Schneider Electric Modicon Lexium 17S Series SERCOS Servo Drive User manual

Schneider Electric
Brand
Schneider Electric
Model
Modicon Lexium 17S Series SERCOS Servo Drive
Category
Coaxial cables
Type
User manual

This manual is also suitable for

Modicon
Lexium 17S Series SERCOS Servo Drive
User Guide
890 USE 121 00 Eng
Preface
890 USE 121 00 v
Preface The data and illustrations found in this book are not binding. We reserve the right to
modify our products in line with our policy of continuous product development. The
information in this document is subject to change without notice and should not be
construed as a commitment by Schneider Electric.
Schneider Electric assumes no responsibility for any errors that may appear in this
document. If you have any suggestions for improvements or amendments or have
found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means,
electronic or mechanical, including photocopying, without express written
permission of the Publisher, Schneider Electric.
CAUTION!
All pertinent state, regional, and local safety regulations must be observed when
installing and using this product. For reasons of safety and to assure compliance
with documented system data, repairs to components should be performed only by
the manufacturer.
Failure to observe this precaution can result in injury or equipment damage.
MODSOFT® is a registered trademark of Schneider Electric.
(SERCOS
®
interface is a trademark of SERCOS Interface, Inc., promotion society.)
The following are trademarks of Schneider Electric:
Modbus Modbus Plus Modicon Quantum 984 Concept
IBM® and IBM AT® are registered trademarks of International Business Machines
Corporation.
Microsoft®, MS-DOS®, Windows®, Windows 95®, Windows 98® and
Windows NT® are registered trademarks of Microsoft Corporation.
©Copyright 2001, Schneider Electric
Preface
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890 USE 121 00
890 USE 121 00 vii
Contents
Chapter 1 Introduction
At a Glance...................................................................................................... 1
Document Scope....................................................................................... 1
What’s in this Chapter ............................................................................... 1
About this User Guide .................................................................................... 2
Who Should Use this User Guide ............................................................. 2
How this User Guide Is Organized ............................................................ 2
Related System Components ......................................................................... 4
SERCOS Multi-Axis Motion Control System ............................................. 4
UniLink Commissioning Software for 17S ................................................. 4
Related Documentation .................................................................................. 5
Documents................................................................................................. 5
Hazards, Warnings and Guidelines................................................................. 6
Hazards and Warnings ............................................................................. 6
Additional Safety Guidelines...................................................................... 9
Qualified Personnel ................................................................................... 9
Standards and Compliances .......................................................................... 10
European Directives and Standards ......................................................... 10
EC Directive Compliance .......................................................................... 10
SERCOS Standard ................................................................................... 11
UL and cUL Compliance ........................................................................... 11
Conventions .................................................................................................... 12
Acronyms and Abbreviations .................................................................... 12
Contents
viii
890 USE 121 00
Chapter 2 Product Overview
At a Glance...................................................................................................... 15
Introduction ............................................................................................... 15
What’s in this Chapter ............................................................................... 15
The 17S Series SERCOS Drive Family ......................................................... 16
Introducing the 17S SERCOS Drive Family ............................................. 16
Drives Available ........................................................................................ 16
Implementing the Drives ........................................................................... 16
Applicable Servo Motor Types .................................................................. 16
Electrical Considerations .......................................................................... 17
17S Drive Family Portrait .......................................................................... 18
17S Drives Front View .............................................................................. 19
Equipment Supplied .................................................................................. 20
Equipment Available ................................................................................. 20
17S System Configuration Diagram ......................................................... 21
Modicon Multi-Axis Motion SERCOS Network Configuration ......................... 22
Overview ................................................................................................... 22
Which Motion Controllers run a SERCOS Network .................................. 22
SERCOS Fiber- Optic Transmit and Receive Connectors ........................ 22
Example of a Typical SERCOS Network Ring Configuration ................... 23
Benefits of Fiber-Optic Communication .................................................... 24
Two Types of Fiber-Optic Communication ............................................... 24
Digital Control ........................................................................................... 25
Usability Enhancements ........................................................................... 26
Overview of 17S Internal Electronics ............................................................. 27
17S Internal Electronics Block Diagram ................................................... 27
General Characteristics ............................................................................ 28
Primary Power .......................................................................................... 28
Bias Power ................................................................................................ 28
EMI Suppression ...................................................................................... 28
Internal Power Section .............................................................................. 29
DC Link Capacitor Reconditioning ............................................................ 29
Integrated Safe Electrical Separation ....................................................... 29
Keypad ...................................................................................................... 29
LED Display and Discrete Indicators ........................................................ 30
Overview of System Software ........................................................................ 31
Setup ........................................................................................................ 31
Setting Parameters ................................................................................... 31
Default Settings ........................................................................................ 31
