Moog MSD G393-004 User manual

moog
MSDServoDrive DC-AC
Operation Manual
Multi-Axis System
DC-AC 565 to 770VDC

moog MSD Servo Drive DC-AC Operation Manual 2
MSDServo Drive _ Energy-efficient multi-axis system
Comprising DC-powered DC-AC servo drives and coordinated supply units, the
MSDServoDrive multi-axis system offers a high degree of solutions expertise and
flexibility. Reduced wiring and shorter installation times are demands which can be easily
met, as can the need to conserve resources and minimize cost in operation.
MSDServo Drive DC-AC Operation Manual
Multi-Axis System
Id. no.: CA97554-001, Rev. 1.1
Date: 06/2012
Applicable as from firmware version: V2.20-01
The German version is the original version of the operation manual.
Technical alterations reserved
The contents of our documentation have been compiled with greatest care and in com-
pliance 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].

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Id.-No.: CA97554-001 Date: 06/2012
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 device 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 DC-AC servo drive very quickly
and easily.
Quick-start guide
2.
Simply follow the step-by-step tables in the
chapters. And away you go!
11 Safety
22Mechanical installation
33 Electrical installation
44 Commissioning
55 Diagnosis
66 Safe Torque Off (STO)
77 AC-AC servo drive as supply
AA Appendix: Project planning
BB Appendix: Technical data
CC Appendix: Application example
Glossary

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Id.-No.: CA97554-001 Date: 06/2012
Documentation on the MSD Servo Drive multi-axis system
Documents directly required to construct and operate the multi-axis system
Document Contents Id. no.
MSD Power Supply Unit
Operation Manual
Mechanical installation, Electrical installation,
Safety, Specification CA97556-001
MSD Servo Drive DC-AC
Multi-Axis System
Operation Manual
Mechanical installation, Electrical installation,
Safety, Specification CA97554-001
MSD Servo Drive AC-AC
Single-Axis System
Operation Manual
Mechanical installation, Electrical installation,
Safety, Specification CA65642-001
Information on the complete MSD Servo Drive family
Document Contents Id. no
MSD Servo Drive
Ordering Catalog
Overview and ordering instructions for:
MSD Motion Controller, MSD Servo Drive
Compact, MSD Servo Drive single-axis system,
MSD Servo Drive multi-axis system, variants and
accessories
CDL 29950-en
Further documentation relating to the MSD Servo Drive family
Document Contents Id. no
MSD Servo Drive
Application Manual
Description of the base software for the single-
and multi-axis systems and the MSD Servo Drive
Compact
CA65643-001
MSD Servo Drive
CANopen/EtherCAT
User Manual
Description and parameter setting of the MSD
Servo Drive on the CANopen or EtherCAT fieldbus
system
CA65647-001
MSD Servo Drive
SERCOSII
Description and parameter setting of the MSD
Servo Drive on the SERCOS II fieldbus system CA65648-001
MSD Servo Drive
SERCOSIII
Description and parameter setting of the MSD
Servo Drive on the SERCOS III fieldbus system CA97557-001
MSD Servo Drive
Profibus User Manual
Description and parameter setting of the MSD
Servo Drive on the Profibus-DPV fieldbus system CA65645-001
Order code
The order designation G393-xxx-xxx-xxx and G397-xxx-xxx-xxx informs you about
the corresponding variant of the servo drive delivered to you. The significance of the
individual characters of the servo drives are given in the following order code. You will
find a complete order code with all values in the MSD Servo Drive Ordering Catalog.
G393 - - -
Rated current
Option 1 (Communication)
Option 2 (Technology)
Option 3 (Safety)
Option 4 (Function package)
Modification
Variants
Fig. 0.1 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)
Modification
Variants
Fig. 0.2 Order code MSD Servo Drive DC-AC (liquid-cooled)

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Id.-No.: CA97554-001 Date: 06/2012
Rating plate
On rating plates of the MSD Servo Drives you will find the serial number, from which you
can identify the date of manufacture based on the following key. You will find details of
the rating plate’s location on the MSD Servo Drive starting on page20.
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
Fig. 0.3 Hardware rating plate MSD Servo Drive DC-AC
Supply package
The supply package 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)
• Ready made-up connection cables
• Product DVD
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.
Warning symbols (see also section1.1)
!ATTENTION! Misoperation may result in damage to the drive or malfunc-
tions.
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.

