Moog G393-004 User manual

moog
MSD Servo Drive
Operation Manual
DC-AC Servo Drive
Multi-Axis System with sinusiodal regeneration

MSD Servo Drive Operation Manual
Multi-Axis System DC-AC Servo Drive
ID no.: CA97554-001
Date: 06/2017, Rev. 2.1
Applicable as from rmware version: V2.20-01
The German version is the original of this operation manual.
MSD Servo drive energy-efficient multi-axis syste
Comprising DC-powered DC-AC Servo Drives and coordinated Power Supply Units
with sinusoidal regenerative power supply, the multi-axis system offers a high degree
of solutions expertise and flexibilit . Reduction of the wiring and shortening of the
installation times are just as easy to achieve as resource-saving, cost-conscious
operation.
Subject to technical change without notice.
The content of our documentation was complied with the greatest care and attention,
and is based on the latest information available to us.
We should nevertheless point out that this document cannot always be updated
simultaneously with the ongoing technical development of our products.
Information and specifications may be subject to change at any time. Please obtain
information on the latest version at [email protected].
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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
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MSD Multi-Axis System Operation Manual DC-AC Servo Drive 3
Table of contents
3 Mechanical installation..................................................................15
3.1 Notes for mechanical installation...............................................................................15
3.2 Switch cabinet layout ................................................................................................16
3.2.1 Example:.................................................................................................... 17
3.3 Wall mounting (air cooling).........................................................................................18
3.4 Alignment and arrangement in the group ................................................................. 19
3.4.1 Alignment in the group.............................................................................. 19
3.4.2 Arrangement in the group .........................................................................20
3.5 Mounting DC-AC Servo Drive air cooling housing variant..........................................21
3.5.1 Dimensions and mounting clearances ........................................................22
3.6 Mounting DC-AC Servo Drive liquid cooling housing variant .....................................23
3.6.1 Dimensions and mounting clearances ........................................................23
3.7 Cooling circuit connection.........................................................................................26
4 Electrical installation .....................................................................27
4.1 Notes for installation .................................................................................................27
4.2 Effective EMC installation..........................................................................................28
4.2.1 Cable type .................................................................................................28
4.2.2 Routing of cables.......................................................................................28
4.2.3 Earthing measures .....................................................................................28
4.2.4 Shielding measures ....................................................................................29
4.2.5 External components .................................................................................30
4.3 Overview of the connections.....................................................................................30
4.3.1 Layout, G393-004 (Size 1) to G393-032/G397-035 (Size 4) .......................30
4.3.2 Layout, G393-045/G397-053 (Size 5) to G393-170/G397-210 (Size 6A).....32
4.3.3 Layout, G397-250 to G397-450 (Size 7).....................................................34
4.4 Protective earth conductor connection......................................................................36
4.5 Electrical isolation concept ........................................................................................36
Table of contents
1 General ..........................................................................................7
1.1 Target group ...............................................................................................................7
1.2 Prerequisites................................................................................................................7
1.3 Reference documents..................................................................................................7
1.4 Order code..................................................................................................................8
1.5 Data on manufacture ..................................................................................................9
1.6 Scope of supply...........................................................................................................9
1.7 Pictograms ..................................................................................................................9
1.8 Disclaimer ...................................................................................................................9
1.9 Disposal .....................................................................................................................9
1.10 Helpline/Support & Service........................................................................................10
2 Safety........................................................................................... 11
2.1 Overview................................................................................................................... 11
