Moog DS2110 User manual

DS2110
DIGITAL CONTROLLER
INSTALLATION & USER’S MANUAL
Document No.: CDS7324 (formerly LSF-0819)
Revision: A
Date: May 2011
INDUSTRIAL CONTROLS DIVISION

TABLE OF CONTENTS
CHAPTER 1.0 OVERVIEW............................................................................................................. 1-1
1.1 Introduction...................................................................................................................... 1-1
1.2 DS2110 Models................................................................................................................. 1-2
1.3 Environmental Specifications......................................................................................... 1-4
1.4 Design Standards............................................................................................................. 1-5
1.5 Power Ratings Specifications.......................................................................................... 1-6
1.6 General functional specifications................................................................................... 1-9
CHAPTER 2.0 SAFETY & EMC INSTRUCTIONS.......................................................................... 2-1
2.1 General.............................................................................................................................. 2-1
2.2 Safety Regulations............................................................................................................ 2-2
2.3 Electromagnetic Compatibility........................................................................................ 2-12
2.4 UL Requirements ............................................................................................................. 2-22
CHAPTER 3.0 WIRING AND INSTALLATION............................................................................... 3-1
3.1 System Components........................................................................................................ 3-1
3.2 Equipment Mounting........................................................................................................ 3-5
3.3 Power Dissipation............................................................................................................ 3-15
3.4 DS2110 Connector Terminals ......................................................................................... 3-16
3.5 General System Wiring Guidelines................................................................................. 3-20
3.6 Sequence of Component Wiring Recommendations.................................................... 3-22
3.7 Three Phase AC Mains Power Source Configuration ................................................... 3-23
3.8 24V Backup Connection.................................................................................................. 3-29
3.9 Internal/External Regeneration (Regen) Resistors – Configurations .......................... 3-32
3.10 Motors – Installation ...................................................................................................... 3-36
3.11 DS2110 Control Inputs and Outputs............................................................................. 3-49
3.12 Communication Interface Wiring and Configuration .................................................. 3-54
3.13 Wiring Summary............................................................................................................. 3-55
CHAPTER 4.0 GETTING STARTED.............................................................................................. 4-1
4.1 Introduction...................................................................................................................... 4-1
4.2 Initial Preparation............................................................................................................. 4-1
4.3 Power Supply ................................................................................................................... 4-1
4.4 Installing Windrive ........................................................................................................... 4-2
4.5 Controller Access ............................................................................................................ 4-3
4.6 Motor Selection ................................................................................................................ 4-4
4.7 Regen Resistor Configuration ........................................................................................ 4-6
4.8 Acceleration Limits.......................................................................................................... 4-8
4.9 Parameter Utilities............................................................................................................ 4-9
4.10 Status and Faults ........................................................................................................... 4-10
4.11 High Power Application................................................................................................. 4-11
4.12 Autophasing.................................................................................................................... 4-12
4.13 Torque Mode Enable...................................................................................................... 4-13
4.14 Velocity Mode Enable .................................................................................................... 4-14
4.15 Oscilloscope................................................................................................................... 4-15
4.16 Power Down Sequence.................................................................................................. 4-20
TABLE OF CONTENTS T/C -1
CDS7324
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
TABLE OF CONTENTS
CHAPTER 5.0 FUNCTIONAL OVERVIEW..................................................................................... 5-1
5.1 Introduction...................................................................................................................... 5-1
5.2 DS2110 Conventions........................................................................................................ 5-1
5.3 Power Interface Section................................................................................................... 5-2
5.4 Motor Configuration......................................................................................................... 5-8
5.5 Resolver Input.................................................................................................................. 5-13
