SERAD IMD / 1 User manual

IMD-GI/EN
Digital DRIVE for Brushless motor
IMD Series
Read manual before installing and respect
all indications with this icon:
INSTALLATION
GUIDE

IMD Drive installation guide
R722 - 3 - SERAD S.A
Table of Contents
1- Introduction .................................................................................................. 4
1-1- Warning...................................................................................................... 4
1-2- MD series drive description....................................................................... 5
2- Installation .................................................................................................... 7
2-1- General....................................................................................................... 7
2-2- Front view .................................................................................................. 8
2-3- Top view ..................................................................................................... 9
2-4- Bottom view.............................................................................................. 10
2-5- Mounting .................................................................................................. 11
2-6- Connector pin assignments ...................................................................... 12
2-7- Cables....................................................................................................... 12
2-8- Connection diagrams / Protections ......................................................... 22
2-9- Stand-alone drive ..................................................................................... 22
2-10- Drive controlled by a motion controller ................................................ 24
2-11- Connecting a motor brake...................................................................... 25
2-12- System checks before starting ................................................................ 25
2-13- Error messages: ..................................................................................... 26

IMD Drive installation guide
R722 - 4 - SERAD S.A
1- Introduction
1-1- Warning
Read this manual before first installing, nonobservance may result in property
damages and in personal injuries.
Only suitable qualified personnel should undertake the mounting, installation,
operation and maintenance of the equipment must be complied with the general setup
and safety regulations for work on power installations (e.g. DIN, VDE, EN, IEC or
other national and international regulations).
It is important that all safety instructions are strictly followed. Personal injury can
result from a poor understanding of the safety requirements.
The following safety regulations should be followed:
•VDE 0100 Specification for the installation of power systems
up to 1000 V
•VDE 0113 Electrical equipment of machines
•VDE 0160 Equipment for power systems containing electronic
components.
-Never open the equipment.
-Dangerous high voltages exist within the equipment and on the connectors.
Because of this, before removing any of the connectors, it is necessary to remove
the power and wait at least 5 minutes to allow the capacitors to discharge.
-Never connect or disconnect the drive with power applied.
-Some of the drive’s surfaces can be very hot.
Some of the drive's components are susceptible to damage from electrostatic
discharges. Always handle the equipment using appropriate anti-static precautions.
We have gone to great lengths to ensure this documentation is correct and complete. However, since it
is not possible to produce an absolutely error-free text. No responsibility will be assumed by SERAD
for all damages caused by using this documentation and software.
We reserve the right to make changes to all or part of the specification without prior notice.

IMD Drive installation guide
R722 - 5 - SERAD S.A
1-2- MD series drive description
Supply : 230V to 400V AC ±10% three phase or 230V AC ±10% single phase
Auxiliary supply : 24 V DC ±10%, 0.4A typical (0,7A max if all options)
Supply filter : Integral
Switching frequency : 6.67 kHz sine-wave PWM
DC bus voltage : 310V to 680V
Integral : 75 ohms 60W
Possibility to add an external resistor :
Min value Max. cont. power Imp power
Braking resistance :
60Ω5KΩ10KΩ
Short circuit between phases, phase to earth, over current, I2t
Over voltage, under voltage
Protection :
Motor feedback fault
Resolver
Motor feedback : SinCos encoder Hiperface (option)
Incremental encoger
Absolute encoder SSI
SinCos encoder Hiperface (option)
Master encoder :
Virtual
Encoder emulation : Incremental : A, /A, B, /B, Z, /Z 1 to 100 000 points per rev
Diagnostic : STATUS display
RS 232 MODBUS RTU
IMDBUS : for master/slave application
CANopen (option): DS 402, SDO, PDO, master or slave
PROFIBUS DP* (option)
Communication :
SERCOS 16Mb* (option)
4 inputs (with 2 fast inputs I3 and I4)
12 additional inputs with expansion module (with 2 fast inputs I15 and I16)
Type: PNP, 24V DC, 8mA per input and 15 per fast input
Logic 0: Between 0 and 5 V
Digital inputs :
Logic 1: Between 8 and 30 V
2 outputs as standard
S1 : Relay, 48V dc / 48V ac, 3A max
S2 : NPN (open collector) 24V dc, 100mA
8 additional outputs with expansion module
Type : PNP 24V dc, 500mA max per output
Digital outputs :
Protected against short circuit and over temperature.
2 inputs :
Input voltage : ±10 V
Maximum voltage : ±12 V
Input impedance : 20 Kohms
Analogue inputs :
Resolution : 16 bits for input 1 and 12 bits for input 2
1 output :
Output voltage : ±10 V
Maximum current : 5 mA
Analogue output :
Resolution : 8 bits

