LVD Sercos III Servo Drive - Servotronix

LVD Sercos III Servo Drive SercosQuick Start Guide Revision 1.0

LVD Sercos III

Quick Start Guide 3

Revision History

Doc. Rev. Date Remarks

1.0 Nov.2013 Preliminary release

0.1 Apr. 2012 Initial release

Firmware Revision

Software (GUI) Revision

Copyright Notice © 2013 Servotronix Motion Control Ltd.

All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix.

Disclaimer The information in this manual was accurate and reliable at the time of its release. Servotronix Motion Control Ltd. reserves the right to change the specifications of the product described in this manual without notice at any time.

Trademarks Sercos is a trademark of Sercos International.

All other proprietary names mentioned in this manual are the trademarks of their respective owners.

Contact Information Servotronix Motion Control Ltd. 21C Yagia Kapayim Street Petach Tikva 49130, Israel

Tel: +972 (3) 927 3800 Fax: +972 (3) 922 8075

Website: www.servotronix.com

Technical Support If you need assistance with the installation and configuration of the LVD Sercos III drive, contact Servotronix technical support: [email protected]

http://www.servotronix.com/

mailto:[email protected]

LVD Sercos III

4 Quick Start Guide

LVD Sercos III

Quick Start Guide 5

Contents 1 Introduction _________________________________________________ 7

LVD Sercos III Overview..................................................................................... 7 System Architecture........................................................................................... 7

2 Specifications ________________________________________________ 9 Mechanical Specifications.................................................................................... 9 Power Specifications .......................................................................................... 9 Feedback Specifications ..................................................................................... 10

Incremental Encoder ................................................................................. 10 Halls ....................................................................................................... 11

I/O Specifications ............................................................................................. 12 Digital Inputs / External Enable .................................................................. 12 Digital Output........................................................................................... 13 Analog Inputs ........................................................................................... 13

Environmental Specifications .............................................................................. 14

3 Installation _________________________________________________ 15 Mechanical Installation ...................................................................................... 15

Mounting the Drive ................................................................................... 15 Mounting Multiple Drive Units ..................................................................... 15

Drive Address DIP Switch – SW2 ........................................................................ 15 Connectors and Pin Assignments ........................................................................ 16

Realtime Ethernet ..................................................................................... 16 Incremental Encoder and Halls - J18 ........................................................... 18 Absolute Encoder / Secondary Incremental Connector - J16 ........................... 19 I/O - J14 ................................................................................................. 20 Power and Motor - P7 ................................................................................ 21 Logic Power - P2 ....................................................................................... 22 USB ........................................................................................................ 23

4 Wiring _____________________________________________________ 24 Wiring Guidelines.............................................................................................. 24 System Electrical Drawings ................................................................................ 24 Power Supply ................................................................................................... 26 Motor .............................................................................................................. 26

DC Motor Wiring ....................................................................................... 26 Brushless DC (BLDC) Motor Wiring .............................................................. 27 Stepper Motor Wiring ................................................................................ 27

Feedback ......................................................................................................... 28 Single-ended Incremental Encoder .............................................................. 28 Differential Incremental Encoder ................................................................. 28 Hall Sensors ............................................................................................. 29

I/Os ................................................................................................................ 29 Digital Inputs ........................................................................................... 29 Digital Output........................................................................................... 30 Analog Input ............................................................................................ 30 External Enable ........................................................................................ 31

Real Time Ethernet ........................................................................................... 32 USB ................................................................................................................ 32

5 Shielding __________________________________________________ 33

6 System Indicators ___________________________________________ 34

Appendix A: Cable Preparation ____________________________________ 37

LVD Sercos III

6 Quick Start Guide

LVD Sercos III Introduction

Quick Start Guide 7

1 Introduction

LVD Sercos III Overview

The LVD Sercos III is an advanced, fully digital, high-power and intelligent servo drive. The drive operates small brushless, stepper or brushed DC motors at 15-48 VDC bus, in current, velocity or position operation modes over a Sercos III, realtime Ethernet network.

