Document Outline

• Modicon
  • Lexium 17S Series SERCOS Servo Drive
  • User Guide
    • 890 USE 121 00 Eng
    • S
      • Preface
    • 1
      • Introduction
  • At a Glance
    • Document Scope
    • What’s in this Chapter
    • Topic
    • Page
      • About this user guide
      • 2
      • Related system components and standards
      • 4
      • Related documentation
      • 5
      • Hazards, warnings, and guidelines
      • 6
      • Standards and compliances
      • 10
      • Conventions
      • 12
• About this User Guide
  • Who Should Use this User Guide
  • How this User Guide Is Organized
  • Chapter/Appendix
  • Description
    • Chapter 1
    • About this User Guide
    • An introduction to this manual — who should use this manual, how this manual is organized, relate...
    • Chapter 2
    • Lexium 17S Product Overview
    • General descriptions of the 17S SERCOS drives, descriptions of components that are supplied by Sc...
    • Chapter 3
    • Mounting and Physical Dimensions
    • Physical dimensions and information for mounting the 17S SERCOS drive, optional Regen resistor an...
• About this User Guide, continued
  • How this User Guide Is Organized, continued
  • Chapter/Appendix
  • Description
    • Chapter 4
    • Wiring and I/O
    • Wiring diagrams for the power connections and wiring diagrams and descriptions for all signal wir...
    • Chapter 5
    • System Initialization, Commissioning and Operation
    • Detailed procedures and associated descriptions on how to initialize, commission and operate a ty...
    • Chapter 6
    • Troubleshooting
    • Description of faults, probable causes and recommended corrective actions.
    • Appendix A
    • Specifications
    • Specifications for the 17S SERCOS drives, including general, electrical, signal, and power specif...
    • Appendix C
    • Cable Connection Wiring Diagrams
    • Procedures and associated diagrams that show how to wire Sub-D and power cable connectors as well...
    • Appendix D
    • Servo Loop Diagrams
    • Illustrations of several servo loops within the 17S SERCOS drive system.
    • Appendix E
    • Optional External Regen Resistor Sizing
    • Description and procedure for determining the power dissipation requirement for the optional exte...
• Related System Components
  • SERCOS Multi- Axis Motion Control System
  • UniLink Commissioning Software for 17S
• Related Documentation
  • Documents
• Hazards, Warnings and Guidelines
  • Hazards and Warnings
• Hazards, Warnings and Guidelines, continued
• Hazards, Warnings and Guidelines, continued
• Hazards, Warnings and Guidelines, continued
  • Additional Safety Guidelines
  • Qualified Personnel
• Standards and Compliances
  • European Directives and Standards
  • EC Directive Compliance
• Standards and Compliances, continued
  • SERCOS Standard
  • UL and cUL Compliance
• Conventions
  • Acronyms and Abbreviations
  • Acronym or Abbreviation
  • Description
    • CE
    • European Community (EC)
    • CLK
    • Clock signal
    • COM
    • Serial communication interface for a PC-AT
    • cUL
    • Underwriters Laboratory (Canada)
    • DIN
    • German Institute for Norming
    • Disk
    • Magnetic storage (diskette, hard disk)
    • EEPROM
    • Electrically erasable programmable read only memory
    • EMC
    • Electromagnetic compatibility
    • EMI
    • Electromagnetic Interference
    • EN
    • European norm
    • ESD
    • Electrostatic discharge
    • IEC
    • International Electrotechnical Commission
    • IGBT
    • Insulated Gate Bipolar Transistor
    • ISO
    • International Standardization Organization
    • LED
    • Light Emitting Diode
    • MB
    • Megabyte
    • MS-DOS
    • Microsoft Disk Operating System for PC-AT
    • PC-AT
    • Personal computer in AT configuration
    • PELV
    • Protected extra low voltage
    • PWM
    • Pulse-width modulation
    • RAM
    • Random Access Memory (volatile)
    • Regen
    • Regen resistor
    • RBext
    • External Regen resistor
    • RBint
    • Internal Regen resistor
    • RFI
    • Radio Frequency Interference
• Conventions, continued
  • Acronyms and Abbreviations, continued
  • Acronym or Abbreviation
  • Description
    • PLC
    • Programmable Logic Controller
    • SERCOS
    • Serial Realtime Communication System
    • SRAM
    • Static RAM
    • SSI
    • Synchronous Serial Interface
    • UL
    • Underwriters Laboratory
    • Vac
    • Voltage, Alternating Current
    • Vdc
    • Voltage, Direct Current
  • 2
    • Product Overview
  • At a Glance
    • Introduction
    • What’s in this Chapter
    • Topic
    • Page
      • The 17S series SERCOS drive family
      • 16
      • Modicon Multi-Axis Motion SERCOS Network Configuration
      • 22
      • Overview of usability features
      • 25
      • Overview of 17S internal electronics
      • 27
      • Overview of system software
      • 31
• The 17S Series SERCOS Drive Family
  • Introducing the 17S SERCOS Drive Family
  • Drives Available
  • Output Current (Peak)
  • 17S Drive
    • 4.2 A
    • MHDS1004N00
    • 8.4 A
    • MHDS1008N00
    • 16.8 A
    • MHDS1017N00
    • 28 A
    • MHDS1028N00
    • 56 A
    • MHDS1056N00
      • Implementing the Drives
      • Applicable Servo Motor Types
• The 17S Series SERCOS Drive Family, continued
  • Electrical Considerations
• The 17S Series SERCOS Drive Family, continued
  • 17S Drive Family Portrait
• The 17S Series SERCOS Drive Family, continued
  • 17S Drives Front View
• The 17S Series SERCOS Drive Family, continued
  • Equipment Supplied
  • Equipment Available
• The 17S Series SERCOS Drive Family, continued
  • 17S System Configuration Diagram
• Modicon Multi-Axis Motion SERCOS Network Configuration
  • Overview
  • Which Motion Controllers run a SERCOS Network
  • SERCOS Fiber- Optic Transmit and Receive Connectors
• Modicon Multi-Axis Motion SERCOS Network Configuration, continued
  • Example of a Typical SERCOS Network Ring Configuration
• Modicon Multi-Axis Motion SERCOS Network Configuration, continued
  • Example of a Typical SERCOS Network Ring Configuration, continued
  • Benefits of Fiber-Optic Communication
  • Two Types of Fiber-Optic Communication
• Overview of Usability Features
  • Digital Control
• Overview of Usability Features, continued
  • Usability Enhancements
• Overview of 17S Internal Electronics
  • 17S Internal Electronics Block Diagram
• Overview of 17S Internal Electronics, continued
  • General Characteristics
  • Primary Power
  • Bias Power
  • EMI Suppression
• Overview of 17S Internal Electronics, continued
  • Internal Power Section
  • DC Link Capacitor Reconditioning
  • Step
  • Action
    • 1
    • Ensure that all electrical connections to the drive are disconnected.
