Phase AxM II Series User manual

AxM II
CONFIGURABLE MOTION
CONTROL PLATFORM
User Manual
Size 1
AxP 02.05.2
AxP 04.09.2
AxP 06.14.2
AxM II 04.09.4
AxM II 06.14.4
AxM II 09.20.4
Size 2
AxM II 20.40.4
AxM II 35.70.4
Size 3
AxM II 70.140.4
Size 4
AxM II 90.150.4
AxM II 110.180.4
Size 5
AxM II 160.320.4
AxM II 200.400.4
Supported Models
(Rev. 1 - Nov. 2011)
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4| AxM II / AxP Configurable Motion Control Platform
SUMMARY
1 Overall Dimensions and
Technical Specifications
1.1 AxM II Size 1 .............................. 8
1.2 AxM II Size 2 ............................ 14
1.3 AxM II Size 3 ............................ 16
1.4 AxM II Size 4 ............................ 18
1.5 AxM II Size 5 ............................ 20
2 Content of the
Package
2.1 The Standard Package contains ... 24
2.2 Software Supplied ..................... 24
3 Electric Installation
3.1 Connections General Outline ....... 28
3.2 EMC Filter ................................ 29
4 Hardware Description
4.1 Power stage .............................. 32
4.2 Connections .............................. 32
4.3 Hardware.................................. 33
4.4 LED display .............................. 33
SUMMARY
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SUMMARY
Summary | 5
5 Electrical Connections
5.1 User Connectors (U1 /U2)........... 37
5.2 Encoder Connector (E1).............. 38
5.3 CAN connector (C1) ................... 43
5.4 EtherCat Connectors (IN/OUT) ..... 43
5.5 AxM II S1 Power Connections...... 44
5.6 AxM II S2 Power Connections...... 46
5.7 AxM II S3 Power Connections...... 48
5.8 AxM II S4 Power Connections...... 50
5.9 AxM II S5 Power Connections...... 52
5.10 Connection Example................... 54
6 First Installation and
Tests
6.1 Needed for First Test.................. 56
6.2 Minimum Connections Outline..... 56
6.3 Cokpit Tool Start up and Parameters
Configuration ............................ 57
6.4 “Basic” Mode Definitions ........... 57
6.5 PLC Application Use .................. 58
6.6 Firmware downloading ............... 58
7 Emergency and power
fail condition handling
7.1 General Informations.................. 62
7.2 Emergency Stop with Inertial Loads;
Safety Brakes............................ 62
8 Error codes
8.1 AxM II / AxP Drive’s alarm list ..... 64
9 CE conformity
9.1 Introduction: EC directives.......... 68
9.2 LVD Directive ............................ 68
9.3 Product Safety .......................... 68
9.4 Application as Directed – Scope of
Application ............................... 68
9.5 Installation ............................... 69
9.6 EC Declaration of Conformity and
Directive EMCD ......................... 69
9.7 Installation as Specified ............. 70
9.8 EC Declaration of Conformity ...... 70
10 Safety instruction
10.1 Important directions for use ........ 74
10.2 Safety Instructions for Electric Drives
and Controls ............................. 75
10.3 Instructions with Regard to Specific
Dangers.................................... 77
Appendix
AxM I S1 Power Connection................ 84
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Phase Motion Control
AxM II / AxP Configurable Motion Control Platform
OVERALL
DIMENSION AND
TECHNICAL
SPECIFICATIONS
1
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8| AxM II / AxP Configurable Motion Control Platform
1.1 AxM II - SIZE 1
148
65,50
78,5
5 8
166,5
5,50
21
5,50
19,5126 0,20
Install inside a switchboard avoiding any obstacle for cooling fan air flux. To avoid any de-
rating of the product performance, do not place objects less than 10 mm from the cooling
plateside.
The inner temperature of the switchboard must doesn’t exceed 40°C.
Cooling air flux
To assure to the fan the requested “breath-
ing” and thus the proper cooling of the heat
sink, the distance between the heat sink
edge and the nearest flat surface (e.g. oth-
er drives, cabinet wall,…) must be at least
10mm.
The fan is automatically switched on when
the heat sink temperature reaches 50° C.
