Related Manuals for Moons' M2DC-6D0
Summary of Contents for Moons' M2DC-6D0
- Page 1 M2 Series DC Servo System Quick Setup Guide Manual SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD. Rev. 1.0...
- Page 2 Introduction About This Manual This manual describes the M2DC Servo Drive. It provides the information required for installation, configuration and basic operation of the M2DC series servo drive. This document is intended for persons who are qualified to transport, assemble, commission, and maintain the equipment described herein.
- Page 3 Safety Instructions Installation DO NOT subject the product to water, corrosive or flammable gases, or combustibles. DO NOT use the motor in a place subject to excessive vibration or shock. Never connect the motor directly to the AC power supply. DO NOT use cables soaked in water or oil.
-
Page 4: Table Of Contents
Table of Contents 1. Product Description ........................6 1.2 Servo Drive Model Introduction ..................6 1.2.1 Drive Name Plate Description ..................6 1.2.2 Drive Model Description ...................6 1.2.3 Drive specifications ....................7 1.3 Servo Motor Model Introduction ..................8 1.3.1 Motor Name Plate Description .................8 1.3.2 Motor Model Description ..................8 2 Installation ..........................9 2.1 Storage Conditions ......................9... - Page 5 3.8.5.1 Position pulse signal input ................30 3.8.5.2 Analog Signal Input For Velocity And Torque Mode ........32 3.8.5.3 High Speed Input Ports X1, X2, X3, X4 ............33 3.8.5.4 General Digital Input X5, X6, X7, X8 ............35 3.8.5.5 X9, X10, X11, X12 Inputs with common COM Port ........37 3.8.6 CN2 Output Signal Specification ................38 3.9 STO Connector .......................39 3.9.1 Safety Precautions ....................39...
-
Page 6: Product Description
1. Product Description 1.1 System Checklist A complete and workable M2DC servo system should include the following parts: A matched servo drive and servo motor (see section 2.4 for recommended combinations) 1. A power cable with a 4-PIN connector to connect P1 (V+, V-, AUX+) to supply power to the drive 2. -
Page 7: Drive Specifications
1.2.3 Drive specifications 20 - 60VDC Main Circuit M2DC-6D0 Input Power M2DC-10D Control 10- 60VDC Circuit Ambient temperature: 0°C to 50°C (if the ambient temperature of the servo drive is greater than 40°C, please install the drive in a Temperature well-ventilated location) Storage temperature: -20°C to 65°C... -
Page 8: Servo Motor Model Introduction
1.3 Servo Motor Model Introduction 1.3.1 Motor Name Plate Description Mode NO. Series NO. Input Ouyput Power Rated Torque,speed Max. Speed Ins.Class 1.3.2 Motor Model Description S M 06 02 F E4 - K C F - N N V Servo Motor Customized Specification (If Applicable) Frame Size... -
Page 9: Installation
2 Installation 2.1 Storage Conditions Store properly packaged in a clean and dry environment,away from direct sunlight Store in an ambient temperature range of -10°C to +85°C Store where the relative humidity range is 10% to 85% with non-condensing DO NOT store in a place exposed to corrosive gases 2.2 Installation Conditions Temperature range of 0°C to 50°C. -
Page 10: Installation Space
2.4 Installation Space Incorrect installation may result in a drive malfunction or premature failure of the drive and/or motor. Please follow the guidelines in this manual when installing the servo drive and motor. The M2DC servo drive should be installed perpendicular to the wall or in a control panel. In order to ensure the drive is well ventilated, make sure ventilation holes are not obstructed, there is sufficient free space around the servo drive, and a cooling fan is mounted in the control panel. -