    • 2
    • Provide 230 Vac, single-phase power to connector XOA (terminals L1/L2) on the servo drive for abo...
      • Integrated Safe Electrical Separation
      • Keypad
      • LED Display and Discrete Indicators
• Overview of System Software
  • Setup
  • Setting Parameters
  • Default Settings
• Overview of System Software, continued
  • UniLink Commissioning Software
  • Item
  • Minimum Requirement
    • Operating System
    • Windows 95
    • Windows 98
    • Hardware:
    • Processor
    • Graphics adapter
    • RAM
    • Hard drive space
    • Communications
    • 486 or higher
    • VGA
    • 8 Mbytes
    • 5 Mbytes available
    • One RS-232 serial port
  • 3
    • Mounting and Physical Dimensions
  • At a Glance
    • What’s in this Chapter
    • Topic
    • Page
      • Installation safety precautions
      • 34
      • Installation considerations
      • 36
      • Drive mounting and physical dimensions
      • 37
      • Optional external Regen resistor mounting and dimensions
      • 39
      • Optional choke mounting and dimensions
      • 40
• Installation Safety Precautions
• Installation Safety Precautions, continued
• Installation Considerations
  • Power Supply Overcurrent Protection
  • Earth Connections
  • Cable Separation
  • Air Flow
• Drive Mounting and Physical Dimensions
  • 17S Height, Width and Depth Dimensions
• Drive Mounting and Physical Dimensions, continued
  • 17S Drive and Mounting Area Dimensions
• Optional External Regen Resistor Mounting and Physical Dimensions
  • Optional External Regen Resistor Assembly Dimensions
• Optional Motor Choke Mounting and Dimensions
  • Optional Motor Choke Assembly Dimensions
  • 4
    • Wiring and I/O
  • At a Glance
    • Introduction
  • At a Glance , continued
    • What’s in this Chapter
    • Topic
    • Page
      • Wiring and I/O initial considerations
      • 43
      • Wiring overview
      • 44
      • Cable shield connections
      • 47
      • Power wiring
      • 49
      • Signal wiring
      • 57
      • Analog input connections
      • 63
      • Fault Relay and Digital I/O connections
      • 64
      • Serial communications connections
      • 66
• Wiring and I/O Initial Considerations
  • Initial Considerations
  • Grounding
• Wiring Overview
  • Overview of 17S Wiring Connections
• Cable Shield Connections
  • Connecting Cable Shields to the Front Panel
  • Step
  • Action
    • 1
    • Remove a length of the cable’s outer covering and braided shield sufficient to expose the require...
    • 2
    • Secure the exposed wires with a cable tie.
    • 3
    • Remove approximately 30 mm of the cable’s outer covering while ensuring the braided shield is not...
    • 4
    • At the front panel of the drive, insert a cable tie into a slot in the shielding rail.
    • 5
    • Use the previously inserted cable tie to secure the exposed braided shield of the cable firmly ag...
• Cable Shield Connections, continued
  • Cable Shield Connection Diagram
• Power Wiring
  • AC Mains Power Supply Connection
  • Bias Supply Connection
• Power Wiring, continued
  • Serial Power Connections
• Power Wiring, continued
  • Optional External Regen Resistor Connection
  • Regen Circuit Functional Description
• Power Wiring, continued
  • Lexium BPH Servo Motor Connection (excluded BPH055)
• Power Wiring, continued
  • Lexium BPH 055 Servo Motor Connection
• Power Wiring, continued
  • Servo Motor (with Optional Dynamic Brake Resistors and Contactor) Connection
• Power Wiring, continued
  • Servo Motor Holding-Brake Control Functional Description
• Power Wiring, continued
• Signal Wiring
  • Lexium BPH Resolver Connection (excluded BPH055)
• Signal Wiring, continued
  • Lexium BPH055 Resolver Connection
• Signal Wiring, continued
  • Encoder Input Connection
• Signal Wiring, continued
  • Auxiliary Encoder Interface
• Signal Wiring, continued
• Signal Wiring, continued
• Analog Input Connection
  • Analog Inputs
• Fault Relay and Digital I/O Connection
  • Digital Inputs and Outputs
• Fault Relay and Digital I/O Connection, continued
  • Using Functions Pre-programmed into the Drive
• Serial Communications Connection
  • RS-232 Null Modem Type Communication Connection Diagram
  • 5
    • System Operation
  • At a Glance
    • What’s in this Chapter
    • Topic
    • Page
      • Powering up and powering down the system
      • 68
      • Procedure for verifying system operation
      • 71
      • Front panel controls and indicators
      • 73
• Powering Up and Powering Down the System
  • Power-on and Power-off Characteristics
• Powering Up and Powering Down the System
  • Stop Function
  • Emergency Stop strategies
• Powering Up and Powering Down the System
  • Wiring example
• Procedure for Verifying System Operation
  • Overview
  • Quick Tuning Procedure
  • Step
  • Action
    • 1
    • Disconnect the drive from the power source.