5.6 Encoder Input................................................................................................................... 5-16
5.7 Commutation Module....................................................................................................... 5-21
5.8 Position Feedback............................................................................................................ 5-24
5.9 Velocity Feedback............................................................................................................ 5-25
5.10 Input and Output Functional Description..................................................................... 5-26
5.11 Control Loops................................................................................................................. 5-34
5.12 Drive Monitoring & Fault Detection .............................................................................. 5-52
5.13 Self Protection................................................................................................................ 5-66
5.14 Parameter Storage ......................................................................................................... 5-67
APPENDIX A – DATA LOGGER.................................................................................................... A-1
APPENDIX B – GUI........................................................................................................................ B-1
B.1 Introduction...................................................................................................................... B-1
B.2 Getting Started/Common Features ................................................................................ B-2
APPENDIX C – RESTART INTERLOCK CIRCUITS...................................................................... C-1
C.1 Intended Application....................................................................................................... C-1
C.2 Restart Interlock Function.............................................................................................. C-2
C.3 Safety Requirements....................................................................................................... C-4
C.4 Restart Interlock Circuit.................................................................................................. C-5
C.5 Restart Interlock Connections........................................................................................ C-7
C.6 Safety Relays – Technical Data...................................................................................... C-9
C.7 Application Example ....................................................................................................... C-10
C.8 Checking the Restart Interlock....................................................................................... C-13
C.9 External Consistency Checks ........................................................................................ C-14
C.10 Installation and Routine Test........................................................................................ C-15
APPENDIX D – MEZZANINE CARD INSTALLATION................................................................... D-1
APPENDIX E – ANALOG I/O MEZZANINE CARD........................................................................ E-1
E.1 Introduction...................................................................................................................... E-1
E.2 Overview........................................................................................................................... E-1
E.3 Configurations ................................................................................................................. E-1
E.4 Analog I/O......................................................................................................................... E-2
E.5 SSI Interface..................................................................................................................... E-4
E.6 Simulated Encoder/Resolver.......................................................................................... E-5
E.7 PLC Master – DS2110 Slave Arrangement..................................................................... E-7
E.8 Noise Reduction .............................................................................................................. E-7
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
TABLE OF CONTENTS
APPENDIX F – DEVICENET™ MEZZANINE CARD...................................................................... F-1
F.1 Connector......................................................................................................................... F-1
F.2 Network Status................................................................................................................. F-1
F.3 Available Objects............................................................................................................. F-1
F.4 MacID and Baud Rate ...................................................................................................... F-2
F.5 Initial Motion Setup.......................................................................................................... F-2
F.6 Fieldbus Scaling Factors................................................................................................. F-2
F.7 Units.................................................................................................................................. F-3
F.8 PARAM UPDATE in.......................................................................................................... F-3
F.9 Implicit I/O......................................................................................................................... F-3
F.10 Parameter List................................................................................................................ F-4
APPENDIX G – ETHERNET MEZZANINE CARD.......................................................................... G-1
G.1 Introduction ..................................................................................................................... G-1
G.2 Modes of Operation......................................................................................................... G-1
G.3 Changing IP Address for Ethernet Device .................................................................... G-2
G.4 Changing Commands and Status Registers................................................................. G-4
G.5 Allen-Bradley RSLogix Configuration with DS2110 ..................................................... G-6
TABLE OF CONTENTS T/C -3
CDS7324
REV. A INSTALLATION & USER’S MANUAL

