ANCA Motion D2 Series User manual

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

AMD2000 Series D2xxx Servo Drive - User Guide
ii D-000088 Rev 10 ANCA Motion
Page intentionally left blank

AMD2000 Series D2xxx Servo Drive - User Guide
ANCA Motion D-000088 Rev 10 iii
AMD2000 Series D2xxx Servo Drive
- User Guide
Some Important Links
ANCA Motion web site ANCA Motion
AMD2000 Servo Drive web page AMD2000
AMD2000 Documentation User Guide
SoE Configuration Guide
MotionBench Software Software
Sales and Support Contact Information Product, Sales and Service Enquiries
Catalogue Number: DS619-0-00-0046
Document Reference: D-000088 Rev 10
Effective: 8 August 2022
© ANCA Motion Pty. Ltd.

AMD2000 Series D2xxx Servo Drive - User Guide
iv D-000088 Rev 10 ANCA Motion
Page intentionally left blank

AMD2000 Series D2xxx Servo Drive - User Guide
ANCA Motion D-000088 Rev 10 v
Chapter Summaries
Introduction Target audience, model applicability, useful information
2
3
Product Overview Features, operating principles, interpreting the catalogue
number and label, front panel and connector overview
4
Mechanical Installation Requirements for site, tools, mounting, and cooling
5
Planning the Electrical Installation Motor and drive compatibility, electrical isolation,
protection, cable selection and routing
6
Power Wiring Insulation, earthing, power conditioning, brake connection
and regenerative brake
7
Control Wiring Electrical interfacing with the I/O connectors, EtherCAT and
motor feedback
8
Installation Checklist Pre-power-up checks
9
Start-up Refers to suite of configuration guides
10
Technical Data Functions, specifications, dimensions, de-rating, brake
resistor calculation, standards compliance
11
Accessories Selection of accessories including motors, cables, I/O
interface modules, filters, reactors, chokes magnetic cores
12
Additional Information How to contact ANCA Motion with your enquiries
Safety General product safety information
1

AMD2000 Series D2xxx Servo Drive - User Guide
vi D-000088 Rev 10 ANCA Motion
Contents
1Safety.................................................................................................................................................................1
1.1 General Safety.........................................................................................................................................1
1.2 Safe Start-Up and Operation...................................................................................................................2
2Introduction.......................................................................................................................................................3
2.1 Purpose...................................................................................................................................................3
2.2 About the AMD2000 Series D2xxx Servo Drives.....................................................................................3
2.3 Drive Model Applicability..........................................................................................................................3
2.4 Terms and Abbreviations.........................................................................................................................4
2.5 Trademarks .............................................................................................................................................4
3Product Overview .............................................................................................................................................5
3.1 What this Chapter Contains.....................................................................................................................5
3.2 Features ..................................................................................................................................................5
3.3 Operating Principle..................................................................................................................................6
3.4 AMD2000 Variant Identification...............................................................................................................7
3.4.1 AMD2000 Series Drive Catalogue Number Interpretation .........................................................8
3.5 System Overview.....................................................................................................................................9
3.6 Front Panel Overview............................................................................................................................12
3.6.1 D2103 ......................................................................................................................................12
3.6.2 D2109 and D2015....................................................................................................................13
3.6.3 X1/X2 EtherCAT Connectors...................................................................................................13
3.6.4 X3 Factory Use Only................................................................................................................14
3.6.5 X4 Input / Output Connector ....................................................................................................14
3.6.6 X5 Encoder Interface Connector..............................................................................................14
3.6.7 Motor Armature Cable Connector............................................................................................14
3.6.8 Power, Inductor and Brake Resistor Connector.......................................................................15
3.6.9 LED Display and Control Panel................................................................................................15
4Mechanical Installation...................................................................................................................................16
4.1 What this Chapter Contains...................................................................................................................16
4.2 Pre installation checks...........................................................................................................................16
4.3 Requirements........................................................................................................................................16
4.3.1 Installation Site.........................................................................................................................16
4.3.2 Tools Required.........................................................................................................................17
4.3.3 Mounting and Cooling..............................................................................................................17
4.4 Installation .............................................................................................................................................20
4.4.1 Power Isolation ........................................................................................................................20
4.4.2 Mounting a Drive......................................................................................................................20
4.4.3 Un-Mounting a Drive................................................................................................................22