    • WARNING!
    • MECHANICAL MOVEMENT HAZARD
    • Ensure the motor is securely mounted and that the load is disconnected from the motor.
    • Failure to observe this precaution can result in severe injury or equipment damage.
    • 2
    • Ensure 0 V is applied to the enable input (connector X3, terminal 15).
    • 3
    • Connect the PC to the drive via the serial communications cable.
    • 4
    • Turn on the 24 Vdc bias supply. After the initialization procedure (< 5 seconds) the status is sh...
    • 5
    • Switch on the PC, start the UniLink software and select the serial communication port to which th...
• Procedure for Verifying System Operation, continued
  • Quick Tuning Procedure, continued
  • Step
  • Action
    • 6
    • Use the UniLink software to check/establish the following:
    • 7
    • Check safety devices such as hardware limit switches, emergency stop circuitry and so forth.
    • WARNING!
    • MECHANICAL MOVEMENT HAZARD
    • Ensure personnel, tools and all other obstructions are clear of the equipment.
    • Failure to observe this precaution can result in severe injury or equipment damage.
    • 8
    • Turn on the AC mains power supply.
    • 9
    • Enable 24 Vdc on connector X3, terminal 15. Observe that 500 ms after the power supply was switch...
    • 10
    • Using the UniLink Oscilloscope Service Function, program a small 50-rpm velocity command. If the ...
    • Note: The Kp parameter may have to be adjusted after connecting the load. Refer to UniLink on-lin...
• Front Panel Controls and Indicators
  • Keypad Operation
  • Key
  • Function
    • Press once: Increments address by 1
    • Press twice in rapid succession: Increments address by 10
    • Press once: Decrements address by 1
    • Press twice in rapid succession: Decrements address by 10
    • Press and hold right key, then press left key: Enters the address specified above.
      • LED Display
• Front Panel Controls and Indicators, continued
  • SERCOS Communication LED Indicators
  • 6
    • Troubleshooting
  • At a Glance
    • What’s in this Chapter
    • Topic
    • Page
      • Warning messages
      • 76
      • Error messages
      • 77
      • Troubleshooting
      • 81
• Warning Messages
  • Warning Identification and Description
  • Warning Code
  • Designation
  • Explanation
    • n01
    • I·t warning
    • Current threshold set by “I·t Message” parameter was exceeded.
    • n02
    • Regen power
    • Power threshold set by “Max Regen Power” parameter was exceeded.
    • n03
    • Following Fault
    • Following error threshold set by “Following Error” parameter was exceeded.
    • n04
    • Response monitoring
    • Response monitoring (fieldbus)is active.
    • n05
    • Mains phase
    • Mains phase missing. Can be disabled for single phase operation with the “Mains Phase Missing” pa...
    • n06
    • Sw limit-switch 1
    • Passed software limit-switch 1.
    • n07
    • Sw limit-switch 2
    • Passed software limit-switch 2.
    • n08
    • Motion task error
    • A faulty motion task was started.
    • n09
    • No “Home” reference point
    • Motion task started with no “Home” reference point set.
    • n10
    • Positive Limit
    • Positive limit-switch activated.
    • n11
    • Negative Limit
    • Negative limit-switch activated.
    • n12
    • Default values
    • Only HIPERFACE®: motor default values loaded.
    • n13
    • SERCOS interface
    • SERCOS interface not functioning correctly.
    • n14
    • HIPERFACE®-reference mode
    • Attempt to reset while HIPERFACE®-reference mode was active.
    • n15
    • Table error
    • Velocity current table INXMODE 35 error
    • n16 ... n31
    • Reserved
    • reserved
    • n32
    • Firmware beta version
    • The firmware is not a released beta version
    • A
    • Reset
    • RESET is active at DIGITAL IN x
• Error Messages
  • Error Identification and Description
  • Error Code
  • Error (Fault)
  • Possible Cause/Corrective Action
    • F01
    • Drive heat sink overtemperature.
    • - Improve ventilation.
    • - Reduce motion profile duty cycle.
    • F02
    • DC link voltage limit exceeded.
    • - Check Parameter “Mains Supply Voltage” for correct setting.
    • - Supply voltage too high; use a mains transformer.
    • - Regen power limit was exceeded; adjust motion profile or install larger regen resistor.
    • F03
    • Following error limit exceeded.
    • - Increase Irms or Ipeak (keep within motor operating range).
    • - SW ramp parameters set too large.
    • F04
    • Feedback signals missing or incorrect.
    • - Defective feedback device.
    • - Check for correct device type selected in “Feedback Type” parameter.
    • - Check feedback cable and connections.
    • F05
    • DC-link voltage less then factory preset (100V).
    • Supply voltage not present or too low when drive was enabled. Only enable the drive when the main...
• Error Messages, continued
  • Error Identification and Description, continued
  • Error Code
  • Error (Fault)
  • Possible Cause/Corrective Action
    • F06
    • Motor overtemperature.
    • - Irms or Ipeak set too high.
    • - Defective motor
    • - If motor is not hot, check feedback cables and connectors.
    • - Reduce motion profile duty cycle
    • - Improve ventilation of the motor
    • F07
    • Internal 24 Vdc fault.
    • Return drive to manufacturer
    • F08
    • Motor speed limit exceeded.
    • - Feedback parameters not set correctly.
    • - Incorrect feedback wiring.
    • - Motor phases reversed.
    • - Check Parameter “Overspeed” for correct setting.
    • F09
    • EEPROM checksum error.
