ANCA Motion AMD5x Series User manual

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09 i
AMD5x Passive Infeed Unit and
AMD5x Servo Drive - User
Guide
D-000129 Rev 09

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09
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AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09
AMD5x Passive Infeed Unit and
AMD5x Servo Drive - User Guide
Some Important Links
Related Manuals and Brochures Related Documentation
Sales and Support Contact Information Product, Sales and Service Enquiries
User manual Manuals
MotionBench Software
Documents Reference: D-000129 Revision: 09
Effective: 12 January 2022
© ANCA Motion Pty. Ltd.

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09
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AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09 i
Chapter Summaries
1
Safety General Product safety information
Introduction Target Audience, model applicability, help in
reading the manual and related
manuals/brochures
2
3
4
Product Overview Features, operating principles, labels,
connector overview
Mechanical Installation Requirements for site, tools, mounting, and
cooling
5
Power Wiring Insulation, earthing, power conditioning,
brake connection and regenerative brake
8
Installation Checklist Pre-power-up checks
12
Additional Information How to contact ANCA Motion with your
enquiries
7
EtherCAT®Configuration EtherCAT Frame Packet Mapping,
EtherCAT LED status
6
Control Wiring Electrical Interfacing with the I/O
connectors, EtherCAT and motor feedback
9
PIU Operation Enabling the PIU, analogue and digital
status information
11
Accessories Selection of accessories including filters,
reactors, ribbon cables
10
Technical Data List of Specifications

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09 ii
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AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09 iii
Contents
1Safety.................................................................................................................................................................1
1.1 General Safety........................................................................................................................................1
2Introduction.......................................................................................................................................................3
2.1 What This Chapter Contains...................................................................................................................3
2.2 Purpose...................................................................................................................................................3
2.3 About The AMD5x Series Passive Infeed Units ......................................................................................3
2.4 About The AMD5x Series Servo Drives ..................................................................................................3
2.5 About The AMD5x Capacitor Module......................................................................................................3
2.6 PIU Model Applicability............................................................................................................................4
2.7 Drive Model Applicability.........................................................................................................................5
2.8 Capacitor Module Model Applicability .....................................................................................................6
2.9 Related Documents.................................................................................................................................7
2.10 Trademarks.............................................................................................................................................7
2.11 Terms and Abbreviations ........................................................................................................................8
3Product Overview.............................................................................................................................................9
3.1 What This Chapter Contains...................................................................................................................9
3.2 Features..................................................................................................................................................9
3.3 AMD5x Variant Identification.................................................................................................................10
3.4 Operating Principle................................................................................................................................11
3.5 System Overview..................................................................................................................................11
3.5.1 PIU ..........................................................................................................................................12
3.6 PIU Connector Overview.......................................................................................................................13
3.6.1 X1 –Regenerative Brake Resistor ..........................................................................................14
3.6.2 X2 –3 Phase Mains + Earth Supply........................................................................................15
3.6.3 X5 –Regenerative Brake Resistor Over-Temperature Switch ................................................15
3.6.4 X6 –LED Supply.....................................................................................................................16
3.6.5 X7 –24 Vdc Supply.................................................................................................................16
3.6.6 X3 & X4 –EtherCAT Ports ......................................................................................................16
3.7 Drive Connector Overview ....................................................................................................................17
3.7.1 X10 –24 Vdc Brake Connections............................................................................................19
3.7.2 X11 –3 Phase Armature Supply .............................................................................................19
3.7.3 X12 –Motor Temperature Sensor Input..................................................................................19
3.7.4 X13 –Encoder 1 Input.............................................................................................................20
3.7.5 X14 –Encoder 2 Input.............................................................................................................22
3.7.6 X15 –Probe 1&2 Input, ProbeX +24 Vdc Probe/Proxy Feed ..................................................24
3.7.7 X16 –Encoder Monitor Output................................................................................................25
3.7.8 X17 & X18 –EtherCAT®Ports.................................................................................................25
3.7.9 X30 –Hiperface DSL Encoder Interface..................................................................................26
3.7.10 X32 BiSS/ABZ Encoder Input..............................................................................................28
3.7.11 X31 BiSS Encoder Functional Safety Output......................................................................30
3.7.12 X20 –IO Interface...............................................................................................................31
3.7.13 LED Display and Control Panel - PIU..................................................................................33
3.7.14 LED Display and Control Panel - Drive ...............................................................................34