2.2 Measures for your safety........................................................................................... 11
2.3 General safety instructions and warnings..................................................................12
2.4 Intended use .............................................................................................................12
2.4.1 Repair ........................................................................................................13
2.5 Misuse ......................................................................................................................13
2.6 Responsibility ............................................................................................................ 13
2.7 Relevant laws, standards and directives applied ........................................................13
2.8 Declaration of conformity .........................................................................................14
2.8.1 MSD Servo Drive DC-AC Size 1 to 7............................................................14
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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
5.4 Integrated control unit ..............................................................................................57
5.4.1 Function of buttons T1 and T2...................................................................58
5.4.2 Display.......................................................................................................58
5.4.3 Parameter menu (PA) .................................................................................59
5.4.4 Ethernet IP address menu (IP).....................................................................59
5.4.5 Field bus address menu (Fb) .......................................................................60
6 Diagnostics...................................................................................63
6.1 Status indication on the device..................................................................................63
6.1.1 Device states..............................................................................................63
6.1.2 Error indication ..........................................................................................63
6.2 Status and error indication in MoogDriveADministrAtor5...........................................64
7 Safe Torque Off (STO) ...................................................................67
8 Operation with AC-AC Servo Drive as supply.................................69
8.1 Arrangement of the devices and components...........................................................69
8.1.1 Device protection.......................................................................................69
8.2 Switch cabinet arrangement with AC-AC Servo Drive as supply................................. 74
9 Planning .......................................................................................75
9.1 Overview and comparison of the multi-axis systems..................................................75
9.2 Application examples................................................................................................75
9.3 Operation with a Power Supply Unit .........................................................................76
9.4 Operation with AC-AC Servo Drive as supply.............................................................77
9.5 Functional comparison ..............................................................................................78
9.6 Cost-effectiveness calculation ...................................................................................78
9.7 Dimensioning............................................................................................................79
9.7.1 Determining the drive power required per axis ..........................................79
9.7.2 Selection of suitable gearboxes and motors...............................................80
9.7.3 Selection of suitable DC-AC Servo Drives ...................................................80
4.6 Connection of control supply (+24VDC) ..................................................................38
4.6.1 G393-004 (Size 1) to G393-170/G397-210 (Size 6A) ..................................39
4.6.2 G397-250.1 to G397-450 (Size 7) ..............................................................39
4.7 Connection of DC power supply ...............................................................................40
4.8 Control connections..................................................................................................42
4.8.1 Specification of the control connections ....................................................42
4.8.2 Brake driver................................................................................................44
4.9 Specification, USB interface.......................................................................................45
4.10 Specification, Ethernet interface................................................................................45
4.11 Option1 ...................................................................................................................45
4.12 Option2 ...................................................................................................................45
4.13 Encoder connection ..................................................................................................46
4.13.1 Encoder connection for synchonous motors ..............................................46
4.13.2 Allocation of motor/encoder cable to the DC-AC Servo Drive.....................46
4.13.3 Ready made encoder cables.......................................................................46
4.13.4 Resolver connection...................................................................................47
4.13.5 Connection for high-resolution encoders...................................................48
4.14 Motor connection .....................................................................................................49
