ANCA Motion D2 Series User Manual
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ANCA Motion D2 Series User Manual

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AMD2000 Series D2xxx
Servo Drive - User Guide
D-000088 Rev 10

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  • Page 1 AMD2000 Series D2xxx Servo Drive - User Guide D-000088 Rev 10...
  • Page 2 AMD2000 Series D2xxx Servo Drive - User Guide Page intentionally left blank D-000088 Rev 10 ANCA Motion...
  • Page 3 User Guide SoE Configuration Guide MotionBench Software Software Sales and Support Contact Information Product, Sales and Service Enquiries Catalogue Number: DS619-0-00-0046 Document Reference: D-000088 Rev 10 Effective: 8 August 2022 © ANCA Motion Pty. Ltd. ANCA Motion D-000088 Rev 10...
  • Page 4 AMD2000 Series D2xxx Servo Drive - User Guide Page intentionally left blank D-000088 Rev 10 ANCA Motion...
  • Page 5 Technical Data Functions, specifications, dimensions, de-rating, brake resistor calculation, standards compliance Accessories Selection of accessories including motors, cables, I/O interface modules, filters, reactors, chokes magnetic cores Additional Information How to contact ANCA Motion with your enquiries ANCA Motion D-000088 Rev 10...

  • Page 6: Table Of Contents

    Installation Site ......................... 16 4.3.2 Tools Required ......................... 17 4.3.3 Mounting and Cooling ......................17 Installation ............................. 20 4.4.1 Power Isolation ........................20 4.4.2 Mounting a Drive ........................20 4.4.3 Un-Mounting a Drive ........................ 22 D-000088 Rev 10 ANCA Motion...
  • Page 7 Power Supply Soft Start Module ......................38 6.6.1 Soft Start Module Wiring ......................38 6.6.2 Soft Start Module Installation ....................39 6.6.3 Soft Start Module Maintenance ....................41 Power Disconnect and Protection Devices .................... 42 ANCA Motion D-000088 Rev 10...
  • Page 8 STO Function Commissioning Test Procedure ................ 91 Motor Brake Control..........................95 Serial Communication Port ........................95 7.10 Ethernet Interface ..........................95 7.10.1 EtherCAT® .......................... 95 7.10.2 EtherCAT topology / Port assignment.................. 95 7.11 DIP Buttons ............................97 viii D-000088 Rev 10 ANCA Motion...
  • Page 9 Drive Display ........................109 10.4 Electrical Specifications ........................110 10.4.1 Power supply section ......................110 10.4.2 Digital servo drive ......................110 10.4.3 Resolution .......................... 111 10.4.4 Steady State Performance ....................111 10.4.5 Regenerative Braking ......................111 ANCA Motion D-000088 Rev 10...
  • Page 10 11.2.3 Brake Motor Specific Information ..................139 11.2.4 Motor Mechanical Information Summary ................140 11.3 Cables ..............................141 11.3.1 Cable Catalogue Number Interpretation ................141 11.3.2 Encoder Cables ......................... 142 11.3.3 Armature Cables ........................ 143 D-000088 Rev 10 ANCA Motion...
  • Page 11 D2015 SoE Drive 15A with Cable Bracket Kit & STO Override Plug ......... 150 12 Additional Information ..........................151 12.1 What this Chapter Contains ......................... 151 12.2 Maintenance and Repairs ........................151 12.3 Product, Sales and Service Enquiries....................152 12.4 Feedback ............................. 152 ANCA Motion D-000088 Rev 10...
  • Page 12 AMD2000 Series D2xxx Servo Drive - User Guide Page intentionally left blank D-000088 Rev 10 ANCA Motion...

  • Page 13: Safety

    This user guide and the warnings attached to the AMD2000 only highlight hazards that can be predicted by ANCA Motion. Be aware they do not cover all possible hazards. ANCA Motion shall not be responsible for any accidents caused by the misuse or abuse of the device by the operator.

  • Page 14: Safe Start-Up And Operation

    1.2 Safe Start-Up and Operation Please refer to sections 8 Installation Checklist and section 9 Start-up for additional checks that should be made to start up the AMD2000 series drives safely. D-000088 Rev 10 ANCA Motion...

  • Page 15: Introduction

    Please refer to 3.2 Features for more details of features available 2.3 Drive Model Applicability This user guide is applicable to the following variants of the ANCA Motion AMD2000 Series Servo Drives: Product Product variant Product Number AMD2000 Series Servo Drive...

  • Page 16: Terms And Abbreviations

    Computer Numerical Control Drive-Controlled Moves PMSM Permanent Magnet Servo Motor PMAC Permanent Magnet Alternating Current Safe Torque Off Protective Earth 2.5 Trademarks ® EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. D-000088 Rev 10 ANCA Motion...

  • Page 17: Product Overview

    Easy setup using ANCA MotionBench tool  Small foot print. On-board 24VDC power supply and auxiliary I/O reduce overall system size and cost.  Rugged and reliable design Please refer to section 10 Technical Data for detailed product specifications ANCA Motion D-000088 Rev 09...

  • Page 18: Operating Principle

    The simplified circuit diagram of the drive is shown below. The AC supply voltage is converted to DC, which is then converted into the required variable frequency AC voltage signal to drive the motor. AMD2000 Servo Drive Single or 3 Phase AC/DC Converter DC/AC Converter AC Motor AC Input Switching Drive Control Control D-000088 Rev 10 ANCA Motion...

  • Page 19: Amd2000 Variant Identification

    Product Overview 3.4 AMD2000 Variant Identification D2103 D2109 D2015 ANCA Motion D-000088 Rev 09...

  • Page 20: Amd2000 Series Drive Catalogue Number Interpretation

    For any warranty work to be undertaken these labels must be readable and undamaged. Care should be taken to record these numbers in a separate register in the event of damage or loss. Note: Do not under any circumstances tamper with these labels. Your warranty may be void if the labels are damaged. D-000088 Rev 10 ANCA Motion...

  • Page 21: System Overview

    Alternatively, each drive can be controlled through a combination of analogue and digital I/O. Several analogue inputs and digital inputs/outputs are provided in each drive for user defined signals which may be used for application specific functions. ANCA Motion D-000088 Rev 09...
  • Page 22 Encoder 2 Analog Inputs Encoder Analog Output Output Controller Standard Digital Outputs 24V Digital Inputs STO Outputs STO Inputs EtherCAT EtherCAT Communications Communications Communications Interface Network Network Figure 3-2 Block Diagram of the Drive System D-000088 Rev 10 ANCA Motion...
  • Page 23 Host Device EtherCAT Master capable device. e.g. CNC or EtherCAT IN EtherCAT OUT Serial Communications I/O Interface Module Optional External Regenerative Resistor Brake Power Servo Motor Figure 3-3 Connection Overview ANCA Motion D-000088 Rev 09...

