2x3
2 x 6
M
X11, X21
Motor and brake
2x2
Block diagram of the Axis Module
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Hardware
• Mains input is fed to the power rectifier, the input filter and the inrush
circuit
• DC-link connection for connecting the DC-link to other drives for power
distribution
• Regen unit with internal regen resistor.
• Auxiliary power supply input for the internal supply
• Separate power supply input for the holding brake for safety reasons
• Integrated safety functions
• Micro controller system with communication unit
• IGBT – power stage with isolated current measurement (short circuit
protected)
• Feedback converter for resolver and high resolution feedback devices
• 8 digital Capture-inputs to record the momentary actual position of the
selected axis.
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Concept of the MDD 100
• Servo drive system contains of different components
- Power supply module for up to eight logical axes
- Axis module in different configurations
- Single axis module
- Dual axis module
- Module carrier in different configurations for one to 4 axis
modules
• Auto range function to optimize the resolution of the actual current
• Wide mains input voltage range 1 x 115 VAC
-10%
… 3 x 480 VAC
+10%
directly from TN-system or TT-system with grounded neutral point.
TT-systems with ungrounded or missing neutral point need additional
circuitry
• Inrush circuitry to limit the maximum charge current at switch on of the
mains contactor
• Fusing provided by the user (phase failure detection in the drive)
• 24 V auxiliary supply input, electrically isolated for internal supply
• Separate 24 V input for holding brake supply
• Input EMI – filter for AC-input, 24 V auxiliary supply and holding brake
supply for class A (industrial environment)
• Safety functionality STO (Safe Torque off) and SS1 (Safe Stop 1) with
performance level “e” according to ISO 13849 and SIL3 according to
EN 62061
• All shield connections at the housing
• Protection functions against:
- DC-link under/over voltage
- Several short circuit conditions
- Phase failure of the mains input
- Overheating of the regen resistor
- Over temperature protection (heat sink, ambient and mo-
tor)
The overload protection is provided internally by the drive. The load current is limited to
100 % of peak output current. For the thermal protection of the motor the I²T regulation is
used.
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the Manufacturer
Instructions, National Electrical Code and any additional local codes.
a
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Software functionality
• Modified space vector modulation (SVM) technique to reduce the
power stage losses
• Field oriented current controller (update time 62.5 µs)
• Feedback converter and speed controller (update time 62.5 µs)
• Spline interpolator and position controller (update time 62.5 µs)
• Full synchronization down to the power stage, to the beat of the host
controller with cycle times of 250 µs, 500 µs, 1 ms and every ms up to
8 ms
• The servo drive has no non-volatile data memory. So after switch-on,
the parameters have to be send via the host communication to the
servo drive
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2.8 Technical Data Power Supply Module 230 V
DIM
MDP 102-1
Article number
09-403-102-1
Hardware version
3.x
Rated Data
Rated mains voltage (symmetrically to
ground) maximum 5000 rms symmetrical
amps (L1, L2, L3)
VAC
1 or 3 x 115 V
-10%
/ 1 x 230 V
+10%
,
45 - 65 Hz
Maximum peak current at switch on of the
mains contactor (limited by the inrush
circuit)
A
2
Rated installed power for S1 operation
kVA
2
Rated installed power for S1 operation for
input voltage < 230 V
VA
2 kVA – 8.7 W * (230 – input voltage/V)
Rated DC-link voltage
VDC
150 - 360
Over voltage protection threshold of DC-link
voltage
VDC
450
Auxiliary supply voltage +24 V
VDC
22 - 30
Maximum leakage current
mA
30
Power of additional supply voltage +24 V
W
Max. 50
Holding brake supply voltage +24 V-BR
VDC
23 - 26
(depending on type of selected holding brake)
Regen Circuit
DC-Link capacitance
µF
540
G-VMAINS = 230 (rated mains voltage = 230 V)
Switch-on threshold
VDC
420
Switch-off level
VDC
400
Over voltage protection
VDC
450
Peak power of the internal regen resistor
(max. 1sec)
kW
5.3
Safety Input
Input voltage between ENABLE_H (+) and
ENABLE_L (-)
V
Typically 24, max 30 V
Signal level between ENABLE_H (+) and
ENABLE_L (-)
V
Low ≤ +5, High ≥ +15
Input current
mA
Typically 10 at 24 V
Switching delay times of the inputs
s
Switch-on about 0.02
Switch-off minimum 0.5, maximum 1 s
Relay output (S1, S2) - NO
Switching capacity
-
Max. 30 V
DC
, 42 VAC, 100µA to 0.5 A
Digital Input
Input voltage Dig_IN1 to Dig_IN8
V
Typically 24, max 30 V
Signal level V Low ≤ +5, High ≥ +15
Input current
mA
Typically 10 at 24 V
Switching delay times of the inputs
ms
Typically 0.1
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Internal fusing
Auxiliary supply 24 V (+24 V to BGND)
-
Electronic fuse
Holding brake supply 24V-BR (+24 V-BR to BGND)
-
Electronic fuse
Regent resistor - Electronic protection
Resolver specification
Exciter frequency f
err
kHz
8
Exciter voltage U
Ref
U
eff
2,8
Number of poles m
-
2, 4, 6, .., 32
Resolver voltage U
sin/cos, max
U
eff
1,9
Plug types
Safety Inputs (X1)
-
Phoenix FK-MCP1,5/ 5-ST-3,5
Power Supply (X2)
-
Phoenix GMSTB 2,5HCV/ 9-ST-7,62
VARAN Bus (X3, X4)
(maximum length: 100 m)
-
RJ 45
Digital Inputs (X6)
-
Phoenix FK-MCP1,5/ 12-ST-3,5
Mechanics
Height
mm
155
Width
mm
60
Depth with module carrier (without/with plugs)
mm
152/195
Weight
kg
1.2
General
Article number 09-403-102-1
Standard UL 508C, NMMS.E336350
2.9 Safety conformity
Safety Integrity Level according to IEC EN 62061
SIL 3
Performance Level according to EN ISO 13849-1
PLe
Probability of failure per hour
PFHD [10-9]
0,3
Mean time to dangerous failure
MTTFD symmetrized [Years]
High
Proof Test Interval [Years]
20
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2.10 Ambient conditions, ventilation and mounting
Storage conditions
page 70
Transport conditions
page 70
Ambient temperature in operation
0 to +45 °C (32 to 113 °F) at rated data
+45 to 55 °C (113 to 131 °F) with power derating of 2.5 % /
K
Humidity in operation
Relative humidity 85 %, no condensation
Site altitude
Up to 1000 m above sea level at rated data
1000 to 2500 m above sea level with derating of 1.5 % /
100 m
Pollution degree
2
Servo drive enclosure protection class
IP 20
Mounting position
page 31
Ventilation
Forced ventilation by controlled internal fan
2.11 Auxiliary Power Supply
The power supply that is used for the +24 V auxiliary power supply voltage and the holding
brake supply (+24 V-BR) must be a power supply with a galvanically isolated SELV output
voltage according to EN60950. Due to the inrush current of the drive during switch-on, the
current rating must be at least 5 A.