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ANCA MOTION D-000129 Rev 09 iv
4Mechanical Installation ..................................................................................................................................35
4.1 What This Chapter Contains.................................................................................................................35
4.2 Pre Installation Checks..........................................................................................................................35
4.3 Requirements........................................................................................................................................35
4.3.1 Installation Site........................................................................................................................35
4.3.2 Mounting..................................................................................................................................36
4.3.3 Drive Array Mounting Options and Benefits.............................................................................37
4.3.4 Heatsink Cooling with External Cabinet Air Using Duct Mount Fitment...................................38
4.3.5 Heatsink Cooling with Internal Cabinet Air Using Duct Mount Fitment ....................................38
4.3.6 Example Cooling Duct Design.................................................................................................40
4.3.7 Heatsink Cooling - Wall Mount Fitment ...................................................................................42
4.3.8 Heatsink Cooling - Recessed Mount Fitment...........................................................................42
4.3.9 Cabinet Cooling.......................................................................................................................43
4.4 Installation.............................................................................................................................................44
4.4.1 Installation Order.....................................................................................................................44
4.4.2 Mounting a PIU........................................................................................................................44
4.4.3 Mounting a Drive .....................................................................................................................46
4.4.4 Mounting a Capacitor Module..................................................................................................48
4.4.5 System Installation ..................................................................................................................50
4.4.6 Uninstalling the PIU and Drive System....................................................................................54
4.4.7 Uninstalling the PIU or one Drive from the Array.....................................................................54
4.5 Fan Housing Assembly Replacement ...................................................................................................55
4.5.1 Removing the Faulty Fan Housing Assembly..........................................................................55
4.5.2 Installing the New Fan Housing Assembly ..............................................................................57
4.5.3 Fan Harness Routing and Connection.....................................................................................58
5Power Wiring...................................................................................................................................................59
5.1 What This Chapter Contains.................................................................................................................59
5.2 Mains Power Supply .............................................................................................................................59
5.2.1 3 Phase AC Voltage Supply ....................................................................................................59
5.2.2 Connection of PIU to Grounded Systems (TN or TT)..............................................................60
5.2.3 Connection of PIU to non-grounded (IT) or Delta systems.....................................................60
5.2.4 Residual Current Detection (RCD) protection..........................................................................61
5.3 Power Disconnect and Protection Devices............................................................................................62
5.3.1 Power Isolation........................................................................................................................63
5.3.2 Mains Contactors.....................................................................................................................63
5.4 Grounding .............................................................................................................................................63
5.5 Installations Conforming to the EMC Directive......................................................................................65
5.5.1 Harmonics and Reactive Power Compensated Supplies ........................................................66
5.5.2 3 Phase Supply System Wiring ...............................................................................................66
5.5.3 Installation Guidelines of EMC Components ...........................................................................67
5.6 Motor Connections................................................................................................................................67
5.6.1 Motor Circuit Contactors..........................................................................................................68
5.6.2 Shielded Armature Cable Schematic.......................................................................................68
5.6.3 Shielded Armature Cable with Thermal Sensor for LinX Motor Schematic..............................68
5.6.4 Motor Power Cable Shielding..................................................................................................69
5.6.5 Power Cable Shield Clamping.................................................................................................69
5.6.6 Motor Signal Cable Shielding ..................................................................................................70
5.6.7 Earth Bond Strap.....................................................................................................................70
5.6.8 Cable Routing..........................................................................................................................70
5.6.9 Hiperface DSL Segment Shield Clamping...............................................................................70
5.6.10 Shielded Hiperface DSL Armature Cable............................................................................72
5.6.11 Shielded Hiperface DSL Armature Cable with Brake..........................................................72