Page 11: Motor Installation
2.5 Motor Installation DO NOT strike the motor when installing it as the motor shaft or encoder may be damaged. DO NOT use cables that have been soaked with water or oil. Avoid a stress application to the cable outlet and connecting portion by bending. Use flexible cables when using a cable carrier, and make sure the minimum cable bending diameter is 200mm. -
Page 12: Connections And Wiring
3. Connections and Wiring 3.1 Connecting to Peripheral Devices 3.1.1 System Configuration LED Display The 5 digit, 7 segment LED displays the diver status and faults. Operation Panel Function keys are used to perform status display, monitor and diagnostic, function and parameter setting. PC/Configuration Motor Feedback Cable USB Cable... -
Page 13: Servo Drive Connectors And Terminals
3.1.2 Servo Drive Connectors and Terminals Terminal Description Details Identification V+, V- Used to connect DC main circuit power Used to connect an auxiliary circuit power Ground Used to connect servo motor Terminal Wire color Description Symbol U, V, W Yellow Connects to servo motor Blue... -
Page 14: Wiring Methods For P1 Power Supply Connector
3.1.4 Wiring Methods for P1 Power Supply Connector Power for the M2DC servo drives comes from 2 different sources Function Input Power V+, V- Drive’s main power input 20 - 60VDC Main power supply When the main power supply is off, the AUX power will keep the logic circuitry alive, allow- ing the drive to remember its current state data Control circuitry power/auxiliary... -
Page 15: Wiring To The P2 Connector
3.2 Wiring to the P2 Connector Please follow Chart 5.3 before power up. 3.2.1 Motor Power Cable Configuration P2 interface of the drive Motor Motor power lead wire extension cable connector connector 3.2.2 Motor Power Cable Connector(-CD Winding ,6Amps) A PIN Assignment View A View B Signal... -
Page 16: Motor Extension Cable Wiring Diagram
3.2.3 Motor Extension Cable Wiring Diagram Housing: 172159-1(AMP) Terminal: 170362-1(AMP) Drive side (P2) Motor side (housing) Signal Color 5452571(Phoenix) AMP 172159-1 Yellow Blue Yellow/Green 3.2.4 Motor Power Cable Connector(-CF Winding,10Amps) 3.2.4.1 PIN Assignment Cover：350780-1(AMP) Pin：350536-1(AMP) A side view B side view Signal Blue Yellow/Green... -
Page 17: Motor Extension Cable Wiring Diagram
3.2.4.2 Motor Extension Cable Wiring Diagram Housing :350780-1 Terminal:350536-1 Drive side (P2) Motor side (housing) Signal Color 5452571 (Phoenix) AMP 350780-1 Yellow Bleu Yellow/Green Ensure U/V/W is wired in the order of RED/YELLOW/BLUE. 3.3 Encoder Connector CN3 3.3.1 Motor Encoder Feedback Cable Configuration CN3 interface of the drive Encoder Motor encoder... -
Page 18: Layout Of Cn3 Connector
3.3.2 Layout of CN3 Connector View A View B Pin NO. Symbol Description Encoder A+ Encoder B+ Encoder Z+ Hall U+ Hall W+ Hall U- Hall W- Encoder +5V Encoder power supply +5V Encoder +5V Encoder power supply +5V Encoder A- Encoder B- Encoder Z- Hall V+... -
Page 19: Specifications Of Encoder Connector
3.3.4 Specifications of Encoder Connector A. -E4 Encoder Connector PIN Assignment View A Signal PIN# Colour U+/A+ Blue V+/B+ Green W+/Z+ Yellow U-/A- Yellow/Black V-/B- Green/Black W-/Z- Yellow/Black Black Shield Shield NOTE: The HALL signal U/V/W ONLY appears for short time after the encoder is powered on, it will then covert to A/B/Z signals. -
Page 20: Motor Encoder Extension Cable Wiring Diagram
3.3.5 Motor Encoder Extension Cable Wiring Diagram -E4 Encoder Encoder Cable Diagram Connect to drive Connect to Motor View A Housing for the motor Drive Side Signal Color TYCO 3-22322346-1 AMP 172161-1 A+/U+ Blue B+/V+ Green Z+/W+ Yellow A-/U- Yellow/Black B-/V- Green/Black Z-/W-... -
