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MOOG ANIMATICS Combitronic DS2020 Installation And Start-Up Manual

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INSTALLATION  AND  STARTUP
SINGLE AXIS DIGITAL
SERVO SYSTEM
DS2020 TECHNOLOGY
WITH  COMBITRONIC™
THIS  DOCUMENT  DESCRIBES  THE
INSTALLATION  AND  STARTUP FOR THE DS2020
COMBITRONIC™ SYSTEM
www.animatics.com
Rev. A, January 2021

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Summary of Contents for MOOG ANIMATICS Combitronic DS2020

  • Page 1 INSTALLATION  AND  STARTUP SINGLE AXIS DIGITAL SERVO SYSTEM DS2020 TECHNOLOGY WITH  COMBITRONIC™ Rev. A, January 2021 THIS  DOCUMENT  DESCRIBES  THE INSTALLATION  AND  STARTUP FOR THE DS2020 COMBITRONIC™ SYSTEM www.animatics.com...

  • Page 2: Copyright Notice

    Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Combitronic and the Combitronic logo are Combitronic logo all trademarks of Moog Inc., Animatics. Other trademarks are the property of their respective owners.

  • Page 3: Table Of Contents

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents Table Of Contents Copyright Notice Table Of Contents List of Figures Foreword About Moog Document Version Revision Record Reader Instructions 1 Introduction 1.1 Purpose 1.2 Related Documents 1.3 Package Contents 1.4 Required Qualifications of Personnel...
  • Page 4 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents 2.7.4 Power Supply 2.7.5 Prohibited Use 2.8 Risk Assessment 2.8.1 Installation Risk Assessment 2.8.2 General Machine/System Safeguards Information 2.8.3 Safeguards Related to SCRF 3 System Overview 3.1 Product Structure 3.1.1 Product Description...
  • Page 5 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents 5.1.1 Tools 5.1.2 Electronic Equipment 5.2 Mechanical Installation 5.2.1 Assembly of System Components 5.2.1.1 Drive Installation 5.2.1.2 Power Line Filter Installation 5.2.1.3 Braking Resistor Positioning 5.3 Electrical Installation and Thermal Rating 5.3.1 Safety and General Instructions...
  • Page 6 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents 6.4 Installing the SMI Software 6.4.1 Installation Procedure 6.4.2 Installation Verification 6.5 Accessing the SMI Software Interface 6.5.1 Chart View 6.6 Detecting and Addressing the DS2020 Combitronic System 6.6.1 Understanding the Detection and Addressing Options 6.6.2 Using the Find Motors Button...
  • Page 7 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents 6.13.2 Viewing the DS2020 Combitronic System's Motor Position with the Motor View Tool 6.14 Decommissioning Procedure 7 Shipment and Storage 7.1 Receiving and Checking the Shipment 7.2 Storage 7.2.1 Regenerating the Electrolytic Capacitors after Storage 8 Maintenance 8.1 Periodic Maintenance...
  • Page 8 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Table Of Contents 10.6 Safe Torque Off Connections 10.6.1 Connector X6 – JRC1 10.6.2 Electrical Input/Output Specifications 10.7 Example Application 10.7.1 Description 10.7.2 Example Requirements 10.8 Safe Torque Off Installation and Maintenance Procedure 10.9 Assembly and Serial Tests...

  • Page 9: List Of Figures

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide List of Figures List of Figures Figure 1: DS2020 Combitronic Front View Figure 2: DS2020 Combitronic System Theory of Operation Flow Chart Figure 3: Example Drive Plate Figure 4: Drive Model Codes...
  • Page 10 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide List of Figures Figure 31: Configuration Window Showing Found/Addressed DS2020 Combitronic System Figure 32: Selecting the Detect Motors Feature Figure 33: Address the Motors Prompt Figure 34: Motor View Information Figure 35: Configuration Window Showing Found/Addressed DS2020 Combitronic System...

  • Page 11: Foreword

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Foreword Foreword The DS2020 Combitronic drives meet the Low Voltage Directive (2014/35/EU) and EMC Directive (2014/30/EU). The safety function "Safe Torque Off" (STO) integrated in the drive complies with the Machinery Directive (2006/42 / EC).

  • Page 12: Reader Instructions

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Reader Instructions Revision Description Date First release January 2021 Reader Instructions The following table shows the symbols adopted in Moog documents: DANGER DANGER indicates a hazardous situation which, if not avoided, will result in death or serious injury.
  • Page 13 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide Reader Instructions Symbol Explanation Thermal hazard alert symbol. Mechanical hazard alert symbol. General hazard alert symbol. Notes about important operations and other useful information. Ø This is an action to be carried out.

  • Page 14: Introduction

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1 Introduction 1 Introduction This chapter provides introductory information about this guide and the DS2020 Combitronic system. 1.1 Purpose 1.2 Related Documents 1.3 Package Contents 1.4 Required Qualifications of Personnel 1.5 Applicable Laws 1.6 Getting Started...

  • Page 15: Purpose

    SMI software online help (available within the SMI software) SmartMotor™ Developer's Guide (available on the Moog Animatics website) SmartMotor™ fieldbus guides (available on the Moog Animatics website) DS2020 Drive With Combitronic Capability Systems Guide (available on the Moog Animatics website) 1.3 Package Contents...

  • Page 16: Required Qualifications Of Personnel

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1.4 Required Qualifications of Personnel 1.4 Required Qualifications of Personnel WARNING WARNING: Personal injury and property damage risk. Failure to follow all safety precautions when the drive is installed, operated or maintained may pose a risk of death or serious injury to personnel, or serious damage to property.

  • Page 17: Getting Started

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 1.6 Getting Started 1.6 Getting Started The process for getting the DS2020 Combitronic system installed, configured and operational looks like this: 1. Read this guide. 2. Read the related documents that are supplied with the DS2020 Combitronic system, see Related Documents on page 15.

  • Page 18: Safety Information

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2 Safety Information 2 Safety Information This chapter provides safety information for the DS2020 Combitronic system. 2.1 Safety and Usage Guidelines 2.2 Qualified Personnel 2.3 Electrical Hazards 2.3.1 Voltage Arcs and High Voltage 2.3.2 General Hazards and Safeguards...