A PWM switching frequency of 16 kHz or 100 kHz, combined with the field-oriented control and space-vector modulation, enables the operation of low inductance motors while maintaining low current ripple, with reduced acoustic noise.

The drive provides 7 ARMS continuous current and 12 ARMS peak current. Separate logic and bus power supplies allow safe motor power-off while maintaining drive state and fast restart.

System Architecture

The LVD Sercos III comprises a power stage, a digital control processor, a network processor and interface circuits. Figure 2-1 illustrates the system architecture.

Figure 2-1. System Architecture Block Diagram

CURRENT SENSE

PWM

BUS

LOGIC

SERCOS IIIDSP

FEEDBACK INTERFACE

POWER STAGE

I/OINTERFACE

PSU

NETWORK PROCESSOR

DC/BLDC/

STEPPERMOTOR

POSITION SENSE

Introduction LVD Sercos III

8 Quick Start Guide

The power stage of the LVD Sercos III consists of 8 power MOSFETs transistors in 4 half bridge configuration. This configuration provides the flexibility to connect and control three-phase brushless DC motors, two-phase bipolar stepper motors, or DC brushed motors.

The control logic is based on a dedicated digital signal processor (DSP). This high performance microprocessor executes control loops and controls the current, voltage waveform, speed and position on the motor.

The firmware running on the DSP uses motor shaft position feedback and motor current in order to control new voltage command to the motor every 62.5 microseconds. The DSP controls the power transistors using internal PWM generator, with carrier frequency of 16 kHz or 100 kHz.

The drive supports dual encoder feedback interface. However, one is reserved for future use.

The LVD Sercos III is a networked drive and uses a network processor for realtime Ethernet communication. The network processor is responsible for executing some communication related tasks and delivers to the DSP formatted and preprocessed messages. Thus removing the network load form the DSP and releasing it to perform its control tasks.

The LVD Sercos III supports Sercos III communication as well as RS232 over USB for configuration purposes. Additional realtime Ethernet bus support will be available as firmware upgrades.

The I/O unit consists of four opto-isolated digital inputs, one opto-isolated digital output, one opto-isolated remote enable, and two analog inputs. The digital inputs can be used for homing or general purpose. The analog input can be used for analog commands or linear feedback types.

LVD Sercos III Specifications

Quick Start Guide 9

2 Specifications

Mechanical Specifications

Figure 3-1 shows the dimensions of the LVD Sercos III.

Table 3-1. Mechanical Specifications

Item Specification

Weight 245 g, not including mating connectors

Dimensions (L x W x H) 117 x 78 x 21 mm (L x W x H) 4.6 x 3.1 x 0.8 inches

Mounting Brackets for vertical or horizontal mounting

Figure 3-1. Dimensions and Mounting Holes

Power Specifications

Table 3-2. Power Specifications

Type Units Value

Bus supply voltage range (*1) VDC 15 - 48

Logic supply voltage range (*1) VDC 11 - 32

Maximum continuous power output (*2) W 350

Specifications LVD Sercos III

10 Quick Start Guide

Type Units Value

Maximum output voltage 96% of Vbus at 16 kHz PWM

Maximum continuous output current (*2) Arms 7

Maximum peak output current (*2)(*3) Arms 12

Maximum logic power consumption (*4) VA 3.8

Feedback supply output VDC 5 (150 mA)

Feedback supply short circuit protection threshold A 1.5

PWM frequency kHz 16 or 100

* Notes 1. Bus and Logic power supplies are separated inputs with common ground.

2. Value is determined according to 45°C ambient temperature, without any attachment to external heat-sink, 16kHz PWM

3. Peak current maximum duration: 2sec. 4. Including external feedback connection and full drive activity.

Feedback Specifications

Incremental Encoder

Table 3-3. Incremental Encoder Specifications

Item Details

Encoder format (*1) A, B and Index Differential / Single Ended

Signal loss detection Differential mode only, on ±A and ±B

Differential encoder interface RS-422

Input resistance 120Ω

Single-ended encoder interface TTL

Maximum incremental encoder frequency (*2) 13 Mega-counts per second (3.25 MHz on A/B)

Maximum encoder input voltage ±5.5V

* Notes 1. Feedback type (differential or single-ended) can be selected by the user.

