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ANCA Motion AMD5x Series User Manual

Passive infeed unit and servo drive
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AMD5x Passive Infeed Unit
and AMD5x Servo Drive -
User Guide
ANCA MOTION
D-000129 Rev 05
i

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Summary of Contents for ANCA Motion AMD5x Series

  • Page 1 Page intentionally left blank AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide ANCA MOTION D-000129 Rev 05...
  • Page 3 Related Documentation Sales and Support Contact Information Product, Sales and Service Enquiries For the latest copy of the manual visit us online Manuals For the latest version of the ANCA Motion MotionBench Software visit Software Documents Reference: D-000129 Revision: 05 Effective: 9 October 2018 ©...
  • Page 4 Pre-power-up checks PIU Operation Enabling the PIU, analogue and digital status information Technical Data List of Specifications Accessories Selection of accessories including filters, reactors, ribbon cables Additional Information How to contact ANCA Motion with your enquiries ANCA MOTION D-000129 Rev 05...

  • Page 5: Table Of Contents

    Safe Start-Up and Operation ....................2 2 Introduction ............................3 What this Chapter Contains ...................... 3 Purpose............................. 3 About the AMD5x Series Passive Infeed Unit ................3 About the AMD5x Series Servo Drives ..................3 Drive Model Applicability......................4 PIU Model Applicability ......................4 Capacitor Module Model Applicability ..................
  • Page 6 Power Isolation ......................47 5.3.2 Mains Contactors ....................... 47 Grounding ..........................47 Installations conforming to the EMC Directive ................ 48 5.5.1 Harmonics and reactive power compensated supplies..........49 5.5.2 3 phase supply system wiring ..................50 ANCA MOTION D-000129 Rev 05...
  • Page 7 General Purpose Digital Output ................. 65 6.7.4 High Speed Digital Output ..................65 6.7.5 Digital Input ........................ 66 6.7.6 Analog Input ....................... 67 6.7.7 Analog Output ......................67 ® 7 EtherCAT Configuration ....................... 69 Introduction ..........................69 ANCA Motion D-000129 Rev 05...
  • Page 8 Advanced control functions ..................82 10.3 Interface Specifications......................83 10.3.1 Motor Position Feedback ..................83 10.3.2 Encoder Channel 1....................83 10.3.3 Encoder Channel 2....................83 10.3.4 Encoder Supplies for Ch1 and Ch2 ................ 83 ANCA MOTION D-000129 Rev 05 viii...
  • Page 9 11.1 What this Chapter Contains ....................107 11.2 EMI Filter ..........................107 11.3 Line Reactor ......................... 107 11.4 24V Ribbon Cables ....................... 107 ® 11.5 EtherCAT Cables ....................... 108 11.6 Cooling Duct Fan Kit ......................108 ANCA Motion D-000129 Rev 05...
  • Page 10 11.11 Drive with Connector Kit ....................... 112 12 Additional Information ........................114 12.1 What this Chapter Contains ....................114 12.2 Maintenance and Repairs ..................... 114 12.3 Product, Sales and Service Enquiries .................. 115 12.4 Feedback ..........................115 ANCA MOTION D-000129 Rev 05...

  • Page 11: Safety

    This manual and the warnings attached to the AMD5x only highlight hazards that can be predicted by ANCA Motion. Be aware they do not cover all possible hazards. ANCA Motion shall not be responsible for any accidents caused by the misuse or abuse of the device by the operator.

  • Page 12: Safe Start-Up And Operation

    5.11 Checking the Insulation of the Assembly 1.2 Safe Start-Up and Operation Please refer to 8 Installation Checklist for additional checks that should be made to start up the AMD5x series PIU and drives safely. ANCA MOTION D-000129 Rev 05...

  • Page 13: Introduction

    2 Introduction 2.1 What this Chapter Contains This chapter introduces the reader to the AMD5x Product range and related ANCA Motion products. 2.2 Purpose This manual provides the required information for planning to install, installation and servicing of the AMD5x PIU and Servo Drive.

  • Page 14: Drive Model Applicability

    35A Drive AMD5-13500-BA00 35A Drive with IO Interface AMD5-13500-BA10 2.6 PIU Model Applicability This manual is applicable to the following models of the ANCA Motion AMD5x Series Passive Infeed Unit: Product Power Rating Product Number AMD5x Passive Infeed Unit 15kW PIU AMD5-P6150-BA00 2.7 Capacitor Module Model Applicability...

  • Page 15: Related Documents

    Digital Servo Drive SoE Parameter Reference – Included with firmware bundle Digital Servo Drive Error Code Reference – Included with firmware bundle To obtain these documents, contact your local ANCA Motion sales office. See 12.3 Product, Sales and Service Enquiries.

  • Page 16: Terms And Abbreviations

    Permanent Magnet Alternating Current PMSM Permanent Magnet Servo Motor Quadrature Encoder Pulse Root Mean Square Single Ended SELV Safe Extra Low Voltage Servo over EtherCAT Safe Torque Off V / mV Volt / millivolt W.R.T. With Respect To ANCA MOTION D-000129 Rev 05...

