Anca AMD2000 Series Instrukcja Użytkownika

AMD2000 Series - Servo Drive User Manual DS619-0-00-0019 – Rev 0

AMD2000 Series - Servo Drive - User Manual 10 DS619-0-00-0019 - Rev 0 ANCA Motion 1. Safety Warning: To prevent possible accidents or injury

AMD2000 Series - Servo Drive - User Manual 100 DS619-0-00-0019 - Rev 0 ANCA Motion Less Than (*34064 & 34065) < 34066 only U16 & U

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 101 10 Trigger from Class 1 Diagnostic Fault Capture data should a sporadic Class 1

AMD2000 Series - Servo Drive - User Manual 102 DS619-0-00-0019 - Rev 0 ANCA Motion Figure 10-6 ANCA MotionBench Drive Data Logger Interface

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 103 10 10.1.17 Encoders Description The drive can be connected to up to two encoder

AMD2000 Series - Servo Drive - User Manual 104 DS619-0-00-0019 - Rev 0 ANCA Motion For analogue (SINCOS) encoders further information is requ

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 105 10 10.1.18 Field Orientation Initialisation Description A motor rotates due to

AMD2000 Series - Servo Drive - User Manual 106 DS619-0-00-0019 - Rev 0 ANCA Motion The following table shows the list of IDN’s relevant to FOI

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 107 10 Warning: Care should be taken to ensure that the resulting test move will n

AMD2000 Series - Servo Drive - User Manual 108 DS619-0-00-0019 - Rev 0 ANCA Motion Figure 10-7 ThetaFb follows ThetaCmd correctly Figure 10

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 109 10 Figure 10-9 ThetaFb moves in opposite direction to ThetaCmd. Likely cause:

Safety ANCA Motion DS619-0-00-0019 - Rev 0 11 1  Never attempt cleaning or inspection during machine operation.  Only suitably qualified p

AMD2000 Series - Servo Drive - User Manual 110 DS619-0-00-0019 - Rev 0 ANCA Motion Figure 10-10 idCmd_a.dat and idFb_1.dat during a successfu

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 111 10 3. Set Alignment Off Index Pulse to Enable (IDN 33062 = 2). 4. Set FOI Cont

AMD2000 Series - Servo Drive - User Manual 112 DS619-0-00-0019 - Rev 0 ANCA Motion The general idea of this technique is to inject d-axis curr

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 113 10 The fundamental frequency component of the torque response is below the minim

AMD2000 Series - Servo Drive - User Manual 114 DS619-0-00-0019 - Rev 0 ANCA Motion Procedure command set and enabledProcedure command change b

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 115 10 DCH is managed through various settings of the following IDN’s: IDN Label S-0

AMD2000 Series - Servo Drive - User Manual 116 DS619-0-00-0019 - Rev 0 ANCA Motion 6. The drive then sets its reported position at this point

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 117 10 Procedure command set and enabledProcedure command change bit (Bit 5 status w

AMD2000 Series - Servo Drive - User Manual 118 DS619-0-00-0019 - Rev 0 ANCA Motion Procedure command set and enabledProcedure command change b

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 119 10 IDN Label P-0-0256 / 33024 DCM Procedure Command P-0-0257 / 33025 DCM Status

AMD2000 Series - Servo Drive - User Manual 12 DS619-0-00-0019 - Rev 0 ANCA Motion 2. Introduction 2.1.11 What this Chapter Contains This cha

AMD2000 Series - Servo Drive - User Manual 120 DS619-0-00-0019 - Rev 0 ANCA Motion P-0-0261 / 33029 = 1000000,2000000,5000000,10000000,100000

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 121 10 10.1.20 Modulo Operation Description The ‘modulo’ operation is a feature tha

AMD2000 Series - Servo Drive - User Manual 122 DS619-0-00-0019 - Rev 0 ANCA Motion Demands - position - velocity - acceleration - torque/for

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 123 10 P-0-0107 / 32875 Global Deceleration Constraint (negative velocity) P-0-0108

AMD2000 Series - Servo Drive - User Manual 124 DS619-0-00-0019 - Rev 0 ANCA Motion Example of Usage Figure 10-16 shows an example of configur

