Hiwin D1-N Series Assembly And Commissioning Instructions

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

with EtherCAT® and

Safe Torque Off (STO) Safety Function

www.hiwin.de

HIWIN GmbH

Brücklesbünd 2

77654 Offenburg

Germany

Phone +49 (0) 7 81 9 32 78 - 0

Fax +49 (0) 7 81 9 32 78 - 90

[email protected]

www.hiwin.de

Complete or partial reproduction

is not permitted without our permission.

These assembly instructions are protected by copyright.

Any reproduction, publication in whole or in part, modi-

fication or abridgement requires the written approval of

HIWIN GmbH.

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Contents

1. General information ........................................................4

1.1 Information about the document 4

1.2 Depictions used in these assembly instructions 5

1.3 Warranty and liability 7

1.4 Manufacturer’s details 7

1.5 Copyright 7

1.6 Product monitoring 7

2. Basic safety notices ........................................................8

2.1 Intended use 8

2.2 Disclaimer in the event of modification or improper use 8

2.3 Qualified trained staff 8

2.4 General safety notices 9

2.5 HIWIN technical support 10

2.6 Labels on D1-N servo drive amplifier 10

3. Product description .......................................................11

3.1 Order code 11

3.2 Type plates 12

3.3 Guidelines and standards 13

3.4 Scope of supply 13

3.5 Technical specification 14

4. Assembly .....................................................................16

4.1 Assembling the drive amplifier 16

4.2 Dimensions 16

4.3 Switch cabinet assembly 18

5. Electrical connection.....................................................19

5.1 Overview of electrical connections 19

5.2 X1 – mains connection 21

5.3 X2 – Brake resistor connection 22

5.4 X3 – motor connection 26

5.5 X4 – control voltage and motor brake connection 26

5.6 X5 – parameterisation interface 27

5.7 X6 – input and output connection 28

5.8 X7 and X8 – STO safety function connection 32

5.9 X9 – motor temperature sensor 32

5.10 X10, X11, X12 – encoder connection 33

5.11 X13 – EtherCAT 34

6. STO safety function ....................................................... 35

6.1 Definition STO 35

6.2 Functional principle of the STO function on the D1-N 35

6.3 Connections of STO function on D1-N 36

6.4 Activation of the STO function 37

6.5 Preconditions for using the safety function 40

6.6 Examples of circuits for the STO function 42

6.7 Safety function certified by TÜV 44

7. EtherCAT ......................................................................45

7.1 D1-N EtherCAT with CoE protocol 45

8. “Lightening” commissioning software ............................49

8.1 Installation of the software 49

8.2 Initial launch of the “Lightening” software 50

8.3 Operating interface 51

8.4 “Configuration center” without EtherCAT/with EtherCAT 55

8.5 “Application center” 78

8.6 “Protection center” (limitations) 89

8.7 Digital inputs and outputs / “I/O center” 92

9. Commissioning ............................................................94

9.1 Commissioning 95

9.2 “Auto phase center” 95

9.3 “Performance center”, controller parameter optimisation 107

9.4 First travel subject to control 109

9.5 Using the “Scope” functions 110

9.6 Controller tuning 116

9.7 “Advanced gains” – filter 117

9.8 Error history 126

10. mega-ulink protocol .................................................... 127

10.1 Features of the MPI library 127

10.2 PDL (Process Description Language) programming 127

10.3 Features of PDL programming 128

10.4 Programming examples (no liability accepted)) 128

10.5 Writing PDL program to D1-N and saving 131

10.6 Overview advanced parameters 135

10.7 Stopping PDL program, allowing it to run on and deleting it 141

11. Implementing the “Position trigger” ............................. 143

11.1 Requirements 143

12. Troubleshooting .......................................................... 147

12.1 Error codes and troubleshooting 148

12.2 Warnings and problem rectification 150

12.3 Other errors and problem rectification 151

13. Repair and replacement ............................................... 152

14. Parts numbers and accessories .................................... 153

14.1 Article numbers for drive amplifier sets 153

14.2 Article numbers for connector kits 153

14.3 Article numbers for motor cables 154

14.4 Cables for encoder systems 154

15. EC Declaration of Conformity ........................................ 155

4

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

General information

1. General information

1.1 Information about the document

These assembly and commissioning instructions are intended for planners, developers and operators of machines and equip-

ment in which HIWIN D1-N servo drive amplifiers are already integrated or are to be used. They are also intended for people

who perform the following work on or with the D1-N:

