Moog G394-030 User manual

moog
MSDServoDrive
Compact
Operation Manual
Servo drive
2.0 A to 8 A

moog MSD Servo Drive Compact Operation Manual
MSDServoDriveCompact High-Performance Drives
The modularity of the MSDServoDriveCompact guarantees you optimum integration
into the machine process. Whether in high-speed fieldbus communication with the
central multi-axis machine drive or with distributed programmable Motion Control
intelligence in the servo drive, the MSDServoDriveCompact is a master of both.
MSDServoDriveCompact Operation Manual
Id no.: CA97555-001, Rev. 3.0
Date: 06/2012
Applicable as from firmware version: V0.25
The German version is the original of this Operation Manual.
Technical alterations reserved
The contents of our documentation have been compiled with greatest care and in
compliance with our present status of information.
Nevertheless we would like to point out that this document cannot always be updated
parallel to the technical further development of our products.
Information and specifications may be changed at any time. For information on the
latest version please refer to [e-mail]..
C4 C3 C2

moog MSD Servo Drive Compact Operation Manual 3
Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
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How to use this document
Dear user,
We are happy that you have made a decision in favour of a product from Moog
GmbH. In order to be able to start using your new MSDServoDriveCompact quickly
and without problems, we ask you kindly to read this Operation Manual thoroughly
beforehand.
Step Action Comment
1.
This Operation Manual will enable
you to install and commission the
MSDServoDriveCompact system
very quickly and easily.
Quick-start guide
2.
Simply follow the step-by-step
tables in the chapters. Off you go!
11 Safety
22Mechanical installation
33 Electrical installation
44 Commissioning
55 Diagnostic
66 Safe Torque Off (STO)
AA Appendix
Glossary

moog MSD Servo Drive Compact Operation Manual 4
Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
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Order code
The order designation G394-xxx-xxx-xxx informs you about the corresponding variant
of the drive delivered to you. The significance of the individual characters of the order
designation is given in the following order code. You will find the complete order code
with all values in the MSDServoDrive Ordering Catalog.
G394 - - -
Rated current
Option 1 (Communication)
Option 2 (Technology)
Option 3 (Safety)
Option 4 (Function package)
Variants
Fig. 0.1 MSDServoDriveCompact order code
Rating plate
On rating plates of the MSDServoDriveCompact 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Compact refer to Fig.3.1 on page
14.
Model:: G394-030-210-001
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
Fig. 0.2 MSDServoDriveCompact hardware name plate
Supply package
The supply package includes:
• MSDServoDriveCompact
• Terminal kit for control and power terminals
(depending on device power and variant)
• Set with shield connecting plates and fixing material
• Product DVD

moog MSD Servo Drive Compact Operation Manual 5
Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
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Pictograms
To provide clear guidance, this Operation Manual uses pictograms. Their meanings are
set out in the following table. The pictograms always have the same meanings, even
where they are placed without text, such as next to a connection diagram.
Warnings (see also section 1.1)
!ATTENTION! Misoperation may result in damage to the drive or
malfunctions.
DANGER FROM ELECTRICAL TENSION!
Improper behaviour may endanger human life.
DANGER FROM ROTATING PARTS!
Drive may start up automatically.
Hints & Tips
NOTE: Useful information or reference to other documents
1.
STEP: Action in a sequence of multiple actions.

moog MSD Servo Drive Compact Operation Manual 6
Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
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Space for personal notes