    • Return drive to manufacturer.
    • F10
    • Flash-EPROM checksum error.
    • Return drive to manufacturer.
    • F11
    • Motor brake fault.
    • - Brake parameter set to “WITH” when brake does not exist.
    • - Defective brake.
    • - Check motor power cable and connections.
    • F12
    • Motor phase missing.
    • - Defective motor.
    • - Check motor power cable and connections
    • F13
    • Drive internal temperature exceeded.
    • - Improve ventilation.
    • - Reduce motion profile duty cycle.
• Error Messages, continued
  • Error Identification and Description, continued
  • Error Code
  • Error (Fault)
  • Possible Cause/Corrective Action
    • F14
    • Drive output stage fault.
    • - Check motor cable for damage or shorts.
    • - Output module is overheated; improve ventilation.
    • - Short-circuit or short to ground in the external Regen resistor.
    • - Motor has short-circuit/ground short; replace motor.
    • - Output stage is faulty; return drive to manufacturer.
    • F15
    • I·t maximum value exceeded.
    • - Irms or Ipeak set incorrectly.
    • - Reduce motion profile duty cycle.
    • F16
    • Mains supply missing two or three phases.
    • - Check mains fuses.
    • - Check mains wiring and connections on drive.
    • F17
    • A/D converter error.
    • Return drive to manufacturer
    • F18
    • Regen circuit faulty or incorrect setting.
    • - Check jumper on X8 if using internal regen resitor.
    • - Check wiring of external regen resistor if used.
    • - Check fuses of external regen resistor.
    • F19
    • Mains supply missing one phase.
    • - For single phase operation, set “Phase Missing” parameter to “no message”.
    • - Check mains supply fuses.
    • - Check mains connector on drive.
    • - Check mains supply wiring.
    • F20
    • Slot fault
    • Hardware fault of the expansion card
    • F21
    • Handling fault
    • Software fault of the expansion card
    • F22
    • Reserved
    • Reserved
    • F23
    • Reserved
    • Reserved
    • F24
    • Reserved
    • Reserved
    • F25
    • Commutation error
    • Encoder system only
    • F26
    • Reserved
    • Reserved
    • F27
    • Reserved
    • Reserved
    • F28
    • Reserved
    • Reserved
    • F29
    • SERCOS error
    • SERCOS systems only
    • F30
    • SERCOS time out
    • SERCOS systems only
    • F31
    • Reserved
    • Reserved
    • F32
    • System error
    • System software not responding correctly, return drive to manufacturer.
• Troubleshooting
  • Problems, Possible Causes and Corrective Actions
  • Problem
  • Possible Causes
  • Corrective Actions
    • No communication with PC
    • - Wrong cable used.
    • - Cable plugged into wrong position in drive or PC.
    • - Wrong PC interface selected.
    • - Check cable.
    • - Plug cable into the correct sockets on the drive and PC.
    • - Select correct interface.
    • Motor does not rotate
    • - Drive not enabled.
    • - Break in SERCOS fiber optic cable.
    • - Motor phases swapped.
    • - Brake not released.
    • - Motor is mechanically blocked.
    • - Motor pole number set incorrectly.
    • - Feedback set up incorrectly.
    • - Apply enable signal
    • - Check cable
    • - Correct motor phase sequence
    • - Check brake control
    • - Check mechanism
    • - Set motor pole number.
    • - Set up feedback correctly.
• Troubleshooting, continued
  • Problems, Possible Causes and Corrective Actions, continued
  • Problem
  • Possible Causes
  • Corrective Actions
    • Motor oscillates
    • - Gain too high (speed controller).
    • - Shielding in feedback cable has a break.
    • - Reduce Kp (speed controller).
    • - Replace feedback cable.
    • Poor drive performance (drive too soft)
    • - Kp (speed controller) too low.
    • - Tn (speed controller) too high.
    • - PID-T2 too high.
    • - T-Tacho too high.
    • - Increase Kp (speed controller).
    • - Use motor default value for Tn (speed controller).
    • - Reduce PID-T2.
    • - Reduce T-Tacho.
    • Motor runs roughly
    • - Kp (speed controller) too high.
    • - Tn (speed controller) too low.
    • - PID-T2 too low.
    • - T-Tacho too low.
    • - Reduce Kp (speed controller).
    • - Use motor default value for Tn (speed controller).
    • - Increase PID-T2.
    • - Increase T-Tacho.
  • A
    • Specifications
  • At a Glance
    • What’s in this Appendix
    • Topic
    • Page
      • Performance specifications
    • 84
      • Environmental and mechanical specifications
    • 85
      • Electrical specifications
    • 87
      • Wire specifications (recommended)
    • 99
• Performance Specifications
  • Performance Specifications Table
  • PERFORMANCE
    • Servo updates
    • Torque
    • 62.5 ms
    • Velocity
    • 250 ms
    • Position
    • 250 ms
    • Tuning procedure
    • UniLink application*
    • * Included in AM0CSW001V•00 (CD-ROM)
• Environmental and Mechanical Specifications
  • Environmental Specifications Table
  • ENVIRONMENTAL
    • Storage
    • High temperature, non–operating
    • +70˚C maximum
    • Low temperature, non–operating
    • –25˚C minimum
    • Humidity
    • Non–operating
    • 95% RH maximum, non-condensing
    • Operating
    • 85% RH maximum, non-condensing
    • Operating temperature (ambient measured at fan inlet)
    • Full power
    • With linear derating
    • 2,5% / ˚C
    • (available power: 75% of rated output at 55˚C)
    • 0 ... 45˚C
    • 45 ... 55˚C max
    • Vibration (operational)
    • 10 ... 57 Hz
    • Sinusoidal, 0.75 mm amplitude
    • 57 ... 150 Hz
    • 1.0 g
    • Air pressure
    • Operating:
    • Full power
    • With linear derating
    • 1,5% / 100m
    • (available power: 75% of rated output at 2500m)
    • 1000 m (90 kPa)
    • 1000 ... 2500m (73kPa) max
    • Transport
    • 57 kPa (4540 m)
    • Contaminants
    • Pollution degree 2, as defined in EN60204/EN50178
    • Cooling
    • Models:
    • MHDS1004N00
    • MHDS1008N00
    • MHDS1017N00
    • MHDS1028N00
    • MHDS1056N00
    • Integrated heatsink with internal fan.