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 125 10 Note that the acceleration/deceleration constraints are enforced anywhere wit

AMD2000 Series - Servo Drive - User Manual 126 DS619-0-00-0019 - Rev 0 ANCA Motion Error Limits Error limits are applied similarly to the abov

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 127 10 If the drive is enabled specifically for a Rotary Joint with the Limited Str

AMD2000 Series - Servo Drive - User Manual 128 DS619-0-00-0019 - Rev 0 ANCA Motion Figure 10-18 Position Soft (left) and Hard (right) Error L

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 129 10 10.1.22 Motor Control Description The AMD2000 control loops utilise the arch

Introduction ANCA Motion DS619-0-00-0019 - Rev 0 13 2 2.1.15 Related Documents AMD2000 Series AC Servo Drive Brochure - DS619-0-01-0008 Alpha

AMD2000 Series - Servo Drive - User Manual 130 DS619-0-00-0019 - Rev 0 ANCA Motion Warning: Care must be exercised so that configuration cha

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 131 10 P-0-228 / 32996 Torque Setpoint Switch – Secondary 1 Mode P-0-503 / 33271 Cur

AMD2000 Series - Servo Drive - User Manual 132 DS619-0-00-0019 - Rev 0 ANCA Motion P-0-1232 / 34000 Motor Thermal Rise Time P-0-1233 / 34001 P

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 133 10 And finally, the type of voltage control must be selected by setting IDN P-0-

AMD2000 Series - Servo Drive - User Manual 134 DS619-0-00-0019 - Rev 0 ANCA Motion If Motor Type =IM V/F When the user has selected to pair t

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 135 10 Current loop integral gain scheduler A current loop integral gain scheduler i

AMD2000 Series - Servo Drive - User Manual 136 DS619-0-00-0019 - Rev 0 ANCA Motion  Amplifier Temperature Current Limiting can be configured

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 137 10 Figure 10-25 Variable Torque Control Specifying Amplifier / Motor Temperatur

AMD2000 Series - Servo Drive - User Manual 138 DS619-0-00-0019 - Rev 0 ANCA Motion Figure 10-26 Amplifier / Motor Temperature Based Curren

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 139 10 10.1.23 Operating Modes Description The AMD2000 supports the SoE profile for

AMD2000 Series - Servo Drive - User Manual 14 DS619-0-00-0019 - Rev 0 ANCA Motion 3. Product Overview 3.1 What this Chapter Contains This c

AMD2000 Series - Servo Drive - User Manual 140 DS619-0-00-0019 - Rev 0 ANCA Motion 4: Position control using feedback 2 (external encoder). T

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 141 10 10.1.24 Temperature Monitoring Description This document outlines how the dr

AMD2000 Series - Servo Drive - User Manual 142 DS619-0-00-0019 - Rev 0 ANCA Motion feature’s application may be to utilise this error to indic

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 143 10 10.1.25 Torque Command Filters Description This document outlines the usage

AMD2000 Series - Servo Drive - User Manual 144 DS619-0-00-0019 - Rev 0 ANCA Motion 11. Fault Tracing 11.1 What this Chapter Contains This ch

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 145 11 Drive state 11.2.11.3To indicate the state of the drive, the rightmost digits of t

AMD2000 Series - Servo Drive - User Manual 146 DS619-0-00-0019 - Rev 0 ANCA Motion 11.3.12 Error / Warning Codes A quick summary of the erro

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 147 11 W0321 Warning Amplifier I2R Warning W0322 Warning Motor I2T Warning W0324 Warning

AMD2000 Series - Servo Drive - User Manual 148 DS619-0-00-0019 - Rev 0 ANCA Motion 11.3.13 Error / Warning Codes Detailed Descriptions Curr

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 149 11 2. Encoder cable is disconnected. 3. Encoder cable is wired incorrectly. 4. Encoder

Product Overview ANCA Motion DS619-0-00-0019 - Rev 0 15 3 3.3 Operating Principle The simplified circuit diagram of the drive is shown below.

AMD2000 Series - Servo Drive - User Manual 150 DS619-0-00-0019 - Rev 0 ANCA Motion 3. Application is too demanding. 4. Cooling fan is faulty.