  • Page 19: Safety And Usage Guidelines

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.1 Safety and Usage Guidelines 2.1 Safety and Usage Guidelines Do not attempt to install, operate, maintain or inspect the DS2020 Combitronic system until you have carefully read this guide and the other supplied documents, and you are properly trained in the correct use of the equipment.

  • Page 20: Electrical Hazards

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.3 Electrical Hazards IEC 60364 IEC 60664 Accident prevention national, regional and local regulations for the site where the system or machine will be operated 2.3 Electrical Hazards WARNING WARNING: Electrical hazard. High voltage may be present, which can result in death or serious injury to personnel, or damage to equipment.

  • Page 21: General Hazards And Safeguards

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.3.2 General Hazards and Safeguards Never attempt to remove safety covers, or loosen or disconnect the electrical connections when the DS2020 Combitronic system is powered up, Never attempt to perform any cleaning or maintenance operations when the DS2020 Com- bitronic system is powered up.

  • Page 22: Sto Safety Feature

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.6 STO Safety Feature 2.6 STO Safety Feature 2.6.1 Description The DS2020 Combitronic drives include the STO (Safe Torque Off) function as a standard feature to ensure protection for personnel and equipment against accidental restart and re-enabling of the drive.

  • Page 23: Safe Use Of The Ds2020 Combitronic System

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.7 Safe Use of the DS2020 Combitronic System Input voltage 24 V +/- 10 % Max input current 50 mA +/- 10 % Voltage Feedback 30 V max Current Feedback 200 mA max 2.7 Safe Use of the DS2020 Combitronic System...

  • Page 24: Prohibited Use

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.7.5 Prohibited Use 2.7.5 Prohibited Use WARNING WARNING: Risk of death or serious injury to personnel, or damage to equipment. Uses other than those described above (safe use) can lead to death or serious injury to personnel, or damage to equipment.

  • Page 25: Risk Assessment

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.8 Risk Assessment 2.8 Risk Assessment In order to protect personnel from any safety hazards in the machine or system, the machine/system builder must perform a "Risk Assessment", which is often based on ISO standards. The...

  • Page 26: General Machine/System Safeguards Information

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.8.2 General Machine/System Safeguards Information 2.8.2 General Machine/System Safeguards Information In general, the machine/system safeguards must: Provide a barrier to prevent unauthorized entry or access to the machine or system. The barrier must be designed so that personnel cannot reach into any identified danger zones.
  • Page 27 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 2.8.3 Safeguards Related to SCRF The frequency of operation of each SCRF Requested response time of each SCRF Description of each SCRF SCRF interface with other functions of the machine Description of the reactions related to machine reboot failures and constraints, when the...

  • Page 28: System Overview

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3 System Overview 3 System Overview This chapter provides an overview of the DS2020 Combitronic system. 3.1 Product Structure 3.1.1 Product Description 3.1.2 Storage and Working Conditions 3.1.3 DS2020 Combitronic Standard Models 3.1.4 Model Codes...

  • Page 29: Product Structure

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.1 Product Structure 3.1 Product Structure 3.1.1 Product Description The DS2020 Combitronic system represents the new generation of Moog digital servo drives for the control of brushless synchronous or asynchronous motors. It is comprised of a single stand-alone drive powered directly by a 3-phase AC mains supply and by a separate +24 VDC control power supply.

  • Page 30: Figure 2: Ds2020 Combitronic System Theory Of Operation Flow Chart

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.1.1 Product Description Command Acquisition Positioning Combitronic Loop AniBasic Settings Acquisition Elaboration Fieldbus Speed internal Loop Command memory Generation Feedback Acquisition Torque IGBT Motor Command Resolver Loop Bridge Generation Feedback Figure 2: DS2020 Combitronic System Theory of Operation Flow Chart...

  • Page 31: Storage And Working Conditions

    DS2020 Combitronic drive, it is essential to communicate to Moog Animatics all the data indicated on the drive ID plate, refer to the following figure. The year and week of assembly are identified by the 'Date' field. The first two digits of the number are for the year, and the second two indicate the week (example DATE 1907: year 2019, week 7).

  • Page 32: Model Codes

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.1.4 Model Codes Serial Number Model Date Rated data Model code STO function Figure 3: Example Drive Plate 3.1.4 Model Codes To identify the available models, refer to the following codes. Axis module coding...

  • Page 33: Connector Kits

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.1.5 Connector Kits 3.1.5 Connector Kits To order a connector kit, refer to the following table. For cable information, see Cables on page 48. Connector Transducer type Serial link type kit PN...

  • Page 34: Features And Component Details

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2 Features and Component Details 3.2 Features and Component Details This section provides details on the features and components of the DS2020 Combitronic system. 3.2.1 Electrical Data Electrical data AC supply voltage...

  • Page 35: Figure 5: Drive Chassis Dimensions (L50 And L75)

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.2 Mechanical Data The following figures are provided to show external dimensions only. The front panel shown may not represent the particular option(s) ordered on your drive. Module 50 mm (1.97 inch) 50 (1.97)

  • Page 36: Transducers

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.3 Transducers Module 85mm (3.35 inch) (3.35) . 0 ( 7.5 (0.30) 50 (1.97) 4.5 (0.18) 34.5 (1. Figure 6: Drive Chassis Dimensions (L85) 3.2.3 Transducers The DS2020 Combitronic system can manage the following transducers: •...

  • Page 37: Connectors

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4 Connectors 3.2.4 Connectors X1: +24 V Control power X2: Resolver interface X3: USB interface X4: Digital I/O, Programmable X5: Input/Output Analog I/O Digital I/O Drive OK Restart X6: STO interface LED Display...

