Moog DR2020 Series Use And Maintenance Manual

Moog DR2020 Series Use And Maintenance Manual

Decentralized digital servo drive
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USE AND MAINTENANCE MANUAL
DECENTRALIZED DIGITAL SERVO DRIVE
INDICE
1.
OVERVIEW
1.1. Contents
1.2. Utilized symbols
1.3. Packaging contents
1.5. Standards of reference
2.
2.1.3. Standard power supply unit models
2.1.6 Axis module coding
2.1.7. Capacitor modules models and coding (ABC Auxiliary Bus Capacitor)
2.2. Characteristics and components details
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Summary of Contents for Moog DR2020 Series

  • Page 1: Table Of Contents

    MAR2-E-191 DR2020 USE AND MAINTENANCE MANUAL DECENTRALIZED DIGITAL SERVO DRIVE INDICE OVERVIEW 1.1. Contents 1.2. Utilized symbols 1.3. Packaging contents 1.4. Qualifications of recipients 1.5. Standards of reference DESCRIPTION OF THE SYSTEM 2.1. Product structure 2.1.1. Product description 2.1.2. Operating and storage conditions 2.1.3.
  • Page 2 DR2020 MAR2-E-191 2.4. Safety and Usage Instructions 2.4.1. General safety Description 2.4.2. STO Safety Function 2.4.2.1. Description 2.4.2.2. Safety instructions 2.4.3. Instructions for drive usage 2.4.3.1. Directed use 2.4.3.2. Distribution board and wiring 2.4.3.3. Power supply 2.4.3.4. Motors 2.4.3.5. Prohibited use 2.4.3.6.
  • Page 3 DR2020 MAR2-E-191 4.3.5.1. Earthing 4.3.5.2. Power cable connection 4.3.5.3. Brake resistorconnector 4.3.5.4. BUS BAR connection 4.3.5.5. Auxiliary power connection 4.3.6. Axis module wiring 4.3.6.1. Earthing 4.3.6.2. Motor cable connection 4.3.6.3. Motor brake cable connection 4.3.6.4. STO signal connectors 4.3.6.5. Trasducers connection 4.3.6.6.
  • Page 4 DR2020 MAR2-E-191 5.7.1. Configure recording 5.7.2. Launch recording 5.7.3. View the record 5.7.4. UCX file management 5.8. Use of the GUI in OFF LINE mode 5.9. Parameter management menu 6. TROUBLESHOOTING 6.1. Introduction 6.2. Power supply unit anomalies 6.3. Axis module anomalies 6.3.1.
  • Page 5 Contents 1.1. This manual provides information on the correct installation and optimal operation of the DR2020 series of digital multi-axis servo drives. All information in this manual, including methods, technologies and concepts is the exclusive property of Moog-Casella, and may not be copied or reused without specific authorisation.
  • Page 6: Qualifications Of Recipients

    DR2020 MAR2-E-191 1.4. Qualifications of recipients This manual is intended for qualified personnel, i.e. with the following skills, depending on their functions: Transport: personnel shall have knowledge of handling electrostatically sensitive components Unpacking: personnel shall have knowledge of handling electrostatically sensitive components that are sensitive to impact Installation: personnel shall have knowledge of installing electrical equipment Start-up: personnel shall have extensive technical knowledge of electrical drive technology.
  • Page 7: Description Of The System

    2.1.1. Product description The DR2020 drive is the new generation of digital servo drives manufatured by Moog-Casella for controlling brushless synchronous or asynchronous motors. It's a decentralized servo drive that can be positioned directly on the machinery with a DC power supply module.
  • Page 8: Operating And Storage Conditions

    DR2020 MAR2-E-191 • The modules can be cooled by natural convention or by a radiating back surface • Ethernet interface on which the EtherCAT Real Time protocol is implemented with the DS402 profile (standard) • Standard CANOpen interface (under development) on which the CANOpen protocol is implemented with the DS402 profile •...
  • Page 9 DR2020 MAR2-E-191 Drive Dimensions...
  • Page 10 DR2020 MAR2-E-191 Connectors and Cable coding Connerctors' coding X1 input connector with terminals (to the power BR8904-R supply) X2 output connector (to the next DR2020 BR8905-R module) X3 motor connector BR8907-R X4 e X5 EtherCat connectors BR8906-R Connertors Kit: BR8903-R it includes 4 connectors: X1, X2, X4 e X5 Cables Coding *) To the Power Supply...
  • Page 11 To request any kind of information about a specific power supply, the details on the side plate identifying each individual power supply must be communicated to Moog-Casella. Nota: a 32Arms power supply module is under development...
  • Page 12: Power Supply Unit Coding