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3 Installation
3.1 Important instructions
• If a leakage current sensor is used in the mains supply of the servo
drives, a leakage current sensor RCD type B has to be used in any
case. If a RCD type A or AC is used, there is a risk, that the DC
ground current of the servo drive inhibits the leakage current sensor.
High-frequency leakage currents occur, which must be taken into consideration when selecting the FI (e.g. Schrack ID-B 4/XX/XX-B). Trigger diagram:
• Take care, that the servo drive and the motor are grounded properly.
Use uncoated, zinc plated mounting plates (subplates).
• The servo drive system MDD 100 has a high leakage current higher
than 3.5 mA. Therefore particular attention has to be taken on the
grounding of the servo drive system:
a) Stationary machine mains supply connection:
– Parallel connection of the protective conductor
on X2/Pin4 and at the module carrier with the same
gage wire size, or
– Ground the MDD 100 with a minimum wire size of
10 mm² (AWG 8) at the module carrier, or
– Automatically switch-off of the mains supply
at cable break of the protective conductor
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b) Variable machine mains supply connection:
Mains connection with industry connector according to EN 60309
and a minimum wire cross section of the protective conductor of
2.5 mm² (AWG 13) as part of a multi-conductor supply cable. Use an
adequate pull relief.
• Check the mechanics of the servo drive. If the housing is damaged
e.g. by transport, don’t use it. Don’t touch electronic components in
the drive.
• Compare the rated voltage and current of the servomotor to the data
of the servo drive. Do the wiring according to the Connection dia-
gram, page 26.
• Make sure, that the mains input voltage, under any condition, not ex-
ceeds the maximum rating of the servo drive. Note also Possibilities
of mains supply, page 26 and page 35.
• Define the external fusing of the mains input, 24 V auxiliary supply
and holding brake supply according to External fusing, page 34.
• Route the motor and control cables separately (distance about
100 mm). This improves the noise level of the control signals because
of the high radiation of the motor cables. Use only screened motor
and feedback cable with shield connections on both ends.
• The prescribed mounting position is vertical as shown on page 31.
• The airflow in the switchgear cabinet has to be in a way, that the servo
drives has enough cool and filtered air. See Ambient conditions
page 21.
• Any modification of the servo drive will invalidate the warranty,
except setting the software functions by parameter.
• At start-up of the servo drive, check the setting of the peak current of
the servo drive. Especially small motors are damaged very quickly, if
the setting of the servo drive is too high (e.g. a 1 A – motor and the
6 A-unit, not reduced to 1 A!)
• In no-load condition, the intermediate circuit voltage can, over a period
of time, reach a value of up to 740 V. This causes no damage to the
module.
• Shelf life:
< 1 year: no limitations
≥ 1 year: The intermediate circuit capacitors of the servo drive system
must be reformed before the initial start up. In addition all electrical
connections must be removed and the supply module supplied with
230 V for 30 minutes, single phase at terminals L1 and L2.
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3.2 Important instructions for the Safety Function
• All control components (switches, relays, PLC, etc.) and the control
cabinet must comply with the requirements of the ISO 13849. This includes:
– Door – switches, etc. with protection class IP54 as minimum
– Control cabinet with protection class IP54 as minimum
• For the 24 V supply use only PELV/SELV power supplies.
• Use adequate insulated wire end sleeves
•
• External source voltage at the inputs ENABLE_L and ENABLE_H has
to be excluded in the cabinet and outside. Make sure, that short circuits between single cables are excluded! See also EN ISO 13849.
• All safety-relevant cables (e. g. control cable) has to be installed e. g.
in a cable duct, if pass outside the control cabinet
• The connector pin X1 / 3 is marked as “reserved” and must not be
connected externally
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• If the safety function SS1 (Safe Stop 1) is used, the minimum switch-off time is 0.4 s.
Following actions which need the safety function STO (Safe Torque off) e.g. manually engagement into the machine, must not be released before 1 s
• When an external force is likely to act with the function ”safe restart lock” (e.g. force
to the load by hanging load) additional measures have to be provided (e.g. doubledisc spring set brake, instead of permanent magnetic-excited brake)
Failure to observe this precaution can result in severe injury and equipment damage.
The mains supply voltage of the servo drive system has to be switched off by the main
switch in following cases.
• Taking measures for cleaning, maintenance and repair
• Taking out of service for a longer time
Failure to observe this precaution can result in severe injury and equipment damage.
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3.3 Planning of the switchgear cabinet
3.3.1 Connection diagram and pin assignment of power supply module
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Connector layout of X1, X2, X3, X4 and X6
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3.3.2 Ground
On the MDD module a mounting bracket is found, which serves as stress relief as well as
shielding. Here, the cable shield is connected.
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The entire MDD System is grounded over the module carrier in the control cabinet.
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3.3.3 Mechanical construction and mounting
The mechanical dimensions of the servo drive system above are:
A depends on the selected module carrier
120 mm for MDM 011
180 mm for MDM 021
240 mm for MDM 031
300 mm for MDM 041
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The mechanical dimensions of the module carrier and the fastening on the mounting plate
of the cabinet above are:
A depends on the selected module carrier
100 mm for MDM 011
160 mm for MDM 021
220 mm for MDM 031
280 mm for MDM 041
The cable ducts below must be placed with a minimum distance of 10 mm to the module
carrier.
The cable duct above must be placed with a distance of 40 mm to the module carrier. This
is necessary to get enough air through the heat sink.
The specified installation clearances can be reduced under some conditions. Provided that
the appropriate measures and technical precautions are taken to dissipate the heat generated from loss.
Fastening material: 4 hexagon socket screws to DIN 912, M5
Tool required: 4 mm Allen key -
MDP 102-1
29.08.2019 Page 33
3.3.4 Connector properties
All connections of the servo drive system (except the ground bolt) are plugging style connectors. This makes it easier to install the cables and to replace a drive. Never the less it
also opens the possibility to create cable sets for high volume machines.
