LEXIUM MHDA1004 User manual

Version 2.0 June 2003
31001643_K01_000_04
Lexium Servo Drive
17D Series
User Guide

Preface
890 USE 120 00 iii
Preface The data and illustrations found in this book are not binding. We reserve the right to
modify our products in line with our policy of continuous product development. The
information in this document is subject to change without notice and should not be
construed as a commitment by Schneider Electric.
Schneider Electric assumes no responsibility for any errors that may appear in this
document. If you have any suggestions for improvements or amendments or have
found errors in this publication, please notify us.
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permission of the Publisher, Schneider Electric.
CAUTION!
All pertinent state, regional, and local safety regulations must be observed when
installing and using this product. For reasons of safety and to assure compliance
with documented system data, repairs to components should be performed only by
the manufacturer.
Failure to observe this precaution can result in injury or equipment damage.
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©Copyright 2003, Schneider Electric

Preface
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Contents
Chapter 1 - Introduction 1
At a Glance...................................................................................................... 1
Document Scope ...................................................................................... 1
What’s in this Chapter ............................................................................... 1
About this User Guide .................................................................................... 2
Who Should Use this User Guide ............................................................. 2
How this User Guide Is Organized ............................................................ 2
Related System Components ......................................................................... 4
Single-Axis Motion Control System ........................................................... 4
UniLink Commissioning Software for 17D ................................................ 4
Related Documentation .................................................................................. 5
Documents ................................................................................................ 5
Hazards, Warnings and Guidelines ................................................................ 6
Hazards and Warnings ............................................................................. 6
Additional Safety Guidelines ..................................................................... 9
Qualified Personnel ................................................................................... 9
Standards and Compliances .......................................................................... 10
European Directives and Standards ......................................................... 10
EC Directive Compliance .......................................................................... 10
UL and cUL Compliance ........................................................................... 11
Conventions .................................................................................................... 12
Acronyms and Abbreviations .................................................................... 12

Contents
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Chapter 2 - Product Overview 15
At a Glance...................................................................................................... 15
Introduction ............................................................................................... 15
What’s in this Chapter ............................................................................... 15
The 17D Series Servo Drive Family ............................................................... 16
Introducing the 17D Drive Family ............................................................. 16
Drives Available ........................................................................................ 16
Implementing the Drives ........................................................................... 16
Applicable Servo Motor Types .................................................................. 16
Connection to different mains supply networks ........................................ 17
Electrical Considerations .......................................................................... 18
17D Drive Family Portrait .......................................................................... 19
17D Drives Front View .............................................................................. 20
Equipment Supplied .................................................................................. 21
Equipment Available ................................................................................. 21
17D System Configuration Diagram ......................................................... 22
Overview of Usability Features........................................................................ 23
Digital Control ........................................................................................... 23
Usability Enhancements ........................................................................... 24
Restart lock -AS- (A00 drives only) ........................................................... 25
Overview of 17D Internal Electronics.............................................................. 26
17D Internal Electronics Block Diagram ................................................... 26
General Characteristics ............................................................................ 27
Primary Power .......................................................................................... 27
Bias Power ................................................................................................ 27
EMI Suppression ...................................................................................... 27
Internal Power Section .............................................................................. 28
DC Link Capacitor Reconditioning ............................................................ 28
Integrated Safe Electrical Separation ....................................................... 28
LED display ............................................................................................... 29
Overview of System Software ........................................................................ 30
Setup ........................................................................................................ 30
Setting Parameters ................................................................................... 30
Automatic Card Recognition ..................................................................... 30
Default Settings ........................................................................................ 30
UniLink Commissioning Software ............................................................. 31

Contents
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Chapter 3 - Mounting and Physical Dimensions 33
At a Glance...................................................................................................... 33
What’s in this Chapter................................................................................ 33
Installation Safety Precautions ....................................................................... 34
Power Supply Overcurrent Protection ....................................................... 36
Earth Connections .................................................................................... 36
Cable Separation ...................................................................................... 36
Air Flow ..................................................................................................... 36
Drive Mounting and Physical Dimensions ...................................................... 37
17D Height, Width and Depth Dimensions ............................................... 37
17D Drive and Mounting Area Dimensions ............................................... 38
External Regen Resistor Assembly Dimensions ....................................... 39
External regen resistor assembly .............................................................. 40
Motor Choke Assembly Dimensions ......................................................... 41
Chapter 4 - Wiring and I/O 43
At a Glance...................................................................................................... 43
Introduction 43
What’s in this Chapter................................................................................ 44
Wiring and I/O Initial Considerations .............................................................. 45
Initial Considerations ................................................................................. 45
Grounding ................................................................................................. 45
Wiring Overview ............................................................................................. 46
Overview of 17D Wiring Connections ....................................................... 46
Connection diagram for LEXIUM 17D ....................................................... 47
Pin assignments for LEXIUM 17D ............................................................ 48
Cable Shield Connections .............................................................................. 49
Connecting Cable Shields to the Front Panel ........................................... 49
Cable Shield Connection Diagram ............................................................ 50
Power Wiring .................................................................................................. 51
AC Mains Power Supply Connection ........................................................ 51
Bias Supply Connection............................................................................. 51
Serial Power Connections.......................................................................... 52
External Regen Resistor Connection......................................................... 53
Regen Circuit Functional Description ........................................................ 53
Lexium BPH Servo Motor Connection (excluded BPH055) ...................... 54
Lexium BPH 055 Servo Motor Connection................................................ 55