    Special Variations ue Internal coding Values assigned by Moog Fig 2.3 The first two characters are "CC" and refer to the family (DM2020) Example: The code CC201A0000 identifies the standard 54 A standard power supply in the production version, with no...
  • Page 13: Standard Axis Modules

    The module code is shown on the plate near the Fieldbus connectors. To request any kind of information about a specific module, the details on the side plate identifying each individual module must be communicated to Moog-Casella. Model code Serial Number Nominal data Fig 2.4 Example of a DR2020 axis module plate...
  • Page 14 Value - Internal Coding Value Type Fieldbus configuration RESOLVER USB RESOLVER Value Type Serial Sincos ENCODER Analogue references (option) Sincos USB ENCODER CanBus configuration (option) EtherCAT configuration Note: Serial interface for drive setup is under development. Standard Version Values assigned by Moog...
  • Page 15 DR2020 MAR2-E-191 2.1.7. Models and coding capacitor modules (ABC Auxiliary Bus Capacitor module) Model Code Capacity (µF) Dimension DM2020 ABC5 CC55000 5400 DM2020 ABC4 CC55012 4500 DM2020 ABC3 CC55013 3600 50 mm (1.97 in) DM2020 ABC2 CC55014 2700 DM2020 ABC1 CC55015 1800 Model Code...
  • Page 16: Power Supply Unit Electrical Data

    DR2020 MAR2-E-191 2.2. Components characteristics and details 2.2.1. Power supply unit electrical data The main function of the power supply module is to directly convert (without a transformer) mains voltage to direct voltage, which powers the various modules that operate the servo-system motors via busbars. SOFT START +AT Vbus TO THE THREE-...
  • Page 17: Power Supply Unit Mechanical Data

    DR2020 MAR2-E-191 2.2.2. Power supply unit mechanical data Fig 2.7 Drawing of the power supply L50 Fig 2.8 Drawing of the power supply L150...
  • Page 18: Connectors

    DR2020 MAR2-E-191 2.2.3. Power supply connectors Status Led CAN connectors +24 Volt 0 Volt + DC bus Bus Bar - DC bus (Earth) X1 Brake resistor X2 Power connector Fig 2.9 Connection layout...
  • Page 19: Connectors Layout

    DR2020 MAR2-E-191 2.2.3.1. Connectors layout The tables below give details of connectors X1: brake resistor +RR1 -RR2 X2: mains Earth The tables below give details of connectors and the meaning of signalling LEDs YELLOW LED GREEN LED RED LED Status Power supply off or failed On, fixed light 24 Volt applied...
  • Page 20: Filters

    If the motor power cables are shorter than 50 m, an EMC filter (code AT6013/AT6014 or equivalent can be positioned between the network and the drive. If cables are no longer than 50 m, we recommend contacting Moog-Casella's Application Dept. Filter code...
  • Page 21: Brake Resistors

    AR5988). INFORMATION If the dissipated power exceeds 1000 W, contact the Applications Service at Moog-Casella for component sizing CAUTION For the L50 model, the braking resistor must always be connected as it also features a soft-start function. In the absence of this, the system will not start up;...
  • Page 22: Cables

    Use of the line filter not necessary Contact the Applications Service at Moog-Casella for more information. 2.2.7. Cables INFORMATION the fi The power and control cables (apart from the cables which run from the network to ��...
  • Page 23 For the overall + 24Vdc power supply, generally consider adding 0.5 mm for each DM2020 module up to the power supply module and then at least 2.5 mm2 for the DR2020 series as a general rule, check whether to increase the section according to the layout of the installation.
  • Page 24: Capacitor Module (Abc)

