1. Manuals
  2. Brands
  3. LEXIUM Manuals
  4. Servo Drives
  5. MHDA1004
  6. User manual

LEXIUM MHDA1004 User Manual

17d series
Hide thumbs
Table of Contents

Advertisement

Quick Links

Lexium Servo Drive
17D Series
User Guide
Version 2.0 June 2003
31001643_K01_000_04

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MHDA1004 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Summary of Contents for LEXIUM MHDA1004

  • Page 1 Lexium Servo Drive 17D Series User Guide Version 2.0 June 2003 31001643_K01_000_04...
  • Page 3 Preface Preface The data and illustrations found in this book are not binding. We reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be construed as a commitment by Schneider Electric.
  • Page 4 Preface 890 USE 120 00...

  • Page 5: Table Of Contents

    Contents Chapter 1 - Introduction At a Glance...................... Document Scope ..................What’s in this Chapter ................About this User Guide ..................Who Should Use this User Guide ............. How this User Guide Is Organized ............Related System Components ................. Single-Axis Motion Control System ............UniLink Commissioning Software for 17D ..........

  • Page 6: Chapter 1 - Introduction

    Contents Chapter 2 - Product Overview At a Glance...................... Introduction ....................What’s in this Chapter ................The 17D Series Servo Drive Family ............... Introducing the 17D Drive Family ............. Drives Available ..................Implementing the Drives ................Applicable Servo Motor Types ..............Connection to different mains supply networks ........
  • Page 7 AC Mains Power Supply Connection ............Bias Supply Connection................Serial Power Connections................External Regen Resistor Connection............Regen Circuit Functional Description ............Lexium BPH Servo Motor Connection (excluded BPH055) ...... Lexium BPH 055 Servo Motor Connection ..........890 USE 120 00...
  • Page 8 Servo Motor (with Optional Dynamic Brake Resistors and Contactor) Connection ....................Servo Motor Holding-Brake Control Functional Description ..... Signal Wiring ....................Lexium BPH Resolver Connection (excluded BPH055) ......Lexium BPH055 Resolver Connection ............. Lexium SER Resolver Connection ............Lexium BPH Encoder Connection ............
  • Page 9 Contents Chapter 5 - System Operation At a Glance...................... What’s in this Chapter................Powering Up and Powering Down the System ..........Power-on and Power-off Characteristics ..........Stop Function .................... Emergency Stop strategies ............... Wiring example ..................Description of the restart lock -AS- (MHDA••••A00 drives only) ..... Advantages of the restart lock ..............
  • Page 10 Contents Appendix A - Specifications At a Glance...................... 107 What’s in this Appendix ................107 Performance Specifications ................108 Performance Specifications Table ............. 108 Environmental and Mechanical Specifications ..........109 Environmental Specifications Table ............109 Mechanical Specifications Table .............. 110 Electrical Specifications ..................
  • Page 11 Contents Appendix B - Parts List At a Glance...................... 127 What’s in this Appendix ................127 Lexium 17D Drives ..................128 Drives Available ..................128 External 24 Vdc supply ................... 129 External 24Vdc supply ................129 Drive Cables ....................130 Drive to Motor Cables ................
  • Page 12 Contents Wiring a 17D Drive to B885-11x Motion Modules .......... 144 B885-11x Control Wiring Diagram ............144 B885-11x Encoder Wiring Diagram: Option 1 ........... 145 B885-11x Encoder Wiring Diagram: Option 2 ........... 146 Appendix D - Cable Connection Wiring Diagrams At a Glance......................
  • Page 13 Contents Appendix F - Expansion Options At a Glance...................... 167 What’s in this Appendix ................167 Expansion Cards .................... 168 Overview ....................168 Fitting expansion card................168 I/O Expansion Cards ..................169 24 Vdc Discrete I/O Expansion Card ............169 IConnector and LED Location Diagram .............
  • Page 14 Contents 890 USE 120 00...

  • Page 15: At A Glance

    At a Glance Document Scope This user guide contains complete installation, wiring interconnection, power application, test and maintenance information on the Lexium 17D series servo drive. What’s in this This chapter provides general information about this user guide and contains the...

  • Page 16: About This User Guide

    User Guide installing (mounting and interconnecting), operating, testing and maintaining your Lexium 17D servo drive and the servo system equipment with which it interfaces. In addition, the following precautions are advised: Transportation of the servo drive to, or from, an installation site should only be performed by personnel knowledgeable in handling electrostatically sensitive components.
  • Page 17 About this User Guide, continued How this User Guide Is Organized, Chapter/Appendix Description continued Chapter 4 Wiring diagrams for the power connections and Wiring and I/O wiring diagrams and descriptions for all signal wiring connections — encoder, resolver, analog I/O, discrete I/O, and serial communications cable.

  • Page 18: Related System Components

    Related System Components Single-Axis The 17D servo drive is typically only one component in a larger, single-axis motion Motion Control control system. A single axis comprises one motion module, one servo drive, and System one motor. Compatible Schneider motion modules include: Quantum 140 MSx series motion modules Compact MOT 201 motion modules B885-11x series motion modules...

  • Page 19: Related Documentation

    Premium PLCs Specific Manual Functions TSX DM 57 40 TLX DS 57 PL7 40 If you have a BPH motor, you will also need this: Lexium BPH Serie servo motors Motors Reference Guide *AMOMAN001U * included in AM0 CSW 001V•00 (CDROM)

  • Page 20: Hazards, Warnings And Guidelines

    Hazards, Warnings and Guidelines Hazards and Read the following precautions very carefully to ensure the safety of personnel at Warnings your site. Failure to comply will result in death, serious injury or equipment damage. DANGER! ELECTRIC SHOCK HAZARDS During operation, keep all covers and cabinet doors closed. Do not open the servo drives;...
  • Page 21 Hazards, Warnings and Guidelines, continued WARNING! THERMAL HAZARD During operation, the front panel of the servo drive, which is used as a heat sink, can become hot and may reach temperatures above 80°C. Check (measure) the heat sink temperature and wait until it has cooled below 40°C before touching it. Failure to observe this precaution can result in severe injury.
  • Page 22 Hazards, Warnings and Guidelines, continued CAUTION! SAFETY INTERLOCKS Schneider recommends the installation of a safety interlock with separate contacts for each motor. Such a system should be hard wired with over–travel limit switches and a suitable emergency stop switch. Any interruption of this circuit or fault indication should: Open the motor contacts Shunt dynamic braking resistors across each motor, if they are present.

  • Page 23: Additional Safety Guidelines

    - operating temperature range - pollution degree 2 as defined in EN 50178 - assembly. Qualified Only properly qualified personnel having extensive knowledge in electrical and Personnel servo drive technologies should install, commission and/or maintain the Lexium 17D servo drives.

  • Page 24: Standards And Compliances

    Standards and Compliances European The Lexium 17D servo drives are incorporated into an electrical plant and into Directives and machinery for industrial use. Standards When the servo drives are built into machines or a plant, do not operate the servo...

  • Page 25: Ul And Cul Compliance

    Standards and Compliances, continued UL and cUL UL Listed (cUL Certified) servo drives (Underwriters Laboratories Inc.) comply with Compliance the relevant American and Canadian standards (in this case, UL 840 and UL 508C). This standard describes the minimum requirements for electrically operated power conversion equipment (such as frequency converters and servo drives) and is intended to eliminate the risk of injury to personnel from electric shock or damage to equipment from fire.

  • Page 26: Conventions

    Conventions Acronyms and The acronyms and abbreviations used in this manual are identified and defined in Abbreviations the table below. Acronym or Abbreviation Description European Community (EC) Clock signal Serial communication interface for a PC-AT Underwriters Laboratory (Canada) German Institute for Norming Disk Magnetic storage (diskette, hard disk) EEPROM...
  • Page 27 Conventions, continued Acronyms and Abbreviations, continued Acronym or Abbreviation Description Programmable Logic Controller SRAM Static RAM Synchronous Serial Interface Underwriters Laboratory Voltage, Alternating Current Voltage, Direct Current...