CHAPTER 1.0 Overview 1-1
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.1 Introduction
This section gives an overview of the available DS2110 models, ratings and general specifications.
Detailed outlines of installation and wiring, functionality, user interfaces and other technical data are
given in subsequent sections.
CAUTION: Repairs or modifications to the product by anyone other than a Moog
authorized repair facility may create unsafe operating conditions and will invalidate
the product warranty.

CHAPTER 1.0 Overview 1-2
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.2 DS2110 Models
The DS2110 family is available in twelve base models, which cover a range of output current ratings.
DS2110 Base Model Amplifier Current Rating
Code Size Continuous
(Arms) Maximum (Arms) Peak (A)
G362-x03 µA or A 3 6.4 9
G362-x04 A 4 8.5 12
G362-x06 µA or A 6 16 22
G362-x08 A 8 16 22
G362-010 B 10 29.7 42
G362-014 B 14 29.7 42
G362-020 C 20 31.8 45
G362-025 C 25 49.5 70
G362-030 C 30 63.6 90
G362-050 D 50 99.3 140
G362-060 D 60 127.6 180
G362-100 E 100 212.1 300
Table 1.1 DS2110 Family Models
The DS2110 family uses a 14 character coding system to identify the unique attributes of each model.

CHAPTER 1.0 Overview 1-3
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Rev. A INSTALLATION & USER’S MANUAL
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CHAPTER 1.0 Overview 1-4
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.3 Environmental Specifications
DS2110 Electronics
Maximum temperature
Storage: -25 C to 55 C (Class 1K4)
Transport: -25 C to 70 C (Class 2K3)
Surrounding air 0 C to 40 C
Relative humidity: 5 % to 85 %, non-condensing, 1 g/m3 to 25 g/m3, in accordance with
EN50178 class 3k3
Elevation: 1000m (3,300 feet); derate output 2% per 300m (1000 ft) above 1000m
(3300 ft)
Air pressure: 86 kPa to 106 kPa
Type of protection: Components must be installed into an enclosure. The enclosure must
provide at least IP54 per standard EN60529 or equivalent.
Pollution degree: Drive is suitable for installation in a Pollution Degree 2 environment.
Installed position: Vertical only.
Overvoltage protection class: Category 2 per standard VDE0110 / IEC664
Noise: Overall noise depends on the user installation and cabinet.

CHAPTER 1.0 Overview 1-5
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.4 Design Standards
The DS2110 is CE-Marked under the EU's Low Voltage Directive. It has been designed to allow easy
compliance of customer's machines under the EU's EMC Directive (measures as directed in this
manual have to be taken to ensure EMC compliance). It is designed to the UL508C standard. The A
size DS2110 units are UL recognized. The DS2110 A-D sizes are UL listed.
The DS2110 has been designed to the following specific standards:-
IP Code EN 60529:1991
EMC EN 61800-3:1996 , EN 61800-3/A11:2000 (Second Environment)
UL UL508C with reference to UL840
Table 1.2 DS2110 Design Standards

CHAPTER 1.0 Overview 1-6
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.5 Power Ratings Specifications
Model : G362-x 3Amp 6Amp 8Amp 10Amp 14Amp 20Amp 25Amp 30Amp 50Amp 60Amp 100Amp
A.C. Mains Input Range
Minimum
Maximum
65Vac (110Vac -40%)
506Vac (440Vac +10%)
Frequency Range 50 - 60Hz
Internal Regeneration Power
Continuous Dissipation
Peak Dissipation @ 230Vac
Peak Dissipation @ 400Vac
50W
1.3Kw
4.8kW
100W
1.3kW
4.8kW
150W
2.6kW
10.3kW N/A N/A N/A N/A N/A N/A N/A N/A
External Regeneration Power
Continuous Dissipation
Peak Dissipation @ 230Vac
Peak Dissipation @ 400Vac
50W
1.2Kw
4.8kW
100W
1.2kW
4.8kW
200W
2.8kW
11.3kW
240W
6.6kW
26.3kW
250W
4.4kW
17.5kW
370W
12.0kW
48.1kW
370W
12.0kW
48.1kW
370W
12.0kW
48.1kW
750W
14.4kW
57.8kW
750W
14.4kW
57.8kW
1kW
37kW
148kW
Softstart Peak Inrush
Current/Phase 30Apk
Power Supply Fault Detection D.C. Bus Overvoltage
D.C. Bus Undervoltage
Bridge Temperature Fault
Amplifier Short Circuit Protection
24V Logic Backup Monitoring
Voltage Discharge after A.C
Mains Removal Bleed Resistors across high voltage section.
Table 1.3 DS2110 Power Ratings