AMD2000 Series D2xxx Servo Drive - User Guide
ANCA Motion D-000088 Rev 10 vii
5Planning the Electrical Installation................................................................................................................23
5.1 What this Chapter Contains...................................................................................................................23
5.2 Motor and Drive Compatibility................................................................................................................23
5.3 Power Supply Disconnecting Device.....................................................................................................23
5.4 Emergency Stop Devices ......................................................................................................................23
5.5 Thermal Overload and Protection..........................................................................................................24
5.5.1 Fan Operation..........................................................................................................................24
5.5.2 Thermal Overload....................................................................................................................24
5.5.3 Motor Cable Short-circuit .........................................................................................................24
5.5.4 Supply Cable Short-circuit........................................................................................................24
5.5.5 Motor Thermal Protection.........................................................................................................24
5.5.6 Brake Resistor .........................................................................................................................25
5.6 Power Cable Selection ..........................................................................................................................26
5.7 Control Cable Selection.........................................................................................................................26
5.7.1 Motor Feedback Wiring............................................................................................................26
5.7.2 EtherCAT Wiring......................................................................................................................26
5.8 Cable Routing........................................................................................................................................27
5.9 EU Machinery Directive Considerations ................................................................................................27
6Power Wiring...................................................................................................................................................28
6.1 What this Chapter Contains...................................................................................................................28
6.2 Checking the Insulation of the Assembly...............................................................................................28
6.3 Mains Power Supply..............................................................................................................................28
6.3.1 AC Voltage Supply...................................................................................................................30
6.3.2 DC Voltage Supply...................................................................................................................31
6.3.3 Connection of drives to grounded systems (TN or TT) ............................................................31
6.3.4 Connection of drives to non-grounded systems (IT) ................................................................31
6.3.5 Connection of drives to Delta Transformer systems (IT)..........................................................32
6.3.6 Harmonics and reactive power compensated supplies............................................................32
6.3.7 Residual current-operated protective (RCD) protection...........................................................32
6.4 Grounding..............................................................................................................................................33
6.4.1 Protective Earth .......................................................................................................................33
6.4.2 Grounding of Individual Drives Within a Cabinet......................................................................33
6.4.3 EMI Protection - Chassis Earth and Motor Cable Bracket .......................................................33
6.5 Installations conforming to the EMC Directive .......................................................................................34
6.5.1 For 3 phase supply system wiring............................................................................................35
6.5.2 For 1 phase supply system wiring............................................................................................36
6.5.3 Installation guidelines of EMC components .............................................................................37
6.6 Power Supply Soft Start Module............................................................................................................38
6.6.1 Soft Start Module Wiring..........................................................................................................38
6.6.2 Soft Start Module Installation...................................................................................................39
6.6.3 Soft Start Module Maintenance................................................................................................41
6.7 Power Disconnect and Protection Devices............................................................................................42

AMD2000 Series D2xxx Servo Drive - User Guide
viii D-000088 Rev 10 ANCA Motion
6.8 Motor Connections ................................................................................................................................44
6.8.1 Motor Circuit Contactors ..........................................................................................................44
6.8.2 Motor Power Cable Installation................................................................................................45
6.9 Drive Output Filters................................................................................................................................52
6.9.1 Sinusoidal Filter .......................................................................................................................52
6.9.2 du/dt Filter................................................................................................................................53
6.10 Motor Brake Connection........................................................................................................................54
6.11 Motor Thermal Switch............................................................................................................................55
6.12 Motor Thermal Sensor...........................................................................................................................56
6.13 Motor Thermal Estimation......................................................................................................................57
6.14 Brake/Regeneration Resistor.................................................................................................................57
6.15 DC Busbar Terminals ............................................................................................................................58
6.15.1 Drives up to and including Model Year MY2020..................................................................58
6.15.2 Drives after Model Year MY2020.........................................................................................59
7Control Wiring.................................................................................................................................................60
7.1 What this Chapter Contains...................................................................................................................60
7.2 I/O Connector X4...................................................................................................................................61
7.3 I/O Interface Module..............................................................................................................................62
7.4 Analogue I/O..........................................................................................................................................63
7.4.1 Analogue Inputs.......................................................................................................................63
7.4.2 Analogue Outputs....................................................................................................................67
7.5 Digital I/O...............................................................................................................................................68
7.5.1 24V Control Circuit Supply.......................................................................................................69
7.5.2 Digital Inputs............................................................................................................................69
7.5.3 Digital Outputs .........................................................................................................................76
7.6 Encoder Pass-Through..........................................................................................................................77
7.7 Safe Torque Off (STO) Operation..........................................................................................................78
7.7.1 Definitions................................................................................................................................78
7.7.2 STO Overview..........................................................................................................................78
7.7.3 STO Considerations.................................................................................................................79
7.7.4 STO Operation.........................................................................................................................80
7.7.5 STO Wiring ..............................................................................................................................82
7.7.6 Fault detection .........................................................................................................................88
7.7.7 STO Diagnostics......................................................................................................................90
7.7.8 STO Function Commissioning Test Procedure........................................................................91
7.8 Motor Brake Control...............................................................................................................................95
7.9 Serial Communication Port....................................................................................................................95
7.10 Ethernet Interface..................................................................................................................................95
7.10.1 EtherCAT®..........................................................................................................................95
7.10.2 EtherCAT topology / Port assignment..................................................................................95
7.11 DIP Buttons ...........................................................................................................................................97