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA Motion D-000129 Rev 09 v
5.7 Motor Brake Connection........................................................................................................................73
5.7.1 Shielded Armature Cable with Brake.......................................................................................74
5.8 Motor Thermal Sensor...........................................................................................................................74
5.8.1 Shielded Armature Cable with Thermal Sensor Schematic.....................................................75
5.8.2 Shielded Armature Cable with Brake and Thermal Sensor .....................................................76
5.9 Regeneration.........................................................................................................................................77
5.9.1 Regenerative Brake Resistor...................................................................................................77
5.9.2 Capacitor Module ....................................................................................................................78
5.9.3 Regenerative Energy Calculations ..........................................................................................79
5.10 DC Busbar and PE Terminals...............................................................................................................80
5.11 Checking the Insulation of the Assembly...............................................................................................80
5.11.1 Checking the Regenerative Brake Resistor Insulation ........................................................80
6Control Wiring.................................................................................................................................................81
6.1 What This Chapter Contains.................................................................................................................81
6.2 Control Cable Routing...........................................................................................................................81
6.3 24 Vdc Control Circuit Supply ...............................................................................................................81
6.3.1 Fan Operation on Wall and Recessed Mount Drives...............................................................82
6.4 Ethernet Interface..................................................................................................................................83
6.4.1 EtherCAT®...............................................................................................................................83
6.4.2 EtherCAT Topology / Port Assignment....................................................................................83
6.5 Motor Encoder Feedback......................................................................................................................85
6.5.1 Analogue Encoder Interface signals........................................................................................85
6.5.2 Analogue Encoder Power Supplies.........................................................................................85
6.5.3 Hiperface DSL Encoder...........................................................................................................86
6.5.4 BiSS/ABZ Encoder..................................................................................................................86
6.5.5 BiSS Functional Safety System..............................................................................................86
6.5.6 BiSS RS-422 Physical Interface.............................................................................................87
6.6 Probe Inputs..........................................................................................................................................88
6.6.1 Probe/Proxy Interface and Power Supply................................................................................88
6.7 IO Interface ...........................................................................................................................................89
6.7.1 X20 –IO Interface for the Associated Pin Assignment............................................................90
6.7.2 External Voltage References...................................................................................................90
6.7.3 Distribution...............................................................................................................................90
6.7.4 General Purpose Digital Output...............................................................................................91
6.7.5 High Speed Digital Output.......................................................................................................91
6.7.6 Digital Input..............................................................................................................................92
6.7.7 Analog Input ............................................................................................................................93
6.7.8 Analog Output..........................................................................................................................94
7EtherCAT®Configuration............................................................................................................................... 95
7.1 Introduction ...........................................................................................................................................95
7.2 EtherCAT LED Status Definitions..........................................................................................................95
7.2.1 EtherCAT RUN Indicator .........................................................................................................95
7.2.2 EtherCAT Error Indicator.........................................................................................................96
7.2.3 EtherCAT L/A LED Indicators..................................................................................................96
7.2.4 EtherCAT LED Indicator Blink Rates.......................................................................................96
7.3 PIU Frame Packet Mapping..................................................................................................................97
7.3.1 Inputs –Status, Error and Warning .........................................................................................97
7.3.2 Inputs –Analogue Variables....................................................................................................98
7.3.3 Outputs....................................................................................................................................98