UniLink Commissioning Software ............................................................. 32
Contents
890 USE 121 00 ix
Chapter 3 Mounting and Physical Dimensions
At a Glance...................................................................................................... 33
What’s in this Chapter ............................................................................... 33
Installation Safety Precautions ....................................................................... 34
Power Supply Overcurrent Protection ....................................................... 36
Earth Connections .................................................................................... 36
Cable Separation ...................................................................................... 36
Air Flow ..................................................................................................... 36
Drive Mounting and Physical Dimensions ...................................................... 37
17S Height, Width and Depth Dimensions ................................................ 37
17S Drive and Mounting Area Dimensions ............................................... 38
Optional External Regen Resistor Assembly Dimensions......................... 39
Optional Motor Choke Assembly Dimensions ........................................... 40
Chapter 4 Wiring and I/O
At a Glance...................................................................................................... 41
Introduction ............................................................................................... 41
What’s in this Chapter ............................................................................... 42
Wiring and I/O Initial Considerations .............................................................. 43
Initial Considerations ................................................................................. 43
Grounding ................................................................................................. 43
Wiring Overview ............................................................................................. 44
Overview of 17S Wiring Connections ........................................................ 44
Cable Shield Connections .............................................................................. 47
Connecting Cable Shields to the Front Panel ........................................... 47
Cable Shield Connection Diagram ............................................................ 48
Power Wiring .................................................................................................. 49
AC Mains Power Supply Connection ........................................................ 49
Bias Supply Connection ............................................................................ 49
Serial Power Connections ......................................................................... 50
Optional External Regen Resistor Connection ......................................... 51
Regen Circuit Functional Description......................................................... 51
Lexium BPH Servo Motor Connection (excluded BPH055) ...................... 52
Lexium BPH 055 Servo Motor Connection................................................ 53
Servo Motor (with Optional Dynamic Brake...............................................
Resistors and Contactor) Connection ....................................................... 54
Servo Motor Holding-Brake Control Functional Description ...................... 55
Contents
x
890 USE 121 00
Signal Wiring .................................................................................................. 57
Lexium BPH Resolver Connection (excluded BPH055) ........................... 57
Lexium BPH055 Resolver Connection ..................................................... 58
Encoder Input Connection ........................................................................ 59
Auxiliary Encoder Interface ....................................................................... 60
Analog Input Connection ................................................................................ 63
Analog Inputs ............................................................................................ 63
Fault Relay and Digital I/O Connection .......................................................... 64
Digital Inputs and Outputs ........................................................................ 64
Using Functions Pre-programmed into the Drive ...................................... 65
Serial Communications Connection ............................................................... 66
RS-232 Null Modem Type Communication Connection Diagram ............. 66
Chapter 5 System Operation
At a Glance...................................................................................................... 67
What’s in this Chapter ............................................................................... 67
Powering Up and Powering Down the System ............................................... 68
Power-on and Power-off Characteristics .................................................. 68
Stop Function ............................................................................................ 69
Emergency Stop strategies ....................................................................... 69
Wiring example ......................................................................................... 70
Procedure for Verifying System Operation ..................................................... 71
Overview ................................................................................................... 71
Quick Tuning Procedure ........................................................................... 71
Front Panel Controls and Indicators ............................................................... 73
Keypad Operation ..................................................................................... 73
LED Display .............................................................................................. 73
SERCOS Communication LED Indicators ................................................ 74
Contents
890 USE 121 00 xi
Chapter 6 Troubleshooting
At a Glance...................................................................................................... 75
What’s in this Chapter ............................................................................... 75
Warning Messages ......................................................................................... 76
Warning Identification and Description ...................................................... 76
Error Messages .............................................................................................. 77
Error Identification and Description ........................................................... 77
Troubleshooting............................................................................................... 81
Problems, Possible Causes and Corrective Actions.................................. 81
Appendix A Specifications
At a Glance...................................................................................................... 83
What’s in this Appendix ............................................................................. 83
Performance Specifications............................................................................. 84
Performance Specifications Table ............................................................ 84
Environmental and Mechanical Specifications................................................ 85
Environmental Specifications Table........................................................... 85
Mechanical Specifications Table ............................................................... 86
Electrical Specifications................................................................................... 87