    DR2020 MAR2-E-191 2.2.8 Capacitor module (ABC) A capacitor module is available to increase the energy stored in the braking phase: 249 (9.80) 50 (1.97) 24 (0.94) 224 (8.81) 7,5 (0.29) 4,5 (0.18) Model/Code ABC5/CCE5000 ABC4/CCE5012 ABC3/CCE5013 ABC2/CCE5014 ABC1/CCE5015 Capacity (µF) 5400 4500 3600...
  • Page 25: Axis Module

    MAR2-E-191 2.3. Axis module 2.3.1. General description of functions Acquisition of commands EtherCat CanOpen Position “Analogue” ring “Digital I/O” Acquisition of settings Commands Interior memory Speed process Memory card ring Field BUS generation Acquisition of feedback Torque To the motor IGBT Encoder commands...
  • Page 26: Mechanical Dimensions

    MAR2-E-191 2.3.2. Mechanical Dimensions The dimensions of the DR2020 are the same for all sizes. See mechanical data on page 8. 2.3.3. Position Transducers The DR2020 can be equipped with the following position transducers mounted on the motor : − Serial RESOLVER −...
  • Page 27: Interfaces With "Field" And Other Modules

    MAR2-E-191 MAR2-E-191 Motor Connector X3 X3 (female) Reference Description Minimum recommended section Up Power Supply 0.20 mm OV Power Supply 0.20 mm Data 0.20 mm Data NEG 0.20 mm 0.20 mm Clock Clock NEG 0.20 mm OV BRAKE 0.35 mm BRAKE 0.35 mm PHASE U...
  • Page 28: Safety And Usage Instructions

    MAR2-E-191 2.4. Safety and instructions 2.4.1. General safety description Only qualified personnel may operate when the equipment is working. The power supply from the drive to the motor can be turned off “safely”. In this way, the motor can no longer generate torque when the safe power stage is disabled.
  • Page 29: Power Supply

    DR2020 MAR2-E-191 2.4.3. Directives on the use of the drives It is extremely important that the module's technical data and information about connections (plate and documentation) are always available and complied with. Only quali ed technical personnel familiar with transport, installation, assembly and commissioning may carry out these �...
  • Page 30: In House Storage Duration

    MAR2-E-191 2.4.3.6 In house storage duration Storing DM2020 drives under prescribed conditions and for a consecutive period of up to one year does not require specific limitations and requirements; in the case where the storage period is longer than 1 year prior to proceeding to the phases of installation and commissioning of the module perform the following steps: •...
  • Page 31: Type Approvals

    MAR2-E-191 TYpE AppROVALS 3.1. EC According to EU directives, drives shall conform to: • the EMC Directive 2004/108/EC • the Low Voltage Directive 2006/95/EC The DM2020 has been tested in an authorised laboratory to check the parameters on the basis of which conformity to the above Directives is declared.
  • Page 32: Safety And Safe Torque Off (Block On Restart)

    MAR2-E-191 3.2. Safety and Safe Torque Off (Blocking on restart) The DR2020 includes the Safe Torque Off (STO) function, according to standards EN 61800-5-2; EN/ISO 13849-1:2006. (SILCL 3 PL “e” (as certified below). The function also corresponds to an uncontrolled stop, according to the 0 stop category of IEC/ EN 60204-1.
  • Page 33 MAR2-E-191 Fig 3.2 EC declaration of conformity (original)
  • Page 34: Tools And Instruments

    MAR2-E-191 MECHANICAL AND ELECTRICAL INSTALLATION 4.1. Tools and instruments Tools: Keep the following tools available to install the modules: • Tork T25 screwdriver (fixing connecting BUS BAR of the power supply) • M4 crosshead srewdriver (for fixing DM2020 power supplies to the wall) •...
  • Page 35: Electrical Installation And Thermal Sizing

    MAR2-E-191 4.3. Electrical installation and thermal sizing 4.3.1. Safety and general instructions for the board WARNING When the drive is operating, there is a risk of death, serious injury or serious material damage AVERTISSEMENT Lorsque l'entrainement est en marche, il existe un risque de mort, blessures graves ou dommages matériels importants.
  • Page 36: Thermal Sizing Of The Board