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 151 11 Encoder Adjusted Amplitude Low - Motor E0215 Description The magnitude of the adju

AMD2000 Series - Servo Drive - User Manual 152 DS619-0-00-0019 - Rev 0 ANCA Motion Positive Position Soft Limit E0304 Description Position s

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 153 11 Amplifier I2R Warning W0321 Description Residual heat within the drive power stage

AMD2000 Series - Servo Drive - User Manual 154 DS619-0-00-0019 - Rev 0 ANCA Motion 1. Master or other High Level Function has commanded the dr

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 155 11 Severity Error Absolute Encoder Alignment Error E0406 Description Absolute encoder

AMD2000 Series - Servo Drive - User Manual 156 DS619-0-00-0019 - Rev 0 ANCA Motion Severity Error Acceleration Observer Validation Failed E0

Fault Tracing ANCA Motion DS619-0-00-0019 - Rev 0 157 11 E0008 EFW Streaming error: unexpected flash erasing or writing in progress while rece

AMD2000 Series - Servo Drive - User Manual 158 DS619-0-00-0019 - Rev 0 ANCA Motion 12. Technical Data 12.1 What this Chapter Contains This ch

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 159 12 Bus regeneration brake chopper Yes Bus over/under voltage adjustable limits Yes

AMD2000 Series - Servo Drive - User Manual 16 DS619-0-00-0019 - Rev 0 ANCA Motion 3.4.11 AMD2000 Series Drive Catalogue Number Interpretatio

AMD2000 Series - Servo Drive - User Manual 160 DS619-0-00-0019 - Rev 0 ANCA Motion 12.3 Interface Specifications Attribute Qualification 12.3.

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 161 12 GND Maximum Output Low Voltage single ended W.R.T GND 0.5 V @ -20 mA Maximum Current

AMD2000 Series - Servo Drive - User Manual 162 DS619-0-00-0019 - Rev 0 ANCA Motion RS485 Hysteresis 50 mV RS485 Common Mode Range -0.7 V to +

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 163 12 1 Exceeding these written values may damage the drive and will cause unexpected oper

AMD2000 Series - Servo Drive - User Manual 164 DS619-0-00-0019 - Rev 0 ANCA Motion 12.5 Performance Specifications Catalogue Number D2003-2S

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 165 12 12.6 Environmental Specifications Catalogue Number D2003-2S1-A D2009-2S1 Attribute

AMD2000 Series - Servo Drive - User Manual 166 DS619-0-00-0019 - Rev 0 ANCA Motion †Note: Degree of Protection Both 3A and 9A AMD2000 drives c

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 167 12 12.7.12 AMD2000 9A drive mounting hole positions and physical dimensions 12.8

AMD2000 Series - Servo Drive - User Manual 168 DS619-0-00-0019 - Rev 0 ANCA Motion Load will also affect ripple and droop. If the lo

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 169 12 12.9.11 Effect of AC Input Voltage on DC Bus Voltage For a delta connected supply

Product Overview ANCA Motion DS619-0-00-0019 - Rev 0 17 3 3.5 System Overview A digital drive system comprises one or more digital servo driv

AMD2000 Series - Servo Drive - User Manual 170 DS619-0-00-0019 - Rev 0 ANCA Motion 12.10.11 De-rating Characteristics AMD2000 3A drive de-r

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 171 12 12.12 Discharge Period If additional capacitance is added to the bus the discharge

AMD2000 Series - Servo Drive - User Manual 172 DS619-0-00-0019 - Rev 0 ANCA Motion 12.14 Brake/Regeneration Resistor The AMD2000 3A and AMD2

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 173 12 Once the kinetic energy in the system is found, the voltage rise due to the energy o

AMD2000 Series - Servo Drive - User Manual 174 DS619-0-00-0019 - Rev 0 ANCA Motion 12.15 Materials Drive enclosure: The AMD2000 Drive chassis

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 175 12 12.16 Standards Conformity Marking & Applicable Regulations Standard Certificat

AMD2000 Series - Servo Drive - User Manual 176 DS619-0-00-0019 - Rev 0 ANCA Motion 12.17 EtherCAT®17 Conformance Marking An EtherCAT device c