  • Page 24: Front Panel Overview

    X5 Encoder Interface SIGNAL PIN SIGNAL SIN- / A- SIN+ / A+ COS- / B- COS+ / B+ Data- / Ref- / Z- 9VDC Data+ / Ref+/ Z+ 5VDC Figure 3-4 Connector Summary D2103 Servo Drive D-000088 Rev 10 ANCA Motion...

  • Page 25: D2109 And D2015

    Data+ / Ref+/ Z+ 5VDC Figure 3-5 Connector Summary D2109 and D2015 Servo Drive 3.6.3 X1/X2 EtherCAT Connectors EtherCAT IN EtherCAT OUT Suitable cables: KXE-1100 Series Ethernet Cable Cat 5e SF/UTP STO functionality is not supported on D2015 ANCA Motion D-000088 Rev 09...

  • Page 26: X3 Factory Use Only

    Port X5 is for encoder connections. Mating Connector: High Density D-SUB 15-WAY Female with 4-40 UNC jack screws 3.6.7 Motor Armature Cable Connector Motor armature cable connection Mating Connector: 3 Position 7.62 mm, Male Terminal Plug D-000088 Rev 10 ANCA Motion...

  • Page 27: Power, Inductor And Brake Resistor Connector

    The AMD2000 series drives are fitted with a LED display and control panel as shown in the following figure: The characteristics of the display and control panel are detailed in the following table: Drive Display Indicator 5 x 7-segment LED Operator interfacing 4 DIP buttons ANCA Motion D-000088 Rev 09...

  • Page 28: Mechanical Installation

    The maximum recommended operating altitude is 1000m above sea level  The AMD2000 must be installed in a cabinet or enclosure of rating IP54 or higher. Higher IP ratings may be required depending on application. Refer to 10.5 Environmental Specifications for further requirements. D-000088 Rev 10 ANCA Motion...

  • Page 29: Tools Required

    A small flat blade screw driver for X5 D-Sub 15pin HD connector, and X4 50 way Digital I/O connector.  If standard ANCA Motion cables are not used, connectors are to be installed using only the crimp tool specified by the connector manufacturer.
  • Page 30 The D2015 must have at least 8mm horizontal space between itself and the cabinet wall, and at least 28mm space between adjacent drives.  Refer to 10.5 Environmental Specifications for further requirements. Figure 4-1 D2103 and D2109 Mounting clearance requirements D-000088 Rev 10 ANCA Motion...
  • Page 31 Mechanical Installation Figure 4-2 D2015 Mounting clearance requirements If armature termination brackets are required to be fitted for EMC compliance, refer to 6.8.2.1 Cable Shielding, for fitting instructions. ANCA Motion D-000088 Rev 09...

  • Page 32: Installation

    Tighten both M5 mounting screws (D & E) to maximum torque of 5Nm. STEP5 Connect appropriate electrical cables to complete installation as per section 5 Planning the Electrical Installation 6 Power Wiring. D-000088 Rev 10 ANCA Motion...
  • Page 33 Figure 4-3 Mechanical Mounting of AMD2000 D2103 Servo Drive STEP2 STEP 3 STEP 4 Figure 4-4 Mechanical Mounting of AMD2000 D2109 Servo Drive STEP2 STEP 3 STEP 4 Figure 4-5 Mechanical Mounting of AMD2000 D2015 Servo Drive ANCA Motion D-000088 Rev 09...

  • Page 34: Un-Mounting A Drive

    Unplug the cables from the front of the drive to be un-mounted by carefully working the plugs from their sockets. STEP 2 Follow steps 4 through to 2 of section 4.4.2 Mounting a Drive in reverse order. D-000088 Rev 10 ANCA Motion...

  • Page 35: Planning The Electrical Installation

    Emergency Stop Device chain to provide a mechanism for stopping, but it is the responsibility of the machine integrator to construct the suitable Emergency Stop Device, whether utilising STO or otherwise. For information regarding STO, refer to 7.7 Safe Torque Off (STO) Operation. ANCA Motion D-000088 Rev 09...

  • Page 36: Thermal Overload And Protection

    The software will report an error if this occurs. If this occurs please review the mechanical spacing advice and thermal de-rating curves provided by ANCA Motion. Check the ambient temperature of air going to the bottom of the heat-sink in your specific application under steady state conditions.

  • Page 37: Brake Resistor

    Failure to do this and provide evidence of these calculations may result in burning out the resistor and voiding the warranty of your drive. Please refer to sections 10.4.5 Regenerative Braking 10.10 Regeneration Resistor for additional information. ANCA Motion D-000088 Rev 09...

  • Page 38: Power Cable Selection

    360 degree saddles to connect the shield to an appropriate low impedance radio frequency earth. At the drive end, the armature shield must be connected directly to the drive earth point. It is highly recommended that an ANCA Motion shielding bracket be used. Please refer to section 6.7 Power Disconnect and Protection Devices for recommended wire gauges.

  • Page 39: Cable Routing

    Also, the customer is the responsible party for the compliance of the machine to the Machinery Directives including the EMC directive. ANCA Motion D-000088 Rev 09...

  • Page 40: Power Wiring

    Figure 6-1 Wire Stripping. The EMI filter and line reactor are required for EMC compliance; refer to 6.5 Installations conforming to the EMC Directive for details on the recommended EMC compliant installation. D-000088 Rev 10 ANCA Motion...
  • Page 41 (transient voltage surge suppression) must be provided to reduce Category IV to Category III. AC Supply PIN SIGNAL Unit Control Voltage Single Phase Supply Control Voltage Single Phase Supply Single/Three Phase Supply Single/Three Phase Supply Single/Three Phase Supply Figure 6-2 Mains Control and Power Supply Connector ANCA Motion D-000088 Rev 09...

  • Page 42: Ac Voltage Supply

    Operation at reduced supply voltage will require power de-rating as discussed in 10.9 Voltage and Temperature De-rating. Operation using single phase (and two phase) supplies instead of three phase supplies may also require power de-rating as discussed in 10.9 Voltage and Temperature De-rating. D-000088 Rev 10 ANCA Motion...