  • Page 29: Chapter 2 - Product Overview

    Product Overview At a Glance Introduction This chapter contains a product overview of the Lexium 17D series servo drives and includes: Available drive models and related system components Feedback and performance information Power and signal electronics Software and axis configuration What’s in this...

  • Page 30: The 17D Series Servo Drive Family

    Applicable Servo The Lexium 17D servo drives are intended to drive BPH and SER series brushless Motor Types servo motors. Continued on next page...

  • Page 31: Connection To Different Mains Supply Networks

    The 17D Series Servo Drive Family, continued Connection to On this page you’ll find all possible connection variations to different mains supply different mains networks. supply networks WARNING ! An isolating transformer is always required for 400...480V mains networks without earth(ground) and for networks with asymmetrical earth(ground). 208...480V 208V with 60Hz only 230...480V with 50Hz or 60Hz...

  • Page 32: Electrical Considerations

    The 17D Series Servo Drive Family, continued Electrical The Lexium 17D family of servo amplifiers is to be used on earthed three-phase industrial mains supply networks (TN-system, TT-system with earthed neutral Considerations point, not more than 5000 rms symmetrical amperes).

  • Page 33: Drive Family Portrait

    The following photograph shows a representative member of the 17D drive family. Portrait The complete family consists of five models partitioned into two physical sizes. • • • • Models MHDA1004 00, MHDA1008 00, MHDA1017 00 and MHDA1028 • have dimensionally identical physical housings while Model MHDA1056 00 has a wider housing.

  • Page 34: Drives Front View

    The 17D Series Servo Drive Family, continued 17D Drives Front The following photograph shows a typical 17D front view without AS function. View Continued on next page...

  • Page 35: Equipment Supplied

    The following items are optionally available to you from Schneider for use with the Available 17D servo drives: Lexium BPH series brushless servo motors Servo motor power and feedback cables Note: Power and feedback cables are available in lengths from 5...75 m and are supplied by Schneider with the connector for the servo motor attached to the cable and with the connector for the drive unassembled and unattached to the cable.

  • Page 36: System Configuration Diagram

    The 17D Series Servo Drive Family, continued 17D System The following illustration shows a typical 17D system configuration. Configuration Diagram...

  • Page 37: Overview Of Usability Features

    Overview of Usability Features Digital Control The 17D drive provides complete digital control of a brushless servo system. This includes: A digital field-oriented current controller operating at an update rate of 62.5 µs A fully programmable digital PI-type speed controller operating at an update rate of 250 µs If required by user application, an integrated, digital, position controller with configurable trajectory generation operating at an update rate of 250 µs is also...

  • Page 38: Usability Enhancements

    Overview of Usability Features, continued Usability The following features are incorporated into the 17D drive to facilitate the set-up Enhancements and operation of the servo system: Two analog +/-10 V inputs can be programmed for a multitude of functions depending upon the application. Both inputs incorporate automatic offset compensation, dead-band limitation and slew-rate limitation.

  • Page 39: Restart Lock -As- (A00 Drives Only)

    Overview of Usability Features, continued Restart lock -AS- The restart lock -AS- is exclusively intended to provide safety for personnel, by (A00 drives only) preventing the restart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the safety requirements of EN60204, EN292 and EN 954-1.

  • Page 40: Overview Of 17D Internal Electronics

    Overview of 17D Internal Electronics 17D Internal The following block diagram illustrates the 17D internal electronics and depicts Electronics internal interfaces for power, signal I/O, and communication. Block Diagram LEXIUM Analog1 in + Analog1 in - -AS- +Rb ext -AS-...

  • Page 41: General Characteristics

    70 mm drives are rated to handle currents up to 28 A and the 120 mm wide drive is rated to handle currents up to 56 A. All Lexium drives operate with an input voltage which may range from 208 V -10% 60 Hz, 230 V -10% 50 Hz through 480 V +10% 50-60 Hz.

  • Page 42: Internal Power Section

    Overview of 17D Internal Electronics, continued Internal Power The Internal power section of the 17D drive includes the following: Section Power input: A rectifier bridge directly connected to the three-phase earthed supply system, integral power input filter and inrush current limiting circuit. Motor power output: PWM current-controlled voltage source IGBT-inverter with isolated current measurement Regen circuit: Dynamic distribution of Regen power between several drives on...

  • Page 43: Led Display

    Overview of 17D Internal Electronics, continued LED display A three-character LED display on the front of the 17D drive indicates drive status after the 24 Vdc bias supply is turned on. If applicable during operation, error and/ or warning codes are displayed.

  • Page 44: Overview Of System Software

    Setup Configuration software is used for setting up and storing the operating parameters for the Lexium 17D series drives. The drive is commissioned with the assistance of the UniLink software and, during this process, the drive can be controlled directly through this software.

  • Page 45: Unilink Commissioning Software

    Overview of System Software, continued UniLink The minimum PC system requirements needed for the UniLink commissioning Commissioning software are specified in the following table: Software Item Minimum Requirement Operating System Windows 95 Windows 98 Windows 2000 Windows ME Windows NT 4.0 Hardware: Processor 486 or higher...

  • Page 47: Chapter 3 - Mounting And Physical Dimensions

    Mounting and Physical Dimensions At a Glance What’s in this This chapter provides information on the mounting requirements for, and physical Chapter dimensions of, the Lexium 17D series servo drives and includes the following topics: Topic Page Installation safety precautions Installation considerations...

  • Page 48: Installation Safety Precautions

    Installation Safety Precautions CAUTION! MECHANICAL STRESS Protect the drive from physical impact during transport and handling. In particular, do not deform any exterior surfaces; doing so may damage internal components or alter critical insulation distances. Failure to observe this precaution can result in injury or equipment damage. CAUTION! ELECTRICAL STRESS At the installation site, ensure the maximum permissible rated voltage at the Mains...
  • Page 49 Installation Safety Precautions, continued CAUTION! CONTAMINATION AND THERMAL HAZARD Ensure the 17D drive is mounted within an appropriately vented and closed switchgear cabinet that is free of conductive and corrosive contaminants. Ensure the ventilation clearances above and below the drive conform to requirements. (Refer to Chapter 3 for additional information.) Failure to observe this precaution can result in injury or equipment damage.

  • Page 50: Power Supply Overcurrent Protection

    Installation Considerations Power Supply You are responsible for providing overcurrent protection (via circuit breakers and/or Overcurrent fuses) for the Vac mains supply and the 24 Vdc bias supply that are connected to Protection the drive. Earth Ensure the drive and associated servo motor are properly connected to earth. Connections Cable Separation Route power and control (signal) cables separately.

  • Page 51: Drive Mounting And Physical Dimensions

    Drive Mounting and Physical Dimensions 17D Height, The following diagram shows height, width and depth dimensions for the 17D drive. Width and Depth Dimensions Model: MHDA1004 MHDA1008 MHDA1017 MHDA1028 325 mm 275 mm Model: MHDA1056 325 mm 275 mm * Dimensions with mating connectors installed...

  • Page 52: Drive And Mounting Area Dimensions

    / / / / / / / / 40 mm 70 mm 70 mm 70 mm 40 mm 50 mm Cable duct 45 mm 2,5 mm (min.) 273 mm Mounting panel Cabinet door 265 (273 mm*) mm Lexium 17D * Dimensions with mating connectors installed...

  • Page 53: External Regen Resistor Assembly Dimensions

    External Regen Resistor Mounting and Physical Dimensions External Regen The following diagram shows the dimensions for all three external Regen resistor Resistor assemblies. Assembly Dimensions Regen Resistor Power Weight Assembly Ω Part Number mm mm mm mm mm AM0RFE001V025 342 352 410 64 4,8 x 8 AM0RFE001V050 413 428 485 93 64...