  • Page 17: Product Overview

    Multiple axis drive for AC synchronous servo motors and induction motors.  Drive models with continuous current ratings of 3A, 6A, 12A, 20A, or 35A.  Direct connection to 380-480VAC 3 phase.  Easy setup using ANCA Motion MotionBench Configuration Tool.  EtherCAT connectivity.  Rugged and reliable design. ...

  • Page 18: Amd5X Variant Identification

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 3.3 AMD5x Variant Identification 3A, 6A, 12A and 20A Drives with IO 3A, 6A, 12A and 20A Drives Interface 35A Drive 35A Drive with IO Interface Capacitor Module ANCA MOTION D-000129 Rev 05...

  • Page 19: Amd5X Passive Infeed Unit Catalogue Number Interpretation

    For any warranty work to be undertaken these labels must be readable and undamaged. Care should be taken to record these numbers in a separate register in the event of damage or loss. Note: Do not under any circumstances tamper with these labels. Your warranty may be void if the labels are damaged. ANCA Motion D-000129 Rev 05...

  • Page 20: Amd5X Series Drive Catalogue Number Interpretation

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 3.3.2 AMD5x Series Drive Catalogue Number Interpretation AMD5x drives are marked with an identification label. The Catalogue number is explained as follows: Refer to 11.11 Drive with Connector Kit for Drive with Connector Kit designations.

  • Page 21: Amd5X Capacitor Module Catalogue Number Interpretation

    For any warranty work to be undertaken these labels must be readable and undamaged. Care should be taken to record these numbers in a separate register in the event of damage or loss. Note: Do not under any circumstances tamper with these labels. Your warranty may be void if the labels are damaged. ANCA Motion D-000129 Rev 05...

  • Page 22: Operating Principle

    CNC, either in the form of structured position commands, or as a series of instructions controlling one or more user pre-defined moves stored locally on the Drive. ANCA MOTION D-000129 Rev 05...

  • Page 23: Piu System

    The PIU also distributes the customer supplied 24V DC control voltage to all drives, provides a LED power supply, and interfaces via EtherCAT. Figure 3-3: Block diagram of the PIU system ANCA Motion D-000129 Rev 05...
  • Page 24 Brake Resistor Host Device EtherCAT Master capable device. e.g. CNC EtherCAT In EtherCAT Out (To Drives) 24VDC to Drives Regenerative Brake Resistor Over Temp Switch LED Supply 24VDC Supply Figure 3-4: PIU external system overview ANCA MOTION D-000129 Rev 05...

  • Page 25: Drive System

    Product Overview 3.5.2 Drive system Brake Power (24V) Servo Motor Encoder Ch2 Probe Encoder Ch1 EtherCAT In EtherCAT Out (From PIU or Drive) 24VDC In 24VDC Out Figure 3-5 Drive external system overview ANCA Motion D-000129 Rev 05...

  • Page 26: Piu Connector Overview

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 3.6 PIU Connector Overview Figure 3-6: Regenerative Brake Resistor (X1) and 3 Phase Mains + Earth Supply (X2) Figure 3-7: Digital Input (X5), LED Supply (X6), and 24V DC Supply (X7) ANCA MOTION D-000129 Rev 05...

  • Page 27: X1 - Regenerative Brake Resistor

    3.6.3 X5 – Regenerative Brake Resistor Over-Temperature Switch Digital Input Pin Assignment Connector Function Pin Number Label (Looking at bottom of PIU) SWITCH_RETURN Switch Input (N/C). 24Vdc system SWITCH_24VDC Mating Connector: Phoenix Plug 1910351, ANCA Part Number: ICN-3077-0875 ANCA Motion D-000129 Rev 05...

  • Page 28: X6 - Led Supply

    Phoenix Plug 1778065, ANCA Part Number: ICN-3077-1669 3.6.6 X3 & X4 – EtherCAT ports Connector Designator Function Mating Connector RJ-45 EtherCAT Input connection EtherCAT Cable, see 6.4.2.3 RJ-45 EtherCAT Output connection EtherCAT Cable, see 6.4.2.3 ANCA MOTION D-000129 Rev 05...

  • Page 29: Drive Connector Overview

    Product Overview 3.7 Drive Connector Overview Figure 3-8: 24V Brake Connections (X10), 3 Phase Armature Supply (X11) and Motor Temperature Sensor Input (X12) ANCA Motion D-000129 Rev 05...
  • Page 30 AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide Figure 3-9: Encoder Inputs (X13, X14), Probe Input (X15), Encoder Monitor Output (X16), EtherCAT In (X17) and EtherCAT Out (X18) ANCA MOTION D-000129 Rev 05...

  • Page 31: X10 - 24V Brake Connections

    Connector Function Pin Number Label (Looking at top of Drive) (KTY84/130 Connects to Motor Thermistor CATHODE) (Fully isolated input meeting + (KTY84/130 LVD Standard) ANODE) Mating Connector: Phoenix Plug Female 1910351, ANCA Part Number: ICN-3077-0875 ANCA Motion D-000129 Rev 05...