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Space for your personal notes

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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 used..................................................................................10
1.2 Intended use .............................................................................................................10
1.3 Responsibility ............................................................................................................10
2 Mechanical installation ................................................................. 11
2.1 Notes for installation .................................................................................................11
2.2 DC-AC servo drive installation Air-cooled housing .....................................................12
2.3 DC-AC servo drive installation Liquid-cooled housing................................................14
2.4 Alignment and arrangement in a group.....................................................................16
2.5 Cooling circuit connection.........................................................................................18
3 Electrical installation .....................................................................19
3.1 Notes for installation .................................................................................................19
3.2 Overview of connections Size 1 to Size 4...................................................................20
3.3 Overview of connections Size 5 and Size 6A............................................................. 22
3.4 Protective conductor connection...............................................................................24
3.5 Electrical isolation method ........................................................................................24
3.6 Connection of supply voltage....................................................................................26
3.6.1 Connection of control supply (+24VDC)......................................................26
3.6.2 DC power supply connection........................................................................27
3.7 Control connections ..................................................................................................29
3.7.1 Specification of control connections .............................................................29
3.7.2 Brake driver ................................................................................................. 30
3.8 Specification of USB port...........................................................................................31
3.9 Specification of Ethernet port....................................................................................31
3.10 Option1....................................................................................................................31
3.11 Option2....................................................................................................................31
3.12 Encoder connection...................................................................................................32
3.12.1 Encoder connection of servo motors ............................................................32
3.12.2 Matching motor/encoder cable to servo drive ...............................................32
3.12.3 Ready made-up encoder cables ....................................................................33
3.12.4 Resolver connection......................................................................................33
3.12.5 Connection for high-resolution encoders..................................................... 34
3.13 Motor connection .....................................................................................................35
3.13.1 Connection of synchronous motors ..............................................................35
3.13.2 Ready made-up motor cable........................................................................ 36
3.13.3 Switching in the motor cable ....................................................................... 36
4 Commissioning.............................................................................37
4.1 Notes for operation ...................................................................................................37
4.2 Initial commissioning .................................................................................................37
4.2.1 Switching on control voltage ....................................................................... 38
4.2.2 Connecting the PC and servo drive.............................................................. 38
4.2.3 Parameter setting ........................................................................................ 38
4.2.4 Controlling the drive with Moog DriveADministrAtor5 .................................. 38
4.3 Serial commissioning ................................................................................................ 40
4.4 Integrated operator control unit and MMC card........................................................41
4.4.1 Functions of buttons T1 and T2 ....................................................................42
4.4.2 Display..........................................................................................................42
4.4.3 Parameter menu (PA)....................................................................................43
4.4.4 Ethernet IP address menu (IP) ...................................................................... 44
4.4.5 Fieldbus address menu (Fb)...........................................................................45
4.4.6 Firmware update with MMC card................................................................ 46