Transport

Assembly

Electrical connection, including linking to a superordinate controller

Integration in a safety system

Conversion or upgrading

Set-up

Commissioning

Operation

Maintenance

Troubleshooting

Taking out of operation, dismantling and disposal

Version Date Remark

02-4 September 2017 Update “Error codes and troubleshooting”

02-3 October 2016 Update of Declaration of Conformity

02-2 September 2016 Modification of safety notices

02-1 June 2016 General corrections

02-0 March 2016 Layout adaptation, general corrections

01-5 September 2015 Endat 2.2, homing procedures, errors and warnings, new

article numbers

01-4 March 2014 EtherCAT integration, motor shield, mega-ulink, PDL, STO

01-3 January 2014 Type plate, EMC standards, technical data adapted

01-2 October 2013 Format adjustments, technical data adapted

01-1 August 2013 General corrections, addition of chapters STO safety function

and EtherCAT

01-0 July 2013 First edition

Table 1.1 Version of this documentation

1.1.1 Version of this documentation

1.1.2 Requirements

It is assumed that operating staff are trained in safe operating practices and have read and understood these assembly and

commissioning instructions in full.

1.1.3 Availability

These assembly and commissioning instructions must be available at all times to everyone working with or on the D1-N

servo drive amplifier.

5

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

General information

Direct danger!

Non-compliance with the safety notices will result in serious injury or death!

DANGER!

Potentially dangerous situation!

Non-compliance with the safety notices runs the risk of serious injury or death!

WARNING!

Potentially dangerous situation!

Non-compliance with the safety notices runs the risk of moderate to slight injury!

CAUTION!

Potentially dangerous situation!

Non-compliance with the safety notices runs the risk of damage to property or environmental pollution!

ATTENTION!

1.1.4 Scope of validity for these assembly and commissioning instructions

These assembly and commissioning instructions apply to servo drive amplifiers from HIWIN with the following product

designations:

D1-N-09-xx-x-x-xx

D1-N-18-xx-x-x-xx

D1-N-36-xx-x-x-xx

D1-N-90-xx-x-x-xx

They also apply if two or more of the drive amplifiers listed above are combined.

1.2 Depictions used in these assembly instructions

1.2.1 Instructions

Instructions are indicated by triangular bullet points in the order in which they are to be carried out.

Results of the actions carried out are indicated by ticks.

Example:

Produce appropriate mounting holes on the assembly surface if not already present.

Clean assembly surface and position drive amplifiers on it.

Screw in retaining bolts and tighten to a maximum torque of 3 Nm (when using type 8.8 screws)

Drive amplifier is mounted.

1.2.2 Lists

Lists are indicated by bullet points.

Example:

D1-N servo drive amplifiers must not be operated:

Outdoors

In potentially explosive atmospheres

…

1.2.3 Depiction of safety notices

Safety notices are always indicated using a signal word and sometimes also a symbol for the specific risk (see Section 1.2.4).

The following signal words and risk levels are used in these instructions:

6

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

General information

1.2.4 Symbols used

The following symbols are used in these instructions:

Warning of dangerous, electrical voltage!

Warning of magnetic fields!

Warning of hot surfaces!

Substance hazardous to the environment!

Access denied!

Wear protective gloves!

Isolate before work!

Table 1.2 Warning signs

Table 1.3 Signs giving orders

1.2.5 Information

NOTE

Describes general information and recommendations.

7

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

General information

1.3 Warranty and liability

The “General conditions of sale and delivery” of HIWIN GmbH apply.

1.4 Manufacturer’s details

Address HIWIN GmbH

Brücklesbünd 2

D-77654 Offenburg

Phone +49 (0) 781 / 9 32 78 - 0

Technical customer service +49 (0) 781 / 9 32 78 - 77

Fax +49 (0) 781 / 9 32 78 - 90

Technical customer service fax +49 (0) 781 / 9 32 78 - 97

E-mail supporthiwin.de

Internet www.hiwin.de

Table 1.4 Manufacturer’s details

1.5 Copyright

These instructions are protected by copyright. The written consent of HIWIN GmbH is required for reproduction, publication in

part or in whole, modification or abridgement of these instructions.