moog MSD Servo Drive Compact Operation Manual 7
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
Table of contents
1 Safety..................................................................................... 9
1.1 For your safety ........................................................................................................9
1.1.1 Read the Operation Manual first! ................................................................9
1.1.2 Warning symbols .........................................................................................10
1.2 Intended use...........................................................................................................10
1.3 Responsibility ..........................................................................................................10
2 Mechanical installation............................................................11
2.1 Notes for operation.................................................................................................11
2.2 Wall mounting ........................................................................................................11
3 Installation............................................................................. 13
3.1 Notes for installation...............................................................................................13
3.2 Layout.....................................................................................................................14
3.3 Connection diagram ...............................................................................................15
3.4 Effective EMC installation .......................................................................................16
3.4.1 Interference immunity of drives ...................................................................16
3.4.2 Specimen setup ...........................................................................................16
3.5 Connection PE conductor .......................................................................................19
3.6 Electrical isolation concept......................................................................................20
3.7 Connection of supply voltage .................................................................................21
3.7.1 Connection of control supply (+24VDC).....................................................21
3.7.2 Connection of mains supply C2 and C3.......................................................21
3.7.3 Connection of mains supply C4 ...................................................................22
3.8 Control connections................................................................................................24
3.8.1 Specification of control connections ............................................................24
3.8.2 Connection of motor brake X13...................................................................25
3.9 Specification of Ethernet interface ..........................................................................26
3.10 Option 1 .................................................................................................................26
3.11 Option 2 .................................................................................................................26
3.12 Encoder connection ................................................................................................27
3.12.1 Encoder connection of the synchronous motors ..........................................27
3.12.2 Matching motor-encoder cable-drive connection.....................................27
3.12.3 Ready made-up encoder cables ...................................................................28
3.12.4 Resolver connection X6 ...............................................................................28
3.12.5 Connection for high-resolution encoder......................................................29
3.13 Motor connection...................................................................................................30
3.13.1 Connection of the servo motors ..................................................................30
3.13.2 Ready made-up motor cable........................................................................31
3.13.3 Switching in the motor cable .......................................................................32
3.14 Braking resistor (RB) ................................................................................................32
3.14.1 Protection in case of braking chopper fault..................................................32
3.14.2 Design with integrated braking resistor (C3 + C4)........................................32
3.14.3 Connection of an external braking resistor ..................................................34
4 Commissioning ...................................................................... 35
4.1 Notes for operation.................................................................................................35
4.2 Initial commissioning...............................................................................................35
4.2.1 Switching on control supply.........................................................................36
4.2.2 Connection between PC and servo drive .....................................................36
4.2.3 Parameter setting ........................................................................................36
4.2.4 Drive control with Moog DriveADministrAtor5 ..............................................36
4.3 Serial commissioning...............................................................................................38
4.4 Integrated control unit ............................................................................................38
4.4.1 Function of buttons T1 and T2.....................................................................39
4.4.2 Display.........................................................................................................39

8
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
moog MSD Servo Drive Compact Operation Manual
4.4.3 Parameter menu (PA)...................................................................................40
4.4.4 Ethernet IP-address menu (IP) ......................................................................40
4.4.5 Fieldbus address menu (Fb)..........................................................................42
5 Diagnostics............................................................................ 43
5.1 Device states...........................................................................................................43
5.2 Error display ............................................................................................................43
5.3 Error codes..............................................................................................................43
5.4 Helpline/Support & Service .....................................................................................44
6 Safe Torque Off (STO) ............................................................ 45
A Appendix............................................................................... 47
A.1 Current capacity of servo drives ..............................................................................47
A.2 Technical data MSDServoDriveCompact...............................................................49
A.3 Ambient conditions.................................................................................................51
A.4 UL certification .......................................................................................................52
Glossary......................................................................................... 53

moog MSD Servo Drive Compact Operation Manual 9
[Safety ]
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
1 Safety
1.1 For your safety
The instructions set out below should be read through prior to initial commissioning
in order to prevent injury and/or damage to property. The safety instructions must be
followed at all times.
ATTENTION! The MSDServoDriveCompact‘s “Safe Torque Off (STO)” safety
function must be approved by the TÜV-Rheinland accredited certification
body. This certification is currently still in preparation. Conformance to parts
of ENISO13849-1, EN62061, EN61800-5-1 and EN61508 is ensured.
!
1.1.1 Read the Operation Manual first!
1.
Read the Operation Manual first!
• Follow the safety instructions!
• Refer to the user information!
Electric drives are dangerous:
• Electrical voltages of 230V to 480V
Dangerously high voltages of ≥ 50V may still be present 10
minutes after the power is cut (capacitor charge). So check
that the power has been cut!
• Rotating parts
• Hot surfaces
Protection against magnetic and/or electromagnetic fields during installation
and operation.
• Persons fitted with heart pacemakers, metallic implants and hearing aids
etc. must not be allowed access to the following areas:
− Areas where drive systems are installed, repaired and operated.
− Areas where motors are installed, repaired and operated. Motors with
permanent magnets pose a particular hazard.
NOTE: If it is necessary to access such areas, suitability to do so must be
determined before hand by a doctor.
Your qualification:
• In order to prevent personal injury or damage to property, only
personnel with electrical engineering qualifications may work on the
device.
• The said qualified personnel must be familiar with the contents of the
Operation Manual (cf. IEC364, DINVDE0100).
• Awareness of national accident prevention regulations (e.g. BGV A3 in
Germany)
During installation observe the following instructions:
• Always comply with the connection conditions and technical
specifications.
• Comply with the standards for electrical installations, suchas regarding
wire cross-section, grounding lead and ground connections.
• Do not touch electronic components and contacts (electrostatic
discharge may destroy components).
Table 1.1 Safety instructions