  • Page 32: X13 - Encoder 1 Input

    (Looking at front of Drive) REF1+ COS1- COS_COM1- SIN_COM1- SIN1- ENC1+5V Connects to 1 Vpp Analog Encoder REF1- COS1+ COS_COM1+ SHIELD SIN_COM1+ SIN1+ ENC1_0V CASE SHIELD Mating Connector: D-SUB 15-WAY Male with 4-40 UNC jack screws ANCA MOTION D-000129 Rev 05...

  • Page 33: X14 - Encoder 2 Input

    Pin Number Label (Looking at front of Drive) REF2+ COS2- SIN2- ENC2+5V Connects to 1 Vpp Analog Encoder REF2- COS2+ SHIELD SIN2+ ENC2_0V CASE SHIELD Mating Connector: D-SUB 15-WAY Male with 4-40 UNC jack screws ANCA Motion D-000129 Rev 05...

  • Page 34: X15 - Probe 1&2 Input, Probex +24V Probe/Proxy Feed

    (Looking at front of Drive) PROBE1_INPUT PROBE1_GND PROBE1_SHIELD PROBEX_+24V Connects to 2 x PROBEX_GND Probes, with filtered 24V output to feed PROBEX_SHIELD Probe/Proxy PROBE2_INPUT PROBE2_GND PROBE2_SHIELD CASE SHIELD Mating Connector: D-SUB 9-WAY Female with 4-40 UNC jack screws ANCA MOTION D-000129 Rev 05...

  • Page 35: X16 - Encoder Monitor Output

    KXE-1100-0010 Shielded Ethernet Cable Cat 5e SF/UTP 1 metre KXE-1100-0015 Shielded Ethernet Cable Cat 5e SF/UTP 1.5 metres KXE-1100-0030 Shielded Ethernet Cable Cat 5e SF/UTP 3 metres KXE-1100-0050 Shielded Ethernet Cable Cat 5e SF/UTP 5 metres ANCA Motion D-000129 Rev 05...

  • Page 36: X20 - Io Expansion

    Polarisation is provided for each mating connector-plug via the inclusion of factory fitted Coding Keys (Red) on pins 12 and 13 of the IO Interface connector-header (X20); the two supplied connector-plugs are provided with the associated pin keys removed. ANCA MOTION D-000129 Rev 05...

  • Page 37: Led Display And Control Panel - Piu

    Figure 3-10 AMD5x Drive IO Expansion Interface Connector 3.7.10 LED Display and Control Panel - PIU The AMD5x series PIUs are fitted with a bi-colour status LED as shown in the following figure: PIU Display LED Status Blue PIU Display LED Status Red...

  • Page 38: Led Display And Control Panel - Drive

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 3.7.11 LED Display and Control Panel - Drive The AMD5x series Drives are fitted with a bi-colour status LED as shown in the following figure: Drive Display LED Status Blue...

  • Page 39: Mechanical Installation

     The AMD5x Series Servo Drive, PIU and Capacitor Module must be permanently fixed in an enclosed electrical cabinet and fitted by trained, qualified personnel. The electrical cabinet must be designed to provides access protection, with access only possible with a use of a tool or after de-energization of the live parts.

  • Page 40: Mounting

     The AMD5x series drives should be mounted on a steel panel which is preferably zinc plated. Braid straps should be used on painted steel panels.  If any AMD5x35A (125mm wide) drives are to be installed, these must be mounted adjacent to the PIU.

  • Page 41: Heatsink Cooling With Internal Cabinet Air

    The PIU and Drives are mounted on a small gear tray which also supports the cooling duct and fan mounting. Figure 4-3 AMD5x system with internal cabinet air supplying cooling duct ANCA Motion D-000129 Rev 05...

  • Page 42: Example Cooling Duct Design

    Figure 4-4 AMD5x cooling duct and gear tray with internal cabinet air supplying cooling duct 4.3.5 Example cooling duct design A suitable cooling duct system can be created with folded sheet-metal as per Figure 4-5. Figure 4-5 Cooling Duct with typical dimensions ANCA MOTION D-000129 Rev 05...
  • Page 43 To allow even air flow the duct must extend past the last Drive, and provide 60 to 90mm of space between the fans and PIU heatsink. Figure 4-7: Duct exit view Figure 4-8: Duct entry view ANCA Motion D-000129 Rev 05...

  • Page 44: Cabinet Cooling

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide A suitable fan module kit to mount on the duct end can be supplied by ANCA Motion. See 11.6 Cooling Duct Fan Kit. The two fans should be fitted inside the duct end as per Figure 4-9, and sealed to maximise air flow.

  • Page 45: Installation

    If any AMD5x 35A (125mm wide) drives are to be installed, these must be mounted adjacent to the PIU. All 24V ribbon cable configurations are based on this installation order. Refer 11.4 24V Ribbon Cables ANCA Motion D-000129 Rev 05...

  • Page 46: Mounting A Piu

    Secure the drive to the cabinet by fitting the M6 mount screws (A & B) into the mounting hole to complete the mounting to the electrical cabinet. Tighten both M6 mounting screws with a torque of 3.0 to 4.0 Nm. ANCA MOTION D-000129 Rev 05...