Page 21: Electromagnetic Brake
3.4 Electromagnetic Brake When the motor drives the vertical axis, a brake should be used to hold and prevent the load from fallingby gravity when the power is removed. NOTE: Use only a servo motor brake for holding a load when the motor is disabled or the power is off. -
Page 22: Timing Charts Of The Electromagnetic Brake
3.4.3 Timing Charts of the Electromagnetic Brake In order to prevent damage to the brake, there are delay sequences during the brake operation. Please be cautious with brake operation sequence. Servo on Input Motor Active Brake Signal Brake Action Motion Command Actual Motion Brake Engage Delay Brake Release Delay... -
Page 23: Connecting To The Host Computer - Cn1
3.7 Connecting to the Host Computer - CN1 Port CN1 is used to connect the drive with a PC. Use M Servo Suite software to set the control mode, change parameter values, use the auto-tuning function, etc. Symbol Function +5V Power Supply Data - Data + Reserved... -
Page 24: Signal Description Of Connector Cn2
3.8.3 Signal Description of Connector CN2 Analog Input ANA1 Speed Command PULSH1 DGND PULSH2 High Speed ANA2 Torque Command Pulse Input SIGNH1 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- STEP/CW Position Motor Brake Command Control Output 10 Y2- DIR/CCW 40 Y5+ Servo-on Status Output 41 Y5-... -
Page 25: Input Signals
3.8.3.1 Input Signals The M2DC series servo drive has 12 programmable digital inputs as well as 2 analog inputs. Each of the inputs can be specified with different functions via the parameter settings. The functions are as follows: ● Specified function signals: i.e. STEP/DIR signal, motor enable/disable signals. ●... -
Page 26: Input Function List
PULSH1 High-speed pulse inputs (+5VDC line drive input), the maximum input frequency 2MHz.Three pulse commands available: High- PULSH2 ● Pulse & Direction Speed ● CW Pulse and CCW Pulse Pulse SIGNH1 Inputs ● A Quadrature B pulse (NOTE: DO NOT use with both X1 and X2) SIGNH2 In analog velocity control mode, the offset, dead band, and function of analog input 1 can be set by M Servo Suite or parameters P-52, P-56 and P-61. -
Page 27: Output Signals
3.8.3.3 Output Signals The M2DC series servo drive has 6 programmable digital output signals available; each of the outputs can be specified with a different function via parameter settings. Signal Symbol Pin NO. Details This output has two functions: ● Alarm Output ●... -
Page 28: Output Function List
3.8.3.4 Output Function List Output Pin ● Alarm Output ● In Postion error Dynamic Postion ■ error ● Tach Out Brake ● Function Torque Reach ● Servo Ready ● Servo-On Status ● Velocity Reach ▲▼ ● ● ● ● ● ●... -
Page 29: Encoder Feedback Output
3.8.4 Encoder Feedback Output The M2DC series servo drive can output encoder A/B/Z phase as differential output signals through the line driver. The output signal is 5V, A/B signals are 10000 pulse/rev, Z signal is 1 pulse/rev. The host must use the line receiver to receive these signals. Use twisted-pair wires for signal transfer. 3.8.4.1 A/B/Z Connection Diagram Servo Drive Host Controller... -
Page 30: Input Signal Interface Connector, Cn2
3.8.5 Input Signal Interface Connector, CN2 3.8.5.1 Position pulse signal input The M2DC series servo has two high speed pulse intputs, STEP/DIR and PULSH/SIGNH. STEP/DIR supports 5-24VDC, up to 500KHz open collector input signal or differential input signal through the line driver. - Page 31 D. Pulse Input Description STEP/DIR Pulse Input When both STEP and DIR input signals are ON, the motor will rotate in one direction. When STEP input signal is ON, and DIR input signal is OFF, the motor will rotate in the opposite direc- tion.