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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
1.1.2 Warning symbols
The safety instructions detail the following hazard classes.
The hazard class defines the risk posed by failing to comply with the safety notice.
Warning symbols General explanation Hazard class to
ANSIZ535
!ATTENTION! Misoperation may result
in damage to the drive or malfunctions.
Serious injury or damage to
property may occur.
DANGER FROM ELECTRICAL TENSION!
Improper behaviour may endanger
human life.
Death or serious injury will
occur.
DANGER FROM ROTATING PARTS!
Drive may start up automatically.
Death or serious injury will
occur.
Table 1.2 Explanations of warning symbols
1.2 Intended use
MSDServoDriveCompact drives are components designed solely for vertical installation
in stationary electrical systems or machines.
When installed in machines the commissioning of the drive (i.e. start-up of intended
operation) is prohibited, unless it has been ascertained that the machine fully complies
with the provisions of the Machinery Directive 2006/42/EC; compliance with EN60204 is
mandatory.
Commissioning (i.e. start-up of intended operation) is only permitted when strictly
complying with the EMC Directive (2004/108/EC).
The MSDServoDriveCompact conforms to the Low Voltage Directive
2006/95/EC.
The drives fulfill the demands of the harmonized product standard
EN 61800-5-1.
If the drive is used for special applications, such asin areas subject to explosion hazard,
the required standards and regulations (e.g. EN50014, “General provisions” and
EN50018, “Flameproof housing”) must always be observed.
Repairs may only be carried out by authorized repair workshops. Unauthorized opening
and incorrect intervention could lead to death, physical injury or material damage. The
warranty provided by Moog GmbH would thereby be rendered void.
NOTE: Deployment of the drives in non-stationary equipment is classed
as non-standard ambient conditions, and is permissible only by special
agreement.
1.3 Responsibility
Electronic devices are fundamentally not fail-safe. The company setting up and/or
operating the machine or plant is itself responsible for ensuring that the drive is rendered
safe if the device fails.
In the section on “Electrical equipment of machines” the standard EN60204-1/
DINVDE0113 “Safety of machines” stipulates safety requirements for electrical controls.
They are intended to protect personnel and machinery, and to maintain the function
capability of the machine or plant concerned, and must be observed.
The function of an emergency off system does not necessarily have to cut the power
supply to the drive. To protect against danger, it may be more beneficial to maintain
individual drives in operation or to initiate specific safety sequences. Execution of the
emergency stop measure is assessed by means of a risk analysis of the machine or plant,
including the electrical equipment in accordance with ENISO14121 (previously
DINEN1050), and is determined in accordance with ENISO13849-1 (previously
DINEN954-1), “Safety of machines - Safety-related parts of controls” by selecting the
circuit category.

