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DM2020 Series
Moog DM2020 Series User Manual
155 pages
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THIS
DOCUMENT
DESCRIBES
THE
INSTALLATION
AND
STARTUP
FOR
THE
DM2020 SYSTEM
PN: L-MAM2-E-201
INSTAL
L
ATION
AND
STA
R
TUP
MULTI
A
X
I
S
D
I
G
I
T
A
L
SE
R
V
O
SYST
E
M
DM2020
TECHNOLOGY
www.moog.
com
2
Table of Contents
Default Chapter
3
Table of Contents
3
Foreword
9
About Moog
9
Document Version
9
Revision Record
9
Reader Instructions
10
1 Introduction
12
Contents
12
Related Documents
12
Package Contents
12
Required Qualifications of Personnel
13
Applicable Laws
13
Getting Started
14
2 Safety Information
15
Safety and Usage Guidelines
15
Qualified Personnel
15
Electrical Hazards
16
Voltage Arcs and High Voltage
16
General Hazards and Safeguards
17
Thermal Hazards
17
Mechanical Hazards
17
STO Safety Feature
18
Description
18
Directives on Safety
18
Safe Use of the DM2020 System
19
Risk Assessment
19
Electrical Connections
19
Motor Selection
19
Power Supply
19
Prohibited Use
20
Risk Assessment
21
Installation Risk Assessment
21
General Machine/System Safeguards Information
22
Safeguards Related to SCRF
23
3 System Overview
24
Product Structure
24
Product Description
24
Storage and Working Conditions
26
Standard Power Supply Models
26
DM2020 Standard Models
27
Models and Coding of ABC Modules
29
Mechanical Dimensions
30
Axis Modules Coding
32
PSU Modules Coding
33
PSU Features and Details
34
Electrical and Mechanical Data
34
Module Side Plate Types
36
Transducers
37
Connectors
38
Connector Layout
39
Filters
40
Brake Resistor
41
Line Inductors
41
Position Transducers
43
Interface with "Field" and Other Modules
43
Connector View
44
Connector Layout Axis Module
46
Cables
54
4 Certifications
56
CE Certificate
56
Safe Torque off (STO)
58
Requirements
60
Short Circuit Protection
60
Overvoltage Protection
62
Dynamic Brake Unit Ratings
63
5 Electrical and Mechanical Installation
64
Tools and Equipment
64
Tools
64
Electronic Equipment
64
Mechanical Installation
64
Assembly of System Components
64
Assembling the PSU
64
Assembling the Axes
64
Braking Resistor Positioning
65
Electrical Installation and Thermal Rating
66
Safety and General Instructions
66
Electrical Installation
67
Thermal Rating of the Electrical Panel
69
Drive Axis Power Dissipation
69
Power Supply Unit (PSU) Dissipation
70
Thermal Dissipation of Accessories
70
Control Power Requirements
70
AC Mains Power/Ground Connection
71
Types of Earthing (Grounding) Systems
71
Protection Components
72
Ground Connection
73
Drive Wiring
74
Grounding
74
Power Cord and Braking Resistor Connection
74
Busbar Connection
75
Auxiliary Voltage and Signal Connection
75
Signal Connection
76
Motor Cable Connection Details
76
Brake Cable Connection
77
I/O Signal Connection
78
STO Signals Connection
78
Transducer Connection
80
Connecting the Fieldbus - X8, X9, X10 Connectors
81
6 Commissioning with Dx2020 Software
82
Safety
82
Dx2020 GUI
83
Overview
83
Minimum PC Requirements
83
Dx2020 GUI Installation
84
GUI Drive Connection
85
Layout
87
Firmware Update (Bootloader)
89
Accessing the Dx2020 GUI Help On-Line
90
Activate Power
90
System Configuration
91
Axis Identification
91
Motor Parameter Configuration
91
Transducer Configuration
93
Sensorless
94
I/O Configuration
95
Details of Possible Configurations
96
Control Loops Configuration
98
Control Mode Configuration
98
Torque Loop Parameter Configuration
99
Speed Loop Parameter Configuration
99
Filter Configuration
100
Configuration of the Position Loop Parameters
102
Fault Configuration
103
Application Parameters Configuration
104
Commands and Modes Configuration
105
DM2020 State Machine
108
STO Activation
111
Auto-Phase Procedure
111
Drive (Axis) Enable and Limit Switch Enable/Disable
113
Oscilloscope Function and Log File (.UCX)
114
Log Configuration
114
Start Logging
114
View Logs
115
UCX File Management
116
Using the GUI in Offline Mode
116
Contextual Help for Parameter Management
117
Decommissioning Procedure
118
7 Shipment and Storage
120
Receiving and Checking the Shipment
120
Storage
120
Regenerating the Electrolytic Capacitors after Storage
120
8 Maintenance
121
Periodic Maintenance
121
What to Do if Repairs Are Required
122
9 Troubleshooting
123
Power Section Anomalies
124
Drive Alarms (Faults)
124
Alarms on the Power Section
124
Alarm for VBUS Voltage out of Tolerance
125
Drive or Motor Overtemperature
125
Removal of STO Signal
126
Errors on Memory Devices
126
Data Corrupted Fault
126
Brake Feedback Fault
127
Errors on Feedback Devices
127
Synchronization , Interrupt Time and Task Time Error
129
Ethercat Fault
129
Alarms Related to the Control Loops
129
CAN Bus Alarms
130
Alarm Display in Analog Operating Mode
130
Faults During the GUI - Drive Connection
134
10 Safe Torque off Safety Function
136
Application
136
Installation Risk Assessment
136
Safe Torque off Function
136
Characteristic Values According to UNI en ISO 13849-1
137
Characteristic Values According to CEI en 62061
138
Safety Requirements
138
Full Stop
138
Safe Torque off Circuit
140
Safe Torque off Connections
141
Connector X6 - (X16)
141
Connector X1 (Option)
142
Electrical Input/Output Specifications
143
Example Application
144
Description
144
Example Requirements
145
Safe Torque off Installation and Maintenance Procedure
146
Assembly and Serial Tests
147
Identification of the STO Function on the Drive Plate
147
11 System Disposital
148
What to Do if Repairs Are Required
148
12 Appendix
149
Glossary
149
Metric/Awg Conversion Table
153
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Moog DM2020 Series Specifications
General
Category
DC Drives
Series
DM2020
Output Current
20 A
Cooling Method
Convection
Protection Features
Overcurrent, Overtemperature, Undervoltage
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