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5 Diagnostics...................................................................................47
5.1 Status display on device.............................................................................................47
5.1.1 Device states.................................................................................................47
5.1.2 Error display..................................................................................................47
5.2 Status and error display in MDA 5 ............................................................................ 48
5.3 Helpline/Support&Service....................................................................................... 50
6 Safe Torque Off (STO) ................................................................... 51
7 Operation with AC-AC servo drive as supply..................................53
7.1 Layout of devices and components............................................................................53
7.2 Operation with AC-AC servo drive as supply............................................................. 58
A Project planning ...........................................................................59
A.1 Overview and comparision of multi-axis systems .......................................................59
A.2 Application examples ................................................................................................59
A.3 Operation with MSDPowerSupplyUnit ................................................................... 60
A.4 Operation with MSDServoDrive AC-AC as supply ....................................................61
A.5 Functional comparison ............................................................................................. 62
A.6 Financial calculation ................................................................................................. 62
A.7 Dimensioning ........................................................................................................... 63
A.7.1 Calculating the required drive power per axis .............................................. 63
A.7.2 Selection of suitable gearing and motors..................................................... 63
A.7.3 Selection of suitable DC-AC servo drives...................................................... 63
A.7.4 Selection of suitable power supply unit ....................................................... 64
A.7.5 External components....................................................................................65
A.7.6 Selection of suitable AC-AC servo drive as supply ........................................ 66
A.7.7 External components................................................................................... 67
B Technical data ..............................................................................69
B.1 Current capacity of MSDServoDriveDC-AC .............................................................69
B.1.1 Size 1 to Size 4 (air-coold, 400VAC)............................................................69
B.1.2 Size 1 to Size 4 (air-cooled, 460VAC) ..........................................................70
B.1.3 Size 1 to Size 4 (air-cooled, 480VAC)..........................................................71
B.1.4 Size 1 to Size 4 (air-cooled, 770VDC) ..........................................................72
B.1.5 Size 5 and Size 6A (air-cooled)......................................................................73
B.1.6 Size 3 and Size 4 (liquid-cooled, 400VAC) ..................................................74
B.1.7 Size 3 and Size 4 (liquid-cooled, 460VAC) ..................................................74
B.1.8 Size 3 and Size 4 (liquid-cooled, 480VAC) ..................................................75
B.1.9 Size 3 and Size 4 (liquid-cooled, 770VDC)...................................................75
B.1.10 Size 5 and Size 6A (liquid-cooled) .................................................................76
B.2 Technical data MSD Servo Drive DC-AC.................................................................... 77
B.2.1 G392-004 to G393-020 / G397-020 to G397-025....................................... 77
B.2.2 G393-024 to G393-060 / G397-026 to G397-070....................................... 77
B.2.3 G393-072 to G393-170 / G397-084 to G397-210.........................................78
B.3 Motor cable terminals ...............................................................................................78
B.4 Current consumption of control supply .....................................................................78
B.5 Ready made-up cables ..............................................................................................79
B.6 Ambient conditions .................................................................................................. 80
B.7 Hydrological data of liquid cooling ............................................................................81
B.8 Dynamic heat sink temperature monitoring...............................................................81
B.9 UL approbation Size 5 and Size 6A............................................................................81
C Application example .....................................................................83
C.1 Power supply unit/DC-AC servo drive lock................................................................ 83
Glossary..............................................................................................85

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Safety
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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.
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 230VAC / 320VDC to 480VAC / 770VDC
Dangerously high voltages ≥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 installa-
tion 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 beforehand by a doctor.
Your qualification:
• In order to prevent personal injury and 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 intsallation observe the following instructions:
• Always comply with the connection conditions and technical specifica-
tions.
• Comply with the standards for electrical installations, such as regarding
wire cross-section, protective conductor and ground connections.
• Do not touch electronic components and contacts (electrostatic dis-
charge may destroy components).
Table 1.1 Safety instructions

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1.1.2 Warning symbols used
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 prop-
erty 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 Drives are components for installation into stationary electric systems or
machines.
When installed in machines the commissioning of the servo 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 DC-AC conforms to the Low Voltage Directive
2006/95/EC.
The DC-AC servo drives comply with the requirements of the harmonized product
standard EN 61800-5-1.
If the DC-AC servo drive is used for special applications, such as in areas subject to
explosion hazard, the required standards and regulations (e.g. in the Ex zone 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 DC-AC servo 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 system 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 113 “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 system 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
EN954-1), “Safety of machines - Safety-related parts of controls” by selecting the circuit
category.