Overall dimensions and space required for installation
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Drive’s Overall Outline | 9
Mounting options
Two mounting options are available:
A) Cable fastening PM.03822.0
B) DIN rails support (otional) PM.03821.0
The option B include both the DIN rail support
and the cable plate necessary to hold back the
rail support. When the drive is engaged on the
DIN rail it is enough to slide up the support and
stop the screw on the cable plate. (For more de-
tails please contact: [email protected])
Technical Specifications
Phisical specifications Value Unit
Average braking power with internal resistor 10 W
Maximum braking energy applied at once 1700 J
Thermal capacity 720 J/C
Cooling Forced ventilation - -
Dimensions (LxPxH) 78.5 x 148 x 167 mm
Mass 1.32 Kg
Ingress Protection IP20 - -
Vibrations 0.5 g all directions, 0-10 Hz - -
Shock 1 g
Operative temperature 0-40
0-50 with 20% derating
°C
Stock temperature -20 / +70 °C
Relative humidity 0 - 95% - -
Altitude 0-1000 m; over 1000 m, current derating 3% every 100 m - -
Technical specifications AxP
02.05.2
AxP
04.09.2
AxP
06.14.2
AxM II
04.09.4
AxM II
06.14.4
AxM II
09.20.4
Units
Voltage supply 0 - 240 ± 10% 0 - 460 Vac ± 10% Vac 3 phase
Auxiliary feeeding voltage 22 - 30 22 – 30 Vdc
Input current 8,6 9 14 20 Arms
Frequency 40 - 65 Hz
Nominal power 0,58 1,16 1,74 2,3 3,3 4,3 KW
Current output, axis < 100 rpm, S1 2 4 6 4,5 (6*) 6 (8,5*) 9 (10*) Arms
Current output, max speed, S1 1.27 2.5 3.9 3,5 (4*) 4,5 (5*) 6,5 (7*) Arms
Peak current 5 9 14 9 14 20 Arms
Power loss with nominal current 60 75 85 85 95 110 W
Maximum voltage output Vin x 0.95 Vac
PWM 8 KHz
Current ripple frequency 16 KHz
Efficiency at nominal power 3) 97 97 98 96 96,5 97,5 %
Input form factor 0,9 Vac 3 phase
Maximum braking current 100% of peak current - -
* If supplied with 230 Vac.
1) Peak value, 2) Input bridge losses included,3) Vin = 380 Vac, Tamb = 40C, Comm. Freq. 8kHz, Vout = Vin  0.95
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10 | AxM II / AxP Configurable Motion Control Platform
Motor Feedback options
(2 indipendent high speed
inputs,main and secondary)
Main Encoder (500kHz)
Sincos encoder 5 channels (2 absolute
analog tracks/2 incremental analog
tracks/index)
Incremental encoder (sinusoidal/digital)
Sensorelss algorithm (w/o feedback)
Endat serial encoder (default)
Resolver
Secondary Encoder (500kHz)
Incremental digital encoder without
commutation tracks (500kHz)
Endat serial encoder
Hardware configuration
Processor speed: 80 MIPS μC + FPGA
Task frequency:
- current /drive monitoring: 1 MHz
- position/speed loop: 8 kHz
- PLC fast task: 8 kHz
- PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position/target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz
Output signals
2 analog outputs (programmable) ± 10V (12 bits) FS (5mA)
4 digital outputs (programmable)
PNP open collector 24V (100mA)
Programmable
1 watch dog relay 1A/250Vac NO/NC contacts
Input signals
2 Differential analog inputs
(programmable)
± 10V (12 bits) / Rin = 10kΩ
Programmable
8 digital inputs (programmable)
20-30V / Rin = 6.6kΩ to GND
Programmable
Output Current Derating vs. Room Temperature
% output current variation versus room temperature
10 40 60
140
100
60
TEMPERATURE
%
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Drive’s Overall Outline | 11
Operating Area AxP 02.05.2
500 100 150 200
3,5
4
2,5
3
2
1,5
1
0,5
VOLT
ARMS
Inom (265 volt)
Inom (220 volt)
Operating area of AxP 02.05.2 drive as function of output voltage, in case of 220V or 265V
power voltage supply.