The mechanical properties of the interface connectors are:
Connector
Type
Wire size
Max. screw torque
X1
Phoenix FK-MCP1,5/
5-ST-3,5
0.2 – 1.5 mm² (16 – 24
AWG)
Cage clamp
X2
Phoenix
GMSTB2,5HCV/ 9-ST7,62
1 – 2.5 mm² (14 – 16
AWG)
0,56-0,79 Nm
(5-7 inch lb)
X3, X4
RJ 45
-
-
X6
Phoenix FK-MCP1,5/
12-ST-3,5
0.2 – 1.5 mm² (16 – 24
AWG)
Cage clamp
X12, X22
D-Sub 25 with metal
housing
0.25 – 0.5 mm² (20-22
AWG)
Solder or crimp
X11, X21
GMSTB2,5HCV/ 6-ST7,62
1 – 2.5 mm² (14 – 16
AWG)
0,56-0,79 Nm
(5-7 inch lb)
Ground bolt
M5
10 mm² (8 AWG)
3.5 Nm (31 inch lb)
3.3.5 Wire sizing
According to EN 60204 (for AWG: table 310-16 of the NEC 60 °C or 75 °C column), we
recommend
Signal
Cable rating
AC mains input
Maximum 2.5 mm² (14 AWG)
600 V,105 °C (221 °F)
DC-link
Maximum 2.5 mm² (14 AWG)
1000 V,105 °C (221
°F)
Motor cable
1.0 mm² (16 AWG), shielded, max.25m, capacitance <150pF/m
600 V,105 °C (221 °F)
Holding brake
Min. 0.5 mm² (18 AWG), part of the motor cable,
shielded separately, check voltage drop
600 V,105 °C (221 °F)
Resolver with
thermal contact
4x2x0.25 mm² (22 AWG), twisted pairs, shielded, max.25 m, capacitance
<120 pF/m
EnDat® encoder
7x2x0.25 mm² (22 AWG) twisted pairs, shielded, max.10 m, capacitance
<120 pF/m
+24 V and
+24 V-BR input
Maximum 2.5 mm² (14 AWG), check voltage drop
Note: Use 60/75 °C Copper conductors only!
MDP 102-1
Page 34 29.08.2019
3.3.6 External Fusing
The AC-mains and 24 V – fuses are calculated depending on customer needs.
Signal
Fuses, time delay
AC mains input (L1-L3)
Size fuses to the average power, needed by the servo drives,
connected to the circuit.
Suitable for use on a circuit capable of delivering not more than
5000 rms symmetrical amperes, 253 Volts maximum when
protected by RK5 Class Fuses rated
15 A / 300 V.
24 VDC input (24 V, 24 VBR to BGnd)
Limited to 12 A time delay at 2.5 mm² / 14 AWG
MDP 102-1
29.08.2019 Page 35
3.3.7 MDP 102-1 Mains Supply Options
The servo drive system MDD 100 has a high leakage current higher than
3.5 mA. Therefore particular attention has to be taken on the grounding of the
servo drive system:
a) Stationary machine mains supply connection:
– Parallel connection of the protective conductor
on X2/Pin4 and at the module carrier with the same
gage wire size, or
– Ground the MDD 100 with a minimum wire size of
10 mm² (AWG 8) at the module carrier, or
– Automatically switch-off of the mains supply
at cable break of the protective conductor
b) Variable machine mains supply connection:
Mains connection with industry connector according to EN 60309
and a minimum wire cross section of the protective conductor of 2.5 mm²
(AWG 13) as part of a multi-conductor supply cable. Use an adequate pull
relief.
If a leakage current sensor is used in the mains supply of the servo drive system, a leakage current sensor RCD type B must be used.
If a RCD type A or AC is used, there is a risk, that the DC ground current of
the servo drive will inhibit the leakage current sensor.
The power supply module MDP 102-1 is a 230 V – input module
Grounded mains The power supply module can be connected directly to mains
with grounded star point or grounded phase conductor in the defined voltage range without galvanic isolation.
Single-phase mains The power supply module can also be supplied by a 230 V sin-
gle-phase mains.
Note: The output power of the servo drive system with single
phase supply is limited by the capacitance of the DC-link capacitors. Please contact the support department for further informations.
MDP 102-1
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3.3.8 Usage of cooling units
The servo drive system operates up to 45 °C (55 °C with power reduction) ambient temperature. This means, that there could be a need to use a cooling unit.
Note: Principally, the usage of a cooling unit can and will produce condensation water. So it is important to observe following:
• Mount cooling units in a way that condensation water does not leak
into electronic devices in the switchgear cabinet.
• Mount cooling units, by which amassed condensation water cannot
be sprayed into electronic devices by the fan of the cooling unit.
Cooling unit on top of the
switchgear cabinet
Cooling unit in the door of
the switchgear cabinet
Cooling unit
Switchgear
cabinet
Servo
drive
Cooling unit
Switchgear
cabinet
Servo
drive
properly
wrong
Cooling
unit
Air passage
Electronic
devive
properly wrong
Air passage
Cooling
unit
Servo
drive
Servo
drive
Switchgear
cabinet
Switchgear
cabinet
MDP 102-1
29.08.2019 Page 37
Avoid condensation also by observing the following rules:
• Set the set point of the temperature control of the cooling unit mini-
mal to the temperature of the factory building.
• Use only properly sealed switchgear cabinets to avoid condensation
by the moist external air.
• Especially during installation or servicing while the machine is run-
ning with open switchgear cabinet doors, make sure that the temperature of the electronic devices is not cooler than the air in the
switchgear cabinet. This will generate condensation in the electronic
devices.
MDP 102-1
Page 38 29.08.2019
t t
t t
t t
t t
24V
–
Auxiliary
supply
Amplifier drive
ready
“
Main con
tact
L1, L2, L3
Interm. circuit
voltage
Main voltage
“
Mains applied
”
Power output
stage „ enable
“
t t
t t
Max. 7 min
Max. 15 s
~ 0V.7 s
t t
Signal
“
Under voltage
“
Under voltage
threshold
3.3.9 Turn on/off response of the servo amplifier
The turn on/off response of the servo amplifier is shown below.
5 seconds after turning on the 24 V auxiliary supply (start time of the micro controller), the
"Drive ready" signal is set to high.
The above image shows when the 24 V auxiliary supply activates the system through
turning on the main switch and the main supply is engaged later.
This, however, is not absolutely necessary. The main supply can also be activated with
the 24 V auxiliary supply at the same time.
Since the memory of the servo amplifier is volatile, received parameters must be stored in
the host controller. The advantage here lies in the automatic download of program data
when an amplifier is changed.