moog MSD Servo Drive Compact Operation Manual 11
[Mech. installation ]
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
2 Mechanical installation
2.1 Notes for operation
!
Please strictly avoid ...
• penetration of damp into the device;
• aggressive or conductive substances in the immediate vicinity;
• drill chippings, screws or foreign bodies dropping into the device;
• ventilation openings being covered over, as otherwise the device may
be damaged.
Note the following points:
• Cooling air must be able to flow through the device without restriction.
• For mounting in switch cabinets with convection (= heat loss is discharged to the
outside via the cabinet walls), always fit an internal air circulation fan.
• The backing plate must be well grounded.
• The device is designed only for vertical installation in switch cabinets. The switch
cabinet must as a minimum provide IP4x protection.
!
ATTENTION! According to ENISO13849-2 the switch cabinet must have IP54
protection or higher when using the STO (Safe Torque OFF) safety function.
• To attain the best result for EMC-compatible installation you should use a
chromated or galvanized backing plate. If backing plates are varnished, remove the
coating from the contact area. The devices themselves have an aluminium back
panel.
• Maximum pollution severity 2.
Further information on environmental conditions can be found in the appendix.
2.2 Wall mounting
Step Action Comment
1.
Mark out the position of the tapped holes on
the backing plate.
Cut a tap for each fixing screw in the backing
plate.
Dimensional drawings/hole spac-
ing - see table2.2, Fig.2.1 and
Fig.2.2
The tapping area will provide you
with good, full-area contact.
2.
Mount the servo drive vertically on the
backing plate.
Observe the mounting clearances!
The contact area must be metallic
bright.
3.
Mount the other components, suchas the
mains filter, mains choke etc., on the backing
plate.
The cable between mains filter and
servo drive may be maximum
30cm long.
4.
Continue with the electrical installation in
section 3.
Table 2.1 Mechanical installation
NOTE: For all sizes of the MSDServoDrive
Compact forced cooling by external air flow
is necessary. The air must be able to flow
unhindered through the device. If a temperature
cut-out occurs, the cooling conditions must be
improved.
Air flow: minimum 1.2m/s

moog MSD Servo Drive Compact Operation Manual 12
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
Dimensions
MSDServoDriveCompact C2 C3 C4
G394-030
G394-020
G394-059
G394-035
G394-080
G394-065
Weight [kg] 1.0 1.5 2.8
B (width) 55
H (height) 1) 210 290
T (depth) 1) 142 189 235.5
A27.5
A1 - - 40
C225 305
C1 5
DØ 4.8
E for direct butt mounting (see note)
F 2) ≥100 ≥150
G 2) ≥235 ≥280
H1 235 315
Screws 2 x M4 4 x M4
All dimensions in mm
1) without terminals/connections
2) The bend radius of the connecting cables must be taken into account
Table 2.2 MSDServoDriveCompact dimensions - see Fig.2.1 and Fig.2.2
NOTE: The minimum distance specified in the table for sizes 2-4 applies for
devices of the same power. When butt mounting devices with different drive
power you should arrange the devices according to their power (e.g., viewed
from the left, C4 - C3 - C2). This minimizes the thermal influence among
each other.
When butt mounting MSDServoDriveCompact drivess together with other
devices, you must make sure that these device do not affect one another
thermally.
C
C
C1
A
B
C1
H1
H1
A
B
A1
T
H
D
D
C 2 + C 3
C 2 + C 3 + C 4
C 4
Fig. 2.1 Dimensions (in mm) C2, C3, C4
E
G
F
F
Fig. 2.2 Mounting clearances (in mm)