CHAPTER 1.0 Overview 1-7
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.5.1 Optional Control Logic Backup Power
D.C. Bus Minimum Voltage
(below which 24Vd.c. Control Logic Backup supply is
needed)
170Vd.c. (Generated from rectified 120Va.c.)
24V Input 24Vd.c.±10%
2.0A steady state
Table 1.4 DS2110 Control Logic Backup Power Ratings
1.5.2 Power Amplifier
All current ratings are specified in ampere r.m.s. unless otherwise stated.
Power Amplifier Ratings:
G362-x03 3A continuous/9A peak
G362-x04 4A continuous/12A peak
G362-x06 6A continuous/15A peak
G362-x08 8A continuous/22A peak
G362-010 10A continuous/42A peak
G362-014 14A continuous/42A peak
G362-020 20A continuous/45A peak
G362-025 25A continuous/70A peak
G362-030 30A continuous/90A peak
G362-050 50A continuous/ 140A peak
G362-060 60A continuous/ 180A peak
G362-100 100A continuous/ 300A peak
Table 1.5 DS2110 Power Amplifier Ratings
Two levels of thermal protection which limit the peak current and the time for which it is available
protect the DS2110 drives. These are:
•RMS Protection,
•Thermal Foldback.
An auxiliary 24V d.c. control logic backup supply is
MANDATORY for the –x003 & -x006 variants of the DS2110
product family.
The 24V Backup supply input is intended for use in the
secondary of a Class 2 supply. Alternatively, it should be
additionally fitted with a Listed Current limiting type fuse, rated
3A on the supply input to the device.

CHAPTER 1.0 Overview 1-8
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.5.4.1 RMS Protection
The RMS protection acts to limit the current provided to the rated continuous current of the drive. Thus,
a G362-x006 cannot supply, on average, greater than 6Acontinuous RMS to the motor. The current to
the motor is averaged and if it exceeds the RMS rating, the drive limits the current command. If the
controller continuously demands current greater than the drive capability, the RMS protection will limit
the actual current supplied to the drive rating. The time for which peak current can be supplied is
dependent on whether the motor is stalled or running.
1.5.4.2 Thermal Foldback
Thermal foldback is implemented in the DS2110 drives to prevent the junction temperatures of the
amplifier bridge IGBT’s exceeding their maximum rated temperature. The thermal foldback is based on
a measure of the heatsink temperature and the mode in which the drive is operating (motor running or
stalled). As the heatsink temperature increases, the peak current capability of the drive is reduced to
ensure the IGBT die temperature cannot increase above the device maximum rating.
For the DS2110 D size, a simple thermal shutdown is implemented. These drives will report an
overtemperature fault once the measured heatsink temperature exceeds the maximum rating of the
drive.

CHAPTER 1.0 Overview 1-9
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.6 General Functional Specifications
1.6.1 Digital Inputs (J2A)
•8 Digital Inputs, user configurable
•Digital Input 1 Dedicated to High Power Enable
•All Optically Isolated, 12…36V Input Range.
•5k input impedance.
STANDARD FUNCTION FIELDBUS OR INTERFACE SPECIFIC
High Power Enable Input High Power Enable Input
Auto / Manual Mode See Section 5.9
Torque / Velocity Mode Switch See Section 5.9
Brake Control See Section 5.9
CW Limit Switch See Section 5.9
CCW limit Switch See Section 5.9
Quick Stop See Section 5.9
Controlled Disable See Section 5.9
Table 1.6 DS2110 Digital Inputs Overview : Standard Configuration
1.6.2 Digital Outputs (J2B)
•3 Digital outputs, user configurable
•All outputs are Optically Isolated.
•Nominal ratings of 6V to 32V, 250mA
•Protected for supply range of –40V to 40V
•Short-circuit & reverse polarity protected
•Off-state leakage current <100μA at 0V
Standard Function
Drive Enabled
Limiting Function
User defined
Table 1.7 DS2110 Digital Outputs Overview

CHAPTER 1.0 Overview 1-10
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
1.6.3 Standard I/O
Drive Ready (J2C) Relay output, contact ratings: 36V, 100mA max.
Closed when drive is ready and has no faults.
Brake Control (J2D) 2A, 24Vd.c. solid-state high-side drive for motor brake control.
Switched under user control or DS2110 software control
Motor Position
Feedback Type
(J3/J4)
Resolver Encoder Types
•SSI
•Hiperface
•Analogue encoders
•Endat
•NRZ serial
Communications
Interfaces (J1) RS232 Interface at 19200Baud
Table 1.8 DS2110 Standard I/O Summary
1.6.4 Variant Specific I/O
Refer to the appendix for details on a specific fieldbus variant.