Windows is a registered trademark of the Microsoft Corp.

EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH

Beckhoff®, TwinCAT® and EtherCAT® are registered and licenced trade-marks of Beckhoff Automation GmbH.

1.6 Product monitoring

As the manufacturer of the D1-N servo drive amplifier, please inform HIWIN about:

Accidents

Potential sources of risk

Misunderstandings in these assembly and commissioning instructions

8

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Basic safety notices

2. Basic safety notices

2.1 Intended use

The servo drive amplifiers of the D1-N range are suitable for operating brushless synchronous servo motors, torque and

linear motors in force and/or torque control and speed and/or position control.

Subsequent safety instructions must be observed:

 The rated voltage of the motors must be greater than or at least the same as the intermediate circuit voltage supplied by

the drive amplifier.

 All drive amplifiers may only be used for the stated intended purpose.

 The drive amplifiers are fitted as components in electrical equipment or machines and may only be started up as

integrated system components.

 The machine manufacturer is obligated to produce a risk assessment for the machine. This is used as the basis for

determining appropriate measures to prevent injury and damage to property resulting from unforeseeable movements.

 The drive amplifiers of the D1-N series can be connected directly to single-phase or three-phase, earthed industrial

networks (110 – 230 V). They must not be operated in non-earthed networks or networks with unsymmetrical earthing

with a voltage of more than 230 V.

 If the drive amplifiers are used in residential or commercial areas and small plants, the user must take additional EMC

filter measures.

 The drive amplifiers may only be operated in a closed switch cabinet under the permissible ambient conditions. For

details, see Table 3.3 “Technical data” on Page 14.

 Only use copper cables for wiring in the switch cabinet.

 The drive amplifiers of the D1-N series must not be used in unprotected outdoor areas or areas at risk of explosion.

 The D1-N servo drive amplifier can only be declared to be conforming if operated with the accessories supplied and the

other HIWIN components required (motor, cables).

2.2 Disclaimer in the event of modification or improper use

Modifications not described in this assembly and commissioning instructions must not be undertaken on the drive amplifier.

If a modified construction is needed, please contact HIWIN GmbH directly.

The manufacturer assumes no liability in the event of modifications or improper assembly, installation, commissioning, use,

maintenance or repairs.

Only genuine parts from HIWIN are approved as spare parts and accessories. Spare parts and accessories not supplied by

HIWIN are not checked for operation with HIWIN drive amplifiers and may restrict operational safety. HIWIN assumes no

liability for damage caused through use of non-approved spare parts and accessories.

2.3 Qualified trained staff

The drive amplifiers may only be fitted, integrated in superordinate systems, started up, operated and maintained by qualified

trained staff. Staffs are considered qualified and trained if:

They have appropriate technical training and

Have been instructed by the machine operator in operation and the valid safety guidelines and

Can assess the anticipated risks and

Have read and understood these assembly and commissioning instructions in full and have access to them at all times.

This chapter serves to ensure the safety of everyone working in the vicinity of the D1-N servo drive amplifier

and who fits, installs, connects, operates, maintains or disassembles it. Non-compliance with the following

information results in danger of life.

DANGER!

9

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Basic safety notices

2.4 General safety notices

The following safety notices must be observed. Non-compliance with safety notices may put life and limb at risk.

2.4.1 Safety notices regarding storing the drive amplifiers

2.4.2 Safety notices regarding transporting the drive amplifiers

Danger from electrical voltage!

 The drive amplifiers should be de-energised before and during all assembly, disassembly or repair work.

Ensure that no-one can reestablish the mains connection. Otherwise there is a risk of death and injury.

 Always ensure that the drive amplifiers are correctly earthed using the PE bar in the switch cabinet as

reference potential. Safety is not guaranteed if there is no low-ohm earthing.

    Power connections may be live even if the motor is not moving. Never disconnect the electrical

connections of motors and drive amplifiers when live. In the worst case scenario, electric arcs may form,

causing personal injury and damage to contacts.

    After disconnecting the drive amplifiers from the supply voltages, wait at least five minutes before

touching live parts (e.g. contacts, threaded bolts etc.) or breaking connections. For your own safety

measure the voltage in the intermediate circuit and wait until it has fallen below 40 VDC.

