Moog MSD C2 Operation Manual
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Moog MSD C2 Operation Manual

Moog MSD C2 Operation Manual

Single-axis servo drive compact
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moog
MSD Servo Drive
Operation Manual
Single-Axis Servo Drive Compact
C2 to C5
2.0 A to 16.0 A

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Summary of Contents for Moog MSD C2

  • Page 1 MSD Servo Drive Operation Manual Single-Axis Servo Drive Compact C2 to C5 2.0 A to 16.0 A...
  • Page 2 Date: 04/2018 Information and specifications may be subject to change at any time. For information on Applicable as from firmware version: V1.25-01 the latest version please visit drives-support@moog.com The German version is the original of this Operation Manual.

  • Page 3: Table Of Contents

    4.14.2 Connection of the servo motors ..............38 Notes for operation ....................13 4.14.3 Switching in the motor cable ................ 40 Wall mounting ......................13 3.2.1 Dimensions of the devices ................14 3.2.2 Mounting clearances ..................15 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 4 Initial commissioning ....................45 5.2.1 Switching on control supply ................. 46 5.2.2 Establishing connection between PC and servo drive ........46 5.2.3 Setting parameters ..................46 5.2.4 Controlling drive using Moog D  5 ........46 rive DministrAtor Serial commissioning ....................48 Integrated control unit .....................

  • Page 5: General

    General Reference documents The product CD from Moog contains the complete documentation for the related ID no. Document Contents product series. The documentation for a product series includes the Operation Manual Format (hardware description), Device Help (software description) as well as further User...

  • Page 6: Order Code

    Model: G394-030-210-001 G394 - S/N : D116605 Rev. A D-71034 Böblingen 230 V AC 3ph, 50/60 Hz www .moog.com/industrial Made in Germany 4,0 A Year of production Rated current Out: 0-230 V AC 3ph, 0-400 Hz 3,0 A Week of production...

  • Page 7: Pictograms

    +49 7031 622 0 For safe operation. To achieve stated performance features and product characteristics. Moog GmbH does not accept any liability for injuries, damage or financial losses that result from the failure to follow the documentation. Disposal Follow the applicable national regulations! If necessary, dispose of individual parts, depending on their characteristics and existing national regulations, e.g.
  • Page 8 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 9: Safety

    (capacitor charge). So check that electrical power is not present! See also the warning label on the front panel on the device. • Rotating parts • Automatically starting drives. • Hot components and surfaces moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 10: General Safety Instructions And Warnings

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 General safety instructions and warnings Pay attention to special safety instructions and warnings that are given here in the document before a specific action and that warn the user about a specific hazard! Hazards may emanate from our devices.

  • Page 11: Repair

    Not approved for usage in special applications (e.g. in potentially explosive atmospheres or areas in which there is a risk of fire). For information on the laws, Dateards and directives applied by Moog, refer to the declaration of conformity. Not approved for usage outside a cabinet...

  • Page 12: Declaration Of Conformity

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Declaration of conformity...

  • Page 13: Mechanical Installation

    STO (Safe Torque OFF) safety function. Air flow: minimum 1.2 m/s (3.93 ft/s) Further information on environmental conditions can be found in the appendix. moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 14: Dimensions Of The Devices

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 3.2.1 Dimensions of the devices Size MSD Single-Axis Servo G394-030 G394-059 G394-080 G394-120 Drive Compact G394-020 G394-035 G394-065 G394-160 Weight 1.0 kg (2.2 lb) 1.5 kg (3.3 lb) 2.8 kg (6.2 lb) 5.9 kg (13 lb)

  • Page 15: Mounting Clearances

    When butt mounting devices with different drive power you should arrange the devices according to their power (e.g., viewed from the left, C5-C4-C3-C2). This arrangement will minimise the thermal interaction. moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 16 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 17: Electrical Installation

    Additional information can be found in the corresponding connection description. Compliance with the EMC product standard If you require further detailed information on installation you should consult the Moog Helpline (see “Commissioning” on page 45). − Commissioning (i.e. starting intended operation) is only permitted on compliance with the EMC product standard IEC/EN 61800-3.