  • Page 54: External Regen Resistor Assembly

    External Regen Resistor Mounting and Physical Dimensions, continued External regen resistor assembly CAUTION ! Surface temperature can exceed 200°C. Observe the requested free space. Do not mount on combustible material ! Air flow...

  • Page 55: Motor Choke Assembly Dimensions

    Motor Choke Mounting and Dimensions Motor Choke The following diagram shows the dimensions for the motor choke assembly. Assembly Dimensions 153.3 N.B. : All dimensions are in millimeters Réf. Irms max. F max. (mm). 3 x 20 A 8.3 kHz 1,2 mH AM0FIL001V056...

  • Page 57: Chapter 4 - Wiring And I/O

    Wiring and I/O At a Glance Introduction This chapter describes and illustrates all power wiring connections, all signal wiring connections, and I/O wiring connections on the 17D drive. Power and signal wiring connections are: AC mains power through a 4-position, plug-in, terminal block connector, X0 Bias power through 4-position, plug-in, terminal block connector, X4 Servo motor power through a 6-position, plug-in, terminal block connector, X9 Optional Regen power resistor through a 4-position, plug-in, terminal block...

  • Page 58: What's In This Chapter

    At a Glance, continued What’s in this This chapter contains the following topics. Chapter Topic Page Wiring and I/O initial considerations Wiring overview Cable shield connections Power wiring Signal wiring Analog I/O connections Fault Relay and Digital I/O connections Serial communications connections Stepper-motor control interface connections...

  • Page 59: Wiring And I/O Initial Considerations

    Wiring and I/O Initial Considerations Initial Some descriptions and illustrations contained in this chapter are provided as Considerations examples. Actual implementation depends on the application of the equipment; thus, appropriate variations are allowed provided they neither violate any safety precautions nor jeopardize the integrity of the equipment. DANGER! ELECTRIC SHOCK HAZARD Before you wire and connect cables, ensure the mains power supply, the 24 Vdc...

  • Page 60: Wiring Overview

    Wiring Overview Overview of 17D The following diagram shows the wiring connections for the 17D drive. Wiring Connections CAUTION: Do not connect a Modbus serial port to the X6 connector! Pin1 carries +8 Vdc which would be shorted out by a Modbus cable. Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.

  • Page 61: Connection Diagram For Lexium 17D

    Connection diagram for LEXIUM 17D Reference Safety Instructions +/-10V speed and Use As Directed! thermal control Analog 1in + setpoint1 included high referenced to GND Analog 1 in - resolution Sine-Cosine single / Analog Com Encoder multiturn +/-10V speed Analog 2 in +...

  • Page 62: Pin Assignments For Lexium 17D

    Wiring Overview, continued Pin assignments for LEXIUM 17D X6 PC/CAN X5 ROD/SSI X2 RESOLVER X1 ENCODER pulse-direction master-slave Analog Com 1 View: looking at the Fault Ra 2 Fault Rb 3 face of the built-in Analog 1 In+ 4 connectors...

  • Page 63: Cable Shield Connections

    Cable Shield Connections Connecting The following procedure and associated diagram describe how to connect cable Cable Shields to shields to the front panel of the 17D drive: the Front Panel Step Action Remove a length of the cable’s outer covering and braided shield sufficient to expose the required length of wires.

  • Page 64: Cable Shield Connection Diagram

    Cable Shield Connections, continued Cable Shield The following diagram shows the cable shield connections at the front of the 17D Connection drive. Diagram Cable tie Cable tie Cable tie...

  • Page 65: Power Wiring

    Power Wiring AC Mains Power The following diagram shows the connections for the AC mains power supply input Supply to the 17D drive. Connection Lexium 17D Three phase 50Hz 230... 480 Vac* Three phase 60Hz 208... 480 Vac* 208...230V 208...230V...

  • Page 66: Serial Power Connections

    Power Wiring, continued Serial Power The following diagram shows the serial connections for the AC mains and bias Connections power among multiple 17D drives. AC supply Lexium 17D Lexium 17D Lexium 17D Next Drive DC supply Lexium 17D Lexium 17D...

  • Page 67: External Regen Resistor Connection

    Fusing of the two lines to external Regen Resistor is mandatory. Use high voltage AC/DC and fast fuses.. If using an external Regen resistor, disable the internal Regen resistor by removing the Lexium 17D jumper between -R and +R Bint...

  • Page 68: Lexium Bph Servo Motor Connection (Excluded Bph055)

    Power Wiring, continued Lexium BPH The following diagrams show the connections between a servo motor (excluded Servo Motor BPH055) and the 17D drive. When the interface cable length exceeds 25 m, a Connection motor choke must be installed as shown and at a distance of one meter or less from (excluded the drive.

  • Page 69: Lexium Bph 055 Servo Motor Connection

    Lexium BPH 055 The following diagrams show the connections between a BPH055 servo motor and Servo Motor the 17D drive. When the interface cable length exceeds 25 m, a motor choke must Connection be installed as shown and at a distance of one meter or less from the drive.

  • Page 70: Lexium Ser Servo Motor Connection

    Power Wiring, continued Lexium SER The following diagrams show the connections between a SER servo motor and the Servo Motor 17D drive. When the interface cable length exceeds 25 m, a motor choke must be Connection installed as shown and at a distance of one meter or less from the drive.

  • Page 71: Connection

    The following diagram shows the connections between a servo motor and the 17D (with Optional drive when the optional dynamic brake rersistors and associated contactor are Dynamic Brake incorporated. Resistors and Contactor) Connection LEXIUM 17D Brake - Com 24 Vdc Brake+ 24 Vdc (Green) Servo Motor...

  • Page 72: Servo Motor Holding-Brake Control Functional Description

    Power Wiring, continued Servo Motor A 24V holding brake in the servo motor is controlled directly by the 17D drive Holding-Brake through software-selectable BRAKE parameter settings. The time and functional Control relationships between the ENABLE signal, speed setpoint, speed and braking force Functional are shown in the following diagram.
  • Page 73 (Metal oxyde varistor or bidirectionnal transient voltage suppressor) must be incorporated into the brake circuit as shown in the following diagram. Failure to observe this precaution can result in severe injury or equipment damage. Lexium 17D Com +24 Vdc Brake - Servo Motor...

  • Page 74: Signal Wiring

    The following diagram shows the connections between the resolver and the 17D Resolver drive. Connection Note: The standard Lexium BPH series servo motors are equipped with two-pole, (excluded integral resolvers. The thermistor contact in the servo motor is connected via the BPH055) resolver cable to the 17D drive.

  • Page 75: Lexium Bph055 Resolver Connection

    Signal Wiring, continued Lexium BPH055 The following diagram shows the encoder input connections between the encoder Resolver and the 17D drive. Connection Note: The BPH055 servo motors are equipped with two-pole, integral resolvers. The thermistor contact in the servo motor is connected via the resolver cable to the 17D drive..

  • Page 76: Lexium Ser Resolver Connection

    The following diagram shows the connections between the resolver and the 17D Resolver drive. Connection Note: The standard Lexium SER series servo motors are equipped with two-pole, integral resolvers. The thermistor contact in the servo motor is connected via the resolver cable to the 17D drive. Green...

  • Page 77: Lexium Bph Encoder Connection

    Signal Wiring, continued Lexium BPH The following diagram shows the encoder input connections between the encoder Encoder and the 17D drive. Connection Note: The BPH series servo motors can be optionally fitted with a single-turn or multi-turn sine-cosine encoder, which is used by the 17D positioning or extremely smooth running.

  • Page 78: Lexium Ser Encoder Connection

    Signal Wiring, continued Lexium SER The following diagram shows the encoder input connections between the encoder Encoder and the 17D drive. Connection Note: The SER series servo motors can be optionally fitted with a single-turn or multi-turn sine-cosine encoder, which is used by the 17D positioning or extremely smooth running.

