Moog T200 User Manual
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Moog T200 User Manual

Programmable servo drive
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  • Page 1 (217) 352-9330 | Click HERE Find the Moog / Berkeley Process Control T200-410G-0P81 at our website:...
  • Page 2 T200 PROGRAMMABLE SERVO DRIVE USER'S MANUAL Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 T200 User's Manual This page is intentionally left blank. PAGE II Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 T200 Servo-Drive Manual Overview This manual is broken into 11 sections and 1 Appendix. Section 1 is an overview of the functionality of the T200 Product Family. It outlines technical features and data of the T200. Section 2 is description of critical safety issues. It also outlines particular installation and configuration items that the user must implement if the target machine installation is required to be CE-Marked.
  • Page 5 10kΩ to 100Ω First release under Moog Ireland Part Number C27095-001. Previous revisions are stated to reflect document history. Revised version of the T200 Manual. Added features 07/May/02 Sections 1, 7, 8, are: UL approval for T200-3/4/5XX Changes for WinDrive2.2 (also changes necessary...

  • Page 6: Table Of Contents

    THREE-PHASE A.C. MAINS POWER SOURCE CONFIGURATION..........3-29 SINGLE PHASE 230VA.C. MAINS CONFIGURATION ..............3-31 SINGLE PHASE 120VA.C. MAINS CONFIGURATION ..............3-33 3.10 PROVIDING D.C. BUS POWER FROM A T200-X10 UNIT TO T200-X00 UNITS ......3-35 3.11 PARALLELING T200-X10 UNITS THROUGH THE D.C. BUS ............3-42 3.12 DAISYCHAINING CONTROL-BACKUP POWER CONNECTIONS TO T200'S .......
  • Page 7 SECTION 4 MOTOR GUIDE ..........................4-1 MOTOR SERVO-DRIVE SYSTEM......................4-4 GLOBAL MOTOR MODELS AND ELECTRICAL TYPES ..............4-4 CONFIGURING THE MOTOR IN THE T200 SERVO-DRIVE ............4-8 MOTOR-DRIVE SELECTION........................ 4-10 MOTOR PERFORMANCE DATA......................4-11 MOUNTING AND INSTALLATION ..................... 4-13 SECTION 5: QUICK-START ..........................5-1...
  • Page 8 TROUBLE SHOOTING ...........................7-54 SECTION 8: HAND-HELD-TERMINAL INTERFACE..................8-1 HAND HELD TERMINAL INTERFACE ("POD" MODE)..............8-3 SERVO-DRIVE INITIALIZATION ......................8-5 SERVO-DRIVE TUNING ........................8-9 T200 HAND HELD TERMINAL COMMAND SET................8-10 SECTION 9: CAN INSTALLATION........................9-1 INTRODUCTION.............................9-3 CAN CABLE WIRING ..........................9-4 SECTION 10: TROUBLE-SHOOTING GUIDE ....................10-1 10.1...
  • Page 9 T200 User's Manual This page is intentionally left blank. PAGE VIII Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 10: T200 Overview

    T200 User's Manual SECTION 1: T200 OVERVIEW SECTION 1: T200 OVERVIEW PAGE 1-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 11 ............................1-7 ESIGN TANDARDS ........................1-8 OWER ATINGS PECIFICATIONS 1.5.1 Units with A.C. Mains Input Interface (T200-310 to T200-710) .............. 1-9 1.5.2 Units with D.C. Bus Input Interface (T200-300, T200-400, T200-500) ..........1-10 1.5.3 Optional Control Logic Backup Power....................1-10 1.5.4 Power Amplifier............................1-11 .....................1-12...

  • Page 12: Introduction

    SECTION 1: T200 OVERVIEW 1.1 Introduction This section gives an overview of the available T200 models, ratings and general specifications. Detailed outlines of installation and wiring, functionality, user interfaces and other technical data are given in later sections. CAUTION: Repairs or modifications to the product by anyone other than a Moog authorized repair facility may create unsafe operating conditions and will invalidate the product warranty.

  • Page 13: T200 Models

    Table 1.1: T200 Family Models These devices are intended for installation in a pollution degree 2 environment. The T200 family uses a 13 character coding system to identify the unique attributes of each model. The coding system is shown below:...
  • Page 14 Backup logic power supplies • Step down transformers Please consult your local Moog sales office or authorized distributor for part number and availability of these or other products. PAGE 1-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 15: Environmental Specifications

    T200 User's Manual SECTION 1: T200 OVERVIEW 1.3 Environmental Specifications T200 Electronics Temperature for transport and storage: -25 °C to 70 °C Operating temperature: 0 °C to 55 °C Relative Humidity: 5 % to 95 %, non-condensing, 1 g/m to 25 g/m...

  • Page 16: Design Standards

    EU's EMC Directive (measures as directed in this manual have to be taken to ensure EMC compliance). It is designed to the UL508C standard. T200 models –3xx, -4xx and –5xx are UL-marked. UL is pending on the –610/710.

  • Page 17: Power Ratings Specifications

    The T200 family includes models with and without high voltage Power Supply Units (PSU's). These PSU's generate a high voltage D.C. Bus by rectification of A.C. Mains. T200 models with PSU can supply D.C. Bus power to other T200 units which do not contain integral PSU's via D.C. Bus interconnect wiring. All current ratings are specified in ampere r.m.s., unless otherwise stated.

  • Page 18: Units With A.c. Mains Input Interface (T200-310 To T200-710)

    Maximum Number of T200- four X00's (units without A.C. Note that application power requirements will also set a limit on the number of T200- Mains PSU) which can be X00's (i.e. units without Mains PSU) which may be connected to a T200-X10 (unit connected to a T200-X10 with Mains PSU).

  • Page 19: Units With D.c. Bus Input Interface (T200-300, T200-400, T200-500)

    T200 User's Manual SECTION 1: T200 OVERVIEW 1.5.2 Units with D.C. Bus Input Interface (T200-300, T200-400, T200-500) All current ratings are specified in ampere r.m.s. unless otherwise stated. Nominal D.C. Bus Voltage 325Vd.c. (generated from rectified 230Va.c.) 400Vd.c. (generated from rectified 280Va.c.) D.C.

  • Page 20: Power Amplifier

    /10A continuous peak T200-4 /20A continuous peak T200-5 /50A continuous peak T200-6 /80A continuous peak T200-7 /140A continuous peak Table 1.6: T200 Power Amplifier Ratings PAGE 1-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 21: General Functional Specifications

    Registration * Note that CAN Interpolation Mode uses the PROG_SPD_1 digital input as a Quick-Stop digital input. Table 1.7: T200 Digital Inputs Overview See Section 3.15 for a full description of the digital inputs electrical format, conventions and functionality. PAGE 1-12...

  • Page 22: Digital Outputs

    Programmable Test Point 1 (±10V, 12 bit, 100Ω output impedance) Programmable Test Point 2 (±10V, 12 bit, 100Ω output impedance) Brake Control 3,5A, 30Vd.c. relay provided. Switched under user control or T200 software control. Resolver Based Motor Position Feedback Type...

  • Page 23: Software Control Modes

    Analog reference for torque, velocity or position slave mode. Encoder Simulation as standard. Stepper Motor Emulation Interface (Positioning Mode) T200 will emulate a stepper motor drive, with a Quadrature or STEP/DIR input format. Digital Reference Speeds T200 uses two digital inputs to set the reference speed. Speeds are software programmable.

  • Page 24: Safety Instructions

    T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS SECTION 2: SAFETY INSTRUCTIONS PAGE 2-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 25 T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS TABLE OF CONTENTS SAFETY INSTRUCTIONS ............................2-1 ................................2-3 ENERAL .............................2-4 AFETY REGULATIONS ..................................2-5 AFETY 2.3.1 System Safeguards............................2-6 General Safety Requirements............................2-6 Specific Safety Requirements............................2-6 2.3.2 Equipment Safety............................2-8 2.3.3 Safety Requirements for Cables......................2-10 Requirements - Conductors and Cables.........................2-10 Wiring Practices - Connections and routing ........................2-10...

  • Page 26: General

    2.1 General This user’ s manual is intended to provide sufficient information on how to install, wire and tune a Moog brushless electric motor system which includes all of the equipment outlined in Section 3.1. Section 2.2 covers Safety and System Safeguards.

  • Page 27: Safety Regulations

    2.2 Safety regulations The T200 controller must be disconnected from all power if repair work is to be carried out. Check that the mains supply has been disconnected and that at least 5 minutes has passed, to allow for d.c. bus capacitors to discharge, before removing motor and mains plugs.

  • Page 28: Safety

    NOTE - These safety precautions are guidelines only and are not claimed to be comprehensive. The Moog Brushless Technology products described herein, in conjunction with the system controller, provide the capability for control of remote devices. Typically, these remote devices move at high speeds and exert considerable force.
  • Page 29 Servo-drive are installed. In addition, safeguards must be an integral part of workcell design, installation, operator training and operator procedures where this equipment is used. The T200 is suitable for use in a circuit capable of delivering not more than 5000 rms symmetrical amperes, 240 volts maximum.
  • Page 30 A mains circuit breaker must be installed with this equipment and be accessible to the user. This circuit breaker shall be sized such that it provides adequate r.m.s protection based on primary voltage and power rating (kW) of the T200 system. Surge tolerance and single phase protection should also be considered. PAGE 2-7...

  • Page 31: Safety

    All persons must observe sound safety practices during the operation and testing of all electrically powered equipment. Prior to first use, power should not be applied to the T200 Servo-drive until all instructions in the Wiring and Installation section of this User’ s manual have been carried out.
  • Page 32 Moog highly recommends the use of workcell safety features such as light curtains, safety gates or safety floor mats to prevent access to the workcell while power is present.

  • Page 33: Safety Requirements For Cables

    T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS 2.3.3 Safety Requirements for Cables User's whose machine installations require CE- Compliance should read Section 2.3.3. Required for CE-Compliance a) Requirements - Conductors and Cables All cables and conductors used shall be specified as compliant with the requirements of European Standard EN 60204-1 and other known National and International Standards for the environment in which they are installed and for the voltage and current carried.

  • Page 34: D) Wiring Practices - Conductors Of Different Circuits

    T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS d) Wiring Practices - Conductors of different circuits Subject to the constraints for EMC suppression given in Sections 2.3 and Section 3 of this User’ s manual, conductors of different circuits may be laid side by side, may occupy the same duct (e.g. conduit, cable trunking system), or may be in the same multicore cable, provided that the arrangement does not impair the proper functioning of the respective circuits.

  • Page 35: I) Wiring Practices - Wiring Outside Enclosures

    T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS Connections to devices mounted on doors or to other movable parts shall be made using flexible conductors in accordance with European standard EN 60204-1, to allow for the frequent movement of the part. The conductors shall be anchored to the fixed part and the movable part independently of the electrical connections.

  • Page 36: J) Wiring Practices - Ducts, Connection And Junction Boxes

    T200 User's Manual SECTION 2: SAFETY INSTRUCTIONS j) Wiring Practices - Ducts, connection and junction boxes All sharp edges, flash, burrs, rough surfaces, or threads, with which the insulation of the conductors may come in contact, shall be removed from ducts and fittings. Where necessary, additional protection consisting of a flame-retardant, oil-resistant insulating material shall be provided to protect conductor insulation.

  • Page 37: Emc Requirements For Cables

    Motor power cables must be shielded with the cable shield securely connected to Chassis Earth at both ends of the cable. At the T200 end of the cable the shield shall be earthed to Chassis Earth using the optional EMC kit or the panel earth bar.

  • Page 38: Electromagnetic Compatibility (Emc)

    EU Commission and to local regulations. The T200 Servo-drive have been tested for compliance with the requirements of the EU EMC Directive in so far as they can be regarded as single functional units. The T200 Power Supply and Controller have been tested in typical configurations and it has been found that these configurations meet the essential requirements of the EU EMC Directive.
  • Page 39 Appendix A. For three phase power applications an isolation transformer must be used for EMC compliance. Shielded cable is required to be installed by the user for many external user cable connections to the T200. Details of areas where shielded cable must be installed and details of earthing arrangements which must be implemented for the shields of such cables are given in Section 2.3 and throughout Section 3 of this User’...
  • Page 40 T200 User's Manual SECTION 3: WIRING AND INSTALLATION SECTION 3: WIRING AND INSTALLATION PAGE 3-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 41 T200-X10 U T200-X00 U ..........3-35 ROVIDING OWER FROM A NIT TO NITS 3.10.1 Power Ready Signalling from T200-X10 to Connected T200-X00 Units ..........3-37 3.10.1.1 The Power Ready Interconnect scheme........................3-37 3.10.2 Power Cycling Frequency Limits......................3-41 3.11 T200-X10 U D.C. B ................3-42...
  • Page 42 3.18.2.2 RS485 Adaptor for Conversion of RS232 to RS485 ....................3-86 3.18.2.3 RS485 Line Termination ............................3-88 3.18.2.4 RS485 Cable Maximum Length..........................3-88 3.18.2.5 RS485 Address Set-up via Axis-ID-HEX-Switches on T200 front Panel ..............3-89 3.18.2.6 RS485 Set-up Parameters ............................3-89 3.19 T200 U .........................
  • Page 43 Figure 3.35:- T200 J6 Resolver Cable ........................... 3-62 Figure 3.36:- Terminating the Motor Cabling for EMC CE-Compliance...............3-65 Figure 3.37:- Attaching the T200 Motor Cable Shield via the Clamp, for a G4x6 motor..........3-66 Figure 3.38:- Motor Brake Cabling ..........................3-67 Figure 3.39:- T200 Generic Digital Inputs........................
  • Page 44 Figure 3.49: T200 Position Transducer Interfaces ......................3-81 Figure 3.50: T200 Communications Terminals......................3-82 Figure 3.51: T200's J4 RS232 Wire Pin-out (to 9-Way and 25-Way Connectors) ............3-83 Figure 3.52: T200 Multi-Axis RS485 System........................ 3-85 Figure 3.53:- Adaptor between PC and RS232/RS485 Adaptor ..................3-87 Figure 3.54:- RS485 Wiring and Termination .......................
  • Page 45 Table 3.10:- Overview of T200 Analog and Digital Outputs ..................3-77 Table 3.11:- T200's RS232 Pinout on J4 ........................3-83 Table 3.12:- T200's RS485 Pinout on J2 and J3 (Same Pinout on both Connectors) ............. 3-86 Table 3.13:- Wiring of PSM-EG-RS232/RS485-P/2D ....................3-87 PAGE 3-6 Artisan Technology Group - Quality Instrumentation ...