Operating Area AxP 04.09.2
Operating area of AxP 04.09.2 drive as function of output voltage, in case of 220V or 265V
power voltage supply.
500 100 150 200
6
4
5
3
2
1
VOLT
ARMS
Inom (265 volt)
Inom (220 volt)
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12 | AxM II / AxP Configurable Motion Control Platform
Operating Area AxP 06.14.2
Operating area of AxP 06.14.2 drive as function of output voltage, in case of 220V or 265V
power voltage supply.
500 100 150 200
8
9
7
6
5
4
3
2
1
VOLT
ARMS
Inom (265 volt)
Inom (220 volt)
Operating Area AxM II 04.09.4
Operating area of AxM II 04.09.4 drive as function of output voltage, in case of 220V or
380V power voltage supply.
1000 200 300 400
08
06
04
02
VOLT
ARMS
Inom (400 volt)
Inom (220 volt)
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Drive’s Overall Outline | 13
Operating area of AxM II 09.20.4 drive as function of output voltage, in case of 220V or
380V power voltage supply.
Operating Area AxM II 09.20.4
1000 200 300 400
14
10
12
08
06
04
02
VOLT
ARMS
Inom (400 volt)
Inom (220 volt)
Operating Area AxM II 06.14.4
Operating area of AxM II 06.14.4 drive as function of output voltage, in case of 220V or
380V power voltage supply.
1000 200 300 400
14
10
12
08
06
04
02
VOLT
ARMS
Inom (400 volt)
Inom (220 volt)
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14 | AxM II / AxP Configurable Motion Control Platform
1.2 AxM II - SIZE 2
Overall dimensions and space required for installation
Technical specifications (1) AxM II 20.40.4 AxM II 35.70.4 Units
Voltage supply 0 - 460 ± 10% Vac 3 phase
Auxiliary feeeding voltage 22 - 30 / 2A Vdc
Input current 40 70 Arms
Frequency 0 - 400 Hz
Nominal power 12 20 KW
Current output, axis < 100 rpm, S1 20 35 Arms
Current output, max speed, S1 18 31 Arms
Peak current (2) 40 70 Arms
Power Losses total (3) 330 580 W
Maximum voltage output Vin x 0,95 Vac
PWM 8 / 16 KHz
Efficiency at nominal power 3) 97,8 97,8 %
Input form factor 0,9 Vac 3 phase
Maximum braking current 100% of peak current - -
Cooling 1 fan 92x92x38 / flow rate: 280 m3/hour
Dimensions (WxHxD) 285,5 x 371 x 153 mm
(1) Test performed with full option control card and firmware 1.4.291 - (2) Peak rms current - (3) Including input rectifier losses
Technical Specifications
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Drive’s Overall Outline | 15
Motor Feedback options
(2 indipendent high speed
inputs,main and secondary)
Main Encoder (500kHz)
Sincos encoder 5 channels (2 absolute
analog tracks/2 incremental analog
tracks/index)
Incremental encoder (sinusoidal/digital)
Sensorelss algorithm (w/o feedback)
Endat serial encoder (default)
Resolver
Secondary Encoder (500kHz)
Incremental digital encoder without
commutation tracks (500kHz)
Endat serial encoder
Hardware configuration
Processor speed: 80 MIPS μC + FPGA
Task frequency:
- current /drive monitoring: 1 MHz
- position/speed loop: 8 kHz
- PLC fast task: 8 kHz
- PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position/target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz
Output signals
2 analog outputs (programmable) ± 10V (12 bits) FS (5mA)
4 digital outputs (programmable)
PNP open collector 24V (100mA)
Programmable
1 watch dog relay 1A/250Vac NO/NC contacts
Input signals
2 Differential analog inputs
(programmable)
± 10V (12 bits) / Rin = 10kΩ
Programmable
8 digital inputs (programmable)
20-30V / Rin = 6.6kΩ to GND
Programmable
Drive Operational Area (Iout vs Vout) AxM II 20.40.4 / AxM II 35.70.4
1000 200 300 400 500
30
20
40
10
0
50
Vout
Imax
(480 volt, Vout)