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2 Mechanical installation
2.1 Notes for installation
!
ATTENTION!
• During installation
please be sure to avoid ...
− drill chippings, screws or other foreign bodies dropping into the device;
− penetration of damp into the device
• Switch cabinet
The device is solely intended for installation in a stationary switch cabinet.
The switch cabinet must as a minimum provide IP4x protection. When
using the STO (Safe Torque OFF) safety function, according to
EN ISO 13849-2 the switch cabinet must have IP54 protection or higher.
• Immediate vicinity
− The servo drives must not be installed in areas where they would be
permanently exposed to vibrations. For more information refer to
tabeB.20 in the appendix.
− The device heats up in operation and at the heat sink may reach
temperatures of up to +100 °C (+212°F). Pay attention to this in relation
to adjacent components.
NOTE: For installation of the servo drive within a MSD Servo Drive multi-axis
system, be sure also to refer to the Operation Manual for the power supply
unit or the supplying single-axis servo drives.
The layout and installation of the DC-AC servo drives and the power supply unit is
subject to the following basic rules:
• Pollution
Maximum pollution severity 2 to EN 60664-1. Further information on
environmental conditions can be found in tableB.18 in the appendix.
• Effective EMC installation
To attain the best result for effective EMC installation you should use a well
grounded chromated or galvanized backing plate. If backing plates are varnished,
remove the coating from the contact area. The devices themselves have an
aluminium rear panel (Size 1 to Size 4) or a rear panel made of aluminized/
galvanized sheet steel (Size 5, Size 6A).
• Cooling
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.
• End-to-end mounting and alignment
− Devices with different housing variants (air-cooled and liquid-cooled) can be
installed next to each other in any combination, as devices with liquid-cooled
housings have a spacer on the rear in place of the heat sink. Consequently, it is
possible to connect to devices with air-cooled housings using the ready made-
up DC link cables without additional measures to compensate for differing unit
depth.
− No – minimum clearance between the devices is required. Exceptions to this rule
are the following air-cooled devices of size Size 6A (see Table 2.1). The maximum
distance between the devices is dictated by the supplied ready made-up cables,
and is 1.5 mm (except Size 6A).
− In the case of end-to-end mounting, the DC-AC servo drive must be sorted in
ascending or descending order of power.
− A vertical offset of 18.5 mm must be allowed between the top fixing screws for
devices of sizes Size 1 to Size 5 and devices of size B (see Fig. 2.6).
If you need more details on installation please contact the Moog Helpline (see page 50).

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2.2 DC-AC servo drive installation
Air-cooled housing
Step Action Comment
1.
Arrange the devices starting from the power
supply unit to the right and/or left sorted in
descending order of power output, in order to
minimize thermal influences.
In the case of the power supply unit Size 5,
align all MSD Servo Drive DC-AC devices in a
line along the top edge of the unit
(see Fig. 2.5).
In the case of the power supply unit Size 6A,
align all MSD Servo Drive DC-AC devices
18.5 mm lower (see Fig. 2.6).
This is necessary in order to ex-
ecute the DC link using the ready
made-up cables.
For specified mounting clearances-
see Table 2.1.
2.
Mark out the position of the tapped holes on
the backing plate.
Drill holes in the backing plate and cut a
thread for each fixing screw.
Take account of the bend radius of
the connecting cables!
For hole pitch and dimensional
drawings see Table 2.1, Fig. 2.1 and
Fig. 2.2.
3.
Mount the DC-AC servo drives vertically in a
row on the back plane.
The contact area must be metal-
lically bright. For the DC power
supply use the supplied ready
made-up DC link cables.
Continue with the electrical installation in
section3.
Dimensions and mounting distances for air-cooled housing
MSD Servo Drive Size 1 Size 2 Size 3 Size 4 Size 5 Size 6A
G393-004 G393-006
G393-008
G393-012
G393-016
G393-020
G393-024
G393-032
G393-045
G393-060
G393-072
G393-090
G393-110
G393-143
G393-170
Weight [kg] 3.4 4.9 6.5 7.5 13 32
B (width) 58.5 90 130 171 190 280
H (height) 1) 295 345 540
T (depth) 1) 224 240 322
A29.25 50 80 120 150 200
C382 406.5 581
C1 5 6 10
D4.8 5.6 9.5
E Direct side by side mounting, maximum 2 402)
F3) ≥100 ≥150 ≥180
G3) ≥270 ≥300 ≥500
H1 392 418.5 600
H2 38.5 15 20
Screws 2 x M4 4 x M4 4 x M5 4 x M8
1) without terminals/connectors 3) The bend radius of the connecting cables must be taken into account
2) Mounting clearance of Size 6A to other Size 6A units All dimensions in mm
Table 2.1 Dimensions and mounting distances for air-cooled housing