  • Page 18: Layout

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Layout Number Designation D1, D2 7-segment display The following shows the layout with the corresponding positions of plugs and terminals. DC link voltage indicator LED (only size C2 to C4) For better orientation we have identified the designations of plugs and terminals with an abbreviation.
  • Page 19 T. Software Software rating plate T. Hardware Hardware rating plate Table 4.2 Key to layout MSD Single-Axis Servo Drive Compact C5 Figure 4.2 Layout MSD Single-Axis Servo Drive Compact C5 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 20: Connection Diagram C2 To C4

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Connection diagram C2 to C4 Number Designation Details D1, D2 7-segment display Page 48 Top view T1, T2 Button Page 48 Motor Connection for motor, braking resistor Page 38 and measurement of DC link voltage...

  • Page 21: Connection Diagram C5

    Table 4.4 Key to connection diagram +24 V DC supply for Communication – control electronic (U Option 1 field buses Bottom view Figure 4.4 Connection diagram MSD Single-Axis Servo Drive Compact C5 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 22: Effective Emc Installation

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Effective EMC installation Detail 1 4.5.1 Interference immunity of Servo Drives NOTE This is a restricted availability product in accordance with IEC/EN 61800-3. This product may cause radio interference in domestic environments; in such Detail 2 cases the operator may need to take appropriate countermeasures.
  • Page 23 Connect the motor cable shield over a large area to the shield connection plate using the clamp supplied. NOTE Ready made motor cables are available for Moog Servo Motors. For details refer to the MSD Ordering Catalog or to the Servo Motors Ordering Catalog. moog MSD Single-Axis Servo Drive Compact Operation Manual...
  • Page 24 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Detail 2: Control supply (+24 V DC) Detail 3: Mains filter and mains connection At the connection for the control voltage (X2) pay attention to: At the output of the mains filter and the AC mains connection X3):...

  • Page 25: Protective Earth Conductor Connection

    PE bar (main earth) in the control cabinet. Figure 4.12 Specimen setup - Detail 4: Control cables Figure 4.13 Star configuration layout for the PE conducto moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 26: Electrical Isolation Concept

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Electrical isolation concept Ethernet The control electronics, with their logic (µP), the encoder terminals and the inputs and X4/15 Resolver µP outputs, are electrically isolated from the power section (power supply/DC link). All...

  • Page 27: Connection Of The Supply Voltages

    The supply of power to the MSD Single-Axis Servo Drive Compact is separate for the control and power sections. The control supply should always be connected firs , so that the device parameters can be set with Moog D  5 and, above all, the...

  • Page 28: Connection Of Mains Supply

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 4.8.2 Connection of mains supply Note the following points: Switching the mains power: Procedure: In the event of excessively frequent switching the device protects itself by means of high- resistance decoupling from the mains. After a rest phase of a few minutes the device is ready to...

  • Page 29: Connected Load And Mains Fuse

    3) Ferr. with insul. = Ferrule with plastic insulation, Ferr. w/o insul. = Ferrule without plastic insulation Table 4.6 Connected load and mains fuse Figure 4.17 Connection C2 and C3 mains supply 1 x 230 V) (G394-030, G394-059) moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 30 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Mains supply for C4 devices Mains supply for C5 devices NOTE NOTE: Before commissioning, the value of the connected mains voltage must be Before commissioning, the value of the connected mains voltage must be set on the servo drive (factory setting = 3 x 230 V AC / 3 x 400 V AC).

  • Page 31: Control Connections

    A cable type with double copper braiding, with 60 to 70 % coverage, must be used for all • I = 50 mA, PLC-compatible OSD01 X4/8 shielded connections. OSD02 X4/9 • Terminal scan cycle in = 1 ms • High-side driver Table 4.7 Specification of control connections X4 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 32: Connection Of Motor Brake X13

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 4.9.2 Connection of motor brake X13 Des. Term. Specification Electrical isolation STO "Safe Torque Off" Connector X13 is intended for connection of a motor brake. • "Request STO" input = Low level Des.

  • Page 33: Specification, Ethernet Interface

    You will find all available options in the MSD O dering Catalog. The user manuals for the The following software can communicate with the servo drive via the Ethernet interface: respective options provide detailed information on commissioning. Moog D  5 for commissioning, service and diagnostics on the MSD Single-Axis rive...

  • Page 34: Encoder Connection

    Encoder connection for synchronous motors Servo drive Motor (with installed encoder) Encoder cable connection Please use the ready made motor and encoder cables from Moog to connect the With resolver synchronous motors (see Servo Motors Ordering Catalog). Variant A C08335-013-yyy without further options Assignment of servo drive motor - encoder connection...