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 177 12 3A and 9A) are considered to be protective Class I PDS, and comply with the standard

AMD2000 Series - Servo Drive - User Manual 178 DS619-0-00-0019 - Rev 0 ANCA Motion 12.18.13 CE Declaration of Conformity

Technical Data ANCA Motion DS619-0-00-0019 - Rev 0 179 12

AMD2000 Series - Servo Drive - User Manual 18 DS619-0-00-0019 - Rev 0 ANCA Motion ControllerCommunications InterfaceMAnalog InputsAnalog Outpu

AMD2000 Series - Servo Drive - User Manual 180 DS619-0-00-0019 - Rev 0 ANCA Motion 13. Accessories 13.1 What this Chapter Contains This chapt

Accessories ANCA Motion DS619-0-00-0019 - Rev 0 181 13 13.2.12 Motor Electrical Information Summary Order code Rated Torque (Nm) Rated Spe

AMD2000 Series - Servo Drive - User Manual 182 DS619-0-00-0019 - Rev 0 ANCA Motion 13.2.14 Motor Mechanical Information Summary A E CD FH

Accessories ANCA Motion DS619-0-00-0019 - Rev 0 183 13 13.3 Cables 13.3.11 Cable Catalogue Number Interpretation ProductK: CableServo Drive S

AMD2000 Series - Servo Drive - User Manual 184 DS619-0-00-0019 - Rev 0 ANCA Motion 13.3.13 Armature Cables Shielded Armature Cables (Plast

Accessories ANCA Motion DS619-0-00-0019 - Rev 0 185 13 13.4.12 EtherCAT Cables Part Number Description ICN-1026-1233 Ethernet Cable, Cat 5

AMD2000 Series - Servo Drive - User Manual 186 DS619-0-00-0019 - Rev 0 ANCA Motion ICN-3096-1664 King Core K5B T 29x7.7x19 ICN-3096-0049 JFE R

Accessories ANCA Motion DS619-0-00-0019 - Rev 0 187 13 D2003-2S1-A AMD2000 Series Servo Drive MA60-0630-A Alpha Series Servo Motor K2A-FSPD-02

AMD2000 Series - Servo Drive - User Manual 188 DS619-0-00-0019 - Rev 0 ANCA Motion 14. Additional Information 14.1 What this Chapter Contains

Additional Information ANCA Motion DS619-0-00-0019 - Rev 0 189 14 14.4 Feedback This Manual is based on information available at the time of p

Product Overview ANCA Motion DS619-0-00-0019 - Rev 0 19 3 X1X2Servo MotorSetup SoftwareParameter configuration and monitoring is possible via

AMD2000 Series - Servo Drive - User Manual 2 DS619-0-00-0019 - Rev 0 ANCA Motion AMD2000 Series - Servo Drive User Manual Related Manuals and

AMD2000 Series - Servo Drive - User Manual 20 DS619-0-00-0019 - Rev 0 ANCA Motion 3.6 Connector Overview 3.6.11 AMD2000 3A 7 Segment Displ

Product Overview ANCA Motion DS619-0-00-0019 - Rev 0 21 3 3.6.12 AMD2000 9A 7 Segment DisplayAC SupplyDC Choke and External RegenArmature/Mot

AMD2000 Series - Servo Drive - User Manual 22 DS619-0-00-0019 - Rev 0 ANCA Motion X3 Serial Communications 3.6.12.2 X4 Input / Output 3.6

Product Overview ANCA Motion DS619-0-00-0019 - Rev 0 23 3 Inductor, Brake Resistor Connectors 3.6.12.6 To be able to use the drive with

AMD2000 Series - Servo Drive - User Manual 24 DS619-0-00-0019 - Rev 0 ANCA Motion Drive Display Indicator 5 x 7-segment LED Operator interfaci

Mechanical Installation ANCA Motion DS619-0-00-0019 - Rev 0 25 4 4. Mechanical Installation 4.1 What this Chapter Contains This chapter cont

AMD2000 Series - Servo Drive - User Manual 26 DS619-0-00-0019 - Rev 0 ANCA Motion 4.3.12 Tools Required In order to mount the AMD2000 drive,