What’s in this Section ................................................................................ 87
Electrical Specifications - Power .................................................................... 88
Line Input Specifications Table ................................................................. 88
Bias Input Specifications Table ................................................................. 89
External Fuse Specifications Table ........................................................... 89
Motor Output Specifications Table ............................................................ 90
Internal Power Dissipation Specifications Table........................................ 91
Electrical Specifications - Regen Resistor ...................................................... 92
Regen Circuit Specifications ..................................................................... 92
Electrical Specifications - Signal ..................................................................... 93
Motor Overtemperature Input Specifications Table .................................. 93
Resolver Input Specifications Table .......................................................... 93
Encoder Input Specifications Table ........................................................... 94
Emulated Encoder Output (Incremental Format) Specifications Table...... 94
Encoder Output (Incremental Format) Timing Diagram ............................ 95
Contents
xii
890 USE 121 00
Auxiliary Incremental Encoder Input Specifications Table ........................ 95
Discrete Input Specifications Table .......................................................... 96
Discrete Output Specifications Table ........................................................ 96
Fault Relay Output Specifications Table ................................................... 97
Brake Output Specifications Table ........................................................... 97
Analog Input Specifications Table ............................................................ 98
Serial Communications Specifications Table ............................................ 98
Wire Specifications ................................................................................... 99
Appendix B Parts List
At a Glance...................................................................................................... 101
What’s in this Appendix ............................................................................ 101
Lexium 17S Drives ......................................................................................... 102
Drives Available ........................................................................................ 102
External 24Vdc supply .................................................................................... 103
External 24Vdc supply .............................................................................. 103
Drive Cables ................................................................................................... 104
Drive to Motor Cables .............................................................................. 104
RS-232 Serial Communications Cable Part Table .................................... 104
Encoder Output Cable Parts Table ........................................................... 104
Fiber Optic Cables Parts Table ................................................................. 105
Optional External Regen Resistor Assemblies ............................................... 106
Optional Regen Resistor Assembly Part Table ......................................... 106
Optional Motor Choke ..................................................................................... 107
Optional Motor Choke Part Table.............................................................. 107
Spare Parts ..................................................................................................... 108
Spare Parts Table...................................................................................... 108
Appendix C Cable Connection Wiring Diagrams
At a Glance...................................................................................................... 109
What’s in this Appendix ............................................................................ 109
Wiring a Sub-D Connector with Shielding ...................................................... 110
Wiring the Sub-D Connector...................................................................... 110
Sub-D Connector Diagram ....................................................................... 111
Wiring the Motor Power Connector (Drive end) ............................................. 112
Contents
890 USE 121 00 xiii
Wiring the Motor Power Connector ........................................................... 112
Motor Power Connector (Drive end) Diagram (excluded BPH055) ........... 113
BPH055 Motor Power Connector (Drive end) Diagram ............................ 114
Serial Communication Interface Connection (X6) .......................................... 115
Serial Communication Interface Cable Connectors .................................. 115
Appendix C Servo Loop Diagrams
At a Glance...................................................................................................... 117
What’s in this Appendix ............................................................................. 117
17S Current Controller Overview .................................................................... 118
17S Current Controller Diagram ............................................................... 118
17S Velocity Controller Loop .......................................................................... 119
17S Velocity Controller Loop Diagram ...................................................... 119
17S Position Controller Loop .......................................................................... 120
17S Position Controller Loop Diagram....................................................... 120
Appendix D Optional External Regen Resistor Sizing
At a Glance...................................................................................................... 121
What’s in this Appendix.............................................................................. 121
Overview ................................................................................................... 122
Determining When Energy Is Absorbed .................................................... 122
Determining Optional External Regen Resistor Size ...................................... 123
Power Dissipation Calculation Procedure ................................................. 123
Drive Energy Absorption Capability .......................................................... 124
Example Regen Resistor Power Dissipation Calculation ............................... 125
Example Motor and Drive Specifications................................................... 125
Example Step 1.......................................................................................... 126
Example Step 2 ......................................................................................... 127
Example Step 3 ......................................................................................... 127
Example Step 4 ......................................................................................... 128
Example Step 5 ......................................................................................... 128
Example Step 6.......................................................................................... 128
Example Step 7 ......................................................................................... 128
Example Step 8 ......................................................................................... 129
Contents
xiv
890 USE 121 00
1
1
Introduction
At a Glance
Document Scope This user guide contains complete installation, wiring interconnection, power
application, test and maintenance information on the Lexium 17S series SERCOS
drive.