moog MSD Servo Drive Compact Operation Manual 13
[Installation ]
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
3 Installation
3.1 Notes for installation
ATTENTION!
• Qualified personnel
Installation must only be carried out by electrical engineering experts
who have been specially instructed in the necessary accident prevention
measures.
• During installation work
Strictly avoid that ...
− screws, cable rests or foreign bodies drop into the device
− moisture enters into the device
DANGER CAUSED BY HIGH VOLTAGE!
• Danger to life!
− Never wire or disconnect electrical connections while they are live.
Isolate the device from the mains supply (230/400/460/480 V AC) before
working on it. Even 10 minutes after switching off the mains supply
dangerously high voltages of ≥50V may still be present (capacitor charge).
Work on the device must only be carried out, after the DC link voltage has
dropped below a residual voltage of 50V (indicated by monitoring LED H1
and to be measured on terminals X1/L- and L+).
− Dangerous voltage may be applied to the device, even if the device does
not emit any visual or audible signals/indications (e.g. with mains voltage
applied to terminal X3) and missing control supply (+24V on X2)!
The following general guidelines apply for the installation of servo drives:
• Compliance with the EMC product standard
Commissioning (i.e. starting intended operation) is only permitted when strictly
complying with EMC product standard EN 61800-3. The installer/operator of a
!
machine and/or equipment must provide evidence of the compliance with the
protection targets stipulated in the EMC-standard.
• Cabel type
Use only shielded mains, motor and signal lines with double copper braiding that is
overlapping by 60 to 70 %.
• Routing of cables
− Route mains, motor and signal cables separated from one another. If possible,
keep a distance of at least 0.2 m, otherwise use separators. They should not
run in parallel. If crossovers are unavoidable, they should wherever possible be
configured perpendicular (at a 90° angle).
− Always route the motor cable without interruptions and the shortest way out of
the control cabinet. When using a motor contactor for example, the component
should be directly mounted to the drive and the shielding of the motor cable
should not be stripped off too soon.
− If possible enter signal lines only from one side into the control cabinet.
− Lines of the same electric circuit must be twisted.
− Avoid unnecessary cable lengths and loops.
• Grounding measures
Grounding measures of relevance for the drive are described in section3.5
"Connection PE conductor".
• Shielding measures
Do not strip the cable shields too soon, and lay them across wide areas both on
the component and on the backing plate or on the PE rail (main ground) of the
backing plate.
• External components
− Place larger consumers near the supply.
− Contactors, relays, solenoid valves (switched inductivities) must be wired with
fuses. The wiring must be directly connected to the respective coil.
− Any switched inductance should be at least 0.2 m away from the process
controlled assemblies.
Additional information can be found in the corresponding connection description.
If you require further detailed information on installation you should consult the Moog
Helpline (see page44).

moog MSD Servo Drive Compact Operation Manual 14
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
3.2 Layout
The following shows the layout with the corresponding positions of plugs and terminals.
For better orientation we have identified the designations of plugs and terminals with an
abbreviation.
Fig. 3.1 Layout MSDServoDriveCompact
H1
X8
X1
X7
X6
D1, D2
T1, T2
X9
X2
X5
X13
X3
X4
Name plate
Software
PE
Name plate
Hardware
OP1
Number Designation
D1, D2 7-segment display
H1 DC link voltage indicator LED
OP1 Installation space for option 1 (Communication)
PE Connection PE conductor
T1, T2 Button
X1 Power connection
X2 Connection control supply UV
X3 Connection AC power supply
X4 Terminals
X5 Motor temperature monitoring
X6 Connection resolver
X7 Connection high-resolution encoder
X8 Option 2 (Technology)
X9 Ethernet interface
X13 Connection Motor brake
Table 3.1 Key to layout MSDServoDriveCompact

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[Installation ]
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
3.3 Connection diagram
Ethernet
ISD00
ISD01
ISD02
OSD02
Relay
ENPO (STO)
Motor
3
Option 2
Control
Service
interface
ISDSH (STO)
ISA00+
ISA00-
ISA01+
ISA01-
Analog setpoint 1
Analog setpoint 2
+24 V DC against
I/O-GND
+24 V (UH)
3
4
5
6
10
15
16
17
9
23
24
22
RSH
Diagnosis
STO
12
11
1
2,14
13
I/O-GND
Relay
Digital2
RB
L+
L-
Braking
resistor
U
V
W
6
n
n
ISD03
ISD04
ISD05
18
19
20
ISD0621
OSD01
8
Digital1
OSD00
7
Digital0
GND
GND
V+
OSD03 2
3
4
1
5
9
10
9
DC link
OSD04
54321
10 9876
15 14 13 12 11
DGND
DGND
43 21
9876
~
1+
1-
1+
1-
+
-
(-)(+)
D1, D2
T1, T2
L1
K1
L2
L3
FN
L1
L2
L3
3-phase system
X3
X2
X9
X4
X8
X7
X6
X5
X13
X1
Front
Option 1
+24 V DC supply for
control electronics (UV)
Communication
Fieldbuses
Brake (+)
+24 V DC supply
for brake
Brake (-)
Resolver
-
+
Encoder
+
–
TOP
BOTTOM
Fig. 3.2 Connection diagram
Number Designation Details
D1, D2 7-segment display page39
T1, T2 Button page39
X1 Connection for motor, braking resistor and
measurement of DC link voltage page30
X2 Connection control supply page21
X3 Connection AC power supply page21
X4 Terminals page24
X5 Connection motor temperature monitoring 1) page30
X6 Connection resolver 1) page28
X7 Connection high-resolution encoder 1) page29
Option 1 Communication page26
PE Connection PE conductor page19
X8 (Option 2) Technology page26
X9 Ethernet interface page26
X13 Connection motor brake page30
1) NOTE: The temperature sensor of the motor winding can be optionally connected via the encoder cables (X6 or X7) or to
terminal X5.
Table 3.2 Key to connection diagram