  • Page 43: Dc Voltage Supply

    6.3.4 Connection of drives to non-grounded systems (IT) Warning: The AMD2000 series drive must not be connected to a non-grounded IT system. Proper function of the AMD2000 series drive is reliant upon an input supply that is ground referenced. ANCA Motion D-000088 Rev 09...

  • Page 44: Connection Of Drives To Delta Transformer Systems (It)

    This DC current can reduce the ability of a type A or AC type RCD to trip. Warning: These drives designed for category C3, and are not intended to be used on a low- voltage public network which supplies domestic premises. D-000088 Rev 10 ANCA Motion...

  • Page 45: Grounding

    The gear tray must be connected to the supply PE, and is designated the Chassis Earth. Symbol for Chassis Earth PE connections using the optional armature bracket are described and illustrated in 6.8.2.1 Cable Shielding. ANCA Motion D-000088 Rev 09...

  • Page 46: Installations Conforming To The Emc Directive

    Converter Cabinet Line Filter AMD2000 Motor Cable Line Reactor IGBT Inverter leak Heats ink PE terminal and metal gear tray ground Figure 6-5 Common Mode Noise Current Paths in a Drive System D-000088 Rev 10 ANCA Motion...

  • Page 47: For 3 Phase Supply System Wiring

    D2103 3 phase supply 3.06mH, 7.6A Hammond Power Solutions CRX07D6AC (or equivalent) D2109 3 phase supply 1.64mH, 14A Hammond Power Solutions CRX0014AC (or equivalent) D2015 3 phase supply 0.95mH 16.7A Hammond Power Solutions CRX16D7DC (or equivalent) ANCA Motion D-000088 Rev 09...

  • Page 48: For 1 Phase Supply System Wiring

    CRX0014BC (or equivalent) Figure 6-8 Wiring needed to make a DC Choke from a 3 Phase Line Reactor The CRX0014BC for the D2109 and D2015 is a 3 phase line reactor; Figure 6-8 illustrates the wiring. D-000088 Rev 10 ANCA Motion...

  • Page 49: Installation Guidelines Of Emc Components

    (refer to Grounding).  Minimize motor cable length, and use correctly shielded motor cables (refer to 6.8.2 Motor Power Cable Installation). For longer cable lengths a ferrite ring on the drive output will reduce EMC noise. ANCA Motion D-000088 Rev 09...

  • Page 50: Power Supply Soft Start Module

    2A and avoid the control circuit breaker being tripped. Note: ANCA Motion’s preferred power wiring configuration for multidrive applications is to install a separate circuit breaker for each AMD2000 servo drive. Only use the Soft Start Module if installing multiple circuit breakers is not viable.

  • Page 51: Soft Start Module Installation

    The Soft Start Module must not be operated above 1000m Mean Sea Level (AMSL).  Do not install the Soft Start Module if there are any visible signs of damage to the product. Figure 6-10 Soft Start Module Installation ANCA Motion D-000088 Rev 09...
  • Page 52 Warning: After clipping the product to the DIN rail, ensure the module is fastened securely and the white clip is fully inserted, flush with the top surface of the housing, as shown in Figure 6-12. Figure 6-12 Ensure the white DIN rail clip is fully inserted D-000088 Rev 10 ANCA Motion...

  • Page 53: Soft Start Module Maintenance

    (e.g. dust). To clean the vent slots, gently use a soft-bristled brush. Do not use compressed air. Do not disassemble.  If the Soft Start Module develops any visible signs of damage it must be removed from service. ANCA Motion D-000088 Rev 09...

  • Page 54: Power Disconnect And Protection Devices

    When using 2 phases of a 3-phase supply, each phase must have suitable protection and the voltage must not exceed the rated input voltage. When using a single phase supply with a Neutral conductor, protection is only required on the supply phase. D-000088 Rev 10 ANCA Motion...
  • Page 55 Where more than one cable per terminal is used the combined diameters should not exceed the maximum.  The terminals are suitable for both solid and stranded wires.  Circuit Breakers must be thermal magnetic type.  Motor cables should have the same wire gauge as 3 phase mains supply. ANCA Motion D-000088 Rev 09...

  • Page 56: Motor Connections

    Ensure that shielding of the motor cable continues on both sides of the motor circuit contactor as shown in Figure 6-14 Motor connections and shielding. D-000088 Rev 10 ANCA Motion...

  • Page 57: Motor Power Cable Installation

    Connection for two PE wires less than 10mm² Cu by using two M4 screws. Maximum tightening torque is 1.5 Nm. A single PE wire if the conductor size is greater than 10mm² Cu by using a single M6 screw. Maximum tightening torque is 3 Nm. ANCA Motion D-000088 Rev 09...
  • Page 58 Armature Cable Armature Cable Assembly Earth Wire EMC Saddle Clamp Exposed Braid A single Protective Earth Termination Wire to the Bracket Cabinet Earth Bar Figure 6-16 Armature Cable Shield Connection with 1 x PE wire D-000088 Rev 10 ANCA Motion...
  • Page 59 Maximum tightening torque is 3Nm. Armature Cable Assembly Armature Cable EMC Saddle Earth Wire Clamp Exposed Braid Two Protective Termination Earth Wires to Bracket the Cabinet Earth Figure 6-17 Armature Cable Shield Connection with 2 x PE wires ANCA Motion D-000088 Rev 09...
  • Page 60 Connection for two PE wires less than 10mm² Cu by using two M4 screws provided. Maximum tightening torque is 1.5Nm Ensure that fingers are clear from the saddle clamping area during the disengagement of Warning: the spring clamp onto the braid as serious injury could occur. D-000088 Rev 10 ANCA Motion...
  • Page 61 At approximately 25mm away from the first incision, score around the cable outer sheath again. Score the cable outer sheath lengthways between the first two incisions, and peel off the outer sheath and paper shield if there is any. Figure 6-20 Armature Cable Braid Exposed Diagram ANCA Motion D-000088 Rev 09...
  • Page 62 Earth wires to the Earth bar as shown. Each protective earth Wire will be from a drive in the cabinet. Protective Earth Wires to the Drive Earthing points (see above pictures for locations) Factory Earth Wire Figure 6-22 Use Star Topology to Connect Drive Protective Earth to Earth Bar D-000088 Rev 10 ANCA Motion...
  • Page 63 Keep shield pigtails as short as possible and note they are less effective than full clamping  Allow no breaks in the cable shields.  Earthing connections should be as short as possible in flat strip, multi-stranded or braided flexible conductors for low RFI impedance. ANCA Motion D-000088 Rev 09...