AMD2000 Series D2xxx Servo Drive - User Guide
ANCA Motion D-000088 Rev 10 ix
7.12 Motor Encoder Feedback ......................................................................................................................98
7.12.1 Analogue Encoder Interface................................................................................................98
7.12.2 Analogue Encoder Cable.....................................................................................................99
7.12.3 Digital Encoder Interface .....................................................................................................99
7.12.4 Digital Encoder Cable........................................................................................................100
7.12.5 Encoder Splitter Cable.......................................................................................................101
8Installation Checklist....................................................................................................................................102
8.1 What this Chapter Contains.................................................................................................................102
8.2 Checklist..............................................................................................................................................102
9Start-up..........................................................................................................................................................103
10 Technical Data...............................................................................................................................................104
10.1 What this Chapter Contains.................................................................................................................104
10.2 Control Functions ................................................................................................................................104
10.2.1 Control Modes ...................................................................................................................104
10.2.2 Thermal and over-current protection..................................................................................104
10.2.3 Self-Protection features.....................................................................................................104
10.2.4 DC bus voltage control ......................................................................................................105
10.2.5 Advanced control functions................................................................................................105
10.3 Interface Specifications........................................................................................................................106
10.3.1 Digital I/O Supply...............................................................................................................106
10.3.2 24V Digital Inputs ..............................................................................................................106
10.3.3 24V Digital Outputs............................................................................................................106
10.3.4 Differential Digital Inputs....................................................................................................106
10.3.5 Differential Digital Encoder Output ....................................................................................107
10.3.6 Analogue Inputs.................................................................................................................107
10.3.7 Analogue Outputs..............................................................................................................107
10.3.8 Motor Position Feedback...................................................................................................107
10.3.9 Encoder Channel 1............................................................................................................108
10.3.10 Analogue Encoder Input....................................................................................................108
10.3.11 Digital Encoder Input Channel 2........................................................................................108
10.3.12 Encoder Supply .................................................................................................................108
10.3.13 Ethernet Interface..............................................................................................................109
10.3.14 Drive Display .....................................................................................................................109
10.4 Electrical Specifications.......................................................................................................................110
10.4.1 Power supply section.........................................................................................................110
10.4.2 Digital servo drive..............................................................................................................110
10.4.3 Resolution..........................................................................................................................111
10.4.4 Steady State Performance.................................................................................................111
10.4.5 Regenerative Braking........................................................................................................111