 The drive amplifiers should always be operated in conjunction with appropriate safety equipment (zero-

contact protective equipment, mechanical protective equipment etc.). This protective equipment must

be designed, installed and regularly checked in accordance with applicable national and international

legislation and specifications.

DANGER!

Damage to the drive amplifier!

The drive amplifiers are delivered in packaging. If the drive amplifiers are to be put into storage, they must be kept in this

packaging. They must be stored in a dry location with protection from impact.

ATTENTION!

Damage to the drive amplifier!

Drive amplifiers may only be transported by qualified staff in the original recyclable packaging. Severe impact should be

avoided and the following ambient conditions should be observed:

 Permissible temperature during transport:

–20 to +65 °C, max. 20 K/hour fluctuating

 Permissible air humidity during transport:

relative humidity 20 % to 85 %, non-condensing

ATTENTION!

Damage to the drive amplifier!

 Discharge your body before you touch the drive amplifier.

 Avoid contact with highly insulating materials (plastic fibres, plastic films etc.). Place the drive amplifier on a

conductive surface. The drive amplifiers contain components at risk from electrostatic which may be damaged if

handled incorrectly.

ATTENTION!

2.4.3 Safety notices regarding the handling of the drive amplifier!

2.4.4 Safety notices regarding working with energised and live products

10

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Basic safety notices

Table 2.1 Warning Symbols

Pictogram Type and source of danger Protective measures

Danger of electric shock! Disconnect the power supply of the torque motor compo-

nents before maintenance or repairs!

Danger from hot surfaces! Let hot surfaces cool down before touching them!

2.4.5 Safety notices regarding working with hot surfaces!

Risk of burns!

The surface of the drive amplifier may reach temperatures in excess of 50 °C. There is therefore a risk of

burns. The housing must not be touched during or shortly after operation.

    Leave the drive amplifier to cool for at least 15 minutes after switching off.

WARNING!

Danger from uncontrolled movement of motors and machine parts!

Uncontrolled movement of motors and machine parts during installation and during operation after a not

defined period of time can cause serious injury and danger of life.

 Keep out of the dangerous zone of moving machine parts.

 Stop all motor movements safely before entering the dangerous zone.

 Protect the danger zone against unauthorised access.

DANGER!

2.4.6 Danger due to uncontrolled movement!

Potential causes of uncontrolled movements may be:

Damaged or defective components

Incorrect parameterization of the drive

Error in the software or firmware

Incorrect handling of the software

Wiring error

Signal failure of encoders

2.5 HIWIN technical support

If you have any questions, please contact the technical support team at HIWIN:

Phone: +49 (0) 781 / 9 32 78-77

Fax: +49 (0) 781 / 9 32 78-97

E-Mail: supporthiwin.de

If you have any questions relating to documentation, any suggestions or improvements please send a fax to the above fax

number.

2.6 Labels on D1-N servo drive amplifier

2.6.1 Warning Symbols

2.6.2 Type plate

See Section 3.2.

11

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Product description

3.1 Order code

3. Product description

The D1-N supports rotary servo motors, linear and torque motors and therefore the entire range of HIWIN motor types. The

wide range of supported encoder interfaces (digital, analogue 1 VPP, EnDat 2.2, resolver) and analogue and digital Hall sen-

sors allow the D1-N to be used in many different ways, especially with linear motors in conjunction with various positioning

measurement systems. External motors with the named encoder interfaces can also be easily controlled with the D1-N.

The D1-N servo drive amplifier supports the Ethernet-based EtherCAT field bus system. EtherCAT is an open technology which

is regulated in international standards IEC 61158, IEC 61784 and ISO 15745-4. EtherCAT is a very fast industrial Ethernet sys-

tem, also suited to use in time-critical motion control applications. The D1-N supports the CoE (CANoverEthernet) protocol

and can therefore be integrated in any EtherCAT master controller which supports this protocol. Furthermore, the D1-N works

according to the standardised drive profile CiA 402 and can therefore be easily integrated into the TwinCAT control software of

Beckhoff as an NC axis.

In addition, the proprietary protocol “mega-ulink” under EtherCAT is supported too.