  • Page 46: Wiring And Installation

    SECTION 3: WIRING AND INSTALLATION This section covers the installation, wiring and cabling of the Moog T200 Servo-drive series. A pictorial diagram of a single-axis system, with typical components included, is shown in Figure 3.1. Users are directed to read Section 2, Safety Instructions, before proceeding with wiring and installation.

  • Page 47: Single-Phase Mains Connection

    The T200-310/410/510 can operate with single phase a.c. mains voltage sources from 120Va.c. to 230Va.c.. Note that the input power must be linearly de-rated for mains voltages lower than 230Va.c., as shown in Table 3.1. The T200 does not require an input isolation transformer for single-phase operation, for Low Voltage Directive Compliance.

  • Page 48: Input Circuit Breaker - (User Supplied)

    It is also recommended to install a contactor rated for the T200 input power (see Table 3.1: T200 Input Power Ratings versus Single and Three Phase Mains Voltage Level) between the output of the transformer and the input of the T200 (refer to Figure 3.1).
  • Page 49 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.1:- Typical T200 System Components PAGE 3-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Serial Set-Up Terminal (User-Supplied)

    The acceptable voltage range for this supply is 18 to 36 Vd.c. with a minimum current rating of 2.0 Ad.c. per T200 Series Servo-drive connected. A low cost unregulated d.c. supply is adequate. However the instantaneous voltage should never drop below 17.5Vd.c., (including ripple).

  • Page 51: A.c. Control-Backup Power Supply

    3.1.5 Note on cases where the user does not need to use a Control-Backup Power- Supply The T200 can generate control power from its internal high voltage D.C. Bus, if that internal high voltage is greater than 250Vd.c. § The critical mains input voltage level, above which logic backup power can be drawn from the ac mains, is 170Va.c.

  • Page 52: Mating Connectors, Cables And Wiring

    SECTION 3: WIRING AND INSTALLATION 3.1.8 Mating Connectors, Cables and Wiring Moog can provide the necessary cabling for interconnect of the motor to the T200. See Section 3.14 for details. Moog also provides the following accessory cabling for interconnection of individual T200's:- Function...

  • Page 53: Equipment Mounting

    Figures 3.2 to 3.7 show the mechanical dimensions of the T200 chassis, as well as required clearances for cabling etc.. The T200 is designed to be panel or cabinet mounted. The T200 must be mounted in a vertical orientation. The T200 must be panel mounted within an enclosure or cabinet which provides a degree of ingress protection against liquids and objects of at least IP54.
  • Page 54 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.2:- T200-3/4/5 Mechanical Mounting PAGE 3-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 55 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.3:- T200-3/4/5 Mechanical Dimensions PAGE 3-16 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 56 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.4:- T200-610 Mechanical Mounting PAGE 3-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 57 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.5:- T200-610 Mechanical Dimensions PAGE 3-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 58 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.6:- T200-710 Mechanical Mounting PAGE 3-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 59 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.7:- T200-710 Mechanical Dimensions PAGE 3-20 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 60: Ce Items For Mechanical Installation

    • Use shielded cable to connect the external regen resistor (if installed) to the T200 power supply. The length of this cable should be as short as possible. The shields of these cables should be earthed to Chassis Earth using the optional EMC Bracket kit or the panel earth bar. Alternatively,...