moog MSD Servo Drive Compact Operation Manual 16
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
3.4 Effective EMC installation
3.4.1 Interference immunity of drives
ATTENTION! This is a restricted availability product in accordance with
IEC 61800-3. This product may cause radio interference in domestic
environments; in such cases the operator may need to take appropriate
countermeasures.
External radio frequency interference suppression filters (CB09937-001 to CB09940-001,
CB09942-001) are available for the drives. With the measurement method specified and
the external mains filter, these servo drives conform to the EMC product standard IEC
61800-3 for "First environment" (residential C2) and "Second environment" (industrial
C3).
3.4.2 Specimen setup
The specimen setup presented on the following pages is intended to illustrate the key
measures necessary to ensure EMC-compatible setup.
NOTE: The specimen setup merely presents a recommendation, and does
not automatically guarantee compliance with applicable EMC directives. The
installer/ operator of a machine and/or item of plant must provide proof of
compliance with the protection targets stipulated in the standard.
Overview
Fig.3.3 presents an overview of the minimum components required:
A. Backing plate with cable ducts
B. MSDServoDriveCompact
C. Mains filter
D. Mains choke
E. Distributor rail for AC power supply an control supply (+24VDC)
The layout and cabling are based on the instruction set out in section3.1 "Notes for
installation" on page13. The numbered red arrows refer to four very important detailed
notices presented on the following pages.
!
Fig. 3.3 Specimen setup - Overview
2
3
4
1
A
B
D
E
C

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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
Detail1: Motor cable
At the motor connection (X1) of the MSDServoDriveCompact note the following
points:
• Secure one of the two supplied shield connection plates by the screw to the
mount on the top of the unit. Ensure the plate contacts across a wide area with
the heat sink of the MSDServoDriveCompact and with the backing plate. Use a
toothed ring.
• Strip back the shield of the motor cable on the motor connection (X1) of the
MSDServoDriveCompact as little as absolutely necessary.
• Connect the motor cable shield across a wide area to the shield connection plate
by the clamp supplied.
NOTE: Ready made-up motor cables are available for Moog servo motors. For
details refer to the Servo motors Ordering Catalog.
Fig. 3.4 Specimen setup - Detail 1: Motor cable
X1
Detail2: Control supply (+24VDC)
At the control supply connection (X2):
• Secure the second of the two supplied shield connection plates by the screw to
the mount on the bottom of the unit. Ensure the plate contacts across a wide area
with the heat sink of the MSDServoDriveCompact and with the backing plate.
Use a toothed ring.
• Slot a shield tube over the control supply cable and strip it back only as short as
necessary before the control supply connection (X2).
• Connect the shielding tube of the control supply cable across a wide area to the
shield connection plate by the clamp supplied.
Fig. 3.5 Specimen setup - Detail 2: Control supply
X2