If the main supply is turned on, the capacitors in the intermediate circuit are charged. This
requires approximately 0.7 seconds.
If the main supply is turned off, the current of intermediate circuit is maintained and can
be used for controlled braking of the motor. If the motor is slowed, the energy is returned
to the intermediate circuit.
If the motor is stopped, the "enable" signal can be removed. After 7 minutes, the intermediate circuit is discharged.
MDP 102-1
29.08.2019 Page 39
3.3.10 Holding brake control
tt
tt
tt
tt
Enable
Speed
Setpoint
Host
Speed
Setpoint
internally
Actual
Speed
Enable
internally
Brake
Signal
tt
Brake
Force
tt
tt
Emergency ramp
t
BRon
t
BRoff
Max. 1 sec
Speed threshold
Brake disable delay time
Brake enable delay time
tt
+24V_BR
Min. 0.2 sec Min. 0.1 sec
The figure above shows the processing of the holding brake.
A standard holding brake with 24 VDC input voltage and maximum 1A can be directly executed by the servo drive.
The circuit has a high level of functional safety, but is not personnel safe.
MDP 102-1
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4 Safety Function
The MDD 100 servo drive system supports the safety functions SS1 (Safe Stop 1) and STO
(Safe Torque Off), and meets the requirements for Category 4 Performance Level "e" according to EN ISO 13849-1 and SIL3 according to EN 62061.
For his purpose, the servo amplifier has two safe inputs ENABLE_L und ENABLE_H.
The relay output S1/S2 can be used to provide the status of the safety function. It is not
safety-relevant, but can be used to test the external safety function.
The stop brake control is not a component of the safety function. If a safe shutdown of the
stop brake is required, the +24 V-BR brake supply must also be shut down externally.
For the 24 V supply, only PELV/SELV can be used.
MDP 102-1
29.08.2019 Page 41
4.1 Implementation
The following block diagram gives an overview of the internal switching circuit.
Motor
Main Power
Supply
0.5s
µP
ENABLE_H
ENABLE_L
Mains potential
UU
VV
WW
Astable Multi-
vibrator
IN AMV
Digital I/O potential
OPTO 01
OPTO 03
Electronic potential
TR
AMP 01
U_Treiber
CONTR 01
CONTR 02
Super
visor
1
Super
visor
2
S1
S2
REL 01
G 01
Control
OPTO 02
AMP 02
U_Treiber
U_Treiber
U_Treiber
Block diagram for safe restart lock
The blocks in the diagram above have the following functions:
4.1.1 Block IN
The input block IN generates the supply voltage for the AMV block. This is formed from the
voltage difference between ENABLE_H and ENABLE_L. Power is therefore available shortly after the appropriated signal is applied to ENABLE_H and ENABLE_L. The voltage difference between ENABLE_H and ENABLE_L must exceed the minimum HIGH signal.
The LOW signal ranges from 0 V to +5 V.
The High signal ranges from +15 V to +30 V.
If the input voltage is disconnected, the block maintains the supply voltage for the AMV
block for approximately 400 ms. Because the differential voltage is supplied to the OPTO03
block without a delay, the motor can be actively slowed before the amplifier goes into the
safe status by disabling U_Treiber.
S3
S4
MDP 102-1
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4.1.2 Blocks AMV, OPTO 01 and OPTO 02
As long as the AMV block is powered by the IN input block, it generates a pulse with a
constant frequency that is transmitted to the sequential electronics through blocks OPTO 01
and OPTO 02.
4.1.3 Blocks CONTR 01, CONTR 02, AMP 01, AMP 02 and TR
These blocks form a safe switching power supply, which generates the driver voltage for
U_Treiber through the transformer TR01. It is ensured that the switching supply cannot
transmit any energy when no control signal is sent from the AMV block over OPTO 01 and
OPTO 02.
4.1.4 Blocks G01 and REL01
The relay output S1/S2 is closed when the servo amplifier is supplied with 24 V and the
safety function is active. The two blocks are not safety-relevant.
MDP 102-1
29.08.2019 Page 43
4.2 Function
The safety functions in the DIAS Drive are controlled over two digital inputs.
The following table shows the status that the ENABLE_L and ENABLE_H inputs must as-
sume to enable normal operation or trigger the safety function.
Input Status
Relay output S3/S4
Description
ENABLE_L
ENABLE_H
Open
Open
When the servo amplifier is supplied with
24 V, the inputs are
closed after a minimum delay 0.4 of
seconds and a maximum of 1 seconds
Safe status of the drive
system
Low
Low
When the servo amplifier is supplied with
24 V, the inputs are
closed after a minimum delay 0.4 of
seconds and a maximum of 1 seconds
• Single channel safe
status only when using
classic I/O technology
• Safe status of the
drive system, when a
safe output is used by a
Safe PLC, also when
ENABLE_L is connected
with „Ext. GND“
Low
Open
Low
High
Open
Drive system ready
If the ENABLE_L and ENABLE_H are changed from any status to the "Drive Ready" status,
the servo amplifier is not immediately enabled. In addition, in the software (K-EN = 1) or the
corresponding bit in the "control word" must be set so that the software "enable" can be set
and the drive therefore switched to the operational mode.
MDP 102-1
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Controlled shut down (K-EN = 0):
If the actual speed reaches < 1% of min(N-NMAX, V-NMAX) or the ramp time exceeds 1
second, the brake is activated and the pre-set speed (I-NCMD) is immediately set to 0 (to
support the braking effect). After 1 second + M-BRDI, the brakes engage and the controller/output stage is disabled.
Shut-down after opening the safety circuit:
If the actual speed reaches < 1% of min(N-NMAX, V-NMAX) or the ramp time exceeds 500
ms, the brake is activated and the pre-set speed (I-NCMD) is immediately set to 0 (to support the braking effect). After 500 ms + M-BRDI, the brakes engage and the controller/output stage is disabled.
Time response with an open safety circuit
Speed reduction with GEMRAMP, t = 0
t = 500 ms - M-BRDIS,
preset value = 0,
Brake activated
t = 500 ms,
brake engages,
axis/controller = disabled
STO active
MDP 102-1
29.08.2019 Page 45
4.3 Function Test
The safety function test is required to ensure correct operation. The entire
safety circuit must be tested for full functionality.
Tests must be performed at the following times:
• After installation
• In regular intervals, or at least once a year.
If the function test results in an invalid machine status, the error must be found and corrected before the safety function is retested. If the error reoccurs during the function test, the
machine can no longer be operated.
Failure to follow the above safety measures can lead to severe injuries and damage.