-
Page 32: Analog Signal Input For Velocity And Torque Mode
3.8.5.2 Analog Signal Input For Velocity And Torque Mode The M2DC series servo drive has 2 single ended analog inputs OR 1 differential analog input. The input voltage range is -10V to +10V. Velocity and torque range can be configured via M Servo Suite software. -
Page 33: High Speed Input Ports X1, X2, X3, X4
3.8.5.3 High Speed Input Ports X1, X2, X3, X4 High Speed Input Port The M2DC has 4 optically isolated high speed digital inputs X1, X2, X3, and X4. These inputs allow input voltage from 5VDC to 24VDC with maximum current of 20mA, and up to 500KHz. They can be used for general purpose inputs, connecting sensor switch signals, PLC controllers or other types of controller output signals. - Page 34 High Speed Input Connection Diagrams HOST controller 5-24VDC 5-24VDC HOST controller X1\2\3\4+ X1\2\3\4+ X1\2\3\4- X1\2\3\4- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X1\2\3\4+ X1\2\3\4+ +5-24VDC Power Output X1\2\3\4- sensor connection X1\2\3\4- Relay Or Switch 0VDC Sensor And Switch Connection NPN Sensor Connection 5-24VDC Output...
-
Page 35: General Digital Input X5, X6, X7, X8
3.8.5.4 General Digital Input X5, X6, X7, X8 The M2 has 4 optically isolated general digital inputs X5, X6, X7 and X8. These inputs allow input volt- age from 5VDC to 24VDC, with maximum input current of 20mA up to 5KHz. Both single ended and differential signals are allowed. - Page 36 X5, X6, X7, X8 Input Port Connection Diagrams HOST controller 5-24VDC 5-24VDC HOST controller X5\6\7\8+ X5\6\7\8+ X5\6\7\8- X5\6\7\8- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X5\6\7\8+ X5\6\7\8+ +5-24VDC Power Output X5\6\7\8- sensor connection X5\6\7\8- Relay Or Switch 0VDC Sensor And Switch Connection NPN Sensor Connection 5-24VDC...
-
Page 37: X9, X10, X11, X12 Inputs With Common Com Port
3.8.5.5 X9, X10, X11, X12 Inputs with common COM Port The M2 drives also have 4 single ended optically isolated inputs connected with a single common node named ‘COM’. These inputs can be used with sourcing or sinking signals, 12-24V. This allows for connection to PLCs, sensors, relays and mechanical switches. -
Page 38: Cn2 Output Signal Specification
3.8.6 CN2 Output Signal Specification The M2DC series servo drives feature 6 optically isolated digital outputs. They can be configured via M Servo Suite. Y1, Y2, Y5, and Y6 are differential output signals, they can be used for both sourcing or sinking signals. -
Page 39: Sto Connector
3.9 STO Connector On the M2DC series servo drives, the STO (Safe Torque Off) function is connected via port CN5. The STO function shuts off the motor current turning off the motor output torque by forcibly turning off the signal of the servo driver power transistor. This is done internally through the STO Input/Output signal circuit. -
Page 40: Cn5 Connector Diagram
3.9.2.2 CN5 Connector diagram Vendor Item Part number Housing 43025-1000 Molex 43030-0005 Molex Crimp 3.9.2.3 STO Signal Definition Signal Symbol Description Control Mode When SF1 has no input signal, e.g. the port is SF1+ disconnected, SF1 will be considered OFF. The Safety Input SF1 upper half of the internal power transistor will be SF1-... -
Page 41: Sto Connection Diagrams
3.9.2.4 STO Connection Diagrams ● Connection to safety switch 24VDC Safety Switch M2 Servo Drive Safety Input 1 Safety Input 2 Safety Output 0VDC ● Safety light curtain connection Rev. 1.0... -
Page 42: Display And Operation
4. Display and Operation 4.1 Control Panel Description LED Display MODE DOWN Symbol Name Details The LCD display (5 digits, 7 segments) shows the drive’s oper- LED Display ating condition, warning codes, parameters, and setting values. Press and hold MODE button to switch the LED display mode a) Monitoring selection mode b) Function selection mode c) Parameter setting mode... -
Page 43: Mode Switch Control
4.2 Mode Switch Control • Pressing the button changes between status monitoring, function control, button and the parameters setting and other modes. • If no warnings or faults occur, the drive will not go into warning and fault display mode. •... - Page 44 Control mode switch flowchart: Power On In factory default mode, the motor’s rotatory velocity will be displayed.(*NOTE 1) The last dot shows whether the drive is enabled or disabled. Monitor Status Press SET key back Press any key to Monitor Status Monitor Parameters Press the UP and DOWN key to scroll...