  • Page 64: Drive Output Filters

    3-phase 12A sine wave 5.5kW 850V D2015 with no DC bus connection 3-phase 20A sine wave 11kW D2015 with DC bus connection 3-phase 20A sine wave 11kW 850V *Motor frequency range is from 0-200Hz for these filters D-000088 Rev 10 ANCA Motion...

  • Page 65: Du/Dt Filter

    PWM shaped but the current is sinusoidal. The reduced performance of the du/dt filter compared to the sinusoid filter makes it unsuitable for motor bearing current reduction and acoustic noise reduction. ANCA Motion D-000088 Rev 09...

  • Page 66: Motor Brake Connection

    Black – Black – Yellow/Green Separate Customer Relay: 24 V DC supply Normally Open Black – 24 V or 21 Black – DO-01 Backshell Mating Face View Figure 6-26 Example K2A-BSMD-xyz Armature with Brake Wiring D-000088 Rev 10 ANCA Motion...

  • Page 67: Motor Thermal Switch

    The separate 24 V DC supply used for the thermal switch can also be used to power the relay in the brake circuit. Note: There must be reinforced isolation between motor windings and the temperature sensor as required by IEC 60204-1 and referenced standards. ANCA Motion D-000088 Rev 09...

  • Page 68: Motor Thermal Sensor

    (e.g. Pin 3, X4) (e.g. Pin 46, X4) Figure 6-29 Example Connection of Two Thermal Sensors Note: that there must be reinforced isolation between motor windings and the temperature sensor as required by IEC 60204-1 and referenced standards. D-000088 Rev 10 ANCA Motion...

  • Page 69: Motor Thermal Estimation

    External Regeneration Resistor Connect resistor to P & C Danger: Do not short circuit connector P to C. Connector P is live with active high voltage. Please refer to sections 10.4.5 Regenerative Braking 10.4.5 Regenerative Braking ANCA Motion D-000088 Rev 09...

  • Page 70: Dc Busbar Terminals

    Busbar Flip lid Clear plastic cover Busbar Screw Terminals Figure 6-30 D2103 DC busbar screw terminal arrangement Busbar Flip lid Clear plastic cover Busbar Screw Terminals Figure 6-31 D2109 DC busbar screw terminal arrangement D-000088 Rev 10 ANCA Motion...

  • Page 71: Drives After Model Year My2020

    6.15.2 Drives after Model Year MY2020 These model drives do not include the busbar terminals and therefore do not open the lid as there are no user accessible items inside. For example 0113 means year 2013 week 01. ANCA Motion D-000088 Rev 09...

  • Page 72: Control Wiring

    7.1 What this Chapter Contains This chapter contains information related to interfacing of the drives to the following connections:  Analogue and Digital I/O   EtherCAT  Motor Feedback D-000088 Rev 10 ANCA Motion...

  • Page 73: I/O Connector X4

    Please refer to section 10.3 Interface Specifications for detailed specifications Warning: I/O Connector X4 pin assignments are provided, but ANCA Motion cannot ensure reliable operation of the STO function if the user supplies their own cable and connector. ANCA Motion...

  • Page 74: I/O Interface Module

    Every pin from the X4 connector is broken out to spring-cage terminal blocks.  The terminal blocks can accept 0.25mm to 1.5mm conductors with 7mm stripping length.  The module is mounted using 35mm top hat DIN rail (EN 60715). Figure 7-2 I/O Interface Breakout Module D-000088 Rev 10 ANCA Motion...

  • Page 75: Analogue I/O

    The analogue inputs pass through a differential buffer and second order low-pass filter with a cut-off frequency of approximately 700 Hz. 7.4.1.1 Idealised drawing of Analogue Input Circuit AMD2000 AGND 7.4.1.2 Typical Connection Examples of Analogue Input Signal source AMD2000 AI-XX+ AI-XX- Figure 7-3 Typical Example of Floating Differential Input Connection ANCA Motion D-000088 Rev 09...
  • Page 76 Note: In the scenario presented in Figure 7-5, any potential difference (in many cases this is 50/60Hz powerline noise) between signal source ground and measurement system ground will be picked up into the measurement result. Signal source AMD2000 AI-XX+ AI-XX- AGND Figure 7-6 Typical Example of Floating Single-Ended Connection D-000088 Rev 10 ANCA Motion...
  • Page 77 Figure 7-7 Typical Input Circuit to Provide 0-10V Input from a 24V Source Refer to the applicable AMD2000 Series Servo Drive - Configuration Guide for detailed information on how to use ANCA MotionBench to read analogue input values. ANCA Motion D-000088 Rev 09...
  • Page 78 Note: This module is inteded to be used with the AMD2000 I/O Interface Module (ICN-3077-1952 OR 646-0-05-0723) as to be able to access the analogue inputs of the AMD2000 Drive. For technical specifications refer to section 10.6.2 Motor Thermistor Sensor Isolator. D-000088 Rev 10 ANCA Motion...

  • Page 79: Analogue Outputs

    Refer to the applicable AMD2000 Series Servo Drive - Configuration Guide for detailed information on how to use ANCA MotionBench to read analogue output values. 7.4.2.1 Idealized Drawing of Output Circuit AMD2000 ANCA Motion D-000088 Rev 09...

  • Page 80: Digital I/O

    DI-03 DI-04 DI-05 DI-06 DI-07 DI-08 DI-09+ DI-09- DI-10+ I/O Module DI-10- (ICN-3077-1952) DO-01 DO-02 DO-03 DO-04 DO-05 DO-06 20, 21 +24V-Fused 46, 47 0VDC 10.3 Interface Specifications Refer to Section for maximum current rating. D-000088 Rev 10 ANCA Motion...