CHAPTER 1.0 Overview 1-11
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
Page Intentionally Blank

CHAPTER 2.0 Safety & EMC Instructions 2-1
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
2.1 General
This user’s manual is intended to provide sufficient information on how to install Moog DS2110 electric
motor systems. Section 2.2 covers Safety and System Safeguards. Section 2.3 covers Electromagnetic
Compatibility (EMC). This user’s guide must be read and understood before applying power and
operating the equipment described.
This equipment must be installed and serviced only by duly qualified service personnel. All information
in this manual is directed towards such persons only. Individuals responsible for the installation of the
equipment described in this user’s guide must ensure;
1) only technically qualified individuals are employed to work on the installation,
2) these qualified individuals must have the accompanying documentation available at all times when
working on the installation and are obliged to use this documentation in a consistent manner, and
3) work on, or close to, the installation is prohibited for non-technically qualified individuals
Throughout this user’s guide may be found NOTES, CAUTIONS, and WARNINGS and CE-
Compliance-Required. They are defined as follows:
The DS2110 controller contains potentially lethal voltages. Extreme caution shall be observed whenever the
equipment is in operation. Incorrect installation of the motor or the controller may cause damage to the
equipment, serious personal injury or death. Consequently, the instructions in this user’s manual, as well as
national and local rules and safety regulations must be complied with.
Required for
CE-Compliance
NOTES are general in nature and are intended to
em
p
hasise information.
CAUTIONS are to alert personnel to actions that could
cause equipment damage, resulting in the equipment
becoming unsafe.
WARNINGS serve to make personnel aware of potentially
hazardous actions that may result in personal injury or death.
CE-Compliance indicates where a particular application-related
safety or EMC requirement is driven by the need for CE-
Compliance of the DS2110 when installed in the system.
Customers who do not need CE-Compliance on their machinery
ma
y
choose not to im
p
lement these features.

CHAPTER 2.0 Safety & EMC Instructions 2-2
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
2.2 Safety Regulations
1. The DS2110 controller must be disconnected from all power if repair work is to be carried out. Check that the
mains supply has been disconnected and that at least 5 minutes has passed for the A size (6 minutes for A-
E sizes), to allow for D.C. bus capacitors to discharge, before removing motor and mains connections.
2. Correct protective earthing of the equipment must be established, the user must be protected against supply
voltage, and the motor must be protected against overload in accordance with applicable national and local
regulations.
3. Do not remove the connections for the motor and mains supply while the DS2110 controller is connected to
mains power. Check that the mains supply has been disconnected and that the necessary time has passed
before removing motor and mains connections.
Warning against unintended start
The installation of safety interlocks, additional control and protection devices must be done in accordance with the
relevant local safety requirements. Note that changes made through software can result in the motor starting
suddenly.
This user’s manual assumes that the user has a basic working knowledge of servo-drive products and the system
motion controller. The user should provide the necessary additional training for ALL personnel working within or
around the workcell.
NOTE - These safety precautions are guidelines only and are not claimed to be
comprehensive. The Moog Brushless Technology products described herein, in
conjunction with the system controller, provide the capability for control of remote
devices. Typically, these remote devices move at high speeds and exert considerable
force. Like all mechanical systems and most industrial equipment, they must be treated
with respect by both the machine integrator and user, and the operator.
NOTE - This user’s guide defines “user” as the responsible person or company and
“operator” as a person who starts, stops or monitors workcell operation.
NOTE - This user’s guide should be read by all personnel who operate or who work
within or near the workcell.
Individuals responsible for the installation of the equipment described in this user’s guide
must ensure that only technically qualified service personnel are employed to work on
the installation.
In the context of these safety instructions, skilled technical personnel means people who
are familiar with the product, and have the necessary technical qualifications required for
the performance of their functions.

