ANCA Motion D2 Series User Manual (English)

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AMD2000 Series D2xxx

Servo Drive - User Guide

D-000088 Rev 10

Table of Contents6
Safety13
General Safety13
Safe Start-Up and Operation14
Introduction15
Purpose15
About the AMD2000 Series D2Xxx Servo Drives15
Drive Model Applicability15
Terms and Abbreviations16
Trademarks16
Product Overview17
What this Chapter Contains17
Features17
Operating Principle18
AMD2000 Variant Identification19
AMD2000 Series Drive Catalogue Number Interpretation20
System Overview21
Front Panel Overview24
D210324
D2109 and D201525
X1/X2 Ethercat Connectors25
X3 Factory Use Only26
X4 Input / Output Connector26
X5 Encoder Interface Connector26
Motor Armature Cable Connector26
Power, Inductor and Brake Resistor Connector27
LED Display and Control Panel27
Mechanical Installation28
What this Chapter Contains28
Pre Installation Checks28
Requirements28
Installation Site28
Tools Required29
Mounting and Cooling29
Installation32
Power Isolation32
Mounting a Drive32
Un-Mounting a Drive34
Planning the Electrical Installation35
What this Chapter Contains35
Motor and Drive Compatibility35
Power Supply Disconnecting Device35
Emergency Stop Devices35
Thermal Overload and Protection36
Fan Operation36
Thermal Overload36
Motor Cable Short-Circuit36
Supply Cable Short-Circuit36
Motor Thermal Protection36
Brake Resistor37
Power Cable Selection38
Control Cable Selection38
Motor Feedback Wiring38
Ethercat Wiring38
Cable Routing39
EU Machinery Directive Considerations39
Power Wiring40
What this Chapter Contains40
Checking the Insulation of the Assembly40
Mains Power Supply40
AC Voltage Supply42
DC Voltage Supply43
Connection of Drives to Grounded Systems (TN or TT)43
Connection of Drives to Non-Grounded Systems (IT)43
Connection of Drives to Delta Transformer Systems (IT)44
Harmonics and Reactive Power Compensated Supplies44
Residual Current-Operated Protective (RCD) Protection44
Grounding45
Protective Earth45
Grounding of Individual Drives Within a Cabinet45
EMI Protection - Chassis Earth and Motor Cable Bracket45
Installations Conforming to the EMC Directive46
For 3 Phase Supply System Wiring47
For 1 Phase Supply System Wiring48
Installation Guidelines of EMC Components49
Power Supply Soft Start Module50
Soft Start Module Wiring50
Soft Start Module Installation51
Soft Start Module Maintenance53
Power Disconnect and Protection Devices54
Motor Connections56
Motor Circuit Contactors56
Motor Power Cable Installation57
Drive Output Filters64
Sinusoidal Filter64
Du/Dt Filter65
Motor Brake Connection66
Motor Thermal Switch67
Motor Thermal Sensor68
Motor Thermal Estimation69
Brake/Regeneration Resistor69
DC Busbar Terminals70
Drives up to and Including Model Year MY202070
Drives after Model Year MY202071
Control Wiring72
What this Chapter Contains72
I/O Connector X473
I/O Interface Module74
Analogue I/O75
Analogue Inputs75
Analogue Outputs79
Digital I/O80
Control Circuit Supply81
Digital Inputs81
Digital Outputs88
Encoder Pass-Through89
Safe Torque off (STO) Operation90
Definitions90
STO Overview90
STO Considerations91
STO Operation92
STO Wiring94
Fault Detection100
STO Diagnostics102
STO Function Commissioning Test Procedure103
Motor Brake Control107
Serial Communication Port107
Ethernet Interface107
Ethercat107
Ethercat Topology / Port Assignment107
DIP Buttons109
Motor Encoder Feedback110
Analogue Encoder Interface110
Analogue Encoder Cable111
Digital Encoder Interface111
Digital Encoder Cable112
Encoder Splitter Cable113
Installation Checklist114
What this Chapter Contains114
Checklist114
Start-Up115
Technical Data116
What this Chapter Contains116
Control Functions116
Control Modes116
Thermal and Over-Current Protection116
Self-Protection Features116
DC Bus Voltage Control117
Advanced Control Functions117
Interface Specifications118
Digital I/O Supply118
Digital Inputs118
Digital Outputs118
Differential Digital Inputs118
Differential Digital Encoder Output119
Analogue Inputs119
Analogue Outputs119
Motor Position Feedback119
Encoder Channel 1120
Analogue Encoder Input120
Digital Encoder Input Channel 2120
Encoder Supply120
Ethernet Interface121
Drive Display121
Electrical Specifications122
Power Supply Section122
Digital Servo Drive122
Resolution123
Steady State Performance123
Regenerative Braking123
Environmental Specifications124
Storage124
Transport124
Installation and Operation124
Physical Characteristics125
Cooling125
Accessory Specifications126
I/O Interface Module - 646-0-05-0723126
Motor Thermistor Sensor Isolator126
Power Supply Soft Start Module126
Dimension Drawings127
D2103 Drive Mounting Hole Positions and Physical Dimensions (MM)127
D2109 Drive Mounting Hole Positions and Physical Dimensions (MM)127
D2015 Drive Mounting Hole Positions and Physical Dimensions (MM)128
Soft Start Module128
Control Circuit Supply129
Voltage and Temperature De-Rating130
D2103 De-Rating130
D2109 De-Rating134
D2015 De-Rating138
Regeneration Resistor143
Regeneration Resistor Selection, Regeneration Energy and Power143
Materials145
Standards Conformity146
D2103 & D2109 CE Declaration of Conformity147
Ethercat® Conformance Marking149
FCC Marking149
Accessories150
What this Chapter Contains150
Motors150
Motor Catalogue Number Interpretation150
Motor Electrical Information Summary151
Brake Motor Specific Information151
Motor Mechanical Information Summary152
Cables153
Cable Catalogue Number Interpretation153
Encoder Cables154
Armature Cables155
Accessory Order Codes156
I/O Interface Cable156
I/O Interface Module156
I/O Interface Module Kit156
I/O Connector156
D2103 and D2109 STO Override Plug156
Ethercat Cables157
Regen Resistors157
Motor Armature Cable Shield Termination Kit158
EMI Filter159
Line Reactor159
DC Choke159
Power Supply Soft Start Module159
Drive Kit Order Codes160
D2103 Soe Drive 3A with Cable Bracket Kit160
D2103 Soe Drive 3A with Cable Bracket Kit & STO Override Plug160
D2109 Soe Drive 9A with Cable Bracket Kit161
D2109 Soe Drive 9A with Cable Bracket Kit & STO Override Plug161
D2015 Soe Drive 15A with Cable Bracket Kit162
D2015 Soe Drive 15A with Cable Bracket Kit & STO Override Plug162
Additional Information163
What this Chapter Contains163
Maintenance and Repairs163
Product, Sales and Service Enquiries164
Feedback164

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User Manual189 pages

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ANCA Motion D2 Series Specifications

General

Brand	ANCA Motion
Model	D2 Series
Category	Servo Drives
Language	English

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