  • Page 81: Control Circuit Supply

    General Purpose Digital Inputs DI-01 to DI-08 Warning: Please refer to section 10.3 Interface Specifications for detailed current ratings of the 24V supply if used to switch I/O devices 7.5.2.1.1 Idealised Drawing of Input Circuit AMD2000 ANCA Motion D-000088 Rev 09...
  • Page 82 AMD2000 Series D2xxx Servo Drive - User Guide 7.5.2.1.2 Typical Connection Example AMD2000 Control +24 V DI-XX Control GND 7.5.2.1.3 Typical Connection Example NPN Pull-Up Resistor +24 V NPN Device AMD2000 1K 1W DI-XX Control GND D-000088 Rev 10 ANCA Motion...
  • Page 83 Idealized Drawing of Differential Input Circuit AMD2000 7.5.2.2.2 Typical Connection Examples of interfacing with PNP/NPN based sensors. 24 V AMD2000 Signal Sensor Figure 7-9 - Example PNP Based Sensor AMD2000 Signal Sensor Figure 7-10 – Example NPN Based Sensor ANCA Motion D-000088 Rev 09...
  • Page 84 Minimum Input High Threshold Voltage 11 V Nominal Input Current at 24V Input 15 mA I/O Interface module (646-0-05-0723) Control GND (DI-09+/DI-10+) +24 V DI-09-/DI-10- GND(24V) Control GND Figure 7-11 – Interface with 24V single-ended signals D-000088 Rev 10 ANCA Motion...
  • Page 85 Digital GND Digital GND I/O Interface module (646-0-05-0723) Control GND (DI-09+/DI-10+) +24 V DI-09-/DI-10- 0VDC(24V) Control GND Figure 7-12 – Interface with 24V single-ended signals 10.3 Interface Specifications Refer to Section for maximum current rating. ANCA Motion D-000088 Rev 09...
  • Page 86 Ensure the ground is common to the ground of the drive so the power supply and signals have a common ground. Figure 7-14 - Differential Pulse and Direction Mode Wiring Diagram D-000088 Rev 10 ANCA Motion...
  • Page 87 The drive does not provide power to the quadrature device so the power supply must be provided by the user. Ensure the ground is common to the ground of the drive so the power supply and signals have a common ground. Figure 7-16 - Single Ended Pulse and Direction Mode Wiring Diagram ANCA Motion D-000088 Rev 09...

  • Page 88: Digital Outputs

    Refer to the applicable AMD2000 Series Servo Drive - Configuration Guide for detailed information on how to use ANCA MotionBench to read digital output values. 7.5.3.2 Typical Connection Examples AMD2000 Example - PLC (X4 Pin 20) DO-XX DI-XX D-000088 Rev 10 ANCA Motion...

  • Page 89: Encoder Pass-Through

    An encoder pass-through is available via connector X4. It provides access to either the analogue or digital encoder input supplied on connector X5. The differential output signals are in the form of an incremental encoder. Connector Pin Number Label EO-A+ EO-A- EO-B- EO-B+ I/O Module EO-Z- EO-Z+ ANCA Motion D-000088 Rev 09...

  • Page 90: Safe Torque Off (Sto) Operation

    AMD2000 drive or from an external power supply (See notes on the bottom of section about requirements and approvals on an external power supply). Guidance regarding staff levels of training and competence are given in IEC 61508. D-000088 Rev 10 ANCA Motion...

  • Page 91: Sto Considerations

    This STO feature is designed for uncontrolled stops (similar to Stop category 0, IEC 60204-1); only removing torque from the motor. The speed at which the motor and load moves after activation may depend on many factors. ANCA Motion D-000088 Rev 09...

  • Page 92: Sto Operation

    STO is to be de-asserted while the drive is NOT ‘enabled.’ Refer to the AMD2000 Series Servo Drive - Configuration Guide for instructions on how to clear drive errors, or disable and re-enable the drive. D-000088 Rev 10 ANCA Motion...
  • Page 93 If an internal fault is re-detected on start-up, or if the inputs asserting STO continue to not match, then STO will re-enter a fault state upon start-up and will continue to be unable to deliver power to a motor. ANCA Motion D-000088 Rev 09...

  • Page 94: Sto Wiring

    STO inputs, STO reactions and faults can be examined via ANCA MotionBench software or the drive’s EtherCAT fieldbus. MotionBench and EtherCAT STO AMD2000 Series Servo Drive – SoE Configuration Guide. related signals are described in the D-000088 Rev 10 ANCA Motion...
  • Page 95 STO trips, then it is recommended that a reliable external power supply is used. Note that any external power supply must be of the Protected Extra Low Voltage (PELV) type and approved to IEC 60950. ANCA Motion D-000088 Rev 09...
  • Page 96 (refer to the note at the bottom of section Table 7-1 - STO Input Ratings). Failure to do so may result in activation of over current protection and may therefore cause unexpected STO activation. D-000088 Rev 10 ANCA Motion...
  • Page 97 Figure 7-20 Example of Integrating Single STO Drive to Safety Circuit Note: Requirement for IEC60204-1 regarding earth fault detection must be followed. Note: Installation of the safety circuit will need to follow particular installation instructions for chosen unit and requirements of IEC 60204-1. ANCA Motion D-000088 Rev 09...
  • Page 98 AMD2000 internal power supply, be careful not to exceed power supply current limits (refer to the note at the bottom of section Table 7-1 - STO Input Ratings). Failure to do so may result in activation of over current protection and may therefore cause unexpected STO activation. D-000088 Rev 10 ANCA Motion...
  • Page 99 AMD2000 internal power supply in this instance, but this is displayed here for convenience. D2103 or D2109 I/O interface module 20/21 +24V 46/47 GND(24V) STO-01+ STO-01- STO-02+ STO-02- Figure 7-22 - STO feature not used ANCA Motion D-000088 Rev 09...

  • Page 100: Fault Detection

    Faults in the operation of STO must be identified and logged immediately by the operator of the machine. All faults MUST be reported to ANCA Motion, and no maintenance or repair of a drive is allowed. Faulty drives should be returned to ANCA Motion for further evaluation.
  • Page 101 Time below which STO demand changes are ignored (from safety PLC pulses, for example) Maximum time allowable between differing STO demands before external fault detected Table 7-4 - STO Timing Specifications assumes at least 10ms between low transitioning pulses ANCA Motion D-000088 Rev 09...

  • Page 102: Sto Diagnostics

    If the cause of the fault persists after power cycling, then the error will not be able to be cleared. Note: The STO Diagnostics described in the section are NOT certified safety functions. D-000088 Rev 10 ANCA Motion...

  • Page 103: Sto Function Commissioning Test Procedure

    All faults or mis- performance/deviations from this test procedure MUST be reported to ANCA Motion, and no maintenance or repair of a drive is allowed. Please organise with ANCA Motion to return the drive for assessment.
  • Page 104 Check STO fault relay Closed Test fails. Safely put machine into a safe state, electrically isolate drive, remove End sub-test1 and drive and contact ANCA Motion. go to sub-test2 Figure 7-25 - STO Sub-Test 1 D-000088 Rev 10 ANCA Motion...
  • Page 105 Check STO fault relay Open Test fails. Safely put machine into a safe state, electrically isolate drive, remove End sub-test2 and drive and contact ANCA Motion. go to sub-test3 Figure 7-26 - STO Sub-Test 2 ANCA Motion D-000088 Rev 09...
  • Page 106 End sub-test3 Test fails. Safely put machine into a safe state, electrically isolate drive, remove drive and contact ANCA Motion. End STO test Figure 7-27 - STO Sub-Test 3 The test is now complete. Warning: After the STO Commissioning Test is completed, it is imperative that extreme care is taken to assemble the drive connections as per wiring recommendations in this User Guide.

