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
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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
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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

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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

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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

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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

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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

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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