  • Page 61: Power Dissipation

    % of rated Power Dissipation (Watts) continuous T200- T200- T200- T200- T200- T200- T200- T200- output current Table 3.3:- Estimated Power Dissipation for the T200 Servo-drives PAGE 3-22 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 62 SECTION 3: WIRING AND INSTALLATION 3.4 T200 Connector Terminals Figures 3.4 and 3.5 below detail the connectors on the T200-X10 (unit with internal high power PSU) and the T200-X00 (unit without internal high power PSU) respectively. Figure 3.8:- T200-3/4/5 Front Panel (T200-X10 with Integral PSU) PAGE 3-23 Artisan Technology Group - Quality Instrumentation ...
  • Page 63 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.9:- T200-3/4/5 Front Panel (T200-X00 without Integral PSU) PAGE 3-24 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 64 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.10:- T200-610 and T200-710 Front Panel PAGE 3-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 65 All connections to the T200-6 and T200-7 models are the same as those to the T200-4/5/6 models, with the exception that the motor power, ac mains, DC Bus and regeneration connections to the T200-6 and 7 are via screw terminal connections.
  • Page 66 (RMS) r.m.s protection based upon power supply kW rating. See Table 3.1: T200 Input Power Ratings versus Single and Three Phase Mains Voltage Level, for a list of the input power ratings of the T200 at various common voltage levels.
  • Page 67 V a.c. source to a user-supplied contactor. Otherwise wire the a.c. mains from the circuit breaker or the EMC filter to the user-supplied contactor. • Wire a.c. mains from the user-supplied contactor to the power input poles at TB2 of the T200. For T200 Servo-drives that do not have an Internal Power Supply: •...
  • Page 68 T200 at TB6) and the T200's a.c. mains inputs. Note that if the a.c. mains is still applied, and the control-backup power is removed, then the T200 control section will still operate correctly. Control power can still be generated from the high voltage D.C. Bus.
  • Page 69 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.11:- T200 Multi-Axis system with 3-Phase A.C. Mains Inputs PAGE 3-30 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 70 T200) and the T200's a.c. mains inputs. Note again, that if the a.c. mains is still applied, and the control-backup power is removed, then the T200 control section will still operate correctly. Control power can still be generated from the high voltage D.C. Bus.
  • Page 71 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.12:- T200 Multi-Axis system with Single-Phase 230Va.c. Mains Input (T200-310/410/510 Models only) PAGE 3-32 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 72 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.9 Single Phase 120Va.c. Mains Configuration The T200-310/410/510 Models only may be driven by single-phase 120V a.c. mains input. In this case the following user supplied options are required:- Single-Phase Mains Circuit Breaker...
  • Page 73 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.13:- T200 Multi-Axis system with Single-Phase 120V A.C. Mains Inputs (T200-310/410/510 Models only) PAGE 3-34 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 74 A T200-X10 unit contains an a.c. mains rectification stage, which generates a D.C. Bus voltage from the a.c. mains. A T200-X00 unit does not contain this rectification stage. It accepts a high power input only in the form of a high voltage D.C.
  • Page 75 T200 User's Manual SECTION 3: WIRING AND INSTALLATION There is a limitation to the number of T200-X00 units that can be attached to a T200-X10. This limitation is summarised below. Limit on Number of Units without PSU Connected to a...
  • Page 76 The T200-X10 units contain a soft-start function. The soft-start function limits the inrush current into the T200's D.C. Bus smoothing capacitors after the a.c. mains has been switched on. The T200 should not allow currents to flow in the motor before the softstart has completed. Otherwise the D.C. Bus capacitors are drained by motor current during the soft-start, and may never become fully charged.
  • Page 77 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.15:- T200 Power Ready, 24V d.c. and 120V a.c. Backup Connections PAGE 3-38 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 78 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.16:- T200-610/710 Power Ready, 24V d.c. and 120V a.c. Backup Connections PAGE 3-39 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 79 (Unit without an (Unit with an Integral Integral High Power Integral High Power High Power PSU) PSU) PSU) Figure 3.17:- Pull-up Power Ready Interconnect between T200-X10 and Connected T200-X00 Units (I_COMMON connected to 24V RETURN) 26AWG (0.15mm ) Wiring User-PSU 24V+ 24V-...
  • Page 80 3.10.2 Power Cycling Frequency Limits As outlined in a previous section, the T200-X10 units contain a soft-start function. The soft-start function limits the inrush current into the T200's D.C. Bus smoothing capacitors after the a.c. mains has been switched on.
  • Page 81 3.11 Paralleling T200-X10 Units through the D.C. Bus T200-X10 units can be paralleled via the D.C. Bus, in order to share regeneration power. In Figure 3.19, below, the T200-X10 units are shown with the a.c. mains inputs connected to all T200-X10 units. The user can also connect the D.C.
  • Page 82 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.12 Daisychaining Control-Backup Power Connections to T200's The T200 contains extra connector terminals which allow easy connection of the 24Vd.c. and 120Va.c. control-backup power. 3.12.1 24Vd.c. Control-Backup Power Daisychaining Connections to wire the 24Vd.c. control backup power are shown Figure 3.20 below.
  • Page 83 T200's Connector TB6 Connector TB6 Connector TB6 Connector TB6 T200-XX0 T200-XX0 Figure 3.21: Daisy-Chaining the 120Va.c. backup Input from one T200 to the Next T200 PAGE 3-44 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 84 2.8kW. This regen resistor can be supplemented with an additional external regeneration resistor. The T200-610/710 do not have an internal regen resistor. An external regen resistor is required in any case. All external Regen resistors should be mounted to allow adequate heat dissipation and such that heat from the Regen resistor is not directed to air intakes of other equipment.
  • Page 85 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.22: T200-310/410/510 External Regeneration and Mains Input, d.c. Bus Input and Output Connections PAGE 3-46 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 86 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.23: T200-610/710 External Regeneration and Mains Input, d.c. Bus Input and Output Connections PAGE 3-47 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 87 Figure 3.24:- T200-310 Regeneration Resistor 200W Option 1 – C22654-002 (Mounting and Connection) Moog offers two regeneration resitor kit options for use with the T200-310. Figure 3.24 shows the first option for an external regeneration resistor for the T200-310 unit, which uses a 225W-rated resistor operated at a maximum continuous dissipation of 200W.
  • Page 88 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.25:- T200-310 Regeneration Resistor 200W Option 2 – A76178-002 (Mounting and Connection) Regeneration Actual Peak Regen Regen Resistor AWG/(mm Resistor Option/ Continuous Power Kit Part Number Wiring to connect Continuous Regen. Power...
  • Page 89 Figure 3.26:- T200-410 and T200-510 600W Regeneration Resistor Option 1 – C22654-006 (Mounting and Connection) Moog offers two regeneration resitor kit options for use with the T200-410 and T200-510. Figure 3.26 shows the first option for the external regeneration terminal connections for the T200-410 and T200-510 units, which use a 750W-rated resistor operated at a maximum continuous dissipation of 600W.
  • Page 90 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.27:- T200-410 and T200-510 600W Regeneration Resistor Option 2 – A76178-003 (Mounting and Connection) Regeneration Actual Peak Regen Regen Resistor AWG/(mm Resistor Option/ Continuous Power Kit Part Number Wiring to connect Continuous Regen.
  • Page 91 MOOG offers four different regen options for the T200-610/710- Figures 3.28 ...3.31 show the different options. Table 3.6 outlines the external resistor’ s Moog part numbers and wire gauge to be used when connecting these resistors. The user need to calculate the application dependent regen power and select one of the options accordingly. Options 1..3 are available in the US option 4 is available in Europe.
  • Page 92 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.29:- T200-610 and T200-710: 1.25KW Regeneration Resistor Option 2 – C22654-011 (Mounting and Connection) Figure 3.30:- T200-610 and T200-710 Regeneration Resistor Option 3:- C22654-025 (Mounting and Connection) PAGE 3-53 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 93 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.31:- T200-610 and T200-710 Regeneration Resistor Option 4:- two C09838-010 (Mounting and Connection) Regeneration Actual Peak Regen Fuse Fuse Regen Regen AWG/(mm Resistor Continuous Power Part Number Holder Resistor Resistor Wiring to Option/ Regen.
  • Page 94 WARNING - When performing any changes to the regen resistor configuration, a.c. input power must be removed from the T200. Wait 5 minutes upon removal of all power, to allow for D.C. Bus capacitors to discharge. Do not operate the T200 with the cover removed.
  • Page 95 Use of the made-up cable sets is recommended for connecting the MOOG brushless servomotors. These cable sets are available in standardized lengths. Refer to Table 3.7. If MOOG cables are not used, the values specified below with regard to the cable make-up must be maintained in all cases.
  • Page 96 For proper drive commutation of G400 series motors, it is required that the motor phase conductors, Phase U (A), Phase V (B), and Phase W(C) be wired exactly as shown in Table 3.7. 3.14.3 T200 Resolver Cable Wire the motor resolver connector in accordance with Figure 3.35.
  • Page 97 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.32:- T200-3/4/5 Motor and Brake Connections PAGE 3-58 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 98 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.33:- T200-610 and -710 Motor and Brake Connections PAGE 3-59 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 99 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.34: Motor Power and Brake Cable PAGE 3-60 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 100 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Pin assignment for Motor Power Cable and Mating Connectors Table 3.7:- Motor Power Cable PAGE 3-61 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 101 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.35:- T200 J6 Resolver Cable Find No. MOOG Part No. Description Quantity B47886-001-xxx Complete Cable Assembly C22297-001-xxx • C08309-001 Signal Mating Connector OD Cable 5,5 mm to 12 mm (.217 in to .472 in)
  • Page 102 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Pin assignment for Motor Signal (Resolver) Cable and Mating Connector Table 3.8:- Motor Resolver Cable PAGE 3-63 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 103 SECTION 3: WIRING AND INSTALLATION 3.14.4 Crimping Tools for Motor Cables Contact your local Moog Sales for a detailed specification and Moog Part Numbers for cable/connector crimping tools. PAGE 3-64 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 104 Required for CE-Compliance The EMC Brackets shall be used where CE-Compliance under the EMC Directive is required, for the T200-3/4/5 units only. Figure 3.36 below shows how to strip back cabling insulation to expose the shield. Clamp the shield securely under the EMC-Bracket to ensure a good high frequency contact.
  • Page 105 SECTION 3: WIRING AND INSTALLATION 3.14.6 Terminating the Motor Cable Shield (non-CE Applications) T200-3/4/5 only Moog motor cables are supplied with a terminating crimp for the motor shield. The T200 provides two means of termination of the motor cable shield.
  • Page 106 3.14.8 Motor Brake Connection The T200 provides a motor break relay at connector TB7. The user supplies a 24Vd.c., Power Supply Unit for the brake connections. Note that the current consumption of the different brake types is specified in Section 4.5.7.
  • Page 107 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15 T200 Control Input and Outputs The following section contains a description of the control related Input/Output (I/O) available to the user. Functionality is detailed in Section 6. NOTE - An external 12Vd.c. to 32Vd.c. power source (user supplied) is required for the I/O functions.
  • Page 108 § All digital inputs are optically isolated for noise immunity purposes. All T200 digital inputs are isolated from high voltage circuitry internally by double insulation standard isolation, and are considered Safety Extra Low Voltage circuitry.
  • Page 109 Digital Input I_COMMON Digital Input I_COMMON User's pull-down output Connector J1 Connector J1 T200-XX0 T200-XX0 Figure 3.40:- T200 Pull-Up or Pull-Down Options for Digital Inputs on J1 PAGE 3-70 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 110 SECTION 3: WIRING AND INSTALLATION 3.15.2 General Purpose Description of the Digital Outputs The following electrical description applies to all, except one, of the digital outputs of the T200. (One digital output, SYS-RDY, uses a relay rather than an opto-coupler).
  • Page 111 24V- Digital Output O_COMMON Connector J1 T200-XX0 Digital Output O_COMMON Connector J1 T200-XX0 Figure 3.42:- T200 Pull-Up or Pull-Down Options for Digital Outputs on J1 PAGE 3-72 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 112 Maximum differential voltage:- 30V. § All T200 analog inputs are isolated from high voltage circuitry internally by double insulation standard isolation, and are considered Safety Extra Low Voltage circuitry. § A/D Converter resolution is 12bits:- each 4.88mV input voltage step represents 1 conversion bit.
  • Page 113 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.4 General Purpose Description of the Analog Outputs The T200 has two analog output connection points (TP1 and TP2 on connector J1 as shown in Figure 3.45). Analog_OP 12Bit D/A Converter DGND 100Ω...
  • Page 114 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.45: T200 Axis I/O Connector J1 PAGE 3-75 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 115 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.15.5 I/O Overview and Usage in Different Software Modes Table 3.9:- Overview of T200 Analog and Digital Inputs PAGE 3-76 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 116 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Table 3.10:- Overview of T200 Analog and Digital Outputs PAGE 3-77 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 117 MUST occur once the fault has been removed, before the T200 will allow itself to apply high power to the power amplifier and motor. WARNING - It is UNSAFE to use the SYS_RDY output as a direct control for the ENABLE.
  • Page 118 SECTION 3: WIRING AND INSTALLATION 3.16 Incremental Encoder/Stepper Motor Interface Input Description. The T200 has an RS422 based incremental encoder input on Connector J5 as shown in Figure 3.49. The same inputs are used for the Stepper Motor inputs. Figure 3.47: Incremental Encoder per channel Input Electrical Description §...
  • Page 119 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.17 Encoder Simulation Output Description The T200 has an RS422 based incremental encoder simulation output on connector J7 as shown in Figure 3.49. Figure 3.48: Encoder Simulation Output Electrical Description § Galvanically isolated drivers must be supplied by a User-Supplied 5Vd.c..
  • Page 120 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.49: T200 Position Transducer Interfaces PAGE 3-81 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 121 RS232 for communications between one System Motion Controller and one T200 RS485 for communications between one System Motion Controller and many T200's CAN for higher bandwidth communications between one System Motion Controller and many T200's (which can handle motion commands between the System Motion Controller and T200's) Figure 3.50: T200 Communications Terminals...
  • Page 122 SECTION 3: WIRING AND INSTALLATION 3.18.1 RS232 Interface Description The T200 provides an RS232 compatible communications interface on J4 (9-Sub-D Female (Socket) on the T200 side). The RS232 port provides a one to one communication mechanism only. 3.18.1.1 Wiring an RS232 Connection The RS232 port of the drive is configured as a null modem.
  • Page 123 T200 User's Manual SECTION 3: WIRING AND INSTALLATION 3.18.1.2 RS232 Set-up Parameters The following port parameters are used to communicate with the T200 via the RS232 link:- § 9600 baud § 8 data bits § 1 stop bit § no parity bits §...
  • Page 124 The T200 provides an RS485 compatible communications interface on J2 and J3 (9-Sub-D Male and Female (Connector and Socket) on the T200 side). The RS485 port provides one to many communications. Two Sub-D connectors are provided to allow convenient daisy-chain connection of the RS485 cabling from one T200 to the next.
  • Page 125 3.18.2.2 RS485 Adaptor for Conversion of RS232 to RS485 Recommended RS485 communication from a PC to a group of T200's is achieved by using an RS232/RS485 converter. The RS232 side of the converter is connected to the selected communications port of the PC. The RS485 side of the converter is connected to the drive via the RS485 port (J2) of the T200.
  • Page 126 Figure 3.53:- Adaptor between PC and RS232/RS485 Adaptor For details of wiring for a specific RS232/RS485 adaptor, consult the data-sheet for the particular device. The RS232/RS485 Adaptor recommended by MOOG for operation with WinDrive and the RMC/DMC and T200 is PSM-EG-RS232/RS485-P/2D, PN2761392 from Phoenix Contact.
  • Page 127 The maximum combined length of all RS485 cabling is 1000m. Combined length is the sum of all cable segments, including the cable from the RS485 adaptor to the first T200, and between subsequent T200's and the next, and so on to the end of the cable.
  • Page 128 3.18.2.5 RS485 Address Set-up via Axis-ID-HEX-Switches on T200 front Panel A unique RS485 address must be assigned to each T200 in an RS485 network. The two Node ID switches are used to set this address. Note that a fine screwdriver should be used to set the HEX switches to the appropriate value. Node addresses start at 1, rather than 0.
  • Page 129 The T200 product family provides the following diagnostic information to the user:- • On T200-X10 models (with integral High Power PSU), three power monitoring LED's are provided for user diagnostic purposes (BUS ACTIVE, MAINS APPLIED, REGEN ACTIVE in Figure 3.56).
  • Page 130 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.56:- T200-X10 (with PSU) LED's and 7-Segment Display Figure 3.57:- T200-X00 (without PSU) LED's and 7-segment display PAGE 3-91 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 131 T200 User's Manual SECTION 3: WIRING AND INSTALLATION Figure 3.58:- T200-610/710 LED's and 7-Segment display PAGE 3-92 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 132 T200 User's Manual SECTION 4: MOTOR GUIDE SECTION 4: MOTOR GUIDE PAGE 4-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 133 T200 User's Manual SECTION 4: MOTOR GUIDE TABLE OF CONTENTS MOTOR GUIDE................................4-1 ........................4-4 OTOR ERVO RIVE YSTEM ..................4-4 LOBAL OTOR ODELS AND LECTRICAL YPES 4.2.1 Motor Model Identification Scheme ......................4-4 4.2.2 Motor Nameplate ............................4-5 4.2.3 Motor Part Number Cross Reference ......................4-6 4.2.4...
  • Page 134 T200 User's Manual SECTION 4: MOTOR GUIDE SECTION 4 TABLE OF TABLES Table 4.1 :Motor Part Number Cross-Reference......................4-6 Table 4.2 :Motor Electrical Type Cross-Reference ......................4-7 Table 4.3 Electrical Type and Standard Model Equivalency Table ................. 4-9 Table 4.4 Motor Performance Data ..........................4-12 Table 4.5 Motor Dimensional Data ..........................

  • Page 135: Motor Servo-Drive System

    4.1 Motor Servo-Drive System A Moog T200 Servo-Drive system consists of a T200 and a G4XX servo-motor. The selection of a particular motor and servo-drive for a specific application can be carried out with assistance of Moog selection sheets. These sheets are provided by local Moog sales offices.

  • Page 136: Motor Nameplate

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.2.2 Motor Nameplate Figure 4.1:- Example Nameplate S/N: serial number Date: production quarter and year Model: motor model number Type: electric model, description optional brake nominal speed (speed at P maximum speed nominal power (maximum continuous power)

  • Page 137: Motor Part Number Cross Reference

    US and Europe-model differ only in nameplate ƒ see extra boxcar-drawing Table 4.1 :Motor Part Number Cross-Reference Note that the T200 is not compatible with the 600V motor versions. PAGE 4-6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 138: Motor Electrical Type Cross Reference

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.2.4 Motor Electrical Type Cross Reference Table 4.2 :Motor Electrical Type Cross-Reference PAGE 4-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 139: Configuring The Motor In The T200 Servo-Drive

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.3 Configuring the Motor in the T200 Servo-Drive There are two ways of telling the T200 which type of motor is connected, listed in Sections 4.2.1 and 4.2.2 below. 4.3.1 Motor Configuration via WinDrive WinDrive contains a database of the 'standard' motor models.
  • Page 140 G4L20. By checking for G4L20 in the left hand column of Table 4.2, the user finds that the equivalent standard motor is a G424-600. He uses the SSM command. He enters the string 'G424-600' and the T200 is configured automatically with the correct electrical parameter set.

  • Page 141: Motor-Drive Selection

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.4 Motor-Drive Selection Please consult your local Moog sales office or authorised distributor for selection of the appropriate T200 and motor for your application. PAGE 4-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 142: Motor Performance Data

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.5 Motor Performance Data Temperature for Transport and Storage: -25 °C to 90 °C Operating Temperature: -25 °C to 50 °C (higher temperature rating on demand) Degree of Protection: IP67 (DIN 0470-1, 60529,...
  • Page 143 T200 User's Manual SECTION 4: MOTOR GUIDE Table 4.4 Motor Performance Data PAGE 4-12 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 144: Mounting And Installation

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.6 Mounting and Installation 4.6.1 Motor Dimensions Table 4.5 Motor Dimensional Data PAGE 4-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 145 T200 User's Manual SECTION 4: MOTOR GUIDE Additional dimensions, e.g. for connectors and mating connectors can be found in the motor datasheet catalogues provided by Moog. CAUTION - Do not hammer on, or press pulleys, gears, couplings, etc. onto the motor shaft.

  • Page 146: Motor Installation Guideline

    Motor Installation Guideline MOOG recommends that hexagon socket head screws to DIN 912 8.8 (see column H in) be used to secure the motor. Assembly is made very much easier by using an Allen key with ball head, particularly in the cases of motor sizes 2 and 3.

  • Page 147: Rated Bearing Load Capacity

    Radial load capacity, shown in Figure 4.3 to Figure 4.7, are for a B10 life of 20,000 hours. The load is applied at shaft extension midpoint. Curves are based on minor axial shaft loads. Consult factory for other loading conditions. Maximum permissible axial and radial forces for brushless MOOG servomotors during installation refer to Table 4.7. Motor size...
  • Page 148 T200 User's Manual SECTION 4 MOTOR GUIDE Motor Series G4x3 12000 G4x3-2xx 10000 G4x3-4xx G4x3-6xx 8000 G4x3-8xx 6000 4000 2000 Radial Load Capacity [N] Figure 4.4:- Radial Load Capacity G4x3 Motor Series G4x4 12000 10000 G4x4-2xx G4x4-4xx 8000 G4x4-6xx 6000...
  • Page 149 T200 User's Manual SECTION 4: MOTOR GUIDE Motor Series G4x5 8000 7000 G4x5-2xx 6000 5000 G4x5-4xx 4000 G4x5-6xx 3000 G4x5-8xx 2000 1000 1000 1200 1400 1600 Radial Load Capacity [N] Figure 4.6:- Radial Load Capacity G4x5 Motor Series G4x6 8000...