IMD Drive installation guide
R722 - 6 - SERAD S.A
Processor :150 MHz DSP and 100 000 gates FPGA
FLASH memory for programs and parameters
RAM memory for data
FRAM memory for variables
Architecture :
Real-time, multi-tasking kernel
Current loop : 75 µs
Speed loop : 150 µs
Control loops :
Position loop : 150µs
Torque mode
Speed mode
Position mode
Stepper Mode (pulse input, direction)
Motion functions (absolute, relative and infinite movements, S profile)
Operating modes :
Advanced motion functions (gearbox, CAM profiles, CAMBOX functions, triggered movement)
Operating temperature : 0 to 40°C
Storage temperature : -10 to 70°C
Degree of protection : IP 20
Weight 3,6 Kg
Drive Rated current Peak current ( 2s ) Rated power Dimensions w x h x d
IMD / 1 1,25 Aeff 2,5 Aeff 0,7 kVA 72 x 293 x 233
IMD / 2 2,5 Aeff 5 Aeff 1,4 kVA 72 x 293 x 233
IMD / 5 5 Aeff 10 Aeff 2,8 kVA 72 x 293 x 233
IMD / 10 10 Aeff 20 Aeff 5,6 kVA 72 x 293 x 233

IMD Drive installation guide
R722 - 7 - SERAD S.A
2- Installation
2-1- General
It is very important to adhere to the following:
A badly earthed connection can damage electronic drive components.
The drive must be installed vertically in free air to ensure cooling by natural
convection.
It must be protected from excess humidity, liquids, and dirt.
The motor, resolver and encoder cables must be screened, the screen being earthed
at both ends of the cable.
The analogue I/O must use screened cable, the screen being earthed at one end
only.
The cable for the RS 232 serial link between the drive and the PC must be screened,
the screen being earthed at both ends of the cable. It should be disconnected from the
drive when no longer in use. All of these cables, as well as the I/O cables, should be
run separately from the power cables.
Diodes must be fitted across the loads on all static digital outputs (Q2 to Q10).
These diodes must be positioned as close to the load as possible. The supply and
signal cables must be free from over-voltage transients.
Safety standards specify a manual reset after a stop caused either by a supply
interruption, or by an emergency stop or by a drive fault.
For all serious faults, it is obligatory to remove the high voltage supply to the drive.
The Drive Ready output should be connected in series in the emergency stop loop.
In the case of axis over-travel, the over-travel limit switches must be connected to
the limit inputs or in series with the emergency stop loop. It is also recommended to
use the software limits.
If the drive is configured in speed loop, the drive enable input should be controlled
by the supervisory controller (CNC, PLC etc).
If the drive is configured in position loop, the parameter "Maximum following
error" should be set appropriately.
If the drive contains an application program developed using iDPL, connect a
signal ‘Cabinet supplies OK’ to one of the digital inputs and monitor it in a non-
blocking safety task. On detection of an excess following error the drive will be put in
open loop mode and the drive ready relay will be opened. If another action is required
you should use the SECURITY instruction.

IMD Drive installation guide
R722 - 8 - SERAD S.A
2-2- Front view
X1
COM
STATUS
X3
EXT2
X2
EXT1
NODE
CC
72
35.5
Ø6
Ø10
RX
TX
Ø6
278.5
Raccordement de la
tresse de blindage
du câble moteur
293.5
STATUS 7-segment diagnostic display
X1 COM RS-232 serial port for communication with a PC
X2 EXT1 Extension: Optional communications ports
X3 EXT2 Extension: Optional communications ports

IMD Drive installation guide
R722 - 9 - SERAD S.A
2-3- Top view
72
233.5
X8-POWER
SUPPLY
3X230.....480VAC
X7-DIGITAL
I/O
X6-
AUX.
SUPPLY
24VCC
X9-
EXTENDEDI/O
X5-
ENCODER
INPUT
X4-
ENCODER
OUTPUT
1
2
3
4
1
2
3
4
5
6
7
8
1
2+
X4 ENCODER OUTPUT Multifunction encoder output
X5 ENCODER INPUT Multifunction encoder input
X6 24Vdc Auxiliary 24V DC supply
X7 I/O Digital I/O
X8 POWER SUPPLY Single / Three-phase power supply
X9 EXT I/O Option: I/O expansion board
The voltage on connector X8 can reach 480V!