2. Will be 64 Mega counts on next revision.


Quick Start Guide 11

Figure 3-2. Differential Encoder Interface Scheme

Figure 3-3. Single Ended Encoder Interface Scheme

Halls

Table 3-4. Halls Specifications

Item Details

Halls input HALL1/2/3 Single ended input

Input standard Open collector / open drain / TTL

Maximum frequency 8 kHz (per input)

Input current 5 mA (sourcing an open collector / open drain interface)

Maximum input voltage 5V

Minimum high level input voltage - VIH 2.4V

Maximum low level input voltage - VIL 0.9V

+

-

120

EN

RS-422Line Rec.

In+

In-

EN

LineBufferIn+



Figure 3-4. Halls Interface Scheme

I/O Specifications

Digital Inputs / External Enable

Table 3-5. Digital Inputs / External Enable Specifications

Item Details

Type Optically isolated

Maximum high level input voltage 26V

Minimum high level input voltage - VIH 4.5V

Maximum low level input voltage - VIL 2V

Maximum input current 10mA at maximum input voltage

Input resistance 2.2 kΩ

Maximum input frequency 3.8 kHz (50% duty-cycle pulse)

Isolation voltage 2500 Vrms

Figure 3-5. Digital Input Interface Scheme

560Hall_x

1K

5V

0.1µ

3.3V

2.2KDI_X

DI_X RET



Digital Output

Table 3-6. Digital Output Specifications

Item Details

Type Open collector, optically isolated

Maximum output voltage (VDDMAX) 30V

Maximum output current (ILMAX) 110 mA

Minimum load resistance 243Ω, calculation:

𝑉𝐷𝐷𝑚𝑎𝑥−𝑉𝑂𝑚𝑎𝑥𝐼𝐿𝑚𝑎𝑥

Output voltage (VO) 1.2 + 20 × IL

Figure 3-6. Digital Output Interface Scheme

Analog Inputs

Table 3-7. Analog Inputs Specifications

Item Details

Input differential voltage ±10V

Input resistance 94 kΩ

Maximum input frequency 8 kHz

Analog input resolution 12-bit

20DO

DO RET47K



Figure 3-7. Analog Input Interface Scheme

Environmental Specifications

Table 3-8. Environmental Specifications

Item Specification

Operating temperature -10 to 45°C (14° to 113°F)

Storage temperature -40 to 85°C (-40° to 185°F)

Humidity 5 to 95%, non-condensing

+

-

vref

AN_IN-

AN_IN+

LVD Sercos III Installation


3 Installation

Mechanical Installation

Mounting the Drive The unit can be positioned vertically or horizontally. It can be mounted using the bracket on the rear, which has two mounting holes. Alternately, it can be mounted using the two side brackets, each of which has two mounting holes.

It is recommended to attach the drive to a metal surface, to improve heat dissipation.

To mount the unit, use M4 screws and an appropriate fastening tool. Four screws are needed for the side brackets. Two screws are needed for the rear bracket.

Mounting Multiple Drive Units When mounting multiple LVD Sercos III units within a cabinet or enclosure, it is recommended that the units be spaced at least 20 mm apart to allow airflow for heat dissipation.

Drive Address DIP Switch – SW2

The drive’s Sercos ID, or node address, is set by means of six DIP switches. The address can be a value in the range of 1–63. Each device on the network must have a different address. When setting the switches, refer to the labels on the drive.

The value that is set in the DIP switch is assigned to the last octet of the drive’s IP address.

To set the switches on the unit, use a small precision screwdriver.