  • Page 150: Coupling

    T200 User's Manual SECTION 4 MOTOR GUIDE 4.6.4 Coupling A flexible coupling offers the advantages of economy, allowance for misalignment, and reduction of backlash. Flexible disc or bellows style couplings are recommended. The couplings are available for both plain shaft as well as for slot and key configurations.

  • Page 151: Runout

    SECTION 4: MOTOR GUIDE 4.6.5 Runout The reduced runout provided by MOOG motors allows the attachment of various gear heads. The precision manufacturing of the motor avoids loads caused by misalignments between motor and gear heads. Diameter of the Shaft...

  • Page 152: Design Standards

    T200 User's Manual SECTION 4 MOTOR GUIDE 4.6.6 Design Standards The G400 series has been designed, assembled and tested in conformity with the following standards. (see Table 4.9 Motor Design Standards and Table 4.11 for design standards) Standard International Europe...
  • Page 153 T200 User's Manual SECTION 4: MOTOR GUIDE Relevant standards for electrical equipment Standard International Europe Deutschland English DIN / VDE NEMA / NEC EN CENELEC International Europäisches Deutsche Industrie National Electric Electrotechnical Komitee für Norm / Verband Code MG.-... Commission Elektrotechn.
  • Page 154 T200 User's Manual SECTION 4 MOTOR GUIDE Relevant standards for mechanical design Standard International Europe Deutschland English DIN / VDE NEMA / NEC EN CENELEC International Europäisches Deutsche National Electrotechnical Komitee für Industrie Norm / Electric Code Commission Elektrotechn.No Verband MG.-...

  • Page 155: Motor Brake Data

    T200 User's Manual SECTION 4: MOTOR GUIDE 4.6.7 Motor Brake Data The following are the specification data for the G4XX motor brakes. Options are specified via the box-car drawing. Parameter G4X2 G4X3 Series G4X4 Series G4X5 Series G4X6 Series Brakes...
  • Page 156 T200 User's Manual SECTION 5: QUICK START SECTION 5: QUICK-START PAGE 5-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 157: Section 4 Table Of Figures

    5.1.3.7 Step 7:- Regen Resistor Configuration ........................5-9 5.1.3.8 Step 8:- Saving the Settings ............................5-9 5.1.3.9 Step 9:- Enabling the T200 and Causing Movement of the Motor ...............5-10 5.1.4 Power-Down Sequence........................... 5-10 TABLE OF FIGURES Figure 5.1:- Selecting the Motor............................5-4 Figure 5.2:- Selecting the Reference Source........................5-5 Figure 5.3:- Selecting the Velocity and Torque Limits.....................5-6...

  • Page 158: Getting Started

    Apply 24Vd.c. or 120Va.c. logic power to the T200. The T200 control section will begin its start up cycle. The T200 now needs to be initialised with valid start-up data so that the control card can complete this start up cycle. The T200 Servo-drive needs a valid motor to be configured to allow the control card to start.

  • Page 159: Starting The Drive

    Install Windrive using the install instructions detailed in the WinDrive Software Kit, or as described in Section 7.2. Note that the PC should be connected to the T200 using the RS232 serial cable described in Section 7.4.1. Under the Drive Menu item, select the Basic Drive Setup option. This will lead the user through the following set of steps, to perform a quick-setup on the T200.

  • Page 160: Step 2:- Setup The Reference Source

    The appropriate choice should first be made by selection of the appropriate Radio Button. The Set-Up button should then be left clicked to setup details of the particular reference mode, in order to ensure that the T200 is operating correctly.

  • Page 161: Step 3:- Setup Of The Torque And Velocity Limits

    Automatic mode corresponds to normal machine operation, at typical machine velocity and torque levels. The Manual mode is provided to ensure that via a digital input, the T200 can be switched to lower levels of torque and velocity, to ensure machine and personnel safety. The user should program the appropriate limits of torque and velocity for each mode.

  • Page 162: Step 5:- Basic Tuning

    5.1.3.5 Step 5:- Basic Tuning The next step is to set the control mode. In order to check that the drive is wired correctly, Moog recommends that the drive is placed in Velocity Mode with a function generator reference (Step 2) to cause slow backward and forward movement.

  • Page 163: Step 6:- Encoder Simulation

    Many applications, especially those applications that use the T200 in ±10V command Velocity or Torque Mode, use the T200's inbuilt Encoder Simulation to feed back the motor shaft position to a master Motion Controller System. The user should set the number of Lines per Revolution to match that required by the Motion Controller by setting the Number of Lines per Revolution input.

  • Page 164: Step 7:- Regen Resistor Configuration

    5.1.3.8 Step 8:- Saving the Settings The user's parameter settings should now be saved to the T200's non-volatile memory, such that when power is removed, and restored, the T200 will initialise itself with these parameters. To save the parameters to non-volatile memory, the user should left-click on the Save button.

  • Page 165: Step 9:- Enabling The T200 And Causing Movement Of The Motor

    Apply 230Vac mains power to the mains inputs of the T200. Wait 5s for completion of softstart. After this time the T200 should close the Power Ready Relay to indicate a successful soft start-up. Note that this relay should be used in an interlock fashion to signal to all connected T200s that they can be enabled.
  • Page 166 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW SECTION 6: T200 FUNCTIONAL OVERVIEW PAGE 6-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 167 ............................6-11 ONVENTIONS 6.3.1 Direction of Rotation ..........................6-11 ........................6-12 OWER NTERFACE ECTION 6.4.1 T200 Model Types and High Power Interface ..................6-12 6.4.2 High Power Section Description......................6-12 6.4.2.1 High Power Circuit Description ...........................6-15 ..................6-17 NPUT AND UTPUT UNCTIONAL ESCRIPTION 6.5.1...
  • Page 168 6.7.3.11 Monitoring the Position Tracking in CAN Interpolation Mode ................6-50 ............................6-51 AULT ETECTION 6.8.1 Faults and User Indication in the T200 ....................6-51 6.8.1.1 Faults and Warnings............................. 6-51 6.8.1.2 Fatal Faults and Non-Fatal Faults......................... 6-51 6.8.1.3 Fatal Faults ................................6-52 6.8.1.4...

  • Page 169: T200 Functional Overview

    Figure 6.12:- Torque Mode Analog Interconnect ......................6-29 Figure 6.13:- Torque Reference Rate Limiting.......................6-31 Figure 6.15:- T200 Velocity Limiting Mechanism in Torque Mode ................6-32 Figure 6.16:- Torque Limit Reduction as a function of Spare Analog Input (SAIN) ............. 6-33 Figure 6.17:- T200 Torque Mode Block Diagram ......................6-34 Figure 6.18:- Velocity Reference Rate Limiting......................6-37...

  • Page 170: Introduction

    6.1 Introduction This section describes the functionality of the T200. It details the various modes of operation and the I/O that operate with these modes. The WinDrive Graphical User Interface or the Hand Held terminal can be used to configure and tune a T200 and diagnose problems in a T200 application.

  • Page 171: T200 Functionality Overview

    • The user selects the control mode as torque, velocity or position control, via the user interface. When the T200 is programmed in velocity mode, the T200 may be switched on the fly between velocity and torque mode, via the TRQ-VEL digital input.

  • Page 172: Controller Area Network (Can) Interface Mode

    Motor configuration, control modes, control loop gains and other parameterisation information can be read from and written to the T200. Extensive diagnostic information and fault history data can also be read back and analysed by the System Motion Controller. Data sequences can be logged using complex trigger conditions and transmitted back to the System Motion Controller.

  • Page 173: Stepper Motor Interface Mode

    Note that the ENABLE, PWR_RDY and AUTO_MAN inputs are used consistently for all control modes. • The T200 accepts pulse rates of up to 1MHz, using an RS422 interface. Pulses are incremented in high speed counter circuitry, so that reference pulses are never lost.

  • Page 174: Digital Inputs Velocity Interface Mode

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.2.4 Digital Inputs Velocity Interface Mode The T200 generates its velocity command as a function of the state of two digital inputs. Control Signalling:- ENABLE System Motion PWR_RDY Moog T200 Moog Motor...

  • Page 175: Standalone Motion-Controller Custom Interface Mode ("Point")

    A Motion Control Language (MCL) program can be created using a BASIC like language. This language includes a set of arithmetic and logical operators, user variables and other constructs. All T200 input and output, including CAN interface variables, can be accessed from this motion control language.

  • Page 176: T200 Conventions

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.3 T200 Conventions This section deals with commonly understood conventions for T200 operation. 6.3.1 Direction of Rotation The positive direction of rotation is clockwise, when the motor is viewed from the shaft end, as shown in the diagram below.

  • Page 177: Power Interface Section

    The T200-X10 models accept a.c. mains inputs with a nominal voltage level from 120Va.c. to 230Va.c. (where X stands for a digit between 3 and 5). The T200-610/710 models accept a.c. mains input with a nominal voltage level of 230Va.c.. The T200-310, T200-410, T200-510, T200-610 and T200-710 models include integrated high voltage power supply, control and motor power sections.
  • Page 178 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Figure 6.7:- T200-X10 in Single-Axis Application PAGE 6-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 179 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Figure 6.8:- T200-X10 in Multi-Axis Application PAGE 6-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 180: High Power Circuit Description

    Isolated 120Va.c. external supply which is provided by the user specifically for control-backup power. The T200 will always generate power internally from the D.C. Bus (if its voltage is greater than 250Vd.c.) even though the 24Vd.c. and/or the 120Va.c. control-backup supplies are present.
  • Page 181 510 servo-drive. The fuse is sized to protect the external resistor option available for that particular T200 model, as described in Section 3.13. The user should not change this fuse. If this fuse is blown, then the T200 must be returned to Moog for repair.

  • Page 182: Input And Output Functional Description

    It also serves as a secondary means of measurement of an analog command from a master control system. The Spare input is also used for general motion control purposes by the Point Motion Control sub-system, when the T200 is configured in that mode. Section 3.15.3 outlines the electrical characteristics of the analog inputs.

  • Page 183: Tp2 Analog Output

    6. Actual Position:- The position feedback can be monitored on TP1. This is scaled by the user-programmable Revs- per-10V parameter. As before, the T200 contains a special function to zero-reference the present shaft position, such that this position is taken as the zero-voltage-point of TP1 and TP2.

  • Page 184: Power Ready Input

    Power Ready Input The Power Ready input is only used by T200 units which do not have an integral PSU i.e. T200's with Model Number T200-X00.. , though the input is present in all T200 units. The Power Ready input informs the T200-X00 that the T200 which is supplying it with high-power via the rectified high voltage DC-Bus, is ready to deliver such power, after a mains power-on sequence has been successfully completed.

  • Page 185: Torque-Velocity Control Mode Switching

    Velocity Mode. If the user programs either Torque or Position mode, then this input will be ignored. The T200 will be placed in torque mode when current flows in the TRQ_VEL input. If no current flows, then the T200 will stay in or return to velocity mode.

  • Page 186: Programmable Speed Functions

    SECTION 6: T200 FUNCTIONAL OVERVIEW 6.5.10 Programmable Speed Functions The T200 provides a velocity command mode, in which the state of two digital inputs is used to command the motor to rotate at one of four user-programmed speeds. The reference speeds are specified in units of RPM and can be positive or negative. Note that the programmable speeds is influenced by the ROT_DIR input as described in Section 6.4.9 Rotation Direction.

  • Page 187: Drive Power Status

    6.5.12 Drive Power Status The DRV_ENBLD opto-coupler output shows the enabled status of the T200's high power electronics. If the output is closed (current flowing) then the power electronics are applying high power to the motor phases. If the output is open (no current flowing), then the high power has been removed from the motor phases.

  • Page 188: Speed Torque Achieved Indication

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.5.13 Speed Torque Achieved Indication The SPD_TRQ_ACHVD opto-coupler output is used to indicate the status of achieving the programmed set-point command, whether torque or velocity (in position mode this output is used to track the velocity command).

  • Page 189: System Ready Indication

    6.5.15 Brake Control The T200 do have an integrated brake relay which allows the control of the motor brake. The control of the 3.5A, 30Vd.c. relay is dependent on the mode in which the T200 operates. The 24Vd.c. supply voltage for the Motor brake must be supplied by the user and connected to TB7 as described in Section 3.14.2.

  • Page 190: Function Generator

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.6 Internal Function Generator An internal function generator is provided, which is used to generate square wave excitation signals in torque and velocity mode, and a spline shape in position mode, to aid in control loop tuning and general drive debug work.

  • Page 191: Position Function Generator

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW § Duty-Cycle:- The Duty-Cycle determines the length of time the Speed or Torque Amplitude is of a more positive polarity and is expressed as a percentage. For the remainder of the period, the Speed or Torque Amplitude is of a more negative polarity.
  • Page 192 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW § Acceleration:- The Acceleration parameter will set the rate of change of the velocity command during the position traverse. Specified in units of rad/s § Speed Amplitude:- The Speed Amplitude determines maximum motor velocity during the motion. The Speed- Amplitude is specified in units of RPM.