4.14.1 Motor connection for synchronous motors................................................49
4.14.2 Switching in the motor cable .....................................................................52
5 Commissioning.............................................................................53
5.1 Notes for commissioning...........................................................................................53
5.2 Initial commissioning.................................................................................................53
5.2.1 Switching on control supply.......................................................................54
5.2.2 Connection between PC and DC-AC Servo Drive .......................................54
5.2.3 Configuring parameters .............................................................................54
5.2.4 Controlling drive using Moog DriveADministrAtor5 .....................................55
5.3 Serial commissioning.................................................................................................56
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Table of contents

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Table of contents
A.5 Pre-assembled DC link connections.........................................................................100
A.5.1 DC coupling, Power Supply Unit and DC-AC Servo Drive .........................101
A.5.2 DC coupling, DC-AC Servo Drive and DC-AC Servo Drive......................... 101
A.5.3 DC coupling, AC-AC Servo Drive and DC-AC Servo Drive.........................102
A.6 Ambient conditions.................................................................................................104
A.7 Hydrological data for the liquid cooling...................................................................105
A.8 Dynamic temperature monitoring ...........................................................................106
A.9 UL certification (Size 1 to Size 7) .............................................................................106
Glossary............................................................................................. 107
9.7.4 Selection of suitable Power Supply Unit .....................................................80
9.7.5 External components .................................................................................82
9.7.6 Selection of a suitable AC-AC Servo Drive as supply...................................82
9.7.7 External components .................................................................................84
10 Application example .....................................................................85
10.1 Interlocking Power Supply Unit and DC-AC Servo Drives ...........................................85
A Technical data...............................................................................87
A.1 Current carrying capacity, MSD Servo Drives DC-AC .................................................87
A.1.1 G393-004 to G393-032 (air cooling, 400VAC) ........................................87
A.1.2 G393-004 to G393-032 (air cooling, 460VAC) ........................................88
A.1.3 G393-004 to G393-032 (air cooling, 480VAC) ........................................89
A.1.4 G393-004 to G393-032 (air cooling, 770VDC) ........................................90
A.1.5 G393-045 to G393-170 (air cooling) ..........................................................91
A.1.6 G397-016 to G397-032 (liquid cooling, 400VAC) ....................................92
A.1.7 G397-016 to G397-032 (liquid cooling, 460VAC) ....................................93
A.1.8 G397-016 to G397-032 (liquid cooling, 480VAC) ....................................93
A.1.9 G397-016 to G397-032 (liquid cooling, 770VDC) ....................................94
A.1.10 G397-045 to G397-170 (liquid cooling)......................................................94
A.1.11 G397-250 to G397-450 (liquid cooling) .....................................................95
A.2 Technical data, MSD Servo Drive DC-AC....................................................................96
A.2.1 G393-004 to G393-020 / G397-020 to G397-025.....................................96
A.2.2 G393-024 to G393-072 / G397-026 to G397-084.....................................96
A.2.3 G393-090 to G393-170 / G397-110 to G397-210.......................................97
A.2.4 G397-250 to G397-450 .............................................................................97
A.3 Power connections....................................................................................................98
A.4 Current required for the control supply .....................................................................99

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Table of contents

MSD Multi-Axis System Operation Manual DC-AC Servo Drive 7
1 General
1 General
The product DVD from Moog contains the complete documentation for the related
product series. The documentation for a product series includes the Operation Manual
(hardware description), Device Help (software description) as well as further User
Manuals (e.g. field bus description) and Specifications. They are available in the formats
PDF, HTML or chm.
1.1 Target group
Dear user,
the documentation forms part of the device and contains important information on
operation and service. It is aimed at all persons who undertake mounting, installation,
commissioning and servicing work on the product.
1.2 Prerequisites
Prerequisites for the usage of devices from Moog GmbH:
•The documentation on the devices is to be stored so it legible, accessible at all
times and for the entire life of the product.
•Read and ensure you understand the documentation on your device.
•Qualification: to p event injury or damage, personnel may only work on the
device if they have electrical engineering qualifications
•Knowledge required:
− National health and safety regulations (e.g. VSize 4 in Germany)