  • Page 47: Un-Mounting A Piu

    Undo the M4 nuts holding the Busbars in the PIU and the Drive immediately to the right, and remove the Busbars. Be careful to ensure that the nuts and Busbars are not dropped in the process. STEP 6 Follow steps 1 through to 3 of section 4.4.2 Mounting a PIU in reverse order. ANCA Motion D-000129 Rev 05...

  • Page 48: Mounting A Drive

    Unplug the connectors from the top, and front face of the Drive to be un-mounted AND the Drive (or PIU) immediately to its left, as well as the Drive to the right, by carefully working the plugs from their sockets. STEP 2 ANCA MOTION D-000129 Rev 05...
  • Page 49 Undo the M4 nuts holding the Busbars in the three Drives, and remove the Busbars. Be careful to ensure that the nuts and Busbars are not dropped in the process. STEP 6 Follow steps 1 through to 4 of section 4.4.4 Mounting a Drive in reverse order. ANCA Motion D-000129 Rev 05...

  • Page 50: Mounting A Capacitor Module

    Secure the Capacitor Module to the cabinet by fitting the M6 mount screws (A & B) into the mounting hole to complete the mounting to the electrical cabinet. Tighten both M6 mounting screws with a torque of 3.0 to 4.0 Nm. ANCA MOTION D-000129 Rev 05...

  • Page 51: Un-Mounting A Capacitor Module

    Undo the M4 nuts holding the Busbars in the Drive immediately to the left and Capacitor Modules, and remove the Busbars. Be careful to ensure that the nuts and Busbars are not dropped in the process. STEP 5 Remove the Capacitor Module. ANCA Motion D-000129 Rev 05...

  • Page 52: System Installation

    Mount the PIU, Drives and Capacitor Module as per 4.4.2, 4.4.4 and 4.4.6. Note, it is not necessary to remove the PIU Controller prior to mounting. Figure 4-15: Fit Protective Cover to the last Drive in the Array ANCA MOTION D-000129 Rev 05...
  • Page 53 Fit the Front Covers, paying special attention to ensure that the top and bottom perforated ends are correctly seated behind the tabs on the cases. STEP 6 Connect appropriate electrical cables to complete installation as per sections 5 Power Wiring. ANCA Motion D-000129 Rev 05...

  • Page 54: Power Wiring

    The PIU cannot be operated with a single phase supply. The mains supply to the PIU can be connected in either phase rotation. ANCA MOTION D-000129 Rev 05...

  • Page 55: Connection Of Piu To Grounded Systems (Tn Or Tt)

    If an external EMC filter is used, a delay of at least 50ms should be incorporated to ensure spurious trips are not seen.  The leakage current is likely to exceed the trip level if all the phases are not energized simultaneously. ANCA Motion D-000129 Rev 05...

  • Page 56: Power Disconnect And Protection Devices

    Circuit Breakers must be thermal magnetic type. Use 40A C-type if AMD5x PIU is expected to operate with temporary overloads greater than rated continuous output. See 10.4.1 AMD5x for AMD5x PIU overload capability.  Motor cables should have at least the same wiring gauge as 3 phase mains supply ANCA MOTION D-000129 Rev 05...

  • Page 57: Power Isolation

    On the PIU, the mains supply PE is connected to X2 plug and the location is also identified by the PE symbol on the sheet metal. ANCA Motion D-000129 Rev 05...

  • Page 58: Installations Conforming To The Emc Directive

    61800-3:2004. See 10.8.2.1 European EMC Directive EN 61800-3 The drive interference is generated from the output voltage waveform which is a rapidly changing voltage waveform (Pulse Width Modulation). The voltage transitions present on all motor cables and motor windings ANCA MOTION D-000129 Rev 05...

  • Page 59: Harmonics And Reactive Power Compensated Supplies

    Warning! A Line Reactor is required to allow proper function of the PIU, and to limit conducted harmonics on the mains supply. Under no circumstances attempt to operate the PIU without a line reactor fitted. ANCA Motion D-000129 Rev 05...

  • Page 60: Phase Supply System Wiring

    Connect EMC components to PE for safety requirements, but note that the PE cable does not provide a low impedance return path for common mode currents due to its cable length and the skin effect of ANCA MOTION D-000129 Rev 05...

  • Page 61: Motor Connections

    EMC filter or drive common mode capacitors. Figure 5-5 Common Mode Noise Current Paths in a Drive System illustrates the path ANCA Motion D-000129 Rev 05...

  • Page 62: Power Cable Shield Clamping

    Drives.  Do not terminate shield screens with pigtails, or PE conductors. Figure 5-8 Example Shield clamp mounting types for gear tray, DIN rail, and Bus Bar ® ® (icotek and WAGO brands) ANCA MOTION D-000129 Rev 05...

  • Page 63: Motor Signal Cable Shielding

    Keep shield pigtails as short as possible and note they are less effective than full clamping  Allow no breaks in the cable shields.  Earthing connections should be as short as possible in flat strip, multi-stranded or braided flexible conductors for low RFI impedance. ANCA Motion D-000129 Rev 05...