IMD Drive installation guide
R722 - 10 - SERAD S.A
2-4- Bottom view
72
233.5
X12
ANALOGI/OX11
RESOLVER
X13-SINCOS
X10-BALLAST/MOTOR
1
2
3
4
5
6
7
8
X10 RB / MOTOR External braking resistor and motor supply
X11 FEEDBACK Motor position feedback (resolver / encoder)
X12 ANALOG Analogues I/O
X 13 SINCOS Motor position feedbacks (if SINCOS encoder is used)
Care must be taken when making connection to connector X10. An incorrect
connection can seriously damage the drive. Dangerous voltages are present on
X10 (900V).
Wait at least 5 minutes to allow the capacitors to discharge before remove
connector.

IMD Drive installation guide
R722 - 11 - SERAD S.A
2-5- Mounting
Several drives can be mounted side-by-side provided that enough space (at least 20
mm) is left to ensure good natural convection. Let a space greater than 90 cm over and
under drives to allow for the various connectors and cables to be fitted
55
55
233.5
X10 - BALLAST / MOTOR
X11
RESOLVER
X12
ANALOG I/O
Capacitors discharge time : 5 minutes
High voltage on X8-X10 connectors
All the PE pins must be connected
Read manual before installing
Temps de décharge des condensateurs : 5 minutes
Haute tension sur les connecteurs X8-X10
Toutes les bornes PE doivent être raccordées
Lire le manuel avant l'utilisation
SERAD 271, route des crêtes 44440 T EILLE
www.serad.fr
Intelligent Motion Drive
I4
5
X7 - DIGITAL
I/O
X8- POWER
SUPPLY
3 X 230.....480V AC
For 1 x 230Vac connection, use L1 and L2
Pour une alimentation 230Vac m ono, utiliser L1 et L2
L3
4
2
1
3
L1
PE
L2
1
3
2
4
X5 - ENCODER
INPUT
X6 - AUX.
SUPPLY
7
6
8
1
2
I2
I3
I1
24V
X4 - ENCODER
OUTPUT
6
W
RB2
RI1
DC-4
DC+3
PE5
U8
V7
RACCORDEMENT
BLINDAGE MOTEUR
90
90
293.5

IMD Drive installation guide
R722 - 12 - SERAD S.A
2-6- Connector pin assignments
X1: RJ45 serial port for downloading programs and parameters.
N° Name Type Description
1
2 RXD Inp Receive data
3 TXD Out Transmit data
4
5GND 0V
6
7
8 CTS Inp Cle ar to s en d
SHIELD Connect the shield to the shell of the connector
3-TXD
2-RXD
5-GND
7
8-CTS
6
4
1

IMD Drive installation guide
R722 - 13 - SERAD S.A
X2 & X3: Extension: Optional communications port
N° Module RS 232 Module RS 422 Module RS 485 Module CANopen
1
2RXD RX+
3TXD RX-
4
5GND GND GND GND
6
7 TX- TR X- C AN _ L
8 TX+ TR X+ C AN _ H
Connect the shield to the shell of the connector
•X2 and X3 are identical and have the same connection. They make easier drive
network connection.
•Node Address : For RS422, RS485 and CANopen, the NodeID corresponds to the
five firstly dipswitchs + 1
Ex: dipswitchs: 1 -> ON, 2 -> OFF, 3 -> ON, 4 -> OFF, 5 -> OFF
Dipswitchs value = 1 + 4 = 5
NodeID = 5 + 1 = 6
•Put on Dipswitch 6 to activate terminal resistor (120Ω).
RS232 communication allows communication with only 1 device (ex: 1 PLC
and 1 IMD drive).