CHAPTER 2.0 Safety & EMC Instructions 2-3
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
2.2.1 System Safeguards
a) General Safety Requirements
Users are required to implement safety measures with all equipment, systems and installations into which the
DS2110 Servo-drive are installed. In addition, safeguards must be an integral part of workcell design, installation,
operator training and operator procedures where this equipment is used.
b) Specific Safety Requirements
The specific safety measures described below are required to be installed by the user into all equipment, systems
and installations into which the DS2110 Series Controllers are installed.
The user is required to provide safety interlocks to prevent unexpected restart during servicing of the DS2110
Controller and any equipment attached to or driven by these units.
The DS2110 Servo-drives themselves must be installed in enclosures or cabinets that provide a degree of ingress
protection against liquids and objects of at least IP54. These enclosures or cabinets must be accessible to
technically qualified service or maintenance persons only. All external Regen (Regenerative circuit) resistors used
with the DS2110 must be installed in enclosures which provide a degree of ingress protection against liquids and
objects of at least IP22 and which are accessible to technically qualified service or maintenance persons only.
Protection against electric shock must be maintained when installing these resistors.
The equipment may have a continuous leakage current of more than 3.5 mA A.C. or 10 mA D.C. in normal use.
The DS2110 must be permanently and reliably connected to Earth and all conductive parts in the IP54 rated
enclosure or cabinet must be permanently connected to Earth. The impedance between the earth terminal and
any accessible part of the enclosure or cabinet should be less than or equal to 0.1ohm.
A D.C component can occur in the fault current in the event of a fault connection to earth. Only a residual-current-
operated protective device (RCD) of Type B is allowed. When the protection in installations with regard to indirect
contact is achieved by means of an RCD, their appropriate function/combination shall be verified.
All electrical supply wires and cables to this equipment must be installed in wireways (cable routings) which are
smooth and free from sharp edges.
Users are directed to refer to the European Union (EU) Machine Safety
Directive: 98/37/EC and EU Low Voltage Directive 73/23/EEC (as amended by
EU Directive 93/68/EEC) for essential health and safety requirements to be
met. Furthermore the requirements of the EU EMC Directive: 89/336/EEC (as
amended by EU Directive 92/31/EEC and 93/68/EEC) must be met by all
equipment, systems and installations into which the DS2110 Controllers are
installed.
Users are recommended to refer to the latest publications of the European
Union (EU) Commission and to local regulations for further information on the
requirements of these Directives of the EU.
Required for
CE-Compliance
Required for
CE-Compliance
Users are required to ensure that the drive is only connected to supply network
configurations of the following types
•TN Systems including TN-C, TN-S, TN-C-S
•TT Systems.
Connection to IT systems or corner-earthed TN systems is not allowed. Users
should ensure the nature of the supply system is appropriate before connecting
and operating the drive.