moog MSD Servo Drive Compact Operation Manual 18
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
Detail3: Mains filter and mains connection
At the output of the mains filter and the AC mains connection (X3):
• Connect the wire strands at the output of the mains filter directly to the
AC mains (X3) of the MSDServoDriveCompact. The strands must not be
extended, so the mains filter should be installed correspondingly close to the
MSDServoDriveCompact. But be sure to maintain the necessary minimum
clearance (see table2.2 on page12).
• Fix the strands to the shield connection plate using a cable tie as necessary.
• The leakage current of the MSDServoDriveCompact is >3.5mA. So:
− Connect the protective conductor from the output of the mains filter to the
connection (X3) of the MSDServoDriveCompact and
− one of the PE – connections on the heat sink of the MSDServoDriveCompact
via a cable of at least the same cross-section to the main ground of the
distributor rail.
Fig. 3.6 Specimen setup - Detail3: Mains filter and mains connection
X3
Detail4: Control cables
At the control terminals (X4) of the MSDServoDriveCompact:
• Strip the shielding of the control cables back only as short as absolutely necessary.
• Connect the control cable shields across a wide area to the shield connection tab
of the mains filter by the clamp supplied. If this is not possible, lay the control cable
shielding directly across a wide area on the backing plate directly adjacent to the
MSDServoDriveCompact.
Fig. 3.7 Specimen setup - Detail4: Control cables
X4

moog MSD Servo Drive Compact Operation Manual 19
[Installation ]
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
3.5 Connection PE conductor
Step Action PE mains connection
to DINEN61800-5-1
1.
Ground each of the drives!
Connect terminal in star
configuration and amply
dimensioned with the PE bar (main ground)
in the control cabinet.
Rules for the PE terminal
(as leakage current > 3.5mA):
Use protective conductors with the
same cross-section as the mains
power cables, though at least
10mm².
Also comply with local and
national regulations and
conditions.
2.
Also connect the PE-conductor terminals of all
other components, such as mains choke, filter,
etc. in a star configuration and amply
dimensioned with the PE bar (main ground)
in the control cabinet.
W1
V2 W2
U2
U1 V1
W1
V2 W2
U2
U1 V1
W1
V2 W2
U2
U1 V1
PE
Fig. 3.8 Star configuration layout for the PE conductor

moog MSD Servo Drive Compact Operation Manual 20
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Id no.: CA97555-001, Rev. 3.0 - Date: 06/2012
3.6 Electrical isolation concept
The control electronics, with its logic (µP), the encoder terminals and the inputs and
outputs, are electrically isolated from the power section (power supply/DC link). All
control terminals are designed as safety extra-low voltage/protective extra-low voltage
(SELV/PELV) circuits and must only be operated with such SELV/PELV voltages, as per
the relevant specification. This provides reliable protection against electric shock on the
control side.
A separate control supply, compliant with the requirements of a SELV/PELV, is therefore
needed.
The opposite overview shows the potential supplies for the individual terminals in detail.
This concept also delivers higher operational safety and reliability of the drive.
SELV = Safety Extra Low Voltage
PELV = Protective Extra Low Voltage
PE GNDµP DGND complexe
not linear
impedance
RC link Polyswitch
GNDµP
GNDµP
GNDµP
X4/15
ISD00
ISD01
I
LIM
X4/21
ISD06
I
LIM
X4/10
ENPO
I
LIM
X4/22
ISDSH
I
LIM
X4/7
OSD00
X4/3
ISA00+
Motor PTC
X4/4
ISA00-
ISD02
ISD03
ISD04
ISD05
A/D
A/D
ISA01+
X4/5
X4/6
ISA01-
X4/14
GNDµP
GNDµP
GNDµP
GNDµP
GNDµP
DGND
DGND
DGND
DGND
DGND
DGND
DGND
DGND
X4/2
ϑ
F1
ϑ
F2
X4/13
DGND X4/1
ϑ
F3
V
µP
V
µP
V
µP
V
µP
µP
X4/8
OSD01
OSD03
Motor brake
GND
X4/9
OSD02
X5/ ϑ+
X5/ ϑ−
RSH
X13/2
X13/1
X4/12
X4/11
OSD04
X4/23
X4/24
Ethernet
X9
Resolver
X6
Encoder
X7
PE
U
V
U
V
X2/+
X2/-
U
H
24 V DC
control
supply
24 V DC
Supply
brake
GND
X13/3
X13/4
Fig. 3.9 Electrical isolation concept MSDServoDriveCompact