  • Page 64: Motor Brake Connection

    The relay is activated, causing the brake to be disengaged. The AMD5x drive contains a configurable brake release delay after the motor is enabled to prevent undesired AMD5x Series Servo Drive – SoE Configuration Guide movement, refer to the for more information. It is also sometimes necessary to include a small delay after the relay has been activated, before starting motion.

  • Page 65: Motor Thermal Sensor

    If regeneration is still present the DC bus voltage will rise until at 806V the regen resistor is turned on again. This 20V hysteretic control results in the DC bus voltage bouncing between 786V & 806V during the regeneration cycle. ANCA Motion D-000129 Rev 05...
  • Page 66 Peak power of 18kW during regeneration. Typically, a resistor with rating of 18kW for 0.5s is sufficient.  Average power during regeneration, which depends on the application cycle time. The resistor wattage rating should be greater than this value. ANCA MOTION D-000129 Rev 05...

  • Page 67: Capacitor Module

    DC bus Capacitor Energy: =½ C (V Where E = Capacitor energy in Joules = maximum bus voltage (806V) √2 = Nominal bus voltage = U LL-(3 Φ) C = Total Bus Capacitance in Farads ANCA Motion D-000129 Rev 05...

  • Page 68: Dc Busbar & Pe Terminals

    Drives and PIU. Longer Busbars are supplied with “Wide” Drives (the 35A). Warning: Do not tighten the M4 nuts holding the busbars greater than 2Nm Warning: Ensure all busbars are installed before applying mains power to the AMD5x system. ANCA MOTION D-000129 Rev 05...

  • Page 69: Checking The Insulation Of The Assembly

    1000V. Both resistor leads must have an insulation resistance greater than 1 MegOhm to the Protective Earth conductor. A test should also be carried out to ensure that the resistance of the regeneration resistor is as expected. ANCA Motion D-000129 Rev 05...

  • Page 70: Control Wiring

    The ribbon cable has a folded arrangement with widths and length specific to the number and types of Drives. Consult ANCA Motion to supply the correct ribbon cable arrangement. The folded ribbon cable simplifies the removal of Drives and removes the risk of poor contacts associated with screwed control bus-bars.

  • Page 71: Ethernet Interface

    Open or all ports Function Function Slave Controller Closed closed Loopback Function Port 2 Closed Figure 6-1: EtherCAT system topology ® EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany ANCA Motion D-000129 Rev 05...
  • Page 72  TP = Twisted Pair  U = Unscreened pairs  F = Foil  S = Screened (Braid type) Either straight or crossover cables may be used. Refer 11.5 EtherCAT® Cables for suitable cables ANCA MOTION D-000129 Rev 05...

  • Page 73: Motor Encoder Feedback

    5.25, then maximum total cable drop is 5.10 - 4.75 = 0.35V, at the particular current being drawn. Each Encoder power supply is also short-circuit protected with solid state current limiting devices which are self- resetting. The encoder power supply is monitored by the DSP and provides low voltage fault detection. ANCA Motion D-000129 Rev 05...

  • Page 74: Probe Inputs

    Functional isolation (between SELV circuits) is provided by the IO Interface from the rest of the Servo Motor Drive system. Two customer supplied external voltage references are required for the use of the Digital Input and Digital Output subsystems. An internal power supply supports all other IO Expansion functions (including the Analog subsystems). ANCA MOTION D-000129 Rev 05...

  • Page 75: External Voltage References

    An isolated Positive Reference between +5 to +24 Vdc is connected to the Positive Reference (VREFHS) for this subsystem. A typical wiring diagram of the High Speed Digital Output subsystem is shown in Figure 6-2: Typical Wiring Diagram: DO-GP and DO-HS. ANCA Motion D-000129 Rev 05...

  • Page 76: Digital Input

    An isolated Positive Reference of +24 Vdc is connected to Positive Reference (VREF24V) for this subsystem. A typical wiring diagram of a Digital Input subsystem is shown in Figure 6-3: Typical Wiring Diagram: DI-GP. Figure 6-3: Typical Wiring Diagram: DI-GP ANCA MOTION D-000129 Rev 05...

  • Page 77: Analog Input

    Output Signal to the appropriate Transducer Differential Input (P/N) and connecting the other Transducer Differential Input to the Negative Reference. A typical wiring diagram of the Analog Output subsystem is shown in Figure 6-5: Typical Wiring Diagram: AO. ANCA Motion D-000129 Rev 05...
  • Page 78 AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide Figure 6-5: Typical Wiring Diagram: AO ANCA MOTION D-000129 Rev 05...

  • Page 79: Ethercat Configuration

    Flickering The AMD5x is booting or downloading Firmware Blinking The AMD5x in the Pre-Op state Single Flash The AMD5x is in a Safe- Operational State The AMD5x is Off or is in an Initialisation State ANCA Motion D-000129 Rev 05...

  • Page 80: Ethercat Error Indicator

    State of LED Frequency Constantly On Flickering 10Hz, On for 50ms and off for 50ms Blinking 2.5Hz, On for 200ms and off for 200ms Single Flash On for 200ms and off for 1000ms Constantly Off ANCA MOTION D-000129 Rev 05...