Because manufacturers are increasingly focusing on machine safety, the STO (Safe-Torque-Off) safety function has been

integrated directly in the D1-N in accordance with IEC 61800-5-2 (certified by TÜV Nord). In the event of an error, the motor

current and therefore the torque on the motor can therefore be safely cut off via the D1-N without having to interrupt the

supply voltage on the drive. Elaborate hardware for cutting off the supply voltage is not needed, and even the process of

switching back on again is considerably faster and smoother.

Heat sink:

0: Without heat sink

1: With heat sink

Power supply:

2: 230 VAC, 1 or 3 phases (09 A, 18 A, 36 A)

6: 230–400 VAC, 1–3 phases (90 A)

Encoder:

0: EnDat 2.2, analogue 1 VPP; digital TTL

2: Analogue 1 VPP; digital TTL

D1-N 18 E020

HIWIN servo drive D1-N

Peak current (amplitude value):

09: 9 A

18: 18 A

36: 36 A

90: 90 A

Communication:

E: EtherCAT CoE (standard)

F: EtherCAT mega-ulink

S: Step/direction, ± 10 V interface

12

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Product description

Fig. 3.1 Type plate, right hand side of device

Fig. 3.2 Type plate, front

3.2 Type plates

There are two type plates on the device. The complete type plate is fitted on the right hand side of the device and contains all

relevant information.

There is also another type plate on the front of the device which states the type designation and the device’s serial number.

5

1

6

7

8

1

3

2

3

4

Number Description

1Type designation of drive amplifier

2HIWIN item number

3Serial number of device

4Barcode

5Electrical properties of the device

6CE compliant

7Compliance Functional Safety STO

8QR code

Table 3.1 Content of type plates

13

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Product description

Table 3.2 Guidelines and standards

3.3 Guidelines and standards

3.4 Scope of supply

The scope of supply may vary depending on the configuration ordered. Before installation, please check whether all the

ordered components have been supplied and whether the goods are damaged. If the goods are damaged, please contact the

transport company immediately and document the damage.

Standard scope of delivery

D1-N in the performance class ordered

Plug connectors for all connections

The latest documentation, commissioning software “Lightening” and other valuable tools are free to download from

www.hiwin.de.

Accessories

Please refer to Chapter 14 of this document or the current HIWIN catalogue “Drives and Servo Motors” for the extensive

range of accessories. For more information, you can also visit www.hiwin.de.

EMC EN 55011

EN 61000-6-2

EN 61800-3: 2004 (Category C3)

Emission:

IEC CISPR 11: 2009/A1: 2010 (Radiation & Conduction)

EN 61000-3-2: 2006/A1: 2009/A2: 2009 (Harmonics)

EN 61000-3-3: 2008 (Flicker)

EN 61000-6-2: 2005 (Immunity for industrial environment)

Immunity:

IEC 61000-4-2: 2008 (ESD)

IEC 61000-4-3: 2006/A1: 2007/A2: 2010 (RF)

IEC 61000-4-4: 2004 (EFT)

IEC 61000-4-5: 2005 (Surge)

IEC 61000-4-6: 2008 (RF)

IEC 61000-4-8: 2009 (MS)

Note: IEC 61000-4-11 & IEC 61000-2-4 & IEC 61000-2-1 not evaluated.

Low-Voltage Directives EN 61800-5-1

Machinery Directives ISO 13849-1: 2006; PL e (Cat.3)

Functional safety IEC 61508: 2010; SIL 3

IEC 62061: 2005; SILcl 3

IEC 61800-5-2 (STO)

UL Standard UL508C (E164620)

CSA Standards C22.2 No. 14

14

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Product description

3.5 Technical specification

Table 3.3 Technical data

HIWIN D1-N servo drive amplifier D1N-09 D1N-18 D1N-36 D1N-90

Supply voltage Voltage 220 to 240 VAC ±10 % 220 to 400 VAC

±10 %

Frequency 50 to 60 Hz ±5 %

Number of phases 1 or 3 3

Control voltage 24 VDC ±10 %

Maximum control current 1.5 A

Output current Continuous current (effective) 2.1 A 4.2 A 8.5 A 21 A

Peak current (effective) 6.4 A 12.7 A 25.5 A 63.6 A

Maximum duration of peak

current

1 second

Type of control IGBT PWM vector control

Switching frequency 16 kHz 8 kHz

Motor types supported Linear motors, torque motors, AC servo motors

Encoder interface Supply voltage of encoders +5 VDC ±5 %, 500 mA

Analogue encoder Sin/Cos 1 VPP, (Z, /Z differential)