Figure 5-1. Drive Address Switches

A0A6

0

1

Installation LVD Sercos III


Table 5-1.Drive Address Switches

Label Description Binary Code = Valence

A0 Address 0 20 = 1

A1 Address 1 21 = 2

A2 Address 2 22 = 4

A3 Address 3 23 = 8

A4 Address 4 24 = 16

A5 Address 5 25 = 32

Connectors and Pin Assignments

Realtime Ethernet

Table 4-2. Real Time Ethernet Interface

Pin Item Specification

1A TX+A Ethernet channel A Transmit positive

2A TX-A Ethernet channel A Transmit negative

3A RX+A Ethernet channel A Receive positive

4A NC Not connected

5A NC Not connected

6A RX-A Ethernet channel A Receive negative

7A NC Not connected

8A NC Not connected

1B TX+B Ethernet channel B Transmit positive

2B TX-B Ethernet channel B Transmit negative

3B RX+B Ethernet channel B Receive positive

4B NC Not connected

5B NC Not connected

6B RX-B Ethernet channel B Receive negative

7B NC Not connected

8B NC Not connected



Table 4-3. Real Time Ethernet Connector

Item Specification

Realtime Ethernet Connector

Dual RJ45 modular jack with internal magnetics and green/yellow LEDs

Table 4-4. Real Time Ethernet Mating Connector

Item Specification

Type RJ45 plug shielded, non-crossed

Table 4-5. Real Time Ethernet LEDs

LED Indication Description

Green A LinkA Not applicable

Yellow A TX/RXA Ethernet channel A transmit/receive indication

Green B LinkB Not applicable

Yellow B TX/RXB Ethernet channel B transmit/receive indication

Figure 4-2. Real Time Ethernet Connector



Incremental Encoder and Halls - J18

Table 4-6. Incremental Encoder and Halls Interface

Pin Item Description

1 INC_ENC_SUPPLY Secondary encoder supply

2 INC_ENC_RET Ground

3 INC_ENC_A+ Secondary encoder A+

4 INC_ENC_A- Secondary encoder A-

5 INC_ENC_B+ Secondary encoder B+

6 INC_ENC_B- Secondary encoder B-

7 INC_ENC_I+ Secondary encoder I+

8 INC_ENC_I- Secondary encoder I-

9 INC_ENC_STROBE+ Secondary encoder strobe+

10 INC_ENC_STROBE- Secondary encoder strobe-

11 Reserved*

12 Reserved*

13 HALL1 Halls feedback 1



16 HALLS_RET Ground

17 HALLS_SUPPLY Hall sensors supply

18 Shield Encoder shield

Table 4-7. Incremental Encoder and Halls Connector

Item Specification

Manufacturer Molex

Part number 55959-1830

Table 4-8. Incremental Encoder and Halls Mating Connector

Item Specification

Manufacturer Molex


Crimp terminal part number 56134-9000

Conductor thickness 22-28 AWG



Figure 4-3. Incremental Encoder and Halls Connector

Absolute Encoder / Secondary Incremental Connector - J16

Table 4-9. Absolute Encoder / Secondary Incremental Interface


1 ABS_ENC_SUPPLY Encoder supply

2 ABS_ENC_RET Ground

3 A+ Secondary incremental encoder A+

4 A- Secondary incremental encoder A-

5 B+ Secondary incremental encoder B+

6 B- Secondary incremental encoder B-

7 I+ Secondary incremental encoder I+

8 I- Secondary incremental encoder I-

9 Reserved*

10 Reserved*

11 Reserved*

12 Reserved*

13 Reserved*

14 NC Not connected

15 Reserved*

16 Shield Chassis connection

Table 4-10. Absolute Encoder / Secondary Incremental Connector

Item Specification

Manufacturer Molex


Pin#2 Pin#18

Pin#1 Pin#17



Table 4-11. Absolute Encoder / Secondary Incremental Mating Connector

Item Specification

Manufacturer Molex




Figure 4-4. Absolute Encoder / Secondary Incremental Connector

I/O - J14

Table 4-12. I/O Interface


1 AN_IN+_0 Analog input + 0

2 AN_IN-_0 Analog input – 0

3 AN_IN+_1 Analog input + 1

4 AN_IN-_1 Analog input - 1

5 DI_0 Digital input 0


7 DI_0_1_RET Digital inputs 0,1 external ground

8 DI_2_3_RET Digital inputs 2,3 external ground



11 DO Digital output