  • Page 193: Control Loop Overview

    Torque Mode The T200 can be operated in torque mode, with several sources of its torque command. In this mode the T200 acts as a simple current amplifier, so that the torque produced by the motor is proportional to the analog command.
  • Page 194 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 20m max User Control Torque Command System REF+ REF- 0.25sq.mm I_COMMON twisted pair ENABLE (24AWG) PWR_RDY AUTO_MAN TRQ_VEL CW_LIM CCW_LIM BRK_ IP ROT_DIR Analog Torque Limit Command PROG_ SPD_1 PROG_ SPD_0 SAIN+ SAIN- 0.25sq.mm...

  • Page 195: Torque Command Sources

    T200. The Torque Amplitude, Offset, Period of excitation and Duty Cycle are programmable. See section 6.5 Internal Function Generator for further information.

  • Page 196: Rate Limiting In Torque-Mode

    6.7.1.3 Rate Limiting in Torque-Mode The T200 provides a means of limiting the rate of change of the actual torque. This limits the jerk (rate of change of acceleration) which a sensitive load may experience during acceleration and deceleration phases of a motion.

  • Page 197: Programmable Torque Limiting In Torque Mode

    Settings, under the control of the AUTO_MAN digital input. 6.7.1.5 Programmable Velocity Limiting in Torque Mode In torque mode, the T200 uses the velocity limits. The T200 will try to ensure that the actual velocity never exceeds the particular velocity...

  • Page 198: Analog Torque Limiting In Torque Mode

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.1.6 Analog Torque Limiting in Torque Mode The Spare Analog input (SAIN) is used in Torque Mode as a means of reducing the maximum allowable torque in a continuous way. Figure 6.16 below shows the linear relationship between the Analog Torque Limit and the input voltage level between the SAIN inputs.

  • Page 199: Torque Mode Functional Block Diagram

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.1.7 Torque Mode Functional Block Diagram Figure 6.17:- T200 Torque Mode Block Diagram PAGE 6-34 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 200 SECTION 6: T200 FUNCTIONAL OVERVIEW The diagram above outlines the operation of the T200 in torque mode. Note that Automatic/Manual mode is controlled by the Auto_Man digital input. However the switch-over between Automatic and Manual modes can be disabled by disabling the Manual Mode, leaving the T200 permanently in Automatic Mode (full power mode).

  • Page 201: Velocity Mode

    Speed Functions. 5/ CAN Velocity Mode:- As a subset of position mode operation, the T200 can be operated such that a digital velocity reference and a torque limit are transferred cyclically via the CAN interface, in Profile Mode. Operation of the CAN interface is described in Section 9.

  • Page 202: Rate Limiting In Velocity-Mode

    6.7.2.5 Rate Limiting in Velocity-Mode The T200 provides a means of limiting the rate of change of the velocity command. This limits the acceleration (rate of change of velocity) which a sensitive load may experience during acceleration and deceleration phases of a motion.

  • Page 203: Analog Torque Limiting In Velocity Mode

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.2.6 Analog Torque Limiting in Velocity Mode The Analog Torque Limit functions in exactly the same way in velocity mode, as it does in torque mode. See Section 6.7.1.6 Analog Torque Limiting in Torque Mode.

  • Page 204: Velocity Loop Tuning

    Section 7. § The T200 will set the P and I terms to safe defaults when the T200 is configured with the appropriate motor. § The P term is the first term to be adjusted. The I gain is effectively turned off by setting the Integral Time Const in the Tuning Dialog Box to a large value (e.g.

  • Page 205: Velocity Observer Tuning And Usage

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW • Use the P command set to enter the gain adjust mode for the velocity loop proportional gain term. Using the PU command increase the P gain until the shaft is turning.
  • Page 206 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW (B) also shows θ err when J est is tuned correctly, θ err steps with a slight ripple superimposed. θ err is a measure of the model uncertainty, and of any disturbance torque which may be present. Normally there will be some viscous friction present, so that θ...
  • Page 207 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW OBSERVER POSITION ERROR OBSERVER POSITION ERROR Figure 6.20:- T200 Observer Tuning PAGE 6-42 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 208: Auto-Tuning The Velocity Loop Gains And The Velocity Observer

    When the user selects the Auto Tune Button within the WinDrive Auto-tuning dialog, a pop-up dialog will be shown which informs the user that the T200 will be disabled, switched into velocity mode, re-enabled and a torque excitation signal will be applied. The user has the option to continue or exit from the sequence.

  • Page 209: Monitoring The Velocity Tracking

    When the user exits the system parameters dialog a pop-up dialog will be shown which informs the user that the calculated gains will be downloaded to the T200, T200 will be switched into velocity mode, and a step response will be obtained.

  • Page 210: Position Mode

    4/ CAN Source:- The T200 can be operated in fine-interpolation positioning mode or point-to-point positioning profile mode. See Section 9. 5/ Stepper Motor Interface Mode:- The T200 can use its RS422 type incremental encoder input as a means of inputting stepper mode Up/Down, and Quadrature mode inputs. See Stepper Motor Interface.

  • Page 211: Analog Torque Limiting In Position Mode

    6.7.1.6 Analog Torque Limiting in Torque Mode for a full description. 6.7.3.6 Position Limits in Position Mode There are two means of activation of position limiting in the T200, when it operates in position mode. Hardware Limit Switches:- Hardware Limits Switches are described in Section 6.4.5 - Limit Switch Function.

  • Page 212: Position Mode Functional Block Diagram

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3.8 Position Mode Functional Block Diagram Figure 6.21:- Position Mode Block Diagram PAGE 6-47 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 213: Position Loop Tuning

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3.9 Position Loop Tuning Before tuning the position loop, the user should first tune the velocity loop as described in Section 6.6.2 Velocity Mode. This makes the process of tuning the position loop easier, because the inner velocity loop has already been increased to as high a bandwidth as the application will allow.

  • Page 214: Monitoring The Velocity Tracking In Position Mode

    6.7.3.10 Monitoring the Velocity Tracking in Position Mode The T200 provides the same velocity monitoring in position mode as it does in velocity mode. See Section 6.7.2.11 Monitoring the Velocity Tracking, for a full description.

  • Page 215: Monitoring The Position Tracking In Can Interpolation Mode

    SECTION 6: T200 FUNCTIONAL OVERVIEW 6.7.3.11 Monitoring the Position Tracking in CAN Interpolation Mode The T200 also provides monitoring of the position error in CAN Interpolation mode. Two parameters are provided for the user to configure this tracking. These are:- §...

  • Page 216: Fault Detection

    The T200 distinguishes between faults and warnings. Faults are those abnormal conditions that are of a serious enough consequence to cause the T200 to halt operation. This will always result in removal of power from the T200 high power amplifier, and will usually result in application of a motor brake, if present, with CAN and Point modes of functionality.

  • Page 217: Fatal Faults

    SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.1.3 Fatal Faults The following is an overview of the fault detection mechanisms in the T200. Note that the fault codes that are displayed on the 7-segment display are explained in Section 3.19. Power Amplifier Short Circuit [ F 1 ] A power amplifier short circuit fault occurs when a short circuit between any one of the motor phases or between a motor output phase and DC+ or DC- causes a fault current to flow.
  • Page 218 Moog Servo drive systems utilise resolver-based motor-shaft-position feedback. The resolver is an integral part of the servo-motor and is connected to the servo-drive via a dedicated resolver cable. The T200 has built in resolver checking algorithm that continually monitors the resolver inputs and checks for cable breaks. If resolver signals are not present then the drive disables and the fault is latched.

  • Page 219: Non Fatal Faults

    This fault indicates that the drive cannot establish or has lost reliable communications via CAN with its Host controller. Also if the T200 is in CAN Profile mode, and an unachievable command is sent to the T200 via the CAN interface (e.g.
  • Page 220 If the drive is powered down after the internal regeneration fuse has blown and then powered up again, the high voltage D.C. Bus will not charge up and the T200 will report that all PSU related faults have occurred. CAUTION:- If a regeneration fuse blown fault occurs, the user should not attempt to restart the drive.

  • Page 221: T200 Warnings

    SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.1.5 T200 Warnings The following is an overview of the warnings detection mechanisms in the T200. Note that the warning codes that are displayed on the 7-segment display are explained in Section 3.19. Thermal Foldback Active [ . ] This warning is active when the torque command is limited due to thermal current limiting (See Self Protection).

  • Page 222: Fault History Record

    Fault History Record The T200 records all faults and warnings as these occur in a special non-volatile memory. Approximately every 0.5seconds the T200 checks have any new faults been reported. The time stamp is relative to the time the drive is powered.

  • Page 223: Fault Indication Via Digital Outputs

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.8.3 Fault indication via digital outputs To allow drive status and fault diagnostics with a PLC drive status and fault information is available on the digital outputs of the T200. Fault indication via digital outputs is only available if the drive operates in the following modes: •...

  • Page 224: Mode 2: Fault Indication Via Digital Outputs Enabled

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Drive Status in Mode 1 has the following meaning: Drive ok This status indicates that the drive has no faults. The status is independent of AC-mains. I.e. “Drive ok” will be indicated even when AC-mains is not applied.
  • Page 225 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW The dedicated digital outputs indicate the drive status as follows. Drive Status Indication DO1,DO3...DO5 (DO1=LSB) FAULTS AND STATUS Drive OK. No Faults. 0000 Foldback 0001 Bridge Overcurrent 0010 Bus Overvoltage 0011 Regen Fuse Blown...

  • Page 226: Self Protection

    Cabling and Interconnect Protection Scheme Each T200 model has a continuous current rating. The T200 operates an algorithm that limits the overall RMS level of motor phase current appropriately, over a time window that extends over the last averaging period. This is intended to protect the connectors and internal circuitry, which would otherwise be thermally over-stressed.

  • Page 227: Regeneration Resistor Protection Scheme

    Due to the possible variations in connecting the power section of T200’ s (see section 3.10, 3.11) the functionality for indication that the max. continuous regen power is exceeded can be adapted to the needs of the users application.
  • Page 228 The calculated continuous regen power can be read either with the POD-Command “?LRR” or via WinDrive. This value is only sensible if an external regen resistor is connected to the T200. The value can be read out independent of the regen exceeded functionality.

  • Page 229: Encoder Simulation Function

    The T200 implements two types of encoder simulation:- High Bandwidth Encoder Simulation ("ESM3"):- This mode is recommended when the T200 is used in torque mode. The encoder simulation is carried out directly via analog hardware, with a feedback bandwidth of between 800 and 1000Hz.
  • Page 230 Lines-Per-Revolution. NOTE on Line-counts and Control Modes ESM3 Linecounts (128, 256, 512 or 1024) are recommended for use when the T200 is operated in torque mode. Other even line-counts (any even number between 100 and 8000, excepting those listed...

  • Page 231: Incremental Encoder Input

    SECTION 6: T200 FUNCTIONAL OVERVIEW 6.11 Incremental Encoder Input A quadrature incremental encoder input is provided on the T200. This encoder is not used for motor commutation purposes, but for feedback of relative position information to the Point motion control software or CAN interface system.
  • Page 232 Number of Lines per Revolution:- The user may program this parameter to set the number of encoder lines per revolution of the motor shaft. This allows the T200 software to translate a rotary encoder's shaft position into its own internal position units for motion control calculations.

  • Page 233: Stepper Motor Interface

    6.12 Stepper Motor Interface In Stepper Motor Inerface Mode the T200 can be used to replace a stepper motor if the dynamics of the stepper motor do not satisfy the requirements of the application. This mode allows as well an easy implementaiton of an electronic gearing.

  • Page 234: Following Error Detection

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.12.2 Following Error Detection Indication and reaction of the drive when the Following Error Limit is exceeded The “Speed/Torque Achieved” output (SPD/TORQ_ACHVD pin 21 of J1), is used to indicate to the user that the Following Error Limit is exceeded.

  • Page 235: Communications Interfaces

    T200 acts as a ‘ s lave’ device that only responds to messages sent by a Host ‘ master’ controller. The Host can be any PC, PLC or other intelligent device that is capable of implementing the communication protocol. Use of the serial channel permits the control Host to read or modify most T200 parameters .

  • Page 236: Message / Reply Formats

    • All numbers are restricted to 8 bits (0..255) • The T200 address for RS232 or single node RS485 is ‘ 0’ . • Delay from start of message to end of message must be less than 0.25 seconds •...

  • Page 237: Modifying T200 Parameters

    SECTION 6: T200 FUNCTIONAL OVERVIEW The address refered to by byte 2 is made from a bitwise OR between the T200 ‘ s lave’ address and the Host ‘ m aster’ address (Master fixed at 80 hex). For RS232, address = 80 hex or 128 decimal .
  • Page 238 Least significant part of Data value Data Byte 2 Data Byte 3 Most significant part of Data Value Additive Check sum MODULO 256 of 9, 2, 180, 220, 64, 31 The T200 acknowledgement will be as follows: Byte Value Meaning Length of command...

  • Page 239: Monitoring T200 Parameters

    • Parameter number (least significant byte followed by most) • Size of parameter to read (2 or 4 bytes). To monitor a parameter, the following message (series of bytes) should be sent to the T200: Byte Value Meaning Length of command...
  • Page 240 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW Example To monitor the parameter UFlag1 (Parameter Number 46316, 2 bytes) the following bytes should be sent to T200: Byte Value Meaning Length of command Address Read parameter Least significant part of Parameter Number 46316...