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8Installation Checklist......................................................................................................................................99
8.1 What this Chapter Contains ..................................................................................................................99
8.2 Checklist................................................................................................................................................99
9PIU Operation................................................................................................................................................101
9.1 What this Chapter Contains ................................................................................................................101
9.2 PIU Introduction ..................................................................................................................................101
9.3 PIU not Enabled..................................................................................................................................102
9.4 Enabling the PIU.................................................................................................................................102
9.4.1 Mains Check..........................................................................................................................102
9.4.2 Capacitor Charging................................................................................................................103
9.4.3 Regenerative Brake Resistor Test.........................................................................................103
9.4.4 Load Applied..........................................................................................................................103
9.4.5 Disabling the PIU...................................................................................................................104
9.5 Monitoring the PIU ..............................................................................................................................104
9.5.1 DC Bus Measurements .........................................................................................................104
9.5.2 Temperature Measurements .................................................................................................104
9.5.3 Control Supply Voltage..........................................................................................................104
9.5.4 Grid Frequency......................................................................................................................104
9.5.5 Fault Detection Bits ...............................................................................................................105
9.6 LED Supply.........................................................................................................................................106
9.6.1 LED Fault Detection ..............................................................................................................106
10 Technical Data..............................................................................................................................................107
10.1 What this Chapter Contains ................................................................................................................107
10.2 Control Functions................................................................................................................................107
10.2.1 Control Modes...................................................................................................................107
10.2.2 Thermal and Over-Current Protection...............................................................................107
10.2.3 Self-Protection Features....................................................................................................108
10.2.4 DC Bus Voltage Control....................................................................................................108
10.2.5 Advanced Control Functions.............................................................................................108
10.3 Interface Specifications.......................................................................................................................109
10.3.1 Motor Position Feedback...................................................................................................109
10.3.2 Encoder Channel 1 ...........................................................................................................109
10.3.3 Encoder Channel 2 ...........................................................................................................109
10.3.4 Encoder Supplies for Ch1 and Ch2 and BiSS/ABZ...........................................................109
10.3.6 BiSS/ABZ Encoder............................................................................................................110
10.3.7 Ethernet Interface..............................................................................................................110
10.3.8 Drive Display.....................................................................................................................110
10.3.9 IO Interface .......................................................................................................................111
10.4 Electrical Specifications.......................................................................................................................113
10.4.1 AMD5x PIUs......................................................................................................................113
10.4.2 Drives................................................................................................................................114
10.4.3 Capacitor Module..............................................................................................................114
10.4.4 Temperature Derating.......................................................................................................115
10.5 Environmental Specifications..............................................................................................................116
10.5.1 Storage..............................................................................................................................116
10.5.2 Transport...........................................................................................................................116
10.5.3 Installation and Operation .................................................................................................116
10.5.4 Duct Mount Cooling...........................................................................................................117
10.5.5 Wall and Recessed Cooling..............................................................................................117
10.5.6 Physical Characteristics....................................................................................................118
10.5.7 15kW and 24kW PIU Physical Characteristics..................................................................118

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10.5.8 Drive Physical Characteristics...........................................................................................118
10.5.9 Capacitor Module Physical Characteristics.......................................................................118
10.6 Dimension Drawings ...........................................................................................................................119
10.6.1 15kW and 24kW PIU Physical Dimensions.......................................................................119
10.6.2 15kW and 24kW PIU Mounting Hole Positions and Heatsink Cut-Out Specifications.......122
10.6.3 35A and 35AH Drive Mounting Hole Positions and Physical Dimensions.........................124
10.6.4 3A, 6A, 12A & 20A Drive Mounting Hole Positions and Physical Dimensions...................130
10.6.5 Drive Mounting Hole Positions and Heatsink Cut-Out Specifications................................136
10.6.6 Capacitor Module Physical Dimensions............................................................................138
10.6.7 Capacitor Module Mounting Hole Positions.......................................................................139
10.6.8 PIU, 35A, 20A, and 12A/6A/3A Drives and Capacitor Module Mounting Hole Positions...140
10.6.9 PIU, 35A, 20A and 12A/6A/3A Drives Heat sink Cut-Out Specifications...........................141
10.6.10 PIU, 20A and 12A/6A/3A Drives and Capacitor Module Mounting Hole Positions............143
10.6.11 PIU, 20A and 12A/6A/3A Drives Heat Sink Cut-Out Specifications...................................144
10.7 Materials..............................................................................................................................................147
10.8 Standards Conformity..........................................................................................................................148
10.8.1 EtherCAT Conformance Marking ......................................................................................149
10.8.2 CE Marking .......................................................................................................................149
10.8.3 FCC Marking.....................................................................................................................150
11 Accessories ..................................................................................................................................................151
11.1 What This Chapter Contains...............................................................................................................151
11.2 EMI Filter.............................................................................................................................................151
11.3 Line Reactor........................................................................................................................................151
11.4 24 Vdc Ribbon Cable ..........................................................................................................................151
11.5 EtherCAT®Cables..............................................................................................................................152
11.6 Cooling Duct Fan Kit ...........................................................................................................................152
11.7 Regen Resistor ...................................................................................................................................153
11.7.1 Regen Resistor .................................................................................................................153
11.7.2 Regen Resistor Over-Temperature Switch........................................................................153
11.7.3 Regen Resistor with Enclosure and Over-Temperature Switch .......................................153
11.8 Cables.................................................................................................................................................154
11.8.1 Shielded Encoder Cable Beta/Gamma Motors..................................................................154
11.8.2 Shielded Armature Cable for Beta/Gamma Motors...........................................................154
11.8.3 Shielded Armature Cable for Beta/Gamma Motors with Thermal Sensor .........................154
11.8.4 Shielded Armature Cables for Beta/Gamma Motors with Brake........................................154
11.8.5 Shielded Armature Cables for Beta/Gamma Motors with Brake and Thermal Sensor ......155
11.8.6 Shielded Hiperface DSL Armature Cables for Gamma Motors with Brake........................155
11.8.7 Shielded Hiperface DSL Armature Cables for Gamma Motors .........................................155
11.8.8 Shielded Armature Cables for LinX M motor with Temperature........................................155
11.8.9 Motor Power Cable Shield Clamps ...................................................................................155
11.9 PIU and Drive Connectors...................................................................................................................156
11.10 Fan Replacement Kit for Wall and Recessed Mount...........................................................................156
12 Additional Information .................................................................................................................................157
12.1 What This Chapter Contains...............................................................................................................157
12.2 Maintenance and Repairs ...................................................................................................................157
12.3 Product, Sales and Service Enquiries.................................................................................................158
12.4 Feedback ............................................................................................................................................158