  • Page 38: Connector Layout

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout Below is the list of connectors. Size Connector Function +24 VDC Control Power In Resolver motor feedback USB interface for firmware updates only (contact Applications Engineering for assistance) Programmable digital connector...
  • Page 39 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout X2 Motor Feedback Definition Function COS- COS+ SIN- SIN+ TEMP TERM A 8 kHz- TEMP TERM B 8 kHz+ Motor Thermal Sensor Inputs The X2 and X10 connectors provide inputs for a motor thermal (temperature) sensor. Both connectors behave exactly the same with regard to the thermal sensor signals.
  • Page 40 The 24 Volt power supply provided on the connector can be used to power external devices. Moog Animatics recommends the use of a shielded twisted cable for connections between devices and the DS2020 Combitronic system. For a sample RS-485 driver for the X4 connector, see Example RS-485 Driver on X4 on page 160.
  • Page 41 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout X5 Analog and Digital I/O Connector Pin Definition Function Analog IN1+ Not used Analog IN1- Not used Not used Analog IN2+ Analog IN2- Not used Not used Analog OUT1 Not used...
  • Page 42 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout Reset button When pressed, causes the initialization of the drive control section. A long press (> 3 seconds) accesses the boot routine of the drive, which provides the ability to install a different version of firmware.
  • Page 43 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout Definition Function RS-232 GND Ground RS-232 RX Serial receive RS-232 TX Serial transmit Shield Shield The CAN interface X7 is isolated to improve noise rejection: CAN L, CAN H, CAN GND are floating.
  • Page 44 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout X10 Integrated Motor Brake Function 0 Volt + 24 Volt 0 Volt Brake output Thermal protection Thermal protection The brake control circuit must be externally powered through X10. WARNING WARNING: Mechanical hazard.
  • Page 45 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.4.1 Connector Layout NOTICE The brake cannot be autonomously monitored if there is an insufficient voltage level. Consequently, it is necessary to measure the voltage on the input of the brake, and always verify the functionality when releasing and braking.

  • Page 46: Power Line Filters

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.5 Power Line Filters 3.2.5 Power Line Filters To ensure proper compatibility with the EMC standards, insert a power line EMC filter, code AT6009 or AT6010 (or equivalent), between the AC supply and drive.

  • Page 47: Line Inductors

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.2.7 Line Inductors Power Size Ohms Position [Watts] Internal External External The supplied brake resistor ensures adequate power dissipated for a typical light work cycle where the braking current is lower than the nominal value. In applications where a heavy braking cycle is required, contact Applications Engineering.

  • Page 48: Cables

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.4 Cables 3.4 Cables Power and Feedback cables are available from Moog. Refer to the following table. Part Number Description Motor CBLCD-PWR1-FL-xM CD Motor Series Power cable, flex rated, 1.5 mm (Size...
  • Page 49 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 3.4 Cables The power and control cables (except those that go from the AC power supply to the filter) must be shielded. To minimize noise, it is recommended that they are separated from each other at a distance greater than 200 mm.

  • Page 50: Certifications

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4 Certifications 4 Certifications This chapter provides information about the DS2020 Combitronic system certifications. 4.1 CE Certificate 4.2 Safe Torque Off (STO) 4.3 Certification Compliant System Installation Requirements 4.3.1 Environmental Ratings 4.3.2 Short Circuit Protection 4.3.3 Primary Circuit Overvoltage Protection...

  • Page 51: Ce Certificate

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.1 CE Certificate 4.1 CE Certificate According to the European Community Directives, drives must conform to: EMC 2014/30/EU directive Low Voltage Directive 2014/35/EU The DS2020 Combitronic system has been tested in a laboratory for the verification of the parameters of compliance with the above Directives.

  • Page 52: Figure 8: Ce Declaration Of Conformity

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.1 CE Certificate Figure 8: CE Declaration of Conformity PN: SC80100020-001, Rev. A January 2021 Page 52 of 166...

  • Page 53: Safe Torque Off (Sto)

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.2 Safe Torque Off (STO) 4.2 Safe Torque Off (STO) The DS2020 Combitronic integrates the Safe Torque Off (STO) function according to standards EN 61800-5-2; EN/ISO 13849-1. SILCL 3 PL "e" (as per certificate). The function also corresponds to an uncontrolled stop in accordance with stop category 0 of IEC/EN 60204-1 standard.

  • Page 54: Figure 9: Ce "Safe Torque Off" Certificate Of Conformity

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.2 Safe Torque Off (STO) Figure 9: CE "Safe Torque Off" Certificate of Conformity PN: SC80100020-001, Rev. A January 2021 Page 54 of 166...

  • Page 55: Figure 10: Ec-Type Examination Certificate

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.2 Safe Torque Off (STO) Figure 10: EC-Type Examination Certificate PN: SC80100020-001, Rev. A January 2021 Page 55 of 166...

  • Page 56: Certification Compliant System Installation Requirements

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.3 Certification Compliant System Installation Requirements 4.3 Certification Compliant System Installation Requirements 4.3.1 Environmental Ratings Environmental designation: “Open Type drive – Suitable for Pollution degree 2 Installation Environment” "(Eng. Note: Provided by end use installation enclosure)”...

  • Page 57: Short Circuit Protection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.3.2 Short Circuit Protection 4.3.2 Short Circuit Protection The “Short Circuit Protections” are provided by both: Internal “Solid State Short Circuit Protection” External “Branch Circuit Protection (BCP) – Fuses (R/C Special Purpose Fuses (JFHR2/8)”...

  • Page 58: Primary Circuit Overvoltage Protection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.3.3 Primary Circuit Overvoltage Protection 4.3.3 Primary Circuit Overvoltage Protection The “Open Type, Servo Drives – DS2020 Series” are protected from Transient-Overvoltage in the Power Supply Primary Circuit of the end-use applications by: R/C Surge-Protective Device (VZCA2, VZCA8 or CSA certified), Internally provided and Externally required in the “Main Line Supply”.

  • Page 59: Dynamic Brake Unit Ratings

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 4.3.4 Dynamic Brake Unit Ratings 4.3.4 Dynamic Brake Unit Ratings For the “Open Type, Servo Drives – DS2020 Series” the “Dynamic Brake Unit – Chopper (IGBT)” transistor is connected to the following “Internal / External Resistors” (suitable also as “Soft start resistors”).