Mechanical Installation ANCA Motion DS619-0-00-0019 - Rev 0 27 4 Figure 4-1 Installation in a single row If multiple rows of drives are requ

AMD2000 Series - Servo Drive - User Manual 28 DS619-0-00-0019 - Rev 0 ANCA Motion Figure 4-2 Installation in two rows If armature terminati

Mechanical Installation ANCA Motion DS619-0-00-0019 - Rev 0 29 4 Following the appropriate lockout procedure, place a sign over the isolation

AMD2000 Series - Servo Drive - User Manual ANCA Motion DS619-0-00-0019 - Rev 0 3 Chapter Summaries 1 Safety General Product safe

AMD2000 Series - Servo Drive - User Manual 30 DS619-0-00-0019 - Rev 0 ANCA Motion BSTEP2 STEP 3 STEP 4BEDACB Figure 4-4 Mechanical Mounting of

Planning the Electrical Installation ANCA Motion DS619-0-00-0019 - Rev 0 31 5 5. Planning the Electrical Installation 5.1 What this Chapter

AMD2000 Series - Servo Drive - User Manual 32 DS619-0-00-0019 - Rev 0 ANCA Motion local requirements based on cable size. Please refer to the

Planning the Electrical Installation ANCA Motion DS619-0-00-0019 - Rev 0 33 5 5.7 Control Cable Selection It is strongly recommended that dou

AMD2000 Series - Servo Drive - User Manual 34 DS619-0-00-0019 - Rev 0 ANCA Motion Care should be taken to avoid electromagnetic interference a

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 35 6 6. Power Wiring 6.1 What this Chapter Contains This chapter contains information relat

AMD2000 Series - Servo Drive - User Manual 36 DS619-0-00-0019 - Rev 0 ANCA Motion AMD2000 drives are suitable for use on supplies of installat

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 37 6 6.3.11 Supply Voltage Ranges The supply voltage range must be within the limits specifi

AMD2000 Series - Servo Drive - User Manual 38 DS619-0-00-0019 - Rev 0 ANCA Motion 6.3.15 Residual current-operated protective (RCD) protectio

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 39 6 induce parasitic common mode currents (ILEAK) in the stray capacitance of the motor and

AMD2000 Series - Servo Drive - User Manual 4 DS619-0-00-0019 - Rev 0 ANCA Motion Contents 1. Safety ...

AMD2000 Series - Servo Drive - User Manual 40 DS619-0-00-0019 - Rev 0 ANCA Motion L1L2L3AMD2000LC1LC2NCSchaffenerFN3270H-10-44 P.E.3 phase sup

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 41 6 6.6 Power Supply Filters 6.6.11 Harmonic Suppression IEC 61800-3-2 specifies limits o

AMD2000 Series - Servo Drive - User Manual 42 DS619-0-00-0019 - Rev 0 ANCA Motion Example : Drive harmonics on a AMD2000 3A drive without Indu

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 43 6 6.7 Power Disconnect and Protection Devices Install a hand-operated mains supply discon

AMD2000 Series - Servo Drive - User Manual 44 DS619-0-00-0019 - Rev 0 ANCA Motion Recommended fuses are based on 25 °C (77 °F) ambient, maximu

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 45 6 6.8.11 Motor Circuit Contactors A motor circuit contactor may be installed if required

AMD2000 Series - Servo Drive - User Manual 46 DS619-0-00-0019 - Rev 0 ANCA Motion Expose approx. 25mm of the cable sheath and feed the ar

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 47 6 Protective Earth Wire to the Cabinet Earth Bar Figure 6-10 AMD2000 D2003 Drive Protectiv

AMD2000 Series - Servo Drive - User Manual 48 DS619-0-00-0019 - Rev 0 ANCA Motion AMD2000 9A Drive 6.8.12.1.3Use an Armature Bracket in ord

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 49 6 Continuation of Motor Power Cable Shielding 6.8.12.2  Add a metal P-Clip or equivale

AMD2000 Series - Servo Drive - User Manual ANCA Motion DS619-0-00-0019 - Rev 0 5 5.4 Emergency Stop Devices ...