    MAR2-E-191 Indications for laying connection cables: • The shielding cover must be greater than 70% • Do not lay power and signal cables side by side, in particular not close to the power filter, and make sure they are physically separate •...
  • Page 37: Thermal Dissipation Of The Accessories

    MAR2-E-191 4.3.3 Thermal dissipation of the accessories Device Dissipated power (W) k fi Networ�� lter for power supply L50 k fi Networ�� lter for power supply L150 Standard brake resistor 370 or 1000 (maximun) Optional brake resistor 500 maximum INFORMATION If possible, the brake resistors should be assembled outside the distribution board, adequately protected from accidental contact, to avoid having to eliminate the heat they generate in the distribution board 4.3.3.
  • Page 38: Protection Components

    MAR2-E-191 TN-S network e fi The type of network shown in th�� gure is the most widespread in Europe and has the following characteristics: Direct mains connection (earthing point) All parts exposed to contact and shielding must be connected to earth TRAFO POWER CONNECTOR...
  • Page 39: Earth Connection

    MAR2-E-191 4.3.4.3. Earth connection Two types of earth are usually present in distribution boards: • (High-frequency) EMC earth comprising an unpainted metal wall, to which the drives and filters are connected, creating an adequate electrical contact • Protective earth (PE) according to EN60204-1 using conductors with a minimum cross-section of 10 mm The length of the individual cables which connect to the earth must be minimal;...
  • Page 40: Earthing

    MAR2-E-191 4.3.5.4. BUSBAR connection The +DC bus and -DC bus terminals of the power supply and axis modules must be connected in parallel. In this way, the power from the power supply and power from regeneration are divided between all axis modules. Only the BUSBARs provided with the drive must be used for connections.
  • Page 41: Safety

    MAR2-E-191 4.3.6.2. Use of the integrated brake in the motor WARNING When defining the brake connections, take into account the possible voltage drop on the cables that carry the power supply even to the logical sections of the DR2020. WARNING the brake supply is NOT obtained inside the drive.
  • Page 42: Motor Brake Cable Connection

    MAR2-E-191 I/O Signal connection 4.3.6.3. In the standard versions of the DR2020, the analog and digital I / Os are not wired to the outside. STO signals connection 4.3.6.4. Here below is the basic diagram, repeated in the chapter dedicated to the STO function ·...
  • Page 43: Trasducers Connection

    MAR2-E-191 Final cap for connecting the last DR2020 to the end of the safety feedback By including the two STO commands in series in the “safety device” circuit, the axis enable command is operated only when the PLC controls both S1 and S2 signals, and at the same time all machine safety devices are “closed”. When a “safety”...
  • Page 44 MAR2-E-191 4.3.6.6. Fieldbus Connection The connectors related to the Fieldbus are X4 (In) and X5 (Out) INFORMATION Depending on type of filedbus, a different type of hardwate and firmware must be installed. If the connection is via ”_ecat” ”_can” EtherCat, the file extention will be if via CanBus, it will be INFORMATION If the connection to the drive is via EtherCat or CanOpen, the USB port is always available as a service port for PC-...
  • Page 45 MAR2-E-191 Notes on the power supply of the DR2020 for the dimensioning of the application The DM2020 PS M power supply (L50 mm) can supply a nominal current of 54 Arms on the DC BUS line with a peak of 130 Arms on the DC BUS line.
  • Page 46: Commisioning Using The Gui

    MAR2-E-191 COMMISSIONING USING THE GUI The system is commissioned via the Dx2020 GUI operator interface. For a detailed description of menus and procedures, please refer to the “Help” guide on the GUI itself. 5.1. Safety WARNING The drive may generate voltages up to 900 V, which are potentially lethal Make sure all live parts are protected from contact with the human body AVERTISSEMENT L'entraînement peut générer des tensions jusqu'à...
  • Page 47: Dx2020 Gui

    MAR2-E-191 5.2. Dx2020 GUI 5.2.1. General description For the setup and "troubleshooting" operations a graphic interface software called Dx2020 GUI is available, which allows to set and modify the parameters, the configuration of the drives and the upgrade of the SW versions if necessary. The main features are: •...
  • Page 48: Dx2020Gui Installation