4.3.1 Test conditions
The total safety circuit must be tested for functionability
The function test is performed from the following start condition:
- An operation-ready servo drive system
- Safe input ENABLE_L is LOW and ENABLE_H is HIGH
- Software application is running
- Motor(s) running
Depending on the wiring:
1. Both the ENABLE_L and ENABLE_H inputs are opened
or if ENABLE_L is connected to "Ext. GND" and the safe output of a Safety PLC is
used for ENABLE_H.
2. ENABLE_H is open or LOW (depending on the wiring).
The motor speed is expected to slow to null and the relay output S1/S2 to close after a
minimum delay of 0.4 s and a maximum of 1s when the servo drive is supplied with 24 V.
The servo drive system should go into safe mode.
MDP 102-1
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4.4 Example Connection with Switching Contacts
To meet the requirements of safety category 4, performance level "e" for EN 13849-1 and
SIL3 according to EN 62061, a two-channel control must be provided for the safety functions.
The wiring for both connections must be provided with protective insulation (to avoid the
"external voltage supply" error).
For ENABLE_H this means, the other signals that can have a 24 V potential must be wired
separately.
For ENABLE_L this means, the other signals that can have "Ext. GND" potential must be
wired separately. Because the 24 V auxiliary voltage in the control cabinet is normally
grounded, caution must be taken to avoid a short-circuit with PE. The can occur through, for
example, wiring in a cable duct.
24V
ENABLE_H
ENABLE_L
5 5
4 4
IN
Ext. GND
Guard
door
switch
Emergency
stop
switch
MDD100
Off
On
K1
Ext. GND
K1
X1
The schematic shows the possible wiring for use of conventional switch contacts.
MDP 102-1
29.08.2019 Page 47
4.5 Example: Safety PLC Application
To meet the requirements of safety category 4, performance level "e" for EN 13849-1 and
SIL 3 according to EN 62061, an error-proof output of a safety PLC must be used.
There are two Types of error-safe outputs.
1. A simple error-safe output, which functions based on "Ext. GND" only. This is then
connected to the ENABLE_H input.
The wiring for both connections must be provided with protective insulation (to
avoid the "external voltage supply" error).
In this case, ENABLE_L is connected to "Ext. GND"
MDP 102-1
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MDP 102-1
29.08.2019 Page 49
2. Two-channel error-proof relay output, with which the + output is connected to ENABLE_H and the – output to ENABLE_L.
MDP 102-1
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MDP 102-1
29.08.2019 Page 51
5 Interfaces
5.1 Mains input (X2)
The mains input is prepared for direct mains 115 VAC or 115 VAC to 230 VAC input voltage, depending on the selected power supply module. If the neutral point of the connected
mains is not grounded, an over voltage protection unit has to be installed in the input of the
switchgear cabinet ( page 36).
Note: If the DC-link of two or more MDD 100 systems are linked with the
same supply voltage, the mains inputs must also be linked.
1-phase connection of the MDP 102-1 power supply module:
55
66
77
44
X2
L1
L2
L3
PE
PE
L1
N
Mains contactor
3 ~
=
VV VV VV
VV
Power supply Module
Direct mains 1 x 115V
-10%
.. 230V
+10%
MDP 102-1
Page 52 29.08.2019
3-phase connection of the MDP 102-1 power supply module:
Power
supply
Module
3 ~
=
5 5
6 6
7 7
4 4
X2
L1
L2
L3
PE
PE
L3
L2
L1
Direct mains 3 x 115V
-
10%
.. 230V
+10%
Mains contactor
V V
V V
V V
V V
MDP 102-1
29.08.2019 Page 53
5.2 Auxiliary 24 V and Holding Brake supply (X2)
Note: Only use power supply with galvanic isolated SELV output voltage!
If a 24 V auxiliary power supply is installed in the switchgear cabinet for relays, contactors
or other devices, this 24 V can be used to supply also the servo drive (notice the current
rating of the power supply).
The drive has an additional input for the holding brake supply so that this supply can be
switched off independently from the auxiliary supply of the drive.
Note, that the return of the 24 V power supply has to be grounded near
the power supply.
22
11
X2
+24V
BGND
24V Auxiliary supply of the
switch cabinet
Internal electronic
supply
VV
33
+24V-BR
Holding brake supply
Power supply Module
MDP 102-1
Page 54 29.08.2019
5.3 DC-link (X2)
When several drives are connected together, the DC-link connection enables power sharing
between different axes.
Note: If the DC-link of several servo drives is connected together, the mains
input must also be connected in parallel to the drives connected of the group.
Be careful with fusing of the whole system. Please contact the support department for further information.
Power Supply Module
99
88
X2
+DC
DC−link connection from last to
next drive system
DC-link
−DC
MDP 102-1
29.08.2019 Page 55
5.4 Motor connector (X11, X21)
5.4.1 Standard configuration
The motor cable length is limited to 25 m. If a longer motor cable is required, use an addition motor choke in the output of the servo drive.
66
55
44
33
22
Motor
11
W
V
U
PE
B+
B-
WW
VV
UU
PEPE
B+B+
B-B-
PE
+ DC
− DC
Axis Module
X11, X21
+24V-BR
BGND
MDP 102-1
Page 56 29.08.2019
4.4.2 Classic emergency stop function (stop category 0)
The motor cable length is limited to 25 m. If a longer motor cable is required, use an addition motor choke in the output of the servo drive.
Note: The contactor KEM has to be switched on, before the servo drive is enabled and to be switched off minimal 1ms after disable.
66
55
44
33
22
Motor
11
W
V
U
PE
B+
B-
WW
VV
UU
PEPE
B+B+
B-B-
Axis Module
X11, X21
2 x R
EM
K
EM
PE
+ DC
− DC
+24V-BR
BGND
The resistance and wattage of the resistors REM are calculated using following formulas:
maxSPEED maximum application speed [rpm]
I
max
maximum allowed rms current of the motor [A]
K
Erms
Voltage const. of the motor [V*min]
8.0
max
max
=
I
KSPEED
R
Erms
EM
10
)²8.0(
max EM
EM
RI
WP
=
MDP 102-1
29.08.2019 Page 57
4.4.3 Personnel safe holding brake control
The servo drive has a high level of functional safety of the control of the holding brake.
If it is necessary to have a personnel-safe control for the holding brake, this requires one
or two additional safety contacts in compliance with the safety standards in the +24 V-BR line.
Even in this case a mechanical defect in the holding brake can cause injury
and/or machine damage.