AMD2000 Series - Servo Drive - User Manual 50 DS619-0-00-0019 - Rev 0 ANCA Motion Cable routing 6.8.12.3In a drive system the return common

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 51 6 AMD2000, 3A, with DC bus connection Schaffner 3-phase 4A Sinewave and EMC Filter with DC

AMD2000 Series - Servo Drive - User Manual 52 DS619-0-00-0019 - Rev 0 ANCA Motion 6.9.12 du/dt Filter The du/dt filters consist of inductors

Power Wiring ANCA Motion DS619-0-00-0019 - Rev 0 53 6 Relay:Normally OpenMotorAMD2000CN4/X424VDI-0120 or 217Separate Customer 24V DC supply24V

AMD2000 Series - Servo Drive - User Manual 54 DS619-0-00-0019 - Rev 0 ANCA Motion 24V (e.g. Pin 20, X4)KTY843.9kAin+Ain-3.9kKTY84AGND (e.g. Pi

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 55 7 7. Control Wiring DANGER - The working DC bus is live at all times when power is on.

AMD2000 Series - Servo Drive - User Manual 56 DS619-0-00-0019 - Rev 0 ANCA Motion Idealised drawing of Analog Input Circuit 7.2.11.1AMD2000D

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 57 7 7.2.12 Analogue Outputs A0 -1 can be used to output converted analog values of di

AMD2000 Series - Servo Drive - User Manual 58 DS619-0-00-0019 - Rev 0 ANCA Motion 7.3 Digital I/O All digital Input and Output signals are av

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 59 7 7.3.11 24V Control Circuit Supply The maximum current that can be drawn from this sup

AMD2000 Series - Servo Drive - User Manual 6 DS619-0-00-0019 - Rev 0 ANCA Motion 7.6 Ethernet Interface ...

AMD2000 Series - Servo Drive - User Manual 60 DS619-0-00-0019 - Rev 0 ANCA Motion Typical Connection Example 7.3.12.1.2 Control AMD2000DI-XX

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 61 7 24V10k10k10kDI+DI-<0.3V>0.7VAMD2000 Figure 7-5 - NPN Based Sensor Digital Ou

AMD2000 Series - Servo Drive - User Manual 62 DS619-0-00-0019 - Rev 0 ANCA Motion Typical Connection Examples 7.3.12.3.2 24V (X4 Pin 20)AMD2

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 63 7 AMD2000 functions as an EtherCAT slave controller, providing two ports (IN/OUT) for co

AMD2000 Series - Servo Drive - User Manual 64 DS619-0-00-0019 - Rev 0 ANCA Motion IN OUTININININININININOUTOUTOUTOUTOUTOUTOUTOUTEtherCAt Maste

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 65 7 7.7 DIP Buttons Button Label Function SW4 MODE Holding during power up will force the

AMD2000 Series - Servo Drive - User Manual 66 DS619-0-00-0019 - Rev 0 ANCA Motion 7.8.11 Analog Encoder Interface Idealized Drawing of the

Control Wiring ANCA Motion DS619-0-00-0019 - Rev 0 67 7 7.8.13 Digital Encoder Interface Idealized Drawing of the Digital Encoder Circuit 7

AMD2000 Series - Servo Drive - User Manual 68 DS619-0-00-0019 - Rev 0 ANCA Motion 8. Installation Checklist 8.1 What this Chapter Contains T

Installation Checklist ANCA Motion DS619-0-00-0019 - Rev 0 69 8 Regeneration energy and power has been assessed and external resistor has bee

AMD2000 Series - Servo Drive - User Manual ANCA Motion DS619-0-00-0019 - Rev 0 7 11.1 What this Chapter Contains ...

AMD2000 Series - Servo Drive - User Manual 70 DS619-0-00-0019 - Rev 0 ANCA Motion 9. Start-up 9.1 What this Chapter Contains This chapter c

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 71 9 Most other wired network adaptors should be reliable but those listed are known to work.