    UAC (User Account Control). Each time a program that needs additional administrative rights is started, the system asks the user if he wants to proceed. The installation software must be requested to the Moog-Casella technical assistance office. Fig 5.1 Differences in UAC notices Click on yes or agree to proceed with the installation.
  • Page 49: Connection Gui-Drive

    MAR2-E-191 5.2.4. Connection GUI-drive Launch the executable Dx2020 GUI. The GUI can connect to the drive via the RS232 serial (X5 connector) or via EtherCAT (connerctors X8 - X9) or via CAN BUS (connector X10) (see section "2.3.4. interfaces with "field" and the other modules for details on connectors). From the Network menu.
  • Page 50: Layout

    MAR2-E-191 5.2.5. Layout When making the connection, the screen will display the following. • Menu: The following menus are present: File, Network, Tools, Options and ? Refer to the Online Help on the application for more information. • Toolbar: Connect: Open the communication port selected Disconnect: Close the communication port Load all: Update all of the parameters of the connected axes Monitor: Open the monitoring window...
  • Page 51 MAR2-E-191 • Navigation area: The intuitive, organised structure of this area allows users to access all of the information they need, divided into views. Connections can be made to multiple DR2020 modules on the same EtherCat line or to a single-axis module through the USB port. For dual-axis modules, the first axis shown is axis 1 (master), followed by axis 2 (slave).
  • Page 52: How To Access The Online Help

    MAR2-E-191 Status bar: • The status bar displays information on the status of the application. It indicates which protocol is currently in use, whether a connection is present, and the progress of operations across all views. Refer to the Online Help present on the application for more information on the DM2020 program. 5.2.6.
  • Page 53: Axis Module Identification

    5.3. Dx2020 GUI MAR2-E-191 After defining the communication and connecting to the drive, the following steps must be followed: 1. Identification of the single-axis modules 2. Configuration of I/O (*) 3. Configuration of control loops (torque, speed, position) 4. Configuration of faults 5.
  • Page 54: Transducers Configuration

    MAR2-E-191 5.3.3. Transducers configuration (CARRIED OUT IN FACTORY, NOT ESSENTIAL) The DR2020 can manage various types of feedback transducers to close the control loops. This configuration is carried out at the factory. It is not essential to repeat it when starting the DR2020. To proceed with the configuration, follow the instructions in the Online Help, select Configuration / Feedback View INFORMATION The timing angle must be entered.
  • Page 55: I/O Configuration

    MAR2-E-191 5.3.4. I/O Configuration (*) For configuration of the I/Os, go to the Online Help and select Configuration views / I/O standard digital. INFORMATION A “deadband” can be applied to all analogue inputs; this is a band of signal beneath which the two inputs will be ignored.
  • Page 56: Control Loops Configuration

    5.3.5. Control loops configuration MAR2-E-191 5.3.5.1. Control mode configuration The DM2020 manages up to three control loops depending on the operating mode of the drive: The torque, velocity and position loop, each inside the other, with the torque loop innermost, the velocity loop intermediate and position loop outermost, so that the output of each loop is the reference for the next internal loop.
  • Page 57: Filter Configuration

    MAR2-E-191 5.3.5.3.1. Filter Configuration The four filters all have the same basic 2nd order IIR structure. They can be configured according to requirements (to access the configuration menu for each filter, click on the Config Filter link underneath each block) Users can choose from the following types: •...
  • Page 58 Examples of filters MAR2-E-191 Example of a notch filter configuration. You want enter a notch filter centered at 30 Hz Example of configuration of a 2nd order low-pass filter...
  • Page 59: Position Loops Parameters Configuration

    MAR2-E-191 5.3.5.4. Position loops parameters configuration The position control must ensure that the motor speed follows the position reference as closely as possible. The quality of response from the system depends on the loop parameter settings. The position control is PID-type (proportional-integral-derivative). The proportional term products an action that is stronger the bigger the error.
  • Page 60: Fault Configuration

    MAR2-E-191 5.3.6. Fault configuration From the ’Navigation area, select View Fault The screen relating to the fault in question will appear. Any alarms active at that time will be listed on the left-hand side of the window (active fault list) and a list of the 8 most recent alarms will appear on the right-hand side (fault history). The reaction of the drive to each alarm can be con�...
  • Page 61: Application Parameters