  • Page 60: Electrical And Mechanical Installation

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5 Electrical and Mechanical Installation 5 Electrical and Mechanical Installation This chapter provides information about the electrical and mechanical installation of the DS2020 Combitronic system. 5.1 Tools and Equipment 5.1.1 Tools 5.1.2 Electronic Equipment 5.2 Mechanical Installation...
  • Page 61 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5 Electrical and Mechanical Installation 5.3.6.11 Transducer Connection 5.3.6.12 Connecting the SmartMotor - X7, X8 Connectors 5.3.6.13 Connecting a PC to the System PN: SC80100020-001, Rev. A January 2021 Page 61 of 166...

  • Page 62: Tools And Equipment

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.1 Tools and Equipment 5.1 Tools and Equipment This section lists the special tools and equipment needed to install the DS2020 Combitronic system components. Note that other tools may be needed, for example, to work in the control panel, terminate cables, mount safety and/or mechanical components at the machine, etc.

  • Page 63: Braking Resistor Positioning

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.2.1.3 Braking Resistor Positioning 5.2.1.3 Braking Resistor Positioning WARNING WARNING: Electrical hazard. High voltage may be present, which can result in death or serious injury to personnel, or damage to equipment. Ø The external resistor must be properly guarded to prevent accidental contact.

  • Page 64: Electrical Installation And Thermal Rating

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3 Electrical Installation and Thermal Rating 5.3 Electrical Installation and Thermal Rating This section provides information on the electrical installation and thermal rating of the DS2020 Combitronic system. 5.3.1 Safety and General Instructions WARNING WARNING: Electrical hazard.

  • Page 65: Electrical Installation

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.2 Electrical Installation 5.3.2 Electrical Installation Control power input +24 VDC Three-phase AC power supply Contactor Fuse protection ‘Thermal’ 0 EMC grid filter Figure 12: Structure of the Electrical Panel with the Components of a Servo System...
  • Page 66 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.2 Electrical Installation EMC Ground (high frequency) using unpainted areas of the metal panel, where the drives and the filters are positioned, to create an adequate electrical contact for the mitigation of high frequency noise.

  • Page 67: Thermal Rating Of The Electrical Panel

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.3 Thermal Rating of the Electrical Panel EMC Bracket Shielded Cables Figure 13: Connection Cables EMC Bracket 5.3.3 Thermal Rating of the Electrical Panel For a thermal rating of the electrical panel, refer to the following table. The first column indicates the...

  • Page 68: Thermal Dissipation Of Accessories

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.3.2 Thermal Dissipation of Accessories Dissipated power (W) for the DS2020 Combitronic system Type Rated size 5.3.3.2 Thermal Dissipation of Accessories Device Dissipated power (W) AC power supply filter From 9 to 30...

  • Page 69: Ac  Mains Power/Ground Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.5 AC Mains Power/Ground Connection 5.3.5 AC  Mains Power/Ground Connection WARNING WARNING: Electrical hazard. High voltage may be present, which can result in death or serious injury to personnel, or damage to equipment. Ø Follow these safety instructions.

  • Page 70: Protection Components

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.5.2 Protection Components TT system The TT earthing system, shown in the following figure, is NOT widespread and presents problems for the EMC requirements, which can only be fully met with precautions and measurements in the field.

  • Page 71: Ground Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.5.3 Ground Connection To use a single protection with three fuses on the input line to a system consisting of several DS2020 Combitronic systems, the size required will be the one that is the next size larger than the sum of the currents of the individual systems.

  • Page 72: Drive Wiring

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6 Drive Wiring 5.3.6 Drive Wiring The steps for wiring the DS2020 Combitronic drive are as follows: 1. Review the DS2020 Combitronic system diagram to familiarize yourself with the connections on the drive and motor. For details, see Motor to DS2020 Combitronic System Diagram on page 73.

  • Page 73: Ds2020 Combitronic/Motor System Diagram

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.1 DS2020 Combitronic/Motor System Diagram 5.3.6.1 DS2020 Combitronic/Motor System Diagram The following figure provides a system diagram for connections between the DS2020 Combitronic and motor, and incoming power. It also highlights the connectors for analog and digital I/O and other connectors on the DS2020 Combitronic drive.

  • Page 74: Front Panel Connectors And Pin Descriptions

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.2 Front Panel Connectors and Pin Descriptions 5.3.6.2 Front Panel Connectors and Pin Descriptions The following figure provides the pinouts for the front panel connectors and a description of each. Further connector information can be found in the following sections; also, see Connectors on page 37.

  • Page 75: Grounding

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.3 Grounding 5.3.6.3 Grounding Mount the DS2020 Combitronic drive to the control cabinet's metal structure, ensuring that the contact surface is adequate and that the connection is at low resistance and inductance. Do not mount the DS2020 Combitronic drive on painted or insulated surfaces.

  • Page 76: Control Power Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.6 Control Power Connection Figure 20: Connector X11 – [RRe-RRi-RR] size L85 For L50/L75 only, to use the internal resistor, insert a bridge between RRi, RR For L50/L75 only, to use an external resistor, connect it between RRe and RR For L85 only, the external resistor must be connected between RR and +ATP The cable must be shielded.

  • Page 77: Brake Cable Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.8 Brake Cable Connection For motor power cables with capacity greater than 150 pF/m the leakage currents could cause false alarms, which can be overcome with an inductor in series to the power cable placed as close as possible to the drive.

  • Page 78: Figure 23: Brake Activation Timing Diagram

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.8 Brake Cable Connection Motor speed Stopped motor Brake tension command Brake activation A: Deceleration time of the machine (variable) B: Brake activation (300 ms) Figure 23: Brake Activation Timing Diagram NOTICE The same considerations relating to the motor cable also applies.

  • Page 79: I/O Signal Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.9 I/O Signal Connection 5.3.6.9 I/O Signal Connection NOTICE All I/Os on the X5 connector are isolated from the rest of the system. Digital I/Os are referenced to 0 V Digital (pin 8 of the X5 connector).

  • Page 80: Figure 24: Detail Of The Feedback Contact Circuit

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.10 STO Signals Connection +24 Volt CH 1 0 Volt CH 1 +24 Volt CH 2 0 Volt CH 2 Feedback Feedback +24 Volt Safety Chain 1 Safety Chain 2 Safety Module or PLC...