• Environmental and Mechanical Specifications, continued
  • Mechanical Specifications Table
  • Drive Model Number
  • Height
  • Width
  • Depth
  • Weight
    • MHDS1004N00
    • 325 mm
    • 70 mm
    • 265 mm
    • 2.5 kg
    • MHDS1008N00
    • MHDS1017N00
    • MHDS1028N00
    • MHDS1056N00
    • 325 mm
    • 120 mm
    • 265 mm
    • 3.0 kg
• Electrical Specifications
  • What’s in this Section
  • Topic
  • Page
    • Electrical Specifications - Power
    • 88
    • Electrical Specifications - Regen resistor
    • 92
    • Electrical Specifications - Signal
    • 93
• Electrical Specifications - Power
  • Line Input Specifications Table
  • LINE INPUT
    • Voltage
    • 208 Vac -10% 60 Hz, 230 Vac -10% 50 Hz.
    • 480 Vac +10%, 50 - 60 Hz, three-phase*
    • Current
    • MHDS1004N00
    • 1.8 A RMS**
    • MHDS1008N00
    • 3.6 A RMS
    • MHDS1017N00
    • 7.2 A RMS
    • MHDS1028N00
    • 12 A RMS
    • MHDS1056N00
    • 24 A RMS
    • Inrush current
    • Internally limited
    • Efficiency
    • Greater than 98%
    • * Read carefully “Electrical considerations”
    • ** Single-phase operation permitted.
• Electrical Specifications - Power, continued
  • Bias Input Specifications Table
  • Motor Brake Present
  • Bias Input
  • Value
    • No
    • Voltage
    • 20 ... 30 Vdc
    • Current
    • 0.75 A to 1.2 A
    • Yes
    • Voltage
    • 24 Vdc -10%, +5%
    • Current
    • 3 A max.
      • External Fuse Specifications Table
  • Input Type
  • Model Number
  • Fuse
    • Line
    • MHDS1004N00
    • 6 A, time delay
    • MHDS1008N00
    • MHDS1017N00
    • 10 A, time delay
    • MHDS1028N00
    • MHDS1056N00
    • 20 A, time delay
    • Optional external Regen
    • MHDS1004N00
    • 4 A, fast acting*
    • MHDS1008N00
    • MHDS1017N00
    • 6 A, fast acting*
    • MHDS1028N00
    • MHDS1056N00
    • *Two fuses in series, >= 500 V, dimensions: 10 x 38.
• Electrical Specifications - Power, continued
  • Motor Output Specifications Table
  • Parameter
    • Output current (RMS)
    • Continuous
    • MHDS1004N00*
    • 1.5 A
    • MHDS1008N00
    • 3 A
    • MHDS1017N00
    • 6 A
    • MHDS1028N00
    • 10 A
    • MHDS1056N00
    • 20 A
    • Intermittent**
    • MHDS1004N00
    • 3 A
    • MHDS1008N00
    • 6 A
    • MHDS1017N00
    • 12 A
    • MHDS1028N00
    • 20 A
    • MHDS1056N00
    • 40 A
    • Switching frequency
    • 8 kHz ± 0.1%
    • Cable length***
    • 75 m (maximum)
    • Maximum cable capacitance (motor phase to ground or shield)
    • 150 pF/m
    • * For single phase main connection, the output current is limited to the output current specifed ...
    • ** Duration depends on settings in Unilink.
    • *** Cable lengths exceeding 25 m require the use of motor choke AM0FIL001V056
  • Motor Inductance:
    • Model
    • Min (mH)
    • Max (mH)
    • MHDS1004N00
    • 16
    • 400
    • MHDS1008N00
    • 8
    • 200
    • MHDS1017N00
    • 4
    • 100
    • MHDS1028N00
    • 3.5
    • 60
    • MHDS1056N00
    • 1.5
    • 30
• Electrical Specifications - Power, continued
  • Internal Power Dissipation Specifications Table
  • Model Number
    • MHDS1004N00
    • 30 W
    • MHDS1008N00
    • 40 W
    • MHDS1017N00
    • 60 W
    • MHDS1028N00
    • 90 W
    • MHDS1056N00
    • 200 W
• Electrical Specifications - Regen Resistor
  • Regen Circuit Specifications
  • Parameter
  • Rated data
  • Units
  • Model Number
  • (prefix with MHDS10)
  • 04N00 08N00
  • 17N00 28N00 56N00
    • Supply Voltage
    • 3 phase, 230 V
    • Upper switch-on level of Regen circuit
    • V
  • 400 - 430
    • Switch-off level of Regen circuit
    • V
  • 380 - 410
    • Continuous power of Regen circuit (RBint)
    • W
  • 80
  • 200
    • Continuous power of Regen circuit (RBext) maximum.
    • kW
  • 0.25
  • 0.75
    • Pulse power, internal (RBint max. 1s)
    • kW
  • 2.5
  • 5
    • Pulse power, external (RBext max. 1s)
    • kW
  • 5
    • 3 phase, 400 V
    • Upper switch-on level of Regen circuit
    • V
  • 720 - 750
    • Switch-off level of Regen circuit
    • V
  • 680 - 710
    • Continuous power of Regen circuit (RBint)
    • W
  • 80
  • 200
    • Continuous power of Regen circuit (RBext) max.