  • Page 241: Block Data Format

    6.13.2.5 BLOCK DATA FORMAT Write Block Data to T200 Block data is different from parameter data in that it may be relatively large. Block data is written to the T200 in sections of up to 64 bytes, known as paragraphs.
  • Page 242 Paragraphs should all be 64 bytes long except for the last, which may be up to 64 bytes long. To read a paragraph of block data from T200, the following message (series of bytes) should be sent to the T200:...

  • Page 243: Parameter Set Description

    T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW 6.13.3 Parameter Set Description A detailed description of the T200 parameter set can be provided on request. See Section 11 for phone numbers and addresses of Moog Sales outlets. PAGE 6-78 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 244: Parameter Storage

    ASCII text editors. All T200 parameter transactions take place via the RAM Database. For example, it is not possible to alter the Flash database without altering the RAM database. Download of a PC-based .log file will only update the RAM database. An explicit command to save the RAM database to the Flash and personality plug databases has to be given in order to save the RAM parameters to non-volatile storage.

  • Page 245: Personality Plug

    The Personality Plug (Part No.: C25226-001) is a module which allows permanent storage of all T200 user parameters. The module allows the configuration of the T200 without a PC. I.e. in case a T200 need to be replaced in the field the T200 can be configured in connecting the plug to the serial interface J4 and powering up the T200.

  • Page 246: Format Of Log Files

    A parameter-by-parameter listing of values. This file format is relatively easy to review and modify. The example listed below is intended to be indicative of the file structure and is not rigorous in listing all T200 parameters. ; File Name : AXIS12.LOG...
  • Page 247 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW RES.OFFSET = 0.000000 CNFG.ACCESSPARAMS = FALSE REFERENCESELECT = 1 ANALOG.OFFSET = 0.000000 VELOCITY.SCALE = 8000.000000 FG.VELOCITY = 0.000000 FG.TORQUE = 0.000000 FG.DUTYCYCLE = 50.000000 FG.VELOCOFFSET = 0.000000 FG.TORQUEOFFSET = 0.000000 FG.PERIOD = 1.000000 VELLOOPGAIN = 0.010000...
  • Page 248 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW FG.ACCEL = 100.000000 FG.TRAVERSE = 0.000000 FG.STOPFLAG = FALSE ENC.LINECOUNT = 0 ENC.ZEROMARKEROFFSET = 0 DIGIN.REFVEL0 = 0.000000 DIGIN.REFVEL1 = 0.000000 DIGIN.REFVEL2 = 0.000000 DIGIN.REFVEL3 = 0.000000 STEPPERIN.SCALING = 0 STEPPERIN.COMMAND = 2 CAN.COMMCYCLEPERIODUS = 6000...
  • Page 249 T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW INVERT.SYSTEMREADY = FALSE INVERT.THERMALLIMIT = FALSE PAGE 6-84 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 250 T200 User's Manual SECTION 7: WINDRIVE SECTION 7: WINDRIVE PAGE 7-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 251 T200 User's Manual SECTION 7: WINDRIVE TABLE OF CONTENTS WINDRIVE..................................7-1 ..............................7-6 NTRODUCTION ........................7-6 RIVE OFTWARE 7.2.1 System Requirements..........................7-6 7.2.2 Installation ..............................7-6 ............................7-7 TARTING RIVE 7.3.1 Communication Link between WinDrive and Drive ................7-7 RS232 RS485 C ......................7-9 OMMUNICATION 7.4.1 RS232 Connection ..........................7-10...

  • Page 252: Windrive

    T200 User's Manual SECTION 7: WINDRIVE 7.10 ..............................7-31 RIVE 7.10.1 Basic Velocity Mode Drive Set-up......................7-31 7.10.1.1 Units Set-up ................................7-31 7.10.1.2 Select Motor Dialog Box ............................7-32 7.10.1.3 Reference Source Selection............................7-34 7.10.1.4 Reference Rate Limit Set-up ............................7-38 7.10.1.5 Normal and Reduced Power (Automatic and Manual Mode) Limits Set-up............7-38 7.10.1.6 Hardware Limit Switches Set-up ..........................
  • Page 253 Figure 7.14: Plots/Grid Lines Menu Options........................7-23 Figure 7.15: View Menu Options ...........................7-23 Figure 7.16: Help Menu Options ............................7-23 Figure 7.17: About MOOG WinDrive Dialog Box ......................7-23 Figure 7.18: Data Logger Set-up Dialog Box .........................7-24 Figure 7.19: Trigger Flag Set-up Dialog Box .........................7-25 Figure 7.20: Data Logger Run Dialog Box........................
  • Page 254 T200 User's Manual SECTION 7: WINDRIVE Figure 7.55: IT Thermal Limits Dialog Box ........................7-52 Figure 7.56: Invert System Ready Relay / Thermal Limit Output Dialog Box.............. 7-53 Figure 7.57: Apply Brake and Release Brake options on the Drive Menu ..............7-54 Section 7 Table of Tables Table 7.1: Wiring of PSM-EG-RS232/RS485-P/2D ......................

  • Page 255: Introduction

    Hand Held Terminal. This is described in Section 8. The WinDrive Graphical User Interface (GUI) is a standard windows based product used with MOOG’ s T200 Servo- Drive. WinDrive is used as a tool for the user friendly configuring, tuning and monitoring of a T200.

  • Page 256: Starting Windrive

    Communication Link between WinDrive and Drive WinDrive uses the serial port of a PC to communicate with a drive via the MOOG “Set-up Link” protocol, using RS232 or RS485 serial standards. WinDrive software and the physical link between the PC and the drive must both be configured correctly.
  • Page 257 In particular, to re-establish communications after power has been removed from a T200, ensure that the WinDrive time-out message has appeared before re-applying power to the T200. If this is not done, then the user may experience intermittent Windows General Protection faults. If such an error occurs, the user should remove all power from the T200, re-apply power, then wait until the T200 has completed self- initialisation, before resetting communications from WinDrive.

  • Page 258: Rs232 And Rs485 Communication

    T200 User's Manual SECTION 7: WINDRIVE 7.4 RS232 and RS485 Communication RS232 is a serial data standard, which allows WinDrive to communicate directly to a single drive. Both WinDrive software and the physical link between the PC and the Drive must be configured correctly, in order to establish communication.

  • Page 259: Rs232 Connection

    Drive to 25 Way D Type (Modem Equipment) Drive PC with Modem Comm-Port. NOTE: D type lead is available from MOOG. MOOG’ s Order part Number is B75923 . PAGE 7-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 260: Rs485 Communication

    RS485 Communication RS485 is multidrop serial data standard, which allows WinDrive to communicate with a number of T200's, each of which has a unique Axis Address. The communications protocol is the same as for the RS232 link but demands that the drive address identifier be included in order to address individual T200's.

  • Page 261: Rs232/Rs485 Adapter

    For details of wiring for a specific RS232/RS485 adapter, consult the data-sheet for the particular device. 7.4.2.2 RS232/RS485 adapter The RS232/RS485 adapter recommended by MOOG for operation with WinDrive and the RMC/DMC and T200 is PSM-EG-RS232/RS485-P/2D, PN2761392 from Phoenix Contact.

  • Page 262: Password Protection

    Figure 7.3: Password Dialog Box The Password must be a number between 0 and 9999 and is set to 0 when the MOOG WinDrive compatible servo-drive software is shipped. If password protection is not desired, this value should not be changed (just enter 0 and select OK).
  • Page 263 T200 User's Manual SECTION 7: WINDRIVE To change a saved password, the old password is entered in the Password Dialog box. The Change Password Dialog box may then be displayed by selecting the Change button in the Password Dialog box. The new numeric value should be entered in the Password field and the OK button selected.

  • Page 264: Off-Line Mode

    T200 User's Manual SECTION 7: WINDRIVE 7.5.1 Off-line Mode Off-line Mode occurs when the PC communications port is not connected to a servo-drive, the servo-drive is not powered on, or the User has selected Off-line in the Communications Port Dialog box.

  • Page 265: Main Window - Features

    T200 User's Manual SECTION 7: WINDRIVE 7.6 Main Window - Features The WinDrive Main window is divided into several sections: § Outer Frame - Standard Microsoft Windows Frame with minimise/maximise and exit Icons. § Menu Bar - Pull-down menus to access all WinDrive features.

  • Page 266: Function Keys

    The drive must first be disabled before it can be enabled again to re-start the motor. F3 is used to Enable a T200. If a reference source has been set-up, the motor should begin turning when the drive is enabled.

  • Page 267: Main Window Button Console

    Auto Tuning (Velocity Mode Only) Auto Tuning greatly reduces the time needed to configure and tune the T200's velocity loop gain parameters (Note that the Auto Tuner sets the velocity loop gains only). Auto Tuning tunes a drive automatically by applying a torque excitation signal to the motor.

  • Page 268: Menu Options

    T200 User's Manual SECTION 7: WINDRIVE 7.8 Menu Options 7.8.1 File Menu Options • Open - Opens a previously saved log (file extension *.log) or Data Logger (file extension *.mdl) file. • Save - Saves the current Data Logger or log file data to disk for future use.

  • Page 269: Drive Menu Options

    Ø Encoder - Encoder input parameters are set by the user with this option. Ø Front Panel Test Points - Two user configurable test points are available at the T200 Axis Signals connector, J1. The Front Panel Test Points option determines the output signal type at each test point.

  • Page 270: Log Files Menu Options

    RS485 daisychain communications interface. • Select Axis (RS485 only) - When operating in RS485 mode, each servo-drive is assigned an axis-identification number via the two Hex switches on the T200 servo-drive. Select Axis (RS485 only) determines which servo-drive is interfaced by WinDrive. •...

  • Page 271: Data Logger Menu Options

    T200 User's Manual SECTION 7: WINDRIVE • Logfile Player - The log file player “plays” log files which send communication requests to the drive. Log files may be played as a continuous stream of commands or in a string, stepped through line by line. An Echo to File option allows the servo-drive response to each command to be saved to disk.

  • Page 272: View Menu Options

    Using Help - Provides a full guide to using the WinDrive On-line Help system. • About MOOG WinDrive - Gives information on the version of WinDrive software being used. Figure 7.16: Help Menu Options Figure 7.17: About MOOG WinDrive Dialog Box PAGE 7-23 Artisan Technology Group - Quality Instrumentation ...

  • Page 273: Windrive Monitoring Features

    T200 User's Manual SECTION 7: WINDRIVE 7.9 WinDrive Monitoring Features 7.9.1 Data Logger WinDrive’ s Data Logger function is used for monitoring and recording system parameters. This information is read by WinDrive and plotted in the Data Logger Output Window.
  • Page 274 T200 User's Manual SECTION 7: WINDRIVE Several parameters must be set by the user in the Trigger Flag Set-up dialog: Data Trigger Enable - The Data Trigger feature must be enabled before it can trigger the gathering of data. Rising Edge - When this option is selected, data recording will start when the Trigger Source variable rises above the value determined in Trigger Level.

  • Page 275: Engineering User Interface

    T200 User's Manual SECTION 7: WINDRIVE 7.9.2 Engineering User Interface The Engineering User Interface (EUI) is opened by selecting the EUI Icon or the EUI Input option from the Low Level Menu. The EUI dialog box has four main fields: the input (Command) and output (Result) displays, and Command and Result History fields.

  • Page 276: Manual Block Operations

    T200 User's Manual SECTION 7: WINDRIVE 7.9.4 Manual Block Operations Block data may be saved to disk for future use by selecting Manual Block Operations from the Low Level menu, selecting Save to File, as well as the Block Data Number and Length, entering the path and File name and clicking the Update button.

  • Page 277: Drive Status

    T200 User's Manual SECTION 7: WINDRIVE 7.9.6 Drive Status Figure 7.25: Drive Status Dialog Box Available by selecting Drive Status from the Drive Menu, the Drive Status Dialog box provides a table of current drive and motor parameters and is constantly updated by the WinDrive software. The appearance of this dialog box changes to facilitate Reference Source settings.

  • Page 278: Fault Status

    T200 User's Manual SECTION 7: WINDRIVE 7.9.7 Fault Status Figure 7.26: Fault Status Dialog Box This dialog is available by selecting Fault Status from the Drive Menu. This dialog box provides an overview of current fault and warning conditions and is constantly updated by the WinDrive software. This dialog is useful in diagnostic as well as system querying procedures.

  • Page 279: Fault History

    SECTION 7: WINDRIVE 7.9.8 Fault History The T200 provides a means of uploading and displaying the fault history data stored in the T200 non-volatile storage. Using this dialog box, all error data recorded by the drive can be accessed. When the dialog opens, the first 10...

  • Page 280: Drive Set-Up

    7.10 Drive Set-up The drive can be configured in either Position Mode, Velocity Mode or Torque Mode via WinDrive. Note that the T200 defaults to the Velocity loop configuration mode, with an analog ±10V reference type. Configuration of the T200 into other modes besides Velocity Mode is described in Section 6.