  • Page 81: Transducer Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.11 Transducer Connection The absorption on the two inputs, S1 and S2, is less than 50 mA at 24 volts. As feedback of the two commands is given, the drive closes an electrical contact to the controller to verify the accuracy and consistency of the supplied commands, and then controls the movements with a proper sequence.

  • Page 82: Connecting A Pc To The System

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 5.3.6.13 Connecting a PC to the System CAN bus The X7 connector is used for the CAN interface. For the connection, the CAN bus must be terminated at BOTH ends of the bus, each termination requires a 120 ohm resistor.

  • Page 83: Commissioning With Smi Software

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6 Commissioning with SMI Software 6 Commissioning with SMI Software This chapter provides information on installing and accessing the SMI software, and using it to set DS2020 Combitronic system addresses, move the connected motor and check the motor's position.
  • Page 84 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6 Commissioning with SMI Software 6.7.10.1 Understanding Fault Reactions 6.7.10.2 Setting Fault Reactions 6.7.10.3 Faults List 6.7.11 DS2020 Combitronic State Machine 6.8 STO Activation 6.8.1 Viewing the STO Status in SMI 6.9 Drive (Axis) Enable and Limit Switch Enable/Disable 6.9.1 Drive (Axis) ...

  • Page 85: Commissioning Overview

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.1 Commissioning Overview 6.1 Commissioning Overview The following is a summary list of steps for completing the DS2020 Combitronic system commissioning process. a. Read/review the safety information, see Safety on page 86.

  • Page 86: Safety

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.2 Safety 6.2 Safety WARNING WARNING: Electrical hazard. High voltage may be present, which can result in death or serious injury to personnel, or damage to equipment. Ø Follow these safety instructions. WARNING WARNING: Mechanical hazard.

  • Page 87: Installing The Smi Software

    The DS2020 Combitronic system features require SMI software release 3.0.0.50 or later. The SMI software requires Microsoft Windows XP or later. The SMI software is available as a download from the Moog Animatics website. To download the latest version of the SMI software, use the following address: https://www.animatics.com/support/downloads.software.html...
  • Page 88 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.4.1 Installation Procedure After removing the existing software, restart the installation process. All personal settings and user files will be retained. 2. Click Next to proceed. The Installation Configuration page opens. PN: SC80100020-001, Rev. A January 2021...
  • Page 89 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.4.1 Installation Procedure 3. Click Next to proceed. The SMI software installation wizard starts and the Welcome page opens. 4. After you have finished reviewing the welcome information, click Next to proceed. Continue following the on-screen instructions to complete the SMI software installation.

  • Page 90: Installation Verification

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.4.2 Installation Verification 5. When the installation has completed, the installation status message page opens, as shown in the following figure. Click Finish to complete the installation and close the installation wizard.

  • Page 91: Figure 26: Smartmotor Interface Shortcut

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.5 Accessing the SMI Software Interface Tools menu items: Macro Motor View Chart View Configuration tree right-click menu items: Motor View Set Motor Address Configure DS2020 The remainder of this chapter is focused on using the SMI software with the DS2020 Combitronic system.

  • Page 92: Chart View

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.5.1 Chart View In addition to the software information in this section, there is context-sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

  • Page 93: Detecting And Addressing The Ds2020 Combitronic System

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6 Detecting and Addressing the DS2020 Combitronic System 6.6 Detecting and Addressing the DS2020 Combitronic System This section describes how to detect and address the DS2020 Combitronic system over the RS-232 serial network.

  • Page 94: Using The Find Motors Button

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.2 Using the Find Motors Button After setting the address, it goes into effect immediately (do not reboot or perform a system reset with the Z command; either of these actions will delete the addresses).

  • Page 95: Figure 28: Find Motors Detecting Smartmotors On The Rs-232 Chain

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.2 Using the Find Motors Button Figure 28: Find Motors Detecting SmartMotors on the RS-232 Chain After the DS2020 Combitronic systems are detected, the SMI software will address them if needed. The following steps are only used when the SMI software finds motors that do not have addresses.

  • Page 96: Figure 30: Motor View Information

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.2 Using the Find Motors Button Figure 30: Motor View Information After the process has completed, the SMI software shows the found DS2020 Combitronic systems in the Configuration window under the corresponding communications port. Each DS2020 Combitronic system is represented by a DS2020 Combitronic icon;...

  • Page 97: Using The Detect Motors Feature

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.3 Using the Detect Motors Feature 6.6.3 Using the Detect Motors Feature This method is similar to the Find Motors method, but it searches only the specified communications port for connected DS2020 Combitronic systems.
  • Page 98 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.3 Using the Detect Motors Feature Figure 34: Motor View Information After the process has completed, the SMI software shows the found DS2020 Combitronic systems in the Configuration window under the corresponding communications port. Each DS2020 Combitronic system is represented by a DS2020 Combitronic icon;...

  • Page 99: Using The Address Motors Feature

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.4 Using the Address Motors Feature 6.6.4 Using the Address Motors Feature This method assumes that there is a DS2020 Combitronic system connected to the specified port and will simply address each one that it finds.
  • Page 100 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.6.4 Using the Address Motors Feature Figure 38: Motor View Information After the process has completed, the SMI software shows the found DS2020 Combitronic systems in the Configuration window under the corresponding communications port. Each DS2020 Combitronic system is represented by a DS2020 Combitronic icon;...

  • Page 101: Setting The Ds2020 Combitronic Drive/Motor Parameters

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7 Setting the DS2020 Combitronic Drive/Motor Parameters 6.7 Setting the DS2020 Combitronic Drive/Motor Parameters NOTICE Any changes made to the system configuration, including motor values, bus addressing, baud rate, current limits, etc,, should be followed with a system reboot to ensure those changes are in effect.
  • Page 102 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.1 Configuring the DS2020 Combitronic System Selection Tabs Motor Parameters Feedback Parameters Send to / Factory Read from Reset Drive Save to EEPROM Reset Faults Fault Indicator Safe Torque O Indicators Item...