  • Page 35: Resolver Connection X6

    Oil, hydrolysis and microbe resistant (VDE0472) UL style 20233, +80 °C (+176 °F) - 300 V, Approvals CSA-C22.2N.210-M90, +75 °C (+167 °F) - 300 V FT1 Table 4.10 Technical data encoder cable moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 36: Connection For High-Resolution Encoder

    Table 4.12 Suitable encoder types on X7 ϑ- (PTC, KTY, Klixon) internally connected to X6/9 NOTE: ϑ+ (PTC, KTY, Klixon) internally connected to X6/5 y The usage of encoders not included in the range supplied by Moog +SIN requires special approval by Moog. Sense +...

  • Page 37: Motor Connection

    U, V, W and connect the motor to earth at interference emissions. Wire the motor temperature sensor and activate Connect the shield at both ends to temperature evaluation using reduce interference emissions. Moog D . See also related note. rive DministrAtor 4.14.1 Motor temperature sensor Connection...

  • Page 38: Connection Of The Servo Motors

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 4.14.2 Connection of the servo motors Ready made motor cable For connection of the servomotor product range please use the ready made motor cable. C08336 Ready made motor cable Top view...
  • Page 39 Cores 5 and 6 (PTC) are required only for motors in which the motor PTC cannot be connected via the encoder cable. In the case of servomotors with resolver, the PTC is connected via the resolver cable. moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 40: Switching In The Motor Cable

    Despite these measures, the possibility cannot be ruled out that the servo You can activate this function by assigning BC_FAIL(56) to any digital output ► ► ► drive may malfunction during switching in the motor cable. (Moog D  5 Subject area "I/O configuration" Digital outputs OSD00 to rive DministrAtor OSD02).
  • Page 41 This means that any additional energy input calculated continuous braking power is: for the internal braking resistor due to a lower ambient temperature will be × BrSum neglected. × BrSum moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 42: Connection Of An External Braking Resistor

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 4.15.3 Connection of an external braking resistor CAUTION! Damage to the device with integrated braking resistor due to connection of an external braking resistor! NOTE • Carelessness can cause damage to the device...
  • Page 43 The available braking resistors with the exact specifications, in particular with regard to surface temperature, maximum system voltage and high-voltage strength, are set out in the Installation Manual Braking resistor and MSD Ordering Catalog. See “1.3 Reference documents”. moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 44 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 45: Commissioning

    The device heats up during the operation and the temperature on the heat sink may reach +100 °C (+212 °F).. On touching there is a risk of burns to the skin. Setting parameters see section 5.2.3 Controlling drive using Moog D  5 see section 5.2.4 RIVE DMINISTRATOR Table 5.1 Initial commissioning step table...

  • Page 46: Switching On Control Supply

    A detailed description of Moog D  5 as well as the Action Explanation rive DministrAtor commissioning wizard can be found in the Moog D  5 help. rive DministrAtor Switching on the external +24 V DC control supply Initialisation in progress y Motor dataset When using Moog servo motors, motor dataset are available.
  • Page 47 DministrAtor y Configuration of inputs/output If step 2 is to be implemented via the inputs on terminal X4, the sources for “START CONTROL” and speed setpoint must be configured accordingly in “Inputs/Outputs” in Moog D  5. rive DministrAtor moog MSD Single-Axis Servo Drive Compact Operation Manual...

  • Page 48: Serial Commissioning

    “Start“ enabled Technology ready control active Table 5.5 D1/D2 indication during activation of motor Details for optimising the drive on your application can be found in the Moog help and in the MSD Servo Drive Device Help. rive DministrAtor Serial commissioning...

  • Page 49: Function Of Buttons T1 And T2

    1 second. If there is no action by the user for a period of 60 seconds, the display returns to the device status display. Table 5.6 Function of buttons T1 and T2 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 50: Display

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 5.4.2 Display 5.4.3 Parameter menu (PA) The following table defines various displays and status information about the display. On the Parameter menu the device settings can be reset to the factory setting.