12 DO_RET Digital output external ground

13 EXT_EN+ External enable +

14 EXT_EN- External enable -

Pin#2 Pin#16

Pin#1 Pin#15



Table 4-13. I/O Connector

Item Specification

Manufacturer Molex


Table 4-14. I/O Mating Connector

Item Specification

Manufacturer Molex




Figure 4-5. I/O Connector

Power and Motor - P7

Table 4-15. Bus Power and Motor Interface


1 Bus+ Bus voltage supply +

2 Bus- Bus voltage supply -

3 MPhaseD Motor phase D

4 MPhaseC Motor phase C

5 MPhaseB Motor phase B

6 MPhaseA Motor phase A

7 Shield Motor shield

Table 4-16. Bus Power and Motor Connector

Item Specification

Manufacturer Phoenix Contact

Part Number MSTBA_2,5/ 7-G (1755493)

Pin#2 Pin#14

Pin#1 Pin#13



Table 4-17. Bus Power and Motor Mating Connector

Item Specification

Manufacturer Phoenix Contact

Part number MSTB 2,5/ 7-ST (1754546)

Conductor Thickness 12 – 24 AWG

Figure 4-6. Bus Power and Motor Connector

Logic Power - P2

Table 4-18. Logic Power Interface


1 Logic+ Logic voltage supply +

2 GND Ground

Table 4-19. Logic Power Connector

Item Specification

Manufacturer Molex


Table 4-20. Logic Power Mating Connector

Item Specification

Manufacturer Molex




Pin#1



Figure 4-7. Logic Power Connector

USB

Table 4-21. USB Interface


1 VCC USB power supply input

2 USBDN USB data -

3 USBDP USB data-

4 NC USB ID - not connected

5 GND USB ground

Table 4-22. USB Connector

Item Specification

Connector type USB Mini-B receptacle

Mating connector type USB Mini-B plug

Figure 4-8. USB Connector

Pin#1

Wiring LVD Sercos III


4 Wiring

Wiring Guidelines

Be sure to use conductor thickness as specified in the section Pinouts and Location of the Connectors.

When using shielded cables for motor, feedback and communication, follow shielding instructions in the section Shielding.

Use the shortest cable possible.

Follow the wiring guidelines defined by the connectors’ manufacturers.

For reducing EMI effects, use twisted pairs for the following cables:

Power supply

Motor phases

Feedback

Communication

System Electrical Drawings

Figure 6-1 is an example of system connection with brushless DC motor, Halls and a differential encoder.

LVD Sercos III Wiring


Figure 6-1. System Wiring Diagram

Detailed wiring diagrams of other motor types are in the section Motor.

Detailed wiring diagrams of other feedback types are in the section Feedback.

LVD Sercos III



Power Supply

Figure 6-2. Power Supply Wiring Diagram

The LVD Sercos III has two separate power supply inputs.

The power supply ground line is connected to drive’s shield. System shielding must be implemented.

Use twisted pair cables for reducing EMI.

When bus voltage is higher than 32 VDC, use isolated power supply source for UL compliance.

Caution: No reverse polarity protection on bus supply input. Incorrect wiring may cause severe damage to the drive.

Motor

DC Motor Wiring

Figure 6-3. DC Motor Wiring Diagram

When driving a DC motor, phases A and B (P7.6 and P7.5) must be connected. Use a twisted pair for these phase lines.

Connect the cable shield to the drive chassis (P7.7). If the motor has a protective earth (PE) terminal, it must also be shielded.



Brushless DC (BLDC) Motor Wiring

Figure 6-4. BLDC Motor Wiring Diagram

When driving a brushless DC motor, phases A, B and C (P7.6, P7.5 and P7.4) should be connected. Use twisted wires for these 3 phase lines.


Stepper Motor Wiring

Figure 6-5. Stepper Motor Wiring Diagram

When driving a bipolar stepper motor, phases A and B (P7.6 and P7.5) must be connected to motor’s first phase. Phases C and D (P7.4 and P7.3) must be connected to the second phase.