  • Page 81: Piu Frame Packet Mapping

    It becomes ‘1’ once the start-up sequence 8. Thyrist Enabled Bit value = 1 Bit value = 0 1 bit begins and stays ‘1’ as long as PIU is ’Ready’. Default state at power up is ‘0’. ANCA Motion D-000129 Rev 05...
  • Page 82 Bit value = 0 1 bit not affect power supply activity. iView Led driver connection is short circuit. Condition does 16. iVIEW Short Bit value = 1 Bit value = 0 1 bit not affect power supply activity. ANCA MOTION D-000129 Rev 05...
  • Page 83 DESCRIPTION UNIT SIZE 1 byte to set LED intensity (9.5 LED Supply ). Lower values 1. LED Intensity means dimmer light. 0 equals no light, 255 equals full 8 bits brightness. 2. Rsv 8 bits ANCA Motion D-000129 Rev 05...

  • Page 84: Installation Checklist

    External References required by the Drive IO Interface have been correctly connected and are secure.  There is no dust or other foreign object inside the drive after installation (e.g. Due to cutting of cables etc.). ANCA MOTION D-000129 Rev 05...
  • Page 85 Regeneration energy and power has been assessed and external resistor has been connected (see Regeneration)  There are no shorts between encoder power supplies and encoder GND.  The mains supply voltage is within the limits of operation of the drive. See 10.4.1 AMD5x PIU ANCA Motion D-000129 Rev 05...

  • Page 86: Piu Operation

    If the mains check fails the status bit Grid Error=1 will set. This denotes the measured mains frequency is out of 47-64Hz range or the status bit Grid Present=0. Typically this error is due to loss of one phase or more, or the mains has significant distortion. ANCA MOTION D-000129 Rev 05...

  • Page 87: Capacitor Charging

    If the DC bus volts is greater than 50V after the 3s discharge period, then the fault bit Rsdl DCV=1 will be set and the Regen Resistor will continue to be turned on for up a further 6s in an attempt to discharge the DC bus. ANCA Motion D-000129 Rev 05...

  • Page 88: Monitoring The Piu

    2% (±0.5Hz) and a measuring range of 47Hz to 64Hz. If the measurement is out of range, the error Grid Frequency Out Of range =1 is set. This error may occur after a mains failure. ANCA MOTION D-000129 Rev 05...

  • Page 89: Fault Detection Bits

    Customer 3-phase mains is corner earth connection. AC voltage between DC bus and customer PE 14. Ground Flt AMD5x Drive has phase to PE short is too large. circuit which does not trip drive overcurrent ANCA Motion D-000129 Rev 05...

  • Page 90: Led Supply

    An LED fault will not be activated if an open or short circuit is applied after the brightness has been set to a non- zero value. Note: When the LED Fault is set, the PIU will not be disabled and will continue to operate normally. Refer Table 13 PIU Input Fault states and actions ANCA MOTION D-000129 Rev 05...

  • Page 91: Technical Data

    PIU heat-sink temperature limit 70° C Drive Adjustable dynamic current limiting Drive Adjustable continuous over-current monitoring Drive Adjustable instantaneous over-current monitoring Drive amplifier junction temperature estimation and protection for motor low rotation frequency and standstill operation ANCA Motion D-000129 Rev 05...

  • Page 92: Self-Protection Features

    Qualification 10.2.3 Self-Protection features PIU DC bus overcurrent PIU DC bus over and under voltage Motor overload Yes, see AMD5x Series Servo Drive –SoE Configuration Guides for adjustment. Over-travel limit exceeded 10.2.4 DC bus voltage control Bus voltage monitor Bus regeneration brake chopper Bus over/under voltage adjustable limits 10.2.5 Advanced control functions...

  • Page 93: Interface Specifications

    5.19V DC Nominal regulated supply 5.10V DC to 5.25V DC 0-500mA Supply Voltage Monitoring Maximum Supply Current per Channel 500mA Maximum Supply Current total, both Channels 500mA Short Circuit Protection Yes, 950mA S/C Maximum (Internally limited) ANCA Motion D-000129 Rev 05...

  • Page 94: Ethernet Interface

    Multiple Output State Configuration Total Output Load Current across all Outputs <= 500 mA Output Architecture Push Pull Load Type Resistive and Inductive Switching Bandwidth DC to 1 kHz Short Circuit Protection Provided Isolation Provided ANCA MOTION D-000129 Rev 05...
  • Page 95 +/- 0.1% at 25C (relative to full scale) Measurement Accuracy +/- 0.3% over the full operational temperature range (relative to full scale) Frequency Bandwidth DC to 1 kHz Input Impedance Nominal: 20 kohm Short Circuit Protection Provided Isolation Provided ANCA Motion D-000129 Rev 05...
  • Page 96 12 bit +/- 0.1% at 25C (relative to full scale) Measurement Accuracy +/- 0.3% over the full operational temperature range (relative to full scale) Load Type Resistive load only Short Circuit Protection Provided Isolation Provided ANCA MOTION D-000129 Rev 05...