  • Page 103: Save To Eeprom

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.2 Save to EEPROM Item Description Reset Faults Issues a ZS (reset) command to the drive; see Clearing the Overtravel Limits and Fault Bits on page 124; also, see the SmartMotor™ Developer's Guide...

  • Page 104: Setting Manual Motor Parameters

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.4 Setting Manual Motor Parameters 4. Click the desired motor to select it and then click Send to Drive. The predefined settings for the selected motor are loaded. To view or change the loaded settings, refer to Setting Manual Motor Parameters on page 104 6.7.4 Setting Manual Motor Parameters...
  • Page 105 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.4 Setting Manual Motor Parameters 3. Refer to the following table for a description of the Motor Parameters items. Item Description Units/Notes Select Motor Selects a predefined motor from the list, see Selecting Predefined Motor Para-...

  • Page 106: Setting The Feedback Parameters

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.5 Setting the Feedback Parameters Send to Drive does not permanently store the parameters in the DS2020 Combitronic system; therefore, they can be erased after a Z command or a power reset. Always use the Save to EEPROM button to write the values to the nonvolatile memory.

  • Page 107: Setting The Control Loop Filters

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.6 Setting the Control Loop Filters 2. Work through the feedback parameters list and enter the desired value for each one. 3. When all the motor parameters have been entered, click Send to Drive to send the values to the DS2020 Combitronic system.
  • Page 108 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.6 Setting the Control Loop Filters Filter 3 filters the Filter 2 output Filter 4 filters the current reference from the velocity loop Filter 5 filters the Filter 4 output Filter 6 filters the Filter 5 output The seven filters are available in the DS2020 Combitronic Control Loop Filters dialog.
  • Page 109 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.6 Setting the Control Loop Filters Refer to the following table for a description of the Control Loop Filters items. Item Description Units/Notes Velocity Loop Contains the set of filters for the velo- Filters 0, 4, 5, 6 city loop.
  • Page 110 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.6 Setting the Control Loop Filters Item Description Units/Notes Filter 3 Set filter 3 (applied on Filter 2 output) Disabled Default: Disabled Low-pass filter Double-pole filter Filter 4 Set filter 4 (applied on current reference...

  • Page 111: Cable Compensation Procedure

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.7 Cable Compensation Procedure 3. Refer to the following table for a description of each filter type and associated parameters. Item Description Units/Notes Disabled Filter is ignored Low-Pass Filter Specified frequency (Hz)

  • Page 112: Auto-Phasing Procedure

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.8 Auto-Phasing Procedure 1. From the DS2020 Configuration dialog, click DS2020 Parameters tab. 2. Locate the Feedback group, confirm that the Position/Velocity Feedback is set to Resolver and the number of Resolver Poles are specified, and Start Cable Compensation is not dimmed.

  • Page 113: Factory Reset

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.9 Factory Reset 1. From the DS2020 Configuration dialog, click DS2020 Parameters tab. 2. Locate the Feedback group, confirm there is a check mark next to Start Cable Compensation, and that Start Auto-phasing is enabled.

  • Page 114: Fault Configuration

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.10 Fault Configuration After reviewing the warning message, click Yes to proceed, or click No to cancel. NOTICE Once the Factory Reset process has been acknowledged and initiated, it cannot be undone.

  • Page 115: Understanding Fault Reactions

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.10.1 Understanding Fault Reactions There are three columns on that tab: Fault - lists the available faults for the system Reaction - shows the currently set reaction for each fault Status - shows the state of each fault ( = active fault ;...

  • Page 116: Faults List

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.10.3 Faults List There are six possible reactions, the first five are user selectable, the sixth one is reserved for the hard faults listed further in this section. Reaction Effect None The alarm is ignored CAUTION: For use during commissioning or troubleshooting only.

  • Page 117: Ds2020 Combitronic State Machine

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.11 DS2020 Combitronic State Machine 6.7.11 DS2020 Combitronic State Machine The following figure shows the DS2020 Combitronic system state machine. Start Not ready to switch on Switch on Fault disabled Ready to...
  • Page 118 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.7.11 DS2020 Combitronic State Machine Transition Event(s) STO deactivation Never occurs OFF command (or transition from 1 to 0 logic value of drive enable input, if drive enable input is configured (see EISM(0) command)

  • Page 119: Sto  Activation

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.8 STO Activation 6.8 STO  Activation To enable the axis, you must enable the STO circuit. The 24 V power of the STO circuit must be integrated within the emergency fail-safe loop. See Safe Torque Off Safety Function on page 145.

  • Page 120: Drive (Axis) Enable And Limit Switch Enable/Disable

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.9 Drive (Axis) Enable and Limit Switch Enable/Disable 6.9 Drive (Axis) Enable and Limit Switch Enable/Disable This section describes how to enable the drive (axis) and enable/disable the limit switches. 6.9.1 Drive (Axis)  Enable In the DS2020 Combitronic system, the drive enable is, by default, received through a G command.

  • Page 121: Polling The Ds2020 Combitronic System

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.10.1 Polling the DS2020 Combitronic system This procedure assumes that: The DS2020 Combitronic system is connected to the computer. For details, see Connecting a PC to the System on page 82. The DS2020 Combitronic system is connected to a power source. For details, see Electrical Installation on page 65.
  • Page 122 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.10.1 Polling the DS2020 Combitronic system Figure 43: Motor View The six "LEDs" (labeled Input/Output 0-5) have the following meaning: Description State of the digital input on the X4 connector, pins 2 and 3. See the commands EISM(0) and EIGN(0) in the SmartMotor™...
  • Page 123 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.10.1 Polling the DS2020 Combitronic system There are two STO indicators: which represent the state of the STO interface (X6), S1 and S2 connections: Gray – nothing has been read yet (should only be that way for a brief moment) Red –...

  • Page 124: Clearing The Overtravel Limits And Fault Bits

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.10.2 Clearing the Overtravel Limits and Fault Bits 6.10.2 Clearing the Overtravel Limits and Fault Bits To disable (clear) the overtravel limits, enter EIGN(2) and EIGN(3) in the SMI software Terminal window. This sets I/O 2 (positive overtravel limit) and I/O 3 (negative overtravel limit) as general inputs/outputs instead of being used as travel limits.