Use a twisted pair for each motor phase (AB and CD).




Feedback

Single-ended Incremental Encoder

Figure 6-6. Single Ended Incremental Encoder Wiring Diagram

When using a single ended incremental encoder, connect the signals to the positive terminals A+, B+ and I+ (J18.3, J18.5 and J18.7). The encoder is supplied from the encoder supply pins.

Use a shielded cable and connect to the shield terminal (J18.18).

Use of a single-ended encoder is not recommended if the application requires a long cable application or if the environment is noisy.

* Notes 1. When using a single-ended encoder, there is no connection loss detection.

2. If an index line is missing, leave I+ terminal disconnected.

Differential Incremental Encoder

Figure 6-7. Differential Encoder Wiring Diagram



When using a differential encoder, use a twisted pair for each differential signal (A±, B± and I±) and power supply.

Use a shielded cable, and connect it to the shield terminal (J18.18).

Notes:

* Notes 1. When using a differential encoder, a connection loss in A± and B± lines will produce a drive fault.

2. If an index line is missing, leave I+ terminal disconnected.

Hall Sensors

Figure 6-8. HALLs Wiring Diagram

If the Hall sensors have dedicated supply terminals at J18.17 and J18.16, twist all 3 signal lines to reduce EMI.

Use shielded cable and terminate in J18.18.

I/Os

Digital Inputs

Figure 6-9. Digital Inputs Wiring Diagram

LVD Sercos III has 4 digital inputs. Inputs 0 and 1 have common return pin at J14.7. Inputs 2 and 3 have common return pin at J14.8.

Refer to the I/O specifications for proper use of this interface.



Digital Output

Figure 6-10. Digital Output PD Wiring Diagram

Figure 6-11. Digital Output PU Wiring diagram

The digital output can be connected in either of the following ways:

Pull-down: connect the VCC directly to J14.11, and connect the controller’s pulled down input to J14.12.

Pull-up: connect the ground directly to J14.12, and connect the controller’s pulled up input to J14.11.

Refer to the digital output specifications for proper use of this interface.

Analog Input

Figure 6-12. Analog Input Differential Wiring Diagram



Figure 6-13. Analog Input Single Ended Wiring Diagram

The analog input can interface with both single-ended and differential analog interfaces.

Single-ended: AN_IN- is connected to the controller’s ground and AN_IN+ is connected to the controller’s S.E. output in range of ±10V.

Differential: AN_IN+ is connected to the controller’s positive output and AN_IN- is connected to the negative output.

Use a shielded cable and a twisted pair for each analog signal.

External Enable

Figure 6-14. External Enable Wiring Diagram

External Enable must be connected to enable motion.

The external enable connection is similar to that of the digital inputs.

An output low signal or a disconnection will disable the drive and prevent motion.



Real Time Ethernet

Figure 6-15. Real Time Ethernet Wiring Diagram

The realtime Ethernet connection is done by standardized Ethernet connection via RJ45 connectors.

The two Ethernet ports enable chaining multiple devices in the Sercos III network to simple (last device’s second port is left unconnected) or redundant (ring structure) network.

If using a network edge device, one port can be left unconnected.

Use a shielded cable with a metal plug for termination.

USB

Figure 6-16. USB Wiring Diagram

LVD Sercos III is a USB device and not a host controller.

The data lines are a twisted pair.

The cable shield is terminated via the standard mini-B connector and must be grounded at the host point.

LVD Sercos III Shielding


5 Shielding

LVD Sercos III has a common ground between the bus and logic units. This common ground is shielded in order to overcome motion system noise. When installing the drive, in any system, be sure to take into consideration the power supply shielded ground.

Figure 7-1. Grounding Structure

The following cables must also be shielded:

Motor

Feedback

Realtime Ethernet

USB

Analog input

The motor cable shield must be connected to the Chassis pin (P7.7). It your motor has a built-in shield connection, the shield wire and cable shield must be attached to the Chassis pin.

The feedback cables must be shielded and connected to Incremental Encoder and Halls pin #18 (J18.18), or Absolute Encoder pin #16 (J16.16) if the secondary incremental encoder is used.