  • Page 97: Electrical Specifications

    24V DC control input voltage 20.4~28.8V 24V DC control input current 0.5~10.0A LED driver output voltage 19.8~22.2V LED driver output current 19.8~20.2mA DC bus capacitance 705µF LED driver specification for load of 6 LEDs . see ANCA Motion D-000129 Rev 05...

  • Page 98: Drive

    4 For a Permanent Magnet Servo Motor, the Power factor can be considered Unity, and therefore the kW output is the same as the kVA rating given here. For Induction Motors, since the PF will be less than one, the Output power will be less in kW as compared to the kVA rating given here ANCA MOTION D-000129 Rev 05...

  • Page 99: Environmental Specifications

    Within the specifications given above, also do NOT allow the PIU or Drive to exceed the following conditions as per IEC 60721-3-3: climatic conditions 3K3, mechanical stress class 3M3, chemical influences class 3C2 and sand and dust class 3S2. ANCA Motion D-000129 Rev 05...

  • Page 100: Cooling

    Drive Heat-sink losses @ full rated 131W 194W 298W continuous current (3A Drive) (6A Drive) (12A Drive) (20A Drive) (35A Drive) Drive losses to cabinet @ full rated continuous current (3A Drive) (6A Drive) (12A Drive) (20A Drive) (35A Drive) ANCA MOTION D-000129 Rev 05...

  • Page 101: Physical Characteristics

    Device Weight 3.1kg Height (mm) Width (mm) Depth (mm) The top surface of cabinets/enclosures which are accessible when the equipment is energized shall meet the requirement of protective type IP3X with regard to vertical access only. ANCA Motion D-000129 Rev 05...

  • Page 102: Dimension Drawings

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 10.6 Dimension Drawings 10.6.1 15kW PIU physical dimensions Figure 10-1: PIU dimensions ANCA MOTION D-000129 Rev 05...

  • Page 103: 15Kw Piu Mounting Hole Positions And Heatsink Cut-Out Specifications

    10.6.2 15kW PIU mounting hole positions and heatsink cut-out specifications Drill and tap two mounting holes to M6x1.0 The sheet metal panel should be a minimum 3mm thick. 109.50 M6x1, 2 Places 54.75 Figure 10-2:Mounting hole and cut-out specifications for PIU ANCA Motion D-000129 Rev 05...

  • Page 104: Drive Mounting Hole Positions And Physical Dimensions

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 10.6.3 35A drive mounting hole positions and physical dimensions Figure 10-3: 35A Drive dimensions (without IO Interface) ANCA MOTION D-000129 Rev 05...
  • Page 105 Technical Data Figure 10-4: 35A Drive dimensions (with IO Interface) ANCA Motion D-000129 Rev 05...

  • Page 106: 6A, 12A & 20A Drive Mounting Hole Positions And Physical Dimensions

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 10.6.4 3A, 6A, 12A & 20A drive mounting hole positions and physical dimensions Figure 10-5: 3A, 6A, 12A & 20A Drive dimensions (without IO Interface) ANCA MOTION D-000129 Rev 05...
  • Page 107 Technical Data Figure 10-6: 3A, 6A, 12A & 20A Drive dimensions (with IO Interface) ANCA Motion D-000129 Rev 05...

  • Page 108: 3A, 6A, 12 & 20A Drive Mounting Hole Positions And Heatsink Cut-Out Specifications

    The sheet metal panel should be a minimum 3mm thick. 3A, 6A, 12A & 20A Drive 35A Drive 109.50 74.00 M6x1, 2 Places M6x1, 2 Places 54.75 37.00 Figure 10-7: Mounting hole and cut-out specifications for 35A, 3A, 6A, 12 & 20A drives ANCA MOTION D-000129 Rev 05...

  • Page 109: Capacitor Module Physical Dimensions

    10.6.6 Capacitor Module physical dimensions Figure 10-8: Capacitor Module dimensions 10.6.7 Capacitor Module mounting hole positions The capacitor module has the same mounting hole positions as the 15kW PIU. See section 10.6.2 No heatsink cut-out is required. ANCA Motion D-000129 Rev 05...

  • Page 110: Piu, 35A Drive And 12/20A Drive Mounting Hole Positions For Array

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 10.6.8 PIU, 35A drive and 12/20A drive mounting hole positions for array 62.25 125.50 107.75 90.00 44.50 1.00 1.00 1.00 ANCA MOTION D-000129 Rev 05...

  • Page 111: Piu And 12/20A Drive Mounting Hole Positions For Array

    Technical Data 10.6.9 PIU and 12/20A drive mounting hole positions for array 62.25 107.75 90.00 44.50 1.00 1.00 ANCA Motion D-000129 Rev 05...

  • Page 112: Piu, 35A And 12/20A Drive Heat Sink Cut-Out Specifications

    AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide 10.6.10 PIU, 35A and 12/20A drive heat sink cut-out specifications Note: The Capacitor Module does not require any cut out. 415.00 109.50 109.50 74.00 74.00 16.00 16.00 16.00 54.75 37.00 125.50 107.75 90.00 ANCA MOTION D-000129 Rev 05...