  • Page 79: Incremental Encoder Emulation

    Emulation Note: The drivers are supplied from an internal supply voltage. must always be connected to the controller ground. Use a cable with twisted pairs and shield (max. length: 10m.) Motion Controller Lexium 17D RS-485 Chan A RS-485 RS-485 Marker...

  • Page 80: Ssi Encoder Emulation

    The following diagram shows the connections between a motion controller and the emulation 17D drive. Note: The drivers are supplied from an internal supply voltage. P must always be connected to the controller ground. Motion Controller Lexium 17D Data + RS-485 Data RS-485 Data - Clock +...

  • Page 81: Diagram Of Master-Slave Operation

    Note: In this configuration, the analog setpoint inputs are disabled, a Analog Com and I/O Com (connector X3) must be connected together. Incremental encoder Master Slave emulation Lexium 17D Lexium 17D RS-485 RS-485 Chan A +5 V Chan B RS-485 RS-485 Note: Up to 16 slaves drives can be controlled by the master drive.

  • Page 82: External Incremental Encoder Connection

    Note: The receivers are supplied from an internal supply voltage. connection must always be connected to the encoder ground. Incremental encoder is powered by an external Power Supply. Incremental encoder Lexium 17D RS-485 Chan A RS-485 RS-485 Marker RS-485...

  • Page 83: External Ssi Encoder Connection

    17D drive. connection Note: The drivers are supplied from an internal supply voltage. must always be connected to the encoder ground. SSI encoder is powered by an external Power Supply SSI encoder * Lexium 17D Data+ RS-485 RS-485 Data - Reserved...

  • Page 84: Analog I/O Connection

    Analog I/O Connection Analog Inputs The following diagram shows the connections between the two fully programmable, differential analog inputs on the 17D drive and a user device. (Refer to the list of pre-programmed functions contained in the UniLink online help.) Note: The Analog Com must always be connected to the user device Com as a ground reference.

  • Page 85: Analog Outputs

    Analog I/O Connection, continued Analog Outputs The following diagram shows the connections between the two programmable, analog outputs on the 17D drive and a typical user device. (Refer to the list of pre- programmed functions in the UniLink online help.) The outputs (+/-10V with 10-bit resolution) can be configured for various monitoring functions such as current or actual speed.

  • Page 86: Fault Relay And Digital I/O Connection

    Fault Relay and Digital I/O Connection Digital Inputs The following diagram shows the connections between the fault relay, the four fully- and Outputs programmable, digital inputs, dedicated enable input and two digital outputs on the 17D drive and typical user devices. (A list of pre-programmed functions is contained in the UniLink online help.) 100nF 25Ω...

  • Page 87: Using Functions Pre-Programmed Into The Drive

    Fault Relay and Digital I/O Connection, continued Using Functions Fault Relay- The isolated fault relay contacts are closed during normal operation Pre-programmed and open when a fault condition exists. The relay state is not affected by the enable into the Drive signal, I t limit or warnings.

  • Page 88: Serial Communications Connection

    Serial Communications Connection Serial The following diagram depicts the RS-232 communication connection between the Communications Lexium 17D and a PC. Connection Diagram Pcom See wiring in Appendix D The setting of the operating, position control, and motion-block parameters can be carried out with an ordinary commercial PC.

  • Page 89: Canopen Interface

    RS232 interface. The analog setpoint inputs can still be used. If the analog setpoint inputs are not used, then Analog Com and I/O Com (terminal X3) must be joined together ! Lexium 17D Analog Com (when analog setpoints are not...

  • Page 90: Can Bus Cable

    CAN bus cable To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 Ω. The maximum usable cable length for reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which we have measured, but they are not to be taken as assured limits: Cable data: Characteristic impedance...

  • Page 91: Stepper Motor Control Interface Connection

    In this configuration, the analog inputs are Description disabled and the drive can provide various monitoring signals. Stepper-Motor The following diagram depicts the communication connection between the Lexium Control Interface 17D and a stepper-motor controller. Connection...

  • Page 92: Stepper-Motor Speed Profile And Signal Diagram

    Stepper Motor Control Interface Connection, continued Stepper-Motor The following is the speed profile and signal diagram of the stepper-motor Speed Profile configuration. and Signal Diagram...

  • Page 93: Chapter 5 - System Operation

    System Operation At a Glance What’s in this This chapter provides information on operating the Lexium 17D series servo drives Chapter and includes the following topics: Topic Page Powering up and powering down the system Description of the restart lock -AS-...

  • Page 94: Powering Up And Powering Down The System

    Chapter 5 System Operation Powering Up and Powering Down the System Power-on and The following diagram illustrates the functional sequence that occurs when the Power-off drive is turned on and off. Characteristics Continued on next page 890 USE 120 00...

  • Page 95: Stop Function

    Chapter 5 System Operation Powering Up and Powering Down the System, continued Stop Function If a fault occurs the output stage of the servo amplifier is switched off and the Fault RA/RB contact is opened. In addition, a global error signal can be given out at one of the digital outputs (terminals X3/16 and X3/17).

  • Page 96: Emergency Stop Strategies

    Chapter 5 System Operation Powering Up and Powering Down the System, continued Emergency Stop The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4. strategies Implementation of the Emergency Stop function: Category 0: The controller is switched to "disable", the electrical supply (400VAC) is disconnected.

  • Page 97: Wiring Example

    Chapter 5 System Operation Powering Up and Powering Down the System, continued Wiring example Stop and Emergency Stop function (Category 0) 3 2 1 LEXIUM 17 Brake- 24 Vdc Com Brake+ 24 Vdc (Green) Servo Motor Fault RA/RB +24Vdc Emergency-Off...

  • Page 98: Description Of The Restart Lock -As- (Mhda

    Chapter 5 System Operation Description of the restart lock -AS- (MHDA A00 drives only) •••• Advantages of A frequently required application task is the protection of personnel against the the restart lock restarting of drives. This can not be achieved by an electronic inhibit, but must be implemented with mechanical elements (positively driven relay contacts).

  • Page 99: Description Of The Restart Lock -As

    Chapter 5 System Operation Description of the restart lock -AS- Functional The connector (X10) is mounted on the front panel of the Lexium 17 D. The coil description connections and a make (n.o.) contact of a safety relay are available through 4 terminals on this connector.

  • Page 100: Block Diagram

    Chapter 5 System Operation Description of the restart lock -AS-, continued Block diagram charging circuit Mains DC link DC/DC converter activation 24Vdc KSI+ relay KSI- KSO1 KSO2 setpoint control logic monostable Note: AS relay : Its main features are: - according to EN 50205, IEC 255, IEC 664 - monostable - high mechanical service life - high switching reliability...

  • Page 101: Signal Diagram (Sequence)

    Chapter 5 System Operation Description of the restart lock -AS-, continued Signal diagram (sequence) terminal Analog1 +/- internal setpoint lock setpoint (input) terminal Enable +24Vdc motor locked by controller Enable (input) ≤1s terminal Brake+ +24Vdc motor blocked mechanically brake (output) terminal KSI+ +24Vdc >0.2s...

  • Page 102: Installation / Commissioning

    Chapter 5 System Operation Description of the restart lock -AS-, continued Installation / Safety instructions Commissioning Observe the prescribed use of the restart lock -AS- The monitoring contacts (KSO1/2) for each amplifier with an restart lock -AS- must be looped into the control circuit. This is vital, so that a malfunction of the internal safety relay or a cable break can be recognized.

  • Page 103: Connection Diagram

    Chapter 5 System Operation Description of the restart lock -AS-, continued Connection diagram Lexium 17D control Analog1 in+ Setpoint +/-10V Analog1 in- referenced to GND Analog Com Fault RA Fault RB safety- KSO1 circuit KSO2 KSI- I/O-GND KSI+ + 24V...