  • Page 107: Motor Brake Control

    Port 0 open Port 0 Closed Open or all ports Function Function Closed Slave Controller closed Loopback Function Port 2 Closed EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany ANCA Motion D-000088 Rev 09...
  • Page 108 EtherCAT configuration is usually performed using EtherCAT manager software. To assist with configuration, an EtherCAT Slave Information (ESI) file is provided in the firmware bundle. This .xml file describes the drive’s capabilities to the EtherCAT manager. 7.10.2.3 EtherCAT Connectors EtherCAT IN EtherCAT OUT D-000088 Rev 10 ANCA Motion...

  • Page 109: Dip Buttons

    Reserved Holding during power up will force the device into bootstrap mode Additional functionality may also be available depending on variant, refer to the related AMD2000 Series Servo Drive - Configuration Guide for more information. ANCA Motion D-000088 Rev 09...

  • Page 110: Motor Encoder Feedback

    Encoder channel 1 is designed to support Sin/Cos encoders but can also be used for a secondary digital incremental encoder. This channel does not support the UVW wire-saving FOI feature. Please refer to the accompanying configuration guide for more information. Encoder channel 2 is designed to support digital incremental encoders only. D-000088 Rev 10 ANCA Motion...

  • Page 111: Analogue Encoder Cable

    (1) THE INNER AND OUTER SHIELD SHOULD NOT TOUCH AT ANY POINT Figure 7-28 Example K2B-FSMD-xyz Analogue Incremental Encoder Wiring 7.12.3 Digital Encoder Interface 7.12.3.1 Idealized Drawing of the Digital Encoder Circuit AMD2000 RS485 A/B/Z + /RS422 Receiver A/B/Z - ANCA Motion D-000088 Rev 09...

  • Page 112: Digital Encoder Cable

    Recommended cables are listed in the accessories section 11.3.2 Encoder Cables SERVO DRIVE MOTOR ENCODER BACKSHELL Figure 7-29 Example K2A-FSPD-xyz Digital Incremental Encoder Wiring SERVO DRIVE MOTOR ENCODER BACKSHELL Figure 7-30 Example K2A-FSMD-xyz Digital Incremental Encoder Wiring D-000088 Rev 10 ANCA Motion...

  • Page 113: Encoder Splitter Cable

    Digital Channel Pin Number Signal Pin Number Signal Pin Number Signal SIN-/A- SIN-/A- SIN+/A+ SIN+/A+ COS-/B- COS-/B- COS+/B+ COS+/B+ REF-/Z- REF-/Z- REF+/Z+ REF+/Z+ E+9V E+5V E+5V E+5V EGND EGND EGND Backshell Shield Backshell Shield Backshell Shield ANCA Motion D-000088 Rev 09...

  • Page 114: Installation Checklist

    The STO Commissioning Test has been completed and PASSED following the instructions listed in  Section 7.7.8 STO Function Commissioning Test Procedure; or if STO is not required, then the STO function has been disabled appropriately in accordance with Section 7.7.5.5 When STO is not required. D-000088 Rev 10 ANCA Motion...

  • Page 115: Start-Up

    Start-up 9 Start-up Please refer to the applicable configuration guides for this series of drive for parameter configuration, tuning and diagnostics.  AMD2000 Series Servo Drive - SoE Configuration Guide ANCA Motion D-000088 Rev 09...

  • Page 116: Technical Data

    Adjustable dynamic current limiting Adjustable continuous over-current monitoring Adjustable instantaneous over-current monitoring Surge protection Yes (300 VAC) 10.2.3 Self-Protection features Motor overload Yes, see AMD2000 Series Servo Drive – SoE Configuration Guides for adjustment. Over-travel limit exceeded D-000088 Rev 10 ANCA Motion...

  • Page 117: Dc Bus Voltage Control

    Drive Controlled Homing (DCH)  DQ Alignment  Preconfigured Offset Field Orientation Modes  Acceleration Observer  Absolute EtherCAT Slave Mode Stand-alone Mode Field Firmware Updates Position Latch Persistent Configuration Data Yes ( via EEPROM) Continuous ADC Calibration ANCA Motion D-000088 Rev 09...

  • Page 118: Interface Specifications

    3V (RS-422 compliant) Number of Inputs 2 (4 wires) Input Common-Mode Voltage Range +12/-7 V 120 Ω Terminating Resistance Turn On Differential Threshold +200 mV Turn Off Differential Threshold -200 mV Maximum Propagation Delay 130 ns Isolated D-000088 Rev 10 ANCA Motion...

  • Page 119: Differential Digital Encoder Output

    Output Current (Nominal) +/-10mA Short circuit protection Bandwidth 500Hz Isolated 10.3.8 Motor Position Feedback Number of position feedback channels Ch1: Analogue 1Vpp Ch2: 5V Line Drive Analogue Incremental Sin/Cos (1Vpp) Supported Encoders Digital Incremental (5V) ANCA Motion D-000088 Rev 09...

  • Page 120: Encoder Channel 1

    Turn On Differential Threshold +200mV Turn Off Differential Threshold -200mV Isolated Bandwidth 1Mhz 10.3.12 Encoder Supply Nominal Voltage 5VDC +-1% regulated supply 9VDC +-2.5% regulated supply Maximum Current 400mA (5VDC) 500mA (9VDC) Short Circuit Protection D-000088 Rev 10 ANCA Motion...

  • Page 121: Ethernet Interface

    Technical Data Attribute Qualification 10.3.13 Ethernet Interface Protocol EtherCAT Baud Rate 100Mb/s Drive Profile Definition Connector Ethernet RJ-45 10.3.14 Drive Display Indicator 5 x 7-segment LED Operator Interfacing 4 x DIP buttons ANCA Motion D-000088 Rev 09...

  • Page 122: Electrical Specifications

    Warning: Upon start-up, the drive will have an initial increased current draw. The drive should not be power cycled more than once every 10 seconds. Specific power de-rating curves can be found in 10.9 Voltage and Temperature De-rating D-000088 Rev 10 ANCA Motion...