− Mounting, installation, commissioning and operation of the device
Work in other areas, for example transport, storage and disposal is only allowed to be
undertaken by trained personnel.
NOTE
This operation manual only applies to the DC-AC Servo Drive for the
MSD Multi-Axis System (referred to in the following as the DC-AC Servo Drive).
1.3 Reference documents
Document Contents ID no.
Format
MSD Single-Axis
Servo Drive Compact-
Operation Manual
Safety, mechanical installation, electrical installation,
commissioning, diagnostics, specications, certication and
applicable standards, technical data
CA97555-001
PDF
MSD Servo Drive
AC-AC Servo Drive
Single-Axis System -
Operation Manual
Safety, mechanical installation, electrical installation,
commissioning, diagnostics, specications, certication and
applicable standards, technical data
CA65642-001
PDF
MSD Servo Drive
DC-AC Servo Drive
Multi-Axis System-
Operation Manual
Safety, mechanical installation, electrical installation, commissioning,
diagnostics, STO, operation with AC-AC Servo Drive as supply,
planning, application example, specications, certication and
applicable standards, technical data
CA97554-001
PDF
MSD Power Supply Unit
Multi-Axis System-
Operation Manual
Safety, mechanical installation, electrical installation, commissioning,
diagnostics, specication, certication and applicable standards,
technical data
CA97556-001
PDF
MSD Servo Drive
Sercos II -
User Manual
Safety, commissioning, communication phases, parameter interface,
error, warning and status messages, operation modes, weighting,
referencing, touchprobe, parameter lists
CA65648-001
PDF
MSD Servo Drive
Sercos III -
User Manual
Safety, installation and connection, commissioning and conguration,
parameterisation, data transmission, scaling and weighting,
functionality, error message and diagnostics, parameter lists
CA97557-001
PDF
MSD Servo Drive Field bus
systems CANopen/EtherCAT -
User Manual
Safety, commissioning, data transmission, operation modes,
referencing, parameters, technical data CA65647-001
MSD Servo Drive
Field bus systems
Probus/Pronet
User Manual
Description and conguration of the parameters for the MSD Servo
Drive on the PROFIBUS/PROFINET eld bus system
CA65645-001
PDF
Modular Multi-Axis Servo
Drive System - MSD -
Ordering Catalog
Information, notes on ordering, specications and
technical data on:
MSD Single-Axis Servo Drive Compact, MSD Single-Axis System,
MSD Multi-Axis System, safety technology, communication,
technology, function packages, accessories and motors
CDL 29950-en
PDF
MSD Servo Drive - Device
Help
Description of the software functionality MSD Servo Drive,
rmware versions:
- MSD Single-Axis Servo Drive Compact from V1.30-xx
- MSD Single-Axis System from V3.25-xx
- MSD Multi-Axis System from V3.25-xx
CB40859-001
PDF and
HTML
Program help
Moog DriveADminsitrAtor 5
PC user software
Context-sensitive help for Moog DriveADministrAtor version 5.x
graphic PC user software for initial commissioning and serial
commissioning, operation, diagnostics and project management
CB19692-001
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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
1.4 Order code
The MSDMulti-Axis System has the article designation G393-xxx-xxxxxxx and
G397-xxx-xxxxxxx. This provides information on the related variant of the
MSDServoDrive supplied. The signicance of the individual characters of the article
designation is given in the following order code.
G393 - - -
Rated current
Option 1 (Communication)
Option 2 (Technology)
Option 3 (Safety)
Option 4 (Function package)
Modificatio
Variants
Figure 1.1 Order code MSD Servo Drive DC-AC (air-cooled)
G397 - - -
Rated current
Option 1 (Communication)
Option 2 (Technology)
Option 3 (Safety)
Option 4 (Function package)
Modificatio
Variants
Figure 1.2 Order code MSD Servo Drive DC-AC (liquid-cooled)
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1 General

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1 General
1.7 Pictograms
The pictograms used in this operation manual signify the following for the user:
NOTE
Useful information or reference to other documents.
1.
(digit)
ACTION TO BE TAKEN
Processing step undertaken by the user or the system.
You will find the pictograms used in this operation manual for "safety instructions and
warnings" in chapter 2 Safety.
1.8 Disclaimer
Following the documentation on the devices from Moog is a prerequisite:
• For safe operation.
• To achieve stated performance features and product characteristics.
Moog does not accept any liability for injuries, damage or financial losses that esult from
the failure to follow the documentation.
1.9 Disposal
Follow the applicable national regulations! If necessary, dispose of individual parts,
depending on their characteristics and existing national regulations, e.g. as:
•Electrical waste
•Plastic
•Metal
Or engage a certified disposal organisation with scrappin
1.5 Data on manufacture
On rating plates for the servo drives you will find the serial number, from which you can
identify the date of manufacture based on the following key. For the location of the rating
plate on the MSDServoDrive refer to the layouts in chapter4.3, page30 for the related
sizes Size 1 to 7.
Model:: G393-030-000-002
In: 230 V AC 3ph, 50/60 Hz
4,0 A
0-230 V AC 3ph, 0-400 Hz
3,0 A
Out:
MOOG
D-71034 Böblingen
www .moog.com/industrial
Made in Germany
S/N:D116605 Rev. A
ID : JJWWxxxxx
Year of production
Week of production
Figure 1.3 DC-AC Servo Drive hardware rating plate
1.6 Scope of supply
The scope of supply includes:
MSDServoDrive DC-AC
Terminal kit for control and power terminals
(depending on device power and variant)
•Set of grommets (on devices with liquid cooling)
•Pre-assembled DC link connections
•Product DVD with booklet
•
•

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
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1.10 Helpline/Support & Service
Our Helpline will help you with fast, specific assistance if you have any technical queries
relating to project planning or commissioning your device.