AMD2000 Series D2xxx Servo Drive - User Guide
x D-000088 Rev 10 ANCA Motion
10.5 Environmental Specifications...............................................................................................................112
10.5.1 Storage..............................................................................................................................112
10.5.2 Transport...........................................................................................................................112
10.5.3 Installation and Operation..................................................................................................112
10.5.4 Physical Characteristics.....................................................................................................113
10.5.5 Cooling ..............................................................................................................................113
10.6 Accessory Specifications.....................................................................................................................114
10.6.1 I/O Interface Module - 646-0-05-0723 ...............................................................................114
10.6.2 Motor Thermistor Sensor Isolator ......................................................................................114
10.6.3 Power Supply Soft Start Module........................................................................................114
10.7 Dimension Drawings............................................................................................................................115
10.7.1 D2103 drive mounting hole positions and physical dimensions (mm) ...............................115
10.7.2 D2109 drive mounting hole positions and physical dimensions (mm) ...............................115
10.7.3 D2015 drive mounting hole positions and physical dimensions (mm) ...............................116
10.7.4 Soft Start Module...............................................................................................................116
10.8 24V Control Circuit Supply...................................................................................................................117
10.9 Voltage and Temperature De-rating ....................................................................................................118
10.9.1 D2103 De-rating................................................................................................................118
10.9.2 D2109 De-rating................................................................................................................122
10.9.3 D2015 De-rating................................................................................................................126
10.10 Regeneration Resistor.........................................................................................................................131
10.10.1 Regeneration Resistor Selection, Regeneration Energy and Power .................................131
10.11 Materials..............................................................................................................................................133
10.12 Standards Conformity..........................................................................................................................134
10.12.1 D2103 & D2109 CE Declaration of Conformity..................................................................135
10.12.2 EtherCAT® Conformance Marking....................................................................................137
10.12.3 FCC Marking .....................................................................................................................137
11 Accessories...................................................................................................................................................138
11.1 What this Chapter Contains.................................................................................................................138
11.2 Motors..................................................................................................................................................138
11.2.1 Motor Catalogue Number Interpretation ............................................................................138
11.2.2 Motor Electrical Information Summary...............................................................................139
11.2.3 Brake Motor Specific Information.......................................................................................139
11.2.4 Motor Mechanical Information Summary ...........................................................................140
11.3 Cables .................................................................................................................................................141
11.3.1 Cable Catalogue Number Interpretation............................................................................141
11.3.2 Encoder Cables.................................................................................................................142
11.3.3 Armature Cables................................................................................................................143

AMD2000 Series D2xxx Servo Drive - User Guide
ANCA Motion D-000088 Rev 10 xi
11.4 Accessory Order Codes.......................................................................................................................144
11.4.1 I/O Interface Cable ............................................................................................................144
11.4.2 I/O Interface Module..........................................................................................................144
11.4.3 I/O Interface Module Kit.....................................................................................................144
11.4.4 I/O Connector ....................................................................................................................144
11.4.5 D2103 and D2109 STO Override Plug ..............................................................................144
11.4.6 EtherCAT Cables...............................................................................................................145
11.4.7 Regen Resistors................................................................................................................145
11.4.8 Motor Armature Cable Shield Termination Kit ...................................................................146
11.4.9 EMI Filter...........................................................................................................................147
11.4.10 Line Reactor......................................................................................................................147
11.4.11 DC Choke..........................................................................................................................147
11.4.12 Power Supply Soft Start Module........................................................................................147
11.5 Drive Kit Order Codes..........................................................................................................................148
11.5.1 D2103 SoE Drive 3A with Cable Bracket Kit......................................................................148
11.5.2 D2103 SoE Drive 3A with Cable Bracket Kit & STO Override Plug...................................148
11.5.3 D2109 SoE Drive 9A with Cable Bracket Kit......................................................................149
11.5.4 D2109 SoE Drive 9A with Cable Bracket Kit & STO Override Plug...................................149
11.5.5 D2015 SoE Drive 15A with Cable Bracket Kit....................................................................150
11.5.6 D2015 SoE Drive 15A with Cable Bracket Kit & STO Override Plug.................................150
12 Additional Information..................................................................................................................................151
12.1 What this Chapter Contains.................................................................................................................151
12.2 Maintenance and Repairs....................................................................................................................151
12.3 Product, Sales and Service Enquiries..................................................................................................152
12.4 Feedback.............................................................................................................................................152

AMD2000 Series D2xxx Servo Drive - User Guide
xii D-000088 Rev 10 ANCA Motion
Page intentionally left blank