  • Page 104: Application Examples

    Switching off grouped axes with separate working areas Even when several Lexium 17D are operating off a common mains supply and DC-link, it is possible to set up groups for separate working areas. These groups can then be switched off separately for personnel safety.

  • Page 105: Control Circuit Example

    Chapter 5 System Operation Description of the restart lock -AS-, continued Control circuit example +24Vdc lock lock Emerg. drives drives Fault RA/RB drive 1 1-2-3 KSO1 Fault RA/RB drive 2 drive 1 KSO2 KSO1 Fault RA/RB drive 3 drive 2 KSO2 KSO1 Fault RA/RB drive 4...

  • Page 106: Procedure For Verifying System Operation

    UniLink software in OpMode 1 as a speed controller with analog input command. Note: Default parameters for each Schneider Lexium BPH or SER series motor are loaded into your drive at the factory and contain valid and safe values for the current and speed controllers.

  • Page 107: Quick Tuning Procedure

    Chapter 5 System Operation Procedure for Verifying System Operation, continued Quick Tuning This procedure will enable you to rapidly assess the operational readiness of the Procedure system. Step Action Disconnect the drive from the power source. WARNING! MECHANICAL MOVEMENT HAZARD Ensure the motor is securely mounted and that the load is disconnected from the motor.
  • Page 108 Chapter 5 System Operation Procedure for Verifying System Operation, continued Quick Tuning Procedure, continued Step Activity Check safety devices such as hardware limit switches, emergency stop circuitry and so forth. WARNING! MECHANICAL MOVEMENT HAZARD Ensure personnel, tools and all other obstructions are clear of the equipment.

  • Page 109: Parameter Setting

    This contains valid and safe parameters for the current and speed controllers. A database for Lexium BPH and SER motor parameters is stored in the servo amplifier. During commissioning you must select the data set for the motor that is connected and store it in the servo amplifier.

  • Page 110: Front Panel Controls And Indicators

    Chapter 5 System Operation Front Panel Controls and Indicators Keypad The operation of the keypad on the front panel of the drive is described in the Operation following table. The two keys can be used (as an alternative to using the PC) to specify and enter the address for the drive.

  • Page 111: Led Display

    Chapter 5 System Operation Front Panel Controls and Indicators, continued LED Display The alphanumeric display indicates drive power status conditions, error codes and warning codes. The power status conditions are shown below; error and warning codes are described in the pages that follow. Option -AS- is active Reset input active The “Reset”...
  • Page 112 Chapter 5 System Operation 890 USE 120 00...

  • Page 113: Chapter 6 - Troubleshooting

    Troubleshooting At a Glance What’s in this This chapter provides information on correcting problems with the drive and Chapter contains the following topics: Topic Page Warning messages Error messages Troubleshooting...

  • Page 114: Warning Messages

    Warning Messages Warning A warning is generated when a non-fatal fault occurs. Non-fatal faults allow the drive to remain enabled and the fault relay contact to remain closed. Either of the Identification programmable digital outputs can be programmed to indicate that a warning and Description condition has been detected.

  • Page 115: Error Messages

    Error Messages Error Errors are generated when a fatal fault occurs. Fatal faults cause the drive to be Identification disabled, the brake (if installed) to be activated and the fault relay contacts to open. and Description Either of the programmable digital outputs can also be programmed to indicate that an error has been detected.
  • Page 116 Error Messages, continued Error Identification and Description, Error Error (Fault) Possible Cause/Corrective Action Code continued Motor overtemperature. or I set too high. peak - Defective motor - If motor is not hot, check feedback cables and connectors. - Reduce motion profile duty cycle - Improve ventilation of the motor Internal 24 Vdc fault.
  • Page 117 Error Messages, continued Error Identification and Description, Error Error (Fault) Possible Cause/Corrective Action Code continued Drive output stage fault. - Check motor cable for damage or shorts. - Output module is overheated; improve ventilation. - Short-circuit or short to ground in the external Regen resistor.
  • Page 118 Error Error (Fault) Possible Cause/Corrective Action Code 17D HP only 17D HP only CAN Bus off CAN Bus total communication error Warning Warning displays as error Commutation error Encoder system only. Actual speed is incompatible with speed and acceleration parameters. Limit switch Homing error (hardware limit switch reached) AS-option...

  • Page 119: Troubleshooting

    Troubleshooting Problems, The following table identifies some common system problems, their possible Possible Causes causes and recommended corrective actions. However, the configuration of your and Corrective installation may create other reasons, and consequently other corrections, for the Actions problem. Problem Possible Causes Corrective Actions - Wrong cable used.
  • Page 120 Troubleshooting, continued Problems, Possible Causes and Corrective Problem Possible Causes Corrective Actions Actions, Motor oscillates - Gain too high (speed controller). - Reduce Kp (speed controller). continued - Shielding in feedback cable has - Replace feedback cable. a break. - Analog Com not connected. - Connect Analog Com to controller common.

  • Page 121: Appendix A - Specifications

    Specifications At a Glance What’s in this This appendix contains the following topics. Appendix Topic Page Performance specifications Environmental and mechanical specifications Electrical specifications Wire specifications (recommended)

  • Page 122: Performance Specifications

    Performance Specifications Performance The following table lists 17D performance specifications. Specifications Table PERFORMANCE 62.5 µsec Servo updates Torque 250 µsec Velocity 250 µsec Position Tuning procedure UniLink application* * Included in AM0CSW001V•00 (CD-ROM)

  • Page 123: Environmental And Mechanical Specifications

    1.5% / 100m (available power: 75% of rated output at 2500m) Transport 57 kPa (4540 m) Contaminants Pollution degree 2, as defined in EN60204/EN50178 Cooling Models: Integrated heatsink with MHDA1004•00 internal fan. MHDA1008•00 MHDA1017•00 MHDA1028•00 MHDA1056•00 Continued on next page...

  • Page 124: Mechanical Specifications Table

    Environmental and Mechanical Specifications, continued Mechanical The following table provides 17D mechanical specifications. Specifications Table Drive Model Number Height Width Depth Weight MHDA1004•00 325 mm 70 mm 265 mm 3 kg MHDA1008•00 MHDA1017•00 MHDA1028•00 MHDA1056•00 325 mm 120 mm 265 mm...

  • Page 125: Electrical Specifications

    Electrical Specifications What’s in this This section provides tables for the following topics. Section Topic Page Electrical Specifications - Power Electrical Specifications - Regen resistor Electrical Specifications - Signal...

  • Page 126: Electrical Specifications - Power

    Specifications Table LINE INPUT Voltage 208 Vac -10% 60 Hz, 230 Vac -10% 50 Hz. 480 Vac +10%, 50 - 60 Hz, three-phase* Current MHDA1004•00 1.8 A RMS** MHDA1008•00 3.6 A RMS MHDA1017•00 7.2 A RMS MHDA1028•00 12 A RMS MHDA1056•00...

  • Page 127: Bias Input Specifications Table

    Note: The bias input also provides power to the optional motor brake. Limit supply To take into account voltage drops caused by the Lexium MHDA servodrive and AGO FRU/AGO KIT supply cable connecting the servodrive to the motor, it is...

  • Page 128: External Fuse Specifications Table

    The following table provides 17D external fuse specifications.. Specifications Table Input Type Model Number Fuse Fusetron - 230V Fusetron - 480V Schneider Electric Reference Reference Line MHDA1004•00 6 A, aM FRN/FRN-R-6 FRS/FRS-R-6 MHDA1008•00 MHDA1017•00 10 A, aM FRN/FRN-R-10 FRS/FRS-R-10 MHDA1028•00 16 A, aM FRN/FRN-R-15 FRS/FRS-R-15 MHDA1056•00...