Address: Moog GmbH
Hanns-Klemm Straße 28
D-71034 Böblingen
Phone: +497031622-0
Fax: +497031622-100
E-mail: [email protected]
If you need service assistance, the Moog specialists will be pleased to be of assistance.
Service - Please contact us:
Phone: +497031622-0
E-mail: [email protected]
1 General

MSD Multi-Axis System Operation Manual DC-AC Servo Drive 11
2 Safety
2 Safety
2.1 Overview
Our devices are state-of-the-art and comply with recognised safety regulations,
nevertheless hazards can arise. In this chapter:
•We provide information on residual risks and hazards that can emanate from
our devices on usage as intended.
•We warn about the foreseeable misuse of our devices.
•We refer to the necessary care and measures to be taken to prevent risks.
2.2 Measures for your safety
NOTE
Only install and place in operation your device taking into account the
documentation for the related device family!
Our devices are quick and safe to operate. For your own safety and for the safe
functioning of your device, please be sure to observe the following points:
1. Follow safety instructions for the devices:
Follow all safety instructions and warnings in the entire documentation related to the device series.
2. Electric drives are dangerous:
• Due to electrical voltages up to 480V AC and up to 800V DC
• Even 10min. after switching off the mains supply, dangerously high voltages of ≥50V may
still be present (capacitor charge). So check that electrical power is not present! See also the
warning label on the front panel on the device.
• Rotating parts
• Automatically starting drives.
• Hot components and surfaces
3. Protection against magnetic and/or electromagnetic fields during
installation and operation.
Persons tted with heart pacemakers, metallic implants and hearing aids etc. must not be allowed
access to the following areas:
• Areas in the immediate vicinity of electrical equipment!
• Areas in which electronics components and servo drives are installed, repaired and operated!
• Areas where motors are installed, repaired and operated!
Motors with permanent magnets pose particular hazards.
4. During installation observe the following:
• Comply with connection conditions and technical data as per the documentation and the rating
plate!
• Comply with standards and directives on electrical installation, such as cable cross-section,
shielding, etc.!
• Do not touch electronic components and contacts!
Electrostatic discharge can harm people and destroy components!
• Take protection measures and use protective devices as per the applicable regulations
(e.g. IEC/EN60204 or IEC/EN61800-5-1)!
• Take "device earthing" protection measure!
5. Ambient conditions
• Follow the instructions on the transport, storage and correct operation of the devices stated in
the Operation Manual in "A Appendix".
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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
2.3 General safety instructions and warnings
Hazards may emanate from our devices. For this reason it is imperative you follow the
safety instructions and warnings in this document.
DANGER! Risk of injury due to electrical power!
•Carelessness will result in serious injuries or death.
Follow safety instructions and warnings in this document and on the device.
WARNING! Risk of injury due to electrical power!
•Carelessness may result in serious injuries or death.
Follow safety instructions and warnings in this document and on the device.
CAUTION!Risk of injury or damage to the device due to incorrect operation!
•Carelessness may result in minor injuries or
damage.
Follow safety instructions and warnings in this document and on the device.
WARNING!Risk of injury due to hot surfaces and components!
•Carelessness may result in serious burns.
Electronic components may become hot during operation!
Follow safety instructions and warnings in this document and on the device!
Caution!Damage due to electrostatic discharge!
•Electrostatic discharge can destroy components.
Do not touch electronic components and contacts!
Follow safety instructions and warnings in this document and on the device!
DANGER! Risk of injury due to rotating parts on the motor!
•Carelessness will result in serious injuries or death.
Follow safety instructions and warnings in this document.
Pay attention to special safety instructions and warnings that are given here in the document before a
specic action and that warn the user about a specic hazard!
NOTE:
The pictograms may also be used on their own with the signal word, e.g.
in the connection diagrams, however they have the same function as in the
complete warning.
DANGER WARNING CAUTION
2.4 Intended use
Our devices are components intended for stationary electrical systems and machines in
the industrial and commercial sector.