  • Page 125: Motion Checklist

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.11 Motion Checklist 6.11 Motion Checklist Before moving the DS2020 Combitronic system's motor, ensure that all Commissioning procedures have been properly completed (i.e., all commissioning topics up to this point are completed). Pay particular attention to the following: 1.

  • Page 126: Making The Ds2020 Combitronic System's Motor Move

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.12.1 Making the DS2020 Combitronic System's Motor Move The SMI software has been installed and is running on the computer. For details, see the topic Installing the SMI Software on page 87.

  • Page 127: Checking The Ds2020 Combitronic System's Motor Position

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.13 Checking the DS2020 Combitronic System's Motor Position 2. Enter the following commands in the Terminal window: The FD command directly affects other commands like ADT, VT and PT. To prevent unexpected behavior, it is recommended to specify the desired FD value, in case it was previously changed.

  • Page 128: Viewing The Ds2020 Combitronic System's Motor Position With A Report Command

    Moog Animatics DS2020 Combitronic™ Installation and Star- 6.13.1 Viewing the DS2020 Combitronic System's Motor Position with a tup Guide Report Command The SMI software has been installed and is running on the computer. For details, see the topic Installing the SMI Software on page 87.
  • Page 129 Moog Animatics DS2020 Combitronic™ Installation and Star- 6.13.2 Viewing the DS2020 Combitronic System's Motor Position with the tup Guide Motor View Tool Figure 46: Motor View Tool Showing the DS2020 Combitronic System's Motor Position PN: SC80100020-001, Rev. A January 2021...

  • Page 130: Decommissioning Procedure

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 6.14 Decommissioning Procedure 6.14 Decommissioning Procedure WARNING WARNING: Electrical hazard. The DS2020 Combitronic system and connected motor may present an electrical hazard if the safety precautions are not observed, which may result in death or serious injury to personnel, or damage to equipment.

  • Page 131: Shipment And Storage

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 7 Shipment and Storage 7 Shipment and Storage Use the following guidelines when receiving or storing the shipment. 7.1 Receiving and Checking the Shipment When the shipment is received: 1. Inspect the exterior of the shipping container for any signs of damage. Immediately report any damage to the shipping carrier.

  • Page 132: Maintenance

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 8 Maintenance 8 Maintenance NOTICE There are no user-serviceable parts inside the DS2020 Combitronic system. Do not attempt to disassemble the DS2020 Combitronic drive or motor, as doing so will void the warranty.

  • Page 133: What To Do If Repairs Are Required

    Instructions for packaging and shipping the motor back to Moog will be provided with the RMA. Contact your Moog Animatics representative for more information. Retain all packing materials that the DS2020 Combitronic system was shipped in, as those must be used if the system components need to be sent to Moog Animatics for service.

  • Page 134: Troubleshooting

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9 Troubleshooting 9 Troubleshooting WARNING WARNING: Electrical hazard. The DS2020 Combitronic system and connected motor may present an electrical hazard if the safety precautions are not observed, which may result in death or serious injury to personnel, or damage to equipment.

  • Page 135: Power Section Anomalies

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.1 Power Section Anomalies 9.1 Power Section Anomalies Cause Action The drive temperature Check the continuous current supplied to is high the axes Check the efficiency of the fans Failure recovery Check the braking resistor...

  • Page 136: Alarms On The Power Section

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.2.1 Alarms on the Power Section 9.2.1 Alarms on the Power Section The following alarms identify the IGBT (Insulated Gate Bipolar Transistor) affected by the phase x: (U, V or W): Short_Circuit_Phase_x_Low...

  • Page 137: Drive Or Motor Overtemperature

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.2.3 Drive or Motor Overtemperature 9.2.3 Drive or Motor Overtemperature Excess_temperature_drive Motor_temperature_warning Motor_over_temperature In case of excessive drive or motor temperature warning, an analysis of the cause of the problem must be performed according to the following table.

  • Page 138: Brake Feedback Fault

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.2.7 Brake Feedback Fault Use the SMI software to verify the correct configuration of the drive, and then save the parameters. Reset the drive and restart the SMI software. If the problem persists, replace the drive.

  • Page 139: Synchronization , Interrupt Time And Task Time Error

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.2.9 Synchronization , Interrupt Time and Task Time Error 9.2.9 Synchronization , Interrupt Time and Task Time Error Fault Cause Action Synchronization error Internal interrupt irregular frequency Reprogram the drive (firmware and parameters). If the alarm...
  • Page 140 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.3 Alarm Display If the drive is used in fieldbus mode (EtherCAT/CAN), the display will show a fixed F, the error code will be transmitted through an EMERGENCY message (according to the CANopen standard) using ErrorCode and ErrorRegister.
  • Page 141 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.3 Alarm Display Fault Error Error Fault What to Check Description Index Code Register 0x6312 0x01 User data memory corrupted Configure user parameters and Memory of the user parameters store them with a SAVE command.
  • Page 142 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.3 Alarm Display Fault Error Error Fault What to Check Description Index Code Register Internal interrupt frequency not detected 0x6103 0x01 Task time exceeded Execution time of the task exceeded maximum time...

  • Page 143: Faults During The Gui - Drive Connection

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.4 Faults During the GUI – Drive Connection Fault Error Error Fault What to Check Description Index Code Register 0x8615 0x01 Historical negative H/W limit The negative limit switch has been Negative limit switch asserted hit.
  • Page 144 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 9.4 Faults During the GUI – Drive Connection Other error messages are possible. See the SMI software online help for details. For a serial connection, verify that: The correct COM port is selected...

  • Page 145: Safe Torque Off Safety Function

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10 Safe Torque Off Safety Function 10 Safe Torque Off Safety Function This chapter describes the Safe Torque Off (STO) safety function for the DS2020 Combitronic system. 10.1 Application 10.2 Installation Risk Assessment 10.3 Safe Torque Off Function...