  • Page 281: Select Motor Dialog Box

    Having selected the correct motor from the Select Motor Dialog box, the Download button should be clicked to download the motor data set to the T200. This action will take several seconds, as the servo-drive power section is disabled, the T200 put in a special data reception mode, and the data downloaded. During the period of download, a special icon will appear, which indicates that the user must wait until the action is completed.
  • Page 282 30X series, MOOG custom designed motors and previously edited non-MOOG motors. These 'known' motors can be selected and their parameters be viewed and downloaded in the same way as the standard MOOG motors. Figure 7.33: Nonstandard Motor Parameters Dialog Box Parameter information for non-standard motors may be added to a non-standard motor database by selecting the Add Motor button.

  • Page 283: Reference Source Selection

    The T200 only needs to be configured with the correct electrical parameters. Consult the MOOG sales outlet for information on the equivalent standard motor. If this equivalent is known, the standard motor may be entered instead of a non-standard motor.
  • Page 284 Input Offset field is zero. Figure 7.35: Analog Input Dialog Box Position Scaling: If the T200 is operated in Position Mode, then the analog reference can be used as a positioncommand. The Position Scaling can be used to set the number of motor shaft revolutions corresponding to 10V.
  • Page 285 Function Generator Period. Distance: The Distance is used when the T200 is in Position Mode. The T200 generates an S-shaped position profile, with maximum acceleration, speed and end position determined by the Function Generator's Acceleration, Speed Amplitude and Distance (in revolutions) parameters, respectively.
  • Page 286 If integral motion control is used as a command source, the Custom POINT option is selected. This option is only available if the T200 embedded software version is 'Pn', where n is the software revision. Use of this software is covered in the 'T200-POINT User's Manual' MOOG Part Number C09661-001.

  • Page 287: Reference Rate Limit Set-Up

    NOTE – There is a lower limit to the rate limit that can be configured, for both Velocity and Torque Modes. If the user sets the rate limiting at too low a value (corresponding to seconds to reach peak torque or nominal motor velocity), then the T200 will impose a minimum rate limit. PAGE 7-38...

  • Page 288: Normal And Reduced Power (Automatic And Manual Mode) Limits Set-Up

    WARNING: The user should only consider disabling of Manual Mode when he is assured that the T200 is properly configured and no dangers to equipment or personnel are present e.g. if the machine safety cage is open then disabling of Manual Mode is not advised.

  • Page 289: Drive Tuning

    T200. Disable Drive if Regen Exceeded: If this box is ticked the T200 will perform a Quick Stop and disable as soon as the maximum continuous regen power is exceeded. Otherwise only regen exceeded will be indicated but no Quick Stop is performed.

  • Page 290: Saving A Configuration To Non-Volatile Storage

    Select Regen Kit: Allows the selection of the regen kit used in the application. The selection is based on the maximum continuous power of the regen resistor kit. Data of a regen resistor not supplied by MOOG can be set up under “Other”.

  • Page 291: Torque Mode Operation

    T200 User's Manual SECTION 7: WINDRIVE 7.10.2 Torque Mode Operation In Torque Mode, the input command reference is a current command to the power amplifier that drives the motor. The term Torque Mode is adopted because the motor produces a nearly linear torque per ampere of input current. The tuning of the inner current loops of WinDrive compatible servo-drives is pre-programmed during drive initialization, by selection of the motor model or the electrical type.

  • Page 292: Control Loop Configuration And Tuning

    7.11 Control Loop Configuration and Tuning This section describes how WinDrive allows easy configuration and monitoring access to T200 internal variables, to facilitate quick configuration of control loops and estimation of control loop gain values. The Auto Tuning feature is described as well.
  • Page 293 Options group. These features are described in Sections Advanced Options, Section Auto Tuning and Tracking respectively. Update: This button is used to write the tuning parameter values shown in the dialog to the T200. PAGE 7-44...

  • Page 294: Torque Mode Tuning

    Selection). Tuning can be carried out in Reduced Power mode (Manual Mode) where there is a concern about safety. 7.11.3.1 Combined Tuning Window The Drive/Set-up/Combined Tuning main screen configuration provides a convenient way of monitoring T200 variables whilst setting loop gains. The WinDrive Data Logger and the Combined Tuning dialog are immediately visible in this mode.

  • Page 295: Advanced Options

    T200 User's Manual SECTION 7: WINDRIVE It is recommended to monitor the Torque Demand and the Actual Velocity variables during Velocity Loop tuning. The Data Logger will be set up by default to monitor these variables. See Section 7.9.1 Data Logger for a description of how to set up these variables as the logged data set.

  • Page 296: Control Mode

    T200 User's Manual SECTION 7: WINDRIVE parameter. Tuning of the software model for the user applications is described in Section 6.6.2. Note that the Data Logger can be used to record Torque Demand and Observer Position Error, in a convenient way during observer tuning.

  • Page 297: Auto Tuning (Velocity Loop Only)

    Auto Tuning of T200 Velocity Loop Gain parameters and the Velocity Observer is only available through WinDrive. If quick tuning of a T200 is required by the user, WinDrive's Auto Tuning feature can be used to determine the values of both the velocity loop gain and the integral time constant terms.

  • Page 298: Auto Tuning System Parameters

    Load Excitation Signal From File: This checkbox has to be ticked when an excitation signal is to be downloaded from an Input File to the T200. Save Excitation Signal To File: This checkbox has to be checked when an excitation signal is to be uploaded from the T200 to an Output File.

  • Page 299: Tracking Monitoring

    Section 6.6.3. Tuning of the Position Loop Gain is facilitated by use of the Data Logger (see Section Data Logger) and the T200's built-in Function Generator. Set the Data Logger to record Reference Velocity on Channel 1 and Error Position Low on Channel 2.

  • Page 300: Incremental Encoder Input Configuration

    T200 User's Manual SECTION 7: WINDRIVE 7.12 Incremental Encoder Input Configuration The T200 Incremental Encoder input can be set-up via WinDrive. A description of the incremental encoder input is given in Section 6.10. Number of Lines per Revolution: The user sets this input to scale the encoder.

  • Page 301: Equipment And Personal Safety

    T200 User's Manual SECTION 7: WINDRIVE 7.13 Equipment And Personal Safety WinDrive contains several functions to ensure equipment and personal safety. 7.13.1 Manual Mode / Automatic Mode Manual and Automatic operating modes are set from the Limits Dialog box. Values are entered for both the Manual and Automatic Mode limits for Torque and Velocity.

  • Page 302: Drive Disabling

    Disable from the Drive Menu. CAUTION: The user should ensure that sufficient means exist to immediately disable the T200 through hardware means in the event of a communications or other software malfunction. This may be accomplished by switching the ENABLE digital input of the T200 with the main machine safety switch (Red Emergency Button).

  • Page 303: Brake Control

    The value of the parameter “Timeout” under [[ComRs232] in the WinDrive.ini file may have to be increased for older PC’ s (default value: Timeout = 15000). If other application problems are experienced when using WinDrive, the circumstances should be noted and MOOG Applications Engineering should be contacted.
  • Page 304 T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE SECTION 8: HAND-HELD-TERMINAL INTERFACE PAGE 8-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 305 T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE TABLE OF CONTENTS HAND-HELD-TERMINAL INTERFACE ........................8-1 ("P " M ) ...................8-3 ERMINAL NTERFACE 8.1.1 Establishing Serial Communications ......................8-3 8.1.2 Command Line Format..........................8-3 ........................8-5 ERVO DRIVE NITIALIZATION 8.2.1 Motor Configuration ..........................8-6 8.2.2 Standard Motor Configuration ........................

  • Page 306: Hand-Held-Terminal Interface ("Pod" Mode)

    See Section 3.18.1 RS232 Connection for a description of the cabling required to connect PC Serial Port to the T200's J4 Serial Port. If terminal emulation software is used to configure the drive, the serial port of the PC should be connected to that of the T200.
  • Page 307 When configuring the T200 via terminal emulation software, user entries may be deleted with the delete or backspace key. § The [CTRL X] key combination will reset the T200 Series Servo-drive and has the same effect on servo-drive software as turning the power off then on. §...

  • Page 308: Servo-Drive Initialization

    The output of the power ready relay should be used in series with the enable interlock circuitry of any T200 servo-drive without integrated power supply that takes its d.c. bus power from the T200 with integrated power supply. Refer to Section 6.3.

  • Page 309: Motor Configuration

    Section 6.13 for a description of the operation of the data storage systems of T200. The servo-drive will be ready to enable once the 7 segment display on the front of the T200 displays either an ‘ O ’ character (for T200 is OK) or a ‘ U ’ (warning character) followed by a digit.
  • Page 310 NOTE - Re-configuring the drive by changing the motor type, the compensator etc. will cause all previous tuning information to be lost. The T200 has now initialised and has set its parameters to the following default values before returning to the input prompt §...

  • Page 311: Non-Standard Motor Configuration

    Peak Rated Motor Current Ar.m.s. or Apeak Current Loop Gain 0 to 15 Number of Motor Poles Usually 8 or 12 for Moog motors Rated Continuous Motor Ø Ar.m.s. or Apeak Current (Ic) Rated Peak Motor Ø Ar.m.s. or Apeak...

  • Page 312: Servo-Drive Tuning

    8.3 Servo-drive Tuning Section 6 already contains a comprehensive overview, which is oriented at the Hand-Held terminal interface, on how to tune the T200 control loops. Please refer to this section for a procedure on how to tune the loops. PAGE 8-9...

  • Page 313: T200 Hand-Held-Terminal Command Set

    Hand Held Terminal. If this occurs simply type <CR> several times at the Hand Held Terminal and the prompt ‘ > ’ will appear on the display. This prompt indicates that the T200 is now communicating properly with the Hand Held Terminal.

  • Page 314: Drive Set-Up Commands

    Set STANDARD motor parameters. privileged mode access Modify Password (once This command is used in the case privileged mode) where the motor is a Moog standard Set the drive control loop reference catalogue item. source. Options: NON-STANDARD motor Analogue Input used as the...

  • Page 315: Drive Limits Commands

    T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE 8.4.3 Drive Limits Commands 8.4.7 Incremental Encoder Commands Set the Emergency Deceleration Rate Enable/Disable the Hardware Limit for Quick-Stops and Limit Switch Switches activation. Set the Automatic Mode Velocity Limit 8.4.8 Manual Mode Disable Commands...

  • Page 316: Diagnostics Commands

    List the present fault conditions Increase the Observer Inertia J List present latched fault Enable disable Observer Velocity Estimate conditions. NOTE:- the T200 front panel 7- Set Set-Point-Achieved Velocity segment display shows fault Set-Point-Achieved Velocity conditions, which occurred up until this Band command, is used.

  • Page 317: Warnings Commands

    OFTO Set the Function Generator Torque Offset Apply / Release the motor braka 8.4.13 CAN Configuration Commands Enable the T200 (the hardware enable must already be conducting Set the CAN Baud Rate current) Set CAN Position Scaling for the Disable the drive...

  • Page 318: Thermal Protection Commands

    T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE 8.4.16 Thermal Protection Commands Set the IT Protection parameters: • Ipeak • Icont • Max Time at Ipeak Disable the Thermal Protection 8.4.17 User-Calibration Commands Set the Analog Input Offset on the analog reference input...
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  • Page 320 T200 User's Manual SECTION 9: CAN INSTALLATION SECTION 9: CAN INSTALLATION PAGE 9-1 Version 37/00 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 321 T200 User's Manual SECTION 9: CAN INSTALLATION TABLE OF CONTENTS SECTION 9: CAN INSTALLATION ........................ 9-1 ............................9-3 NTRODUCTION CAN C ..........................9-4 ABLE IRING SECTION 9 TABLE OF FIGURES Figure 9.1:- CAN Wiring and Termination ......................9-4 Figure 9.2:- CAN-In/CAN-Out Connector (J2 and J3) Wiring................9-5 PAGE 9-2 Artisan Technology Group - Quality Instrumentation ...
  • Page 322 Automotive and Industrial applications. The T200 provides two CAN Modes of operation:- 1. CAN Interpolation Mode:- The System Motion Controller transmits target positions at high data rates, and the T200 finely interpolates these positions to follow the target trajectory.
  • Page 323 SECTION 9: CAN INSTALLATION 9.2 CAN Cable Wiring The CAN-In and CAN-Out ports at J2 and J3 of the T200 provide the means to daisy-chain the CAN cabling between T200 units. Note:- 1. CAN lines must be terminated in a 120Ohm resistance, between the positive and negative terminals (CAN-High and CAN-Low).
  • Page 324 T200 User's Manual SECTION 9:- CAN INSTALLATION Figure 9.2:- CAN-In/CAN-Out Connector (J2 and J3) Wiring PAGE 9-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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  • Page 326 T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE SECTION 10: TROUBLE-SHOOTING GUIDE PAGE 10-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 327 SECTION 10: TROUBLE-SHOOTING GUIDE How to use this Section The table of contents below should help the user to understand problems and find solutions. The status of the T200 power status LED’ s and 7-segment display is used as the starting point.
  • Page 328 ROBLEM OURCES 10.6.1 Problem: T200 will not enable ......................10-26 10.6.2 Problem: T200 is Enabled, but will not move the Axis................ 10-27 10.6.3 Problem: T200 Movement is not Smooth..................... 10-28 10.6.4 Problem: Excessive Audible Noise from the Motor................10-29 10.6.5 Problem: Motor Shaft rotates in the Wrong Direction .................