The devices in the product range MSD Multi-Axis System conform to the
Machinery Directive 2006/42/EC (Size 1 to Size 6A)
Low Voltage Directive 2014/35/EU (Size 7)
Tested and certied according to applicable standards (see declaration of conformity in
chapter 2.8).
When installed in machines it is prohibited to start-up intended operation until it has
been ascertained that the completed machine fully complies with the provisions of the
Machinery Directive (2006/42/EC); compliance with IEC/EN60204 is mandatory.
Starting up intended operation is only permitted on compliance with the EMC Directive
2014/30/EU.
The devices fulfil the demands of the harmonised p oduct standard IEC/EN 61800-5-1.
You will find information on the installation of your device in chapter “3 Mechanical
installation”.
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2 Safety
Pay attention to the topic of “Electrical equipment of machines” in EN60204-1:2006
“Safety of machinery”. The safety requirements on electrical machines defined the e are
intended to protect personnel and machinery or systems.
The emergency stop function (as per IEC/EN60204) shuts down the supply of power to
a machine, which results in the drives coasting down in an uncontrolled manner. To avert
hazards, check whether it is appropriate:
− To keep individual drives in operation
− To initiate specific safety p ocedures
− To incorporate a Safe Torque Off function (Safe Torque Off: movement stop
by "switching off the electrical supply" - STO)
2.7 Relevant laws, standards and directives
applied
For information on the laws, standards and directives applied by Moog, refer to the
declaration of conformity.
NOTE:
Depending on the specific application for the devices, other laws, standa ds
and directives with provisions on "Safety" may apply. If necessary, contact the
machine or system manufacturer.
2.4.1 Repair
Only have repairs undertaken by authorised repair shops. Unauthorised opening and
incorrect intervention could lead to death, physical injury or material damage. The
warranty provided by Moog will be rendered void.
2.5 Misuse
Our devices are:
•Not intended for installation in vehicles. Deployment of the device in mobile
equipment is classed as non-standard ambient conditions, and is permissible
only by special agreement.
•Not intended for installation in environments with harmful oils, acids, gases,
vapours, dusts, radiation etc.
•Not approved for usage in special applications (e.g. in potentially explosive
atmospheres or areas in which there is a risk of fire).
•Not approved for usage outside a switch cabinet
•Not approved for the generation of high-frequency onboard networks for which
the device is not designed
2.6 Responsibility
Electronic devices are not fail-safe. The installer and/or operator of a complete machine
or system is responsible for ensuring:
•That the drive is rendered safe if the device fails
•The safety of personnel and machinery
•The complete machine is in correct working order
•For the risk assessment on the complete machine or system according to
EN ISO 12100 (formerly EN ISO 14121) and EN ISO 13849-1 (formerly
DIN EN 954-1)

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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
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2.8 Declaration of conformity
2.8.1 MSD Servo Drive DC-AC Size 1 to 7
2 Safety

MSD Multi-Axis System Operation Manual DC-AC Servo Drive
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3 Mechanical installation
3 Mechanical installation
The device is designed only for installation in a stationary switch cabinet. The switch
cabinet must as a minimum provide IP4x protection. According to ENISO13849-2 the
switch cabinet must have IP54 protection or higher when using the safety function STO
(Safe Torque Off).
3.1 Notes for mechanical installation
WARNING!Risk of injury due to hot surfaces on the device (heat sink)!
•Carelessness may result in serious burns.
The device and especially the heat sink heat up signicantly during operation and can reach
temperatures of up to +100°C (+212°F). Prior to starting work, make sure the device has
cooled down.
On touching there is a risk of burns to the skin. For this reason provide protection against
touching.
During mounting maintain an appropriate distance to neighbouring assemblies.
CAUTION!Damage to the device due to incorrect installation conditions!
The device may suffer irreparable damage.
For this reason
• Moisture must not be allowed to enter the device
• There must not be any aggressive or conductive substances in the ambient air
• Foreign bodies such as drilling chips, screws, washers etc. must not be allowed to fall into
the device
• The ventilation openings must not covered
NOTE:
The DC-AC Servo Drives must not be installed in areas where they would be
permanently exposed to vibration.
You will find further information in Table A.27 in the appendix.