When using a shielded cable, it is recommended to use a non-insulated drain wire in contact with cable’s shield. This facilitates termination of the shield at the connection points.

Logic- BUS- Chassis(PE)

Drive Status LVD Sercos III


6 Drive Status

System Indicators

LEDs are located on the LVD Sercos III front and side panels, as shown in Figure 5-1.

Figure 5-1. LED Indicators

Table 5-1 lists the functions of the status LED indicators.

Table 5-1. LED Indicators

Name Color Function

Bus Power Yellow On: Bus power is connected and powered to at least 10 VDC.

S1 (Drive status)

Green Blinking: The drive is operational and ready to be enabled.

On: The drive is enabled Off: Drive disabled with fault(s).

S2 (Fault)

Red Blinking: A fault that was detected can now be cleared.

On: A persistent fault cannot be cleared and needs attention.

Off: No faults

LVD Sercos III Drive Status


Error Codes

Error Code Error Message Description Action Required

0x00000000 No Faults No faults -

0xC00F2018 Over Temperature The temperature of the drive is higher than 90°C (194°F) or lower than 30°C ( 22°F), or the temperature sensor has a malfunction.

Check the drive operation conditions, using IDN S-0-0384 (Amplifier temperature) to read the measured temperature. Or, reduce the load on the drive, increase heat-sink size or improve ventilation.

0xC00F2174 Encoder Line Break

A disconnection of one of the encoder inputs was detected.

Check the encoder cable wiring. If single ended encoder is used, set the value of IDN P-0-0629 (Differential or Single Ended Encoder) to 0.

0xC00F8028 Over Current The motor current exceeded 120% of the value of amplifier peak currentץ

Check the value of IDN S-0-0110 (Amplifier peak current). Check and adjust the controller's acceleration and deceleration values. The current can be limited by the use of IDN S-0-0092 (Bipolar torque limit value)

0xC00F2025 Over Voltage Bus voltage exceeded the limit for the bus voltage IDN P-0-0113 (Over Voltage Fault Level)

Check the value of IDN P-0-0113 (Over Voltage Fault Level). Consider usage of Regen functionality and resistor.

0xC00F2026 Under Voltage Bus voltage is lower than the value that is set at the under-voltage fault level IDN P-0-0114 (Under Voltage Fault Level)

Check if BUS power is connected. Check the value of IDN P-0-0114 (Under Voltage Fault Level).

0xC00F2036 Position Error Position error value is larger than the value of IDN S-0-0057 (Position Window)

Check the value of IDN S-0-0057 (Position Window). Or, check the parameters tuning.

0xC00F8079 Over Speed Actual speed exceeded the velocity over speed value at IDN P-0-0631 (Velocity Over Speed)

Check the value of IDN P-0-0631 (Velocity Over Speed). Or, reduce the controller's demanded velocity.

0x000F0100 Acc Dec Violation The motor acceleration or deceleration is greater than the value of the maximum acceleration IDN S-0-0138 (Bipolar acceleration limit value).

Check control loops parameters. Check the demanded acceleration and deceleration. Or, increase the value of the maximum acceleration, or set it to 0 to disable this functionality.

0x000F0200 Velocity Error The difference between the velocity command and the actual velocity is greater than the value that is set in IDN S-0-0157 (Velocity window)

Check current loop and velocity loop parameters. Or, check the controller's velocity demand, acceleration and deceleration.

0x000F0300 EEPROM Checksum Fault

Checksum error while loading parameters.

Configure all the drive parameters and save them to the EEPROM using IDN S-0-0264 (Backup working memory procedure command). Or, the EEPROM might be damaged and the drive requires service.

0x000F0400 EEPROM Reading Fault

The drive’s firmware could not access the EEPROM.

Reset the drive, and try again. Or, the EEPROM might be damaged and the drive requires service.

0x000F0500 EEPROM Writing Fault

The drive’s firmware could not access the EEPROM.

Reset the drive, and try again. Or, the EEPROM might be damaged and the drive requires service.