CHAPTER 2.0 Safety & EMC Instructions 2-4
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
As no fuses are provided inside the drive, the DS2110 must be provided with suitable fusing to protect the drive.
The fuses required for each DS2110 model are detailed in the following table It is recommended to use UL
certified fuses and fuse blocks
DS2110 Models Size μA Notes
Size 3/9 6/22
Short Circuit Rating 5,000 Ampsrms
Power Line Fuse 25A, 660V FWP25-A1F Semiconductor (Cooper Bussmann)
Recovery Resistor Fuse Contact Moog Application Engineering for Advice
24Vdc Aux. Pwr. Fuse 3A, 250V Delayed
DS2110 Models Size A Size B Notes
Size 8/22 10/42 14/42
Short Circuit Rating 5,000 Ampsrms
Power Line Fuse 50-FE 690V Semiconductor (Cooper Bussmann)
Recovery Resistor Fuse Contact Moog Application Engineering for Advice
24Vdc Aux. Pwr. Fuse 3A, 250V Delayed
DS2110 Models Size C Size D Notes
Size 20/45 25/70 30/90 50/140 60/180
Short Circuit Rating 5,000 Ampsrms 10,000 Ampsrms
Power Line Fuse 100-FE 690V 160-FEE 690V Semiconductor (Cooper Bussmann)
Recovery Resistor Fuse Contact Moog Application Engineering for Advice
24Vdc Aux. Pwr. Fuse 3A, 250V Delayed
DS2110 Models Size E Notes
Size 100/240
Short Circuit Rating 10,000 Ampsrms
Power Line Fuse 315-FM Semiconductor (Cooper Bussmann)
Recovery Resistor Fuse Contact Moog Application Engineering for Advice
24Vdc Aux. Pwr. Fuse 3A, 250V Delayed
Table 1 - Recommended DS2110 Fusing
All external d.c. supply voltages used with the DS2110 Series Controllers must be derived from a Safety Extra
Low Voltage (SELV) supply as defined by standard EN60950. Such SELV voltages do not exceed a value of 60
Vd.c. or 42.4 Va.c. peak under normal conditions and are supplied by circuits which are separated from all
hazardous voltage conductors by permitted safety methods such as reinforced insulation.
All external electrical wiring connected to this equipment must be colour coded in accordance with European
Standard EN 60204-1 requirements.
All wires and cables entering and leaving the IP54 rated enclosures or cabinets containing the DS2110 Controllers
and Regen resistor(s) must be protected and anchored in accordance with the requirements of EN 60204-1.
Required for
CE-Compliance

CHAPTER 2.0 Safety & EMC Instructions 2-5
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
WARNING - The equipment described in this user’s guide operates at voltage levels, which can
exceed 800 volts D.C., and/or 460 volts A.C. These levels are a potential source of severe electrical
shock. DO NOT remove or replace any assemblies, subassemblies or components with the primary
power present. To avoid possible personal injury or equipment damage, always remove power
BEFORE attempting repair or upgrade procedures. Wait at least 5 minutes for the A size (6 minutes
for the A-E sizes) after power shutdown to ensure power supply capacitors have discharged. Then
using a voltmeter, check for safe levels across all high voltage power terminals.
2.2.2 Equipment Safety
All persons must observe sound safety practices during the operation and testing of all electrically powered
equipment.
Prior to first use, power should not be applied to the DS2110 Servo-drive until all instructions in the Wiring and
Installation section of this User’s manual have been carried out.
WARNING - Lethal voltages remain present within this equipment when the mains power is removed.
It is recommended to refrain from commencing any servicing, maintenance, repair or upgrading of
this equipment until at least 5 minute for the A size (6 minutes for the A-E sizes) after power
shutdown. It is further recommended to measure the voltage level at all high voltage terminals before
commencing any such activities, to ensure that no lethal voltages are present.
WARNING - Repair or internal adjustments to the DS2110 Series Controllers must not be attempted.
All faulty items must be returned to Moog Service Centers for maintenance and repair.
WARNING - Entering the workcell when HIGH POWER or PROGRAM RUNNING indicators are
ON may result in severe injury.
WARNING – The removable plug-in connectors of the DS2110 Servo-Drives are for ease of wiring
installation. These removable plug-in connectors are not suitable for connection or disconnection
under
p
ower. All connections must be made with
p
ower removed.
WARNING – In the event of a fuse failure, remove all power, refrain from working on the unit for at least 5minutes
for the A size (6 minutes for the A-E sizes) to allow all internal voltages to decay to a safe level. Remove all fuses
from the system. Determine the source of the failure before re-commencing operation of the drive.
WARNING - DO NOT remove or replace any assemblies, subassemblies or components with primary
power present.