  • Page 51: Ethernet Ip Address Menu (Ip)

    Setting for byte 3 of the subnet mask in hexadec- update byte 3 imal format (e.g. "FF" at 255.255.255.0) Subnet mask Reset subnet mask to factory setting reset to (255.255.255.0) factory setting Table 5.10 IP address menu moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 52: Field Bus Address Menu (Fb)

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 5.4.6 Field bus address menu (Fb) Press button Tx (X = 1, 2) repeatedly until desired menu appears on display The functions available on this menu item depend on the device expansion module. For...
  • Page 53 T1 T2 T1 T2 Back Value NOT saved <5 s T1 T2 Apply <5 s Value saved >5 s >5 s Figure 5.4 Example configuration of the field bus add ess moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 54 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 55: Diagnostics

    1) S. flashes when STO (Safe Torque Off) function is active, display goes out when function is inactive. the "MSD Device Help". 2) The dot flashes when the power stage is active. Table 6.1 Device states moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 56: Helpline/Support & Service

    (menu►Help ►Information... ►Version) Moog D rive DministrAtor Error code displayed (on 7-segment display or Moog D rive DministrAtor Description of the error symptoms, how it occurred and relevant circumstances Save device settings to file in Moog D...

  • Page 57: Safe Torque Off (Sto)

    Safe Torque Off (STO) NOTE: You will find all information on the “STO” function in the 24-language docu- ment “Description of the STO Safety Function” (ID no. CB19388). moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 58 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Space for personal notes...

  • Page 59: Appendix

    Data apply for a motor cable length ≤ 10 m (32.80 ft). Maximum permissible motor cable length 30 m (98 ft). All current ratings with recommended mains choke. Table A.1 Rated current and peak current C2 to C4 (1 x 230 V AC) moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 60 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 MSD Single-Axis Servo Drive Compact for 3 x 400 V MSD Single-Axis Servo Drive Compact for 3 x 460 V Switching fre- Switching Overload capacity Overload capacity Ambient Rated current Ambient Rated current quency of power...
  • Page 61 Data apply for a motor cable length ≤ 10 m (32.80 ft). Maximum permissible motor cable length 30 m (98 ft). Table A.5 Rated current and peak current C2 to C5 (3 x 480 V AC) moog MSD Single-Axis Servo Drive Compact Operation Manual...

  • Page 62: Technical Data Msd Single-Axis Servo Drive Compact

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Technical data MSD Single-Axis Servo Designation Drive Compact G394-030 G394-059 G394-080 Technical data G394-030, G394-059 and G394-080 Power loss at I 75 W 150 W 200 W DC link Designation Brake chopper switch-on threshold 390 V DC...
  • Page 63 Table A.7 Technical data G394-020 to G394-160 Table A.7 Technical data G394-020 to G394-160 NOTE: For more information on the brake chopper switch-on threshold also refer to chapter "4.15 Brake chopper connection". moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 64: Ambient Conditions

    MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 Ambient conditions Mechanical conditions MSD Single-Axis Servo Drive Compact As per IEC/EN 61800-2, IEC/EN 60721-3-2 class 2M1 Ambient conditions MSD Single-Axis Servo Drive Compact Frequency [Hz] Amplitude [mm (in)] Acceleration [m/s²] Protection...

  • Page 65: Ul Certification

    UL certificatio The description of all measures to maintain UL certification is to be found in the document "UL-Certification" (ID No: CC36842-001). moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 66 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...

  • Page 67: Glossary

    Commissioning ................29, 30, 33, 45, 47, 56 EN 50178 ........................27 Connection diagram ..................... 20, 21 EN ISO 12100 ......................11 Control ......................... 47, 48 Control connections / Control terminals ........18, 19, 20, 21, 25, 31 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 68 Mains filter ..................13, 22, 24, 28 Minimum clearance ....................15 Radio frequency interference suppression filter ............ 22 Model ......................... 33 For your safety ......................9 Moog D ............... 27, 33, 37, 46, 47, 56 rive DministrAtor Motor Motor brake ................18, 19, 20, 21, 32, 47 H1 (Control LED) .....................
  • Page 69 Scope of the User Manual .................... 5 X5 ....................... 18, 19, 20, 21, 37 Serial number ......................6, 56 X6.................... 18, 19, 20, 21, 34, 35, 37 Shield connection plate ..................23, 24 moog MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 70 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018 X7 ..................18, 19, 20, 21, 34, 35, 36, 37 X8 ......................18, 19, 20, 21 X9......................18, 19, 20, 21, 33 X13 ...................... 18, 19, 20, 21, 32...
  • Page 71 MSD Single-Axis Servo Drive Compact Operation Manual ID no.: CA97555-001 Date: 04/2018...
  • Page 72 TAKE A CLOSE LOOK. Moog solutions are only a click away. Visit our worldwide Web site for more information and the Moog facility nearest you. moog Moog GmbH Australia India Russia Hanns-Klemm-Straße 28 +61 3 9561 6044 +91 80 4057 6666...

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