  • Page 123: Resolution

    Precision at recommended operating conditions ±2 encoder counts 10.4.5 Regenerative Braking Regenerative brake switching capacity 3A at U 9A at U 9A at U Internal Brake Resistor 40 Watts 60 Watts 60 Watts External Brake Resistor Optional ANCA Motion D-000088 Rev 09...

  • Page 124: Environmental Specifications

    For the drive model with STO function exceeding an ambient temperature of 55°C will void the approval of the safety function certification to IEC 61800-5-2. See note 2, below, for de-rating details. De-rating is applied to the D2103 at some temperatures below 55°C, please refer to 10.9 Voltage and Temperature De-rating. D-000088 Rev 10 ANCA Motion...

  • Page 125: Physical Characteristics

    The top surface of cabinets/enclosures which are accessible when the equipment is energized shall meet the requirement of protective type IP3X with regard to vertical access only. This amount of heat energy needs to be removed from the equipment cabinet to prevent overheating ANCA Motion D-000088 Rev 09...

  • Page 126: Accessory Specifications

    Short circuit protection to 24V Short circuit protection to GND Isolated Supported Sensor KTY84-130 Temperature Sensor Suggested Motor Range ANCA Motion Beta Series Servo Motor 10.6.3 Power Supply Soft Start Module Maximum Connected Drives 4 at 100 Vac. 8 at 240 Vac...

  • Page 127: Dimension Drawings

    Technical Data 10.7 Dimension Drawings 10.7.1 D2103 drive mounting hole positions and physical dimensions (mm) 10.7.2 D2109 drive mounting hole positions and physical dimensions (mm) ANCA Motion D-000088 Rev 09...

  • Page 128: D2015 Drive Mounting Hole Positions And Physical Dimensions (Mm)

    AMD2000 Series D2xxx Servo Drive - User Guide 10.7.3 D2015 drive mounting hole positions and physical dimensions (mm) 10.7.4 Soft Start Module D-000088 Rev 10 ANCA Motion...

  • Page 129: Control Circuit Supply

    Separated Extra Low Voltage (SELV) type and approved to IEC 61950. Note, if overloaded the poly-fuse in the drive will present a high resistance and there will no longer be 500mA available until the load is removed. ANCA Motion D-000088 Rev 09...

  • Page 130: Voltage And Temperature De-Rating

    The curves below represent the operating range of the AMD2000 drive under varying electrical and environmental conditions. Input chokes specified correspond to Section 6.5 Installations conforming to the EMC Directive. There is no temperature de-rating specified unless explicitly demonstrated. 10.9.1 D2103 De-rating 10.9.1.1 1-Phase D-000088 Rev 10 ANCA Motion...
  • Page 131 Technical Data ANCA Motion D-000088 Rev 09...
  • Page 132 AMD2000 Series D2xxx Servo Drive - User Guide 10.9.1.2 3-Phase D-000088 Rev 10 ANCA Motion...
  • Page 133 Technical Data ANCA Motion D-000088 Rev 09...

  • Page 134: D2109 De-Rating

    AMD2000 Series D2xxx Servo Drive - User Guide 10.9.2 D2109 De-rating 10.9.2.1 1-Phase D-000088 Rev 10 ANCA Motion...
  • Page 135 Technical Data ANCA Motion D-000088 Rev 09...
  • Page 136 AMD2000 Series D2xxx Servo Drive - User Guide 10.9.2.2 3-Phase D-000088 Rev 10 ANCA Motion...
  • Page 137 Technical Data ANCA Motion D-000088 Rev 09...

  • Page 138: D2015 De-Rating

    AMD2000 Series D2xxx Servo Drive - User Guide 10.9.3 D2015 De-rating 10.9.3.1 1-Phase D-000088 Rev 10 ANCA Motion...
  • Page 139 Technical Data ANCA Motion D-000088 Rev 09...
  • Page 140 AMD2000 Series D2xxx Servo Drive - User Guide D-000088 Rev 10 ANCA Motion...
  • Page 141 Technical Data 10.9.3.2 3-Phase ANCA Motion D-000088 Rev 09...
  • Page 142 AMD2000 Series D2xxx Servo Drive - User Guide D-000088 Rev 10 ANCA Motion...

  • Page 143: Regeneration Resistor

    This is rarely an issue but can be a problem where very rapid decelerations at high retarding torques are desired. Consult ANCA Motion for advice if this is a concern.
  • Page 144 The situation in example 1 has torque applied and then stopped twice per second. The power required for the regeneration resistor to dissipate all of the energy is �� = ���� = �� ∗ 2 D-000088 Rev 10 ANCA Motion...

  • Page 145: Materials

    EU and must be removed and handled according to local regulations. For further information on environmental aspects and more detailed recycling instructions, please contact your local ANCA Motion distributor. ANCA Motion D-000088 Rev 09...

  • Page 146: Standards Conformity

    ETG 1000 The AMD2000 is a ETG 9001 conforming EtherCAT ETG 1300 device, but does not qualify as conformance tested. ANCA Motion self-determination of compliance. Those items in the drive IEC 61800-7, Servo ANCA Motion self- with no applicable Profile over EtherCAT...

  • Page 147: D2103 & D2109 Ce Declaration Of Conformity

    Technical Data 10.12.1 D2103 & D2109 CE Declaration of Conformity EC DECLARATION OF CONFORMITY Manufacturer: ANCA Motion Pty. Ltd. Person Authorised to Mr. Jan Langfelder 1 Bessemer Road Compile the Technical File, ANCA GmbH and ANCA Motion’s Bayswater North Aloise-Senefelder-Str.
  • Page 148 (earthing) conductor in the fixed wiring of the installation, so that accessible conductive parts cannot become live in the event of a failure in the basic insulation. D-000088 Rev 10 ANCA Motion...

  • Page 149: Ethercat® Conformance Marking

    A FCC mark is attached to the Product Label in order to verify that the unit meets the relevant Electromagnetic Compliance (EMC) standards of the Federal Communications Commission. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany ANCA Motion D-000088 Rev 09...

  • Page 150: Accessories

    The AMD2000 Series servo drives can be used with a variety of standard servo motors. ANCA Motion has the Alpha series servo motors available that have compatible encoder feedback and current ratings in a range suitable for use with AMD2000 drives. Further information on these motors is provided below.

  • Page 151: Motor Electrical Information Summary

    0.32 < 20 < 50 0.129 > 2 MA86-2430-AB 0.43 < 35 < 50 0.65 0.129 > 3 MA130-хххх-AB 0.515 < 20 < 50 0.324 > 3 N: Flying Lead (no connector) C: MS Connector ANCA Motion D-000088 Rev 09...