What’s in this
Chapter
This chapter provides general information about this user guide and contains the
following topics:
Topic Page
About this user guide 2
Related system components and standards 4
Related documentation 5
Hazards, warnings, and guidelines 6
Standards and compliances 10
Conventions 12
2
About this User Guide
Who Should Use
this User Guide
This user guide is written for any qualified person at your site who is responsible for
installing (mounting and interconnecting), operating, testing and maintaining your
Lexium 17S SERCOS drive and the servo system equipment with which it
interfaces. In addition, the following precautions are advised:
l Transportation of the drive to, or from, an installation site should only be
performed by personnel knowledgeable in handling electrostatically sensitive
components.
l Commissioning of the equipment should only be performed by personnel
having extensive knowledge of, and experience with, electrical and drive
technologies.
You are expected to have some overall understanding of what your 17S SERCOS
drive does and how it will function in a high-performance, multi-axis motion control
system. Accordingly, be sure you read and understand the general information,
detailed descriptions and associated procedures presented in this manual, as well
as those provided in other relevant manuals, before installing your 17S. (See
Related System Components
later in this chapter.)
If you have questions, please consult your Schneider Electric customer
representative.
How this User
Guide Is
Organized
This manual is organized as follows.
Continued on next page
Chapter/Appendix Description
Chapter 1
About this User Guide
An introduction to this manual — who should use
this manual, how this manual is organized,
related publications, hazards and warnings.
Chapter 2
Lexium 17S Product Overview
General descriptions of the 17S SERCOS
drives, descriptions of components that are
supplied by Schneider in a typical 17S system,
and a block diagram for internal electronics.
Chapter 3
Mounting and Physical Dimensions
Physical dimensions and information for
mounting the 17S SERCOS drive, optional
Regen resistor and (if required) optional servo
motor choke.
3
About this User Guide, continued
How this User
Guide Is
Organized,
continued
Chapter/Appendix Description
Chapter 4
Wiring and I/O
Wiring diagrams for the power connections and
wiring diagrams and descriptions for all signal
wiring connections — encoder, resolver, analog
input, discrete I/O, fiber-optic and serial
communications cable.
Chapter 5
System Initialization, Commissioning
and Operation
Detailed procedures and associated descriptions
on how to initialize, commission and operate a
typical 17S system.
Chapter 6
Troubleshooting
Description of faults, probable causes and
recommended corrective actions.
Appendix A
Specifications
Specifications for the 17S SERCOS drives,
including general, electrical, signal, and power
specifications.
Appendix B
Parts List
Part numbers related to the 17S SERCOS drive
system.
Appendix C
Cable Connection Wiring Diagrams
Procedures and associated diagrams that show
how to wire Sub-D and power cable connectors
as well as the serial communication cable used
with the drive.
Appendix D
Servo Loop Diagrams
Illustrations of several servo loops within the 17S
SERCOS drive system.
Appendix E
Optional External Regen Resistor
Sizing
Description and procedure for determining the
power dissipation requirement for the optional
external Regen resistor.
4
Related System Components
SERCOS Multi-
Axis Motion
Control System
The 17S SERCOS drive is typically only one component in a larger, multi-axis
motion control system. A multi-axis system is comprised of one motion controller
and (depending on the controller) up to 32 drives. Each drive controls one servo
motor.
UniLink
Commissioning
Software for 17S
To configure your multi-axis system, you will be using the UniLink
axis
commissioning software, which Schneider supplies.