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NOTE: The minimum clearance specified in the table applies to devices
of the same power output. Arrange devices with different drive
power in descending order of power output (e.g. viewed from the left
Size4-Size3-Size 2-Size 1). This minimizes the mutual thermal influence. The
supply unit must always be arranged on the side of the most powerful DC-AC
servo drive.
A
DC1C1 TBD
CH1 H
H2
Size 1
Size 2 ... Size 6
D
A
C
Fig. 2.1 Dimensional drawing, air-cooled housing
G
F
F
E
Fig. 2.2 Mounting clearance, air-cooled housing

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2.3 DC-AC servo drive installation
Liquid-cooled housing
Step Action Comments
1.
Arrange the devices starting from the
supply unit to the right and/or left sorted in
descending order of power output, in order to
minimize thermal influences.
In the case of the power supply unit Size 5,
align all DC-AC servo drives in a line along the
top edge of the unit (Fig. 2.5).
In the case of the power supply unit Size 6A,
align all DC-AC servo drives 18.5 mm lower
(Fig. 2.6).
This is necessary in order to
execute the DC link using the
ready made-up cables.
For specified mounting clearances
see Table 2.1.
2.
Mark out the positions of the tapped holes
and the pipe socket on the backing plate.
Drill holes and cut a thread for each fixing
screw in the backing plate.
Take account of the bend radius
of the connecting cables!
For hole pitch and dimensional
drawings see Table 2.2, Fig. 2.3
and Fig. 2.4.
3.
Mount the DC-AC servo drives vertically in a
row on the back plane.
The contact area must be
metallically bright. For the DC
power supply use the supplied
ready made-up DC link cables.
4.
When fitting the hose connections (not
supplied) in the pipe sockets, brace with
a 22mm open-ended wrench in order to
prevent damage to the device by torsion.
Ensure a perfect liquid-tight
connection (e.g. using a Teflon
sealing strip)!
Continue with the electrical installation in
section3
Dimensions and mounting distances for liquid-cooled housing
MSD Servo Drive Size 3 Size 4 Size 5 Size 6A
G397-020
G397-025
G397-026
G397-035
G397-053
G397-070
G397-084
G397-110
G397-143
G397-170
G397-210
Weight [kg] 6.5 7.5 13 32
B (width) 130 171 190 280
H (height) 1) 295 346.5 540
T (depth) 1) 224 238.5 285
A80 120 150 200
A1 10 25 40 65
A2 60 70
C382 406.5 581
C1 5 6 10
D4.8 6.5 9.5
D1 48 (hole for pipe-socket)
E Direct side by side mounting, maximum 2
F 2) ≥150 ≥180
G 2) ≥300 ≥500
H1 392 418.5 600
H2 38.5 15 20
H3 75 70 54 56.5
S [inches] 3/8 (inside thread)
Screws 4 x M4 4 x M6 4 x M8
T1 74 73.5
1) Without terminals/connectors All dimensions in mm
2) The bend radius of the connecting cables must be taken into account
Table 2.2 Dimensions and mounting distances for liquid-cooled housing