Safety
ANCA Motion D-000129 Rev 09 1
1
1 Safety
Warning: To prevent possible accidents or injury, ensure you read and understand this manual before
commencing installation or commissioning work on the AMD5x PIU and Servo Drives.
DANGER HIGH VOLTAGE - The working DC Bus is live at all times when mains power is on, even if the bus is
discharged. The Main Isolator feeding the drive must be switched to the off position at least 15 minutes before
any work is commenced on the unit. The operator must check the DC Bus voltage with a tested working voltage
measuring instrument prior to removing any covers
Rotating permanent magnet motors can produce large voltages. Please ensure that the motors have stopped
rotating before commencing work.
This manual and the warnings attached to the AMD5x 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.
Safe operation of these devices is your own responsibility. By taking note of the safety precautions, tips and
warnings in this manual you can help to ensure your own safety and the safety of those around you.
The AMD5x is equipped with safety features to protect the operator and equipment. Never operate the equipment
if you are in doubt about how these safety features work.
The AMD5x system is an Open Type product; the associated module enclosures are rated to IP20 and are
classified as NEMA/UL Open Type. The AMD5x modules must be mounted within an enclosure which provides
access protection, with access only possible with a use of a tool or after de-energization of the live parts.
1.1 General Safety
The following points must be understood and adhered to at all times:
Equipment operators must read the User Manual carefully and make sure of the correct
procedure before operating the AMD5x.
Memorize the locations of the power and drive isolator switches so that you can activate them
immediately at any time if required.
If two or more persons are working together, establish signals so that they can communicate to
confirm safety before proceeding to another step.
Always make sure there are no obstacles or people near the devices during installation and or
operation. Be aware of your environment and what is around you.
Take precautions to ensure that your clothing, hair or personal effects (such as jewellery) cannot
become entangled in the equipment.
Do not remove the covers to access the inside of the AMD5x unless instructed by the
procedures described in this manual.
Do not turn on any of the equipment without all safety features in place and known to be
functioning correctly.
Never touch any exposed wiring, connections, or fittings while the equipment is in operation.
Visually check all switches on the operator panel before operating them.
Do not apply any mechanical force to the AMD5x, which may cause malfunction or failure.
Before removing equipment covers, be sure to turn OFF the power supply at the isolator (refer to
5.3.1 Power Isolation.)
Do not operate AMD5x equipment with the covers removed.
Keep the vicinity of the AMD5x clean and tidy.

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
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Never attempt cleaning or inspection during machine operation.
Only suitably qualified personnel should install, operate, repair and/or replace this equipment.
Be aware of the closest First Aid station.
Ensure all external wiring is clearly labelled. This will assist you and your colleagues in
identifying possible electrical safety hazards.
Clean or inspect the equipment only after isolating all power sources.
Use cables with the minimum cross-sectional area as recommended or greater.
Install cables according to local legislation and regulations as applicable.
The AMD5x modules must be mounted within an enclosure which provides access protection,
with access only possible with a use of a tool or after de-energization of the live parts.
Do not touch heatsinks during drive system function as they may be hot. Care must be taken to
avoid burns.
Warning: Insulation resistance testers (megohmmeter) are not to be used on AMD5x PIU and Servo Drives, as a
false resistance reading and/or damage to the tested equipment may result. Refer 5.11 Checking the Insulation
of the Assembly