AMD2000 Series - Servo Drive - User Manual 72 DS619-0-00-0019 - Rev 0 ANCA Motion 9.6.12 Power-On Checks DANGER - The working DC bus is li

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 73 9 4. Click Next. You will then be presented with the End-User License Agreement shown below

AMD2000 Series - Servo Drive - User Manual 74 DS619-0-00-0019 - Rev 0 ANCA Motion 5. Please read the License Agreement and tick the “I accep

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 75 9 9. Click Yes. MotionBench will then start installing on your PC. The dialogue shown bel

AMD2000 Series - Servo Drive - User Manual 76 DS619-0-00-0019 - Rev 0 ANCA Motion 11. By default the MotionBench application will launch imm

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 77 9 9.8 Configuring the AMD2000 Series Servo Drive 9.8.11 ANCA MotionBench 1. Ensure the prev

AMD2000 Series - Servo Drive - User Manual 78 DS619-0-00-0019 - Rev 0 ANCA Motion e. If the device is not listed, there are a few possible th

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 79 9 j. If MotionBench fails to connect the following screen will be shown. k. If the device d

AMD2000 Series - Servo Drive - User Manual 8 DS619-0-00-0019 - Rev 0 ANCA Motion 12.6.14 Physical Characteristics ...

AMD2000 Series - Servo Drive - User Manual 80 DS619-0-00-0019 - Rev 0 ANCA Motion 5. Quick Start wizard a. When the Quick Start wizard start

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 81 9 b. Quick Start will allow you to select a standard motor from the ANCA Motion range and get

AMD2000 Series - Servo Drive - User Manual 82 DS619-0-00-0019 - Rev 0 ANCA Motion c. Standard Configuration will take you to the functional o

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 83 9 d. Advanced Parameter Configuration will take you to a table where all variables in the dri

AMD2000 Series - Servo Drive - User Manual 84 DS619-0-00-0019 - Rev 0 ANCA Motion 6. Connection Status Window a. Clicking on the Device icon

Start-up ANCA Motion DS619-0-00-0019 - Rev 0 85 9 7. Update Device Firmware wizard a. Select Update Device button as part of the Add a devic

AMD2000 Series - Servo Drive - User Manual 86 DS619-0-00-0019 - Rev 0 ANCA Motion m. If the firmware fails to update, there are a few possib

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 87 10 10. Feature Configuration 10.1 What this Chapter Contains The following sect

AMD2000 Series - Servo Drive - User Manual 88 DS619-0-00-0019 - Rev 0 ANCA Motion If the user prefers to see all the encoder signals rendered

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 89 10 Figure 10-1 Circle Graph Tab Figure 10-2 Time Domain Tab

AMD2000 Series - Servo Drive - User Manual ANCA Motion DS619-0-00-0019 - Rev 0 9 13.4.15 AMD2000 9A EMC Kit ...

AMD2000 Series - Servo Drive - User Manual 90 DS619-0-00-0019 - Rev 0 ANCA Motion 10.1.12 Backlash Compensation Description The ‘end effector

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 91 10 Signal: Encoder FeedbackAlgorithm:GearboxSignal:Estimated Position+-Algorith

AMD2000 Series - Servo Drive - User Manual 92 DS619-0-00-0019 - Rev 0 ANCA Motion 10.1.13 Configuring Wire-Saving UVW Motors Warning: This

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 93 10 The AMD2000’s compliance requirements for EtherCAT marking requires the drive

AMD2000 Series - Servo Drive - User Manual 94 DS619-0-00-0019 - Rev 0 ANCA Motion  is a 32 bit variable that can be used to apply further lo

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 95 10 Figure 10-5 Digital Output Configuration Flow Chart KEYCommon Processing o

AMD2000 Series - Servo Drive - User Manual 96 DS619-0-00-0019 - Rev 0 ANCA Motion Equivalent Pseudo Code for Figure 10-5 for i = 0 TO 31 i

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 97 10 10.1.15 Drive Bypass Mode Description The drive supports a feature to set its

AMD2000 Series - Servo Drive - User Manual 98 DS619-0-00-0019 - Rev 0 ANCA Motion 10.1.16 Drive Data Logger Description The drive data logger

Feature Configuration ANCA Motion DS619-0-00-0019 - Rev 0 99 10 2. Specify the period between samples. The period must be a whole multiple o