    • kW
  • 0.4
  • 1.2
    • Pulse power, internal (RBint max. 1s)
    • kW
  • 8
  • 16
    • Pulse power, external (RBext max. 1s)
    • kW
  • 16
    • 3 phase, 480 V
    • Upper switch-on level of Regen circuit
    • V
  • 840 - 870
    • Switch-off level of Regen circuit
    • V
  • 800 - 830
    • Continuous power of Regen circuit (RBint)
    • W
  • 80
  • 200
    • Continuous power of Regen circuit (RBext) maximum.
    • kW
  • 0.5
  • 1.5
    • Pulse power, internal (RBint maximum 1s)
    • kW
  • 10.5
  • 21
    • Pulse power, external (RBext maximum 1s)
    • kW
  • 21
    • External Regen resistor
    • W
  • 33
    • Internal Regen resistor
    • W
  • 66
  • 33
• Electrical Specifications - Signal
  • Motor Overtemperature Input Specifications Table
  • MOTOR OVERTEMPERATURE INPUT
    • PTC will generate fault when resistance exceeds 290W ± 10%*
    • (default value)
    • Closed for normal operation
    • * The value of the threshold is adjustable by the parameter MAXTEMPM (see Unilink commands)
      • Resolver Input Specifications Table
  • RESOLVER
    • Reference
    • 8kHz ± 0.1%
    • Drive capability
    • 35 mA RMS
    • Amplitude
    • 4.75V RMS
    • Pair of poles
    • 1 (default)
    • Resolution
    • 14 bits (0.02˚)
    • Accuracy
    • 12 bits (0.09˚)
    • Conversion method
    • Tracking
    • Resolver type
    • Transmit mode
    • Resolver transformation ratio
    • 0.5
    • Loss of feedback
    • Detection circuit included
    • Maximum cable length
    • 75 m
    • Maximum cable capacitance (signal connector to shield)
    • 120 pF/m
• Electrical Specifications - Signal, continued
  • Encoder Input Specifications Table
  • ENCODER INPUT
    • Internal power supply
    • Voltage
    • 9V ± 5%
    • Current (maximum)
    • 200 ma
    • Input Signal
    • Sin-Cos encoder (cyclic absolute)
    • Absolute accuracy
    • 15 bits (39 arc-seconds or 0.01˚)
    • Resolution
    • 20 bits (1.2 arc-seconds or 0.0003˚)
    • Sin-Cos encoder (multi-turn absolute)
    • Turn counter
    • 12 bits
    • Absolute accuracy within one turn
    • 15 bits (39 arc-seconds or 0.01˚)
    • Resolution within one turn
    • 20 bits (1.2 arc-seconds or 0.0003˚)
      • Emulated Encoder Output (Incremental Format) Specifications Table
  • EMULATED ENCODER OUTPUT (INCREMENTAL FORMAT)
    • Channels
    • A, B, and Marker
    • Type
    • Differential, RS-485 compliant
    • Resolution with:
    • Resolver feedback
    • Sin-Cos Encoder feedback
    • 512, 1024 line count; 1024/2048/4096 edges
    • 512/1024/2048/4096/8192/16384 line count
• Electrical Specifications - Signal, continued
  • Encoder Output (Incremental Format) Timing Diagram
  • Auxiliary Incremental Encoder Input Specifications Table
  • ENCODER INPUT (SLAVE)
    • Channels
    • A and B
    • Type
    • Differential, RS-485 compliant
    • Voltage
    • 8 V nominal
    • Current
    • 200 mA (maximum)
    • Maximum frequency
    • 500 kHz
    • Rise time
    • < 0.1 ms
    • Fall time
    • < 0.1 ms
• Electrical Specifications - Signal, continued
  • Discrete Input Specifications Table
  • DISCRETE INPUT
    • Channels
    • Five (four programmable and one dedicated for enable)
    • Type
    • Solid state, optically isolated, compatible IEC 1131-2 type 1
    • Transient
    • isolation voltage
    • 250 Vac (channel to chassis)
    • VIN maximum
    • 30 Vdc
    • IIN @ VIN = 24 V
    • 5 mA
    • VIH minimum
    • 12 V (minimum input voltage to be recognized as high – true)
    • VIL maximum
    • 7 V (maximum input voltage to be recognized as low – false)
    • Scan time:
    • Normal
    • High speed
    • 1 ms
    • < 50 ms
      • Discrete Output Specifications Table
  • DISCRETE OUTPUT
    • Channels
    • Two
    • Type
    • Solid state: open collector 30 Vdc max., optically isolated
    • Transient
    • isolation voltage
    • 250 Vac (channel to chassis)
    • Sense
    • True low, sinking
    • IOUT
    • 10 mA maximum
    • Protection
    • Yes (PTC resistor: 25 W)
    • Scan time
    • 1 ms
• Electrical Specifications - Signal, continued
  • Fault Relay Output Specifications Table
  • FAULT RELAY OUTPUT
    • Type
    • Relay contact
    • Sense
    • True (open)
    • VMAX
    • 30 Vdc; 42 Vac
    • IOUT
    • 500 mA resistive
      • Brake Output Specifications Table
  • BRAKE OUTPUT
    • VOUT
    • Internally connected to bias supply
    • IOUT
    • 2 A (maximum)
• Electrical Specifications - Signal, continued
  • Analog Input Specifications Table
  • ANALOG INPUTS
    • Serial Communications Specifications Table
  • SERIAL I/O
    • Data bits
    • Eight
    • Stop bits
    • One
    • Parity
    • None
    • Baud rate
    • 9600
• Wire Specifications (Recommended)
  • Wire Specifications
  • Item
  • Drive Model No.