IMD Drive installation guide
R722 - 14 - SERAD S.A
X4: Multifunction encoder output:
•Encoder emulation output
•IMDbus output
The choice of the output is made in iDPL software in the Multifunction encoder output
windows
Connector : SUBD 9 way female
N° Name Type Encoder emulation IMDbus
1AOut Channel A Data
2/A Out Channel A inverted /Data
3B Out Channel B Clock
4/B Out Channel B inverted /Clock
5Z Out Zero marker NC
6/Z Out Zero marker inverted NC
7
8GND 0V 0V
9
SHIELD Connect the shield to the shell of the connector
NC (Not connected): It is forbidden to connect this pins.

IMD Drive installation guide
R722 - 15 - SERAD S.A
X5: Multifunction encoder input:
•Incremental encoder input
•SSI encoder input
•Stepper input
•IMDbus input
The choice of the input is made in iDPL software in the Multifunction encoder input
windows
TTL 5V encoder (0-5V, differential)
Connector : SUBD 9 way male
* If the feedback is SINCOS then don’t use 5V powersupply (pin 7 of connector X5)
but an external powersupply.
NC (Not connected): It is forbidden to connect this pins.
X6: 24V dc supply
Connector: Removable 2 ways, 5.08mm pitch
N° Name Type Description
1XGND 0V
2 24Vdc Inp Control card supply, backup motor position
N° Name Type Incremental encoder Codeur SSI Stepper IMDbus
1A Inp Channel A Data Direction Data
2/A Inp Channel A inverted /Data /Direction /Data
3B Inp Channel B NC Pulse Clock
4/B Inp Channel B inverted NC /Pulse /Clock
5Z I/O Zero marker Clock NC NC
6/Z I/O Zero marker inverted /Clock NC NC
7 +5Vdc Out Supply for external
encoder, 100 mA max.* NC NC NC
8GND 0V 0V 0V 0V
9Inp NC
SSI selection : Connect
pins 8 and 9 NC NC
SHIELD Connect the shield to the shell of the connector

IMD Drive installation guide
R722 - 16 - SERAD S.A
X7: Digital I/O
Connector: Removable 8 ways, 3.81mm pitch
N° Name Type Description
1Q2Out
Output 2, programmable : type NPN, 24 Vdc, 100mA
2Q1Out
Output 1, programmable : standard function DRIVE READY
3Q1 Relay contact, N/O between terminals 2 and 3
4DGND 0V digital I/O
5I4Inp
Input 4, programmable
6I3Inp
Input 3, programmable
7I2Inp
Input 2, programmable
8I1Inp
Input 1, programmable:standard function ENABLE
The output Q2 is NPN open collector: the load must be connected between
Q2 and +24V DC.
X8: High voltage supply
Connector: Removable 4 ways, 7.62mm pitch
N° Nam e Type Description
1 PE Supply earth
2 L1 Inp Supply L1 for 230V and 400V
3 L2 Inp Neutral for 230V or supply L2 for 400V
4 L3 Inp Supply L3 for 400V
Care must be taken when making connection to connector X8.
Wait at least 5 minutes to allow the capacitors to discharge before remove connector.
The armoured motor cable must arrive directly on the terminals of the drive.
Connect the shield (on drive side) to the srew provided (see Front view of the drive).

IMD Drive installation guide
R722 - 17 - SERAD S.A
X9: Option: Expansion module, 12 inputs / 8 outputs
Connector: SUBD 25 way female
N° Nam e Type Description
1I5Inp
Input 5, programmable
2I6Inp
Input 6, programmable
3I7Inp
Input 7, programmable
4I8Inp
Input 8, programmable
5I9Inp
Input 9, programmable
6I10Inp
Input 10, programmable
7 IOGND* 0V digital I/O
8Q3Out
Output 3, programmable
9Q4Out
Output 4, programmable
10 Q5 Out Output 5, programmable
11 Q6 Out Output 6, programmable
12 IO 24Vdc** Inp External supply, 24 V dc
13 IO 24Vdc** Inp External supply, 24 V dc
14 I11 Inp Input 11, programmable
15 I12 Inp Input 12, programmable
16 I13 Inp Input 13, programmable
17 I14 Inp Input 14, programmable
18 I15 Inp Input 15, programmable
19 I16 Inp Input 16, programmable
20 Q7 Out Output 7, programmable
21 Q8 Out Output 8, programmable
22 Q9 Out Output 9, programmable
23 Q10 Out Output 10, programmable
24 IOGND* 0V digital I/O
25 IOGND* 0V digital I/O
SHIELD Connect the shield to the shell of the connector
* Pins 7, 24, 25: internal connection
** Pins 12, 13: internal connection