  • Page 152: Motor Mechanical Information Summary

    183.8 130.4 8.08 IP67 B (130℃) MA130-7220-AB 238.3 130.4 9.18 IP67 B (130℃) MA130-9620-A 214.8 130.4 10.18 IP67 B (130℃) MA130-9620-AB 269.3 130.4 11.28 IP67 B (130℃) IP rating excludes electrical connector and shaft opening D-000088 Rev 10 ANCA Motion...

  • Page 153: Cables

    11.3 Cables 11.3.1 Cable Catalogue Number Interpretation Function Cable Type Description Feedback cable analogue incremental Feedback cable digital incremental A/B/T/S Armature cable 0.75mm A/B/T/S Armature cable 1mm A/B/T/S Armature cable 1.5mm A/B/T/S Armature cable 2.5mm ANCA Motion D-000088 Rev 09...

  • Page 154: Encoder Cables

    AMD2000 Series D2xxx Servo Drive - User Guide 11.3.2 Encoder Cables 11.3.2.1 Encoder Cables (Plastic/AMP) Part Number Length K2A-FSPD-020 K2A-FSPD-030 K2A-FSPD-050 K2A-FSPD-100 11.3.2.2 Encoder Cables (Metal/MS) Part Number Length K2A-FSMD-020 K2A-FSMD-030 K2A-FSMD-050 K2A-FSMD-100 11.3.2.3 Encoder Splitter Cable Part Number Length 619-0-01-0340 0.55m D-000088 Rev 10 ANCA Motion...

  • Page 155: Armature Cables

    Shielded Armature Cables (Plastic/AMP) Part Number Length K2A-ASPD-020 K2A-ASPD-030 K2A-ASPD-050 K2A-ASPD-100 11.3.3.2 Shielded Armature Cables (Metal/MS) Part Number Length K2A-ASMD-020 K2A-ASMD-030 K2A-ASMD-050 K2A-ASMD-100 11.3.3.3 Shielded Armature Cables with Brake (Metal/MS) Part Number Length K2A-BSMD-020 K2A-BSMD-030 K2A-BSMD-050 K2A-BSMD-100 ANCA Motion D-000088 Rev 09...

  • Page 156: Accessory Order Codes

    ICN-3077-1653 Backshell, MDR 50 Way, Screw Type Warning: The I/O Connector supplied in this way is not guaranteed by ANCA Motion for reliable STO delivery. Correct wiring and controls on manufacture of the cabling integrated with this connector will be necessary and must form part of the installer’s own safety system requirements.

  • Page 157: Ethercat Cables

    Ethernet Cable, Cat 5e, SF/UTP, 1.5m KXE-1100-0030 Ethernet Cable, Cat 5e, SF/UTP, 3.0m 11.4.7 Regen Resistors 11.4.7.1 Aluminium-clad Regen Resistor Part Number Description Aluminium-clad regen resistor, 36Ω ± 10%, ICN-3009-0317 500W (with heatsink), 300W (without heatsink), 17kW for 1 sec. ANCA Motion D-000088 Rev 09...

  • Page 158: Motor Armature Cable Shield Termination Kit

    Temperature switch: 180°C, 24kW for 1 sec. 11.4.8 Motor Armature Cable Shield Termination Kit Part Number Description 619-0-00-1028 D2103 Drive Armature Cable Shield Termination Kit 619-0-02-0957 D2109 Drive Armature Cable Shield Termination Kit 619-0-00-2265 D2015 Drive Armature Cable Shield Termination Kit D-000088 Rev 10 ANCA Motion...

  • Page 159: Emi Filter

    ICN-3096-1671 Hammond Power Solutions CRX0014AC ICN-3096-1672 Hammond Power Solutions CRX0014BC 11.4.11 DC Choke Part Number Description ICN-3096-1661 Hammond Manufacturing 159ZJ 11.4.12 Power Supply Soft Start Module Part Number Description 619-0-00-2290 Power Supply Soft Start Module ANCA Motion D-000088 Rev 09...

  • Page 160: Drive Kit Order Codes

    D2103 SoE Drive with Cable Bracket Kit D2103-2S2-A-2 and STO Override Plug D2103-2S2-A AMD2000 STO 3A SoE Servo Drive 619-0-00-2017 Armature Shield Termination Bracket ICN-3049-0503 EMC Shield Saddle Clamp 619-0-00-1903 D21xx STO Override Plug ICN-3001-0958 Screws M4x10 ICN-3001-3132 Screws M6x10 D-000088 Rev 10 ANCA Motion...

  • Page 161: D2109 Soe Drive 9A With Cable Bracket Kit

    D2109 SoE Drive with Cable Bracket Kit D2109-2S2-A-2 and STO Override Plug D2109-2S2-A AMD2000 STO 9A SoE Servo Drive 619-0-03-0938 Armature Shield Termination Bracket ICN-3049-0503 EMC Shield Saddle Clamp 619-0-00-1903 D21xx STO Override Plug ICN-3001-0958 Screws M4x10 ICN-3001-3132 Screws M6x10 ANCA Motion D-000088 Rev 09...

  • Page 162: D2015 Soe Drive 15A With Cable Bracket Kit

    D2015 SoE Drive with Cable Bracket Kit D2015-2S2-A-2 and STO Override Plug D2015-2S2-A AMD2000 15A SoE Servo Drive 619-0-01-1535 Armature Shield Termination Bracket ICN-3049-0517 EMC Shield Saddle Clamp 619-0-00-1903 D21xx STO Override Plug ICN-3001-0958 Screws M4x10 ICN-3001-1006 Screws pan head M3x6 D-000088 Rev 10 ANCA Motion...

  • Page 163: Additional Information

    There are no internal adjustments inside the AMD2000. For any repairs please contact our nearest office or agent. Refer to section 12.3 Product, Sales and Service Enquiries. ANCA Motion D-000088 Rev 09...

  • Page 164: Product, Sales And Service Enquiries

    AMD2000 Series D2xxx Servo Drive - User Guide 12.3 Product, Sales and Service Enquiries If you require assistance for installation, training or other customer support issues, please contact the closest ANCA Motion Customer Service Office in your area for details. ANCA Motion Pty. Ltd. ANCA Motion Taiwan 1 Bessemer Road 4F, No.

This manual is also suitable for:

Amd2000 seriesD2103D2109D2015

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