    • short_circuit_phase_W_hi • restore_data_memory_corrupted • factory_data_memory_corrupted • calibration_data_memory_corrupted Contact Moog-Casella's Service Centre for suggestions or specific checks. 5.3.7. Application parameters From this menu, it is possible to configure the drive reaction when specific events occur. Details on the events and the type of reaction are described in the Online Help.
  • Page 62: Configuration Of Modes And Commands

    MAR2-E-191 5.3.8. Configuration of modes and commands This menu allows users to determine the origin of the controls and the function performed by the drive. Operating mode Make sure the firmware installed supports the selected files (with EtherCAT fieldbuses, the firmware will have the filename extension _ecat, and with CAN fieldbuses, the firmware will have the extension _can).
  • Page 63 MAR2-E-191 Operating mode The operating mode – or the function performed by the drive – will be set. The following values can be chosen: • Analogue speed The drive runs a speed control following a reference from an analogue input. A variable torque limit can also be set, again from the analogue input.
  • Page 64 MAR2-E-191 DR2020 state machine Please refer to the Online Help, Con� guration views/Modes and Commands, for details on the FSA Start Not ready to switch on Switch on Fault disabled Ready to Fault reaction switch on active Switched on Power-off or reset Quick stop Operation active...
  • Page 65: Power Supply

    MAR2-E-191 5.4. Power supply P rovide three-phase power to the system and verify the correct sequence of LEDs on the power supply module (see section “2.2.2. Connectors and LEDs”) and use the “Monitor” function on the GUI to verify the correct value of the DC BUS voltage (about 560 V) (see section "Layout”).
  • Page 66: Autophasing

    MAR2-E-191 5.5.1. “Autophasing” INFORMATION The motor must be free to rotate. INFORMATION The release of the brake, when present, is part of the autophasing procedure, both when con� guring the automatic brake control and the manual control. Autophasing is run by Dx2020 GUI software. Once the motor parameters have been set, select “Modes and Commands”...
  • Page 67: Enabling The Axis

    MAR2-E-191 From the navigation area, select “Feedback”: Select the tab “Feedback sources”. Con� gure the timing current with a value equal to the rated motor current (Timing Current�eld). Con� gure the timing time as required (set to a maximum value of 4 seconds). Press the “Begin timing”...
  • Page 68: Oscilloscope Function And Log Files (*.Ucx)

    MAR2-E-191 5.7. Oscilloscope function and lo�� les (“.UCX”) g fi It is possible to record and view numerous variables within the drive. From the Navigation area, select “Digital oscilloscope”. 5.7.1. Con� gure recording Select the “Channels” tab. For each channel, choose the variable you want to view from the drop-down menu. The number of variables that can be accessed depends on the user access mode (“Advanced”...
  • Page 69 MAR2-E-191 In the top-left corner are the functions Cursor Activation (Cursor ), Moving the Graphic (Pan ), Magni� cation of Details (Zoom ) and automatic printing of the image (Screenshot ); The mouse cursor reveals the legend of each of the four buttons when it hovers over each of them.
  • Page 70 MAR2-E-191 5.7.4. UCX file management When data is saved in Local, a file is created with the name, date and time that this occurs. The extension of these files is “.UCX”. To view archived recordings, go to the “Load/Save file” tab and then access the file system via the “Open UCX”...
  • Page 71 MAR2-E-191 Download files Delete files Add files Exit WARING In all cases, in order to record/view, the memory card must be in the drive (only for DM2020) The card has its own specific formatting; Windows formatting overwrites the data written by the drive; do not format the card with Windows, otherwise data will be lost when used in the DM2020.
  • Page 72 MAR2-E-191 5.9. Parameters management menu Clicking once on the right mouse button on the axis name will open the menu. The following operations can be carried out: • Manage parameters: • Save the current con� guration on the internal memory of the drive •...
  • Page 73: Troubleshooting

    TROUBLESHOOTiNg 6.1. Introduction The main malfunctions are listed and described below, along with a set of instructions on how to resolve them. If any problem persists, contact the Moog-Casella Service Centre. 6.2. Power supply unit anomalies YELLOW LED GREEN LED...
  • Page 74: Alarm Due To Vbus Voltage Not Within Tolerance Limits