  • Wire Size
  • Notes
    • AC mains
    • MHDS1004N00
    • MHDS1008N00
    • MHDS1017N00
    • MHDS1028N00
    • 1.5 mm2 (14 AWG)
    • MHDS1056N00
    • 4.0 mm2 (12 AWG)
    • Protective earth
    • All
    • 4.0 mm2 (12 AWG)
    • DC Link
    • MHDS1004N00
    • MHDS1008N00
    • MHDS1017N00
    • MHDS1028N00
    • 1.5 mm2 (14 AWG)
    • Shielded for lengths greater than 20cm
    • MHDS1056N00
    • 4.0 mm2 (12 AWG)
    • Shielded for lengths greater than 20cm
    • Analog signals
    • All
    • 0.25 mm2 (22 AWG) minimum
    • Twisted pairs, shielded
    • Digital I/O and Fault Relay
    • All
    • 0.5 mm2 (20 AWG) minimum
    • Brake
    • All
    • 1.0 mm2 (18 AWG) minimum
    • Shielded
    • Bias power
    • All
    • 2.5 mm2 (14 AWG) maximum
    • Optional external Regen resistor
    • All
    • 1.5 mm2 (14 AWG)
    • High temperature insulation (155˚C or greater)
  • B
    • Parts List
  • At a Glance
    • What’s in this Appendix
    • Topic
    • Page
      • Lexium 17S drives
    • 102
      • External 24Vdc supply
    • 103
      • Drive cables
    • 104
      • Optional external Regen resistor assemblies
    • 106
      • Optional motor choke
    • 107
      • Spare parts
    • 108
• Lexium 17S Drives
  • Drives Available
  • Model
  • Intermittent (Peak) Output Current
  • Continuous (RMS) Output Current
    • MHDS1004N00
    • 4.2 A
    • 1.5 A
    • MHDS1008N00
    • 8.4 A
    • 3.0 A
    • MHDS1017N00
    • 16.8 A
    • 6.0 A
    • MHDS1028N00
    • 28.0 A
    • 10.0 A
    • MHDS1056N00
    • 56.0 A
    • 20.0 A
• External 24Vdc supply
  • External 24Vdc supply
  • Lexium servodrive
  • MHD•1004/ 1008N00
  • MHD•1017N00
  • MHD•1028N00
  • MHD•1056N00
  • Associated BPH motor
  • 075•
  • 095•
  • 095•
  • 115•
  • 095•
  • 115•
  • 142•
  • 142•
  • 190•
  • Current without brake (A)
  • 0.75
  • 0.75
  • 0.75
  • 0.75
  • 0.75
  • 0.75
  • 0.75
  • 1.2
  • 1.2
  • Current with brake (A)
  • 1.25
  • 1.45
  • 1.45
  • 1.55
  • 1.45
  • 1.55
  • 1.75
  • 2.2
  • 2.7
  • Description
  • Output voltage
  • Rating
  • Parallel connection
  • Ref.
  • Weight
    • V
    • A
    • Kg
    • Module ~ 100...240 V 50/60 - 400 Hz
    • and 125 Vdc
    • 24 Vdc
    • SELV
    • 1.1
    • Yes
    • TSX SUP 1011
    • (1) (2)
    • 0.720
    • Module ~ 100...120 V and ~ 200...240V,
    • 50/60 - 400 Hz
    • 24 Vdc
    • SELV
    • 2.2
    • Yes
    • TSX SUP 1021
    • (1) (2)
    • 1.090
    • 5
    • Yes
    • TSX SUP 1051
    • (1) (2)
    • 1.120
    • Unit ~ 100...120V and ~ 200...240V,
    • 50/60 - 400 Hz
    • 24 Vdc
    • SELV
    • 10
    • Yes
    • TSX SUP 1101
    • (1)
    • 2.100
• Drive Cables
  • Drive to Motor Cables
  • RS-232 Serial Communications Cable Part Table
  • Part Number
  • Description
    • AM0CAV001V003
    • 3 m cable
      • Encoder Output Cable Parts Table
  • Part Number
  • Description
    • 690MCI00206
    • 6 m 17S to tinned leads
• Drive Cables, continued
  • Fiber Optic Cables Parts Table
  • Part Number
  • Description
  • Length (m)
    • 990MCO00001
    • 1 ft cable
    • 0.3
    • 990MCO00003
    • 3 ft cable
    • 0.9
    • 990MCO00005
    • 5 ft cable
    • 1.5
    • 990MCO00015
    • 15 ft cable
    • 4.6
    • 990MCO00025
    • 25 ft cable
    • 7.6
    • 990MCO00035
    • 35 ft cable
    • 10.7
    • 990MCO00045
    • 45 ft cable
    • 13.7
    • 990MCO00055
    • 55 ft cable
    • 16.8
    • 990MCO00065
    • 65 ft cable
    • 19.8
    • 990MCO00075
    • 75 ft cable
    • 22.9
    • 990MCO00085
    • 85 ft cable
    • 25.9
    • 990MCO00095
    • 95 ft cable
    • 29
    • 990MCO00105
    • 105 ft cable
    • 32
    • 990MCO00115
    • 115 ft cable
    • 35
    • 990MCO00125
    • 125 ft cable
    • 37.5
    • 990MCI00008
    • Bulk head connector
    • -
• Optional External Regen Resistor Assemblies
  • Optional Regen Resistor Assembly Part Table
  • Part Number
  • Description
    • AM0RFE001V025
    • 33W, 250 W, Regen resistor
    • AM0RFE001V050
    • 33W, 500 W, Regen resistor
    • AM0RFE001V150
    • 33W, 1,500 W, Regen resistor
• Optional Motor Choke
  • Optional Motor Choke Part Table
  • Part Number
  • Description
    • AM0FIL001V056
    • Motor choke
• Spare Parts
  • Spare Parts Table
  • Part Number
  • Description
    • AM0SPA001V000
    • 17S Connector Kit:
    • I/O connector
    • 24 V connector
    • DC Bus connector
    • Regen resistor connector
    • Mains supply connector
  • C
    • Cable Connection Wiring Diagrams
  • At a Glance
    • What’s in this Appendix
    • Topic
    • Page
      • Wiring a Sub-D connector with shielding
    • 110
      • Wiring up the motor power connector (drive end)
    • 112
      • Serial communications interface connector (X6)
    • 115
• Wiring a Sub-D Connector with Shielding
  • Wiring the Sub-D Connector
  • Step
  • Action
    • 1
    • Carefully remove about 25mm of the outer covering while taking care not to damage the braided shi...