Introduction
ANCA Motion D-000129 Rev 09 3
2
2 Introduction
2.1 What This Chapter Contains
This chapter introduces the reader to the AMD5x Product range and related ANCA Motion products.
2.2 Purpose
This manual provides the required information for planning to install, installation and servicing of the AMD5x PIU
and Servo Drive. It has been written specifically to meet the needs of qualified engineers, tradespersons,
technicians and operators. This manual does not cover configuration of the drive. Depending on the model of
drive purchased, please refer to the applicable Servo over EtherCAT Configuration Guide or CANopen over
EtherCAT Configuration Guide, for information on parameter configuration and tuning for your application.
Every effort has been made to simplify the procedures and processes applicable to the AMD5x in this User
Guide. However, given the sometimes complex nature of the information, some prior knowledge of associated
units, their configuration and or programming has to be assumed.
2.3 About The AMD5x Series Passive Infeed Units
The AMD5x Passive Infeed Unit (PIU) is the power input component of the AMD5x system. The PIU converts AC
mains into a DC supply which is distributed to the servo drives on common DC Bus. It is called “passive” because
there is no regulation of the conversion (rectification) process, and no ability to regenerate excess energy back
into the mains supply. The PIU also distributes the customer supplied 24 Vdc control voltage to all drives.
Please refer to 3.5.1 PIU for more system details.
2.4 About The AMD5x Series Servo Drives
The AMD5x Drives are capable of motion control for applications that may vary from precise control of movement
and angular position of permanent magnet synchronous motors through to less rigorous applications such as
simple speed control of induction motors. In many of these applications the rotational control of the motor is
converted to motion using mechanical means such as ball screws and belts.
Motion control is performed by the drive controller which accepts position feedback from motor encoders and/or
separate linear scales. The drive utilizes state-of-the-art current-regulated, pulse-width-modulated voltage-source
inverter technology that manages motor performance. The Drive control receives motion control commands via a
higher level controller, which is based on an Ethernet-based field-bus interface. The AMD5x Drive also supports
position, velocity and torque control modes.
AMD5x Drives equipped with an integral IO Interface provide a core Servo Drive function along with a generic
Input/Output (IO) Interface to support customer IO requirements. These Drives are used in Servo Motor Drive
Systems requiring additional IO control and detection for external transducers and other control/measurement
equipment.
AMD5x Drives support both absolute and incremental encoders. Each drive has two analogue 1Vpp encoder
inputs, and can also support incremental ABZ and absolute encoders such as Hiperface DSL and BiSS.
Please refer to 3.2 Features for more details of features available.
2.5 About The AMD5x Capacitor Module
The AMD5x Capacitor Module is an optional product which adds additional DC Bus capacitance to the drive
system so that excess energy in regenerative applications can be reused by all drives. Adding DC Bus
capacitance also reduces braking resistor losses, minimises braking resistor size, and reduces electrical supply
costs.

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09 4
2.6 PIU Model Applicability
AMD5x Series PIU Catalogue Numbers are shown in Figure 2-1. AMD5x PIU is marked with an identification
label. The Catalogue number is explained as follows:
AMD5-P6150-BA00-1
Product:
D:Drive
Range / Family:
5: AMD5x Servo Drive / EtherCat
Output Voltage:
6: 600 Volts
Power Rating (kW)
150: 15kW
240: 24kW
Feature Sets:
A00: Denotes Current Features
Type:
P: Passive Infeed Unit
Accessory:
Blank: No Accessory
1: PIU Connector Kit
2: PIU Connector Kit & Regen Kit
Mounting option:
B: Duct mounting
C: Wall mounting
D: Recessed mounting
Figure 2-1: AMD5x Series PIU 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. The warranty may be void if the labels are
damaged.
Note: At least one Capacitor Module is required when employing the 24kW PIU (AMD5-P6240-_____).