  • Page 129: Motor Output Specifications Table

    Electrical Specifications - Power, continued Motor Output The following table provides 17D motor output specifications. Specifications Table Parameter Type Model Number Current Output current (RMS) Continuous • 1.5 A MHDA1004 (Irms) • MHDA1008 • MHDA1017 • 10 A MHDA1028 • 20 A MHDA1056 •...
  • Page 130 Continued on next page...

  • Page 131: Internal Power Dissipation Specifications Table

    The following table provides 17D internal power dissipation at maximum Dissipation continuous output power. This information may be useful to size the thermal Specifications capability of the mounting cabinet. Table Model Number Power • 30 W MHDA1004 • 40 W MHDA1008 • 60 W MHDA1017 • 90 W MHDA1028 •...

  • Page 132: Electrical Specifications - Signal

    Electrical Specifications - Regen Resistor Regen Circuit The following table provides technical data on the Regen circuit. Specifications Parameter Rated data Units Model Number (prefix with MHDA10) 04p00 17p00 08p00 28p00 56p00 Supply Voltage 3 phase, Upper switch-on level of Regen circuit 400 - 430 230 V Switch-off level of Regen circuit...

  • Page 133: Encoder Input Specifications Table

    Electrical Specifications - Signal Motor The following table provides 17D motor overtemperature input specifications. Overtemperature Input MOTOR OVERTEMPERATURE INPUT Specifications Ω Thermistor PTC, will generate fault when resistance exceeds 290 ± 10% Table (default value)* Thermostat Closed for normal operation *The value of the threshold is adjustable by the parameter MAXTEMPM (see Unilink commands Resolver Input...

  • Page 134: Encoder Output (Incremental Format) Timing Diagram

    Electrical Specifications - Signal, continued Encoder Input The following table provides 17D encoder input specifications Specifications Table ENCODER INPUT Internal power supply Voltage 9V ± 5% Current (maximum) 200 mA Input Signal Sin-Cos encoder Absolute 15 bits (39 (cyclic absolute) accuracy arc-seconds °...

  • Page 135: Encoder Input (Slave) Specifications Table

    Electrical Specifications - Signal, continued Encoder Output The following diagram shows the timing for the encoder output (incremental format). (Incremental Format) Timing Diagram ≥ 0.2 µS Encoder Output The following two tables provide 17D encoder output (in SSI format) specifications (SSI Format) Specifications ENCODER OUTPUT (SSI FORMAT) - ELECTRICAL...

  • Page 136: Discrete Output Specifications Table

    Electrical Specifications - Signal, continued Encoder Input The following table provides 17D encoder input (slave) specifications. (Slave) Specifications ENCODER INPUT (SLAVE) Table Channels A and B Type Differential, RS-485 compliant Voltage 8 V nominal Current 200 mA (maximum) Maximum frequency 1.5 MHz <...

  • Page 137: Analog Input Specifications Table

    Electrical Specifications - Signal, continued Discrete Output The following table provides 17D discrete output specifications. Specifications Table DISCRETE OUTPUT Channels Type Solid state: open collector 30 Vdc max., optically isolated Transient 250 Vac (channel to chassis) isolation voltage Sense True low, sinking 10 mA maximum Protection Yes (PTC resistor 25 Ohm)

  • Page 138: Serial Communications Specifications Table

    Electrical Specifications - Signal, continued Analog Input The following table lists the analog inputs specifications. Specifications Table ANALOG INPUTS Channels Type Differential, non–isolated Maximum common mode ±10V voltage referenced to AGND Measurement range ±10 Vdc Maximum differential input ±12 V Accuracy 12 bits Resolution...
  • Page 139 Electrical Specifications - Signal, continued Serial The following table lists the serial communications specifications. Communications Specifications SERIAL I/O Table Data bits Eight Stop bits Parity None Baud rate 9600...

  • Page 140: Wire Specifications (Recommended)

    The following table lists the recommended wire specifications. Use only copper Specifications wire with insulation rated at 75°C or greater, unless otherwise specified. Item Drive Model No. Wire Size Notes AC mains MHDA1004•00 600V, 105°C 1.5 mm or 14 AWG MHDA1008•00 MHDA1017•00 MHDA1028•00 MHDA1056•00 4.0 mm...

  • Page 141: Appendix B - Parts List

    Parts List At a Glance What’s in this This appendix contains information about the following Lexium 17D parts and Appendix assemblies. Topic Page Lexium 17D drives External 24 Vdc supply Drive cables Regen resistor assemblies Servo motor choke Spare parts...

  • Page 142: Lexium 17D Drives

    Lexium 17D Drives Drives The Lexium 17D drives are available in five models according to different output Available current levels as identified in the following table. Model Intermittent (Peak) Intermittent (RMS) Continuous (RMS) Output Current Output Current Output Current MHDA1004 4.2 A...

  • Page 143: External 24 Vdc Supply

    External 24 Vdc supply External 24Vdc A reminder of the a 24 V consumption for the Lexium MHDA servodrives with BHP supply motors is given below. Lexium servodrive MHDA1004/ MHDA1017 00 MHDA1028 MHDA1056 1008 Associated BPH motor 075• 095• 095•...

  • Page 144: Drive Cables

    Communications Cable Part Table Part Number Description AM0CAV001V003 3 m cable Encoder Output The following table lists encoder output cables for the Lexium 17D drive. Cables Parts Table Part Number Description TSXCXP235 2 m 17D to CAY, incremental format TSXCXP635...

  • Page 145: Regen Resistor Assemblies

    Regen Resistor Assemblies Regen Resistor The following table identifies the external Regen resistor assemblies available for Assembly Part the Lexium 17D drive. Table Part Number Description AM0RFE001V025 33Ω, 250 W, Regen resistor AM0RFE001V050 33Ω, 500 W, Regen resistor AM0RFE001V150 33Ω, 1,500 W, Regen resistor...

  • Page 146: Servo Motor Choke

    Servo Motor Choke Servo Motor These following table identifies the servo motor choke available for the Lexium 17D Choke Part Table drive. (when cable length exceeds Part Number Description 25m) AM0FIL001V056 Motor choke...

  • Page 147: Spare Parts

    Spare Parts Spare Parts These field-replaceable spare parts are available from Schneider. Table Part Number Description AM0SPA001V000 17D Connector Kit: I/O connector 24 V connector DC Bus connector Regen resistor connector Mains supply connector...

  • Page 149: Appendix C - Drive-To-Controller Wiring Diagrams

    What’s in this This appendix provides diagrams that show you how to wire the signal connections Appendix between the Lexium 17D drive and all the Schneider closed-loop positioning modules that support it: Typical motion controller interface connections Modicon MOT 201 compact motion module...

  • Page 150: Typical Motion Controller Interface Connections

    (Refer to the list of pre-programmed functions contained in the Interface UniLink online help.) Diagram Note: The Analog Com must always be connected to the Controller Com as a ground reference. Motion Controller LEXIUM 17D 1KΩ Fault Relay RA 1KΩ 100n Fault Relay RB 10KΩ...

  • Page 151: Wiring A 17D Drive To Premium Cay Motion Modules

    Wiring a 17D Drive to Premium CAY Motion Modules Premium CAY The following diagram shows wiring between a Premium CAY motion module and Single Axis Drive the X3 connector on a single Lexium 17D axis. Option Diagram Axis 0 Gnd - ANA...

  • Page 152: Premium Cay Multi-Axis Breakout Module Wiring Diagram

    The following diagram shows how the TAP MAS breakout module facilitates wiring Multi-Axis between a Premium CAY multi-axis motion module and the Lexium 17D Analog I/O Breakout Module connector. This represents the first of four axes. It also shows wiring from the...