    • 2
    • Push the exposed braided shield back over the outer covering.
    • 3
    • Leave the first 12mm of the braided shield free and insulate the rear portion with shrink tubing.
    • 4
    • Carefully strip about 5mm from the individual wires while taking care not to damage the copper st...
    • 5
    • Verify pin assignments then solder the individual wires to the solder cups of the Sub-D connector...
    • 6
    • Attach the cable to the connector housing strain relief; the strain relief must have good contact...
    • 7
    • Place the knurled screws in position.
    • 8
• Wiring a Sub-D Connector with Shielding, continued
  • Sub-D Connector Diagram
• Wiring the Motor Power Connector (Drive end)
  • Wiring the Motor Power Connector
  • Step
  • Action
    • 1
    • Carefully remove about 70 mm of the outer jacket while taking care not to damage the braided shield.
    • 2
    • Push the grommet over the cable until the end is flush with the jacket.
    • 3
    • Push the outer braided shield back over the grommet.
    • 4
    • Position the shielding for the brake wires over the outer shielding braid and ensure good electri...
    • 5
    • Push the filling wires and protective cloth back over the shielding.
    • 6
    • 7
    • 8
    • Carefully remove about 10mm of the ends of the wires while taking care not to damage the copper s...
    • 9
    • 10
    • 11
    • 12
    • 13
• Wiring the Motor Power Connector (Drive end), continued
  • Motor Power Connector (Drive end) Diagram (excluded BPH055)
• Wiring the Motor Power Connector (Drive end), continued
  • BPH055 Motor Power Connector (Drive end) Diagram
• Serial Communication Interface Connection (X6)
  • Serial Communication Interface Cable Connectors
  • D
    • Servo Loop Diagrams
  • At a Glance
    • What’s in this Appendix
    • Topic
    • Page
      • 17S current controller overview
    • 118
      • 17S velocity controller loop
    • 119
      • 17S position controller loop
    • 120
• 17S Current Controller Overview
  • 17S Current Controller Diagram
• 17S Velocity Controller Loop
  • 17S Velocity Controller Loop Diagram
• 17S Position Controller Loop
  • 17S Position Controller Loop Diagram
  • E
    • Optional External Regen Resistor Sizing
  • At a Glance
    • What’s in this Appendix
    • Topic
    • Page
      • Determining external Regen resistor size
    • 123
      • Example Regen resistor power dissipation calculation
    • 125
• At a Glance, continued
  • Overview
  • Determining When Energy Is Absorbed
• Determining Optional External Regen Resistor Size
  • Power Dissipation Calculation Procedure
  • Step
  • Action
    • 1
    • Plot speed versus time and torque versus time for the entire move cycle.
    • (Magnitude of the torque is not required; only the direction is required.)
    • 2
    • Identify each section of the plot where the drive is decelerating the load or where speed and tor...
    • 3
    • Calculate the energy returned to the drive in each deceleration using the formula E = º Jt w2
    • Where
    • E = Energy in joules
    • Jt = Total system inertia, including motor, in kg(m2)
    • w = Speed at start of deceleration in radians per second
    • (w = 2 p RPM / 60)
    • 4
    • Compare the energy in each deceleration with the energy required to turn on the Regen circuit. (S...
    • 5
    • Calculate the energy dissipated by the Regen resistor by subtracting the energy listed in the tab...
    • Edissipated = Egenerated – Eabsorbed by capacitors
    • 6
    • Calculate the pulse power of each deceleration by dividing the dissipated energy by the time of t...
    • Ppulse = Edissipated / Tdecel (seconds)
    • 7
    • Calculate the continuous power dissipated by the Regen resistor by totaling all the dissipated en...
    • Pcontinuous = (E1dissipated + E2dissipated+… +Endissipated) / Ttotal cycle (seconds)
• Determining External Regen Resistor Size, continued
  • Power Dissipation Calculation Procedure, continued
  • Step
  • Action
    • 8
    • Compare the pulse power and the continuous power calculated with the ratings of the internal Rege...
      • Drive Energy Absorption Capability
  • Drive Energy Absorption Capability (joules)
  • Line Voltage
  • 230 VAC
    • 400 VAC
    • 480 VAC
  • Drive Model Number
  • MHDS1004N00
  • MHDS1008N00
  • MHDS1017N00
  • MHDS1028N00
  • 5
  • 19
  • 23
  • MHDS1056N00
    • 10
    • 38
    • 47
• Example Regen Resistor Power Dissipation Calculation
  • Example Motor and Drive Specifications
• Example Regen Resistor Power Dissipation Calculation, continued
  • Example Step 1
• Example Regen Resistor Power Dissipation Calculation, continued
  • Example Step 2
  • Example Step 3
• Example Regen Resistor Power Dissipation Calculation, continued
  • Example Step 4
  • Example Step 5
  • Example Step 6
  • Example Step 7
• Example Regen Resistor Power Dissipation Calculation, continued
  • Example Step 8
• A
• B
• C
• D
• E
• F
• G
• H
• I
• K
• L
• M
• O
• P
• Q
• R
• S
• T
• U
• V
• W
  • Index