22
11
X2
+24V
BGND
24V Auxiliary supply of the
switch cabinet
Internal electronic
supply
VV
33
+24V-BR
Holding brake supply
Contactor
Power supply Module
MDP 102-1
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5.5 Feedback (X12, X22)
The servo drive has feedback inputs for several different feedback devices.
• Resolver Feedback with thermal contact in the motor winding
• EnDat
®
encoder (single and multiturn)
• Hiperface® encoder (single and multiturn)
• Sin/Cos & TTL encoder
• Sanyo Denki absolute encoder
• Panasonic encoder
• BiSS C encoder
For EnDat, Hiperface, Sin/Cos, TTL and Sanyo Denki encoder systems, a maximum number of 8192 feedback signals per mechanical rotation is supported (M-RPULSE).
MDP 102-1
29.08.2019 Page 59
5.5.1 Resolver Feedback
The standard feedback system for servomotors is resolver feedback. The servo drive allows
evaluation of single speed (2-pole) and also multi speed resolvers (up to 32-pole). The
maximum cable length is limited to 50 m.
If a thermal contact is used in the motor, the signal is also connected via the resolver cable.
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5.5.2 EnDat® Feedback
One of the high-resolution feedback systems for servomotors is the encoder with EnDat
interface. The maximum cable length is limited to 10 m. If a thermal contact is used in the
motor, the signal is also connected via the encoder cable.
−
+
−
+
6
19
7
20
23
10
14
1
5V
Servo Drive System
EnDAT®- Encoder
X12, X22
A −
A +
B −
B +
Thermal contact
Return
DATA +
DATA −
120R
120R
120R
11
120R
24
22
CLOCK +
CLOCK −
Up(5V) +
0V
5V
8
Shielding
MDP 102-1
29.08.2019 Page 61
The Maximum cable length is 10 m, with the exception of the following encoders:
Type code
description
Motor type
Encoder Type
Max. Length
LA
AKM2 – AKM3
ECI 1118
8,2 m
LB
AKM2 – AKM3
EQI 1130
6,9 m
DB
AKM2 – AKM4
EQN 1125
9,4 m
When using EnDAT® with the MDD 100, the cable length must be taken into consideration
(voltage drop)!
Formula for calculating the cable length (max. 10 m):
(A * U) / (ρ * I * 2) = Lcable
Example of cable length calculation:
For AKM2xx - xxxxDBxx (ECN 1125 encoder with 4.75 V minimum supply and 14 A maximum current):
Maximum voltage drop = 5 V – 4.75 V = 0.25 V
(0.18 mm² * 0.25 V) / (0.017 Ω * mm²/m * 0.14 A * 2) = 9.4 m
Table for EnDat® encoder cable lengths:
Type code
description
Motor type
Encoder Type
Encoder Perfor-
mance
Max. Length
DA
AKM2-4
ECN 1113
4,75 V 110 mA
10 m
DA
AKM5-8
ECN 1313
3,6 V 110 mA
10 m
DB
AKM2-4
EQN 1125
4,75 V 140 mA
9,4 m
DB
AKM5-8
EQN 1325
3,6 V 140 mA
10 m
LA
AKM2-3
ECI 1118
4,75 V 160 mA
8,2 m
LA
AKM4-8
ECI 1319
3,6 V 170 mA
10 m
LB
AKM2-3
EQI 1130
4,75 V 190 mA
6,9 m
LB
AKM4-8
EQI 1331
3,6 V 170 mA
10 m
Derivation of the formula:
R = U / I Maximum resistance, calculated via the encoder power
R = ρ * Lwire / A wire resistance over the entire wire length
Applied:
R = ρ * Lwire / A
Solved for the maximum wire length calculation:
(A * U) / (ρ * I) = Lwire
MDP 102-1
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Cabel length is halved since the supply and GND line form the entire length.
LCable = Lwire / 2
Legend:
U = Voltage drop ( 5 V supply – minimum encode supply)
R = Wire resistance
I = Maximum required encoder current
ρ (rho) = Specific resistance of the wire (0.017 Ω for copper)
Lwire = Entire wire length (supply line + ground line)
Lcable = Entire cable length (Lwire / 2)
A = Encoder cable cross section
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5.5.3 Hiperface® Feedback
An encoder with Hiperface® interface is a high-resolution interface for servomotors. The
maximum cable length is limited to 25 m. If a thermal contact is used in the motor, the signal is also connected via the encoder cable.
−
+
−
+
7
20
6
19
23
10
14
1
5V
Servo Drive System HIPERFACE®- Encoder
X12, X22
+ SIN
REFSIN
+ COS
REFCOS
Thermal contact
Return
DATA +
DATA −
120R
120R
120R
22
Us +
GND
8V
13
Schielding
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5.5.4 Sine Encoder Feedback
A sine encoder is a high-resolution feedback system, used with linear or torque servomotors. The maximum cable length is limited to 10 m. If a thermal contact is used in the motor,
the signal is also connected via the encoder cable.
The upper frequency limit for TTL encoders is 100 kHz. The reference signal is not evaluated in the drive.
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29.08.2019 Page 65
5.5.5 Sanyo Denki Motor
A Sanyo Denki motor with an absolute encoder with no battery can be connected to the
MDD 100. The maximum cable length is limited to 25 m. The battery type is in preparation.
23
10
Sanyo Denki absolute
Encoder types PA035C,
PA035S and RA035C
X12, X22
brown
blue
22
red
black
5V
8
Shielding
120R
DATA+
DATA-
14
Pink *
Purple *
V-BAT
2
Conductor coloring
66
55
44
33
22
Motor
11
W
V
U
PE
B+
B-
PE
+ DC
− DC
Axis Module
X11, X21
+24V-BR
BGND
green
red
white
black
Axis Module
Sanyo Denki Motor, R Series
Cable twisted pair, shielded, shield on both sides grounded
Length <10m use 0.25mm²
Length <25m use 0.5mm² cable
* Only for absolute encoder
type PA035C
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5.5.6 Panasonic Feedback
The Panasonic feedback analysis is supported starting with FW version 1.84 in combination
with the MDD FPGA version v22 (see parameter I-HC).
The maximum cable length is 25 m.
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5.5.7 BiSS C Feedback
The BiSS C analysis is supported starting with FW version 1.84 in combination with the
MDD FPGA version v22 (see parameter I-HC).
The maximum cable length is 10 m.
If a thermos contact is used the signal is wired via the feedback cable.
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6 Maintenance
The servo drive does not require any maintenance.
Note: Opening the enclosure invalidates the warranty
If the casing is dirty, clean with Isopropanol or similar cleaning agent.