  • Page 153: Premium Cay Multi-Axis And Breakout Module Diagram, First Of 4 Axes

    Wiring a 17D Drive to Premium CAY Motion Modules, continued Premium CAY The following diagram shows how breakout module ABE-7H16R20 facilitates Multi-Axis and wiring from the Premium CAY multi-axis motion module and the Lexium 17D Breakout Module X3 connector. This represents the first of four axes. Diagram, First of...

  • Page 154: Wiring A 17D Drive To A Mot 201 Motion Module

    MOT 201 Control The following diagram shows the wiring between the MOT 201 connectors J3 and Wiring Diagram J1 and the Lexium 17D drive X3 connector as well as the 24 Vdc bias field power connection. Continued on next page...

  • Page 155: Mot 201 Encoder Wiring Diagram: Option 1

    Wiring a 17D Drive to a MOT 201 Motion Module, continued MOT 201 The following diagram shows the wiring between the MOT 201 connector J4 and Encoder Wiring the Lexium 17D drive and the auxiliary encoder command Interface connector (X5). Diagram: Option 1 Continued on next page...

  • Page 156: Mot 201 Encoder Wiring Diagram: Option 2

    The following diagram shows how the AS-BR85-110 breakout module facilitates Encoder Wiring encoder wiring between a MOT 201 motion module and an Lexium 17D drive. At Diagram: one end, the MOT J5 and J4 connectors are plugged into the breakout module P3 Option 2 connector.

  • Page 157: Wiring A 17D Drive To Quantum 140 Msx Motion Modules

    Wiring a 17D Drive to Quantum 140 MSx Motion Modules Quantum 140 The following diagram shows how a Quantum 140 MSx breakout module facilitates MSx Control and control and encoder wiring between a Quantum 140 MSx 101 00 motion module Encoder Wiring and an Lexium 17D drive. Diagram...

  • Page 158: Wiring A 17D Drive To B885-11X Motion Modules

    Wiring a 17D Drive to B885-11x Motion Modules B885-11x Control The following diagram shows the wiring between a B885-11x motion module Wiring Diagram connectors TB1 and TB3 to the Lexium 17D drive X3 connector. Continued on next page...

  • Page 159: B885-11X Encoder Wiring Diagram: Option 1

    Wiring a 17D Drive to B885-11x Motion Modules, continued B885-11x The following diagram shows the encoder wiring between the B885-11x motion Encoder Wiring module DB-25 connector and the Lexium 17D drive auxiliary encoder command Diagram: interface connector (X5). Option 1...

  • Page 160: B885-11X Encoder Wiring Diagram: Option 2

    Wiring a 17D Drive to B885-11x Motion Modules, continued B885-11x The following diagram shows how the AS-BR85-110 breakout module facilitates Encoder Wiring encoder wiring between a B885-11x motion module and an Lexium 17D drive. Diagram: Option 2...

  • Page 161: Appendix D - Cable Connection Wiring Diagrams

    At a Glance What’s in this This appendix provides procedures and diagrams that show you how to wire Appendix certain cable connectors that are used with the Lexium 17D drive. This appendix presents the following topics. Topic Page Wiring a Sub-D connector with shielding (drive side)

  • Page 162: Wiring A Sub-D Connector With Shielding (Drive Side)

    Wiring a Sub-D Connector with Shielding (drive side) Wiring the Sub-D If you construct your own Sub-D connector with shielding, please do so according Connector to the following procedure which correlates to the eight steps in the diagram that follows this procedure. Step Action Carefully remove about 25mm of the outer covering while taking care not to...
  • Page 163 Wiring a Sub-D Connector with Shielding, continued Wiring the Sub-D The following diagram shows the eight steps required to wire a Sub-D connector Connector, with shielding. continued...

  • Page 164: Wiring The Feedback Connector Of The Motors

    Wiring the feedback connector of the motors Wiring the Resolver. Connector Connector feedback MOTOR END DRIVE END connector of Brown the BPH Green Grey motors Pink (excluded Blue BPH055) Violet Black Bottom view SINCOS encoder. Connector Connector MOTOR END DRIVE END Red/White Black/White 11 1...

  • Page 165: Wiring The Feedback Connector Of The Bph055 Motors

    Wiring the feedback connector of the motors, continued Wiring the Resolver. feedback Connector Connector MOTOR END DRIVE END connector of Brown the BPH055 Green motors Violet Blue Grey Pink Black Bottom view...

  • Page 166: Wiring The Feedback Connector Of The Ser Motors

    Wiring the feedback connector of the motors, continued Wiring the Resolver. Connector Connector feedback MOTOR END DRIVE END connector of Green the SER Yellow White motors Brown Grey Pink Black Grey/Pink Bottom view SINCOS encoder. Connector Connector MOTOR END DRIVE END Black Grey/Pink Brown...

  • Page 167: Wiring The Motor Power Connector (Drive End)

    Wiring the Motor Power Connector (Drive end) Wiring the Motor If you construct your own motor power connector, please do so according to the Power Connector following procedure which correlates to the 13 steps in the diagram that follows this procedure.

  • Page 168: Wiring The Bph Motor Power Connector (Excluded Bph055)

    Wiring the Motor Power Connector (Drive end), continued Wiring the BPH The following diagram shows the 13 steps required to wire a motor power Motor Power connector (excluded BPH055). Connector (excluded BPH055)

  • Page 169: Wiring The Bph055 Motor Power Connector

    Wiring the Motor Power Connector (Drive end), continued Wiring the The following diagram shows the 13 steps required to wire a BPH055 motor power BPH055 Motor connector. Power Connector...

  • Page 170: Wiring The Ser Motor Power Connector

    Wiring the Motor Power Connector (Drive end), continued Wiring the SER The following diagram shows the 13 steps required to wire a SER motor power Motor Power connector. Connector...

  • Page 171: Serial Communication Interface Connection (X6) Rs 232

    Serial Communication Interface Connection (X6) RS 232 Serial The following diagram details the null modem connection between the drive and a Communication Interface Cable Connectors RS-232 RS-232 Sub-D 25-pin Sub-D 9-pin Sub-D 9-pin Sub-D 9-pin * Only for symmetry Female Female Femelle (CTS/RTS)

  • Page 173: Appendix E - Servo Loop Diagrams

    Servo Loop Diagrams At a Glance What’s in this This appendix illustrates several servo loops within a 17D single-axis system. Appendix Topic Page 17D current controller overview 17D velocity controller loop 17D analog input loop diagrams...

  • Page 174: 17D Current Controller Overview

    17D Current Controller Overview 17D Current The following diagram shows an overview of the 17D current controller servo loop. Controller Diagram...

  • Page 175: 17D Velocity Controller Loop

    17D Velocity Controller Loop 17D Velocity The following diagram shows a 17D velocity controller servo loop. Controller Loop Diagram...

  • Page 176: 17D Analog Input Loop Diagrams

    17D Analog Input Loop Diagrams Overview The following illustrations show simplified servo loops for analog input Modes 0, 1, 3, 4 and 5. 17D Analog Input The following diagram shows an 17D analog input Mode 0 servo loop. Mode 0 Loop Diagram Continued on next page...

  • Page 177: Analog Input Mode 1 Loop Diagram

    17D Analog Input Loop Diagrams, continued 17D Analog Input The following diagram shows an analog input Mode 1 servo loop. Mode 1 Loop Diagram Continued on next page...

  • Page 178: Analog Input Mode 3 Loop Diagram

    17D Analog Input Loop Diagrams, continued 17D Analog Input The following diagram shows an analog input Mode 3 servo loop. Mode 3 Loop Diagram Continued on next page...

  • Page 179: Analog Input Mode 4 Loop Diagram

    17D Analog Input Loop Diagrams, continued 17D Analog Input The following diagram shows an analog input Mode 4 servo loop. Mode 4 Loop Diagram Continued on next page...

  • Page 180: Analog Input Mode 5 Loop Diagram

    17D Analog Input Loop Diagrams, continued 17D Analog Input The following diagram shows an analog input Mode 5 servo loop. Mode 5 Loop Diagram...

