ANCA Motion D2109 Manuals

Manuals and User Guides for ANCA Motion D2109. We have 1 ANCA Motion D2109 manual available for free PDF download: User Manual

ANCA Motion D2109 User Manual (164 pages)

Brand: ANCA Motion | Category: Servo Drives | Size: 5 MB

Table of Contents
6
Safety
13
General Safety
13
Safe Start-Up and Operation
14
Introduction
15
Purpose
15
About the AMD2000 Series D2Xxx Servo Drives
15
Drive Model Applicability
15
Terms and Abbreviations
16
Trademarks
16
Product Overview
17
What this Chapter Contains
17
Features
17
Operating Principle
18
AMD2000 Variant Identification
19
AMD2000 Series Drive Catalogue Number Interpretation
20
System Overview
21
Front Panel Overview
24
D2103
24
D2109 and D2015
25
X1/X2 Ethercat Connectors
25
X3 Factory Use Only
26
X4 Input / Output Connector
26
X5 Encoder Interface Connector
26
Motor Armature Cable Connector
26
Power, Inductor and Brake Resistor Connector
27
LED Display and Control Panel
27
Mechanical Installation
28
What this Chapter Contains
28
Pre Installation Checks
28
Requirements
28
Installation Site
28
Tools Required
29
Mounting and Cooling
29
Installation
32
Power Isolation
32
Mounting a Drive
32
Un-Mounting a Drive
34
Planning the Electrical Installation
35
What this Chapter Contains
35
Motor and Drive Compatibility
35
Power Supply Disconnecting Device
35
Emergency Stop Devices
35
Thermal Overload and Protection
36
Fan Operation
36
Thermal Overload
36
Motor Cable Short-Circuit
36
Supply Cable Short-Circuit
36
Motor Thermal Protection
36
Brake Resistor
37
Power Cable Selection
38
Control Cable Selection
38
Motor Feedback Wiring
38
Ethercat Wiring
38
Cable Routing
39
EU Machinery Directive Considerations
39
Power Wiring
40
What this Chapter Contains
40
Checking the Insulation of the Assembly
40
Mains Power Supply
40
AC Voltage Supply
42
DC Voltage Supply
43
Connection of Drives to Grounded Systems (TN or TT)
43
Connection of Drives to Non-Grounded Systems (IT)
43
Connection of Drives to Delta Transformer Systems (IT)
44
Harmonics and Reactive Power Compensated Supplies
44
Residual Current-Operated Protective (RCD) Protection
44
Grounding
45
Protective Earth
45
Grounding of Individual Drives Within a Cabinet
45
EMI Protection - Chassis Earth and Motor Cable Bracket
45
Installations Conforming to the EMC Directive
46
For 3 Phase Supply System Wiring
47
For 1 Phase Supply System Wiring
48
Installation Guidelines of EMC Components
49
Power Supply Soft Start Module
50
Soft Start Module Wiring
50
Soft Start Module Installation
51
Soft Start Module Maintenance
53
Power Disconnect and Protection Devices
54
Motor Connections
56
Motor Circuit Contactors
56
Motor Power Cable Installation
57
Drive Output Filters
64
Sinusoidal Filter
64
Du/Dt Filter
65
Motor Brake Connection
66
Motor Thermal Switch
67
Motor Thermal Sensor
68
Motor Thermal Estimation
69
Brake/Regeneration Resistor
69
DC Busbar Terminals
70
Drives up to and Including Model Year MY2020
70
Drives after Model Year MY2020
71
Control Wiring
72
What this Chapter Contains
72
I/O Connector X4
73
I/O Interface Module
74
Analogue I/O
75
Analogue Inputs
75
Analogue Outputs
79
Digital I/O
80
Control Circuit Supply
81
Digital Inputs
81
Digital Outputs
88
Encoder Pass-Through
89
Safe Torque off (STO) Operation
90
Definitions
90
STO Overview
90
STO Considerations
91