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NOTE: Arrange devices with different drive power in descending order of
power output (e.g. viewed from the left Size 4 - Size 3 - Size 2 - Size 1). This
minimizes the mutual thermal influence. The supply unit must always be
arranged on the side of the most powerful DC-AC servo drive.
When side by side mounting MSD Servo Drives together with other devices,
you must make sure that the device do not affect one another thermally.
H3
A
B
A1 C1
A2
S
D1
T
T1
H1 H
DD
H2
C
Fig. 2.3 Dimensional drawing, liquid-cooled housing
EG
F
F
Fig. 2.4 Mounting clearance, liquid-cooled housing

moog MSD Servo Drive DC-AC Operation Manual 16
Id.-No.: CA97554-001 Date: 06/2012
to glossaryto table of contents
2.4 Alignment and arrangement in a group
MSD Power
Supply Unit
Size 5
MSD Servo Drive DC-AC
Size 4
MSD Servo Drive DC-AC
Size 3
MSD Servo Drive DC-AC Size 1
MSD Servo Drive DC-AC
Size 2
Fig. 2.5 Alignment DC-AC servo drive on power supply unit Size 5 (example)
18.5 mm
MSD Power Supply unit
Size 6A
MSD Servo Drive DC-AC
Size 5
MSD Servo Drive DC-AC
Size 4
MSD Servo Drive DC-AC
Size 3
MSD Servo Drive DC-AC Size 1
Fig. 2.6 Alignment DC-AC servo drive on power supply unit Size 6A (example)

moog MSD Servo Drive DC-AC Operation Manual
[]
Mechanical
installation
17
Id.-No.: CA97554-001 Date: 06/2012
to glossaryto table of contents
Permissible multi-axis layouts
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
MSD Power
Supply Unit
Size 5
Fig. 2.7 Example of a permissible layout: Arrangement of MSD Servo Drives DC-AC of same size
on one side of the power supply unit
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
MSD Power
Supply Unit
Size 5
Fig. 2.8 Example of a permissible layout: Arrangement of MSD Servo Drives DC-AC of same size
and in descending order of size on both sides of the power supply unit respectively
Impermissible multi-axis layouts
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
MSD Power
Supply Unit
Size 5
Fig. 2.9 Example of an impermissible layout: Arrangement of MSD Servo Drives DC-AC in
ascending order of size
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
ACHTUNG
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
WARNING
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
MSD Power
Supply Unit
Size 5
Fig. 2.10 Example of an impermissible layout: Arrangement of MSD Servo Drives DC-AC in
ascending and descending order of size

moog MSD Servo Drive DC-AC Operation Manual 18
Id.-No.: CA97554-001 Date: 06/2012
to glossaryto table of contents
2.5 Cooling circuit connection
The MSD Servo Drive has a capacity of up to 0.5 l of coolant depending on the size.
After the disconnection of the connections, liquid may be left in the device and escape
if the device is tipped. We recommend the usage of a self-sealing liquid coupling (not
included in the scope of supply) to prevent the coolant escaping and to make it possible
to disconnect and connect in the filled state.
1
2
3
4
5
Key
1) Liquid connection with 3/8 inch inside thread
2) Self-sealing quick-release connection with 3/8 inch outside thread
3) Self-sealing liquid coupling
4) Adapter for hose connection
5) PUR (polyurethane) hose with clip
Fig. 2.11 Cooling circuit connection (here: Size 6A)
NOTE: Items 2 to 5 are not included in the scope of supply and are to be
ordered separately.