(max. input frequency

<

1 MHz)

Digital encoder TTL (A, /A ,B, /B, Z, /Z, differential),

only for 13 bit encoder

(max. input frequency

<

5 MHz)

HIWIN resolver Option

EnDat 2.2 Standard

Hall sensors Digital (A, B, C), 120° offset

Encoder output Encoder output (buffered) Forwarding of incoming encoder signals, incl. quadru-

pling (max. 18,000,000 Incr/s, RS422 differential)

Encoder emulation Forwarding of incoming encoder signals, can be scaled

in any way (max. 18,000,000 Incr/s, RS422 differential)

Nominal

value

inputs

Position

regulation

Digital Function Step/direction, CW/CCW, AB signals

Input

frequency

Differential: 4,000,000 Incr/s

Single End: 500,000 Incr/s

Speed

regulation

Analogue Input resistance 10 k

Input voltage ± 10 VDC

Resolution 12 bit

15

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Product description

Table 3.3 Technical specification (continuation)

HIWIN D1-N servo drive amplifier D1N-09 D1N-18 D1N-36 D1N-90

Nominal value

inputs

Torque

regulation

Analogue Input

resistance

10 k

Input voltage ±10 VDC

Resolution 12 bit

EtherCAT Functions PDO communication (flexible mapping)

SDO communication

Distributed clocks

CiA402 Modes Profile Position Mode (1)

Profile Velocity Mode (2)

Cyclic Synchronous Position Mode (8)

Cyclic Synchronous Velocity Mode (9)

Homing (6)

Inputs/outputs which can be

parameterised

10 digital inputs Function can be freely selected (24 VDC)

3 digital outputs Function can be freely selected (24 VDC, 100 mA)

Brake control 24 VDC, max. 1 A

Capture input Reaction time

<

7 ns (Input PCP)

CAM output Reaction time

<

7 ns (Output PT), 5 VDC

DC-Bus Overvoltage +HV

>

404 VDC +HV

>

800 VDC

Undervoltage +HV

<

60 VDC +HV

<

158 VDC

Brake resistor Connection Internal (50 /150 W) and/or external External only

Activation threshold +HV

>

390 VDC +HV

>

735 VDC

Deactivation threshold +HV

<

380 VDC +HV

<

695 VDC

Tolerance ±5 %

Cooling External heatsink No No Yes Yes

Integrated fan No Yes Yes Yes

EMC filter No EMC filter integrated

Safety function STO (Safe Torque Off)

User interface LCD

Parameterisation interface USB 2.0

Weight 2.05 kg 2.20 kg 3 kg 5.8 kg

Ambient conditions Ambient temperature Operation: 0 to 50 °C (above 50 °C with air conditioning)

Transport / storage: –25 to 65 °C

Air humidity 0 to 90 %, non-condensing

Operating altitude Up to 1,000 m above sea level

Vibrations 1 G (10 to 500 Hz)

Protection class IP20

Pollution Degree 2

16

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Assembly

4. Assembly

4.1 Assembling the drive amplifier

This drive amplifier has to be mounted on a hard surface and is only mounted using the mounting holes provided. These are

designed for size M4 screws. Refer to Section 4.2 onwards for the precise dimensions.

The screws must be secured with retaining rings to prevent them coming loose.

Assembly procedure:

Produce appropriate mounting holes on the assembly surface if not already present.

Clean assembly surface and position drive amplifiers on it.

Screw in retaining bolts and tighten to a maximum torque of 3 Nm (when using type 8.8 screws)

Drive amplifier is mounted.

NOTE

4.2 Dimensions

WARNING!

Danger from electrical voltage!

 Before and during all assembly, disassembly and repair work, the drive amplifier must be de-energised.

Ensure that no-one can re-establish the mains connection. Otherwise there is a serious risk of injury or

death.