STO Operation
92
STO Wiring
94
Fault Detection
100
STO Diagnostics
102
STO Function Commissioning Test Procedure
103
Motor Brake Control
107
Serial Communication Port
107
Ethernet Interface
107
Ethercat
107
Ethercat Topology / Port Assignment
107
DIP Buttons
109
Motor Encoder Feedback
110
Analogue Encoder Interface
110
Analogue Encoder Cable
111
Digital Encoder Interface
111
Digital Encoder Cable
112
Encoder Splitter Cable
113
Installation Checklist
114
What this Chapter Contains
114
Checklist
114
Start-Up
115
Technical Data
116
What this Chapter Contains
116
Control Functions
116
Control Modes
116
Thermal and Over-Current Protection
116
Self-Protection Features
116
DC Bus Voltage Control
117
Advanced Control Functions
117
Interface Specifications
118
Digital I/O Supply
118
Digital Inputs
118
Digital Outputs
118
Differential Digital Inputs
118
Differential Digital Encoder Output
119
Analogue Inputs
119
Analogue Outputs
119
Motor Position Feedback
119
Encoder Channel 1
120
Analogue Encoder Input
120
Digital Encoder Input Channel 2
120
Encoder Supply
120
Ethernet Interface
121
Drive Display
121
Electrical Specifications
122
Power Supply Section
122
Digital Servo Drive
122
Resolution
123
Steady State Performance
123
Regenerative Braking
123
Environmental Specifications
124
Storage
124
Transport
124
Installation and Operation
124
Physical Characteristics
125
Cooling
125
Accessory Specifications
126
I/O Interface Module - 646-0-05-0723
126
Motor Thermistor Sensor Isolator
126
Power Supply Soft Start Module
126
Dimension Drawings
127
D2103 Drive Mounting Hole Positions and Physical Dimensions (MM)
127
D2109 Drive Mounting Hole Positions and Physical Dimensions (MM)
127
D2015 Drive Mounting Hole Positions and Physical Dimensions (MM)
128
Soft Start Module
128
Control Circuit Supply
129
Voltage and Temperature De-Rating
130
D2103 De-Rating
130
D2109 De-Rating
134
D2015 De-Rating
138
Regeneration Resistor
143
Regeneration Resistor Selection, Regeneration Energy and Power
143
Materials
145
Standards Conformity
146
D2103 & D2109 CE Declaration of Conformity
147
Ethercat® Conformance Marking
149
FCC Marking
149
Accessories
150
What this Chapter Contains
150
Motors
150
Motor Catalogue Number Interpretation
150
Motor Electrical Information Summary
151
Brake Motor Specific Information
151
Motor Mechanical Information Summary
152
Cables
153
Cable Catalogue Number Interpretation
153
Encoder Cables
154
Armature Cables
155
Accessory Order Codes
156
I/O Interface Cable
156
I/O Interface Module
156
I/O Interface Module Kit
156
I/O Connector
156
D2103 and D2109 STO Override Plug
156
Ethercat Cables
157
Regen Resistors
157
Motor Armature Cable Shield Termination Kit
158
EMI Filter
159
Line Reactor
159
DC Choke
159
Power Supply Soft Start Module
159
Drive Kit Order Codes
160
D2103 Soe Drive 3A with Cable Bracket Kit
160
D2103 Soe Drive 3A with Cable Bracket Kit & STO Override Plug
160
D2109 Soe Drive 9A with Cable Bracket Kit
161
D2109 Soe Drive 9A with Cable Bracket Kit & STO Override Plug
161
D2015 Soe Drive 15A with Cable Bracket Kit
162
D2015 Soe Drive 15A with Cable Bracket Kit & STO Override Plug
162
Additional Information
163
What this Chapter Contains
163
Maintenance and Repairs
163
Product, Sales and Service Enquiries
164
Feedback
164

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