    MAR2-E-191 Prossible causes of this type of alarm are listed in the table: Cause Check Use a multimeter or other suitable instrument to check motor insulation. Alternatively: • Remove the motor power cable Motor short circuit • Enable the axis again •...
  • Page 75: Sto Signal Removal

    MAR2-E-191 6.3.4. STO signal removal Safety_stage_low_voltage: STO protection intervention If the power to the STO circuit is disconnected, the drive releases the axis, disabling the output power. If there is a conflict between the command and signal feedback, the STO circuit inside the drive could be damaged; check that 24 V DC absorption on the two inputs is approximately 50 mA per input.
  • Page 76: Feedback Device Errors

    MAR2-E-191 DR2020 6.3.8. Feedback device errors For correct operation, all feedback signals must reach the drive in an appropriate way; if this does not happen, the causes are indicated by the alarm which identifies in detail which transducer function is wrong or missing. First check the cable is wired properly, is not interrupted and settings are correct.
  • Page 77: Synchronization, Interrupt Time And Task Time Error

    MAR2-E-191 DR2020 6.3.9. Synchronization, Interrupt Time and Task Time Error Fault Cause Check Irregular internal frequency synchronization_error interrupt Internal interrupt signal not Interrupt_time_exceeded Reprogramming of drive (� rmware and parameters); if the detected alarm persists, replace the drive The execution of the task has Task_time_exceeded exceeded the maximum time limit...
  • Page 78: Can Bus Alarms

    MAR2-E-191 MAR2-E-191 DR2020 6.3.13. CAN bus alarms Fault Cause Check PDO data not received or CAN_communication_fault received after time-out CAN_rpdo0_time_out CAN_rpdo1_time_out PDO data not received or received after time-out CAN_rpdo2_time_out CAN_rpdo3_time_out CAN_rpdo0_data CAN_rpdo1_data PDO data received not correct CAN_rpdo2_data CAN_rpdo3_data Check the wiring and the con�...
  • Page 79: Alarms Identification

    MAR2-E-191 DR2020 6.4. Alarms identification If the drive is used in fieldbus mode (EtherCat / Can), the error code will be transmitted via an EMERGENCY message (according to the CANOpen standard) consisting of ErrorCode and ErrorRegister Fault Error code Error register Fault Fault index...
  • Page 80 MAR2-E-191 DR2020 Fault Error code Error register Fault Fault index Interface X2 - Hiperface position Digital position (Hiperface protocol) 0x7393 0x01 con� ict inconsistent with calculated position Interface X2 - Hiperface status 0x7394 0x01 Encoder status error (Hiperface protocol) error Interface X2 - Hiperface Encoder transmission error (Hiperface 0x7395...
  • Page 81 MAR2-E-191 DR2020 Fault Error code Error register Fault Fault index 0x8400 0x01 velocity_control_monitoring Error - maximum speed exceeded 0x8611 0x01 following_error Error following position 0x8612 0x01 position_reference_limit Not used 0x8101 0x10 EtherCAT_link_fault EtherCAT link not found 0x8100 0x10 EtherCAT_communication_fault Generic EtherCAT communication fault 0x8231 0x10 EtherCAT_rpdo_time_out...
  • Page 82 MAR2-E-191 DR2020 6.5. Anomalies during GUI - drive connection In cases where communication between the PC and the drive fails, an error message will appear. The cause could be the PC buffer that needs to be emptied; try again and if the problem is not solved, check the status of the connection cable of the PC communication interface INFORMATION For the _EtherCat firmware version the default baud rate is 1Mbps even if the drive supports up to 100Mbps,...
  • Page 83: Safe Torque Off Safety Function

    MAR2-E-191 DR2020 SAFE TORQUE OFF SAFETY FUNCTiON (TRANSLATION OF ORIGINAL INSTRUCTIONS) 7.1. Application The Safe Torque Off (STO) safety function of the DR2020 has been manufactured with a redundant circuit incorporated into the control board. The STO function must only be used according to the instructions in this Manual. 7.2.
  • Page 84 MAR2-E-191 DR2020 7.3. Funzione Safe Torque Off The Safe Torque Off safety function of the DR2020 has been validated according to the SIL 3 safety integrity level as defined in the CEI EN 61800-5-2: 2008 product standard proving that: the chance for dangerous failures per hour (PFHd) is 9 x 10 -10 hours-1 (see 7.3.1 / 2). The validation of the function and the related STO circuit provide for the use of two different types of monitoring: the first consists of a normally closed electrical contact (hereinafter referred to as "Hardware Feedback"), the second one identified by a binary type digital signal ( hereinafter referred to as "Software Feedback") defined by...
  • Page 85: Safe Torque Off Function