-
Page 45: Led Display Description
4.3 LED display description 4.3.1 Decimal Point And Negative Sign Description LED display Description Negative sign: when the value to be displayed is a negative number ≥-9999, the highest digit will display as a negative sign. Decimal point: when the value to be displayed negative motor enable is a negative number ≤-10000, a decimal point... -
Page 46: Parameter Save Setting
4.3.3 Parameter Save Setting LED display Description In parameter setting mode, pressing and holding the button will save the change. ‘Saved’ will also be displayed on the LED. In parameter setting mode when the motor is rotating and the is pressed and held, the LED display will read “busy”... -
Page 47: Status Monitoring Selection Mode
4.4 Status Monitoring Selection Mode To change the status monitoring mode, press to enter monitoring selection mode, and then to confirm, as below: to make selections, and press Power ON Default display is current motor velocity The last decimal point is drive enable sign Stats Display Press SET key to Press Any Key... - Page 48 n-06 DC Bus Voltage x0.1V n-07 Node ID (Drive Address) n-08 Fault History 1 n-09 Fault History 2 n-10 Fault History 3 n-11 Fault History 4 n-12 Fault History 5 n-13 Fault History 6 n-14 Fault History 7 n-15 Fault History 8 0.001VDC n-16 Differential Analog Input...
-
Page 49: Function Control Mode
4.5 Function Control Mode In function control mode (display F+ parameter number), you can select functions for preoperational mode, restart the drive, enable or disable the drive, etc. In status monitoring mode, press and hold for 1 second to enter function control mode. Press to select function, and then to confirm or execute the function. -
Page 50: Function Mode Description
4.5.1 Function Mode Description Function mode details are as follows: Function mode LED display Description number point to point position mode: rotating speed is1rps; travel F-00 distance is 1rev F-01 JOG mode:JOG speed 1rps F-02 Restart the drive F-03 (F-03AR) Clear drive’s current alarm F-04 (F-04SA) Save parameter changes for P-00 to P-98 F-05... -
Page 51: Operation Flow Chart
4.5.2 Operation Flow Chart status monitoring selection press and hold MODE key for 1 second press and hold SET key F-00 point to point mode function selection mode press ,motor rotate 1 rev in CW direction press ,motor rotate 1 rev in CCW direction press to stop the motor press M key... -
Page 52: Parameter Setting Mode
4.6 Parameter Setting Mode 4.6.1 Parameter Setting Description The parameter setting mode (P+parameter number) allows you to select, display and edit the required for 1 second to enter parameter setting parameter. In function control mode, press and hold mode. Use to select required parameter, and press to view or edit the parameter. -
Page 53: Parameter Editing Examples
4.6.2 Parameter Editing Examples Press mode to First digit flash Second digit flashing shift flashing digit Press Press Press Press Press up or down to increase or decrease value Press SET key to enter parameter editing mode Press mode to First digit Second digit flashing shift flashing digit... -
Page 54: Control Panel Lock
4.7 Control Panel Lock To prevent unauthorized use of the key panel, a key panel lock is featured on all M2DC servo drives. When the panel is locked, no function can be changed directly on drive’s control panel. Status monitoring Press and hold set key for 1 second If control panel is locked,... - Page 55 LED display LED display Description Description Drive over temperature CW limit is activated Internal voltage fault CCW limit is activated Over voltage Current limit Communication error Over current Parameter save failed STO is activated Bad hall sensor Regeneration failed Low voltage Encoder error Q program is empty Position error...