  • Page 329: Introduction

    The T200 provides extensive diagnosis of fault conditions and warnings, as well as high power status information. This diagnostic information is intended to aid in the troubleshooting of applications and controller problems. The following sections explain why high power status LED are illuminated, and what problem sources can cause faults and warnings to be displayed on the 7-segment display.

  • Page 330: Power Status Led's Not Illuminated

    10.2 Power Status LED's not Illuminated Section 3.19 T200 User Visual Indications outlines the functionality of the power status LED's on the T200. The following is list of problem sources and corrective actions when these LED's fail to illuminate, or in the case of the REGEN-ACTIVE LED, is constantly illuminated.

  • Page 331: Fault Type: Dc-Bus-Active Led Is Not Lighting

    Too many T200-X00 Units connected to the T200-X10 unit will cause the softstart Too Many T200-X00 mechanism to malfunction. Note that a maximum of 4 T200-X00 units can be connected to Units Connected to a T200-X10 unit [Reduce the number of T200-X00's (units without integral High-Power DC-Bus PSU) which are connected to the T200-X10 (unit with integral High-Power PSU)].

  • Page 332: Seven-Segment Display Status

    The following section deals with T200 7-segment display status conditions. These are conditions that indicate to the user a particular T200 state. They may or may not indicate real problems with the unit. For example, if the 7-segment display is not illuminated, then there is no high voltage or logic backup power applied to the T200.

  • Page 333: F' Symbol Followed By Number On Seven-Segment Display (Faults)

    The following section deals with fatal T200 faults. These are fault conditions, which cause the T200 to immediately remove high power from its power amplifier. If the fault condition has not been removed, then the T200 cannot generate torque in the motor.

  • Page 334: Fault Type: F2 (Dc-Bus Overvoltage) On 7-Segment Display

    SECTION 10: TROUBLE-SHOOTING GUIDE 10.4.2 Fault Type: F2 (DC-Bus Overvoltage) on 7-segment Display The F2 fault is displayed when the DC-Bus voltage exceeds 400V d.c. The T200 disabled itself immediately when the fault occurred. Table 7: Causes of F2 on 7-segment Display...

  • Page 335: Fault Type: F3 (Fuse Fault) On 7-Segment Display

    The F3 fault is displayed when either the internal regeneration resistor fuse (ONLY on T200-X10 units) or the DC bus fuse or both fuses have blown. If the drive is enabled the T200 decelerates and disables itself immediately when the fault occurs.

  • Page 336: Fault Type: F4 (Psu Heatsink Overtemperature) On 7-Segment Display

    10.4.4 Fault Type: F4 (PSU Heatsink Overtemperature) on 7-Segment Display The F4 fault is displayed when the High Power PSU Heatsink Temperature is excessive. The T200 decelerates and disables itself immediately when the fault occurs. Table 9: Causes of F4 on 7-segment Display...

  • Page 337: Fault Type: F6 (Motor Over-Temperature) On 7-Segment Display

    10.4.6 Fault Type: F6 (Motor Over-Temperature) on 7-Segment Display The F6 fault is displayed when the motor temperature is too high (at or greater than 155°C). The T200 decelerates and disabled itself immediately when the fault occurs. Table 11: Causes of F6 on 7-segment Display...

  • Page 338: Fault Type: F7 (Internal Software Fault) On 7-Segment Display

    SECTION 10: TROUBLE-SHOOTING GUIDE 10.4.7 Fault Type: F7 (Internal Software Fault) on 7-Segment Display The F7 fault is displayed when an internal software error has occurred. The T200 disabled itself immediately when the fault occurred. Table 12: Causes of F7 on 7-segment Display...

  • Page 339: Fault Type: F9 (Internal Dc/Dc Fault) On 7-Segment Display

    10.4.9 Fault Type: F9 (Internal DC/DC Fault) on 7-segment Display The F9 fault is displayed when a internal analogue power supplies are below acceptable voltage levels. The T200 disabled itself immediately when the fault occurred. Table 10: Causes of F9 on 7-segment Display...

  • Page 340: U' Symbol Followed By Number On Seven-Segment Display (Warnings)

    The U1 Warning is displayed when a.c. Mains power has not been applied on T200-X10 units, OR the Power-RDY digital input has not been activated on T200-X00 units. The T200 cannot generate torque in the motor when U1 is present.

  • Page 341: Warning Type: U2 (Motor Temperature Warning) On 7-Segment Display

    10.5.2 Warning Type: U2 (Motor Temperature Warning) on 7-Segment Display The U2 warning is displayed when the motor temperature exceeds 130°C. The T200 can generate reduced torque in the motor when U2 is present. Table 15: Causes of U2 on 7-Segment Display...

  • Page 342: Warning Type: U3 (Power Amplifier Warning) On 7-Segment Display

    The U3 warning is displayed when the power amplifier internal heatsink temperature comes within about 10°C of its fault temperature. The warning may only signify that the T200 is being used close to its thermal limits. The T200 can generate torque in the motor when U3 is present.

  • Page 343: Warning Type: U4 (Position Error Warning) On 7-Segment Display

    Warning Type: U4 (Position Error Warning) on 7-Segment Display The U4 Warning is displayed when the T200 position error exceeds the user-programmed range (see Section 6.6.3 for an overview of position error monitoring). The T200 can generate torque in the motor when U4 is present.

  • Page 344: Warning Type: U5 (Velocity Error Warning) On 7-Segment Display

    Warning Type: U5 (Velocity Error Warning) on 7-Segment Display The U5 Warning is displayed when the T200 velocity error exceeds the user-programmed range (see Section 6.6.2 for an overview of velocity error monitoring). The T200 can generate torque in the motor when U5 is present.
  • Page 345 Warning Type: U6 (External Regen Resistor Warning) on 7-segment Display The U6 warning is displayed when the thermal rating of the external regeneration resistor has been exceeded. The T200 can generate torque in the motor when U6 is present. Table 19: Causes of U6 on 7-segment Display...

  • Page 346: Warning Type: U7 (Can Communications Warning) On 7-Segment Display

    10.5.7 Warning Type: U7 (CAN Communications Warning) on 7-segment Display The U7 warning is displayed when the CAN interface has malfunctioned. The T200 will servo-stop, apply the brake if present, and then disable when U7 occurs. Table 20: Causes of U7 on 7-segment Display...

  • Page 347: Warning Type: U8 (Limit Switches Warning) On 7-Segment Display

    The U8 warning is displayed when the Limit Switches (digital inputs on J1) have been activated, and they have not been disabled through software control. The T200 can still generate torque when the limit switches have been activated. Table 21: Causes of U8 on 7-segment Display...

  • Page 348: Warning Type: Ua (Quick-Stop Warning) On 7-Segment Display

    T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE 10.5.9 Warning Type: UA (Quick-Stop Warning) on 7-segment Display The UA warning is displayed when the servo-stop function is active, ONLY IF the Reference Source is the CAN interface, in Interpolation Mode. Table 22: Causes of UA on 7-segment Display...
  • Page 349 Warning Type: Ub (Stepper or Inc. Encoder Warning) on 7-segment Display The Ub warning is displayed when the incremental encoder or stepper motor interface cable is disconnected. The T200 can still generate motor torque when Ub is displayed. Table 23: Causes of Ub on 7-segment Display...

  • Page 350: Warning Type: Dot (Thermal Limit Warning) On 7-Segment Display

    Warning Type: Dot (Thermal Limit Warning) on 7-segment Display The Dot warning is displayed when the T200 current demand exceeds the thermal current limit that was derived from a variety of sources. The T200 can generate torque in the motor when Dot is present.

  • Page 351: Other Problem Sources

    Problem: T200 will not enable The T200 can be enabled only if all faults have been removed, high power is present, AND if the digital input ENABLE on J1 is activated simultaneously. The E symbol on the 7-segment display indicates that the T200 is enabled.

  • Page 352: Problem: T200 Is Enabled, But Will Not Move The Axis

    SECTION 10: TROUBLE-SHOOTING GUIDE 10.6.2 Problem: T200 is Enabled, but will not move the Axis The motor cannot move the axis, though the T200 is already applying high voltage to the motor. Table 26: Causes of T200 not moving Cause...

  • Page 353: Problem: T200 Movement Is Not Smooth

    Motor Phase(s) Disconnected [Disable the T200. Remove all power from the T200 and wait 5 minutes before attempting re-connection. Check the motor power cable connections to TB8. Re-apply power to the T200. Re-enable and try again to move the axis.]...

  • Page 354: Problem: Excessive Audible Noise From The Motor

    [Use a braided wire, or low AWG wire to connect the T200 chassis to Earth. A PE connection point is provided at the top right hand side of the T200's front panel (see Section 3.4 for a diagram of the Front Panel) to augment the TB2 PE connection point.

  • Page 355: Problem: Motor Shaft Rotates In The Wrong Direction

    Channel B will appear to lead Channel A when viewed by the user. [Check all ESM cable wiring to ensure proper of wiring.] The motor phase wiring may be swapped. Remove all power from the T200. Check the Motor Wiring motor phases wiring against Figure 3.32 and Table 3.7.

  • Page 356: Problem: No Esm Position Feedback From The T200

    Table 30: Causes of no ESM Feedback Cause Check/[Correction] The RS422 type outputs on the T200 are isolated from the T200 control section. A user- No user-supplied supplied 5V must be available to supply power to the isolated side of these RS422 drivers.
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  • Page 358 T200 User's Manual SECTION 11: USER INFORMATION SECTION 11: USER INFORMATON PAGE 11-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 359 T200 User's Manual SECTION 11: USER INFORMATION TABLE OF CONTENTS USER INFORMATON..............................11-1 11.1 ............................11-3 ECHNICAL UPPORT PAGE 11-2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 360 T200 User's Manual SECTION 11: USER INFORMATION 11.1 Technical Support Technical support for Windrive and Moog Brushless DC Motor Drive products is available by contacting MOOG at one of the following addresses: - Europe and Asia North America MOOG GmbH...
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  • Page 362 T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION APPENDIX A: EMC TEST CONFIGURATIONS PAGE A-1 C27095-001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 363 Test Configuration 8: Supplementary EMC Emissions & Immunity: Single Phase Power Application....A-7 Test Configuration 9: EMC Emissions & Immunity: 3 Phase Power application........... A-8 Single Phase Power Application: Line Filtering (Models T200-3XX, -4XX, -5XX)..........A-9 PAGE A-2...

  • Page 364: Appendix A:- Test Configurations For Emc-Related Ce-Compliance

    Controllers are installed. The T200 Series Motor Controllers have been tested for compliance with the EU EMC Directive in so far as they can be regarded as single functional units. The T200 Series Motor Controllers have been tested in typical configurations and it has been found that these configurations meet the essential requirements of the EU EMC Directive.

  • Page 365: Test Configuration 3: Emc Emissions: 3 Phase Power Application

    Input power was supplied via a 3 phase 400:230 V a.c. step down isolation transformer connected by armoured cable to the AC LINE IN port on the T200-410 Drive. The DC BUS voltage was daisy chained from the T200-410 Drive to the T200-400 Drive.

  • Page 366: Test Configuration 4: Emc Emissions: 3 Phase Power Application

    T200-400 CAN IN port. There were 3m shielded cables terminated in characteristic impedances connected to the CAN IN port on the T200-510 Drive and the CAN OUT port on the T200-500 Drive and a daisy chain connection from the T200-510 CAN OUT port to the T200-500 CAN IN port.

  • Page 367: Test Configuration 6: Supplementary Emc Emissions & Immunity: Single Phase Power Application

    T200-400 CAN IN port. There were 3m shielded cables terminated in characteristic impedances connected to the CAN IN port on the T200-510 Drive and the CAN OUT port on the T200-500 Drive and a daisy chain connection from the T200-510 CAN OUT port to the T200-500 CAN IN port.

  • Page 368: Test Configuration 7: Supplementary Emc Emissions & Immunity: Single Phase Power Application

    There were 3m shielded cables terminated in characteristic impedances connected to the CAN IN port on the T200-510 Drive and the CAN OUT port on the T200-500 Drive and a daisy chain connection from the T200-510 CAN OUT port PAGE A-7...

  • Page 369: Test Configuration 9: Emc Emissions & Immunity: 3 Phase Power Application

    Input power was supplied via a 3 phase 400:230 V a.c. step down isolation transformer connected by separate armoured cables to the AC LINE IN port on each T200-610 Drive. The external regen resistors (8 ohm ) were connected via 10m.

  • Page 370: Single Phase Power Application: Line Filtering (Models T200-3Xx, -4Xx, -5Xx

    • Locate the Line filter as close as possible to the T200 Power input connector. Total cable length from Line Filter to the T200 Power input connector should not exceed 1 metre. Keep all cable lengths as short as possible and route separately from other cables and conductors.
  • Page 371 T200 User's Manual APPENDIX A: EMC TEST CONFIGURATION P Clip ( Cable shield connection to earth ) Output cable Input cable LINE FILTER Correct Input/Output Cable Routing Output cable Input cable LINE FILTER Incorrect Input/Output Cable Routing PAGE A-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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  • Page 373 Australia Austria Brazil China China Denmark England Finland France Germany India Ireland Italy Japan Korea Philippines Russia Singapore Spain Sweden Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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