NOTE:
It is imperative the operation manuals for the DC-AC Servo Drive and the
Power Supply Unit or the supplying AC-AC Servo Drive are followed during
installation of a MSDMulti-Axis System.
The following basic guidelines apply to the arrangement and installation of the Power
Supply Unit or the DC-AC Servo Drive:
•The backing plate must be well grounded.
•To attain the best result for effective EMC installation you should use a
chromated or galvanised backing plate. If backing plates are varnished, remove
the coating from the contact area! The devices Size 1 to Size 4 and Size 7 have
a rear wall made of aluminium. The devices Size 5 and Size 6A have a rear wall
made of aluminised/galvanised sheet steel.
•Maximum degree pollution degree 2 according to IEC/EN 60664-1. You will find
further information on ambient conditions in Table A.29 in the appendix.
•Cooling air must be able to flow th ough the device without restriction.
•On installation in switch cabinets with convection, i.e. heat loss is dissipated to
the outside via the switch cabinet walls, always fit an inte nal air circulation fan.
If you require further detailed information on installation, please contact the
MoogHelpline (see chapter1.10, page10).

16
MSD Multi-Axis System Operation Manual DC-AC Servo Drive
3.2 Switch cabinet layout
The positioning of the components in the switch cabinet has a significant e fect on the
trouble-free system and machine function. You should take into account the following
points in your planning:
• Evaluate the assemblies used in relation to EMC.
•Divide the switch cabinet into zones with different power and interference levels.
• For devices susceptible to interference, maintain a distance of at least 200mm
(7.87 in) from the following components:
− DC-AC Servo Drive
− Input and output chokes, transformers
− Mains, motor, DC power supply and braking resistor cables (even if shielded)
− Relay and contactors (even if interference-suppressed)
• For small distances use separators for shielding; fasten the separators directly
and conductively to the backing plate.
•If a motor contactor or motor choke is used, the component should be directly
positioned directly at the DC-AC Servo Drive.
• Do not use fluo escent lamps in switch cabinets, as they emit high-frequency
interference.
• Fit contactors, relays, solenoid valves, switched inductors and capacitors with
suppressors.
•The mains filter must be mounted on the backing plate as close as possible to
the feed point and with large surface area contact. The backing plate must be
connected to the central earthing point with a low-impedance connection. No
unfilte ed cables are allowed to be laid on the mains input side of the filter so
that no interference can be coupled into the cables.
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3 Mechanical installation

MSD Multi-Axis System Operation Manual DC-AC Servo Drive 17
3 Mechanical installation
3.2.1 Example:
1
ON
0
OFF
0
PWR
LOCK
CF
Power
Reset
RJ-45/Line
RS232
COM
Data
Status
< 200 mm
< 20
1
7
8
6
5
4
3
2
12 9
10
10
10
10
11
14
13
1) Mains cable
2) Main switch
3) Fuses
4) Mains lter 1)
5) Circuit breaker
6) Mains contactor
7) Input choke with capacitor connected
8) Step-up choke
9) MSD Power Supply Unit
10) MSD Servo Drive DC-AC
11) DC power supply via DC link cable
12) Braking resistor
13) Motor cables
14) Controller 2)
1) Cables without interference suppression must be laid at a distance of at least 200 mm (7.87 in) from the mains input side of the lter so that no interference can be coupled into the cables.
2) Arrange the controller separated from the power area to prevent EMC coupling mechanisms. Control cables, signal cables and cable shields have been omitted for clarity
Figure 3.1 Example: arrangement in the switch cabinet
moog
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MSD Multi-Axis System Operation Manual DC-AC Servo Drive
> 0 mm
1
2
1) Paint
2) Air gap
Figure 3.3 INCORRECT mounting of DC-AC Servo Drive
3.3 Wall mounting (air cooling)
•Use bare metal backing plates.
•The rear of the DC-AC Servo Drive must have good contact to the switch
cabinet ground. The contact area must be bare metal to establish a good
ground connection to the switch cabinet ground. There must not be an air gap
between the rear wall of the DC-AC Servo Drive and the rear wall of the switch
cabinet.