0x000F0600 PLL is Unlocked While Drive is Enabled

At SERCOS phase 4, during Enable - packets are missed

-

0x000F0700 Illegal Halls Illegal state for reading the Hall sensors.

Check Hall cable wiring. Also, check that Hall sensors are functioning.

Drive Status LVD Sercos III


Error Code Error Message Description Action Required

0x000F0800 Position Command Error

The derivative of the position command is larger than the value of IDN P-0-0631 (Velocity Over Speed). Or, the second derivative of the position command is higher than the value of IDN S-0-0138 (Bipolar acceleration limit value).

Check the controller's position command to the drive. Or, set higher values to IDN P-0-0631 (Velocity Over Speed) and IDN S-0-0138 (Bipolar acceleration limit value). Or, disable this protection by setting value of 0 to the following IDN's: IDN P-0-0625 (Maximum Position Derivative) and IDN S-0-0138 (Bipolar acceleration limit value).

0x000F0900 Bus Voltage is higher than Regen threshold

When the drive is disabled - the bus voltage is higher than the voltage that would enable the regen activation

Check the value of IDN P-0-0113 (Over Voltage Fault Level). Disable Regen operation if not needed, IDN P-0-0638 (Regen enable).

0x000F0A00 Commutation Fault

A mismatch between the position of the Hall sensors and the encoder. Or, if the value of IDN P-0-0628 (Feedback Type) is 2 or 3, find commutation procedure command (P-0-0636) failed or it was not executed

Check the value of IDN S-0-0116 (Resolution of feedback 1), value of IDN P-0-0630 (Encoder Direction) and the Halls cable. Call the CONFIG procedure command, IDN P-0-0632. Or, (in case IDN P-0-0628 value is 2 or 3), execute find commutation procedure command (P-0-0636).

0x000F0B00 I2T Limit Energy usage value at IDN P-0-0503 (I2T Value) is higher than the I2T the value of IDN P-0-0504 (I2T Limit).

Set higher value to IDN P-0-0504 (I2T Limit). Reduce motor load. Or, if I2T protection is not needed, disable it by setting value of 0 to IDN P-0-0504 (I2T Limit).

LVD Sercos III Appendix A: Cable Preparation


Appendix A: Cable Preparation

If ready-made cable assemblies are not being used, a crimping tool, such as the Molex hand crimper 63819-190500 or the Molex 63811-6300, must be used for Molex headers (P2, J14, J16 and J18).

The Logic Power (P2) header is from the Sherlock© series, and requires Molex hand crimp tool number 63819-0500.

Figure 8-1. Molex Hand Crimp Tool 63819-0500

J14, J16 and J18 connectors are from the MicroClasp© series, and require Molex hand crimp tool number 63811-6300.

Figure 8-2. Molex Hand Crimp Tool 63811-6300

Follow the hand crimp tools’ operating instructions carefully. Select conductor with the right thickness and then strip it in a proper length. For detailed instructions, refer to tool’s specification.

Table 8-1. Cable Preparation

Header Hand Crimp Tool

Conductor Thickness [AWG]

Strip Length [mm]

Tooling Specification Link

P2 63819-0500 24 – 30 1.3 – 1.8 http://www.molex.com/pdm_docs/ats/ATS-638190500.pdf

J14, J16, J18 63811-6300 22 - 28 1.6 – 2.0 http://www.molex.com/pdm_docs/ats/ATS-6381163HM.pdf

http://www.molex.com/pdm_docs/ats/ATS-638190500.pdf

http://www.molex.com/pdm_docs/ats/ATS-638190500.pdf

http://www.molex.com/pdm_docs/ats/ATS-6381163HM.pdf

http://www.molex.com/pdm_docs/ats/ATS-6381163HM.pdf

Appendix A: Cable Preparation LVD Sercos III


Be sure to following the crimping instructions to avoid loose wires. An example of proper crimping is shown in Figure 8-3.

Figure 8-3. Proper Crimping

LVD Sercos III Servo Drive Quick Start Guide Rev. 1.0

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LVD Sercos III Servo Drive - Servotronix