moog MSD Servo Drive DC-AC Operation Manual
[]
Electrical
installation
19
Id.-No.: CA97554-001 Date: 06/2012
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3 Electrical installation
3.1 Notes for installation
ATTENTION!
• Qualified personnel
Installation must only be carried out by qualified electricians who have un-
dergone instruction in the necessary accident prevention measures.
• During installation
please be sure to avoid ...
− screws, cable residues or other foreign bodies dropping into the device;
− penetration of damp into the device
DANGER FROM ELECTRICAL TENSION!
• Danger of life!
− Never wire or disconnect electrical connections while they are live!
Disconnect the device from the mains supply (230/400/460/480 V AC or
565/650/678/770 V DC) before working on it. Dangerously high voltages
of ≥ 50 V may still be present 10 minutes after the power is cut (capacitor
charge). Work on the device must only be carried out when the DClink
voltage has dropped below a residual voltage of 50V (measured on
Size1 - Size 4 at terminals X11 and X12/L- / L+, on Size 5 and Size 6A on
terminals X11 and X12/ZK- / ZK+).
− Even if the device does not emit any visual or audible signals or show
other indications, dangerous voltage may be connected to the device
(such as with mains voltage to terminal X11 switched on) and no control
supply (+24 V DC on X9, X10)!
NOTE: For installation of the servo drive within a MSD Servo Drive multi-axis
system, be sure also to refer to the Operation Manual for the
MSDPowerSupplyUnit or the supplying MSDServoDriveAC-AC.
!
• Compliance with EMC product standard
Commissioning (i.e. starting intended operation) is only permitted when strictly
complying with EMC product standard EN 61800-3:2004. The installer/operator of
a machine and/or item of plant must provide proof of compliance with the protec-
tion targets stipulated in the standard.
• Cable type
− Use shielded mains, motor and signal cables with double copper braiding, pro-
viding 60 to 70 % coverage.
− Always route the motor cable without interruptions and by the shortest route
out of the switch cabinet. If a motor contactor or motor choke is used, the com-
ponent should be directly mounted to the DC-AC servo drive and the shield of
the motor cable should not be stripped too soon.
− If very large cable cross-sections have to be installed, shielded single wires may
also be used instead of shielded cables.
!
ATTENTION! Use the supplied ready made-up cables for the electrical con-
nections between the devices. If extending the DC link is unavoidable, be
sure to comply with the rules set out in section B.5 (page79). If cables not
conforming to the stipulated rules are used, Moog GmbH can provide no
guarantee of stable and safe operation.
• Cable laying
− Lay mains, motor and signal cables isolated from each other. Maintain a mini-
mum clearance of 0.2 metres wherever possible. Use separators as necessary.
− Always route the motor cable without interruptions and by the shortest route
out of the switch cabinet. If a motor contactor or motor choke is used, the
component should be directly mounted to the servo drive and the shield of the
motor cable should not be stripped too soon.
− As far as possible route signal cables into the switch cabinet from one side only.
− Cables of the same circuit must be twisted.
− Avoid unnecessary cable lengths and loops.
• Shielding
Do not strip the cable shields too soon, and lay them across wide areas both on
the component and on the backing plate and PE rail (main ground) of the backing
plate.

moog MSD Servo Drive DC-AC Operation Manual 20
Id.-No.: CA97554-001 Date: 06/2012
to glossaryto table of contents
• Grounding
The grounding measures of relevance to the servo drive are detailed in section 3.4
on page 24.
• External components
− Place larger consumers near the supply.
− Contactors, relays, solenoid valves (switched inductors) must be wired with
fuses. The wiring must be directly connected to the respective coil.
− Switched inductors should be at least 0.2 m away from process controlled as-
semblies.
If you need more details on installation please contact the Moog Helpline (see page 50).
Step Action Comment
1.
Identify the terminal assignment applicable
to your device.
Section 3.2 for Size 1 to Size 4
Section 3.3 for Size 5 and Size 6A
2.
Connecct all required input and output units
to the control terminals and option interfaces
where appropriate.
Section3.7
Section3.10 and/or 3.11
3.
Connect the encoder and motor. Sections3.12 and 3.13
4.
Connect the protective conductor and the
supply voltages using the ready made-up
cables (DCLink).
Sections3.4 and3.6
5.
Continue with commissioning ind section4.
3.2 Overview of connections Size 1 to Size 4
The following shows the layout, with the corresponding positions of plugs and terminals.
To aid orientation, the connectors and terminals are labelled by abbreviations.
Fig. 3.1 Layout Size 1 to Size 4 (here: Size 1)
PE
X11
X8
X7
X6
D1, D2
T1, T2
X1
X2
X3
X4
SW (Size 3+4)
HW
Option1
X12
X13
X9, X10
X5
SW
(Size 1+2)