Contents
viii 890 USE 120 00
Lexium SER Servo Motor Connection ...................................................... 56
Servo Motor (with Optional Dynamic Brake Resistors and Contactor)
Connection................................................................................................ 57
Servo Motor Holding-Brake Control Functional Description ..................... 58
Signal Wiring .................................................................................................. 60
Lexium BPH Resolver Connection (excluded BPH055) ........................... 60
Lexium BPH055 Resolver Connection ..................................................... 61
Lexium SER Resolver Connection ........................................................... 62
Lexium BPH Encoder Connection ............................................................ 63
Lexium SER Encoder Connection ............................................................ 64
Incremental Encoder Emulation ................................................................ 65
Incremental Encoder Output Functional Description ................................ 65
SSI Encoder emulation ............................................................................. 66
SSI Encoder Output Functional Description ............................................. 66
Diagram of master-slave operation ........................................................... 67
Incremental encoder emulation ................................................................ 67
SSI encoder emulation ............................................................................. 67
External Incremental encoder connection ................................................ 68
External SSI encoder connection ............................................................. 69
Analog I/O Connection ................................................................................... 70
Analog Inputs ............................................................................................ 70
Servo Motor Rotation Direction ................................................................. 70
Analog Outputs ......................................................................................... 71
Fault Relay and Digital I/O Connection .......................................................... 72
Digital Inputs and Outputs ........................................................................ 72
Using Functions Pre-programmed into the Drive ...................................... 73
Serial Communications Connection................................................................ 74
Serial Communications Connection Diagram ........................................... 74
CANopen Interface ................................................................................... 75
CAN bus cable .......................................................................................... 76
Stepper Motor Control Interface Connection................................................... 77
Stepper-Motor Control Interface Connection Functional Description ....... 77
Stepper-Motor Control Interface Connection Diagram ............................. 77
Stepper-Motor Speed Profile and Signal Diagram .................................... 78

Contents
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Chapter 5 - System Operation 79
At a Glance...................................................................................................... 79
What’s in this Chapter................................................................................ 79
Powering Up and Powering Down the System ............................................... 80
Power-on and Power-off Characteristics .................................................. 80
Stop Function ............................................................................................ 81
Emergency Stop strategies ....................................................................... 82
Wiring example ......................................................................................... 83
Description of the restart lock -AS- (MHDA••••A00 drives only) ..................... 84
Advantages of the restart lock .................................................................. 84
Description of the restart lock -AS- ................................................................. 85
Functional description ............................................................................... 85
Block diagram............................................................................................ 86
Signal diagram (sequence)........................................................................ 87
Installation / Commissioning...................................................................... 88
Connection diagram .................................................................................. 89
Application examples ................................................................................ 90
Control circuit example ............................................................................. 91
Procedure for Verifying System Operation ..................................................... 92
Overview ................................................................................................... 92
Quick Tuning Procedure ........................................................................... 93
Parameter setting ...................................................................................... 95
Multi-axis system ....................................................................................... 95
Front Panel Controls and Indicators ............................................................... 96
Keypad Operation...................................................................................... 96
LED Display .............................................................................................. 97
Chapter 6 - Troubleshooting 99
At a Glance...................................................................................................... 99
What’s in this Chapter ............................................................................... 99
Warning Messages ......................................................................................... 100
Warning Identification and Description ..................................................... 100
Error Messages .............................................................................................. 101
Error Identification and Description............................................................ 101
Troubleshooting .............................................................................................. 105
Problems, Possible Causes and Corrective Actions ................................. 105

Contents
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Appendix A - Specifications 107
At a Glance...................................................................................................... 107
What’s in this Appendix ............................................................................ 107
Performance Specifications ............................................................................ 108
Performance Specifications Table............................................................. 108
Environmental and Mechanical Specifications ............................................... 109
Environmental Specifications Table .......................................................... 109
Mechanical Specifications Table .............................................................. 110
Electrical Specifications .................................................................................. 111
What’s in this Section ............................................................................... 111
Electrical Specifications - Power..................................................................... 112
Line Input Specifications Table ................................................................. 112
Bias Input Specifications Table ................................................................. 113
Limit supply values of the servodrive MHDA associated with a
BHP motor with brake .............................................................................. 113
External Fuse Specifications Table .......................................................... 114
Motor Output Specifications Table ............................................................ 115
Internal Power Dissipation Specifications Table ....................................... 116
Electrical Specifications - Regen Resistor ...................................................... 117
Regen Circuit Specifications ..................................................................... 117
Electrical Specifications - Signal .................................................................... 118
Motor Overtemperature Input Specifications Table .................................. 118
Resolver Input Specifications Table ......................................................... 118
Encoder Input Specifications Table .......................................................... 119
Emulated Encoder Output (Incremental Format) Specifications Table ..... 119
Encoder Output (Incremental Format) Timing Diagram ............................ 120
Encoder Output (SSI Format) Specifications Table .................................. 120
Encoder Input (Slave) Specifications Table .............................................. 121
Discrete Input Specifications Table .......................................................... 121
Discrete Output Specifications Table ........................................................ 122
Fault Relay Output Specifications Table ................................................... 122
Brake Output Specifications Table ........................................................... 122
Analog Input Specifications Table ............................................................ 123
Analog Output Specifications Table .......................................................... 123
Serial Communications Specifications Table ............................................ 124
Wire Specifications (Recommended) ............................................................. 125
Wire Specifications ................................................................................... 125