Introduction
ANCA Motion D-000129 Rev 09 5
2
2.7 Drive Model Applicability
AMD5x Series Drives Catalogue Numbers are shown in Figure 2-2. AMD5x drives are marked with an
identification label. The Catalogue number is explained as follows:
AMD5-11200-BA00-1
Product:
D:Drive
Range / Family:
2: AMD2000 Servo Drive / EtherCat
5: AMD5x Servo Drive / EtherCat
Current Rating:
030: 3 Amp
060: 6 Amp
120: 12 Amp
200: 20 Amp
350: 35 Amp Heatsink / Chassis
B: Duct mounting
C: Wall mounting
D: Recessed mounting
Profile:
A: SoE
Type:
1: 1 Axis
Expansion option:
0: No Expansion
1: IO Interface
3: Hiperface DSL
4: BiSS/ABZ
6: IO Interface & Hiperface DSL
7: IO Interface & BiSS/ABZ
Feature set:
0: Denotes current features
Variant of Output:
0: Standard
H: High Overload
Accessory:
Blank: No Accessory
1: Drive connector kit
Figure 2-2: AMD5x Series Servo 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 : The 35A Drives do not have FCC compliance, hence the FCC logo will not be on the 35A labels.
Note: Do not under any circumstances tamper with these labels. The warranty may be void if the labels are
damaged.

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2.8 Capacitor Module Model Applicability
AMD5x Series Capacitor Module Catalogue Numbers are shown in Figure 2-3. AMD5x Capacitor Module is
marked with an identification label. The Catalogue number is explained as follows:
AMD5-C8010-DA00
Product:
D:Drive
Range / Family:
5: AMD5x Servo Drive / EtherCat
Output Voltage:
8: 850 Volts
Mounting option:
C: Wall mounting
D: Duct/Recessed mounting
Capacitance codes:
010: 2115uF
Feature Sets:
A00: Denotes Current Features
Type:
C: Capacitor modules
Figure 2-3: AMD5x Series Capacitor Module 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. The warranty may be void if the labels are
damaged.

Introduction
ANCA Motion D-000129 Rev 09 7
2
2.9 Related Documents
AMDOC-0000192 AMD5x Series Servo Drive –SoE Configuration Guide
D-000101 ANCA Motion MotionBench –User Guide
Digital Servo Drive SoE Parameter Reference –Included with firmware bundle
Digital Servo Drive Error Code Reference –Included with firmware bundle
To obtain these documents, contact your local ANCA Motion sales office. See 12.3 Product, Sales and Service
Enquiries.
2.10 Trademarks
EtherCAT®is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
HIPERFACE DSL® is a registered trademark of SICK STEGMANN GmbH
BiSS Interface is an Open Source Protocol

AMD5x Passive Infeed Unit and AMD5x Servo Drive - User Guide
ANCA MOTION D-000129 Rev 09 8
2.11 Terms and Abbreviations
Table 1: Terms and Abbreviations
Acronym
Description
Φ
Mains supply phase
Ø
Diameter
Ω
Ohms
AIN / AI
Analogue Input
AOUT / AO
Analogue Output
A / mA
Ampere / milliamp
AC / DC
Alternating Current / Direct Current
BiSS
Bidirectional Synchronous Serial
CNC
Computer Numerical Control
DI
Digital Input
DO
Digital Output
DO-GP / DO-HS
Digital Output: General Purpose / High Speed
DCM
Drive-Controlled Moves
DSD
Digital Servo Drive
DSP
Digital Signal Processor
EMC
Electromagnetic Compatibility
EMI
Electromagnetic Interference
ESD
Emergency Stop Device
GND
Ground
Hiperface DSL
Hiperface Digital Servo Link
Hz
Hertz
IEC
International Electrotechnical Commission
IGBT
Insulated Gate Bipolar Transistor
IO
Input Output
I/O
Bidirectional Input / Output
LVD
Low Voltage Directive, CE 2014/35/EU
ms
Millisecond
O
Output
PCBA
Printed Circuit Board Assembly
PE
Protective Earth
PIU
Passive Infeed Unit
PMAC
Permanent Magnet Alternating Current
PMSM
Permanent Magnet Servo Motor
QEP
Quadrature Encoder Pulse
RMS
Root Mean Square
SE
Single Ended
SELV
Safe Extra Low Voltage
SoE
Servo over EtherCAT
STO
Safe Torque Off
V / mV
Volt / millivolt
W.R.T.
With Respect To