SERAD IMD Series User manual

IMD-GI-1724-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
R1724 - 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....................................................................................... 23
2-8- Connection diagrams / Protections.......................................... 24
2-9- Stand-alone drive ..................................................................... 25
2-10- Drive controlled by a motion controller ................................ 26
2-11- Connecting a motor brake...................................................... 27
2-12- System checks before starting ................................................ 27
2-13- STATUS DISPLAY.................................................................. 28
2-14- Error messages: ..................................................................... 31

IMD Drive installation guide
R1724 - 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 installationof power systems
up to 1000 V
 VDE 0113 Electricalequipment ofmachines
 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
R1724 - 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
Braking resistance :
Integral : 75 ohms 60W
Possibility to add an external resistor :
Min value Max. cont. power Imp power
60Ω 5KΩ 10KΩ
Protection :
Short circuit between phases, phase to earth, over current, I2t
Over voltage, under voltage
Motor feedback fault
Motor feedback :
Resolver
SinCos encoder Hiperface (option)
Master encoder :
Incremental encoger
Absolute encoder SSI
SinCos encoder Hiperface (option)
Virtual
Encoder emulation :
Incremental : A, /A, B, /B, Z, /Z 1 to 100 000 points per rev
Diagnostic :
STATUS display
Communication :
RS 232 MODBUS RTU
RS 422(option), RS 485 MODBUS RTU(option)
EtherCAT(option)
CANopen (option)
Digital inputs :
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
Logic 1: Between 8 and 30 V
Digital outputs :
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
Protected against short circuit and over temperature.
Analogue inputs :
2 inputs :
Input voltage : ±10 V
Maximum voltage : ±12 V
Input impedance : 20 Kohms
Resolution : 16 bits for input 1 and 12 bits for input 2
Analogue output :
1 output :
Output voltage : ±10 V
Maximum current : 5 mA
Resolution : 8 bits, bandwidth 20Hz

IMD Drive installation guide
R1724 - 6 - SERAD S.A
Architecture :
Processor :150 MHz DSP and 100 000 gates FPGA
FLASH memory for programs and parameters
RAM memory for data
FRAM memory for variables
Real-time, multi-tasking kernel
Control loops :
Current loop : 75 µs
Speed loop : 150 µs
Position loop : 150µs
Operating modes :
Torque mode
Speed mode
Position mode
Stepper Mode (pulse input, direction)
Motion functions (absolute, relative and infinite movements, S profile)
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
R1724 - 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
R1724 - 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
R1724 - 9 - SERAD S.A
2-3- Top view
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
X SAFE Option : Secure input
The voltage on connector X8 can reach 480V!
72
233.5
X8-POWER
SUPPLY
3 X 230.....480VAC
X7 -DIGITAL
I/O
X6 - AUX.
SUPPLY
24VCC
X9 -EXTENDED I/O
X5 -ENCODER
INPUT
X4 -ENCODER
OUTPUT
1
2
3
4
1
2
3
4
5
6
7
8
1
2+
X - SAFE
2
1

IMD Drive installation guide
R1724 - 10 - SERAD S.A
2-4- Bottom view
72
233.5
X12
ANALOG I/O X11
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
R1724 - 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 TEILLE
www.serad.fr
Intelligent Motion Drive
I4
5
X7 -DIGITAL
I/O
X8- POWER
SUPPLY
3 X 230.....480VAC
For 1 x 230Vac connection, use L1 and L2
Pour une alimentation 230Vac mono, 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
RB 2
RI 1
DC- 4 DC+ 3 PE 5
U8 V7
RACCORDEMENT
BLINDAGE MOTEUR
90
90
293.5

IMD Drive installation guide
R1724 - 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
5 GND 0V
6
7
8 CTS Inp Clear to send
SHIELD Connect the shield to the shell of the connector
In the iDPL software, the RS232 communication is established when the icon in the
bottom left side is in this fixed state :
If the connection is not stable (state icon connected/disconnected), check if the cable
and the USB-serial converter are certified by SERAD. Otherwise please contact our
technical department.
3-TXD
2-RXD
5-GND
7
8-CTS
6
4
1