Safety
ANCA Motion D-000088 Rev 09 1
1
1 Safety
Warning: To prevent possible accidents or injury, ensure you read and understand this user guide
before commencing installation or commissioning work on the AMD2000 drives.
DANGER HIGH VOLTAGE
The working DC bus is live at all times when power is on.
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 bus voltage with a tested working voltage measuring instrument prior
to disconnecting any connectors or opening the DC Bus terminal cover.
The red LED indicator on the front of the drive which indicates that there is charge remaining in the
drive is only to be used as an aid to visual troubleshooting. It should not be relied on as a means
of safety.
Rotating permanent magnet motors can produce large voltages. Please ensure that the motors
have stopped rotating before commencing work.
This user guide and the warnings attached to the AMD2000 only highlight hazards that can be predicted by
ANCA Motion. Be aware they do not cover all possible hazards.
ANCA Motion shall not be responsible for any accidents caused by the misuse or abuse of the device by the
operator.
Safe operation of these devices is your own responsibility. By taking note of the safety precautions, tips and
warnings in this user guide you can help to ensure your own safety and the safety of those around you.
The AMD2000 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.
1.1 General Safety
Please read the following safety guidelines before installing the equipment:
Equipment operators must read the User Guide carefully and make sure of the correct procedure before
operating the AMD2000.
The AMD2000 servo drive system is an Open Type product; the associated module enclosures are
rated to IP20 and are classified as NEMA/UL Open Type. The drives and accessories must be mounted
within an enclosure which provides access protection. Access must only be possible with the use of a
tool or after de-energization of the live parts.
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.
Do not turn on any of the equipment without all safety features in place and known to be functioning
correctly. Never remove any covers or guards unless instructed by the procedures described in this user
guide.
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 AMD2000, which may cause malfunction or failure.
Before removing equipment covers, be sure to turn OFF the power supply at the isolator. (Refer to 4.4.1
Power Isolation.) Never remove the equipment covers during operation.

AMD2000 Series D2xxx Servo Drive - User Guide
2 D-000088 Rev 10 ANCA Motion
Keep the vicinity of the AMD2000 clean and tidy.
Never attempt cleaning or inspection during machine operation.
Only suitably qualified personnel should install, operate, repair or replace this equipment.
Ensure all external wiring is clearly labelled to ensure hazardous voltages are easily identified.
Isolate all energy sources prior to cleaning or routine maintenance.
Use cables equal or greater cross-sectional area than the minimum recommended.
Install cables according to local legislation and regulations as applicable.
Insulation resistance testers (sometimes known as a ‘megger’ or hi-pot tester) are not to be used on the
drive, as a false resistance reading and/or damage to the drive may result.
1.2 Safe Start-Up and Operation
Please refer to sections 8 Installation Checklist and section 9 Start-up for additional checks that should be made
to start up the AMD2000 series drives safely.

Introduction
ANCA Motion D-000088 Rev 09 3
2
2 Introduction
2.1 Purpose
This user guide provides the required information for planning to install, installation and servicing of the AMD2000
Series Servo Drive. It has been written specifically to meet the needs of qualified engineers, tradespersons,
technicians and operators. This user guide 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.
2.2 About the AMD2000 Series D2xxx Servo Drives
The AMD2000 Series D2xxx Servo 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.
Both the D2103 and D2109 drives covered by this user guide incorporate a Safe Torque Off (STO) function,
allowing an external safety system to disable the PWM switching in the drive in a reliable and safe manner, and
consequently shutting down the delivery of torque to the driven machinery. This function is often used to replace
external safety contactors, thereby reducing the need to re-start power up sequences in machinery, and reducing
the total safety system costs for the end user. The D2015 drive does not have this capability and should not be
used in place of a STO certified drive.
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. In general, the Drive control receives motion
control commands via a higher level controller, which is based on an Ethernet-based field-bus interface. In
certain applications the drive is capable of executing pre-defined moves that are stored in local memory, without
the use of a motion controller. The AMD2000 drive also supports position, velocity and torque control modes.
Please refer to 3.2 Features for more details of features available
2.3 Drive Model Applicability
This user guide is applicable to the following variants of the ANCA Motion AMD2000 Series Servo Drives:
Product
Product variant
Product Number
AMD2000 Series Servo Drive
3A RMS with STO
D2103
9A RMS with STO
D2109
15A RMS non-STO
D2015