UniLink allows you to configure and tune your 17S axis quickly and easily. With its
graphical user interface and oscilloscope tuning features, UniLink provides an easy
point-and-click method for configuring motion setup parameters. UniLink minimizes
or eliminates cumbersome programming tasks.
For complete information on UniLink, please see the UniLink online help.
5
Related Documentation
Documents Related documentation that covers all these system components is illustrated
below.
You will need these:
UniLink
Online Help
(included
in software)
Depending on which SERCOS motion controller you have, you will also need there:
Quantum
SERCOS
Multi-axis Motion
Controller
Guide
840 USE 116 X
MMF
Programmer’s
Kit
User Guide
890 USE 119 00
PREMIUM:
PREMIUM PLCs
Motion Control
SERCOS Module
TSX CSY 84
User Manual
TSXDM5740
PL7 JUNIOR/PRO
PREMIUM PLCs
Application
Motion Control
SERCOS Module
TSX CSY 84
TLXDS57PL740
If you have a BPH motor, you will also need this:
Lexium BPH
Series
Servo Motors
Motors Reference
Guide
* AMOMAN001U
QUANTUM:
* included in AM0 CSW 001V•00 (CDROM)
6
Hazards, Warnings and Guidelines
Hazards and
Warnings
Read the following precautions very carefully to ensure the safety of personnel at
your site. Failure to comply will result in death, serious injury or equipment damage.
DANGER!
ELECTRIC SHOCK HAZARDS
l During operation, keep all covers and cabinet doors closed.
l Do not open the drives; depending on degree of enclosure protection, the
drives may have exposed components.
l Control and power connections on the drive may be energized even if the
motor is not rotating.
l Never attempt to disconnect the electrical connections to the drive with power
applied. Failure to comply may result in arcing at the contacts.
l Wait at least five minutes after disconnecting the drive from the mains supply
voltage before touching energized sections of the equipment (for example,
contacts) or disconnecting electrical connections. Capacitors can still have
dangerous voltages present up to five minutes after switching off the supply
voltages. To ensure safety, measure the voltage in the DC Link circuit and wait
until it has fallen below 40V before proceeding.
l Check to ensure all energized connecting elements are protected from
accidental contact. Lethal voltages up to 900V can be present. Never
disconnect any electrical connections to the drive with power applied;
capacitors can retain residual and dangerous voltage levels for up to five
minutes after switching off the supply power.
Failure to follow any one of these instructions will result in death, serious
injury or equipment damage.
Continued on next page
7
Hazards, Warnings and Guidelines, continued
WARNING!
THERMAL HAZARD
During operation, the front panel of the drive, which is used as a heat sink, can
become hot and may reach temperatures above 80°C. Check (measure) the heat
sink temperature and wait until it has cooled below 40°C before touching it.
Failure to observe this precaution can result in severe injury.
WARNING!
OVERCURRENT, OVERLOAD AND OVERHEATING PROTECTION
Separate motor overcurrent, overload and overheating protection is required to be
provided in accordance with the Canadian Electrical Code, Part 1 and the National
Electrical Code.
Failure to observe this precaution can result in severe injury.
Continued on next page
8
Hazards, Warnings and Guidelines, continued
CAUTION!
SAFETY INTERLOCKS
Schneider recommends the installation of a safety interlock with separate contacts
for each motor. Such a system should be hard wired with over–travel limit switches
and a suitable emergency stop switch. Any interruption of this circuit or fault
indication should:
l Open the motor contacts
l Shunt dynamic braking resistors across each motor, if they are present.
Failure to observe this precaution can result in equipment damage.
CAUTION!
ELECTROSTATIC COMPONENTS
The drives contain electrostatically sensitive components that may be damaged by
improper handling. Appropriately discharge yourself before touching the drive and
avoid contact with highly insulating materials (artificial fabrics, plastic film, and so
on). Place the drive on a conductive surface.
Failure to observe this precaution can result in equipment damage.
Continued on next page
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Schneider Electric Modicon Lexium 17S Series SERCOS Servo Drive User manual

Schneider Electric
Brand
Schneider Electric
Model
Modicon Lexium 17S Series SERCOS Servo Drive
Category
Coaxial cables
Type
User manual
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