  • Page 113: Materials

    EU and must be removed and handled according to local regulations. For further information on environmental aspects and more detailed recycling instructions, please contact your local ANCA Motion distributor. ANCA Motion D-000129 Rev 05...

  • Page 114: Standards Conformity

    ETG 1300 qualify as conformance tested ANCA Motion self-determination of compliance. Servo Profile over EtherCAT fieldbus ANCA Motion self- Those items in the drive profile (SoE). IEC 61800-7. determination of with no applicable compliance within regulation, but to which IEC 61491, for serial data link real certain limits.

  • Page 115: Ethercat Conformance Marking

    Category C3 Power Drive System Category 3 is for a PDS of rated voltage less than 1000 V, intended for use in the second environment and not intended for use in the first environment. ANCA Motion D-000129 Rev 05...

  • Page 116: Fcc Marking

    ≥ 350 The PIU and Drives are installed in an environment where the mains supply R The PIU is operated at rated load. Consult ANCA Motion for compliance at loads less than rated. Definitions Short circuit ratio. The ratio of the short circuit power of the source at a defined PCC ), to the rated power of the equipment (S 10.8.3 FCC Marking...

  • Page 117: Accessories

    PIU + 2x125mm Drives + 5x90mm Drives 24V Ribbon Cable to suit PIU + Drives configuration: K5R-0000-0206 PIU + 2x125mm Drives + 6x90mm Drives For other AMD5x PIU and Drive combinations, please refer to 12.3 Product, Sales and Service Enquiries ANCA Motion D-000129 Rev 05...

  • Page 118: Ethercat ® Cables

    Includes: 2 x High speed fans with mounting screws; 2 x finger guards. 619-0-00-1770 Fan Rating: 283mA @ 24V. Fan Connection: Red=+24V, Blue=0V, White=Tach output, Purple=0-10V/PWM input For correct fan kit selection, please refer to 12.3 Product, Sales and Service Enquiries ANCA MOTION D-000129 Rev 05...

  • Page 119: Regen Resistor

    Regen Resistor over-temperature switch, open above 70°C, TO-220 package 11.7.3 Regen Resistor with enclosure and over-temperature switch ANCA Part Number Description Aluminium Housed Braking Resistor, 36Ω ± 10%, 375W ICN-3009-0850 180°C temperature switch, 24kW 1s. ANCA Motion D-000129 Rev 05...

  • Page 120: Cables

    11.8.3 Shielded Armature Cables for Beta Motors with Temperature Sensor Examples Catalogue Number Length K5B-TSMD-020 K5B-TSMD -030 K5B-TSMD-050 K5B-TSMD-100 11.8.4 Shielded Armature Cables for Beta Motors with Brake Examples Catalogue Number Length K5B-BSMD-020 K5B-BSMD-030 K5B-BSMD-050 K5B-BSMD-100 ANCA MOTION D-000129 Rev 05...

  • Page 121: Motor Power Cable Shield Clamps

    Icotek part SFZ SFZ|SKL 8-11 (for cable shield diameters 8-11 mm) ICN-3049-0513 Icotek part SFZ SFZ|SKL 11-17 (for cable shield diameters 11-17 mm) Note: Cable shield diameter is typically 2mm less than cable Outer Diameter. ANCA Motion D-000129 Rev 05...

  • Page 122: Piu And Drive Connectors

    Description AMD5x Series Passive Infeed Unit 15KW with Connector Kit. AMD5-P6150-BA00-1 Includes: AMD5-P6150-BA00, ICN-3077-1252, ICN-3077-1669, ICN-3077-1670, ICN-3077-0875 AMD5x Series Passive Infeed Unit 15KW with Connectors, Regen Resistor and Over-temperature switch. AMD5-P6150-BA00-2 Includes: AMD5-P6150-BA00, ICN-3077-1252, ICN-3077-1669, ICN-3077-1670, ICN-3077-0875, ICN-3009-0317, ICN-3079-0341 Drive with Connector Kit 11.11...
  • Page 123 AMD5x Series 12A Drive with Connector Kit: Includes: AMD5-11200-BA00, ICN- AMD5-11200-BA00-1 3077-0875, ICN-3077-0896, ICN-3077-1675 AMD5x Series 12A Drive IO with Connector Kit: Includes: AMD5-11200-BA10, ICN- AMD5-11200-BA10-1 3077-0875, ICN-3077-0896, ICN-3077-1675, 2 x ICN-3077-1898 AMD5x Series 20A Drive with Connector Kit: Includes: AMD5-12000-BA00, ICN-...

  • Page 124: Additional Information

    There are no internal adjustments inside the AMD5x. For any repairs please contact our nearest office or agent. Refer to section 12.3 Product, Sales and Service Enquiries. ANCA MOTION D-000129 Rev 05...

  • Page 125: Product, Sales And Service Enquiries

    Additional Information 12.3 Product, Sales and Service Enquiries If you require assistance for installation, training or other customer support issues, please contact the closest ANCA Motion Customer Service Office in your area for details. ANCA Motion Pty. Ltd. ANCA Motion Taiwan 1 Bessemer Road 1F, No.57, 37 Road...

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