    MAR2-E-191 DR2020 7.3.2 Characteristic values according to CEI EN 62061 • “Hardware Feedback” Characteristic values according to CEI EN 62061 Value Safety integrity levels SIL 3 PFHd 9x 10 ore-1 Test interval 20 years • “Software Feedback” Characteristic values according to CEI EN 62061 Value Safety integrity levels SIL 3...
  • Page 86: Safe Torque Off Circuit

    MAR2-E-191 DR2020 WARNING When the Safe Torque Off circuit is enabled, the motor can no longer generate torque. When external forces act on the axis (e.g. the force of gravity on the vertical axis), adequate protection must be provided, such as an automatic mechanical blocking system or weight equalisation system WARNING The Safe Torque Off function does not provide any electrical insulation.
  • Page 87 MAR2-E-191 DR2020 Name Function Input +24Vdc of channel 1. This input must be high (+24Vdc) to + “Channel1” power the motor. When the input is low (0V) the motor is not powered. Input +24Vdc of channel 2. This input must be high (+24Vdc) to + “Channel 2”...
  • Page 88: Application Example

    MAR2-E-191 DR2020 7.7. Application Example CLOSED OPEN - SW1 - SW1 DRIVE - Q1 Ch 1 Verification Ch 2 Verification - Q2 SAFETY PLC + 24 V + 24 V + 24 V - Q1 - Q2 - A1 - A1 Ch 1 Ch 2 - Q1...
  • Page 89 MAR2-E-191 DR2020 The subsystems: • A1 safety PLC has a PL of “e” • The DM2020 drive (STO circuit) has a PL of “e” The safety system can attain a PL of “e”, and a category of 4. According to UNI EN ISO 62061:2005, the subsystem relative to input and output devices can attain a PL of “3” because: •...
  • Page 90 Safe Torque Off function is enabled after the stop. This must not cause hazardous situations. 7.10. Assembly and production testing The Safe Torque Off (STO) circuit is assembled and tested at Moog-Casella. 7.11. Identification of the STO function on the drive's side plate...
  • Page 91: Annexes

    MAR2-E-191 DR2020 8 Annexes 8.1 Glossary Acceleration The rate of increase of velocity with respect to time Alarms Irregular operating situations highlighted by LED or DISPLAY, with subsequent analysis via GUI. Asynchronous Motor Motor in which the rotor and the magnetic field turn at different speeds. Section of the main control circuit with interface to other internal or external functions and Base control board slots for optional modules.
  • Page 92 MAR2-E-191 DR2020 The Low Voltage Directive concerns machinery in which electric low voltage circuits are present. The manufacturer must compile a technical dossier, make a declaration of Directive (Low Voltage) conformity and affix the CE marking. Dispersion towards ground Current (usually of reduced intensity) flowing from a wire to the ground. The energy accumulated by the motor during the acceleration is converted into heat through the Dynamic braking braking resistor.
  • Page 93 MAR2-E-191 DR2020 Structure that allows communication between different devices; are connection lines on which the digital information is transferred from one or more sources to one or more destinations. Their aim is therefore to reduce the number of interconnections required. The bus techniques are of great FieldBus importance in microprocessor systems but it is necessary to regulate this flow of data in order to allow for a single communication at a time by disabling other possible data sources at that...
  • Page 94 MAR2-E-191 DR2020 8.2. Metric/AWG conversion table Ohmic resistance Diameter Cross-section Weight at 20 ° C mils Circ. mils W/km 0.50 4.00 0.0020 8498 0.0180 0.055 4.84 0.0025 7021 0.0218 0.063 6.25 0.0032 5446 0.0281 0.071 7.84 0.0039 4330 0.0352 0.079 9.61 0.0049 3540...

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