IMD Drive installation guide
R1724 - 13 - SERAD S.A
X2 & X3: Extension: Optional communications port
X2 and X3 are identical and have the same connection. They make easier drive
network connection.
For the TCP module, refer to the documentation TCP option installation guide
available on www.serad.fr
Node Address : For RS422, RS485 and CANopen, the NodeID corresponds to the
five firstly dipswitchs + 1
Ex:
For the RS422, RS485 and CANopen module, the terminal resistor is activated by the dip
switch n°6 (120Ω).
In CANopen, do not use the Node ID n° 1 if you have a multi drive project.
RS232 communication allows communication with only 1 device (ex: 1 PLC
and 1 IMD drive).
N°
Module RS 232
Module RS 422
Module RS 485
Module CANopen
Module EtherCAT
Module TCP
1
TD +
TD +
2
RXD
RX+
TD -
TD -
3
TXD
RX-
RD +
RD +
4
5
GND
GND
GND
GND
6
RD -
RD -
7
TX-
TRX-
CAN_L
8
TX+
TRX+
CAN_H
Connect the shield to the shell of the connector

IMD Drive installation guide
R1724 - 14 - SERAD S.A
Node Address : For RS422, RS485 and CANopen, the NodeID corresponds to the
six firstly dipswitchs + 1
Ex:

IMD Drive installation guide
R1724 - 15 - SERAD S.A
X4: Multifunction encoder output:
Encoder emulation output
The choice of the number of points is made from the iDPL software.
Connector : SUBD 9 way female
NC (Not connected): It is forbidden to connect this pins.
N°
Name
Type
Encoder emulation
1
A
Out
Channel A
2
/A
Out
Channel A inverted
3
B
Out
Channel B
4
/B
Out
Channel B inverted
5
Z
Out
Channel Z
6
/Z
Out
Channel Z inverted
7
8
GND
0V
9
SHIELD
Connect the shield to the shell of the connector

IMD Drive installation guide
R1724 - 16 - SERAD S.A
X5: Multifunction encoder input:
Incremental encoder input
SSI encoder input
Stepper 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
1 XGND 0V
2 24Vdc Inp Control card supply, backup motor position
N° Name Type
Incremental encoder Codeur SSI Stepper IMDbus
1 A Inp Channel A
Data Direction Data
2/A Inp Channel A inverted
/Data /Direction /Data
3 B Inp Channel B
NC Pulse Clock
4/B Inp Channel B inverted
NC /Pulse /Clock
5 Z 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
8 GND 0V
0V 0V 0V
9 Inp NC
SSI selection : Connect
pins 8 and 9
NC NC
SHIELD
Connect the shield to the shell of the connector

IMD Drive installation guide
R1724 - 17 - SERAD S.A
X7: Digital I/O
Connector: Removable 8 ways, 3.81mm pitch
N° Name Type Description
1Q2 Out Output 2, programmable : type NPN, 24 Vdc, 100mA
2Q1 Out Output 1, programmable : standard function DRIVE READY
3Q1 Relay contact, N/O between terminals 2 and 3
4 DGND 0V digital I/O
5I4 Inp Input 4, programmable
6I3 Inp Input 3, programmable
7I2 Inp Input 2, programmable
8I1 Inp 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° Name Type Description
1PE Supplyearth
2L1 Inp SupplyL1 for 230Vand 400V
3L2 Inp Neutral for 230Vor supplyL2 for 400V
4L3 Inp SupplyL3 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
R1724 - 18 - SERAD S.A
X9: Option: Expansion module, 12 inputs / 8 outputs
Connector: SUBD 25 way female
N° Name Type Description
1I5 Inp Input 5, programmable
2I6 Inp Input 6, programmable
3I7 Inp Input 7, programmable
4I8 Inp Input 8, programmable
5I9 Inp Input 9, programmable
6 I10 Inp Input 10, programmable
7 IOGND* 0V digital I/O
8Q3 Out Output 3, programmable
9Q4 Out 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
R1724 - 19 - 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
6 W Out Motor phase W
7 V Out Motor phase V
8 U Out 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
R1724 - 20 - SERAD S.A
X11: Motor position feedback (resolver)
Connector: SUBD 9 way female
N° Name Type Description
1S2 Inp Sine Hi
2S1 Inp Cosine Hi
3 AGND 0V analogue
4R1 Out Reference Hi
5 °CM+ Inp Motor temperature sensor Hi
6S4 Inp Sine Lo
7S3 Inp Cosine Lo
8 °CM- Inp Motor temperature sensor Lo
9R2 Out Reference Lo
SHIELD Connect the shieldto 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