IMD Drive installation guide
R722 - 18 - SERAD S.A
X10: Motor armature
Connector: Removable 8 ways, 7.62mm pitch
N° Name Type Description
1RI Internal braking resistor *
2RB Braking resistor *
3 DC Bus + Out DC bus +
4 DC Bus - Out DC bus -
5PE Motor earth
6WOut
Motor phase W
7VOut
Motor phase V
8UOut
Motor phase U
The armoured motor cable must arrive directly on the terminals of the drive.
Connect the shield (on drive side) to the srew provided (see Front view of the drive).
*Selection of the braking resistor:
- Internal resistor: Fit a link between terminals 1 and 2
- External resistor: Remove the link between terminals 1 and 2
Connect the external resistor between terminals 2 and 3
Care must be taken when making connection to connector X10. An
incorrect connection can seriously damage the drive. Dangerous voltages are
present on X10.
SERAD MOTOR
C
A
1
4
B
D
3
Shield reverse
around the ring
1
4
3
2
C
Phase U
D
Phase V
Phase W
Earth
Break +
Break -
DESCRIPTION

IMD Drive installation guide
R722 - 19 - SERAD S.A
X11: Motor position feedback (resolver)
Connector: SUBD 9 way female
N° Name Type Description
1S2Inp
Sine Hi
2S1Inp
Cosine Hi
3AGND 0V analogue
4R1Out
Reference Hi
5°CM+Inp
Motor temperature sensor Hi
6S4Inp
Sine Lo
7S3Inp
Cosine Lo
8°CM-Inp
Motor temperature sensor Lo
9R2Out
Reference Lo
SHIELD Connect the shield to the shell of the connector
1
5
6
9
Resolver connector
SUB-D 9 way male
Metallic casing
Cable clamp
RESOLVER
SHIELD WIRE
2 TEMP -
SHIELD
5 REF +
6 TEMP +
9 REF -
4 SIN +
8 SIN -
7 COS -
3 COS +
CONNECTOR
Shield reverss
around the ring
connector M23
Resolver
4 twisted pairs (2 x 0.22mm)
Standard shield
DRIVE
SERAD
MOTOR
Shield clamp

IMD Drive installation guide
R722 - 20 - SERAD S.A
X12: Analogue I/O
Connector : SUBD 9 way male
N° Nam e Type Description
1IN2- Inp
Analogue input 2
2IN2+ Inp
Analogue input 2 : assigned to torque limit
3IN1- Inp
Analogue input 1
4IN1+ Inp
Analogue input 1 : assigned to speed or torque command
5AGND 0V analogue
6 -12V Out -12V, 20 mA output
7AGND 0V analogue
8+12VOut
+12V, 20 mA output
9OUTOut
Analogue output (function monitor)
SHIELD Connect the shield to the shell of the connector
X13: Option: SinCos encoder input
Connector: SUBD 15 way male
N° Name Type Description
1 °CM + Inp Motor temperature sensor Hi
2 AGND 0V analogue
3 /DATA I/O /DATA (EnDat*) /RS485 (HIPERFACE)
4 /CLK Out /CLOCK (EndDat*)
5 +5V Out +5V, 200 mA output (EnDat*)
6
7 REFCOS Inp Cosine Hi
8 REFSIN Inp Sine Hi
9 °CM- Inp Motor temperature sensor Lo
10 +8,3V Out +8.3V, 150 mA output(HIPERFACE)
11 DATA I/O DATA (EnDat*) RS485 (HIPERFACE)
12 CLK Out CLOCK (EndDat*)
13
14 COS Inp Cosine Lo
15 SIN Inp Sine Lo
SHIELD Connect the shield to the shell of the connector
* EnDat in develloping