-
Page 56: Preoperational Mode
5. Preoperational mode When using preoperational mode, disconnect the servo motor from any mechanical system to prevent damages and accidents. Preoperational mode should be used only under a no load condition. 5.1 Inspection Before Trial Run To avoid any accidents and damages to the servo drive and mechanical systems, the following safety checks are recommend before the drive is turned on. -
Page 57: Trial Run Procedure
5.2 Trial Run Procedure Step Details Description Install the motor securely. - The motor can be installed on the machine. - Ensure no load is installed on the servo motor. - The terminals on connector P2 must be con- nected in the order of U - Red, V - Yellow, U - Blue, FG - Yellow/Green. -
Page 58: Motor Configuration
5.3 Motor Configuration Before using JOG mode, the drive needs to be properly configured for the connected motor. This can be done through the drive control panel or the M Servo Suite software. For more details about motor specifications, refer to Section 2.3. 5.3.1 Using the Drive Control Panel for configuration Motor information and LED display list: LED display... -
Page 59: Using M Servo Suite Software For Configuration
5.3.2 Using M Servo Suite Software for configuration Run the M Servo Suite software on a PC, and (1) select the correct communication port. Use the drive configuration tab (2) to set up the motor. Click the Config button to bring up the Motor Select screen: After setting the required parameters, click OK and then Download All to Drive to save the settings to the drive. -
Page 60: Operations Of Jog Mode
5.4 Operations of JOG Mode LED display Step Description Press to switch from Monitor Status mode to the Drive Parameters Configuration mode keys to select parameter P62 (SI) Scroll with the key to enter the value setting mode Press keys to change values Scroll with the key for 1 second to confirm the set value Press and hold the... -
Page 61: Configuration By Personal Computer
5.5 Configuration by Personal Computer To ensure the M2DC servo drive and motor meet operational requirements, it is recommended that the M Servo Suite software is used for the following configuration setups: • Servo motor model selection and configuration • Operational mode selection •... -
Page 62: Drive Alarm Causes And Solutions
6.Drive alarm causes and solutions LED display Processing method Description Alarm type Temperature of the heat sink or 1. Improve the ambient tem- power perature and device has been risen over the cooling condition. specified Drive over 2. Increase the capacity of temperature. - Page 63 1. Turn to Servo-ON, while disconnecting the motor. If error occurs immediately, re- placement with a new driver 1. Failure of servo driver (failure of is needed. 2. Check that the motor wire circuit, IGBT or other components) (U, V and W) is not shorted, 2.
- Page 64 Please check motor velocity command if it is within the P-20 (VM) range. 1. Avoid high velocity com- mand 2. Check the command pulse input frequency and division/ Motor rotary velocity exceeds pa- Position error multiplication ratio. rameter P-20 (VM) setting value. 3.
- Page 65 Regenerative energy has exceeded the capacity of regenerative resistor. 1. Due to the regenerative energy 1. Internal resistor value is during deceleration caused by a smaller than required, can- large load inertia, converter voltage not absorb the regeneration has risen, and the voltage is risen energy.
-
Page 66: Position Mode
7. Position Mode 7.1 Digital Pulse Position Mode Connection Diagram Position mode is widely used in applications where precise positioning is required. In M2DC servo drives there are 3 types of position mode: digital pulse position mode, analog position mode and posi- tion table mode. -
Page 67: Velocity Mode Connection Diagram
7.2 Velocity Mode Connection Diagram The velocity control mode is used for applications that require precise velocity control. For M2DC Servo drives, they are 4 types of velocity control mode: fixed-speed mode, analog command mode, SCL control mode and multi-velocity control mode. Fixed-speed mode will set the motor running at a constant speed. -
Page 68: Analog Torque Mode Connection Diagram
7.3 Analog Torque Mode Connection Diagram Orque mode is normally used for applications that require precise torque control. For M2DC servo drives, there are 2 types of torque control mode: analog input torque mode and SCL command mode. For analog command mode, torque is controlled by external voltage input. SCL is a unique software tool from MOONS’, that uses serial communication commands to control the motor. - Page 69 No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China Tel: +86(0)21-5263 4688 Fax: +86(0)21-6296 8682 M2DC Quick Setup Guide Manual Web: www.moonsindustries.com E-mail: ama-info@moons.com.cn No.XXXXXXXXXXXXXXXXXX Rev. 1.0...
Need help?
Do you have a question about the M2DC-6D0 and is the answer not in the manual?
Questions and answers