AMD2000 Series D2xxx Servo Drive - User Guide
4 D-000088 Rev 10 ANCA Motion
2.4 Terms and Abbreviations
DSD
Digital Servo Drive
EMC
Electromagnetic Compatibility
IEC
International Electrotechnical Commission
I/O
Bidirectional Input / Output
O
Output
AIN
Analogue Input
AOUT
Analogue Output
DI
Digital Input
DO
Digital Output
W.R.T.
With Respect To
GND
Ground
RMS
root mean square
V / mV
Volt / millivolt
A / mA
Ampere / milliamp
Φ
Phase
Ø
Diameter
Ω
Ohms
AC / DC
Alternating Current / Direct Current
Hz
Hertz
ms
Millisecond
SoE
Servo Drive Profile according to IEC 61800-7-204 over EtherCAT®
CNC
Computer Numerical Control
DCM
Drive-Controlled Moves
PMSM
Permanent Magnet Servo Motor
PMAC
Permanent Magnet Alternating Current
STO
Safe Torque Off
PE
Protective Earth
2.5 Trademarks
EtherCAT®is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.

Product Overview
ANCA Motion D-000088 Rev 09 5
3
3 Product Overview
3.1 What this Chapter Contains
This chapter introduces the reader to the D2xxx servo drive features and functionality:
Product features
Functional diagram
AMD2xxx variants
Interpreting the product label and catalogue number
System overview
Front panel and connector overview
3.2 Features
The D2xxx are versatile brushless AC servo drives incorporating a digital signal processor (DSP) for control of
rotary and linear motors. In general, the drive receives motion commands via a higher level controller, such as a
CNC, either in the form of structured position commands, or as a series of instructions controlling one or more
user pre-defined moves stored locally on the drive. The communication is based on the state-of-the-art
EtherCAT®interface. In certain applications the drive is also capable of running in standalone mode executing
pre-defined repetitive moves
Standard features include:
Single axis drive for AC synchronous servo motors and induction motors.
Models with continuous current ratings of 3A, 9A or 15A.
Direct connection to 100V ~ 240VAC single phase or 3-phase.
Support for incremental analogue and digital encoders.
Position, velocity and torque/current control.
Display and push buttons for standalone operation.
8 optically isolated general purpose digital inputs.
6 optically isolated general purpose digital outputs.
2 differential digital inputs (optionally can be used as additional general purpose digital inputs, for a total
of 10)
2 analogue inputs (±10V) and 2 analogue outputs (±10V).
Motor brake control.
Probe input for position latching.
Safe Torque Off (STO)
EtherCAT®connectivity.
Easy setup using ANCA MotionBench tool
Small foot print. On-board 24VDC power supply and auxiliary I/O reduce overall system size and cost.
Rugged and reliable design
Please refer to section 10 Technical Data for detailed product specifications

AMD2000 Series D2xxx Servo Drive - User Guide
6 D-000088 Rev 10 ANCA Motion
3.3 Operating Principle
The simplified circuit diagram of the drive is shown below. The AC supply voltage is converted to DC, which is
then converted into the required variable frequency AC voltage signal to drive the motor.
AC Motor
Drive Control Switching
Control
Single or
3 Phase
AC Input DC/AC ConverterAC/DC Converter
AMD2000 Servo Drive

Product Overview
ANCA Motion D-000088 Rev 09 7
3
3.4 AMD2000 Variant Identification
D2103
D2109
D2015

AMD2000 Series D2xxx Servo Drive - User Guide
8 D-000088 Rev 10 ANCA Motion
3.4.1 AMD2000 Series Drive Catalogue Number Interpretation
AMD2000 drives are marked with an identification label. The Catalogue number is explained as follows:
D2103-2S2-A
Product
D:Drive
2:AMD2000 Series
Current Rating
09 : 9 Amp
03 : 3 Amp
15 : 15 Amp
Feedback Type
1: Incremental Encoder (RS422)
2: Incremental Encoder (RS422 & 1Vpp)
Communications
S: Servo Profile over EtherCAT
C: CAN over EtherCAT
Rated Voltage
2: 100-240 VAC
Hardware Identification
A: Hardware Type A
Variant
0:Non-STO
1:STO
Note: This product label is generic. The D2015 does not have CE compliance, hence the CE logo will not
be on the D2015 label
For any warranty work to be undertaken these labels must be readable and undamaged. Care should be taken to
record these numbers in a separate register in the event of damage or loss.
Note: Do not under any circumstances tamper with these labels. Your warranty may be void if the
labels are damaged.