• Dirt inside the unit must be cleaned by the manufacturer
• Dirty protective grill (fan) may be cleaned with a dry brush
• Do not immerse or spray.
6.1 Replace and repair
Repair: The repair of the servo drive has to be done by the manufacturer.
Replace: If a component of the servo drive system has to be replaced, notice
following checklist (no special mounting tools are required):
Switch off the main switch of the switchgear cabinet and remove the fuses
supplying the servo drive system
Wait at least 7 minutes after disconnecting the servo drive system from the
mains supply voltage before touching live sections of the equipment (e.g.
contacts) or undoing connections. Capacitors can still have dangerous volt-
ages present up to 7 minutes after switching off the supply voltages. To be
sure, measure the voltage in the DC-link circuit and wait until it has fallen
below 40 V.
During operation, the heat sink of components of the servo drive system
can become hot and may reach temperatures above 80 °C (176 °F). Check
(measure) the heat sink temperature and wait until it has cooled below
40 °C (104 °F) before touching it.
Remove the connectors. Make sure, that the identification is clear, not to
swap the connectors at installation of the replacement.
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Disassemble the servo drive.
Check the replacement component and compare it to the disassembled
one. Install only the same type!
Plug the connectors. Be careful not to swap connectors.
Install the fuses supplying the servo drive system, switch on the main switch
of the switchgear cabinet.
Setup of the drive and parameter download is automatically done by the
host controller.
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7 Appendix
7.1 Transport, storage and disposal
Transport:
• Use only the manufacturer’s original recyclable packaging
• Avoid shocks
• Maximum temperature range –25 to +70 °C (-13...158 °F), maximum
20 K/h rate of change
• Maximum 95 % relative humidity, not condensing
• The servo drive contains electro statically sensitive components,
which can be damaged by incorrect handling. Discharge yourself before touching the servo amplifier. Avoid contact with highly insulating
materials (artificial fabrics, plastic films etc.). Place the servo drive on
a conductive surface.
• If the packaging is damaged, check the unit for visible damage. In
this case, inform the shipper and the manufacturer. Do not install and
operate the unit in this case!
Packaging:
• Card box, can be recycled
• Labeling: nameplate outside at the box
Storage:
• Only in the manufacturer’s original recyclable packaging
• The servo amplifiers contain electro statically sensitive components,
which can be damaged by incorrect handling. Discharge yourself before touching the servo amplifier. Avoid contact with highly insulating
materials (artificial fabrics, plastic films etc.). Place the servo amplifier
on a conductive surface.
• Maximum stacking height 10 card boxes.
• Storage temperature range –25 to +55 °C (-13...131 °F), maximum
20 K/h rate of change
• Maximum relative humidity 95 %, not condensing.
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• Storage duration:
< 1 year: without restriction
≥ 1 year: capacitors must be re-formed before operating the ser-
vo drive. To re-form, remove all electrical connections, and supply
the servo amplifier for about 30 min. from 230 VAC, single-phase, on
terminals L1 / L2.
Disposal:
• The servo drives can be reduced to its principal components by re-
moving the screws (aluminum heat sink, steel housing sections,
electronics boards)
• Disposal should be carried out by a certified disposal company.
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7.2 Troubleshooting and Fault Elimination
Faults and warnings can be detected by LED and bus system.
The list “Status Register” helps you eliminate the errors.
7.2.1 Seven segment display
Display
Description
8.8.
Initialization of the display
XX
During start-up the FPGA version is shown
bt
Controller scans the bootloader
rn
Controller is in normal operating mode
Er
A fatal internal error was detected
7.2.2 LED Indication
Each axis module of the MDD100 servo drive system has two LED’s for each axis, which
display the status of the corresponding axis.
LED
Description
Green
Red
On
On
Controller in boot mode (no or damaged firmware)
1 Hz flashing
Off
Ready to switch on, no enable
8 Hz flashing
Off
Output current limited by I2T limitation (one or more axes)
On
Off
Running
On
1 Hz flash-
ing
Warning condition
Off
On
Fault condition
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7.2.3 Malfunction of the drive
Malfunction of the drive
Cause
Remedy
─ I-FPOS shows decrementing
values when the motor rotates clockwise (view of the
motor shaft)
─ Feedback system is not
connected correctly
─ Connect feedback system according
to drawing
(see page 58)
─ Motor does not rotate
─ Motor current is at the limit
without torque
─ Motor is not connect in cor-
rect orientation
─ Connect motor in correct relation to
terminals
U, V, W
─ The motor casts without set
point
─ The motor torque is too low
or different in the both directions
─ M-ROFF is not set to the right
value
─ Motor and/or feedback con-
nection is wrong
─ Set M-ROFF to the right value
─ Connect motor and feedback correct-
ly
─ The motor stops in certain
positions
─ The setting of M-POL and/ or
M-RPOL is not correct
─ The motor cable has a broken
wire
─ Not all wires of the motor
cable are connected
─ Set M-POL and M-RPOL according
to the to the data of the motor
─ Replace motor cable (especially with
drag chains)
─ Connect all wires of the motor cable
─ The motor oscillates
─ Control gain too high
─ Shielding of the feedback
cable has a break
─ Reduce V-KP and/or P-KV
─ Replace feedback cable (especially
with drag chains)
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7.2.4 Status Register
The MDD 100 has a status register, read by I-STATUS. It is a 32-Bit variable that contains
all error and status information. The internal behavior of the drive to the different bits can be
set by G-MASKE1, G-MASKE2, G-MASKW and G-MASKD. According to the setting of the
different masks, the drive detects an error, warning or does not react at all. The different
bits have default values and also limitations on attribution to the masks.