5

±0,1

238,5

±0,1

4,2

4,9

231

±0,2

75

±0,5

75

±0,5

65

±0,5

75,1

±0,2

181,6

±0,2

25

±0,1

24,15

±0,1

5

±0,1

238,5

±0,1

4,2

4,9

231

±0,2

75

±0,5

75

±0,5

65

±0,5

75,1

±0,2

181,6

±0,2

25

±0,1

24,15

±0,1

5

±0,1

238,5

±0,1

4,2

4,9

231

±0,2

75

±0,5

75

±0,5

65

±0,5

75,1

±0,2

181,6

±0,2

25

±0,1

24,15

±0,1

All measurements

are in millimeters.

Fig. 4.1 Dimensions of D1-N-09, D1-N-18

17

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Assembly

All measurements

are in millimeters.

All measurements

are in millimeters.

5

±0,1

238,5

±0,1

4,2

4,9

231

±0,2

75

±0,5

75

±0,5

65

±0,5

101,3

±0,2

181,7

±0,2

25

±0,1

24,15

±0,1

5

±0,1

238,5

±0,1

4,2

4,9

231

±0,2

75

±0,5

75

±0,5

65

±0,5

101,3

±0,2

181,7

±0,2

25

±0,

1

24,15

±0,1

55 ±0,1

258 ±0,1 6 ±0,1

32,1 ±0,1

5

272 ±0,2

231,4 ±0,2 75 ±0,5

110 ±0,5

119,2 ±0,2

253,7 ±0,2

Fig. 4.2 Dimensions of D1-N-36

Fig. 4.3 : Dimensions of D1-N-90

18

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Assembly

4.3 Switch cabinet assembly

The following minimum spacing must be observed when assembling several drive amplifiers.

Fig. 4.4 Minimum spacing in switch cabinet

50 mm 50 mm

min. 50 mm

min. 120 mm

min. 10 mm without heat sink

min. 40 mm with heat sink

Danger of electric shock due to insufficient earthing!

 During assembly, ensure sufficient earthing of the drive amplifier.

    Conductive screws should be used for this purpose.

    The assembly surface may have to be treated to produce a low-ohm electrical connection between the

housing and assembly plate in the switch cabinet.

WARNING!

19

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Electrical connection

5. Electrical connection

Fig. 5.1 Overview of electrical connections

Danger from electrical voltage!

 Always ensure that the drive amplifiers are correctly earthed using the PE bar in the switch cabinet as

reference potential. Safety is not guaranteed if there is no low-ohm earthing.

 Power connections may be live even if the motor is not moving. Never disconnect the electrical con-

nections of motors and drive amplifiers when live. In the worst case scenario, electric arcs may form,

causing personal injury and damage to contacts.

 After disconnecting the drive amplifiers from the supply voltages, wait at least five minutes before

touching live parts (e.g. contacts, threaded bolts etc.) or breaking connections. For your own safety

measure the voltage in the intermediate circuit and wait until it has fallen below 40 VDC.

DANGER!

X5

X3

X10

X11

X12

X2

X13

X1

X4

X6

X7

X8

X9

X1 Mains connection

X2 Brake resistor connection

X3 Motor connection

X4 Control voltage and brake connection

X5 Parameterisation interface

X6 Inputs/outputs connection

X7 Input STO

X8 Output STO

X9 Motor temperature sensor

X10 Digital encoder connection

X11 Analogue encoder connection

X12 Revolver encoder connection

X13 EtherCAT (option)

5.1 Overview of electrical connections

All of the D1-N’s connections are labelled and designed to be pluggable, ensuring simple installation and rapid device

replacement. All mating connectors are supplied Fig. 5.1 provides an overview of all connections on the D1-N drive amplifier.

20

Assembly and Commissioning Instructions

D1-N Servo Drive Amplifier

D1N-02-4-EN-1709-MA

Electrical connection

A diagram showing all electrical connections on the D1-N can be seen in Fig. 5.2. Please note that the wiring of the inputs

and outputs on the X6 connector is shown as NPN-switching in this overview.

Fig. 5.2 Diagrammatic overview of electrical connections (NPN)

Page is loading ...

Hiwin D1-N Series Assembly And Commissioning Instructions

This manual is also suitable for

Hiwin D1-N Series Assembly And Commissioning Instructions

Related papers

Other documents