  • Page 146: Application

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.1 Application 10.1 Application The DS2020 Combitronic system's safety function, Safe Torque Off (STO), has been designed with an integrated redundant circuit in the control board. It is considered misuse to use the STO function outside of the instructions provided in this guide.

  • Page 147: Characteristic Values According To Uni En Iso 13849-1

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.3.1 Characteristic Values According to UNI EN ISO 13849-1 The STO function is located in a subsystem as defined by the Standard IEC 62061: 2005, with a SIL limit requested SILCL3. The STO safety function of the DS2020 Combitronic can also be used to ensuring the safe stop of the injection molding machines, for the interlocked guards in the area of the mold and in other less hazardous areas in compliance with the standard UNI EN 201:2010.

  • Page 148: Characteristic Values According To Cei En 62061

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.3.2 Characteristic Values According to CEI EN 62061 10.3.2 Characteristic Values According to CEI EN 62061 Hardware Feedback standard values according to CEI EN 62061: Value Observations Levels of integrity of security...
  • Page 149 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.4.1 Full Stop assessment should include the possibility of a fault. The machine may have a dangerous overload in the event of failure of the motor and additional protective measures may be required to achieve a more secure state.

  • Page 150: Safe Torque Off Circuit

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.5 Safe Torque Off Circuit 10.5 Safe Torque Off Circuit The Safe Torque Off function is designed with redundant blocking devices, which act independently on the power modules. This is advantageous because it does not disable the power supply of the drive and avoids the normal restart process.

  • Page 151: Safe Torque Off Connections

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.6 Safe Torque Off Connections 10.6 Safe Torque Off Connections Management channels, including the "Hardware feedback" of the Safe Torque Off circuit, are controlled using the X6 Connector, also referred to as JRC1.

  • Page 152: Electrical Input/Output Specifications

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.6.2 Electrical Input/Output Specifications WARNING WARNING: Electrical hazard. The DS2020 Combitronic system and connected motor may present an electrical hazard if the safety precautions are not observed, which may result in death or serious injury to personnel, or damage to equipment.

  • Page 153: Example Application

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.7 Example Application 10.7 Example Application The following figure illustrates an example circuit for Safe Torque Off after a controlled stop. CLOSED OPEN - SW1 - SW2 DRIVE - Q1 Ch 1 Veri cation...

  • Page 154: Example Requirements

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.7.2 Example Requirements In the example, the controlled stop can be achieved using the delayed outputs of A1. The controlled stop is not an integrated security function in the drive. Therefore, its circuit is not shown in the figure.

  • Page 155: Safe Torque Off Installation And Maintenance Procedure

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.8 Safe Torque Off Installation and Maintenance Procedure The multi-wired cables connected to the multi-pole connectors must be terminated with cable lugs or other appropriate devices. The verification of the two channels of the signal wiring must be protected from short circuit to voltage sources and should never be exposed to voltage external to the verification signal, even in case of failure.

  • Page 156: Assembly And Serial Tests

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 10.9 Assembly and Serial Tests + 24 V Input Channel 1 + 24 V Input Channel 2 Hardware / Software Feedback Start of End of Test Test 100ms Figure 49: STO Mandatory Sequence Circuit Test Stop Category 1 Disable the protection devices, e.g..

  • Page 157: System Disposition

    When disposing of a DS2020 Combitronic system, recycle the components per the regulations applicable for your site (National/International standards or regulations). Alternatively, you may choose to return the components to Moog Animatics for disposal. Contact your Moog Animatics representative for information on motor disposal.

  • Page 158: Appendix

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13 Appendix 13 Appendix This chapter provides a glossary and metric/AWG conversion table. 13.1 Example I/O Connections on X5 13.2 Example RS-485 Driver on X4 13.1 Glossary 13.2 Metric/AWG Conversion Table PN: SC80100020-001, Rev. A January 2021...

  • Page 159: Example I/O  Connections On X5

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.1 Example I/O Connections on X5 13.1 Example I/O  Connections on X5 The following figure shows some example I/O connections on the X5 I/O connector of the DS2020 Combitronic system. X5 I/O Connector Analog IN1-...

  • Page 160: Example Rs-485 Driver On X4

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.2 Example RS-485 Driver on X4 13.2 Example RS-485 Driver on X4 An example RS-485 driver using the SN75176 IC is shown, refer to the following figure. Its purpose is to convert a single-ended Drive Enable signal into a differential signal used by the DS2020 Combitronic system.

  • Page 161: Glossary

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.1 Glossary 13.1 Glossary Acceleration The rate of increase of velocity with respect to time Alarms Irregular operating situations highlighted by LED or display message, with subsequent analysis through the SMI software Asynchronous Motor Motor in which the rotor and the magnetic field turn at different speeds.
  • Page 162 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.1 Glossary which serve to provide the necessary requirements for health and safety relating to the design and construction of machinery present on the European market. It applies to fixed, mobile, transportable and hoisting/moving.
  • Page 163 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.1 Glossary Grade of protection Security level of the system components. (Protection grade) Ground Connection of the conductor or the frame to the ground connector. Graphical User Interface. IGBT Semiconductor devices for the control of PWM switching..

  • Page 164: Metric/Awg Conversion Table

    Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.2 Metric/AWG Conversion Table 13.2 Metric/AWG Conversion Table Ohmic Diameter Cross-section resistance at Weight 20 °C mils Circ. mils W/km 0.50 4.00 0.0020 8498 0.0180 0.055 4.84 0.0025 7021 0.0218 0.063 6.25 0.0032...
  • Page 165 Moog Animatics DS2020 Combitronic™ Installation and Startup Guide 13.2 Metric/AWG Conversion Table Ohmic Diameter Cross-section resistance at Weight 20 °C mils Circ. mils W/km 101.9 2.588 10380 5.26 3.277 46.7232 114.4 2.906 13090 6.63 2.600 58.9248 125.5 3.264 16510 8.37 2.061...
  • Page 166 TAKE A CLOSER LOOK Moog Animatics, a sub-brand of Moog Inc. since 2011, is a global leader in integrated automation solutions. With over 30 years of experience in the motion control industry, the company has U.S. operations and international offices in Germany and Japan as well as a network of Automation Solution Providers worldwide.

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