Bit Fault
Cause
Remedy
0
One mains phase
─ No 3-phase supply from the
mains
─ check fuses in the mains
─ check electrical supply
1
Mains fault
─ Drive system is enabled
without mains applied
─ check fuses in the mains
─ check electrical supply
─ Drive is enabled, before
DC – link charged and vice versa
2
Not used
3
DC over voltage
─ internal regen resistor dama-
ged
─ replace module rack
4
DC under voltage
─ mains supply voltage too low
when drive is enabled
─ disable drive before the DC-link
voltage crosses the under voltage
threshold set by G-VBUSM
5
Not used
6
Holding brake fault
─ No holding brake connected
with M-BRAKE = 1
─ Short circuit at the holding
brake output
─ Connect motor with holding brake
─ Check wiring of the holding brake
─ Set M-BRAKE = 0 if no brake is at
the motor
─ Check wiring of the holding brake
─ Check holding brake
7
Brake switch fault
─ No holding brake connected
with M-BRAKE = 1
─ Internal brake supply switch is
defect
─ Connect motor with holding brake
─ Set M-BRAKE = 0 if no brake is at
the motor
─ replace drive
8
Not used
9
Motor temperature
─ motor thermostat has
switched off
─ break in feedback cable or
connectors
─ check why the motor became
so hot (undersized, bad environmental conditions)
─ check feedback cable and
connectors, replace it, if necessary
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10
Ambient temperature
─ internal temperature too
high
─ improve ventilation in the cabi-
net and check mounting position according to this manual
11
Heat sink temperature
─ heat sink temperature too
high
─ improve ventilation in the cabi-
net, check mounting position
according to this manual or use
a cooling unit
12
Feedback fault
─ feedback cable has a
break
─ feedback device defect
─ feedback connector not
properly stucked
─ replace feedback cable
─ replace feedback device
─ stuck feedback connector
properly
13
Commutation fault
─ wrong phasing of the
motor
─ Wrong wiring of motor or
feedback cable
─ Check M-ROFF
─ Check wiring
14
Motor over speed
─ wrong phasing of the
motor
─ Wrong wiring of motor or
feedback cable
─ High speed overshoot
(more than 1.2 * V-NMAX)
─ Check M-ROFF
─ Check wiring
─ Optimise control loops
15
Following error
─ Following error window
P-PEMAX too small
─ Increase P-PEMAX and/or
optimise control loops
16
Trajectory error
─ Position change results in
speed set point of > 10000
rpm
─ Check setting of P-PSCALE
and
P-SSCALE and position set
point generation of the controller
17
Host communication
─ Two set point or actual
value telegrams in series
were wrong or not sent
─ Internal communication
error in combination with
the used option board
─ Synchronisation is not locked.
Check A-CTIME and accuracy
of the cycle time of the controller
─ A-STIME is not set right
─ Communication is disturbed
─ See also I-DERROR
18
Drive Error E2
─ Different internal faults
─ See also I-DERROR
─ Contact manufacturer
19
Drive Error E1
Different internal faults
─ See also I-DERROR
─ Contact manufacturer
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Power stage fault:
─ motor cable has (ground)
short circuit
─ motor has (ground) short
circuit
─ power stage is damaged
─ replace motor cable
─ replace motor
─ replace drive
Regen fault:
─ regen resistor has
(ground) short circuit
─ regen power stage is
damaged
─ replace module rack
─ replace drive
20
Enable locked fault
─ Drive is software enabled
without enabling the safety
function
─ Enable drive only if ENABLE_H
= high and ENABLE_L = low
21
Driver voltage fault
─ The supply voltage of the
power stage drivers is
switched off, when the
drive is enabled
─ Enable drive only if ENABLE_H
= high and ENABLE_L = low
22
DC over voltage
and regen limitation
─ regen power is insufficient.
Regen power limit was
reached and the regen
resistor was switched off.
23
Brake supply fault
─ Holding brake supply +24
V-BR is not supplied when
software enable is set
(M-BRAKE = 1)
─ When the motor has a holding
brake, enable the drive only
when the holding brake input
+24 V-BR is supplied
24
Brake enable fault
─ not available
25
I2t fault
─ When I-I2T exceeds the
warning level A-I2TERR
─ Increase the level A-I2TERR
26
Motor temperature
warning
─ When motor temperature
I-TEMPM exceeds the
warning level A-TEMPMW
─ Increase the warning level
A-TEMPMW
27
Motor Parameter
Error
─ When a feedback system
with parameter storage
has no valid data
─ Store valid data in the feed-
back
─ Replace Motor
28
Multiturn Revolution Error
─ When the multiturn EnDat
or Hiperface encoder has
a overflow
─ Multiturn range exceeds the
4096 revolutions
─ Multiturn range has to adjusted
to the range of the machine
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29
Max. Sum Power
Limitation
─ When the sum output
power of all axes exceeds
the power supply limitation
─ Servo drive system meets not
the demands of the Application
30
reserved
31
Fan error
─ The fan does not reach the
minimum rotation speed.
─ Exchange axis module.
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8 VARAN Recommended Shielding
The VARAN real-time Ethernet bus system offers robust performance in harsh industrial
environments. Through the use of IEEE 802.3 standard Ethernet physics, the potential
between an Ethernet line and sending/receiving components is kept separate. The VARAN
Manager resends messages to a bus participant immediately when an error occurs. It is
principally recommended that the shielding guidelines below be followed.
For applications in which the bus line is run outside the control cabinet, correct shielding is
required. This is especially important, if due to physical requirements, the bus lines must be
placed next to sources of strong electromagnetic noise. It is recommended that whenever
possible, to avoid wiring VARAN-Bus lines parallel to power cables.
SIGMATEK recommends the use of CAT5e industrial Ethernet bus lines.
For the shielding variants, an S-FTP bus line is recommended, which is a symmetric, multi-
wire cable with unshielded pairs. For the total shielding, a combination of foil and braiding is
used; it is recommended that an unvarnished variant be used.
The VARAN cable must be secured at a distance of 20 cm from the connector for
protection against vibration!
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8.1 Wiring from the Control Cabinet to an External VARAN
Component
If the Ethernet lines are connected from a VARAN component to a VARAN node outside
the control cabinet, the shielding should be placed at the entry point to the control cabinet
housing. All noise can then be deflected from the electronic components before reaching
the module.
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8.2 Wiring Outside of the Control Cabinet
If a VARAN bus cable must be placed outside of the control cabinet only, no additional
shield connection is required. This requires that only IP67 modules and connectors be
used. These components are very robust and noise resistant. The shielding for all sockets
in IP67 modules are internally connected to common bus or electrically connected to the
housing, whereby the deflection of voltage spikes does not flow through the electronics.
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8.3 Shielding for Wiring Within the Control Cabinet
Sources of strong electromagnetic noise located within the control cabinet (drives, Transformers, etc.) can induce interference in a VARAN bus line. Spike voltages are deflected
over the metallic housing of a RJ45 connector. Noise is conducted through the control cabinet housing without further action from the electronic components To eliminate sources of
noise during data transfer, it is recommended that the shielding from all electronic components be connected within the control cabinet.
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8.4 Connecting Noise-Generating Components
With the connection of power components that generate strong electromagnetic noise, it is
also critical to ensure correct shielding. The shielding should be placed before a power
component (or a group thereof).
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8.5 Shielding Between Two Control Cabinets
If two control cabinets must be connected over a VARAN bus, it is recommended that the
shielding be located at the entry points to both cabinets. Noise can thereby be kept from
reaching the electronics within the control cabinet.
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