Imax
(380 volt, Vout)
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16 | AxM II / AxP Configurable Motion Control Platform
1.3 AxM II - SIZE 3
Overall dimensions and space required for installation
Technical specifications (1) AxM II 70.140.4 Units
Voltage supply 0 - 460 Vac 3 phase
Auxiliary feeeding voltage 22 - 30 / 4A Vdc
Input current 140 Arms
Frequency 0 - 400 Hz
Nominal power 39 KW
Current output, axis < 100 rpm, S1 70 Arms
Current output, max speed, S1 61 Arms
Peak current (2) 140 Arms
Power Losses total (3) 1240 W
Maximum voltage output Vin x 0,95 Vac
PWM 8 / 16 KHz
Efficiency at nominal power 96,4 %
Input form factor 0,9 Vac 3 phase
Maximum braking current 100% of peak current - -
Cooling 2 fan 92x92x38 / flow rate: 560 m3/hour
Dimensions (WxHxD) 285,5 x 371 x 200 mm
(1) Test performed with full option control card and firmware 1.4.291 - (2) Peak rms current - (3) Including input rectifier losses
Technical Specifications
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Drive’s Overall Outline | 17
Motor Feedback options
(2 indipendent high speed
inputs,main and secondary)
Main Encoder (500kHz)
Sincos encoder 5 channels (2 absolute
analog tracks/2 incremental analog
tracks/index)
Incremental encoder (sinusoidal/digital)
Sensorelss algorithm (w/o feedback)
Endat serial encoder (default)
Resolver
Secondary Encoder (500kHz)
Incremental digital encoder without
commutation tracks (500kHz)
Endat serial encoder
Hardware configuration
Processor speed: 80 MIPS μC + FPGA
Task frequency:
- current /drive monitoring: 1 MHz
- position/speed loop: 8 kHz
- PLC fast task: 8 kHz
- PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position/target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz
Output signals
2 analog outputs (programmable) ± 10V (12 bits) FS (5mA)
4 digital outputs (programmable)
PNP open collector 24V (100mA)
Programmable
1 watch dog relay 1A/250Vac NO/NC contacts
Input signals
2 Differential analog inputs
(programmable)
± 10V (12 bits) / Rin = 10kΩ
Programmable
8 digital inputs (programmable)
20-30V / Rin = 6.6kΩ to GND
Programmable
Drive Operational Area (Iout vs Vout) AxM II 70.140.4
10050 150 250 350 4500 200 300 400 500
100
80
90
60
70
20
10
0
50
40
30
Vout
Imax
(480 volt, Vout)
Imax
(380 volt, Vout)
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18 | AxM II / AxP Configurable Motion Control Platform
1.4 AxM II - SIZE 4
Overall dimensions and space required for installation
Technical specifications (1) AxM II 90.150.4 AxM II 110.180.4 Units
Voltage supply 0 - 460 ± 10% Vac 3 phase
Auxiliary feeding voltage 22 - 30 / 6A Vdc
Input current 150 180 Arms
Frequency 0 - 400 Hz
Nominal power 45 55 KW
Current output, axis < 100 rpm, S1 90 110 Arms
Current output, max speed, S1 78 94 Arms
Peak current (2) 150 180 Arms
Power Losses total (3) 1750 2130 W
Maximum voltage output Vin x 0,95 Vac
PWM 8 / 16 KHz
Efficiency at nominal power 97,4 97,4 %
Input form factor 0,9 Vac 3 phase
Maximum braking current 100% of peak current - -
Cooling 3 fan 92x92x38 / flow rate: 840 m3/hour
Dimensions (WxHxD) 259,2 x 698 x 320 mm
(1) Test performed with full option control card and firmware 1.4.291 - (2) Peak rms current - (3) Including input rectifier losses
Technical Specifications
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Drive’s Overall Outline | 19
Motor Feedback options
(2 indipendent high speed
inputs,main and secondary)
Main Encoder (500kHz)
Sincos encoder 5 channels (2 absolute
analog tracks/2 incremental analog
tracks/index)