  • Page 181: Appendix F - Expansion Options

    Expansion Options At a Glance What’s in this This appendix contains the following topics. Appendix Topic Page Expansion cards I/O Expansion Cards...

  • Page 182: Expansion Cards

    FIPIO, MODBUS+, PROFIBUS DP, SERCOS. Each of the communication cards has an user manual. Fitting If you want to fit an expansion card into the Lexium 17 D, please observe expansion card the followin: Detach the cover from the expansion/option slot. Take care that no small items fall into the guide rails that are provided.

  • Page 183: I/O Expansion Cards

    I/O Expansion Cards 24 Vdc Discrete The 24 Vdc discrete I/O Expansion Card (I/O Card AM0INE001V000) increases the I/O Expansion available I/O to the drive. With the I/O Card installed, the drive can accommodate Card an additional 14 discrete inputs and 8 discrete outputs which are fully compatible with Modicon/Telemecanique family of PLCs.

  • Page 184: Light-Emitting Diodes (Leds)

    I/O Expansion Cards, continued Light-Emitting As shown in the diagram above, the two LEDs are mounted next to the terminals on Diodes (LEDs) the expansion card. The green LED signals that the 24 Vdc bias supply is available for the expansion card. The red LED signals faults in the outputs from the expansion card (overload of the switching elements, short-circuit).
  • Page 185 I/O Expansion Cards, continued Terminal The terminal assignments for I/O connector X11B are provided in the following Assignments, table. continued CONNECTOR X11B Terminal Function Signal Notes Identification Input Motion task restart Input Start motion task number X Output InPos UniLink Output Next-InPos online help.

  • Page 186: Controlling Pre-Programmed Motion Tasks

    I/O Expansion Card, continued Controlling Pre- The additional I/O points provided by the expansion card are used for controlling programmed the execution of pre-programmed, independent motion tasks which can be stored in Motion Tasks the drive via the Unilink configuration software. The I/O is used to provide the num- ber of the next internally stored motion task to be executed by the drive and to syn- chronize the start and finish of these tasks.

  • Page 187: Motion Task Application Examples

    I/O Expansion Card, continued Motion Task Two examples of motion task applications are as follows: Application Examples If the application under consideration requires configuration and storage of 50 separate motion tasks in the drive, then 6 discrete inputs to the drive must be reserved to uniquely address each task with a 7th discrete input of the drive dedicated to the "Start next motion task"...

  • Page 188: Connection Diagram

    I/O Expansion Card, continued Connection The I/O expansion card connections are presented in the following diagram. Diagram POSREG4* POSREG3* POSREG2* POSREG1* FAULT INPOS* INPOS*...

  • Page 189: Appendix G - External Regen Resistor Sizing

    External Regen Resistor Sizing At a Glance What’s in this This appendix contains descriptions and procedures for calculating the power Appendix dissipation requirements for the external Regen resistor. This appendix presents the following topics. Topic Page Determining external Regen resistor size Example Regen resistor power dissipation calculation Continued on next page...

  • Page 190: Overview

    At a Glance, continued Overview When the drive is braking or decelerating a moving load, the kinetic energy of the load must be absorbed by the drive. As the drive decelerates the load, this energy charges the DC link capacitors to successively higher voltages. To prevent damage to the internal electronics, a shunt regulator circuit will apply the Regen resistor across the capacitors when the voltage rises to a set voltage level (determined by the “Mains Voltage”...

  • Page 191: Determining External Regen Resistor Size

    Determining External Regen Resistor Size Power The following is the procedure for calculating the power dissipated by the Regen Dissipation resistor in a simple system wherein friction is negligible. Ignoring friction in the Calculation following calculations gives worst case results since friction will absorb a portion of Procedure the energy during deceleration.

  • Page 192: Drive Energy Absorption Capability

    Capability Drive Energy Absorption Capability (joules) Line Voltage 230 VAC 400 VAC 480 VAC Drive MHDA1004 Model MHDA1008 Number MHDA1017 MHDA1028 MHDA1056 Note: Multiple drives can be interconnected via the DC-Link. When this is done, the energy absorption capability of the drives and the continuous power ratings of the Regen resistors are additive.

  • Page 193: Example Regen Resistor Power Dissipation Calculation

    Example Regen Resistor Power Dissipation Calculation Example Motor The following is an example application of each step in the power dissipation and Drive calculation procedure using the motor, drive and input power specifications Specifications identified below. Refer to the power dissipation calculation procedure presented earlier in this chapter.

  • Page 194: Example Step 1

    Example Regen Resistor Power Dissipation Calculation, continued Example Step 1 Plot speed versus time and torque versus time for the entire move cycle. Speed (RPM) 3000 Time (seconds) -3450 Torque Time (seconds) Continued on next page...

  • Page 195: Example Step 2

    Example Regen Resistor Power Dissipation Calculation, continued Example Step 2 Identify each deceleration of the plot where the drive is decelerating the load. Speed (RPM) 3000 Deceleration 1 Deceleration 2 3.75 4.25 Time 2.25 4.75 (seconds) Deceleration 3 -3450 Example Step 3 Calculate the energy returned to the drive in each deceleration as follows: Deceleration 1 ω...

  • Page 196: Example Step 4

    Example Regen Resistor Power Dissipation Calculation, continued Example Step 4 Compare the energy in each deceleration with the energy required to turn on the Regen circuit (that is, the energy absorbed by the internal capacitors). As specified in the Drive Energy Absorption Capability table, the MHDA1028 / 00 drive at 480 Vac can absorb 23 joules without turning on the Regen resistor circuit.

  • Page 197: Example Step 8

    Example Regen Resistor Power Dissipation Calculation, continued Example Step 8 Compare the ratings as follows: Internal Regen resistor ratings of the MHDA1028 / 00: = 21 kW pulse = 200W continuous Deceleration 1: P = 940W < 21 kW rating pulse Deceleration 2: P = 1258W <...
  • Page 199 I/O connection, 70 CAN bus cable, 76 input mode 0 servo loop, 162 CANopen Interface, 75 input specifications, 123 connection diagram for LEXIUM 17D, 47 output specifications, 123 connection to different mains supply automatic card recognition, 30 networks, 17 auxiliary encoder interface, 67...
  • Page 200 Index discrete equipment supplied, 21 input specifications, 121 error identification and description, 101 output specifications, 122 error messages, 101 document scope, 1 european directives and standards, 10 drive and mounting area dimensions, 38 example motor and drive specifications, drive dimensions, 37 drive energy absorption capability, 178 expansion card, 168 drive implementation, 16...
  • Page 201 BPH055), 60 performance specifications, 108 lexium BPH055 resolver connection, 61 physical dimensions, 37 lexium SER resolver connection, 62 pin assignments for LEXIUM 17D, 48 Limit supply values with a BPH motor power brake, 113 dissipation calculation, 177 line input specifications, 112...
  • Page 202 Index restart lock specifications advantages, 84 analog input, 123 application examples, 90 analog output, 123 -AS, 25 bias input, 113 block diagram, 86 brake output, 122 connection diagram, 89 discrete input, 121 functional description, 85 discrete output, 122 installation / commissioning, 88 electrical, 111 signal diagram (sequence), 87 encoder input, 119...
  • Page 203 Index UL 840, 11 UL and cUL compliance, 11 UniLink commissioning software, 4 usability enhancements, 24 usability features, 23 user guide organization, 2 velocity servo loop, 161 verifying system operation, 92 warning identification and description, 100 warning messages, 100 who should use this guide, 2 wire specifications, 125 wiring a 17D drive to a MOT 201 motion...
  • Page 204 Index 890 USE 120 00...

This manual is also suitable for:

Mhda1008Mhda1028Mhda1017Mhda1056

Table of Contents

Save PDF