•The bases of the chokes must have good contact to the switch cabinet ground.
The contact area must be bare metal to establish a good ground connection to
the switch cabinet ground.
= 0 mm
1
2
1) Bare metal backing plate
2) Large area contact
Figure 3.2 CORRECT mounting of DC-AC Servo Drive
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3 Mechanical installation

MSD Multi-Axis System Operation Manual DC-AC Servo Drive 19
3 Mechanical installation
3.4.1 Alignment in the group
MSD Servo Drive DC-AC Size 1 MSD Servo Drive DC-AC Size 2 MSD Servo Drive DC-AC Size 3 MSD Servo Drive DC-AC Size 4
MSD
Power Supply Unit
Size 5
Figure 3.4 Alignment of DC-AC Servo Drives in relation to Power Supply Unit Size 5 (example)
MSD Servo Drive DC-AC Size 1 MSD Servo Drive DC-AC Size 2 MSD Servo Drive DC-AC Size 3 MSD Servo Drive DC-AC Size 4
MSD Servo Drive DC-AC Size 5
18.5 mm (0.73 in)
MSD Servo Drive DC -AC
Size 6A
Wall mounting
MSD Power Supply Unit
Size 6A
Wall mounting
Figure 3.5 Alignment of DC-AC Servo Drives in relation to Power Supply Unit Size 6A (example)
3.4 Alignment and arrangement in the group
• Devices with different housing variants, such as air cooling and liquid cooling,
can be mounted side-by-side in any combination.
•Devices with the liquid cooling housing variant have a spacer on the rear in
place of the heat sink. As a consequence it is possible to connect devices with
the air cooling housing variant using pre-assembled DC link cables without
additional compensation measures in relation to the device depth.
• The distance between the devices in a row is defined by the pre-assembled
connection cables supplied and is 2mm (0.08in).
NOTE
Devices of Size 6A in the air cooling housing variant are an exception. The
mounting distance between two air-cooled devices of Size 6A is 40mm
(1.57in) (see Figure 3.5).
NOTE
Only use the DC link connections supplied for the electrical coupling of the
devices. If extending the DC link coupling is unavoidable, it is imperative you
pay attention to the requirements in chapterA.5, page103. On the usage of
connection cables that do not meet the requirements, Moog does not provide
any guarantee for stable, safe operation.
• The DC-AC Servo Drives are allowed to be arranged to the left and/or right
of a Power Supply Unit. On side by side mounting devices with different drive
powers you should arrange the devices in descending order by power rating
(e.g., viewed from the left, Size 4-Size3-Size2-Size1). This arrangement will
minimise the thermal interaction. The Power Supply Unit must always be fitted
beside the DC-AC Servo Drive with the highest power.
On side by side mounting other devices to the multi-axis system, attention is to
be paid to ensuring there is no thermal interaction between the devices.
• Align the devices along the top edge (dotted line) to ensure trouble-free wiring.
NOTE
Between the upper fastening screws for devices of Size 1 to Size 5 there is a
vertical offset of 18.5mm (0.73in) compared to devices of Size 6A
(see Figure 3.5).
moog
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20
MSD Multi-Axis System Operation Manual DC-AC Servo Drive
3.4.2 Arrangement in the group
Permissible arrangements
G396
Figure 3.7 Example permissible arrangement: side by side mounting DC-AC Servo Drive
of the same size on one side of the Power Supply Unit
G396
Figure 3.8 Example permissible arrangement: side by side mounting DC-AC Servo Drive
of the same size or reducing size on both sides of the Power Supply Unit
MSD Servo Drive DC-AC Size 1 MSD Servo Drive DC-AC Size 2 MSD Servo Drive DC-AC Size 3 MSD Servo Drive DC-AC Size 4
MSD Servo Drive DC-AC Size 5
18.5 mm (0.73 in)
MSD Servo Drive DC -AC
Size 6A
with liquid cooling
MSD Power Supply Unit
Size 6A
with liquid cooling
Figure 3.6 Alignment of DC-AC Servo Drives in relation to Power Supply Unit Size 7 (example)
moog
Id. no.: CA97554-001 05/2017
3 Mechanical installation