Incremental encoder (sinusoidal/digital)
Sensorelss algorithm (w/o feedback)
Endat serial encoder (default)
Resolver
Secondary Encoder (500kHz)
Incremental digital encoder without
commutation tracks (500kHz)
Endat serial encoder
Hardware configuration
Processor speed: 80 MIPS μC + FPGA
Task frequency:
- current /drive monitoring: 1 MHz
- position/speed loop: 8 kHz
- PLC fast task: 8 kHz
- PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position/target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz
Output signals
2 analog outputs (programmable) ± 10V (12 bits) FS (5mA)
4 digital outputs (programmable)
PNP open collector 24V (100mA)
Programmable
1 watch dog relay 1A/250Vac NO/NC contacts
Input signals
2 Differential analog inputs
(programmable)
± 10V (12 bits) / Rin = 10kΩ
Programmable
8 digital inputs (programmable)
20-30V / Rin = 6.6kΩ to GND
Programmable
Drive Operational Area (Iout vs Vout) AxM II 90.150.4 / AxM II 110.180.4
1000 200 300 400 500
150
100
0
50
Vout
Imax
(480 volt, Vout)
Imax
(380 volt, Vout)
Imax
(480 volt, Vout)
AxM 110.180.4
AxM 90.150.4
Imax
(380 volt, Vout)
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20 | AxM II / AxP Configurable Motion Control Platform
1.5 AxM II - SIZE 5
Overall dimensions and space required for installation
Technical specifications (1) AxM II 160.320.4 AxM II 200.400.4 Units
Voltage supply 0 - 460 ± 10% Vac 3 phase
Auxiliary feeding voltage 22-30/10A Vdc
Input current 320 400 Arms
Frequency 0 - 400 Hz
Nominal power 90 110 KW
Current output, axis < 100 rpm, S1 160 200 Arms
Current output, max speed, S1 142 177 Arms
Peak current (2) 320 400 Arms
Power Losses total (3) 3100 3872 W
Maximum voltage output Vin x 0,95 Vac
PWM 8 / 16 KHz
Efficiency at nominal power 98 98 %
Input form factor 0,9 Vac 3 phase
Maximum braking current 100% of peak current - -
Cooling 3 fans 119x119x42 / flow rate: 1200 m3/hour
Dimensions (WxHxD) 332 x 830 x 390 mm
(1) Test performed with full option control card and firmware 1.4.291 - (2) Peak rms current - (3) Including input rectifier losses
Technical Specifications
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First Installation and Tests | 21
Motor Feedback options
(2 indipendent high speed
inputs,main and secondary)
Main Encoder (500kHz)
Sincos encoder 5 channels (2 absolute
analog tracks/2 incremental analog
tracks/index)
Incremental encoder (sinusoidal/digital)
Sensorelss algorithm (w/o feedback)
Endat serial encoder (default)
Resolver
Secondary Encoder (500kHz)
Incremental digital encoder without
commutation tracks (500kHz)
Endat serial encoder
Hardware configuration
Processor speed: 80 MIPS μC + FPGA
Task frequency:
- current /drive monitoring: 1 MHz
- position/speed loop: 8 kHz
- PLC fast task: 8 kHz
- PLC slow task: 15.625 Hz to 1 kHz user-programmable
Position/target position register: 32 or 64 bits
Full digital control Id/Iq, updated 16 kHz
Output signals
2 analog outputs (programmable) ± 10V (12 bits) FS (5mA)
4 digital outputs (programmable)
PNP open collector 24V (100mA)
Programmable
1 watch dog relay 1A/250Vac NO/NC contacts
Input signals
2 Differential analog inputs
(programmable)
± 10V (12 bits) / Rin = 10kΩ
Programmable
8 digital inputs (programmable)
20-30V / Rin = 6.6kΩ to GND
Programmable
Drive Operational Area (Iout vs Vout) AxM II 160.320.4 / AxM II 200.400.4
1000 200 300 400 500
300
200
0
100
VOLT
Imax
(480 volt, Vout)
Imax
(380 volt, Vout)
Imax
(480 volt, Vout)
AxM 200.400.4
AxM 160.320.4
Imax
(380 volt, Vout)
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